EP3512398A1 - Floor cleaning robot - Google Patents
Floor cleaning robotInfo
- Publication number
- EP3512398A1 EP3512398A1 EP17784344.8A EP17784344A EP3512398A1 EP 3512398 A1 EP3512398 A1 EP 3512398A1 EP 17784344 A EP17784344 A EP 17784344A EP 3512398 A1 EP3512398 A1 EP 3512398A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- bumper
- cleaning robot
- centering
- robot according
- movement
- 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.)
- Granted
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 59
- 238000006073 displacement reaction Methods 0.000 claims description 13
- 238000001514 detection method Methods 0.000 claims description 12
- 230000000903 blocking effect Effects 0.000 claims description 5
- 230000035939 shock Effects 0.000 claims description 2
- 229920006324 polyoxymethylene Polymers 0.000 description 4
- 238000005452 bending Methods 0.000 description 3
- 230000003071 parasitic effect Effects 0.000 description 2
- 239000002689 soil Substances 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 229930040373 Paraformaldehyde Natural products 0.000 description 1
- 229930182556 Polyacetal Natural products 0.000 description 1
- 238000004026 adhesive bonding Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- -1 polyoxymethylene Polymers 0.000 description 1
- 230000036316 preload Effects 0.000 description 1
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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- 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
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4077—Skirts or splash guards
-
- 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
-
- 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 generally relates to a floor cleaning robot, and in particular an autonomous floor cleaning robot provided with means for recovering and / or suctioning the waste.
- An object of the present invention is to meet the disadvantages of the documents of the prior art mentioned above and in particular, first of all, to propose a cleaning robot with a simple bumper, but which allows the detection of any obstacle, whatever the position of the point of contact between the bumper and an obstacle.
- a first aspect of the invention relates to a floor cleaning robot, comprising:
- the cleaning robot comprises guiding means bumpers arranged to impose a movement of the bumper relative to the chassis, wherein the components of said movement are contained in a base plane.
- the movement of the bumper relative to the chassis is a plane movement: the bumper can move only parallel to the base plane (parallel to the floor to be cleaned). Consequently, a contact on the bumper will necessarily cause a displacement of the latter, regardless of the point of contact and in particular regardless of the altitude of the point of contact. This results in better detection of obstacles and the possibility of providing a bumper that is the height of the cleaning robot, while being able to effectively detect obstacles.
- the guide means comprise at least three support points between the frame and the bumper, not aligned and each blocking at least one translation of the bumper in the same direction normal to the base plane.
- the three points of support are, for example, plane supports, and in particular block the degree of freedom which is a normal translation to the basic plane.
- the basic plane is parallel to the floor to be cleaned.
- the guiding means comprise at least three pairs of support points between the frame and the bumper, not aligned, each pair of support points comprising two opposite support points each blocking at least one translation of the barrier. shocks in the same direction normal to the basic plane. This implementation makes it possible to block any displacement of the bumper according to the vertical (the basic plane being horizontal) in the simplest way possible, and respecting the isostatism.
- the guiding means comprise:
- the holding elements are advantageously washers, which amounts to positioning the washers on both sides of the flat portion.
- the holding elements then form the fulcrums.
- Said at least one flat portion is integral with, and / or formed on, one of the frame and the bumper, and the holding elements are integral with, and / or formed on, the other of the frame and the bumper -chocs.
- the cleaning robot comprises at least three elongate supports each arranged to support a pair of holding elements, and said at least one flat portion comprises at least three openings each arranged to pass a support and / or at least one element. holding member supported by said support through said at least one flat portion.
- Said at least one flat portion is secured to and / or formed on one of the frame and the bumper, and said at least three elongate supports are integral with and / or formed on the other of the frame and the bumper .
- the cleaning robot comprises stop means, arranged to limit a relative displacement of the bumper relative to the frame, in a displacement zone which has a shape of a circular segment.
- the stop means comprise said at least three openings and said at least three supports.
- This implementation allows to define the displacement zone directly with the openings passing the support on either side of the flat portion.
- said at least three openings have a circular segment shape formed by a circle cut by a rope normal to a direction of advancement of the cleaning robot.
