KR950005270A - 청소기와 그 제어방법 - Google Patents

청소기와 그 제어방법 Download PDF

Info

Publication number
KR950005270A
KR950005270A KR1019930015373A KR930015373A KR950005270A KR 950005270 A KR950005270 A KR 950005270A KR 1019930015373 A KR1019930015373 A KR 1019930015373A KR 930015373 A KR930015373 A KR 930015373A KR 950005270 A KR950005270 A KR 950005270A
Authority
KR
South Korea
Prior art keywords
cleaner
microcomputer
driving
motor
function
Prior art date
Application number
KR1019930015373A
Other languages
English (en)
Other versions
KR0140499B1 (ko
Inventor
김지현
한석진
이재봉
Original Assignee
김광호
삼성전자 주식회사
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 김광호, 삼성전자 주식회사 filed Critical 김광호
Priority to KR1019930015373A priority Critical patent/KR0140499B1/ko
Priority to JP6183813A priority patent/JPH07152433A/ja
Publication of KR950005270A publication Critical patent/KR950005270A/ko
Priority to US08/633,375 priority patent/US5841259A/en
Application granted granted Critical
Publication of KR0140499B1 publication Critical patent/KR0140499B1/ko

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
    • 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
    • A47L5/32—Suction cleaners with handles and nozzles fixed on the casings, e.g. wheeled suction cleaners with steering handle with means for connecting a hose
    • 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
    • A47L9/26—Incorporation of winding devices for electric cables
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/0085—Cleaning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
    • B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
    • B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
    • B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
    • B65H75/40—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material mobile or transportable
    • B65H75/42—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material mobile or transportable attached to, or forming part of, mobile tools, machines or vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
    • B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
    • B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
    • B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
    • B65H75/44—Constructional details
    • B65H75/4481—Arrangements or adaptations for driving the reel or the material
    • B65H75/4484—Electronic arrangements or adaptations for controlling the winding or unwinding process, e.g. with sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
    • B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
    • B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
    • B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
    • B65H75/44—Constructional details
    • B65H75/4481—Arrangements or adaptations for driving the reel or the material
    • B65H75/4486—Electric motors
    • 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
    • G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
    • 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
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • 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
    • G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G11/00—Arrangements of electric cables or lines between relatively-movable parts
    • H02G11/02—Arrangements of electric cables or lines between relatively-movable parts using take-up reel or drum
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Acoustics & Sound (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Electric Suction Cleaners (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

본원 발명은 청소구역내에 있는 물체에 대한 정보를 검출하는 물체감지수단과, 검출된 정보를 판별하는 마이크로컴퓨터와, 상기 마이크로컴퓨터에 청소기의 동작 모드를 셋팅하는 기능선택수단과, 상기 기능선택수단을 통해 청소기의 동작모드가 선택될 때 청소기능을 수행하는 청소수단과, 물체에 대한 정보에 따라 경로를 변경하며 청소기를 수행시키는 구동수단과, 청소기가 주행할 때 인출 또는 인입되는 전원케이블의 장력을 일정하게 유지시키는 케이블장력 조절수단을 구비하여 자동·수동 또는 원격제어로 청소기능을 수행할 수 있고 이동경로의 기준이 되는 표준평면의 설정으로 청소구역 전체를 유효하게 청소할 수 있다.

Description

청소기와 그 제어방법
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제1도는 본 발명에 따른 기능판넬 구성도.
제2도는 본 발명에 따른 원격제어기의 구성도.
제3도는 본 발명에 따른 청소기의 횡단면도.
제4도는 본 발명에 따른 청소기의 종단면도.
제5도는 본 발명에 따른 전원케이블 장력조절유니트의 분리사시도.
제6도는 본 발명에 따른 청소기의 제어회로도.
제7도는 본 발명에 따른 청소기의 이동경로를 나타낸 도면.
제8도는 본 발명에 따른 청소기의 동작순서를 설명한 플로우챠트.

