JP4231052B2 - 自律機械 - Google Patents
自律機械 Download PDFInfo
- Publication number
- JP4231052B2 JP4231052B2 JP2005518362A JP2005518362A JP4231052B2 JP 4231052 B2 JP4231052 B2 JP 4231052B2 JP 2005518362 A JP2005518362 A JP 2005518362A JP 2005518362 A JP2005518362 A JP 2005518362A JP 4231052 B2 JP4231052 B2 JP 4231052B2
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- Prior art keywords
- cable
- machine
- autonomous machine
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- 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.)
- Expired - Fee Related
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- 238000000034 method Methods 0.000 claims description 15
- 238000001514 detection method Methods 0.000 claims description 9
- 238000004804 winding Methods 0.000 claims description 4
- 238000005452 bending Methods 0.000 claims 6
- 238000005259 measurement Methods 0.000 description 11
- 239000003550 marker Substances 0.000 description 5
- 238000004140 cleaning Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 238000003491 array Methods 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000005498 polishing Methods 0.000 description 2
- 244000025254 Cannabis sativa Species 0.000 description 1
- 230000005355 Hall effect Effects 0.000 description 1
- 241000282412 Homo Species 0.000 description 1
- 241001465754 Metazoa Species 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 230000003749 cleanliness Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000004381 surface treatment Methods 0.000 description 1
- 238000002604 ultrasonography Methods 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
- 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 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
- G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L9/00—Electric propulsion with power supply external to the vehicle
-
- 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
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
- A61L2202/10—Apparatus features
- A61L2202/16—Mobile applications, e.g. portable devices, trailers, devices mounted on vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/40—Working vehicles
-
- 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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
-
- 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
- G05D1/0268—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
Description
12 本体(支持シャシー)
14 分離物質収集装置
15 被駆動輪
16 牽引モータ
18 測距離車輪
20〜26 センサ
30 センサ
40 クリーナヘッド
45 ブラシバー
48 モータ
50 吸引ファン
52 吸引モータ
60 ボタン、スイッチ
65 表示ランプ
70 ピンチローラ
71 ケーブルリール
72 モータ
73 シャフト
74 振子
75 開口部
76 電位差計
80 マイクロプロセッサ
82 不揮発性メモリ
84 メモリ
95 電力ケーブル
301〜304 部屋の壁
305〜308 部屋の中に置かれた物体
310 主電力ソケット
320 機械によって横切られる経路
330〜332 経路
Claims (13)
- 本体と、電力ケーブルと、前記本体に対する前記ケーブルの曲がりの程度を検出するための手段とを含み、前記検出するための手段が、第1所定範囲内のケーブルの曲がりの程度を検出するために配置された第1検出手段と、前記ケーブルの曲がりの程度が、前記第 1 所定範囲よりも大きな第 2 所定範囲内に存在する、ある既定値に達したか否かを検出するために配置された第2検出手段と、を具備してなることを特徴とする自律機械。
- 第1検出手段が、回転式エンコーダにつながる旋回可能部材を具備してなる請求項1に記載の自律機械。
- 旋回可能部材が振子を具備してなり、振子の一端部分がケーブルにつながり、振子の他端部分が回転式エンコーダにつながる請求項2に記載の自律機械。
- 回転式エンコーダが電位差計を含む請求項2または請求項3に記載の自律機械。
- 第2検出手段が圧力スイッチを具備してなり、前記圧力スイッチはケーブルが前記スイッチを押したときに信号を生成する請求項1に記載の自律機械。
