WO2004028324A1 - 窓拭き装置 - Google Patents
窓拭き装置 Download PDFInfo
- Publication number
- WO2004028324A1 WO2004028324A1 PCT/JP2002/009806 JP0209806W WO2004028324A1 WO 2004028324 A1 WO2004028324 A1 WO 2004028324A1 JP 0209806 W JP0209806 W JP 0209806W WO 2004028324 A1 WO2004028324 A1 WO 2004028324A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- unit
- window
- traveling
- cleaning
- window glass
- Prior art date
Links
- 238000004140 cleaning Methods 0.000 claims abstract description 86
- 239000005357 flat glass Substances 0.000 claims abstract description 76
- 238000012545 processing Methods 0.000 claims description 24
- 238000001514 detection method Methods 0.000 claims description 18
- 238000012937 correction Methods 0.000 claims description 11
- 238000006073 displacement reaction Methods 0.000 claims description 7
- 238000013459 approach Methods 0.000 claims description 5
- 238000001179 sorption measurement Methods 0.000 claims 1
- 239000011521 glass Substances 0.000 description 16
- 241001074085 Scophthalmus aquosus Species 0.000 description 8
- 238000000034 method Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 229920006324 polyoxymethylene Polymers 0.000 description 2
- 230000001953 sensory effect Effects 0.000 description 2
- DHKHKXVYLBGOIT-UHFFFAOYSA-N 1,1-Diethoxyethane Chemical compound CCOC(C)OCC DHKHKXVYLBGOIT-UHFFFAOYSA-N 0.000 description 1
- 229930182556 Polyacetal Natural products 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 239000011354 acetal resin Substances 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 235000012054 meals Nutrition 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 229920000642 polymer Polymers 0.000 description 1
- -1 polytetrafluoroethylene Polymers 0.000 description 1
- 229920001343 polytetrafluoroethylene Polymers 0.000 description 1
- 239000004810 polytetrafluoroethylene Substances 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000003892 spreading Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
-
- 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
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools, brushes, or analogous members
-
- B08B1/30—
Definitions
- the present invention relates to a window cleaning device:
- the conventional window wiping devices have the following problems (i) to (V).
- the conventional window cleaning device is for business use and is large and heavy. Therefore, a large vacuum pump is used to obtain a suction force for absorbing the window cleaning device to the window glass. If a large vacuum pump is mounted on a window cleaning device and falls, it is extremely dangerous. Therefore, a tube is connected between the vacuum pump and the window cleaning device. However, when the window cleaning device is running on the glass surface of the window glass, the tube may be in the way, and the running of the window cleaning device may be restricted.
- the present invention can eliminate the restrictions on traveling, clean the corners of the window glass cleanly, can manufacture it at low cost, and can smoothly drive the glass surface of the window glass. It is an object of the present invention to provide a window wiping device which can run straight in the direction of, and can prevent generation of unwiped residue on the window glass. Disclosure of the invention
- a window wiping device includes: a suction unit that adsorbs to a window glass; a cleaning unit that is attached to the suction unit and cleans the window glass; and a traveling unit that is attached to the suction unit.
- the part is equipped with a P and wear negative pressure generator.
- a window wiping device comprises: a suction unit that suctions onto a window glass; a cleaning unit that is attached to the suction unit and cleans the window glass; and a traveling unit that is mounted on the suction unit.
- the part is characterized in that the traveling part is attached to be freely rotatable.
- a window wiping device is characterized in that, in the cleaning unit according to the second invention, the power supply is attached to a portion below the turning center of the traveling unit in the cleaning unit in a state where the cleaning unit is attached to the window glass. I do.
- the window wiping device is the window wiping device according to the first or second aspect, wherein the pair of upper sensors and the pair of upper sensors for detecting a window frame are attached to the upper and lower portions of the cleaning unit, respectively, in a state where the cleaning unit is attached to the window glass.
- the control unit causes the upper sensor and the lower sensor to move while the traveling unit reciprocates vertically.
- a traveling processing unit is provided for laterally shifting the vertical traveling path of the traveling unit. It is characterized by the following.
