JP2021523769A - Robot cleaning device with retractable side brush - Google Patents

Abstract

The robot cleaning device (100) includes a main body (111), a propulsion system (112, 113, 115a, 115b) configured to move the robot cleaning device (100) on the surface to be cleaned (129), and propulsion. A controller (116) configured to control the system to move the robot cleaning device (100) over the surface to be cleaned (129), and at least one arranged to sweep debris from the surface to be cleaned. It comprises two rotating side brushes (114). Upon receiving the control signal from the controller (116), the robot cleaning device (100) is moved so that the rotating side brush does not come into contact with the surface to be cleaned (129). Is further provided with a mechanism configured to at least partially retract the body into a space (119) arranged inside the body (111).

Description

The present invention relates to a robot cleaning device equipped with at least one retractable side brush.

In the art, a robotic vacuum cleaner is known that is equipped with a driving means in the form of a motor for moving the vacuum cleaner across the surface to be cleaned. A robotic vacuum cleaner is an intelligence in the form of a microprocessor and a path that allows a robotic vacuum cleaner to behave autonomously, for example, to be able to freely move around and clean a space in the form of a room. Equip more guidance means.

Traditionally, robotic vacuum cleaners are configured to have a circular body. Such a robot with a coaxial drive wheel in the center of its body is easily stuck because it is easy for the robot to control, it rotates 180 ° and it is always possible to return to the same path it came from. It has the advantage of not being obtained.

However, due to their shape, these circular vacuum cleaners can get into corners, close enough to walls, or other objects that require cleaning around them, such as chair legs. The circular bodies make them unsuitable for cleaning the corners or edges where the floor intersects the walls, as they cannot be approached.

An example of a robotic vacuum cleaner aimed at solving this problem is disclosed in US Patent Application Publication No. 2013/0086760. The body of the robot vacuum cleaner is circular, and the robot vacuum cleaner is the bottom side of the body in the front compartment of the robot vacuum cleaner for sweeping debris from corners that the robot vacuum cleaner cannot reach. Equipped with a rotating side brush placed in. In addition, each rotating side brush is mounted on a respective pivotable arm that can be pivoted to extend the side brush in front of the body to reach further. Side brushes are also used for robotic vacuum cleaners that have other shapes, such as triangular shapes.

Here, the problem with side brushes is that they tend to deteriorate in operation on certain types of surfaces, such as carpets where carpet fibers can get entangled with rotating brushes. In addition, the carpet also wears out the side brushes, thereby affecting their durability, and rather than letting the robot sink into the carpet to thoroughly clean the carpet, the robot unintentionally. Even lifting can occur. Another disadvantage is that the side brushes impede the robot's ability to climb and cross objects such as thresholds, cables, and carpet edges.

An object of the present invention is to provide a robotic vacuum cleaner that solves, or at least alleviates, this problem in the art and is therefore not hindered by its own side brush.

An object of the present invention is a propulsion system and a propulsion system, which is a robot cleaning device according to a first aspect of the present invention, wherein the robot cleaning device is configured to move a main body and the robot cleaning device on a surface to be cleaned. Robot cleaning with a controller configured to control the robot cleaning device to move over the surface to be cleaned, and at least one rotating side brush arranged to sweep debris from the surface to be cleaned. Achieved by the device. When the robot cleaning device receives the control signal from the controller, the robot cleaning device moves the rotating side brush so as not to come into contact with the surface to be cleaned by moving the rotating side brush into a space arranged inside the main body. It further comprises a mechanism configured to at least partially retract.

Advantageously, by having the ability to pull in the side brushes, the robot cleaning device avoids the situation where the side brushes get entangled with the carpet fibers, or the robot's climbing over objects such as thresholds, cables, and carpet edges. The ability can be improved or simply the side brushes can be allowed to stay out of permanent contact with the moving surface of the robot cleaning device.

In one embodiment, the mechanism receives a pull-in member coupled to at least one rotary side brush arranged to pull the at least one rotary side brush into the space, and a control signal from the controller. Further included are actuators (eg, motors) arranged to move possible members into or out of the space.

In one embodiment, the at least one rotating side brush is arranged so as to be retractable into the space inside the main body in the axial direction with respect to the rotation axis of the side brush.

