DE10064836A1 - Vacuum cleaner robot has position of mobile working head relative to stationary central unit determined from configuration of flexible medium line between them - Google Patents

Abstract

The robot has a stationary central unit (2) and a working head (4) which is mobile relative to the central unit and coupled to the latter via a flexible medium line (6). The working head is coupled to a control unit (12) within the central unit, used for controlling its movement relative to the latter, with the actual position of the working head determined from the configuration of the flexible medium line, e.g. via attached sensors (20).

Description

The present invention relates to a robot with a central unit and a working head.

Robots have become an integral part of the modern world. Even in the house hold hold z. B. as a vacuum cleaner robot, increasingly moving in. Staubsaugerro bots are independent vacuum cleaner units with one drive and one Control unit are provided. The control of the vacuum cleaner robot happens with Help from sensors to detect obstacles, their data from the tax unit can be evaluated. Such a vacuum cleaner robot is for example in DE 199 16 427. It has a suction head and a suction motor, which is connected to the suction head via a suction line. For power supply robots have either a long cable or an accumulator.  

When designing a vacuum cleaner, there is a fundamental conflict between Space and power requirements. In the past, therefore, a system of Suction unit and remote suction head largely enforced. So that will achieved a small size for the suction head as well as a high suction power. With these systems, suction powers of up to 400 W are realized today. systems those designed on the basis of accumulators do not reach these values. ak Vacuum cleaners only achieve a few watts of leis at voltages in the range of 3 to 6 V. for about 10 minutes. Accumulators with higher leis density (e.g. 20 V at 1.3 A) could provide higher suction power, but are still at least a factor 10 below that in the household today usually expected benefits. For even higher performances would be current state of the art of accumulator technology then necessary for the accumulators would significantly exceed usual expectations in weight and size.

Vacuum cleaner robots are known, to which a charging unit is assigned, the the robots automatically seek out when the accumulator has reached a certain discharge state. This charging station also serves as Disposal station for those in the dust container of the vacuum cleaner robot Dust. So that the robots can also vacuum under furniture and in corners a need to make the robots as small as possible. Because of the in Small robots with limited space are the operating time per battery charge and the container volume of the dust container are small, so that the charging / Disposal station must be started frequently. Is the vacuum cleaner robot no charging / disposal station assigned, the dust container from Emptied by hand and the battery recharged or replaced by hand become.

Another reason to make robots small is that because of the compared to large robots of lower weight, a lower power for the Drive of the robot is sufficient. In addition, robots are all the more agile can be designed, the smaller they are. The downsizing, however, works  the use of accumulators to supply the robots with energy the operating time.

Similar problems also occur with robots with other tasks, such as a lawn mower. This applies equally to industrial robots and to homes halt robot.

The object of the invention is to provide a robot that has a longer operating time duration allows without losing its ability in hard-to-reach places to arrive is reduced.

This object is achieved by a robot according to claim 1. The dependent ones Claims contain further configurations of the robot.

The robot according to the invention is characterized in that it is stationary re central unit and a relative to the central unit mobile working head divided is. The working head is only connected to the via a flexible media line Central unit connected.

By not having to move the entire heavy CPU, can reduce the energy consumption of the robot and thus its operating time be extended. In addition, the working head can be kept small because everyone Work units, e.g. B. in a vacuum cleaner robot, the suction motor and Dust container that can be integrated into the central unit. This guarantees makes the working head even difficult to access places, such as corners of one Space. The effect of the work units (e.g. the one by the Suction motor generated negative pressure) is from the Central unit conveyed to the working head.

With such a robot, it is initially used in connection with vacuum cleaners mentioned problems taken into account by the fact that the working head has the sensors  and assigning the "intelligence" that enables the working head to handle the media hose independently (automatically).

Such a solution allows manual or automatic use the robot, in particular a vacuum cleaner, or a combination of manual and automatic use depending on your choice. In addition, such Build robots based on known user experiences and be compatible existing solutions can be realized. In such a case contains for example, the working head controls and the media line becomes the Energy supplied. In addition, new types of stationary cleaning systems be conceived.

The robot is equipped with a control means for controlling the movement of the work head equipped. In the control, the control means z. B. at the Orient flexible media line. So the way back of the working head from its current position to the central unit using the course of the Media management can be determined. For this purpose, the working head can be operated with a the sensor detecting the media line. This sensor is in front preferably in such a way that it reflects the respective, known structure of the media line, for example, the ribs of a flexible hose can detect. Suitable media hoses usually have ribs in a regular fashion Arrangement on. Touch sensors, as they are in connection with the execution Examples are described in the position of this structural feature detect.

The robot can use a path detection means to detect the work his head during his movement. This Position detection means can consist of a position determining means, which is usually the position of the working head relative to the central unit determined, and a storage unit for storing the respectively recorded Position exist. If the working head approaches one during the work process  already detected position, this is recognized by the control unit.

