JP4677888B2 - Autonomous mobile vacuum cleaner - Google Patents

Autonomous mobile vacuum cleaner Download PDF

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JP4677888B2
JP4677888B2 JP2005339297A JP2005339297A JP4677888B2 JP 4677888 B2 JP4677888 B2 JP 4677888B2 JP 2005339297 A JP2005339297 A JP 2005339297A JP 2005339297 A JP2005339297 A JP 2005339297A JP 4677888 B2 JP4677888 B2 JP 4677888B2
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brush
travel
control unit
autonomous mobile
speed
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JP2007143645K1 (en
JP2007143645A (en
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宏一 三谷
隼人 井岡
一志 畠
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パナソニック電工株式会社
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Description

  The present invention relates to an autonomous mobile vacuum cleaner that has a moving function and a cleaning function to perform autonomous cleaning.

  Conventionally, self-propelled floor cleaners have been used. For example, it is a self-propelled cleaner with a suction body that is long in the vehicle width direction for floor cleaning, so that the cleaner body can be turned smoothly and moved after cleaning, What raises a suction body right and left equally from a floor surface is known so that it may not be damaged (for example, refer to patent documents 1).

Further, the floor cleaning vehicle includes a brush that rotates at the bottom of the vehicle and sweeps up dust on the floor surface into a dust box, the vehicle speed detecting means for detecting the vehicle speed of the vehicle, and the ground pressure of the brush against the floor surface. The contact pressure biasing means for changing the pressure, the contact pressure indexing means for determining the contact pressure of the brush corresponding to the vehicle speed detected by the vehicle speed detecting means, and the contact pressure biasing means for obtaining the contact pressure determined by the contact pressure indexing means. There is known an operation control means for actuating the means for changing the ground pressure of the brush in accordance with the traveling speed of the vehicle (see, for example, Patent Document 2).
JP-A-5-7540 JP-A-4-293807

  However, in the self-propelled cleaner as shown in Patent Document 1 described above, the suction body is raised when turning to avoid obstacles or to move along the shape of the cleaning area during cleaning. If done, cleaning will be insufficient. Also, there are illustrations of the left and right brushes that brush the floor, but when the cleaner turns, the speed of the cleaner at the center of the turn decreases, and the brush rubs the floor more than necessary and damages the floor. There is no description about what happens. Further, in the floor cleaning vehicle as shown in Patent Document 2 described above, the ground pressure is adjusted for the purpose of extending the life of the brush and cleaning with a sufficient ground pressure. No consideration is given.

  An object of the present invention is to solve the above-mentioned problems, and to provide an autonomous mobile vacuum cleaner that does not damage the floor even during complicated operations such as obstacle avoidance.

In order to achieve the above object, the invention of claim 1 is directed to a brush that rotates and cleans a floor surface, a traveling means for traveling, a route generating unit that generates a traveling route, and the route generation In an autonomous mobile vacuum cleaner comprising: a control unit that controls the travel means to travel according to the travel route generated by the unit and controls the operation of the brush; and a travel information acquisition unit that acquires travel speed. The control unit decreases the number of rotations of the brush as the travel speed decreases , the travel information acquisition unit acquires a turning radius of the travel route, and the control unit acquires the travel information acquisition unit. based on the travel speed and the turning radius to calculate the moving speed with respect to the floor surface for each of said plurality of brushes, shall decrease the rotational speed of the brush as the moving speed is reduced A.

According to a second aspect of the present invention, in the autonomous mobile cleaner according to the first aspect , the control unit separates the brush from the floor surface when the moving speed of the brush becomes smaller than a predetermined value.

According to a third aspect of the present invention, in the autonomous mobile cleaner according to the first or second aspect , the travel information acquisition unit outputs an emergency stop signal to the control unit according to a travel state, and the control unit When the emergency stop signal is acquired, the brush is separated from the floor surface.

  According to the first aspect of the present invention, the number of times of rubbing a certain place on the floor surface with a brush for a certain time can be made substantially constant regardless of the traveling speed, or can be kept from exceeding a certain limit. Even in complicated operations such as avoidance, the floor surface is not damaged by excessive brushing.

Also, even in turning operations during complicated operations such as obstacle avoidance, the rotation speed of the brush is changed according to the individual brush speed of the autonomous mobile vacuum cleaner, so that the floor surface is damaged by excessive brushing There is nothing.

