CN1155326C - 带有声学表面类型检测器的电动表面处理装置 - Google Patents
带有声学表面类型检测器的电动表面处理装置 Download PDFInfo
- Publication number
- CN1155326C CN1155326C CNB988015714A CN98801571A CN1155326C CN 1155326 C CN1155326 C CN 1155326C CN B988015714 A CNB988015714 A CN B988015714A CN 98801571 A CN98801571 A CN 98801571A CN 1155326 C CN1155326 C CN 1155326C
- Authority
- CN
- China
- Prior art keywords
- vibration
- treatment device
- vibrating sensor
- type detector
- air
- 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.)
- Expired - Lifetime
Links
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
- A47L9/2805—Parameters or conditions being sensed
- A47L9/2826—Parameters or conditions being sensed the condition of the floor
-
- 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
-
- 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
- A47L5/00—Structural features of suction cleaners
- A47L5/12—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum
- A47L5/22—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum with rotary fans
- A47L5/36—Suction cleaners with hose between nozzle and casing; Suction cleaners for fixing on staircases; Suction cleaners for carrying on the back
- A47L5/362—Suction cleaners with hose between nozzle and casing; Suction cleaners for fixing on staircases; Suction cleaners for carrying on the back of the horizontal type, e.g. canister or sledge type
-
- 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
- A47L9/02—Nozzles
- A47L9/04—Nozzles with driven brushes or agitators
-
- 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
- A47L9/2836—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
- A47L9/2847—Surface treating elements
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Electric Vacuum Cleaner (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
- Cleaning In General (AREA)
- Measurement Of Mechanical Vibrations Or Ultrasonic Waves (AREA)
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| EP97202623.1 | 1997-08-25 | ||
| EP97202623 | 1997-08-25 | ||
| PCT/IB1998/000996 WO1999009874A1 (en) | 1997-08-25 | 1998-06-29 | Electrical surface treatment device with an acoustic surface type detector |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1242692A CN1242692A (zh) | 2000-01-26 |
| CN1155326C true CN1155326C (zh) | 2004-06-30 |
Family
ID=8228678
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB988015714A Expired - Lifetime CN1155326C (zh) | 1997-08-25 | 1998-06-29 | 带有声学表面类型检测器的电动表面处理装置 |
Country Status (7)
| Country | Link |
|---|---|
| US (1) | US6076227A (enExample) |
| EP (1) | EP0939598B2 (enExample) |
| JP (2) | JP4282772B2 (enExample) |
| KR (1) | KR100516315B1 (enExample) |
| CN (1) | CN1155326C (enExample) |
| DE (1) | DE69832957T3 (enExample) |
| WO (1) | WO1999009874A1 (enExample) |
Families Citing this family (70)
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| US7155308B2 (en) | 2000-01-24 | 2006-12-26 | Irobot Corporation | Robot obstacle detection system |
| US8788092B2 (en) | 2000-01-24 | 2014-07-22 | Irobot Corporation | Obstacle following sensor scheme for a mobile robot |
| US8412377B2 (en) | 2000-01-24 | 2013-04-02 | Irobot Corporation | Obstacle following sensor scheme for a mobile robot |
| US6956348B2 (en) | 2004-01-28 | 2005-10-18 | Irobot Corporation | Debris sensor for cleaning apparatus |
| US6690134B1 (en) | 2001-01-24 | 2004-02-10 | Irobot Corporation | Method and system for robot localization and confinement |
| US7571511B2 (en) | 2002-01-03 | 2009-08-11 | Irobot Corporation | Autonomous floor-cleaning robot |
