JP6694442B2 - 自律走行式掃除機の動作方法 - Google Patents
自律走行式掃除機の動作方法 Download PDFInfo
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- JP6694442B2 JP6694442B2 JP2017555235A JP2017555235A JP6694442B2 JP 6694442 B2 JP6694442 B2 JP 6694442B2 JP 2017555235 A JP2017555235 A JP 2017555235A JP 2017555235 A JP2017555235 A JP 2017555235A JP 6694442 B2 JP6694442 B2 JP 6694442B2
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
- G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
- G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
- G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
- G08B13/19697—Arrangements wherein non-video detectors generate an alarm themselves
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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
- 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
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B17/00—Fire alarms; Alarms responsive to explosion
- G08B17/10—Actuation by presence of smoke or gases, e.g. automatic alarm devices for analysing flowing fluid materials by the use of optical means
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
- G08B21/22—Status alarms responsive to presence or absence of persons
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B25/00—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems
- G08B25/008—Alarm setting and unsetting, i.e. arming or disarming of the security system
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B3/00—Audible signalling systems; Audible personal calling systems
- G08B3/10—Audible signalling systems; Audible personal calling systems using electric transmission; using electromagnetic transmission
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B5/00—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied
- G08B5/22—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electric transmission; using electromagnetic transmission
- G08B5/36—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electric transmission; using electromagnetic transmission using visible light sources
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B7/00—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00
- G08B7/06—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00 using electric transmission, e.g. involving audible and visible signalling through the use of sound and light sources
- G08B7/066—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00 using electric transmission, e.g. involving audible and visible signalling through the use of sound and light sources guiding along a path, e.g. evacuation path lighting strip
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
-
- 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
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Electromagnetism (AREA)
- Radar, Positioning & Navigation (AREA)
- Multimedia (AREA)
- Computer Security & Cryptography (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Signal Processing (AREA)
- Alarm Systems (AREA)
- Electric Vacuum Cleaner (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Suction Cleaners (AREA)
- Audible And Visible Signals (AREA)
- Burglar Alarm Systems (AREA)
- Fire Alarms (AREA)
Description
特許文献1から、自律走行式掃除方法が公知であり、掃除機が、例えば、記憶された又は受信した座標に基づいて1又は複数の部屋を移動することができ、室内の掃除作業を実行することができる。特許文献2から、火災警報ロボットが公知であり、それは、地震のセンサに基づいて建物内の多様な場所に移動する。火災を示す条件が検知されたとき、ロボットは、その条件が存在する場所又は部屋に向かって移動する。
図1〜図3を参照して、火災の際に部屋4に居る人8が非常口6にたどり着けるように援助するために、自律走行式掃除機1がどのように用いられるかを説明する。
2 部屋マップ
3 部屋
4 部屋
5 火災センサ
6 非常口
7 室内監視システム
8 人
9 検知システム
10 侵入者警報システム
11 メモリ
12 日程表プログラム
13 外部装置
Claims (8)
- 自律走行式掃除機(1)が、記憶された部屋マップ(2)に基づいて1又は複数の部屋(3,4)を移動し、かつ必要に応じてその室内で掃除作業を実行し、さらに前記掃除機(1)が、火災センサ(5)から情報を受信し、火災警報の場合に緊急通報を送信する、吸引及び/又は拭き掃除ロボットである自律走行式掃除機(1)の動作方法において、
