EP3498144B1 - Bodenreinigungsroboter - Google Patents

Bodenreinigungsroboter Download PDF

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Publication number
EP3498144B1
EP3498144B1 EP18211741.6A EP18211741A EP3498144B1 EP 3498144 B1 EP3498144 B1 EP 3498144B1 EP 18211741 A EP18211741 A EP 18211741A EP 3498144 B1 EP3498144 B1 EP 3498144B1
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EP
European Patent Office
Prior art keywords
bumpers
bumper
stage
cleaning robot
robot according
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP18211741.6A
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English (en)
French (fr)
Other versions
EP3498144A1 (de
Inventor
Emmanuel Deflin
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SEB SA
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SEB SA
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Classifications

    • 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
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • A47L9/2826—Parameters or conditions being sensed the condition of the floor
    • 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

Definitions

  • the present invention relates generally to a floor cleaning robot, and in particular to an autonomous floor cleaning robot provided with means for collecting and / or vacuuming the waste.
  • Such an architecture is suitable for a cleaning robot having a limited height, typically less than 5 cm, but it is less suitable for a cleaning robot of greater height, in particular for a “2 in 1” cleaning robot designed to operate. either independently or manually after connecting the robot to a flexible suction tube. In fact, in this case, it is not certain that the cleaning robot detects an obstacle located at a certain altitude from the ground. This results in non-detection of the obstacle and a blocking of the cleaning robot against this obstacle.
  • WO2008105634A1 discloses a cleaning robot with 2 bumpers arranged one above the other.
  • An aim of the present invention is to respond to the drawbacks of the prior art mentioned above and in particular, first of all, to provide a cleaning robot which allows the detection of any obstacle, whatever the height of the robot. cleaning and whatever the altitude of the obstacle.
  • the robot is equipped with one or more displacement members, such as wheels, which come to rest on the ground in operation.
  • the plane tangent to the displacement members (for example the wheels) defines the ground support plane of the robot.
  • the invention proposes to equip the cleaning robot with a double stage of bumpers and thus to distribute the bumpers over two different heights or altitudes. It thus offers a simple technical solution to enable a cleaning robot, in particular a high-rise cleaning robot, to improve the detection of obstacles located higher or lower. The detection sensitivity of the cleaning robot is thus improved.
  • At least one of the floors comprises several bumpers.
  • each of the two floors comprises several bumpers.
  • one of the stages comprises several bumpers and the other stage comprises a single bumper.
  • the stage (s) with several bumpers comprise two side bumpers arranged on either side of a median plane of the robot, perpendicular to the bearing plane on the ground.
  • a central bumper is interposed between the two side bumpers.
  • the central bumper may have two oblique side flanks, oriented towards the two side bumpers respectively, connecting an inner face and an outer face of the central bumper, said outer face being widened relative to said inner face.
  • Such a configuration makes it possible to limit, or even eliminate, the dead non-detection zones situated at the interstices between the central bumper and the side bumpers.
  • the enlarged outer face of the central bumper makes it possible to cover, at least partially, these dead non-detection zones.
  • a normal to the bearing plane on the ground which passes through a zone of separation between two neighboring bumpers of one stage passes through a bumper of the other stage.
  • the outer surface of the bumper (s) of a first of the two floors is set back relative to an envelope surface perpendicular to the bearing plane on the ground and tangent to the outer surface of the bumper (s). - shocks from the second stage, towards the interior of the robot. Thanks to this, in the event of an obstacle hitting the robot over its entire height (a wall for example), unnecessary multiplication of the contact force during the collision is avoided, which makes it possible to limit wear and / or the risk. decrease in robot detection sensitivity.
  • a remote presence detection device is advantageously interposed between the two stages. To this end, the two stages leave between them sufficient space to house the presence detection device.
  • the obstacle detection by contact using the bumpers is thus supplemented by obstacle detection using one or more proximity sensors, before contact with the obstacle.
