JP6664641B1 - 自走式掃除ロボット - Google Patents
自走式掃除ロボット Download PDFInfo
- Publication number
- JP6664641B1 JP6664641B1 JP2019519436A JP2019519436A JP6664641B1 JP 6664641 B1 JP6664641 B1 JP 6664641B1 JP 2019519436 A JP2019519436 A JP 2019519436A JP 2019519436 A JP2019519436 A JP 2019519436A JP 6664641 B1 JP6664641 B1 JP 6664641B1
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- JP
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- self
- unit
- cleaning
- control unit
- cleaning robot
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- 238000004140 cleaning Methods 0.000 title claims abstract description 155
- 238000011161 development Methods 0.000 claims abstract description 12
- 238000000034 method Methods 0.000 claims abstract description 12
- 238000005259 measurement Methods 0.000 claims description 15
- 230000006870 function Effects 0.000 claims description 6
- 230000000007 visual effect Effects 0.000 claims description 4
- 238000001514 detection method Methods 0.000 description 7
- 230000007613 environmental effect Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 239000000428 dust Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
- A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
- A47L9/2842—Suction motors or blowers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2857—User input or output elements for control, e.g. buttons, switches or displays
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/60—Intended control result
- G05D1/648—Performing a task within a working area or space, e.g. cleaning
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D2105/00—Specific applications of the controlled vehicles
- G05D2105/10—Specific applications of the controlled vehicles for cleaning, vacuuming or polishing
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D2107/00—Specific environments of the controlled vehicles
- G05D2107/40—Indoor domestic environment
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D2109/00—Types of controlled vehicles
- G05D2109/10—Land vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electric Vacuum Cleaner (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
Abstract
Description
11 本体
12 駆動部
13 掃除部
14 センサ部
141 レーザ測距センサ
142 赤外線測距センサ,超音波測距センサ
20 制御ユニット
21 制御部
22 記憶部
33 プログラミング用テキスト
40 掃除領域
Claims (6)
- 本体と、
前記本体を走行可能とする駆動部と、
前記本体に取り付けられ、掃除領域を掃除する掃除部と、
前記本体に取り付けられ、障害物を検出するセンサ部と、
前記本体に搭載され、前記駆動部及び前記掃除部を制御する制御ユニットと、を備え、
前記制御ユニットは、前記駆動部及び前記掃除部を動作させるプログラムを格納する記憶部と、前記プログラムを前記記憶部に書き込み、且つ、前記プログラムを前記記憶部から読み出す制御部と、を備え、
前記制御部は、表示装置及び入力装置を外部から接続することが可能であり、
メーカーが予め用意した前記プログラムを選択することで所望の動作をさせるのに留まらず、前記プログラムのコードは、前記表示装置及び前記入力装置を利用してユーザがプログラミングすることによって作成、書き換え及び削除することができることを特徴とする自走式掃除ロボット。 - 前記プログラムのコードは、前記制御部に備えられる統合開発環境で作成、書き換え及び削除される請求項1に記載の自走式掃除ロボット。
- 前記統合開発環境は、ビジュアルプログラミング言語が動作可能な環境である請求項2に記載の自走式掃除ロボット。
- プログラミングの方法を説明するプログラミング用テキストをさらに備える請求項1〜3のいずれ一項に記載の自走式ロボット。
- 前記センサ部は、距離計測センサを備え、
前記制御部は、環境地図作成及び自己位置推定を行いながら走行ルートを決定する機能を有する請求項1〜4のいずれか一項に記載の自走式掃除ロボット。 - 前記記憶部には、予め掃除方法を制御するプログラムが搭載されている請求項1〜5のいずれか一項に記載の自走式掃除ロボット。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2018/041255 WO2020095372A1 (ja) | 2018-11-06 | 2018-11-06 | 自走式掃除ロボット |
Publications (2)
Publication Number | Publication Date |
---|---|
JP6664641B1 true JP6664641B1 (ja) | 2020-03-13 |
JPWO2020095372A1 JPWO2020095372A1 (ja) | 2021-02-15 |
Family
ID=70000345
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2019519436A Active JP6664641B1 (ja) | 2018-11-06 | 2018-11-06 | 自走式掃除ロボット |
Country Status (9)
Country | Link |
---|---|
US (1) | US11311163B2 (ja) |
EP (1) | EP3878336B1 (ja) |
JP (1) | JP6664641B1 (ja) |
KR (1) | KR20210087994A (ja) |
CN (1) | CN111386064A (ja) |
BR (1) | BR112021008018A2 (ja) |
ES (1) | ES2951735T3 (ja) |
TW (1) | TWI717087B (ja) |
WO (1) | WO2020095372A1 (ja) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112493948B (zh) * | 2020-11-30 | 2024-04-12 | 追觅创新科技(苏州)有限公司 | 自清洁设备及清洁组件检测方法 |
CN112496525A (zh) * | 2020-12-15 | 2021-03-16 | 天津默纳克电气有限公司 | 一种工业机器人控制*** |
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2018
- 2018-11-06 EP EP18939307.7A patent/EP3878336B1/en active Active
- 2018-11-06 CN CN201880063479.XA patent/CN111386064A/zh active Pending
- 2018-11-06 BR BR112021008018-0A patent/BR112021008018A2/pt not_active Application Discontinuation
- 2018-11-06 KR KR1020217017285A patent/KR20210087994A/ko not_active Application Discontinuation
- 2018-11-06 ES ES18939307T patent/ES2951735T3/es active Active
- 2018-11-06 WO PCT/JP2018/041255 patent/WO2020095372A1/ja unknown
- 2018-11-06 JP JP2019519436A patent/JP6664641B1/ja active Active
-
2019
- 2019-11-05 TW TW108140001A patent/TWI717087B/zh active
-
2020
- 2020-09-25 US US17/032,960 patent/US11311163B2/en active Active
Patent Citations (5)
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JPS62251807A (ja) * | 1986-04-23 | 1987-11-02 | Tenshiyou Denki Kogyo Kk | 学習用コンピユ−タロボツトシステム |
JPH09313743A (ja) * | 1996-05-31 | 1997-12-09 | Oki Electric Ind Co Ltd | 疑似生物機器の表情形成機構 |
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Also Published As
Publication number | Publication date |
---|---|
CN111386064A (zh) | 2020-07-07 |
ES2951735T3 (es) | 2023-10-24 |
JPWO2020095372A1 (ja) | 2021-02-15 |
EP3878336A4 (en) | 2022-06-22 |
WO2020095372A1 (ja) | 2020-05-14 |
EP3878336C0 (en) | 2023-08-02 |
TW202021523A (zh) | 2020-06-16 |
BR112021008018A2 (pt) | 2021-08-03 |
US11311163B2 (en) | 2022-04-26 |
TWI717087B (zh) | 2021-01-21 |
KR20210087994A (ko) | 2021-07-13 |
US20210007571A1 (en) | 2021-01-14 |
EP3878336A1 (en) | 2021-09-15 |
EP3878336B1 (en) | 2023-08-02 |
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