JP2009500741A - ロボット清掃装置 - Google Patents
ロボット清掃装置 Download PDFInfo
- Publication number
- JP2009500741A JP2009500741A JP2008520218A JP2008520218A JP2009500741A JP 2009500741 A JP2009500741 A JP 2009500741A JP 2008520218 A JP2008520218 A JP 2008520218A JP 2008520218 A JP2008520218 A JP 2008520218A JP 2009500741 A JP2009500741 A JP 2009500741A
- Authority
- JP
- Japan
- Prior art keywords
- side wall
- cleaning device
- main
- robot cleaning
- rear end
- 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 112
- 238000001514 detection method Methods 0.000 claims abstract description 17
- 239000000428 dust Substances 0.000 description 4
- 239000010813 municipal solid waste Substances 0.000 description 4
- 238000005265 energy consumption Methods 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 230000001141 propulsive effect Effects 0.000 description 1
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
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/30—Arrangement or mounting of transmissions in vehicles the ultimate propulsive elements, e.g. ground wheels, being steerable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K2007/0038—Disposition of motor in, or adjacent to, traction wheel the motor moving together with the wheel axle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K2007/0092—Disposition of motor in, or adjacent to, traction wheel the motor axle being coaxial to the wheel axle
-
- 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
- G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Electric Suction Cleaners (AREA)
- Electric Vacuum Cleaner (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
- Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
Abstract
Description
Claims (16)
- 主要本体を備えるロボット清掃装置であって、
該主要本体が、
表面上で前記装置を移動させるように構成された制御可能な駆動手段と、
前記装置が表面上を移動させられるとき、表面を清掃するように構成された清掃手段と、
障害物探知手段と、
前記駆動手段と前記障害物探知手段とに接続された制御手段と、
を収容しており、
前記主要本体が、左後端部分と前方端部分を接続する左側壁と、右後端部分と前記前方端部分を接続する右側壁とを有し、
前記制御手段は、探知された障害物について前記障害物探知手段から情報を受信するとき、前記装置が、実質的に前記軸線の一つの回りの回転動作のみを実行するように、前記駆動手段を制御して、前記左後端部分に位置する主要左回転軸線と、前記右後端部分に位置する主要右回転軸線とのうちの一つ回りに前記装置を回転させるように構成されており、
前記左側壁と前記右側壁とは、前記装置が、前記回転動作によって、探知された障害物避けて移動されるように構成されていることを特徴とするロボット清掃装置。 - 前記左側壁と前記右側壁とが、前記前方端部分において頂点を有する実質的に二等辺の各辺である請求項2に記載のロボット清掃装置。
- 前記左側壁と前記右側壁とは、凸形状である請求項1又は請求項2に記載のロボット清掃装置。
- 前記左側壁の少なくとも大部分が、前記主要右回転軸線と一致する曲率中心を有する円弧として形成されており、前記右側壁の大部分が、前記主要左回転軸線と一致する曲率中心を有する円弧として形成されている請求項1から請求項3の何れか一項に記載のロボット清掃装置。
- 前記左側壁と前記右側壁とは、可撓性バンパー及び可撓性取付けバンパーの一方又は両方を含んでいる請求項1から請求項4の何れか一項に記載のロボット清掃装置。
- 前記主要本体は、前記右後端部分と前記左後端部分とを接続する後方側壁を有しており、前記後側壁が凸形状である請求項1から請求項5の何れか一項に記載のロボット清掃装置。
- 前記後方側壁の少なくとも大部分が、前記前方端部分に位置する曲率中心を有する円弧として形成されている請求項6に記載のロボット清掃装置。
- 前記主要本体が、三角形ブロックの全体的形状であり、好ましくは等辺三角形ブロックの全体的形状である請求項1から請求項7の何れか一項に記載のロボット清掃装置。
- 前記駆動手段が、操舵可能な駆動車輪を含んでおり、前記制御手段が、前記操舵可能な駆動車輪を操舵することによって前記駆動手段を制御するように構成されている請求項1から請求項8の何れか一項に記載のロボット清掃装置。
- 前記操舵可能な駆動車輪が、前記主要左回転軸線と前記主要右回転軸線との間の軸線の前、好ましくは前記前方端部分に取付けられている請求項9に記載のロボット清掃装置。
- 少なくとも大部分、前記装置の重量の大部分、好ましくは80%以上が前記操舵車輪によって支持されている請求項10に記載のロボット清掃装置。