One way of determining the position of the working head relative to the central The unit consists of the flexible head between the working head and the central unit Media line distributes a number of sensors to arrange, each of which Detect the position of the neighboring sensor. Leaves from the individual positions the course of the media line in the manner of a polygon and thus the position determine the working head relative to the central unit.

Alternatively, the position can be determined by a sensor on the working head happen, which detects the central unit, so that from the data of this sensor the position of the working head can be determined relative to the central unit.

The working head is preferably equipped with at least one obstacle sensor Detected obstacles. There are z. B. optical and touch tion-sensitive sensors in question. Both types of sensors are preferred available.

In addition to the working head, the flexible media line with drive can also be used means and / or obstacle sensors to prevent the flexible media line touches obstacles and thereby releases tension is set.

The robot according to the invention is also suitable for fixed installation in a building. For example, in office buildings, the rooms can each be equipped with a robot vacuum cleaner central unit embedded in a wall. The working head (Cleaning head) can then as needed, i.e. H. if a certain room should be cleaned, become active. It is also possible that the working head and the flexible media line is only connected to the central unit when required become. It is also conceivable for a central unit to supply several rooms. The Rooms then only have a connection for the media line.  

Alternatively, the central unit can be designed as a mobile unit, which according to Need is established.

Embodiments of the present invention will now be described with reference to FIG the accompanying drawings explained in more detail.

Fig. 1 shows schematically an automatic rule robot vacuum cleaner.

FIGS. 2a to 2c show possible sensors of the cleaning head for detecting obstacles.

In Fig. 1 a first embodiment of the inventive robot is shown. The robot is a vacuum cleaner robot which has a central unit 2 and a suction head 4 forming the working head. The central unit 2 and the suction head 4 are connected to one another only by means of a long flexible suction hose 6 .

The central unit 2 contains the suction motor 8 , the dust container 10 and a control computer 12 for controlling the movement of the suction head 4 . The tax signals are transmitted to the suction head 4 via lines integrated in the suction hose 6 . However, they can also be transmitted by radio signal. Instead of the central unit 2 , the control computer 12 can also be integrated in the suction head 4 .

A plurality of optical sensors 14 and a plurality of touch sensors 16 are attached to the suction head 4 . These sensors are used to determine obstacles on the way of the suction head 4 before a collision of the suction head 4 with the obstacle can occur. In particular, the touch sensors 16 also serve to suction head 4 on its way around an obstacle or z. B. to run along a wall. The information from the push-button sensors 16 makes it possible to maintain a predetermined minimum distance from the obstacle or the wall.

The suction head 4 is also equipped with a drive motor 18 which drives wheels or caterpillar tracks (not shown) of the suction head 4 . The wheels or caterpillar tracks are preferably provided with a rubber cover so that they do not leave any traces or damage on the floor to be cleaned.

Furthermore, the cleaning head 4 has a suction opening, to which the vacuum generated by the suction motor is conveyed via the suction hose 6 . The suction hose 6 consists of a flexible material and is equipped with a number of sensors 20 which are attached to the hose at regular intervals. Each of these sensors 20 detects the direction in which the next sensor 20 is located and its distance. If the distances between the sensors 20 are smaller than the minimum bending radius of the suction hose 6 , the detection of the distance between two adjacent sensors 20 can be dispensed with. The first and the last sensor 20 are attached to the suction head 4 and to the central unit 2, respectively. The control computer 12 uses the data recorded by the sensors 20 to calculate the course of the hose 6 in the form of a polygon. The control computer 12 uses this polygon to determine the location of the suction head 4 relative to the central unit 2 . Here, for. B. the location desjeni gene hose sensor 20 , which is located on the central unit 2 , viewed as coordinates origin, so that the coordinates of the suction head 4 can be determined relative to this coordinate origin and thus to the central unit based on the polyline. This determination of the coordinates of the suction head 4 is carried out at regular time intervals. The control computer 12 has a memory for storing the respectively determined coordinates of the cleaning head 4th In this way, a map of the already vacuumed areas of the room to be vacuumed can be created.

