JP5635719B2 - ロボット用の柔軟な固体バンパー - Google Patents
ロボット用の柔軟な固体バンパー Download PDFInfo
- Publication number
- JP5635719B2 JP5635719B2 JP2014519108A JP2014519108A JP5635719B2 JP 5635719 B2 JP5635719 B2 JP 5635719B2 JP 2014519108 A JP2014519108 A JP 2014519108A JP 2014519108 A JP2014519108 A JP 2014519108A JP 5635719 B2 JP5635719 B2 JP 5635719B2
- Authority
- JP
- Japan
- Prior art keywords
- robot
- bumper
- layer
- sensor array
- assembly
- 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.)
- Active
Links
- 239000007787 solid Substances 0.000 title description 3
- 239000010409 thin film Substances 0.000 claims description 37
- 238000003491 array Methods 0.000 claims description 26
- 239000010410 layer Substances 0.000 description 207
- 238000012546 transfer Methods 0.000 description 30
- 239000012528 membrane Substances 0.000 description 23
- 238000000926 separation method Methods 0.000 description 18
- 239000000463 material Substances 0.000 description 17
- 230000035945 sensitivity Effects 0.000 description 12
- 238000004140 cleaning Methods 0.000 description 10
- 230000005540 biological transmission Effects 0.000 description 9
- 238000001514 detection method Methods 0.000 description 9
- 239000006260 foam Substances 0.000 description 9
- 230000008859 change Effects 0.000 description 7
- 239000011241 protective layer Substances 0.000 description 6
- XECAHXYUAAWDEL-UHFFFAOYSA-N acrylonitrile butadiene styrene Chemical compound C=CC=C.C=CC#N.C=CC1=CC=CC=C1 XECAHXYUAAWDEL-UHFFFAOYSA-N 0.000 description 5
- 229920000122 acrylonitrile butadiene styrene Polymers 0.000 description 5
- 239000004676 acrylonitrile butadiene styrene Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 4
- JOYRKODLDBILNP-UHFFFAOYSA-N Ethyl urethane Chemical compound CCOC(N)=O JOYRKODLDBILNP-UHFFFAOYSA-N 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 229910052799 carbon Inorganic materials 0.000 description 3
- 230000006835 compression Effects 0.000 description 3
- 238000007906 compression Methods 0.000 description 3
- 238000003384 imaging method Methods 0.000 description 3
- 239000011159 matrix material Substances 0.000 description 3
- 230000002829 reductive effect Effects 0.000 description 3
- BQCADISMDOOEFD-UHFFFAOYSA-N Silver Chemical compound [Ag] BQCADISMDOOEFD-UHFFFAOYSA-N 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000003990 capacitor Substances 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 239000010408 film Substances 0.000 description 2
- 239000006261 foam material Substances 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000002955 isolation Methods 0.000 description 2
- 230000004807 localization Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 229920003023 plastic Polymers 0.000 description 2
- 239000004033 plastic Substances 0.000 description 2
- 229920006267 polyester film Polymers 0.000 description 2
- 229920000139 polyethylene terephthalate Polymers 0.000 description 2
