WO2015122040A1 - 自走式電気掃除機の充電ユニットと充電システム - Google Patents
自走式電気掃除機の充電ユニットと充電システム Download PDFInfo
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- WO2015122040A1 WO2015122040A1 PCT/JP2014/072181 JP2014072181W WO2015122040A1 WO 2015122040 A1 WO2015122040 A1 WO 2015122040A1 JP 2014072181 W JP2014072181 W JP 2014072181W WO 2015122040 A1 WO2015122040 A1 WO 2015122040A1
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- Prior art keywords
- infrared
- unit
- vacuum cleaner
- charging
- self
- Prior art date
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- 238000001514 detection method Methods 0.000 claims abstract description 66
- 238000010521 absorption reaction Methods 0.000 claims description 14
- 230000005540 biological transmission Effects 0.000 claims description 12
- 239000006096 absorbing agent Substances 0.000 claims description 3
- 239000000428 dust Substances 0.000 description 41
- 238000010586 diagram Methods 0.000 description 12
- 238000009434 installation Methods 0.000 description 10
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 6
- 229910002804 graphite Inorganic materials 0.000 description 6
- 239000010439 graphite Substances 0.000 description 6
- 238000003860 storage Methods 0.000 description 6
- 238000004140 cleaning Methods 0.000 description 5
- 238000012432 intermediate storage Methods 0.000 description 5
- 238000006243 chemical reaction Methods 0.000 description 4
- 238000013459 approach Methods 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 1
- 230000003749 cleanliness Effects 0.000 description 1
- 238000009792 diffusion process Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
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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
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
-
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
-
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
- A47L11/4041—Roll shaped surface treating tools
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0244—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using reflecting strips
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/02—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from ac mains by converters
-
- 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
- A47L2201/02—Docking stations; Docking operations
- A47L2201/022—Recharging of batteries
-
- 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
Definitions
- This invention relates to a charging unit (charging base) and a charging system of a self-propelled electric vacuum cleaner.
- the present invention has been made in consideration of such circumstances, and pays attention to the floor surface detection sensor provided in the self-propelled electric vacuum cleaner, and by using it, the vacuum cleaner can be returned efficiently.
- a charging unit and a charging system are provided.
- the present invention relates to a unit for charging a battery of a self-propelled vacuum cleaner that travels on the floor surface based on the outputs of the infrared reflection type floor surface detection sensor and the infrared detection sensor, and an infrared ray for indicating a return path
- the infrared transmission unit and the infrared absorption unit, the infrared transmission unit and the infrared absorption unit are configured such that the vacuum cleaner detects infrared rays with the infrared detection sensor and the floor surface detection sensor absorbs the infrared rays.
- the charging unit for a self-propelled electric vacuum cleaner is provided so that it can be returned to the charging unit by detecting the portion.
- the charging unit since the charging unit includes an infrared transmission unit that emits infrared rays for indicating a return path and an infrared absorption unit, the self-propelled vacuum cleaner detects infrared rays with the detection sensor, By detecting the infrared absorbing portion with the surface detection sensor, it is possible to return to the charging unit with high accuracy and efficiency.
- FIG. 2 is a cross-sectional view taken along line AA in FIG. 1. It is a perspective view of the upper surface front side of the self-propelled electric vacuum cleaner shown in FIG. It is a perspective view of the bottom face side of the self-propelled electric vacuum cleaner shown in FIG. It is a figure corresponding to FIG. 2 which shows the state which took out the dust collector. It is a principal part enlarged view of the self-propelled vacuum cleaner shown in FIG. It is a block diagram which shows the control system of the self-propelled electric vacuum cleaner shown in FIG. It is a perspective view of the charging unit which concerns on Embodiment 1 of this invention.
- FIG. 12 is a view corresponding to FIG. 11 of Embodiment 2 of the present invention.
- FIG. 13 is a diagram corresponding to FIG. 12 of Embodiment 2 of the present invention. It is FIG. 11 corresponding
- FIG. 13 is a diagram corresponding to FIG. 12 of Embodiment 3 of the present invention. It is FIG. 11 corresponding view of Embodiment 4 of this invention.
- FIG. 13 is a diagram corresponding to FIG. 12 of Embodiment 4 of the present invention.
- a charging unit for a self-propelled electric vacuum cleaner is a unit for charging a battery of a self-propelled electric vacuum cleaner that travels on the floor surface based on outputs of an infrared reflection type floor surface detection sensor and an infrared detection sensor.
