DE102014005815A1 - Mobile robot - Google Patents

Abstract

The invention relates to a mobile robot, which can fulfill at least one of different functionalities. These different functionalities relate in particular to the cleaning of floors and their coverings, in particular by suction, knocking and / or the like. Alternatively or additionally, such robots can be used for sweeping, lawn mowing and possibly scarifying, for object search or object monitoring in a conventional manner ,

Description

The invention relates to a mobile robot, which can fulfill at least one of different functionalities. These different functionalities relate in particular to the cleaning of floors and their coverings, in particular by suction, knocking and / or the like. Alternatively or additionally, such robots can be used for sweeping, lawn mowing and possibly scarifying, for object search or object monitoring in a conventional manner ,

Such a mobile robot, which is used for cleaning floors and their coverings, is used for example in the DE 100 00 407 A1 described and referred to there as a household robot for automatic vacuuming. The robot is powered by electric motors powered by accumulators.

In practice, there are requirements which a robot should fulfill in particular with respect to its cleaning capacity:
The robot must be able to move freely on one level,
wherein the cleaning unit should come as close as possible to all edge regions of the step or should act there. The overall height of the robot should be as low as possible in order to drive under objects such as cabinets. The robot should be freely movable or mobile in all directions. The cleaning surface should be as wide as possible. The dust container should be extendable.

Also, there has long been a need for a robot that can climb or exceed obstacles, such as stairs or stairs.

The object of the invention is to meet these requirements of the practice, in particular to overcome and / or overcome obstacles, and to overcome the disadvantages of the prior art. The structure of the robot should be technically as simple as possible.

The object of the invention is solved by the features of claim 1.

Essential to the invention is that the base body has at least one riser unit to overcome differences in level.

Essential in the sense of the invention is also that the base body of the robot in the horizontal, d. H. viewed from above, has at least one U-shaped outer partial contour. This basically makes it possible for the robot to be rotatable on the step, to have a wide cleaning surface which is larger than in a circular shape (little space for stair-feed mechanism and narrower cleaning surface) or a rectangular shape (problems when turning on the step) or triangular shape (little Space for stair feed mechanism).

Structure General:

The robot is, seen in a plan view, constructed in a U-shape. Its ideal dimensions are about 20 cm in width and about 20 cm in length, with the outer contour of the semicircular rear part is formed by a radius of about 10 cm. The main body of the robot has, standing on its two drive wheels, a ground clearance of about 2 cm. In the front of the unit are the suction unit 4 , the suction motor 10 and the dust container 9 appropriate. The dust container 9 is, for example, for emptying the front of the device displaced. In addition, the whole suction unit, consisting of the parts suction unit 4 , Dust container 9 and suction motor 10 through the staircase feed 7 extendable.

The stair feed 7 is located on the top of the device. At the staircase feed 7 are the two telescopic arms 1 and 1a ) attached to which the stabilizers 6 and 6a are attached. Centered on the bottom are the two motor-driven drive wheels 2 and 2a arranged. Behind it is a stabilization ball 5 , Above it is the battery 8th and the processor 47 , At the upper and lower edge of the device there are common sensors which detect the lateral distance. As well as other sensors that detect the distance up and down. Front are a camera and a laser 11 attached to the navigation. By two opposite drive wheels, the robot is rotatable on the spot and thus mobile in any direction. The dust container can be extended by overhead stair feed.

In particular, the following requirements should be met for the individual parts of the robot according to the invention:

Stairs feed mechanism 7 :

• - Low construction height
• - stable / cheap
• - Telescope arms should be able to extend laterally
• - Telescopic arms should be min. 20 cm can drive to the rear
• - Telescopic arms should be able to drive to the middle of the device

Requirements solved by:

• - Telescopically extendable profiles in which the Teleskoparmhaltergewindehülsen can also move linearly
• - Telescope holder sleeves, which can also move linearly on the Teleskoparmhalter

By retracting the telescopic arms in the frame, the U-shape is guaranteed; In addition, the distance between the cleaning unit to obstacles, such. B. a wall, which he has to drive along, lower. The robot can continue on corner steps on the narrowing step and thus clean more with the cleaning unit. The feed mechanism can move freely within the profiles. The design requires only four motors.

In addition, by extending the front of the dust container or dust container or even the whole unit can be extended and cleaned or replaced.

The stair feed could alternatively be built with hydraulic cylinders, in which case an additional fluid tank would be needed.

