Automatic cleaning-up system and method for returning of cleaning-up robot to outside charging apparatus

FIELD: robotized cleaning-up technique.

SUBSTANCE: automatic cleaning-up system has outside charging apparatus comprising charging support with charging terminals, and a plurality of signal sending parts designed for sending of signals having different codes and power values. Cleaning-up robot comprises battery, connection terminals for connection to charging terminals for supplying of battery with electric energy, receiving part for receiving signals from signal sending parts and control part for controlling movement of cleaning-up robot using signals received by receiving part so that connection terminals are connected to charging terminals.

EFFECT: reduced manufacture costs and provision for creating of effective method for returning of cleaning-up robot to outside charging apparatus.

20 cl, 9 dwg

 

REFERENCE TO RELATED APPLICATIONS

In this application we use materials of Korean application No. 2004-86109, filed October 27, 2004 in the Korean Bureau for the protection of intellectual property, and the content of that application is incorporated into this description by reference.

The LEVEL of TECHNOLOGY

The technical field

The present invention relates to automatic harvesting system and method return the robot cleaner to an external charger. More specifically, the present invention relates to automatic harvesting system that contains the robot cleaner with rechargeable battery and external charger for charging, and to method return the robot cleaner to an external charger.

The known technical solutions

Typically, the robot cleaner moves automatically on a certain area in a given zone to clean the floor or surface by suction dust and dirt without user intervention. The robot cleaner measures the distance from itself to obstacles, such as furniture, office equipment and walls in the area of cleaning, and toured them without encountering obstacles, due to the use of the information on the measured distance and thus performs the task of cleaning according to the instructions.

The robot cleaner includes a battery designed to supply its power is the Nergy to work. To a discharged battery can be reused, usually used rechargeable batteries. Therefore, the robot cleaner needs external battery charger for recharging batteries. Automatic cleaning system includes a robot cleaner, and external battery charger.

For automatic return of the robot cleaner to the external charger, the robot cleaner must correctly locate the external charger.

Among the various methods for determining the robot cleaner location external battery charger and connection with the external charger one way is the following. External battery charger has charging terminals for connection to the robot cleaner, and has a label of the charger, while the robot cleaner includes a sensor for detecting the label. Usually for mark detection charger uses an optical sensor of the reflected signal. The optical sensor of the reflected signal has a light emitting part and the light-receiving part for receiving light reflected from the label on the charger. When the robot cleaner is going to return to the external charger after cleaning or when battery power is low, the light emitting part, available in the robot cleaner, emits light, and light is priemnaja part of the reflective optical sensor receives light reflected from the label of the charger that is installed on the external charger. In the result, the robot cleaner determines the location of an external battery charger and comes back to him.

However, the optical sensor of the reflected signal for use in an automatic harvesting system with an external charger is expensive. In addition, the robotic cleaner takes a long time to return to the external charger because of the small distance at which the optical sensor is able to perceive the signal.

The INVENTION

The present invention aims to solve at least the above problems and/or eliminate the above disadvantages and to provide at least the advantages described below. Accordingly, the aim of the present invention is to provide an automatic cleaning systems, with advantages in terms of cost of manufacturing and the ability of the sensor to measure the distance to obstacles, and create a method to return the robot cleaner to an external charger.

To achieve the above objectives the present invention provides an automated cleaning system that includes an external charger, charger containing support with the charging terminals and the set of transmission parts, prednaznachendlya sending signals with different codes and capacities; moreover, the robot cleaner contains a battery, the terminals for connection with the charging terminals for the supply of electricity in the battery receiving part for receiving signals from multiple transmitting parts and a control part for controlling movement of a robot cleaner using the signals received by the receiving part, so that the terminals were connected with the charging terminals.

Long-range transmitters are located at opposite edges of the charger support, and short-range transmitter is located between the long-range transmitters.

Long-range short-range transmitters and transmitter are located essentially on the same line.

Each of the long-range transmitters and short-range transmitter transmits signals in different angular ranges and in different directions, and the angular transmission range of the short-range transmitter are narrower than the long-range transmitter.

In addition, the transmitting part includes a docking induction transmitter located in a certain place charger supports and capable of generating signals with other codes, less power and in a narrower angular range compared with short-range signals from the transmitter.

Connecting inductio the Naya transmitting portion is located above or below the short-range transmitter at a certain distance.

