DE102018219900B4 - Robot for surface care and robotic system - Google Patents

Abstract

Robot for surface care with a main body (10) and an exchangeable functional module (20, 30), wherein the functional module (20, 30) can be coupled to the main body (10) via an interface (17, 18), wherein the main body (10 ) comprises a traction drive for moving the robot;- the main body (10) and the interface (17, 18) are arranged in front of a maintenance contact surface (22, 32) of the functional module (20, 30) as seen in the main working direction (X), so that the main body (10) in use, pulling the coupled functional module (20, 30) over a floor surface; and - the care contact surface (22, 32) is arranged eccentrically to the central longitudinal axis (A-A) of the robot.

Description

The invention relates to a robot for cleaning surfaces, for example an autonomously driving robot for cleaning a floor, with a main body and with an exchangeable functional module that can be coupled to the main body via an interface, and a robot system.

From the DE 10 2016 213 920 A1 a household robot and a household robot system with differently designed functional modules are known. The various function modules can be coupled to the household robot via a mechanical interface. The function module is held in an arched loading bay of the robot.

the DE 103 33 395 A1 discloses a floor cleaning device with at least one additional module which can be detachably connected to the floor cleaning device. the DE 10 2014 105 460 A1 Figure 12 shows a second cleaning vehicle following a first cleaning vehicle. The second cleaning vehicle can be mechanically connected to the first cleaning vehicle. the DE 10 2017 101 936 A1 relates to a cleaning robot with a detection device for detecting the type of floor with a frictional resistance element. DE 10 2018 000 083 A1 describes a cleaning device with a chassis that can be coupled with at least two different cleaning modules. U.S. 2007/0050937A1 describes a robot with several interchangeable working modules. WO 2018 / 185 645 A2 describes a floor cleaning machine. WO 1997/049 528 A1 describes a device with several modules for different tasks. EP 2 918 212 A1 describes a cleaning robot. U.S. 5,720,077 A describes a cleaning robot.

It is an object of the invention to further improve previously known robots with regard to their possible uses and with regard to the quality of surface care, preferably without other parameters such as manufacturing costs, weight, installation space requirements, robustness etc. being noticeably worsened as a result.

The object is achieved according to the invention by a robot for cleaning surfaces. The robot comprises a main body and at least one exchangeable function module. The function module can be coupled to the main body via an interface. This allows different function modules with different processing functions to be connected to the main body, which are each optimized in terms of their function. The interface is provided in front of a maintenance contact surface of the functional module, as viewed in the main direction of travel. When the robot is in operation, the main body thus pulls the coupled functional module over the floor surface. According to the invention, the care contact surface of at least one functional module can be arranged eccentrically to the central longitudinal axis of the robot in the installed position of the functional module. A robot designed in this way offers more freedom in the structural design of the functional modules. The various function modules can be better adapted to the different surface care functions because they do not have to accept any design compromises in favor of other functions. In particular, the care contact surface arranged eccentrically to the central longitudinal axis of the robot enables more thorough surface care in edge areas, even if it is arranged according to the invention behind the drive or behind the main body as seen in the main working travel direction.

The robot according to the invention is regularly a self-driving or autonomously driving robot for surface care. In particular, such a robot can be autonomous, i. H. perform surface maintenance without user intervention. In this context, surface care is considered to be any type of caring action on a surface, ie in particular wet cleaning, vacuum cleaning, disinfection or polishing, but also sweeping, lawn mowing, scarifying, etc. The robot can particularly preferably be a floor care robot.

The main body, also referred to as the base module or base unit, pulls the functional module across the floor surface during operation. In this way, functions that are required in all cases of use, independently of the individual care task of the functional module, can be accommodated in the main body, expediently the components for the independent and targeted movement of the robot. In addition, several or all of the following components are included: an environment detection system for detecting the environment surrounding the robot, a control unit for regulating or controlling the robot, at least one traction drive for moving the robot and/or at least one electrical energy store for providing electrical energy as well as a communication module for communication of the robot with a communication device of the user or for ensuring the connectivity or network suitability of the robot. As a rule, the main body is formed or surrounded by a robot housing.

The maintenance contact area of the functional module is the contact area on its underside, in which the functional module acts in a caring manner on the surface to be cared for. Depending on the function module it does not necessarily have to be an actual contact between the function module and the surface. For example, in the case of a vacuum cleaner function module or a disinfection function module, there can be no direct contact with the surface to be cared for. In a vacuum cleaner functional module, in one embodiment, only the dust can be sucked off contactlessly by a care contact surface designed as a suction mouth opening. The distance between the front edge of the robot or main body and the interface is less than the distance between the front edge and the nursing contact surface.

