Abstract: A motion which creates an end relief and which is integrated into the plunging cycle of non-generated bevel gears. The tool, after feeding to the correct tooth forming position in case of non-generated gears, is swung sideways out of cutting or grinding contact with the slot instead of along a withdraw path which is identical to the plunge path but opposite in direction.

Abstract: A lapping machine includes a lap that is meshed with a workpiece gear and laps the workpiece gear. The lap is meshed with the workpiece gear such that: there is a clearance in a prescribed amount between a tooth tip of the lap and a bottom land of the workpiece gear, and there is a clearance in the prescribed amount between a bottom land of the lap and a tooth tip of the workpiece gear; and an effective tooth tip of the lap is located closer to the bottom land of the workpiece gear than a curved line indicating a tooth profile management diameter of the workpiece gear is.

Abstract: The present disclosure relates to a method and to an apparatus for chamfering and deburring gear cut workpieces, especially of large-volume gear cut workpieces, using a deburring apparatus which is arranged on or at the cutting head of a gear cutting machine and which at least partially utilizes the machine axes of the gear cutting machine to chamfer and to deburr gear teeth along a tooth contour.

Abstract: A thread-cutting tap includes: a thread portion having an external thread, and including a chamfered portion and a complete thread portion that is axially adjacent to the chamfered portion; a flute extending from an axially distal end of the tap toward an axially proximal end of the tap; a rake face defined by one of widthwise opposite end portions of the flute; and a cutting edge defined by one of widthwise opposite edges of the flute, so as to be adjacent to the rake face and extend along the flute. The cutting edge is provided with a protrusion portion at least in a radially outer end portion of the chamfered portion, such that the protrusion portion protrudes from the rake face forwardly in the rotation direction and extends along the cutting edge.

Abstract: A rotary table apparatus includes a rotary table body, a table rotor supported on the rotary table body and configured to be rotatable, a driving unit for driving the table rotor, a seal mechanism including a sealer disposed between the rotary table body and the table rotor, and a first supply unit configured to supply clean fluid for use in machining to the seal mechanism.

Abstract: A thin diamond film bonded to a diamond substrate made by the process of heating a diamond substrate inside a vacuum chamber to about 500° C., cooling the diamond substrate, coating a first surface of the diamond substrate with chromium, depositing an initial layer of palladium, heating the diamond substrate, allowing the chromium and the diamond substrate to form a chemical bond, inter-diffusing the adhesion layer of chromium and the initial layer of palladium, cooling, depositing palladium, placing a shadow mask, degassing the vacuum, depositing a tin layer, assembling the tin layer, heating the tin layer, melting the tin layer, and bonding the thin diamond film to the diamond substrate. A thin diamond film bonded to a diamond substrate comprising a thin diamond film, a layer of chromium, palladium, tin, and a diamond substrate.

Abstract: The present invention discloses a gas cooling device and a reflow oven using thereof. The gas cooling device comprises a liquid cooling machine, a plurality condensers and a plurality of outer sleeves. The condensers are disposed in parallel and connected to the liquid cooling machine, in which two ends of all the condensers are separately connected with valves. The outer sleeves are sleeved out of the condensers and communicatively connected in order, in which the outer sleeves disposed at two ends are provided, respectively, with a gas inlet and a gas outlet and each of the condensers is provided with a water outlet. Each of the condensers is formed a circulation with the cooling device. Even though any of the condensers is detached, other condensers are able to continue operating as long as the valves disposed at the two ends of the detached condenser are closed.

Abstract: A method for welding two or more conduits includes aligning end portions thereof in an abutting relationship to define a gap. The method includes performing a spatter free root weld along the gap to configure a root layer while the inner circumferential surface side is unobstructed. After the root weld is complete, an outward thrust is applied along the inner circumferential surfaces of the conduits. During the application of the outward thrust, a filler weld is performed along the gap to fill the gap and to facilitate shrinkage of the filler and root weld materials longitudinally and radially outward while preventing pressing out of the filler and root weld materials radially inward of the inner circumferential surface.

Abstract: A motion detection system having detection circuitry, motion recognition circuitry, and communication circuitry is provided. The detection circuitry is configured to detect gestures or motions of a welding system operator. In some embodiments, the detection circuitry is configured to detect gestures or motions of a welding operator via an accessory device, where the accessory device is in wireless communication with the motion detection system. The motion recognition circuitry receives the detected gestures or motions, and translates the detected gestures or motions into a welding command. The welding command is communicated to a welding system via the communications circuitry, and is configured to adjust an operating parameter of the welding system.

