548164 五、發明說明（1 ) 本 發明係有關於一種可移動之機器 人 〇 明 確 地 本 發明係有關於一種可移動之淸潔用機器 [人 〇 在 住宅、辦公室、實驗室及相似者內 收 集 表 面 上 且 特別是地板上之灰塵微粒係一普遍 的 問 題 〇 這 種 收 集灰塵之工作並不舒適，且在眾多 場 合 中 亦 對 許 多 氣喘病患造成健康上的問題。因此 必 須 定 期 淸 洗 或真空吸塵地板空間。在大多數情 況 下 這 係以人 工來實施。 本 發明之一目的係提供一種自動移除 灰 塵 之 解 決 方 案 ，且本發明提供一種可實施這種工 作 的 可 移 動 之 機 器人。本解決方案將不完全取代人 工 淸 潔 工 作 但 可提供輔助，因此得減少對人工 淸 潔 之 需 求 0 是 以，本發明之一目的係提供一種可 在 給 定 之 一 段 作 業時間內，移除譬如一辦公室中等 一 地 板 表 面 上 大 部份灰塵微粒的可移動之機器人。 巨 前技術已具有關於複雜的可移動之 機 器 人 的 知 m 〇 程式可控制機器人之運動，使其可 依 一 需 求 之 運 動 型態來運動。 譬 如，美國專利案第5,440,2 16號係描 述 — 種 能 夠 白 動 移動至電池充電站以充電其電池的 機 器 人 〇 美 國 專 利案第5,787,545號亦描述一種真空 吸 塵 用 的 可 移 動 之機器人。 -3-548164 V. Description of the invention (1) The present invention relates to a movable robot. Specifically, the present invention relates to a movable cleaning machine [person. Collecting surfaces in houses, offices, laboratories and the like. Dust particles on the floor, especially on the floor, are a common problem. This kind of dust collection work is not comfortable, and it also causes health problems for many asthma patients in many places. Therefore, the floor space must be cleaned or vacuumed regularly. In most cases this is done manually. An object of the present invention is to provide a solution for automatically removing dust, and the present invention provides a movable robot capable of performing such a work. This solution will not completely replace the manual cleaning work but can provide assistance, so the need for manual cleaning will be reduced. Therefore, an object of the present invention is to provide a method that can remove, for example, a A mobile robot with most of the dust particles on the floor surface of an office. The forefront technology already has knowledge about complex movable robots. The program can control the movement of the robot so that it can move according to a required motion pattern. For example, U.S. Patent No. 5,440,2 16 describes a robot that can be moved to a battery charging station to charge its battery. U.S. Patent No. 5,787,545 also describes a mobile robot for vacuuming. -3-
548164 五、發明說明（2) 然而，該兩解決方案皆較複雜且皆使用一處理 器來控制機器人之運動。 本發明之目的係提供一種非常簡單之機器人。 其必須爲一非常簡單之設計及結構，且必須能夠便 宜地製造，使人員能夠將其視作習知淸潔設備的一 不昂貴輔助。這係先前技藝中描述之解決方案無法 達成者。 又者，本發明之一目的係使其所提供之機器人 不包括複雜的控制系統，且因此本發明之一目的係 不利用電腦處理器來控制機器人之運動。 上述之兩解決方案中，驅動單元本身一直係設 於頂帽本身內。然而，本發明之一目的係達成一 「隨機運動方向」，且當有眾多不同因素影響「運 動方向之選擇」時，將得最佳地達成該目的。達成 該目的之一方法係使機器人承受許多「衝擊力 矩」，亦即機器人、或驅動齒輪碰撞其他物件而起 始一方向改變的狀態。 以該驅動單元不固定至該頂帽、但可在該頂帽 所限制之一區域內關於該頂帽自由運動的方式配置 該驅動單元於該頂帽中時，衝擊點之數量、或衝擊 力矩將大幅增加’同時亦藉由將驅動齒輪撞擊該頂 帽內側來起始方向改變。 據了解，先前技藝中未曾提及這類系統，因此 -4- 548164 五、發明說明（3 ) 本 發 明提供一種新穎的可移動之機器 人 且 其 可 用 於 許 多不同應用中。發展該機器人之 S 的 係 爲 了 發 展 出 一淸潔用機器人，以下之範例係 指 這 種 具 體 實 施 例 。但必須指出，本發明包括該機 器 人 本 身 且 本 發 明並非以用於淸潔之機器人爲限。 是以，本發明之一核心特徵在於 引 發 該 機 器 人 運 動 之驅動齒輪並非固定至該頂帽本身。 依據本發明之驅動單元的一現有 較 佳 具 體 實 施 例係 一球，其中該球內配置有引發該 球 旋 轉 的 一 驅 動 齒 輪。 是以，本發明之特徵在於，其包 括 一 驅 動 單 元 及 -- 頂帽，其中該驅動單元係接觸著 該 表 面 及 該 驅 動 單元係配置於該頂帽內且關於丨 該 頂 帽 呈 白 由 地 並且其中至少部份地包圍該驅丨 勖 單 元 之 該 頂 帽 ， 在彎向該表面之區段中係延伸1 較 該 驅 動 單 元 遠 而於該頂帽與該驅動單元之間構 成 — 空 間 使 得 該 驅動單元在該表面上自由地推動 且 隨 機 地 移 動 該 頂 帽。 申請專利範圍附屬項第2項至第 14 項 中 將 說 明 本 發明之更詳細具體實施例。 該機器人之一目前較佳具體實施 例 包 括 用 於 白 一 表 面移除灰塵的一淸潔用機器人， 其 中 與 待 淸 潔 之 該 表面接觸的一個或更多淸潔用布 -5- 係 藉 可 移 除 式 548164 五、發明說明（4) 固牢至該頂帽。 