EP3512398A1 - Floor cleaning robot - Google Patents

Floor cleaning robot

Info

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
Application number
EP17784344.8A
Other languages
German (de)
French (fr)
Other versions
EP3512398B1 (en
Inventor
Lucien CHARMETTAN
Eric Pouvreau
Mickael BOILLET
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
Original Assignee
SEB SA
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by SEB SA filed Critical SEB SA
Publication of EP3512398A1 publication Critical patent/EP3512398A1/en
Application granted granted Critical
Publication of EP3512398B1 publication Critical patent/EP3512398B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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

The invention relates to a floor cleaning robot comprising: a chassis (20), a bumper (10) which can move relative to the chassis (20), and means for detecting the movement of the bumper (10) relative to the chassis (20). The cleaning robot is characterised in that it comprises means for guiding the bumper (10), arranged to move the bumper (10) in a particular way relative to the chassis (20), the components of said movement being contained in a base plane.

Description

ROBOT DE N ETTOYAG E DES SOLS  ROBOT OF N ETTOYAG E SOIL
La présente invention concerne de manière générale un robot de nettoyage des sols, et en particulier un robot autonome de nettoyage des sols pourvu de moyens de récupération et/ou d'aspiration des déchets. 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.
Il est connu dans l'art antérieur des dispositifs de nettoyage autonomes des sols, et en particuliers ceux qui détectent automatiquement les obstacles pour pouvoir ensuite les contourner. Par exemple, le document US2004143930A1 décrit un robot de nettoyage comprenant un pare-chocs articulé qui peut pivoter autour d'un axe pour déclencher des capteurs lors d'un contact avec un obstacle. Cependant, si le contact se fait à la hauteur de l'axe de pivotement, il n'est pas certain que le pare-chocs puisse pivoter, car le couple de pivotement est nul (en particulier lorsque la force de contact passe par l'axe de pivotement, le bras de levier est nul, et donc le couple de pivotement est également nul). Il en résulte une non détection de l'obstacle et un blocage du robot de nettoyage contre cet obstacle. Un but de la présente invention est de répondre aux inconvénients des documents de l'art antérieur mentionnés ci-dessus et en particulier, tout d'abord, de proposer un robot de nettoyage avec un pare-chocs simple, mais qui permet la détection de tout obstacle, quel que soit la position du point de contact entre le pare-chocs et un obstacle. Pour cela un premier aspect de l'invention concerne un robot de nettoyage des sols, comprenant : It is known in the prior art autonomous soil cleaning devices, and in particular those that automatically detect the obstacles to then bypass them. For example, the document US2004143930A1 describes a cleaning robot comprising an articulated bumper that can pivot about an axis to trigger sensors during contact with an obstacle. However, if the contact is made at the height of the pivot axis, it is not certain that the bumper can pivot, because the pivoting torque is zero (especially when the contact force passes through the pivot axis, the lever arm is zero, and thus the pivoting torque is also zero). This results in a non-detection of the obstacle and a blocking of the cleaning robot against this obstacle. 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. For this, a first aspect of the invention relates to a floor cleaning robot, comprising:
- un châssis,  - a chassis,
- un pare-chocs mobile par rapport au châssis,  a mobile bumper with respect to the chassis,
- des moyens de détection d'un mouvement du pare-chocs par rapport au châssis,  means for detecting a movement of the bumper with respect to the chassis,
caractérisé en ce que le robot de nettoyage comprend des moyens de guidage du pare-chocs agencés pour imposer un mouvement du pare-chocs par rapport au châssis, dans lequel les composantes dudit mouvement sont contenues dans un plan de base. En d'autres termes, le mouvement du pare- chocs par rapport au châssis est un mouvement plan : le pare-chocs ne peut se déplacer que parallèlement au plan de base (parallèle au sol à nettoyer). En conséquence, un contact sur le pare-chocs provoquera nécessairement un déplacement de ce dernier, quel que soit le point de contact et en particulier quel que soit l'altitude du point de contact. Il en résulte une meilleure détection des obstacles et la possibilité de prévoir un pare-chocs qui fait toute la hauteur du robot de nettoyage, tout en pouvant détecter efficacement les obstacles. characterized in that 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. In other words, 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.
