JP6831213B2 - 電気掃除機 - Google Patents
電気掃除機 Download PDFInfo
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- JP6831213B2 JP6831213B2 JP2016219124A JP2016219124A JP6831213B2 JP 6831213 B2 JP6831213 B2 JP 6831213B2 JP 2016219124 A JP2016219124 A JP 2016219124A JP 2016219124 A JP2016219124 A JP 2016219124A JP 6831213 B2 JP6831213 B2 JP 6831213B2
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- 238000004140 cleaning Methods 0.000 claims description 158
- 238000001514 detection method Methods 0.000 claims description 39
- 238000013507 mapping Methods 0.000 claims description 15
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- 239000000428 dust Substances 0.000 description 26
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- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- 230000004044 response Effects 0.000 description 1
- 229920003002 synthetic resin Polymers 0.000 description 1
- 239000000057 synthetic resin Substances 0.000 description 1
- 238000011144 upstream manufacturing Methods 0.000 description 1
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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
- A47L5/00—Structural features of suction cleaners
- A47L5/02—Structural features of suction cleaners with user-driven air-pumps or compressors
- A47L5/06—Structural features of suction cleaners with user-driven air-pumps or compressors with rotary fans
- A47L5/08—Structural features of suction cleaners with user-driven air-pumps or compressors with rotary fans driven by cleaner-supporting wheels
- A47L5/10—Structural features of suction cleaners with user-driven air-pumps or compressors with rotary fans driven by cleaner-supporting wheels with driven dust-loosening tools
-
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- 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
- A47L9/28—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
- A47L9/2805—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
- 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
- A47L9/2847—Surface treating elements
-
- 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
-
- 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
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
-
- 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
- A47L2201/02—Docking stations; Docking operations
-
- 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
- A47L2201/02—Docking stations; Docking operations
- A47L2201/022—Recharging of batteries
-
- 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
-
- 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)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- General Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
Description
20 本体ケース
21 駆動部である駆動輪
22 掃除部
25 報知手段としての表示部
43 周囲検出センサ
61 走行制御手段である走行制御部
64 マッピング手段としての地図生成部
Claims (11)
- 本体ケースと、
この本体ケースを走行可能とする駆動部と、
この駆動部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走行制御手段と、
掃除をする掃除部と、
前記本体ケースの周囲の形状を検出する周囲検出センサと、
所定の走査開始位置で前記周囲検出センサによって走査した周囲の形状に基づいて走行場所の初期地図を作成するとともに、前記走行制御手段により前記駆動部の駆動を制御することで前記初期地図の範囲内で前記本体ケースを移動させ、前記所定の走査開始位置での前記周囲検出センサによる走査時に物体の陰となった位置を前記周囲検出センサによって追加走査した周囲の形状に基づいて前記初期地図を更新するマッピング手段とを具備し、
前記走行制御手段は、更新された前記初期地図に基づいて前記掃除部による掃除の際の前記本体ケースの走行ルートを設定する
ことを特徴とした電気掃除機。 - 走行制御手段は、マッピング手段により初期地図を作成する際、駆動部の駆動を制御することで本体ケースを所定の走査開始位置でその場旋回させる
ことを特徴とした請求項1記載の電気掃除機。 - マッピング手段は、初期地図を更新する際、走行制御手段により駆動部の駆動を制御することで本体ケースを複数の位置でそれぞれその場旋回させつつ前記初期地図の外方の走行場所を周囲検出センサにより確認する
ことを特徴とした請求項1または2記載の電気掃除機。 - マッピング手段は、初期地図を更新する際、走行制御手段により駆動部の駆動を制御することで本体ケースを前記初期地図の縁部に沿って走行させつつ前記初期地図の外方の走行場所を周囲検出センサにより確認する
ことを特徴とした請求項1ないし3いずれか一記載の電気掃除機。 - マッピング手段は、初期地図を更新する際、走行制御手段により駆動部の駆動を制御することで本体ケースを前記初期地図の範囲内で走行させつつ前記初期地図の外方の走行場所を周囲検出センサにより確認する
ことを特徴とした請求項1ないし4いずれか一記載の電気掃除機。 - マッピング手段は、初期地図を更新する際、走行制御手段により駆動部の駆動を制御することで本体ケースを前記初期地図の縁部にて現在位置から離れた位置へ走行させた後、前記初期地図の外方の走行場所を周囲検出センサにより確認する
ことを特徴とした請求項1ないし5いずれか一記載の電気掃除機。 - マッピング手段により更新された初期地図を作成した後、走行制御手段が駆動部の駆動を制御して本体ケースを設定した走行ルートに沿って前記初期地図の範囲内で走行させつつ掃除部が掃除をする
ことを特徴とした請求項1ないし6いずれか一記載の電気掃除機。 - マッピング手段により更新された初期地図を作成した後、走行制御手段が駆動部の駆動を制御して本体ケースを設定した走行ルートに沿って前記初期地図内の分割された領域毎に順次走行させつつ掃除部が掃除をする
ことを特徴とした請求項1ないし7いずれか一記載の電気掃除機。 - マッピング手段により更新された初期地図を作成した後、走行制御手段が駆動部の駆動を制御して本体ケースを設定した走行ルートに沿って前記初期地図の最も近い縁部に移動させ、この初期地図の範囲内で走行させつつ掃除部が掃除をする
ことを特徴とした請求項1ないし8いずれか一記載の電気掃除機。 - マッピング手段は、走行制御手段により駆動部の駆動を制御して本体ケースを設定した走行ルートに沿って走行させて掃除部により掃除している間も初期地図を随時更新する
