CN106458273A - 改进的机器人工作工具 - Google Patents

改进的机器人工作工具 Download PDF

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CN106458273A
CN106458273A CN201480079822.1A CN201480079822A CN106458273A CN 106458273 A CN106458273 A CN 106458273A CN 201480079822 A CN201480079822 A CN 201480079822A CN 106458273 A CN106458273 A CN 106458273A
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work tool
robot work
chassis
beam axle
wheel
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CN106458273B (zh
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乔纳森·比约恩
马丁·埃伦松
安德斯·舍格伦
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Husqvarna AB
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Husqvarna AB
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Abstract

一种包括机器人工作工具(100)的机器人工作工具系统(200)，所述机器人工作工具(100)包括两个前轮(130)和底盘(140)，其中，所述机器人工作工具的特征在于，两个前轮(130)被布置在可枢转地布置到底盘(140)的梁轴(145)上。

Description

改进的机器人工作工具
技术领域
本申请涉及一种用于改进的牵引的机器人工作工具系统，具体地，涉及一种用于改进在障碍物之间的操作的机器人工作工具系统。
背景技术
随着机器人工作工具变得越来越先进，也增加了对它们的密封的要求，这使得它们的主体或底盘(chassis，底架)更加(扭转地)刚性。这导致当机器人工作工具越过障碍物或孔，导致一个车轮被障碍物提升时，另一个车轮也将被提升，这可导致机器人工作工具失去牵引力。此外，任何量距(odometri)可受到这种滑动的影响，并且可阻碍适当的导航，诸如通过推导推算(航位推测法)。
许多现有技术解决方案是可用的，其允许一个轮独立于另一个轮移动，诸如独立悬挂，但是，它们昂贵并且难以制造和组装——特别是如果它们能够检测碰撞和/或提升事件。
因此，需要这样的机器人工作工具，其即使在具有许多障碍物的崎岖地形中操作也能够保持牵引力，但是制造仍然简单且廉价，并且在崎岖的地形中提供可靠的操作。
发明内容
本申请的教导的目的是通过提供包括机器人工作工具的机器人工作工具系统来克服上面列出问题，所述机器人工作工具包括两个前轮和底盘，其中所述机器人工作工具的特征在于，两个前轮被布置在可枢转地布置到底盘的梁轴上。
本发明的发明人在创造性和洞察力推理之后已经认识到，具有单个公共梁轴的机器人工作工具将使其两个前轮彼此平衡，从而提供机器人工作工具的平稳和稳定的操作，甚至在崎岖的地形中。此外，通过仅仅具有一个梁轴，可使用最少的不同部件来解决现有技术的问题，这使得制造廉价并且组装容易。一体式解决方案也非常坚固，并且易于维护——因此使机器人工作工具适合于在户外环境中的操作。
梁轴的使用提供了一种简单的解决方案，其解决了现有技术的问题，同时不需要用于前轮的任何其它悬挂，从而使得机器人工作工具甚至比其它悬挂装置更坚固——如悬挂装置通常需要较为困难的组装和维护。
由于梁轴使得前轮能够彼此平衡，所以前轮也将使彼此稳定，并且机器人工作工具的底盘能够实现平稳和稳定的操作。
与悬挂每个前轮的明显解决方案相比，本文提供的解决方案适合于提升检测，并且还更稳健，制造和组装更廉价。
在一个实施例中，机器人工作工具是机器人割草机。在一个实施例中，机器人工作工具是农业设备。在一个实施例中，机器人工作工具是高尔夫球收集工具。机器人工作工具还可以是真空吸尘器，地板清洁器，街道清扫机，除雪工具，扫雷机器人，或需要以有条理的和系统的或位置导向的方式在工作区域中操作的任何其它机器人工作工具。
根据下面详细的公开内容，所公开的实施例的其它特征和优点将从所附从属权利要求以及从附图中显而易见。
