CN107713906A - 清洁装置 - Google Patents
清洁装置 Download PDFInfo
- Publication number
- CN107713906A CN107713906A CN201610655329.0A CN201610655329A CN107713906A CN 107713906 A CN107713906 A CN 107713906A CN 201610655329 A CN201610655329 A CN 201610655329A CN 107713906 A CN107713906 A CN 107713906A
- Authority
- CN
- China
- Prior art keywords
- cleaning device
- module
- unit
- cleaning
- manipulator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 80
- 239000000428 dust Substances 0.000 claims description 4
- 239000000126 substance Substances 0.000 claims description 4
- 238000000034 method Methods 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims 1
- 230000001678 irradiating effect Effects 0.000 claims 1
- 238000001514 detection method Methods 0.000 abstract 4
- 238000010586 diagram Methods 0.000 description 3
- 239000011521 glass Substances 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 241001074085 Scophthalmus aquosus Species 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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
-
- 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
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing 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
-
- 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
- A47L9/2894—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
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual arms
-
- 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, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- 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
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Multimedia (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Optics & Photonics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
- Acoustics & Sound (AREA)
Abstract
Description
清洁装置 | 100 |
侦测单元 | 10 |
导航控制单元 | 20 |
驱动单元 | 30 |
地面清洁单元 | 40 |
透明物件辨识单元 | 50 |
发光模块 | 52 |
影像获取模块 | 54 |
匹配演算模块 | 56 |
机械手 | 60 |
物件 | 70 |
Claims (10)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610655329.0A CN107713906B (zh) | 2016-08-11 | 2016-08-11 | 清洁装置 |
US15/271,239 US10684624B2 (en) | 2016-08-11 | 2016-09-21 | Self-navigating and object-lifting cleaning device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610655329.0A CN107713906B (zh) | 2016-08-11 | 2016-08-11 | 清洁装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN107713906A true CN107713906A (zh) | 2018-02-23 |
CN107713906B CN107713906B (zh) | 2019-11-22 |
Family
ID=61158815
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201610655329.0A Active CN107713906B (zh) | 2016-08-11 | 2016-08-11 | 清洁装置 |
Country Status (2)
Country | Link |
---|---|
US (1) | US10684624B2 (zh) |
CN (1) | CN107713906B (zh) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111035321A (zh) * | 2018-10-11 | 2020-04-21 | 原相科技股份有限公司 | 可侦测二维深度信息的清洁机器人及其运作方法 |
CN113331751A (zh) * | 2021-05-14 | 2021-09-03 | 上海洁皇环境服务有限公司 | 智能清洁机器人控制系统 |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113290564A (zh) * | 2020-02-21 | 2021-08-24 | 西门子股份公司 | 一种消毒机器人的控制方法、控制装置和消毒机器人 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2003125996A (ja) * | 2001-10-26 | 2003-05-07 | Toshiba Tec Corp | 集塵フィルタおよび電気掃除機 |
KR100577280B1 (ko) * | 2005-01-04 | 2006-05-10 | 엘지전자 주식회사 | 진공 청소기 |
US20140205403A1 (en) * | 2013-01-20 | 2014-07-24 | Wynright Corporation | Automated Truck Unloader for Unloading/Unpacking Product from Trailers and Containers |
CN204445701U (zh) * | 2015-01-14 | 2015-07-08 | 东莞缔奇智能股份有限公司 | 扫地机器人 |
CN105320137A (zh) * | 2015-11-16 | 2016-02-10 | 江苏物联网研究发展中心 | 面向家庭服务的室内轮式机器人 |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3646630A (en) * | 1969-04-10 | 1972-03-07 | Crafton D James | Remote control window cleaning device |
