CN105792721A - 以螺旋样式移动的带侧刷的机器人真空吸尘器 - Google Patents
以螺旋样式移动的带侧刷的机器人真空吸尘器 Download PDFInfo
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Abstract
一种机器人清理装置,包括主体(2A,2B)、被安排在该主体的底侧用于从待清理的区域(28A,28B,28C,28D,28E,28F)中移除碎片的开口(10)、被安排在邻近该开口(10)的刷子(16)、以及被配置成使该机器人清理装置移动穿过区域(28A,28B,28C,28D,28E,28F)的推进系统(8)。该机器人清理装置还可包括定位系统(4),该定位系统包括被配置成检测障碍物的障碍物检测装置以及处理单元(20),该障碍物检测装置被配置成记录位置数据,其中,该处理单元(20)被配置成由所述位置数据生成清理样式(26A,26B,26C,26D,26E,26F),所述清理样式(26A,26B,26C,26D,26E,26F)包括至少一种具有外周边(30A,30B,30C,30D,30E)的螺旋样式(27A,27B,27C,27D,27E),所述螺旋样式(27A,27B,27C,27D,27E,27F)被安排成使该机器人清理装置在清理过程中自身朝向该螺旋样式(27A,27B,27C,27D,27E,27F)的中心从外周边(30A,30B,30C,30D,30E)向内螺旋,借此该刷子(16)被安排成面向外周边(30A,30B,30C,30D,30E),而该机器人清理装置(1)遵循该螺旋样式(27A,27B,27C,27D,27E,27F)。
Description
技术领域
本发明涉及一种机器人真空吸尘器以及一种对机器人真空吸尘器进行操作从而在清理之后没有碎片留在待清理的表面或区域上的方法。
背景
机器人真空吸尘器是本领域中已知的。通常,机器人真空吸尘器装备有呈电机形式、用于使吸尘器在待清理表面上移动的驱动装置。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定位装置形式的智能,从而使得机器人真空吸尘器能够自由地来回移动并且清理呈例如房间形式的空间。
在许多技术领域中,希望使用具有自主行为的机器人,使得它们可以在空间周围自由地移动而不与可能的障碍物碰撞。
举例而言,具有或多或少地自主地对其中具有家具例如桌椅以及其他障碍物例如墙和楼梯的房间进行真空吸尘的能力的机器人真空吸尘器在本领域中是存在的。传统地,这些机器人真空吸尘器通过使用例如超声波或光波或激光束在房间内导航。这类机器人真空吸尘器经常通过来回平行的划动(stroke)或划条(stripe)来清理区域或表面。
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理地板与墙壁交汇之处的拐角或边缘,因为这些圆形真空吸尘器由于其形状而不能移动到拐角里或离墙壁、或其他需要在周围进行清理的物体(例如像椅子腿)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长方形的。就伸进拐角里而言,这是较传统圆形机器人真空吸尘器的一项改进。进一步地,清扫刷被安排在主体的底侧并且被安置成使得它们与长方形主体前端的前拐角区域相关联。
清扫的、旋转的、甚至稳定的刷子可以进一步被安排成与主体底部开口偏心地布置。该开口可包括一个喷嘴等等,以增强机器人真空吸尘器伸出进入拐角和边缘的能力,以在某些情况下扩大有效清理的范围或宽度。这些刷子可以被定位在机器人真空吸尘器的本体上、与被配置成清理街道及其他公共区域的机器的旋转刷子相类似。
在许多情况下,在机器人真空吸尘器的本体上只安排一个刷子。当该刷子被安排成与该开口偏心或偏移地布置时,无论是在其左侧还是在其右侧,应对机器人真空吸尘器的清理动作进行相应的调整。当机器人真空吸尘器在动程到动程中来回移动的划动或划条样式被用作清理样式时,碎片可能被推离实际的清理样式,因而清理过程可能是不正常的、不整洁的,并且可能留下一些碎片。
出于以上原因,有必要对清理过程进行良好的规划,并且因而有必要对机器人真空吸尘器所遵循的清理样式进行良好的规划。
概述
本发明的目的是提供一种提供整洁有效的清理的机器人清理装置。