- An infrared transmission unit that emits infrared rays for indicating a return path, and an infrared absorption unit, wherein the infrared transmission unit and the infrared absorption unit detect the infrared rays by the cleaner using the infrared detection sensor; and
- the floor surface detection sensor is installed so as to be able to return to the charging unit by detecting the infrared absorbing portion.
- the infrared reflection type floor surface detection sensor is, for example, a combination of an infrared light emitting element (LED) and a light receiving element (phototransistor), and the floor surface is irradiated with infrared rays to receive the reflected light. The presence or absence of (step) is detected.
- LED infrared light emitting element
- phototransistor phototransistor
- the infrared absorbing portion has a function of absorbing infrared rays from the floor surface detection sensor, and a sheet-like infrared absorbing member, such as a commercially available graphite sheet, can be installed along the floor surface. Etc. are preferably used.
- the infrared ray absorbing portion may be composed of a plurality of infrared ray absorbing members arranged along the floor surface in the vicinity of the return path.
- the infrared absorbing member may be composed of two strip-shaped infrared absorbing members arranged parallel to the return path and along the floor surface.
- the infrared absorbing portion may be formed of a strip-shaped infrared absorbing member that is disposed perpendicular to the return path and along the floor surface.
- the band-shaped infrared absorbing member may be composed of a plurality of band-shaped infrared absorbing members arranged in parallel at intervals.
- the self-propelled vacuum cleaner is provided with an infrared reflection type floor detection sensor, and the charging unit is provided with an infrared absorber.
- the self-propelled vacuum cleaner absorbs infrared rays by the floor detection sensor.
- the charging system of the self-propelled electric vacuum cleaner which returns to a charging unit and charges while detecting a part is provided.
- FIG. 1 is a top rear perspective view of a self-propelled vacuum cleaner according to the present invention
- FIG. 2 is a cross-sectional view taken along line AA in FIG. 1
- FIG. 4 is a bottom perspective view of the self-propelled electric vacuum cleaner shown in FIG. 1
- FIG. 5 is a diagram showing a state where the dust collector is taken out.
- a self-propelled electric vacuum cleaner (hereinafter referred to as “vacuum cleaner”) 1 according to Embodiment 1 has a floor surface (surface to be cleaned) F (FIG. 2) at an installed location. While self-propelled, the air containing dust on the floor surface F is sucked and the air from which the dust has been removed is exhausted to clean the floor surface.
- the vacuum cleaner 1 includes a disk-shaped housing 2, and a rotating brush 9, a side brush 10, a dust box (hereinafter referred to as a dust collector) 30, an electric blower 22, and a pair of drives are provided inside and outside the housing 2.
- a wheel 29, a rear wheel 26, a front wheel 27, and the like are provided.
- a portion where the front wheel 27 is disposed is a front portion
- a portion where the rear wheel 26 is disposed is a rear portion
- a portion where the dust collecting device 30 is disposed is an intermediate portion.
- the housing 2 has a circular bottom plate 2 a (FIG. 4) having a suction port 6 formed at a position near the boundary with the intermediate portion in the front portion, and a dust collector 30 with respect to the housing 2.
- a top plate 2b (FIG. 1) having a lid 3 that opens and closes in the middle is provided, and a side plate 2c provided along the outer periphery of the bottom plate 2a and the top plate 2b.
- the bottom plate 2a shown in FIG. 4 is formed with a plurality of holes for projecting the lower portions of the front wheel 27, the pair of drive wheels 29 and the rear wheel 26 from the inside of the housing 2 to the outside of the top plate 2b shown in FIG.
- An exhaust port 7 is formed at the boundary between the front part and the intermediate part.
- the side plate 2c is divided into two parts in the front-rear direction, and the side front part is provided to be displaceable so as to function as a bumper.
- an exhaust port 7 is provided in the front portion of the top plate 2 b of the housing 2.
- the rear portion of the top plate 2b of the housing 2 includes a power switch (push button switch) 62, a start switch operated by the user, a switch for checking the fullness of the dust collection amount described later, and a switch for inputting various other conditions.
- an infrared detection main sensor 110 is provided at the front end of the top plate 2b of the housing 2, and three infrared detection sub-sensors 111a to 111c and a single one are provided at the front portion of the side plate 2c.