In one embodiment, the space is cylindrical and the mechanism configured to pull in the at least one rotating side brush is fitted with a screw rod, at least one rotating side brush, arranged in the cylindrical space. An annular thread member, wherein the annular thread member is arranged to engage the threaded rod, and includes an annular threaded member and an actuator (eg, a motor) configured to rotate the threaded rod. .. In addition, the diameter of the cylindrical space is adapted to the dimensions of at least one rotating side brush so that friction is created between the side brush and the interior of the cylindrical space, thereby at least one rotating side brush. (114) is prevented from rotating at least partially when it is in contact with the inside, and when the screw rod rotates in the first direction, at least one rotating side brush is rotated to clean the dust on the surface to be cleaned. The friction causes the annular thread member to move along the threaded rod and extend out of space in order to be swept away from the threaded annular member so that the annular threaded member disengages the threaded engagement with the threaded rod. As the screw rod moves along the screw rod until it reaches the end member of the screw rod and the screw rod rotates in the second direction, the friction between at least one rotating side brush and the surface to be cleaned Allow the annular threaded member to move along the threaded rod and retract into the space. Advantageously, the same actuator is used to pull in the side brush and to rotate the side brush.

In a further embodiment, the mechanism further comprises a spring disposed between the annular thread member and the end member.

In a further embodiment, the robot cleaning device further comprises an opening in the bottom side of the body from which debris is removed from the surface, with at least one rotating side brush located adjacent to the opening.

In general, all terms used in the claims should be construed in accordance with their usual meaning in the art, unless expressly defined herein. All references to "a / an / the elements, articles, components, members, steps, etc. (elements, devices, components, means, steps, etc.)" are all elements, devices, unless otherwise explicitly stated. , Components, means, steps, etc. are openly interpreted as referring to at least one example. The steps of any method disclosed herein need not be performed in the exact order in which they are disclosed, unless expressly stated otherwise.

Next, the present invention will be described as an example with reference to the accompanying drawings.

FIG. 1 shows a robot cleaning device according to an exemplary embodiment of the present invention. FIG. 2 shows the robot cleaning device of FIG. 1 in a front view. FIG. 3 shows the retracting of the rotating side brush in one embodiment. FIG. 4 shows the retracting of the rotating side brush in another embodiment. FIG. 5a shows the retracting / extending of the rotating side brush in one embodiment. FIG. 5b shows the retracting / extending of the rotating side brush in one embodiment. FIG. 6a shows the extension of the rotating side brush in one embodiment. FIG. 6b shows the extension of the rotating side brush in one embodiment. FIG. 7 shows a spring-loaded side brush in one embodiment.

Next, the present invention will be described in more detail with reference to the accompanying drawings showing specific embodiments of the present invention. However, the invention can be embodied in many different forms and should not be construed as limited to the embodiments described herein. Rather, these embodiments are provided as examples so that the present disclosure is thorough and complete, and the scope of the invention is fully communicated to those skilled in the art. Similar numbers refer to similar elements throughout this description.

The present invention relates to a robot cleaning device, or in other words, an automatic self-propelled machine for cleaning a surface, such as a robot vacuum cleaner, a robot sweeper or a robot floor cleaner. The robot cleaning device according to the present invention may be commercially powered, corded, battery powered, or may use any other suitable energy source, such as solar energy.

Although it is assumed that the present invention can be carried out by various suitable robot cleaning devices having sufficient processing intelligence, FIG. 1 is a bottom view of the robot cleaning device 100 according to an embodiment of the present invention. show. That is, the bottom side of the robot cleaning device is shown. The arrows indicate the forward direction of the robot cleaning device 100, which is shown in the form of a robot vacuum cleaner.

The robot cleaning device 100 includes a propulsion system including driving means in the form of two electric wheel motors 115a, 115b for enabling the movement of the driving wheels 112, 113 so that the cleaning device can be moved on the surface to be cleaned. A main body 111 for accommodating the components of the above is provided. Each wheel motor 115a, 115b has the ability to control the robot cleaning device 100 to rotate its respective drive wheels 112, 113 independently of each other in order to move it across the surface to be cleaned. Many different drive wheel arrangements and various wheel motor arrangements can be envisioned. It should be noted that the robot cleaning device can have any suitable shape, such as a device with a more traditional circular body, or a triangular body. As an alternative example, a track propulsion system or even a hovercraft propulsion system may be used. The propulsion system may be further configured to cause the robot cleaning device 100 to perform any one or more of yaw, pitch, translation or roll movements.

