JP2018510345A - 自動移動可能な清掃装置 - Google Patents
自動移動可能な清掃装置 Download PDFInfo
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- JP2018510345A JP2018510345A JP2017549588A JP2017549588A JP2018510345A JP 2018510345 A JP2018510345 A JP 2018510345A JP 2017549588 A JP2017549588 A JP 2017549588A JP 2017549588 A JP2017549588 A JP 2017549588A JP 2018510345 A JP2018510345 A JP 2018510345A
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- Prior art keywords
- light
- optical filter
- filter
- detector
- cleaning device
- Prior art date
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- 238000004140 cleaning Methods 0.000 title claims abstract description 47
- 230000003287 optical effect Effects 0.000 claims abstract description 119
- 238000002310 reflectometry Methods 0.000 claims abstract description 33
- 230000005540 biological transmission Effects 0.000 claims abstract description 15
- 238000001228 spectrum Methods 0.000 claims description 14
- 238000002834 transmittance Methods 0.000 description 8
- 238000005259 measurement Methods 0.000 description 7
- 230000004888 barrier function Effects 0.000 description 4
- 239000011248 coating agent Substances 0.000 description 2
- 238000000576 coating method Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000003595 spectral effect Effects 0.000 description 2
- 239000000758 substrate Substances 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000008054 signal transmission 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
- 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
- A47L9/2836—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
- A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/46—Indirect determination of position data
- G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B5/00—Optical elements other than lenses
- G02B5/20—Filters
- G02B5/26—Reflecting filters
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B5/00—Optical elements other than lenses
- G02B5/20—Filters
- G02B5/28—Interference filters
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- 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
Abstract
Description
2…距離測定デバイス
3…物体
4…光源
5…光学フィルタ
6…第1の検出器
7…第2の検出器
8…第1の光成分
9…第2の光成分
10…反射器
11…第1の回路基板
12…第2の回路基板
13…光学系
14…光バリア
15…測定デバイスハウジング
16…電圧レギュレーター
17…プロセサ
18…レーザー駆動電子システム
19…装置ハウジング
20…車輪
21…清掃ローラー
22…ブラシ
23…光出口
Claims (11)
- 物体(3)から清掃装置(1)までの距離を測定するための距離測定デバイス(2)を有する自動移動可能な清掃装置(1)、特に電気モータ駆動真空吸引および/または拭きロボットであって、
前記距離測定デバイス(2)が光源(4)、光学フィルタ(5)および検出器(6)を有する光学三角測量システムを備え、当該光学三角測量システムは前記光源(4)によって放たれた光が伝播方向において最初に物体(3)によって散乱されるように配置されており、
続いて少なくとも散乱された光の一部が前記光学フィルタ(5)によってスペクトルでフィルタリングされ、
最後にフィルタリングされた光が前記検出器(6)によって検出され、
前記光学フィルタ(5)が前記散乱された光の少なくとも1つの波長に関して少なくとも90%の反射率を持つ帯域阻止フィルタである、
ことを特徴とする清掃装置(1)。 - 前記光学三角測量システムが2つの検出器(6,7)を備え、
第1の検出器(6)が前記光学フィルタ(5)によって反射された第1の光成分(8)を検出するために前記光学フィルタ(5)に対して反射方向に配置されており、
第2の検出器(7)が前記光学フィルタ(5)によって透過された第2の光成分(9)を検出するために前記光学フィルタ(5)に対して透過方向に配置される、