Abstract: A plasma torch assembly, and components thereof, is provided with optimized attributes to allow for improved torch durability add versatility. A torch nozzle is provided having a novel design, including exterior cooling channels running along a length of the nozzle. An improved inner retaining cap assembly is provided which imparts a swirl on shield gas flow. Additionally, a shield cap and outer retainer have optimized geometries to allow the torch to be made narrower to facilitate the cutting of complex 3-D shapes and bevel cuts not attainable with known mechanized plasma torches.

Abstract: A welding tip (20) for spot welding a first part (22) formed of conductive metal, for example aluminum, to a second part (24) formed of aluminum or another conductive metal, such as steel, is provided. The welding tip (20) includes a notch (30) at a distal end (38) and a convex contact surface (28) extending radially outwardly and upwardly from the notch (30) for engaging a surface of the first part (22). The rotating welding tip (20) forms a depression (32) on the surface of the first part (22) during the welding process. The notch (30) creates a pin (34) in the center of the depression (32) which provides a fixed axis of rotation for the rotating welding tip (20) and prevents the welding tip (20) from moving radially relative to the fixed axis, thereby improving the quality of the final spot weld (36) and reducing process time.

Abstract: A spot welding gun for quenching a welding zone includes a welding tip configured to contact a metal plate material. A first electrode base is configured to have the first welding tip fixed thereto and apply a current to the first welding tip. A plurality of first cooling nozzles provided in the first electrode base and configured to spray a cooling medium around a contacting part of the welding tip. The contacting part contacts the metal plate material. A method of operation of a spot welding gun for quenching a welding zone is also disclosed.

Abstract: A low-cost tip dressing cutter causing no accumulation of swarf around a breaker is provided. A surface of a breaker 5 facing a cutting plate 4 corresponds to a recessed surface 52. The diameter of the recessed surface 52 gradually decreases with increasing distance from the outer periphery of the recessed surface 52 facing the cutting plate 4 in a direction opposite to the cutting plate 4. A through hole 51 is formed at the center of the breaker 5, A screw 6 inserted through the through hole 51 is screwed to a fastening hole 33a of a holder 3 to attach the cutting plate 4 to the breaker 5.

Abstract: A friction stir welding tool with a base, a rotating friction stir slug mounted in the said base and at least one guide member connected to the said base, the welding tool being adapted to move from upstream to downstream; a welding tool having at least one displacement member of the guide member relative to the said base between at least one guiding position in which the guide member extends in a scout area located downstream and facing the friction stir slug and at least one retracted position in which the guide member is offset from the said scout area.

Abstract: A laser processing apparatus including a processing head and a light-focusing optical section for focusing a laser beam having a diffusion angle and enabling the laser beam having a convergent angle to be emitted from the processing head. The laser processing apparatus includes a transmissive optical member located upstream of the light-focusing optical section so as to transmit the laser beam while keeping the diffusion angle constant, or located downstream of the light-focusing optical section so as to transmit the laser beam while keeping the convergent angle constant. The transmissive optical member includes a focused-beam diameter increasing part for increasing a focused beam diameter of the laser beam transmitted through the focused-beam diameter increasing part, as compared to a focused beam diameter of the laser beam in a case where the laser beam is not transmitted through the focused-beam diameter increasing part but is focused by the light-focusing optical section.

Abstract: A process for joining dissimilar materials. The process includes providing a first component made from a first material and a second component made from a second material. The process also includes cold spraying a bead of the second material onto the first component and joining the second component to the bead on the first component such that a weldment is formed from the first component and the second component. In some instances, joining of the second component to the bead on the first component is performed by fusion welding the bead and the second component together.

Abstract: Portable, wearable or integrate-able devices may be used in detecting gestures or motions by operators of welding systems, and performing actions based thereon. The detection may be performed using sensors (e.g., MEMS or muscle sensors), which generate sensory data. The detected gestures or motions may be processed and translated into corresponding actions or commands, which may be handled directly or communicated to other devices in the welding systems. The actions or commands may comprise welding actions/commands, which are configured for controlling a particular component used during welding operations, and/or gesture-related actions/commands, which are configured for controlling gesture-related components and/or operations. Feedback is provided to the operator, such as to acknowledge or validate detection of the gestures, to identify the corresponding action or command, and to complete the identified action or command. The feedback may be non-visual feedback, such as haptic or audio feedback.

