JP6406680B2 - 床清掃装置を動作させるための方法及び床清掃装置 - Google Patents

床清掃装置を動作させるための方法及び床清掃装置 Download PDF

Info

Publication number
JP6406680B2
JP6406680B2 JP2016532241A JP2016532241A JP6406680B2 JP 6406680 B2 JP6406680 B2 JP 6406680B2 JP 2016532241 A JP2016532241 A JP 2016532241A JP 2016532241 A JP2016532241 A JP 2016532241A JP 6406680 B2 JP6406680 B2 JP 6406680B2
Authority
JP
Japan
Prior art keywords
room
cleaning device
floor cleaning
floor
sensor
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
Application number
JP2016532241A
Other languages
English (en)
Japanese (ja)
Other versions
JP2016527977A (ja
JP2016527977A5 (https=
Inventor
デュン マルクス
デュン マルクス
シャーパー ミハエル
シャーパー ミハエル
アルテス ハロルド
アルテス ハロルド
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robart GmbH
Original Assignee
Robart GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=48953382&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=JP6406680(B2) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Robart GmbH filed Critical Robart GmbH
Publication of JP2016527977A publication Critical patent/JP2016527977A/ja
Publication of JP2016527977A5 publication Critical patent/JP2016527977A5/ja
Application granted granted Critical
Publication of JP6406680B2 publication Critical patent/JP6406680B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • 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
    • A47L9/2894—Details related to signal transmission in 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
    • A47L9/28—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
    • 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
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Instructional Devices (AREA)
JP2016532241A 2013-08-06 2013-08-06 床清掃装置を動作させるための方法及び床清掃装置 Active JP6406680B2 (ja)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2013/066463 WO2015018437A1 (de) 2013-08-06 2013-08-06 Verfahren zum betreiben eines bodenreinigungsgerätes und bodenreinigungsgerät

Publications (3)

Publication Number Publication Date
JP2016527977A JP2016527977A (ja) 2016-09-15
JP2016527977A5 JP2016527977A5 (https=) 2016-11-04
JP6406680B2 true JP6406680B2 (ja) 2018-10-17

Family

ID=48953382

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2016532241A Active JP6406680B2 (ja) 2013-08-06 2013-08-06 床清掃装置を動作させるための方法及び床清掃装置

Country Status (5)

Country Link
US (1) US10478037B2 (https=)
EP (2) EP3030943B1 (https=)
JP (1) JP6406680B2 (https=)
CN (1) CN105593775B (https=)
WO (1) WO2015018437A1 (https=)