本发明的另外的目的是提供一种机器人清理装置,该装置易于操纵、并且是独立的。
本发明的另一目的是提供一种使用机器人清理装置进行清理的方法,该方法改善了清理过程的结果。
上述目的是通过如在独立权利要求中所述的机器人清理装置以及机器人清理装置的操作方法来解决的。
在此披露了一种机器人清理装置,该机器人清理装置包括主体、安排在该主体的底侧而用于从待清理区域移除碎片的开口、邻近该开口安排的刷子、以及至少一个驱动轮。该机器人清理装置还可包括被配置成使该机器人清理装置移动穿过该区域的推进系统、以及包括障碍物检测装置和处理单元的定位系统。该处理单元被安排成控制驱动马达移动穿过待清理区域,该定位系统可被配置成例如经由障碍物检测装置来记录位置数据,借此该处理单元被配置成由所述位置数据生成清理样式。该清理样式可包括至少一个具有外周边的螺旋样式,所述螺旋样式可被安排成使得机器人清理装置在清理过程中其自身从外周边朝向螺旋样式的中心向内成螺旋形。该刷子可被安排成面向外周边,而该机器人清理装置遵循该螺旋样式。
该障碍物检测装置可以是3D传感器系统的形式,该3D传感器系统可以是激光扫描仪、照相机与线激光器的组合、雷达等。
该3D传感器系统可包括被配置成对机器人清理装置附近的图像进行记录的相机装置、以及被安排成对机器人清理装置的所述附近进行照明的第一垂直线激光器和第二垂直线激光器。该处理单元可被配置成从所记录的图像中获得位置数据。
该位置数据可包括机器人清理装置自身的位置信息和/或从待清理区域获得的测绘信息。该位置数据可以是部分或全部待清理区域的地图、布局或平面图。
在此使用的术语螺旋样式应在尽可能广泛的意义上理解,而不是仅限于围绕中心点的连续曲线或是术语螺旋的数学定义。该螺旋样式可以具有从圆形到椭圆形、正方形、长方形或这些形状的任何组合,如在图中部分地展示。
从机器人清理装置的运动方向上来看,该刷子被安排成使得其总是位于相对于螺旋样式的中心的外侧。
当该机器人清理装置遵循这种清理样式时,即基于该位置数据经由该处理单元和该定位系统对其自身进行限定时,以尽可能最好的方式对有待清理区域进行清理,几乎不会遗留碎片。机器人清理装置分别遵循的清理样式和螺旋样式可确保对有待清理区域进行整洁整齐的清理。这种清理过程可进一步提高效率,因为该机器人清理装置对清理过程进行规划,错误行动或低效率(例如区域的两次清理或重叠划动)可以被减少到最低限度。
该机器人清理装置可以是机器人真空吸尘器或机器人地板拖把等等。
在一个实施例中,该刷子可以是旋转刷子,该旋转刷子被安排在本体的周边、并且至少部分地延伸到本体的周边外侧。
旋转刷子具有的优点是有效清理。旋转刷子至少部分地延伸到本体周边外侧的定位可使旋转刷子能够伸进拐角和边缘。
在开口的两侧安装两个横向定位的旋转刷子可能也是可以的,然而这对于实现整洁整齐的清理不是必需的。然而,这个实施例可以扩大该开口的范围或清理宽度。
在一个实施例中,通过该定位系统和该处理单元记录位置数据,同时该机器人真空吸尘器遵循待清理区域的边界。
该定位系统可另外包括一个或两个垂直线激光器,以便对该相机装置的视角进行照明。
该机器人清理装置因而被配置成从开始就独立自主地工作。通过在其周围事物或环境中移动、并且通过记录图像并从所述图像中提取特征,得以了解其周围事物或环境。
该3D传感器系统还可以实施为近距离传感器等形式,如红外(IR)传感器和/或声纳传感器、微波雷达、经由线激光器的帮助记录其周围事物的相机装置、激光扫描仪等,用于检测障碍物并向该处理单元传递关于任何检测到的障碍物的信息。
该处理单元与该推进系统通信,以根据该障碍物检测装置和该定位系统分别提供的信息来控制该机器人清理装置的运动,使得该机器人清理装置能按需要移动穿过该待清理区域。
可替代地,使用者可向该机器人清理装置示出或教导其周围事物,借此该机器人清理装置可相应地记录和存储位置数据。
有利地,该旋转刷子在与该螺旋样式相同的方向上旋转。
这样确保了没有碎片被推离该机器人清理装置的清理样式或清理范围。
在螺旋样式是左手螺旋样式的情况下,该旋转刷子可逆时针方向旋转,或者在螺旋样式是右手螺旋样式的情况下,该旋转刷子可顺时针方向旋转。
该刷子可被安排在该本体的水平伸出部分上。
这样可以扩大该机器人真空吸尘器的清理范围、并提高该机器人真空吸尘器伸进边缘和拐角的能力。
该螺旋样式可包括角形的螺旋样式。
