JP2020174962A - 自律型掃除機 - Google Patents
自律型掃除機 Download PDFInfo
- Publication number
- JP2020174962A JP2020174962A JP2019080262A JP2019080262A JP2020174962A JP 2020174962 A JP2020174962 A JP 2020174962A JP 2019080262 A JP2019080262 A JP 2019080262A JP 2019080262 A JP2019080262 A JP 2019080262A JP 2020174962 A JP2020174962 A JP 2020174962A
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- Prior art keywords
- main body
- vacuum cleaner
- turning
- autonomous vacuum
- unit
- 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.)
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- 238000004140 cleaning Methods 0.000 claims abstract description 68
- 238000001514 detection method Methods 0.000 description 66
- 239000000428 dust Substances 0.000 description 27
- 238000012545 processing Methods 0.000 description 14
- 230000007613 environmental effect Effects 0.000 description 7
- 238000004891 communication Methods 0.000 description 5
- 238000006073 displacement reaction Methods 0.000 description 5
- 238000000926 separation method Methods 0.000 description 5
- 238000013459 approach Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 239000004745 nonwoven fabric Substances 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000001141 propulsive effect Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 239000002657 fibrous material Substances 0.000 description 1
- 238000010191 image analysis Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000011044 inertial separation Methods 0.000 description 1
- 229910001416 lithium ion Inorganic materials 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 229920003002 synthetic resin Polymers 0.000 description 1
- 239000000057 synthetic resin Substances 0.000 description 1
Images
Classifications
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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
- 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
- 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
- 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
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
-
- 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
- A47L11/4072—Arrangement of castors or wheels
-
- 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
- A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices
-
- 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
- Electric Vacuum Cleaner (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
[数1]
D3>R3max
D3=R3+R1+D1
R3max=√((R3+R1)2+R12)
∴(R3+R1+D1)>√((R3+R1)2+R12)
Claims (5)
- 本体と、
前記本体の底面に設けられる掃除部と、
前記本体を移動させる移動部と、
前記移動部を制御して前記本体を自律で移動させる制御部と、を備え、
前記本体は、超信地旋回する時の超信地旋回中心から前端までの第一距離を半径とする第一円の外側領域に突出し、かつ前記超信地旋回中心よりも前側に位置する前半部を有し、
前記前半部は、直線状の前縁部と、信地旋回する時の信地旋回中心から遠い方の側縁部と、を有し、
前記側縁部が臨む方向にある障害物と前記側縁部との第一最短距離に基づいて、前記本体を超信地旋回、信地旋回、または緩旋回して進行方向を変化させる自律型掃除機。 - 前記信地旋回中心から前記前半部のうち最も遠い部位までの最大信地旋回半径が、前記信地旋回中心から前記障害物までの第二最短距離よりも小さい場合には、緩旋回して進行方向を変化させる請求項1に記載の自律型掃除機。
- 前記緩旋回する時の緩旋回半径は、前記第一最短距離に基づいて設定される請求項1または2に記載の自律型掃除機。
- 前記制御部は、前記第一最短距離の大小に対応して前記緩旋回半径を定める対応関係を記憶する請求項3に記載の自律型掃除機。
- 前記緩旋回する時の緩旋回中心の位置は、前記緩旋回中心から前記前半部のうち最も遠い部位までの最大緩旋回半径が、前記緩旋回中心から前記障害物までの第三最短距離よりも小さくなるよう設定される請求項1または2に記載の自律型掃除機。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019080262A JP7231469B2 (ja) | 2019-04-19 | 2019-04-19 | 自律型掃除機 |
