JP6359042B2 - 自律式カバレッジロボット - Google Patents
自律式カバレッジロボット Download PDFInfo
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- JP6359042B2 JP6359042B2 JP2016023970A JP2016023970A JP6359042B2 JP 6359042 B2 JP6359042 B2 JP 6359042B2 JP 2016023970 A JP2016023970 A JP 2016023970A JP 2016023970 A JP2016023970 A JP 2016023970A JP 6359042 B2 JP6359042 B2 JP 6359042B2
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- 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
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- 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
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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- G01S17/88—Lidar systems specially adapted for specific applications
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- G—PHYSICS
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- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0027—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement involving a plurality of vehicles, e.g. fleet or convoy travelling
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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
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- 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
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- Engineering & Computer Science (AREA)
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Description
130 バンパー
131 バンパーフレーム
133 バンパーハウジング
401 ワイヤコレクタ
402 コネクタ
410 近接センサ
410a 壁近接センサ
410b クリフ近接センサ
4102 第1のセンサアレイ
4104 第2のセンサアレイ
4106 第3のセンサアレイ
413 ワイヤ
414 赤外線エミッタ
416 赤外線検出器
420 接触センサ
430 光閉じ込めセンサ
Claims (16)
- 移動式ロボットであって、
前記移動式ロボットの前方周囲に沿って少なくとも水平方向に分配され、1つの赤外線エミッタ及び1つの赤外線検出器を各々が含む近接センサの配列を備え、
前記近接センサの各々が、該近接センサの前記赤外線エミッタと前記赤外線検出器との間に定められたセンサ長を有し、
配列された前記近接センサの各々が、前記移動式ロボットの前方周囲に沿って事前に定められた位置に設けられ、
配列された前記近接センサの少なくとも一部が、前記移動式ロボットの前方周囲に沿って互いに重なり合うように、積み重ねられて垂直方向において互い違いにされた構成にて配置され、
配列された個々のセンサ長の累計が、前記移動式ロボットの前方周囲に沿った前記配列の長さよりも大きい、移動式ロボット。 - 少なくとも1つの前記近接センサが、一対の収束赤外エミッタセンサ素子、ソナーセンサ、超音波センサ、3次元点群ボリュームイメージングデバイス、及び接触センサのうちの少なくともいずれかを含む、請求項1に記載の移動式ロボット。
- 前記近接センサの各々が、
放射場を有する赤外線エミッタと、
検出場を有する赤外線検出器と、
を含み、
前記赤外線エミッタ及び前記赤外線検出器が、前記放射場が前記検出場と重なり合うように配列される、請求項1に記載の移動式ロボット。 - 前記近接センサの配列が、少なくとも4つの別個の近接センサの配列を含む、請求項1に記載の移動式ロボット。
- 前記近接センサの配列が、
第1のセンサタイプの3つ又はそれ以上の近接センサを有する第1のセンサ配列と、
前記第1のセンサタイプとは異なる第2のセンサタイプの3つ又はそれ以上のセンサを有する第2のセンサ配列と、
を含む、請求項1に記載の移動式ロボット。 - 前記第1のセンサ配列が、前記ロボットを支持する前記床面に対して前記バンパーフレーム上において前記第2のセンサ配列よりも上に垂直に配置される、請求項5に記載の移動式ロボット。
- 主回路基板と、
前記移動式ロボットの前記前方周囲に支持され、前記近接センサの配列と通信する多重化補助回路基板であって、この多重化補助回路基板はコンピュータプロセッサ及び非一時的メモリを含む、前記多重化補助回路基板と、
前記多重化補助回路基板を前記主回路基板に接続し、前記近接センサの配列を前記補助回路基板に接続するワイヤの半分未満の数の通信ラインと、