  • the device for detecting a bumper of one of the two stages is connected in parallel with the device for detecting the associated bumper of the other stage to a unit or an electronic control circuit. Thanks to this, whether a collision with an obstacle is detected in the upper part or in the lower part or else both in the upper and lower parts by the movement detection means, the robot makes no difference. It interprets the detection information as contact with an obstacle in the same area of its circumference and initiates an appropriate release action.
  • the figure 1 represents a perspective view of a cleaning robot 100, according to a first particular embodiment of the invention.
  • the cleaning robot 100 is intended to clean a floor, for example a floor of a room within a house or a building, independently, that is to say without the intervention of a user while browsing.
  • a floor for example a floor of a room within a house or a building
  • it comprises a frame 30, drive wheels 31, a suction slot 32, and, inside an outer casing, a waste bin 33, means for storing electrical energy, for example. example a block of rechargeable battery cells 34, and a unit or an electronic circuit (not shown) for controlling the operation and navigation of the cleaning robot 100.
  • the drive wheels 31 define a plane P1 of support on the ground ( perpendicular to the plane of the figure 2 ), tangent to the wheels 31 visible on the figure 2 .
  • the tangent plane to the wheels 31, which come to rest on the ground defines the ground support plane P1 of the robot.
  • the cleaning robot 100 is equipped with several bumpers 10A-10C and 20A-20C mounted to move relative to the frame 30, for example in translation parallel to the ground bearing plane P1.
  • the bumpers could be mounted so as to pivot.
  • the different bumpers 10A-10C, 20A-20C are mechanically independent from each other. During movement, when the cleaning robot 100 encounters an obstacle, the latter comes into contact with one or more bumpers of the robot and moves the struck bumper or bumpers towards the interior of the robot. In a known manner, elastic means are provided to return the displaced bumper or bumpers to a rest position after release from the obstacle.
  • detection means are provided, arranged to detect a movement of each of the bumpers relative to the frame 30 caused by the encounter with an obstacle.
  • the control unit is arranged to control a modification of the navigation trajectory of the cleaning robot 100, following the encounter with an obstacle, as a function of the result of detection of a movement of one or more of the barriers.
  • shocks 10A-10C and 20A-20C so as to free the robot from the obstacle and continue to navigate around it.
  • These detection means comprise a set of detection devices.
  • Each bumper 10A-10C, 20A-20C is equipped with one or more detection devices capable of detecting movement of this bumper relative to the frame 30.
  • a detection device fitted to a bumper includes an optical sensor block, incorporating a coupled optical transmitter and receiver, and a shutter pivot mechanism intended to cut optical transmission between the transmitter and receiver in the closed position and not to cut this optical transmission between the transmitter and the receiver in the retracted position (outside the closed position).
  • Two 21A and 11A shutters are visible on the figure 4 .
  • the bumper 10A When the bumper 10A strikes an obstacle (or any other element) during a path of the cleaning robot 100, it moves towards the interior of the robot 100 relative to the frame 30, which causes the shutter to pivot. 11A from its erased position to a closed position in which the optical transmission between the transmitter and the receiver of the optical sensor unit is interrupted.
  • the control unit interprets this optical signal cutoff as an indication of an obstacle encountered on the path of the robot.
  • cleaning 100 in a zone comprising the considered bumper 10A, and then controls the drive wheels 31 so as to divert the cleaning robot 100 from this obstacle.
  • the other detection devices work in the same way.
  • the figures 1 and 2 respectively show a front perspective view and a front view of the cleaning robot 100.
  • the term "front” here refers to a nominal direction of advance of the cleaning robot 100.
  • the bumpers 10A-10C, 20A-20C are arranged on two floors respectively arranged at heights, or altitudes, different with respect to the plane P1 of support on the ground of the robot.
  • the bumpers 10A-10C form a first stage and the bumpers 20A-20C form a second stage.
  • Each stage comprises a median plane crossing the overall bumpers in their middle and parallel to the ground bearing plane P1.
  • the bumpers 10A-10C, 20A-20C here have shapes of cylinder portions having the same central axis AX perpendicular to the plane P1 of bearing on the ground.
  • the first stage has a set of three 10A-10C bumpers and the second stage also has a set of three 20A-20C bumpers.
  • Each set of three bumpers 10A-10C (20A-20C) comprises two side bumpers 10A, 10C (20A, 20C) arranged on either side of a median plane P2 of the robot 100 (intersecting the robot 100 generally in its middle), perpendicular to the ground bearing plane P1, and a central bumper 10B (20B) located between the two side bumpers 10A, 10C (20A, 20C) and crossed by the median plane P2 of the robot 100.