The stair feed could alternatively be built with linear motors. The disadvantage of this is that linear motors are very expensive.

Stairfeed construction:

The vertical stairfeed is made up of two profiles 12 and 13 built up, taking profile 13 positively in profile 12 fit. Both sides have the profiles 12 and 13 recesses 25 . 25a and 26 . 26a for the telescopic holder threaded sleeves 20 and 20a , profile 12 is firmly connected to the robot and has additional recesses on both sides 24 and 24a for the gears 23 and 23a the in the rack profiles 27 and 27a from profile 13 grab and off the engines 22 and 22a are driven. Thus, profile can 13 linear from the profile 12 be driven.

telescopic arm:

Heights of at least 22 cm; should be controllable with only one electric motor; stable; must carry the load of the robot.

Solution:

The telescopic arm consists of rectangular aluminum profiles, which are positively connected with each other so that they can extend but stop at the maximum extension point. Inside is a threaded construction, which is connected to an electric motor. Thus, the telescopic arm is arbitrarily extendable.

Special form of thread construction:

Due to this selected shape, the tubular parts of the telescopic arm do not travel completely, but stop at the end point and set the next tube in rotation.

Rectangular shape of the profiles:

Due to this shape, the last tube, which is firmly connected to the last profile, can not twist.

advantages

Convenient to manufacture, extendable and retractable to any point

pneumatic:

The telescopic arm could alternatively be built with a pneumatic telescopic cylinder. However, pneumatic telescopic cylinders are very expensive and need an additional compressed air tank and corresponding lines.

hydraulics:

The telescopic arm could alternatively be built with a hydraulic telescopic cylinder. However, telescopic cylinders are very expensive and need an additional fluid tank and pipes.

The Telskoparm:

The telescopic arm is, for example, as in 9 represented, from three rectangular profiles 28 . 28a . 28d the form-fitting through the recess 29 . 29c and the exit guards 30 . 30a are so connected that they can not fully extend. The last profile 28d has a firm connection with the threaded sleeve 32c , threaded sleeve 32c has no continuous thread. At the bottom, the thread is not cut through the outside. In the threaded sleeve 32c is the threaded sleeve 32 the outside has the same not consistently cut thread and inside only at the top has a thread. In threaded sleeve 32 is the threaded rod 31 whose thread is not cut through at the bottom. The threaded rod 31 is with the engine 33 connected the whole construction by the threaded rod 31 and pods 32 . 32c Can extend linearly.

Function:

To extend the telescopic rods or the tubular parts of the telescopic arm turns the engine 33 the threaded rod 31 which is threaded, which is not completely cut through at the top. (The threaded sleeves 32 . 32a . 32b . 32c move through rotation linearly). By doing that the sleeve 32 Inside, no continuous thread has stopped at the point where the thread from the threaded rod 31 ends and puts itself in rotation. By doing that the sleeve 32 in the same way with sleeve 32a connected sleeve drives 32a first linear to the end point and then puts in rotation. shell 32b is in the same way with sleeve 32c connected. However, this is fixed to the profile 28a connected so that it can be extended only linear, but stops at the end, because no self-rotation is possible. The maximum extension point has been reached. All profiles are positively connected so that all profiles extend. By gravity, only the inner four profiles 28c . 28b . 28a . 28 exit. Then the next three profiles 28b . 28a . 28 then 2 profiles 28a . 28 then the last profile 28 ,

Parts of the robot according to the invention / instructions

• 1 . 1a telescopic arm
• 2 . 2a drive wheels
• 3 . 3a Motors for drive wheels

• 4 Saugeinheit

The motors should be speed monitoring and self-locking / locking.

• 4 suction unit

• 5 Stützkugel

The suction unit should achieve the highest possible suction power with the lowest possible power consumption of the motor.

• 5 support ball

• 6, 6a Stabilisator

The support ball stabilizes the robot and should be able to roll in any direction.

• 6 . 6a stabilizer

• 7 Treppenvorschubmechanik
• 8 Akku

The stabilizer must carry the whole load of the robot during the stair climbing process and should therefore be very stable in this respect.

• 7 Stairs feed mechanism
• 8th battery pack

• 9 Staubbehälter
• 10 Saugmotor

Should be dimensioned to allow at least one hour of operation of the robot.

