WO2012036586A1

WO2012036586A1 - Automated system for cleaning a building

Info

Publication number: WO2012036586A1
Application number: PCT/RU2011/000382
Authority: WO
Inventors: Владимир Львович БОНДАРЕВ; Павел Николаевич ДОМНИН; Елена Ивановна НИКУЛИНА
Original assignee: Общество С Ограниченной Ответственностью Компания "Норкпалм"
Priority date: 2010-09-14
Filing date: 2011-06-02
Publication date: 2012-03-22
Also published as: EP2617338A4; EP2617338A1

Abstract

The proposed invention relates to a structure of automated systems for cleaning buildings with a parking module. What are proposed are: a parking module and an automated system for cleaning a building, said system comprising a vacuum cleaner robot, a charging station, a control system and the parking module. The parking module comprises a housing in which at least the vacuum cleaner robot is arranged, and a front cover with a controllable drive mechanism which opens and closes said front cover. The provision of said parking module and the structural design thereof improve the ergonomics of the automated system for cleaning buildings, make economic use of the internal space of the building whilst maintaining the design of the building, and eliminate the possibility of children and domestic animals coming into contact, in an undesirable manner, with complex and expensive robotized equipment.

Description

AUTOMATIC ROOM CLEANING SYSTEM

State of the art

The proposed invention relates to automatic cleaning systems by means of robotic technology.

Various automatic cleaning systems using robotic vacuum cleaners are widely known in the art.

In the patent of the Russian Federation JY ° 2357644, publication 10.06.2009, describes a robotic cleaning system adopted for the closest analogue. The known system includes a robot vacuum cleaner designed to perform cleaning when automatically moving along the surface to be cleaned, as well as a charging station configured to connect with a robot vacuum cleaner to charge the battery installed in the robot vacuum cleaner with electric power. The system additionally provides unobstructed overcoming of thresholds by a robot vacuum cleaner, regardless of their height.

Robotic vacuum cleaners and their charging stations can have various design options, as well as performance characteristics. At the same time, charging stations can be both stationary and mobile.

In the RF patent Jfa 2350252, publication 03/27/2009, a method for charging a robot cleaner is described, in which it is possible to detect incorrect connection between the contact and charging terminals and to prevent improper installation of the robot cleaner relative to the charger when charging the robot cleaner manually. In RF patent Jfc 2338639, publication November 20, 2008, a system and method for returning a robot cleaner to a charger are described. The system for returning the robot cleaner to the charger contains a transmitter for homing signals, a receiver for the homing system and a control device. The receiver of the homing system is installed in the robot cleaner and receives at least one signal transmitted from the transmitter of the homing signals. The control device is designed to recognize the specified one signal and to control the robot to ensure its return to the charger. The robot vacuum cleaner receives the infrared signal transmitted from the charger, detects its location and mates with the charger to ensure charging of the robot vacuum cleaner.

RF patent JNb 2321879, publication 04/10/2008, proposes a mobile robot cleaner capable of recognizing an image, and a guidance system for the image containing a charger onto which a docking image is printed.

In the patent of the Russian Federation Ν »2311868, publication December 10, 2007, a system for automated cleaning of premises is described. The system contains video cameras and a scavenger robot. Video cameras are located in the upper corners of the room and are connected via a video capture unit and the first transceiver via a radio channel to the second transceiver of the garbage collector. The scavenger robot also contains a transceiver antenna, a microprocessor, rechargeable batteries, chassis motors, capture motors, and a mechanical capture itself, a garbage compartment. The cameras are stationary with the sectors of view in total covering the entire surface of the monitored floor, and the number of cameras is selected from the condition of a complete overview of the floor surface.

In the patent of the Russian Federation> Г ° 2303387, publication July 27, 2007, an automated cleaning system and a method for returning a cleaning robot to external charger. The system comprises an external charger containing a charging support with charging terminals, and a plurality of transmitting parts for sending signals with different codes and powers. The robot cleaner comprises a battery, connection terminals for connecting to charging terminals for supplying electric power to the battery, a receiving part for receiving signals from the transmitting parts, and a control part for controlling the movement of the robot cleaner using signals received by the receiving part.