- 239000005020 polyethylene terephthalate Substances 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000002441 reversible effect Effects 0.000 description 2
- 230000035807 sensation Effects 0.000 description 2
- 229910052709 silver Inorganic materials 0.000 description 2
- 239000004332 silver Substances 0.000 description 2
- 125000006850 spacer group Chemical group 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 239000000758 substrate Substances 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 229920005830 Polyurethane Foam Polymers 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000003213 activating effect Effects 0.000 description 1
- 239000002390 adhesive tape Substances 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 239000011162 core material Substances 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000005108 dry cleaning Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 229920001971 elastomer Polymers 0.000 description 1
- 239000013536 elastomeric material Substances 0.000 description 1
- 210000000245 forearm Anatomy 0.000 description 1
- 229910002804 graphite Inorganic materials 0.000 description 1
- 239000010439 graphite Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000003116 impacting effect Effects 0.000 description 1
- AMGQUBHHOARCQH-UHFFFAOYSA-N indium;oxotin Chemical compound [In].[Sn]=O AMGQUBHHOARCQH-UHFFFAOYSA-N 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 239000012212 insulator Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000000670 limiting effect Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229920001084 poly(chloroprene) Polymers 0.000 description 1
- -1 polyethylene terephthalate Polymers 0.000 description 1
- 229920000642 polymer Polymers 0.000 description 1
- 229920002635 polyurethane Polymers 0.000 description 1
- 239000004814 polyurethane Substances 0.000 description 1
- 229920003225 polyurethane elastomer Polymers 0.000 description 1
- 229920006264 polyurethane film Polymers 0.000 description 1
- 239000011496 polyurethane foam Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000011253 protective coating Substances 0.000 description 1
- 230000001953 sensory effect Effects 0.000 description 1
- 239000002356 single layer Substances 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 125000000391 vinyl group Chemical group [H]C([*])=C([H])[H] 0.000 description 1
- 229920002554 vinyl polymer Polymers 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
-
- 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
- G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
-
- 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
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R19/00—Wheel guards; Radiator guards, e.g. grilles; Obstruction removers; Fittings damping bouncing force in collisions
- B60R19/02—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects
- B60R19/48—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects combined with, or convertible into, other devices or objects, e.g. bumpers combined with road brushes, bumpers convertible into beds
