The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Apr. 07, 2009
Filed:
Mar. 17, 2004
Saku Egawa, Toride, JP;
Yutaka Arai, Chiyoda, JP;
Ryoko Ichinose, Tsukuba, JP;
Yasuhiro Asa, Chiyoda, JP;
Hirofumi Tanaka, Shiroyama, JP;
Saku Egawa, Toride, JP;
Yutaka Arai, Chiyoda, JP;
Ryoko Ichinose, Tsukuba, JP;
Yasuhiro Asa, Chiyoda, JP;
Hirofumi Tanaka, Shiroyama, JP;
Hitachi, Ltd., Tokyo, JP;
Hitachi Home and Life Solutions, Inc., Tokyo, JP;
Abstract
In cleaning using a self-propelled cleaning device, firstly the cleaning device moves alongside a wall surface and then a reference direction is set. Next, the cleaning device advances alongside the wall surface at a prescribed distance, makes a right-angle turn, and travels in the reference direction. When the cleaning device reaches the surface of an opposing wall, it moves in a spiraling manner. At that time, the orientation angle of the cleaning device, which is estimated using a gyro sensor, is checked and corrected. If an obstacle is encountered while traveling, the cleaning device travels on a path that avoids the obstacle or travels in a spiral manner in a region in front of the obstacle.