该机器人清理装置被配置成使其清理样式适应于位置数据,并且因而适应于待清理的区域或房间的布局。在一些情况下,房间可以是长方形的,并且在另外一些情况下,房间可以是环形的或包括至少一个环形壁。
可相应地调整该螺旋样式,并且因而其可包括角形的螺旋样式或环形的、甚至椭圆形的螺旋样式,取决于待清理的区域或房间的位置数据和/或布局。
在实施例中,从该机器人真空吸尘器的运动方向上来看,该刷子可被安排在开口的右侧,并且该螺旋样式可以是左手螺旋样式。
可替代地,在本发明的另一实施例中,从该机器人真空吸尘器的运动方向上来看,该刷子可被安排在开口的左侧,并且该螺旋样式可以是右手螺旋样式。
因而,该刷子始终被安排在外侧,只要该机器人真空清理装置遵循螺旋样式。
该清理样式可包括多种螺旋样式。
在该待清理区域是具有许多边缘和拐角或具有如桌子或沙发等障碍物的复杂区域的情况下,该机器人清理装置可被配置成相应地适应于该清理样式。
该处理单元可被配置成根据该位置数据将清理样式分成或分割成多种螺旋样式以提供该区域的良好清理。
该清理样式可包括使多种螺旋样式互相连接的连通路径。
这些连通路径可确保该清理样式是完整的、并且完全覆盖该待清理区域。
在此还披露了一种机器人清理装置的操作方法,该方法包括以下步骤:从相机装置拍到的图像中生成待清理区域的位置数据,通过处理单元从生成的位置数据中限定清理样式,所述清理样式限定了该机器人清理装置遵循的至少一种螺旋样式。该方法还可包括以下步骤:使该机器人清理装置沿着该螺旋样式运动,由该处理单元控制所述运动,使得该机器人真空吸尘器的侧刷面向该螺旋样式的外周边,同时该机器人清理装置沿着所述螺旋样式运动。
这种方法可确保该待清理区域内的整洁整齐的清理过程。
有利地是,该方法还可包括以下步骤:通过使该机器人清理装置独立自主地遵循该区域的周边而生成位置数据。
对于使用者而言这个步骤可以简化该机器人清理装置的安装过程。使用者可将该机器人清理装置定位在地板上,优选地是在该待清理区域中,并且该机器人清理装置则通过自主地生成位置数据而开始最初的清理过程。
在实施例中,该方法还可包括以下步骤:基于位置数据来分割清理样式,这种分割的清理样式包括至少两种螺旋样式。
这样可能能够通过使其适应于待清理的区域或房间的布局而改进清理方法。
在有利的实施例中,该方法还可包括另外的步骤:在该区域内识别障碍物,记录所述障碍物并将其置于位置数据中,并且基于包括所记录的障碍物的生成的位置数据来限定清理样式。
因而可在该清理方法中记录并考虑这些障碍物,这些障碍物优选是固定的障碍物。这样可以进一步增强清理过程的质量。
可以多种可能的方式来限定清理样式,因而一方面对于布局相同的区域或房间,清理样式取决于该机器人清理装置的判断而可以不同。
例如,该清理样式可包括覆盖了两个相邻房间的区域的单种螺旋样式,或在另一方面,用于相同的两个相邻房间的清理样式可包括两种螺旋样式,每个房间一种,具有使两种螺旋样式相互连接的连通路径。
要注意的是,本发明涉及在权利要求书中所引用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。
除非明确阐述,在此所披露的任何方法的步骤不必按照所披露的精确顺序来执行。
附图简要说明
现在将通过举例的方式通过参考附图来描述本发明,在附图中:
图1示意性地展示了包括刷子的根据本发明的机器人清理装置的一个实施例的底视图;
图2示意性地展示了根据本发明的机器人清理装置的另一个实施例的底视图;
图3示意性地展示了根据本发明的机器人清理装置的定位系统的透视图;
图4示意性地展示了包括两个房间的待清理区域的自上而下的视图,通过该机器人清理装置和根据本发明的一个实施例的方法限定了其相应的清理样式;
图5示意性地展示了相对较大的待清理的区域或房间的自上而下的视图,通过该机器人清理装置和根据本发明的一个实施例的方法将其清理样式分成或分割成两种螺旋样式;
图6a示意性地展示了包括两个房间的待清理区域的自上而下的视图,通过该机器人清理装置和根据本发明的一个实施例的方法对其清理样式进行相应调整;
图6b示意性地展示了待清理区域的自上而下的视图,该区域与图6a所示的区域相同,但是其清理样式包括被配置成通过该机器人清理装置和根据本发明的一个实施例的方法进行清理的两种螺旋样式;
图7示意性地展示了另一个示例性的待清理区域的自上而下的视图,该区域包括部分环形的边界和障碍物,并且通过该机器人清理装置和根据本发明的一个实施例的方法对清理样式进行相应的限定;
