Mobile robot

FIELD: equipment for cleaning of surfaces and floors in home, office and laboratory rooms.

SUBSTANCE: robot has drive contacting with surface to be cleaned. Drive is arranged within cover and is free relative to cover. Cover at least partly surrounds drive surface facing toward surface to be cleaned and has length exceeding that of drive so as to define space between cover and drive allowing drive to encounter cover and randomly move it over said surface. Cover is made in the form of hemi-spherical body or carcass. Drive is formed as spherical member with internal drive mechanism.

EFFECT: simplified construction, increased extent of chaotic movement and, accordingly, provision for more uniform overlapping of predetermined part of space owing to maximal extent of freedom in selecting direction of movement, and reduced manufacturing costs.

14 cl, 6 dwg

 

This invention relates to a mobile robot, in particular to a mobile robot designed for cleaning.

Accumulation of dust particles on surfaces, especially floors, is a common problem in homes, offices, laboratories and the like. Such dust is quite uncomfortable and, in many cases, also pose a threat to the health of many patients with asthma. Therefore, the floors need to be cleaned regularly or cleaned with a vacuum cleaner. In most cases, cleaning is carried out manually.

The purpose of this invention is to provide solutions for automatic dust removal, and the invention provides for the creation of a mobile robot capable of performing such work. This solution will not completely replace manual cleaning, but will be an addition to it and thereby reduce the need for manual cleaning.

Thus, the purpose of this invention is to provide a mobile robot that during a specified period of work will be able to remove a large portion of the dust particles, which can be found on floor surface, for example, in the office building.

Modern technology allows you to create complex mobile robots, in which the software can be adjusted to move the robot, allowing it to move it in the acceptable path.

For example, in U.S. patent No. 5440216 described robot that is able to automatically move to the station for charging their batteries. In U.S. patent No. 5787545 also described mobile robot for vacuum cleaning.

However, both of these solve quite complex and are used in both cases, the computational processor to control movement of the robot.

The purpose of this invention is to provide a very simple robot. It should be simple in appearance and design and production of it should be so cheap that everyone could look at it as an inexpensive additions to the basic equipment for cleaning. And this is not possible with the solutions described in the prior art.

In addition, the purpose of this invention is to create a robot that will not contain complex control system, and, therefore, there is no need to use the computing processor to control movement of the robot.

In the above two decisions, the drive itself is permanently built into the lid. However, the purpose of this invention is the achievement of "random direction", and the best way this is achieved if "direction of travel" will be affected by many different factors. One of the ways dost is the position that is the robot is exposed to many "shock moments", there are situations in which the robot or drive mechanism collides with another object, initiating a change of direction.

By placing the actuator in the cover so that it is not attached to the lid, and can be freely moved in relation to it within the area bounded by the cover, the number of impact points or moments of impact increases substantially, since the direction of the movement also initiated a drive mechanism, hitting the inner surface of the cover.

As far as we know, in the prior art there is no description of such systems and, therefore, the present invention proposes a new robot can move, which can be used for many different applications. Since the purpose of the experimental work with the robot was to develop a robot for cleaning, examples of which are listed below, addressed to such options perform, but it should be emphasized that this invention includes the robot itself, and the invention is not limited to robots, which can only be used for cleaning.

Thus, the main feature of this invention is that the drive mechanism that causes the movement of the robot, not p is ukreplyaetsya to the lid.

The preferred implementation of the actuator in accordance with this invention is a ball element, inside of which is a drive mechanism that causes rotation of the ball element.

Thus, this invention differs in that it contains the actuator and the cover, and the actuator is in contact with the surface, is located inside the cover and free with respect thereto, and a cover which at least partially surrounds the drive, in part, drawn to the surface, has a length exceeding the length of the actuator, resulting in between the cover and the drive to create space so that the drive freely faces on the cover and randomly moves it over the surface.

Learn more embodiments of the invention are described in dependent clauses 2-13 claims.

The preferred embodiment of the robot is a robot for cleaning designed to remove dust from the surface, in which at least one wiping cloth in contact with the surface to be cleaned, attached to the lid that you can remove.

