JP7101893B2 - 情報を自律型装置へ伝達するための光学標示 - Google Patents
情報を自律型装置へ伝達するための光学標示 Download PDFInfo
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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
- 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
- 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
-
- 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
- A47L9/2842—Suction motors or blowers
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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
- 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
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
-
- 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
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
-
- 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
- A47L2201/04—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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Electric Vacuum Cleaner (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
本出願は、情報を自律型装置へ伝達するための光学標示と題する、2018年12月3日に出願された米国仮特許出願第62/774,599号の利益を主張するものであり、参照により本明細書に完全に組み込まれる。
Claims (16)
- ロボットクリーナー用ドッキングステーションであって、
窓を有するハウジングと、
光学パターンを有する光学標示であって、前記光学標示が前記ハウジング内に配置され、前記窓を通して前記ロボットクリーナーのカメラによって視認可能であり、前記光学標示を観察した後、前記ロボットクリーナーに、前記光学パターンの少なくとも一部に関連付けられるアクションを実行させる、光学標示と、を含み、
前記光学パターンが、少なくとも第一の、第二の、および第三のアクション部分を含み、前記第一のアクション部分がクリーニングアクションに対応し、前記第二のアクション部分がナビゲーションアクションに対応し、および前記第三のアクション部分がマップロードアクションに対応する、ドッキングステーション。 - 前記アクションが、前記ロボットクリーナーに、前記ドッキングステーションが配置される位置に対応するマップを読み込ませることを含む、請求項1に記載のドッキングステーション。
- 前記窓が、それを通過する光の実質的な部分が、所定の範囲の波長に対応するように構成される、請求項1に記載のドッキングステーション。
- 前記所定の範囲の波長が赤外線光に対応する、請求項3に記載のドッキングステーション。
- 前記光学パターンが、識別部分およびアクション部分を含む、請求項1に記載のドッキングステーション。
- 前記識別部分が、それぞれのアクション部分に対応するアクションタイプを識別する、請求項5に記載のドッキングステーション。
- 前記アクション部分に対応する前記アクションタイプを識別することに応答して、前記ロボットクリーナーに、前記アクション部分に対応する前記アクションを識別させ、前記アクションを実行させる、請求項6に記載のドッキングステーション。
- ロボットクリーナー用のビーコンであって、
ハウジングと、
光学パターンを有する光学標示であって、前記光学標示が前記ハウジングに連結され、前記ロボットクリーナーのカメラによって視認可能であり、前記光学標示を観察した後、前記ロボットクリーナーに、前記光学パターンの少なくとも一部に関連付けられるアクションを実行させる、光学標示と、を含み、
前記ハウジングが窓を含み、前記光学標示が前記窓の後ろに配置され、前記窓が、それを通過する光の実質的な部分が所定の範囲の波長に対応するように構成され、
前記光学パターンが、少なくとも第一の、第二の、および第三のアクション部分を含み、前記第一のアクション部分がクリーニングアクションに対応し、前記第二のアクション部分がナビゲーションアクションに対応し、および前記第三のアクション部分がマップロードアクションに対応する、ビーコン。 - 前記アクションが、前記ロボットクリーナーに、前記ビーコンが配置される位置に対応するマップを読み込ませることを含む、請求項8に記載のビーコン。
- 前記所定の範囲の波長が赤外線光に対応する、請求項8に記載のビーコン。
- 前記光学パターンが、識別部分およびアクション部分を含む、請求項8に記載のビーコン。
- 前記識別部分が、それぞれのアクション部分に対応するアクションタイプを識別する、
請求項11に記載のビーコン。 - 前記アクション部分に対応する前記アクションタイプを識別することに応答して、前記ロボットクリーナーに、前記アクション部分に対応する前記アクションを識別させ、前記アクションを実行させる、請求項12に記載のビーコン。
- ロボットクリーナーであって、
前記ロボットクリーナーに、メモリーに格納される一つまたは複数の命令を実行させるように構成されるプロセッサーと、
前記ロボットクリーナーの環境を観察するように構成されるカメラと、
ビーコンであって、
ハウジングと、
光学パターンを有する光学標示であって、前記光学標示が前記ハウジングに連結され、前記ロボットクリーナーの前記カメラによって視認可能であり、前記ロボットクリーナーが、前記光学標示を観察することに応答して、前記光学パターンの少なくとも一部に関連付けられるアクションを実行するように構成される、光学標示とを含む、ビーコンとを含む、ロボットクリーナーを含み、
前記ハウジングが窓を含み、前記光学標示が前記窓の後ろに配置され、前記窓が、それを通過する光の実質的な部分が所定の範囲の波長に対応するように構成され、
前記光学パターンが、少なくとも第一の、第二の、および第三のアクション部分を含み、前記第一のアクション部分がクリーニングアクションに対応し、前記第二のアクション部分がナビゲーションアクションに対応し、および前記第三のアクション部分がマップロードアクションに対応する、システム。 - 前記アクションが、前記ロボットクリーナーに、前記ビーコンが配置される位置に対応するマップを読み込ませることを含む、請求項14に記載のシステム。
- 前記所定の範囲の波長が赤外線光に対応する、請求項15に記載のシステム。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
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US201862774599P | 2018-12-03 | 2018-12-03 | |
US62/774,599 | 2018-12-03 | ||
PCT/US2019/064179 WO2020117766A1 (en) | 2018-12-03 | 2019-12-03 | Optical indicium for communicating information to autonomous devices |
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JP2022511832A JP2022511832A (ja) | 2022-02-01 |
JP7101893B2 true JP7101893B2 (ja) | 2022-07-15 |
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US (1) | US11426046B2 (ja) |
EP (1) | EP3876806B1 (ja) |
JP (1) | JP7101893B2 (ja) |
CN (2) | CN212089442U (ja) |
AU (1) | AU2019392447A1 (ja) |
CA (1) | CA3122028C (ja) |
WO (1) | WO2020117766A1 (ja) |
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JP2022511832A (ja) | 2022-02-01 |
AU2019392447A1 (en) | 2021-06-24 |
EP3876806A1 (en) | 2021-09-15 |
EP3876806A4 (en) | 2022-01-26 |
CN212089442U (zh) | 2020-12-08 |
CN113365535B (zh) | 2023-01-06 |
CN113365535A (zh) | 2021-09-07 |
EP3876806B1 (en) | 2023-03-08 |
CA3122028A1 (en) | 2020-06-11 |
US11426046B2 (en) | 2022-08-30 |
CA3122028C (en) | 2022-06-21 |
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WO2020117766A1 (en) | 2020-06-11 |
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