- a fifth aspect of the present invention is the window wiping device according to the fourth aspect, wherein a distance of the lateral shift is smaller than a width of the cleaning unit.
- the window wiping device is the window wiping device according to the first or second aspect, wherein the suction unit includes a suction cup, the traveling unit includes a wheel, and a frictional resistance of the suction cup with respect to the window glass, and the wheel with respect to the window glass. Characterized in that it is smaller than the frictional resistance of
- the window wiping device is the window wiping device according to the first or second aspect of the present invention, wherein the traveling unit has a function, and the wheel driving motor is a stepping motor.
- the window wiping device is the window wiping device according to an eighth aspect of the present invention, wherein a displacement detection sensor is provided in the traveling unit, and the control unit controls the traveling direction so that the displacement detected by the displacement detection sensor approaches zero. Is provided with a traveling direction correction processing unit for performing feedback correction of the driving direction.
- a ninth aspect of the present invention is the window wiping device according to the first or second aspect, wherein the cleaning unit is detachably attached to the suction unit.
- FIG. 1 is an explanatory diagram showing a state of cleaning a window glass W by the window wiping device 1 of the present embodiment.
- FIG. 2 is a single view of the window wiping device 1 of the present embodiment, where (A) is a plan view and (B) is a side view.
- FIG. 3 shows (A) Fig. 2 (A) as viewed from the direction of arrows ⁇ - ⁇ , (B) Fig. 2 (A) as viewed from the direction of arrows IIIB- ⁇ , (C) Fig. 2 ( FIG. 3A is a view taken along line IIIC-IIIC of FIG.
- FIG. 4 is a bottom view of the window wiping device 1 of the present embodiment.
- FIG. 5 is a view taken along line VV of FIG. 2 (B).
- FIG. 6 is a view taken along line II-VI of FIG.
- FIGS. 7A and 7B are explanatory views of another cleaning unit 20B, in which (A) is a plan view, (B) is a side view, and (C) is a longitudinal sectional view.
- FIG. 8 is a block diagram of the control unit 50.
- FIG. 9 is a flowchart of the traveling processing unit 51.
- FIG. 10 is a flowchart illustrating a procedure for using the window cleaning device 1 of the present embodiment.
- FIG. 1 is an explanatory diagram showing a state of cleaning a window glass W by the window wiping device 1 of the present embodiment.
- the window wiping device 1 of the present embodiment is a device that moves along the glass surface while cleaning the window glass W while adsorbing the window glass W.
- FIG. 2 is a single view of the window wiping device 1 of the present embodiment, where (A) is a plan view and (B) is a side view.
- Fig. 3 shows (A) Fig. 2 (A) as viewed from the direction of the arrows ⁇ - ⁇ , (B) Fig. 2 (A) as viewed from the direction of the arrows ⁇ - (, and (C) Fig. FIG. 3A is a view taken along line IIIC-IIIC of FIG.
- the window wiping apparatus 1 of the present embodiment is configured by a suction unit 10, a cleaning unit 20, a traveling unit 30, a detection unit 40, and a control unit 50. is there.
- FIG. 4 is a bottom view of the window wiping device 1 of the present embodiment.
- the P attachment portion 10 is to be attracted to the window glass W by a suction force, and is composed of a P extension nozzle 11, a P extension plate 12, and a negative pressure generator 13. It is a thing.
- the suction nozzle 11 has a suction hole formed in a hollow portion of the nozzle body.
- a suction cup 12 force is attached to the tip of the suction nozzle 11.
- the suction cup 12 is made of a material having a small frictional resistance, for example, a polymer of polytetrafluoroethylene, polyacetal, acetal resin, or the like, which is formed in a P-shaped and disk-like shape.
- connection tube 14 One end of a connection tube 14 is attached to the suction nozzle 11.
- the other end of the connection tube 14 is provided with a negative pressure generator 13 such as a vacuum pump or a blower.
- the negative pressure generator 13 is attached to the keying inner frame 31, and is supplied with power from a power supply 28 that performs ⁇ 3 ⁇ 4 ⁇ .
- the suction panel 12 can be suctioned to the window glass W by suctioning by the vacuum generator 13.