According to the invention of claim 2 , for example, when the traveling speed is very low, the floor surface can be reliably protected by separating the brush from the floor surface.

According to the invention of claim 3 , in the case of an emergency, the floor surface can be reliably protected by separating the brush from the floor surface without waiting for a decrease in traveling speed.

  Hereinafter, an autonomous mobile vacuum cleaner according to an embodiment of the present invention will be described with reference to the drawings. 1, 2, and 3 show an external structure of the autonomous mobile cleaner 1, and FIG. 4 shows a block configuration that is an internal structure of the autonomous mobile cleaner 1. As shown in these drawings, the autonomous mobile vacuum cleaner 1 includes brushes 4 and 5 that rotate to clean the floor, traveling means 2 for traveling, and a route generating unit that generates a traveling route. 3, a control unit 20 that controls the travel means 2 so as to travel according to the travel route generated by the route generation unit 3 and controls the operation of the brush, a travel information acquisition unit 6 that acquires a travel speed, and a control unit 20 stores in advance the environmental information acquisition means 7 for acquiring external environmental information for controlling the traveling means 2 and the cleaning operation by the brushes 4 and 5, and map information in the traveling area including the area to be cleaned. Storage device 23, each drive unit for driving and controlling the brushes 4, 5 and the like, and a cleaning blower 8.

  And the control part 20 of the autonomous mobile vacuum cleaner 1 prevents excessive brushing of the fixed place of a floor surface for a fixed time by decreasing the rotation speed of the brushes 4 and 5 as driving speed becomes small. Prevent the floor from being damaged. The control part 20 comprises the center of the whole autonomous mobile vacuum cleaner 1, and consists of microcomputers. The autonomous mobile vacuum cleaner 1 includes a battery BT as a power source for components such as a circuit system, a drive system, and an information acquisition system necessary for an autonomous cleaning function. Hereinafter, the structure and function of each part of the autonomous mobile vacuum cleaner 1 will be described.

  The traveling means 2 of the autonomous mobile cleaner 1 changes the direction of the rear left and right drive wheels 2a, one caster 2b provided at the center of the front, a motor M1 that rotationally drives each drive wheel 2a, and the casters 2b. And a motor M2 for steering. The driving of these motors M1 and M2 is controlled by the control unit 20 through the motor drive unit 21. The autonomous mobile vacuum cleaner 1 travels with the propulsive force generated by the rotation of the drive wheels 2a and the direction indicated by the casters 2b.

  The path generation unit 3 generates a movement path so that the area to be cleaned is painted and moved by a cleaning operation, or is moved while being cleaned from a predetermined starting point to a destination. In order to generate and move such a movement route, the environment information acquired by the environment information acquisition unit 7 and the information on the self position based on the environment information are used.

  The environmental information acquisition means 7 acquires environmental information of an area that moves autonomously and performs cleaning. Based on this environmental information, the control unit 20 controls the traveling means 2 and performs the cleaning operation by the brushes 4 and 5. Control. The environmental information is information on the position of the sign in the environment for recognizing the self-position, the obstacle detected so as not to collide during traveling, and the property of dust for cleaning. The environment information acquisition means 7 includes, for example, a laser radar 12 that can accurately detect the position of a wall in the traveling direction and obstacles as environment information, a plurality of ultrasonic sensors 13 that can detect obstacles in a wide range, and a floor surface. The distance image camera 14 that can detect the level difference and dust on the floor.

  The laser radar 12 is provided at the lower front portion of the autonomous mobile cleaner 1. For example, as shown in FIG. 5A, the laser radar 12 scans a range of ± 90 ° left and right within a plane at a predetermined height from the traveling surface ahead in the traveling direction at every predetermined angle. Distance measurement is performed, and the two-dimensional arrangement of the obstacle M and the wall W ahead is measured.

  Information on the two-dimensional arrangement of the wall W measured by the laser radar 12 is taken into the control unit 20 and used for self-position recognition of the autonomous mobile cleaner 1. That is, the control unit 20 compares this information with the map information in the traveling area including the cleaning target area that is stored in the storage device 23 in advance. As shown in FIG. 5B, this comparison is performed by a matching process between the wall α as the measurement result and the wall β in the map information. Thereby, the self position on the map is recognized.