• 9 dust container
• 10 naturally aspirated

• 11 Lasersystem Kamera
• 12 Profil 1

Should generate as little noise and heat as possible and be efficient.

• 11 Laser system camera
• 12 Profile 1

• 13 Profil 2

Should be as stable as possible.

• 13 Profile 2

• 14 Motor für Gewinde 15

Should be as stable as possible

• 14 Motor for thread 15

• 15 Gewindestange

The motor should be axially supported for speed monitoring and self-locking / locking.

• 15 threaded rod

Should be stable and provided with a fine thread.

• 16 Feed threaded sleeve

• 17 Stabilisatoren der Vorschubgewindehülse

Should be stable and provided with a fine thread. Should fit from the height her profile 13 fit, so that slipping / twisting is not possible.

• 17 Stabilizers of the feed thread sleeve

• 18 Motor 2 für Gewinde 19, 19a

Should be stable and guide the feed thread sleeve so that no slipping / twisting is possible.

• 18 Motor 2 for thread 19 . 19a

• 19, 19a Gewindestangen

The motor should be axially supported for speed monitoring and self-locking / locking.

• 19 . 19a threaded rods

• 20, 20a Teleskophaltergewindehülsen

Should be stable and provided with a fine thread, one of the two should have a left and the other a right-hand thread.

• 20 . 20a Telescopic holder threaded sleeves

• 21 Stabilisator für Teleskophaltergewindehülsen

Should be stable and provided with a fine thread, one of the sleeves should have a left-hand and the other a right-hand thread. So that when turning the motor, both move in and out evenly. Should fit from the height her profile 13 fit, so that slipping / twisting is not possible.

• 21 Stabilizer for telescopic holder threaded sleeves

• 22, 22a Motoren für Treppenvorschub

Should be stable and guide the telescopic holder threaded sleeves so that no slipping / twisting is possible.

• 22 . 22a Motors for stair feed

• 23, 23a Zahnräder für Treppenvorschub
• 24, 24a Aussparung für Zahnräder am Profil 2
• 25, 25a Aussparungen für Gewindehülsen am Profil 2
• 26, 26a Aussparungen für Gewindehülsen am Profil 1
• 27, 27a Zahnprofil für Zahnräder 23, 23a
• 28, 28a, 28b, 28c, 28d Teleskoparmprofil, Sollten möglichst leichte und stabile Profile sein.
• 29, 29a, 29b, 29c Aussparung 1, 2, 3, 4

The motors should be speed monitoring and self-locking / locking.

• 23 . 23a Gear wheels for stair feed
• 24 . 24a Recess for gears on profile 2
• 25 . 25a Recesses for threaded sleeves on profile 2
• 26 . 26a Openings for threaded sleeves on profile 1
• 27 . 27a Tooth profile for gears 23 . 23a
• 28 . 28a . 28b . 28c . 28d Telescopic arm profile, Should be as light and stable profiles.
• 29 . 29a . 29b . 29c recess 1 . 2 . 3 . 4

• 30, 30a, 30b, 30c Endstellungshalter 1, 2, 3, 4

Should be manufactured in such a way that they guarantee an overlap of the profiles in the end position together with the end position holders.

• 30 . 30a . 30b . 30c Endstellungshalter 1 . 2 . 3 . 4

• 31 Gewindestange

Should be manufactured in such a way that together with the recesses they guarantee an overlap of the profiles in the final position.

• 31 threaded rod

• 32, 32a, 32b, 32c Gewindehülse

Should be stable and provided with a fine thread.

• 32 . 32a . 32b . 32c threaded sleeve

• 33 Motor für Gewindestange

Should be stable and provided with a fine thread.

• 33 Motor for threaded rod

• 34 Sensor für Frontabstand (Oberseite)

The motor for the telescopic arm should be mounted axially as well as speed monitoring and self-stopping / locking.

• 34 Sensor for front distance (top side)

• 35, 35a Sensor für Frontabstand (Oberseite)

Should at least detect a distance between 1-10 cm.

• 35 . 35a Sensor for front distance (top side)

• 36, 36a Sensor für seitlichen Abstand (Oberseite)

Should recognize distance between 1-10 cm.

• 36 . 36a Lateral distance sensor (top side)

• 37, 37a Sensor für Abstand nach oben (Oberseite)

Should recognize distance between 1-10 cm.