The obstacle sensors are now described with reference to FIGS . 2a to 2c. Fig. 2a shows the possible structure for an optical sensor 14 on the suction head 4 of the vacuum cleaner robot. The sensor has a diode 102 with a narrow radiation range and a diode 104 with a wide radiation range. A light detector 106 is arranged between the two diodes 102 , 104 . The light detector 106 has a recording area, the width of which corresponds approximately to the width of the wide radiation area of the diode 104 . Both the diodes and the receiver 106 are directed in the same direction. A possible obstacle in the direction of radiation of the diodes reflects the light emitted by the diodes. The reflected light is then received by the receiver 106 . Due to its small forward radiation angle, the diode 102 has a higher radiation intensity than the diode 104 with the large radiation angle. Due to the reflection of the light from the diode 102 , objects can therefore be detected which cannot be detected by means of the light from the diode 104 . In contrast, the light from the diode 104 can only be used to detect objects that are in closer proximity to the sensor. This is a consequence of the larger radiation angle of the diode 104 and the associated lower radiation intensity. However, the larger radiation angle makes it possible to detect objects in an angular range that could not be detected with the light from the diode 102 . The combination of the diodes in the sensor 114 therefore enables a long range of detection in the forward direction and, with a shorter range, a large detection angle. In order to avoid errors caused by stray light, the diodes 102 and 104 of the sensor 14 are operated in a clocked manner.

An alternative embodiment of the sensor shown in FIG. 2a is shown in FIG. 2b. In this sensor 14 ', the light-emitting diodes of sensor 14 are replaced by a receiver with a small recording angle 108 and a receiver with a large recording angle 110 . Between the two receivers 108 , 110 there is a light-emitting diode 112 , the radiation angle of which approximately corresponds to the recording angle of the receiver 110 . The mode of operation of the sensor 14 'is the same as that of the sensor 14 , but with the roles of the light-emitting diode and the receiver interchanged. While the receiver 108 has a high recording sensitivity at the expense of its recording angle, the receiver 110 has a lower sensitivity in favor of a large recording angle.

In the suction head 4 sensors 14 or 14 ', as have been described with reference to FIGS. 2a and 2b, are attached to the front and to the side areas of the suction head. There are also sensors whose direction of radiation is directed obliquely upwards. This allows z. B. Overhangs are recorded.

Fig. 2c shows an example of a touch sensor 16 , as it is attached to the suction head of the robot vacuum cleaner. The push button sensor 16 has a capacitor made of two capacitor plates 124 , 126 . The capacitor plate 124 consists of a flexible membrane which is in contact with a tactile fiber 120 . If the free end 122 of the touch fiber 120 touches an obstacle, the force acting on the fiber is transmitted to the flexible capacitor plate 124 , as a result of which the distance between the capacitor plates 124 , 126 changes. The change in capacitance of the capacitor then generates a signal indicating that the touch probe 120 is touching an obstacle.

Tastfasern 16, as they have been described with reference to FIG. 2c, to allow both the front part and also present on the side portions of the suction head 4 for guiding the suction head 4 around an obstacle or a wall along.

In the operation of the vacuum cleaner robot, the speed of movement of the suction head 4 is reduced when an obstacle is detected by one of the detectors 14 . To detect such an obstacle by a detector 14 , pulsed light signals are emitted by the diodes 102 , 104 . If one of the light pulses hits an obstacle, it is reflected and received by the receiver 106 . Receives this a pulsed signal, so an obstacle is detected and the speed of the suction head 4 is throttled. The pulsed signals make it possible to remove an obstacle from e.g. B. to distinguish stray light that continuously arrives in the receiver 106 . At a reduced speed, the suction head 4 continues until one of the touch sensors 16 touches the obstacle or until the receiver 14 , which has detected the obstacle, no longer detects the obstacle. It is advantageous if the ranges of the optical sensors 14 and 14 'and the touch sensors 16 overlap, so that the obstacle remains detected by the optical sensor 14 and 14 ' until it is detected by the touch sensor 16 .

As soon as the obstacle is detected by the push button sensor 16 , the suction head 4 can move around the obstacle. He is controlled by the control computer 12 based on the tactile data around the obstacle that at least one of the tactile sensors 16 is in contact with the obstacle. In this way, the suction head 4 z. B. be moved along a wall. It is also possible to drive around a chair or table leg.

In order to prevent tensions from occurring due to an obstacle touching the suction hose 6 , wheels or caterpillar tracks can be arranged on the suction hose 6 at regular intervals. In this way, the suction hose 6 can be actively moved in order to remove or avoid contact with the obstacle. Preferably, the suction hose 6 is also equipped with obstacle sensors 14 , 14 ', 16 for detecting obstacles. The same sensors as for the suction head 4 can be used. The control computer 18 controls the drive of the suction hose.

In a further embodiment, a different type of position determination of the suction head 4 relative to the central unit 2 than in the first exemplary embodiment is used. The suction head 4 has a radar that detects the central unit. The control computer 12 of the central unit 2 then calculates the position of the suction head 4 on the basis of the radar signals. Instead of the suction head 4 , the radar can also be attached to the central unit 2 , the suction head then being detected.

