JP4875102B2 - カバレッジロボット移動性 - Google Patents
カバレッジロボット移動性 Download PDFInfo
- Publication number
- JP4875102B2 JP4875102B2 JP2008543548A JP2008543548A JP4875102B2 JP 4875102 B2 JP4875102 B2 JP 4875102B2 JP 2008543548 A JP2008543548 A JP 2008543548A JP 2008543548 A JP2008543548 A JP 2008543548A JP 4875102 B2 JP4875102 B2 JP 4875102B2
- Authority
- JP
- Japan
- Prior art keywords
- robot
- cleaning head
- edge cleaning
- chassis
- edge
- 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.)
- Expired - Fee Related
Links
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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/01—Mobile robot
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/50—Miscellaneous
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Description
図1〜3は、例示的な自律網羅型ロボット100の上方斜視図、下方斜視図、および分解組立図を示す。ロボット100は、シャーシ102、駆動システム104、縁部掃除ヘッド106a、および制御装置108を有する。駆動システム104は、シャーシ102に搭載され、ロボット100を操縦するように構成された差動式駆動装置(ロボットの中心直径に近接するかまたはその直径の上にあり、別個に速度制御可能な左輪および右輪)である。縁部掃除ヘッド106aは、ロボット100の下方およびその直近の汚れおよびゴミを除去するために、さらに具体的にはロボットが前方向で掃除するときに汚れおよびゴミを主掃除ヘッド106bの掃除経路の中へ掃き込むために、シャーシ102の側縁を越えて延びるように取り付けられる。幾つかの実施態様では、主または縁部掃除ヘッド106b、106aは、表面処理を施すためにも使用可能である。制御装置108(図9Aにも図示されている)は、シャーシ102によって担持され、自律的様態で床を掃除または処理するために、下で説明するように、センサ読取り値または指示に基づいて指令をロボット100の構成要素に供給する行動規範型ロボットシステムによって制御される。蓄電池109がロボット100およびその副システム用の電源となりうる。底蓋110は、ロボット100の内側部分を保護しかつ汚れおよびゴミを締め出すことができる。
Claims (19)
- 自律カバレッジロボット(100、200、258、270、300)であって、
シャーシ(102)と、
前記シャーシ(102)に搭載され、前記ロボット(100、200、258、270、300)を操縦するように構成された駆動システム(104)と、
前記シャーシによって担持され、非水平軸回りに回転するように縁部掃除ヘッドモータ(118)によって駆動される縁部掃除ヘッド(106、214、274、316)であって、前記ロボット(100、200、258、270、300)が床を横切って操縦される間に前記床表面に係合するように、前記シャーシ(102)の横方向長さを越えて延びる縁部掃除ヘッド(106、214、274、316)と、
前記シャーシ(102)によって担持され、前記縁部掃除ヘッド(106、214、274、316)に関連するモータ電流を監視するように構成された制御装置(108)と、
を備え、
前記制御装置(108)は、前記床を横切って前記ロボット(100、200、258、270、300)を操縦し続ける間に、高いモータ電流に応答して前記縁部ヘッドモータ(118)を逆バイアスするように構成され、該逆バイアスは、前記縁部掃除ヘッドの回転を殆どニュートラルに維持するのに十分な程度の僅かな逆バイアスであることを特徴とする、ロボット。 - 前記制御装置(108)は、高い縁部掃除ヘッドモータ電流に応答して、前記ロボット(100、200、258、270、300)を後進させ、駆動方向を変更し、次いで前記ロボット(100、200、258、270、300)を前進させる、請求項1に記載のロボット。