On négligera bien entendu les jeux de construction qui vont nécessairement permettre quelques déplacements selon une direction normale au plan de base, mais on peut considérer que ces déplacements parasites ont une course très inférieure à un débattement maximal dans le plan de base, et par exemple on peut prévoir un jeu de 0.4 mm à 0.6 mm normal au plan de base, pour un débattement dans le plan de base d'environ 5 mm par exemple. We will neglect of course the construction sets that will necessarily allow some movements in a normal direction to the base plane, but we can consider that these parasitic movements have a much lower travel to a maximum travel in the base plane, and for example can provide a set of 0.4 mm to 0.6 mm normal to the base plane, for a movement in the base plane of about 5 mm for example.
Avantageusement, les moyens de guidage comprennent au moins trois points d'appui entre le châssis et le pare-chocs, non alignés et bloquant chacun au moins une translation du pare-chocs selon une même direction normale au plan de base. Les trois points d'appui sont par exemple des appuis plans, et bloquent notamment le degré de liberté qui est une translation normale au plan de base. Advantageously, 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.
Avantageusement, le plan de base est parallèle au sol à nettoyer. Avantageusement, les moyens de guidage comprennent au moins trois paires de points d'appui entre le châssis et le pare-chocs, non alignées, chaque paire de points d'appui comprenant deux points d'appui opposés bloquant chacun au moins une translation du pare-chocs selon une même direction normale au plan de base. Cette mise en œuvre permet de bloquer tout déplacement du pare-chocs selon la verticale (le plan de base étant horizontal) de manière la plus simple possible, et en respectant l'isostatisme. Advantageously, the basic plane is parallel to the floor to be cleaned. Advantageously, 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.
Avantageusement, les moyens de guidage comprennent : Advantageously, the guiding means comprise:
- au moins une portion plane parallèle au plan de base, at least one plane portion parallel to the base plane,
- au moins trois paires d'éléments de maintien, chaque paire d'éléments de maintien prenant en sandwich ladite au moins une portion plane pour imposer le mouvement du pare-chocs dans le plan de base. Les éléments de maintien sont avantageusement des rondelles, ce qui revient à positionner les rondelles de part et d'autre de la portion plane. Les éléments de maintien forment alors les points d'appui. at least three pairs of holding elements, each pair of holding elements sandwiching said at least one flat portion to impose the movement of the bumper in the base plane. 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.
Ladite au moins une portion plane est solidaire de, et/ou formée sur, l'un du châssis et du pare-chocs, et les éléments de maintien sont solidaires de, et/ou formés sur, l'autre du châssis et du pare-chocs. 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.
Avantageusement, le robot de nettoyage comprend au moins trois supports allongés chacun agencé pour supporter une paire d'éléments de maintien, et ladite au moins une portion plane comprend au moins trois ouvertures chacune agencée pour laisser passer un support et/ou au moins un élément de maintien supporté par ledit support au travers de ladite au moins une portion plane. Ladite au moins une portion plane est solidaire de et/ou formée sur l'un du châssis et du pare-chocs, et lesdits au moins trois supports allongés sont solidaires de et/ou formés sur l'autre du châssis et du pare-chocs. Advantageously, 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 .
Avantageusement, le robot de nettoyage comprend des moyens de butée, agencés pour limiter un déplacement relatif du pare-chocs par rapport au châssis, dans une zone de déplacement qui présente une forme d'un segment circulaire. Advantageously, 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.
Avantageusement, les moyens de butée comprennent lesdites au moins trois ouvertures et lesdits au moins trois supports. Cette mise en œuvre permet de définir la zone de déplacement directement avec les ouvertures laissant passer le support de part et d'autre de la portion plane. Advantageously, 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.
Avantageusement, lesdites au moins trois ouvertures présentent une forme de segment circulaire formé par un cercle coupé par une corde normale à une direction d'avancement du robot de nettoyage. Advantageously, 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.
Avantageusement, le robot de nettoyage comprend des moyens élastiques agencés pour ramener le pare-chocs dans une position de repos, occupée par le pare-chocs lorsqu'aucun obstacle ne touche le pare-chocs. Advantageously, 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.