| US6810305B2 (en) * | 2001-02-16 | 2004-10-26 | The Procter & Gamble Company | Obstruction management system for robots |
| US7429843B2 (en) | 2001-06-12 | 2008-09-30 | Irobot Corporation | Method and system for multi-mode coverage for an autonomous robot |
| US8396592B2 (en) | 2001-06-12 | 2013-03-12 | Irobot Corporation | Method and system for multi-mode coverage for an autonomous robot |
| WO2003026474A2 (en) * | 2001-09-26 | 2003-04-03 | Friendly Robotics Ltd. | Robotic vacuum cleaner |
| IL145680A0 (en) | 2001-09-26 | 2002-06-30 | Friendly Robotics Ltd | Robotic vacuum cleaner |
| US9128486B2 (en) | 2002-01-24 | 2015-09-08 | Irobot Corporation | Navigational control system for a robotic device |
| US8386081B2 (en) | 2002-09-13 | 2013-02-26 | Irobot Corporation | Navigational control system for a robotic device |
| US8428778B2 (en) | 2002-09-13 | 2013-04-23 | Irobot Corporation | Navigational control system for a robotic device |
| US7424766B2 (en) | 2003-09-19 | 2008-09-16 | Royal Appliance Mfg. Co. | Sensors and associated methods for controlling a vacuum cleaner |
| US7599758B2 (en) | 2003-09-19 | 2009-10-06 | Royal Appliance Mfg. Co. | Sensors and associated methods for controlling a vacuum cleaner |
| US7237298B2 (en) | 2003-09-19 | 2007-07-03 | Royal Appliance Mfg. Co. | Sensors and associated methods for controlling a vacuum cleaner |
| US7332890B2 (en) | 2004-01-21 | 2008-02-19 | Irobot Corporation | Autonomous robot auto-docking and energy management systems and methods |
| KR20140092417A (ko) * | 2004-01-28 | 2014-07-23 | 아이로보트 코퍼레이션 | 청소 장치용 데브리 센서 |
| DE102004010827B4 (de) * | 2004-02-27 | 2006-01-05 | Alfred Kärcher Gmbh & Co. Kg | Bodenbearbeitungsgerät und Verfahren zu dessen Steuerung |
| US7720554B2 (en) | 2004-03-29 | 2010-05-18 | Evolution Robotics, Inc. | Methods and apparatus for position estimation using reflected light sources |
| KR101214723B1 (ko) | 2004-06-24 | 2012-12-24 | 아이로보트 코퍼레이션 | 자동 로봇 장치용의 원격 제어 스케줄러 및 방법 |
| US7706917B1 (en) | 2004-07-07 | 2010-04-27 | Irobot Corporation | Celestial navigation system for an autonomous robot |
| US8972052B2 (en) * | 2004-07-07 | 2015-03-03 | Irobot Corporation | Celestial navigation system for an autonomous vehicle |
| KR101084122B1 (ko) * | 2004-07-30 | 2011-11-17 | 엘지전자 주식회사 | 진공청소기의 흡입노즐 |
| US7389156B2 (en) | 2005-02-18 | 2008-06-17 | Irobot Corporation | Autonomous surface cleaning robot for wet and dry cleaning |
| EP1850725B1 (en) | 2005-02-18 | 2010-05-19 | iRobot Corporation | Autonomous surface cleaning robot for wet and dry cleaning |
| US8392021B2 (en) | 2005-02-18 | 2013-03-05 | Irobot Corporation | Autonomous surface cleaning robot for wet cleaning |
| US7620476B2 (en) | 2005-02-18 | 2009-11-17 | Irobot Corporation | Autonomous surface cleaning robot for dry cleaning |
| US8930023B2 (en) | 2009-11-06 | 2015-01-06 | Irobot Corporation | Localization by learning of wave-signal distributions |
| US20070017061A1 (en) * | 2005-07-20 | 2007-01-25 | Jason Yan | Steering control sensor for an automatic vacuum cleaner |
| KR101300493B1 (ko) | 2005-12-02 | 2013-09-02 | 아이로보트 코퍼레이션 | 커버리지 로봇 이동성 |
| EP2267568B1 (en) | 2005-12-02 | 2014-09-24 | iRobot Corporation | Autonomous coverage robot navigation system |
| US8374721B2 (en) | 2005-12-02 | 2013-02-12 | Irobot Corporation | Robot system |
| WO2007065034A1 (en) | 2005-12-02 | 2007-06-07 | Irobot Corporation | Modular robot |