現在將參考揭露之圖式來詳細說明本發明’其 中·· 第1圖係以一剖面之一區段來顯示在本具體實 施例中爲一球之一驅動單元如何配置於形成爲頂帽 之一半球內。 第2圖係顯示固牢至該機器人頂帽之一淸潔用548164 V. Description of the invention (2) However, both of these solutions are more complicated and both use a processor to control the movement of the robot. The object of the present invention is to provide a very simple robot. It must be a very simple design and structure, and it must be able to be manufactured inexpensively so that personnel can view it as an inexpensive aid to conventional sanitation equipment. This is the solution to the problem described in the previous art. Furthermore, one object of the present invention is to make the robot provided by it not to include a complex control system, and therefore one object of the present invention is not to use a computer processor to control the motion of the robot. In both of the above solutions, the drive unit itself is always located in the top cap itself. However, one object of the present invention is to achieve a "random motion direction", and when there are many different factors affecting the "selection of the motion direction", this object will be best achieved. One way to achieve this is to subject the robot to many "impact moments", that is, a state where the robot, or drive gear, collides with other objects and starts to change direction. The number of impact points, or the impact torque, when the drive unit is disposed in the top hat in a manner that the drive unit is not fixed to the top hat but can move freely about the top hat in an area restricted by the top hat It will increase substantially at the same time as the starting direction is changed by hitting the drive gear to the inside of the top cap. It is understood that this type of system was not mentioned in the prior art. Therefore, the description of the invention (3) The present invention provides a novel mobile robot and it can be used in many different applications. To develop the S system of this robot, in order to develop a cleaning robot, the following examples refer to this specific implementation example. However, it must be pointed out that the present invention includes the robot itself and that the present invention is not limited to a robot for cleaning. Therefore, one of the core features of the present invention is that the driving gear that causes the robot to move is not fixed to the top cap itself. An existing, better specific embodiment of the driving unit according to the present invention is a ball, wherein a driving gear is arranged in the ball to cause the ball to rotate. Therefore, the present invention is characterized in that it includes a driving unit and a top cap, wherein the driving unit is in contact with the surface and the driving unit is arranged in the top cap and is free from the ground. And the top cap, which at least partially surrounds the driving unit, extends 1 in the section bent to the surface farther than the driving unit and between the top cap and the driving unit—the space makes the The drive unit is free to push and randomly move the top cap on the surface. More detailed and specific embodiments of the present invention will be described in the appended claims 2 to 