• 37 . 37a Sensor for distance upwards (top side)

• 38, 38a Sensor für seitlichen Abstand (Oberseite)

Should recognize distance between 1-20 cm

• 38 . 38a Lateral distance sensor (top side)

• 39, 39a Sensor für Abstand nach hinten (Oberseite)

Should recognize distance between 1-10 cm.

• 39 . 39a Rear Distance Sensor (Top)

• 40, 40a Sensor für Abstand nach oben (Oberseite)

Should recognize distance between 1 to 20 cm.

• 40 . 40a Sensor for distance upwards (top side)

• 41 Sensor für Abstand nach hinten (Oberseite)

Should recognize distance between 1 to 20 cm.

• 41 Rear Distance Sensor (Top)

• 42, 42a Sensor für Frontabstand (Unterseite)

Should recognize distance between 1 to 10 cm.

• 42 . 42a Sensor for front distance (underside)

• 43, 43a Sensor für seitlichen Abstand (Unterseite)

Should recognize distance between 1 to 10 cm.

• 43 . 43a Side distance sensor (underside)

• 44, 44a Sensor für Abstand nach unten (Unterseite)

Should recognize distance between 1 to 10 cm.

• 44 . 44a Distance Down Sensor (Bottom)

• 45, 45a Sensor für seitlichen Abstand (Unterseite)

Should recognize distance between 1 to 10 cm.

• 45 . 45a Side distance sensor (underside)

• 46 Sensor für Abstand nach unten (Unterseite)

Should recognize distance between 1 to 10 cm.

• 46 Distance Down Sensor (Bottom)

• 47 Prozessor

Should recognize distance between 1 to 10 cm.

• 47 processor

Should be as powerful as possible and need little space.

• a) Sobald der Roboter eine Treppenstufe steigen soll, wird dieser in eine definierte Ausgangsposition auf dem Absatz(Höhenniveau) unterhalb der zu ersteigenden Treppenstufe gebracht, d. h. insbesondere, dass dieser zur Treppenstufe ausgerichtet und angenähert wird. Dabei ist das Vorderteil des Roboters nahe der vertikalen Treppenwange positioniert und die Mittellinie verläuft etwa senkrecht Treppenwange.
• b) Der Vorgang des Aufsteigens beginnt damit, dass die Motoren 33 und 33a die Teleskoparme 1 und 1a etwas (ca. 5 mm) vertikal nach unten ausfahren.
• c) Dann fährt der Motor 18 die Teleskoparmgewindehülsen 20 und 20a gleichzeitig vertikal auf Endstellung, wobei die beiden Teile vom Basiskörper beabstandet sind.
• d) Danach fahren die Motoren 33 und 33a die Teleskoparme 1 und 1a vertikal nach unten aus und heben damit den Basiskörper insgesamt auf ein anderes Höhenniveau, so dass die Unterkante der Räder 3 und 3a und der Stützkugel 5 etwas oberhalb des Absatzes der zu erreichenden Treppenstufe positioniert ist.
• e) Wenn der Roboter in dieser gewünschten Position ist, fahren die Motoren 22 und 22a das Profil 13 der Treppenvorschubmechanik bis zur Endstellung aus. Jetzt ist der Roboter zumindest bis zur Hälfte auf dem Absatz der nächsten Treppenstufe positioniert.
• f) Nun fährt der Motor 14 die Vorschubgewindehülse 16 bis zur Endstellung aus.
• g) Der Roboter ist nun auf der nächsten Stufe, jetzt werden die Teleskoparme 1 und 1a vertikal eingezogen bis sie (ca. 5 mm) unter dem Roboter sind.
• h) Die Motoren 22 und 22a fahren das Profil 13 wieder ein.
• i) Dann fährt der Motor 14 die Teleskoparmhaltergewindehülsen 20 und 20a wieder in die Mitte des Roboters.
• j) Nun fährt der Motor 18 die Teleskophaltergewindehülsen 20 und 20a und somit die Teleskoparme 1 und 1a wieder ein.
• k) Zum Schluss fahren die Motoren 33 und 33a die Teleskoparme 1 und 1a komplett ein. Der Roboter befindet sich wieder in einer Ausgangslage, in welche er beispielsweise den Absatz dieser Treppenstufe reinigen kann oder ist zum erneuten Steigen bereit.