- 前記駆動手段は、回転動作のみ実行するときに、前記主要本体のすべての回転軸線が、その軸線上に位置するように、主要前方駆動方向において低摩擦であり且つ前記主要前方駆動方向に対して垂直な軸線の両方向において高摩擦を有する支持手段を含んでいる請求項1から請求項11の何れか一項に記載のロボット清掃装置。
- 前記支持手段は、旋回可能でない支持車輪を含んでいる請求項12に記載のロボット清掃装置。
- 前記支持手段は、前記左後端部分と前記右後端部分とにそれぞれ取付けられた二つの旋回可能でない支持車輪を含んでいる請求項13に記載のロボット清掃装置。
- 前記清掃手段は、真空手段を備えている請求項1から請求項14の何れか一項に記載のロボット清掃装置。
- 前記真空手段は、前記主要本体のほぼ幅全体にわたって、前記左後端部分から前記右後端部分まで延びる吸引スリットを含んでいる請求項15に記載のロボット清掃装置。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE0501613 | 2005-07-08 | ||
SE0501613-4 | 2005-07-08 | ||
PCT/SE2006/000847 WO2007008148A1 (en) | 2005-07-08 | 2006-07-06 | Robotic cleaning device |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2009500741A true JP2009500741A (ja) | 2009-01-08 |
JP2009500741A5 JP2009500741A5 (ja) | 2009-06-18 |
JP5048663B2 JP5048663B2 (ja) | 2012-10-17 |
Family
ID=37637410
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2008520218A Active JP5048663B2 (ja) | 2005-07-08 | 2006-07-06 | ロボット清掃装置 |
Country Status (7)
Country | Link |
---|---|
US (1) | US8032978B2 (ja) |
EP (1) | EP1906807B1 (ja) |
JP (1) | JP5048663B2 (ja) |
KR (1) | KR101322970B1 (ja) |
CN (1) | CN100586356C (ja) |
AT (1) | ATE542459T1 (ja) |
WO (1) | WO2007008148A1 (ja) |
Cited By (27)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2010211512A (ja) * | 2009-03-10 | 2010-09-24 | Toshiba Tec Corp | 自律移動装置 |
JP2013231536A (ja) * | 2012-04-27 | 2013-11-14 | Sharp Corp | 自走式空気清浄機 |
JP2013247986A (ja) * | 2012-05-30 | 2013-12-12 | Mitsubishi Electric Corp | 自走式掃除機 |
US8918477B2 (en) | 2012-03-20 | 2014-12-23 | International Business Machines Corporation | Inter-domain replication of service information |
KR101476600B1 (ko) * | 2010-09-13 | 2014-12-26 | 칼 프로이덴베르크 카게 | 청소 유닛용 구동 시스템 및 청소 유닛 |
WO2016002186A1 (ja) * | 2014-06-30 | 2016-01-07 | パナソニックIpマネジメント株式会社 | 自律走行型掃除機 |
JP2016514582A (ja) * | 2013-04-15 | 2016-05-23 | アクティエボラゲット エレクトロラックス | ロボット真空掃除機 |
JP2016514583A (ja) * | 2013-04-15 | 2016-05-23 | アクティエボラゲット エレクトロラックス | 突出サイドブラシを備えたロボット真空掃除機 |
JP2016518892A (ja) * | 2013-03-28 | 2016-06-30 | ユジン ロボット カンパニー リミテッド | 拡張された清掃領域を有する清掃ロボット |
JP2016540549A (ja) * | 2013-12-20 | 2016-12-28 | アクチエボラゲット エレクトロルックス | 自動掃除機 |
JP2017501758A (ja) * | 2013-12-19 | 2017-01-19 | アクチエボラゲット エレクトロルックス | サイドブラシが渦巻きパターンで動くロボットバキュームクリーナ |
JP2018190391A (ja) * | 2017-05-11 | 2018-11-29 | ボット3, インコーポレイテッドBot3, INC. | 携帯型移動ロボット及びその操作方法 |
JP2019501050A (ja) * | 2015-10-07 | 2019-01-17 | エックス デベロップメント エルエルシー | 車両操縦および移動のためのモータシステム |
US10433697B2 (en) | 2013-12-19 | 2019-10-08 | Aktiebolaget Electrolux | Adaptive speed control of rotating side brush |
US10499778B2 (en) | 2014-09-08 | 2019-12-10 | Aktiebolaget Electrolux | Robotic vacuum cleaner |
US10534367B2 (en) | 2014-12-16 | 2020-01-14 | Aktiebolaget Electrolux | Experience-based roadmap for a robotic cleaning device |
US10617271B2 (en) | 2013-12-19 | 2020-04-14 | Aktiebolaget Electrolux | Robotic cleaning device and method for landmark recognition |
US10678251B2 (en) | 2014-12-16 | 2020-06-09 | Aktiebolaget Electrolux | Cleaning method for a robotic cleaning device |