通常，除非本文另有明确定义，权利要求中使用的所有术语应根据其在技术领域中的普通含义进行解释。除非另有明确说明，对“一个/一种/该[元件、设备、部件、装置、步骤等]”的所有引用将被开放地解释为指代元件、设备、部件、装置、步骤等的至少一个实例。除非明确说明，本文公开的任何方法的步骤不必以所公开的确切顺序执行。
附图说明
将参考附图更详细地描述本发明，其中：
图1示出根据本申请的教导的一个实施例的机器人工作工具的示意图；
图2示出根据本申请的教导的一个实施例的机器人工作工具系统的示意图；
图3示出现有技术的机器人工作工具的问题的示意图；
图4示出根据本申请的教导的一个实施例的克服图3的现有技术问题的机器人工作工具的示意图；
图5示出根据本申请的教导的一个实施例的机器人工作工具的示意性前视图；
图6A和图6B各自示出根据本申请的教导的一个实施例的机器人工作工具的示意图；以及
图7A和图7B各自示出根据本申请的教导的一个实施例的机器人工作工具的示意图。
具体实施方式
现在将在下文中参考附图更全面地描述所公开的实施例，在附图中示出了本发明的某些实施例。但是，本发明可以许多不同的形式实现，并且不应被解释为限于本文所阐述的实施例；相反，这些实施例是以举例的方式被提供的，使得本公开将是详尽的和完整的，并且将向本领域技术人员充分地传达本发明的范围。相同的数字始终指代相同的元件。
图1示出具有底盘140(其将被布置有主体或覆盖件——未单独示出)和多个轮130,135的机器人工作工具100的示意图。在图1的示例性实施例中，机器人工作工具100具有两个前轮130A和130B和两个后轮135A和135B。轮130,135中的至少一些可驱动地连接到至少一个电动马达150——在该实施例中，两个后轮135可驱动地连接到马达150。应当注意，即使本文的描述集中在电动马达上，内燃机也可选地可能与电动马达组合使用。
在图1的示例中，后轮135中的每个都连接到电动马达150。这允许彼此独立地驱动后轮135，例如，这允许急转弯。
机器人工作工具100还包括控制器110和其它电路，诸如用于控制机器人工作工具100的操作的存储器。机器人工作工具100还具有至少一个传感器170，在图1的示例中，存在两个传感器170，其被布置成检测由通过边界线传输的控制信号引起的磁场(未示出)(关于充电站、控制信号和边界线的更多细节，参见下面参考图2的描述)。这使得控制器110能够确定机器人工作工具100是在由边界线围闭的区域内部还是外部。
控制器110连接到马达150，以用于控制机器人工作工具100的推进，这使得机器人工作工具100能够服务于围闭区域，同时不离开该区域。
机器人工作工具100还包括工作工具160，其可以是草切割设备，诸如由切割器马达165驱动的旋转刀片160。切割器马达165连接到控制器110，这使得控制器110能够控制切割器马达165的操作。控制器还被配置成通过例如，测量输送到切割器马达165的功率，或者通过测量由旋转刀片施加的轴扭矩，来确定施加在旋转刀片上的负载。在一个实施例中，机器人工作工具100是机器人割草机。
机器人工作工具100还可具有(至少)一个电池180，用于向马达150和切割器马达165提供电力。连接到电池180的是两个充电连接器，用于从充电站(在图2中标记为210)的充电器(在图2中标记为220)接收充电电流。另选地，电池可以是太阳能充电的。
另选地，机器人工作工具和/或切割器可由发动机驱动。
图2示出机器人工作工具系统200的示意图，其包括充电站210和被布置成围绕工作区域205的边界线250，工作区域205不必要地是机器人系统200的一部分。
图2的机器人工作工具100是诸如参考图1公开的机器人工作工具100。充电站210具有在本实施例中耦合到两个充电连接器230的充电器220。充电连接器230被布置成与机器人工作工具100的对应的充电连接器185协作，以对机器人工作工具100的电池180充电。
充电站210还具有信号发生器240，或者可耦合到信号发生器，以提供通过边界线250传输的控制信号255(更多细节参见图3)。如本领域中已知的，电流脉冲255将在边界线250周围产生磁场，机器人工作工具100的传感器170将检测会该磁场。随着机器人工作工具100(或更准确地，传感器170)越过边界线250，磁场的方向将改变。机器人工作工具100因此将能够确定已经越过边界线。
图3示出现有技术的机器人工作工具的问题的示意图。在该示例中，机器人工作工具100在具有至少一个障碍物300(在该示例中为小隆起)的区域中操作。其它障碍物可以是碎片、小树枝、树枝、桩、隆起、管道、软管和其它突出物体，以及孔、沟等。