- 前記縁部掃除ヘッド(106、214、274、316)は、前記シャーシの周縁を越えて延びる剛毛(122A〜F)を有するブラシ(120)を備え、かつ/または前記縁部掃除ヘッド(106、214、274、316)は、前記ロボット(100、200、258、270、300)の周縁上に配置される、請求項1または請求項2のいずれかに記載のロボット。
- 前記縁部掃除ヘッド(106、214、274、316)は、実質的に垂直な軸回りに回転する、請求項1〜3のいずれか1項に記載のロボット。
- 前記縁部掃除ヘッド(106、214、274、316)は、第1および第2の端部を有し、前記第1の端部回りに前記作業表面に垂直な回転軸を画定する少なくとも1つのブラシ要素(122A〜F)を具備する、請求項1〜4のいずれか1項に記載のロボット。
- 前記縁部掃除ヘッド(106、214、274、316)は、3つのブラシ要素(122A〜C)を備え、それぞれが、隣接するブラシ要素と約120度の角度(106d)を形成するか、または前記縁部掃除ヘッド(106、214、274、316)は、6つのブラシ要素(122A〜F)を備え、それぞれが隣接するブラシ要素と約60度の角度(106e)を形成する、請求項1〜5のいずれか1項に記載のロボット。
- 前記縁部掃除ヘッド(124)は、前記シャーシの周縁を越えて延びる回転可能な水切り(126)を備え、かつ/または前記縁部掃除ヘッド(106、214、274、316)は、前記縁部掃除ヘッドが回転すると、前記シャーシ(102)の周縁を越えて広がる複数の吸着繊維を備える、請求項1〜6のいずれか1項に記載のロボット。
- 前記シャーシ(102)によって担持され、前記ロボット(100、200、258、270、300)が床を横切って操縦される間に前記床表面に係合するように、水平軸回りに回転するように駆動される主掃除ヘッド(111、206、242、272、302)をさらに備え、前記制御装置(108)は、高い主掃除ヘッドモータ電流に応答して前記主掃除ヘッド(111、206、242、272、302)を逆バイアスするように構成され、他方では前記床を横切って前記ロボットを操縦し続ける、請求項1〜7のいずれか1項に記載のロボット。
- 前記制御装置(108)は、高い主掃除ヘッドモータ電流に応答して、前記ロボット(100、200、258、270、300)を後進させ、駆動方向を変更し、次いで前記ロボットを前進させる、請求項8に記載のロボット。
- 前記主掃除ヘッド(111、206、242、272、302)は、
前記作業表面に平行な長手回転軸を画定する円筒本体(117、202、246、24、276、278、304、306)と、
前記円筒本体(117、202、246、24、276、278、304、306)上に配置された剛毛(115)と、
前記円筒本体(117、202、246、24、276、278、304、306)に沿って長手方向に配置された柔軟フラップ(113)と、を備える、請求項8または請求項9に記載のロボット。 - 自律カバレッジロボット(100、200、258、270、300)の絡まりを解除する方法であって、
前記ロボット(100、200、258、270、300)を床表面の上に配置するステップと、
前記ロボットのシャーシ(102)によって担持され、縁部掃除ヘッドモータ(118)によって駆動される縁部掃除ヘッド(106、214、274、316)を非水平軸回りに回転させながら、前記ロボットが、前記ロボットの前方向へ前記床表面を自律的に横断することを可能にするステップと、を含み、前記縁部掃除ヘッドは前記シャーシ(102)の横方向長さを超えて延び、かつ前記床表面に係合し、
前記ロボット(100、200、258、270、300)は、前記床表面を横切って操縦し続ける間に、高い縁部掃除ヘッドモータ電流に応答して、別個に前記縁部掃除ヘッドモータ(118)に、前記縁部掃除ヘッドの回転を殆どニュートラルに維持するのに十分な程度の僅かな逆バイアスを与える、方法。 - 前記ロボット(100、200、258、270、300)は、高い掃除ヘッドモータ電流に応答して、別個に縁部掃除ヘッド(106、214、274、316)に逆バイアスを与える前に、前記前方向への前記ロボット自体の移動を決定する、請求項11に記載の方法。
- 前記ロボット(100、200、258、270、300)は、ある一定の時間、約2秒の時間のような間の高い縁部ヘッドモータ電流に応答して、別個に前記縁部掃除ヘッド(106、214、274、316)の回転を逆転する、請求項11または請求項12に記載の方法。
