JP6345973B2 - 自律走行体 - Google Patents
自律走行体 Download PDFInfo
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- JP6345973B2 JP6345973B2 JP2014088362A JP2014088362A JP6345973B2 JP 6345973 B2 JP6345973 B2 JP 6345973B2 JP 2014088362 A JP2014088362 A JP 2014088362A JP 2014088362 A JP2014088362 A JP 2014088362A JP 6345973 B2 JP6345973 B2 JP 6345973B2
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- 230000033001 locomotion Effects 0.000 claims description 40
- 238000001514 detection method Methods 0.000 claims description 26
- 230000007246 mechanism Effects 0.000 claims description 16
- 230000009471 action Effects 0.000 claims description 10
- 238000004140 cleaning Methods 0.000 description 24
- 239000000428 dust Substances 0.000 description 19
- 230000002093 peripheral effect Effects 0.000 description 18
- 230000001276 controlling effect Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 239000000725 suspension Substances 0.000 description 3
- 229920003002 synthetic resin Polymers 0.000 description 2
- 239000000057 synthetic resin Substances 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
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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
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
-
- 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
-
- 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
-
- 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
- A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
-
- 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
- A47L9/02—Nozzles
- A47L9/04—Nozzles with driven brushes or agitators
- A47L9/0461—Dust-loosening tools, e.g. agitators, brushes
- A47L9/0466—Rotating tools
- A47L9/0472—Discs
-
- 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
- A47L9/02—Nozzles
- A47L9/04—Nozzles with driven brushes or agitators
- A47L9/0461—Dust-loosening tools, e.g. agitators, brushes
- A47L9/0488—Combinations or arrangements of several tools, e.g. edge cleaning tools
-
- 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
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
-
- 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
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
-
- 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
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
- A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- 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
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0003—Home robots, i.e. small robots for domestic use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0015—Flexure members, i.e. parts of manipulators having a narrowed section allowing articulation by flexion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0027—Means for extending the operation range
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
- B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
-
- 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
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Multimedia (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
Description
12 本体ケース
14 本体部としてのケース本体
15 バンパ
16 リンク機構
23 駆動輪
27 制御手段
55 バンパ付勢手段としてのコイルばね
70 押圧部としての突起部
74 障害物検出手段である障害物センサ
77 接触子
78 センサ部
87 作用面
95 連結体
W 障害物
Claims (6)
- 本体部、および、この本体部の外縁部に配置されたバンパを備えた本体ケースと、
この本体ケースを走行可能とする駆動輪と、
前記バンパと前記本体部とのそれぞれに対して回動可能に軸支されて前記バンパと前記本体部とを連結する対をなす連結体を備え、前記バンパを前記本体部に対して相対的に水平方向に移動可能に接続する対をなすリンク機構と、
これらリンク機構間の位置で前記バンパを前記本体部に対して離間する方向に付勢するバンパ付勢手段と、
前記バンパと対向する位置にて前記本体部にそれぞれ配置され、前記バンパの障害物との接触による前記バンパ付勢手段の付勢方向に対して反対方向とこの方向に対して交差する方向との少なくともいずれかへの移動を検出することで障害物を検出する対をなす障害物検出手段と、
これら障害物検出手段による障害物の検出に基づいて前記駆動輪の駆動を制御することで前記本体ケースを自律走行させる制御手段と
を具備したことを特徴とした自律走行体。 - 各障害物検出手段は、バンパの移動を回動に変換することにより障害物を検出可能である
ことを特徴とした請求項1記載の自律走行体。 - 各障害物検出手段は、
本体部に回動可能に設けられ、バンパに向けて回動する方向に付勢されているとともに、前記本体部に対する前記バンパの移動によりこのバンパによって押されて付勢に抗して回動する接触子と、
この接触子の回動を検出することで前記バンパの障害物との接触を検出する非接触型のセンサ部とを備えている