Avantageusement, le robot de nettoyage comprend une pluralité de paires de centrages comprenant chacune : Advantageously, the cleaning robot comprises a plurality of pairs of centerings each comprising:
- un centrage de châssis solidaire du châssis et  a frame centering secured to the chassis and
- un centrage embarqué solidaire du pare-chocs,  an integrated centering integral with the bumper,
et les moyens élastiques comprennent une pluralité de ressorts chacun ayant une extrémité engagée avec un centrage de châssis d'une paire de centrages, et une autre extrémité engagée avec le centrage embarqué de ladite paire de centrages.  and 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.
Avantageusement, au moins un centrage embarqué d'une paire de centrages présente une projection dans le plan de base décalée d'une projection dans le plan de base du centrage de châssis correspondant, lorsque le pare-chocs est en position de repos. Un tel décalage impose une mise en contrainte de ressorts, si bien que la position de repos est plus stable que si aucun des ressorts n'est précontraint. De manière particulièrement avantageuse, les ressorts sont deux à deux précontraints dans des directions opposées. En d'autres termes, leurs paires de centrage sont décalées de manière symétrique ou opposée. Advantageously, 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. Particularly advantageously, the springs are two by two prestressed in opposite directions. In other words, their centering pairs are symmetrically or oppositely shifted.
Avantageusement, la projection dans le plan de base dudit au moins un centrage embarqué d'une paire de centrages est décalée d'au moins 1 .5 mm de la projection dans le plan de base du centrage de châssis correspondant. Une telle valeur de décalage permet de précontraindre (en flexion) correctement les ressorts pour assurer une position de repos du pare-chocs stable, ainsi qu'un retour efficace dans la position de repos. Advantageously, 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.
Avantageusement, les centrages sont des pions. Il est alors aisé d'enfiler les extrémités des ressorts sur de tels pions en protubérance. On peut prévoir un montage en force des ressorts sur les pions. On peut aussi prévoir de mettre les ressorts en tension (en traction ou en compression) même en position de repos du pare-chocs, pour limiter les vibrations et bruits parasites. Advantageously, 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.
Avantageusement, les moyens de détection comprennent au moins :Advantageously, the detection means comprise at least:
- un premier capteur agencé pour détecter un mouvement du pare-chocs selon une direction transversale du robot de nettoyage, a first sensor arranged to detect a movement of the bumper in a transverse direction of the cleaning robot,
- un deuxième capteur agencé pour détecter un mouvement du pare-chocs selon une direction transversale du robot de nettoyage opposée à la direction détectée par le premier capteur,  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,
- un troisième capteur agencé pour détecter un mouvement selon une direction d'avancement du robot de nettoyage.  a third sensor arranged to detect a movement in a direction of advancement of the cleaning robot.
De tels capteurs permettent de différencier la direction de contact sur le pare-chocs, de sorte à améliorer le contournement ultérieur par le robot de nettoyage. On entend par direction transversale une direction normale à la direction d'avancement du robot de nettoyage, la direction d'avancement étant obtenue lorsque toutes ses roues motrices (de même diamètre) tournent à la même vitesse. Such sensors make it possible to differentiate the direction of contact on the bumper, so as to improve the subsequent bypass by the cleaning robot. By 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.
Avantageusement, les moyens de détection comprennent un quatrième capteur agencé pour détecter un mouvement selon une direction d'avancement du robot de nettoyage, et le troisième capteur et le quatrième capteur sont agencés de part et d'autre d'un plan longitudinal médian du robot de nettoyage. Un tel agencement permet de déduire la position d'impact avec un obstacle selon les capteurs activés. Advantageously, 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. Such an arrangement makes it possible to deduce the position of impact with an obstacle according to the activated sensors.
Avantageusement, les capteurs sont des interrupteurs. De tels interrupteurs présentent une direction d'enfoncement, et donc un impact avec un obstacle va les activer sélectivement, si bien qu'il est possible de déduire la direction d'impact et donc la position de l'obstacle en analysant les interrupteurs activés ou non. Advantageously, 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.