Many transmission parts may include an infrared radiating element.

Another object of the invention is to create a method to return the robot cleaner to an external charger, so that connection terminals of the robot cleaner was connected with the charging terminals of the charger support, and this method includes the following steps: a) receiving a request signal of the charging, when the robot cleaner moves and does the cleaning of certain areas according to the instructions of the user; b) after receiving the infrared signals with different codes and capacities, the analysis of these various codes included in the infrared signal, and the control of a robot cleaner with a view to its proximity to the charging pole; and C) the connection of the connecting terminal of the robot cleaner with charging terminals of the charger support.

Step (b) comprises: g) receiving robot cleaner infrared signals and moving directly toward the front side of the charger support; d) if the infrared signal is not received in the process of moving right, then rotating the robot cleaner to the left or to the right for about 90° and move it right up until will not be accepted infrared signals; (e) after receiving the infrared signals of the rotation of the robot cleaner by about 90° in order to direct it toward the front side C is row bearing, and move it forward; and g) after receiving the infrared signals containing other code compared to the previous adopted an infrared signal, an approximation of the robot cleaner to the charging pole at an angle.

In step (C) when receiving the infrared signals with one other code in comparison with the previous other code in the process of moving at an angle, the robot cleaner moves directly towards the front side of the charger supports, so that the connecting terminal of the robot cleaner is connected with the charging terminals of the charger support.

BRIEF DESCRIPTION of DRAWINGS

The above objectives and other features of the invention will become clearer from the subsequent detailed description of the variants of its implementation with reference to the accompanying drawings, where

1 schematically shows a perspective view of the automatic cleaning systems according to one embodiment of the present invention;

figure 2 schematically shows a perspective view of a robot cleaner shown in figure 1;

figure 3 shows the block diagram of the automatic cleaning systems, depicted in figure 1;

figure 4 shows a front view of the charger shown in figure 1;

figure 5 and 6 shows the zones of the transmission signals of multiple transmitters, shown in figure 4;

7 and 8 illustrate the operation for returning the robot-UB is rsica to the external charger; and

figure 9 shows the sequence of operations to return the robot cleaner to an external charging device according to one embodiment of the present invention.

DETAILED DESCRIPTION of embodiments of the INVENTION

Below one of the embodiments of the present invention will be described in detail with reference to accompanying drawings.

In the following description, the same elements in different drawings are denoted by the same positions. The objects specified in the present description, such as detailed construction and elements, are given only for a better understanding of the present invention. Thus, it is clear that the present invention may be practiced without these specific objects. In addition, well-known functions or constructions are not described in detail because it is cluttering the summary of the invention with unnecessary details.

Figure 1-4 shows the automatic cleaning system including a robot cleaner 100 and the external charger 200.

The robot cleaner 100 includes a housing 110 of the cleaner, the suction part 130, the drive portion 120, the sensor 184 detection of obstacles, the sensor 182 traveled distance, connecting terminals 152, the battery 150, the receiving part 170 and a control part 140.

The suction part 130 is installed on the housing 110 cleaner and p is odnaznachno for retracting saturated with the dust of the air ejected from the surface. The suction part 130 may have a different design. For example, the suction part 130 may include a suction motor (not shown) and a dust collection chamber which is used to collect dust suction drawn by the engine through the intake or suction pipe facing to the surface.

Driving part 120 includes a wheel (not shown)mounted on opposite sides of the housing 110 cleaner, and drive motors designed for rotation of the respective wheels. Driving part 120 rotates the drive motors clockwise or counterclockwise according to the control signal from the control part 140. The direction of movement is set by changing the rotation speed (number of revolutions per minute) of the respective drive motors.

The sensor 184 detection detects obstacles obstacles or walls in front or in the direction of motion and measures the distance to these obstacles or walls. As sensor 184 detection obstacles is possible to use an infrared sensor or an ultrasonic sensor.

The sensor 182 traveled distance may include a rotation sensor for measuring the speed of rotation of the wheels. For example, the rotation sensor can be used angular encoder for measuring the rotation speed of the drive motor.

In the illustrated embodiment of the present invention, the pair of connecting terminals 152 is mounted on the front side of the robot cleaner on the height, the corresponding height of the charging terminals 222 of the external charger 200. However, when using three-phase AC power source will be provided by three connecting terminals 152 and three charging terminals 222.