ことを特徴とする請求項1に記載の清掃装置(1)。 - 反射器(10)が、前記光学フィルタ(5)と前記第2の検出器(7)との間に光の伝播方向に配置されており、前記第2の検出器(7)に前記光学フィルタ(5)によって透過された前記第2の光成分(9)を反射することを特徴とする請求項2に記載の清掃装置(1)。
- 前記反射器(10)が、帯域阻止フィルタであることを特徴とする請求項3に記載の清掃装置(1)。
- 前記反射器(10)が、前記光学フィルタ(5)の反射スペクトルから外れた中心周波数を有する反射スぺクトルを持つことを特徴とする請求項3に記載の清掃装置(1)。
- 前記光学フィルタ(5)の中心周波数が前記光源(4)によって放たれた光の波長に対応し、前記反射器(10)の中心周波数が可視の周辺光の波長に対応し、
望ましくは、前記光学フィルタ(5)の中心周波数が前記可視の周辺光のいずれの波長にも対応しない、
ことを特徴とする請求項4または5に記載の清掃装置(1)。 - 前記帯域阻止フィルタが、干渉ミラーであることを特徴とする請求項1ないし6のいずれか1項に記載の清掃装置(1)。
- 物体(3)から清掃装置(1)までの距離を測定するための距離測定デバイス(2)を有する自動移動可能な清掃装置(1)、特に電気モータ駆動真空吸引および/または拭きロボットであって、
前記距離測定デバイス(2)が光源(4)、光学フィルタ(5)および検出器(6)を有する光学三角測量システムを備え、当該光学三角測量システムは前記光源(4)によって放たれた光が伝播方向において最初に物体(3)によって散乱されるように配置されており、
続いて少なくとも散乱された光の一部が前記光学フィルタ(5)によってスペクトルでフィルタリングされ、
最後にフィルタリングされた光が前記検出器(6)によって検出され、
前記光学フィルタ(5)が、帯域通過フィルタであって、透過方向に当該光学フィルタ(5)の下流に配置された反射器(10)を有する、
ことを特徴とする清掃装置(1)。 - 前記帯域通過フィルタが、干渉フィルタであることを特徴とする請求項8に記載の清掃装置(1)。
- 物体(3)から清掃装置(1)までの距離を測定するための距離測定デバイス(2)を有する自動移動可能な清掃装置(1)、特に電気モータ駆動真空吸引および/または拭きロボットであって、
前記距離測定デバイス(2)が光源(4)、光学フィルタ(5)および検出器(6)を有する光学三角測量システムを備え、当該光学三角測量システムは前記光源(4)によって放たれた光が伝播方向において最初に物体(3)によって散乱されるように配置されており、
続いて少なくとも散乱された光の一部が前記光学フィルタ(5)によってスペクトルでフィルタリングされ、
最後にフィルタリングされた光が前記検出器(6)によって検出され、
前記光学フィルタ(5)が前記散乱された光の少なくとも1つの波長に関して少なくとも90%の反射率を持つエッジフィルタである、
ことを特徴とする清掃装置(1)。 - 前記距離測定デバイス(2)が、前記光源(4)と前記光学フィルタ(5)と前記検出器(6,7)との配置のために唯一の回路基板(11)を有することを特徴とする請求項1ないし10のいずれか1項に記載の清掃装置(1)。
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102014118605 | 2014-12-15 | ||
DE102014118605.2 | 2014-12-15 | ||
DE102015100706.1 | 2015-01-19 | ||
DE102015100706.1A DE102015100706A1 (de) | 2014-12-15 | 2015-01-19 | Selbsttätig verfahrbares Reinigungsgerät |
PCT/EP2015/078135 WO2016096394A1 (de) | 2014-12-15 | 2015-12-01 | Selbsttätig verfahrbares reinigungsgerät |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2018510345A true JP2018510345A (ja) | 2018-04-12 |
JP6709229B2 JP6709229B2 (ja) | 2020-06-10 |
Family
ID=56082431
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2017549588A Expired - Fee Related JP6709229B2 (ja) | 2014-12-15 | 2015-12-01 | 自動移動可能な清掃装置 |
Country Status (8)
Country | Link |
---|---|
US (1) | US10466358B2 (ja) |
EP (1) | EP3234641B1 (ja) |
JP (1) | JP6709229B2 (ja) |
CN (1) | CN106998982B (ja) |
DE (1) | DE102015100706A1 (ja) |
ES (1) | ES2959509T3 (ja) |
TW (1) | TW201632128A (ja) |
WO (1) | WO2016096394A1 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2019191149A (ja) * | 2018-02-06 | 2019-10-31 | ジック アーゲー | 光電センサ及び監視領域内の物体の検出方法 |
WO2022172465A1 (ja) * | 2021-02-12 | 2022-08-18 | オムロン株式会社 | 光学式センサ |
Families Citing this family (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10213082B2 (en) * | 2016-08-30 | 2019-02-26 | Samsung Electronics Co., Ltd. | Robot cleaner |
KR102620361B1 (ko) * | 2016-08-30 | 2024-01-04 | 삼성전자주식회사 | 로봇 청소기 |
CN206434287U (zh) * | 2016-10-20 | 2017-08-25 | 鸿富锦精密工业(深圳)有限公司 | 扫地机 |
US10121813B2 (en) * | 2017-03-28 | 2018-11-06 | Luminar Technologies, Inc. | Optical detector having a bandpass filter in a lidar system |