- B60R19/483—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects combined with, or convertible into, other devices or objects, e.g. bumpers combined with road brushes, bumpers convertible into beds with obstacle sensors of electric or electronic type
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
-
- 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
-
- 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
-
- 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
- Y10S901/46—Sensing device
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Electromagnetism (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Electric Vacuum Cleaner (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
Claims (10)
- バンパー本体(107)と、
前記バンパー本体(107)の前向き部(110)の外周に沿って配置され、前記外周の輪郭に合わせた第1のセンサアレイ(120a)であって、前記第1のセンサアレイ(120a)は、前記バンパー本体(107)の前記外周の前向き部(110)の輪郭に沿った位置で外部環境との接触を検知する、第1のセンサアレイ(120a)と、
前記バンパー本体(107)の前記前向き部(110)の頂部(109)の外周に沿って配置され、前記外周の輪郭に合わせた第2のセンサアレイ(120b)であって、前記頂部(109)は傾斜して増強され、前記第2のセンサアレイ(120b、120d)は、前記バンパー本体(107)の前記傾斜した頂部(109)の前記外周に沿った位置で外部環境との接触を検知する、第2のセンサアレイ(120b)と、
を含む、ロボットバンパー(108)組立体。 - 前記第1のセンサアレイ(120a)は、前記バンパー本体(107)の前記前向き部(110)の高さに沿って垂直に延在する、請求項1に記載のロボットバンパー組立体(108)。
- 前記バンパー本体(107)の前向き部(110)の外周に沿って配置され、前記外周の輪郭に合わせた第3のセンサアレイ(120c)であって、前記第3のセンサアレイ(120c)は、前記バンパー本体(107)の前記前向き部(110)の前記外周の前記輪郭に沿った位置で外部環境との接触を検知し、前記バンパー本体(107)の前記前向き部(110)に沿って前記第1のセンサアレイ(120c)から垂直に離間される、第3のセンサアレイ(120c)をさらに含む、請求項1または2に記載のロボットバンパー組立体(108)。
- 前記第1および第2のセンサアレイ(120a、120b、120c、120d)は、感圧である、請求項1乃至3のいずれか一項に記載のロボットバンパー組立体(108)。
- 前記第2のセンサアレイ(120b)は、前記バンパー本体(107)の前記傾斜した頂部(109)の高さに沿って垂直に延在する、請求項1乃至4のいずれか一項に記載のロボットバンパー組立体(108)。
- 前記傾斜した頂部(109)は湾曲している、請求項1乃至5のいずれか一項に記載のロボットバンパー組立体(108)。
- 前記バンパー本体(107)の前記前向き部(110)の前記傾斜した頂部(109)の前記外周に沿って前記第2のセンサアレイ(120b)に隣接して配置された第4のセンサアレイ(120d)であって、前記第4のセンサアレイ(120d)は、前記傾斜した頂部(109)の表面の輪郭に合わせられ、前記バンパー本体(107)の前記傾斜した頂部(109)の前記外周に沿った位置で外部環境との接触を検知する、第4のセンサアレイ(120d)をさらに含む、請求項1乃至6のいずれか一項に記載のロボットバンパー組立体(108)。
- 前記バンパー本体(107)は、実質的に円形の外周または少なくとも部分的に正方形の外周を画定する、請求項1乃至7のいずれか一項に記載のロボットバンパー組立体(108)。
- 前記バンパー本体(107)の前記前向き部(110)上に配置され、前記第1のセンサアレイ(120a)と前記第2のセンサアレイ(120b)との間に垂直に離間される、非タッチセンサレイ(505)をさらに含む、請求項1乃至8のいずれか一項に記載のロボットバンパー組立体(108)。
- 前記第1および第2のセンサアレイ(120a、120b)は、セパレータ層(150)によって分離された、第1および第2の導電層(130、140)を備える薄膜スイッチである、請求項1乃至9のいずれか一項に記載のロボット。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201261611550P | 2012-03-15 | 2012-03-15 | |
US61/611,550 | 2012-03-15 | ||
PCT/US2013/031264 WO2013138574A2 (en) | 2012-03-15 | 2013-03-14 | Compliant solid-state bumper for robot |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2014211959A Division JP6450141B2 (ja) | 2012-03-15 | 2014-10-16 | ロボット用の柔軟な固体バンパー |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2014527841A JP2014527841A (ja) | 2014-10-23 |
JP5635719B2 true JP5635719B2 (ja) | 2014-12-03 |
Family
ID=48045722
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2014519108A Active JP5635719B2 (ja) | 2012-03-15 | 2013-03-14 | ロボット用の柔軟な固体バンパー |
