TWI421054B - vacuum cleaner - Google Patents
vacuum cleaner Download PDFInfo
- Publication number
- TWI421054B TWI421054B TW097146886A TW97146886A TWI421054B TW I421054 B TWI421054 B TW I421054B TW 097146886 A TW097146886 A TW 097146886A TW 97146886 A TW97146886 A TW 97146886A TW I421054 B TWI421054 B TW I421054B
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- Prior art keywords
- sensing element
- vacuum cleaner
- obstacle
- chassis
- sensing
- Prior art date
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- 235000014676 Phragmites communis Nutrition 0.000 claims description 22
- 238000001514 detection method Methods 0.000 claims description 5
- 239000000428 dust Substances 0.000 claims description 2
- 238000000034 method Methods 0.000 description 2
- 230000001953 sensory effect Effects 0.000 description 2
- 244000089486 Phragmites australis subsp australis Species 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
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
- 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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- 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
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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
- G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
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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
- 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)
- Mechanical Engineering (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Electric Vacuum Cleaner (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Suction Cleaners (AREA)
- Sampling And Sample Adjustment (AREA)
- Geophysics And Detection Of Objects (AREA)
- Mechanical Control Devices (AREA)
- Manipulator (AREA)
Description
本發明係有關一種自走式吸塵器，包括：電動馬達驅動裝置、集塵容器、及罩體，該吸塵器設有一個障礙物感測裝置，其係由至少一個設在前方的感知元件所構成，由該感知元件之擺動，可感測障礙物。The present invention relates to a self-propelled vacuum cleaner comprising: an electric motor driving device, a dust collecting container, and a cover body, the vacuum cleaner being provided with an obstacle sensing device, which is composed of at least one sensing element disposed at the front, An obstacle can be sensed by the swing of the sensing element.
專利DE 102 42 257 A1提出此種吸塵器。該吸塵器之障礙物感測裝置的工作方式與技術，包含於本發明說明以及本發明申請專利範圍之目的及特徵中。專利WO 2005/087071 A2亦提出此種吸塵器。該吸塵器之實施例在前方設有感知元件，其可感知物件及空間邊界，而使吸塵器做出適當反應。其障礙物之感測係利用感知元件之接觸。Such a vacuum cleaner is proposed in the patent DE 102 42 257 A1. The operation and technique of the obstacle sensing device of the vacuum cleaner are included in the description of the invention and the objects and features of the scope of the invention. Such a vacuum cleaner is also proposed in the patent WO 2005/087071 A2. Embodiments of the cleaner are provided with a sensing element in front that senses the object and the spatial boundaries to allow the vacuum cleaner to react appropriately. The sensing of its obstacles utilizes the contact of the sensing element.
本發明之目的在於提供一種吸塵器，其進一步改良了障礙物感測裝置，而使其結構更簡單。It is an object of the present invention to provide a vacuum cleaner which further improves the obstacle sensing device and makes the structure simpler.
本目的由申請專利範圍第1項之標的物達成，其中，感知元件尾部之動作被一個感測器所偵測。如此使得吸塵器之障礙物感測裝置的結構簡化。感知元件尾部的動作，亦即，與感知元件障礙物接觸部距離最遠的部分被偵測。故可在感知元件尾部，尤其是在殼體內，設置偵測感知元件尾端的感測器。感知元件與障礙物接觸而產生的尾部擺動或伸縮，可被感測器偵測。尾部動作之偵測，使得吸塵器障礙物感測裝置只需要一個感知元件，其朝吸塵器行駛方向佔據圓周之大部分。配合尾部設置的感測器可連接一個電子分析裝置，其依據偵測信號而判定感知元件碰撞障礙物的方向。This object is achieved by the subject matter of claim 1 of the patent application, wherein the action of the tail of the sensing element is detected by a sensor. This simplifies the structure of the obstacle sensing device of the vacuum cleaner. The action of the tail of the sensing element, that is, the portion farthest from the contact of the sensing element obstacle is detected. Therefore, a sensor for detecting the trailing end of the sensing element can be provided at the tail of the sensing element, especially in the housing. The tail swing or telescopic generated by the sensing element in contact with the obstacle can be detected by the sensor. The detection of the tail motion causes the vacuum cleaner obstacle sensing device to require only one sensing element that occupies most of the circumference toward the direction of the vacuum cleaner. The sensor disposed with the tail can be connected to an electronic analysis device that determines the direction in which the sensing element collides with the obstacle based on the detection signal.