- 前記ロボット(100、200、258、270、300)は、前記縁部掃除ヘッド(106、214、274、316)に逆バイアスを与えた後で、逆方向へ移動し、駆動方向を変更し、次いで前記駆動方向へ移動する、請求項11または請求項12に記載の方法。
- 前記縁部掃除ヘッド(106、214、274、316)は、前記シャーシ(102)の周縁を越えて延びる剛毛を有するブラシを備え、かつ/または前記縁部掃除ヘッド(106、214、274、316)は実質的に垂直な軸回りに回転し、かつ/または前記縁部掃除ヘッド(106、214、274、316)は、第1および第2の端部を有し、前記第1の端部回りに前記作業表面に垂直な回転軸を画定する少なくとも1つのブラシ要素(122A〜F)を具備する、請求項11〜14のいずれか1項に記載の方法。
- 前記縁部掃除ヘッド(124)は、前記シャーシ(102)の周縁を越えて延びる回転可能な水切り(126)を具備し、かつ/または前記縁部掃除ヘッド(106、214、274、316)は、前記縁部掃除ヘッド(106、214、274、316)が回転すると、前記シャーシ(102)の周縁を越えて広がる複数の吸着繊維を具備する、請求項11〜15のいずれか1項に記載の方法。
- 前記ロボット(100、200、258、270、300)は、前記シャーシ(102)によって担持され、前記ロボットが床を横切って操縦される間に、前記床表面に係合するように水平軸回りに回転するように駆動される主掃除ヘッド(111、206、242、272、302)をさらに備え、前記ロボットは、前記床表面を横切って操縦し続ける間に、高い主掃除ヘッドモータ電流に応答して、別個に前記主掃除ヘッドに逆バイアスを与える、請求項11〜16のいずれか1項に記載の方法。
- 前記ロボット(100、200、258、270、300)は、高い主掃除ヘッドモータ電流に応答して、別個に前記主掃除ヘッド(111、206、242、272、302)を逆バイアスする前に、前記前方向への前記ロボットの移動を決定し、かつ/または前記ロボットは、ある一定の時間、約2秒のような間の高い掃除ヘッドモータ電流に応答して、別個に前記主掃除ヘッドの回転を逆転する、請求項17に記載の方法。
- 前記ロボット(100、200、258、270、300)は、前記主掃除ヘッド(111、206、242、272、302)を逆バイアスした後で、逆方向へ移動し、駆動方向を変更し、次いで前記駆動方向へ移動する、請求項17または請求項18に記載の方法。
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KR20110009270A (ko) * | 2004-01-28 | 2011-01-27 | 아이로보트 코퍼레이션 | 청소 장치용 데브리 센서 |
JP2005230032A (ja) * | 2004-02-17 | 2005-09-02 | Funai Electric Co Ltd | 自律走行ロボットクリーナー |
-
2006
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- 2006-12-04 DE DE200660009148 patent/DE602006009148D1/de active Active
- 2006-12-04 WO PCT/US2006/046400 patent/WO2007065033A2/en active Application Filing
- 2006-12-04 JP JP2008543548A patent/JP4875102B2/ja not_active Expired - Fee Related
- 2006-12-04 EP EP20100183383 patent/EP2270620B1/en active Active
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WO2007065033A2 (en) | 2007-06-07 |
DE602006009148D1 (de) | 2009-10-22 |
JP2009518073A (ja) | 2009-05-07 |
EP1969437A2 (en) | 2008-09-17 |
EP2270620A3 (en) | 2013-05-29 |
ATE442618T1 (de) | 2009-09-15 |
EP2270620A2 (en) | 2011-01-05 |
EP1969437B1 (en) | 2009-09-09 |
WO2007065033A3 (en) | 2007-08-02 |
EP2270620B1 (en) | 2014-10-01 |
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