- the cleaning robot comprises elastic means arranged to return the bumper to a rest position, occupied by the bumper when there is no obstacle touching the bumper.
- the cleaning robot comprises a plurality of pairs of centerings each comprising:
- the resilient means comprises a plurality of springs each having one end engaged with a centering center of a pair of centerings, and another end engaged with the onboard centering of said pair of centerings.
- At least one centering center of a pair of centerings has a projection in the base plane offset from a projection in the base plane of the corresponding chassis centering, when the bumper is in the rest position.
- Such an offset imposes a constraint of springs, so that the rest position is more stable than if none of the springs is prestressed.
- the springs are two by two prestressed in opposite directions. In other words, their centering pairs are symmetrically or oppositely shifted.
- the projection in the base plane of said at least one onboard centering of a pair of centering is offset by at least 1.5 mm from the projection in the base plane of the corresponding chassis centering.
- Such an offset value makes it possible to prestress (in flexion) the springs to ensure a stable bumper rest position and an effective return to the rest position.
- the centerings are pawns. It is then easy to put the ends of the springs on such protruding pins. It can be provided a force mounting of the springs on the pins. It is also possible to provide the springs in tension (in tension or in compression) even in rest position of the bumper, to limit vibrations and noise.
- the detection means comprise at least:
- a first sensor arranged to detect a movement of the bumper in a transverse direction of the cleaning robot
- a second sensor arranged to detect a movement of the bumper in a transverse direction of the cleaning robot opposite to the direction detected by the first sensor
- a third sensor arranged to detect a movement in a direction of advancement of the cleaning robot.
- transverse direction is meant a direction normal to the advancement direction of the cleaning robot, the advancement direction being obtained when all its driving wheels (of the same diameter) rotate at the same speed.
- the detection means comprise a fourth sensor arranged to detect a movement in a direction of advance of the cleaning robot, and the third sensor and the fourth sensor are arranged on either side of a median longitudinal plane of the robot. of cleaning.
- a fourth sensor arranged to detect a movement in a direction of advance of the cleaning robot, and the third sensor and the fourth sensor are arranged on either side of a median longitudinal plane of the robot. of cleaning.
- the sensors are switches.
- Such switches have a direction of depression, and therefore an impact with an obstacle will activate them selectively, so that it is possible to deduce the direction of impact and thus the position of the obstacle by analyzing the switches activated or not.
- FIG. 1 shows a perspective view of a cleaning robot according to the invention, equipped with a movable bumper
- FIG. 2 shows a perspective view of the bumper of Figure 1, and in particular a side of the bumper next to the body of the cleaning robot;
- FIG. 3 represents a view from above of the bumper of FIG.
- Figures 4a and 4b show a detail of elastic means arranged to bring the bumper of Figure 1 in a rest position
- FIG. 5 represents a detail of the bumper of FIG. 1;
- Figures 6 and 7 show a detail guide means of the bumper of Figure 1;
- FIG. 8 shows the possibilities of detecting the movement of the bumper of FIG. 1, as a function of obstacles encountered by the cleaning robot of FIG. 1.
- Figure 1 shows a cleaning robot equipped with a bumper 10 movable relative to a frame 20 of the cleaning robot.
- the cleaning robot is a robot designed to autonomously clean the floors of a house, and for this purpose comprises drive wheels 22, a suction slot 27 equipped with a rotating brush.
- the cleaning robot embeds on its frame 20 an outer casing 21, as well as the bumper 10.
- electrical energy such as a battery
- means of control of the drive wheels and a waste storage bin to be able to operate autonomously.
- the bumper 10 is movable relative to the frame 20, to be able to detect the presence of any obstacles to the path of the cleaning robot.
- detection means arranged to detect a displacement of the bumper 10 caused by the encounter with an obstacle, in order to be able to modify the trajectory of the cleaning robot, as will be explained in FIG. 8, which shows the detection means formed by sensors, such as switches 41A-41D.
- Figure 2 shows a perspective view of the bumper 10, and in particular the side facing the cleaning robot.
- the latter comprises guide means 30 arranged to impose a particular movement of the bumper 10 relative to the rest of the cleaning robot, and in particular with respect to the frame 20.