  The above-described self-position recognition is performed every control cycle of the autonomous mobile vacuum cleaner 1 or every predetermined time. The control unit 20 generates a travel route to the destination via the route generation unit 3 while appropriately correcting the self-position based on the self-position recognition result, and travels along the travel route via the travel unit 2. Thus, the direction of the caster 2b is controlled. In addition to the information such as the shape of the wall W, the map information is given floor information such as the shape of the step on the floor and the slope of the slope as environmental information.

  The ultrasonic sensors 13 are provided at the left and right, the front and rear sides, and the rear center of the front central portion of the autonomous mobile cleaner 1. These can detect obstacles on both sides and both sides of the autonomous mobile vacuum cleaner 1. The detection signal of the ultrasonic sensor 13 is processed by the ultrasonic sensor processing unit 24, and obstacle detection information is output to the control unit 20.

  The obstacle detection information described above is referred to by the control unit 20 together with the detection information of the obstacle M by the laser radar 12. When it is determined that the obstacle M is present on the travel route, the control unit 20 adjusts the travel route by controlling the direction of the casters 2 b so as to avoid the obstacle M via the travel unit 2.

  The distance image cameras 14 are arranged on both sides of the upper part of the front surface of the autonomous mobile vacuum cleaner 1 and image the floor surface in the traveling direction. The captured image data is processed by the distance image device 25, converted into a distance image in which distance information is mapped on the image capturing screen, and taken into the image checker 26. The image checker 26 detects an uneven step on the floor surface or an object using the distance image. The detection information is output to the control unit 20 and used as information for obstacle avoidance and control of the brushes 4 and 5 (described later).

  Next, the structure of the cleaning function of the autonomous mobile vacuum cleaner 1 will be described. The autonomous mobile vacuum cleaner 1 includes a side brush 4 which is provided at the lower part on both sides of the front part and is driven to rotate about a rotation axis perpendicular to the floor surface, and a dust sweep opening opened between the caster 2b and the drive wheel 2a. 51, a main brush 5 that is rotationally driven around a rotation axis parallel to the floor surface, a flapper 52 that adjusts the opening / closing amount of the opening of the dust sweeping port 51, and dust that is swept from the dust sweeping port 51 A cleaning blower 8 that sucks air, a filter 9 attached to an exhaust port of the cleaning blower 8 that opens rearward, motors M3 and M4 that rotationally drive the side brush 4 and the main brush 5, and an opening / closing drive unit 10 for the flapper 52 And drive parts 11a and 11b for moving both brushes 4 and 5 up and down.

  The side brush 4 described above sweeps dust from the front left and right of the autonomous mobile vacuum cleaner 1 toward the center and sends it to the main brush 5. The main brush 5 sweeps dust from the front to the rear and sweeps it into the dust sweeping port 51. The cleaned dust is sucked by the cleaning blower 8 and stored in a predetermined dust container, and the air sucked by the cleaning blower 8 is discharged through the filter 9.

In such a cleaning operation, the flapper 52 increases the suction efficiency by controlling the pressure near the main brush 5 to a negative pressure by reducing the opening / closing amount of the dust sweep port 51 based on an instruction from the control unit 20. . The drive of the motors M3 and M4 is controlled by the control unit 20 via the motor drive unit 21 in the same manner as the motors M1 and M2. Similarly, the opening / closing drive unit 10 and the drive units 11 a and 11 b are also controlled by the control unit 20.

  Next, a description will be given of the control unit 20 controlling the vertical position and rotation speed of the brushes 4 and 5 based on environmental information obtained during movement. The control unit 20 adds the detection information of the uneven surface level difference based on the imaging data of the distance image camera 14 described above and the slope detection information by the laser radar 12 described above to the map information. By controlling the drive units 11a and 11b according to the height information of the uneven steps and the angle information of the slopes, the brushes 4 and 5 can be raised or lowered individually or simultaneously to perform cleaning corresponding to the slope of the slopes or the uneven steps. And

  The above-described control of the vertical position and rotation speed of the brushes 4 and 5 is more actively performed so as not to damage the floor surface. For example, the autonomous mobile vacuum cleaner 1 decreases the rotational speed of the brushes 4 and 5 as the traveling speed decreases. Further, when the moving speed of the brushes 4 and 5 becomes smaller than a predetermined value, the brushes 4 and 5 are controlled so as to be separated from the floor surface. In this way, the floor is damaged by raising the brush even if the running speed is lowered at a position where the operation direction of the cleaner changes when turning to avoid obstacles as well as at the start and end of the operation. Can be prevented.

