JP7123656B2 - 自律型電気掃除機 - Google Patents
自律型電気掃除機 Download PDFInfo
- Publication number
- JP7123656B2 JP7123656B2 JP2018119215A JP2018119215A JP7123656B2 JP 7123656 B2 JP7123656 B2 JP 7123656B2 JP 2018119215 A JP2018119215 A JP 2018119215A JP 2018119215 A JP2018119215 A JP 2018119215A JP 7123656 B2 JP7123656 B2 JP 7123656B2
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- cleaning
- vacuum cleaner
- autonomous vacuum
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- 238000004140 cleaning Methods 0.000 claims description 213
- 239000000428 dust Substances 0.000 claims description 43
- 230000007613 environmental effect Effects 0.000 claims description 14
- 238000004891 communication Methods 0.000 description 43
- 238000012545 processing Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 8
- 238000000926 separation method Methods 0.000 description 6
- 238000003384 imaging method Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 4
- 238000013459 approach Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000001141 propulsive effect Effects 0.000 description 2
- 230000011514 reflex Effects 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
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- 230000000295 complement effect Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000011044 inertial separation Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 229920003002 synthetic resin Polymers 0.000 description 1
- 239000000057 synthetic resin Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
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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
-
- 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
- A47L9/02—Nozzles
- A47L9/04—Nozzles with driven brushes or agitators
-
- 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
- A47L9/10—Filters; Dust separators; Dust removal; Automatic exchange of filters
- A47L9/102—Dust separators
-
- 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
-
- 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
-
- 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
- A47L9/2857—User input or output elements for control, e.g. buttons, switches or displays
-
- 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
- A47L9/2868—Arrangements for power supply of vacuum cleaners or the accessories thereof
Description
Claims (7)
- 自律移動可能な本体と、
掃除場所の環境地図を記憶する記憶部と、
前記環境地図に基づいて前記本体を移動させて前記掃除場所の掃除を行う制御部と、
前記掃除場所の塵埃を吸い込むための負圧を発生させる電動送風機と、を備え、
前記制御部は、前記掃除場所の全面を網羅的に掃除する広域掃除走行様式を少なくとも1回終えた後の一連の掃除の仕上げ段階で、前記環境地図上で前記掃除場所の内側に存する複数の障害物を識別する複数の進入不可領域を、ある前記進入不可領域から他の前記進入不可領域へ移動する際に前記電動送風機を停止させ次々に渡り歩いてそれぞれの前記進入不可領域の際をまとめて掃除する自律型電気掃除機。 - 前記進入不可領域は、少なくとも前記本体が通過可能な離間距離だけ前記掃除場所の外縁から離れている請求項1に記載の自律型電気掃除機。
- 前記環境地図には前記掃除場所よりも小さい小区分が識別され、
前記制御部は、前記小区分毎に、前記小区分の掃除の仕上げ段階で、前記小区分の内側に存する障害物を識別する進入不可領域の際をまとめて掃除する請求項1または2に記載の自律型電気掃除機。 - 自律走行に費やされる電力を蓄える二次電池を備え、
前記制御部は、前記環境地図上に前記進入不可領域が複数あり、かつ前記二次電池の残量が前記進入不可領域の全てを巡回するのには不足すると判断した場合には、巡回する前記進入不可領域を制限する請求項1から3のいずれか1項に記載の自律型電気掃除機。 - 前記進入不可領域の際を掃除した後、さらに前記掃除場所の外縁の際を掃除する請求項1から4のいずれか1項に記載の自律型電気掃除機。
- 前記制御部は、前記小区分に前記掃除場所の外縁が含まれている場合には、前記小区分に含まれる前記掃除場所の外縁の際を巡って掃除し、前記小区分に前記掃除場所の外縁が含まれていない場合には、前記小区分の際を巡る掃除を不実行する請求項3に記載の自律型電気掃除機。
- 前記本体は、進行方向に対して左右いずれか一方に偏倚して設けられる吸込口を有し、かつ前記掃除場所の外縁の際、および前記進入不可領域の際に沿って走行する場合に、前記掃除場所の外縁の際、および前記進入不可領域の際に前記本体の一方の側部を沿わせて走行する請求項1から6のいずれか1項に記載の自律型電気掃除機。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018119215A JP7123656B2 (ja) | 2018-06-22 | 2018-06-22 | 自律型電気掃除機 |