The central unit of the vacuum cleaner robot can e.g. B. as a solid in the wall Room integrated unit to be formed. There can be several rooms have common central unit, so that only in the walls of the rooms Connections for the suction hose are available. The vacuum cleaner robot can but also be designed as a mobile vacuum cleaner robot. Then the trag or Mobile central unit installed in the room to be cleaned, in which subsequently the robot vacuum cleaner performs the cleaning independently. After completing the The vacuum cleaner robot is picked up again for cleaning.

In the case of a robot, the working head of which is just a specific location must find in order to perform an activity there, can on the registration of the distance traveled are waived. In this case the working head To enable return to the central unit, it can send out a signal that is received by a receiver on the working head, and on the basis of which the Control computer determined the way back. Alternatively, it is possible that the Working head oriented towards media management on its way back. This is on Working head attached a sensor that detects the media line. The working head then moves along the media line until the central unit is reached.

Claims (18)

1. Robot with a central unit ( 2 ) and a working head ( 4 ), characterized in that the working head ( 4 ) is designed as a mobile unit relative to the central unit ( 2 ), which is connected to the central unit ( 2 ) only via a flexible media line ( 6 ) communicates. 2. Robot according to claim 1, characterized in that the working head ( 4 ) is connected to a control unit ( 12 ) which is designed to control the movement of the working head ( 4 ) relative to the central unit ( 2 ) in such a way that the Control means for controlling the working head ( 4 ) oriented on the flexible media line ( 6 ). 3. Robot according to claim 2, characterized in that the control unit ( 12 ) is designed to find the path of the working head ( 4 ) from its current position to the central unit ( 2 ) on the basis of the course of the flexible media line ( 6 ). 4. Robot according to claim 2 or 3, characterized in that on Ar beitskopf ( 4 ) there is a sensor which is designed to detect the flexible media line ( 6 ). 5. Robot according to claim 4, characterized in that the sensor is designed to detect a surface structure such as periodically recurring ribs of the media line ( 6 ). 6. Robot according to one of claims 1 to 5, characterized in that the working head ( 4 ) comprises a path detection means ( 12 , 20 ) which is designed to detect the path covered by the working head ( 4 ) during its movement relative to the central unit ( 2 ) is. 7. Robot according to claim 6, characterized in that the Wegerfas measurement means comprises a position determining means ( 20 , 12 ) for the repeated determination of the position of the working head ( 4 ) relative to the central unit ( 2 ) and a storage unit ( 12 ) for storing each certain position is formed. 8. Robot according to claim 7, characterized in that the position determining means comprises a number of position sensors ( 20 ) which are arranged between the working head ( 4 ) and the central unit ( 2 ) along the bendable media line ( 6 ) in such a way that they each detect the position of the adjacent position sensor ( 20 ), so that the signals of the position sensors ( 20 ) determine the course of the flexible media line ( 6 ) from the working head ( 4 ) to the central unit ( 2 ) and thus the position of the working head ( 4 ) can be determined relative to the central unit ( 2 ). 9. Robot according to claim 7, characterized in that the Positionbe determination means attached to the working head ( 4 ), the central unit ( 2 ) sensing sensor and means ( 12 ) for calculating the position of the working head ( 4 ) relative to the central unit ( 2 ) from the sensor data. 10. Robot according to one of claims 1 to 9, characterized in that the working head is equipped with obstacle sensors ( 14 , 14 ', 16 ) for detecting obstacles. 11. Robot according to claim 9, characterized in that at least one optical sensor ( 14 , 14 ') and at least one touch sensor ( 16 ) are present. 12. Robot according to claim 11, characterized in that the optical sensor ( 14 ') comprises an optical transmitter ( 112 ) with a large beam angle, a receiver ( 108 ) with a small pickup angle and a receiver ( 110 ) with a large pickup angle, the beam axes of which are parallel to each other. 13. Robot according to one of claims 1 to 12, characterized in that the flexible media line ( 6 ) is provided with drive means. 14. Robot according to claim 13, characterized in that the flexible media line ( 6 ) is equipped with obstacle sensors. 15. Robot according to one of the preceding claims, characterized in that a plurality of working heads ( 4 ) are arranged on the central unit ( 2 ), which are designed as mobile units that are independent of one another relative to the central unit ( 2 ) and that are connected to the central unit ( 2 ). are only connected via a flexible media line ( 6 ). 16. Robot according to one of the preceding claims, characterized in that the central unit ( 2 ) is designed for a fixed arrangement. 17. Robot according to one of the preceding claims, characterized in that the control unit ( 12 ) and the energy supply unit for the working head ( 4 ) are contained therein. 18. Robot according to one of the preceding claims, characterized in that the control unit ( 12 ) and / or the energy supply unit are contained in the central unit ( 2 ) and that the control signals of the control unit ( 2 ) or the energy via the flexible media line ( 6 ) are transferred to the working head ( 4 ) or the working heads.