由于机器人工作工具通常在室外环境中操作，在室外环境中它们经受湿气、潮湿和污垢，所以机器人工作工具被适当地密封以允许适当的操作是重要的。但是，在不使底盘140为刚性的情况下，难以适当地密封机器人工作工具。由于底盘140是刚性的，所以当机器人工作工具100遇到诸如隆起300的障碍物时，根据其设计以两种方式中的一种工作。当一个前轮130B爬过障碍物时，另一个前轮130A或对应的后轮135B将被提升到空气中，使得机器人工作工具100不稳定。此外，如果这种情况发生，机器人工作工具100可失去对一个或多个轮子的牵引力，这可能导致机器人工作工具卡住或开始滑动。如技术人员将理解的，这是有问题和不希望的情况。在图3的示例中，后轮135B已经被提升。
图4示出根据本申请的教导的一个实施例的克服图3的现有技术问题的机器人工作工具的示意图。
发明人已经认识到，通过将两个前轮130A和130B布置在可枢转地布置到机器人工作工具100的底盘140的公共梁轴145上，机器人工作工具100在不失去抓地力或牵引的情况下将能够处理障碍物，诸如隆起300。当一个前轮130B越过隆起300时，该前轮被提升，并且梁轴145围绕枢转点147被枢转，以防止机器人工作工具100的底盘140倾斜，从而将另一个前轮135A以及后轮135保持在地面上。
使用单个公共梁轴是有利的，因为其允许容易安装和维护的非常简单的构造。其制造也是廉价的，并且也不太容易断裂，因为其需要很少的部件。
例如，依赖于单独悬挂的前轮的解决方案将需要先进的附接系统或连接装置，从而仍然能够允许提升和碰撞检测，并且因此将是昂贵的，并且不如本发明所提供的巧妙且简单的解决方案那么稳健。
在图4中，示出了没有梁轴145(虚线)的机器人工作工具100的位置与具有梁轴145(实线)的机器人工作工具100的位置之间的比较，从而示出了梁轴145如何使机器人工作工具克服障碍物300，同时使机器人工作工具100的底盘140保持稳定。
图5示出了根据本申请的教导的一个实施例的机器人工作工具的示意性前视图。梁轴被示为水平的(虚线)和枢转的(实线)，以示出梁轴145的功能。如图4和图5中所示，梁轴145通过枢转点147可枢转地附接到底盘140，在一个实施例中，枢转点是从底盘突出并延伸通过梁轴145中的孔或开口146的轴。这提供了廉价且简单的设计，其是稳健的，并且因此适合于户外使用。突出(枢转)轴147也可以其它方式附接到梁轴，诸如被夹持到梁轴。
在一个实施例中，突出(枢转)轴通过帽附接到梁轴。为了允许简单的提升检测，通过构造有细长的接收开口，帽被设计成允许枢转轴147的竖直移动。当机器人工作工具100在操作中时，枢转轴147将搁靠在在帽的下部部分中的梁轴145上(或更确切地说，底盘140将搁置在枢转轴147上)，并且随着机器人工作工具100被提升，枢转轴将搁置在帽的上部部分上(或更确切地说，该帽将承载梁轴145)。另选地，可将梁轴145中的孔或开口147制成细长的，以提供与细长的帽相同的功能。
通过布置诸如磁性传感器或触摸传感器的传感器，因此通过简单地确定枢转轴在帽的哪个部分中，容易确定机器人工作工具100是否被提升。
图6A和6B各自示出根据本申请的教导的一个实施例的机器人工作工具100的示意图，其中梁轴145被底盘140覆盖(例如通过底盘140的覆盖件)。
底盘(或底盘的覆盖件，其被认为是用于本申请的目的的底盘的一部分)具有两个开口149，梁轴145通过这两个开口突出。这允许梁轴被底盘覆盖，以保护梁轴145和枢转点免受诸如污垢和水的环境因素的影响。为了提供更多的保护，例如，通过橡胶或布保护罩(gaiter)可覆盖开口149。
可看出，开口149允许梁轴被移位一定量。所需的位移取决于机器人工作工具的整体设计，但在一个实施例中，最大位移为15mm。位移通常在10mm至25mm的范围内。当前轮遇到洞时，随着机器人工作工具100的底盘140倾斜，梁轴的有限位移防止切割工具160(或其它工作工具)撞击地面。然后，有限的位移将允许梁轴在机器人工作工具100没有倾斜太多的情况下承载前轮135通过洞，梁轴使机器人工作工具100的底盘140稳定。因此，机器人工作工具100将能够以稳定的方式操作和移动，甚至在存在洞的环境中。
例如，通过布置在底盘140上的止动件，也可限制梁轴145的位移。止动件可替代地布置在梁轴145上，或者止动件可布置在梁轴和底盘140(或机器人工作工具100的其它部分)上。在图6A和6B的实施例中，开口149用作止动件。应当注意，具有开口149的实施例也可具有其它止动件。
图7A和7B各自示出根据本申请的教导的一个实施例的机器人工作工具的示意图，其中，底盘140的前部被布置成能够相对于底盘140的其余部分或剩余部分枢转。在这种实施例中，底盘140的前部部分145有效地形成梁轴145。这允许密封任何部件或电路(诸如布置成靠近梁轴145的传感器或检测器)的替代方式。
上面已经参考几个实施例主要描述了本发明。但是，如本领域技术人员容易理解的，除了上面公开的实施例之外的其它实施例落在由所附专利权利要求限定的本发明的范围内同样是可能的。