Families Citing this family (37)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10809071B2 (en) * 2017-10-17 2020-10-20 AI Incorporated Method for constructing a map while performing work
US11400595B2 (en) 2015-01-06 2022-08-02 Nexus Robotics Llc Robotic platform with area cleaning mode
US10518407B2 (en) * 2015-01-06 2019-12-31 Discovery Robotics Apparatus and methods for providing a reconfigurable robotic platform
CN107636548B (zh) * 2015-05-12 2021-08-13 三星电子株式会社 机器人及其控制方法
KR102393921B1 (ko) 2015-05-12 2022-05-04 삼성전자주식회사 로봇 및 그의 제어 방법
DE102015109775B3 (de) 2015-06-18 2016-09-22 RobArt GmbH Optischer Triangulationssensor zur Entfernungsmessung
DE102015114883A1 (de) * 2015-09-04 2017-03-09 RobArt GmbH Identifizierung und Lokalisierung einer Basisstation eines autonomen mobilen Roboters
DE102015119501A1 (de) 2015-11-11 2017-05-11 RobArt GmbH Unterteilung von Karten für die Roboternavigation
DE102015119865B4 (de) 2015-11-17 2023-12-21 RobArt GmbH Robotergestützte Bearbeitung einer Oberfläche mittels eines Roboters
DE102015121666B3 (de) 2015-12-11 2017-05-24 RobArt GmbH Fernsteuerung eines mobilen, autonomen Roboters
DE102016102644A1 (de) 2016-02-15 2017-08-17 RobArt GmbH Verfahren zur Steuerung eines autonomen mobilen Roboters
JP7058067B2 (ja) * 2016-02-16 2022-04-21 東芝ライフスタイル株式会社 自律走行体
DE102016108513A1 (de) * 2016-05-09 2017-11-09 Vorwerk & Co. Interholding Gmbh System und ein Verfahren zur Reinigung eines Fußbodens mit einem Reinigungsroboter
JP6757593B2 (ja) * 2016-05-11 2020-09-23 シャープ株式会社 自走式電子機器
WO2018024897A1 (de) * 2016-08-05 2018-02-08 RobArt GmbH Verfahren zur steuerung eines autonomen mobilen roboters
DE102016114593A1 (de) * 2016-08-05 2018-02-08 RobArt GmbH Verfahren zur Steuerung eines autonomen mobilen Roboters
KR20180082264A (ko) * 2017-01-10 2018-07-18 엘지전자 주식회사 이동 로봇 및 그 제어방법
JP2020509500A (ja) 2017-03-02 2020-03-26 ロブアート ゲーエムベーハーＲＯＢＡＲＴ ＧｍｂＨ 自律移動ロボットの制御方法
DE102017109219A1 (de) 2017-04-28 2018-10-31 RobArt GmbH Verfahren für die Roboternavigation
DE102017207341A1 (de) * 2017-05-02 2018-11-08 Henkel Ag & Co. Kgaa Verfahren zur Steuerung von Reinigungsgeräten
US20180344116A1 (en) 2017-06-02 2018-12-06 Irobot Corporation Scheduling and control system for autonomous robots
JP6945144B2 (ja) * 2017-12-14 2021-10-06 パナソニックＩｐマネジメント株式会社 掃除情報提供装置、および掃除機システム
CN108209745B (zh) * 2017-12-18 2021-06-25 深圳市奇虎智能科技有限公司 清洁设备的控制方法、装置、计算机设备和存储介质
JP6850970B2 (ja) * 2018-02-21 2021-03-31 パナソニックＩｐマネジメント株式会社 自律走行型掃除機
JP7025990B2 (ja) * 2018-05-14 2022-02-25 日立グローバルライフソリューションズ株式会社 移動体、および、移動体の地図共有方法
CN108614562B (zh) * 2018-06-05 2021-05-07 北京智行者科技有限公司 一种清扫路径优化方法
JP7123656B2 (ja) * 2018-06-22 2022-08-23 東芝ライフスタイル株式会社 自律型電気掃除機
US11157016B2 (en) * 2018-07-10 2021-10-26 Neato Robotics, Inc. Automatic recognition of multiple floorplans by cleaning robot
US10835096B2 (en) * 2018-08-30 2020-11-17 Irobot Corporation Map based training and interface for mobile robots
CN110936371A (zh) * 2018-09-25 2020-03-31 上海云绅智能科技有限公司 一种多楼层地图切换方法及机器人
DE102018131732A1 (de) * 2018-12-11 2020-06-18 Vorwerk & Co. Interholding Gmbh System aus mindestens einem Bodenbearbeitungsgerät und mindestens einer Signalsendeeinrichtung sowie Betriebsverfahren dafür
KR102715879B1 (ko) * 2019-03-07 2024-10-14 삼성전자주식회사 전자 장치 및 그 제어 방법
DE102019128927A1 (de) * 2019-10-25 2021-04-29 Vorwerk & Co. Interholding Gmbh Verfahren zur Erstellung einer Umgebungskarte für ein sich selbsttätig fortbewegendes Bodenbearbeitungsgerät, sowie System aus zwei sich selbsttätig fortbewegenden Bodenbearbeitungsgeräten
CN110840335B (zh) * 2019-11-07 2021-09-10 深圳市银星智能科技股份有限公司 机器人位置状态检测方法及其机器人
CN113100674A (zh) * 2020-04-28 2021-07-13 杨炳辉 一种地面清洗装置
JP7558718B2 (ja) * 2020-08-25 2024-10-01 日本信号株式会社 床掃除機
EP4579193A3 (en) * 2021-06-17 2025-07-30 The Toro Company Autonomous work vehicle using image-based localization

Family Cites Families (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IL124413A (en) * 1998-05-11 2001-05-20 Friendly Robotics Ltd System and method for area coverage with an autonomous robot
JP2002085305A (ja) * 2000-09-12 2002-03-26 Toshiba Tec Corp ロボットクリーナ及びロボットクリーナシステム
RU2220643C2 (ru) * 2001-04-18 2004-01-10 Самсунг Гванджу Электроникс Ко., Лтд. Автоматическое чистящее устройство, автоматическая чистящая система и способ управления этой системой (варианты)
US6667592B2 (en) 2001-08-13 2003-12-23 Intellibot, L.L.C. Mapped robot system
KR100478653B1 (ko) * 2002-06-25 2005-03-24 삼성광주전자 주식회사 로봇 청소기의 작업 영역 인식방법
US20040211444A1 (en) * 2003-03-14 2004-10-28 Taylor Charles E. Robot vacuum with particulate detector
US7170252B2 (en) * 2003-07-23 2007-01-30 Renesas Technology Corporation Location aware automata
KR100538934B1 (ko) * 2003-07-24 2005-12-27 삼성광주전자 주식회사 청소시스템 및 이의 제어방법
JP2005216021A (ja) * 2004-01-30 2005-08-11 Funai Electric Co Ltd 自律走行ロボットクリーナー
JP2005211359A (ja) * 2004-01-30 2005-08-11 Funai Electric Co Ltd 自律走行ロボットクリーナーシステム
US8972052B2 (en) * 2004-07-07 2015-03-03 Irobot Corporation Celestial navigation system for an autonomous vehicle
JP2006106816A (ja) * 2004-09-30 2006-04-20 Toshiba Tec Corp 電気掃除機
ATE442617T1 (de) 2005-12-02 2009-09-15 Irobot Corp Roboternavigationssystem mit autonomer abdeckung
ES2706729T3 (es) * 2005-12-02 2019-04-01 Irobot Corp Sistema de robot
KR100730311B1 (ko) * 2005-12-29 2007-06-19 에이스로봇 주식회사 위치 인식 로봇 청소기 및 로봇 청소기에서 위치 인식 방법
CN104248395B (zh) 2008-04-24 2018-06-22 艾罗伯特公司 用于机器人使能的移动产品的定位、位置控制和导航系统的应用
EP2433541B1 (en) * 2009-06-30 2017-04-12 LG Electronics Inc. Robot cleaner
DE102009041362A1 (de) 2009-09-11 2011-03-24 Vorwerk & Co. Interholding Gmbh Verfahren zum Betreiben eines Reinigungsroboters
DE102010037100A1 (de) * 2010-08-23 2012-02-23 Vorwerk & Co. Interholding Gmbh Selbsttätig verfahrbares Gerät
KR20120044768A (ko) * 2010-10-28 2012-05-08 엘지전자 주식회사 로봇 청소기 및 이의 제어 방법
DE102012201870A1 (de) 2012-02-08 2013-08-08 RobArt GmbH Verfahren zum automatischen Auslösen einer Selbstlokalisierung
DE102012109004A1 (de) 2012-09-24 2014-03-27 RobArt GmbH Roboter und Verfahren zur autonomen Inspektion oder Bearbeitung von Bodenflächen