JP2014211959A Active JP6450141B2 (ja) | 2012-03-15 | 2014-10-16 | ロボット用の柔軟な固体バンパー |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2014211959A Active JP6450141B2 (ja) | 2012-03-15 | 2014-10-16 | ロボット用の柔軟な固体バンパー |
Country Status (6)
Country | Link |
---|---|
US (3) | US8950792B2 (ja) |
EP (1) | EP2825925B1 (ja) |
JP (2) | JP5635719B2 (ja) |
CN (2) | CN107024933B (ja) |
DE (1) | DE112013001417T5 (ja) |
WO (1) | WO2013138574A2 (ja) |
Families Citing this family (59)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101527417B1 (ko) * | 2010-10-27 | 2015-06-17 | 삼성전자 주식회사 | 로봇 청소기의 범퍼 구조 |
EP2825925B1 (en) * | 2012-03-15 | 2022-04-27 | iRobot Corporation | Bumper for robot comprising sensor arrays |
EP3104194B1 (en) | 2012-08-27 | 2019-02-06 | Aktiebolaget Electrolux | Robot positioning system |
CN110710920B (zh) | 2013-04-15 | 2021-12-14 | 伊莱克斯公司 | 具有伸出的侧刷的机器人真空吸尘器 |
CN110448222A (zh) | 2013-04-15 | 2019-11-15 | 伊莱克斯公司 | 机器人真空吸尘器 |
CN206950128U (zh) * | 2013-12-18 | 2018-02-02 | 艾罗伯特公司 | 自主移动机器人 |
EP3084540B1 (en) | 2013-12-19 | 2021-04-14 | Aktiebolaget Electrolux | Robotic cleaning device and operating method |
KR102116596B1 (ko) | 2013-12-19 | 2020-05-28 | 에이비 엘렉트로룩스 | 나선형 패턴으로 이동하는 사이드 브러시를 구비한 로봇 진공 청소기 |
JP6638987B2 (ja) | 2013-12-19 | 2020-02-05 | アクチエボラゲット エレクトロルックス | 回転側面ブラシの適応速度制御 |
EP3082537B1 (en) | 2013-12-19 | 2020-11-18 | Aktiebolaget Electrolux | Robotic cleaning device and method for landmark recognition |
US10149589B2 (en) | 2013-12-19 | 2018-12-11 | Aktiebolaget Electrolux | Sensing climb of obstacle of a robotic cleaning device |
US9946263B2 (en) | 2013-12-19 | 2018-04-17 | Aktiebolaget Electrolux | Prioritizing cleaning areas |
US9811089B2 (en) | 2013-12-19 | 2017-11-07 | Aktiebolaget Electrolux | Robotic cleaning device with perimeter recording function |
WO2015090439A1 (en) | 2013-12-20 | 2015-06-25 | Aktiebolaget Electrolux | Dust container |
KR101578881B1 (ko) * | 2014-03-11 | 2015-12-18 | 에브리봇 주식회사 | 로봇 청소기 및 그의 제어 방법 |
US10518416B2 (en) | 2014-07-10 | 2019-12-31 | Aktiebolaget Electrolux | Method for detecting a measurement error in a robotic cleaning device |
CN204120944U (zh) * | 2014-08-22 | 2015-01-28 | 深圳市宝乐机器人技术有限公司 | 一种新型智能清洁机器人 |
WO2016037636A1 (en) | 2014-09-08 | 2016-03-17 | Aktiebolaget Electrolux | Robotic vacuum cleaner |
JP6443897B2 (ja) | 2014-09-08 | 2018-12-26 | アクチエボラゲット エレクトロルックス | ロボット真空掃除機 |
US20160128275A1 (en) * | 2014-11-12 | 2016-05-12 | Deere & Company | Robotic mower contact detection system |
WO2016091291A1 (en) | 2014-12-10 | 2016-06-16 | Aktiebolaget Electrolux | Using laser sensor for floor type detection |
US10874271B2 (en) | 2014-12-12 | 2020-12-29 | Aktiebolaget Electrolux | Side brush and robotic cleaner |
JP6879478B2 (ja) | 2014-12-16 | 2021-06-02 | アクチエボラゲット エレクトロルックス | ロボット掃除機のための経験ベースロードマップ |
WO2016095966A1 (en) | 2014-12-16 | 2016-06-23 | Aktiebolaget Electrolux | Cleaning method for a robotic cleaning device |