The battery 150 is installed in the housing 110 of the cleaner and is connected to the connection terminals 152. Therefore, when the connecting terminals 152 are connected with the charging terminals 222 of the external charger 200, the battery 150 is charged from the mains AC source. In other words, when the robot cleaner 100 is connected to the external charger 200, the electric power is supplied via power wire 244 (Fig 1)which is connected to the network by the AC power source is supplied to the charging terminals 222 of the external charger 200 and the battery 150 through the connecting terminals 152 in the housing 110 cleaner.

Unit 160 measures the amount of charge measures the amount of charge of the battery 150, and if the measured value of the charge has reached the prescribed lower limit, transmits the request signal charge to the control part 140.

Receiving portion 170 is mounted on the front side of the housing 110 of the cleaner and is designed to receive signals with different codes from the transmitting part 210 of the external charger 200, which is described below.

Upravlajushaja 140 controls the operation of the above-described parts of the robot cleaner 100 to carry out the work of cleaning. When the robot cleaner 100 is not used, the control part 140 controls the operation of the respective parts so that the robot cleaner 100 is in the standby mode, pajarera the battery 150 connected to the external charger 200. Thus, the battery 150 can be maintained within the specified limits.

After the robot cleaner 100, being disconnected from the external charger 200, finished cleaning, the control part 140 helps the robot cleaner 100 to return to the external charger 200 and connect to it using signals transmitted from the transmitting part 210 of the external charger 200. More specifically, the control part 140 detects signals with different codes adopted by the receiving portion 170, and generates predefined control code according to the codes of the received signals. Then, the control part 140 compares the output signal with a preset reference value, and based on the result of the comparison produces a digital signal. Under this output the digital signal to the control part 140 controls the driving part 120 so that the robot cleaner 100 may return to the charging pole 220 of the external charger 200.

Figure 4 shows the external charger 200, which contains the charger support 220 with charging the terminals 222 and transmitting part 210. Charging terminal 222 is connected with a power wire 244 via internal transformer, transducer and power cable and is intended for the supply of electricity in the battery 150 of the robot cleaner 100 that is connected with the connection terminals 152. Charger bearing 220 holds the charging terminals 222 so that they were located at a height corresponding to the height of the connecting terminals 152 in the robot cleaner 100, and fix the charging terminals 222 in a certain position. If the network AC power source is three-phase, battery charger support 220 establish three charging terminals 222.

Transmitting part 210 mounted on the front side of the charger supports 220, so that the receiving portion 170 of the robot cleaner can receive the signals sent from the transmitting part 210. The transmitting part 210 includes two long-range transmitter 212, designed to send signals of different power, short-range transmitter 214 and connecting the induction transmitter 216. Long-range transmitters 212 mounted on the opposite ends of the charger supports 220. Short-range transmitter 214 and connecting the induction transmitter 216 is preferably located between the long-range transmitters 212, that is, approximately in the middle of the charger supports 220. For reliable reception of signals from the receiving portion 170 of the robot-ubers the ka 100 long-range transmitters 212 and short-range transmitter 214 are located on the same line. In addition, docking induction transmitter 216 is located above or below the short-range transmitter 214 at a specified distance so as not to overlap with the short-range transmitter 214. Many transmission parts 210 is preferably in the form of infrared emitting elements, such as LEDs, which generate an infrared signal. As the receiving part 170 of the robot cleaner 100 can use a photodiode, a phototransistor and p-i-n photodiode.

Long-range transmitters 212, short-range transmitter 214 and connecting the induction transmitter 216 send signals with different codes, so that the receiving portion 170 of the robot cleaner 100 can be selectively receive the various signals. Codes can vary, for example, different size or shape of the wave infrared signals transmitted by respective transmitters 212, 214 and 216.

Figure 5 and 6 shows that the long-range transmitters 212, short-range transmitter 214 and connecting the induction transmitter 216 send signals with different capacities and angles of the transmission. You can set a different power signals to multiple transmitters 212, 214 and 216 by controlling the resistance in the circuit corresponding to the infrared emitting elements. Consequently, it is possible to manage in the output current, and thus, the signal power can be made different. Positions A1-A4 are marked range and angles of transmission (below called "zone transfers") signal transmitters 212, 214 and 216. More specifically, A1 and A2 denote the area of transfer of long-range transmitters 212, A3 denotes the area of transfer short-range transmitter 214 and A4 denotes a transition area connecting the induction transmitter 216. As shown in figure 5 and 6, the dimensions of the zones of the transmission decreases in the following order: long range transmitter 212, short-range transmitter 214 and connecting the induction transmitter 216. Thus, the areas A1 and A2 of the transmission of long-range transmitter 212 are the largest, area A4 transmission connecting the induction transmitter 216 is the smallest, and the area A3 transfer short-range transmitter 214 is intermediate between the areas A1/A2 and A3 transmission.