图8示意性地展示了另外一个示例性的待清理区域的自上而下的视图,该区域包括被配置成通过由该机器人清理装置和根据本发明的一个实施例的方法所限定的清理样式而进行清理的相对复杂的布局;并且
图9展示了根据本发明的方法的流程图。
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的形式来实施,并且不限制于在此阐述的实施例;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,并且将向本领域技术人员充分地表达本发明的范围。贯穿本说明书,相同的数字指代相同的元件。
现在参照附图,这些附图说明性地示出了根据本发明的实施例和实例,机器人清理装置1A、1B包括主体2A、2B和定位系统4,在图1至图3中最佳地展示出。图1示出了机器人清理装置1的底视图。机器人清理装置1A、1B还可包括包含驱动器8、7、7'的推进系统6、以及还连接至主体2A、2B的开口10。主体2A、2B可包括前部13、右侧壁44、左侧壁46和后端部分48。
推进系统6可实施为包括如附图中展示的驱动轮,或者该推进系统可以是包括与驱动器8、7、7'或气垫船系统结合的履带牵引器的推进系统。
开口10可以是机器人清理装置1A、1B的清理构件的一部分,所述清理构件还包括连接至开口10的抽风机等。
定位系统4可包括障碍物检测装置,该障碍物检测装置包括3D传感器系统17、第一垂直线激光器12和第二垂直线激光器14。3D传感器系统17可包括相机装置18以及第一垂直线激光器12和第二垂直线激光器14。定位系统4还可包括处理单元20,如在图3中最佳地展示出的。处理单元20还可电连接至3D传感器系统17、驱动器8、7、7’以及第一垂直线激光器12和第二垂直线激光器14,如图1和图3所示。
图3展示了处理单元20,该处理单元包括存储单元22,如固态驱动器(SSD)等,信息可存储在存储单元22上,如相机装置18拍摄的图像、待清理区域28A、28B、28C、28D、28E、28F的位置数据和清理样式26A、26B、26C、26D、26E、26F、充电装置的位置等等。因为处理单元20可被配置成从图像中提取数据,存储单元22的大小可以是相对较小的。
如图1中展示的,处理单元20可以是被配置成控制驱动器8、并且因而控制推进系统6的控制单元,用以使该机器人清理装置移动穿过待清理区域28A、28B、28C、28D、28E、28F。推进系统6可包括驱动轴40和两个安排在驱动轴40两端的同轴驱动轮36、38。机器人清理装置1A可另外地包括被安排在机器人清理装置1A的后端部分48中的可旋转的稳定器轮(未示出)或与开口10横向安排的可旋转的开口10轮(未示出),然而这种稳定器轮或开口轮不是必需的。
在主体2A上有刷子16,优选是安排在伸出部分15上的旋转刷子16。在图1和图2展示的实施例中,从机器人清理装置1的向前运动的方向上来看,刷子16或旋转刷子16被安排在开口10的右侧。向前运动是前端部分13位于前方或笔直向前的运动。为了简单起见,在下文中使用术语刷子16,包括所有可能的刷子类型,如清扫刷子、旋转刷子等。
刷子16被定位在伸出构件15上,使得刷子在主体2A的周边上方延伸。这样可以确保刷子16伸进拐角和边缘,而不会受到机器人清理装置1A、1B的主体2A的外部周边的限制,并且使机器人清理装置1的范围进一步延伸。
将刷子16定位在开口10的左侧、或者甚至在每一侧并且因而在开口10的左侧和右侧具有两个刷子将落入本发明的范围。将两个刷子16安装在机器人清理装置1的开口10的左侧和右侧也落入本发明的范围。
当机器人清理装置1A、1B只包括一个刷子16时,必须适应于清理样式26A、26B、26C、26D、26E、26F,因为机器人清理装置1A、1B的划动运动的简单动程可能导致将一些碎片推离清理样式26A、26B、26C、26D、26E、26F,这样可导致清理不够整洁整齐。图4至图7展示了不同的清理样式26A、26B、26C、26D、26E、26F,在刷子16被安排在开口10的右侧时这些不同的清理样式可以避免将碎片推离清理样式26A、26B、26C、26D、26E、26F。图4至图8将在以下说明中对其进行更详细的解释。