US10729297B2 (en) | 2014-09-08 | 2020-08-04 | Aktiebolaget Electrolux | Robotic vacuum cleaner |
US10874274B2 (en) | 2015-09-03 | 2020-12-29 | Aktiebolaget Electrolux | System of robotic cleaning devices |
US10877484B2 (en) | 2014-12-10 | 2020-12-29 | Aktiebolaget Electrolux | Using laser sensor for floor type detection |
US10874271B2 (en) | 2014-12-12 | 2020-12-29 | Aktiebolaget Electrolux | Side brush and robotic cleaner |
US11099554B2 (en) | 2015-04-17 | 2021-08-24 | Aktiebolaget Electrolux | Robotic cleaning device and a method of controlling the robotic cleaning device |
US11122953B2 (en) | 2016-05-11 | 2021-09-21 | Aktiebolaget Electrolux | Robotic cleaning device |
US11169533B2 (en) | 2016-03-15 | 2021-11-09 | Aktiebolaget Electrolux | Robotic cleaning device and a method at the robotic cleaning device of performing cliff detection |
US11474533B2 (en) | 2017-06-02 | 2022-10-18 | Aktiebolaget Electrolux | Method of detecting a difference in level of a surface in front of a robotic cleaning device |
US11921517B2 (en) | 2017-09-26 | 2024-03-05 | Aktiebolaget Electrolux | Controlling movement of a robotic cleaning device |
Families Citing this family (32)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101816533B (zh) * | 2009-02-27 | 2012-08-01 | 和硕联合科技股份有限公司 | 可调整式集尘盒与其吸尘装置 |
DE102009049637A1 (de) * | 2009-10-15 | 2011-04-28 | Carl Freudenberg Kg | Reinigungsroboter |
WO2012099694A1 (en) * | 2010-12-30 | 2012-07-26 | Irobot Corporation | Coverage robot navigation |
PL394570A1 (pl) | 2011-04-15 | 2012-10-22 | Robotics Inventions Spólka Z Ograniczona Odpowiedzialnoscia | Robot do podlóg podniesionych i sposób serwisowania podlóg podniesionych |
KR101566207B1 (ko) * | 2011-06-28 | 2015-11-13 | 삼성전자 주식회사 | 로봇 청소기 및 그 제어방법 |
JP6068823B2 (ja) * | 2012-04-27 | 2017-01-25 | シャープ株式会社 | 自走式掃除機 |
DE102012107765B4 (de) * | 2012-08-23 | 2020-02-13 | Miele & Cie. Kg | Robotsauger und Verfahren zum Betrieb eines Robotsaugers |
CN104487864B (zh) | 2012-08-27 | 2017-06-23 | 伊莱克斯公司 | 机器人定位系统 |
US9615714B2 (en) * | 2012-11-09 | 2017-04-11 | Samsung Electronics Co., Ltd. | Autonomous cleaning device |
US10111563B2 (en) | 2013-01-18 | 2018-10-30 | Sunpower Corporation | Mechanism for cleaning solar collector surfaces |
CN203987872U (zh) * | 2013-06-03 | 2014-12-10 | 碧洁家庭护理有限公司 | 自主式地板清洁器 |
USD756577S1 (en) * | 2013-10-24 | 2016-05-17 | Aktiebolaget Electrolux | Vacuum cleaner |
US11235893B2 (en) | 2013-12-05 | 2022-02-01 | The Boeing Company | End effector for cleaning objects having multiple surfaces |
JP6750921B2 (ja) | 2013-12-19 | 2020-09-02 | アクチエボラゲット エレクトロルックス | ロボット掃除機 |
ES2656664T3 (es) | 2013-12-19 | 2018-02-28 | Aktiebolaget Electrolux | Dispositivo robótico de limpieza con función de registro del perímetro |
US9946263B2 (en) | 2013-12-19 | 2018-04-17 | Aktiebolaget Electrolux | Prioritizing cleaning areas |
CN105813528B (zh) | 2013-12-19 | 2019-05-07 | 伊莱克斯公司 | 机器人清洁设备的障碍物感测爬行 |
WO2015090439A1 (en) | 2013-12-20 | 2015-06-25 | Aktiebolaget Electrolux | Dust container |