- the guide means 30 comprise three pairs of holding elements each formed by two washers 24 (also visible in Figures 6 and 7) mounted on an elongate support 23 which is integral with a frame member 20a, connected to the frame 20. It is possible to provide the washers 24 and the bumper 10 made of plastic, and in particular polyoxymethylene (or polyformaldehyde or polyacetal), acronym POM.
- the bumper 10 comprises two flat portions 1 1 a and 1 1 b, ribs or flat walls for example, and the two washers 24 of each pair of holding elements sandwich one of the flat portions 1 1 a or 1 1b (as shown in detail in FIGS. 5 and 6).
- each washer 24, with its respective flat portion 1 1 a or 1 1 b forms or imposes a plane support on the bumper 10 in a direction normal to the planar portions 1 1 a and 1 1 b, for to impose a displacement parallel to or contained in a base plane, parallel to the planar portions 1 1 a and 1 1 b.
- each pair of holding element comprises two washers 24 sandwiching the bumper 10, it can move only in the base plane.
- a washer is threaded on the elongate support 23, and another the cap and is fixed by screw, clipping or even gluing or pasting.
- the bumper 10 may have parasitic movements in a direction perpendicular to the base plane.
- these movements are limited.
- the clearance can be 0.5 mm, and the total deflection of the bumper in the base plane can be 4.5 mm along each direction of a Cartesian coordinate system.
- the maximum possible movement of the bumper in the direction normal to the base plane is less than 15% of a maximum displacement value of the bumper in the base plane.
- the movement of the bumper 10 is essentially plane, which makes the displacement of the bumper 10 independent of the height at which a possible obstacle touches the bumper. Indeed, an obstacle is flush with the ground or height, it will impose a movement of the bumper 10 substantially plane, which makes the detection of obstacles more effective than if the bumper was articulated around an axis rotation for example.
- the planar portions 11a and 11b have openings 13 in the form of circular neighborhoods, through which the elongated supports 23 pass.
- These lights 13 limit the movement of the bumper 10 forming abutment means which can for example limit the displacement of the bumper to 4.5 mm along the horizontal direction of Figure 3 and the same value along the vertical direction of Figure 3.
- the bumper 10 being movable relative to the frame 20, it is important to be able to ensure a nominal position or rest of the bumper 10 when no obstacle affects it.
- the cleaning robot comprises elastic means arranged to return the bumper 10 in a rest position, as shown in FIG 3 or 5.
- These resilient means comprise springs 25 visible Figure 2 and especially Figure 4a.
- the springs 25 are fixed between the frame member 20a and the bumper 10, possibly with a preload to press the bumper 10 on the washers 24 upper or lower, so as to avoid rattling noises. Any movement of the bumper will stretch the springs 25, which will then exert a force on the bumper to bring it back to the rest position at the end of the contact between the bumper and the obstacle.
- FIG. 4a and 4b show the mounting of the springs 25 between the frame member 20a and the bumper 10.
- Each spring 25 is mounted on a chassis centering 26 (integral with the frame 20) and an onboard centering 12 (integral with the bumper 10).
- the chassis centerings 26 and the onboard centering 12 are aligned and aligned (when the bumper 10 is in the rest position). It can be provided to shift them to impose a bending of the springs 25 in the rest position (it is necessary to shift the centering of two springs 25 in an opposite manner to compensate for the bending forces), so that this bending or prestressing can accentuate the return efficiency of the springs 25 on the bumper 10 during small displacements.