Claims (6)

  1. 청소기에 있어서, 청소구역내에 있는 물체에 대한 정보를 검출할 수 있도록 초음파를 방사하고 물체에 부딪혀 반사되어오는 초음파를 수신하는 물체감지수단과, 상기 물체감지수단의 출력단에 접속되어 상기 물체감지수단에서 입력되는 물체에 대한 정보를 판별하는 마이크로컴퓨터와, 사용자가 청소기의 동작모드를 상기 마이크로컴퓨터에 셋팅할 수 있게하는 기능선택수단과, 상기 마이크로컴퓨터에 접속되어 상기 기능선택수단을 통해 청소기의 동작모드가 선택될 때 상기 마이크로컴퓨터에서 인가되는 제어신호에 따라 청소기능을 수행하는 청소수단과, 상기 마이크로컴퓨터에 접속되어 상기 물체감지수단에서 검출한 물체에 대한 정보에 따라, 이동경로를 변경하며 청소기를 주행시키는 구동수단과, 상기 마이크로컴퓨터에 접속되어 상기 구동수단의 동작으로 청소기가 주행할 때 인출 또는 인입되는 전원케이블의 장력을 일정하게 유지시키는 케이블장력 조절수단을 구비한 것을 특징으로 하는 청소기.
  2. 제1항에 있어서, 상기 기능선택 수단은 청소기에 설치된 기능판넬과, 상기 마이크로컴퓨터에 연결되는 원격신호수신회로부와 원격제어기로 이루어진 원격제어수단으로 구성되어 청소기가 자동·수동 및 원격제어로 청소 기능을 수행할 수 있도록 된 것을 특징으로 하는 청소기.
  3. 제1항에 있어서, 상기 구동수단은 상기 마이크로컴퓨터의 출력단에 접속되어 상기 마이크로컴퓨터로부터 제어신호를 수신하는 모터구동회로부와, 상기 제어신호에 응답해서 모터구동부에서 인가되는 구동전류의 흐름방향에 따라 정회전 또는 역회전하는 모터와, 상기 모터의 구동력을 전달받아 회전하는 동력바퀴와, 상기 모터와 동력바퀴 사이에 연결되어 모터의 구동력을 단속하는 클러치와, 상기 마이크로컴퓨터의 출력단에 접속되어 상기 마이크로컴퓨터로부터 인가되는 제어신호에 따라 상기 클러치에 구동전류를 인가하는 클러치구동회로부를 포함하는 것을 특징으로 하는 청소기.
  4. 제1항에 있어서, 상기 물체감지수단의 청소기의 주행경로상에 있는 장애물을 탐지하는 수단과, 청소구역의 벽면을 감지하여 주행경로의 기준이 되는 표준평면을 설정하는 수단으로 이루어진 것을 특징으로 하는 청소기.
  5. 청소기의 제어방법에 있어서, 청소기의 기능모드를 선택하는 제1단계와, 기능모드의 선택에 응답해서 구동모터와 동력바퀴를 기구적으로 접속시키는 제2단계와, 물체감지수단에서 인가되는 물체정보에 대한 신호로부터 표준평면을 설정하는 제3단계와, 표준평면과의 이격거리를 일정하게 유지시키며 청소기를 주행시키는 제4단계와, 주행경로상에 장애물을 검출하는 제5단계와, 상기 제5단계에서 검출하는 신호에 응답해서 청소기의 주행방향을 변경하는 제6단계로 이루어진 것을 특징으로 하는 청소기의 제어방법.
  6. 제5항에 있어서, 청소기가 주행할 때 인출 또는 인입되는 전원케이블의 장력을 조절하는 단계를 추가로 포함하는 것을 특징으로 하는 청소기의 제어방법.
    ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.
KR1019930015373A 1993-08-07 1993-08-07 청소기와 그 제어방법 KR0140499B1 (ko)

Priority Applications (3)

Application Number Priority Date Filing Date Title
KR1019930015373A KR0140499B1 (ko) 1993-08-07 1993-08-07 청소기와 그 제어방법
JP6183813A JPH07152433A (ja) 1993-08-07 1994-08-04 掃除機およびその制御方法
US08/633,375 US5841259A (en) 1993-08-07 1996-04-17 Vacuum cleaner and control method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1019930015373A KR0140499B1 (ko) 1993-08-07 1993-08-07 청소기와 그 제어방법

Publications (2)

Publication Number Publication Date
KR950005270A true KR950005270A (ko) 1995-03-20
KR0140499B1 KR0140499B1 (ko) 1998-07-01

Family

ID=19360957

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019930015373A KR0140499B1 (ko) 1993-08-07 1993-08-07 청소기와 그 제어방법