JP6729997B2 (ja) | 2014-12-25 | 2020-07-29 | 東芝ライフスタイル株式会社 | 電気掃除機 |
US10626213B2 (en) | 2015-02-05 | 2020-04-21 | Mitsui Chemicals, Inc. | Photoelastic polyurethane resin, detection member, robot, and method for producing photoelastic polyurethane resin |
US9630319B2 (en) | 2015-03-18 | 2017-04-25 | Irobot Corporation | Localization and mapping using physical features |
US9918605B2 (en) * | 2015-04-09 | 2018-03-20 | Irobot Corporation | Wall following robot |
US11099554B2 (en) | 2015-04-17 | 2021-08-24 | Aktiebolaget Electrolux | Robotic cleaning device and a method of controlling the robotic cleaning device |
US10874274B2 (en) | 2015-09-03 | 2020-12-29 | Aktiebolaget Electrolux | System of robotic cleaning devices |
US9545727B1 (en) | 2015-11-05 | 2017-01-17 | Irobot Corporation | Robotic fingers and end effectors including same |
TWI680739B (zh) * | 2016-02-05 | 2020-01-01 | 金寶電子工業股份有限公司 | 自走車防護裝置 |
JP7035300B2 (ja) | 2016-03-15 | 2022-03-15 | アクチエボラゲット エレクトロルックス | ロボット清掃デバイス、ロボット清掃デバイスにおける、断崖検出を遂行する方法、コンピュータプログラム、およびコンピュータプログラム製品 |
CN109068908B (zh) | 2016-05-11 | 2021-05-11 | 伊莱克斯公司 | 机器人清洁设备 |
CN113017472B (zh) * | 2016-05-20 | 2022-09-13 | Lg电子株式会社 | 机器人吸尘器 |
CN206443655U (zh) * | 2016-09-13 | 2017-08-29 | 深圳市银星智能科技股份有限公司 | 一种机器人的触碰传感装置和机器人 |
DE102016118650A1 (de) * | 2016-09-30 | 2018-04-05 | Vorwerk & Co. Interholding Gmbh | Sich selbsttätig fortbewegendes Flächenbearbeitungsgerät |
US10732127B2 (en) * | 2016-10-26 | 2020-08-04 | Pixart Imaging Inc. | Dirtiness level determining system and surface cleaning machine |
US10183701B2 (en) * | 2017-03-18 | 2019-01-22 | AI Incorporated | Integrated bumper |
US11202542B2 (en) | 2017-05-25 | 2021-12-21 | Sharkninja Operating Llc | Robotic cleaner with dual cleaning rollers |
KR20200013657A (ko) | 2017-06-02 | 2020-02-07 | 에이비 엘렉트로룩스 | 로봇 청소 장치 전방의 표면의 레벨차를 검출하는 방법 |
WO2019050655A1 (en) | 2017-09-07 | 2019-03-14 | Sharkninja Operating Llc | ROBOT CLEANER |
WO2019063066A1 (en) | 2017-09-26 | 2019-04-04 | Aktiebolaget Electrolux | CONTROL FOR MOVING A ROBOTIC CLEANING DEVICE |
CN110074727A (zh) * | 2018-01-26 | 2019-08-02 | 苏州海力电器有限公司 | 一种智能扫地机器人 |
KR102188797B1 (ko) * | 2018-04-02 | 2020-12-08 | 에브리봇 주식회사 | 로봇 청소기 및 그 제어 방법 |
CN113467448A (zh) * | 2018-06-07 | 2021-10-01 | 科沃斯机器人股份有限公司 | 定点工作方法、自移动机器人及存储介质 |
SE542024C2 (en) * | 2018-06-21 | 2020-02-11 | Husqvarna Ab | Robotic lawnmower with sensor for detecting relative movement between body parts of the lawnmower |
CN110786784B (zh) | 2018-08-01 | 2022-09-06 | 尚科宁家运营有限公司 | 机器人真空清洁器 |
CN111166237A (zh) * | 2018-11-09 | 2020-05-19 | 北京奇虎科技有限公司 | 扫地机器人及其多向碰撞检测装置和方法 |
CN111432706B (zh) * | 2018-11-09 | 2022-05-13 | 广东美的白色家电技术创新中心有限公司 | 扫地机器人 |
US11921514B2 (en) | 2019-01-02 | 2024-03-05 | Lg Electronics Inc. | Mobile robot |
CN112237399A (zh) * | 2019-07-17 | 2021-01-19 | 尚科宁家(中国)科技有限公司 | 一种清洁机器人的障碍物规避方法及清洁机器人 |
CN110250987B (zh) * | 2019-07-24 | 2021-01-29 | 郑州邦浩电子科技有限公司 | 具有到边检测功能的擦窗机器人 |
