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    • 80. 发明授权
    • Cleaning robot
    • 清洁机器人
    • US09468352B2
    • 2016-10-18
    • US14177268
    • 2014-02-11
    • Hako GmbH
    • Jan Helge KlüssendorffDariush ForouherRainer BavendiekAxel Zimny
    • G05D1/00A47L11/40A47L11/293A47L11/30G05D1/02
    • A47L11/4011A47L11/293A47L11/305A47L11/4061A47L2201/00A47L2201/04G05D1/0242G05D1/0246G05D1/027G05D1/0272G05D2201/0203
    • A floor-cleaning robot having a chassis for moving the floor-cleaning robot in a direction of travel over a surface to be cleaned, a cleaning implement, a control unit and first and second measuring devices for three-dimensional distance measurement. Each of the first and second measuring devices is configured to sense distance between the measuring device and a plurality of surface elements within a respective solid angle that is spanned from the measuring device. The first and second measuring devices are aligned in such a manner that the direction of travel runs through the first solid angle. The second solid angle is offset in relation to the first solid angle. The control unit is designed to generate and/or update a representation of the surface to be cleaned, on the basis of the distances from surface elements sensed by first and second measuring devices.
    • 一种地板清洁机器人,其具有用于使地板清洁机器人沿待清洁表面上行进的方向移动的底盘,清洁工具,控制单元以及用于三维距离测量的第一和第二测量装置。 第一测量装置和第二测量装置中的每一个被配置成感测在与测量装置跨越的相应立体角内的测量装置与多个表面元件之间的距离。 第一和第二测量装置以这样的方式排列,使得行进方向延伸穿过第一立体角。 第二立体角相对于第一立体角偏移。 控制单元被设计成基于由第一和第二测量装置感测到的表面元件的距离来生成和/或更新待清洁表面的表示。