以下將說明本發明其他特徵，其可與申請專利範圍第1項之特徵組合，但亦可只與申請專利範圍第1項之部分特徵組合或為獨立。Other features of the present invention will be described hereinafter, which may be combined with the features of claim 1 of the patent application, but may be combined with or independent of only some of the features of claim 1 of the patent application.
本發明之實施例中，感知元件尾部可擺動地樞設在吸塵器上，由感知元件前端來看，其動作至少部分在樞接部另一側被偵測。故感知元件在樞接部後方朝向吸塵器內部延伸。動作之偵測設在樞接部後方朝向殼體內部延伸的部分，尤其是末端。感知元件被感測器偵測的部分，由於感知元件之樞設，而可作用於感測器。實現感知元件對吸塵器可擺動樞設之最簡單方法為，使感知元件樞接部後方在碰撞到障礙物時，可在一水平面上向兩側偏移。此外，樞接部亦可使碰撞到障礙物時感知元件除了偏移動作外，尚進行垂直移動。利用適當的感測器，亦可定位出與吸塵器行駛地面有一段距離而會伸入吸塵器底部的障礙物。此處，感知元件例如可偵測到右前方的障礙物。In an embodiment of the invention, the tail of the sensing element is pivotally mounted on the vacuum cleaner, and the action is detected at least partially on the other side of the pivoting portion when viewed from the front end of the sensing element. Therefore, the sensing element extends toward the inside of the vacuum cleaner behind the pivoting portion. The detection of the motion is provided at a portion of the rear of the pivoting portion that extends toward the interior of the housing, particularly the end. The portion of the sensing element that is detected by the sensor can act on the sensor due to the pivoting of the sensing element. The simplest method for realizing the oscillating pivoting of the sensing element to the vacuum cleaner is that the rear of the pivoting portion of the sensing element can be offset to the sides on a horizontal plane when it collides with an obstacle. In addition, the pivoting portion can also make the vertical movement of the sensing element in addition to the offset action when the obstacle is hit. With an appropriate sensor, it is also possible to locate an obstacle that extends a distance from the ground of the vacuum cleaner and that protrudes into the bottom of the vacuum cleaner. Here, the sensing element can detect, for example, an obstacle in the right front.
感知元件並可設置成為翹板式，尤其是，只以一個固定點固定於吸塵器。感知元件的動作只被一個感測器偵測，其係由多個感測件組成。本發明中的感測器是指，偵測每一動作的偵測點皆設在感測器指針式尾部。The sensing element can be arranged in a rocker type, in particular, it is fixed to the vacuum cleaner with only one fixed point. The action of the sensing element is detected by only one sensor, which consists of multiple sensing elements. In the sensor of the present invention, the detection point for detecting each action is set at the end of the sensor pointer.
本發明之較佳實施例中，翹板式固定係利用一個簧片。該簧片使得感知元件可在無障礙物時彈回初始位置，故簧片定義出感知元件之初始位置。簧片固定在吸塵器上，尤其是在簧片縱向中心，點狀地固定於吸塵器殼體，而簧片在該固定點兩側的部分則支撐住感知元件。故同時達到感知元件的固定及彈性支撐。簧片並為水平延伸，亦即，平行於吸塵器之行駛地面。簧片並可設在吸塵器底盤外部，例如，罩體外部。亦可將簧片固定在設有行駛驅動裝置的主殼體之行駛方向上的端部。此處，感知元件可構成罩體的一部分。但亦可使感知元件設在行駛方向上有一段距離之前方，而構成一個碰撞桿。In a preferred embodiment of the invention, the rocker type fastening system utilizes a reed. The reed allows the sensing element to spring back to the initial position when the object is unobstructed, so the reed defines the initial position of the sensing element. The reed is attached to the vacuum cleaner, in particular in the longitudinal center of the reed, fixed in point to the cleaner housing, and the portions of the reed on either side of the fixed point support the sensing element. At the same time, the fixing and elastic support of the sensing element are achieved. The reeds extend horizontally, that is, parallel to the ground of the vacuum cleaner. The reed may be located outside of the vacuum cleaner chassis, for example, outside the cover. It is also possible to fix the reed to the end in the direction of travel of the main housing provided with the travel drive. Here, the sensing element can form part of the cover. However, it is also possible to have the sensing element set a distance in the direction of travel to form a collision bar.