Below the invention is described in more detail with reference to the accompanying drawings, on which:

figure 1 on the segment of the section shows how the actuator, in this embodiment, the balls of the th element, located inside the cover, made in the form of a hemisphere,

figure 2 depicts a cleaning cloth attached to the lid of the robot,

figure 3 shows how the vacuum suction unit is attached to the lid of the robot,

figure 4 depicts the simulation result of the time required for processing a given area,

figure 5 depicts an alternative embodiment of the cover and attachment to her cleaning wipes

6 depicts an alternative embodiment of the lid.

Below is the basic concept of the present invention with reference to figure 1. Mobile robot 10 is obtained by the location of the actuator 12 within the cover 14 and placed on the surface 16, for example on the floor 16. In the shown embodiment, the actuator comprises a ball element 12 with an outer spherical frame and inside drive mechanism. The use of ball element as an actuator for the robot is the preferred option run, but it should be emphasized that also can be used other actuators, such as actuators, which are used wheels. The basic concept is that the drive is not attached to the lid.

Drive mechanism (not shown), which is used inside the ball element may be of any type, and thus, the invention does not include the drive fur the mechanism as such. For example, can be used the drivers for the ball elements described in the patent publications WO 99/30876, WO 97/25239 and U.S. patent No. 4733737, 4726800, 4541814 and 4501569. The drive mechanism has an electronic control circuit for starting and stopping of the drive mechanism and the power source, for example batteries. The preferred drive mechanism for a ball element includes the load, the position of which can be changed by means of the drive mechanism, the load does move along the inner surface of the frame of the ball element in such a manner that the center of gravity of the ball element changes its position, thereby moving the ball element. Thus, the principle of operation of the actuator based on the creation of torque.

It should be emphasized that the creation of low-cost mobile robot is the purpose of this invention, and the direction of movement of the robot are, therefore, unmanaged, i.e. not using artificial neural networks, or "scheme of fuzzy logic or logical control circuit with memory.

Cover 14, which in the preferred embodiment is made in the form of a hemisphere, has in part addressed to the floor, as shown in figure 1, the diameter slightly greater than the diameter of the ball element 12. The height of the cover 14 should be preferably is also more than the diameter of the ball element 12. Thus, a space 15 between the cover 14 and the ball element 12. The ball element 12 will move within this space 15, and the interaction between the ball element and the cover will cause the robot 10 to move when the ball element 12 faces the cover 14. When you kick the robot 10 about the object, such as a leg of the chair or part of the wall, a waste management robot 10 will be based on an infinite number of random searches. This means that the collision of the robot 10 with the object movement direction is changed accidentally. The combination of the movement of the ball element 12 and its collisions with the walls is also determined by the space 15, i.e. the collision between the actuator and the cover makes the ball element to move along an arbitrary trajectory, independent of the objects with which the robot collides 10. Tests conducted with the prototype showed that the robot 10 has good ability to "break free" from a physical obstruction on the floor.

The shape of spherical element 10 causes it to move across the floor with low friction. The ball element may be made of any material, but the material forming the outer surface of the ball element 10 must have sufficient friction on the floor so that the rotation of the ball element 10 led to his peremeshany is on the floor.

The cover 14 may be performed by any means. The solution described above with reference to figure 1, represents only one alternative. In this solution, the ball element as a whole is surrounded by a cover. Other typical embodiments of the cover are disclosed below.

Another aspect of the invention relates to a robot for cleaning. The basic concept here is the possibility of mounting the cleaning means to the cover. When testing such a "robot cleaning" it was shown that when using electrostatic wipes the dust and dirt are effectively removed from the floor being cleaned.

To create a robot for cleaning, you must have the ability to attach a cleaning means to the cover.

Thus, figure 2 shows the cover, the lower part of which is made a system like velcro for attaching a cleaning cloth.