- An ultrasonic ranging sensor 112 is provided.
- the infrared detection main sensor 110 can detect infrared rays incident from all directions (360 °), and the infrared detection sub-sensors 111a to 111c can detect infrared rays incident at a predetermined angle from the front. Further, the ultrasonic distance measuring sensor 112 emits ultrasonic waves forward and measures the distance by reflection thereof.
- the rear portion has a rear storage chamber R3 for storing the control board 15 of the control portion, the battery (storage battery) 14, the charging input terminals 4a and 4b, and the like, and the suction path 11 near the boundary between the front portion and the intermediate portion. And an exhaust passage 12.
- the suction passage 11 communicates the suction port 6 (FIG. 4) and the intermediate storage chamber R2, and the exhaust passage 12 communicates the intermediate storage chamber R2 and the front storage chamber R1.
- Each of the storage chambers R1, R2, R3, the suction path 11 and the exhaust path 12 is partitioned by a partition wall 39 provided inside the housing 2 and constituting these spaces.
- the pair of driving wheels 29 are fixed to a pair of rotating shafts that intersect at right angles with a center line C (FIG. 2) passing through the center of the casing 2, and the casing 2 is rotated when the pair of driving wheels 29 rotate in the same direction.
- the housing 2 rotates around the center line C.
- the rotation shafts of the pair of drive wheels 29 are coupled so that rotational force can be obtained individually from the pair of drive wheel motors, and each motor is fixed to the bottom plate 2a of the housing directly or via a suspension mechanism. ing.
- the pair of driving wheels 29 is arranged in the middle in the front-rear direction with respect to the housing 2, the front wheels 27 are floated from the floor surface F, and the weight of the self-propelled vacuum cleaner 1 is set to the pair of driving wheels 29 and the rear wheels.
- the weight in the front-rear direction is distributed to the housing 2 so that it can be supported by 26. Thereby, the dust in front of the course can be guided to the suction port 6 without being blocked by the front wheel 27.
- FIG. 4 is an open surface of a recess 8 (FIG. 2) formed on the bottom surface (bottom plate 2a) of the housing 2 so as to face the floor surface F, and a bottom plate as a suction body is formed in the recess 8. Is inserted into the suction port 6.
- a rotating brush 9 (FIG. 4) that rotates about an axis parallel to the bottom surface of the housing 2 is provided in the recess 8, and a rotation axis that is perpendicular to the bottom plate 2 a is provided on the left and right sides of the recess 8.
- the side brush 10 which rotates is provided.
- the rotating brush 9 is formed by implanting a brush in a spiral shape on the outer peripheral surface of a roller that is a rotating shaft.
- the side brush 10 is formed by providing four bundles of brushes 10a radially at the lower end of the rotating shaft.
- the rotary shaft of the rotary brush 9 is connected to a brush drive motor, and the rotary shaft of the side brush 10 is connected to a drive motor of the side brush. Further, as shown in FIG. 3, a brushed brush 65 as a blade-like capturing member is provided at the rear edge of the suction port 6 to capture dust that has not been sucked by the suction port 6 and prevent scattering of dust. ing.
- control circuit constituting a control system (FIG. 8) to be described later, that is, a microcomputer for controlling the self-propelled vacuum cleaner 1, a drive wheel 29, a rotating brush 9 and the like.
- a control circuit such as a motor driver circuit for driving each element such as the side brush 10 and the electric blower 22 is provided.
- Charging input terminals 4a and 4b for charging the battery 14 are provided at the rear end of the side plate 2c of the housing 2 as shown in FIG.
- the self-propelled electric vacuum cleaner 1 that cleans the room while self-propelled returns to the charging unit (charging base) 40 (FIG. 2) installed in the room.
- the charging input terminals 4a and 4b come into contact with the output terminals 41a and 41b provided in the charging unit 40, and the battery 14 is charged.
- the charging stand 40 connected to a commercial power source (outlet) is usually installed along the side wall S in the room.
- the dust collector 30 shown in FIG. 2 is normally stored in the intermediate storage chamber R2 above the axis of the rotation shaft of both drive wheels 29 in the housing 2 and collected in the dust collector 30. When discarding the dust, the dust collector 30 can be taken in and out by opening the lid 3 of the housing 2 as shown in FIG.
