BR112017002379A2 - dispositivo de corpo de deslocamento autônomo - Google Patents
dispositivo de corpo de deslocamento autônomoInfo
- Publication number
- BR112017002379A2 BR112017002379A2 BR112017002379A BR112017002379A BR112017002379A2 BR 112017002379 A2 BR112017002379 A2 BR 112017002379A2 BR 112017002379 A BR112017002379 A BR 112017002379A BR 112017002379 A BR112017002379 A BR 112017002379A BR 112017002379 A2 BR112017002379 A2 BR 112017002379A2
- Authority
- BR
- Brazil
- Prior art keywords
- travel mode
- control unit
- travel
- main case
- forced
- Prior art date
Links
- 238000006073 displacement reaction Methods 0.000 title 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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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
- 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
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
-
- 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
- A47L9/2868—Arrangements for power supply of vacuum cleaners or the accessories thereof
- A47L9/2873—Docking units or charging stations
-
- 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
- A47L9/2894—Details related to signal transmission in suction cleaners
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0003—Home robots, i.e. small robots for domestic use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
-
- 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
- A47L2201/02—Docking stations; Docking operations
-
- 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
- A47L2201/02—Docking stations; Docking operations
- A47L2201/022—Recharging of batteries
-
- 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
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
Abstract
a presente invenção refere-se a um dispositivo limpador a vácuo (10), tendo um corpo principal do limpador a vácuo (11) capaz de encontrar mais eficientemente um dispositivo de carga (12). uma unidade de controle (20) tem um primeiro modo de deslocamento e um segundo modo de deslocamento. no primeiro modo de deslocamento, a unidade de controle (20) controla a operação das rodas motrizes (25), de modo que um estojo principal (15) seja forçado a se deslocar reto e, ao detectar um objeto (p) por um sensor de objeto (31), o estojo principal (15) tem sua direção de deslocamento mudada e forçado a se deslocar reto. no segundo modo de deslocamento, a unidade de controle (20) controla a operação das rodas motrizes (25), de modo que um estojo principal (15) se desloque em uma forma curva ao longo de um objeto (p) detectado pelo sensor de objeto (31). quando o dispositivo de carga (12) não é encontrado por uma parte receptora de sinal (33), durante deslocamento dentro de uma região pelo primeiro modo de deslocamento, a unidade de controle (20) é mudada para o segundo modo de deslocamento. a unidade de controle (20) é mudada para o primeiro modo de deslocamento, quando se determina que em um número específico de vezes ou mais o estojo principal (15) foi movimentado a uma diferente região pelo segundo modo de deslocamento.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014173160A JP6325946B2 (ja) | 2014-08-27 | 2014-08-27 | 自律走行体装置 |
PCT/JP2015/073505 WO2016031702A1 (ja) | 2014-08-27 | 2015-08-21 | 自律走行体装置 |
Publications (1)
Publication Number | Publication Date |
---|---|
BR112017002379A2 true BR112017002379A2 (pt) | 2017-11-28 |
Family
ID=55399595
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
BR112017002379A BR112017002379A2 (pt) | 2014-08-27 | 2015-08-21 | dispositivo de corpo de deslocamento autônomo |
Country Status (9)
Country | Link |
---|---|
US (1) | US10213080B2 (pt) |
EP (1) | EP3187954B1 (pt) |
JP (1) | JP6325946B2 (pt) |
KR (1) | KR101762084B1 (pt) |
CN (1) | CN106662875B (pt) |
BR (1) | BR112017002379A2 (pt) |
CA (1) | CA2959143C (pt) |
MY (1) | MY184542A (pt) |
WO (1) | WO2016031702A1 (pt) |
Families Citing this family (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102015109775B3 (de) | 2015-06-18 | 2016-09-22 | RobArt GmbH | Optischer Triangulationssensor zur Entfernungsmessung |
KR102202488B1 (ko) * | 2015-07-06 | 2021-01-13 | 삼성전기주식회사 | 유전체 자기 조성물 및 이를 포함하는 적층 세라믹 커패시터 |
DE102015114883A1 (de) | 2015-09-04 | 2017-03-09 | RobArt GmbH | Identifizierung und Lokalisierung einer Basisstation eines autonomen mobilen Roboters |