Therefore, going back to the external charger 200, the robot cleaner 100 first detects the signal sent long-range transmitter 212, and is approaching the charging pole 220. Because the long-range transmitter 212 and short-range transmitter 214 transmits signals with different codes, in areas where long-range signals from the transmitter 212 and short-range transmitter 214 are mixed, in other words the, and, in areas where the zones A1, A2 and A3 overlap, the control part 140 of the robot cleaner 100 can recognize the different signals received at the receiving part 170. Area A4 transmission signals sent from the docking induction transmitter 216, is set smaller than the area A3 transmission of signals from short-range transmitter 214. After the robot cleaner 100 is suitable for charging the support 220 by a given distance, the connecting terminals 152 of the robot cleaner 100 are connected with the charging terminals 222 charger supports 220. Thus the angular range of the sent signal connecting induction transmitter 216 is selected so small that the receiving portion 170 of the robot cleaner 100 receives signals from the docking induction transmitter 216 only in a limited area A4. Accordingly, the connecting terminals 152 of the robot cleaner 100 can properly be connected with the charging terminals 222.

Below with reference to Fig.7-9 describes how to return the robot cleaner 100 to the external charger 200.

When automatic cleaning system containing the external charger 200 is in the initial state, the robot cleaner 100 is in the standby mode, and the connecting terminals 152 are connected with the charging terminals 222 of the external charger 200. After receiving the request signal to the cleaning robot cleaner 100 is separated from the outside is it the charger 200 and removes (S10), given the user's command.

After receiving (S11) of the request signal charge in the process of cleaning, the control part 140 of the robot cleaner 100 switches to return to return the robot cleaner 100 to the charging pole 220 (S12). The control module 140 causes the robot cleaner 100 continue until, until it receives the signals transmitted by the transmitting part 210 charger supports 220. You can use a variety of methods of operation of the robot cleaner 100 in the mode of return. For example, the robot cleaner 100 can move in a zig-zag or back and forth up until the receiving portion 170 will not receive the signals sent from the transmitting part 210.

The request signal charge is thrown when the robot cleaner 100 is finished cleaning or when the request signal charge is injected unit 160 measures the amount of charge of the battery during operation of the cleaning. Alternatively, the user can force it to generate the request signal charge during works on the cleaning, using the remote control.

When the robot cleaner 100 is approaching the area A1 or A2 of the transmission of infrared signals sent long-range transmitters 212 transmitting part 210, the receiving portion 170 receives signals (S13), and the control part 140 so controls the robot cleaner 100, so he approached saragnayan 220 external charger 200. More specifically, the control portion 140 causes the receiving part 170 to turn to charging pole 220 and commands the robot cleaner 100 to go (S14) directly to the charging pole 220.

If the movement to the charging pole 220, the robot cleaner 100 is outside of the areas A1 or A2 of the transmission of infrared signals, the robot cleaner 100 is rotated to the right or to the left about 90° and moving (S15) forward. When in the process of forward movement of the robot cleaner 100 receives infrared signals from the long-range transmitter 212, the robot cleaner 100 is again rotated (S16) is about 90°to again be rotated to the charging pole 220, and moves forward toward the front of the charger supports 220.

When its motion directly to the charging pole 220, the robot cleaner 100 is in the zone A3 transmission of infrared signals emitted by short-range transmitter 214, the receiving portion 170 is able to accept (S17) infrared signals. Because short-range transmitter 214 and the long-range transmitter 212 transmits infrared signals with different codes, the control module 140 can distinguish infrared signals with different codes received receiving portion 170.

When receiving portion 170 receives infrared signals from the short-range transmitter 214, the control module 140 makes the robot-UB is rsica 100 to move (S18) at an angle of approximately 45° to the charging pole 220. Moving the robot cleaner 100 at an angle instead of moving it perpendicular to the charging pole 220 facilitates the rapid achievement of the robot cleaner 100 charger support 220 by reducing errors, which may be due to a relatively narrow area A3 transfer short-range transmitter 214.