感知元件設作成T形，T形水平部構成可與障礙物接觸的感知面，垂直於水平部的T形垂直部，則指針式地伸入吸塵器內部，而與感測器互相作用。在一實施例中，簧片與感知元件之T形水平部相連接，尤其是簧片末端；簧片中心則固定於殼體，而構成翹板式感知元件。亦可使簧片與感知元件之T形垂直部相連接。The sensing element is designed to be T-shaped, and the T-shaped horizontal portion constitutes a sensing surface that can be in contact with the obstacle, and is perpendicular to the T-shaped vertical portion of the horizontal portion, and extends into the interior of the vacuum cleaner and interacts with the sensor. In one embodiment, the reed is coupled to the T-shaped horizontal portion of the sensing element, particularly the end of the reed; the center of the reed is fixed to the housing to form the see-saw sensing element. It is also possible to connect the reed to the T-shaped vertical portion of the sensing element.
上述翹板式固定，使得感知元件可擺動，故感知元件指針式地伸入殼體中的部分，可在三個方向上移動，亦即，在一水平平面上由一基本位置向左、向右、及向吸塵器行駛方向後方移動。The above-mentioned rocker type fixing enables the sensing element to swing, so that the sensing element can be moved into the housing in a pointer direction, and can be moved in three directions, that is, from a basic position to the left and right in a horizontal plane. And move backwards toward the direction of the vacuum cleaner.
偵測感知元件尾部動作之感測器，亦可包括一個或數個接近式感測件，例如，電感式、電容式、磁性、或光學式接近開關。亦可使用光柵、超音波、或電磁接近開關。採取電磁式時，感測器設有一個或多個電鍵，例如，三個電鍵，其中兩個電鍵分別偵測感知元件之向左及向右的移動，第三電鍵則偵測感知元件相反於行駛方向之向內移動。視碰撞方向，至少有一個感測件、電鍵、或開關被觸動。但通常會有兩個感測件、電鍵、或開關被同時觸動，尤其是一個偵測側向偏移、及一個偵測相反於前進方向之移動的感測件，故不僅可偵測正前方或感知元件側向末端的碰撞；同時，亦可依據該感測器之信號，利用一個電子分析裝置求出座標，而定位出現於感知元件整個作用範圍的障礙物。The sensor for detecting the tail motion of the sensing element may also include one or several proximity sensing members, such as inductive, capacitive, magnetic, or optical proximity switches. A grating, ultrasonic, or electromagnetic proximity switch can also be used. When the electromagnetic type is adopted, the sensor is provided with one or more electric keys, for example, three electric keys, wherein two electric keys respectively detect the leftward and rightward movement of the sensing element, and the third electric key detects the sensing element opposite to The direction of travel moves inwards. Depending on the direction of the collision, at least one of the sensing members, the keys, or the switch is activated. However, there are usually two sensing members, keys, or switches that are simultaneously activated, especially one that detects lateral offset and a sensing member that detects movement opposite to the forward direction, so that not only the front can be detected Or the collision of the lateral end of the sensing element; at the same time, according to the signal of the sensor, an electronic analysis device can be used to determine the coordinate, and the obstacle appearing in the entire range of the sensing element can be located.