Sequence of steps, namely steps a to k, when climbing a step by the robot are basically:

• a) As soon as the robot is to climb a step, this is brought to a defined starting position on the heel (height level) below the step to be graduated, ie in particular that this is aligned and approximated to the step. In this case, the front part of the robot is positioned near the vertical stair string and the center line runs approximately vertically stair string.
• b) The process of ascending begins with the engines 33 and 33a the telescopic arms 1 and 1a extend vertically downwards (about 5 mm).
• c) Then the engine is running 18 the telescopic arm threaded sleeves 20 and 20a simultaneously vertical to the end position, wherein the two parts are spaced from the base body.
• d) Then drive the engines 33 and 33a the telescopic arms 1 and 1a vertically downwards, thus lifting the base body altogether to a different height level, leaving the lower edge of the wheels 3 and 3a and the support ball 5 positioned slightly above the heel of the stair step to be reached.
• e) When the robot is in this desired position, the motors are running 22 and 22a the profile 13 the staircase feed mechanism to the end position. Now the robot is at least halfway positioned on the landing of the next step.
• f) Now the engine is running 14 the feed thread sleeve 16 out to the end position.
• g) The robot is now on the next level, now the telescopic arms are 1 and 1a pulled vertically until they are (about 5 mm) under the robot.
• h) The engines 22 and 22a drive the profile 13 again.
• i) Then the engine is running 14 the telescopic arm holder threaded sleeves 20 and 20a back to the middle of the robot.
• j) Now the engine is running 18 the telescopic holder threaded sleeves 20 and 20a and thus the telescopic arms 1 and 1a again.
• k) Finally drive the engines 33 and 33a the telescopic arms 1 and 1a completely. The robot is again in a starting position, in which he can clean, for example, the heel of this step or is ready for re-climbing.

The invention is explained in more detail below with reference to exemplary embodiments without having conclusively illustrated all possible uses of the invention.

The figures show:

1 the schematic representation of the underside of the device base body of the robot according to the invention,

2 the robot according to the invention in a side view,

3 a top view of the robot according to the invention with Stair feed in normal position,

4 1 is a top view of the inventive robot with stair feed in a first extended position,

5 a top view of the inventive robot with stair feed in a second extended position,

6 the schematic side view of the part 12 .

7 the schematic side view of the part 13 .

8th the telescopic arm ( 1 . 1a ) in a plan view,

9 the telescopic arm in the extended state in a lateral sectional view,

10 a simplified scheme of the telescopic arm in retracting state in a side sectional view,

11 the schematic representation of the underside of the base body of the robot according to the invention with the arrangement of the sensors,

12 the schematic representation of the top of the device of the base body of the robot according to the invention with the arrangement of the sensors and

13 in a schematic representation of the sequence of steps, namely steps a to k, when climbing a step by the robot.

In 1 the device underside of the base body of the robot according to the invention is shown. The robot has a conventional vacuum cleaner unit with a suction unit 4 , which is located on the front of the device. In 1 are the two counter rotating brushes / rollers of the suction unit 4 to see. In addition, the two drive wheels are in the middle part of the base body 2 . 2a and the driving engines 3 . 3a shown. At the edge are the two stabilizers 6 . 6a , whose form fits positively to the U-shaped shape of the bottom of the device are arranged. On the stabilizers 6 . 6a is one of the two telescopic drives 1 . 1a attached. In addition, the support ball 5 on the underside of the device, there in the region of the rear of the device, namely the part of the base body which has the semicircular part of the U-shaped outer contour. With this arrangement of the support ball 5 is ensured that the robot can not tilt backwards.

In 2 the robot is shown in a side view. At the front of the base body are the suction unit 4 , the dust container 9 the electric vacuum motor 10 and the laser system / camera 11 which are arranged one above the other. At the top of the base body is the stair feed 7 arranged, with him the telescopic arm 1 is attached, the lower end of the telescopic arm 1 is with the stabilizer 6 firmly connected. Centered on the bottom is a drive wheel 2 shown. At the base body is the support ball 5 , which is not powered by motor arranged. In the area of the rear of the device are also the battery 8th and the processor 47 ,

In 3 the robot is shown in a plan view, the stair feed is in the normal position, d. h the stair feed is not extended. The stair feed consists of two parallel pairs of profiles 12 . 13 , profile couple 13 is in profile pair 12 , which is firmly connected to the base body of the robot, movable and can by the motors 22 . 22a with the gears 23 . 23a be retracted or retracted. In the profile pair 13 is the staircase feed mechanism. engine 14 is with the threaded rod 15 connected. At the threaded rod 15 is the threaded sleeve 16 that caused by the engine 14 linear retractable and extendable arranged. To stabilize serve the two stabilizing plates 17 , At the threaded sleeve 16 is engine 17 attached, the the threaded rods 19 . 19a where the threaded rod 19 has a left-hand thread, drives and thus the threaded sleeves 20 . 20a and the attached telescopic arms 1 . 1a can move in and out evenly. These are stabilized by the stabilization sleeve 21 attached to the threaded sleeve 16 is attached.