- the negative pressure generator 13 is mounted inside the suction section 10
- the window cleaning device 1 that requires an external vacuum pump can be made self-propelled, eliminating travel restrictions. can do.
- the suction is made to adhere to the window glass W by the suction force, it is possible to adsorb even a thick glass / double-glazing window glass W.
- the spreading part is not only one that attracts to the window glass W by the attraction force, but also uses a magnet. It may be made to stick to the window glass w by magnetic force.
- the window glass W may be sandwiched between a pair of magnets or magnets and a magnetic body such as an iron plate. Further, it is preferable to form a protective film on the surface of the magnet or the like because the glass surface of the window glass W is not damaged.
- the center of the upper surface of the frame 21 is pivotally attached to the suction nozzle 11 of the suction unit 10.
- the outer frame 21 is a frame having four corners, including an upper surface and four side surfaces.
- a wiping part 22 is attached to the lower edge of the frame 21.
- An arc-shaped long hole 2 lh is formed on the upper surface of the outer frame 21, and the tube 14 is passed through the long hole 21 h.
- the elongated holes 21h are provided to make the running section 30 easily turn when turning.
- a plurality of rotating shafts 23 are vertically disposed, and are rotatably mounted around the rotating shafts.
- a cleaning tool 24 such as a sponge brush is attached to the tip of each rotating shaft 23.
- a pulley 25 is attached to the base end of the rotating shaft 23. Since the belt 26 is wound between the adjacent pulleys 25 and 25, all the cleaning tools are run by running one belt 25 with a cleaning mode 27. 2 and 3 can be turned simultaneously. Therefore, the glass surface of the window glass W can be cleaned by the cleaning tool 23.
- the transmission mechanism for rotating the cleaning tool 23 may be not only a combination of a pulley and a belt but also a combination of gears, and various mechanisms may be adopted.
- the cleaning tools 23 are formed in a circular shape and are arranged in a zigzag pattern, even if there is a residual wiping due to a gap between the cleaning tools 23 in the front row and the rear row, the rear row.
- the cleaning tool 23 is suitable for wiping, and the remaining wiping can be prevented.
- the wiping unit is not limited to the above configuration, and may be a wiping unit 22B shown in FIG.
- the wiping portion 22B is obtained by directly attaching a cleaning tool 23 such as a sponge brush to a peripheral edge of a ⁇ # frame 21 having four corners. In this case, it can be easily manufactured.
- the outer frame 21 incorporates a power supply 28 such as a dry battery.
- the power supply 28 can drive the cleaning motor 27 and the traveling motor 32.
- the power supply 28 is attached to a portion of the outer frame 21 of the cleaning unit 20 below the turning center of the traveling unit 30, the reason for which will be described later.
- a traveling unit 30 is pivotally attached to the suction nozzle 11.
- the traveling wheel 30 includes the inner frame 31, the traveling motor 32, and the wheels 33.
- the inner frame 31 is a frame having an upper surface and four side surfaces. The center of the upper surface of the inner frame 31 is pivotally attached to the suction nozzle 11 of the suction unit 10.
- a pair of traveling motors 32 is attached to the edge of the inner frame 31.
- the drive shaft of each running motor 32 has wheels 33 power S attached thereto. Therefore, the wheels 33 can be rotated.
- the traveling motor 32 is a stepping motor, can rotate the wheel 33 at a desired rotation angle, and can accurately travel with a precise traveling distance. Therefore, the force S can be used to accurately shift the vertical traveling path of the traveling section 30 laterally by a desired traveling distance, and the window glass W can be prevented from being left unwiped.
- the driving motor 32 may be a normal motor as well as a stepping motor.
- the wheel By rotating the pair of wheels 33, 33 forward, the wheel can be moved forward, and by rotating the pair of wheels 33, 33 33 backward, the wheel can be retracted. Further, by rotating one wheel 33 forward and the other wheel 33 reversely, it is possible to turn the traveling unit 30 right and left and turn it in the lateral direction.
- the traveling unit 30 by driving the traveling motor 32 to rotate the wheels 33, the glass surface of the window glass W is moved forward and backward or turned and moved in the lateral direction. be able to.
