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研究生： 吳友眾
Yu-Chung Wu
論文名稱： 從專利資料分析掃地機器人技術發展現況與趨勢
Now and Future of the Robot Vacuum Cleaner Technology - An analysis from the Patent Database
指導教授： 林柏廷
Po-Ting Lin
口試委員: 郭重顯
Chung-Hsien Kuo
張敬源
Ching-Yuan Chang
學位類別： 碩士
Master
系所名稱： 工程學院 - 高階科技研發碩士學位學程
Executive Master of Research and Development
論文出版年： 2019
畢業學年度： 107
語文別： 中文
論文頁數： 121
中文關鍵詞： 掃地機器人 、光達 、導航 、定位與地圖 、專利
外文關鍵詞： Robot Vacuum Cleaner, LiDAR, Navigation, SLAM, Patent
相關次數： 點閱：279  下載：51 
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    • 世界上第一台掃地機器人是1996年瑞典Electrolux設計的「三葉蟲」，今日掃地機器人步入快速發展的階段，2018年全球掃地機器人的市場規模預估超過2,000萬台。為了提升使用者體驗，掃地機器人朝著「智能化」與「功能化」兩大方向發展，而導航功能是智能化的核心。2010年美國Neato Robotics的XV-11是第一台搭載光達導航技術的掃地機器人，相較於早期隨機碰撞式產品，具備規劃能力的機器人提供了更好的體驗。2017年中國小米科技也推出光達掃地機器人，售價僅同級產品一半，對既有廠商產生壓力，導航功能成為標準配備。
    透過美國專利分析，統計出歷年專利件數、主要技術分類、重要專利權人等資訊，參考CHI Research，Ernst與John R. Allison提出的方法，透過量化指標，對市場上具代表性公司的技術能力進行評估，引用指標包括：專利申請數、核准率、引文數、被引文數、請求項數、通過審核時間等。藉由這些分析結果進一步瞭解產業現況和主要公司的發展趨勢。接著挑出重要專利進行研究，包括：美國iRobot Corporation於2005、2013、2017年的訴訟專利內容，其中2017年的訴訟導致臺灣微星科技退出掃地機器人市場，並將三項專利轉讓給iRobot，隔年二月工研院轉移六項專利給臺灣松騰實業後，松騰與iRobot取得和解。
    掃地機器人專利數量逐年成長中，兩方不同技術領域的廠商陸續加入市場，一個來自傳統吸塵器製造商，其中不乏數十年歷史的家電大廠，另一個來自以導航演算法、資通訊技術見長的機器人設計公司，雙方主要的專利佈局包括三大類：室內導航、障礙物迴避、機器人特殊結構。從統計數據觀察，專利指標評分前四名為iRobot、Samsung、Electrolux、LG，其中iRobot、Samsung、LG均採用視覺導航法，相對光達導航專利數量較少，演算法可從開放原始碼取得，許多新進廠商因此偏好光達導航的設計。

    The world's first robot vacuum cleaner (RVC) was the "Trilobite" designed by the Swedish Electrolux in 1996. Today, RVCs are entering a phase of rapid development. In 2018, the global market size of RVCs has exceeded 20 million units per year. In order to enhance the user experience, RVC has been developing towards "intelligence" and "functionalization", and the navigation function is the core of intelligence. In 2010, Neato introduced model XV-11, it was the first RVC with LiDAR (light dection and ranging). Compared to the early-staged random-collision products, robots with planning capabilities provides a better user experience. In 2017, Xiaomi introduced LiDAR RVC that was only half of competitors’ prices, it puts pressure to those existing manufacturers and makes the navigation function becoming a standard for RVCs.
    From the US patent database analysis, figure out the diagrams present the number of patents, patent classification disposition and important assignee. Meanwhile, refer to the methods proposed by CHI Research, Ernst and John R. Allison, through patent quantitative indicators to evaluate the technical capabilities of representative companies in the market. The indicators include number of patent applications, grant rate, number of citations, number of the files were cited, number of claims, time passed for review. These analysis results can further understand the current situation of the industry and the development trend of major companies. Then survey a number of meaningful patents, including 2005, 2013, 2017 for litigation initiated by iRobot, the patent litigation in 2017 pushed Taiwanese manufacturers make some actions like, MSI announced exiting the market, and MSI assigned 3 patents to iRobot. Matsutek and iRobot got reconciliation after ITRI assigned 6 patents to Matsutek.
    The research results show that the number of patents for RVCs is growing year by year, and 2 kinds of companies with different technical fields joined the market. One is from traditional vacuum cleaner manufacturers, some of them have decades of history of home appliance manufacturers, another is from robot design companies, they are good at navigation algorithms and communication technology. The main patent layouts of the two parties include three categories: indoor navigation, obstacle avoidance, and robot special structure design. From the statistics, the top four patent quantified indicators are iRobot, Samsung, Electrolux, and LG. Among them, iRobot, Samsung, and LG use visual navigation. On the other hand, LiDAR navigation owns less related patents, the algorithm can be obtained from open source code. Many newcomers prefer to choose the design of the LiDAR navigation.

    摘要 Abstract 誌謝 目錄 表目錄 圖目錄 第一章 緒論 1 1.1 研究背景 1 1.2 研究動機 2 1.3 研究範圍與流程 5 1.4 論文架構 6 第二章 文獻探討 9 2.1 掃地機器人 9 2.1.1 掃地機器人簡介 10 2.1.2 掃地機器人發展史 12 2.1.3 導航技術決定機器人行為 17 2.1.4 常見的測距原理 22 2.1.5 讓後進者快速崛起的機器人作業系統 26 2.1.6 北美市場主要品牌 29 2.1.7 市場前景觀察 30 2.2 專利指標分析 32 2.2.1 CHI專利指標 32 2.2.2 Ernst專利指標 35 2.2.3 涉及訴訟專利特徵 37 2.3 小結 38 第三章 掃地機器人專利總體分析 40 3.1 檢索策略與工具 40 3.2 掃地機器人專利分析 41 3.2.1 專利申請與核准件數統計 42 3.2.2 專利核准趨勢 42 3.2.3 主要專利權人統計 43 3.2.4 專利分類碼統計 44 3.3 小結 50 第四章 主要公司技術發展趨勢 52 4.1 專利量化指標 53 4.2 美國廠商 54 4.2.1 iRobot技術發展分析 54 4.2.2 Neato技術發展分析 67 4.3 歐洲廠商 68 4.3.1 Electrolux技術發展分析 68 4.3.2 Dyson技術發展分析 70 4.3.3 Vorwerk技術發展分析 71 4.3.4 Philips技術發展分析 73 4.4 韓國廠商 74 4.4.1 Samsung技術發展分析 75 4.4.2 LG技術發展分析 77 4.5 中國廠商 79 4.5.1 科沃斯Ecovacs技術發展分析 79 4.5.2 小米Xiaomi技術發展分析 80 4.6 日本廠商 82 4.6.1 Toshiba技術發展分析 82 4.7 臺灣廠商 83 4.7.1 松騰Matsutek技術發展分析 84 4.8 專利量化指標 89 4.9 小結 95 第五章 結論與建議 97 5.1 結論 97 5.2 觀察與建議 98 參考文獻 100

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