WO2020095372A1 - 自走式掃除ロボット - Google Patents
自走式掃除ロボット Download PDFInfo
- Publication number
- WO2020095372A1 WO2020095372A1 PCT/JP2018/041255 JP2018041255W WO2020095372A1 WO 2020095372 A1 WO2020095372 A1 WO 2020095372A1 JP 2018041255 W JP2018041255 W JP 2018041255W WO 2020095372 A1 WO2020095372 A1 WO 2020095372A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- self
- cleaning
- unit
- cleaning robot
- control unit
- Prior art date
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 152
- 238000000034 method Methods 0.000 claims abstract description 12
- 238000011161 development Methods 0.000 claims description 11
- 230000006870 function Effects 0.000 claims description 6
- 230000000007 visual effect Effects 0.000 claims description 4
- 238000001514 detection method Methods 0.000 description 7
- 230000007613 environmental effect Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 239000000428 dust Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
Images
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
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
- A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- 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
- 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
- A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—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
- A47L9/2842—Suction motors or blowers
-
- 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
- A47L9/2857—User input or output elements for control, e.g. buttons, switches or displays
-
- 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
- G05D1/60—Intended control result
- G05D1/648—Performing a task within a working area or space, e.g. cleaning
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D2105/00—Specific applications of the controlled vehicles
- G05D2105/10—Specific applications of the controlled vehicles for cleaning, vacuuming or polishing
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D2107/00—Specific environments of the controlled vehicles
- G05D2107/40—Indoor domestic environment
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D2109/00—Types of controlled vehicles
- G05D2109/10—Land vehicles
Definitions
- the cleaning unit 13 cleans the cleaning area 40 (see FIG. 5) on the floor.
- the cleaning unit 13 includes a brush unit 131 that scrapes dust and the like and a suction unit 132 that sucks the dust and the like.
- the brush part 131 and the suction part 132 are provided at the center of the bottom surface of the main body 11.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electric Vacuum Cleaner (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
Abstract
Description
11 本体
12 駆動部
13 掃除部
14 センサ部
141 レーザ測距センサ
142 赤外線測距センサ,超音波測距センサ
20 制御ユニット
21 制御部
22 記憶部
33 プログラミング用テキスト
40 掃除領域
Claims (5)
- 本体と、
前記本体を走行可能とする駆動部と、
前記本体に取り付けられ、掃除領域を掃除する掃除部と、
前記本体に取り付けられ、障害物を検出するセンサ部と、
前記本体に搭載され、前記駆動部及び前記センサ部を制御する制御ユニットと、を備え、
前記制御ユニットは、プログラミングコードを作成するための統合開発環境を有する制御部を備え、
前記制御部は外部からの接続が可能である自走式掃除ロボット。 - 前記制御部で行うプログラミングの方法を説明するプログラミング用テキストをさらに備える請求項1に記載の自走式ロボット。
- 前記統合開発環境は、ビジュアルプログラミング言語が動作可能な環境である請求項1又は2に記載の自走式掃除ロボット。
- 前記センサ部は、距離計測センサを備え、
前記制御部は、環境地図作成及び自己位置推定を行いながら走行ルートを決定する機能を有する請求項1~3のいずれか一項に記載の自走式掃除ロボット。 - 前記制御ユニットは、前記駆動部、前記センサ部及び前記掃除部を動作させるためのプログラムを格納する記憶部をさらに備え、
前記記憶部には、予め掃除方法を制御するプログラムが搭載されている請求項1~4のいずれか一項に記載の自走式掃除ロボット。