D'autres caractéristiques et avantages de la présente invention apparaîtront plus clairement à la lecture de la description détaillée qui suit d'un mode de réalisation de l'invention donné à titre d'exemple nullement limitatif et illustré par les dessins annexés, dans lesquels : Other features and advantages of the present invention will appear more clearly on reading the following detailed description of an embodiment of the invention given by way of non-limiting example and illustrated by the appended drawings, in which:
- la figure 1 représente une vue en perspective d'un robot de nettoyage selon l'invention, équipé d'un pare-chocs mobile ; - Figure 1 shows a perspective view of a cleaning robot according to the invention, equipped with a movable bumper;
- la figure 2 représente une vue en perspective du pare-chocs de la figure 1 , et en particulier un côté du pare-chocs en regard du corps du robot de nettoyage ; - Figure 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;
- la figure 3 représente une vue de dessus du pare-chocs de la figureFIG. 3 represents a view from above of the bumper of FIG.
1 ; 1;
- les figures 4a et 4b représentent un détail de moyens élastiques agencés pour ramener le pare-chocs de la figure 1 dans une position de repos ;  - Figures 4a and 4b show a detail of elastic means arranged to bring the bumper of Figure 1 in a rest position;
- la figure 5 représente un détail du pare-chocs de la figure 1 ; FIG. 5 represents a detail of the bumper of FIG. 1;
- les figures 6 et 7 représentent un détail de moyens de guidage du pare- chocs de la figure 1 ; - Figures 6 and 7 show a detail guide means of the bumper of Figure 1;
- la figure 8 représente des possibilités de détection du mouvement du pare-chocs de la figure 1 , en fonction d'obstacles rencontrés par le robot de nettoyage de la 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.
La figure 1 représente un robot de nettoyage équipé d'un pare-chocs 10 mobile par rapport à un châssis 20 du robot de nettoyage. Le robot de nettoyage est un robot prévu pour nettoyer de manière autonome les sols d'une habitation, et comprend à cet effet des roues motrices 22, une fente d'aspiration 27 équipée d'une brosse rotative. Le robot de nettoyage embarque sur son châssis 20 un boîtier extérieur 21 , ainsi que le pare-chocs 10. Bien entendu, il y a des moyens de stockage d'énergie électrique, tels qu'une batterie, des moyens de commande des roues motrices et un bac de stockage des déchets, pour pouvoir fonctionner de manière autonome. 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. Of course, there are means of storing electrical energy, such as a battery, means of control of the drive wheels and a waste storage bin, to be able to operate autonomously.
Le pare-chocs 10 est mobile par rapport au châssis 20, pour pouvoir détecter la présence d'éventuels obstacles au trajet du robot de nettoyage. En particulier, il est prévu des moyens de détection agencés pour détecter un déplacement du pare-chocs 10 provoqué par la rencontre avec un obstacle, pour pouvoir modifier la trajectoire du robot de nettoyage, comme cela sera expliqué à la figure 8, qui montre les moyens de détection formés par des capteurs, tels que des interrupteurs 41 A à 41 D. La figure 2 représente une vue en perspective du pare-chocs 10, et en particulier le côté en regard avec le robot de nettoyage. Ce dernier comprend des moyens de guidage 30 agencés pour imposer un mouvement particulier du pare-chocs 10 par rapport au reste du robot de nettoyage, et en particulier par rapport au châssis 20. En effet, les moyens de guidage 30 comprennent trois paires d'éléments de maintien chacun formé par deux rondelles 24 (également visibles figures 6 et 7) montées sur un support allongé 23 qui est solidaire d'un élément de châssis 20a, relié au châssis 20. On peut prévoir de réaliser les rondelles 24 ainsi que le pare-chocs 10 en matière plastique, et en particulier en polyoxyméthylène (ou polyformaldéhyde ou polyacétal), de sigle POM. 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. In particular, there are provided 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. In fact, 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.