USD906390S1 (en) * | 2017-12-14 | 2020-12-29 | The Hi-Tech Robotic Systemz Ltd | Mobile robot |
USD896858S1 (en) * | 2017-12-14 | 2020-09-22 | The Hi-Tech Robotic Systemz Ltd | Mobile robot |
USD907084S1 (en) * | 2017-12-14 | 2021-01-05 | The Hi-Tech Robotic Systemz Ltd | Mobile robot |
USD879851S1 (en) * | 2017-12-29 | 2020-03-31 | Beijing Geekplus Technology Co., Ltd. | Robot |
USD879852S1 (en) * | 2018-03-15 | 2020-03-31 | Beijing Geekplus Technology Co., Ltd. | Mobile robot |
USD911406S1 (en) * | 2018-08-17 | 2021-02-23 | Grey Orange Pte. Ltd | Robot for moving articles within a facility |
KR20210061842A (ko) | 2019-11-20 | 2021-05-28 | 삼성전자주식회사 | 이동 로봇 장치 및 이의 제어 방법 |
USD967883S1 (en) * | 2021-01-06 | 2022-10-25 | Grey Orange International Inc. | Robot for handling goods in a facility |
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WO2008099939A1 (ja) * | 2007-02-13 | 2008-08-21 | Nikon-Trimble Co., Ltd. | 光分割素子、距離測定装置 |
JP2012155716A (ja) * | 2011-01-21 | 2012-08-16 | Vorwerk & Co Interholding Gmbh | 自走式装置の位置の決定方法 |
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KR100769909B1 (ko) * | 2006-09-06 | 2007-10-24 | 엘지전자 주식회사 | 이동 로봇 및 그 동작방법 |
DE102008014912B4 (de) | 2008-03-19 | 2023-01-19 | Vorwerk & Co. Interholding Gmbh | Selbsttätig verfahrbares Bodenstaub-Aufsammelgerät |
-
2015
- 2015-01-19 DE DE102015100706.1A patent/DE102015100706A1/de not_active Withdrawn
- 2015-12-01 US US15/531,774 patent/US10466358B2/en active Active
- 2015-12-01 JP JP2017549588A patent/JP6709229B2/ja not_active Expired - Fee Related
- 2015-12-01 ES ES15805135T patent/ES2959509T3/es active Active
- 2015-12-01 WO PCT/EP2015/078135 patent/WO2016096394A1/de active Application Filing
- 2015-12-01 CN CN201580064496.1A patent/CN106998982B/zh active Active
- 2015-12-01 EP EP15805135.9A patent/EP3234641B1/de active Active
- 2015-12-07 TW TW104140947A patent/TW201632128A/zh unknown
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH11142122A (ja) * | 1997-09-04 | 1999-05-28 | Matsushita Electric Ind Co Ltd | レンジファインダ装置 |
JP2000074626A (ja) * | 1998-08-27 | 2000-03-14 | Rushiiru:Kk | 測距装置 |
WO2008099939A1 (ja) * | 2007-02-13 | 2008-08-21 | Nikon-Trimble Co., Ltd. | 光分割素子、距離測定装置 |
JP2012155716A (ja) * | 2011-01-21 | 2012-08-16 | Vorwerk & Co Interholding Gmbh | 自走式装置の位置の決定方法 |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2019191149A (ja) * | 2018-02-06 | 2019-10-31 | ジック アーゲー | 光電センサ及び監視領域内の物体の検出方法 |
WO2022172465A1 (ja) * | 2021-02-12 | 2022-08-18 | オムロン株式会社 | 光学式センサ |
Also Published As
Publication number | Publication date |
---|---|
EP3234641B1 (de) | 2023-09-06 |
US20170269212A1 (en) | 2017-09-21 |
DE102015100706A1 (de) | 2016-06-16 |
US10466358B2 (en) | 2019-11-05 |
CN106998982B (zh) | 2019-09-17 |
CN106998982A (zh) | 2017-08-01 |
JP6709229B2 (ja) | 2020-06-10 |
EP3234641A1 (de) | 2017-10-25 |
TW201632128A (zh) | 2016-09-16 |
ES2959509T3 (es) | 2024-02-26 |
WO2016096394A1 (de) | 2016-06-23 |
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