图1中展示的机器人清理装置1A具有圆形、环形的周边。在其主体2A中间或多或少地具有同轴驱动器轮的这种机器人清理装置具有的优点是: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,环形主体2A可能使环形机器人清理装置不适于清理地板与墙壁交汇的拐角或边缘,因为这些环形机器人清理装置由于其形状而不能移动到拐角里或离墙壁足够近。然而,本发明还可在环形机器人清理装置1中实施。
图2展示了与图1示出的机器人清理装置1B的形状不同的机器人清理装置1B。这个机器人清理装置的主体2B具有带有前端周边19的前端部分13、后端部分48、连接前端周边19和后端部分48的右侧周边44、以及连接前端周边19和后端部分48的左侧周边46。机器人清理装置1B的主体2B的前端部分13是位于驱动轮36、38与前端周边19之间的主体2B的部分。在本发明的一个实施例中,前端部分13实质上是四边形的,可能具有略微修圆的拐角,在这些拐角处,前端周边19分别与右侧周边44和左侧周边46交汇。前端周边19是平坦的/笔直的、或略微弯曲,如图2所示,以便向远处伸入拐角中。如前所述,安排在伸出部分15上的旋转刷子16对于增加机器人清理装置1B的触及或范围是有利的。
前端部分13可另外地包括防冲挡42。防冲挡42可被配置成是可更换的。刷子16被配置和定位在伸出构件15上,使得刷子在防冲挡42的周边上方延伸。
如图2所展示的,该机器人清理装置的推进系统6可包括用于各驱动轮36、38的两个独立的驱动器7、7'。驱动器7、7'可包括用于各驱动轮36、38的齿轮箱和悬架。
图3示意性地展示了带有3D传感器系统17的定位系统4,该传感器系统包括第一垂直线激光器12和第二垂直线激光器14、相机装置18和处理单元20。处理单元20可具有一体化的存储单元22。展示了定位系统4的所有部件被嵌在一个壳体或塔部中。定位系统4可以可旋转地或固定地安装在主体2A、2B上。存储单元22可被配置成存储由相机装置18或相机装置拍摄的图像、从所述图像获得的特征、定位信息、以及与需要遵循的清理样式26相关的清理样式26信息。
作为图3所示的方案的替代方案,3D传感器系统17和该障碍物检测装置是分别与机器人清理装置1A、1B的主体2A、2B分开的。然而,在一种实际实现方式中,3D传感器系统17可能与机器人清理装置1A、1B的主体2A、2B整合,以尽量减小机器人清理装置1A、1B的高度,由此使得其在障碍物(例如沙发)的下方穿过。
现在转向图4至图7,其展示了通过根据本发明的方法和机器人清理装置1A、1B开发的示例性清理样式26。所述清理样式是基于所记录的或生成的位置数据的。
图4展示了两个房间区域28A,这两个房间是经由门而互相连接的。机器人清理装置1A、1B被配置成首先学习布局,并且其可被配置成生成应该清理出位置数据的区域28A的地图。这可以通过遵循区域28A的周边、然后例如以地图的形式生成位置数据来完成。可替代地,可通过在区域28A中将机器人清理装置1A、1B居中地定位、然后通过定位系统4旋转、记录和存储区域28A的信息来完成。处理单元20可以被配置成从存储的位置数据中产生地图、布局或平面图。从该地图、布局或平面图中,处理单元20可获得和生成清理样式26A,该清理样式26A可包括至少一种螺旋样式27A、27'A。在图4所示的实例中,清理样式26A包括通过连通路径32互相连接的两种螺旋样式27A、27'A。连通路径32基本上是机器人清理装置1A、1B清理两次的唯一的动程或区域。如前面所述的,图4所示的清理样式26A被设计用于旋转刷子16被安排在开口10的右侧的机器人真空吸尘器,所述旋转刷子16是逆时针方向旋转的。
从图4展示的清理样式26A中,变得清楚的是,没有碎片会被推离清理样式。各螺旋样式27A、27'A包括一个外周边30A,通过处理单元20根据所记录的区域28A的位置数据可限定该外周边,借此机器人清理装置1A、1B或机器人真空吸尘器将通过遵循第一螺旋27A的外周边30A开始清理过程,然后其自身朝向螺旋样式27A、27'A的中心移动或进行螺旋。在图4所示的实例中,螺旋样式27A、27'A是左手螺旋样式。机器人清理装置1A、1B可在安排在接近待清理区域28A的边界或在该边界上的第一螺旋样式27A上的起始点A处开始清理过程。第二螺旋样式27'A用于覆盖包括两个长方形房间边界或边缘的房间。该机器人真空吸尘器可被设计成通过图4所示的一个单一的第二螺旋样式27'A或通过对这个房间进行分割并对这个房间使用两种螺旋样式(未示出)来对这个特定的房间进行覆盖。