CN201910466482.2A CN110623590A (zh) | 2018-06-22 | 2019-05-31 | 自主型电动吸尘器 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018119215A JP7123656B2 (ja) | 2018-06-22 | 2018-06-22 | 自律型電気掃除機 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2019217200A JP2019217200A (ja) | 2019-12-26 |
JP7123656B2 true JP7123656B2 (ja) | 2022-08-23 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2018119215A Active JP7123656B2 (ja) | 2018-06-22 | 2018-06-22 | 自律型電気掃除機 |
Country Status (2)
Country | Link |
---|---|
JP (1) | JP7123656B2 (ja) |
CN (1) | CN110623590A (ja) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111067430B (zh) * | 2019-12-27 | 2022-08-19 | 美智纵横科技有限责任公司 | 清洁机器人的控制方法、装置、清洁机器人及存储介质 |
CN111938519B (zh) * | 2020-08-19 | 2021-09-07 | 南京工程学院 | 一种扫拖一体机器人清洁路径规划方法 |
Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2003114719A (ja) | 2001-08-03 | 2003-04-18 | Sanyo Electric Co Ltd | 自走ロボット |
JP2005148889A (ja) | 2003-11-12 | 2005-06-09 | Matsushita Electric Ind Co Ltd | 掃除機能付き自律走行装置 |
JP2006026028A (ja) | 2004-07-14 | 2006-02-02 | Sanyo Electric Co Ltd | 掃除機 |
JP2007209392A (ja) | 2006-02-07 | 2007-08-23 | Funai Electric Co Ltd | 自走式掃除機 |
JP2007213236A (ja) | 2006-02-08 | 2007-08-23 | Sharp Corp | 自律走行ロボットの経路計画方法及び自律走行ロボット |
JP2016513981A (ja) | 2013-01-18 | 2016-05-19 | アイロボット コーポレイション | 家庭環境制御のための環境マッピングを提供する移動ロボット |
JP2017146742A (ja) | 2016-02-16 | 2017-08-24 | 東芝ライフスタイル株式会社 | 自律走行体 |
JP2018015396A (ja) | 2016-07-29 | 2018-02-01 | 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 |
JP2018063464A (ja) | 2016-10-11 | 2018-04-19 | 日立アプライアンス株式会社 | 自律走行型電気掃除機 |
JP2018077685A (ja) | 2016-11-09 | 2018-05-17 | 東芝ライフスタイル株式会社 | 自律走行体 |
Family Cites Families (9)
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CN105593775B (zh) * | 2013-08-06 | 2020-05-05 | 阿尔弗雷德·卡赫欧洲两合公司 | 用于运行地板清洁机的方法以及地板清洁机 |
CN103472823B (zh) * | 2013-08-20 | 2015-11-18 | 苏州两江科技有限公司 | 一种智能机器人用的栅格地图创建方法 |
CN105595923B (zh) * | 2015-11-03 | 2017-12-01 | 林启东 | 一种智能刷地装置及其控制方法 |
CN107239074A (zh) * | 2016-03-29 | 2017-10-10 | 苏州宝时得电动工具有限公司 | 自动工作系统及其工作区域的地图建立方法 |
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-
2018
- 2018-06-22 JP JP2018119215A patent/JP7123656B2/ja active Active
-
2019
- 2019-05-31 CN CN201910466482.2A patent/CN110623590A/zh active Pending
Patent Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2003114719A (ja) | 2001-08-03 | 2003-04-18 | Sanyo Electric Co Ltd | 自走ロボット |
JP2005148889A (ja) | 2003-11-12 | 2005-06-09 | Matsushita Electric Ind Co Ltd | 掃除機能付き自律走行装置 |
JP2006026028A (ja) | 2004-07-14 | 2006-02-02 | Sanyo Electric Co Ltd | 掃除機 |
JP2007209392A (ja) | 2006-02-07 | 2007-08-23 | Funai Electric Co Ltd | 自走式掃除機 |
JP2007213236A (ja) | 2006-02-08 | 2007-08-23 | Sharp Corp | 自律走行ロボットの経路計画方法及び自律走行ロボット |
JP2016513981A (ja) | 2013-01-18 | 2016-05-19 | アイロボット コーポレイション | 家庭環境制御のための環境マッピングを提供する移動ロボット |
JP2017146742A (ja) | 2016-02-16 | 2017-08-24 | 東芝ライフスタイル株式会社 | 自律走行体 |
JP2018015396A (ja) | 2016-07-29 | 2018-02-01 | 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 |
JP2018063464A (ja) | 2016-10-11 | 2018-04-19 | 日立アプライアンス株式会社 | 自律走行型電気掃除機 |
JP2018077685A (ja) | 2016-11-09 | 2018-05-17 | 東芝ライフスタイル株式会社 | 自律走行体 |
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CN110623590A (zh) | 2019-12-31 |
JP2019217200A (ja) | 2019-12-26 |
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