Abstract: Disclosed herein is a high-temperature lead-free Au—Sn—Ag-based solder alloy that is excellent in sealability, joint reliability, and wet-spreadability, that can be kept at a high quality level for a long period of time, and that is provided at a relatively low cost. The lead-free Au—Sn—Ag-based solder alloy contains 27.5 mass % or more but less than 33.0 mass % of Sn, 8.0 mass % or more but 14.5 mass % or less of Ag, and a balance being Au except for elements inevitably contained therein during production. When having a plate- or sheet-like shape, the Au—Sn—Ag-based solder alloy has a surface whose L*, a*, and b* in an L*a*b* color system in accordance with JIS Z8781-4 are 41.1 or more but 57.1 or less, ?1.48 or more but 0.52 or less, and ?4.8 or more but 9.2 or less, respectively. When having a ball-like shape, the Au—Sn—Ag-based solder alloy has a surface whose L*, a*, and b* are 63.9 or more but 75.9 or less, 0.05 or more but 0.65 or less, and 1.3 or more but 11.3 or less, respectively.

Abstract: A method for securing sandwich structures together, especially vehicle structures. In one embodiment, two sandwich structures are perpendicularly secured together, where a first one of the sandwich structures includes a micro-truss core having one unit cell geometry and second one of the sandwich structures includes a micro-truss core having different unit cell geometry. The micro-truss core of the second sandwich structure includes a micro-truss extension fabricated at the same time as the micro-truss core and having the same unit cell geometry as the micro-truss core for the first sandwich structure. The extension is inserted in an open area between face sheets in the first sandwich structure so that it abuts against the micro-truss core in the first sandwich structure.

Abstract: Provided are a manufacturing system and a method for fabricating a component. The manufacturing system includes a wire delivery assembly arranged and disposed to deliver a wire feed to a fabrication assembly arrangement; the fabrication assembly arrangement includes a wire manipulation assembly, the wire manipulation assembly being arranged and disposed to convert the wire feed into a wire segment and position the wire segment on a workpiece positioner to form a workpiece stack; an energy beam source assembly arranged and disposed to direct one or more energy beams toward one or more aligned surfaces of adjacent wire segments within the workpiece stack, to weld the wire segments together. The method includes delivering a wire feed to a fabrication assembly; cutting and positioning a wire segment; and directing an energy beam toward one or more aligned surfaces of adjacent wire segments to weld the wire segments together.

Abstract: An automated assembly apparatus comprises an assembly robot that includes a Y-axis movement unit, a first X-axis movement unit movable in a Y-axis direction along the Y-axis movement unit, and a grip unit movable in an X-axis direction along the X-axis movement unit, and a workbench unit including a Z-axis movement unit arranged below the assembly robot with respect to an Z-axis and a workbench movable in the Z-axis direction along the Z-axis movement unit, wherein an assembly operation for a first assembly component gripped by the grip unit and a second assembly component mounted on the workbench unit is performed through movement in the Z-axis direction by the workbench unit.

Abstract: A tool clamping system is disclosed having a tool holder for clamping a cutting tool, wherein a device including at least one Seebeck element for generating a voltage from thermal energy of the tool clamping system is provided.

Abstract: The disclosure is based on a sensor device, in particular a hand-held power-tool sensor device, for identifying an uncontrolled occurrence of jamming in the case of a hand-held power tool, having at least one sensor unit, which is provided to sense at least one motion characteristic value of the hand-held power tool, and having a protective unit, which is provided to control the hand-held power tool in dependence on at least one triggering threshold value and the at least one motion characteristic value. It is proposed that the protective unit be provided to set the at least one triggering threshold value in a variable manner and/or to define at least one further triggering threshold value.

Abstract: A control panel of a machining tool includes a measurement unit measuring a temperature and a humidity involved with an atmosphere inside the control panel, an adjustment unit adjusting the temperature and the humidity, and an atmosphere control unit controlling an atmosphere inside the control panel by controlling the adjustment unit. Since the atmosphere control unit receives electric power supplied from a system separated from a power supply supplying electric power to the machining tool, it is possible to protect various electronic devices inside the control panel by measuring and adjusting the atmosphere inside the control panel even when the machining tool power supply is not turned on.