火災警報の場合に前記掃除機(1)が、その現在位置から出発して非常口(6)又は安全な場所に向かって移動する間、持続的な又は周期的な音響信号を出力し、
前記掃除機(1)が、前記部屋(3,4)に設置された外部の火災センサ(5)から火災警報を受信し、前記火災センサ(5)の位置に基づいて火災の場所を推定し、そして前記火災の場所を回避した、前記非常口(6)又は安全な場所までの最も安全かつ/又は最も短い経路を前記部屋マップ(2)に基づいて決定し、その場合、出力された前記音響信号が音声を含み、前記音声は、前記掃除機(1)の前記非常口(6)又は安全な場所への移動中、人間に現在の情報を出力するために更新されることを特徴とする自律走行式掃除機の動作方法。 - 前記掃除機(1)が、前記部屋(3,4)に居る人(8)を検知し、そして前記非常口(6)又は安全な場所までついてくるように音声出力を用いてその人に要求することを特徴とする請求項1に記載の方法。
- 前記掃除機(1)が、音響センサ又は超音波センサである検知システム(9)を用いて、前記人(8)が前記非常口(6)又は安全な場所まで前記掃除機(1)についてくるかを計測することを特徴とする請求項2に記載の方法。
- 請求項1〜3のいずれかに記載の方法であって、前記掃除機(1)が、記憶された部屋マップ(2)に基づいて1又は複数の部屋(3,4)内を移動し、そして必要に応じてその室内の掃除作業を実行し、さらに前記掃除機(1)が、侵入者警報システム(10)から情報を受信し、侵入があった場合は警報を出力する、自律走行式掃除機(1)の動作方法において、
前記掃除機(1)が、警報としての掃除作業を実行することを特徴とする自律走行式掃除機の動作方法。 - 請求項1〜4のいずれかに記載の方法であって、前記掃除機(1)が、記憶された部屋マップ(2)に基づいて1又は複数の部屋(3,4)内を移動し、そして必要に応じてその室内の掃除作業を実行し、さらに前記掃除機(1)が、侵入者警報システム(10)から情報を受信し、侵入があった場合は警報を出力する、自律走行式掃除機(1)の動作方法において、
前記掃除機(1)が、警報として、記録された会話の音声出力を用いて人間の音声、又は、メモリに記憶された持続的な犬の吠え声を出力することを特徴とする自律走行式掃除機の動作方法。 - 前記侵入者警報システム(10)が、部屋(3,4)内の人(8)の存在を検知し、前記侵入者警報システム(10)又は前記掃除機(1)が、メモリ(11)に記憶されたデータに基づいて、存在する前記人(8)を識別することを特徴とする請求項4又は5に記載の方法。
- 前記掃除機(1)が、パーソナルコンピュータ又はモバイルフォンである外部装置(13)の日程表プログラム(12)にアクセスし、前記人(8)の存在を、現在の日程表入力情報と比較することを特徴とする請求項6に記載の方法。
- 前記人(8)の存在についての情報が、モバイルフォンである外部装置(14)に送信されることを特徴とする請求項7に記載の方法。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102015107598.9 | 2015-05-13 | ||
DE102015107598.9A DE102015107598A1 (de) | 2015-05-13 | 2015-05-13 | Verfahren zum Betrieb eines selbsttätig verfahrbaren Reinigungsgerätes |
PCT/EP2016/060367 WO2016180796A2 (de) | 2015-05-13 | 2016-05-10 | Verfahren zum betrieb eines selbsttätig verfahrbaren reinigungsgerätes |
Publications (2)
Publication Number | Publication Date |
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JP2018517966A JP2018517966A (ja) | 2018-07-05 |
JP6694442B2 true JP6694442B2 (ja) | 2020-05-13 |
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Application Number | Title | Priority Date | Filing Date |
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JP2017555235A Expired - Fee Related JP6694442B2 (ja) | 2015-05-13 | 2016-05-10 | 自律走行式掃除機の動作方法 |
Country Status (9)
Country | Link |
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US (1) | US10699543B2 (ja) |
EP (1) | EP3295436B1 (ja) |
JP (1) | JP6694442B2 (ja) |
CN (1) | CN107667394B (ja) |
DE (1) | DE102015107598A1 (ja) |
ES (1) | ES2746863T3 (ja) |
SG (1) | SG11201708391YA (ja) |
TW (1) | TW201705093A (ja) |
WO (1) | WO2016180796A2 (ja) |
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-
2015
- 2015-05-13 DE DE102015107598.9A patent/DE102015107598A1/de not_active Withdrawn
-
2016
- 2016-04-28 TW TW105113246A patent/TW201705093A/zh unknown
- 2016-05-10 JP JP2017555235A patent/JP6694442B2/ja not_active Expired - Fee Related
- 2016-05-10 US US15/573,208 patent/US10699543B2/en active Active
- 2016-05-10 WO PCT/EP2016/060367 patent/WO2016180796A2/de active Application Filing
- 2016-05-10 CN CN201680026363.XA patent/CN107667394B/zh active Active
- 2016-05-10 ES ES16723982T patent/ES2746863T3/es active Active
- 2016-05-10 SG SG11201708391YA patent/SG11201708391YA/en unknown
- 2016-05-10 EP EP16723982.1A patent/EP3295436B1/de active Active
Also Published As
Publication number | Publication date |
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CN107667394B (zh) | 2020-08-18 |
WO2016180796A2 (de) | 2016-11-17 |
EP3295436A2 (de) | 2018-03-21 |
JP2018517966A (ja) | 2018-07-05 |
CN107667394A (zh) | 2018-02-06 |
TW201705093A (zh) | 2017-02-01 |
EP3295436B1 (de) | 2019-07-03 |
ES2746863T3 (es) | 2020-03-09 |
DE102015107598A1 (de) | 2016-11-17 |
SG11201708391YA (en) | 2017-11-29 |
US20180137728A1 (en) | 2018-05-17 |
US10699543B2 (en) | 2020-06-30 |
WO2016180796A3 (de) | 2017-01-26 |
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