When the robot cleaner 100, being within the zone A4 transmission, receives (S19) infrared signals from the docking induction transmitter 216, the control module 140 causes the robot cleaner 100 to turn to charging support 220 so that the robot cleaner is moved (S20) forward straight to her.

According to the above, the robot cleaner 100 can quickly and without errors to reach the charging terminals 222 charger supports 220 and connect (S21) to them.

As is evident from the above description automatic cleaning systems according to one embodiment of the invention, a plurality of transmission parts for varying codes and capacities of the respective output signals of the external charger 200 to the reception part 170 and the operating part 140 has received and analyzed the various signals. Therefore, the robot cleaner 100 is able to quickly return to the external charger 200.

In addition, according to one embodiment of the present izaberete the Oia receiving portion 170 of the robot cleaner 100 directly receives infrared signals from the transmitting part 210 of the external charger 200. Unlike the usual method of indirect signals, the direct method of receiving signals allows to increase the detection range and to reduce the cost of production.

Although the present invention has been illustrated and described with respect to certain variants of its implementation, specialists in the art will understand that can be made various changes in form and detail without departing from the scope of the invention defined by the claims.

1. Automatic cleaning system containing an external charger, charger containing support with the charging terminals and the set of transmission parts, designed for transmission of signals with different codes and capacities; and the robotic cleaner, containing the battery, the terminals for connection with the charging terminals for the supply of electricity in the battery receiving part for receiving signals from multiple transmitting units, and a control part for controlling movement of a robot cleaner using the signals received by the receiving part, so that the terminals were connected with the charging terminals.

2. Automatic cleaning system according to claim 1, characterized in that the set of transmission parts include at least one long-range transmitter, generating system shall store the first signal with the first code, and short-range transmitter, generating the second signal with the second code and the second code different from the first code and the second power signal is less than the first power signal.

3. Automatic cleaning system according to claim 2, characterized in that at least one long-range transmitter contains two long-range transmitter, which are located at opposite edges of the charger support, and short-range transmitter is located between the two long-range transmitters.

4. Automatic cleaning system according to claim 3, characterized in that two long-range short-range transmitter and the transmitter are located essentially along a straight line.

5. Automatic cleaning system according to claim 3, characterized in that the first signals have a first angular range and the second signals have a second angular range, and the first and second angular ranges have different directions, and the second angular range is narrower than the first angular range.

6. Automatic cleaning system according to claim 5, characterized in that the transmitting part includes a docking station transmitter located in a certain place charging support for generating third signals with the third code and the third code is different from the first and second codes, the third power signal is less than the power in the verge of signals, and third signals have a third angular range, which is narrower than the second angular range.

7. Automatic cleaning system according to claim 6, characterized in that the connecting transmitter is located above or below the short-range transmitter at a certain distance from him.

8. Automatic cleaning system according to claim 1, characterized in that the set of transmission parts contain an infrared radiating element.

9. The method return the robot cleaner to an external charger, so that connection terminals of the robot cleaner was connected with the charging terminals of the charger supports, including (a) receiving request signal charge at the time when the robot cleaner moves and does the cleaning of certain areas according to the instructions of the user; b) receiving the infrared signals with different codes and capacities, the analysis of these various codes that are included in the infrared signal, and the control of a robot cleaner for its proximity to the charging pole; and C) the connection of the connecting terminals of the robot cleaner with charging terminals of the charger support.

10. The method according to claim 9, wherein step (b) includes g) admission of the robot cleaner infrared signals and moving directly toward the front side of the charger support; d) if the infrared signal is not taken in the process displace the Oia directly the rotation of the robot cleaner to the left or to the right for about 90° and moving him forward until, until you have taken the infrared signals; (e) after receiving the infrared signals of the robot cleaner rotates approximately 90° for direction on the front side of the charger supports and moves straight forward; and g) after receiving the infrared signals containing other code compared to the previous adopted an infrared signal, the robot cleaner is approaching charger support at an angle.

11. The method according to claim 10, characterized in that in step (C) after receiving the infrared signals with one other code in comparison with the previous other code when moving at an angle, the robot cleaner moves directly towards the front side of the charger supports to connect the terminals of the robot cleaner with charging terminals of the charger support.