Alternative embodiments of the cover depicted in figure 5 and 6. Figure 6 cover has the shape of a hemisphere, which surrounds the ball element as a whole and represents a frame 20, which sets the boundaries of the range of movement for 15 ball element. This frame has a height sufficient to collisions with the ball element to the moving frame.

In addition, in an embodiment, depicted in figure 5, the cover part facing the floor, has clubs is 28, radially protruding outward to create a surface on which can be mounted cleaning cloth 30.

The most preferred implementation of the invention is the combination of the features shown in figure 5 and 6, that is, the cover is just a skeleton, but with acting out section 28 for fixing the rubbing cloth 30.

Rubbing cloth can be, for example, attached to the lid through a system of velcro type 26 (in most cases, is sufficient for the system type velcro was attached to the lid, as the rubbing material is often attached to the system such as Velcro). In this solution it is assumed that the cleaning cloth 30 lies sandwiched between the section 28 of the cover 12 and floor 16, that is, the cloth is from the bottom of the cover 12. Consequently, the hole in rubbing the cloth is made so that the drive unit is in contact with the floor.

Section 28 may have a shape of a circle, but also other variants of execution. For example, nowadays there is a square section 28 with a square cleaning cloth 30 in order to understand whether such cleaning is more effective along walls and in corners. In addition, it should be noted that it is not necessary that the size of the cloth 30 has a shape of the section 28. In preferably the m embodiment, the napkin is outside the section 28 so that the most salient part of the napkin has more flexibility (as it is not in contact with the section 28), so that she could go for a short distance up on the adjacent surface (e.g. wall).

In another alternative embodiment, the actual cleaning cloth feature on the cover. This alternative implementation not shown.

If the cover 14 should be mounted equipment with a significant share relative to the cover, such as a vacuum cleaner, the cover can be equipped with spherical elements/wheels (not shown), directed down to the floor to reduce friction between the cover and the floor.

As noted earlier, the motion trajectory of the robot 10 is determined by the collisions that occur between the robot and objects in the room (the feet of the chairs, walls and the like), and the collisions that occur between the actuator and the inner surface of the cover. Therefore, the robot can within the specified time to move on the floor "random/random trajectory. You can perform calculations that will be taken into account such parameters as the size and shape of the floor, the furniture (the chair legs and table legs, other office equipment and the like), the area and length of the device for cleaning, the robot's speed and so on)in order to estimate the size casciola, which will be processed within a specified time. For example, you can calculate that 95% of the floor will be processed at least once when moving the robot within 2 hours.

Because it does not assume full replacement of conventional cleaning cleaning robot, that is, for example, 95% will be enough in most cases. We can assume that the robot is working in the same office a couple of hours every day after the staff finish their working day (see example 1 below).

As the cleaning means can be used, for example, dust collectors. Preferred is the use of electrostatically charged dust collectors, which are available on the market. They attract dust particles while moving along the floor. As noted above, the form of such collector adapted for specific use with a robot for cleaning, i.e. it is possible to equip them with a system like velcro, adapted for the robot, equipped with a system like velcro, and they must be provided with a hole for positioning the cover and/or drive.

Robots for cleaning this type, which is shown in figure 2, can be any size, but for the developed prototype ball element has a diameter of 10 cm, and the cover part facing the floor, has a diameter of about 20 cm

Figure 3 shows the variations is t run in which equipment for harvesting unit is a vacuum suction. Shown in the drawing embodiment, the lid itself is made in the form of vacuum suction unit, therefore, the actuator pushes the block vacuum suction on the floor. On the other hand, it is preferable to robot for cleaning was very simple, and for the implementation of vacuum suction, in principle, be enough two chambers 20 and 22, in which is mounted the fan 26 creates a negative pressure, through which air is drawn into the chamber 20 through odnopetlewoj the valve 23 in the form of a series of holes 24, facing down toward the floor surface. Before leaving the chamber 20, the air is filtered through the filter 25.

In an alternative embodiment, the vacuum suction unit is attached to the cover, which is shown in figure 2 or 6.