Country Status (3)

Country Link
US (1) US5841259A (ko)
JP (1) JPH07152433A (ko)
KR (1) KR0140499B1 (ko)

Families Citing this family (122)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR200148077Y1 (ko) * 1997-05-12 1999-06-15 최진호 원격제어 청소기의 휠구동장치
SE523080C2 (sv) * 1998-01-08 2004-03-23 Electrolux Ab Dockningssystem för självgående arbetsredskap
US6339735B1 (en) 1998-12-29 2002-01-15 Friendly Robotics Ltd. Method for operating a robot
US7062816B2 (en) * 1999-06-14 2006-06-20 Bissell Homecare, Inc. Surface cleaner with power drive
US6446302B1 (en) 1999-06-14 2002-09-10 Bissell Homecare, Inc. Extraction cleaning machine with cleaning control
US6611738B2 (en) * 1999-07-12 2003-08-26 Bryan J. Ruffner Multifunctional mobile appliance
US8788092B2 (en) 2000-01-24 2014-07-22 Irobot Corporation Obstacle following sensor scheme for a mobile robot
US8412377B2 (en) 2000-01-24 2013-04-02 Irobot Corporation Obstacle following sensor scheme for a mobile robot
US6956348B2 (en) 2004-01-28 2005-10-18 Irobot Corporation Debris sensor for cleaning apparatus
US6800140B2 (en) 2000-06-13 2004-10-05 Bissell Homecare, Inc. Extraction cleaning with optimal cleaning speed
US6457206B1 (en) * 2000-10-20 2002-10-01 Scott H. Judson Remote-controlled vacuum cleaner
KR100642072B1 (ko) * 2000-11-22 2006-11-10 삼성광주전자 주식회사 알에프모듈을 이용한 모빌로봇 시스템
US6339861B1 (en) 2001-01-24 2002-01-22 Vicki L. Snyder Vacuum cleaner power cord system
US7571511B2 (en) 2002-01-03 2009-08-11 Irobot Corporation Autonomous floor-cleaning robot
US6690134B1 (en) 2001-01-24 2004-02-10 Irobot Corporation Method and system for robot localization and confinement
DE10114634A1 (de) * 2001-03-23 2002-09-26 Markus Bodden Aktive Geräuschgestaltung bei Staubsaugern
US8396592B2 (en) 2001-06-12 2013-03-12 Irobot Corporation Method and system for multi-mode coverage for an autonomous robot
US7663333B2 (en) * 2001-06-12 2010-02-16 Irobot Corporation Method and system for multi-mode coverage for an autonomous robot
US6507773B2 (en) * 2001-06-14 2003-01-14 Sharper Image Corporation Multi-functional robot with remote and video system
IL145680A0 (en) 2001-09-26 2002-06-30 Friendly Robotics Ltd Robotic vacuum cleaner
AU2002341358A1 (en) * 2001-09-26 2003-04-07 Friendly Robotics Ltd. Robotic vacuum cleaner
US9128486B2 (en) 2002-01-24 2015-09-08 Irobot Corporation Navigational control system for a robotic device
GB2406041B (en) * 2002-03-26 2005-08-03 Francis Mpunga Self-guided and remote controllable vacuum cleaner
AU2003267127B8 (en) 2002-05-07 2009-08-06 Royal Appliance Mfg. Co. Auto-feed/rewind electric cord reel
US7113847B2 (en) * 2002-05-07 2006-09-26 Royal Appliance Mfg. Co. Robotic vacuum with removable portable vacuum and semi-automated environment mapping
US8428778B2 (en) 2002-09-13 2013-04-23 Irobot Corporation Navigational control system for a robotic device
US8386081B2 (en) 2002-09-13 2013-02-26 Irobot Corporation Navigational control system for a robotic device
GB2398394B (en) * 2003-02-14 2006-05-17 Dyson Ltd An autonomous machine
US20040236468A1 (en) * 2003-03-14 2004-11-25 Taylor Charles E. Robot vacuum with remote control mode
US20040200505A1 (en) * 2003-03-14 2004-10-14 Taylor Charles E. Robot vac with retractable power cord
US7805220B2 (en) * 2003-03-14 2010-09-28 Sharper Image Acquisition Llc Robot vacuum with internal mapping system
US7801645B2 (en) * 2003-03-14 2010-09-21 Sharper Image Acquisition Llc Robotic vacuum cleaner with edge and object detection system
US20050010331A1 (en) * 2003-03-14 2005-01-13 Taylor Charles E. Robot vacuum with floor type modes
US6813557B2 (en) * 2003-03-27 2004-11-02 Deere & Company Method and system for controlling a vehicle having multiple control modes
US7332890B2 (en) 2004-01-21 2008-02-19 Irobot Corporation Autonomous robot auto-docking and energy management systems and methods
DE112005000738T5 (de) 2004-03-29 2007-04-26 Evolution Robotics, Inc., Pasadena Verfahren und Vorrichtung zur Positionsbestimmung unter Verwendung von reflektierten Lichtquellen
KR101142564B1 (ko) 2004-06-24 2012-05-24 아이로보트 코퍼레이션 자동 로봇 장치용의 원격 제어 스케줄러 및 방법