Priority Applications (9)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020217017285A KR20210087994A (ko) | 2018-11-06 | 2018-11-06 | 자주식 청소 로봇 |
PCT/JP2018/041255 WO2020095372A1 (ja) | 2018-11-06 | 2018-11-06 | 自走式掃除ロボット |
CN201880063479.XA CN111386064A (zh) | 2018-11-06 | 2018-11-06 | 自走式清扫机器人 |
EP18939307.7A EP3878336B1 (en) | 2018-11-06 | 2018-11-06 | Self-propelled cleaning robot |
BR112021008018-0A BR112021008018A2 (pt) | 2018-11-06 | 2018-11-06 | robô de limpeza autopropulsionado |
JP2019519436A JP6664641B1 (ja) | 2018-11-06 | 2018-11-06 | 自走式掃除ロボット |
ES18939307T ES2951735T3 (es) | 2018-11-06 | 2018-11-06 | Robot de limpieza autopropulsado |
TW108140001A TWI717087B (zh) | 2018-11-06 | 2019-11-05 | 自走式清潔機器人 |
US17/032,960 US11311163B2 (en) | 2018-11-06 | 2020-09-25 | Self-propelling cleaning robot |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2018/041255 WO2020095372A1 (ja) | 2018-11-06 | 2018-11-06 | 自走式掃除ロボット |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US17/032,960 Continuation US11311163B2 (en) | 2018-11-06 | 2020-09-25 | Self-propelling cleaning robot |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2020095372A1 true WO2020095372A1 (ja) | 2020-05-14 |
Family
ID=70000345
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2018/041255 WO2020095372A1 (ja) | 2018-11-06 | 2018-11-06 | 自走式掃除ロボット |
Country Status (9)
Country | Link |
---|---|
US (1) | US11311163B2 (ja) |
EP (1) | EP3878336B1 (ja) |
JP (1) | JP6664641B1 (ja) |
KR (1) | KR20210087994A (ja) |
CN (1) | CN111386064A (ja) |
BR (1) | BR112021008018A2 (ja) |
ES (1) | ES2951735T3 (ja) |
TW (1) | TWI717087B (ja) |
WO (1) | WO2020095372A1 (ja) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112493948B (zh) * | 2020-11-30 | 2024-04-12 | 追觅创新科技(苏州)有限公司 | 自清洁设备及清洁组件检测方法 |
CN112496525A (zh) * | 2020-12-15 | 2021-03-16 | 天津默纳克电气有限公司 | 一种工业机器人控制系统 |
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2018
- 2018-11-06 EP EP18939307.7A patent/EP3878336B1/en active Active
- 2018-11-06 WO PCT/JP2018/041255 patent/WO2020095372A1/ja unknown
- 2018-11-06 KR KR1020217017285A patent/KR20210087994A/ko not_active Application Discontinuation
- 2018-11-06 CN CN201880063479.XA patent/CN111386064A/zh active Pending
- 2018-11-06 ES ES18939307T patent/ES2951735T3/es active Active
- 2018-11-06 BR BR112021008018-0A patent/BR112021008018A2/pt not_active Application Discontinuation
- 2018-11-06 JP JP2019519436A patent/JP6664641B1/ja active Active
-
2019
- 2019-11-05 TW TW108140001A patent/TWI717087B/zh active
-
2020
- 2020-09-25 US US17/032,960 patent/US11311163B2/en active Active
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JPH1021062A (ja) * | 1996-06-28 | 1998-01-23 | Toshiba Corp | ビジュアルプログラミング装置及び方法 |
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Also Published As
Publication number | Publication date |
---|---|
CN111386064A (zh) | 2020-07-07 |
KR20210087994A (ko) | 2021-07-13 |
BR112021008018A2 (pt) | 2021-08-03 |
JPWO2020095372A1 (ja) | 2021-02-15 |
EP3878336A4 (en) | 2022-06-22 |
EP3878336B1 (en) | 2023-08-02 |
ES2951735T3 (es) | 2023-10-24 |
TWI717087B (zh) | 2021-01-21 |
US20210007571A1 (en) | 2021-01-14 |
EP3878336C0 (en) | 2023-08-02 |
JP6664641B1 (ja) | 2020-03-13 |
EP3878336A1 (en) | 2021-09-15 |
TW202021523A (zh) | 2020-06-16 |
US11311163B2 (en) | 2022-04-26 |
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