- the power supply 28 of the cleaning unit 20 becomes a weight and Since the lower portion of the cleaning unit 20 always faces downward, the cleaning unit 20 can be prevented from following and turning, and the posture of the cleaning unit 20 can be maintained.
- the wheels 33 are made of rubber and have high frictional resistance.
- the suction cup 12 in the suction section 10 has a low frictional resistance.
- An upper sensor 41, a lower sensor 42, a left sensor 43, and a right sensor 44 are attached to the upper, lower, left, and right end surfaces of the frame 21, respectively.
- Each of the sensors 41 to 44 is, for example, a limit switch, and can detect a window frame of the window glass W.
- Each of the sensors 41 to 44 may be not only a contact-type limit switch but also a non-contact type proximity switch or a position detecting element.
- a displacement detection sensor 45 such as a gyro sensor, an angular velocity detection sensor, or an inclination detection sensor is attached to an appropriate position of the traveling section 30.
- the displacement detection sensor 45 can detect the displacement amount of the traveling section 30.
- control unit 50 will be described.
- FIG. 8 is a block diagram of the control unit 50. As shown in the figure, the detection signal of the detection unit 40 is transmitted to the control unit 50.
- the control circuit 50 includes a traveling processing unit 51 and a traveling direction correction processing unit 52.
- the traveling processing unit 51 receives window frame detection signals from the sensors 41 to 44, and is a processing unit that controls rotation of the pair of wheels 33, 33 in the traveling unit 30.
- FIG. 9 is a flowchart of the traveling processing unit 51.
- the traveling processing unit 51 performs the following processing. First, when the start switch is turned on, the traveling section 30 is caused to travel vertically upward or downward (S1). When the window sensory signal is detected by the upper sensor 41 or the lower sensor 42 (S 2), the traveling section 30 is turned laterally and moved (S 3). Then, it is determined whether the window sensory signal is detected by the left sensor 43 or the right sensor 44 (S4). If it is determined that the relevant window signal has been detected, the process is terminated. However, it is determined that the window frame detection signal has been detected. If not, the running section 30 is returned to the vertical direction, and runs in the vertical direction opposite to the running direction of Step 1 (S5). Therefore, the vertical traveling path of the traveling section 3Q can be shifted laterally. Then, (S 2) to (S 5) are repeated.
- the entire glass surface of the window glass W can be cleaned by the cleaning unit 20.
- the horizontal shift distance of the traveling processing unit 51 By setting the horizontal shift distance of the traveling processing unit 51 to be smaller than the width of the cleaning unit 20, the interval between the vertical traveling paths can be shortened, and the cleaning unit 20 cleans the window glass W. Since the wiping force can be applied by overlapping the edges of the trajectory, it is possible to prevent the wiping of the window glass w and to clean the entire area of the window glass W.
- the traveling direction correction processing unit 52 receives the deviation amount detected by the deviation detection sensor 45, performs feedback correction so that the deviation amount approaches 0, and corrects the traveling direction of the traveling unit 30. This is a processing unit that transmits the value to the traveling processing unit 51.
- the traveling direction correction processing section 52 if the traveling direction of the traveling section 30 is shifted, the feedback is corrected by the amount of the deviation, so that the traveling section 30 can be driven straight.
- the window wiping device 1 of the present embodiment may be controlled by a force s that is automatically running and a remote control using a remote control.
- window wiping device 1 of the present embodiment is for household use, it may be for business use.
- FIG. 10 is a flowchart illustrating a procedure for using the window wiping device 1 of the present embodiment.
- the power switch of the window cleaning device 1 of the present embodiment is turned on.
- the window wiping device 1 is adsorbed to the window glass W.
- the window glass W can be wiped by the window wiping device 1.
- the window wiping device 1 travels back and forth in the vertical direction of the window glass W and shifts vertically on the vertical traveling path each time it reaches the upper and lower ends of the window frame, so that the entire glass surface of the window glass W is wiped. be able to.
- the window wiping device 1 When the window wiping device 1 reaches the side edge of the window glass W, the window wiping device 1 automatically stops, and the completion of the window wiping is notified by a sound or display. Therefore, the vacuum pump is stopped after the power switch of the window wiping device 1 is turned off, and the window wiping device 1 may be removed from the window glass W.
