WO2015192903A1

WO2015192903A1 - Autonomous cleaning apparatus

Info

Publication number: WO2015192903A1
Application number: PCT/EP2014/062932
Authority: WO
Inventors: Magnus WENNERSTRÖM; Rao SUBRAHMANYESWARA; Claes BONDE
Original assignee: Aktiebolaget Electrolux
Priority date: 2014-06-19
Filing date: 2014-06-19
Publication date: 2015-12-23

Abstract

An autonomous cleaning apparatus (1) is provided comprising a switch arrangement (3, 3.1 -3.4) for detecting an impact event between the apparatus (1) and an external object during autonomous movement. The switch arrangement (3, 3.1 -3.4) comprises an activation arm (9), and a switch (11) comprising a switch body (13). The activation arm (9) is connected to a bumper section (7) of the apparatus (1) and is arranged to abut against the switch body (13), when the bumper section (7) is in a neutral position, such that the switch body (13) is maintained in a first position. The activation arm (9) is further arranged to release the switch body (13) to a second position when the bumper section (7) is displaced from the neutral position to an activated position.

Description

AUTONOMOUS CLEANING APPARATUS TECHNICAL FIELD

The present invention relates to an autonomous cleaning apparatus.

BACKGROUND

Autonomous cleaning apparatuses have been available for sale for some years. Such autonomous cleaning apparatuses are usually provided with sensors of different types, arranged to gain information about an environment external to an apparatus. A control unit of the autonomous cleaning apparatus controls movement of the apparatus on the basis of the gained information. Thereby, the cleaning apparatus is capable of performing a cleaning session without the intervention by a user. An autonomous cleaning apparatus is for example described in the document US 2014107838 A1. Autonomous control of movement of a cleaning apparatus is a complex task and unexpected events such as impacts between the cleaning apparatus and an external object may occur. Incorrect gaining of information by one or more sensors may also contribute to the risk of such events. Thereby, autonomous cleaning apparatuses can be provided with some sort of back-up systems arranged to detect contact between the cleaning apparatus and an external object.

Also, when designing an autonomous cleaning apparatus, it is an advantage if the apparatus can be made robust since it may be struck by obstacles, such as a swinging door or similar and it may accidently be treated in a rough way by a user.

Further, simple and reliable solutions are advantageous since today's industry and consumer market demand high quality and low cost products.

In the light of the above, there is a need for an autonomous cleaning apparatus allowing a simple and reliable detecting of an impact between the apparatus and an external object. SUMMARY

An object of the present invention is to provide an autonomous cleaning apparatus allowing a simple and reliable detection of an impact between the apparatus and an external object.

According to an aspect of the invention, the object is achieved by an autonomous cleaning apparatus capable of autonomous movement comprising a switch arrangement, for detecting an impact event between the apparatus and an external object during autonomous movement, where the apparatus comprises a chassis and a bumper section, where the bumper section is movably arranged with respect to the chassis between at least a neutral position and an activated position, and where the bumper section is arranged to be displaced from the neutral position to the activated position in response to an impact event, where the switch arrangement, comprises an activation arm, and a switch comprising a switch body, where the activation arm is connected to the bumper section and arranged to abut against the switch body, when the bumper section is in the neutral position, such that the switch body is maintained in a first position, and where the activation arm is further arranged to release the switch body to a second position when the bumper section is displaced from the neutral position to the activated position. Since the activation arm is arranged to release the switch body to a second position when the bumper section is displaced from the neutral position to the activated position, a simple and reliable detection of an impact between the apparatus and an external object is allowed.

As a result, the above mentioned object is achieved.

Further, since the activation arm is arranged to release the switch body to a second position when the bumper section is displaced from the neutral position to the activated position, the switch will be protected from damages during impacts between the apparatus and external objects.

Also, the switch arrangement, and an apparatus comprising the switch arrangement, may be produced at a low cost since it constitutes a simple and reliable solution allowing detection of impacts between the apparatus and external objects. According to some embodiments, the switch body is biased by a spring in a direction from the first position towards the second position. Thereby, detection of an impact between the apparatus and an external object may be further ensured. According to some embodiments, the activation arm is arranged to be displaced in a direction away from the switch body when the bumper section is displaced from the neutral position to the activated position. Thereby, the switch may be even further protected from damages during impacts between the apparatus and external objects. According to some embodiments, the activation arm is biased by a spring element in a direction towards the switch. Thereby, functionality of the switch arrangement may be further improved and the risk of an erroneous detection of an impact between the apparatus and an external object may be reduced. The spring element may be an elongated body of the activation arm. According to some embodiments, the spring element, which may be arranged to bias the activation arm towards the switch, may also be arranged to control position of the bumper section in relation to the chassis of the apparatus.

According to some embodiments, the bumper section is connected to the chassis via the activation arm. Thereby, a simple and reliably detection of an impact between the apparatus and an external object may be further ensured. Also, a simple and reliably connection of the bumper section to the chassis may be provided.

According to some embodiments, the apparatus comprises at least a first switch arrangement and at least a second switch arrangement where the first switch arrangement is arranged to detect an impact event between the apparatus and an external object in a first direction, and where the second switch arrangement is arranged to detect an impact event between the apparatus and an external object in a second direction, being different from the first direction. Thereby, an apparatus is provided allowing detection of impacts between the apparatus and external objects in different directions. Also, an apparatus is provided which may allow a detection of a direction in which an impact between the apparatus and an external object occur. According to some embodiments, the apparatus further comprises a third switch arrangement where the third switch arrangement is arranged to detect an impact event between the apparatus and an external object in a third direction being different from the first and second directions. Thereby, an apparatus is provided where detection of impact direction may be further improved.

Further features of, and advantages with, the present disclosure will become apparent when studying the appended claims and the following detailed description. Those skilled in the art will realize that the different features described may be combined to create embodiments other than those described in the following, without departing from the scope of the present disclosure, as defined by the appended claims.

BRIEF DESCRIPTION OF THE DRAWINGS

The various aspects of the disclosure, including its particular features and advantages, will be readily understood from the following detailed description and the accompanying drawings, in which:

Fig. 1 a illustrates an autonomous cleaning apparatus with a bumper section in a neutral position,

Fig. 1 b illustrates the autonomous cleaning apparatus with the bumper section in an activated position,

Fig. 2a illustrates a switch arrangement where a bumper section is in the neutral position and a switch body in a first position, and

Fig. 2b illustrates the switch arrangement where the bumper section is in the neutral position and the switch body in a second position. DETAILED DESCRIPTION

The embodiments herein will now be described more fully with reference to the accompanying drawings, in which example embodiments are shown. Disclosed features of example embodiments may be combined as readily understood by one of ordinary skill in the art. Like numbers refer to like elements throughout.

Well-known functions or constructions will not necessarily be described in detail for brevity and/or clarity.

Fig. 1a and Fig. 1 b illustrate an autonomous cleaning apparatus 1 capable of autonomous movement. In the following, the autonomous cleaning apparatus 1 will be called the apparatus 1. The apparatus 1 comprises sensors 17, 19 and a control unit 21 where the control unit 21 is arranged to control autonomous movement of the apparatus 1 in response to signals from the sensors 17, 19. The apparatus 1 may comprise sensors 17, 19 in the form of an imaging unit 17 and one or more laser units 19. The apparatus 1 further comprises a switch arrangement 3.1 -3.4 for detecting an impact event between the apparatus 1 and an external object (not shown) during autonomous movement. The apparatus 1 comprises a chassis 5 and a bumper section 7. The bumper section 7 is movably arranged with respect to the chassis 5 between at least a neutral position and an activated position. The bumper section 7 is arranged to be displaced from the neutral position to the activated position in response to an impact event between the apparatus 1 and an external object during autonomous movement.

The control unit 21 is in communication with one or more switch arrangements 3.1 -3.4. Thereby, the control unit 21 of the apparatus 1 can detect an impact event between the apparatus and an external object and perform measures in response thereto. Examples of such measures are changes of operational mode, or stopping or reversing operation of driving motors (not shown) of the apparatus 1.

In Fig. 1 a, the bumper section 7 is illustrated in the neutral position. In fig 1 b, the bumper section is illustrated in the activated position. As can be seen, the bumper section 7 illustrated in Fig 1 b has been displaced a distance towards the chassis 5 of the apparatus 1 in comparison to the bumper section 7 illustrated in Fig. 1a.

The apparatus illustrated in Fig. 1 a and 1 b comprises four switch arrangements 3.1 -3.4. However, the apparatus may comprise one, two, three, or more than four switch arrangements 3.1-3.4. Fig. 2a and Fig. 2b illustrate one switch arrangement 3 according to some embodiments. The switch arrangement 3 comprises an activation arm 9, and a switch 1 1 comprising a switch body 13. The activation arm 9 is connected to the bumper section 7 of the apparatus and is arranged to abut against the switch body 13 when the bumper section 7 is in the neutral position, such that the switch body 13 is maintained in a first position. The activation arm 9 is further arranged to release the switch body 13 to a second position when the bumper section 7 is displaced from the neutral position to the activated position. In Fig. 2a, the bumper section 7 is illustrated in the neutral position. As can be seen, the activation arm 9 abuts against the switch body 13 such that the switch body 13 is maintained in the first position. In Fig. 2b, the bumper section 7 is illustrated in the activated position. As can be seen, the activation arm 9 no longer abuts against the switch body 13 and the switch body 13 has been displaced to the second position. Accordingly, in comparison to the bumper section 7 illustrated in Fig. 2a, the bumper section 7 illustrated in Fig. 2b has been displaced a distance, e.g. as a result of an impact event between the apparatus 1 and an external object. Since the activation arm 9 is connected to the bumper section 7 of the apparatus, the activation arm 9 will no longer abut against the switch body 13 when the bumper section 7 is displaced from the neutral position to the activated position.

As can be seen in Fig. 2a and Fig. 2b, the switch body 13 is biased by a spring 14 in a direction from the first position towards the second position. Thereby, when the bumper section 7 is displaced from the neutral position to the activated position and the activation arm 9 no longer abuts against the switch body 13, the switch body is displaced, by the biasing of the spring 14, from the first position towards the second position.

As also can be seen in Fig. 2a and 2b, the activation arm 9 is arranged to be displaced in a direction away from the switch body 13 when the bumper section 7 is displaced from the neutral position to the activated position. Thereby, the switch 1 1 will be protected from damages even in the occurrence of a hard impact between the bumper section 7 and an external object, for example in a case where a person kicks on the apparatus or a door suddenly swings open on the apparatus. The activation arm 9 may be biased by one or more spring elements 15.1 , 15.2 in a direction towards the switch 1 1. Thereby, abutting of the activation arm 9 against the switch body 13 of the switch 1 1 is ensured when the bumper section 7 is in the neutral position. As illustrated in Fig. 2a and Fig. 2b, the activation arm 9 may be biased by a spring element 15.1 in the form of a coil spring and/or a spring element 15.2 in the form of an elongated body of the activation arm 9 which is resilient and arranged such that the activation arm 9 biased, by the elongated body of the activation arm 9, in a direction towards the switch 1 1. Thus, according to some embodiments, the activation arm 9 is biased solely by the elongated body of the activation arm 9, in a direction towards the switch 1 1.

The bumper section 7 may be connected to the chassis 5 via the activation arm 9, either directly, or indirectly. The bumper section 7 may either be arranged to abut against the activation arm 9 or may be attached to the activation arm 9. In embodiments where the bumper section 7 is arranged to abut against the activation arm 9, and is not attached thereto, the switch 1 1 and the switch body 13 may also be protected from damages in cases a user pulls, or in any other way, displaces the bumper section 7 in a direction away from the chassis 5 of the apparatus 1 since such a movement not will be transferred from the activation arm 9 to the switch 1 1 with its switch body 13. Also, in such embodiments, lateral movement of the bumper section 7 along the activation arm 9 may be allowed. Thereby, the switch arrangement 3 may be protected from damages even in cases where the bumper section is displaced sideways in relation to the chassis of the apparatus. As can be seen in Fig. 2a and Fig. 2b, the activation arm 9 is attached to the chassis 5 in an attachment point. Likewise, the spring element 15.1 is at one end connected to a portion of the chassis 5 of the apparatus 1.

As illustrated in Fig. 1a and Fig. 1 b, the apparatus 1 may comprise a first switch arrangement 3.1 and a second switch arrangement 3.2 where the first switch arrangement 3.1 is arranged to detect an impact event between the apparatus 1 and an external object in a first direction, and where the second switch arrangement 3.2 is arranged to detect an impact event between the apparatus 1 and an external object in a second direction, where the second direction is different from the first direction. This may be achieved by orienting and arranging the first and second switch arrangements 3.1 , 3.2 in different directions.

The apparatus 1 may further comprise a third switch arrangement 3.3 where the third switch arrangement 3.3 is arranged to detect an impact event between the apparatus 1 and an external object in a third direction being different from the first and second directions.

Also, the apparatus 1 may further comprise a fourth switch arrangement 3.4 where the fourth switch arrangement 3.4 is arranged to detect an impact event between the apparatus 1 and an external object in a fourth direction being different from the first, the second and the third direction.

Further, different switch arrangements 3.1 - 3.4 may be arranged to detect impact events at different portions of the bumper section 7. For example, one switch arrangement 3.1 may be arranged to detect an impact event at a right side of the bumper section 7 and another switch arrangement 3.4 may be arranged to detect an impact event at a left side of the bumper section 7. Also, the bumper section 7 may be supported by, and held in the neutral position, by the respective activation arms 9 of respective switch

arrangements 3.1 , 3.2, 3.3, and 3.4.

The apparatus 1 comprises one or more cleaning arrangements (not shown) such as a vacuum cleaner arrangement, brushes and the like. It is to be understood that the foregoing is illustrative of various example embodiments and the disclosure is not to be limited to the specific embodiments disclosed and that modifications to the disclosed embodiments, combinations of features of disclosed embodiments as well as other embodiments are intended to be included within the scope of the appended claims.

Claims

An autonomous cleaning apparatus (1 ) capable of autonomous movement comprising a switch arrangement (3, 3.1-3.4) for detecting an impact event between said apparatus (1 ) and an external object during autonomous movement, where said apparatus (1 ) comprises a chassis (5) and a bumper section (7), where said bumper section (7) is movably arranged with respect to said chassis (5) between at least a neutral position and an activated position, and where said bumper section (7) is arranged to be displaced from said neutral position to said activated position in response to an impact event, where said switch arrangement (3, 3.1 -3.4) comprises; an activation arm (9), and

a switch (1 1 ) comprising a switch body (13),

where said activation arm (9) is connected to said bumper section (7) and arranged to abut against said switch body (13), when said bumper section (7) is in said neutral position, such that said switch body (13) is maintained in a first position, and where said activation arm (9) is further arranged to release said switch body (13) to a second position when said bumper section (7) is displaced from said neutral position to said activated position.

The apparatus (1 ) according to claim 1 where said switch body (13) is biased by a spring (14) in a direction from said first position towards said second position.

The apparatus (1 ) according to claim 1 or 2 where said activation arm (9) is arranged to be displaced in a direction away from said switch body (13) when said bumper section (7) is displaced from said neutral position to said activated position.

The apparatus (1 ) according to any one of the preceding claims where said activation arm (9) is biased by a spring element (15.1 , 15.2) in a direction towards said switch (1 1 ).

The apparatus (1 ) according to any one of the preceding claims where said bumper section (7) is connected to said chassis (5) via said activation arm (9).

The apparatus (1 ) according to any one of the preceding claims comprising at least a first switch arrangement (3.1 ) and at least a second switch arrangement (3.2) where said first switch arrangement (3.1 ) is arranged to detect an impact event between said apparatus (1 ) and an external object in a first direction, and where said second switch arrangement (3.2) is arranged to detect an impact event between said apparatus (1 ) and an external object in a second direction, being different from said first direction.

The apparatus (1 ) according to claim 6 further comprising a third switch arrangement (3.3) where said third switch arrangement (3.3) is arranged to detect an impact event between said apparatus (1 ) and an external object in a third direction being different from said first and second directions.