According to the invention, the care contact surface can be arranged eccentrically to the central longitudinal axis of the robot or the functional module. The central longitudinal axis of the nursing contact surface is therefore not arranged congruently with the central longitudinal axis of the robot, but runs offset to the side. The nursing contact surface is thus closer to one of two side walls of the robot housing, which extend in its main working direction. According to the invention, this side wall is at a smaller distance from the edge, e.g. B. a wall or a base than the other. This is because the control device of the robot controls or regulates the robot in such a way that during obstacle-free edge care this side wall is always or predominantly arranged directly adjacent and essentially parallel to the edge. The uncared for edge strip between the care contact area and the edge can thus advantageously be at least minimized. Depending on the configuration, a side brush for cleaning the edge or the edge strip can then be dispensed with.

Similar to a motor vehicle, the main working travel direction is the travel direction of the robot, in which the robot mainly drives during normal surface care. The direction perpendicular to the main working travel direction is the robot transverse direction. As a rule, the drive elements of the robot form an axis parallel to the transverse direction of the robot.

The interface can be any suitable interface for reversibly detachably coupling the functional module to the main body of the robot. The interface is preferably provided only on the front edge or only in the front area of the function modules. The interface can include a mechanical interface part that detachably attaches the functional module to the robot via a positive connection that is known per se. The connection can be secured, for example, via at least one latching connection. Alternatively, the interface portion can also be designed using (electro) magnets. A further interface component can represent an electrical connection between the main body and the functional module for supplying it with energy. In addition, an information technology interface component can enable data to be exchanged between the main body and the functional module in order to control the functional module and, if necessary, to transmit its working data to the main module.

In one embodiment, the main body and the functional module can be coupled via the interface in such a way that the functional module can only be rotated about a robot transverse axis. The functional module is connected in a similar articulated manner to a tractor as a tillage implement for adapting to the terrain. Any unevenness in the surface to be cared for can thus advantageously be leveled out without the distance between the surface to be cared for and the underbody of the functional module changing noticeably. In addition, the likelihood of the travel drives losing contact with the ground on uneven terrain or when overcoming an obstacle is reduced. This aspect of the rotatable connection of the function module is functionally independent of the specific arrangement and design of the care contact area.

In a preferred embodiment, the functional module can be configured in a T-shape in plan view. A central area of the functional module can then protrude into the main body on the interface side and preferably occupy a space there between two travel drives. A particularly compact robot structure can thus be implemented with a main body and an exchangeable function module that can be connected to it, the travel drive of which is nevertheless advantageously located in the area of the center of gravity of the entire robot.

A circular robot housing gives the robot good maneuverability, but does not always allow it to reach every corner of the room. Housings that are angular at least on one side - in a top view with a D-shape - or teardrop-shaped housings with only one corner allow a robot with a little maneuvering effort to reach corners better. According to the invention, the main body can be semicircular with a drawn functional module, ie the robot housing can transition in an arc shape into the side walls running parallel to one another and in the main direction of travel of the robot. The transition can be continuous or abrupt. In at least one rear corner of the robot housing or of the functional module, seen in the main direction of travel, the side walls can meet one another essentially perpendicularly in the plan view and form at least one corner. Of the The robot according to the invention can therefore be configured in a D-shape or in the shape of a drop when viewed from above, with at least the front area of the robot and thus its main body being configured in an arc shape. According to the invention, the eccentrically arranged nursing contact surface can be assigned to the corner or one of the two corners on the functional module. For example, a vacuum cleaner module with an asymmetrically arranged brush roller can enable good corner and edge cleaning even without a side brush entry. The above housing shape is therefore particularly advantageous for robots in which the functional module is arranged in the rear area. In the case of wet cleaning or polishing modules, for example, these also offer the advantage that the travel drives do not drive through the film of moisture or polish applied during wet cleaning or polishing and thus leave undesirable marks. This allows room corners of surfaces to be cared for to be cared for more thoroughly. For this purpose, the robot can advantageously first maintain a first edge until it encounters a second edge arranged at an angle—for example perpendicular to the first edge. Thanks to the arched front side wall, the robot can more easily turn 90° around its vertical axis and briefly back into the corner of the room to then continue tending the second edge. For this purpose, the rear side wall or one or the rear corner of the robot can be brought into the corner of the room formed by the two edges by moving against the main working direction of travel.