Le pare-chocs 10 comprend deux portions planes 1 1 a et 1 1 b, des nervures ou parois planes par exemple, et les deux rondelles 24 de chaque paire d'éléments de maintien prennent en sandwich une des portions planes 1 1 a ou 1 1 b (comme visible en détail figures 5 et 6). En d'autres termes, chaque rondelle 24, avec sa portion plane 1 1 a ou 1 1 b respective, forme ou impose un appui plan au pare-chocs 10 dans une direction normale aux portions planes 1 1 a et 1 1 b, pour lui imposer un déplacement parallèle à, ou contenu dans, un plan de base, parallèle aux portions planes 1 1 a et 1 1 b. Comme chaque paire d'élément de maintien comprend deux rondelles 24 prenant en sandwich le pare-chocs 10, celui-ci ne peut se déplacer que dans le plan de base. Pour chaque paire d'élément de maintien, une rondelle est enfilée sur le support allongé 23, et une autre le coiffe et est fixée par vis, par clipsage ou même collage ou bouterollage. Comme représenté figures 2, 3 et 8, il est prévu d'équiper le robot de nettoyage avec au moins 3 paires d'éléments de maintien, qui ne sont pas alignés, pour procurer un guidage efficace et qui se rapproche d'un système isostatique. 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). In other words, 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. As each pair of holding element comprises two washers 24 sandwiching the bumper 10, it can move only in the base plane. For each pair of holding member, a washer is threaded on the elongate support 23, and another the cap and is fixed by screw, clipping or even gluing or pasting. As shown in Figures 2, 3 and 8, it is expected to equip the cleaning robot with at least 3 pairs of holding elements, which are not aligned, to provide effective guidance and is close to an isostatic system .
Cependant, il est évident qu'un jeu entre le pare-chocs 10 et les moyens de guidage est prévu, c'est-à-dire que les portions planes 1 1 a et 1 1 b du pare- chocs 10 peuvent jouer dans les paires d'élément de maintien. Il en résulte que le pare-chocs peut avoir des mouvements parasites selon une direction perpendiculaire au plan de base. Cependant, ces mouvements sont limités. En particulier, le jeu peut être de 0.5 mm, et le débattement total du pare-chocs dans le plan de base peut être de 4.5 mm le long de chaque direction d'un repère cartésien. Autrement dit, le mouvement maximal possible du pare- chocs dans la direction normale au plan de base est inférieur à 15% d'une valeur maximale de déplacement du pare-chocs dans le plan de base. However, it is obvious that a clearance between the bumper 10 and the guide means is provided, that is to say that the flat portions 1 1 a and 1 1 b of the bumper 10 can play in the pairs of holding element. As a result, the bumper may have parasitic movements in a direction perpendicular to the base plane. However, these movements are limited. In particular, 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. In other words, 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.
En conséquence, le mouvement du pare-chocs 10 est essentiellement plan, ce qui rend le déplacement du pare-chocs 10 indépendant de la hauteur à laquelle un éventuel obstacle touche le pare-chocs. En effet, qu'un obstacle soit au ras du sol ou en hauteur, il imposera un mouvement du pare-chocs 10 essentiellement plan, ce qui rend la détection des obstacles plus efficace que si le pare-chocs était articulé autour d'un axe de rotation par exemple. As a result, 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.
Comme on le voit figure 3 et surtout figure 5, les portions planes 1 1 a et 1 1 b présentent des ouvertures 13 en forme de quartiers circulaires, par lesquelles passent les supports allongés 23. Ces lumières 13 limitent le déplacement du pare-chocs 10 en formant des moyens de butée qui peuvent par exemple limiter le déplacement du pare-chocs à 4.5 mm le long de la direction horizontale de la figure 3 et de la même valeur le long de la direction verticale de la figure 3. Le pare-chocs 10 étant mobile par rapport au châssis 20, il est important de pouvoir garantir une position nominale ou de repos du pare-chocs 10 lorsqu'aucun obstacle ne le touche. A cet effet, le robot de nettoyage comprend des moyens élastiques agencés pour ramener le pare-chocs 10 dans une position de repos, telle que représentée figure 3 ou 5. Ces moyens élastiques comprennent des ressorts 25 visibles figure 2 et surtout figure 4a. As seen in FIG. 3 and especially FIG. 5, 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. For this purpose, 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.
Les ressorts 25 sont fixés entre l'élément de châssis 20a et le pare- chocs 10, éventuellement avec une précontrainte pour plaquer le pare-chocs 10 sur les rondelles 24 supérieures ou inférieures, de sorte à éviter des bruits de cliquetis. Tout déplacement du pare-chocs étirera les ressorts 25, qui exerceront alors en retour un effort sur le pare-chocs pour le ramener en position de repos dès la fin du contact entre le pare-chocs et l'obstacle. 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.