As examples of the invention given with reference to its application as a robot for cleaning, i.e. equipped with either a dust collector or vacuum cleaner, it should be emphasized that the basic concept of the invention consists in the installation of the actuator drive mechanism in the lid so that together they cause movement on the floor. Thus, the invention is not limited to robots, carrying out cleaning, but robots for cleaning, such image is defined on the drawings, are the most preferred options for implementation of this invention.

Example 1 - simulation.

The simulation results carried out on the basis of theoretical model depicted in figure 4.

Andtotal: Total area (cm2)

ToShir: Width of cloth (cm)

ToSC: Speed napkins (cm/s)

A(i): Covered area (cm2); i is the index, which is adjusted every second

Each adjustment (i.e. every second), a new spaceShir×SCthat is specified by the coefficient decreases as the coverage area. For example, if the parameter values: Atotal=5 m×6 m=30 m2(300000 cm2)Shir=20 cm andSC=50 cm/s, you will need to 11.5 min in order to cover 90% of the area. Figure 4 shows the relationship of the percent of the area covered by the electrostatic dust collector, and time.

1. Mobile robot (10)that is designed to randomly move around on the surface (16)containing the actuator (12)in contact with the surface (16)and the cover (14), characterized in that the actuator (12) is located inside the cover (14) and free with respect thereto, and a cover (14)which at least partially surrounds the actuator (12) facing the surface (16)has about asunnot, exceeding the length of the actuator (12), resulting in between the cover (14) and an actuator (12) is generated in the space (15), so that the actuator (12) freely faces on the cover (14) and randomly moves it over the surface (16).

2. Mobile robot (10) according to claim 1, characterized in that the cover (14) is made in the form of a hemispherical body shape.

3. Mobile robot (10) according to claim 1, characterized in that the cover (14) is made in the form of a skeleton.

4. Mobile robot (10) according to one of claims 1 to 3, characterized in that the actuator (12) is made in the form of a spherical element (12) with an internal drive mechanism.

5. Mobile robot (10) according to claim 1, characterized in that it has no intellectual logic, and the motion trajectory based solely on an infinite number of random searches.

6. Mobile robot (10) according to claim 1, characterized in that it on the lid (14) or as part of a cover (14) is attached means for cleaning the surface (16).

7. Mobile robot (10) according to claim 6, characterized in that the said means comprise at least one dust collector (30).

8. Mobile robot (10) according to claim 6, characterized in that the collector (30) are electrostatic precipitators.

9. Mobile robot (10) according to claim 1, characterized in that the rubbing cloth (30) is located on top of the lid (14) and stretched over it so that some cleaning wipes (30) find the camping in contact with the surface (16), which should be cleared.

10. Mobile robot (10) according to claim 1, characterized in that rubbing the cloth (30), preferably at its center, cut a hole made with the possibility of positioning the cover (14).

11. Mobile robot (10) according to claim 9, characterized in that the cover (14) contains a section that is extended above the surface (16) of the floor, as shown in figure 5, the form cleaning wipes (30) adapted to this elongated sections (28) so that may be placed on the underside of the extended partition so that it is located between the cover (14) and the surface (16), which must be cleared.

12. Mobile robot (10) according to claim 5, characterized in that the means for cleaning includes means for vacuum suction.

13. Mobile robot (10) in item 12, characterized in that the cover (14) is made in the form of a vacuum suction device with two inside compartments (20) and (22) and fan (26) to create a reduced pressure in these units (20, 22), causing the intake air containing the dust particles from the environment through openings (24) in the compartment (20).



 

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10 cl, 11 dwg

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Sweeping unit // 2077862

Mobile robot // 2263460

FIELD: equipment for cleaning of surfaces and floors in home, office and laboratory rooms.

SUBSTANCE: robot has drive contacting with surface to be cleaned. Drive is arranged within cover and is free relative to cover. Cover at least partly surrounds drive surface facing toward surface to be cleaned and has length exceeding that of drive so as to define space between cover and drive allowing drive to encounter cover and randomly move it over said surface. Cover is made in the form of hemi-spherical body or carcass. Drive is formed as spherical member with internal drive mechanism.