- An inflow path 34 communicating with the suction path 11 of the housing 2 and the housing 2 in a state where the dust collecting device 30 is housed in the intermediate storage chamber R2 of the housing 2 are disposed at the front portion of the side wall of the dust collecting container 31.
- An exhaust passage 35 communicating with the exhaust passage 12 is provided.
- floor surface detection sensors 13a and 13b are installed on both sides of the rear wheel 26, respectively, and floor surface detection is performed on the front side of the pair of drive wheels 29, respectively. Sensors 13c and 13d are installed.
- the vacuum cleaner 1 detects a large level difference (cliff) on the floor using these during traveling, prevents the vehicle from falling into the large level difference (cliff) and causing the vehicle to become unmovable, and to the charging unit 40 (FIG. 2). At the time of return, as will be described later, the infrared absorbing member is detected using these to check the return path.
- FIG. 6 is a cross-sectional view showing the configuration of the floor detection sensor 13a.
- the floor surface detection sensor 13a includes a sensor module 113, and an infrared light emitting element (LED) 114 and a light receiving element (phototransistor) 116 are mounted in the translucent case.
- LED infrared light emitting element
- phototransistor phototransistor
- the infrared light emitted from the infrared light emitting element 114 irradiates the object (floor surface F), and the reflected light is received by the light receiving element 115.
- the object does not exist within the predetermined irradiation distance or when infrared light is absorbed by the object, the reflected light received is lower than the predetermined value. Therefore, the presence or absence of a floor surface or the presence or absence of an infrared absorbing member is detected.
- the other floor surface detection sensors 13b to 13d have the same configuration.
- FIG. 7 is a block diagram showing a control system that controls the vacuum cleaner 1.
- the control system includes a control unit 54 having a microcomputer comprising a CPU 51, a ROM 52, and a RAM 53, and a motor driver circuit for controlling driving wheel motors 55 and 56 for driving the two driving wheels 29, respectively.
- a motor driver circuit 68 for controlling the motor 69, a power switch 62, a sensor control unit 66 for driving and controlling various sensors 67, an input unit 63, and a display unit 64 are provided.
- the various sensors 67 include floor detection sensors 13a to 13d, an ultrasonic distance measuring sensor 112, an infrared detection main sensor 110, and infrared detection subsensors 111a to 111c.
- the DC motor 69 is a permanent magnet excitation DC motor.
- the output power of the battery 14 is supplied to the motor driver circuits 57, 92, 59, and 68, and to the control unit 54, the input unit 63, the display unit 64, the sensor control unit 66, and the like. Are also supplied.
- the CPU 51 of the control unit 54 is a central processing unit that performs arithmetic processing on signals received from the input unit 63 and various sensors 67 based on a program stored in the ROM 52 in advance, and motor driver circuits 57, 92, 59. 68, the display unit 64, and the like.
- the RAM 53 temporarily stores various commands input by the user from the input unit 63, various operating conditions of the self-propelled electric vacuum cleaner 1, outputs of various sensors 65, and the like.
- the RAM 53 can store a travel map of the cleaner 1.
- the travel map is information related to travel such as the travel route and travel speed of the cleaner 1, and can be stored in advance in the RAM 53 by the user, or can be automatically recorded during the cleaning operation of the cleaner 1 itself.
- the control unit 54 has a function of detecting the terminal voltage of the battery 14 and the like to detect the remaining amount of electricity stored in the battery 14.
- the casing 2 self-propells within a predetermined range and removes dust on the floor surface F from the inlet 6. Inhale air containing. At this time, the dust on the floor surface F is scraped up by the rotation of the rotating brush 9 and guided to the suction port 6. Further, the dust on the side of the suction port 6 is guided to the suction port 6 by the rotation of the side brush 10.
- Air containing dust sucked into the housing 2 from the suction port 6 passes through the suction passage 11 of the housing 2 and the inflow passage 34 of the dust collector 30 as indicated by an arrow A1 in FIG. It flows into the dust collecting container 31.
- the airflow that has flowed into the dust collection container 31 passes through the filter portion 33, flows into the space between the filter portion 33 and the cover portion 32, and is discharged to the exhaust passage 12 through the discharge passage 35. At this time, the dust contained in the airflow in the dust collecting container 31 is captured by the filter unit 33, so that the dust accumulates in the dust collecting container 31.