An automatic cleaning system with a robot cleaner and a charging station is also known from published application US 2009/0049640, published February 26, 2009. The charging station additionally provides for the unloading of garbage from the cleaning robot into a separate container.

Also, automatic room cleaning systems are known from published application EP 1842474, 10.10.2007, published application GB 2414167, 11/23/2005, patent US 7332890, 02/19/2008, patent US 7555363, 06/30/2009, published application JP 2007-181656, 19.07. 2007.

As the closest analogue for the proposed system, the system according to the patent of the Russian Federation Ν »2357644 is considered.

Common features of the well-known and proposed robotic cleaning systems are the presence of a robot cleaner, a charging station and a control system; a charging station can be considered as a parking module.

All known automatic room cleaning systems with robotic vacuum cleaners have a significant drawback, consisting in the need to allocate additional space in the room, as well as the open placement of the charging station and the robot vacuum cleaner. A brief description of the proposed invention

A parking module and an automatic room cleaning system are proposed, comprising a robot cleaner, a charging station, a control system, and a parking module. The parking module comprises a housing for accommodating at least a robot cleaner, a front cover with a controllable drive mechanism for opening and closing said front cover. The presence of the specified parking module and its constructive implementation provide improved ergonomics of the automatic cleaning system, saving the interior space of the room while maintaining the design of the room, as well as eliminating unwanted contact of children and pets with complicated expensive robotic equipment.

The objective of the proposed invention is the creation of an automatic cleaning system with a parking module, which saves the interior space of the room, integrates with the design of the room, and also eliminates undesired unauthorized contact of children and pets with complex expensive robotic equipment.

To solve this problem, a design of a parking module for a robot vacuum cleaner is proposed, including a housing that provides placement of at least a robot vacuum cleaner, a front cover controlled by a drive mechanism that opens / closes the specified front cover, a controller of the specified drive mechanism, a system nutrition. The design of the specified parking module is not known from the prior art.

Also proposed is the design of an automatic room cleaning system with a parking module for a robot cleaner, comprising a robot cleaner, a charging station, and a parking module for a vacuum cleaner, united by a single control system that provides synchronization of the operation of the main elements. The difference of the proposed system is that the parking module contains a housing that provides closed placement in it of a robot vacuum cleaner and a charging station, and a front cover with a controllable drive mechanism that provides opening / closing of the specified front cover upon command from the control system.

The parking module allows you to integrate it into the basement of the furniture, while maintaining the design of the room, which is ensured by the dimensions and materials used of the parking module.

The control of the robot vacuum cleaner and the drive mechanism (for example, an electromechanical drive) of the front cover of the parking module is provided through a single control system, which increases the usability of the proposed system.

The control system consists of several elements and combines in a single circuit all the elements of the proposed automatic cleaning system with a parking module. Creating and programming such a control system based on well-known tools and methods is not difficult.

The robot vacuum cleaner and the drive mechanism of the front cover of the parking module are made with the possibility of a joint and / or separate way of submitting working commands from the control system, while the control system provides separate and / or joint control of the robot vacuum cleaner and the drive mechanism.

The drive mechanism is powered by a controller and has the ability to control via radio frequency and / or galvanic communication channel.

The control system contains a programmable module that provides storage and processing of control commands, as well as synchronized control of the robot vacuum cleaner, charging station and front cover drive mechanism, for this purpose Elements typically have appropriate controllers, sensors, and transceivers. In any case, the control system contains modules for signaling control commands to the robot vacuum cleaner, charging station and the controller of the electromechanical drive of the front cover of the parking module, and these devices contain elements that ensure the execution of commands from the control system.

The control system comprises at least one radio-frequency remote control with the provision of receiving and transmitting commands to the working elements of the proposed automatic cleaning system.

Preferably, the control system was made on the basis of a charging station and / or on the basis of a robot cleaner, and the control system can be performed as a separate unit.

Additionally, the proposed system may include a sound and / or LED signaling module about the execution of working commands and / or specified operating modes.

The advantages and embodiments of the proposed system are described in more detail below, however, are not limited to the description and should be considered with the involvement of the prior art.