14 of the scope of patent application. One of the presently preferred embodiments of the robot includes a cleaning robot for removing dust on a surface, in which one or more cleaning cloths in contact with the surface to be cleaned are provided. Removal formula 548164 V. Description of the invention (4) Fasten to the top cap. The present invention will now be described in detail with reference to the disclosed drawings. Among them, FIG. 1 is a section of a cross section to show how a driving unit, which is a ball in this embodiment, is configured to be formed as a top hat. Within half of the ball. Figure 2 shows one of the top hats of the robot that is fastened
布。 第3圖係顯示一真空吸引單元如何配合至該機 器人頂帽。 第4圖係顯示關於完成處理一給定表面所需之 時間的一模擬。 第5圖係一頂帽之一變型具體實施例，及一淸 潔用布如何固牢至該頂帽。cloth. Figure 3 shows how a vacuum suction unit fits into the robot's top hat. Figure 4 shows a simulation of the time required to complete the processing of a given surface. FIG. 5 is a modified embodiment of a top cap, and how a stack of cleaning cloth is fastened to the top cap.
第6圖係顯不該頂帽之一變型具體實施例。 參考第1圖來說明依據本發明之核心槪念。一可 動式機器人1 0係由配置一驅動單元1 2於一頂帽14 內而構成，且係放置於譬如一地板1 6等一表面上。 圖示之具體實施例中，該驅動單元包括具有一球型 構架及一內驅動齒輪的一球1 2。使用一球作爲該機 器人之一驅動單元係目前較佳具體實施例。然必須 指出，亦可使用譬如利用輪子的驅動單元等其他驅 動單元。核心槪念在於，該驅動單元並非固定至該 548164 五、發明說明（5) 頂帽。 該球內使用之驅動齒輪（圖式中未顯示出）可爲任 何型式’且因此本發明並不包括驅動齒輪本身。譬 如可使用W〇99/30876號案、W0 97/25239號案、以 及美國專利案第 4,733,737、4,726,800、5,541，814 及 4,501，569號中提及之球用驅動齒輪。該驅動齒輪具 有電子式控制電路以使該驅動齒輪啓動及停止，及 譬如爲電池的一電源。目前較佳的一該球用驅動齒 輪包括一重物，可藉由一驅動齒輪來改變該重物之 位置’且其中該重物係沿該球構架內側運動，使得 該球重心將隨引發之該球運動而改變。是以，驅動 原理係依據一旋轉動量。 必須強調，提供一便宜的可移動之機器人係本 發明之一目的，且該機器人之運動方向將因此而不 受控制、及並未利用人工類神經網路或「模糊邏 輯」或著記憶導向之控制邏輯。 在第1圖所示之一較佳具體實施例中係呈半球型 之頂帽14在彎向地板之區段中具有略大於球1 2直徑 的一直徑。頂帽14之高度最好亦略大於球12之直 徑。如此將在頂帽14與球1 2之間構成一空間1 5。 球1 2係於該空間1 5內運動，且該球與該頂帽之動作 結合將使機器人10隨著球12推迫頂帽14而運動。 當機器人10撞擊譬如一椅腳或牆壁之一區段等一物 548164 五、發明說明 (6) 體 時 ， 機 器人10之逃脫控制係根據一無限多 次 之 隨 機 搜 尋 〇 這日首不當機器人1 〇撞擊一物體時， 其方 向 將 厂 隨 機 地」改變。球12之運動動力學以及 該 球 與 牆 壁 碰 撞 之間的接合作用亦由空間1 5定義、 即 該 驅 動 單 元 與 頂帽之間的碰撞將獲致與機器人10 碰 撞 到 之 物 體 ίΕΕΕ J \\ 關的一任意運動型態。原型機之測 試 已 顯 示 出 y 機 器人10極能夠自地板上之實體障礙 物 厂 脫 離 J 〇 球 1 2之型式係使球1 2以低摩擦倚靠著 地 板 運 動 〇 該 球可由任何材料製成，但構成球1 2外 表 面 之 - 材 料 必 須 與地板間具有足夠的摩擦，使得該 球 之 旋 轉 運 動 得 導致球12關於地板作運動。 可 藉 由許多不同方法來製造頂帽14。以 上 參 考 第 1 圖來說明之解決方案僅爲一變型。在本解 決方 案 中 整 個 該球皆由該頂帽所包圍，以下將解 釋 其 他 的 頂 帽 代 表具體實施例。 本 發 明之一進一步構想係有關於一種淸 潔 用 機 器 人 〇 其 中的核心槪念在於，可能將淸潔用 裝 置 固 定 至 該 頂 帽。本發明人在試驗該「淸潔用機 器 人 j 時 已 顯 示 出’藉使用靜電式布，即可有效地 白 待 淸 潔 地板 移 除灰塵及污物。 爲 了 建構一淸潔用機器人，必須可能_ 淸 潔 用 裝 置 緊 固 至該頂帽。 -8- 548164 五、發明說明（7) 是 以，第2圖係顯示一頂帽，其中配置於 該 頂 帽 下 方 區段者係用於緊固一淸潔用布的一魔鬼 氈 系 統 〇 第 5圖及第6圖中顯示係該頂帽之變型具 體 實 施 例 〇 第6圖中，該頂帽並非爲包圍整個該球 之 一 半 球 型 帽，而僅爲限制該球運動空間15的一 構 架 20 〇 該 構架具有足夠使該球與該構架碰撞的 ——- 局 度 以 產生一構架運動。 更 ，第5圖顯示之一具體實施例中，該頂 帽 彎 向 地 板 之區段具有沿徑向向外延伸的一區段28 以 構 成 可供該淸潔用布30固牢至其上的一表面。 巨 前本發明之最佳具體實施例係第5圖及 第 6 圖 所 示 特徵之一組合，即該頂帽僅爲一構架、 但 具 有 一 向外延伸之區段28以固牢一淸潔用布30。 該 淸潔用布可譬如藉魔鬼氈 27緊固至 該 頂 帽 〇 由 於該布材料本身通常將自行連附至該魔 鬼 氈 27 因 此在大多數情況下，僅將該魔鬼氈27緊 固 至 該 頂 帽 即已足夠。該解決方案暗示，該淸潔用布 30 係平 壓 於頂帽14之區段28與地板16之間、即 該 布 係 配 置 於頂帽14本身下方。是以，配置於該淸 潔 用 布 30中者係一開口，使得該驅動單元與地板接觸。 ) 區 段28可具有一圓形外型，但其他具體實 施 例 亦 屬 可 能。譬如，目前之試驗係一正方形區段28 -9- 與 548164 五、發明說明（8) 一正方形淸潔用布30以觀察是否可沿牆壁及在轉角 處更有效率地淸潔。更，在此應提出說明，淸潔用 布30之大小尺寸無需與區段28之外型者相同。在一 具體實施例中，該布係較區段28延伸更遠，使得該 布最外側部份更具彈性（因爲該部份未接觸區段28)， 而得運動爬上鄰接表面（譬如牆壁）一段短距離。 