- the airflow flowing into the exhaust passage 12 from the dust collector 30 flows into the front storage chamber R1 as shown by the arrow A2 in FIG. 2, and flows through the first exhaust passage and the second exhaust passage (not shown). Then, as indicated by an arrow A3 in FIG. 2, the air is discharged as clean air dust-removed by the filter unit 33 obliquely upward to the rear from the exhaust port 7 provided on the upper surface of the housing 2.
- the vacuum cleaner 1 moves the center line C by rotating the right and left drive wheels 29 forward in the same direction, moving forward, moving backward in the same direction, moving backward, and rotating in the opposite directions. Turn to the center.
- the vacuum cleaner 1 can be self-propelled and cleaned, avoiding a big level
- FIG. 8 is an external perspective view of the charging unit according to Embodiment 1 of the present invention.
- the charging unit 40 includes a main body 101 and an installation plate 102 of an infrared absorbing member that extends horizontally from the bottom surface of the main body 101.
- the main body 101 has an output terminal 41a, 41b for outputting charging power in contact with the charging input terminals 4a, 4b (FIG. 1) on the front surface, and an infrared ray for emitting an infrared ray for indicating a return path to the cleaner 1.
- the transmitter 103 and the ultrasonic receiver 105 for receiving the ultrasonic wave transmitted from the ultrasonic distance sensor 112 (FIG. 3) are provided.
- substantially square sheet-like infrared absorbing members 115a and 115b are installed on the upper surface of the installation plate 102.
- Commercially available graphite sheets are used here for the infrared absorbing members 115a and 115b.
- FIG. 9 is a block diagram showing a control system for controlling the charging unit 40. As shown in the figure, this control system includes a control unit 106, a power conversion unit 107, an infrared transmission unit 103, a connection unit 104, an ultrasonic reception unit 105, and a power outlet 108.
- this control system includes a control unit 106, a power conversion unit 107, an infrared transmission unit 103, a connection unit 104, an ultrasonic reception unit 105, and a power outlet 108.
- the control unit 106 includes a microcomputer including a CPU, a ROM, and a RAM.
- the connection unit 104 includes a detection circuit that detects and notifies the control unit 106 when the charging input terminals 4a and 4b (FIGS. 1 and 2) come into contact with the output terminals 41a and 41b.
- the power conversion unit 107 converts commercial power (AC100V, 50/60 Hz) input from the commercial power supply 109 via the outlet 108 into charging power (DC24V) and control power (DC5V) for the battery 14 (FIG. 7). It is like that.
- the converted control power is supplied to the control unit 106, the infrared transmission unit 103, the connection unit 104, and the ultrasonic reception unit 105.
- connection unit 104 detects the contact operation and notifies the control unit 106, whereby the power conversion unit 107 connects the charging power.
- the signal is output to the output terminals 41a and 41b via the unit 104.
- FIG. 10 is an explanatory diagram showing the feedback operation of the vacuum cleaner 1 to the charging unit 40.
- the charging unit 40 irradiates the vacuum cleaner 1 with infrared IR having a diffusion angle of 20 ° to 30 ° in the direction of the arrow from the infrared transmitter 103 (FIG. 8) in order to show the return path.
- the controller 54 determines that it is necessary to return to the charging unit 40
- the cleaner 1 Is present in the irradiation region of the infrared IR as shown in FIG. 10A
- the infrared detection main sensor 110 detects the infrared IR and temporarily stops. Then, the vehicle rotates on the spot, detects the direction in which the charging unit 40 exists as shown in FIG. 5B, and changes the direction to that direction.
- the three infrared detection sub-sensors 111a to 111c can detect the infrared IR, and the cleaner 1 travels along the return path indicated by the infrared IR. To do.
- the infrared IR is changed from continuous light to intermittent light ( Pulsed light).
- the control unit 54 confirms that the cleaner 1 has correctly traveled along the return path indicated by the infrared IR.
- the ultrasonic distance measuring sensor 112 detects that the vehicle has further moved forward and has approached the charging unit 40 up to a predetermined distance, the cleaner 1 temporarily stops, rotates by 180 °, and outputs from the charging unit 40.
- the charging input terminals 4a and 4b (FIG. 1) are made to face the terminals 41a and 41b (FIG. 8).
- infrared absorbing members 115 a and 115 b are installed on the installation plate 102 of the charging unit 40, thereby accurately positioning the vacuum cleaner 1 with respect to the charging unit 40. .