An obstacle detection device (FIG.) for a controller 116, such as a microprocessor, to detect obstacles in the form of walls, floor lamps, and table legs that the robot cleaning device must avoid traveling on the wheel motors 115a, 115b. The drive wheels 112 and 113 are controlled to rotate as required in consideration of the information received from (not shown in 1). The obstacle detection device is implemented using, for example, a 3D camera for detecting an obstacle and communicating information about an arbitrary detected obstacle to the microprocessor 116, a camera combined with a laser, a laser scanner, and the like. It can be embodied in the form of a 3D sensor system that registers the surrounding conditions of the obstacle detection device. The microprocessor 116 communicates with the wheel motors 115a, 115b and, according to the information provided by the obstacle detection device, allows the robot cleaning device 100 to move across the surface to be cleaned as desired. Control the movement of the.

Further, the robot cleaning device 100 includes one or more batteries 117 for supplying electric power to different components included in the cleaning device 100. One or more batteries 117 are charged via a charging station to which the robot cleaning device 100 docks.

Further, the main body 111 of the robot vacuum cleaner 100 is for transporting dust to a dust collecting bag or a cyclone mechanism (not shown) housed in the main body through an opening 118 in the bottom side of the main body 111. A suction fan 120 that creates an air flow is provided. The suction fan 120 is driven by a fan motor 121 communicatively connected to the controller 116. The fan motor 121 receives a command from the controller 116 to control the suction fan 120. One or more rotating side brushes 114 adjacent to the opening 118 are further arranged in the main body 111. The rotation of the side brush 114 is usually achieved by a separate motor (not shown in FIG. 1), or a brush roll motor.

Further referring to FIG. 1, the controller / processing unit 116 embodied in the form of one or more microprocessors is suitable associated with the microprocessor, such as random access memory (RAM), flash memory or hard disk drive. It is configured to execute the computer program 125 downloaded to the storage medium 126. The controller 116 is configured to implement the methods according to embodiments of the present invention when an appropriate computer program 125, including computer executable instructions, is downloaded to the storage medium 126 and executed by the controller 116. The storage medium 126 may also be a computer program product that includes a computer program 125. Alternatively, the computer program 125 may be transferred to the storage medium 126 using a suitable computer program product such as a digital versatile disc (DVD), compact disc (CD) or memory stick. As a further alternative, the computer program 125 may be downloaded to the storage medium 126 via a wired or wireless network. Alternatively, the controller 116 may be embodied in the form of a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a composite programmable logic device (CPLD), or the like.

FIG. 2 shows the obstacle detection device described above in the form of a 3D sensor system comprising a camera 123 and at least first and second line lasers 127, 128, which may be horizontal or vertically oriented line lasers. The front view of the robot cleaning device 100 of FIG. 1 in one embodiment of the present invention is shown. Further illustrated are a controller 116, a body 111, drive wheels 112, 113, and a rotating side brush 114. The controller 116 is operably coupled to a camera 123 for recording an image in the vicinity of the robot cleaning device 100. The first and second line lasers 127 and 128 may preferably be vertical line lasers and are located lateral to the camera 123. The camera 123 is controlled by the controller 116 to capture and record a plurality of images per second. Data from the image is extracted by the controller 116 and the data is typically stored in memory 126 with the computer program 125.

The first and second line lasers 127 and 128 are usually configured to scan the vicinity of the robot cleaning device 100 in the moving direction of the robot cleaning device 100, preferably in the vertical direction. The first and second line lasers 127, 128 are configured to emit a laser beam that, for example, illuminates furniture, walls and other objects in the room to be cleaned. The camera 123 is controlled by the controller 116 to capture and record an image. From the image, the controller 116 extracts features from the image and by measuring the distance traveled by the robot cleaning device 100 while the robot cleaning device 100 is moving across the surface to be cleaned 129. Create an expression or layout of the surrounding conditions in which the robot cleaning device 100 is operating.

It is noted that the side brush 114 may be placed on the robot cleaning device 100, which is simpler than illustrated in FIGS. 1 and 2 for purposes of illustration.