JP6486255B2 (ja) * | 2015-09-30 | 2019-03-20 | シャープ株式会社 | 自走式掃除機 |
DE102015119501A1 (de) | 2015-11-11 | 2017-05-11 | RobArt GmbH | Unterteilung von Karten für die Roboternavigation |
DE102015119865B4 (de) | 2015-11-17 | 2023-12-21 | RobArt GmbH | Robotergestützte Bearbeitung einer Oberfläche mittels eines Roboters |
DE102015121666B3 (de) | 2015-12-11 | 2017-05-24 | RobArt GmbH | Fernsteuerung eines mobilen, autonomen Roboters |
DE102016102644A1 (de) | 2016-02-15 | 2017-08-17 | RobArt GmbH | Verfahren zur Steuerung eines autonomen mobilen Roboters |
JP6729146B2 (ja) * | 2016-08-03 | 2020-07-22 | コベルコ建機株式会社 | 障害物検出装置 |
CN106308685B (zh) * | 2016-08-23 | 2019-10-11 | 北京小米移动软件有限公司 | 清洁机器人及其控制方法 |
TWI606806B (zh) * | 2017-02-18 | 2017-12-01 | 世擘股份有限公司 | 自動清潔系統以及充電基座 |
EP3974934A1 (de) | 2017-03-02 | 2022-03-30 | Robart GmbH | Verfahren zur steuerung eines autonomen, mobilen roboters |
TWI665068B (zh) * | 2018-02-06 | 2019-07-11 | 世擘股份有限公司 | 自動清潔裝置以及自動充電方法 |
JP7194914B2 (ja) * | 2018-03-29 | 2022-12-23 | パナソニックIpマネジメント株式会社 | 自律移動掃除機、自律移動掃除機による掃除方法、及び自律移動掃除機用プログラム |
KR102313754B1 (ko) * | 2018-08-03 | 2021-10-18 | 엘지전자 주식회사 | 이동 로봇, 이동 로봇 시스템 및 이동 로봇의 충전대 이동 방법 |
CN113192226B (zh) * | 2021-04-29 | 2022-09-30 | 重庆天智慧启科技有限公司 | 社区巡更的智能管理系统 |
KR102557138B1 (ko) * | 2022-04-29 | 2023-07-20 | (주)시스콘 | 자율 서비스 로봇 |
Family Cites Families (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8412377B2 (en) * | 2000-01-24 | 2013-04-02 | Irobot Corporation | Obstacle following sensor scheme for a mobile robot |
EP2287696B1 (en) | 2001-06-12 | 2018-01-10 | iRobot Corporation | Method and system for multi-code coverage for an autonomous robot |
JP2003036116A (ja) * | 2001-07-25 | 2003-02-07 | Toshiba Tec Corp | 自律走行ロボット |
JP2004139264A (ja) * | 2002-10-16 | 2004-05-13 | Toshiba Tec Corp | 自律走行ロボット |
KR100645381B1 (ko) | 2005-08-31 | 2006-11-14 | 삼성광주전자 주식회사 | 로봇청소기의 외부충전 복귀장치 및 복귀방법 |
ES2522926T3 (es) | 2005-12-02 | 2014-11-19 | Irobot Corporation | Robot Autónomo de Cubrimiento |
JP2008040725A (ja) | 2006-08-04 | 2008-02-21 | Funai Electric Co Ltd | 自走式装置充電システム |
CN101681169B (zh) | 2007-06-05 | 2012-01-18 | 皇家飞利浦电子股份有限公司 | 用于控制自行移动式机器人的系统和方法 |
JP2009112723A (ja) * | 2007-11-09 | 2009-05-28 | Hitachi Appliances Inc | 自走式掃除機 |
GB2469045B (en) * | 2009-03-31 | 2012-08-29 | Dyson Technology Ltd | Duct and chassis arrangement of a cleaning apparatus |
KR101406186B1 (ko) * | 2009-11-18 | 2014-06-13 | 삼성전자주식회사 | 로봇청소기의 제어방법 |
JP5321869B2 (ja) * | 2011-03-28 | 2013-10-23 | 株式会社東芝 | 電気掃除機 |
WO2012147669A1 (ja) * | 2011-04-28 | 2012-11-01 | 株式会社東芝 | 電気掃除機 |
US20130092190A1 (en) | 2011-10-18 | 2013-04-18 | Samsung Electronics Co., Ltd. | Robot cleaner and control method for the same |
US9776332B2 (en) | 2011-12-08 | 2017-10-03 | Lg Electronics Inc. | Automatic moving apparatus and manual operation method thereof |
-
2014
- 2014-08-27 JP JP2014173160A patent/JP6325946B2/ja active Active
-
2015
- 2015-08-21 EP EP15835537.0A patent/EP3187954B1/en active Active
- 2015-08-21 MY MYPI2017700377A patent/MY184542A/en unknown
- 2015-08-21 WO PCT/JP2015/073505 patent/WO2016031702A1/ja active Application Filing
- 2015-08-21 CN CN201580044122.3A patent/CN106662875B/zh active Active
- 2015-08-21 BR BR112017002379A patent/BR112017002379A2/pt not_active Application Discontinuation
- 2015-08-21 CA CA2959143A patent/CA2959143C/en not_active Expired - Fee Related
- 2015-08-21 KR KR1020167010392A patent/KR101762084B1/ko active IP Right Grant
- 2015-08-21 US US15/503,520 patent/US10213080B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
EP3187954A1 (en) | 2017-07-05 |
CN106662875B (zh) | 2019-08-16 |
CA2959143C (en) | 2019-09-03 |
KR20160058914A (ko) | 2016-05-25 |
JP2016048466A (ja) | 2016-04-07 |
EP3187954A4 (en) | 2018-04-25 |
WO2016031702A1 (ja) | 2016-03-03 |
CA2959143A1 (en) | 2016-03-03 |
JP6325946B2 (ja) | 2018-05-16 |
MY184542A (en) | 2021-04-01 |
US20170231452A1 (en) | 2017-08-17 |
KR101762084B1 (ko) | 2017-07-26 |
US10213080B2 (en) | 2019-02-26 |
CN106662875A (zh) | 2017-05-10 |
EP3187954B1 (en) | 2021-08-11 |
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Legal Events
Date | Code | Title | Description |
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B06U | Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette] | ||
B11B | Dismissal acc. art. 36, par 1 of ipl - no reply within 90 days to fullfil the necessary requirements |