The above object is also achieved by the robot system for surface care according to the invention. The robot system includes the robot disclosed above and at least one exchangeable function module described there for a specific surface care function. The robot system preferably comprises several of the following function modules: wet wiping, vacuum cleaning, disinfection or polishing function module. Such modules are known per se to those skilled in the art. According to the invention, the differently designed function modules can have differently designed care contact surfaces. For example, the nursing contact surfaces can differ in terms of their size, their geometry and/or their spatial arrangement within the functional modules and thus also relative to the main body. For example, a care contact surface of a first function module can have a smaller distance to a side wall than a care contact surface of a second function module. The care contact surfaces of different functional modules can also be at different distances from a rear side wall of the respective functional module and/or from the surface to be cared for. Advantageously, function-related requirements (e.g. lateral arrangement of cleaning brushes) of a specific function module do not restrict the other function modules. Overall, the inaccessible area between the maintenance contact surface and the edge of the floor surface to be maintained can be reduced, resulting in more thorough cleaning overall. Several surface cleaning functions can also be integrated in a single function module at the same time.

• 1 eine schematische Ansicht der Unterseite des erfindungsgemäßen Roboters,
• 2 eine schematische Ansicht der Unterseite eines ersten Funktionsmoduls des erfindungsgemäßen Roboters,
• 3 eine schematische Ansicht der Unterseite eines zweiten Funktionsmoduls, und
• 4 eine schematische Ansicht der Unterseite eines dritten Funktionsmoduls.

The principle of the invention is explained in more detail below with reference to a drawing by way of example. Show in the drawing:

• 1 a schematic view of the underside of the robot according to the invention,
• 2 a schematic view of the underside of a first functional module of the robot according to the invention,
• 3 a schematic view of the underside of a second functional module, and
• 4 a schematic view of the underside of a third function module.

the 1 shows a schematic view of the underside of a floor care robot according to the invention for cleaning a floor. The robot is shown during edge maintenance. It drives in the main working direction X parallel to the edge W, which is formed by a wall. The robot transverse direction Y runs perpendicular to the main working travel direction X.

The robot includes a view of the 1 essentially C-shaped main body 10, in which an environment detection system 12, a control unit 13, two traction drives 14, 15 and an energy store 16 are added. The environment recognition system 12 is formed adjacent to a front, curved side wall 11 of the robot. The control unit 13 and the energy store 16 are arranged behind the environment recognition system 12 . The travel drives 14, 15 are each arranged laterally in the main body 10. The travel drives 14, 15 are arranged symmetrically to a central longitudinal axis A and lie on an axis BB which runs parallel to the transverse direction Y of the robot.

A first functional module 20 is coupled to the main body 10 . The first function module 20 is in the view of 1 T-shaped. It is arranged behind environment recognition system 12 , control unit 13 and energy store 16 . A central area of the functional module 20, quasi the style of the “T”, protrudes into the main body 10 and is thus at least partially arranged between the travel drives 14, 15. The one designed like this tete robot has particularly compact external dimensions.

The functional module 20 is coupled to the main body 10 via an interface 17 , 18 . The interface 17, 18 can have any suitable shape. In a particularly preferred embodiment, it is designed in such a way that the functional module 20 can be rotated relative to the main body 10 about an axis that runs in the transverse direction Y of the robot. This articulated connection of the functional module 20 to the main body 10 improves the care result and the traction of the robot on uneven surfaces.

The front side wall 11 is curved here for better maneuvering in corners and merges abruptly or with a kink into the side walls of the robot. The front side wall is arched on both sides. The side wall 19 runs parallel to the main working travel direction X and thus essentially parallel to the edge W during edge cleaning. The rear corners E1, E2 are formed by side walls meeting perpendicularly. The robot therefore has a D-shaped contour when viewed from above, since the front side wall 11 is at least largely arch-shaped.

Only the maintenance contact surface 22 of the first functional module 20, a vacuum cleaning functional module, is shown. It is arranged eccentrically with respect to the central longitudinal axis A, so that it reaches closer to the side wall 19 than to the opposite parallel side wall. Other components, such as the drive of the round brush, are arranged on the distal side of the care contact surface 22 in relation to the side wall 19 . A rotating round brush (not shown) of the vacuum cleaning function module 20 strikes the surface to be cleaned within the care contact surface 22 . Between the outer edge of the care contact surface 22 and the side wall 19 there remains only one in 1 enlarged distance d, leaving a narrow, undetected surface area. Nevertheless, an additional side brush for cleaning the edge W can be dispensed with.

