A process and device are provided for determining the position and/or the shape of at least one mark on a web to be printed on. The position and/or the shape of the at least one mark in the image to be printed is determined with the use of prepress data. The device for determining the position and/or the shape of at least one mark on a web to be printed on includes an input device for entering prepress data and a device for determining position data and/or shapes for a mark based on the prepress data entered.

The robot according to the present invention sequentially performs a collecting operation in which dust and particles on the floor are collected, and a cleaning or waxing operation. The cleaning robot includes a moving unit including driving wheels or crawlers, a collecting unit for suctioning dust from the floor, and a wiping unit for wiping the floor with a detergent, disinfectant, wax, etc. The collecting unit is positioned on the front of the cleaning robot with respect to the moving direction while the wiping unit is positioned on the back of the cleaning robot. Thus, the robot prevents secondary contamination of the floor and slippage or failure of the moving means caused by soiling of the moving means. The cleaning unit and the wiping unit include sensors which sense an obstacle and determine whether the obstacle is one which can be moved over, such as a cord, or whether the obstacle is one which must be avoided, such as a wall.

A robot cleaner comprises a suction unit installed within a cleaner body, for sucking dirt on a floor; a driving unit for moving the cleaner body; a wheel installed at a bottom of the cleaner body to be contacted with the floor, and rotated by movement of the cleaner body; a detecting unit for detecting whether the wheel is rotated; and a control unit for controlling the driving unit in response to signal from the detecting unit. Accordingly, the robot cleaner can smoothly and continuously carry out a cleaning operation, even when the robot cleaner is abnormally stopped due to an obstacle which is not previously recognized in traveling.

A remote-controlled vacuum cleaner comprises a vacuum cleaner vehicle designed to be positioned and moved in any direction relative to a surface (e.g., a carpet) to be cleaned, and a handheld remote control device including a control element (e.g., a joystick, a roller ball, or the like) and a transmitter for sending control signals to electronic motor drive circuits in the vehicle. According to the invention, the handheld remote control device preferably is controlled by a processor and includes a display (e.g., a video monitor) for displaying images from one or more cameras located on or within the vacuum cleaner vehicle. The vacuum cleaner vehicle preferably includes a misting device in which cleaning solution is stored. The misting device includes a nozzle for misting the cleaning solution onto the surface to be cleaned, preferably prior to the vacuuming operation. The vacuum cleaner vehicle preferably also includes a dryer mechanism (e.g., a blower, an electric resistive heater, or the like) for heating the surface to be vacuumed to enhance the cleaning operation and/or to remove any excess cleaning solution. The vacuum cleaner vehicle may also be foldable to reduce its size for storage.

An unmanned working vehicle of the present invention comprises a work mechanism section which performs a specified work, and a main body section having a wheel for moving said unmanned working vehicle and a driver for driving said work mechanism section or said main body section, wherein said driver having a weight and being arranged on the side opposite from said work mechanism section relative to said wheel, whereby the center of gravity of said unmanned working vehicle is located on or near said wheel.