- the notification of the abnormal state or the completion of the window cleaning may be transmitted not only to the sound and the display but also to a mobile phone or a personal computer.
- the window cleaning device 1 that requires an external vacuum pump can be made self-propelled, Restrictions can be eliminated.
- the traveling unit 30 Since the traveling unit 30 is pivotally attached to the P attachment unit 10, the traveling direction of the traveling unit 30 can be changed without changing the posture of the cleaning unit 20. For this reason, by forming the wiping part 22 of the cleaning unit 20 into a shape having four corners, the corners of the window glass W can be cleanly cleaned.
- the traveling unit 3 Since the vertical running path can be shifted horizontally, the window glass W can be cleaned neatly. Since it can be controlled by an inexpensive sensor and a simple control method, it can be manufactured at low cost.
- the horizontal shift distance of the traveling processing unit 51 is smaller than the width of the cleaning unit 20, the interval between the vertical traveling paths can be reduced, and the cleaning unit 20 wipes the window glass W with the edge of the cleaning track. Since the edge portion can be wiped while overlapping, it is possible to prevent the window glass W from being left behind and to clean the entire area of the window glass W.
- the driving motor 32 for driving the wheels is a stepping motor
- the wheels 33 can be rotated with a desired rotation angle, and the vehicle can be run accurately with an accurate running distance. Therefore, it is possible to accurately laterally shift the vertical traveling path of the traveling section 30 by a desired traveling distance.
- the window glass W can be prevented from being left unwiped.
- the traveling direction correction processing unit 52 allows the traveling direction to be corrected in a feedback manner so that the deviation amount detected by the deviation detection sensor 45 approaches 0, thereby enabling the vehicle to travel straight in a desired direction. .
- the window cleaning device can be made to be self-propelled. Restrictions can be eliminated.
- the traveling unit since the traveling unit is pivotally attached to the suction unit, the traveling direction of the traveling unit can be changed without changing the posture of the cleaning unit. For this reason, by forming the wiping portion of the cleaning unit into a shape having four corners, the corners of the window glass can be cleanly cleaned.
- the cleaning unit since the power source is attached to a portion below the turning center of the traveling unit, it is possible to prevent the cleaning unit from following and turning when the traveling unit turns. Can maintain the posture of the cleaning unit.
- the traveling processing unit reciprocates the traveling unit in the vertical direction, and each time the upper sensor and the lower sensor detect the upper end and the lower end of the window frame, the traveling processing unit traverses the vertical traveling path of the traveling unit. Because it can be shifted, the window glass can be cleaned neatly. Since the laser can be controlled by an inexpensive sensor and a simple control method, it can be manufactured at low cost.
- the distance of the lateral shift of the traveling processing unit is smaller than the width of the cleaning unit, the interval between the vertical traveling paths can be shortened, and the edge of the cleaning locus where the window glass is wiped by the cleaning unit. Since it is possible to wipe the windowpane repeatedly, it is possible to prevent the windowpane from being left behind and to clean the entire area of the windowpane.
- the windowpane is prevented from being dropped while the suction cup is adsorbed on the windowpane by the wheel. It can be run smoothly on the glass surface.
- the motor for driving the wheel is a stepping motor
- the wheel can be rotated at a desired rotation angle, and the vehicle can be driven with an accurate traveling distance.
- the vertical traveling path of the traveling section can be shifted laterally accurately by a desired traveling distance, and the unwiped window glass can be prevented.
- the traveling direction correction processing section performs feedback correction of the traveling direction so that the deviation amount detected by the deviation detection sensor approaches 0, thereby allowing the vehicle to travel straight in a desired direction. it can. Therefore, it is possible to prevent the window glass from being left behind.
- the cleaning unit can be detached from the suction section, maintenance of the cleaning unit can be easily performed.
