JP6064948B2 - 自律真空掃除機 - Google Patents
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Description
[1]
表面上でシャーシを支持するための牽引手段及び汚れ空気入口を形成する掃除機ヘッドを有するシャーシと、
前記シャーシ上に担持され、障害物との衝突に応答してそれに対して移動可能であり、前記汚れ空気入口から清浄空気出口まで空気流路に沿って空気流を発生させるための空気流発生器及び該空気から汚れを分離するために該空気流路に位置決めされた分離装置のうちの少なくとも一方を含む本体と、
を含み、
前記シャーシと前記本体の間の相対移動を感知するための感知手段を更に含む、
ことを特徴とする自律真空掃除機。
前記シャーシの一部分が、前記本体が該シャーシに対して摺動可能であるように該本体の一部分に結合されることを特徴とする上記[1]に記載の自律真空掃除機。
細長スロットが、前記シャーシの一部分に隣接する前記本体の一部分に形成され、該シャーシに関連付けられた保持部材が、該スロット内に摺動可能に受け入れられることを特徴とする上記[2]に記載の自律真空掃除機。
前記本体は、真空掃除機の移動の方向に対して傾斜した衝突を検出するために前記シャーシの縦軸線に対して斜めに移動するようになっていることを特徴とする上記[1]から上記[3]のいずれか1項に記載の自律真空掃除機。
前記保持部材は、丸い形状であり、それによって前記スロット内で直線的に移動可能であり、かつ前記本体が、真空掃除機の前記移動の方向に対して傾斜した衝突を検出するために前記シャーシの前記縦軸線に対して斜めに移動可能であるように、該スロットに対して斜めに移動可能であることを特徴とする上記[3]に従属する時の上記[4]に記載の自律真空掃除機。
前記本体は、前記シャーシに関連付けられた1つ又はそれよりも多くの支持部材上で該シャーシに装着され、該支持部材は、該本体が該シャーシに対して移動する時に傾斜可能であることを特徴とする上記[2]から上記[5]のいずれか1項に記載の自律真空掃除機。
前記支持部材は、スリーブ部材であることを特徴とする上記[6]に記載の自律真空掃除機。
前記スリーブ部材は、それを通って延び、かつ該スリーブ部材に対して自己向心力を与えるために前記本体に接続されたバネを有することを特徴とする上記[7]に記載の自律真空掃除機。
前記本体又は前記シャーシの一方の上に設けられ、該本体又はシャーシの他方の上に設けられたそれぞれの案内軌道と係合する1つ又はそれよりも多くの案内部材を更に含み、該案内部材と該案内軌道の間の該係合は、それによって該本体と該シャーシの間の相対移動を制約することを特徴とする上記[2]から上記[8]のいずれか1項に記載の自律真空掃除機。
前記案内部材及び前記案内軌道の少なくとも一方が、前記シャーシに関連付けられたハウジング部分の中に組み込まれることを特徴とする上記[9]に記載の自律真空掃除機。
1つ又はそれよりも多くの転動部材が、前記本体と前記シャーシの中間に設けられることを特徴とする上記[2]から上記[10]のいずれか1項に記載の自律真空掃除機。
前記感知手段は、前記本体が衝突に応答して前記シャーシに対して移動する状況でセンサ機構をトリガするように配置された起動部材を含むことを特徴とする上記[1]から上記[11]のいずれか1項に記載の自律真空掃除機。
前記感知手段は、前記アクチュエータのいずれかの側に配置された第1及び第2のスイッチを含むことを特徴とする上記[12]に記載の自律真空掃除機。
前記スイッチは、スナップ作動スイッチであることを特徴とする上記[12]に記載の自律真空掃除機。
前記本体は、前記感知手段に接続された制御システムを含むことを特徴とする上記[1]から上記[14]のいずれか1項に記載の自律真空掃除機。
前記制御システムは、前記本体と前記シャーシの間の相対移動の検出に応答して前記感知手段から信号を受け入れることを特徴とする請求項15に記載の自律真空掃除機。
8 外側カバー
10 分離装置
70 ユーザ制御インタフェース
73 アーム
Claims (10)
- 衝突検出システムを有する移動ロボットであって、
駆動配置を含むシャーシと、
前記シャーシ上に装着され、物体との衝突に応答して前記シャーシに対して横に移動可能であるようになっており、かつ、電源を含む本体とを含み、
衝突イベントによる前記シャーシと前記本体の間の相対移動を感知し、それに応答して信号を搭載制御システムに送るための感知手段を更に含む、
ことを特徴とする移動ロボット。 - 前記シャーシの一部分が、前記本体が前記シャーシに対して摺動可能であるように前記本体の一部分に結合されることを特徴とする請求項1に記載の移動ロボット。
- 前記本体の一部分が、移動の方向に対して傾斜した衝突を検出するために前記シャーシの縦軸線に対して斜めに移動するようになっていることを特徴とする請求項1又は請求項2に記載の移動ロボット。
- 細長スロットが、前記シャーシの一部分に隣接する前記本体の一部分に形成され、前記シャーシに関連付けられた保持部材が、前記スロット内に摺動可能に受け入れられることを特徴とする請求項2又は請求項3に記載の移動ロボット。
- 前記保持部材は、丸い形状であり、それによって、前記スロット内で直線的に移動可能であり、かつ、前記本体が、真空掃除機の移動の方向に対して傾斜した衝突を検出するために前記シャーシに対して斜めに移動可能であるように、前記スロットに対して斜めに移動可能であることを特徴とする請求項4に記載の移動ロボット。
- 前記本体は、前記シャーシに関連付けられた1つ又はそれよりも多くの支持部材上で前記シャーシに装着され、前記支持部材は、前記本体が前記シャーシに対して移動する時に傾斜可能であることを特徴とする請求項2から請求項5のいずれか1項に記載の移動ロボット。
- 前記支持部材は、前記本体及び前記シャーシの分離を防止することを特徴とする請求項6に記載の移動ロボット。
- 前記支持部材は、前記支持部材に対して自己向心力を与えるために前記本体に接続されたバネ手段を含むことを特徴とする請求項7に記載の移動ロボット。
- 前記本体又は前記シャーシの一方の上に設けられ、前記本体又は前記シャーシの他方の上に設けられたそれぞれの案内軌道と係合する1つ又はそれよりも多くの案内部材を更に含み、前記案内部材と前記案内軌道の間の前記係合は、それによって、前記本体と前記シャーシの間の相対移動を制約することを特徴とする請求項1から請求項8のいずれか1項に記載の移動ロボット。
- 前記本体は、前記制御システム、又は、外部感知システムを含むことを特徴とする請求項1から請求項9のいずれか1項に記載の移動ロボット。
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JP2013059628A (ja) | 2013-04-04 |
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JP5576917B2 (ja) | 2014-08-20 |
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EP2891440A1 (en) | 2015-07-08 |
ES2656200T3 (es) | 2018-02-26 |
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GB2494442B (en) | 2013-12-25 |
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AU2012306140B2 (en) | 2016-02-11 |
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EP2753222B1 (en) | 2016-09-28 |
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