  • Each of the side bumpers 10A, 10C (20A, 20C) is for example equipped with two motion detection devices.
  • the central bumper 10B (20B) can be equipped with a single detection device. However, other configurations of the detection means could be considered. In any event, each bumper is equipped with at least one device for detecting movement of said bumper.
  • a normal to the ground support plane P1 passing through a zone of separation between two neighboring bumpers of the first stage passes also in a zone of separation between two neighboring bumpers of the second stage (respectively between the two bumpers 20A and 20B or 20B and 20C).
  • the respective bumpers of the two stages can be arranged so that 'a normal to the ground bearing plane P1 which passes through a zone of separation between two neighboring bumpers of one stage passes through a bumper of the other stage.
  • the central bumper of one of the floors is angularly wider than the central bumper of the other floor.
  • the central bumper of one of the stages is angularly offset with respect to the central bumper of the other stage.
  • the two stages of bumper 10A-10C and 20A-20C form between them a housing for receiving a presence detection device 40 intended to detect the presence of an obstacle near the robot, without contact.
  • the presence detection device 40 is thus interposed between the two stages of bumpers 10A-10C and 20A-20C.
  • it has the overall shape of a strip in the form of a cylinder portion with a central axis AX. Its function is to detect the presence of an obstacle near the cleaning robot 100 without the latter coming into contact with the obstacle. It comprises one or more proximity sensors or presence detectors, for example infra-red sensors.
  • an envelope surface perpendicular to the ground bearing plane P1 and tangent to the outer surface of the bumper (s) of one of the floors is also tangent to the outer surface of the bumper (s) of the other tier.
  • the bumpers of the two floors are thus aligned vertically.
  • the invention offers a simple technical solution to improve obstacle detection which is particularly suitable for high robots, typically greater than 5 cm.
  • the robot includes three pairs of associated bumpers: 10A and 20A, 10B and 20B, 10C and 20C.
  • the device for detecting a bumper of one of the two floors is connected in parallel with the device for detecting the bumper associated with the other floor to the unit. or to the electronic control circuit.
  • FIG. 5 there is shown an alternative embodiment of the central bumper of a stage (here the bumper 10B) comprising two oblique side flanks 12B, 13B, oriented towards the two neighboring side bumpers 10A, 10C respectively, connecting a inner face and an outer face of the central bumper 10B.
  • the outer face of the central bumper 10B is widened relative to its inner face.
  • the geometry of the central bumper 10B is thus improved so as to reduce or even eliminate a dead zone non-detection device located at the gap between two neighboring bumpers 10A-10B and 10B-10C.
  • the two stages each include three bumpers 10A-10C and 20A-20C.
  • the number of bumpers of a stage may be equal to 2 or be greater than 3.
  • these are for example two side bumpers arranged at on either side of the median plane P2 of the robot 100.
  • the two stages can also comprise different respective numbers of bumpers, for example two bumpers at the bottom and three bumpers at the top.
  • one of the floors has a single bumper and the other floor has several bumpers, for example two bumpers.
  • the floor with several bumpers is preferably located between the ground bearing plane P1 and the floor with a single bumper.
  • the upper floor has a single bumper and the lower floor has several bumpers, for example two bumpers.
  • the single bumper of the first stage makes it possible to cover the detection of a dead non-detection zone located at the separation between the two neighboring bumpers of the second stage.
  • the bumpers of the two floors are aligned vertically, as previously explained.
  • the outer surface of the bumper (s) of a first of the two floors is set back relative to an envelope surface perpendicular to the plane P1 of bearing on the ground and tangent to the outer surface of the (s). bumper of the second stage, towards the interior of the robot.
  • said second stage is located between the plane P1 of ground support and said first floor.
  • the top stage of the bumper is set back from the bottom stage of the bumper.
  • the shrinkage can be a slight shift of the order of a centimeter, or even a few centimeters. It makes it possible not to increase the contact force caused by an obstacle hitting the robot over its entire height (for example a wall), which would risk reducing the detection sensitivity over time.
  • the cleaning robot 100 could have more than two floors so as to cover the entire height of the robot in the event that the latter has a very high height.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Manipulator (AREA)