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Cleaning In General (AREA)
- Glass Compositions (AREA)
- Window Of Vehicle (AREA)
- Centrifugal Separators (AREA)
Description
Claims
Priority Applications (8)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CNB028297849A CN100496368C (zh) | 2002-09-24 | 2002-09-24 | 擦窗装置 |
PCT/JP2002/009806 WO2004028324A1 (ja) | 2002-09-24 | 2002-09-24 | 窓拭き装置 |
AT02768043T ATE442802T1 (de) | 2002-09-24 | 2002-09-24 | Scheibenwischsystem |
EP02768043A EP1559358B1 (en) | 2002-09-24 | 2002-09-24 | Window wiping system |
AU2002332281A AU2002332281A1 (en) | 2002-09-24 | 2002-09-24 | Window wiping system |
US10/528,746 US8099818B2 (en) | 2002-09-24 | 2002-09-24 | Window wiping system |
DE60233761T DE60233761D1 (de) | 2002-09-24 | 2002-09-24 | Scheibenwischsystem |
JP2004539432A JP3892462B2 (ja) | 2002-09-24 | 2002-09-24 | 窓拭き装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2002/009806 WO2004028324A1 (ja) | 2002-09-24 | 2002-09-24 | 窓拭き装置 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2004028324A1 true WO2004028324A1 (ja) | 2004-04-08 |
Family
ID=32040301
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2002/009806 WO2004028324A1 (ja) | 2002-09-24 | 2002-09-24 | 窓拭き装置 |
Country Status (8)
Country | Link |
---|---|
US (1) | US8099818B2 (ja) |
EP (1) | EP1559358B1 (ja) |
JP (1) | JP3892462B2 (ja) |
CN (1) | CN100496368C (ja) |
AT (1) | ATE442802T1 (ja) |
AU (1) | AU2002332281A1 (ja) |
DE (1) | DE60233761D1 (ja) |
WO (1) | WO2004028324A1 (ja) |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009219831A (ja) * | 2008-03-19 | 2009-10-01 | Car Mate Mfg Co Ltd | 洗浄装置 |
CN103507871A (zh) * | 2012-06-29 | 2014-01-15 | 新昌县冠阳技术开发有限公司 | 一种爬壁机器人辅助固定装置 |
JP2015530646A (ja) * | 2012-08-08 | 2015-10-15 | エコバクス ロボティクス カンパニー リミテッド | 自動移動ロボットおよびその走行方法 |
JP2015535707A (ja) * | 2012-09-26 | 2015-12-17 | エコバクス ロボティクス カンパニー リミテッド | 空気排出装置を有するガラス拭きロボット |
JP2016500528A (ja) * | 2012-10-12 | 2016-01-14 | エコバクス ロボティクス カンパニー リミテッド | ガラスクリーニングロボットの給電停止緊急処理方法 |
JP2017185567A (ja) * | 2016-04-03 | 2017-10-12 | ウラカミ合同会社 | 負圧吸着自走ロボット装置 |
JP2022514932A (ja) * | 2018-12-21 | 2022-02-16 | ポジテック パワー ツールズ(スーチョウ)カンパニー,リミティド | 掃除ロボット及び掃除方法 |
Families Citing this family (25)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102006053704A1 (de) * | 2006-11-15 | 2008-05-21 | Novatec Biosol Ag | Waschapparat und Waschverfahren für Solarkollektoren |
DE102007002937A1 (de) * | 2007-01-19 | 2008-07-24 | BSH Bosch und Siemens Hausgeräte GmbH | Arbeitsvorrichtung, insbesondere Reinigungsvorrichtung für Fenster |
KR100823006B1 (ko) * | 2007-02-09 | 2008-04-18 | 김용욱 | 외벽 청소용 로봇과 그 방법 |
DE102007041067A1 (de) * | 2007-08-30 | 2009-03-05 | BSH Bosch und Siemens Hausgeräte GmbH | Verfahrbare Vorrichtung zum Durchführen von Arbeiten an vorzugsweise ebenen Flächen |
