CN105388895A - 机器人清洁器 - Google Patents
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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
- 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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- 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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- 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
- 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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- 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
- A47L7/00—Suction cleaners adapted for additional purposes; Tables with suction openings for cleaning purposes; Containers for cleaning articles by suction; Suction cleaners adapted to cleaning of brushes; Suction cleaners adapted to taking-up liquids
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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
- A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G—PHYSICS
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G—PHYSICS
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- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
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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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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Abstract
一种机器人清洁器,包括:体部;以及传感器,从体部的上表面突起;其中体部包括相对于机器人清洁器的向前驱动方向定位在传感器前方的突起,该突起延伸到至少与传感器的高度相等的高度。
Description
技术领域
本发明涉及一种机器人清洁器。
背景技术
移动式机器人变得越来越普遍且被使用在多种领域,如太空探索、草坪收割和地面清洁。最近在机器人清洁设备领域中,特别是机器人真空清洁器和地面擦拭机器人领域中具有迅速的进步,其主要目的是自主地和不唐突地在用户的房子中行进同时清洁地面。
在执行该任务中,机器人吸尘器必须需要清洁的区域行驶。机器人通常设置有一些传感器,其使得它们能够绕环境行驶。大量各种传感器已经被用于机器人上以帮助行驶。例如,一些机器人使用红外线探头,其允许朝向IR信标的行驶,且一些机器人使用复杂的视觉系统,其使用相机来观察、理解和绕围绕机器人的局部环境行驶。
机器人经常需要越过他们所处的环境中的障碍物。例如,通常机器人真空清洁器需要处理诸如椅子、沙发和桌子这样的家具。由于机器人清洁器意图尽可能自主地工作,他们通常具有允许他们穿过一些低净空的障碍物下方的尺寸,以便于他们可以继续在下方清洁而不需要任何用户介入。
发明内容
本发明提供了一种机器人清洁器,包括:体部;以及传感器,从体部的上表面突起;其中体部包括相对于机器人清洁器的向前驱动方向定位在传感器前方的突起,该突起延伸到至少与传感器的高度相等的高度。
结果,传感器受到保护,而不会由于与障碍物的撞击而损坏。此外,由于传感器将不易于被损坏,使用传感器的行驶系统将更可靠。
该突起可以定位在体部的前部部分上,该前部部分与体部的前边缘相邻近。结果当机器人朝向低障碍物移动时,突起将阻止机器人完全行进到障碍物下方。这不仅保护传感器不受损坏,而且还有助于降低突出的传感器导致机器人楔入在障碍物下方的风险。而且,通过定位突起在体部的前部部分上,突起尽可能远离传感器,同时仍定位在其前方,且从而与定位为更靠近传感器相比在传感器的视野中呈现较小的阻挡。
该前部部分可以朝向体部的前边缘向下倾斜,且突起可以具有从倾斜的前部部分垂直延伸的面向前方的边缘。因此,当机器人清洁器的倾斜前部导致增加的楔入风险,突起的垂直前部边缘将通过邻接抵靠任何到来的障碍物并且防止前部部分楔入到障碍物下方而抵消该风险。