Claims (12)

  1. Bodenreinigungsroboter, umfassend:
    - einen Rahmen (30),
    - mindestens zwei in Bezug auf den Rahmen (30) bewegliche Stoßfänger (10A-10C, 20A-20C),
    - Mittel zum Detektieren einer Bewegung jedes der Stoßfänger (10A-10C, 20A-20C) in Bezug auf den Rahmen (30),
    wobei die beiden Stoßfänger (10A-10C, 20A-20C) jeweils auf mindestens zwei Stufen angeordnet sind, die auf unterschiedlichen Höhen in Bezug auf eine Auflageebene am Boden (P1) des Roboters (100) angeordnet sind,
    dadurch gekennzeichnet, dass
    - mindestens eine der Stufen mehrere Stoßfänger (10A-10C; 20A-20C) umfasst, und
    - eine Normale zur Auflageebene am Boden (P1), die durch eine Trennungszone zwischen zwei benachbarten Stoßfängern einer Stufe verläuft, einen Stoßfänger der anderen Stufe quert.
  2. Reinigungsroboter nach Anspruch 1, wobei jede der beiden Stufen mehrere Stoßfänger (10A-10C, 20A-20C) umfasst.
  3. Reinigungsroboter nach Anspruch 1, dadurch gekennzeichnet, dass eine der Stufen mehrere Stoßfänger umfasst und die andere Stufe einen einzigen Stoßfänger umfasst.
  4. Reinigungsroboter nach einem der Ansprüche 1 bis 3, wobei die Stufe oder Stufen mit mehreren Stoßfängern zwei seitliche Stoßfänger (10A, 10C; 20A, 20C) in Bezug auf eine Fortbewegungsrichtung des Roboters beinhalten.
  5. Reinigungsroboter nach Anspruch 4, wobei die Stufe oder Stufen mit mehreren Stoßfängern einen zentralen Stoßfänger (10B; 20B) beinhalten, der zwischen den zwei seitlichen Stoßfänger (10A, 10C; 20A, 20C) zwischengesetzt ist.
  6. Reinigungsroboter nach dem vorstehenden Anspruch, wobei der zentrale Stoßfänger (10B) zwei schräge seitliche Flanken aufweist, die jeweils zu den beiden seitlichen Stoßfängern (10A, 10C) ausgerichtet sind, die eine Innenseite und eine Außenseite des zentralen Stoßfängers (10B) verbinden, wobei die Außenseite in Bezug auf die Innenseite verbreitert ist.
  7. Reinigungsroboter nach Anspruch 3, wobei sich die Stufe mit mehreren Stoßfängern zwischen der Auflageebene am Boden (P1) und der Stufe mit einem einzigen Stoßfänger befindet.
  8. Reinigungsroboter nach einem der vorstehenden Ansprüche, wobei der oder die Stoßfänger einer ersten der beiden Stufen in Bezug auf den (die) Stoßfänger der zweiten Stufe im Inneren einer Außenhülle des oder der Stoßfänger(s) der zweiten Stufe zurückversetzt angeordnet ist.
  9. Reinigungsroboter nach dem vorstehenden Anspruch, dadurch gekennzeichnet, dass sich die zweite Stufe zwischen der Auflageebene am Boden (P1) und der ersten Stufe befindet.
  10. Reinigungsroboter nach einem der vorstehenden Ansprüche, wobei eine Fernpräsenzdetektionsvorrichtung (40) zwischen den beiden Stufen (10A-10C, 20A-20C) zwischengesetzt ist.
  11. Reinigungsroboter nach einem der vorstehenden Ansprüche, wobei jeder Stoßfänger mit mindestens einer Detektionsvorrichtung zum Detektieren einer Bewegung des Stoßfängers in Bezug auf den Rahmen ausgerüstet ist.
  12. Reinigungsroboter nach dem vorstehenden Anspruch, wobei zwei Stoßfänger, die sich jeweils auf den beiden Stufen befinden und durch eine selbe Normale zur Auflageebene am Boden (P1) gequert werden, ein Paar von assoziierten Stoßfängern bilden, und die Detektionsvorrichtung eines Stoßfängers von einer der beiden Stufen parallel zur Detektionsvorrichtung des assoziierten Stoßfängers der anderen Stufe mit einer Zentralsteuerungseinheit verbunden ist.
EP18211741.6A 2017-12-15 2018-12-11 Bodenreinigungsroboter Active EP3498144B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1762266A FR3075029B1 (fr) 2017-12-15 2017-12-15 Robot de nettoyage des sols

Publications (2)

Publication Number Publication Date
EP3498144A1 EP3498144A1 (de) 2019-06-19
EP3498144B1 true EP3498144B1 (de) 2021-01-06

Family

ID=61599372

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18211741.6A Active EP3498144B1 (de) 2017-12-15 2018-12-11 Bodenreinigungsroboter

Country Status (4)

Country Link
EP (1) EP3498144B1 (de)
CN (2) CN210121109U (de)
ES (1) ES2848840T3 (de)
FR (1) FR3075029B1 (de)

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1719031B1 (de) * 2004-02-12 2016-12-07 Arçelik Anonim Sirketi Roboter-staubsauger und steuerverfahren
KR100765848B1 (ko) * 2006-12-28 2007-10-10 (주)다사로봇 전방향 감지 범퍼
KR100835968B1 (ko) * 2007-02-28 2008-06-09 엘지전자 주식회사 로봇청소기 및 그에 따른 제어방법
US9483055B2 (en) * 2012-12-28 2016-11-01 Irobot Corporation Autonomous coverage robot
JP6345973B2 (ja) * 2014-04-22 2018-06-20 東芝ライフスタイル株式会社 自律走行体

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
None *

Also Published As

Publication number Publication date
FR3075029A1 (fr) 2019-06-21
CN109924930A (zh) 2019-06-25
FR3075029B1 (fr) 2020-05-22
ES2848840T3 (es) 2021-08-12
EP3498144A1 (de) 2019-06-19
CN210121109U (zh) 2020-03-03
CN109924930B (zh) 2022-05-17

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