ことを特徴とした請求項7ないし9いずれか一記載の電気掃除機。 - 初期地図の大きさに基づいて掃除時間を推定して報知する報知手段を具備した
ことを特徴とした請求項1ないし10いずれか一記載の電気掃除機。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016219124A JP6831213B2 (ja) | 2016-11-09 | 2016-11-09 | 電気掃除機 |
PCT/JP2017/021222 WO2018087952A1 (ja) | 2016-11-09 | 2017-06-07 | 電気掃除機 |
CN201780069281.8A CN109922702B (zh) | 2016-11-09 | 2017-06-07 | 电清扫机 |
US16/346,582 US20190254490A1 (en) | 2016-11-09 | 2017-06-07 | Vacuum cleaner and travel control method thereof |
GB1906015.1A GB2570240B (en) | 2016-11-09 | 2017-06-07 | Vacuum cleaner |
TW106122327A TWI653965B (zh) | 2016-11-09 | 2017-07-04 | Electric sweeper |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016219124A JP6831213B2 (ja) | 2016-11-09 | 2016-11-09 | 電気掃除機 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2018075191A JP2018075191A (ja) | 2018-05-17 |
JP6831213B2 true JP6831213B2 (ja) | 2021-02-17 |
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JP2016219124A Active JP6831213B2 (ja) | 2016-11-09 | 2016-11-09 | 電気掃除機 |
Country Status (6)
Country | Link |
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US (1) | US20190254490A1 (ja) |
JP (1) | JP6831213B2 (ja) |
CN (1) | CN109922702B (ja) |
GB (1) | GB2570240B (ja) |
TW (1) | TWI653965B (ja) |
WO (1) | WO2018087952A1 (ja) |
Families Citing this family (18)
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JP6831210B2 (ja) * | 2016-11-02 | 2021-02-17 | 東芝ライフスタイル株式会社 | 電気掃除機 |
KR102314539B1 (ko) * | 2017-06-09 | 2021-10-18 | 엘지전자 주식회사 | 인공지능 이동 로봇의 제어 방법 |
CN107728615B (zh) * | 2017-09-26 | 2019-12-13 | 上海思岚科技有限公司 | 一种自适应区域划分的方法及系统 |
GB2566959A (en) * | 2017-09-28 | 2019-04-03 | Black & Decker Inc | Robotic device |
EP3711647A4 (en) * | 2017-11-16 | 2021-04-28 | Chiba Institute of Technology | SELF-PROPELLED VACUUM CLEANER |
GB2575462B (en) * | 2018-07-10 | 2021-10-20 | Sony Interactive Entertainment Inc | Apparatus, system and method of controlling a robotic device |
US11409306B2 (en) * | 2018-08-14 | 2022-08-09 | Chiba Institute Of Technology | Movement robot |
WO2020095372A1 (ja) | 2018-11-06 | 2020-05-14 | 株式会社日本ビジネスデータープロセシングセンター | 自走式掃除ロボット |
JP2020099461A (ja) * | 2018-12-21 | 2020-07-02 | 日立グローバルライフソリューションズ株式会社 | 自律走行型掃除機 |
JP7295657B2 (ja) * | 2019-02-26 | 2023-06-21 | 東芝ライフスタイル株式会社 | 自律走行体装置 |
CN111759226B (zh) * | 2019-04-02 | 2022-12-20 | 青岛塔波尔机器人技术股份有限公司 | 扫地机器人控制方法和扫地机器人 |
KR102386699B1 (ko) * | 2019-10-29 | 2022-04-14 | 엘지전자 주식회사 | 청소기 및 그 제어방법 |
CN210998737U (zh) * | 2019-11-12 | 2020-07-14 | 上海肇观电子科技有限公司 | 移动机器人 |
KR20220101140A (ko) | 2019-11-12 | 2022-07-19 | 넥스트브이피유 (상하이) 코포레이트 리미티드 | 이동 로봇 |
SG10201913873QA (en) * | 2019-12-30 | 2021-07-29 | Singpilot Pte Ltd | Sequential Mapping And Localization (SMAL) For Navigation |
US20210244249A1 (en) | 2020-02-10 | 2021-08-12 | Matician, Inc. | Configuration of a cleaning head for an autonomous vacuum |
DE102020212999A1 (de) * | 2020-10-15 | 2022-04-21 | BSH Hausgeräte GmbH | Verfahren zum Betrieb eines mobilen, selbstfahrenden Geräts |
US20230414052A1 (en) * | 2022-06-24 | 2023-12-28 | Sharkninja Operating Llc | Surface treatment apparatus rotational speed indicator user interface |
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CN109965778B (zh) * | 2013-01-18 | 2022-08-16 | 艾罗伯特公司 | 包括移动机器人的环境管理系统以及其使用方法 |
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JP6397663B2 (ja) * | 2014-06-18 | 2018-09-26 | シャープ株式会社 | 自走式電子機器 |
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JP6437763B2 (ja) * | 2014-08-27 | 2018-12-12 | 東芝ライフスタイル株式会社 | 電気掃除機 |
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2016
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2017
- 2017-06-07 GB GB1906015.1A patent/GB2570240B/en active Active
- 2017-06-07 CN CN201780069281.8A patent/CN109922702B/zh active Active
- 2017-06-07 US US16/346,582 patent/US20190254490A1/en not_active Abandoned
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Publication number | Publication date |
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JP2018075191A (ja) | 2018-05-17 |
GB2570240B (en) | 2022-04-20 |
TW201817361A (zh) | 2018-05-16 |
CN109922702A (zh) | 2019-06-21 |
GB2570240A (en) | 2019-07-17 |
WO2018087952A1 (ja) | 2018-05-17 |
GB201906015D0 (en) | 2019-06-12 |
TWI653965B (zh) | 2019-03-21 |
US20190254490A1 (en) | 2019-08-22 |
CN109922702B (zh) | 2021-07-09 |
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