  The floor surface protection by the above-described control is further performed in consideration of the difference in moving speed of the brushes 4 and 5 with respect to the floor surface during turning. When the autonomous mobile cleaner 1 moves along the track L as shown in FIG. 6, it turns as shown by arrows a, b, c in order to avoid the obstacle M. At this time, the moving speed with respect to the floor of each part of the autonomous mobile cleaner 1 is small on the turning center O side and large on the outside. That is, the speeds of the respective parts are different from each other in proportion to the radii of curvature ρ1, ρ0, ρ2 on the inner side, the center, and the outer side. In the example of FIG. 6, the magnitude relationship between the center speed V1 of the left side brush 4 and the center speed V2 of the right side brush 4 is V1 <V2.

  At this time, if the operation speeds of the left and right side brushes 4 are the same, the inner side brush 4 is slower than the outer side brush 4 and the residence time on the floor surface is longer, and the brushing is performed for a longer time. Become. And excessive brushing is not preferable because it will damage the floor surface. Therefore, the control unit 20 performs control to protect the floor surface by reducing the operation rotational speed of the inner brush 4.

  As described above, in the autonomous mobile vacuum cleaner 1, when there are a plurality of brushes, such as the left and right side brushes 4, individual speeds at the center positions of the brushes are calculated, and the brushes corresponding to the respective speeds are calculated. It is possible to reduce the number of operation revolutions. In other words, the travel information acquisition unit 6 acquires the turning radius of the travel route, and the control unit 20 determines each of the left and right side brushes 4 based on the travel speed and the turning radius acquired by the travel information acquisition unit 6. The moving speed with respect to the floor surface is calculated, and the rotational speed of the side brush 4 is decreased as the moving speed decreases. By such control, even when a plurality of brushes are arranged, it is possible to prevent the floor surface from being damaged by excessive brushing.

  In order to protect the floor surface, the traveling information acquisition unit 6 outputs an emergency stop signal to the control unit 20 according to the traveling state, and the control unit 20 applies the brushes 4 and 5 to the floor when the emergency stop signal is acquired. Control away from the surface. The emergency stop signal is output in order to prevent the carpet from being damaged when the state of the floor surface changes, for example, when the flooring (boarding) state is changed to the carpeting state. As described above, the autonomous mobile vacuum cleaner 1 can perform cleaning without damaging the floor surface even during complicated operations such as obstacle avoidance or when the state of the floor surface changes.

  The present invention is not limited to the above-described configuration, and various modifications can be made. For example, the brush is inclined by tilting the contact surface so as to lift the contact surface with the floor on the side of the autonomous mobile cleaner 1 in accordance with the change in the speed of the brush against the floor during the turn. The contact pressure may be weakened to prevent the floor surface from being damaged. This can be applied to the main brush 5 having a rotation axis on the left and right in the traveling direction in addition to the side brush 4. Further, the left and right drive wheels 2a of the autonomous mobile cleaner 1 are driven by independent drive motors, respectively, and forward, backward, and left and right turn are performed depending on the difference in rotational speed between the left and right drive wheels 2a. Good. In this case, since the steering of the autonomous mobile vacuum cleaner 1 is performed by the cooperative work of the left and right drive wheels 2b, the caster 2b only needs to function as a slave wheel, that is, an auxiliary wheel, and a motor for the caster 2b becomes unnecessary.

The top view of the autonomous mobile vacuum cleaner which concerns on one Embodiment of this invention. The side view of an autonomous mobile vacuum cleaner same as the above. The front view of an autonomous mobile vacuum cleaner same as the above. The block block diagram of an autonomous mobile vacuum cleaner same as the above. (A) (b) is a top view explaining self-position recognition by an autonomous mobile vacuum cleaner same as the above. The top view which shows a mode during turning operation | movement of an autonomous mobile vacuum cleaner same as the above.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Autonomous mobile cleaner 2 Traveling means 3 Path | route production | generation part 4 Brush (side brush)
5 Brush (Main brush)
6 travel information acquisition unit 20 control unit

Claims (3)