12. Automatic cleaning system that includes a first transmitter generating a first signal associated with an external device; a second transmitter, generating second signals and connected with an external device, the first and second signals have different codes and power, and the power of the second signals is less than the first power signal; a receiving part for receiving first and second signals associated with the robot cleaner; and a control part on the I control the movement of the robot cleaner based on the first and second signals so that the robot cleaner is moved to the desired position relative to the external device.

13. Automatic cleaning system according to item 12, wherein the first transmitter includes two first transmitter installed on the front side of the external device.

14. Automatic cleaning system according to item 13, wherein the second transmitter is specified on the front side between the first two transmitters.

15. Automatic cleaning system according to item 12, wherein the first signals have a first angular range and the second signals have a second angular range that is narrower than the first angular range.

16. Automatic cleaning system according to item 12, characterized in that it further comprises a third transmitter, generating third signals associated with the external device, and the third power signal is less than the second power signal.

17. Automatic cleaning system according to item 16, wherein the first signals have a first angular range, the second signals have a second angular range, and third signals have a third angular range and the second angular range is narrower than the first angular range, and the third angular range is narrower than the second angular range.

18. Automatic cleaning system according to item 12, distinguish what the lasting themes that the control part controls the robot cleaner to move in a desired position after receiving a predetermined signal.

19. Automatic cleaning system for p, characterized in that the predefined signal is generated by the robot cleaner based on the amount of charge of its rechargeable battery.

20. Automatic cleaning system for p, wherein the robot cleaner receives the specified predefined signal from the remote control user.



 

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1 dwg

FIELD: automation equipment, in particular, automatic replacement of cleaning tools in robot-cleaner.

SUBSTANCE: system has robot-cleaner taking solutions on whether or not first cleaning tool is fit at a current time for floor state on area to be cleaned. When first cleaning tool is not fit for cleaning said floor, robot-cleaner returns to replacement unit and joins to it for replacement of first cleaning tool connected at a current time to robot by second cleaning tool fit for current state of floor. System has cleaning tools bearing unit designed for joining of respective cleaning tool, introduction unit for receiving of input signal indicative of cleaning method selected by user, microcomputer for switching over of robot from operating mode to replacement mode. Replacement unit has sensitive member for determining position and direction of movement of robot and replacement unit, cleaning tools storage unit, cleaning tool replacement unit adapted for replacement of first cleaning tool joined at a current time to robot by second cleaning tool selected from different cleaning tools stored in storage unit, control unit for selecting second cleaning tool from different cleaning tools on the basis of floor state data determined by robot, and for joining of replacement unit and robot in accordance with signal generated by sensitive unit. Replacement unit may be implemented as charging device for charging of robot. Method for automatic replacement of cleaning tools in robot which is fitted with a function of independent movement control, involves determining state of floor to be cleaned during cleaning procedure; taking a solution as to whether or not first cleaning tool fits for predetermined state of floor; returning robot and joining it to replacement unit in case first cleaning tool is not fit for the detected state of floor; replacing in replacement unit first cleaning tool connected to robot by second cleaning tool fit for predetermined state of floor; transmitting floor state data to replacement unit at joining stage; receiving floor state data at replacement stage from robot; selecting second cleaning tool from set of different cleaning tools according to data received; replacing first cleaning tool connected to robot by selected second cleaning tool; during replacement, disconnecting first cleaning tool joined to robot, connecting second cleaning tool in replacement unit to robot; transferring disconnected first cleaning tool into replacement unit.

EFFECT: reduced sizes and weight of robot and increased efficiency due to faultless determining of floor state.

15 cl, 5 dwg

FIELD: robotics.

SUBSTANCE: method for correcting coordinates of cleaning robot with use of rotation angle pickup is used for correcting coordinates of cleaning robot relative to absolute coordinates of charging station in order to enhance tracking motion of cleaning robot along its path. Cleaning robot in waiting mode is arranged near charging station and it moves to working region for performing target operations. Cleaning robot interrupts its operation after detecting that its total rotation angle exceeds predetermined value and it returns to charging station. Current coordinates of cleaning robots are corrected according to basic coordinates of charging station. Then robot moves to previous point where it was before returning to charging station for going on cleaning from place where operation was interrupted.