In 4 the robot is shown in a plan view, wherein the stair feed is in one of the extended position, here position e) according to 13 , is located. 4 Stair feed advanced from above profile 1.

5 Stair feed from above profile 1 and threaded sleeve extended here position f) according to 13 ) In 5 you can see the stair feed from above when profile 1 13 and threaded sleeve 16 is extended (stair climbing function f).

In 6 is the profile 1 seen in a side view. In profile 2 ( 12 ) is a recess 25 ) for the threaded sleeve 20 and a recess 24 for the gear 23 ,

In 7 is profile 1 ( 13 ) in a side view. In profile 1 ( 13 ) is also a recess 26 for the threaded sleeve 20 and a rack profile 27 so gearwheel 23 , Profile 1 ( 13 ) within Profile 2 ( 12 ) can move in and out.

In 8th is the telescopic arm 1 . 1a seen from above or in a plan view. The telescopic arm 1 . 1a consists of 5 rectangular profiles 28 . 28a . 28b . 28c . 28d the form-fitting through the recess 29 . 29a . 29b . 29c and the exit guards 30 . 30a . 30b . 30c connected so that they can not fully extend. The last profile 28 has a firm connection with the threaded sleeve 32d , threaded sleeve 32d has no continuous thread. At the bottom, the thread is not cut through the outside. In the threaded sleeve 32d are the threaded sleeves 32 . 32a . 32b the outside have the same not consistently cut thread and inside only at the top have a thread. In threaded sleeve 32 is the threaded rod 31 whose thread is not cut through at the bottom. The threaded rod 31 is with the engine 33 connected the whole construction by the threaded rod 31 and pods 32 . 32a . 32b . 32c Can extend linearly. To extend the telescopic poles, the engine turns 33 the threaded rod 31 which is threaded on the upper end is not completely cut through. (The threaded sleeves 32 . 32a . 32b . 32c move through rotation linearly). By doing that the sleeve 32 inside has no continuous thread, it stops at this point, where the thread of the threaded rod 31 ends and puts itself in rotation. By doing that, the sleeve 32 in the same way with the sleeve 32a connected, the sleeve moves 32a first linear to the end point and then puts in rotation. shell 32b is in the same way with the sleeve 32c connected. However, this is fixed to the profile 28 connected so that it can extend only linear, but stops at the end, because no self-rotation is possible. The maximum extension point is reached. All profiles are positively connected with each other, so that it is ensured that all profiles function. By gravity, only the inner four profiles 28c . 28b . 28a . 28 exit; then the next three profiles 28b . 28a . 28 ; then two profiles 28a . 28 and then the last profile 28 ,

9 shows a simplified schematic of the telescopic arm in the extended state in a side sectional view. 9 shows a simplified diagram of the telescopic arm in a sectional view with only three Teleskoparmprofilen 28 . 28a . 28d in the extended state. As a result, there are only two recesses 29 . 29c , two end position holders 30 . 30a and two threaded sleeves 32 . 32c to see.

10 shows a simplified schematic of the telescopic arm in retracting state in a side sectional view.

• 40, 40a Sensor für Frontabstand (Unterseite),
• 41, 41a Sensor für seitlichen Abstand (Unterseite).
• 42, 42a Sensor für Abstand nach unten (Unterseite),
• 43, 43a Sensor für seitlichen Abstand (Unterseite) und
• 44 Sensor für Abstand nach unten (Unterseite).

11 shows the schematic representation of the underside of the device body of the base of the robot according to the invention with the arrangement of the sensors, namely

• 40 . 40a Sensor for front clearance (underside),
• 41 . 41a Sensor for lateral clearance (underside).
• 42 . 42a Distance down sensor (bottom),
• 43 . 43a Sensor for lateral distance (underside) and
• 44 Distance down sensor (bottom).

