Abstract

A self-propelled robot autonomously travels on a structure having a target plane and performs work on the plane of the structure. The robot includes a robot main body provided with a moving means for autonomous traveling, a control unit that controls movement of the robot main body, and a working unit that performs work on the target plane. The control unit includes an edge detection unit that detects an edge of the target plane, and the edge detection unit includes an outer detection unit located outward from the working unit in the traveling direction of the robot main body and an inner detection unit located closer to the robot main body than the outer detection unit in the traveling direction of the robot main body.

IPC Classes  ?

• A47L 11/00 - Machines for cleaning floors, carpets, furniture, walls, or wall coverings
• A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
• A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
• B08B 1/04 - Cleaning by methods involving the use of tools, brushes, or analogous members using rotary operative members
• B08B 3/02 - Cleaning by the force of jets or sprays
• B08B 7/04 - Cleaning by methods not provided for in a single other subclass or a single group in this subclass by a combination of operations
• G05D 1/02 - Control of position or course in two dimensions
• G01B 11/10 - Measuring arrangements characterised by the use of optical techniques for measuring diameters of objects while moving
• G01B 11/02 - Measuring arrangements characterised by the use of optical techniques for measuring length, width, or thickness

Abstract

d) are both arranged at the front end of the robot.

IPC Classes  ?

• F24S 80/00 - SOLAR HEAT COLLECTORS; SOLAR HEAT SYSTEMS - Details, accessories or component parts of solar heat collectors not provided for in groups
• H02S 40/10 - Cleaning arrangements
• F24S 40/20 - Cleaning; Removing snow
• B25J 5/00 - Manipulators mounted on wheels or on carriages
• B25J 11/00 - Manipulators not otherwise provided for
• B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
• G05D 1/02 - Control of position or course in two dimensions
• A47L 9/00 - DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL - 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
• A47L 9/04 - Nozzles with driven brushes or agitators
• A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
• B08B 1/00 - Cleaning by methods involving the use of tools, brushes, or analogous members
• B08B 3/02 - Cleaning by the force of jets or sprays