WO2006007582A2 (en) * 2004-07-01 2006-01-19 Great Stuff, Inc. Systems and methods for controlling spooling of linear material
US11209833B2 (en) 2004-07-07 2021-12-28 Irobot Corporation Celestial navigation system for an autonomous vehicle
US7706917B1 (en) 2004-07-07 2010-04-27 Irobot Corporation Celestial navigation system for an autonomous robot
US8972052B2 (en) 2004-07-07 2015-03-03 Irobot Corporation Celestial navigation system for an autonomous vehicle
US7987552B2 (en) * 2004-11-17 2011-08-02 Techtronic Floor Care Technology Limited Floor care appliance with a plurality of cleaning modes
US7620476B2 (en) 2005-02-18 2009-11-17 Irobot Corporation Autonomous surface cleaning robot for dry cleaning
KR101240732B1 (ko) 2005-02-18 2013-03-07 아이로보트 코퍼레이션 습식 및 건식 청소를 위한 자동 표면 청소 로봇
US8392021B2 (en) 2005-02-18 2013-03-05 Irobot Corporation Autonomous surface cleaning robot for wet cleaning
US8930023B2 (en) 2009-11-06 2015-01-06 Irobot Corporation Localization by learning of wave-signal distributions
ATE542459T1 (de) * 2005-07-08 2012-02-15 Electrolux Ab Reinigungsroboter
US20070006404A1 (en) * 2005-07-08 2007-01-11 Gooten Innolife Corporation Remote control sweeper
EP2816434A3 (en) 2005-12-02 2015-01-28 iRobot Corporation Autonomous coverage robot
ATE534941T1 (de) 2005-12-02 2011-12-15 Irobot Corp Abdeckungsrobotermobilität
EP2544065B1 (en) 2005-12-02 2017-02-08 iRobot Corporation Robot system
ES2522926T3 (es) 2005-12-02 2014-11-19 Irobot Corporation Robot Autónomo de Cubrimiento
ES2334064T3 (es) 2005-12-02 2010-03-04 Irobot Corporation Robot modular.
ES2681523T3 (es) 2006-03-17 2018-09-13 Irobot Corporation Robot para el cuidado del césped
EP2394553B1 (en) 2006-05-19 2016-04-20 iRobot Corporation Removing debris from cleaning robots
US8417383B2 (en) 2006-05-31 2013-04-09 Irobot Corporation Detecting robot stasis
KR100762095B1 (ko) * 2006-06-29 2007-10-05 주식회사 로보스템 유 무선 자주식 청소기의 전원 공급을 위한 피동이동충전스테이션
JP2008099412A (ja) * 2006-10-11 2008-04-24 Futaba Corp モータ制御装置
KR101281512B1 (ko) * 2007-04-06 2013-07-03 삼성전자주식회사 로봇청소기 및 그 제어방법
KR101301834B1 (ko) 2007-05-09 2013-08-29 아이로보트 코퍼레이션 소형 자율 커버리지 로봇
EP3311722B1 (en) 2008-04-24 2019-07-24 iRobot Corporation Application of localization, positioning & navigation systems for robotic enabled mobile products
US8961695B2 (en) * 2008-04-24 2015-02-24 Irobot Corporation Mobile robot for cleaning
WO2010112797A1 (en) * 2009-04-03 2010-10-07 Stacey (Europe) Limited Cable spool assembly
US8606404B1 (en) * 2009-06-19 2013-12-10 Bissell Homecare, Inc. System and method for controlling a cleaning apparatus
GB2484629B (en) * 2009-07-01 2014-01-15 Racine Ind Inc Combination of carpet-cleaning machine and platform for transporting the machine
US8316499B2 (en) * 2010-01-06 2012-11-27 Evolution Robotics, Inc. Apparatus for holding a cleaning sheet in a cleaning implement
US8892251B1 (en) 2010-01-06 2014-11-18 Irobot Corporation System and method for autonomous mopping of a floor surface
US8989929B2 (en) * 2010-01-22 2015-03-24 Joy Mm Delaware, Inc. Device for reducing the likelihood of damage to a trailing cable
EP3192419B1 (en) 2010-02-16 2021-04-07 iRobot Corporation Vacuum brush
CN102674083A (zh) * 2011-03-18 2012-09-19 张春宇 一种遥控电动绕线器
US8695912B2 (en) 2011-04-19 2014-04-15 Great Stuff, Inc. Reel systems and methods for monitoring and controlling linear material slack
US9067759B2 (en) 2012-04-17 2015-06-30 Great Stuff, Inc. Automatic reel devices and method of operating the same
US9939529B2 (en) 2012-08-27 2018-04-10 Aktiebolaget Electrolux Robot positioning system
TWM451103U (zh) * 2012-10-30 2013-04-21 Agait Technology Corp 行走裝置
WO2014094834A1 (de) * 2012-12-18 2014-06-26 Alfred Kärcher Gmbh & Co. Kg Selbstfahrendes und selbstlenkendes bodenreinigungsgerät
EP2752726B1 (de) * 2013-01-08 2015-05-27 Cleanfix Reinigungssysteme AG Bodenbehandlungsmaschine und Verfahren zum Behandeln von Bodenflächen
JP6198234B2 (ja) 2013-04-15 2017-09-20 アクティエボラゲット エレクトロラックス 突出サイドブラシを備えたロボット真空掃除機
WO2014169943A1 (en) 2013-04-15 2014-10-23 Aktiebolaget Electrolux Robotic vacuum cleaner