以下將依據附圖詳細說明本發明之兩個實施例。Two embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
本實施例係有關一種機器人吸塵器1，其包括一個底盤2，該底盤朝向地板的下側設有可被電動馬達驅動的未示出的行駛輪、及一個突出於底盤下側而同樣被電動馬達所驅動的刷子。底盤2被罩體3所覆蓋，而吸塵器1為圓形。但，吸塵器1亦可非為圓形，而例如由一個半圓形部分與一個矩形部分組合而成。The present embodiment relates to a robot cleaner 1 comprising a chassis 2 which is provided with an unillustrated running wheel which can be driven by an electric motor toward the lower side of the floor, and an electric motor which is protruded from the lower side of the chassis and is also driven by the electric motor. The brush that is driven. The chassis 2 is covered by the cover 3, and the cleaner 1 is circular. However, the vacuum cleaner 1 may also be non-circular, for example, a combination of a semi-circular portion and a rectangular portion.
此種機器人吸塵器必須能感測及定位障礙物4。為此，本發明機器人吸塵器設有一個對撞擊敏感的障礙物感測裝置5，其可感測障礙物4之接觸，而在障礙物4被推開、被撞開、或被損傷之前停止吸塵器1。吸塵器1可藉下述之障礙物感測裝置5而不被干擾信號，例如，因通過不平坦地面而產生的震動、誤導。故可達到高的撞擊敏感性及低的干擾性。Such a robotic vacuum cleaner must be able to sense and locate obstacles 4 . To this end, the robot cleaner of the present invention is provided with an impact sensing device 5 that is sensitive to impact, which senses the contact of the obstacle 4, and stops the vacuum cleaner before the obstacle 4 is pushed open, knocked open, or damaged. 1. The vacuum cleaner 1 can sense the device 5 by the following obstacles without being disturbed, for example, vibration and misleading caused by uneven ground. Therefore, high impact sensitivity and low interference can be achieved.
障礙物感測裝置5具有一個感知元件6，其係位在底盤2前方，亦可設在罩體3上。以一般行駛方向r來看，該感知元件設在頂端，而構成一個碰撞桿。配合圓形的吸塵器1，感知元件6具一個弧形感測桿7，其與底盤2為同心。The obstacle sensing device 5 has a sensing element 6 that is either in front of the chassis 2 or on the cover 3. Viewed in the general direction of travel r, the sensing element is placed at the top end to form a collision bar. In conjunction with the circular vacuum cleaner 1, the sensing element 6 has an arcuate sensing rod 7, which is concentric with the chassis 2.
感測桿7構成T形的感知元件6之T形水平部8，且約佔圓周的四分之一。感測桿7之徑向內側之中間連接了與其垂直的T形垂直部9。該T形垂直部指針式伸入吸塵器1內，穿過罩體之開口10而伸至底盤2。The sensing rod 7 constitutes a T-shaped horizontal portion 8 of the T-shaped sensing element 6, and occupies approximately one quarter of the circumference. A T-shaped vertical portion 9 perpendicular thereto is connected to the middle of the radially inner side of the sensing rod 7. The T-shaped vertical portion extends into the vacuum cleaner 1 and extends through the opening 10 of the cover to the chassis 2.
感知元件6被簧片11所支撐。該簧片係水平延伸，而平行於吸塵器1之行駛地面12。The sensing element 6 is supported by a reed 11. The reed extends horizontally and parallel to the ground 12 of the vacuum cleaner 1.
簧片11兩端與感知元件6的T形水平部8相連接。簧片縱向之中間連接於底盤2，如圖4之鉚合部13所示。簧片11在無負荷狀態時如圖3所示略呈凹形。Both ends of the reed 11 are connected to the T-shaped horizontal portion 8 of the sensing element 6. The middle of the longitudinal direction of the reed is attached to the chassis 2, as shown by the riveting portion 13 of FIG. The reed 11 is slightly concave as shown in FIG. 3 in the unloaded state.
鉚合部13使得感知元件6被翹板式固定於底盤2。鉚合部13於是構成感知元件6之擺動點。The staking portion 13 causes the sensing element 6 to be pivotally fixed to the chassis 2. The rivet 13 then constitutes the pivot point of the sensing element 6.
如圖3所示，感知元件6在無負荷位置時，伸入底盤2中的T形垂直部9係垂直覆蓋住感知元件6之鉚合部13。故T形垂直部9位在底盤底部14上方，而覆蓋鉚合部13。As shown in Fig. 3, the T-shaped vertical portion 9 projecting into the chassis 2 vertically covers the staking portion 13 of the sensing element 6 when the sensing element 6 is in the unloaded position. Therefore, the T-shaped vertical portion 9 is positioned above the bottom portion 14 of the chassis to cover the rivet portion 13.