ことを特徴とした請求項2記載の自律走行体。 - 接触子は、回動の接線方向に沿って設けられた作用面を有し、
バンパは、本体部と対向する位置に、この本体部に対する移動によって前記作用面を押す押圧部を備えている
ことを特徴とした請求項3記載の自律走行体。 - 各障害物検出手段は、本体ケースの前後方向に沿う中心線に対して互いに反対側に配置され、各接触子の作用面が前記中心線側に対して反対側に位置し、前記各接触子の前記中心線側が前後方向に沿って回動可能となっている
ことを特徴とした請求項4記載の自律走行体。 - 対をなす障害物検出手段は、それぞれの検出の有無および検出タイミングに基づいて障害物の方向を検出可能である
ことを特徴とした請求項1ないし5いずれか一記載の自律走行体。
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014088362A JP6345973B2 (ja) | 2014-04-22 | 2014-04-22 | 自律走行体 |
EP15783236.1A EP3136196A4 (en) | 2014-04-22 | 2015-04-22 | Autonomous traveling body |
PCT/JP2015/062265 WO2015163374A1 (ja) | 2014-04-22 | 2015-04-22 | 自律走行体 |
CA2946142A CA2946142C (en) | 2014-04-22 | 2015-04-22 | Autonomous traveling body |
US15/304,979 US10201261B2 (en) | 2014-04-22 | 2015-04-22 | Autonomous traveling body |
KR1020167009276A KR101902277B1 (ko) | 2014-04-22 | 2015-04-22 | 자율주행체 |
CN201580020917.0A CN106233218B (zh) | 2014-04-22 | 2015-04-22 | 自律行驶体 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014088362A JP6345973B2 (ja) | 2014-04-22 | 2014-04-22 | 自律走行体 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2015207206A JP2015207206A (ja) | 2015-11-19 |
JP6345973B2 true JP6345973B2 (ja) | 2018-06-20 |
Family
ID=54332537
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2014088362A Active JP6345973B2 (ja) | 2014-04-22 | 2014-04-22 | 自律走行体 |
Country Status (7)
Country | Link |
---|---|
US (1) | US10201261B2 (ja) |
EP (1) | EP3136196A4 (ja) |
JP (1) | JP6345973B2 (ja) |
KR (1) | KR101902277B1 (ja) |
CN (1) | CN106233218B (ja) |
CA (1) | CA2946142C (ja) |
WO (1) | WO2015163374A1 (ja) |
Families Citing this family (42)
Publication number | Priority date | Publication date | Assignee | Title |
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US10022030B2 (en) * | 2014-07-07 | 2018-07-17 | Carl Freudenberg Kg | Movable device |
JP2017136218A (ja) * | 2016-02-04 | 2017-08-10 | 日立アプライアンス株式会社 | 自立走行型掃除機 |
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 |
JP6685751B2 (ja) * | 2016-02-15 | 2020-04-22 | 東芝ライフスタイル株式会社 | 電気掃除機 |
US10524628B2 (en) | 2016-05-20 | 2020-01-07 | Lg Electronics Inc. | Autonomous cleaner |
US10420448B2 (en) | 2016-05-20 | 2019-09-24 | Lg Electronics Inc. | Autonomous cleaner |
US10362916B2 (en) | 2016-05-20 | 2019-07-30 | Lg Electronics Inc. | Autonomous cleaner |
WO2017200353A1 (ko) * | 2016-05-20 | 2017-11-23 | 엘지전자 주식회사 | 로봇 청소기 |
US10481611B2 (en) | 2016-05-20 | 2019-11-19 | Lg Electronics Inc. | Autonomous cleaner |
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WO2017200344A1 (ko) | 2016-05-20 | 2017-11-23 | 엘지전자 주식회사 | 로봇 청소기 |
US10342400B2 (en) | 2016-05-20 | 2019-07-09 | Lg Electronics Inc. | Autonomous cleaner |
CN113017472B (zh) * | 2016-05-20 | 2022-09-13 | Lg电子株式会社 | 机器人吸尘器 |
WO2017200348A1 (ko) | 2016-05-20 | 2017-11-23 | 엘지전자 주식회사 | 로봇 청소기 |
AU2017266813B2 (en) | 2016-05-20 | 2019-10-24 | Lg Electronics Inc. | Robot cleaner |
EP3469442A4 (en) | 2016-06-30 | 2020-09-16 | TTI (Macao Commercial Offshore) Limited | SELF-CONTAINED LAWN MOWER AND ASSOCIATED NAVIGATION SYSTEM |
US11172608B2 (en) | 2016-06-30 | 2021-11-16 | Tti (Macao Commercial Offshore) Limited | Autonomous lawn mower and a system for navigating thereof |
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 |
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KR20180106225A (ko) | 2017-03-17 | 2018-10-01 | 엘지전자 주식회사 | 로봇 청소기 |
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KR101311296B1 (ko) | 2011-07-06 | 2013-09-25 | 주식회사 유진로봇 | 이동 로봇의 범퍼 조립체 |
US9615714B2 (en) * | 2012-11-09 | 2017-04-11 | Samsung Electronics Co., Ltd. | Autonomous cleaning device |
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US10201261B2 (en) | 2019-02-12 |
EP3136196A1 (en) | 2017-03-01 |
CN106233218A (zh) | 2016-12-14 |
KR20160054567A (ko) | 2016-05-16 |
CA2946142A1 (en) | 2015-10-29 |
KR101902277B1 (ko) | 2018-09-28 |
CA2946142C (en) | 2019-02-19 |
EP3136196A4 (en) | 2017-12-27 |
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