US9427127B2 (en) 2013-11-12 2016-08-30 Irobot Corporation Autonomous surface cleaning robot
US9615712B2 (en) 2013-11-12 2017-04-11 Irobot Corporation Mobile floor cleaning robot
US11272822B2 (en) 2013-11-12 2022-03-15 Irobot Corporation Mobile floor cleaning robot with pad holder
KR102130190B1 (ko) 2013-12-19 2020-07-03 에이비 엘렉트로룩스 로봇 청소 장치
EP3082541B1 (en) 2013-12-19 2018-04-04 Aktiebolaget Electrolux Adaptive speed control of rotating side brush
WO2015090404A1 (en) 2013-12-19 2015-06-25 Aktiebolaget Electrolux Prioritizing cleaning areas
WO2015090405A1 (en) 2013-12-19 2015-06-25 Aktiebolaget Electrolux Sensing climb of obstacle of a robotic cleaning device
JP6638988B2 (ja) 2013-12-19 2020-02-05 アクチエボラゲット エレクトロルックス サイドブラシを有し、渦巻きパターンで動くロボットバキュームクリーナ
EP3084538B1 (en) 2013-12-19 2017-11-01 Aktiebolaget Electrolux Robotic cleaning device with perimeter recording function
US10617271B2 (en) * 2013-12-19 2020-04-14 Aktiebolaget Electrolux Robotic cleaning device and method for landmark recognition
WO2015090439A1 (en) 2013-12-20 2015-06-25 Aktiebolaget Electrolux Dust container
US9364064B2 (en) * 2014-01-10 2016-06-14 Dayco Holdings, Lp Attic door rope apparatus
CN106462161B (zh) 2014-03-31 2020-03-06 美国iRobot公司 自主型移动机器人
CN106415423B (zh) 2014-07-10 2021-01-01 伊莱克斯公司 用于检测机器人清洁装置的测量误差的方法
JP6459098B2 (ja) 2014-09-08 2019-01-30 アクチエボラゲット エレクトロルックス ロボット真空掃除機
CN106659345B (zh) 2014-09-08 2019-09-03 伊莱克斯公司 机器人真空吸尘器
US9516806B2 (en) 2014-10-10 2016-12-13 Irobot Corporation Robotic lawn mowing boundary determination
US9510505B2 (en) 2014-10-10 2016-12-06 Irobot Corporation Autonomous robot localization
EP3230814B1 (en) 2014-12-10 2021-02-17 Aktiebolaget Electrolux Using laser sensor for floor type detection
WO2016091320A1 (en) 2014-12-12 2016-06-16 Aktiebolaget Electrolux Side brush and robotic cleaner
US9420741B2 (en) 2014-12-15 2016-08-23 Irobot Corporation Robot lawnmower mapping
WO2016095966A1 (en) 2014-12-16 2016-06-23 Aktiebolaget Electrolux Cleaning method for a robotic cleaning device
WO2016095965A2 (en) 2014-12-16 2016-06-23 Aktiebolaget Electrolux Experience-based roadmap for a robotic cleaning device
US9538702B2 (en) 2014-12-22 2017-01-10 Irobot Corporation Robotic mowing of separated lawn areas
US9265396B1 (en) 2015-03-16 2016-02-23 Irobot Corporation Autonomous floor cleaning with removable pad
US9907449B2 (en) 2015-03-16 2018-03-06 Irobot Corporation Autonomous floor cleaning with a removable pad
CN107405034B (zh) 2015-04-17 2022-09-13 伊莱克斯公司 机器人清洁设备以及控制所述机器人清洁设备的方法
US11115798B2 (en) 2015-07-23 2021-09-07 Irobot Corporation Pairing a beacon with a mobile robot
KR102445064B1 (ko) 2015-09-03 2022-09-19 에이비 엘렉트로룩스 로봇 청소 장치의 시스템
US10021830B2 (en) 2016-02-02 2018-07-17 Irobot Corporation Blade assembly for a grass cutting mobile robot
US10459063B2 (en) 2016-02-16 2019-10-29 Irobot Corporation Ranging and angle of arrival antenna system for a mobile robot
US11169533B2 (en) 2016-03-15 2021-11-09 Aktiebolaget Electrolux Robotic cleaning device and a method at the robotic cleaning device of performing cliff detection
CA3023107A1 (en) 2016-05-06 2017-11-09 Mtd Products Inc Autonomous mower navigation system and method
CN109068908B (zh) 2016-05-11 2021-05-11 伊莱克斯公司 机器人清洁设备
US10595698B2 (en) 2017-06-02 2020-03-24 Irobot Corporation Cleaning pad for cleaning robot
KR20220025250A (ko) 2017-06-02 2022-03-03 에이비 엘렉트로룩스 로봇 청소 장치 전방의 표면의 레벨차를 검출하는 방법
US11470774B2 (en) 2017-07-14 2022-10-18 Irobot Corporation Blade assembly for a grass cutting mobile robot
CN111093447B (zh) 2017-09-26 2022-09-02 伊莱克斯公司 机器人清洁设备的移动控制
CN109808789A (zh) * 2017-11-21 2019-05-28 富泰华工业（深圳）有限公司 轮式移动机器人的防走偏装置
DE102017222034A1 (de) * 2017-12-06 2019-06-06 Robert Bosch Gmbh Leitungsaufwickelvorrichtung
DE102018111509A1 (de) * 2018-05-14 2019-11-14 Hako Gmbh Verfahren zur Bestimmung einer Route für eine Bodenreinigungsmaschine
CN108628313A (zh) * 2018-06-04 2018-10-09 浙江立石机器人技术有限公司 全局规划和局部越障机器人及巡检方法及巡检系统
JP6531211B2 (ja) * 2018-10-25 2019-06-12 日立グローバルライフソリューションズ株式会社 自律走行型電気掃除機
CN215305497U (zh) 2019-09-20 2021-12-28 尚科宁家运营有限公司 机器人清洁器