Next, in one embodiment, it is avoided that the side brush 114 is entangled with the fibers of the carpet, or that it impedes the ability of the robot 100 to climb and cross objects such as thresholds, cables, and carpet edges. Therefore, or simply, the robot cleaning device 100 is equipped with a mechanism for pulling the side brush 114 into the space inside the main body 111 so that the side brush 114 does not permanently contact the moving surface of the robot cleaning device 100. ing.

FIG. 3 comprises a retractable member 122, such as a rod or piston, on which the side brush 114 is located, and an actuator exemplified by a motor 124 for pulling the rod 122 into space 119 within the body 111. The robot cleaning device 100 equipped with the mechanism is shown.

Therefore, when it is no longer desired to bring the side brush 114 into contact with the surface to be cleaned 129, the controller 116 pulls the motor 124 into the space 119 in favor of the side brush 114, partially or completely. , The rod 122 will be controlled to be pulled into space 119 so as to result in the side brush 114 no longer in contact with the surface 129. Conversely, if it is again desired to bring the side brush 114 into contact with the surface 129, the controller 116 will control the motor 124 to extend the rod 122 out of space 119, thereby the side. The brush 114 extends out of space 119 and eventually comes into contact with surface 129 as shown in FIG.

FIG. 4 shows a robot cleaning device 100 equipped with a mechanism for pulling the rotating side brush 114 into the space 119 in the main body 111 according to a further embodiment.

In the present embodiment, the rotating side brush 114 is drawn into the space 119 in a direction axial to the rotation axis of the rotating side brush 114. Again, as before, the pull-in member 122 favorably pulls the side brush 114 into space 119 partially or completely in order to move the side brush 114 into contact with and out of contact with the surface 129. It can be embodied by a rod or piston that is pulled in (or extended from) into space using a motor 124 so that it extends from / from.

In the embodiments described with reference to FIGS. 3 and 4, the motor 124 is used to allow the pull-in member 122 to retract into / extend from space 119 in the body 111 and is a robot cleaning device. The 100 may need to be equipped with additional motors (not shown) for actually rotating the side brush 114.

FIG. 5a shows a further embodiment of a mechanism for pulling the rotating side brush 114 into the space 119 in a direction axial to the rotation axis of the rotating side brush 114.

In the present embodiment, the pull-in member is embodied in the form of a screw rod 122a arranged in the space 119, and the motor 124 is configured to rotate the screw rod 122a. Further, in this embodiment, the space 119 is cylindrical (this can also be the case in the previously shown embodiments).

Further, the mechanism includes an annular thread member 130 to which the side brush 114 is attached, which is configured to engage the threaded rod 122a.

Next, in this embodiment, the diameter of the cylindrical space 119 is adapted to the dimensions of the side brush 114, which creates friction between the side brush 114 and the interior of the cylindrical space. As can be seen in FIG. 5a, the retracted side brush 114 is in close contact with the interior of space 119.

When the motor 124 begins to rotate the screw rod 122a in the first direction (ie, the direction of rotation of the rotating side brush 114 when the brush is in cleaning mode), between the side brush 114 and the interior of space 119. The friction will prevent the side brush 114 from rotating (or at least freely rotating), which will cause the annular member 130, and thus the side brush 114, to move downward along the threaded rod 122a. However, there is an effect that the annular screw member 130 extends from the space 119 until it reaches the end section 131 of the screw rod 122a that prevents the annular screw member 130 from being disengaged from the screw engagement with the screw rod 122a.

Conversely, referring to FIG. 5b, when the motor 124 begins to rotate the screw rod 122a in the second direction (ie, opposite to the direction of rotation of the rotating side brush 114 in cleaning mode), the side brush 114 and space 119. The friction between the interior and the interior of the side brush 114 will prevent the side brush 114 from rotating, which will cause the annular member 130, and thus the side brush 114, to move upward along the threaded rod 122a, for example. , The effect of retracting into space 119 until it reaches the position as measured by a sensor or timer, or the mechanical end stopper, or simply the end position in the form of an internal end wall of space 119. Bring.

Assuming that the retracted side brush 114 of FIG. 5a extends from space 119 and is set to cleaning mode, the motor 124 decides to rotate the screw rod 122a in the indicated first direction. On the other hand, the friction between the inside of the space 119 and the side brush 114 prevents the side brush 114 from rotating.

Referring to FIG. 6a, as a result of friction, the annular threaded member 130 and thus the side brush 114 will move downward along the threaded rod 122a.

