JP6987367B2 - 自律式表面清掃ロボット - Google Patents
自律式表面清掃ロボット Download PDFInfo
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- JP6987367B2 JP6987367B2 JP2018166623A JP2018166623A JP6987367B2 JP 6987367 B2 JP6987367 B2 JP 6987367B2 JP 2018166623 A JP2018166623 A JP 2018166623A JP 2018166623 A JP2018166623 A JP 2018166623A JP 6987367 B2 JP6987367 B2 JP 6987367B2
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- robot
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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
- 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
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
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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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
- A47L11/284—Floor-scrubbing machines, motor-driven having reciprocating tools
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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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/02—Floor surfacing or polishing machines
- A47L11/10—Floor surfacing or polishing machines motor-driven
- A47L11/12—Floor surfacing or polishing machines motor-driven with reciprocating or oscillating tools
- A47L11/125—Floor surfacing or polishing machines motor-driven with reciprocating or oscillating tools with supply of cleaning agents
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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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/34—Machines for treating carpets in position by liquid, foam, or vapour, e.g. by steam
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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
- 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
- A47L11/4002—Installations of electric equipment
- A47L11/4005—Arrangements of batteries or cells; Electric power supply arrangements
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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
- 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
- A47L11/4002—Installations of electric equipment
- A47L11/4008—Arrangements of switches, indicators or the like
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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
- 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
- A47L11/4036—Parts or details of the surface treating 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
- 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
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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
- 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
- A47L11/408—Means for supplying cleaning or surface treating agents
-
- 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
- A47L11/408—Means for supplying cleaning or surface treating agents
- A47L11/4083—Liquid supply reservoirs; Preparation of the agents, e.g. mixing devices
-
- 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
- A47L11/408—Means for supplying cleaning or surface treating agents
- A47L11/4088—Supply pumps; Spraying devices; Supply conduits
-
- 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
-
- 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
- Electric Vacuum Cleaner (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
- Electric Suction Cleaners (AREA)
Description
と約8.5ミリメートルの間の厚みを有する。
100 移動式床清掃ロボット
110 ロボット本体
150 コントローラ
F 前方駆動方向
Claims (9)