US4934017A (en) * | 1985-07-17 | 1990-06-19 | Rug Doctor, Inc. | Modular vacuum cleaning system |
US20050273967A1 (en) * | 2004-03-11 | 2005-12-15 | Taylor Charles E | Robot vacuum with boundary cones |
US10618174B2 (en) * | 2014-12-09 | 2020-04-14 | Aeolus Robotics, Inc. | Robotic Touch Perception |
-
2016
- 2016-08-11 CN CN201610655329.0A patent/CN107713906B/zh active Active
- 2016-09-21 US US15/271,239 patent/US10684624B2/en active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2003125996A (ja) * | 2001-10-26 | 2003-05-07 | Toshiba Tec Corp | 集塵フィルタおよび電気掃除機 |
KR100577280B1 (ko) * | 2005-01-04 | 2006-05-10 | 엘지전자 주식회사 | 진공 청소기 |
US20140205403A1 (en) * | 2013-01-20 | 2014-07-24 | Wynright Corporation | Automated Truck Unloader for Unloading/Unpacking Product from Trailers and Containers |
CN204445701U (zh) * | 2015-01-14 | 2015-07-08 | 东莞缔奇智能股份有限公司 | 扫地机器人 |
CN105320137A (zh) * | 2015-11-16 | 2016-02-10 | 江苏物联网研究发展中心 | 面向家庭服务的室内轮式机器人 |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111035321A (zh) * | 2018-10-11 | 2020-04-21 | 原相科技股份有限公司 | 可侦测二维深度信息的清洁机器人及其运作方法 |
CN111035321B (zh) * | 2018-10-11 | 2022-09-13 | 原相科技股份有限公司 | 可侦测二维深度信息的清洁机器人及其运作方法 |
CN113331751A (zh) * | 2021-05-14 | 2021-09-03 | 上海洁皇环境服务有限公司 | 智能清洁机器人控制系统 |
Also Published As
Publication number | Publication date |
---|---|
CN107713906B (zh) | 2019-11-22 |
US20180046197A1 (en) | 2018-02-15 |
US10684624B2 (en) | 2020-06-16 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN106093948B (zh) | 一种扫地机器人被困检测方法 | |
US10478037B2 (en) | Method for operating a floor-cleaning device and floor-cleaning device | |
JP6086733B2 (ja) | 自走式装置並びにこのような装置の運転方法 | |
US10390674B2 (en) | Method for cleaning a floor surface and floor cleaning device | |
US20130204483A1 (en) | Robot cleaner | |
CN1291691C (zh) | 带有地面消毒功能的自动清洁器 | |
CN107713906A (zh) | 清洁装置 | |
US9629514B2 (en) | Traveling cleaning appliance and method for operating such an appliance | |
CN106377209B (zh) | 可移动清洁设备及其控制方法 | |
US20160313741A1 (en) | Prioritizing cleaning areas | |
CN109213137A (zh) | 扫地机器人、扫地机器人系统及其工作方法 | |
CN103941307B (zh) | 一种清洁机器人及用于控制其避开障碍物的方法 | |
AU2003204392A1 (en) | Location Mark Detecting Method for Robot Cleaner and Robot Cleaner Using the Method | |
JP2012011200A (ja) | 自走式装置並びにこのような装置の操作方法 | |
CN202025084U (zh) | 一种激光雷达监测系统 | |
JP7101893B2 (ja) | 情報を自律型装置へ伝達するための光学標示 | |
CN205721357U (zh) | 一种基于自定义地图的家用两层工作扫地机器人 | |
CN113276805A (zh) | 一种无人智能机器人洗车系统 | |
CN109141937B (zh) | 一种智能化轮胎评估系统及其使用方法 | |
CN112057004A (zh) | 一种幕墙清洁机器人障碍物识别方法及控制系统 | |
CN205144444U (zh) | 扫地机器人 | |
CN207216422U (zh) | 玻璃幕墙机器人视觉系统 | |
JP2020119561A (ja) | 第1の床処理装置及び第2の床処理装置を有するシステム並びにそのシステムの動作方法 | |
KR100662628B1 (ko) | 음신호를 인식하는 로봇청소기와 그 시스템 | |
CN109101021A (zh) | 扫地机器人室内导航方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
TA01 | Transfer of patent application right | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20180302 Address after: Haiyun economic and Technological Development Zone, Tianjin City, No. 80 300457 Street Applicant after: Hongfujin Precision Electronics (Tianjin) Co., Ltd. Address before: Haiyun Binhai Economic and Technological Development Zone, Tianjin City, No. 80 300457 Street Applicant before: Hongfujin Precision Electronics (Tianjin) Co., Ltd. Applicant before: Hon Hai Precision Industry Co., Ltd. |
|
GR01 | Patent grant | ||
GR01 | Patent grant | ||
CP03 | Change of name, title or address | ||
CP03 | Change of name, title or address |
Address after: No. 36, North Street, West District, economic and Technological Development Zone, Binhai New Area, Tianjin Patentee after: Fulian precision electronics (Tianjin) Co.,Ltd. Address before: No. 80 Haiyun Street, Jinshi Economic and Technological Development Zone, 300457 Patentee before: HONGFUJIN PRECISION ELECTRONICS (TIANJIN) Co.,Ltd. |