CN104000541B (zh) * | 2014-06-16 | 2016-05-04 | 成都北斗群星智能科技有限公司 | 支持门槛检测的扫地机器人及门槛检测方法 |
JP6513709B2 (ja) | 2014-07-10 | 2019-05-15 | アクチエボラゲット エレクトロルックス | ロボット型清掃装置における計測誤差を検出する方法、ロボット型清掃装置、コンピュータプログラムおよびコンピュータプログラムプロダクト |
JP2017213009A (ja) | 2014-10-10 | 2017-12-07 | パナソニックIpマネジメント株式会社 | 自律走行型掃除機 |
WO2016056226A1 (ja) * | 2014-10-10 | 2016-04-14 | パナソニックIpマネジメント株式会社 | 自律走行型掃除機 |
JP1531010S (ja) * | 2014-10-22 | 2015-08-17 | ||
EP3215383B1 (fr) * | 2014-11-04 | 2018-07-11 | France Reducteurs | Engin roulant à déplacement automatique exempt de conducteur assis ou marchand derrière l'engin, encore appelé robot |
JP6476077B2 (ja) * | 2015-06-18 | 2019-02-27 | シャープ株式会社 | 自走式電子機器および前記自走式電子機器の走行方法 |
CN106913290B (zh) * | 2015-12-25 | 2020-09-25 | 北京奇虎科技有限公司 | 一种扫地机和基于扫地机的控制方法 |
TWI680739B (zh) * | 2016-02-05 | 2020-01-01 | 金寶電子工業股份有限公司 | 自走車防護裝置 |
CN109808789A (zh) * | 2017-11-21 | 2019-05-28 | 富泰华工业(深圳)有限公司 | 轮式移动机器人的防走偏装置 |
CN108523774B (zh) * | 2018-05-11 | 2020-08-28 | 安徽大江服装服饰有限公司 | 一种扫地机器人用碰壁型喷洒装置 |
US10888204B2 (en) | 2019-05-29 | 2021-01-12 | Maniff Creations, Inc. | Removable cover for a robotic cleaning device |
USD924508S1 (en) * | 2019-05-30 | 2021-07-06 | Trifo, Inc. | Home robot |
CN217659576U (zh) | 2020-10-23 | 2022-10-28 | 尚科宁家运营有限公司 | 机器人清洁器 |
Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS62120510A (ja) * | 1985-11-21 | 1987-06-01 | Hitachi Ltd | 自動掃除機の制御方法 |
JPS63241610A (ja) * | 1987-03-30 | 1988-10-06 | Hitachi Ltd | 自走ロボツトの走行制御方法 |
JPH03166074A (ja) * | 1989-11-27 | 1991-07-18 | Sony Corp | 自走ロボット |
JPH05189041A (ja) * | 1992-01-14 | 1993-07-30 | Matsushita Electric Ind Co Ltd | 移動作業ロボットの障害物検知装置 |
JPH06144215A (ja) * | 1992-10-30 | 1994-05-24 | Meidensha Corp | 無人搬送車 |
JPH06179145A (ja) * | 1992-12-10 | 1994-06-28 | Toyoda Mach Works Ltd | 搬送台車 |
JPH08326025A (ja) * | 1995-05-31 | 1996-12-10 | Tokico Ltd | 清掃ロボット |
JPH09150741A (ja) * | 1995-11-29 | 1997-06-10 | Toyota Auto Body Co Ltd | 重量物運搬用の電動台車 |
JP2003280740A (ja) * | 2002-03-25 | 2003-10-02 | Matsushita Electric Ind Co Ltd | 移動装置 |
Family Cites Families (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2620070A2 (fr) * | 1986-12-11 | 1989-03-10 | Jonas Andre | Unite mobile autoguidee et appareil de nettoyage tel qu'un aspirateur comportant une telle unite |
US5023444A (en) | 1989-12-28 | 1991-06-11 | Aktiebolaget Electrolux | Machine proximity sensor |
US5307273A (en) | 1990-08-29 | 1994-04-26 | Goldstar Co., Ltd. | Apparatus and method for recognizing carpets and stairs by cleaning robot |
KR930000081B1 (ko) * | 1990-12-07 | 1993-01-08 | 주식회사 금성사 | 청소기의 자동 청소방법 |
KR940004375B1 (ko) * | 1992-03-25 | 1994-05-23 | 삼성전자 주식회사 | 자주식 청소기의 구동방법 |
KR0140499B1 (ko) * | 1993-08-07 | 1998-07-01 | 김광호 | 청소기와 그 제어방법 |
SE502834C2 (sv) | 1994-03-29 | 1996-01-29 | Electrolux Ab | Förfarande och anordning för avkänning av hinder vid självgående anordning |
SE514791C2 (sv) | 1994-06-06 | 2001-04-23 | Electrolux Ab | Förbättrat förfarande för lokalisering av fyrar vid självgående anordning |
