CN110710920A - 具有伸出的侧刷的机器人真空吸尘器 - Google Patents
具有伸出的侧刷的机器人真空吸尘器 Download PDFInfo
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- 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
- A47L9/02—Nozzles
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- A47L9/0461—Dust-loosening tools, e.g. agitators, brushes
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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
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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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
- A47L11/4072—Arrangement of castors or wheels
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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
- A47L5/00—Structural features of suction cleaners
- A47L5/12—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum
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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
- 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
- A47L9/02—Nozzles
- A47L9/04—Nozzles with driven brushes or agitators
- A47L9/0461—Dust-loosening tools, e.g. agitators, brushes
- A47L9/0466—Rotating tools
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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
- A47L9/02—Nozzles
- A47L9/04—Nozzles with driven brushes or agitators
- A47L9/0461—Dust-loosening tools, e.g. agitators, brushes
- A47L9/0466—Rotating tools
- A47L9/0477—Rolls
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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
- A47L9/02—Nozzles
- A47L9/04—Nozzles with driven brushes or agitators
- A47L9/0461—Dust-loosening tools, e.g. agitators, brushes
- A47L9/0488—Combinations or arrangements of several tools, e.g. edge cleaning tools
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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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- 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
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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
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:一个主体(11);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);以及驱动装置(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;进一步地,该机器人清洁设备包括: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)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)被安排在该主体的一个前端部分(16)中,其中该主体(11)被安排在该前端部分(16)处,该前端部分具有安排有刷子(24)的一个水平伸出构件(33)。
Description
本申请是中国申请号为“201380075510.9”,申请日为“2013年4月15日”,申请人为“伊莱克斯公司”的发明创造名称为“具有伸出的侧刷的机器人真空吸尘器”的发明专利申请的分案申请。
技术领域
本发明涉及一种机器人真空吸尘器。
背景技术
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之处的角落或边缘,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、或其他需要在周围进行清洁的物体(例如像椅子腿)足够近。WO 03/024292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。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。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。然而,WO 03/024292中所披露的机器人真空吸尘器仍然具有伸入角落的问题
发明内容