在又一變型具體實施例中，該淸潔用布本身係 配置於該頂帽上方。圖式中未顯示出這種具體實施 例。 倘若將譬如一真空淸潔用裝置等相當大的設備 固定至頂帽14,則該頂帽可裝設朝向下方地板的複 數個球/輪子（圖式中未顯示），使得該頂帽與地板之 摩擦降低。 如前所述者，機器人10之運動型態係由產生於 該機器人與房間內物體（椅腳、牆壁及相似者）之間的 碰撞、及發生於該驅動單元與該頂帽內側之間的碰 撞所掌控。因此，該機器人在一給定時間後將藉一 「任意/隨機」型態運動橫跨整個地板。可執行將譬 如地板面積及外型、傢倶（椅腳及桌腳、其他的辦公 室設備及相似者）、淸潔用裝置之面積及範圍、該機 器人速度等參數皆考慮在內的計算，因此得估計出 將在一給定時間內處理之地板部份的尺寸。譬如， 倘若允許該機器人運動2小時，則可估計出至少處 -10- 548164 五、發明說明（9) 理95%地板大小一次的地板尺寸。 由於該機器人並不完全取代習知的淸潔，因此 在大多數情況下，以地板尺寸之譬如95%作估計即已 足夠。可假想該機益人係在人員完成一^天工作後於 一辦公室中工作兩小時。請參閱以下之範例1。 除塵器可譬如作爲淸潔用裝置。最好使用靜電 式除塵器且市場上已可取得這種除塵器。當推進該 除塵器橫跨整個地板表面時將可吸取灰塵微粒。如 上所述，該等除塵器之外型係調整成適應特殊應用 及該淸潔用機器人、即可能配置有適合該機器人魔 鬼氈的魔鬼氈，且該等除塵器配置有一開口以定位 該頂帽及/或該驅動單元。 第2圖中顯示之本型淸潔用機器人可爲任何尺 寸，但就已發展完成之原型機，該球具有一 1〇公分 直徑，且該頂帽在彎向地板之區段中具有大約20公 分之一直徑。 第3圖中顯不一具體實施例，其中該淸潔設備係 一真空吸引單兀。在該圖式顯示之具體實施例中， 該頂帽本身係成型爲一真空吸引單元，使得該驅動 單元沿地板表面推動該真空吸引單元。再者，該淸 潔用機器人最好非常簡單，且爲了建構一真空吸引 單元，原則上具有兩隔室20及22即已足夠，其中一 風扇26係構成一低壓力，使得空氣可藉面向下朝地 548164 五、發明說明（1〇) 板表面之複數個開口 24而經由一單向閥23吸引並進 入隔室20中。空氣在自隔室20排出之前將通過一過 濾器25而得過濾。 另一選擇爲，一真空吸引單元係緊固至第2圖 或第6圖所示型式之一頂帽。 儘管本發明係藉參考一淸潔用機器人之應用、 即裝設一除塵器或一真空淸潔器者來作爲說明範 例，然應強調，本發明之普遍槪念包括將具有一驅 動齒輪之一驅動單元配置於一頂帽中，使該等者一 同發生橫跨整個地板之一運動。是以，本發明並非 以淸潔用機器人爲限，但圖式中顯示之這種淸潔用 機器人係目前本發明之最佳具體實施例。 範例1-樽擬 第4圖係顯示根據一理論模型之模擬。 At()t :總面積（平方公分） Kb :布寬度（公分） Kh ：布速度（公分/秒） A(i): 受覆蓋之面積（平方公分）；i係每秒鐘 更新一次之一指標。 每次更新（即每秒鐘）將增加一'新面積Kb*Kh，且 該增加之新面積係隨已覆蓋面積增大而減少的一因 -12- 548164 五、發明說明（11) 數作調整。由參數値AtC)t = 5公尺*6公尺=3 0平方公尺 (3 00000平方公分）、Kb = 20公分及Kh = 50公分/秒，可 得覆蓋90%面積需費時11?分鐘。參考第4圖，其顯 示出靜電式除塵器覆蓋面積比例與作動時間之間的 關係。 元件符號說明= 10···(可移動之）機器人 12…球 14…頂帽 15…運動區域 1 6…地板（表面） 2 0…隔室 22…隔室 23…單向閥 24…開口 25…過濾器 26…風扇 27...魔鬼氈 28…向外延伸之區段 30…淸潔用布 -13-FIG. 6 shows a modified embodiment of the top cap. The core idea according to the present invention will be described with reference to FIG. A mobile robot 10 is constituted by arranging a driving unit 12 in a top cap 14 and placing it on a surface such as a floor 16. In the illustrated embodiment, the driving unit includes a ball 12 having a ball-type frame and an internal driving gear. The use of a ball as one of the robot's drive units is currently a preferred embodiment. It must be pointed out, however, that other drive units such as drive units using wheels may be used. The core idea is that the drive unit is not fixed to the 548164. V. Description of the invention (5) Top cap. The driving gear (not shown in the drawings) used in the ball may be of any type 'and therefore the present invention does not include the driving gear itself. For example, ball driving gears mentioned in WO99 / 30876, WO 97/25239, and U.S. Patent Nos. 4,733,737, 4,726,800, 5,541,814, and 4,501,569 can be used. The driving gear has an electronic control circuit to start and stop the driving gear, and a power source such as a battery. A currently preferred driving gear for the ball includes a weight, and the position of the weight can be changed by a driving gear ', and the weight is moved along the inside of the ball frame, so that the center of gravity of the ball will be caused by the The ball changes. Therefore, the driving principle is based on a rotational momentum. It must be emphasized that it is an object of the present invention to provide a cheap mobile robot, and the direction