US5935179A (en) | 1996-04-30 | 1999-08-10 | Aktiebolaget Electrolux | System and device for a self orienting device |
SE506372C2 (sv) | 1996-04-30 | 1997-12-08 | Electrolux Ab | Självgående anordning |
US6226830B1 (en) | 1997-08-20 | 2001-05-08 | Philips Electronics North America Corp. | Vacuum cleaner with obstacle avoidance |
SE510524C2 (sv) | 1997-09-19 | 1999-05-31 | Electrolux Ab | Elektroniskt avgränsningssystem |
SE511254C2 (sv) | 1998-01-08 | 1999-09-06 | Electrolux Ab | Elektroniskt söksystem för arbetsredskap |
US7155308B2 (en) * | 2000-01-24 | 2006-12-26 | Irobot Corporation | Robot obstacle detection system |
US7024278B2 (en) * | 2002-09-13 | 2006-04-04 | Irobot Corporation | Navigational control system for a robotic device |
KR100492588B1 (ko) * | 2003-01-23 | 2005-06-03 | 엘지전자 주식회사 | 자동 주행 청소기의 위치정보 인식장치 |
AU2004202834B2 (en) | 2003-07-24 | 2006-02-23 | Samsung Gwangju Electronics Co., Ltd. | Robot Cleaner |
EP1850725B1 (en) * | 2005-02-18 | 2010-05-19 | iRobot Corporation | Autonomous surface cleaning robot for wet and dry cleaning |
US20060200281A1 (en) * | 2005-02-18 | 2006-09-07 | Andrew Ziegler | Autonomous surface cleaning robot for wet and dry cleaning |
-
2006
- 2006-07-06 KR KR1020087002671A patent/KR101322970B1/ko active IP Right Grant
- 2006-07-06 CN CN200680024913A patent/CN100586356C/zh active Active
- 2006-07-06 WO PCT/SE2006/000847 patent/WO2007008148A1/en active Application Filing
- 2006-07-06 AT AT06747992T patent/ATE542459T1/de active
- 2006-07-06 US US11/995,071 patent/US8032978B2/en not_active Expired - Fee Related
- 2006-07-06 JP JP2008520218A patent/JP5048663B2/ja active Active
- 2006-07-06 EP EP06747992A patent/EP1906807B1/en active Active
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS62120510A (ja) * | 1985-11-21 | 1987-06-01 | Hitachi Ltd | 自動掃除機の制御方法 |
JPS63241610A (ja) * | 1987-03-30 | 1988-10-06 | Hitachi Ltd | 自走ロボツトの走行制御方法 |
JPH03166074A (ja) * | 1989-11-27 | 1991-07-18 | Sony Corp | 自走ロボット |
JPH05189041A (ja) * | 1992-01-14 | 1993-07-30 | Matsushita Electric Ind Co Ltd | 移動作業ロボットの障害物検知装置 |
JPH06144215A (ja) * | 1992-10-30 | 1994-05-24 | Meidensha Corp | 無人搬送車 |
JPH06179145A (ja) * | 1992-12-10 | 1994-06-28 | Toyoda Mach Works Ltd | 搬送台車 |
JPH08326025A (ja) * | 1995-05-31 | 1996-12-10 | Tokico Ltd | 清掃ロボット |
JPH09150741A (ja) * | 1995-11-29 | 1997-06-10 | Toyota Auto Body Co Ltd | 重量物運搬用の電動台車 |
JP2003280740A (ja) * | 2002-03-25 | 2003-10-02 | Matsushita Electric Ind Co Ltd | 移動装置 |
Cited By (40)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2010211512A (ja) * | 2009-03-10 | 2010-09-24 | Toshiba Tec Corp | 自律移動装置 |
KR101476600B1 (ko) * | 2010-09-13 | 2014-12-26 | 칼 프로이덴베르크 카게 | 청소 유닛용 구동 시스템 및 청소 유닛 |
US9866593B2 (en) | 2012-03-20 | 2018-01-09 | International Business Machines Corporation | Inter-domain replication of service information |
US8918477B2 (en) | 2012-03-20 | 2014-12-23 | International Business Machines Corporation | Inter-domain replication of service information |