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设备达到的,该机器人清洁设备包括:一个主体;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;以及驱动装置,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。进一步地,该机器人清洁设备包括: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;以及一个清洁构件,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一个前端部分中,其中该主体被安排在该前端部分处,该前端部分具有安排有刷子的一个水平伸出构件。
有利地,通过为机器人真空吸尘器的主体提供水平伸出构件和刷子,该机器人真空吸尘器能够伸入并且清洁角落和其他现有技术机器人真空吸尘器不能触及的区域。有利地,优选地旋转的刷子由该伸出构件引导至角落里并且使位于机器人清洁设备的清洁构件够不着的地方的碎屑移动,从而使得碎屑在主体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,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。
在本发明一个实施例中,该主体具有带有前端壁的一个前端部分、一个后端部分、连接该前端壁与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。因此,在这一具体实施例中,该主体具有三瓣形状,这对于移入和移出角落并且在像例如走廊一样的狭窄空间导航而言是有利的。
在本发明的另外一个实施例中,该主体被进一步安排成使得其宽度在该水平伸出构件的最外点与该位置相对的侧壁之间是最大的,该最大宽度位于该主体的该前端部分处。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,与该一个或多个伸出构件和相关联的刷子中的一个对应伸出构件或刷子相邻。这是有利的,因为刷子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以顶视图示出了根据本发明的实施例的机器人清洁设备;
图1b以底视图示出了图1a的机器人清洁设备;
图2a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;
图2b以底视图示出了图2a的机器人清洁设备的主体的轮廓;
图3以底视图展示了图2a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4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5a以底视图示出了根据本发明的另外一个实施例包括与伸出构件相邻的凹口的机器人清洁设备;
图5b以底视图示出了根据图5a的、当清洁小物体周围时的机器人清洁设备;并且
图6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。
具体实施方式
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。除了图1a以外的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示出了从上方观看的根据本发明的一个实施例的机器人清洁设备10,即,显示了机器人清洁设备的顶侧。机器人清洁设备10包括一个主体11,该主体容纳下文中将更加详细讨论的各种部件。主体11在前端部分16处进一步安排有一个水平伸出构件33,刷子24被安排在该水平伸出构件上。有利地,通过给在这一具体举例说明的实施例中具有圆形形状的机器人清洁设备安排一个伸出的刷子24,其触及范围将得到很大改进,并且更加有效得多地清洁例如角落。
图1b从下方示出了图1a的机器人清洁设备,即,显示了底视图。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、与刷子24相邻将是足够的,但在本发明的一个实施例中,该开口(并且可能是刷辊)沿着前端部分16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1b中可以看到的,刷子24在一个实施例中是旋转刷,并且其旋转中心被安排在距主体11一定距离处,从而能够伸入角落里。
图2a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10。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。
在这一具体实施例中,主体11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和该后端部分20的一个右侧壁18以及连接前端壁17与后端部分20的一个左侧壁19。机器人清洁设备10的主体11的前端部分16是主体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,前端部分16实质上是四边形形状,可能具有略微修圆的拐角,这些拐角处,前端壁17分别与右侧壁18和左侧壁19交汇。前端壁17如图2a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。如前所述,安排在伸出构件33上的旋转刷子24对于增加机器人清洁设备10的触及范围是有利的。
在又另一个实施例中,再次参照图2a,机器人清洁设备的主体11被安排成使得其宽度A在水平伸出构件33的最外点32与位于对面的侧壁18(在本案例中,是左侧壁)之间在主体的前端部分16处是横向最大的,这借助于虚线进行了展示。图2a的主体11的形状被概括地称为三瓣形式。因此,宽度A是在主体11上测量的最大距离,从而有利地帮助角落和狭窄空间(如走廊)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的位置更靠近传动轴14,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的位置更靠近前端壁,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2a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2b示出了根据图2a的实施例的机器人清洁设备10,但没有旋转刷子24,以便清楚地展示伸出构件33的最外点32。
图3展示了如图2中所示的本发明实施例的机器人清洁设备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3a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3b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。进一步地,可以看到的是,伸出构件33一直伸到第一角落里,由此使刷子24能够将碎屑扫出角落,从而使得机器人清洁设备的清洁构件能够清除碎屑。旋转在图3c中继续进行,其中伸出构件33实际上与墙壁平齐。
