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    Autonomous traveling robot cleaner
    12.
    发明专利
    Autonomous traveling robot cleaner 审中-公开
    自动旅行机器人清洁剂

    公开(公告)号：JP2005211365A

    公开(公告)日：2005-08-11

    申请号：JP2004022409

    申请日：2004-01-30

    Applicant: Funai Electric Co Ltd ,  船井電機株式会社

    Inventor： TANI TAKAO

    IPC: A47L9/00 ,  A47L5/00 ,  A47L9/28 ,  A47L11/24 ,  G05D1/02

    CPC classification number: A47L9/2894 ,  A47L9/2805 ,  A47L9/281 ,  A47L9/2826 ,  A47L9/2852 ,  A47L2201/04 ,  A47L2201/06 ,  G05D1/0246 ,  G05D1/0259 ,  G05D1/027 ,  G05D1/0274 ,  G05D2201/0207 ,  G05D2201/0215

    Abstract: PROBLEM TO BE SOLVED: To provide an autonomous traveling robot cleaner capable of finely cleaning an area where there are a lot of debris densely.
    SOLUTION: The robot cleaner 1 performs a standard cleaning action of cleaning while traveling according to a predetermined traveling rule, and when an area where a contaminated degree exceeds the standard value is found out during the standard cleaning action, further performs a local cleaning action of locally traveling after having traveled the area according to the standard cleaning action. For example, the robot cleaner 1 travels in zigzags along a route Z1 according to the standard cleaning action, and stops the standard cleaning action when reaching a P2 point passing through a crowded area of debris 70 through a P1 point. Then, the robot cleaner starts a local cleaning action, and helically travels from a P3 point to a P4 point along a route Z2 within a local cleaning area G1 inside a circle F1 whose radius is equal to generally a half of a distance from the P1 point to the P2 point and whose center rests on a P3 point which rest on the mid point of the P1 point and the P2 point. Thereafter, restarts the standard cleaning action to travel in zigzags from the P2 point along a route Z3.
    COPYRIGHT: (C)2005,JPO&NCIPI

    Abstract translation: 要解决的问题：提供一种自动行进的机器人清洁器，其能够密集地清洁存在大量碎片的区域。 解决方案：机器人清洁器1根据预定的行驶规则执行清洁的标准清洁动作，并且当在标准清洁动作期间发现污染程度超过标准值的区域时，进一步执行局部 根据标准的清洁动作，在行驶区域后进行本地行驶的清洁动作。 例如，机器人清洁器1根据标准清洁动作沿着路线Z1行进，并且当通过P1点通过碎片70的拥挤区域到达P2点时停止标准清洁动作。 然后，机器人清洁器开始局部清洁动作，并且沿着半径等于距离P1的距离的距离的一半的圆F1内的局部清洁区域G1内的路线Z2螺旋地从P3点移动到P4点 指向P2点，其中心位于位于P1点和P2点中点的P3点上。 此后，重新启动标准的清洁动作，沿着路线Z3从P2点以锯齿形行进。 版权所有（C）2005，JPO＆NCIPI

    Self-propelled cleaner
    13.
    发明专利
    Self-propelled cleaner 审中-公开
    自动清洗机

    公开(公告)号：JP2005211364A

    公开(公告)日：2005-08-11

    申请号：JP2004022408

    申请日：2004-01-30

    Applicant: Funai Electric Co Ltd ,  船井電機株式会社

    Inventor： UEHIGASHI NAOYA

    IPC: A47L9/28 ,  A47L5/00 ,  G05D1/02

    CPC classification number: A47L9/2894 ,  A47L9/2805 ,  A47L9/2826 ,  A47L9/2842 ,  A47L9/2847 ,  A47L9/2852 ,  A47L2201/04 ,  A47L2201/06 ,  G05D1/0246 ,  G05D1/0255 ,  G05D1/0259 ,  G05D1/027 ,  G05D1/0274 ,  G05D2201/0215

    Abstract: PROBLEM TO BE SOLVED: To more accurately discriminate a floor material together with the detection of the level difference of a floor surface by the same floor surface sensor and to perform fine cleaning by simple constitution in a self-propelled cleaner.
    SOLUTION: The self-propelled cleaner 1 is provided with obstacle detection sensors 21 and 22, a traveling means 32, a cleaning means including a power brush 41, a suction fan 42 and a nozzle 44 for sucking dust on the floor surface, and the floor surface sensors 5a and 5b for floor surface state detection composed of a CMOS passive type line sensor for receiving light from the floor surface, and performs cleaning while autonomously traveling. Distance distributions to respective floor surface areas A and B within a visual field angle are obtained on the basis of the light receiving signals of the floor surface sensors 5a and 5b, floor surface level difference detection and the judgement of the floor surface material (flooring, tatami or carpets) are performed by the spatial frequency analysis of the distance distributions, and cleaning conditions including at least one of a traveling speed, dust suction force by the suction fan and brushing strength by the power brush are changed on the basis of the judgement.
    COPYRIGHT: (C)2005,JPO&NCIPI

    Abstract translation: 要解决的问题：为了更准确地区分地板材料以及通过同一地板表面传感器检测地板表面的水平差，并且通过简单的结构在自走式清洁器中进行精细清洁。 解决方案：自走式清洁器1设置有障碍物检测传感器21和22，行进装置32，清洁装置，包括电刷41，吸入风扇42和用于吸入地板表面上的灰尘的喷嘴44 以及用于地面状态检测的地板表面传感器5a和5b，由用于从地板表面接收光的CMOS无源型线传感器组成，并且在自主行进的同时执行清洁。 基于地板表面传感器5a和5b的光接收信号，地板表面水平差检测和地板表面材料（地板，地板等）的判断，获得视场角内的相应地面面积A和B的距离分布， 榻榻米或地毯）通过距离分布的空间频率分析进行，并且基于判断来改变包括行进速度，吸风机的吸尘力和电刷的刷洗强度中的至少一个的清洁条件 。 版权所有（C）2005，JPO＆NCIPI

    自律走行型掃除機
    19.
    发明专利
    自律走行型掃除機 审中-公开

    公开(公告)号：JP2017213009A

    公开(公告)日：2017-12-07

    申请号：JP2015051342

    申请日：2015-03-13

    Applicant: パナソニックIPマネジメント株式会社

    Inventor： 重藤 元暢 ,  渡部 健二 ,  小川原 秀治 ,  松村 新一

    IPC: A47L9/28 ,  A47L9/00

    CPC classification number: A47L9/2847 ,  A47L9/0411 ,  A47L2201/04 ,  A47L2201/06

    Abstract: 【課題】自律走行型掃除機が角に来ると、往復運動を行うことにより角に溜まった多くのごみを取ることが可能な自律走行型掃除機を提供する。 【解決手段】制御ユニットは、ステップS2で角を検出したと判定すると、ステップS3でボディを往復運動させる角掃除を開始させ、ステップS4でごみ検出センサーがごみを検出しないと判定すると、ステップS6で角掃除を終了させ、一方、ステップS4でごみ検出センサーがごみを検出していると判定すると、ステップS5でボディを往復運動させる角掃除を継続して実行する。 【選択図】図27

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