of motion of the robot will therefore be uncontrolled, and artificial neural networks or "fuzzy logic" or memory-oriented Control logic. In a preferred embodiment shown in Fig. 1, the top cap 14 of the hemispherical type has a diameter slightly larger than the diameter of the ball 12 in the section bent toward the floor. The height of the top cap 14 is also preferably slightly larger than the diameter of the ball 12. This will create a space 15 between the top cap 14 and the ball 12. The ball 12 moves in the space 15 and the combination of the ball and the action of the top hat will cause the robot 10 to move as the ball 12 pushes the top hat 14. When the robot 10 collides with an object such as a chair leg or a section of a wall 548164 V. Description of the invention (6), the escape control of the robot 10 is based on an infinite random random search. The first inappropriate robot 1 on this day. When an object is struck, its direction will randomly change. The motion dynamics of the ball 12 and the joint effect between the ball and the wall collision are also defined by the space 15. That is, the collision between the driving unit and the top hat will result in the object colliding with the robot 10 ΕΕΕ J \\ An arbitrary movement pattern. Tests of the prototype have shown that the robot 10 is extremely capable of detaching from the physical obstacle factory on the floor. The pattern of the ball 12 makes the ball 12 move against the floor with low friction. The ball can be made of any material, but The material constituting the outer surface of the ball 12-the material must have sufficient friction with the floor, so that the ball's rotational movement causes the ball 12 to move about the floor. The top cap 14 can be manufactured by many different methods. The solution described above with reference to Figure 1 is only a variant. In this solution, the entire ball is surrounded by the top hat. Other top hats will be explained below to represent specific embodiments. One of the inventions further contemplates a cleaning robot. The core idea is that it is possible to fix the cleaning device to the top cap. When the inventor tested the "cleaning robot j, it has been shown that" by using an electrostatic cloth, it is possible to effectively remove the dust and dirt from the cleaning floor. In order to build a cleaning robot, it must be possible_ The cleaning device is used to fasten to the top cap. -8- 548164 V. Description of the invention (7) Therefore, the second figure shows a top cap, and those arranged in the section below the top cap are used to fasten a top cap. A devil felt system for cleaning cloth. Figures 5 and 6 show specific embodiments of the top cap. In Figure 6, the top cap is not a hemispherical cap that surrounds the entire ball. It is only a frame 20 that restricts the ball's movement space 15. The frame has a sufficient degree to make the ball collide with the frame to generate a frame movement. Furthermore, Fig. 5 shows a specific embodiment in which the The section of the top cap bent toward the floor has a section 28 extending radially outward to form a surface to which the cleaning cloth 30 can be