を更に備える、請求項1に記載の移動式ロボット。 - 前記プロセッサは、
前記非一時的メモリに記憶された命令を実行し、
前記近接センサの配列からセンサ信号を受け取り、
前記受け取ったセンサ信号に対してセンサデータ処理を実行し、
前記処理されたセンサ信号を前記主回路基板により認識可能なデータパケットにパッケージ化し、
前記データパケットを前記主回路基板に送るように構成されている、請求項7に記載の移動式ロボット。 - 前記近接センサの配列の各々は、前記補助回路基板に接続された少なくとも1つのワイヤコレクタにおいて集められた少なくとも2つのワイヤを有する、請求項7に記載の移動式ロボット。
- 前記近接センサの配列及び前記多重化補助回路基板を支持し、前記移動式ロボットの前記前方周囲に沿ったバンパーを更に備える、請求項7に記載の移動式ロボット。
- 閉鎖リムに沿って嵌合し且つ前記近接センサの配列及び前記補助回路基板を内包するように前記閉鎖リムに沿ってシールされた2つ又はそれ以上の嵌合凹状受け部を含む統合容器を更に備え、この統合容器はアパーチャを形成し、前記通信ラインはシールされた配置にて前記アパーチャを通って延びる、請求項10に記載の移動式ロボット。
- 前記アパーチャは、前記嵌合凹状受け部により形成された前記統合容器の表面積の100分の1よりも小さい面積を形成する、請求項11に記載の移動式ロボット。
- 前記アパーチャは、1平方センチメートルよりも小さい面積を形成するオリフィスである、請求項11に記載の移動式ロボット。
- 前記統合容器は、3又はそれ以上の日本工業規格(JIS)における防水等級を有する、請求項11に記載の移動式ロボット。
- 前記統合容器は、赤外線透過及び可視光遮断性のプラスチックを含む、請求項11に記載の移動式ロボット。
- 前記主回路基板は、前記ロボットの本体上に配置され、前記補助回路基板は、前記本体に移動可能に接続された前記バンパー上に配置される、請求項11に記載の移動式ロボット。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US13/729,894 | 2012-12-28 | ||
US13/729,894 US9483055B2 (en) | 2012-12-28 | 2012-12-28 | Autonomous coverage robot |
Related Parent Applications (1)
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JP2015511816A Division JP5886474B2 (ja) | 2012-12-28 | 2013-08-29 | 自律式カバレッジロボット |
Publications (2)
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JP2016105829A JP2016105829A (ja) | 2016-06-16 |
JP6359042B2 true JP6359042B2 (ja) | 2018-07-18 |
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JP2015511816A Expired - Fee Related JP5886474B2 (ja) | 2012-12-28 | 2013-08-29 | 自律式カバレッジロボット |
JP2016023970A Active JP6359042B2 (ja) | 2012-12-28 | 2016-02-10 | 自律式カバレッジロボット |
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JP2015511816A Expired - Fee Related JP5886474B2 (ja) | 2012-12-28 | 2013-08-29 | 自律式カバレッジロボット |
Country Status (8)
Country | Link |
---|---|
US (2) | US9483055B2 (ja) |
EP (3) | EP3167784B1 (ja) |
JP (2) | JP5886474B2 (ja) |
CN (2) | CN104302218B (ja) |
AU (1) | AU2013368461B2 (ja) |
CA (1) | CA2871723C (ja) |
ES (1) | ES2654398T3 (ja) |
WO (1) | WO2014105220A1 (ja) |
Cited By (1)
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KR102103291B1 (ko) * | 2019-02-28 | 2020-05-27 | 한국생산기술연구원 | 내부에 위치하는 라이다 장치를 포함하는 로봇 청소기 및 이를 이용한 청소구역 탐지방법 |
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AU2013368461A1 (en) | 2014-11-20 |
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CN104302218A (zh) | 2015-01-21 |
EP3167784B1 (en) | 2017-11-22 |
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JP5886474B2 (ja) | 2016-03-16 |
EP2846671A4 (en) | 2015-06-10 |
WO2014105220A1 (en) | 2014-07-03 |
EP2846671B1 (en) | 2016-12-14 |
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