JP2019126427A - 自走式電気掃除機 - Google Patents
自走式電気掃除機 Download PDFInfo
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- JP2019126427A JP2019126427A JP2018008298A JP2018008298A JP2019126427A JP 2019126427 A JP2019126427 A JP 2019126427A JP 2018008298 A JP2018008298 A JP 2018008298A JP 2018008298 A JP2018008298 A JP 2018008298A JP 2019126427 A JP2019126427 A JP 2019126427A
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- 238000004140 cleaning Methods 0.000 claims abstract description 132
- 238000003384 imaging method Methods 0.000 claims abstract description 29
- 239000000428 dust Substances 0.000 claims description 60
- 230000008859 change Effects 0.000 claims description 9
- 230000004044 response Effects 0.000 claims description 5
- 238000004891 communication Methods 0.000 description 29
- 238000012545 processing Methods 0.000 description 29
- 238000001514 detection method Methods 0.000 description 23
- 230000006870 function Effects 0.000 description 16
- 238000000034 method Methods 0.000 description 14
- 230000008569 process Effects 0.000 description 13
- 238000009408 flooring Methods 0.000 description 7
- 229920000742 Cotton Polymers 0.000 description 4
- 238000005286 illumination Methods 0.000 description 4
- 230000006399 behavior Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000013500 data storage Methods 0.000 description 2
- 239000000284 extract Substances 0.000 description 2
- 238000003702 image correction Methods 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000004441 surface measurement Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003670 easy-to-clean Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011086 high cleaning Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000007790 scraping Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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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
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
-
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- 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
- 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
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- 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
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- 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
- A47L9/02—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
- A47L9/2805—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
- A47L9/2836—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
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- 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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- General Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Electric Vacuum Cleaner (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
20 本体である本体ケース
21 走行駆動部である駆動輪
23 電動掃除部
31 集塵口である吸込口
51 カメラ
61 走行制御手段である走行制御部
62 出力制御手段である掃除制御部
68 記憶手段としてのメモリ
A1 掃除非対象物
A2 掃除対象物
CA 撮像範囲
Claims (10)
- 本体と、
この本体を走行させる走行駆動部と、
この走行駆動部の動作を制御する走行制御手段と、
前記本体の前方を撮像するカメラと、
前記本体の下部に設けられた集塵口と、
この集塵口から塵埃を捕集するための電動掃除部とを具備し、
前記集塵口は、前記本体のうち、前記カメラの撮像範囲に隣接する位置に設けられている
ことを特徴とした自走式電気掃除機。 - 走行制御手段は、カメラの撮像画像に基づいて所定距離内に障害物が検出されると、本体を減速させるように走行駆動部の動作を制御する
ことを特徴とした請求項1記載の自走式電気掃除機。 - 走行制御手段は、カメラの撮像画像に基づいて所定距離内の被掃除面の種類の変化が検出されたことに応じて、本体の走行速度を変更するように走行駆動部の動作を制御する
ことを特徴とした請求項1または2記載の自走式電気掃除機。 - 走行制御手段は、カメラの撮像画像に基づいて被掃除面上に掃除対象物が検出されると、本体を減速させるように走行駆動部の動作を制御する
ことを特徴とした請求項1ないし3いずれか一記載の自走式電気掃除機。 - 走行制御手段は、カメラの撮像画像に基づいて被掃除面上に掃除対象物が検出されると、集塵口の中央部がこの掃除対象物の直上を通過するように走行駆動部の動作を制御する
ことを特徴とした請求項1ないし4いずれか一記載の自走式電気掃除機。 - 掃除非対象物を記憶する記憶手段を備え、