EFFECT: improved design of robot, enhanced accuracy of correction method.

14 cl, 7 dwg, 1 ex

FIELD: robotized equipment used as robot-vacuum cleaner for cleaning floor surfaces.

SUBSTANCE: robot-cleaner has casing automatically movable over zone to be cleaned, drive for actuating plurality of wheels mounted on lower part of robot-cleaner casing, suction device mounted within casing and adapted for sucking dust from floor surface, negative ion generator positioned within casing, and controller adapted for controlling drive in order to actuate robot-cleaner in accordance with movement path preliminarily introduced into memory and adapted for controlling operation of negative ion generator. In the process of automatic movement over zone to be cleaned, robot-cleaner carries out cleaning procedure by means of suction device and purifies air by means of negative ion generator simultaneously or selectively. Negative ion generator has direct-flow fan, electric engine providing for rotating motion of said fan with the use of power source and for discharge of air from robot-cleaner casing, discharge channel for discharging of air from robot-cleaner casing, member equipped with grid-type part and mounted at one end of discharge channel, said member having plurality of openings. Negative ion generating device is mounted in member having grid-type part and is designated for generation of negative ions in air which is further discharged from discharge channel.

EFFECT: increased efficiency in cleaning of floor surface and generating of negative ions in predetermined zone during automatic movement over predetermined zone.

8 cl, 5 dwg

FIELD: household appliances; vacuum cleaning robots.

SUBSTANCE: detachable dust collector design for vacuum-cleaning robot is installed in dust-collecting chamber. Proposed dust collector has housing provided with air intake hole and dust discharge hole installed in dust-collecting chamber of vacuum-cleaning robot for taking out, and cover with air discharge hole located in opening of dust-collector housing for removal to permit removal of dust from dust collector taken out of dust-collecting chamber of housing. Cover connected with dust collector housing has filter to prevent discharge of collected dust through air discharge hole. Housing of dust collector has air intake pipe unit which projects inside from air intake hole, and handle unit which adjoins dust discharge hole.

EFFECT: facilitated removal of dust from dust collector.

8 cl, 6 dwg

FIELD: equipment for simultaneous and selective automatic cleaning and automatic disinfection of floor.

SUBSTANCE: robot-cleaner has casing automatically movable over surface under cleaning process, drive adapted for driving of combination of wheels and positioned in lower part of casing, and obstacle detecting sensors positioned at front part of casing and adapted for detecting of obstacle located forward of course of advancement of robot-cleaner. Robot-cleaner is further equipped with memory for storing information on position of obstacle, said position being detected by obstacle detecting sensor, dust sucking and collecting unit mounted in casing and adapted for sucking of dust from floor, and disinfection unit positioned under casing lower part and adapted for performing floor disinfection. Robot-cleaner is further provided with control unit for controlling of drive unit so as to provide displacement of robot-cleaner according to predetermined route and for controlling of dust sucking and collecting unit. Disinfection unit operates simultaneously with or separately from dust sucking and collecting unit.

EFFECT: wider operational capability, increased efficiency and improved quality of cleaning and disinfecting of floor.

8 cl, 7 dwg

FIELD: mechanical engineering.

SUBSTANCE: robot-vacuum cleaner has adjustable brush whose height is automatically regulated in accordance with state of surface to be cleaned. Housing of robot-vacuum cleaner has control part programmed for controlling robot-vacuum cleaner to provide for automatic displacement and cleaning of floor surface to be cleaned in accordance with predetermined values, driven part which is actuated in accordance with control signal delivered from control part, dust sucking part adapted for catching and collecting of dust with the help of electric engine designed for creating suction force, and receptacle part of pivot joint, said part protruding toward surface of floor to be cleaned. Brush casing has protrusion of pivot joint, rotationally connected with said receptacle part of pivot joint, and suction channel connected in sealing relation to housing part adapted for dust suction. Brush casing rotates upward and downward relative to receptacle part of pivot joint in accordance with state of floor surface to be cleaned. Brush of robot-vacuum cleaner is positioned for rotation between its casing and cover. Brush cover retaining means has at least one retaining member mounted within brush cover for rotation therein, extending through opening adapted for mounting of retainer and defined within brush cover, said retaining member being adapted for rotation in clockwise and counterclockwise directions and comprising retainer including long axis and short axis at its one end and round handling portion at its other end. Round handling portion is designed for rotating retainer between retaining position and releasing position. Brush cover retaining means has at least one retaining opening whose position corresponds to position of brush cover retaining member and whose shape also corresponds to shape of retainer.