On voit figures 4a et 4b le montage des ressorts 25 entre l'élément de châssis 20a et le pare-chocs 10. Chaque ressort 25 est monté sur un centrage de châssis 26 (solidaire du châssis 20) et un centrage embarqué 12 (solidaire du pare-chocs 10). Sur la figure 4b, les centrages de châssis 26 et les centrages embarqués 12 sont en regard et alignés (lorsque le pare-chocs 10 est en position de repos). On peut prévoir de les décaler pour imposer une flexion des ressorts 25 dans la position de repos (il faut décaler les centrages de deux ressorts 25 de manière opposée pour compenser les efforts de flexion), si bien que cette flexion ou précontrainte permet d'accentuer l'efficacité de rappel des ressorts 25 sur le pare-chocs 10 lors des petits déplacements. Figures 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). In FIG. 4b, 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.
La figure 8 représente les possibilités de détection offertes par le pare- chocs mobile selon l'invention. En effet, si on prévoit quatre capteurs de détection formés par des interrupteurs 41 A à 41 D placés schématiquement comme sur la figure 8, et que le pare-chocs 10 est soumis à des contacts avec des obstacles notés 1 à 7, alors les interrupteurs 41 A à 41 D seront activés comme le montre la table ci-dessous. Interrupteur Interrupteur Interrupteur InterrupteurFIG. 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. Switch Switch Switch Switch
41A 41 B 41 C 41 D41A 41 B 41 C 41 D
Obstacle 1 1 0 0 0Obstacle 1 1 0 0 0
Obstacle 2 1 1 0 0Obstacle 2 1 1 0 0
Obstacle 3 0 1 0 0Obstacle 3 0 1 0 0
Obstacle 4 0 1 1 0Obstacle 4 0 1 1 0
Obstacle 5 0 0 1 0Obstacle 5 0 0 1 0
Obstacle 6 0 0 1 1Obstacle 6 0 0 1 1
Obstacle 7 0 0 0 1 Obstacle 7 0 0 0 1
(0 : interrupteur non activé (0: switch not activated
1 : interrupteur activé) 1: switch on)
On comprend qu'il est possible de déterminer avec les quatre capteurs la position de l'obstacle, si bien que la stratégie de modification de trajectoire du robot de nettoyage est efficace. On peut prévoir d'espacer les interrupteurs 41 B et 41 C d'environ 100mm par exemple. It is understood that it is possible to determine with the four sensors the position of the obstacle, so that the path change strategy of the cleaning robot is effective. It can be provided to space the switches 41 B and 41 C of about 100mm for example.
On comprendra que diverses modifications et/ou améliorations évidentes pour l'homme du métier peuvent être apportées aux différents modes de réalisation de l'invention décrits dans la présente description sans sortir du cadre de l'invention défini par les revendications annexées. En particulier, il est fait référence à des ressorts 25 à boudin, mais on peut prévoir des lames de ressorts, des tiges flexibles, ou tout autre type d'élément élastique. It will be understood that various modifications and / or improvements obvious to those skilled in the art can be made to the various embodiments of the invention described in the present description without departing from the scope of the invention defined by the appended claims. In particular, reference is made to coil springs, but spring blades, flexible rods, or any other type of resilient element may be provided.

Claims

REVE N D ICATIONS REVE ND ICATIONS
1 . Robot de nettoyage des sols, comprenant : 1. Floor cleaning robot, comprising:
- un châssis (20),  a chassis (20),
- un pare-chocs (10) mobile par rapport au châssis (20), a bumper (10) movable relative to the chassis (20),
- des moyens de détection d'un mouvement du pare-chocs (10) par rapport au châssis (20),  means for detecting a movement of the bumper (10) relative to the chassis (20),
- le robot de nettoyage comprenant des moyens de guidage (30) du pare-chocs (10) agencés pour imposer un mouvement du pare-chocs (10) par rapport au châssis (20), dans lequel les composantes dudit mouvement sont contenues dans un plan de base,  the cleaning robot comprising guide means (30) for the bumper (10) arranged to impose a movement of the bumper (10) with respect to the frame (20), in which the components of said movement are contained in a basic plan,
caractérisé en ce que les moyens de guidage (30) comprennent au moins trois points d'appui entre le châssis (20) et le pare-chocs (10), non alignés et bloquant chacun au moins une translation du pare-chocs (10) selon une même direction normale au plan de base. characterized in that the guide means (30) comprise at least three bearing points between the frame (20) and the bumper (10), non-aligned and each blocking at least one translation of the bumper (10) in the same direction normal to the base plane.