US11330953B2 (en) * | 2019-09-30 | 2022-05-17 | Irobot Corporation | Vertical sensing in an autonomous cleaning robot |
US11213181B2 (en) | 2019-11-20 | 2022-01-04 | Irobot Corporation | Floating bumper in autonomous cleaning robot |
CN111110122B (zh) * | 2019-12-03 | 2020-10-23 | 尚科宁家(中国)科技有限公司 | 扫地机器人 |
WO2021218084A1 (zh) * | 2020-04-29 | 2021-11-04 | 美智纵横科技有限责任公司 | 扫地机器人 |
KR102431988B1 (ko) * | 2020-10-21 | 2022-08-12 | 엘지전자 주식회사 | 로봇 청소기 |
CN114052567B (zh) * | 2021-11-10 | 2022-08-23 | 苏州趣洁电器有限公司 | 扫地机器人的控制方法、装置及扫地机器人 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2003050633A (ja) * | 2001-08-08 | 2003-02-21 | Toshiba Tec Corp | 自立移動装置 |
WO2007065034A1 (en) * | 2005-12-02 | 2007-06-07 | Irobot Corporation | Modular robot |
EP2386877A1 (en) * | 2010-05-11 | 2011-11-16 | Samsung Electronics Co., Ltd. | Sensing System and Moving Robot Having the Same |
Family Cites Families (44)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4492949A (en) * | 1983-03-18 | 1985-01-08 | Barry Wright Corporation | Tactile sensors for robotic gripper and the like |
WO1993014386A1 (en) * | 1987-11-05 | 1993-07-22 | Kikuo Kanaya | Distribution-type touch sensor |
SE506907C2 (sv) * | 1996-04-30 | 1998-03-02 | Electrolux Ab | System och anordning vid självorienterande anordning |
US6532404B2 (en) | 1997-11-27 | 2003-03-11 | Colens Andre | Mobile robots and their control system |
WO1999028800A1 (fr) | 1997-11-27 | 1999-06-10 | Solar & Robotics | Ameliorations a des robots mobiles et a leur systeme de commande |
JPH11310071A (ja) * | 1998-04-28 | 1999-11-09 | Fujitsu Takamisawa Component Ltd | 着座センサ |
WO2000078410A1 (fr) | 1999-06-17 | 2000-12-28 | Solar & Robotics S.A. | Dispositif automatique de ramassage d'objets |
US7155308B2 (en) | 2000-01-24 | 2006-12-26 | Irobot Corporation | Robot obstacle detection system |
US6594844B2 (en) | 2000-01-24 | 2003-07-22 | Irobot Corporation | Robot obstacle detection system |
US6883201B2 (en) | 2002-01-03 | 2005-04-26 | Irobot Corporation | Autonomous floor-cleaning robot |
US7571511B2 (en) | 2002-01-03 | 2009-08-11 | Irobot Corporation | Autonomous floor-cleaning robot |
US6690134B1 (en) | 2001-01-24 | 2004-02-10 | Irobot Corporation | Method and system for robot localization and confinement |
SE518683C2 (sv) * | 2001-03-15 | 2002-11-05 | Electrolux Ab | Förfarande och anordning för positionsbestämning av en autonom apparat |
JP2002318618A (ja) * | 2001-04-20 | 2002-10-31 | Matsushita Electric Ind Co Ltd | 自走式機器 |
EP1408729B1 (fr) | 2001-05-28 | 2016-10-26 | Husqvarna AB | Amelioration d'une tondeuse robotique |
US7429843B2 (en) | 2001-06-12 | 2008-09-30 | Irobot Corporation | Method and system for multi-mode coverage for an autonomous robot |
WO2002101477A2 (en) | 2001-06-12 | 2002-12-19 | Irobot Corporation | Method and system for multi-mode coverage for an autonomous robot |
JP2004030445A (ja) * | 2002-06-27 | 2004-01-29 | National Institute Of Advanced Industrial & Technology | 移動ロボットの自己位置推定方法及びシステム、並びにプログラム |