所述突起可包括两阶:下部阶和上部阶,其中下部阶延伸到至少与体部的上表面的高度相等的高度,且上部阶延伸到至少与传感器的高度相等的高度。结果,突起的下部阶可以保护机器人清洁器,使其前部不会被楔入,同时突起的上部阶可保护传感器不被损坏。两阶可以成形和设置尺寸为针对每一阶所需执行的功能最大化每一阶的效果。例如,保护传感器的突起部分可不需要与保护不楔入的突起部分那么大,且从而上部阶可以制成为比下部阶更小。这降低了使用的材料量且由此降低了制造成本,且还降低了机器的重量。这还允许传感器可见的突起部分变得更小,使得在传感器视野中呈现更小的视觉阻挡。
上部阶的面向前方的边缘可被定位在下部阶的面向前方的边缘的后方。如果在被迫停止之前没有楔入的风险,这允许机器人在障碍物下行进更远。当在可能会导致传感器损坏的障碍物周围清洁时,这允许机器人清洁器覆盖更大的区域。
传感器可以是红外线传感器组件、激光测距传感器组件和照相机组件中的一种。照相机组件可以是全景环形透镜照相机,其包括从体部的上表面突出的穹顶形透镜。通过使用PAL照相机,可以捕捉围绕机器人的区域的360°全方向图像,且机器人清洁器可以更有效地绕其所处的环境行驶。
体部可包括分离装置部分,其可从体部的其余部分移除,且突起可设置在分离装置部分上。通过定位分离装置部分在机器人清洁器的前部上,当它与障碍物接触时,它用作用于机器人清洁器的弹性缓冲器。分离装置部分并不包含任何专用电子器件,不像机器人清洁器的体部的剩余部分,因此任何与障碍物的碰撞导致电子器件和控制器损坏的风险降低。因此,还有益的是定位突起在分离装置部分上,因为这将降低与突起的任何碰撞导致机器人的任何电子器件或其它专用部件损坏的风险。
而且,通过定位突起在可移除的分离装置部分的顶部上,如果它在使用过程中被损坏,更换分离装置部分比试图维修体部的剩余部分更容易和廉价。
附图说明
为了使本发明可能更容易理解,现在将通过示例参照下列附图描述本发明的实施例,附图中:
图1是机器人清洁器的第一实施例的透视图;
图2是机器人清洁器的第二实施例的透视图;
图3是图2的机器人清洁器的侧视图;
图4显示了图2和3的机器人清洁器的分离装置;
图5a和6a显示了绕家具行驶的不是根据本发明的机器人清洁器;以及
图5b和6b显示了绕与相应图5a和6a中所示相同的家具行驶的根据本发明的机器人清洁器。
具体实施方式
图1显示了机器人清洁器的第一实施例。机器人清洁器1包括体部2。传感器3设置在体部2的上表面5上。传感器3突出到体部2的上表面5上方,其允许传感器3是全方向的,且如果需要的话沿绕机器人的任何方向工作。例如,传感器3可以是红外线传感器组件,其能够检测IR光束、激光测距传感器组件或照相机组件。传感器3可以是全景环形透镜(PAL)相机形式的照相机组件。通过从机器人清洁器的上表面突出,PAL照相机能够捕捉绕机器人清洁器1的360°图像。驱动单元6,例如为轮子,被设置在机器人上,以允许他绕局部环境自主地驱动。
传感器3突出到体部2的上表面5上方,且从而在机器人清洁器绕房间运动,例如从低家具运动时易收到损坏。如果传感器3被损坏,这可导致机器人清洁器1不能正确地行驶。为了降低传感器3以他的方式被损坏的可能性,机器人清洁器1被设置有突起4,其相对于机器人清洁器的向前驱动方向(由图1中的箭头F表示)定位在传感器的前方。该突起定位在体部的前部部分上,其与体部2的前边缘相邻近。体部2的前部部分形成机器人1的上表面5的一部分。突起4突出到体部2的上表面5的上方,且延伸到等于传感器3的高度的高度,如箭头A所示。在替代实施例中,突起可以延伸到大于传感器3的高度的高度,但是传感器要被保护所需的最小值时突起4必须延伸到至少与传感器3的高度相等的高度,如图1所示。
由此,如果机器人遭遇低障碍物,其高于体部2的上表面5,但是低于传感器3的高度,突起4将在传感器3之前接触障碍物。当突起4接触障碍物时,机器人1将记录这为撞击,并且然后调整其轨迹以绕障碍物行驶。因此,障碍物将不会接触传感器3,且任何对传感器3的潜在损坏被避免。
突起4定位在体部2的前部部分上,因为在该位置,它尽可能远离传感器,从而在传感器3的视野内呈现尽可能小的视觉阻挡。
图2和图3显示了机器人清洁器10的另一实施例。机器人清洁器10包括体部12,其具有从体部12的上表面15突出的全景环形透镜(PAL)照相机13。主体部12包括可拆卸的分离装置16,其相对于机器人清洁器的向前驱动方向(由箭头F表示)定位在机器人清洁器10的前部处。突起14形成在分离装置16的上表面上,照相机13的位置的前方。突起14所定位的位置由此对应于体部2的前部部分,体部的前部部分与体部的前边缘相邻,且体部的前边缘为分离装置16的前边缘。在该实施例中,前部部分定位在体部12的顶表面15和体部的前边缘之间。图3中的虚线B示出了突起14延伸到顶表面15上方与照相机13的高度相同的高度。机器人清洁器10上的驱动单元为连续坦克履带17。
图4显示了来自图2和3的机器人清洁器10的分离装置16。分离装置16的顶部的一部分是凹入的,且内部旋风器20的顶部在倾斜前边缘18上是可见的。突起14也定位在倾斜前边缘18上。突起14包括两阶:下部阶21和上部阶22。下部阶21位于倾斜前边缘18上,且提供上部阶所位于的基部。下部阶21和上部阶22两者都具有垂直向上延伸的面向前方的边缘。
图5a和5b示出了一件家具30,其位于相距地面表面高度H1处。图5a中的机器人32没有在前部上的突起,且能够进入到家具30下方直到照相机13撞击家具。如已经描述,这可以导致对照相机13的充分损坏,以致机器人32不能再行驶,特别是如果照相机在长时间内重复撞击家具30的话。相反,图6b的机器人10设置有突起14,且可以清楚地看到,突起14的上部阶在照相机13之前与家具30接触,且从而防止照相机13损坏。
图6a和6b显示了一件家具31,其位于比H1稍低的高度H2处。图6a显示了机器人清洁器32的前部的顶部向下倾斜,但是不具有突起。这可导致机器人被“楔入”到家具下方,其中当机器人32的前部接触家具31时,机器人32的前部被向下朝向地面驱动,如箭头W所示。如果机器人清洁器32以足够大的力接触家具31,可达到一个点,在该点处由于机器人清洁器32被楔入在家具和地面之间,机器人清洁器32不再能够前后运动。这在图6a中示出。在该点处,机器人32不能够完成清洁操作,且将必须呈现错误消息给用户。用户将需要将机器人32从其楔入位置释放,然后它能够继续清洁。