T形垂直部9之朝向底盤內部的自由端15，可被感測器S所感測。在圖1至8所示的第一實施例中，該感測器S由三個電鍵16、17、及18所構成，彼等係設在電路板19上，並與之連接。電鍵16至18或感測器S可將感測資料傳輸至一個未示出的電子分析裝置，其可在感測到障礙物時，進行適當的行駛動作。The free end 15 of the T-shaped vertical portion 9 facing the interior of the chassis can be sensed by the sensor S. In the first embodiment shown in Figs. 1 to 8, the sensor S is composed of three electric keys 16, 17, and 18 which are provided on and connected to the circuit board 19. The keys 16 to 18 or the sensor S can transmit the sensing data to an electronic analysis device, not shown, which can perform an appropriate driving action when an obstacle is sensed.
這三個電鍵16至18係用於感測T形垂直部9之擺動，而設在水平平面上的三個方向。若電鍵16感測到T形垂直部9時，則感知元件6以行駛方向r來看的右方碰撞障礙物4(見圖6)。與電鍵16相對的電鍵17則可感測左方的障礙物(見圖5)。第三個電鍵18設在T形垂直部9的延長線上，感知元件6可感測行駛方向r正前方的障礙物(見圖7)。These three keys 16 to 18 are used to sense the wobble of the T-shaped vertical portion 9 and are disposed in three directions on the horizontal plane. If the key 16 senses the T-shaped vertical portion 9, the sensing element 6 hits the obstacle 4 in the right direction in the direction of travel r (see Fig. 6). The electric key 17 opposite to the electric key 16 senses the left obstacle (see Fig. 5). A third electric key 18 is provided on the extension of the T-shaped vertical portion 9, and the sensing element 6 senses an obstacle directly in front of the traveling direction r (see Fig. 7).
如圖8所示，亦可有兩個電鍵16、18、或17同時被觸動，如，感知元件6之右前方碰撞到障礙物。As shown in Fig. 8, two electric keys 16, 18, or 17 may be simultaneously activated, for example, the right front of the sensing element 6 collides with an obstacle.
由電鍵16至18傳送至電子分析裝置的信號可推斷，感知元件6的哪個位置碰撞到障礙物，例如，左方、前方、右方、左前方、右前方，其可由不同的電鍵信號得知。The signals transmitted by the keys 16 to 18 to the electronic analysis device can infer which position of the sensing element 6 collides with an obstacle, for example, left, front, right, left front, right front, which can be known by different key signals. .
圖9顯示另一實施例，此處，可擺動的感知元件6之T形垂直部9之動作，亦可被電鍵16至18所感測。不同於第一實施例，此處，感知元件6之翹板式固定係採用另一種方式。此實施例中，簧片11係抵靠在底盤2之表面上，而沒有固定。感知元件6之固定係利用伸入底盤2的T形垂直部9，其下方具有插銷20。該插銷插入底盤2之長槽孔21中，而達成感知元件6之擺動固定，故，感知元件可相對於行駛方向r而向左及向右擺動；而藉由該插銷長槽孔連接，使得行駛方向及其相反方向出現制動端。長槽孔21亦可設在T形垂直部9上，而使插銷20設在底盤上。Figure 9 shows another embodiment where the action of the T-shaped vertical portion 9 of the oscillating sensing element 6 can also be sensed by the keys 16-18. Unlike the first embodiment, here, the rocker type fixing of the sensing element 6 is in another manner. In this embodiment, the reed 11 is abutted against the surface of the chassis 2 without being fixed. The fixing of the sensing element 6 utilizes a T-shaped vertical portion 9 that projects into the chassis 2 and has a latch 20 below it. The pin is inserted into the long slot 21 of the chassis 2, and the swinging of the sensing element 6 is achieved. Therefore, the sensing element can swing to the left and right with respect to the traveling direction r; and the long slot of the plug is connected The braking end appears in the direction of travel and in the opposite direction. The long slot 21 may also be provided on the T-shaped vertical portion 9 so that the latch 20 is provided on the chassis.