fastened. The best embodiment of the present invention The embodiment is a combination of the features shown in Figs. 5 and 6, that is, the top cap is only a frame, but has an outwardly extending section 28 to fasten a cleaning cloth 30. The cleaning cloth For example, it can be fastened to the top hat by the devil felt 27. Since the cloth material itself will usually be attached to the devil felt 27 by itself, in most cases, it is sufficient to just fasten the devil felt 27 to the top hat This solution implies that the cleaning cloth 30 is pressed flat between the section 28 of the top hat 14 and the floor 16, that is, the cloth is arranged below the top hat 14 itself. Therefore, it is arranged on the cleaning cloth The cloth 30 is an opening so that the driving unit is in contact with the floor.) The section 28 may have a circular shape, but other specific embodiments are also possible. For example, the current test is a square section 28 -9 -And 548164 V. Description of the invention (8) A square cleaning cloth 30 to observe whether it can be cleaned more efficiently along the wall and at the corners. Furthermore, it should be stated here that the size of the cleaning cloth 30 No need to be shaped with section 28 The same. In a specific embodiment, the cloth extends farther than the section 28, so that the outermost part of the cloth is more elastic (because the section does not contact the section 28), and has to move up the abutting surface ( (Such as a wall) for a short distance. In another modified embodiment, the cleaning cloth itself is arranged above the top cap. This specific embodiment is not shown in the drawing. If a vacuum cleaning is used, for example A relatively large device such as a device is fixed to the top cap 14, and the top cap may be provided with a plurality of balls / wheels (not shown in the figure) facing the floor below, so that the friction between the top cap and the floor is reduced. As mentioned above, the motion pattern of the robot 10 is caused by the collision between the robot and objects in the room (chair legs, walls, and the like), and between the driving unit and the inside of the top hat. The collision is in control. Therefore, the robot will borrow an "arbitrary / random" pattern motion across the floor after a given time. It can perform calculations that take into account parameters such as floor area and appearance, furniture (chair legs and table legs, other office equipment and similar), area and range of cleaning equipment, and the speed of the robot. It is necessary to estimate the size of the part of the floor that will be treated in a given time. For example, if the robot is allowed to move for 2 hours, it can be estimated at least -10- 548164 V. Description of the invention (9) The floor size of 95% floor size once. Since the robot does not completely replace the conventional Jijie, in most cases, it is sufficient to estimate the floor size, such as 95%. It is conceivable that the Jiren person worked in an office for two hours after completing one day of work. See example 1 below. The dust collector can be used, for example, as a cleaning device. It is best to use electrostatic