- 移動式床清掃ロボットを作動させる方法であって、
前記移動式床清掃ロボットを部屋の床面に沿って移動させて該移動式床清掃ロボットに清掃パッドを該床面に沿って移動させ、
前記移動式床清掃ロボットに設けられた一以上のセンサによって前記部屋の少なくとも一つの特徴をとらえ、
前記部屋の前記少なくとも一つの特徴を、前記移動式床清掃ロボットのコントローラがアクセス可能なマップ上に表し、
前記マップにアクセスして、前記マップ上に表した前記部屋の前記少なくとも一つの特徴の該マップ上の位置に基づいて、液体塗布距離より長い一定距離だけ該部屋の該少なくとも一つの特徴から離れた前記床面上に前記移動式床清掃ロボットを位置決めし、
前記移動式床清掃ロボットを位置決めした後、噴霧される液体が前記部屋の前記少なくとも一つの特徴に接触しないように、前記移動式床清掃ロボットの前方において、該部屋の該少なくとも一つの特徴に向けて前記床面上の区域に液体を噴霧し、
前記部屋の前記少なくとも一つの特徴は、床張りの変化、家具、壁、カーペット、及び障害物を含み、
前記方法は、前記移動式床清掃ロボットの前記コントローラによって実行される、
方法。 - 前記一定距離は前記移動式床清掃ロボットの噴霧器の噴霧領域に基づいている、
請求項1に記載の方法。 - 前記移動式床清掃ロボットを位置決めすることは、該移動式床清掃ロボットの噴霧器の噴霧領域に基づいて前記部屋の前記少なくとも一つの特徴に対して該移動式床清掃ロボットの向きを合わせることを含む、
請求項1に記載の方法。 - 液体が噴霧された区域を前記マップ上に表すことを更に含む、
請求項1に記載の方法。 - 前記移動式床清掃ロボットは、清掃開始時に初期体積流量の液体を噴霧し、
次いで、前記移動式床清掃ロボットは、前記初期体積流量より少ない第2の体積流量の液体を噴霧する、
請求項1に記載の方法。 - 前記移動式床清掃ロボットの前記清掃パッドを噴霧された液体上を通過するように動かし、該清掃パッドが通過した床面の区域を前記マップ上に表すことを更に含む、
請求項1に記載の方法。 - 前記一以上のセンサは一以上の測距レーザを含む、
請求項1に記載の方法。 - 前記マップは前記移動式床清掃ロボットの外部のストレージ媒体に記憶され、該移動式床清掃ロボットは該ストレージ媒体と無線通信するよう構成されている、
請求項1に記載の方法。 - 前記移動式床清掃ロボットは、前記マップを構築するために、前記一以上のセンサによりとらえられた前記部屋の前記特徴に関する情報を前記ストレージ媒体に送信するよう構成されている、
請求項8に記載の方法。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2021094359A JP7292652B2 (ja) | 2013-11-12 | 2021-06-04 | 自律式表面清掃ロボット |
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US14/077,296 US9427127B2 (en) | 2013-11-12 | 2013-11-12 | Autonomous surface cleaning robot |
US14/077,296 | 2013-11-12 | ||
JP2017098679A JP2017136461A (ja) | 2013-11-12 | 2017-05-18 | 自律式表面清掃ロボット |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2017098679A Division JP2017136461A (ja) | 2013-11-12 | 2017-05-18 | 自律式表面清掃ロボット |
Related Child Applications (1)
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JP2021094359A Division JP7292652B2 (ja) | 2013-11-12 | 2021-06-04 | 自律式表面清掃ロボット |
Publications (3)
Publication Number | Publication Date |
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JP2018192308A JP2018192308A (ja) | 2018-12-06 |
JP2018192308A5 JP2018192308A5 (ja) | 2019-06-06 |
JP6987367B2 true JP6987367B2 (ja) | 2021-12-22 |
Family
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Family Applications (5)
Application Number | Title | Priority Date | Filing Date |
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JP2015559329A Active JP6143028B2 (ja) | 2013-11-12 | 2014-10-24 | 自律式表面清掃ロボット |
JP2017002087A Active JP6389533B2 (ja) | 2013-11-12 | 2017-01-10 | 自律式表面清掃ロボット |
JP2017098679A Pending JP2017136461A (ja) | 2013-11-12 | 2017-05-18 | 自律式表面清掃ロボット |
JP2018166623A Active JP6987367B2 (ja) | 2013-11-12 | 2018-09-06 | 自律式表面清掃ロボット |
JP2021094359A Active JP7292652B2 (ja) | 2013-11-12 | 2021-06-04 | 自律式表面清掃ロボット |
Family Applications Before (3)
Application Number | Title | Priority Date | Filing Date |
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JP2015559329A Active JP6143028B2 (ja) | 2013-11-12 | 2014-10-24 | 自律式表面清掃ロボット |
JP2017002087A Active JP6389533B2 (ja) | 2013-11-12 | 2017-01-10 | 自律式表面清掃ロボット |
JP2017098679A Pending JP2017136461A (ja) | 2013-11-12 | 2017-05-18 | 自律式表面清掃ロボット |
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JP2021094359A Active JP7292652B2 (ja) | 2013-11-12 | 2021-06-04 | 自律式表面清掃ロボット |
Country Status (7)
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---|---|
US (3) | US9427127B2 (ja) |
EP (3) | EP3498143B1 (ja) |
JP (5) | JP6143028B2 (ja) |
AU (3) | AU2014349054B2 (ja) |
CA (3) | CA2900857C (ja) |
ES (1) | ES2712906T3 (ja) |
WO (1) | WO2015073187A1 (ja) |
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