• 32 Sensor für Frontabstand (Oberseite),
• 33, 33a Sensor für Frontabstand (Oberseite),
• 34, 34a Sensor für seitlichen Abstand (Oberseite),
• 35, 35a Sensor für Abstand nach oben (Oberseite),
• 36, 36a Sensor für seitlichen Abstand (Oberseite),
• 37, 37a Sensor für Abstand nach hinten (Oberseite),
• 38, 38a Sensor für Abstand nach oben (Oberseite) und
• 39 Sensor für Abstand nach hinten (Oberseite).

12 shows the schematic representation of the top of the device of the base body of the robot according to the invention with the arrangement of the sensors, namely

• 32 Sensor for front distance (top side),
• 33 . 33a Sensor for front distance (top side),
• 34 . 34a Lateral distance sensor (top),
• 35 . 35a Sensor for distance upwards (top side),
• 36 . 36a Lateral distance sensor (top),
• 37 . 37a Sensor for distance to the rear (upper side),
• 38 . 38a Sensor for distance upwards (top side) and
• 39 Rear Distance Sensor (Top).

• a) Sobald der Roboter eine Treppenstufe steigen soll, wird dieser in eine definierte Ausgangsposition auf dem Absatz(Höhenniveau) unterhalb der zu ersteigenden Treppenstufe gebracht, d. h. insbesondere, dass dieser zur Treppenstufe ausgerichtet und angenähert wird. Dabei ist das Vorderteil des Roboters nahe der vertikalen Treppenwange positioniert und die Mittellinie verläuft etwa senkrecht Treppenwange.
• b) Der Vorgang des Aufsteigens beginnt damit, dass die Motoren 33 und 33a die Teleskoparme 1 und 1a etwas (ca. 5 mm) vertikal nach unten ausfahren.
• c) Dann fährt der Motor 18 die Teleskoparmgewindehülsen 20 und 20a gleichzeitig vertikal auf Endstellung, wobei die beiden Teile vom Basiskörper beabstandet sind.
• d) Danach fahren die Motoren 33 und 33a die Teleskoparme 1 und 1a vertikal nach unten aus und heben damit den Basiskörper insgesamt auf ein anderes Höhenniveau, so dass die Unterkante der Räder 3 und 3a und der Stützkugel 5 etwas oberhalb des Absatzes der zu erreichenden Treppenstufe positioniert ist.
• e) Wenn der Roboter in dieser gewünschten Position ist, fahren die Motoren 22 und 22a das Profil 13 der Treppenvorschubmechanik bis zur Endstellung aus. Jetzt ist der Roboter zumindest bis zur Hälfte auf dem Absatz der nächsten Treppenstufe positioniert.
• f) Nun fährt der Motor 14 die Vorschubgewindehülse 16 bis zur Endstellung aus.
• g) Der Roboter ist nun auf der nächsten Stufe, jetzt werden die Teleskoparme 1 und 1a vertikal eingezogen bis sie (ca. 5 mm) unter dem Roboter sind.
• h) Die Motoren 22 und 22a fahren das Profil 13 wieder ein.
• i) Dann fährt der Motor 14 die Teleskoparmhaltergewindehülsen 20 und 20a wieder in die Mitte des Roboters.
• j) Nun fährt der Motor 18 die Teleskophaltergewindehülsen 20 und 20a und somit die Teleskoparme 1 und 1a wieder ein.
• k) Zum Schluss fahren die Motoren 33 und 33a die Teleskoparme 1 und 1a komplett ein.
• Der Roboter befindet sich wieder in einer Ausgangslage, in welche er beispielsweise den Absatz dieser Treppenstufe reinigen kann oder ist zum erneuten Steigen bereit.

13 shows a schematic representation of the sequence of steps, namely steps a to k, when climbing a step by the robot. Step:

• a) As soon as the robot is to climb a step, this is brought to a defined starting position on the heel (height level) below the step to be graduated, ie in particular that this is aligned and approximated to the step. In this case, the front part of the robot is positioned near the vertical stair string and the center line runs approximately vertically stair string.
• b) The process of ascending begins with the engines 33 and 33a the telescopic arms 1 and 1a extend vertically downwards (about 5 mm).
• c) Then the engine is running 18 the telescopic arm threaded sleeves 20 and 20a simultaneously vertical to the end position, wherein the two parts are spaced from the base body.
• d) Then drive the engines 33 and 33a the telescopic arms 1 and 1a vertically downwards, thus lifting the base body altogether to a different height level, leaving the lower edge of the wheels 3 and 3a and the support ball 5 positioned slightly above the heel of the stair step to be reached.
• e) When the robot is in this desired position, the motors are running 22 and 22a the profile 13 the staircase feed mechanism to the end position. Now the robot is at least halfway positioned on the landing of the next step.
• f) Now the engine is running 14 the feed thread sleeve 16 out to the end position.
• g) The robot is now on the next level, now the telescopic arms are 1 and 1a pulled vertically until they are (about 5 mm) under the robot.
• h) The engines 22 and 22a drive the profile 13 again.
• i) Then the engine is running 14 the telescopic arm holder threaded sleeves 20 and 20a back to the middle of the robot.
• j) Now the engine is running 18 the telescopic holder threaded sleeves 20 and 20a and thus the telescopic arms 1 and 1a again.
• k) Finally drive the engines 33 and 33a the telescopic arms 1 and 1a completely.
• The robot is again in a starting position, in which he can clean, for example, the heel of this step or is ready for re-climbing.

LIST OF REFERENCE NUMBERS

1, 1a

telescopic arm

2, 2a

drive wheels

3, 3a

Motors for drive wheels

4

suction unit

5

support ball

6, 6a

stabilizer

7

Stairs feed mechanism

8th

battery pack

9

dust container

10

naturally aspirated

11

Laser system camera

12

profile

13

profile

14

Motor for thread 15

15

threaded rod

16

Feed threaded sleeve

17

Stabilizers of the threaded sleeve

18

engine 2 for thread 19 . 19a

19, 19a

threaded rods

20, 20a

Telescopic holder threaded sleeves

21

Stabilizer for threaded sleeves

22, 22a

Motors for stair feed

23, 23a

Gear wheels for stair feed

24, 24a

Recess for gears on profile 2

25, 25a

Recesses for threaded sleeves on profile 2

26, 26a

Openings for threaded sleeves on profile 1

27, 27a

Tooth profile for gears 23 . 23a

28, 28a, 28b, 28c, 28d

Telescopic arm profile 1, telescopic arm profile 2, telescopic arm profile 3, telescopic arm profile 4, telescopic arm profile 5

29, 29a, 29b, 29c

Recess 1, 2, 3, 4

30, 30a, 30b, 30c

End position holder 1, 2, 3, 4

31

threaded rod

32, 32a, 32b, 32c

threaded sleeve

33

Motor for threaded rod

34

Sensor for front distance (top side)

35, 35a

Sensor for front distance (top side)

36, 36a

Lateral distance sensor (top side)

37, 37a

Sensor for distance upwards (top side)

38, 38a

Lateral distance sensor (top side)

39, 39a

Rear Distance Sensor (Top)

40, 40a

Sensor for distance upwards (top side)

41

Rear Distance Sensor (Top)

42, 42a

Sensor for front distance (underside)

43, 43a

Side distance sensor (underside)

44, 44a

Distance Down Sensor (Bottom)

45, 45a

Side distance sensor (underside)

46

Distance Down Sensor (Bottom)

47

processor

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 10000407 A1 [0002]

Claims (8)

Mobile robot, with at least one base body with at least two wheels, with at least two motor-driven drive wheels, which are each rotatable through 360 ° and the base body of the robot in the horizontal has at least one U-shaped outer part contour, characterized in that the base body has at least one climbing unit to overcome differences in level. Robot according to claim 1, characterized in that the climbing unit comprises at least one vertically extendable telescopic arm ( 1 ), preferably two telescopic arms ( 1 ), at which at the lower end at least one stabilizer ( 6 ) is arranged. Robot according to claim 1, characterized in that the riser unit at least one vertically extendable staircase feed ( 7 ) owns. Robot according to claim 1, characterized in that on the base body at least one freely movable support ball ( 5 ) is arranged. A robot according to claim 1, characterized in that the part of the base body having the semicircular part of the U-shaped outer contour is the back of the robot. Robot according to claim 1, characterized in that the part of the base body, which is arranged opposite the back of the robot, is the front side, in which at least the suction unit ( 4 ) is arranged. Use of the mobile robot according to one of claims 1 to 6 as a cleaning robot for floors and landings. Use of the mobile robot according to one of claims 1 to 6 for lawn mowing, for object search or object monitoring.

Images