- FIG. 8 represents the detection possibilities offered by the mobile bumper according to the invention. Indeed, if there are four detection sensors formed by switches 41A to 41D placed schematically as in Figure 8, and the bumper 10 is subjected to contacts with obstacles rated 1 to 7, then the switches 41 A to 41 D will be activated as shown in the table below.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
- Cleaning In General (AREA)
- Nozzles For Electric Vacuum Cleaners (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1658529A FR3055787B1 (en) | 2016-09-13 | 2016-09-13 | SOIL CLEANING ROBOT |
PCT/FR2017/052427 WO2018051008A1 (en) | 2016-09-13 | 2017-09-12 | Floor cleaning robot |
Publications (2)
Publication Number | Publication Date |
---|---|
EP3512398A1 true EP3512398A1 (en) | 2019-07-24 |
EP3512398B1 EP3512398B1 (en) | 2022-10-19 |
Family
ID=57209608
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP17784344.8A Active EP3512398B1 (en) | 2016-09-13 | 2017-09-12 | Bodenreinigungsroboter |
Country Status (5)
Country | Link |
---|---|
EP (1) | EP3512398B1 (en) |
CN (2) | CN107811581B (en) |
ES (1) | ES2930775T3 (en) |
FR (1) | FR3055787B1 (en) |
WO (1) | WO2018051008A1 (en) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR3055787B1 (en) * | 2016-09-13 | 2019-03-22 | Seb S.A. | SOIL CLEANING ROBOT |
CN109340335B (en) * | 2018-09-11 | 2021-08-24 | 安克创新科技股份有限公司 | Intelligent self-moving equipment and speed reduction device thereof |
CN109008829A (en) * | 2018-09-17 | 2018-12-18 | 北京石头世纪科技有限公司 | Intelligent cleaning equipment |
KR102314535B1 (en) * | 2019-07-31 | 2021-10-18 | 엘지전자 주식회사 | The moving robot |
CN112022001B (en) * | 2020-08-06 | 2021-11-02 | 上海俊硕映达电子科技有限公司 | Cleaning robot |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
SE518482C2 (en) | 2001-02-28 | 2002-10-15 | Electrolux Ab | Obstacle detection system for a self-cleaning cleaner |
DE10242257C5 (en) * | 2001-09-14 | 2017-05-11 | Vorwerk & Co. Interholding Gmbh | Automatically movable floor dust collecting device, and combination of such a collecting device and a base station |
AU2004202834B2 (en) * | 2003-07-24 | 2006-02-23 | Samsung Gwangju Electronics Co., Ltd. | Robot Cleaner |
DE10357636B4 (en) * | 2003-12-10 | 2013-05-08 | Vorwerk & Co. Interholding Gmbh | Automatically movable floor dust collecting device |
CN101830000A (en) * | 2009-03-10 | 2010-09-15 | 巍世科技有限公司 | Anti-collision structure of automatic mobile device |
DE102009044554A1 (en) * | 2009-10-05 | 2011-04-07 | Vorwerk & Co. Interholding Gmbh | Automatically displaceable sucking and/or sweeping device for use in household for cleaning floor, has projection element extending over one third or more than one third of device overall height, where projection element contacts obstacles |
CN202699038U (en) * | 2012-07-11 | 2013-01-30 | 余姚市精诚高新技术有限公司 | Anti-drop and anti-collision dust collector |
CN203885445U (en) * | 2014-05-04 | 2014-10-22 | 科沃斯机器人有限公司 | Self-moving robot and self-moving robot system |
CN204909300U (en) * | 2015-07-17 | 2015-12-30 | 杭州信多达电器有限公司 | Dust catcher device with infrared detection collision |
FR3055787B1 (en) * | 2016-09-13 | 2019-03-22 | Seb S.A. | SOIL CLEANING ROBOT |
-
2016
- 2016-09-13 FR FR1658529A patent/FR3055787B1/en active Active
-
2017
- 2017-09-12 CN CN201710818138.6A patent/CN107811581B/en active Active
- 2017-09-12 WO PCT/FR2017/052427 patent/WO2018051008A1/en unknown
- 2017-09-12 EP EP17784344.8A patent/EP3512398B1/en active Active
- 2017-09-12 ES ES17784344T patent/ES2930775T3/en active Active
- 2017-09-12 CN CN201721164282.4U patent/CN209421838U/en active Active
Also Published As
Publication number | Publication date |
---|---|
FR3055787A1 (en) | 2018-03-16 |
ES2930775T3 (en) | 2022-12-21 |
CN107811581B (en) | 2024-07-23 |
CN209421838U (en) | 2019-09-24 |
EP3512398B1 (en) | 2022-10-19 |
WO2018051008A1 (en) | 2018-03-22 |
FR3055787B1 (en) | 2019-03-22 |
CN107811581A (en) | 2018-03-20 |
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