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14 cl, 6 dwg

FIELD: mechanical engineering.

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10 cl, 7 dwg

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8 cl, 6 dwg

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8 cl, 5 dwg

FIELD: construction.

SUBSTANCE: device for floor treatment comprising a support device (11), on the lower side (13) of which there is at least one tool (15) retained made as capable of rotation or oscillation for floor treatment, a gripped accessory (26) for putting the floor treatment device into at least one working position, in which the gripped accessory (26) is retained on the support device with the capability of rotation around an axis (25) of rotation at least from one working position into at least one parking position and vice versa, and also an accumulating reservoir (18) for treatment liquid applied onto floor surface subject to treatment. The floor treatment device (10) comprises a holder (22) of the accumulating reservoir, in which the accumulating reservoir (18) is positioned as capable of detachment in at least one working position of the gripped accessory (26), and also a stop device (68), with at least one first stop element (66), and also with at least one second stop element (67) moving relative to the first element, which due to rotation of the gripped accessory (26), at least into one parking position, are changeable into the stop position, in which they interact for fixation of the accumulating reservoir (18) in the holder (22) of the accumulating reservoir.

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32 cl, 6 dwg

Cleaning apparatus // 2543605

FIELD: physics, computer engineering.

SUBSTANCE: invention relates to a cleaning apparatus which can be accessed through an access rule grant stored on an access rule medium (32, 36, 37; 52, 53, 54), comprising two or more access rights media (32, 36, 37; 52, 53, 54) storing access rights grants associated with different access rule profiles, as well as a recording unit (27) for recording the access rule grant of the access rule medium (32, 36, 37; 52, 53, 54), wherein the operator of the cleaning apparatus (10) is provided with a function volume which depends on the access rule profile associated with the access rule grant. To create a cleaning apparatus of this type, maintenance of which is easy for the user, according to the invention, each access rule medium (32, 36, 37; 52, 53, 54) includes an identification tool (42, 43, 44; 61, 62, 63) for providing the access rule medium (32, 36, 37; 52, 53, 54) associated with the corresponding access rule profile and identification (45, 46, 47; 64, 65, 66) sensed by the operator through a sensory organ, wherein the identifications (45, 46, 47; 64, 65, 66) associated with different access rule profiles are different from each other.

EFFECT: easier cleaning.

16 cl, 5 dwg

FIELD: personal use articles.

SUBSTANCE: invention relates to a method of operating a cleaning unit, especially the unit for cleaning floor, which comprises a control device, and at least one cleaning element for cleaning the surface, which has a local memory element, at that the control device comprises a control memory cell, and the control device is connected to the reader for reading the local memory element. To improve the process so that there is decreased risk that the user can inadvertently use the unsuitable cleaning element, in the local memory element the technical parameters characterizing the type of cleaning element are saved, which are read and analyzed in the time period from the start of the cleaning unit to the start of the cleaning action of the cleaning element. In addition, the cleaning unit for implementing the method is proposed.

EFFECT: improvement of the method.

29 cl, 1 dwg

FIELD: machine building.

SUBSTANCE: provided floor cleaning machine with manual control comprises running gear with front relative to direction of movement of straight-forward end and rear end, wheel device, which is located on bogie in area of rear end, and cleaning head with possibility of rotation is located on bogie in area of the front end, besides, rod steering device, which is pivotally connected to cleaning head, which rests on running gear and which extends upward from bogie to rear end.

EFFECT: cleaning.

46 cl, 11 dwg

FIELD: machine building.

SUBSTANCE: autonomous surface treating appliance comprising a chassis having a drive arrangement and a control system interfaced to the drive arrangement so as enable control of the appliance across a surface to be treated, wherein the drive arrangement comprises at least one traction unit, each traction unit comprising surface - engaging track (98) constrained around leading wheel (94) and trailing wheel (96), wherein the leading wheel and trailing wheel are arranged so that a track portion opposing the floor surface and extending between the leading and trailing wheels defines a ramped climbing surface.

EFFECT: device control.

43 cl, 14 dwg

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