Claims (7)

1.一种包括机器人工作工具(100)的机器人工作工具系统(200)，所述机器人工作工具(100)包括两个前轮(130)和底盘(140)，其中，所述机器人工作工具的特征在于，所述两个前轮(130)被布置在能枢转地布置到所述底盘(140)的梁轴(145)上。
2.根据权利要求1所述的机器人工作工具系统(200)，其中，所述梁轴(145)被布置成用于平衡一个前轮(130A)与另一个前轮(130B)。
3.根据权利要求2所述的机器人工作工具系统(200)，其中，所述梁轴(145)是两个前轮(130)共用的单个梁轴(145)。
4.根据前述权利要求中任一项所述的机器人工作工具系统(200)，其中，所述机器人工作工具(100)还包括用于限制所述梁轴(145)的最大位移的止动件(149)。
5.根据权利要求2所述的机器人工作工具系统(200)，其中，所述止动件为在所述底盘(140)中的开口(149)，使得所述底盘(140)被布置成覆盖枢转点(147)。
6.根据前述权利要求中任一项所述的机器人工作工具系统(200)，其中，所述梁轴(145)被布置成作为所述底盘(140)的前部分，其中，所述底盘140的所述前部分被能枢转地布置到所述底盘(140)的其余部分。
7.根据前述权利要求中任一项所述的机器人工作工具系统(200)，其中，所述梁轴(145)通过枢转点(147)而能枢转地附接到所述底盘(140)，所述枢转点(147)是从所述底盘(140)突出并且延伸通过所述梁轴(145)中的开口(146)的轴(147)。
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