In the 2 the first function module 20 is shown in the uncoupled state. The care contact surface 22 has a central axis CC, which is offset from the central longitudinal axis AA of the functional module 20 .

In the 3 a second functional module 30 is shown in the uncoupled state, which represents a wet wiping functional module. It also has a care contact surface 32 with a central axis CC, which is arranged laterally offset from the central longitudinal axis AA of the functional module 30 in order to better detect edge areas, and is formed deeper in the main direction X of work travel.

A third function module 40 is in the 4 shown as a disinfection function module. It does not have an eccentrically arranged care contact surface 42, but acts on both sides of the central axis A in the same way on the floor surface. Adapted to its function, the nursing contact surface 42 is long in the transverse direction B and narrow in the main working direction X.

The in the 2 until 4 The function modules 20, 30, 40 shown have the same mechanical interfaces and are all suitable for being attached to the main body 10 of the robot (cf. 1 ) to be coupled. However, the function modules 20, 30, 40 differ in their surface maintenance functions. In order to exercise their functions in the best possible way, the functional modules 20, 30, 40 have the different nursing contact surfaces 22, 32, 42, which differ in terms of their size and/or their arrangement.

The robot and the function modules 20, 30, 40 are shown in greatly simplified form in the figures. The main body 10 of the robot (cf. 1 ) together with at least two different functional modules 20, 30, 40 (cf. 2-4 ) a robot system for surface care. Many other components familiar to those skilled in the art have been left out for the sake of simplicity.

Since the robots and function modules described in detail above are examples, their design can be modified to a large extent in the usual way by a person skilled in the art without departing from the scope of the invention. The robot can also be designed for other floor care functions, for example mowing, scarifying, sweeping and/or fertilizing. In addition, the use of the indefinite article "a" or "an" does not exclude the possibility that the characteristics in question can also be present more than once.

reference list

10

main body

11

front side wall

12

environment recognition system

13

control unit

14, 15

traction drive

16

energy storage

17, 18

interface

19

Side wall

20, 30, 40

function module

22, 32, 42

care contact area

A-A

central longitudinal axis

B-B

Axis of travel drives 14, 15

C-C

Central axis of the functional module

i.e

Distance

E1, E2

Corner

W

edge

X

Main working direction

Y

robot transverse direction

Claims (10)

Robot for surface care with a main body (10) and an exchangeable functional module (20, 30), wherein the functional module (20, 30) can be coupled to the main body (10) via an interface (17, 18), wherein - The main body (10) comprises a travel drive for moving the robot; - The main body (10) and the interface (17, 18) are arranged in front of a maintenance contact surface (22, 32) of the functional module (20, 30) as seen in the main working travel direction (X), so that the main body (10) can see the coupled functional module ( 20, 30) across a floor surface; and - the nursing contact surface (22, 32) is arranged eccentrically to the central longitudinal axis (AA) of the robot. robot after claim 1 , wherein a side wall (19) of the robot has a smaller distance to the edge (W) during the care of an edge (W) of a surface to be cared for than another, parallel side wall, and wherein the care contact surface (22, 32) is eccentric to the side wall ( 19) is offset towards. robot after claim 1 or 2 , wherein the main body (10) and the functional module (20, 30) can be coupled via the interface (17, 18) in such a way that the functional module (20, 30) can be pivoted about an axis in the robot transverse direction (Y). Robot according to one of the preceding claims, wherein in the coupled state a central area of the functional module (20, 30) protrudes into the main body (10). Robot after any of the previous ones claims 2 until 4 , wherein in at least one rear corner (E1, E2) seen in the main working travel direction (X), the side walls meet essentially perpendicularly in the top view and a front side wall (11) of the robot runs in an arc towards the side wall (19). Robot according to one of the preceding claims, wherein the robot is a floor care robot. Robotic system for surface maintenance, comprising: - a robot according to any one of the preceding claims, and - At least two interchangeable function modules (20, 30, 40) for different surface care functions for coupling to interfaces (17, 18) with the main body (10). robot system claim 7 , wherein differently designed function modules (20, 30, 40) have different care contact surfaces (22, 32, 42). robot system claim 8 , wherein the care contact surfaces (22, 32, 42) of two differently designed functional modules (20, 30, 40) differ in their size, their geometry and/or their arrangement within the functional module (20, 30, 40). Robotic system according to any of the previous ones Claims 7 until 9 , comprising at least two of the following function modules: wet wiping function module (30), vacuum cleaning function module (20), disinfection function module (40) or polishing function module.

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