处理单元20被编程并被配置成自己决定是否应该将特定房间分成或分割成多种螺旋样式27A、27'A、27B、27'B、27C、27'C、27D、27'D、27E、27'E、27F、27'F、27"F。这取决于待清理的房间或区域28A、28B、28C、28D、28E、28F的大小和/或几何形状。当机器人清理装置1A、1B以清理样式26A、26B、26C、26D、26E、26F完成时,则当其到达第二螺旋样式27'A、27'B、27'C、27'D、27'E、27F、27'F、27"F的中心B(清理过程的终点B)时,其可返回到充电站等(未示出)。
图5展示了一个相对较大的待清理的的房间或区域28B,借此处理单元20决定将区域28B分割成两个子区域31、31',借此子区域31、31’形成了清理样式26B的两种螺旋样式27B、27'B的周边,这些螺旋样式27B、27'B用于覆盖待清理的区域28B。穿过区域28B的中部的虚线展示了两种螺旋样式27B、27'B之间的假想边界,通过处理单元20根据所记录的房间或区域信息和位置数据分别生成所述边界。
机器人清理装置1A、1B在待清理的区域28B的一个拐角中开始清理过程,并且在第二螺旋样式27'B的中心处结束清理,在图5中以起始点A展示所述拐角、并且以终点B展示该中心。螺旋样式27B、27'B再次通过连通路径32而互相连接,该连通路径是清理样式26B的一部分。
图6a展示了与图5相似的区域28C,但是具有将两个房间分开的中间墙壁。清理样式26C包括一个单一螺旋样式27C,该螺旋样式在这两个房间延伸或穿过这两个房间。将起始点A选择在区域28C的拐角中,并且终点B是位于这两个房间之间、在使这两个房间相互连接的路径中。通过如图6a所示的螺旋样式27C的限定,使房间相互连接的路径可能被清理多次;然而仍然更易于使处理单元20限定一个单一螺旋样式27C。
作为一个替代方案,图6a中所示的区域28C可以经由包括如图6b中所示的通过连通路径32进行相互连接的两种螺旋样式27D、27'D的清理样式26D(相同的区域28C)来进行清理。各螺旋样式27D、27'D在这种情况下可被配置成对图6a和图6b中所示的两个房间中的一个房间进行覆盖。机器人清理装置1A、1B将从第一螺旋样式27D的周边开始进行清理过程,并且从那里朝向第二螺旋样式27'D的中心向内移动。在图6b中,还展示了第一螺旋样式和第二螺旋样式27D、27'D的外周边30D、30'D。
刷子16被安排成面向螺旋样式27A、27'A、27B、27'B、27C、27'C、27D、27'D、27E、27'E、27F、27'F、27"F的外周边30A、30'A、30B、30'B、30C、30'C、30D、30'D、30E、30'E,只要机器人清理装置1A、1B遵循螺旋样式27A、27'A、27B、27'B、27C、27'C、27D、27'D、27E、27'E、27F、27'F、27"F。因而,当机器人清理装置1A、1B遵循螺旋样式27A、27'A、27B、27'B、27C、27'C、27D、27'D、27E、27'E、27F、27'F、27"F时,刷子16一直被安排在主体2A、2B的外侧。
处理单元20可被配置成自己决定应该如何从位置数据中获得清理样式26A、26B、26C、26D、26E、26F,并且因此决定应该如何分割或分隔清理样式26A、26B、26C、26D、26E、26F,以便实现最佳清理结果。处理单元20因而可包括决策模块等(未示出),该决策模块可以是在其自身中的微控制器或处理器。
现在转到图7,该图展示了有待由机器人清理装置1A、1B清理的另一个示例性区域28E,该另一个示例性区域包括部分环形的区域28E、以及呈餐桌34和沙发34'的形式的某些固定的障碍物34、34'。在最初阶段中,当生成或记录待清理区域的位置数据时,机器人清理装置1A、1B记录餐桌34和沙发34',同时记录位置数据并且因而记录区域28E的布局。基于该位置数据,处理单元20在考虑到固定的障碍物34、34’的情况下限定并生成如图7所示的清理样式26E。如可以看到的,清理样式26E被分成两种螺旋样式27E、27'E,借此一种螺旋样式27'E适应于该半环形区域28E、并位于餐桌34的周围,并且另一种螺旋样式27E适应于位于沙发34'的周围。处理单元20限定一个假想墙壁,如前面描述的,以便将两种螺旋样式27E、27'E分开。螺旋样式27E、27'E通过连通路径32而互相连接。因为餐桌34最有可能包括桌腿等,机器人清理装置1A、1B被配置成分别在定位系统4和该3D传感器系统的帮助下在所述桌腿周围进行清理,覆盖了包括该环形周边的区域28E部分的螺旋样式27'E可具有较小的不规则性,如图7中所见的。另外如在图7中所展示的,机器人清理装置1A、1B将在餐桌34下方移动,如螺旋虚线所指示的。