- 第2検出手段が、ケーブルに対してそれぞれの側に置かれた二つの圧力スイッチを具備してなり、各スイッチは、ケーブルが前記スイッチを押したときに信号を生成するように配置されている請求項1に記載の自律機械。
- ケーブルが、中間部材を介して前記スイッチまたは各スイッチを押すように配置されている請求項5または請求項6に記載の自律機械。
- 前記圧力スイッチまたは各圧力スイッチがマイクロスイッチからなる請求項5ないし請求項7のいずれか1項に記載の自律機械。
- 真空掃除機の形態である請求項1ないし請求項8のいずれか1項に記載の自律機械。
- 本体と電力ケーブルとを含む自律機械を作動させる方法であって、第1所定範囲内でケーブルの曲がりの程度を検出し、かつ、前記ケーブルの曲がりの程度が、前記第 1 所定範囲よりも大きな第 2 所定範囲内に存在する、ある既定値に達したか否かを検出することにより、前記本体に対する前記ケーブルの曲がりの程度を検出するステップを含む方法。
- 機械がそれ自体のケーブルを追従するように制御するステップをさらに含む請求項10に記載の方法。
- 機械がそれ自体のケーブルを追従するとき、機械にケーブルを収容させるステップをさらに含む請求項11に記載の方法。
- 機械にケーブルを収容させるステップは、本体が支えるケーブルリール上にケーブルを巻き取らせることからなる請求項12に記載の方法。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
GB0303368A GB2398394B (en) | 2003-02-14 | 2003-02-14 | An autonomous machine |
PCT/GB2004/000601 WO2004072751A1 (en) | 2003-02-14 | 2004-02-13 | An autonomous machine |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2006516771A JP2006516771A (ja) | 2006-07-06 |
JP4231052B2 true JP4231052B2 (ja) | 2009-02-25 |
Family
ID=9952986
Family Applications (3)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2005518362A Expired - Fee Related JP4231052B2 (ja) | 2003-02-14 | 2004-02-13 | 自律機械 |
JP2005518363A Expired - Fee Related JP4542044B2 (ja) | 2003-02-14 | 2004-02-13 | 自律機械 |
JP2005518361A Ceased JP2006516770A (ja) | 2003-02-14 | 2004-02-13 | 自律機械 |
Family Applications After (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2005518363A Expired - Fee Related JP4542044B2 (ja) | 2003-02-14 | 2004-02-13 | 自律機械 |
JP2005518361A Ceased JP2006516770A (ja) | 2003-02-14 | 2004-02-13 | 自律機械 |
Country Status (7)
Country | Link |
---|---|
US (3) | US20060150361A1 (ja) |
EP (3) | EP1593012B1 (ja) |
JP (3) | JP4231052B2 (ja) |
AT (1) | ATE405873T1 (ja) |
DE (1) | DE602004015936D1 (ja) |
GB (1) | GB2398394B (ja) |
WO (3) | WO2004072751A1 (ja) |
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SE518482C2 (sv) * | 2001-02-28 | 2002-10-15 | Electrolux Ab | Hinderavkänningssystem för en självgående städapparat |
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2004
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- 2004-02-13 EP EP04710930A patent/EP1593012B1/en not_active Expired - Lifetime
- 2004-02-13 JP JP2005518363A patent/JP4542044B2/ja not_active Expired - Fee Related
- 2004-02-13 EP EP04710931A patent/EP1593013A1/en not_active Withdrawn
- 2004-02-13 US US10/543,758 patent/US7873437B2/en not_active Expired - Fee Related
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GB2398394B (en) | 2006-05-17 |
EP1593012B1 (en) | 2012-12-12 |
JP4542044B2 (ja) | 2010-09-08 |
ATE405873T1 (de) | 2008-09-15 |
GB2398394A (en) | 2004-08-18 |
WO2004072750A1 (en) | 2004-08-26 |
EP1593011B1 (en) | 2008-08-20 |
US20060229765A1 (en) | 2006-10-12 |
WO2004072751A1 (en) | 2004-08-26 |
US7873437B2 (en) | 2011-01-18 |
US20060161318A1 (en) | 2006-07-20 |
JP2006516770A (ja) | 2006-07-06 |
WO2004072752A1 (en) | 2004-08-26 |
EP1593013A1 (en) | 2005-11-09 |
US20060150361A1 (en) | 2006-07-13 |
EP1593011A1 (en) | 2005-11-09 |
EP1593012A1 (en) | 2005-11-09 |
JP2006517312A (ja) | 2006-07-20 |
JP2006516771A (ja) | 2006-07-06 |
GB0303368D0 (en) | 2003-03-19 |
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