2. Robot de nettoyage selon la revendication précédente, dans lequel les moyens de guidage (30) comprennent au moins trois paires de points d'appui entre le châssis (20) et le pare-chocs (10), non alignées, chaque paire de points d'appui comprenant deux points d'appui opposés bloquant chacun au moins une translation du pare-chocs (10) selon une même direction normale au plan de base. 2. cleaning robot according to the preceding claim, wherein the guide means (30) comprise at least three pairs of support points between the frame (20) and the bumper (10), non-aligned, each pair of bearing points comprising two opposite bearing points each blocking at least one translation of the bumper (10) in the same direction normal to the base plane.
3. Robot de nettoyage selon l'une des revendications précédentes, dans lequel les moyens de guidage (30) comprennent : Cleaning robot according to one of the preceding claims, wherein the guiding means (30) comprise:
- au moins une portion plane (1 1 a, 1 1 b) parallèle au plan de base,  at least one plane portion (1 1 a, 1 1 b) parallel to the base plane,
- au moins trois paires d'éléments de maintien, chaque paire d'éléments de maintien prenant en sandwich ladite au moins une portion plane (1 1 a, 1 1 b) pour imposer le mouvement du pare-chocs (10) dans le plan de base. at least three pairs of holding elements, each pair of holding elements sandwiching said at least one flat portion (1 1 a, 1 1 b) to impose the movement of the bumper (10) in the plane basic.
4. Robot de nettoyage selon la revendication précédente, comprenant au moins trois supports allongés (23) chacun agencé pour supporter une paire d'éléments de maintien, et dans lequel ladite au moins une portion plane (1 1 a, 1 1 b) comprend au moins trois ouvertures (13) chacune agencée pour laisser passer un support et/ou au moins un élément de maintien supporté par ledit support au travers de ladite au moins une portion plane (1 1 a, 1 1 b). 4. Cleaning robot according to the preceding claim, comprising at least three elongated supports (23) each arranged for supporting a pair of holding members, and wherein said at least one planar portion (11a, 11b) comprises at least three openings (13) each arranged to pass a support and / or at least one holding supported by said support through said at least one flat portion (1 1 a, 1 1 b).
5. Robot de nettoyage selon l'une des revendications précédentes, comprenant des moyens de butée, agencés pour limiter un déplacement relatif du pare-chocs (10) par rapport au châssis (20), dans une zone de déplacement qui présente une forme d'un segment circulaire. 5. cleaning robot according to one of the preceding claims, comprising stop means, arranged to limit a relative displacement of the bumper (10) relative to the frame (20), in a displacement zone which has a shape of a circular segment.
6. Robot de nettoyage selon la revendication précédente dans sa dépendance à la revendication 4, dans lequel les moyens de butée comprennent lesdites au moins trois ouvertures (13) et lesdits au moins trois supports. 6. cleaning robot according to the preceding claim in its dependence on claim 4, wherein the abutment means comprise said at least three openings (13) and said at least three supports.
7. Robot de nettoyage selon la revendication précédente, dans lequel lesdites au moins trois ouvertures (13) présentent une forme de segment circulaire formé par un cercle coupé par une corde normale à une direction d'avancement du robot de nettoyage. 7. Cleaning robot according to the preceding claim, wherein said at least three openings (13) have a circular segment shape formed by a circle cut by a rope normal to a direction of advance of the cleaning robot.
8. Robot de nettoyage selon l'une des revendications précédentes, comprenant des moyens élastiques agencés pour ramener le pare-chocs (10) dans une position de repos, occupée par le pare-chocs (10) lorsqu'aucun obstacle ne touche le pare-chocs (10). 8. Cleaning robot according to one of the preceding claims, comprising elastic means arranged to return the bumper (10) in a rest position, occupied by the bumper (10) when no obstacle does not touch the bumper shocks (10).