可替代地,处理单元20可以应用和使用一种清理样式(未示出),该清理样式包括一种螺旋样式(未示出)以覆盖图7所示的区域28E,取决于待清理的的房间或区域28E的大小和复杂性。
处理单元20或该决策模块可被配置成决定如何分割该地图、布局或平面图(即位置数据),并且因此通过检查某种清理样式26A、26B、26C、26D、26E、26F有多少双重清理运动,清理样式26A、26B、26C、26D、26E、26F会导致并选择最有效的清理样式26A、26B、26C、26D、26E、26F,借此双重清理运动的意思是机器人清理装置1将某一区域或表面清理两次或更多次。处理单元20和该决策模块可被配置并编程以限制或减少这种双重清理运动、并相应地建立和生成清理样式26A、26B、26C、26D、26E、26F。
图8展示了包括两个障碍物(34)的另一个更复杂的待清理的区域28F。清理样式26F包括彼此之间部分缠绕的三种螺旋样式27F、27'F、27"F。图8中展示的清理样式28F展示了处理单元20如何可以被配置成通过使双重清理动程最小化来优化清理操作。这三个部分缠绕的螺旋样式27F、27'F、27"F是通过连通路径32、32’互相连接的。当其在同样的清理操作中在已经清理过的路径上移动时,机器人清理装置1A、1B对此进行识别。
图9示意性地展示了根据本发明的方法的流程图。
通过展示了具有安排在开口10的右侧的刷子16的机器人清理装置1A、1B,对本发明进行了展示。然而,在此展示的所有实施例和清理样式26A、26B、26C、26D、26E可易于适用于刷子16安排在开口10左侧的机器人清理装置1A、1B。
图4至图8展示了待清理的区域28A、28B、28C、28D、28E、28F的实例。对包括如所示的其他布局的区域28A、28B、28C、28D、28E、28F进行清理以及因此基于这些布局、并因此基于位置数据而生成并限定其他清理样式26A、26B、26C、26D、26E、26F落入本发明的范围内。相应地可分别调整处理单元20和机器人清理装置1。
以上已参考一些实施例主要描述了本发明。然而,本领域技术人员容易了解的是,除以上披露的实施例之外的其他实施例在由所附专利权利要求书限定的本发明的范围内同样是可能的。
Claims (14)
1.一种机器人清理装置,包括:
-主体(2A,2B)
-开口(10),该开口被安排在该主体的底侧、用于从待清理区域(28A,28B,28C,28D,28E,28F)中移除碎片;
-刷子(16),该刷子被安排成与该开口(10)相邻;
-推进系统(8),该推进系统被配置成使该机器人清理装置移动穿过该区域(28A,28B,28C,28D,28E,28F);
-定位系统(4),该定位系统包括被配置成检测障碍物的障碍物检测装置以及处理单元(20),该障碍物检测装置被配置成记录位置数据;
其特征在于,该处理单元(20)被配置成由所述位置数据生成清理样式(26A,26B,26C,26D,26E,26F),所述清理样式(26A,26B,26C,26D,26E,26F)包括至少一种具有外周边(30A,30B,30C,30D,30E)的螺旋样式(27A,27B,27C,27D,27E),所述螺旋样式(27A,27B,27C,27D,27E,27F)被安排成使该机器人清理装置在清理过程中自身朝向该螺旋样式(27A,27B,27C,27D,27E,27F)的中心从外周边(30A,30B,30C,30D,30E)向内螺旋,借此该刷子(16)被安排成面向外周边(30A,30B,30C,30D,30E),而该机器人清理装置(1)遵循该螺旋样式(27A,27B,27C,27D,27E,27F)。
2.根据权利要求1所述的机器人清理装置,其中,该刷子(16)是被安排在该本体(2A,2B)的周边并至少部分地在该本体(2A,2B)的周边外侧延伸的旋转刷子(16)。