- the interval A between the infrared absorbing members 115a and 115b corresponds to the interval B between the floor surface detection sensors 13a and 13b of the cleaner 1. Further, graphite sheets are used for the infrared absorbing members 115a and 115b.
- FIG. 12 shows a situation in which the cleaner 1 further approaches the charging unit 40 from the position shown in FIG.
- the floor surface detection sensors 13a and 13b overlap the infrared absorption members 115a and 115b, respectively, and the infrared absorption members 115a and 115b are simultaneously detected by the floor surface detection sensors 13a and 13b. .
- the control unit 54 determines that the cleaner 1 is correctly traveling along the return path indicated by the infrared IR, and moves backward as it is.
- the control unit 54 stops the backward movement of the cleaner 1 as soon as charging is started, and continues the charging operation as it is.
- control unit 54 determines that the cleaner 1 has traveled obliquely with respect to the return path indicated by the infrared IR. Therefore, the controller 54 temporarily retracts the cleaner 1 to the position shown in FIG. 11, calculates a detection timing shift (time difference), and sets the traveling direction of the cleaner 1 as shown in FIG. Correct it.
- the infrared absorbing member 115b is not detected at all by the floor detecting sensor 13b even after the infrared absorbing member 115a is detected by the floor detecting sensor 13a.
- control unit 54 determines that the cleaner 1 has shifted in parallel with the return path indicated by the infrared IR. Therefore, the cleaner 1 is once moved forward, and its traveling direction is corrected so as to be as shown in FIG.
- FIG. 13 is a diagram corresponding to FIG. 11 of this embodiment. That is, in this embodiment, the infrared absorbing members 115a and 115b provided on the installation base 102 of the charging unit 40 in the first embodiment are replaced with belt-shaped infrared absorbing members 115c and 115d, and other configurations. Is equivalent to the first embodiment.
- the strip-shaped infrared absorbing members 115c and 115d are arranged symmetrically with respect to the return path indicated by the infrared IR, in parallel with a predetermined interval, and along the floor surface F (FIG. 2). Is placed on top.
- the interval A between the infrared absorbing members 115c and 115d corresponds to the interval B between the floor surface detection sensors 13a and 13b of the cleaner 1.
- graphite sheets are used for the infrared absorbing members 115c and 115d.
- FIG. 14 shows a situation in which the cleaner 1 is closer to the charging unit 40 from the position shown in FIG.
- the floor surface detection sensors 13a and 13b overlap the tips of the infrared absorption members 115c and 115d, respectively, and the infrared absorption members 115c and 115d are simultaneously detected by the floor surface detection sensors 13a and 13b. Is done.
- the control unit 54 determines that the vacuum cleaner 1 has started to properly travel along the return path indicated by the infrared IR, and further proceeds. However, after that, if for some reason at least one of the floor surface detection sensors 13a and 13b no longer detects the infrared absorbing members 115c and 115d as shown in FIG. 14B, the control unit 54 enters the course of the cleaner 1. Judge that an abnormality has occurred. Therefore, the self-propelled vacuum cleaner 1 is once moved forward to the position shown in FIG. 13, and the traveling direction is corrected so as to be as shown in FIG.
- the strip-shaped infrared absorbing member 115e is disposed on the installation plate 102 so as to be orthogonal to the return path indicated by the infrared IR and along the floor surface F (FIG. 2).
- a graphite sheet is also used for the infrared absorbing member 115e.
- FIG. 16 shows a situation in which the cleaner 1 is further approached from the position shown in FIG. 15 toward the charging unit 40.
- the infrared absorbing member 115e is simultaneously detected by the floor surface detection sensors 13a and 13b.
- control unit 54 determines that the self-propelled vacuum cleaner 1 is correctly traveling along the return path indicated by the infrared IR, and further proceeds.
- FIG. 16 (b) there is a difference in the timing at which the floor surface detection sensors 13a and 13b detect the infrared absorbing member 115e.
- control unit 54 determines that the cleaner 1 is traveling obliquely with respect to the return path indicated by the infrared IR. Therefore, the control unit 54 temporarily retracts the cleaner 1 to the position shown in FIG. 15, calculates a timing shift (time difference), and corrects the traveling direction as shown in FIG.