走行制御手段は、カメラの撮像画像に基づいて被掃除面上に前記記憶手段に記憶された掃除非対象物が検出されると、本体がこの掃除非対象物を避けて走行するように走行駆動部の動作を制御する
ことを特徴とした請求項1ないし5いずれか一記載の自走式電気掃除機。 - 電動掃除部の出力を制御する出力制御手段を備え、
前記出力制御手段は、カメラの撮像画像に基づいて所定距離内に障害物が検出されると、前記電動掃除部の出力を上げる
ことを特徴とした請求項1ないし6いずれか一記載の自走式電気掃除機。 - 電動掃除部の出力を制御する出力制御手段を備え、
前記出力制御手段は、カメラの撮像画像に基づいて所定距離内の被掃除面の種類の変化が検出されたことに応じて、前記電動掃除部の出力を変更する
ことを特徴とした請求項1ないし7いずれか一記載の自走式電気掃除機。 - 電動掃除部の出力を制御する出力制御手段を備え、
前記出力制御手段は、カメラの撮像画像に基づいて被掃除面上に掃除対象物が検出されると、前記電動掃除部の出力を上げる
ことを特徴とした請求項1ないし8いずれか一記載の自走式電気掃除機。 - 掃除非対象物を記憶する記憶手段を備え、
出力制御手段は、カメラの撮像画像に基づいて被掃除面上に前記記憶手段に記憶された掃除非対象物が検出されると、前記電動掃除部の出力を低下または停止させる
ことを特徴とした請求項1ないし9いずれか一記載の自走式電気掃除機。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018008298A JP7141220B2 (ja) | 2018-01-22 | 2018-01-22 | 自走式電気掃除機 |
US16/251,925 US20190227566A1 (en) | 2018-01-22 | 2019-01-18 | Self-propelled vacuum cleaner |
CN201910052576.5A CN110063687A (zh) | 2018-01-22 | 2019-01-21 | 自行式电动吸尘器 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018008298A JP7141220B2 (ja) | 2018-01-22 | 2018-01-22 | 自走式電気掃除機 |
Publications (2)
Publication Number | Publication Date |
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JP2019126427A true JP2019126427A (ja) | 2019-08-01 |
JP7141220B2 JP7141220B2 (ja) | 2022-09-22 |
Family
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Application Number | Title | Priority Date | Filing Date |
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JP2018008298A Active JP7141220B2 (ja) | 2018-01-22 | 2018-01-22 | 自走式電気掃除機 |
Country Status (3)
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US (1) | US20190227566A1 (ja) |
JP (1) | JP7141220B2 (ja) |
CN (1) | CN110063687A (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7484015B2 (ja) | 2020-08-26 | 2024-05-15 | 北京石頭創新科技有限公司 | 障害物検出方法および装置、自走式ロボット並びに記憶媒体 |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7194914B2 (ja) * | 2018-03-29 | 2022-12-23 | パナソニックIpマネジメント株式会社 | 自律移動掃除機、自律移動掃除機による掃除方法、及び自律移動掃除機用プログラム |
JP2020010982A (ja) * | 2018-07-20 | 2020-01-23 | パナソニックIpマネジメント株式会社 | 自走式掃除機 |
KR20210000153A (ko) * | 2019-06-24 | 2021-01-04 | 엘지전자 주식회사 | 위치 인식을 위한 영상의 획득 방법 및 이를 구현하는 로봇 |
KR102286132B1 (ko) * | 2019-07-31 | 2021-08-06 | 엘지전자 주식회사 | 인공지능 로봇 청소기 |
CN110495821B (zh) * | 2019-09-05 | 2023-11-28 | 北京石头世纪科技股份有限公司 | 一种清洁机器人及其控制方法 |
CN110558902B (zh) * | 2019-09-12 | 2021-12-17 | 炬佑智能科技(苏州)有限公司 | 可移动机器人及其特定物检测方法、装置与电子设备 |
CN114468891B (zh) * | 2022-01-10 | 2023-04-07 | 珠海一微半导体股份有限公司 | 一种清洁机器人控制方法、芯片及清洁机器人 |
CN114246515B (zh) * | 2022-01-21 | 2022-11-15 | 深圳巴诺机器人有限公司 | 一种清扫地面凹坑的机器人及其工作方法 |
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2018
- 2018-01-22 JP JP2018008298A patent/JP7141220B2/ja active Active
-
2019
- 2019-01-18 US US16/251,925 patent/US20190227566A1/en not_active Abandoned
- 2019-01-21 CN CN201910052576.5A patent/CN110063687A/zh active Pending
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JP2002355204A (ja) * | 2001-05-31 | 2002-12-10 | Matsushita Electric Ind Co Ltd | 自走式電気掃除機 |
KR20130111847A (ko) * | 2012-04-02 | 2013-10-11 | (주)마미로봇 | 청소로봇의 청소방법 |
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JP2016131888A (ja) * | 2015-01-20 | 2016-07-25 | エルジー エレクトロニクス インコーポレイティド | ロボット掃除機及びロボット掃除機の制御方法 |
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7484015B2 (ja) | 2020-08-26 | 2024-05-15 | 北京石頭創新科技有限公司 | 障害物検出方法および装置、自走式ロボット並びに記憶媒体 |
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Publication number | Publication date |
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CN110063687A (zh) | 2019-07-30 |
JP7141220B2 (ja) | 2022-09-22 |
US20190227566A1 (en) | 2019-07-25 |
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