Detailed Description of the Invention

The proposed technical solution is intended for the installation of a parking space for household automatic cleaning systems - robotic vacuum cleaners with radio frequency control, mainly in standard size basement niches of almost any furniture set, preferably a kitchen set.

The proposed automatic parking module is an electronic-mechanical box, built into standard basement niches of a furniture set or other specially designated place, providing unique ergonomic placement and the functioning of the robot vacuum cleaner in the home, while maintaining the design of the room, which is an important factor for the consumer.

A robot vacuum cleaner with a charging station can be a product of any well-known manufacturer of this technology and is not an independent subject of the present invention.

The parking module device contains the following main modules and blocks:

- A housing made, for example, of laminated chipboard, plastic or wood, with a front hinged lid, preferably with a vertical opening method made, for example, of aluminum or plastic. The standard external dimensions of the case are, as a rule, 600x540x120 mm, or 600x540x150mm.

- The drive mechanism of the front hinged lid, for example, an electric linear actuator (electromechanical drive).

- Controller for controlling the drive mechanism of the cover; while the method of transmitting control commands can be radio frequency or galvanic (wired), as well as any other possible.

- The charging base of the robot vacuum cleaner (can be standard from the kit of the robot vacuum cleaner or optional).

- Mains power supply - standard from a robot vacuum cleaner kit or optional.

- The control system of the charging station, the robot vacuum cleaner and the drive mechanism of the front cover of the parking module.

- RF remote control for autonomous control of the parking module controller (usually with an additional autonomous RF channel).

- Radio-frequency remote control for the robot - it can be standard.

The network adapter is a regular switching power supply unit for a robot cleaner. The floor charging base is standard device for navigation and automatic charging of the robot vacuum cleaner. Communication channel - radio frequency, infrared navigation method. The contact method of the charging station with the robot vacuum cleaner during parking is galvanic. The system can be powered from a standard network adapter.

The radio frequency control panel is, as a rule, a standard device for activating and controlling a robot vacuum cleaner and programming an individual weekly cleaning schedule.

The controller for controlling the drive mechanism of the front cover of the parking module is, for example, a modified standard auto-alarm unit, with a power output for controlling electric locks and the presence of a programming function for the duration of the control pulse for the locks.

The electromechanical drive for opening / closing the front cover can be made on the basis of means known from the prior art and is not difficult. In particular, the principle of operation of a linear electromechanical drive is similar to an automatic garage door controlled by a remote control.

The drive controller can be equipped with a secondary power source and / or connected directly to the standard power source of the robot cleaner.

RF remote controls are an additional stand-alone control channel for the drive controller and are necessary for the forced remote control of opening / closing the front cover. When the robot vacuum cleaner is on the charging base (the front cover is closed), commands from additional remote controls are blocked. This provides protection against potential electromechanical synchronization failure. The electromagnetic compatibility of the RF remote controls is in accordance with GOST R 50789-95 and GOST R 41.97. The radio-frequency autonomous channel for controlling the drive controller is used in the following situations:

A) for the primary synchronization of the operation of the parking module and the robot when installing the complex and connecting it to the network.

B) if necessary, to open and close the front shutter of the module in case of emergency (the robot battery is discharged, or when the robot has lost galvanic connection with the floor charging base and it is inside when the robot is outside the parking lot.

The galvanic channel is always used when a robot is successfully parked on a charging base, and in fact is a channel for transmitting commands to open / close the front flap of a module via cable. For example, the presence of + 12V potential at the output of the charging base is a sign of the robot being “present” in the parking module, which is a closing command; 0V is a sign of the “absence” of a robot on a charging base, which is an opening command.

There are three possible ways to control a robot vacuum cleaner:

A) Manual way to activate the parking mode - by pressing the corresponding button on the control panel (when the robot is outside the parking module);

B) Activation of the parking and exit modes using the radio frequency control panel;

B) Activation of the parking mode automatically when the battery is discharged during the cleaning process, with the obligatory use of full-time movement coordinators for accurate robot navigation when searching for a charging base, for example, when cleaning several rooms. D) Activation of the cleaning mode by the signal of the built-in timer, according to the individual cleaning schedule set by the user in advance.

The proposed system works as follows.