US6990435B2 (en) * | 2002-10-10 | 2006-01-24 | Harmonic Drive Systems Inc. | Tactile sensing method and system |
AU2004202834B2 (en) * | 2003-07-24 | 2006-02-23 | Samsung Gwangju Electronics Co., Ltd. | Robot Cleaner |
CN100460168C (zh) * | 2004-03-26 | 2009-02-11 | 张周新 | 物体的接触型传感器 |
EP1593553B1 (en) * | 2004-05-03 | 2008-06-18 | C.R.F. Società Consortile per Azioni | Motor-vehicle bumper having piezoelectric elements acting both as detectors and as emitters |
JP2006095006A (ja) * | 2004-09-29 | 2006-04-13 | Funai Electric Co Ltd | 自走式掃除機 |
WO2006089307A2 (en) | 2005-02-18 | 2006-08-24 | Irobot Corporation | Autonomous surface cleaning robot for wet and dry cleaning |
US7389156B2 (en) | 2005-02-18 | 2008-06-17 | Irobot Corporation | Autonomous surface cleaning robot for wet and dry cleaning |
KR101300493B1 (ko) * | 2005-12-02 | 2013-09-02 | 아이로보트 코퍼레이션 | 커버리지 로봇 이동성 |
JP2007192577A (ja) * | 2006-01-17 | 2007-08-02 | Denso Corp | 車両用衝突物体判別装置 |
KR100818740B1 (ko) * | 2006-10-13 | 2008-04-01 | 엘지전자 주식회사 | 로봇청소기 및 그에 따른 제어방법 |
KR100835968B1 (ko) * | 2007-02-28 | 2008-06-09 | 엘지전자 주식회사 | 로봇청소기 및 그에 따른 제어방법 |
CN101084817B (zh) * | 2007-04-26 | 2012-08-22 | 复旦大学 | 开放智能计算构架的家用多功能小型服务机器人 |
KR101361562B1 (ko) * | 2007-05-31 | 2014-02-13 | 삼성전자주식회사 | 청소로봇 |
EP2023108B1 (en) * | 2007-08-08 | 2011-08-31 | Honda Motor Co., Ltd. | Piezoelectric load sensor assembly |
CN101830000A (zh) * | 2009-03-10 | 2010-09-15 | 巍世科技有限公司 | 自动移动装置的防撞结构 |
CN201573208U (zh) * | 2009-06-16 | 2010-09-08 | 泰怡凯电器(苏州)有限公司 | 实现室内服务机器人同时定位和地图创建的装置及机器人 |
CN101920498A (zh) * | 2009-06-16 | 2010-12-22 | 泰怡凯电器(苏州)有限公司 | 实现室内服务机器人同时定位和地图创建的装置及机器人 |
JP5445065B2 (ja) * | 2009-11-25 | 2014-03-19 | セイコーエプソン株式会社 | 剪断力検出素子、触覚センサー、および把持装置 |
KR101527417B1 (ko) * | 2010-10-27 | 2015-06-17 | 삼성전자 주식회사 | 로봇 청소기의 범퍼 구조 |
JP2012122823A (ja) * | 2010-12-08 | 2012-06-28 | Seiko Epson Corp | 検出装置、電子機器、及びロボット |
CN201939262U (zh) * | 2011-01-31 | 2011-08-24 | 莱克电气股份有限公司 | 具改进型缓冲机构的清洁机器人 |
JP2012163333A (ja) * | 2011-02-03 | 2012-08-30 | Seiko Epson Corp | 検出装置、電子機器及びロボット |
KR101311296B1 (ko) * | 2011-07-06 | 2013-09-25 | 주식회사 유진로봇 | 이동 로봇의 범퍼 조립체 |
US9776332B2 (en) * | 2011-12-08 | 2017-10-03 | Lg Electronics Inc. | Automatic moving apparatus and manual operation method thereof |
EP2825925B1 (en) * | 2012-03-15 | 2022-04-27 | iRobot Corporation | Bumper for robot comprising sensor arrays |
EP2834048B1 (en) * | 2012-09-21 | 2017-11-01 | iRobot Corporation | Proximity sensing on mobile robots |
-
2013
- 2013-03-14 EP EP13714097.6A patent/EP2825925B1/en active Active
- 2013-03-14 WO PCT/US2013/031264 patent/WO2013138574A2/en active Application Filing
- 2013-03-14 CN CN201710131267.8A patent/CN107024933B/zh active Active
- 2013-03-14 CN CN201380014378.0A patent/CN104350441B/zh active Active
- 2013-03-14 DE DE112013001417.3T patent/DE112013001417T5/de active Pending
- 2013-03-14 US US13/803,617 patent/US8950792B2/en active Active
- 2013-03-14 JP JP2014519108A patent/JP5635719B2/ja active Active
-
2014
- 2014-05-14 US US14/277,270 patent/US9004553B2/en active Active