| EP2816434A3 (en) | 2005-12-02 | 2015-01-28 | iRobot Corporation | Autonomous coverage robot |
| EP3404505B1 (en) | 2006-03-17 | 2023-12-06 | iRobot Corporation | Lawn care robot |
| US8087117B2 (en) | 2006-05-19 | 2012-01-03 | Irobot Corporation | Cleaning robot roller processing |
| US8417383B2 (en) | 2006-05-31 | 2013-04-09 | Irobot Corporation | Detecting robot stasis |
| ES2562824T3 (es) | 2007-05-09 | 2016-03-08 | Irobot Corporation | Robot autónomo de cubrimiento compacto |
| KR101497197B1 (ko) | 2010-02-16 | 2015-02-27 | 아이로보트 코퍼레이션 | 진공 브러쉬 |
| US8742926B2 (en) | 2010-12-30 | 2014-06-03 | Irobot Corporation | Debris monitoring |
| CA2833035C (en) | 2011-04-29 | 2017-03-21 | Irobot Corporation | Resilient and compressible roller and autonomous coverage robot |
| US11471020B2 (en) | 2011-04-29 | 2022-10-18 | Irobot Corporation | Robotic vacuum cleaning system |
| JP2014236838A (ja) * | 2013-06-07 | 2014-12-18 | シャープ株式会社 | 自走式掃除機 |
| DE102013223864A1 (de) * | 2013-11-21 | 2015-05-21 | BSH Hausgeräte GmbH | Verfahren zum Betreiben eines Staubsaugers und Staubsauger |
| WO2015153109A1 (en) | 2014-03-31 | 2015-10-08 | Irobot Corporation | Autonomous mobile robot |
| US9516806B2 (en) | 2014-10-10 | 2016-12-13 | Irobot Corporation | Robotic lawn mowing boundary determination |
| US9510505B2 (en) | 2014-10-10 | 2016-12-06 | Irobot Corporation | Autonomous robot localization |
| US9420741B2 (en) | 2014-12-15 | 2016-08-23 | Irobot Corporation | Robot lawnmower mapping |
| US9538702B2 (en) | 2014-12-22 | 2017-01-10 | Irobot Corporation | Robotic mowing of separated lawn areas |
| US11115798B2 (en) | 2015-07-23 | 2021-09-07 | Irobot Corporation | Pairing a beacon with a mobile robot |
| US10034421B2 (en) | 2015-07-24 | 2018-07-31 | Irobot Corporation | Controlling robotic lawnmowers |
| US10021830B2 (en) | 2016-02-02 | 2018-07-17 | Irobot Corporation | Blade assembly for a grass cutting mobile robot |
| US10459063B2 (en) | 2016-02-16 | 2019-10-29 | Irobot Corporation | Ranging and angle of arrival antenna system for a mobile robot |
| US10512384B2 (en) | 2016-12-15 | 2019-12-24 | Irobot Corporation | Cleaning roller for cleaning robots |
| DE102017101936A1 (de) * | 2017-02-01 | 2018-08-02 | Vorwerk & Co. Interholding Gesellschaft mit beschränkter Haftung | Selbsttätig verfahrbares Bodenbearbeitungsgerät |
| EP3651564B1 (en) | 2017-07-14 | 2022-05-18 | iRobot Corporation | Blade assembly for a grass cutting mobile robot |
| DE102017116747A1 (de) * | 2017-07-25 | 2019-01-31 | Vorwerk & Co. Interholding Gmbh | Bodenreinigungsgerät und Verfahren zu dessen Betrieb |
| US10595624B2 (en) | 2017-07-25 | 2020-03-24 | Irobot Corporation | Cleaning roller for cleaning robots |
| US11202543B2 (en) | 2018-01-17 | 2021-12-21 | Techtronic Floor Care Technology Limited | System and method for operating a cleaning system based on a surface to be cleaned |
| US11109727B2 (en) | 2019-02-28 | 2021-09-07 | Irobot Corporation | Cleaning rollers for cleaning robots |
| CN109907703A (zh) * | 2019-04-04 | 2019-06-21 | 珠海市一微半导体有限公司 | 一种移动机器人 |
| CN110018239B (zh) * | 2019-04-04 | 2022-07-08 | 珠海一微半导体股份有限公司 | 一种地毯检测方法 |
| CN110403540A (zh) * | 2019-08-20 | 2019-11-05 | 珠海市一微半导体有限公司 | 用于地面介质检测的声音探测装置及清洁机器人 |
| CN110514744B (zh) | 2019-08-20 | 2020-05-05 | 珠海市一微半导体有限公司 | 一种地面介质的判断阈值的修正方法及其检测方法 |
| CN110477814B (zh) * | 2019-08-20 | 2023-08-15 | 珠海一微半导体股份有限公司 | 一种用于地毯检测的移动机器人 |
| CN114980787B (zh) | 2020-03-25 | 2024-01-26 | 科德宝两合公司 | 识别基底的方法和组件 |
| CN112198222B (zh) | 2020-09-17 | 2022-04-05 | 美智纵横科技有限责任公司 | 地面材质识别方法、系统、设备及存储介质 |