After that, as can be seen in FIG. 6b, the annular screw member 130, and thus the side brush 114, exits the space 119 and extends from the main body 111, and the annular screw member 130 engages with the annular screw member 130 with the screw rod 122a. It will move downward until it comes into contact with the end section 131 that prevents it from coming off. As can be concluded from FIG. 6b, the rotating side brush 114 is now in cleaning mode.

At this position, if it is desired that the annular screw member 130, and thus the rotating side brush 114, be pulled into the body 111 of the robot cleaning device 100, the controller 116 rotates the motor 124 and the screw rod 122a. It will be controlled to change direction, in which case the annular threaded member 130 will move upward along the threaded rod 122a due to friction between the rotating side brush 114 and the surface to be cleaned 129. , Retract into space 119.

Advantageously, according to the embodiments shown in FIGS. 5a-b and 6a-b, the motor 124 used to retract / extend the side brush 114 into / out of space 119 is a side brush 114. It is also used to rotate. Therefore, a single motor 124 can be used to handle both pulling / extending and rotating the side brush 114.

In FIG. 7, a spring 132 is arranged between the end member 131 and the annular thread member 130, and the spring is attached to any one of the end member 131 and the annular thread member 130. An embodiment is shown. Advantageously, the end member 131 and the annular thread member 130 are configured to be spring-loaded with respect to each other so that friction between the rotating side brush (not shown in FIG. 7) and the surface to be cleaned Can be controlled based on the stiffness of the selected spring 132.

The present invention has been mainly described above with reference to several embodiments. However, as will be readily understood by those skilled in the art, as defined by the appended claims, embodiments other than those disclosed above may be equivalent within the scope of the invention.

Claims (8)

A robot cleaning device, wherein the robot cleaning device
With the main body
A propulsion system configured to move the robot cleaning device over the surface to be cleaned.
A controller configured to control the propulsion system to move the robot cleaning device over the surface to be cleaned.
With at least one rotating side brush arranged to sweep dust off the surface to be cleaned,
With
The at least one rotating side brush is arranged inside the main body so that when the robot cleaning device receives a control signal from the controller, the rotating side brush is moved so as not to come into contact with the surface to be cleaned. A robot cleaning device that further comprises a mechanism configured to at least partially retract into a confined space. The mechanism
When the retractable member coupled to the at least one rotating side brush arranged so as to draw the at least one rotating side brush into the space and the control signal from the controller are received, the retractable member is said to be retractable. Actuators arranged to move into or out of space,
The robot cleaning device according to claim 1, further comprising. The robot according to claim 1 or 2, wherein the at least one rotating side brush is arranged so as to be retractable into the space inside the main body in the axial direction with respect to the rotation axis of the side brush. Cleaning device. The mechanism, wherein the space is cylindrical and is configured to pull in the at least one rotating side brush.
A screw rod arranged in the cylindrical space,
An annular screw member to which the at least one rotating side brush is attached, wherein the annular screw member is arranged so as to engage with the screw rod.
Includes an actuator, which is configured to rotate the threaded rod.
The diameter of the cylindrical space is adapted to the dimensions of the at least one rotating side brush such that friction is created between the side brush and the interior of the cylindrical space, thereby causing the at least one rotation. Preventing the side brush from rotating when in contact with the interior, at least partially,
When the screw rod rotates in the first direction, the friction causes the screw to the annular screw member in order to rotate the at least one rotating side brush and sweep the dust away from the surface to be cleaned. Until it moves along the rod and extends out of the space until the annular screw member reaches the end member of the screw rod that prevents the annular screw member from disengaging from the thread engagement with the screw rod. , Move along the screw rod,
When the screw rod rotates in the second direction, the friction between the at least one rotating side brush and the surface to be cleaned moves to the annular screw member along the screw rod and into the space. The robot cleaning device according to claim 3, wherein the robot cleaning device is retracted. The mechanism
The robot cleaning device according to claim 4, further comprising a spring disposed between the annular screw member and the end member. The robot cleaning device of claim 4, further comprising an opening in the bottom side of the body from which debris is removed from the surface, with at least one rotating side brush disposed adjacent to the opening. .. The robot cleaning device according to any one of claims 2 to 6, wherein the actuator is a motor. The robot cleaning device according to any one of claims 1 to 7, wherein the robot cleaning device is a robot vacuum cleaner, a robot sweeper, or a robot floor cleaning machine.

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