US8930493B2 (en) | 2012-03-20 | 2015-01-06 | International Business Machines Corporation | Inter-domain replication of service information |
US10715553B2 (en) | 2012-03-20 | 2020-07-14 | International Business Machines Corporation | Inter-domain replication of service information |
US9313231B2 (en) | 2012-03-20 | 2016-04-12 | International Business Machines Corporation | Inter-domain replication of service information |
US10116706B2 (en) | 2012-03-20 | 2018-10-30 | International Business Machines Corporation | Inter-domain replication of service information |
JP2013231536A (ja) * | 2012-04-27 | 2013-11-14 | Sharp Corp | 自走式空気清浄機 |
JP2013247986A (ja) * | 2012-05-30 | 2013-12-12 | Mitsubishi Electric Corp | 自走式掃除機 |
JP2016518892A (ja) * | 2013-03-28 | 2016-06-30 | ユジン ロボット カンパニー リミテッド | 拡張された清掃領域を有する清掃ロボット |
JP2016514582A (ja) * | 2013-04-15 | 2016-05-23 | アクティエボラゲット エレクトロラックス | ロボット真空掃除機 |
US10448794B2 (en) | 2013-04-15 | 2019-10-22 | Aktiebolaget Electrolux | Robotic vacuum cleaner |
US10219665B2 (en) | 2013-04-15 | 2019-03-05 | Aktiebolaget Electrolux | Robotic vacuum cleaner with protruding sidebrush |
JP2016514583A (ja) * | 2013-04-15 | 2016-05-23 | アクティエボラゲット エレクトロラックス | 突出サイドブラシを備えたロボット真空掃除機 |
JP2017501758A (ja) * | 2013-12-19 | 2017-01-19 | アクチエボラゲット エレクトロルックス | サイドブラシが渦巻きパターンで動くロボットバキュームクリーナ |
US10433697B2 (en) | 2013-12-19 | 2019-10-08 | Aktiebolaget Electrolux | Adaptive speed control of rotating side brush |
US10617271B2 (en) | 2013-12-19 | 2020-04-14 | Aktiebolaget Electrolux | Robotic cleaning device and method for landmark recognition |
EP3357393A3 (en) * | 2013-12-20 | 2018-12-12 | Aktiebolaget Electrolux | Autonomous cleaner |
JP2016540549A (ja) * | 2013-12-20 | 2016-12-28 | アクチエボラゲット エレクトロルックス | 自動掃除機 |
WO2016002186A1 (ja) * | 2014-06-30 | 2016-01-07 | パナソニックIpマネジメント株式会社 | 自律走行型掃除機 |
JP2018061847A (ja) * | 2014-06-30 | 2018-04-19 | パナソニックIpマネジメント株式会社 | 自律走行型掃除機 |
JPWO2016002186A1 (ja) * | 2014-06-30 | 2017-05-25 | パナソニックIpマネジメント株式会社 | 自律走行型掃除機 |
JP2017080565A (ja) * | 2014-06-30 | 2017-05-18 | パナソニックIpマネジメント株式会社 | 自律走行型掃除機 |
JP2017080564A (ja) * | 2014-06-30 | 2017-05-18 | パナソニックIpマネジメント株式会社 | 自律走行型掃除機 |
US10499778B2 (en) | 2014-09-08 | 2019-12-10 | Aktiebolaget Electrolux | Robotic vacuum cleaner |
US10729297B2 (en) | 2014-09-08 | 2020-08-04 | Aktiebolaget Electrolux | Robotic vacuum cleaner |
US10877484B2 (en) | 2014-12-10 | 2020-12-29 | Aktiebolaget Electrolux | Using laser sensor for floor type detection |
US10874271B2 (en) | 2014-12-12 | 2020-12-29 | Aktiebolaget Electrolux | Side brush and robotic cleaner |
US10534367B2 (en) | 2014-12-16 | 2020-01-14 | Aktiebolaget Electrolux | Experience-based roadmap for a robotic cleaning device |
US10678251B2 (en) | 2014-12-16 | 2020-06-09 | Aktiebolaget Electrolux | Cleaning method for a robotic cleaning device |
US11099554B2 (en) | 2015-04-17 | 2021-08-24 | Aktiebolaget Electrolux | Robotic cleaning device and a method of controlling the robotic cleaning device |