- FIG. 17 is a diagram corresponding to FIG. 15 of this embodiment. That is, in this embodiment, in Embodiment 3, a band-shaped infrared absorbing member (graphite sheet) 115f is added in parallel to the band-shaped infrared absorbing member 115e provided on the installation allowance 102 of the charging unit 40 at a predetermined interval.
- the other configuration is the same as that of the third embodiment.
- FIG. 18 shows a situation in which the cleaner 1 is further closer to the charging unit 40 from the position shown in FIG.
- the first infrared absorbing member 115e is simultaneously detected by the floor surface detection sensors 13a and 13b.
- the vacuum cleaner 1 is guided by the infrared absorbing member, and can return to the charging unit 40 efficiently and accurately.
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
Description
(1)自走式電気掃除機の構成
図1はこの発明に係る自走式電気掃除機の上面後方側斜視図、図2は図1のA-A矢視断面図、図3は図1に示される自走式電気掃除機の上面前方側斜視図、図4は図1に示される自走式電気掃除機の底面側斜視図、図5は集塵装置が取り出された状態を示す図2対応図である。
この掃除機1において、前輪27が配置されている部分が前方部、後輪26が配置されている部分が後方部、集塵装置30が配置されている部分が中間部である。
後輪26は自在車輪からなり、駆動輪29が接地する床面Fと接地するよう筐体2の底板2aの一部に回転可能に設けられている。
また、図3に示すように吸込口6の後方の縁には吸込口6で吸い込まれなかった塵埃を捕捉し塵埃の散乱を防止するためのブレード状の捕捉部材としての起毛ブラシ65が設けられている。
図4に示すように、後輪26の両側には、それぞれ床面検知センサ13a,13bが設置され、一対の駆動輪29の前方側にはそれぞれ床面検知センサ13c,13dが設置されている。掃除機1は、走行時にこれらを用いて床面の大きい段差(クリフ)を検知し、大きい段差(クリフ)に落込んで走行不能に陥ることを防止すると共に、充電ユニット40(図2)への帰還時には後述するように、これらを用いて赤外線吸収部材を検知し、帰還進路を確認するようになっている。
図7は掃除機1の制御を行う制御系を示すブロック図である。この制御系は同図に示すように、CPU51、ROM52、RAM53からなるマイクロコンピュータを備える制御部54、2つの駆動輪29をそれぞれ駆動するための駆動輪用モータ55,56を制御するモータドライバ回路57、回転ブラシ9を駆動するブラシ駆動モータ58を制御するモータドライバ回路59、2つのサイドブラシ10をそれぞれ駆動する2つの駆動モータ70を制御するモータドライバ回路92、電動送風機22に組込まれた直流モータ69を制御するモータドライバ回路68、電源スイッチ62、各種センサ67を駆動制御するセンサ制御ユニット66、入力部63および表示部64を備える。各種センサ67は、床面検知センサ13a~13d、超音波測距センサ112,赤外線検知主センサ110,赤外線検知副センサ111a~111cを含む。なお、直流モータ69には、永久磁石励磁直流モータが用いられる。
また、制御部54は、バッテリー14の端子電圧などを検出してバッテリー14の蓄電残量を検出する機能を有する。
このように構成された掃除機1において、ユーザから入力部63を介して掃除運転が指令されると、最初に集塵装置30の有無が確認され、集塵装置30が装着されていると、電動送風機22、駆動輪29、回転ブラシ9およびサイドブラシ10が駆動する。
図8は、この発明の実施形態1に係る充電ユニットの外観斜視図である。同図に示すように、充電ユニット40は本体101と、本体101の底面から水平に延出する赤外線吸収部材の設置版102とを備える。
図10は掃除機1の充電ユニット40への帰還動作を示す説明図である。
図10において、充電ユニット40は掃除機1にその帰還路を示すために赤外線送信部103(図8)から20°~30°の拡散角を有する赤外線IRを矢印方向に照射している。
そして、さらに前進し、充電ユニット40に対して所定距離まで接近したことが超音波測距センサ112によって検出されると、掃除機1は一旦停止し、180°だけ自転し、充電ユニット40の出力端子41a,41b(図8)に充電用入力端子4a,4b(図1)を対面させる。
図13はこの実施形態の図11対応図である。つまり、この実施形態では実施形態1において充電ユニット40の設置台102の上に設けられている赤外線吸収部材115a,115bを、帯状の赤外線吸収部材115c,115dに置換したものであり、その他の構成は実施形態1と同等である。