相反,在图6b中,机器人10设置有突起14。在该情况下,突起14的下部阶的垂直的面向前方的边缘接触家具31,其阻止倾斜前部顶部边缘接触家具31。由此,当突起14接触家具31时,机器人10将不会被向下朝向地面驱动。相反,机器人10将检测到该接触为与障碍物的撞击,且将调整其轨迹以绕障碍物行驶。
尽管上面描述了具体的实施方式,将理解各种修改可以被进行而不会背离由权利要求限定的本发明的范围。
Claims (8)
1.一种机器人清洁器,包括:
体部;以及
传感器,从体部的上表面突起;
其中体部包括相对于机器人清洁器的向前驱动方向定位在传感器前方的突起,该突起延伸到至少与传感器的高度相等的高度。
2.如权利要求1所述的机器人清洁器,其中该突起定位在体部的前部部分上,该前部部分与体部的前边缘相邻。
3.如权利要求2所述的机器人清洁器,其中该前部部分朝向体部的前边缘向下倾斜,且突起具有从倾斜的前部部分竖直延伸的面向前方的边缘。
4.如权利要求3所述的机器人清洁器,其中所述突起包括两阶:下部阶和上部阶,其中下部阶延伸到至少与体部的上表面的高度相等的高度,且上部阶延伸到至少与传感器的高度相等的高度。
5.如权利要求4所述的机器人清洁器,其中上部阶的面向前方的边缘被定位在下部阶的面向前方的边缘的后方。
6.如前述权利要求中任一项所述的机器人清洁器,其中传感器是红外线传感器组件、激光测距传感器组件和照相机组件中的一种。
7.如权利要求6所述的机器人清洁器,其中照相机组件是全景环形透镜照相机,其包括从体部的上表面突出的穹顶形透镜。
8.如前述权利要求中任一项所述的机器人清洁器,其中体部包括分离装置部分,其可从体部的其余部分移除,且突起设置在分离装置部分上。
Applications Claiming Priority (2)
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GB1415607.9A GB2529849B (en) | 2014-09-03 | 2014-09-03 | A robot cleaner |
GB1415607.9 | 2014-09-03 |
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CN105388895A true CN105388895A (zh) | 2016-03-09 |
CN105388895B CN105388895B (zh) | 2019-11-05 |
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CN201510561619.4A Expired - Fee Related CN105388895B (zh) | 2014-09-03 | 2015-09-06 | 机器人清洁器 |
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US (1) | US9924845B2 (zh) |
EP (1) | EP3188633A1 (zh) |
JP (1) | JP6548992B2 (zh) |
KR (1) | KR20170048518A (zh) |
CN (1) | CN105388895B (zh) |
AU (1) | AU2015310721B2 (zh) |
GB (1) | GB2529849B (zh) |
WO (1) | WO2016034842A1 (zh) |
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CN111163671A (zh) * | 2017-09-07 | 2020-05-15 | 尚科宁家运营有限公司 | 机器人清洁器 |
WO2022156260A1 (zh) * | 2021-01-25 | 2022-07-28 | 追觅创新科技(苏州)有限公司 | 自主移动设备 |
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Also Published As
Publication number | Publication date |
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GB2529849B (en) | 2017-06-14 |
US9924845B2 (en) | 2018-03-27 |
JP6548992B2 (ja) | 2019-07-24 |
JP2016052506A (ja) | 2016-04-14 |
GB2529849A (en) | 2016-03-09 |
CN105388895B (zh) | 2019-11-05 |
AU2015310721A1 (en) | 2017-03-09 |
AU2015310721B2 (en) | 2018-10-11 |
EP3188633A1 (en) | 2017-07-12 |
KR20170048518A (ko) | 2017-05-08 |
GB201415607D0 (en) | 2014-10-15 |
US20160058261A1 (en) | 2016-03-03 |
WO2016034842A1 (en) | 2016-03-10 |
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