3.根据权利要求1或2所述的机器人清理装置,其中,记录该位置数据,同时该机器人真空吸尘器(1)遵循该区域(28A,28B,28C,28D,28E,28F)的周边。
4.根据权利要求2所述的机器人清理装置,其中,该旋转刷子(16)在与该螺旋样式(27A,27B,27C,27D,27E,27F)相同的方向上旋转。
5.根据以上权利要求中任一项所述的机器人清理装置,其中,该刷子(16)被安排在该本体(2)的一个水平伸出部分(15)上。
6.根据以上权利要求中任一项所述的机器人清理装置,其中,该螺旋样式(27A,27B,27C,27D,27E,27F)包括角形的螺旋样式(27A,27B,27C,27D,27E,27F)。
7.根据以上权利要求1至6中任一项所述的机器人清理装置,其中,从该机器人清理装置的运动方向上看来,该刷子(16)被安排在该开口(10)的右侧,并且其中,该螺旋样式(27A,27B,27C,27D,27E,27F)是左手螺旋样式。
8.根据以上权利要求1至6中任一项所述的机器人清理装置,其中,从该机器人清理装置的运动方向来看,该刷子被安排在该开口(10)的左侧,并且其中,该螺旋样式是右手螺旋样式。
9.根据以上权利要求中任一项所述的机器人清理装置,其中,该清理样式(26A,26B,26D,26E,26F)包括多种螺旋样式(27A,27'A,27B,27'B,27D,27'D,27E,27'E,27F,27'F,27"F)。
10.根据前项权利要求9所述的机器人清理装置,其中,该清理样式(26A,26B,26D,26E,26F)包括使该多种螺旋样式(27A,27'A,27B,27'B,27D,27'D,27E,27'E,27F,27'F,27"F)相互连接的连通路径(32)。
11.一种机器人清理装置的操作方法,该方法包括以下步骤:
-通过障碍物检测装置生成区域(28A,28B,28C,28D,28E,28F)的位置数据;
-通过处理单元(20)从生成的位置数据限定清理样式(26A,26B,26C,26D,26E,26F),所述清理样式限定了至少一种该机器人清理装置要遵循的螺旋样式(27A,27B,27C,27D,27E,27F);
-使该机器人清理装置沿着该螺旋样式(27A,27B,27C,27D,27E,27F)运动,通过该处理单元(20)控制所述运动,使得该机器人真空吸尘器的侧刷(16)面向该螺旋样式(27A,27B,27C,27D,27E,27F)的外周边,同时该机器人清理装置沿着所述螺旋样式(27A,27B,27C,27D,27E,27F)移动。
12.根据权利要求11所述的方法,其中,通过该使机器人清理装置(1)遵循该区域(28A,28B,28C,28D,28E,28F)的周边而生成位置数据。
13.根据权利要求11或12所述的方法,包括以下另外的步骤:通过该处理单元(20)基于生成的位置数据对该清理样式进行分割,并且限定清理样式(26A,26B,26D,26E,26F),该清理样式包括至少两种螺旋样式(27A,27'A,27B,27'B,27D,27'D,27E,27'E,27F,27'F,27"F)。
14.根据权利要求11至13中任一项所述的方法,该方法包括以下另外的步骤:识别待清理的区域(28E,28F)内的障碍物(34),记录所述障碍物并将其放在该位置数据中,并且基于包括所记录的障碍物在内的生成的位置数据来限定清理样式(26E,26F)。
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US20160302638A1 (en) | 2016-10-20 |
KR20160100950A (ko) | 2016-08-24 |
JP2017501758A (ja) | 2017-01-19 |
EP3082544A1 (en) | 2016-10-26 |
EP3082544B1 (en) | 2020-10-07 |
JP6638988B2 (ja) | 2020-02-05 |
US10045675B2 (en) | 2018-08-14 |
CN105792721B (zh) | 2020-07-21 |
KR102116596B1 (ko) | 2020-05-28 |
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