US10874274B2 (en) | 2015-09-03 | 2020-12-29 | Aktiebolaget Electrolux | System of robotic cleaning devices |
US11712142B2 (en) | 2015-09-03 | 2023-08-01 | Aktiebolaget Electrolux | System of robotic cleaning devices |
JP2019501050A (ja) * | 2015-10-07 | 2019-01-17 | エックス デベロップメント エルエルシー | 車両操縦および移動のためのモータシステム |
US11169533B2 (en) | 2016-03-15 | 2021-11-09 | Aktiebolaget Electrolux | Robotic cleaning device and a method at the robotic cleaning device of performing cliff detection |
US11122953B2 (en) | 2016-05-11 | 2021-09-21 | Aktiebolaget Electrolux | Robotic cleaning device |
JP2018190391A (ja) * | 2017-05-11 | 2018-11-29 | ボット3, インコーポレイテッドBot3, INC. | 携帯型移動ロボット及びその操作方法 |
US11474533B2 (en) | 2017-06-02 | 2022-10-18 | Aktiebolaget Electrolux | Method of detecting a difference in level of a surface in front of a robotic cleaning device |
US11921517B2 (en) | 2017-09-26 | 2024-03-05 | Aktiebolaget Electrolux | Controlling movement of a robotic cleaning device |
Also Published As
Publication number | Publication date |
---|---|
KR20080028988A (ko) | 2008-04-02 |
EP1906807A4 (en) | 2011-03-09 |
CN100586356C (zh) | 2010-02-03 |
JP5048663B2 (ja) | 2012-10-17 |
EP1906807A1 (en) | 2008-04-09 |
EP1906807B1 (en) | 2012-01-25 |
WO2007008148A1 (en) | 2007-01-18 |
ATE542459T1 (de) | 2012-02-15 |
KR101322970B1 (ko) | 2013-10-29 |
CN101217907A (zh) | 2008-07-09 |
US8032978B2 (en) | 2011-10-11 |
US20090126143A1 (en) | 2009-05-21 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP5048663B2 (ja) | ロボット清掃装置 | |
US11014460B2 (en) | Compact autonomous coverage robot | |
CN111163671B (zh) | 机器人清洁器 | |
EP2721987B1 (en) | Method of controlling automatic cleaner | |
JP2005021665A (ja) | ロボット掃除機の駆動装置 | |
JP2004529686A (ja) | 自律的に移動するキャニスタ型真空掃除機 | |
JP2004195215A5 (ja) | ||
JP2017503530A (ja) | 回転側面ブラシの適応速度制御 | |
EP3793419B1 (en) | Robotic cleaning device with retractable side brush | |
JP2017213009A (ja) | 自律走行型掃除機 | |
KR20150141980A (ko) | 로봇 진공 청소기 | |
JP6198234B2 (ja) | 突出サイドブラシを備えたロボット真空掃除機 | |
CN109700379B (zh) | 自主行走型吸尘器 | |
KR100514993B1 (ko) | 무인청소기 | |
JP2004275304A (ja) | 自走式掃除機 | |
JP7396197B2 (ja) | 電気掃除機 | |
KR200324625Y1 (ko) | 무인청소기 | |
KR102662324B1 (ko) | 로봇 청소기 | |
KR20040087579A (ko) | 이동로봇의 장애물 인식장치 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20090421 |
|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20090421 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20110823 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20110906 |
|
A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20111205 |
|
A602 | Written permission of extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A602 Effective date: 20111212 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20120127 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20120619 |
|
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20120719 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20150727 Year of fee payment: 3 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 5048663 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |