JPH11508810A - 自動装置 - Google Patents
自動装置Info
- Publication number
- JPH11508810A JPH11508810A JP9538817A JP53881797A JPH11508810A JP H11508810 A JPH11508810 A JP H11508810A JP 9538817 A JP9538817 A JP 9538817A JP 53881797 A JP53881797 A JP 53881797A JP H11508810 A JPH11508810 A JP H11508810A
- Authority
- JP
- Japan
- Prior art keywords
- motor
- brush roller
- automatic
- automatic device
- control device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- A47L9/0405—Driving means for the brushes or agitators
- A47L9/0411—Driving means for the brushes or agitators driven by electric motor
-
- 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
- A47L5/12—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum
- A47L5/22—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum with rotary fans
- A47L5/28—Suction cleaners with handles and nozzles fixed on the casings, e.g. wheeled suction cleaners with steering handle
- A47L5/30—Suction cleaners with handles and nozzles fixed on the casings, e.g. wheeled suction cleaners with steering handle with driven dust-loosening tools, e.g. rotating brushes
-
- 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
- A47L9/2831—Motor parameters, e.g. motor load or speed
-
- 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
-
- 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
- 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
Abstract
Description
Claims (1)
- 【特許請求の範囲】 1.被清掃表面(11)上を自動的に移動して、前記被清掃表面から例えば、 砂利、砂、埃粒子及びそのようなものであるごみを除去するのに適した自動装置 (10)であって、前記自動装置が、ホイールと前記自動装置の移動中に駆動モ ータ(22)によって回転されているブラシローラ(20)とを備えたシャーシ (12)を具備しており、前記ブラシローラは、ごみを前記被清掃表面から吸引 ダクト(23)の側に払い上げ、吸引空気流によってごみ収容部(24)まで搬 送することを目的としており、更に、前記自動装置が前記ブラシローラの前記駆 動モータ(22)を制御するために設けられた電気制御装置(25)を具備して いる、自動装置において、前記ブラシローラ(20)の動作が予め決定された程 度まで妨げられるか遮られた場合に、前記制御装置(25)が、前記ブラシロー ラのモータ(22)を停止させ、続いて、前記モータ(22)を一時的に逆方向 に作動させ、最後に、前記ブラシローラのモータ(22)を元の回転方向に作動 させるために前記ブラシローラのモータに再び接続されるように、形成されてい ることを特徴とする自動装置。 2.前記制御装置(25)が、前記ブラシローラのモータ(22)を流れる電 流を予め決定された周期で測定すると共に、前記モータの電流が予め決定された 限界値を超過する場合に前記ブラシローラのモータを逆転駆動させるように、形 成されていることを特徴とする請求項1に記載の自動装置。 3.前記制御装置(25)が、前記モータの逆転駆動中にも前記モータの電流 を測定すると共に、前記モータの電流が前記限界値を超過する場合に前記ブラシ ローラのモータ(22)を停止するよう に、形成されていることを特徴とする請求項2に記載の自動装置。 4.前記制御装置(25)が、最大速度よりも低い定格速度で前記ブラシロー ラのモータ(22)を作動すると共に、前記定格速度をほぼ一定に維持するよう に、形成されていることを特徴とする請求項1〜3のいずれか一項に記載の自動 装置。 5.前記ブラシローラのモータ(22)が直流モータであり、かつ、前記制御 装置(25)が、パルス幅を調節した電圧によって前記ブラシローラのモータ( 22)を駆動するように形成されていることを特徴とする請求項4に記載の自動 装置。 6.前記制御装置(25)が、予め決定された周期で一時的に駆動電圧を遮断 するように、かつ、前記モータ(22)の速度を決定するために、対応する時間 間隔で前記モータ(22)により発生される起電力が供給されている入力部を有 するように形成されていることを特徴とする請求項5に記載の自動装置。 7.前記ブラシローラ(20)の通常回転方向は、前記自動装置(10)が被 清掃面(11)上を移動して清掃を行う時の前記自動装置の駆動ホイール(14 、15)の回転方向とは逆向きであることを特徴とする請求項1〜6のいずれか 一項に記載の自動装置。 8.前記電気制御装置(25)はマイクロプロセッサであることを特徴とする 請求項1〜7のいずれか一項に記載の自動装置。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE9601658A SE506372C2 (sv) | 1996-04-30 | 1996-04-30 | Självgående anordning |
SE9601658-9 | 1996-04-30 | ||
PCT/SE1997/000727 WO1997040734A1 (en) | 1996-04-30 | 1997-04-29 | Autonomous device |
Publications (1)
Publication Number | Publication Date |
---|---|
JPH11508810A true JPH11508810A (ja) | 1999-08-03 |
Family
ID=20402410
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP9538817A Pending JPH11508810A (ja) | 1996-04-30 | 1997-04-29 | 自動装置 |
Country Status (9)
Country | Link |
---|---|
US (1) | US5940927A (ja) |
EP (1) | EP0841868B1 (ja) |
JP (1) | JPH11508810A (ja) |
AU (1) | AU710171B2 (ja) |
CA (1) | CA2224735A1 (ja) |
DE (1) | DE69701375T2 (ja) |
ES (1) | ES2144861T3 (ja) |
SE (1) | SE506372C2 (ja) |
WO (1) | WO1997040734A1 (ja) |
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US7706917B1 (en) | 2004-07-07 | 2010-04-27 | Irobot Corporation | Celestial navigation system for an autonomous robot |
US8838274B2 (en) | 2001-06-12 | 2014-09-16 | Irobot Corporation | Method and system for multi-mode coverage for an autonomous robot |
US8839477B2 (en) | 2007-05-09 | 2014-09-23 | Irobot Corporation | Compact autonomous coverage robot |
US8855813B2 (en) | 2005-02-18 | 2014-10-07 | Irobot Corporation | Autonomous surface cleaning robot for wet and dry cleaning |
US8854001B2 (en) | 2004-01-21 | 2014-10-07 | Irobot Corporation | Autonomous robot auto-docking and energy management systems and methods |
US8868237B2 (en) | 2006-03-17 | 2014-10-21 | Irobot Corporation | Robot confinement |
US8930023B2 (en) | 2009-11-06 | 2015-01-06 | Irobot Corporation | Localization by learning of wave-signal distributions |
US8954192B2 (en) | 2005-12-02 | 2015-02-10 | Irobot Corporation | Navigating autonomous coverage robots |
US8966707B2 (en) | 2005-02-18 | 2015-03-03 | Irobot Corporation | Autonomous surface cleaning robot for dry cleaning |
US9008835B2 (en) | 2004-06-24 | 2015-04-14 | Irobot Corporation | Remote control scheduler and method for autonomous robotic device |
US9038233B2 (en) | 2001-01-24 | 2015-05-26 | Irobot Corporation | Autonomous floor-cleaning robot |
US9128486B2 (en) | 2002-01-24 | 2015-09-08 | Irobot Corporation | Navigational control system for a robotic device |
US9360300B2 (en) | 2004-03-29 | 2016-06-07 | Irobot Corporation | Methods and apparatus for position estimation using reflected light sources |
US9420741B2 (en) | 2014-12-15 | 2016-08-23 | Irobot Corporation | Robot lawnmower mapping |
US9510505B2 (en) | 2014-10-10 | 2016-12-06 | Irobot Corporation | Autonomous robot localization |
US9516806B2 (en) | 2014-10-10 | 2016-12-13 | Irobot Corporation | Robotic lawn mowing boundary determination |
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US9955841B2 (en) | 2006-05-19 | 2018-05-01 | Irobot Corporation | Removing debris from cleaning robots |
US10021830B2 (en) | 2016-02-02 | 2018-07-17 | Irobot Corporation | Blade assembly for a grass cutting mobile robot |
US10314449B2 (en) | 2010-02-16 | 2019-06-11 | Irobot Corporation | Vacuum brush |
US10459063B2 (en) | 2016-02-16 | 2019-10-29 | Irobot Corporation | Ranging and angle of arrival antenna system for a mobile robot |
US11115798B2 (en) | 2015-07-23 | 2021-09-07 | Irobot Corporation | Pairing a beacon with a mobile robot |
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Also Published As
Publication number | Publication date |
---|---|
SE9601658D0 (sv) | 1996-04-30 |
ES2144861T3 (es) | 2000-06-16 |
EP0841868A1 (en) | 1998-05-20 |
AU2797397A (en) | 1997-11-19 |
AU710171B2 (en) | 1999-09-16 |
CA2224735A1 (en) | 1997-11-06 |
EP0841868B1 (en) | 2000-03-08 |
DE69701375D1 (de) | 2000-04-13 |
SE9601658L (sv) | 1997-10-31 |
DE69701375T2 (de) | 2000-08-10 |
SE506372C2 (sv) | 1997-12-08 |
WO1997040734A1 (en) | 1997-11-06 |
US5940927A (en) | 1999-08-24 |
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