如圖10所示，T形垂直部9本身亦可構成感測器S的一部分，例如，可使感知元件6在碰撞障礙物4而擺動時，接觸到感測件22至24，使得一條弱電路被接通，而該電路可被電子分析裝置所判定。As shown in FIG. 10, the T-shaped vertical portion 9 itself may also constitute a part of the sensor S, for example, the sensing element 6 may be brought into contact with the sensing members 22 to 24 when oscillating against the obstacle 4, so that a weak current The circuit is turned on and the circuit can be determined by the electronic analysis device.
除了上述接觸感測器外，亦可使用接近開關。In addition to the above contact sensors, proximity switches can also be used.
所有揭示特徵本身皆具有發明性質。本發明揭示之特徵完全包含於本案之申請專利範圍中。All revealing features are inherently inventive in nature. The features disclosed in the present invention are fully included in the scope of the patent application of the present application.
1．．．吸塵器1. . . vacuum cleaner
2．．．底盤2. . . Chassis
3．．．罩體3. . . Cover
4．．．障礙物4. . . obstacle
5．．．障礙物感測裝置5. . . Obstacle sensing device
6．．．感知元件6. . . Sensory component
7．．．感測桿7. . . Sense bar
8．．．T形水平部8. . . T-shaped horizontal
9．．．T形垂直部9. . . T-shaped vertical part
10．．．開口10. . . Opening
11．．．簧片11. . . Reed
12．．．行駛地板12. . . Driving floor
13．．．鉚合部13. . . Riveting
14．．．底盤底部14. . . Chassis bottom
15．．．自由端15. . . Free end
16．．．電鍵16. . . key
17．．．電鍵17. . . key
18．．．電鍵18. . . key
19．．．電路板19. . . Circuit board
20．．．插銷20. . . plug
21．．．長槽孔twenty one. . . Long slot
22．．．感測件twenty two. . . Sensing piece
23．．．感測件twenty three. . . Sensing piece
24．．．感測件twenty four. . . Sensing piece
r．．．行駛方向r. . . Direction of travel
S．．．感測器S. . . Sensor
圖1係本發明吸塵器之立體圖。BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a perspective view of a vacuum cleaner of the present invention.
圖2係本發明吸塵器第一實施例如圖1之立體圖，其顯示部分罩體內部。Figure 2 is a perspective view of a first embodiment of the vacuum cleaner of the present invention, such as Figure 1, showing the interior of a portion of the cover.
圖3係本發明吸塵器部分罩體內部中感知元件位在基本位置的示意圖。Fig. 3 is a schematic view showing the position of the sensing element in the interior of the vacuum cleaner part cover of the present invention in a basic position.
圖4係圖3部分IV之放大圖。Figure 4 is an enlarged view of a portion IV of Figure 3.
圖5係如圖3之感知元件在吸塵器行駛方向之左方碰撞到障礙物的示意圖。Figure 5 is a schematic view of the sensing element of Figure 3 colliding with an obstacle to the left of the direction of travel of the cleaner.
圖6係如圖5之障礙物在右方的示意圖。Figure 6 is a schematic view of the obstacle of Figure 5 on the right.
圖7係如圖5之障礙物在前方的示意圖。Figure 7 is a schematic view of the obstacle of Figure 5 in front.
圖8係如圖5之障礙物在右前方的示意圖。Figure 8 is a schematic view of the obstacle of Figure 5 in the right front.
圖9係本發明吸塵器第二實施例如圖4之放大圖。Figure 9 is an enlarged view of a second embodiment of the vacuum cleaner of the present invention, such as Figure 4.
圖10係本發明吸塵器第三實施例如圖3之示意圖。Figure 10 is a schematic view of a third embodiment of the vacuum cleaner of the present invention, such as Figure 3.