The housing of the parking module is located in a pre-prepared basement, for example, a kitchen unit, with the corresponding dimensions of the usable volume. As an example, to do this, it is necessary to cut an opening in the furniture base in order to provide the gaps on the left and right, necessary for the free opening of the front cover of the parking module and the installation of plastic plugs on the end sections of the material.

The network adapter is connected through the socket on the rear wall of the parking module, and is located in the basement of the furniture. The presence and glow of the signal LED on the front cover can serve as an indicator of the availability of power and the health of the network adapter.

Using the radio frequency remote control or an additional key fob, the front cover is brought into the open position to provide navigation and parking of the robot to the charging base located in the internal volume of the parking module.

It should be borne in mind that for accurate navigation and parking of the robot, it is advisable to use the infrared (IR) channel of communication, as the most accurate and noise-resistant. Since the IR signal effectively works only in the line of sight, it is advisable to provide free space in a radius of 1 m in front of the parking module, necessary for maneuvering the robot during parking.

For successful parking of the robot from the premises adjacent to the base, it is necessary to use the standard navigation tools of the vacuum cleaner robot, previously located in the premises according to the manufacturer's recommendations. To activate the vacuum cleaner remotely, the robot vacuum cleaner, charging station, parking module and control system are synchronized previously.

You can give a parking command using the standard remote control or directly from the keyboard of a robot cleaner.

In the process, the robot vacuum cleaner receives and processes the signals of the motion coordinators (if they are available and activated) and the floor charging base, and optically corrects its motion path for accurate docking with the parking module. Successful parking of the robot at the charging station can be confirmed by a light and sound alarm.

A few seconds after the galvanic contact of the robot with the charging base, the front cover of the parking module automatically closes smoothly, providing hidden ergonomic placement and a constant controlled charge of the robot vacuum cleaner.

The next exit of the robot vacuum cleaner from the parking module is activated either by the command of the built-in timer according to a pre-programmed cleaning schedule, or by command from the radio frequency control panel.

The exit of the robot vacuum cleaner from the parking module is prevented by the synchronous opening of the front sash and may be accompanied by a sound and light signal, for example, a melody.

At the end of the cleaning cycle of one or several rooms, or with a standard discharge of the built-in battery, the robot vacuum cleaner automatically returns to the parking module to the charging base without human involvement for recharging and takes its place at the charging station, automatically closing the “door” behind itself, which prevents unauthorized contact with equipment.

For the owner of such an automated house cleaning system, caring for a robot comes down to cleaning the dust container and brushes from hair and debris. In this case, the cleaning of the dust container can also be performed automatically, in which case the user will only have to carry out regular maintenance of the system.

As a result, children and pets do not have access to the robot vacuum cleaner at the time of charging. The robot vacuum cleaner removes the entire visible area of the apartment, since there is no dead zone existing around the charger. The robot vacuum cleaner does not take up space in the visible zone (which is important for small apartments) and does not violate the stylistic decision of the interior.

The synchronization procedure between the robot vacuum cleaner and the parking module is a few simple operations, and is performed during the installation of the parking module, for example, as part of a furniture set. The need for a repeated procedure may be required during the operation of the complex in the event of emergency situations associated with either a power outage or the failure of a robot cleaner, replacing the batteries of the remote control. Synchronization can be automatic (programmed) or semi-automatic (with the user entering the necessary commands).

An example of a sequence of synchronization operations:

1. Before installing the parking module, it is necessary to ensure the charging and power supply of the necessary elements of the system, as well as the interaction of the standard devices of the robot vacuum cleaner.

2. Place the parking module in the pre-prepared basement of the furniture set, connect the adapter to the network, making sure that the indicator light of the adapter is on.

3. Using the remote control or remotely bring the front cover of the module to the open state, to ensure unimpeded parking of the robot on a standard charging base located inside the case. 4. Place the robot vacuum cleaner at a distance in front of the open parking module, providing the necessary space for maneuver. Activate the robot vacuum cleaner, then give the parking command with the remote control, or manually.

5. After successfully parking the robot at the charging station, a tonal melody will sound and the front cover will close smoothly. The bright glow of the front cover diode is an indicator of the health of the module power supply and the presence of a robot on the charging station inside the parking module.