Abstract: A control system of a machine tool with a rotary type spindle and a feed axis which generates feed motion of the spindle, comprising a current detecting part which detects a current through a spindle motor for driving the spindle, a temperature detecting part which detects a motor temperature, a remaining time estimating part which uses a predetermined maximum allowable temperature and a detected temperature value by the temperature detecting part as the basis to estimate a remaining time until the motor temperature would reach the maximum allowable temperature on the assumption that the detected current value by the current detecting part at the time of the detected temperature value would continue to flow through the spindle motor, and a feed speed changing part which changes speed of the feed motion in accordance with the estimated value of the remaining time.

Abstract: A turning controller includes a storage, a working program processing device, a command value setting processing device, an approach angle setting command amount calculator, and a command processing device. The storage is configured to store a working program and tool shape data. The working program processing device is configured to analyze the working program and to calculate and output command amounts. The command value setting processing device is configured to set an approach angle command value for defining an approach angle. The approach angle setting command amount calculator is configured to calculate, as an approach angle setting command amount, a B-axis command amount for controlling to cause the approach angle to have the approach angle command value based on the tool shape data. The command processing device is configured to output the approach angle setting command amount to the B-axis driver.

Abstract: This application relates to methods for applying automated precision machining operations to an oversized workpiece with a compact computer numerical control (CNC) machining apparatus. By shifting an oversized workpiece through a working area of the CNC machining apparatus, the CNC machining apparatus can apply machining operations to any portion of the workpiece in an automated manner. To achieve precision results, a position of the workpiece is tracked as the workpiece is shifted through the working area. In some embodiments, a probe can be utilized to track the shifting of the workpiece by determining a location of a machined feature after a particular shift has been completed. In this way, a position of the workpiece can be tracked without having to rely upon tolerances inherent to a workpiece manipulator.

Abstract: A grinding machine includes a base with a U-shaped frame on the base. The U-shaped frame has two extensions and each have a first hole and a second hole which is an oval hole. A grinding roller is connected to the frame. An adjustment device includes a first shaft and a second shaft. The first shaft extends through a portion of the base and the two respective first holes of the extensions. The second shaft extends through the second holes of the two extensions. An eccentric sleeve and an adjustment member are located in the second hole of one of the extensions, and each have an eccentric hole. The adjustment member is mounted to the eccentric sleeve. The second shaft extends through the two eccentric holes. When rotating the adjustment member and the eccentric sleeve, the frame and the grinding roller are pivoted about the first shaft.

Abstract: A chemical mechanical polishing composition for polishing a substrate having a tungsten layer includes a water based liquid carrier, a colloidal silica abrasive dispersed in the liquid carrier and having a permanent positive charge of at least 6 mV, an amine compound in solution in the liquid carrier, and an iron containing accelerator. A method for chemical mechanical polishing a substrate including a tungsten layer includes contacting the substrate with the above described polishing composition, moving the polishing composition relative to the substrate, and abrading the substrate to remove a portion of the tungsten from the substrate and thereby polish the substrate.

Abstract: The present invention relates to a polishing pad and a method for making the same. The polishing pad includes a base layer and a polishing layer. The base layer has a first surface and a plurality of first trenches. The first trench has an opening at the first surface. The polishing layer is located on the first surface of the base layer and fills the first trenches. The polishing layer has a plurality of second trenches, the positions of the second trenches correspond to those of the first trenches, and the depth of the second trenches is less than that of the first trenches.

Abstract: A slurry dispersion system is provided, and includes a slurry source system, an in-line analyzer and a controller. The slurry source system provides a slurry for a chemical mechanical polishing (CMP) process. The in-line analyzer measures at least one parameter of a sampled slurry sampled from the slurry dispersion system, and generates an indication signal based on the parameter, in which the indication signal indicates at lease one characteristic of the slurry. The controller receives the indication signal, and generates a control signal based on the indication signal for performing a real time control on the slurry dispersion system for controlling quality of the slurry.