1．．．吸塵器1. . . vacuum cleaner
2．．．底盤2. . . Chassis
3．．．罩體3. . . Cover
5．．．障礙物感測裝置5. . . Obstacle sensing device
6．．．感知元件6. . . Sensory component
7．．．感測桿7. . . Sense bar
8．．．T形水平部8. . . T-shaped horizontal
9．．．T形垂直部9. . . T-shaped vertical part
12．．．行駛地板12. . . Driving floor
14．．．底盤底部14. . . Chassis bottom
15．．．自由端15. . . Free end
16．．．電鍵16. . . key
17．．．電鍵17. . . key
18．．．電鍵18. . . key
19．．．電路板19. . . Circuit board
r．．．行駛方向r. . . Direction of travel
S．．．感測器S. . . Sensor
Claims (7)
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102007060744 | 2007-12-17 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| TW200948332A TW200948332A (en) | 2009-12-01 |
| TWI421054B true TWI421054B (en) | 2014-01-01 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| TW097146886A TWI421054B (en) | 2007-12-17 | 2008-12-03 | vacuum cleaner |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP5301255B2 (en) |
| DE (1) | DE102008061259B4 (en) |
| IT (1) | IT1392664B1 (en) |
| TW (1) | TWI421054B (en) |
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| DE102010000174B4 (en) | 2010-01-22 | 2022-09-01 | Vorwerk & Co. Interholding Gesellschaft mit beschränkter Haftung | Method for cleaning a room using an automatically movable cleaning device |
| DE102011050357A1 (en) | 2010-08-12 | 2012-02-16 | Vorwerk & Co. Interholding Gmbh | Method for controlling i.e. guiding, movable household floor cleaning device e.g. sucking robot, involves recording and processing light signal such that transmission of light signal to cleaning area is controlled |
| DE102010037100A1 (en) | 2010-08-23 | 2012-02-23 | Vorwerk & Co. Interholding Gmbh | Automatically movable device |
| KR101311296B1 (en) * | 2011-07-06 | 2013-09-25 | 주식회사 유진로봇 | Bumper assembly for moving robot |
| DE102012100406A1 (en) | 2012-01-19 | 2013-07-25 | Vorwerk & Co. Interholding Gmbh | Automatically movable device and method for operating such a device |
| DE102013107160A1 (en) | 2013-07-08 | 2015-01-08 | Vorwerk & Co. Interholding Gmbh | Automatically movable floor cleaning device |
| JP5888446B1 (en) * | 2015-02-12 | 2016-03-22 | 富士電機株式会社 | Floor contamination measurement system |
| JP6837319B2 (en) * | 2016-11-18 | 2021-03-03 | 日立グローバルライフソリューションズ株式会社 | Self-propelled vacuum cleaner |
| CN109091075B (en) * | 2018-08-17 | 2024-03-08 | 天佑电器（苏州）有限公司 | Self-moving device and traveling control method thereof |
| KR102397931B1 (en) * | 2020-06-15 | 2022-05-17 | 한국생산기술연구원 | Robot cleaner for detecting feces and method for performing evasion and cleaning after detecting feces using the same |
| CN114056270A (en) * | 2020-08-07 | 2022-02-18 | 中强光电股份有限公司 | Mobile platform and method for driving mobile platform |
| CN112545386A (en) * | 2020-12-24 | 2021-03-26 | 珠海格力电器股份有限公司 | Collision switch subassembly and robot of sweeping floor |
| FR3122310B1 (en) * | 2021-04-30 | 2023-06-16 | Naio Tech | Robot comprising a safety device |
| EP4343480A1 (en) * | 2022-09-21 | 2024-03-27 | Vorwerk & Co. Interholding GmbH | Automatically moveable soil working device with an obstacle detection device comprising a bumper and at least one impact sensor |
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- 2008-12-10 DE DE102008061259.6A patent/DE102008061259B4/en not_active Expired - Fee Related
- 2008-12-16 IT ITMI2008A002226A patent/IT1392664B1/en active
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Also Published As
| Publication number | Publication date |
|---|---|
| DE102008061259A1 (en) | 2009-06-18 |
| JP2009142652A (en) | 2009-07-02 |
| IT1392664B1 (en) | 2012-03-16 |
| ITMI20082226A1 (en) | 2009-06-18 |
| DE102008061259B4 (en) | 2020-12-31 |
| TW200948332A (en) | 2009-12-01 |
| JP5301255B2 (en) | 2013-09-25 |
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