| CN113384188A (zh) * | 2021-06-22 | 2021-09-14 | 深圳前海帕拓逊网络技术有限公司 | 自动识别地面材料的装置及吸尘器 |
Family Cites Families (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4574637A (en) * | 1984-08-03 | 1986-03-11 | Univ Ohio | Method for measuring surface and near surface properties of materials |
| JP2606842B2 (ja) * | 1987-05-30 | 1997-05-07 | 株式会社東芝 | 電気掃除機 |
| JPS63300732A (ja) * | 1987-05-30 | 1988-12-07 | 株式会社東芝 | 電気掃除機 |
| JP2820407B2 (ja) † | 1988-02-16 | 1998-11-05 | 松下電器産業株式会社 | 自走式掃除機 |
| KR910006885B1 (ko) * | 1988-08-15 | 1991-09-10 | 미쯔비시 덴끼 가부시기가이샤 | 전기소제기의 파워브러시 |
| JPH02102629A (ja) * | 1988-10-11 | 1990-04-16 | Mitsubishi Electric Corp | 電気掃除機 |
| JPH0824652B2 (ja) * | 1988-12-06 | 1996-03-13 | 松下電器産業株式会社 | 電気掃除機 |
| JPH0377519A (ja) † | 1989-08-18 | 1991-04-03 | Matsushita Electric Ind Co Ltd | 床面判別装置 |
| US5144715A (en) * | 1989-08-18 | 1992-09-08 | Matsushita Electric Industrial Co., Ltd. | Vacuum cleaner and method of determining type of floor surface being cleaned thereby |
| DE69015557D1 (de) * | 1989-10-18 | 1995-02-09 | Hitachi Ltd | Staubsauger und Verfahren zum Regeln desselben. |
| JPH03212249A (ja) † | 1990-01-17 | 1991-09-17 | Matsushita Electric Ind Co Ltd | 床面判別装置 |
| KR920007588B1 (ko) † | 1990-08-29 | 1992-09-08 | 주식회사 금성사 | 자동주행청소기의 카페트 및 계단감지장치 및 방법 |
| JPH04126115A (ja) † | 1990-09-18 | 1992-04-27 | Sanyo Electric Co Ltd | 電気掃除機 |
| JP2900595B2 (ja) * | 1990-11-22 | 1999-06-02 | 松下電器産業株式会社 | 掃除機 |
| JPH06261853A (ja) † | 1993-03-11 | 1994-09-20 | Matsushita Electric Ind Co Ltd | 電気掃除機の床面検知器 |
| FR2708188A1 (fr) * | 1993-07-28 | 1995-02-03 | Philips Laboratoire Electroniq | Aspirateur avec des moyens de détection des sols et de réglage de la puissance du moteur en fonction du sol détecté. |
| DE4333645A1 (de) † | 1993-10-02 | 1995-04-06 | Rossendorf Forschzent | Verfahren zur Minimierung des Einflusses von Resonanzfluktuationen auf das Meßsignal bei Ultraschall-Durchschallungsuntersuchungen |
| DE4418887C1 (de) † | 1994-05-30 | 1995-04-06 | Siemens Ag | Verfahren zum Herstellen einer Ultraschall-Wandleranordnung |
| JPH07313418A (ja) † | 1994-05-30 | 1995-12-05 | Nippon Ceramic Co Ltd | 掃除機 |
-
1998
- 1998-06-29 JP JP51409199A patent/JP4282772B2/ja not_active Expired - Lifetime
- 1998-06-29 WO PCT/IB1998/000996 patent/WO1999009874A1/en not_active Ceased
- 1998-06-29 CN CNB988015714A patent/CN1155326C/zh not_active Expired - Lifetime
- 1998-06-29 KR KR10-1999-7003583A patent/KR100516315B1/ko not_active Expired - Lifetime
- 1998-06-29 DE DE69832957T patent/DE69832957T3/de not_active Expired - Lifetime
- 1998-06-29 EP EP98925883A patent/EP0939598B2/en not_active Expired - Lifetime
- 1998-08-17 US US09/135,366 patent/US6076227A/en not_active Expired - Lifetime
-
2008
- 2008-09-29 JP JP2008249909A patent/JP4829282B2/ja not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| KR20000068829A (ko) | 2000-11-25 |
| EP0939598A1 (en) | 1999-09-08 |
| DE69832957T3 (de) | 2013-11-21 |
| DE69832957T2 (de) | 2006-08-24 |
| JP2009050710A (ja) | 2009-03-12 |
| EP0939598B1 (en) | 2005-12-28 |
| DE69832957D1 (de) | 2006-02-02 |
| JP4282772B2 (ja) | 2009-06-24 |
| CN1242692A (zh) | 2000-01-26 |
| JP2001504744A (ja) | 2001-04-10 |
| US6076227A (en) | 2000-06-20 |
| KR100516315B1 (ko) | 2005-09-23 |
| EP0939598B2 (en) | 2013-03-20 |
| JP4829282B2 (ja) | 2011-12-07 |
| WO1999009874A1 (en) | 1999-03-04 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term |
Granted publication date: 20040630 |
|
| CX01 | Expiry of patent term |