Family Cites Families (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1100139A (en) * 1914-06-16 Jeffrey Mfg Co Electric locomotive with automatic cable-reel.
US1100140A (en) * 1908-11-18 1914-06-16 Jeffrey Mfg Co Automatic cable-reel.
JPS5927313A (ja) * 1982-08-05 1984-02-13 Fanuc Ltd 機能診断方式
JPS63212312A (ja) * 1987-02-27 1988-09-05 松下電器産業株式会社 自走式掃除機
US4962453A (en) * 1989-02-07 1990-10-09 Transitions Research Corporation Autonomous vehicle for working on a surface and method of controlling same
FR2648071B1 (fr) * 1989-06-07 1995-05-19 Onet Procede et appareil autonomes de nettoyage automatique de sol par execution de missions programmees
JPH0313611A (ja) * 1989-06-07 1991-01-22 Toshiba Corp 自動清掃装置
JPH0640863B2 (ja) * 1989-08-25 1994-06-01 松下電器産業株式会社 自走機能を有する移動体のクラッチ機構
JPH03157243A (ja) * 1989-11-13 1991-07-05 Takata Kk シートベルトシステム
US5086535A (en) * 1990-10-22 1992-02-11 Racine Industries, Inc. Machine and method using graphic data for treating a surface
JPH0659733A (ja) * 1991-09-04 1994-03-04 Nec Home Electron Ltd 自律走行ロボット及びその電源コード搬送方法
KR940004375B1 (ko) * 1992-03-25 1994-05-23 삼성전자 주식회사 자주식 청소기의 구동방법
US5279672A (en) * 1992-06-29 1994-01-18 Windsor Industries, Inc. Automatic controlled cleaning machine
US5379483A (en) * 1992-07-21 1995-01-10 Bissell, Inc. Vacuum cleaner having a tool attached to the nozzle
JPH06319220A (ja) * 1992-12-30 1994-11-15 Samsung Electron Co Ltd ロボットの電源コード引出装置および電源コードの張力維持方法
US5440216A (en) * 1993-06-08 1995-08-08 Samsung Electronics Co., Ltd. Robot cleaner
KR100210058B1 (ko) * 1993-09-01 1999-07-15 윤종용 자주식로보트의 전원코드의 장력제어장치 및 그 제어방법

