JP2018509595A - 表面を処理するための装置 - Google Patents
表面を処理するための装置 Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/55—Specular reflectivity
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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
- A47L9/2805—Parameters or conditions being sensed
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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
- A47L9/30—Arrangement of illuminating devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
- G01N21/251—Colorimeters; Construction thereof
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
- G01N21/255—Details, e.g. use of specially adapted sources, lighting or optical systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/47—Scattering, i.e. diffuse reflection
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/86—Investigating moving sheets
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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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/47—Scattering, i.e. diffuse reflection
- G01N2021/4704—Angular selective
- G01N2021/4726—Detecting scatter at 90°
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/47—Scattering, i.e. diffuse reflection
- G01N2021/4735—Solid samples, e.g. paper, glass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/55—Specular reflectivity
- G01N2021/555—Measuring total reflection power, i.e. scattering and specular
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/55—Specular reflectivity
- G01N2021/556—Measuring separately scattering and specular
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- Investigating Or Analysing Materials By Optical Means (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
Description
1. 光源を消灯し、第1の光センサと第2の光センサとを用いてIambientを測定するステップ。
2.光源を点灯し、第1の光センサを用いてIambient + Idiffuse + Ireflectedを測定するステップ。
3.光源を点灯し、第2の光センサを用いてIambient + Idiffuseを測定するステッップ。
Ireflected = I3 - I4
2…表面
3…光学測定装置
4…光源
5…第1の光センサ
6…第2の光センサ
7…反射点
8…入射平面
9…第2の平面
10…評価器兼制御器
11…開口
α…入射角
β…反射角
γ…角度
δ…角度
Claims (10)
- 表面(2)を処理するための装置(1)、特に掃除ロボットであって、
前記装置(1)が、前記表面(2)の種類を決定するための光学測定装置(3)を備え、
前記光学測定装置(3)が、光源(4)と少なくとも第1の光センサ(5)および第2の光センサ(6)とを有し、
前記光源(4)によって放たれた光が入射角(α)で前記表面(2)の反射点(7)に当たり、それから対応する反射角(β)で前記第1の光センサ(5)に反射されるように、前記光源(4)と前記第1の光センサ(5)とが配置されており、
前記光源(4)と前記反射点(7)と前記第1の光センサ(5)とが、入射平面(8)に位置し、
前記反射点(7)と交差し、前記第2の光センサ(6)を持つ第2の平面(9)が、前記表面(2)に対して直角に位置し、前記入射平面(8)に対して80°と100°の間の角度(δ)をなし、
前記反射点(7)と前記第2の光センサ(6)を結ぶ直線が、前記表面(2)に対して、前記入射角(α)または前記反射角(β)と基本的に同じ大きさである角度(γ)をなす、
ことを特徴とする装置(1)。 - 前記入射角(α)と前記反射角(β)と前記角度(γ)とが、それぞれ30°と45°の間であることを特徴とする請求項1に記載の装置(1)。
- 前記角度(δ)が、90°であることを特徴とする請求項1または2に記載の装置(1)。
- 前記光源(4)が、多色光源、特に白色光源であることを特徴とする請求項1ないし3のいずれか1項に記載の装置(1)。
- 前記光センサ(5,6)が、波長選択的であるように設計され、特にRGBセンサであることを特徴とする請求項1ないし4のいずれか1項に記載の装置(1)。
- 装置(1)によって、特に請求項1ないし5のいずれか1項に記載の装置(1)によって表面(2)を処理する方法、特に掃除する方法であって、
前記装置(1)が、光学測定装置(3)を用いて前記表面(2)の種類を決定し、前記装置(1)の機能として処理する種類を調節し、
光が、入射平面(8)の内側で、光源(4)から前記表面(2)の反射点(7)へ入射角(α)で放射され、当該反射点(7)から第1の光センサ(5)へ対応する反射角(β)で反射され、
第2の光センサ(6)が第2の平面(9)内に配置され、当該第2の平面(9)が前記表面(2)に対して直角に位置し、前記反射点(7)と交差し、前記入射平面(8)に対して80°と100°の間の角度(δ)をなし、前記反射点(7)と前記第2の光センサ(6)を結ぶ直線が前記表面(2)に対して前記入射角(α)または前記反射角(β)と基本的に同じ大きさである角度(γ)をなす、
ことを特徴とする方法。 - 前記表面(2)の種類を決定するための請求項6に記載の方法であって、
前記光源(4)を消灯し、前記第1の光センサ(5)と前記第2の光センサ(6)とを用いて光強度を測定するステップと、
前記光源(4)を点灯し、前記第1の光センサ(5)を用いて光強度を測定するステップと、
前記光源(4)を点灯し、前記第2の光センサ(6)を用いて光強度を測定するステップと、
を備えることを特徴とする方法。 - 前記光センサ(5,6)によって測定された光強度が、既知の表面(2)に対する対応する参照強度と比較されることを特徴とする請求項6に記載の方法。
- 前記光源(4)が、多色光を放つことを特徴とする請求項6または7に記載の方法。
- 前記表面(2)から前記光センサ(5,6)に到達する光が、スペクトルでフィルタリングされることを特徴とする請求項6ないし8のいずれか1項に記載の方法。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
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DE102015100977.3A DE102015100977A1 (de) | 2015-01-23 | 2015-01-23 | Gerät zur Bearbeitung einer Oberfläche |
DE102015100977.3 | 2015-01-23 | ||
PCT/EP2016/050337 WO2016116309A1 (de) | 2015-01-23 | 2016-01-11 | Gerät zur bearbeitung einer oberfläche |
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JP2018509595A true JP2018509595A (ja) | 2018-04-05 |
JP6647306B2 JP6647306B2 (ja) | 2020-02-14 |
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JP2017536250A Expired - Fee Related JP6647306B2 (ja) | 2015-01-23 | 2016-01-11 | 表面を処理するための装置 |
Country Status (10)
Country | Link |
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US (1) | US10247669B2 (ja) |
EP (1) | EP3247992B1 (ja) |
JP (1) | JP6647306B2 (ja) |
CN (1) | CN107667285B (ja) |
DE (1) | DE102015100977A1 (ja) |
ES (1) | ES2704173T3 (ja) |
PH (1) | PH12017501215A1 (ja) |
SG (1) | SG11201705810YA (ja) |
TW (1) | TW201636575A (ja) |
WO (1) | WO2016116309A1 (ja) |
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TW201636575A (zh) | 2016-10-16 |
US10247669B2 (en) | 2019-04-02 |
SG11201705810YA (en) | 2017-08-30 |
US20180164213A1 (en) | 2018-06-14 |
WO2016116309A1 (de) | 2016-07-28 |
CN107667285B (zh) | 2022-12-20 |
CN107667285A (zh) | 2018-02-06 |
EP3247992B1 (de) | 2018-12-26 |
EP3247992A1 (de) | 2017-11-29 |
JP6647306B2 (ja) | 2020-02-14 |
ES2704173T3 (es) | 2019-03-14 |
DE102015100977A1 (de) | 2016-07-28 |
PH12017501215A1 (en) | 2018-01-15 |
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