- 2014-10-16 JP JP2014211959A patent/JP6450141B2/ja active Active
-
2015
- 2015-03-10 US US14/643,438 patent/US9346426B2/en active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2003050633A (ja) * | 2001-08-08 | 2003-02-21 | Toshiba Tec Corp | 自立移動装置 |
WO2007065034A1 (en) * | 2005-12-02 | 2007-06-07 | Irobot Corporation | Modular robot |
EP2386877A1 (en) * | 2010-05-11 | 2011-11-16 | Samsung Electronics Co., Ltd. | Sensing System and Moving Robot Having the Same |
Also Published As
Publication number | Publication date |
---|---|
EP2825925A2 (en) | 2015-01-21 |
US20140246874A1 (en) | 2014-09-04 |
WO2013138574A3 (en) | 2013-11-14 |
US8950792B2 (en) | 2015-02-10 |
CN104350441A (zh) | 2015-02-11 |
US9004553B2 (en) | 2015-04-14 |
CN104350441B (zh) | 2017-04-05 |
CN107024933B (zh) | 2021-07-06 |
CN107024933A (zh) | 2017-08-08 |
EP2825925B1 (en) | 2022-04-27 |
JP2015042282A (ja) | 2015-03-05 |
JP6450141B2 (ja) | 2019-01-09 |
US20130241217A1 (en) | 2013-09-19 |
US20150183389A1 (en) | 2015-07-02 |
WO2013138574A2 (en) | 2013-09-19 |
DE112013001417T5 (de) | 2014-12-24 |
US9346426B2 (en) | 2016-05-24 |
JP2014527841A (ja) | 2014-10-23 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6450141B2 (ja) | ロボット用の柔軟な固体バンパー | |
JP6531296B2 (ja) | 触覚エネルギーをタッチ面に直接送達する装置及び方法 | |
US20190079584A1 (en) | Input device with haptic interface | |
CN109906423B (zh) | 姿势输入系统及姿势输入方法、电子设备 | |
US8330639B2 (en) | Remote controller | |
KR20060123182A (ko) | 촉각식 접촉 감지 시스템 | |
US9465476B1 (en) | Electronic device with seamless protective cover glass input | |
WO2011081882A2 (en) | System and method for measuring individual force in multi-object sensing | |
KR20170108882A (ko) | 정전기 부착성 기반 햅틱 출력 디바이스 | |
WO2015123120A1 (en) | Low-profile pointing stick | |
JP7252403B2 (ja) | 医療用機器のための封止されたコントロールパネル | |
WO2018049070A1 (en) | Pressure and shear sensor | |
US9921692B2 (en) | Hinged input device | |
CN203025645U (zh) | 多传感器输入装置 | |
EP3377275A1 (en) | Control system for self-moving platforms | |
JP2005059161A (ja) | ロボット制御装置 | |
JP2021063374A (ja) | トイレ用リモートコントローラー | |
CN220584661U (zh) | 具有表面触觉回馈系统的显示装置 | |
CN216940798U (zh) | 具有触觉感知功能的机器人 | |
US20230347740A1 (en) | Display device and input device | |
TWI360039B (en) | Bumper structure for an automatic moving device | |
CN116737011A (zh) | 具有表面触觉回馈系统的显示装置及具有指向性振动缓冲装置的显示器模组 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
TRDD | Decision of grant or rejection written | ||
A975 | Report on accelerated examination |
Free format text: JAPANESE INTERMEDIATE CODE: A971005 Effective date: 20140909 |
|
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20140916 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20141016 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 5635719 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
RD02 | Notification of acceptance of power of attorney |
Free format text: JAPANESE INTERMEDIATE CODE: R3D02 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |