CN105101854A - 机器人真空吸尘器 - Google Patents
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- A—HUMAN NECESSITIES
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- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
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Abstract
本发明涉及一种机器人清洁设备(10),该机器人清洁设备包括主体(11),该主体具有带有前端壁(17)的前端部分(16)、后端部分(20)、连接该前端壁(17)和该后端部分(20)的右侧壁(18)以及联接该前端壁(17)与该后端部分(20)的左侧壁(19)。该机器人清洁设备(10)进一步包括:至少一个驱动轮(12,13),被安排成用于在待清洁的表面上移动该机器人清洁设备(10);驱动装置(29),被安排成用于控制该至少一个驱动轮(12,13)旋转以便使该机器人清洁设备(10)在该待清洁的表面上移动;控制装置(30),用于根据导航信息控制该驱动装置(29)而使该机器人清洁设备在该待清洁的表面上移动。而且,该机器人清洁设备(10)包括清洁构件(15),该清洁构件被安排在该主体的底侧以便从该待清洁的表面清除碎屑,该清洁构件(15)被安排在该主体的前端部分(16)中,其中该主体(11)被安排成使得其宽度(A)在该右侧壁与该右侧壁之间是最大的,所述最大宽度(A)位于该主体(11)的前端部分(16)处。
Description
技术领域
本发明涉及一种机器人真空吸尘器。
背景
机器人真空吸尘器在本领域是已知的,这些机器人真空吸尘器装备有呈电机形式的驱动装置用于在待清洁的表面上移动吸尘器。机器人真空吸尘器进一步装备有呈用于引起自主行为的微处理器和导航装置形式的智能,从而使得机器人真空吸尘器能够自由地来回移动并且清洁呈例如房间形式的空间。
传统上,机器人真空吸尘器一直安排有圆形主体。在其本体中心处具有同轴驱动轮的这类机器人具有以下优点:它容易控制并且不能被卡住,因为它始终能够旋转180°并且按原路返回。然而,圆形主体使得它们不适用于清洁地板与墙壁交汇的角落或边缘,因为这些圆形真空吸尘器由于其形状而不能移动到角落里或离墙壁足够近。WO03/024292中披露了目的在于解决这种问题的一种机器人真空吸尘器的实例,该机器人真空吸尘器的主体在其后端是圆形的,而主体的前端是基本上矩形的。进一步地,扫刷被安排在主体的底侧并且被安置成使得它们与矩形主体前端的前拐角区域相关联。就伸进角落里而言,这是较传统圆形机器人真空吸尘器的一项改进。然而,WO03/024292中所披露的机器人真空吸尘器的形状对于在角落导航、对于在狭窄空间(如走廊)中掉头、或对于导航进入家具之间而言仍然不是最优的,因为一旦真空吸尘器在其移动进入的角落转弯以便追寻从角落引出的墙壁,其主体后端将会碰撞到向角落中引入的墙壁。
概述
本发明的目的是解决或至少减轻以下问题:如何提供一种机器人真空吸尘器针对在角落导航和在狭窄空间中掉头。
这一目的是通过一种机器人清洁装置达到的,该机器人清洁设备包括一个主体,该主体具有带有前端壁的一个前端部分、一个后端部分、连接该前端壁和该后端部分的一个右侧壁以及连接该前端壁与该后端部分的一个左侧壁。进一步地,该机器人清洁设备包括:至少一个驱动轮,该至少一个驱动轮被安排成用于在一个待清洁的表面上移动该机器人清洁设备;驱动装置,该驱动装置被安排成用于控制该至少一个驱动轮旋转以便使该机器人清洁设备在该待清洁的表面上移动;控制装置,该控制装置被安排成用于根据导航信息控制该驱动装置使该机器人清洁设备在该待清洁的表面上移动。而且,该机器人清洁设备包括一个清洁构件,该清洁构件被安排在该主体的底侧以便从该待清洁的表面清除碎屑,该清洁构件被安排在该主体的前端部分中,其中该主体被安排成使得其宽度在该右侧壁与该左侧壁之间是最大的,该最大宽度位于该主体的前端部分。
有利地,通过为机器人真空吸尘器的主体提供如在本发明的实施例中提出的形状,该机器人真空吸尘器能够以最优或近最优方式在角落导航。由于主体的宽度在主体的前端部分、在右侧壁与左侧壁之间的横向方向上处于其最大值,根据本发明的实施例的机器人清洁设备能够移动进入角落里并且在角落转弯,从而沿着相交墙壁移动而不使其后端部分碰撞到向该角落中引入的墙壁。在本发明一个实施例中,该主体的这些侧壁是弯曲的。有利地,当机器人清洁设备在角落转弯并且追寻从该角落引出的墙壁时,它们因此将会跟随向该角落中引入的墙壁。
在本发明的一个实施例中,该主体的前端部分被安排成在该前端壁分别与该右和/或左侧壁交汇的一个区段处是倾斜的。这是有利的,因为能够帮助导航进出角落而不使前端部分碰撞到形成该角落的相交墙壁。
在本发明的又另一个实施例中,该清洁构件被安排成与该前端壁相邻并且在该主体中的开口内沿着该前端壁的一个较大部分横向地延伸。由此,机器人清洁设备有利地清洁尽可能宽的区域,这有助于减少清洁表面所需的时间(和能耗)。
在本发明的又另一个实施例中,该机器人清洁设备进一步包括障碍物检测装置,该障碍物检测装置被安排成用于检测障碍物并且为该控制装置提供用于能够对该机器人清洁设备进行导航的导航信息。
在本发明的另外一个实施例中,该机器人清洁设备进一步包括一个柔性防冲挡,该柔性防冲挡至少围住该主体的前端部分。有利地,只要机器人清洁设备向前移动,能够撞上障碍物的仅有的主体部分是防冲挡,暗示与所有障碍物的碰撞能够由该防冲挡检测到。如在本发明的实施例中提出的机器人清洁设备的主体的形状结合对该清洁设备的移动的适当控制确保了当防冲挡检测到障碍物时机器人能够机动摆脱所有情况,就像具有圆形主体的现有技术机器人真空吸尘器一样,并且与现有技术机器人真空吸尘器形成对照,能够进一步有效地清洁角落。
进一步地,由于防冲挡是柔性的,当接触障碍物时,该防冲挡将有弹性地抵靠前端壁,从而减轻该防冲挡对在其途中的障碍物上的推挤效应并且降低障碍物将移位、翻倒和/或损坏的风险。
因此,该障碍物检测装置可以包括柔性防冲挡和至少一个传感器,该柔性防冲挡被安排成与该至少一个传感器协作以便记录该机器人清洁设备与一个障碍物接触,该传感器被安排成将该导航信息传达至该控制装置。
在本发明的又另一个实施例中,该机器人清洁设备包括至少一个可旋转的侧刷,该至少一个可旋转的侧刷被安排在该前端部分中、位于该主体的底侧、与该主体的前端壁与该右或左侧壁中的任一者交汇的两个区段中的至少一个区段相邻。有利地,通过在主体的前端部分的一侧或两侧上为机器人清洁设备安排一个或多个侧刷,该(这些)侧刷旋转并且使位于够不着地方的碎屑移动,从而使得碎屑在主体下方或前方停止并且因此能够通过清洁构件被运输到例如机器人真空吸尘器10的集尘袋。因此,位于就在这些墙壁和角落处的碎屑和灰尘能够通过机器人清洁设备被清除。
在另外一个实施例中,凹口被安排该主体的前端部分中,与该一个或多个侧刷中的一个对应侧刷相邻。这是有利的,因为侧刷能够触及较小障碍物(如椅子腿)的周边周围。通过使该凹口围住或至少部分地围住较小障碍物的周边,能够更有效地清洁障碍物周围的区域。
要注意的是,本发明涉及在权利要求书中所陈述的特征的所有可能组合。在学习所附权利要求书和以下说明时,本发明的另外的特征和优点将变得清楚。本领域的技术人员认识到,本发明的不同特征可以进行组合以产生除以下所描述的实施例之外的其他实施例。
附图简要说明
现在参照附图通过举例方式来描述本发明,在附图中:
图1a以底视图示出了根据本发明的实施例的机器人清洁设备;
图1b示出了图1a的机器人清洁设备的主体,但其中用虚线轮廓概括了替代性形状;
图1c以底视图示出了根据本发明的一个实施例的机器人设备,该机器人设备的主体具有图1b中的虚线展示的形状;
图2以底视图展示了图1a的机器人清洁设备导航进出狭窄走廊中的两个角落的运动顺序a-f;
图3以底视图示出了根据本发明的另一个实施例包括柔性防冲挡的机器人清洁设备;
图4以底视图示出了根据本发明的另外一个实施例包括可旋转的侧刷的机器人清洁设备;
图5以底视图展示了图4的机器人清洁设备导航进出狭窄走廊中的两个角落的运动顺序a-f;
图6a以底视图示出了根据本发明的另外一个实施例包括与可旋转的侧刷相邻的凹口的机器人清洁设备;
图6b以底视图示出了根据图6a的、当清洁小物体周围时的机器人清洁设备;
图7示出了待考虑用于使根据本发明的一个实施例的机器人清洁设备的主体成形的进一步措施;
图8以底视图示出了根据本发明的另外一个实施例的机器人清洁设备,在该图中,主体的形状是不对称的;
图9以底视图展示了图8的机器人清洁设备导航进出狭窄走廊中的两个角落的运动顺序a-f;并且
图10示出了根据本发明一个实施例的图8的机器人清洁设备,该机器人清洁设备包括一个凹口。
详细说明
现在将参照这些附图在下文中更全面地描述本发明,在附图中示出了本发明的某些实施例。然而,本发明可以采用许多不同形式来实施、并且不应被解释为是局限于在此阐明的这些实施例;而是,这些实施例是以举例方式提供的,这样使得本披露将变得全面和完整并且将向所属领域技术人员完整地传达本发明的范围。所有图从底部视角示出了机器人清洁设备。方向信息(例如像清洁设备的“右侧壁”)应被解释为是指当从其后端部分观看时从顶部视角看在主体的右手侧上的侧壁。
本发明涉及机器人清洁设备,或者换言之,涉及用于清洁表面的自动的自推进机器。根据本发明的机器人清洁设备能够用市电操作并且具有电绳、能够用电池操作或者使用任何其他种类的合适的能源,例如太阳能。
图1a示出了从下方观看的根据本发明的实施例的机器人清洁设备10,即,显示了机器人清洁设备的底侧。机器人清洁设备10包括容纳多个部件的主体11,如呈电动机形式的驱动装置29,以便能够使驱动轮12、13移动,从而使得该清洁设备能够在待清洁的表面上移动。
在这个具体的举例说明图解中,驱动轮12、13沿着传动轴14同轴地安排。电动机29能够控制驱动轮12、13彼此独立地旋转以便使机器人清洁设备10在待清洁的表面上移动。可以设想多种不同的驱动轮安排。
进一步地,主体11安排有用于将碎屑和灰尘从待清洁的表面清除的清洁构件15。这在本发明的实施例中借助于抽风机(未示出)实现,该抽风机经由主体11的底侧中的开口产生气流以便将碎屑运输到被容纳在该主体中的集尘袋或旋流器安排。在另外一个实施例中,清洁构件15可以呈竖直地安排在该开口中的可旋转的刷辊形式被实施以增强清洁设备10的灰尘和碎屑收集特性。主体11可以进一步任选地包括用于检测呈墙壁、落地灯、桌腿形式的障碍物的障碍物检测装置28,在这些障碍物周围,必须通过考虑到障碍物检测装置所接收到的导航信息根据需要让控制器30(如微处理器)控制电机29使驱动轮12、13旋转来对机器人真空清洁进行导航。这将在随后进行进一步讨论。障碍物检测装置28可以呈红外(IR)传感器和/或声纳传感器、微波雷达、记录其周围环境的摄像机、激光扫描仪等形式实施用于检测障碍物并且将关于任何检测到的障碍物的信息传达至微处理器30以便让电机29根据障碍物检测装置28所提供的导航信息控制轮12、13的运动。
尽管将清洁构件15(即,主体11的底侧中的开口,抽风机经由该开口产生气流和/或可旋转的刷辊可能安排在该开口中)安排在前端部分16中、与主体11的前端部分17与右侧壁18或左侧壁19中的一个对应侧壁交汇的两个区段中的至少一个区段相邻以便清洁角落将是足够的,但在本发明的一个实施例中,该开口(并且可能地还有刷辊)沿着前端壁17的较大部分在主体11中横向地延伸。由此,机器人清洁设备10有利地清洁尽可能宽的区域,这有助于减少清洁表面所需的时间(和能耗)。
如在图1a可以看到的,机器人清洁设备10的主体11的前端部分16(即,主体11的位于传动轴14与前端壁17之间的部分)在本发明的一个实施例中是基本上四边形形状的,可能具有稍微修圆的拐角,前端壁17分别与右侧壁18和左侧壁19在这些拐角处交汇。图1a所示的前端部分16的具体形式(如由短划线A和前端壁17界定)被概括地称为等腰梯形。前端壁17如图1a中所示的是平坦的或者稍微弯曲的,以便向远处伸入角落中。机器人清洁设备的主体11被安排成使得其宽度A在右侧壁18与左侧壁19之间在主体的前端部分16处是横向最大的,这借助于点划线进行了展示。图1a的主体11的形状被概括地称为三瓣形式。因此,宽度A是跨主体11测量的最大距离,从而有利地帮助角落导航。因此,宽度A大于或等于从主体11的后端部分20到前端壁17限定的宽度B。
现在,如果最大宽度A的位置与传动轴14一致,即,最大宽度与传动轴14的旋转轴线重合,则将具有以下优点:主体11的几何形状将会适配于在狭窄空间(如将在此处下文中展示的狭窄走廊)中掉头。如果另一方面最大宽度A位于前端壁处,则将具有以下优点:清洁构件15能够在主体11的横向方向上被制造得尽可能长。实际上,可以通过将主体的形状确定成使得最大宽度A位于轴14与前端壁17之间的某个地方来进行折中。
在图1a中,后端部分20的背部是尖的,意味着后端部分20是由连接在该后端部分的背部处的右侧壁18和左侧壁19形成的。然而,有可能的是,后端部分20的背部可替代地是平坦的或稍微弯曲的,在这种情况下,后端壁将分别连接至右侧壁18和左侧壁19并且形成后端部分20的背部。
图1b示出了具有图1a的形状的机器人清洁设备10的主体11,但其中用虚线轮廓概括了替代性形状。参照图1c进一步展示了这一替代性形状。如在图1c中可以看到的,根据本发明的这个具体实施例的机器人清洁设备10被进一步安排有在右侧的凹口25或切入口。如果机器人清洁设备10被安排有能够触及较小障碍物(如椅子腿)的周边周围的侧刷,则这是有利的。参照图6更详细地讨论了此内容。
进一步地,主体11被安排有分别连接右侧壁18和左侧壁19的后端壁31,并且形成后端部分20的背部。
机器人清洁设备10的主体11被安排成使得其宽度A”在右侧壁18与左侧壁19之间在主体的前端部分16处是横向最大的,这借助于点划线进行了展示。因此,宽度A”是跨主体11测量的最大距离,从而有利地帮助角落导航。因此,宽度A”大于或等于从主体11的后端部分20到前端壁17限定的宽度B”。
与图1a中所示的实施例形成对照,图1c中所示的实施例的最大宽度A”不垂直于机器人清洁设备的前进方向(即,不平行于传动轴14的旋转轴线),而与旋转轴线形成一个角度。
图2展示了本发明的机器人清洁设备10导航进出狭窄走廊中的两个角落的底视图运动顺序a-f。在图2a中,机器人清洁设备通过向角落中引入的墙壁导航进入该角落。主体的前端壁17面向从该角落引出的墙壁,而左侧壁19面向向该角落中引入的墙壁。应注意的是,实际上,前端壁17和侧端壁18、19不与待清洁的角落的墙壁平齐,而是机器人清洁设备10通常被导航从而使得它们被定位成距离墙壁大致2-10mm。
在图2b中,机器人清洁设备10旋转,从而使得弯曲的左侧壁19跟随着向第一角落中引入的墙壁,而前端壁17在其外端之一处跟随着从该角落引出的墙壁,在图2c中,该旋转继续进行。应注意的是,右侧壁18和左侧壁19可以是平坦的,但弯曲的形状以更平滑的方式跟随墙壁。
参照图2d,在本发明的一个实施例中,机器人清洁设备10的前端部分被安排成在前端壁17分别与右侧壁18和左侧壁19交汇之处的一个或两个区段21、22处是倾斜的。这是有利的,因为能够导航清洁设备10更靠近墙壁而不碰撞到它们。
参照图2e,机器人清洁设备10以与图2b中所讨论的类似的方式移动进入第二角落并且进行导航。最后,在图2f中,清洁设备已经在第二角落中做90度转弯并且准备好追寻从该角落引出的墙壁或者做另一个90度转弯。
因此,如可以从图2中推断的,根据本发明的机器人清洁设备10有利地在角落和像狭窄走廊一样的难以进出的空间导航,同时仍然导航得非常靠近引入和引出角落的墙壁,由此帮助在距离墙壁非常近的范围处从地板清除碎屑。主体11的对称性进一步允许机器人设备10从向右方向或者向左方向以相同的清洁效果转弯。
再次参照图1a,主体11的形状可以被安排成使得最大宽度A在朝向后端部分20的方向上移动,可能一直向下到达传动轴14,即,如前所述,从而使得最大宽度A与传动轴14的旋转轴线重合。
图3展示了本发明的又另一个实施例,其中机器人清洁设备10进一步包括一个柔性防冲挡23。应注意的是,主体11的最大宽度A’与图1a中所示的实施例的最大宽度位于前端部分16中的相同位置处。进一步地,为了说明性目的,防冲挡23与前端部分16之间的距离在某种程度上被夸大;实际上,防冲挡23被安排成与前端壁17平齐。类似于图1a,从右侧壁18到左侧壁19的横向宽度A’大于从安排在前端壁17处的防冲挡23到右侧壁18获取的宽度B’。柔性防冲挡23至少覆盖主体11的前端部分16,并且在在本发明一个实施例中延伸至传动轴14的旋转轴线,驱动轮12、13同轴地安排在该传动轴上。因此,只要机器人清洁设备10旋转或向前移动,唯一能够撞上障碍物的主体11部分是防冲挡23,暗示与所有障碍物的碰撞能够由防冲挡23检测到。进一步地,由于防冲挡23是柔性的,当接触障碍物时,该防冲挡将会有弹性地抵靠前端壁17,从而减轻该防冲挡对在其途中的障碍物上的推挤效应并且降低障碍物将移位、翻倒和/或损坏的风险。
如前所述,根据本发明一个实施例的机器人清洁设备10包括障碍物检测装置,该障碍物检测装置在一个实施例中是借助于柔性地安装到主体11上的防冲挡23实现的。该防冲挡与一个或多个传感器(未示出)协作,记录机器人清洁设备10何时撞到障碍物从而引起防冲挡23压靠主体11。防冲挡23和传感器因此起到与安排在主体11中的微处理器通信的障碍物检测装置的作用,该微处理器用于考虑到障碍物检测装置接收到的导航信息根据需要控制清洁设备电机使这些驱动轮12、13旋转。
图4展示了本发明的另外一个实施例,其中根据图1a的机器人清洁设备10已经安排有被安排在主体11的底侧上的可旋转的侧刷24。应注意的是,这可以与图3的防冲挡23组合。有利地,侧刷24旋转并且使位于清洁构件15够不着的地方的碎屑移动,从而使得碎屑在主体11下方停止并且因此能够经由清洁构件15被运输至机器人真空吸尘器10的集尘袋。因此,位于就在墙壁和角落处的碎屑和灰尘能够通过机器人清洁设备被清除。
图5以底视图展示了根据本发明的另一个实施例机器人清洁设备10导航进出角落的运动顺序a-f,其中根据图1a的机器人清洁设备10已经补充有被安排在主体11的底侧上的可旋转的侧刷24。
在图5a中,机器人清洁设备10通过向角落中引入的墙壁导航进入第一角落中。主体的前端壁17面向从该角落引出的墙壁,而左侧壁19面向向该角落中引入的墙壁。如可以看到的,侧刷24触及就在这些墙壁处和该角落中的任何碎屑。
在图5b中,机器人清洁设备10旋转,从而使得弯曲的左侧壁19跟随向第一角落中引入的墙壁,而前端壁17在其外端之一跟随从该角落引出的墙壁,在图5c中,该旋转继续进行。应注意的是,右侧壁18和左侧壁19可以是平坦的,但弯曲的形状以更平滑的方式跟随墙壁。侧刷24有利地一直伸到该角落中。图5d示出了机器人清洁设备正在靠近第二角落,而图5e示出了侧刷24正在伸入第二角落。最后,在图5f中,清洁设备已经在第二角落中做90度转弯并且准备好追寻从该角落引出的墙壁,同时侧刷24平齐接触待追寻的墙壁,或者做一个90度转弯回到该第二角落中。
因此,如可以从图5中推断的,根据本发明的机器人清洁设备10有利地在角落和狭窄走廊导航,同时仍然导航得非常靠近引入和引出角落的墙壁,由此帮助在距离墙壁非常近的范围处从地板清除碎屑。这通过根据本发明的一个实施例的侧刷24得到更进一步增强;使用侧刷24,能够一直伸到角落里并且沿着地板与墙壁交汇之处的边缘。
如结合图2所述的,前端壁17和侧端壁18、19实际上不与待清洁的角落的墙壁平齐,而是机器人清洁设备10通常被导航从而使得它们被定位成距离墙壁大致2-10mm。使用侧刷24,能够有利地清洁墙壁与左侧壁19之间的测量为2-10mm的这个狭缝。应注意的是,本发明的一个实施例中的机器人清洁设备10还包括除了第一侧刷24以外的一个第二侧刷(未示出),该第二侧刷位于主体11的右端侧(从上方看),从而使得伴随着机器人清洁设备10从向右方向和向左方向靠近角落而能够清洁角落。
图6a示出了本发明的又另一个实施例,其中图4中所示的机器人清洁设备10进一步安排有在可旋转的侧刷24后面的凹口25或向右切入。这是有利的,因为侧刷24能够触及较小障碍物(如椅子腿26、27)的周边周围。进一步地,如果机器人清洁设备10包括两个侧刷,则对应的凹口安排在这些侧刷处。机器人清洁设备10的主体11被安排成使得其宽度A”’在右侧壁18与左侧壁19之间在主体的前端部分16处是横向最大的,这借助于点划线进行了展示。因此,宽度A”’是跨主体11测量的最大距离,从而有利地帮助角落导航。因此,宽度A”’大于或等于从主体11的后端部分20到前端壁17限定的宽度B。
与图1a中所示的实施例形成对照并且与图1c中所示的实施例类似,图6中所示的实施例的最大宽度A”不垂直于机器人清洁设备的前进方向,而是与传动轴14的旋转轴线形成一个角。
图6b示出了根据图6a中所讨论的实施例的机器人清洁设备如何移动从而使得第一物体26被放置在凹口中,从而使得侧刷能够各自在第一物体26周围并且对其进行清洁。之后,机器人清洁设备向第二物体27移动并且将其放置在该凹口中,从而使得能够对第二物体27周围进行清洁。
图7示出了另一项措施C,本发明一个实施例中的机器人清洁设备10的主体11的形状能够适配于该措施,以便在角落中和狭窄空间中的高效导航。结论是措施C(即,从传动轴14的旋转轴线到前端壁17的最前点的距离)与最大宽度A的关系应如下:
图8示出了根据本发明的另外一个实施例的机器人清洁设备10。与例如图1a中所示的实施例形成对照,机器人清洁设备10的主体11在这一具体实施例中是不对称的,意味着从左侧壁19靠近角落。机器人清洁设备10的主体11被安排成使得其宽度A””在右侧壁18与左侧壁19之间在主体的前端部分16处是横向最大的,这借助于点划线进行了展示。因此,宽度A””是跨主体11测量的最大距离,从而有利地帮助角落导航。因此,宽度A””大于或等于从主体11的后端部分20到前端壁17限定的宽度B””。
进一步地,在本实施例中,前端壁17分别与右侧壁18和左侧壁19交汇之处的两个区段21、22被安排成是倾斜的。在这一具体实施例中,左侧壁19的最左边的点32(从该点截取宽度A””)的位置与前端壁17相邻。因此,如在图9中可以看到的(可以与图2进行比较),图8的机器人设备有利地能够非常靠近其导航的墙壁和角落。
图10示出了图9的进一步安排有凹口25的机器人清洁设备10。本实施例通常进一步包括被安排在如例如图6a中所示的凹口25前方的侧刷(未示出)。
虽然已参照具体的示例性实施例来描述本发明,但是许多不同的改变、修改等都是本领域技术人员将清楚的。因此,所描述的实施例不旨在限制如所附权利要求书所限定的本发明的范围。
Claims (22)
1.机器人清洁设备(10),包括:
一个主体(11),该主体具有带有前端壁(17)的一个前端部分(16)、一个后端部分(20)、连接该前端壁(17)与该后端部分(20)的一个右侧壁(18)以及连接该前端壁(17)与该后端部分(20)的一个左侧壁(19);
至少一个驱动轮(12,13),该至少一个驱动轮被安排成用于在一个待清洁的表面上移动该机器人清洁设备(10);
驱动装置(29),该驱动装置被安排成用于控制该至少一个驱动轮(12,13)旋转以便使该机器人清洁设备(10)在该待清洁的表面上移动;
控制装置(30),该控制装置被安排成用于根据导航信息控制该驱动装置(29)而使该机器人清洁设备在该待清洁的表面上移动;以及
一个清洁构件(15),该清洁构件被安排在该主体的底侧以便从该待清洁的表面清除碎屑,该清洁构件(15)被安排在该主体的该前端部分(16)中;其中
该主体(11)被安排成使得其宽度(A)在该右侧壁与该左侧壁之间是最大的,所述最大宽度(A)位于该主体(11)的该前端部分(16)处。
2.如权利要求1所述的机器人清洁设备(10),该右侧壁(18)和该左侧壁(19)被安排成是弯曲的。
3.如权利要求1或2所述的机器人清洁设备(10),该主体(11)的该前端部分(16)被安排成在该前端壁(17)分别与该右侧壁和/或左侧壁(18,19)交汇之处的一个区段(21,22)处是倾斜的。
4.如权利要求1至3中任一项所述的机器人清洁设备(10),该主体(11)的连接该右侧壁(18)和该左侧壁(19)的一个后端壁(31)被安排成是基本上平坦的。
5.如权利要求1至4中任一项所述的机器人清洁设备(10),所述清洁构件(15)包括一个可旋转的刷辊,该刷辊竖直地安排在该主体(11)的底侧中的一个开口内。
6.如以上权利要求中任一项所述的机器人清洁设备(10),所述清洁构件(15)包括一个抽风机,该抽风机安排在该主体(11)中用于经由该主体(11)的底侧中的该开口产生气流。
7.如以上权利要求中任一项所述的机器人清洁设备(10),所述清洁构件(15)被安排成与该前端壁(17)相邻并且在该主体(11)中的该开口内沿着所述前端壁(17)的一个较大部分横向地延伸。
8.如以上权利要求中任一项所述的机器人清洁设备(10),进一步包括障碍物检测装置(28),该障碍物检测装置被安排成用于检测障碍物并且为该控制装置(30)提供用于能够对该机器人清洁设备(10)进行导航的导航信息。
9.如以上权利要求中任一项所述的机器人清洁设备(10),进一步包括一个柔性防冲挡(23),该柔性防冲挡至少围住该主体(11)的该前端部分(16)。
10.如权利要8和9所述的机器人清洁设备(10),所述障碍物检测装置(28)包括:
该柔性防冲挡(23)和至少一个传感器,该柔性防冲挡(23)被安排成与该至少一个传感器协作以便记录该机器人清洁设备(10)与障碍物接触,所述传感器被安排成将该导航信息传达至该控制装置(30)。
11.如以上权利要求中任一项所述的机器人清洁设备(10),该至少一个驱动轮(12,13)包括至少一对同轴安排的驱动轮(12,13),每个轮被安排在该主体(11)的一个对应侧壁(18,19)处。
12.如权利要求10和11所述的机器人清洁设备(10),所述柔性防冲挡(23)沿着该主体(11)延伸至一个传动轴(14)的旋转轴线,这些驱动轮(12,13)同轴地安排在该传动轴上。
13.如以上权利要求中任一项所述的机器人清洁设备(10),进一步包括:
一个第一可旋转的侧刷(23),该侧刷被安排在该前端部分(16)中、位于该主体(11)的底侧处、与该主体的该前端壁(17)与该右侧壁或左侧壁(18,19)中的任一者交汇之处的两个区段中的至少一个区段相邻。
14.如权利要求13所述的机器人清洁设备(10),进一步包括:
一个第二可旋转的侧刷,该侧刷被安排在该前端部分(16)中、位于该主体(11)的底侧处、与该主体的该前端壁(17)与该右侧壁或左侧壁(18,19)中的另一个侧壁交汇之处的两个这区段中的另一个区段相邻。
15.如权利要求13或14中任一项所述的机器人清洁设备(10),进一步包括:
一个凹口(25),该凹口被安排在该主体(11)的该前端部分(16)中、与该第一可旋转的侧刷(24)和第二可旋转的侧刷中的至少一者相邻。
16.如以上权利要求中任一项所述的机器人清洁设备(10),其中在该右侧壁(18)与该左侧壁(19)之间的所述最大宽度(A)在与该机器人清洁设备(10)的直线前进移动方向垂直的横向方向上延伸。
17.如以上权利要求中任一项所述的机器人清洁设备(10),该主体(11)的该前端部分(16)被安排成是基本上四边形的。
18.如以上权利要求中任一项所述的机器人清洁设备(10),其中从该传动轴(14)的该旋转轴线到该前端壁(17)的一个最前点的距离(C)被适配成使其与所述最大宽度(A)的关系如下:
19.如以上权利要求中任一项所述的机器人清洁设备(10),该主体(11)的形状被确定成使得所述最大宽度(A)与该传动轴(14)的该旋转轴线相一致。
20.如以上权利要求中任一项所述的机器人清洁设备(10),该主体(11)的形状被确定成使得所述最大宽度(A)位于该前端壁(17)处。
21.如以上权利要求中任一项所述的机器人清洁设备(10),该主体(11)的形状被确定成使得所述最大宽度(A)位于该传动轴(14)的该旋转轴线与该前端壁(17)之间的某处。
22.如以上权利要求中任一项所述的机器人清洁设备(10),其中该右侧壁或左侧壁(18,19)之一的一个最外点(32)位置与该前端壁(17)相邻,从该点开始在朝向对侧壁的方向上获取该最大宽度(A””)。
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US10448794B2 (en) | 2019-10-22 |
KR20150141980A (ko) | 2015-12-21 |
WO2014169943A1 (en) | 2014-10-23 |
EP2986192A1 (en) | 2016-02-24 |
JP2016514582A (ja) | 2016-05-23 |
JP6217952B2 (ja) | 2017-10-25 |
CN110448222A (zh) | 2019-11-15 |
EP2986192B1 (en) | 2021-03-31 |
US20160066754A1 (en) | 2016-03-10 |
KR102118769B1 (ko) | 2020-06-03 |
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