9. Robot de nettoyage selon la revendication précédente, comprenant une pluralité de paires de centrages comprenant chacune : Cleaning robot according to the preceding claim, comprising a plurality of pairs of centerings each comprising:
un centrage de châssis (26) solidaire du châssis (20) et  a chassis centering (26) integral with the frame (20) and
un centrage embarqué (12) solidaire du pare-chocs (10),  an onboard centering (12) integral with the bumper (10),
et dans lequel les moyens élastiques comprennent une pluralité de ressorts (25) chacun ayant une extrémité engagée avec un centrage de châssis (26) d'une paire de centrage, et une autre extrémité engagée avec le centrage embarqué (12) de ladite paire de centrages. and wherein the resilient means comprises a plurality of springs (25) each having one end engaged with a centering center (26) of a centering pair, and another end engaged with the onboard centering (12) of said pair of centers. centering.
10. Robot de nettoyage selon la revendication précédente, dans lequel au moins un centrage embarqué (12) d'une paire de centrages présente une projection dans le plan de base décalée d'une projection dans le plan de base du centrage de châssis (26) correspondant, lorsque le pare-chocs (10) est en position de repos. 10. Cleaning robot according to the preceding claim, wherein at least one onboard centering (12) of a pair of centerings has a projection in the base plane offset from a projection in the base plane of the chassis centering (26). ) corresponding, when the bumper (10) is in the rest position.
1 1 . Robot de nettoyage selon la revendication précédente, dans lequel la projection dans le plan de base dudit au moins un centrage embarqué (12) d'une paire de centrages est décalée d'au moins 1 .5 mm de la projection dans le plan de base du centrage de châssis (26) correspondant. 1 1. Cleaning robot according to the preceding claim, wherein the projection in the base plane of said at least one onboard centering (12) of a pair of centering is shifted by at least 1.5 mm from the projection in the base plane the corresponding chassis centering (26).
12. Robot de nettoyage selon l'une des revendications précédentes, dans lequel les moyens de détection comprennent au moins: Cleaning robot according to one of the preceding claims, wherein the detection means comprise at least:
- un premier capteur agencé pour détecter un mouvement du pare-chocs (10) selon une direction transversale du robot de nettoyage,  a first sensor arranged to detect a movement of the bumper (10) in a transverse direction of the cleaning robot,
- un deuxième capteur agencé pour détecter un mouvement du pare-chocs (10) selon une direction transversale du robot de nettoyage opposée à la direction détectée par le premier capteur,  a second sensor arranged to detect a movement of the bumper (10) in a transverse direction of the cleaning robot opposite to the direction detected by the first sensor,
- un troisième capteur agencé pour détecter un mouvement selon une direction d'avancement du robot de nettoyage.  a third sensor arranged to detect a movement in a direction of advancement of the cleaning robot.
13. Robot de nettoyage selon la revendication précédente, dans lequel les moyens de détection comprennent un quatrième capteur agencé pour détecter un mouvement selon une direction d'avancement du robot de nettoyage, et dans lequel le troisième capteur et le quatrième capteur sont agencés de part et d'autre d'un plan longitudinal médian du robot de nettoyage. 13. Cleaning robot according to the preceding claim, wherein the detection means comprises a fourth sensor arranged to detect a movement in a direction of advance of the cleaning robot, and wherein the third sensor and the fourth sensor are arranged from and another of a median longitudinal plane of the cleaning robot.
14. Robot de nettoyage selon l'une des revendications 12 ou 13, dans lequel les capteurs sont des interrupteurs (41 A, 41 B, 41 C, 41 D). 14. Cleaning robot according to one of claims 12 or 13, wherein the sensors are switches (41 A, 41 B, 41 C, 41 D).
EP17784344.8A 2016-09-13 2017-09-12 Bodenreinigungsroboter Active EP3512398B1 (en)

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)

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EP3512398A1 true EP3512398A1 (en) 2019-07-24
EP3512398B1 EP3512398B1 (en) 2022-10-19

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EP17784344.8A Active EP3512398B1 (en) 2016-09-13 2017-09-12 Bodenreinigungsroboter

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EP (1) EP3512398B1 (en)
CN (2) CN107811581B (en)
ES (1) ES2930775T3 (en)
FR (1) FR3055787B1 (en)
WO (1) WO2018051008A1 (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3055787B1 (en) * 2016-09-13 2019-03-22 Seb S.A. SOIL CLEANING ROBOT
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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

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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
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FR3055787B1 (en) * 2016-09-13 2019-03-22 Seb S.A. SOIL CLEANING ROBOT

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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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