Abstract: An induction hardened processing shaft of a part-processing apparatus and method of manufacturing includes exposing a shaft to a partial induction hardening process. An induction hardening process may be applied to only the portion of the shaft that may be exposed to processing spray or shot peening material. The portion of the shaft exposed to induction hardening will include a harder surface material that can better withstand its composition and structure during impact, minimizing or reducing the amount of wear on the surface from exposure to processing material utilized in the part-processing apparatus. By limiting the induction hardening process to less than the full length of the shaft, the shaft is less likely to experience substantial deformation, and further permits screws and fasters to be driven into the shaft to secure the shaft at specific locations with the processing apparatus.

Abstract: Vise jaws are provided with base plates having bolt receiving holes or slots passing therethrough near top edges thereof. Soft jaws formed of a readily machinable material are provided with threaded bores which can receive bolts passing through the holes or slots in the base plates, the bolts also pass into the threaded bores to hold the soft jaws to the base plates. The soft jaws can be provided with a modified contour to match a geometry of a workpiece to be held. A locating pin can cooperate with alignment holes and alignment bores in the base plates and soft jaws for precise alignment of the base plates and soft jaws together. Adapters are also provided which can attach to surfaces of base plates and be rotated to present edges at a variety of different angles for supporting of workpieces in various angled orientations.

Abstract: There is provided an opening implement for a ring-shaped clasp of an accessory, the clasp including: a body having a cutout part, a closing member to close the cutout part, a movable part connected to the closing member to open and close the closing member, and a fixed part. The opening implement includes a first holding part to hold the fixed part, a second holding part configured to hold the movable part; and a connection part connecting the first holding part and the second holding part. The first holding part includes a housing part configured to house any of a part of the spring clasp and a part of the lobster clasp. Any of the spring clasp and the lobster clasp is held by only the first holding part via the housing part.

Abstract: A clamping structure for an open end wrench contains: a body, and the body including a handle, an operation head, and a clamping portion. The clamping portion has a first jaw arranged on a first side thereof, a second jaw formed on a second side thereof, and a V-shaped retaining fringe defined on a rear end thereof. The first jaw has a first plane defined on a front end thereof, two first recesses arranged on a rear end of the first plane and a first front end of the V-shaped retaining fringe, and an arcuate projection defined between the two first recesses. The second jaw has a second plane defined on a front end thereof, an abutting face arranged between a rear end thereof and a second front end of the V-shaped retaining fringe, and an arcuately concaved section formed between the second plane and the abutting face.

Abstract: An adjustable wrench has a wrench body, a clamping element, and a ratcheting jaw. The wrench body has a handle, a head, and a thumbscrew. The head is formed on the handle and has a connecting block, a fixed jaw, a curved slot, two pin holes, a positioning pin, a mounting recess, two pivot holes, and a sliding slot. The clamping element is connected to the wrench body and has a sliding bar, a ribbed slab, and a movable jaw. The ribbed slab is formed on the sliding bar and is mounted in the sliding slot. The movable jaw has an engaging surface and a positioning block. The ratcheting jaw is a curved block capable of sliding forward and retracting backward inside the curved slot and has two mounting boards, a receiving recess, an engaging surface, an abutting surface, an engaging protrusion, a holding recess, and an elastic element.

Abstract: An electric screwdriver includes a motor having a motor shaft, a handle housing for accommodating the motor, an output shaft at least partly protruding from the handle housing, a transmission device for enabling the motor shaft to drive the output shaft to rotate around a first axis, an exploring antenna for detecting whether an object is charged, and an operating switch coupled to the handle housing for controlling the motor. The exploring antenna has a front end portion extending beyond the handle housing. The output shaft has an inserting groove, and a ratio of the maximum size of the handle housing to the maximum size of the inserting groove in a radial direction of the output shaft is greater than or equal to 3.9 and less than or equal to 8.

Abstract: A screwdriver tool contains: a connecting rod and a magnetic assembly. The connecting rod includes a tool segment, a threaded section, and a neck section. The magnetic assembly includes a slidable sleeve, a magnetic attracting element accommodated in a front end thereof, and an inserting notch formed therein, wherein a diameter of the inserting notch is greater than a diameter of the threaded section, and the slidable sleeve further has a screwing section formed on a rear end of the inserting notch to screw with the threaded section, a length of the screwing section is less than that of the neck section, the threaded section of the connecting rod is inserted into the inserting notch of the slidable sleeve, and the screwing section of the slidable sleeve is fitted with the neck section of the connecting sleeve.