なお、赤外線吸収部材115c,115dの間隔Aは掃除機1の床面検知センサ13aと13bの間隔Bに対応する。また、赤外線吸収部材115cと115dにもグラファイトシートが用いられる。
図15はこの実施形態の図11対応図である。つまり、この実施形態では実施形態1において充電ユニット40の設置台102上に設けられている赤外線吸収部材115a,115bを、1つの帯状の赤外線吸収部材115eに置換したものであり、その他の構成は実施形態1と同等である。
図17はこの実施形態の図15対応図である。つまり、この実施形態では実施形態3において、充電ユニット40の設置代102上に設けられている帯状の赤外線吸収部材115eに帯状の赤外線吸収部材(グラファイトシート)115fを平行に所定間隔を隔てて追加したものであり、その他の構成は、実施形態3と同等である。
2 筐体
4a 充電用入力端子
4b 充電用入力端子
13a~13d 床面検知センサ
14 バッテリー
40 充電ユニット
41a 出力端子
41b 出力端子
62 電源スイッチ
63 入力部
101 本体
102 設置板
103 赤外線送信部
104 接続部
105 超音波受信部
106 制御部
107 電力変換部
108 コンセント
110 赤外線検知主センサ
111a~111c 赤外線検知副センサ
112 超音波測距センサ
113 センサモジュール
114 赤外線発光素子
115a~115f 赤外線吸収部材
116 受光素子
F 床面
IR 赤外線
Claims (5)
- 赤外線反射型の床面検知センサと赤外線検知センサとの出力に基づいて床面を走行する自走式電気掃除機のバッテリを充電するユニットであって、帰還路を示すための赤外線を出射する赤外線送信部と、赤外線吸収部とを備え、前記赤外線送信部と赤外線吸収部は、前記掃除機が前記赤外線検知センサで赤外線を検知し、かつ、前記床面検知センサで前記赤外線吸収部を検知することにより充電ユニットへ帰還できるように設置されたことを特徴とする自走式電気掃除機の充電ユニット。
- 前記赤外線吸収部は、前記帰還路の近傍に、前記床面に沿うように配置された複数の赤外線吸収部材からなる請求項1記載の自走式電気掃除機の充電ユニット。
- 前記赤外線吸収部材は、前記帰還路に平行に、かつ、前記床面に沿うように配置された複数の帯状の赤外線吸収部材からなる請求項1記載の自走式電気掃除機の充電ユニット。
- 前記赤外線吸収部は、前記帰還路に直交し、かつ、前記床面に沿うように配置された帯状の赤外線吸収部材からなる請求項1記載の自走式電気掃除機の充電ユニット。
- 自走式電気掃除機に赤外線反射型の床面検知センサを、充電ユニットに赤外線吸収部をそれぞれ設け、自走式電気掃除機は床面検知センサにより赤外線吸収部を検知しながら充電ユニットへ帰還して充電を行う自走式電気掃除機の充電システム。
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CN201480047481.XA CN105491933B (zh) | 2014-02-17 | 2014-08-25 | 自走式电动吸尘器的充电单元和充电系统 |
US14/915,700 US10199840B2 (en) | 2014-02-17 | 2014-08-25 | Charging unit and charging system for self-propelled electric vacuum cleaner |
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JP2014-027569 | 2014-02-17 | ||
JP2014027569A JP6271284B2 (ja) | 2014-02-17 | 2014-02-17 | 自走式電気掃除機の充電ユニットと充電システム |
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WO2015122040A1 true WO2015122040A1 (ja) | 2015-08-20 |
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PCT/JP2014/072181 WO2015122040A1 (ja) | 2014-02-17 | 2014-08-25 | 自走式電気掃除機の充電ユニットと充電システム |
Country Status (4)
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US (1) | US10199840B2 (ja) |
JP (1) | JP6271284B2 (ja) |
CN (1) | CN105491933B (ja) |
WO (1) | WO2015122040A1 (ja) |
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Also Published As
Publication number | Publication date |
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US10199840B2 (en) | 2019-02-05 |
JP2015150275A (ja) | 2015-08-24 |
US20160352112A1 (en) | 2016-12-01 |
CN105491933B (zh) | 2017-12-22 |
CN105491933A (zh) | 2016-04-13 |
JP6271284B2 (ja) | 2018-01-31 |
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