precipitators and such precipitators are already available on the market. When the dust collector is pushed across the entire floor surface, dust particles will be sucked. As mentioned above, the types other than the dust collector are adjusted to suit the special application and the cleaning robot, that is, may be equipped with a devil felt suitable for the robot devil felt, and the dust collector is provided with an opening to locate the top hat. And / or the drive unit. This type of cleaning robot shown in Figure 2 can be of any size, but the prototype has been developed. The ball has a diameter of 10 cm, and the top cap has about 20 in the section bent to the floor. One centimeter in diameter. A specific embodiment is shown in Fig. 3, wherein the cleaning device is a vacuum suction unit. In the specific embodiment shown in the figure, the top cap itself is formed as a vacuum suction unit, so that the driving unit pushes the vacuum suction unit along the floor surface. Furthermore, the cleaning robot is preferably very simple, and in order to construct a vacuum suction unit, in principle, it is sufficient to have two compartments 20 and 22. One of the fans 26 is a low pressure, so that the air can be directed downward. Towards the ground 548164 V. Description of the invention (10) The plurality of openings 24 on the surface of the plate are attracted through a check valve 23 and enter the compartment 20. The air is filtered through a filter 25 before being discharged from the compartment 20. Alternatively, a vacuum suction unit is fastened to a top cap of the type shown in FIG. 2 or FIG. 6. Although the present invention refers to the application of a cleaning robot, that is, a dust collector or a vacuum cleaner, as an illustrative example, it should be emphasized that the general idea of the present invention includes one having a driving gear The driving unit is arranged in a cap, so that they together move across one of the entire floor. Therefore, the present invention is not limited to cleaning robots, but the cleaning robots shown in the drawings are currently the best embodiment of the present invention. Example 1-Bottle Draft Figure 4 shows a simulation based on a theoretical model. At () t: Total area (cm²) Kb: Cloth width (cm) Kh: Cloth speed (cm / sec) A (i): Covered area (cm²); i is one of the updates every second index. Each update (ie every second) will increase a 'new area Kb * Kh, and the increased new area will decrease as the area covered has increased. -12-548164 V. Description of the invention (11) Adjustment. From the parameter 値 AtC) t = 5 meters * 6 meters = 30 square meters (300,000 square centimeters), Kb = 20 cm and Kh = 50 cm / s, it takes 11? Minutes to cover 90% of the area . Referring to Figure 4, it shows the relationship between the area coverage of the electrostatic precipitator and the operating time. Explanation of component symbols = 10 ... (movable) robot 12 ... ball 14 ... top cap 15 ... movement area 1 6 ... floor (surface) 2 0 ... compartment 22 ... compartment 23 ... check valve 24 ... opening 25 ... Filter 26 ... Fan 27 ... Devil Felt 28 ... Outward Section 30 ... Clean Cloth-13-