EFFECT: increased efficiency by keeping predetermined distance between brush and floor surface regardless of characteristics of floor surface, and simplified and convenient brush maintenance.

10 cl, 7 dwg

FIELD: robot engineering, in particular, automatic cleaning equipment.

SUBSTANCE: drive apparatus has housing of robot-vacuum cleaner and two electric engines mounted within housing of robot-vacuum cleaner, said electric engines being driven from respective power sources. Drive apparatus includes two drive wheels driven for rotation through two electric engines, two driven wheels following two drive wheels, and motive force transmission means urging drive wheels and driven wheels to move in conjunction. Apparatus is further equipped with assembled case member located within housing of robot-vacuum cleaner and adapted for supporting two drive wheels and two driven wheels, and shock-absorbing device located in assembled case member and adapted for absorbing impacts occurring in case of action from surface subjected to cleaning.

EFFECT: smooth movement through obstacle, such as carpet or door threshold, and zone subjected to cleaning without creation of noise, and elimination of probable impacts during movement through obstacle.

12 cl, 4 dwg

FIELD: robotics.

SUBSTANCE: device for finding position of movable robot is made for précised finding of robot's position by means of calculating time being necessary to any ultrasonic signal generated by ultrasonic signal generating aids to reach movable robot. The purpose is reached due to moment of time during which moment the radio frequency signal is generated which signal is radiated by movable robot. Distance between movable robot and charge station is calculated on the base of calculated time for achieving the robot. Angle between charge station and movable robot is calculated on the base of computed value of distance as well s on the base of preset value of distance between ultrasonic signal generating aids.

EFFECT: improved precision.

8 cl, 3 dwg

FIELD: cleaning robot that may be used for dry cleaning of surfaces by action of suction effort and for wet cleaning with use of wet removable cloth driven to rotation and provides removal of dust and dirt stuck to surfaces.

SUBSTANCE: cleaning robot includes housing; control unit providing program-control automatic motion of robot on cleaned surface of floor and cleaning operations realized according to predetermined values; drive unit operated by control signal fed from control unit; system for trapping and accumulating dust by means of electric motor creating suction effort. Unit for cleaning by means of wet rotated cloth is secured to lower surface of housing of robot. Said unit includes body, member of revolution mounted with possibility of rotation on body of unit. Wet cloth is detachably secured to said member. Wet cleaning unit includes drive means for rotating body of revolution at operation of cleaning robot and means for transmitting driving force mounted in body of wet cleaning unit. One end of means for transmitting driving force may be joined to rotation drive means with possibility of disconnection. Means for transmitting driving force is used for transmitting driving force to member of revolution.

EFFECT: improved design, enlarged using range of cleaning robot.

8 cl, 5 dwg

FIELD: robotized cleaning equipment.

SUBSTANCE: robotized cleaning apparatus has suction device mounted in casing of apparatus and adapted for sucking of contaminants from floor, drive for moving said casing, wheel mounted at lower part of casing for bringing said wheel in contact with floor and driven by movement of said casing. Apparatus is further equipped with device for detecting whether or not the wheel is rotating, and control unit for controlling operation of drive in response to signal generated by detector. Robotized cleaning apparatus may be evenly and continuously effectuate cleaning operation even in case it is stopped due to error in operating mode occurred owing to encountering by said apparatus of obstacle, which had not been detected during advancement of apparatus.

EFFECT: increased efficiency in cleaning of floor in accordance with preset path.

12 cl, 5 dwg

FIELD: cylinder-type vacuum refuse collector.

SUBSTANCE: refuse collector has main module adapted for standing on its end and including suction source and dust catching and separating device, flexible hose, rigid adapter and cleaning head. Refuse collector is further equipped with detachable gripping means providing detachable joining of rigid adapter with cleaning head to main module. When adapter is joined to main module, adapter rigid part is at least partly located within slot provided in main module. Rigid adapter receiving slot is defined by depression formed in casing between wheels of rotating wheel unit and depression formed on lower side of casing and extending from rotating wheel unit to gripping means.

EFFECT: compact storage of refuse collector owing to reduced sizes of supporting end surface.

9 cl, 6 dwg

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