Also Published As

Publication number Publication date
JPH07152433A (ja) 1995-06-16
KR0140499B1 (ko) 1998-07-01
US5841259A (en) 1998-11-24

Similar Documents

Publication Publication Date Title
KR950005270A (ko) 청소기와 그 제어방법
KR930011955A (ko) 자동주행청소용 로버트의 장애물 감지장치
KR950026477A (ko) 로보트청소기의 주행제어방법
US5410227A (en) Vehicle window opening and closing method and apparatus for detecting an obstacle utilizing sound wave
KR20060062607A (ko) 로봇청소기의 장애물 위치 인식시스템 및 방법
KR920002085A (ko) 바닥면의 상태에 따라서 구동되는 전동송풍기를 가진 전기소제기
KR920014191A (ko) 이동감시 카메라장치
US8451689B2 (en) Ultrasonic apparatus with an adjustable horn
KR950704092A (ko) 로봇 장치(Robot Apparatus)
KR100602223B1 (ko) 청소기 주행 제어 장치 및 방법
JPH07287925A (ja) ローディング装置
KR950005467A (ko) 로보트의 직진주행제어장치 및 그 방법
KR940010967A (ko) 청소기의 브러쉬모터 제어방법
DE59405610D1 (de) Drehzahlgeregelte Staubsaugerdüse
KR960014585B1 (ko) 진공청소기의 청소면 재질감지방법
KR970000579B1 (ko) 진공청소기의 흡착방지 방법 및 그 장치
KR960000152A (ko) 진공 청소기 제어 장치 및 그 제어 방법
KR970011594A (ko) 오븐 렌지의 도어 자동 개폐 장치
ATE251260T1 (de) Wasserarmaturensteuerung
KR960031220A (ko) 사이드 미러 몸체의 자동위치변경장치
KR970000790A (ko) 전기 자동차의 주차 제어장치
KR970036097A (ko) 자동차의 자동 운행 장치
KR910000081A (ko) 진공 청소기의 자동 주행 방법
KR970005219A (ko) 진공청소기의 운전제어장치
KR970037860A (ko) 후진시 물체근접 경보장치

Legal Events

Date Code Title Description
A201 Request for examination
E902 Notification of reason for refusal
E701 Decision to grant or registration of patent right
GRNT Written decision to grant
FPAY Annual fee payment

Payment date: 20120228

Year of fee payment: 15

EXPY Expiration of term