JP2006043071A - 自走式掃除機 - Google Patents
自走式掃除機 Download PDFInfo
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- JP2006043071A JP2006043071A JP2004227422A JP2004227422A JP2006043071A JP 2006043071 A JP2006043071 A JP 2006043071A JP 2004227422 A JP2004227422 A JP 2004227422A JP 2004227422 A JP2004227422 A JP 2004227422A JP 2006043071 A JP2006043071 A JP 2006043071A
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- 238000001514 detection method Methods 0.000 claims abstract description 30
- 239000000428 dust Substances 0.000 claims abstract description 12
- 230000003287 optical effect Effects 0.000 claims abstract description 6
- 230000005540 biological transmission Effects 0.000 claims description 19
- 239000011521 glass Substances 0.000 description 17
- 238000004140 cleaning Methods 0.000 description 16
- 238000013459 approach Methods 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 4
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Abstract
自走式掃除機において、未清掃領域を低減する。
【解決手段】
自走式掃除機1は内部に動力源を有し、ほぼ円筒状のカバー2で覆われている。床面から塵埃を吸引する吸口体10が突出可能に設けられている。自走式掃除機を移動手段が自走させる。カバーの外周部には、物体を検出するセンシング手段6a〜6c、7a、7b、8a、8bが配置されている。センシング手段が検出した物体の情報に基づいて移動制御手段が移動手段を制御する。センシング手段は検出高さの異る複数の光学式センサ23a〜23dを有する
【選択図】図1
Description
dh=dv・tan(90°−φ)
LED23b〜23dを用いて、正面に位置する検出対象25までの距離を同様に求めることができる。
Da=Rb/sin45°−Rb+Dt
ここでDtを、上述した壁際清掃の際に使用した閾値dwの1ないし1.5倍程度に設定する。
Claims (8)
- 内部に動力源を有しほぼ円筒状のカバーで覆われ自走可能な自走式掃除機において、床面から塵埃を吸引する吸口体と、前記自走式掃除機を自走させる移動手段と、前記カバーの外周部に配置され物体を検出するセンシング手段と、このセンシング手段が検出した物体の情報に基づいて前記移動手段を制御する移動制御手段とを設け、前記センシング手段は検出高さの異なる複数の光学式センサを有することを特徴とする自走式掃除機。
- 前記吸口体は進行方向に対しほぼ直交する方向に突出可能であり、前記光学式センサの少なくとも2個は、進行方向に対しほぼ直角方向の物体をセンシングする側方センサであり、前記移動制御手段は、複数の側方センサが検出した距離のなかで最小となる距離を一定にするように前記移動手段を制御するとともに、最も検出高さの低い側方センサが検出した距離に応じて前記吸口体の突出量を制御することを特徴とする請求項1に記載の自走式掃除機。
- 前記センシング手段は、自走式掃除機の進行方向に対して斜め前方の物体をセンシングする斜め前方センサを有し、前記移動制御手段は前記側方センサを用いた走行中に、この斜め前方センサが予め定めた距離以内に物体を検出したときに自走式掃除機を旋回させることを特徴とする請求項2に記載の自走式掃除機。
- 超音波を発信する発信手段と、この発信手段から発信された超音波の反射を受信する受信手段とを前記カバーの周囲部であって前面側に有し、前記移動制御手段は前記側方センサを用いた走行中にこの側方センサの出力が予め定められた閾値以下になれば前記送信手段と受信手段との信号に基づいて前記駆動手段を駆動することを特徴とする請求項2に記載の自走式掃除機
- 前記発信手段と前記送信手段は自走式掃除機の進行方向に対して斜め前方に位置する物体を検出可能であり、前記移動制御手段は、前記送信手段と受信手段との信号から自走式掃除機と物体との距離を求め、この距離が予め定めた値になるように前記駆動手段を制御することを特徴とする請求項4に記載の自走式掃除機。
- 前記発信手段と前記送信手段はそれぞれ複数個設けられており、この発信手段と送信手段をケースの側面であって周方向に互い違いに配置したことを特徴とする請求項4に記載の自走式掃除機。
- 前記動力源は充電可能な蓄電池であることを特徴とする請求項1ないし5のいずれか1項に記載の自走式掃除機。
- 前記カバーの内側に自走式掃除機が物体と接触したことを検出する接触センサを配置したことを特徴とする請求項1ないし5のいずれか1項に記載の自走式掃除機。
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JP2004227422A JP4268911B2 (ja) | 2004-08-04 | 2004-08-04 | 自走式掃除機 |
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JP2004227422A JP4268911B2 (ja) | 2004-08-04 | 2004-08-04 | 自走式掃除機 |
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JP2006043071A true JP2006043071A (ja) | 2006-02-16 |
JP4268911B2 JP4268911B2 (ja) | 2009-05-27 |
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KR20180074509A (ko) * | 2016-12-23 | 2018-07-03 | 엘지전자 주식회사 | 청소 로봇 |
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CN108814452A (zh) * | 2018-08-22 | 2018-11-16 | 上海炬佑智能科技有限公司 | 扫地机器人及其障碍检测方法 |
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