KR100888395B1 (ko) * | 2007-10-01 | 2009-03-13 | 한국전자통신연구원 | 태양 전지 패널의 표면 청소용 시스템 |
ES2376871B1 (es) * | 2009-03-05 | 2012-12-28 | Francisco Jesús Cavada Gutiérrez | Sistema integrado de limpieza de captadores solares. |
JP2012061116A (ja) * | 2010-09-15 | 2012-03-29 | Urakami Kk | 窓ガラスなどの清掃装置 |
EP2543296B1 (en) * | 2011-04-29 | 2015-09-02 | Intellectual Discovery Co., Ltd. | Device for cleaning glass windows, and method for controlling the movement thereof |
TWI434738B (zh) * | 2011-08-09 | 2014-04-21 | Chi Mou Chao | 清潔機及其路徑控制方法 |
CN103359197B (zh) * | 2012-04-05 | 2015-08-19 | 科沃斯机器人有限公司 | 擦玻璃装置及其行走控制方法 |
CN103356120B (zh) | 2012-04-05 | 2015-08-19 | 科沃斯机器人有限公司 | 具有吸附装置的擦玻璃装置 |
CN102670120A (zh) * | 2012-06-01 | 2012-09-19 | 王立威 | 磁体吸附式室外玻璃清洗器 |
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JP2009219831A (ja) * | 2008-03-19 | 2009-10-01 | Car Mate Mfg Co Ltd | 洗浄装置 |
CN103507871A (zh) * | 2012-06-29 | 2014-01-15 | 新昌县冠阳技术开发有限公司 | 一种爬壁机器人辅助固定装置 |
US10286559B2 (en) | 2012-08-08 | 2019-05-14 | Ecovacs Robotics Co., Ltd. | Self-moving robot and walking method thereof |
JP2015530646A (ja) * | 2012-08-08 | 2015-10-15 | エコバクス ロボティクス カンパニー リミテッド | 自動移動ロボットおよびその走行方法 |
US10857680B2 (en) | 2012-08-08 | 2020-12-08 | Ecovacs Robotics Co., Ltd. | Self-moving robot and walking method thereof |
JP2015535707A (ja) * | 2012-09-26 | 2015-12-17 | エコバクス ロボティクス カンパニー リミテッド | 空気排出装置を有するガラス拭きロボット |
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JP2016500528A (ja) * | 2012-10-12 | 2016-01-14 | エコバクス ロボティクス カンパニー リミテッド | ガラスクリーニングロボットの給電停止緊急処理方法 |
WO2017175583A3 (ja) * | 2016-04-03 | 2017-12-21 | ウラカミ合同会社 | 負圧吸着自走ロボット装置 |
KR20190024873A (ko) * | 2016-04-03 | 2019-03-08 | 우라카미 합동회사 | 음성 압력 석션 자체 추진 로봇 장치 |
JP2017185567A (ja) * | 2016-04-03 | 2017-10-12 | ウラカミ合同会社 | 負圧吸着自走ロボット装置 |
US10913164B2 (en) | 2016-04-03 | 2021-02-09 | Urakami Llc | Suction-adhering and self-propelled robotic device |
KR102279325B1 (ko) | 2016-04-03 | 2021-07-20 | 우라카미 합동회사 | 음성 압력 석션 자체 추진 로봇 장치 |
JP2022514932A (ja) * | 2018-12-21 | 2022-02-16 | ポジテック パワー ツールズ(スーチョウ)カンパニー,リミティド | 掃除ロボット及び掃除方法 |
JP7324847B2 (ja) | 2018-12-21 | 2023-08-10 | ポジテック パワー ツールズ(スーチョウ)カンパニー,リミティド | 掃除ロボット及び掃除方法 |
Also Published As
Publication number | Publication date |
---|---|
EP1559358A1 (en) | 2005-08-03 |
JP3892462B2 (ja) | 2007-03-14 |
AU2002332281A1 (en) | 2004-04-19 |
US8099818B2 (en) | 2012-01-24 |
ATE442802T1 (de) | 2009-10-15 |
DE60233761D1 (de) | 2009-10-29 |
CN1688235A (zh) | 2005-10-26 |
US20060143845A1 (en) | 2006-07-06 |
CN100496368C (zh) | 2009-06-10 |
EP1559358B1 (en) | 2009-09-16 |
JPWO2004028324A1 (ja) | 2006-01-19 |
EP1559358A4 (en) | 2008-01-09 |
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