Abstract: A tool box has two bodies, two inner boxes, a positioning device, a positioning block, and a buckle unit. The inner boxes are respectively mounted in the bodies. Each positioning device has a fixing base mounted in one of the inner boxes and a fixing elastic plate. The fixing base has two hooking portions and two recesses respectively formed in two ends of the hooking portions. The fixing elastic plate is detachably mounted on the fixing base and has an inserting portion and two hooking portions respectively engaged with the recesses. The positioning block is mounted on the inserting portion and has multiple tool recesses. The buckle unit is mounted on the bodies.

Abstract: A handheld engagement device (10) comprising first and second planar flexible members (12) interconnected at each end by hinge arrangements (14). Cut outs (18, 26) are provided in side edges of the flexible members (12). The flexible members (12) can be bowed outwardly by pressing together on the hinge arrangements (14) to enable engagement with an item such as a handle.

Abstract: A robot includes a base part having a first cavity part inside, a torso part coupled to the base part, at least one arm unit provided on the torso part, and an inner box provided in the first cavity part and having a second cavity part opening in an upper portion. A circuit board for driving an actuator that operates the arm unit is provided on an outer side surface of the inner box.

Abstract: An industrial robot includes first and second kinematic chains configured to transmit the movements of corresponding first and second actuators to respective movements of an end effector. The first kinematic chain includes a first rod which is stiff. The second kinematic chain includes elements between the second actuator and the first rod such that the actuation of the second actuator causes bending forces on the first rod. The first and second kinematic chains thereby have the first rod as a common element, which improves compactness and accessibility of the robot. This improvement assumes that the robot is provided with one or more stiff rods that can bear the bending forces resulting from the actuation of the corresponding actuators.

Abstract: A robot includes a supporting unit that rotatably supports a first passive shaft part, and a first arm fixed to the first passive shaft part, wherein the first arm has an internal space overlapping with the first passive shaft part in a direction orthogonal to a center shaft of the first passive shaft part.

Abstract: A robot includes a curved arm including a first member, a second member, and a coupling member and bending in a longitudinal direction, the first member couples to a distal end of the coupling member in the longitudinal direction, and the second member couples to a base end of the coupling member in the longitudinal direction.

Abstract: A robot includes: a base; an arm which is provided to be rotatable with respect to the base using a predetermined rotation shaft as the center of rotation; and an elongated object including a portion present in the base and in the arm, in which the elongated object is bound in a first binding position which is on the rotation shaft and in the base and a second binding position which is on the rotation shaft and in the arm.

Abstract: An automatically positionable joint for a modular tooling assembly includes a first joint member; a second joint member that is rotatably connected to the first joint member; a motor for causing rotation of the first joint member with respect to the second joint member; and a first clutch that is movable between an engaged position in which the first clutch restrains rotation of the first joint member with respect to the second joint member and a disengaged position in which the first clutch permits rotation of the first joint member with respect to the second joint member.

Abstract: A robot includes a casing, a first arm unit and a second arm unit provided on the casing, a first board that outputs a current command signal, a second board that controls an actuator for driving the first arm unit based on the current command signal, and a third board that controls an actuator for driving the second arm unit based on the current command signal. The second board and the third board are provided inside of the casing.

Abstract: The disclosure includes a system and method for determining posture data for a user based on observation of the user, generating user model data describing one or more user models, determining user preferences data describing the preferences of the user for receiving an object, generating two or more reach simulations that simulate the user reaching for different points inside a user environment to receive the object, each reach simulation resulting in a hand of the user arriving at a three-dimensional point in the user environment, analyzing the reach simulations to assign a value to each three-dimensional point in the user environment, grouping the three-dimensional points into one or more clusters of similar points to form candidate zones including one or more points inside the user environment where a robot can place the object for handover to the user, and ranking the candidate zones.

Abstract: A control method for a robot cleaner includes acquiring a plurality of images of surroundings during travel of the robot cleaner in a cleaning area, estimating a plurality of room-specific feature distributions according to a rule defined for each of a plurality of rooms, based on the images acquired while acquiring the plurality of images, acquiring an image of surroundings at a current position of the robot cleaner, obtaining a comparison reference group including a plurality of room feature distributions by applying the rule for each of the plurality of rooms to the image acquired while acquiring the image at the current position, comparing the obtained comparison reference group with the estimated room-specific feature distributions, and determining a room from the plurality of rooms having the robot cleaner currently located therein.

Abstract: A total time necessary for work is shortened by reducing program correcting.