On this, the synchronization procedure is considered to be successfully completed. For the robot vacuum cleaner to exit at a convenient time for the user, if desired, you can program an individual weekly cleaning schedule.

The proposed automatic room cleaning system with a parking module for a robot vacuum cleaner undoubtedly distinguishes it from existing analogues in the world.

Drawing

In FIG. 1 shows a logical diagram of the system.

The list of the main elements of the parking module:

housing; electromechanical drive of the front sash; an electromechanical drive controller with two channels for transmitting control commands — a radio-frequency and a galvanic channel; floor charging base; connecting cables; status indication LEDs; radio frequency trinkets; radio frequency remote control; network charger.

The proposed option for organizing the drive of the front sash of the parking module using an electric linear actuator is simple, reliable and accurate in executing commands. Its disadvantages include the relatively high cost of the drive, and a noticeable noise level during engine operation. The following alternative examples of methods for opening the front sash of a parking module may be considered:

1. Use as an actuator of a pneumatic piston drive.

This method compares favorably with the noisy operation of the mechanics, but the vacuum pump during operation also creates a noise level comparable to the electromechanical drive, which eliminates its advantages. In addition, the accuracy of operations is inferior to the electric linear actuator, and the cost of pneumatics is comparable to the drive used.

2. A design variant using a step electric motor with a cable drive and the use of roller mechanisms. Structurally, it is less reliable than an electric linear actuator, which does not allow to give preference to it. The only advantage is the relatively low cost.

3. A design variant using a gas spring furniture shock absorber in conjunction with an electric solenoid (for example, from a car alarm), which serves as an electric lock. Smooth mechanical opening produces a spring shock absorber mechanism.

This technical solution has a relatively low cost, but allows only one automatic operation — smooth opening of the front cover of the module, closing in this embodiment is done manually, which does not fully meet the task.

Thus, the option chosen by the developer for the technical solution of the front cover drive using an electric linear actuator is optimal, and in full and with high reliability, the operations meet the task. The use of the specified parking module and its constructive implementation provide improved ergonomics of the automatic cleaning system, saving the interior space of the room while maintaining its design, as well as eliminating unwanted contact of children and pets with complex, expensive robotic equipment.

Claims

FORMULA

1. The design of the parking module for the robot vacuum cleaner, including a housing that provides placement of at least a robot vacuum cleaner, a front cover controlled by a drive mechanism for opening / closing said front cover, a controller of said drive mechanism, a power system.

2. The module according to claim 1, characterized in that the drive mechanism is made in the form of a linear electromechanical drive.

3. The module according to claim 1, characterized in that the drive mechanism is configured to be controlled via radio frequency and / or galvanic communication channel.

4. The module according to claim 1, characterized in that the design of the parking module allows it to be installed in the basement of the furniture.

5. The design of an automatic cleaning system containing a robot vacuum cleaner, charging station, control system, as well as a parking module for a robot vacuum cleaner, characterized in that the parking module includes a housing that accommodates at least a robot vacuum cleaner, a front cover with a controlled drive mechanism, providing opening / closing of the specified front cover on command from the control system received by the drive mechanism controller.

6. The system according to claim 1, characterized in that the design of the parking module enables its installation in the basement of the furniture.

7. The system according to claim 1, characterized in that the control of the robot vacuum cleaner, charging station and the drive mechanism of the front cover of the parking module is provided through a single control system.

8. The system according to n.l, characterized in that the drive mechanism of the front cover of the parking module is configured to be controlled by radio frequency and / or galvanic communication channel.

9. The system according to claim 1, characterized in that the control system comprises a programmable module that provides storage and processing of control commands.

10. The system according to claim 1, characterized in that the control system includes modules for receiving and transmitting control signals to the robot vacuum cleaner, charging station and the controller of the drive mechanism of the front cover of the parking module.

11. The system according to claim 1, characterized in that the control system comprises at least one radio frequency remote control.

12. The system according to claim 1, characterized in that the control system is made on the basis of a charging station and / or on the basis of a robot cleaner.

13. The system according to claim 1, characterized in that it further comprises a sound and / or LED signaling module about the execution of working commands and / or specified operating modes of the system.

14. The system according to claim 1, characterized in that the drive mechanism is made in the form of a linear electromechanical drive.