JP7231469B2 - 自律型掃除機 - Google Patents
自律型掃除機 Download PDFInfo
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- JP7231469B2 JP7231469B2 JP2019080262A JP2019080262A JP7231469B2 JP 7231469 B2 JP7231469 B2 JP 7231469B2 JP 2019080262 A JP2019080262 A JP 2019080262A JP 2019080262 A JP2019080262 A JP 2019080262A JP 7231469 B2 JP7231469 B2 JP 7231469B2
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- 238000004140 cleaning Methods 0.000 claims description 59
- 238000001514 detection method Methods 0.000 description 65
- 239000000428 dust Substances 0.000 description 26
- 238000012545 processing Methods 0.000 description 13
- 238000000926 separation method Methods 0.000 description 7
- 238000006073 displacement reaction Methods 0.000 description 5
- 238000003384 imaging method Methods 0.000 description 5
- 238000004891 communication Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000007599 discharging Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000004745 nonwoven fabric Substances 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000001141 propulsive effect Effects 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000002657 fibrous material Substances 0.000 description 1
- 238000010191 image analysis Methods 0.000 description 1
- 238000011044 inertial separation Methods 0.000 description 1
- 229910001416 lithium ion Inorganic materials 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
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- 230000007935 neutral effect Effects 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
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- 239000004065 semiconductor Substances 0.000 description 1
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- 229920003002 synthetic resin Polymers 0.000 description 1
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Images
Classifications
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- 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
- A47L11/24—Floor-sweeping machines, motor-driven
-
- 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
- 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
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- 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
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
-
- 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
- A47L11/4072—Arrangement of castors or wheels
-
- 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
- A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices
-
- 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
Landscapes
- Electric Vacuum Cleaner (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
[数1]
D3>R3max
D3=R3+R1+D1
R3max=√((R3+R1)2+R12)
∴(R3+R1+D1)>√((R3+R1)2+R12)
Claims (4)
- 本体と、
前記本体の底面に設けられる掃除部と、
前記本体を移動させる移動部と、
前記移動部を制御して前記本体を自律で移動させる制御部と、を備え、
前記本体は、超信地旋回する時の超信地旋回中心から前端までの第一距離を半径とする第一円の外側領域に突出し、かつ前記超信地旋回中心よりも前側に位置する前半部を有し、
前記前半部は、直線状の前縁部と、信地旋回する時の信地旋回中心から遠い方の側縁部と、を有し、
前記掃除部は、前記前縁部に沿って配置されて前記本体の幅方向へ延びる吸込口を有し、
前記制御部は、
前記側縁部が臨む方向にある障害物である壁と前記側縁部との第一最短距離に基づいて、前記本体を超信地旋回、信地旋回、または緩旋回して進行方向を変化させ、かつ
前記信地旋回中心から前記前半部のうち最も遠い部位までの最大信地旋回半径が、前記信地旋回中心から前記壁までの第二最短距離以上の場合には、超信地旋回または信地旋回すると前記前半部が前記壁に接触する旋回方向へ緩旋回して進行方向を変化させる自律型掃除機。 - 前記緩旋回する時の緩旋回半径は、前記第一最短距離に基づいて設定される請求項1に記載の自律型掃除機。
- 前記制御部は、前記第一最短距離の大小に対応して前記緩旋回半径を定める対応関係を記憶する請求項2に記載の自律型掃除機。
- 前記緩旋回する時の緩旋回中心の位置は、前記緩旋回中心から前記前半部のうち最も遠い部位までの最大緩旋回半径が、前記緩旋回中心から前記障害物までの第三最短距離よりも小さくなるよう設定される請求項1に記載の自律型掃除機。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019080262A JP7231469B2 (ja) | 2019-04-19 | 2019-04-19 | 自律型掃除機 |
CN202010122717.9A CN111820820B (zh) | 2019-04-19 | 2020-02-27 | 自主型吸尘器 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019080262A JP7231469B2 (ja) | 2019-04-19 | 2019-04-19 | 自律型掃除機 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2020174962A JP2020174962A (ja) | 2020-10-29 |
JP7231469B2 true JP7231469B2 (ja) | 2023-03-01 |
Family
ID=72913708
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2019080262A Active JP7231469B2 (ja) | 2019-04-19 | 2019-04-19 | 自律型掃除機 |
Country Status (2)
Country | Link |
---|---|
JP (1) | JP7231469B2 (ja) |
CN (1) | CN111820820B (ja) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2024036619A1 (en) * | 2022-08-19 | 2024-02-22 | Qfeeltech (Beijing) Co., Ltd. | Method for controlling movement of autonomous mobile device |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2010526594A (ja) | 2007-05-09 | 2010-08-05 | アイロボット コーポレイション | 小型自律カバレッジロボット |
JP2017189481A (ja) | 2016-04-15 | 2017-10-19 | 日立アプライアンス株式会社 | 自律走行型掃除機 |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS62154008A (ja) * | 1985-12-27 | 1987-07-09 | Hitachi Ltd | 自走ロボツトの走行制御方法 |
JP2802160B2 (ja) * | 1990-10-31 | 1998-09-24 | 松下電器産業株式会社 | 移動作業ロボットの走行制御装置 |
JP2608509B2 (ja) * | 1992-06-23 | 1997-05-07 | 株式会社椿本チエイン | 移動体の障害物回避方法 |
CA2416621C (en) * | 2001-06-12 | 2006-09-12 | Irobot Corporation | Method and system for multi-mode coverage for an autonomous robot |
JP4201747B2 (ja) * | 2004-07-29 | 2008-12-24 | 三洋電機株式会社 | 自走式掃除機 |
JP4408872B2 (ja) * | 2006-03-31 | 2010-02-03 | シャープ株式会社 | 自走装置およびその制御方法 |
KR102083188B1 (ko) * | 2013-07-29 | 2020-03-02 | 삼성전자주식회사 | 청소 로봇 및 그 제어 방법 |
US9630319B2 (en) * | 2015-03-18 | 2017-04-25 | Irobot Corporation | Localization and mapping using physical features |
JP2019171001A (ja) * | 2017-09-29 | 2019-10-10 | パナソニックIpマネジメント株式会社 | 自律移動掃除機、掃除方法、及びプログラム |
CN109497892A (zh) * | 2018-12-18 | 2019-03-22 | 宁波金汤科技服务有限公司 | 一种智能扫地机器人的清洁机构 |
CN109512344A (zh) * | 2019-01-04 | 2019-03-26 | 云鲸智能科技(东莞)有限公司 | 一种移动机器人 |
-
2019
- 2019-04-19 JP JP2019080262A patent/JP7231469B2/ja active Active
-
2020
- 2020-02-27 CN CN202010122717.9A patent/CN111820820B/zh active Active
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2010526594A (ja) | 2007-05-09 | 2010-08-05 | アイロボット コーポレイション | 小型自律カバレッジロボット |
JP2017189481A (ja) | 2016-04-15 | 2017-10-19 | 日立アプライアンス株式会社 | 自律走行型掃除機 |
Also Published As
Publication number | Publication date |
---|---|
JP2020174962A (ja) | 2020-10-29 |
CN111820820B (zh) | 2023-01-03 |
CN111820820A (zh) | 2020-10-27 |
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