CN202010122717.9A CN111820820B (zh) | 2019-04-19 | 2020-02-27 | 自主型吸尘器 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019080262A JP7231469B2 (ja) | 2019-04-19 | 2019-04-19 | 自律型掃除機 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2020174962A true JP2020174962A (ja) | 2020-10-29 |
JP7231469B2 JP7231469B2 (ja) | 2023-03-01 |
Family
ID=72913708
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2019080262A Active JP7231469B2 (ja) | 2019-04-19 | 2019-04-19 | 自律型掃除機 |
Country Status (2)
Country | Link |
---|---|
JP (1) | JP7231469B2 (ja) |
CN (1) | CN111820820B (ja) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2024036619A1 (en) * | 2022-08-19 | 2024-02-22 | Qfeeltech (Beijing) Co., Ltd. | Method for controlling movement of autonomous mobile device |
Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS62154008A (ja) * | 1985-12-27 | 1987-07-09 | Hitachi Ltd | 自走ロボツトの走行制御方法 |
JPH04167106A (ja) * | 1990-10-31 | 1992-06-15 | Matsushita Electric Ind Co Ltd | 移動作業ロボットの走行制御装置 |
JPH064132A (ja) * | 1992-06-23 | 1994-01-14 | Tsubakimoto Chain Co | 移動体の障害物回避方法 |
JP2007272677A (ja) * | 2006-03-31 | 2007-10-18 | Sharp Corp | 自走装置およびその制御方法 |
JP2010526594A (ja) * | 2007-05-09 | 2010-08-05 | アイロボット コーポレイション | 小型自律カバレッジロボット |
JP2012064240A (ja) * | 2001-06-12 | 2012-03-29 | Irobot Corp | 移動型ロボット清掃機 |
US20160271795A1 (en) * | 2015-03-18 | 2016-09-22 | Irobot Corporation | Localization and Mapping Using Physical Features |
JP2017189481A (ja) * | 2016-04-15 | 2017-10-19 | 日立アプライアンス株式会社 | 自律走行型掃除機 |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4201747B2 (ja) * | 2004-07-29 | 2008-12-24 | 三洋電機株式会社 | 自走式掃除機 |
KR102083188B1 (ko) * | 2013-07-29 | 2020-03-02 | 삼성전자주식회사 | 청소 로봇 및 그 제어 방법 |
JP2019171001A (ja) * | 2017-09-29 | 2019-10-10 | パナソニックIpマネジメント株式会社 | 自律移動掃除機、掃除方法、及びプログラム |
CN109497892A (zh) * | 2018-12-18 | 2019-03-22 | 宁波金汤科技服务有限公司 | 一种智能扫地机器人的清洁机构 |
CN109512344A (zh) * | 2019-01-04 | 2019-03-26 | 云鲸智能科技(东莞)有限公司 | 一种移动机器人 |
-
2019
- 2019-04-19 JP JP2019080262A patent/JP7231469B2/ja active Active
-
2020
- 2020-02-27 CN CN202010122717.9A patent/CN111820820B/zh active Active
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS62154008A (ja) * | 1985-12-27 | 1987-07-09 | Hitachi Ltd | 自走ロボツトの走行制御方法 |
JPH04167106A (ja) * | 1990-10-31 | 1992-06-15 | Matsushita Electric Ind Co Ltd | 移動作業ロボットの走行制御装置 |
JPH064132A (ja) * | 1992-06-23 | 1994-01-14 | Tsubakimoto Chain Co | 移動体の障害物回避方法 |
JP2012064240A (ja) * | 2001-06-12 | 2012-03-29 | Irobot Corp | 移動型ロボット清掃機 |
JP2007272677A (ja) * | 2006-03-31 | 2007-10-18 | Sharp Corp | 自走装置およびその制御方法 |
JP2010526594A (ja) * | 2007-05-09 | 2010-08-05 | アイロボット コーポレイション | 小型自律カバレッジロボット |
US20160271795A1 (en) * | 2015-03-18 | 2016-09-22 | Irobot Corporation | Localization and Mapping Using Physical Features |
JP2017189481A (ja) * | 2016-04-15 | 2017-10-19 | 日立アプライアンス株式会社 | 自律走行型掃除機 |
Also Published As
Publication number | Publication date |
---|---|
CN111820820A (zh) | 2020-10-27 |
CN111820820B (zh) | 2023-01-03 |
JP7231469B2 (ja) | 2023-03-01 |
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