  1. A plurality of brushes that rotate to clean the floor, traveling means for traveling, a route generation unit that generates a travel route, and a travel route that is generated by the route generation unit In an autonomous mobile cleaner comprising: a control unit that controls the travel of the brush and a control unit that controls the operation of the brush; and a travel information acquisition unit that acquires a travel speed.
    The control unit decreases the rotation speed of the brush as the traveling speed decreases ,
    The travel information acquisition unit acquires a turning radius of the travel route, and the control unit moves relative to the floor surface for each of the plurality of brushes based on the travel speed and the turning radius acquired by the travel information acquisition unit. calculating a velocity, the autonomous moving cleaner, wherein Rukoto reduces the rotational speed of the brush as the moving speed decreases.
  2. Wherein the control unit, an autonomous mobile cleaner according to claim 1, wherein the brush be separated from the floor when the moving speed of the brush is smaller than a predetermined value.
  3. The travel information acquisition unit outputs an emergency stop signal to the control unit according to a travel state, and the control unit separates the brush from the floor surface when the emergency stop signal is acquired. The autonomous mobile vacuum cleaner according to claim 1 or claim 2 .
JP2005339297A 2005-11-24 2005-11-24 Autonomous mobile vacuum cleaner Active JP4677888B2 (en)

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SE518482C2 (en) * 2001-02-28 2002-10-15 Electrolux Ab Hinderavkänningssystem for a self-cleaning device
JP5758188B2 (en) * 2011-04-28 2015-08-05 株式会社東芝 Electric vacuum cleaner
EP3104194B1 (en) 2012-08-27 2019-02-06 Aktiebolaget Electrolux Robot positioning system
KR102015311B1 (en) * 2012-11-30 2019-08-28 삼성전자주식회사 Cleaning robot and method for controlling the same
JP6198234B2 (en) 2013-04-15 2017-09-20 アクティエボラゲット エレクトロラックス Robot vacuum cleaner with protruding side brush
US10448794B2 (en) 2013-04-15 2019-10-22 Aktiebolaget Electrolux Robotic vacuum cleaner
KR20160100981A (en) 2013-12-19 2016-08-24 악티에볼라겟 엘렉트로룩스 Sensing climb of obstacle of a robotic cleaning device
KR20160100950A (en) 2013-12-19 2016-08-24 악티에볼라겟 엘렉트로룩스 Robotic vacuum cleaner with side brush moving in spiral pattern
CN105793790A (en) 2013-12-19 2016-07-20 伊莱克斯公司 Prioritizing cleaning areas
KR20160100312A (en) 2013-12-19 2016-08-23 악티에볼라겟 엘렉트로룩스 Robotic cleaning device
US10433697B2 (en) 2013-12-19 2019-10-08 Aktiebolaget Electrolux Adaptive speed control of rotating side brush
KR20160102174A (en) 2013-12-20 2016-08-29 악티에볼라겟 엘렉트로룩스 Dust container
DE102014105330A1 (en) * 2014-04-15 2015-10-15 Miele & Cie. Kg Self-propelled cleaning device and operating method for a self-propelled cleaning device
JP2016042285A (en) * 2014-08-18 2016-03-31 株式会社東芝 Autonomous mobile body
KR20170049532A (en) 2014-09-08 2017-05-10 악티에볼라겟 엘렉트로룩스 Robotic vacuum cleaner
CN105286729B (en) * 2015-09-25 2018-09-11 江苏美的清洁电器股份有限公司 Sweeping robot
WO2019043937A1 (en) * 2017-09-04 2019-03-07 学校法人 千葉工業大学 Self-propelled vacuum cleaner

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JPH0584166A (en) * 1991-09-30 1993-04-06 Matsushita Electric Ind Co Ltd Floor nozzle of self-propelling type cleaner
JPH0595449U (en) * 1991-07-22 1993-12-27 日本電気ホームエレクトロニクス株式会社 Vacuum cleaner
JPH07322977A (en) * 1994-06-01 1995-12-12 Matsushita Electric Ind Co Ltd Self-propelled vacuum cleaner
JPH08275913A (en) * 1995-04-05 1996-10-22 Matsushita Electric Ind Co Ltd Self-traveling type cleaner
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JPH0595449U (en) * 1991-07-22 1993-12-27 日本電気ホームエレクトロニクス株式会社 Vacuum cleaner
JPH0584166A (en) * 1991-09-30 1993-04-06 Matsushita Electric Ind Co Ltd Floor nozzle of self-propelling type cleaner
JPH07322977A (en) * 1994-06-01 1995-12-12 Matsushita Electric Ind Co Ltd Self-propelled vacuum cleaner
JPH08275913A (en) * 1995-04-05 1996-10-22 Matsushita Electric Ind Co Ltd Self-traveling type cleaner
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