参照图3d,可以看到的是,伸出构件33一直伸到第二角落里,由此使刷子24能够将碎屑扫出角落,从而使得机器人清洁设备的清洁构件能够清除碎屑。在图3e中,机器人清洁设备10移出第二角落并且最后在图3f中,使清洁设备在第二角落中做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3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过角落,如果主体11安排有两个伸出构件33和刷子24,每一个在前端壁17的每一侧。图4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2a和b中所示的实施例的最大宽度在前端部分16中的相同位置。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2a,从右侧壁18到伸出构件33的最外点的横向宽度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5a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(即,与图2a和b中所展示的宽度相同的宽度)。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。
图5b示出了根据图5a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6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2a和b中所示的实施例形成对照(当省略伸出构件33时),机器人清洁设备10的主体11的轮廓在这一具体实施例中是不对称的。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与伸出构件33的最外点之间是横向最大的,旋转刷子24安排在该伸出构件上,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”。
根据图6中的实施例的机器人清洁设备10可以进一步安排有如之前参照图5a和b讨论的凹口25。
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 (14)
1.一种机器人清洁设备(10),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)以及连接所述前端壁(17)到所述后端部分(20)的右侧壁(18)和左侧壁(19),且该主体具有三瓣形状;
至少一个驱动轮(12,13),该至少一个驱动轮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),该驱动装置被安排成用于控制所述至少一个驱动轮(12,13)旋转以便使该机器人清洁设备(10)在所述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所述驱动装置(29)而使该机器人清洁设备在所述待清洁的表面上移动;以及
清洁构件(15),该清洁构件被安排在所述主体的底侧以便从所述待清洁的表面清除碎屑,
其特征在于,所述清洁构件(15)被安排在所述前端部分(16)中,所述前端部分(16)位于所述至少一个驱动轮(12,13)的传动轴(14)与所述前端壁(17)之间;
所述主体(11)在所述前端部分(16)处安排有水平伸出构件(33),刷子(24)被安排在该水平伸出构件上;
所述主体(11)的所述水平伸出构件(33)的横向最外点到所述前端部分(16)的位于该最外点对面的相应侧壁限定的横向宽度为所述主体(11)的最大横向宽度,且该横向宽度大于所述水平伸出构件(33)的横向最外点到所述后端部分(20)的位于该最外点对面的相应侧壁限定的宽度。
2.如权利要求1所述的机器人清洁设备(10),其中所述刷子(24)是旋转刷子。
3.如权利要求1所述的机器人清洁设备(10),其中所述右侧壁(18)和所述左侧壁(19)的位于所述前端部分(16)中的至少一部分是平坦的。
4.如权利要求3所述的机器人清洁设备(10),其中所述前端部分(16)呈圆角四边形形状。
5.如权利要求1所述的机器人清洁设备(10),其中所述右侧壁(18)和所述左侧壁(19)被安排成是弯曲的。
6.如权利要求1所述的机器人清洁设备(10),其中所述主体(11)的连接所述右侧壁(18)和所述左侧壁(19)的后端壁被安排成平坦的。
7.如权利要求1所述的机器人清洁设备(10),其中所述清洁构件(15)包括一个可旋转的刷辊,该刷辊竖直地安排在所述主体(11)的底侧中的一个开口内。
8.如权利要求1所述的机器人清洁设备(10),其中所述清洁构件(15)被安排成与所述前端壁(17)相邻并且在所述主体(11)中的一个开口内沿着所述前端壁(17)的一个较大部分横向地延伸。
9.如权利要求1-8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所述控制装置(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。
10.如权利要求1所述的机器人清洁设备(10),进一步包括柔性防冲挡(23),该柔性防冲挡至少围住所述主体(11)的所述前端部分(16)。
11.如权利要求9所述的机器人清洁设备(10),其中所述障碍物检测装置(28)包括:
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所述导航信息传达至所述控制装置(30)。
12.如权利要求1所述的机器人清洁设备(10),其中所述至少一个驱动轮(12,13)包括至少一对同轴安排的驱动轮(12,13),每个轮被安排在所述主体(11)的一个对应的侧壁(18,19)处。
13.如权利要求11所述的机器人清洁设备(10),其中所述柔性防冲挡(23)沿着所述主体(11)延伸至所述传动轴(14)的旋转轴线,这些驱动轮(12,13)同轴地安排在所述传动轴上。
14.如权利要求1-8中任一项所述的机器人清洁设备(10),进一步包括:
凹口(25),该凹口被安排在所述主体(11)的所述前端部分(16)中且与所述伸出构件(33)相邻。
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JP6198234B2 (ja) | 2017-09-20 |
KR20150141979A (ko) | 2015-12-21 |
CN105101855A (zh) | 2015-11-25 |
CN110710920B (zh) | 2021-12-14 |
EP2986193A1 (en) | 2016-02-24 |
US20160073840A1 (en) | 2016-03-17 |
KR102137923B1 (ko) | 2020-07-24 |
JP2016514583A (ja) | 2016-05-23 |
KR20190119685A (ko) | 2019-10-22 |
EP2986193B1 (en) | 2020-07-29 |
WO2014169944A1 (en) | 2014-10-23 |
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