Also Published As

Publication number Publication date
EP3822730B1 (de) 2022-12-07
EP3030943A1 (de) 2016-06-15
JP2016527977A (ja) 2016-09-15
WO2015018437A1 (de) 2015-02-12
US10478037B2 (en) 2019-11-19
US20160150933A1 (en) 2016-06-02
EP3822730A1 (de) 2021-05-19
CN105593775A (zh) 2016-05-18
EP3030943B1 (de) 2020-10-07
CN105593775B (zh) 2020-05-05

Similar Documents

Publication Publication Date Title
JP6406680B2 (ja) 床清掃装置を動作させるための方法及び床清掃装置
CN113631334B (zh) 移动机器人和控制多个移动机器人的方法
CN108968805B (zh) 自主地板清洁系统
CN112739505B (zh) 自主移动机器人对机器人工作区域的勘察
US20180263449A1 (en) Floor cleaning system and method for cleaning a floor surface
CN104115082B (zh) 自动启动自定位过程的方法
US10228697B2 (en) Autonomous mobile object and autonomous mobile object system
ES2928877T3 (es) Sistema con al menos dos dispositivos de tratamiento de suelos
JP5137837B2 (ja) 自立走行可能な家事装置の動作方法
CN104470685B (zh) 提供用于家庭环境控制的环境绘图的移动机器人
JP2019034136A (ja) 自律移動する掃除機の動作方法
TW202010465A (zh) 移動式機器人及其控制方法
CN113966187B (zh) 移动机器人和移动机器人的控制方法
JP2013149250A (ja) 自走式装置並びにこのような装置の運転方法
CN107003669A (zh) 用于机器人清洁设备的基于经验的路标
CN116423475A (zh) 用于机器人导航、示教和建图的系统和方法
US11583154B2 (en) Artificial intelligence cleaner and method of operating the same
KR102818492B1 (ko) 흡입 제한물을 회피할 수 있는 이동로봇 및 이동로봇의 흡입 제한물 회피 방법
CN113100661B (zh) 用于运行包括两个自动行走的地面处理设备的系统的方法

Legal Events

Date Code Title Description
RD01 Notification of change of attorney

Free format text: JAPANESE INTERMEDIATE CODE: A7426

Effective date: 20160520

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A821

Effective date: 20160520

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20160804

A524 Written submission of copy of amendment under article 19 pct

Free format text: JAPANESE INTERMEDIATE CODE: A524

Effective date: 20160804

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20160804

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20170828

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20171003

A601 Written request for extension of time

Free format text: JAPANESE INTERMEDIATE CODE: A601

Effective date: 20171225

A601 Written request for extension of time

Free format text: JAPANESE INTERMEDIATE CODE: A601

Effective date: 20180222

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20180402

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20180821

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20180912

R150 Certificate of patent or registration of utility model

Ref document number: 6406680

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

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

S111 Request for change of ownership or part of ownership

Free format text: JAPANESE INTERMEDIATE CODE: R313113

R360 Written notification for declining of transfer of rights

Free format text: JAPANESE INTERMEDIATE CODE: R360

R360 Written notification for declining of transfer of rights

Free format text: JAPANESE INTERMEDIATE CODE: R360

R371 Transfer withdrawn

Free format text: JAPANESE INTERMEDIATE CODE: R371

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

S111 Request for change of ownership or part of ownership

Free format text: JAPANESE INTERMEDIATE CODE: R313117

R350 Written notification of registration of transfer

Free format text: JAPANESE INTERMEDIATE CODE: R350