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WO2018019895A1 - Robot domestique et système robotique domestique - Google Patents

Robot domestique et système robotique domestique Download PDF

Info

Publication number
WO2018019895A1
WO2018019895A1 PCT/EP2017/068907 EP2017068907W WO2018019895A1 WO 2018019895 A1 WO2018019895 A1 WO 2018019895A1 EP 2017068907 W EP2017068907 W EP 2017068907W WO 2018019895 A1 WO2018019895 A1 WO 2018019895A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
household robot
functional module
household
mechanical interface
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.)
Ceased
Application number
PCT/EP2017/068907
Other languages
German (de)
English (en)
Inventor
Maximilian FREMEREY
Arne Rost
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.)
BSH Hausgeraete GmbH
Original Assignee
BSH Hausgeraete GmbH
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 BSH Hausgeraete GmbH filed Critical BSH Hausgeraete GmbH
Priority to EP17752034.3A priority Critical patent/EP3490419B1/fr
Publication of WO2018019895A1 publication Critical patent/WO2018019895A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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
    • A47L11/40—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
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation

Definitions

  • the invention relates to a household robot.
  • the invention relates to a modular system which can be built up according to a modular system.
  • a home robot is configured to automatically drive over a floor area to perform a specific robot service.
  • This service may include, for example, the transportation of an item or the cleaning of the floor space.
  • EP 1 759 965 B1 proposes to arrange a plurality of functional modules, each of which can solve an associated robot task, in a device such that a household robot can automatically record one of the functional modules.
  • this system is expensive and expensive.
  • the automated change of the function module may be prone to failure.
  • the invention has for its object to provide a simplified technique by means of which a household robot can be equipped with predetermined system components.
  • the invention solves this problem by means of the subjects of the independent claims. Subclaims give preferred embodiments again.
  • An inventive household robot comprises a drive device; an energy store; one or more sensors for sensing or sensing the environment of the home robot; a control device configured to drive the drive device with energy from the energy store based on a signal from the sensors to effect a predetermined travel motion of the home robot; and a mechanical interface, which is set up to couple the functional module to the household robot by means of positive locking motion-immune security.
  • the mechanical interface includes a release device, which is set up to cancel the form fit with respect to a spatial direction.
  • the functional module can be removed from the household robot, in particular by means of a translatory movement.
  • the translation is preferably straight.
  • the household robot can be easily equipped with different functional modules so that it can fulfill different functions.
  • a first functional module for sucking a floor surface can be set up, while a second functional module for wet cleaning of the floor surface is set up.
  • the household robot can already provide one or more functions which can be supplemented or shared by the function module.
  • the household robot can implement the driving off of a floor surface, the finding of a predetermined object on the floor surface, the recognition of an object or an obstacle, the approaching of a predetermined position or other functions, in particular based on the movement of the household robot
  • household robots can be equipped with different functional modules, so that costs for the movement of the household robot can only be incurred once. Should the user desire an additional function of the household robot, he can procure and use a corresponding functional module.
  • a wide variety of functional modules may be provided, which in one embodiment may be provided by different manufacturers, such that the user may have an improved selection of functional modules.
  • an interface between the household robot and the functional module is equipped so that only functional modules of a manufacturer can be combined with the household robot. This can avoid that an incompatibility between the household robot and the functional module leads to an unsatisfactory overall result.
  • the mechanical interface is further configured to couple the functional module against rotation with the household robot.
  • the translational movement can be in a vertical direction so that the functional module can be separated upwards from the mechanical interface.
  • the household robot is usually located close to the floor, so ergonomic handling can be supported by the removability of the functional module upwards.
  • the release device allows these movements only when a function module to be connected to the household robot or separated from him. Otherwise, it is preferably configured to lock the functional module positively in the mechanical interface.
  • a material interface for exchanging material between the functional module and the domestic robot is provided when the functional module is connected to the mechanical interface.
  • the material may include, for example, wash water, dirty water or dust.
  • a cleaning function of the functional module can be supported.
  • the material may be kept by the household robot, for example, in a tank or a container.
  • a data interface for exchanging information between the functional module and the control device or an energy interface for exchanging energy between the functional module and the energy store may also be provided. It is preferred that as many interfaces as possible are closed when the mechanical interface is closed, or all interfaces are disconnected when the mechanical interface is disconnected. In the case of the material interface, a one-sided or two-sided closure of the interface can be effected during separation in order to prevent, for example, the escape of liquid or dust.
  • the release device may comprise a rotatable control element and an engagement element arranged radially on the control element, wherein the engagement element is configured to engage or not in a corresponding recess depending on a rotational position of the control element.
  • the recess is usually provided on the household robot.
  • the control element and the engagement element can be constructed in a simple and space-saving manner. In one embodiment, both parts are inexpensive to produce from plastic.
  • a plurality of engagement elements may be provided on the control member in different radial directions to ensure an improved distribution of locking forces.
  • the engagement elements can be designed, for example, spherical or pin-shaped. The described arrangement can be flexibly scaled to adapt the latch to the shape of a predetermined boundary between the home robot and the functional module.
  • control comprises a cam and the engagement element comprises a bolt.
  • the bolt can be pressed against the cam by means of an elastic element to ensure improved release.
  • the release device comprises a manual actuating element.
  • the manual actuating element can be set up at the same time for actuating the release device and for handling the functional module.
  • the manual actuator is designed to be retractable.
  • the retractability can be realized in the manner of a retractable rotary knob of a furnace or in the manner of an actuation of a ballpoint pen (eg with a heart backdrop).
  • a ballpoint pen eg with a heart backdrop.
  • the household robot preferably comprises a cargo bay, in the area of which the mechanical interface is mounted.
  • the loading bay preferably allows mechanical access of the functional module connected to the mechanical interface to a floor surface on which the household robot is located.
  • a function module whose task is manipulation or monitoring of the floor surface can be improved.
  • a home robotic system includes the household robot described above and at least one functional module. Preferably, a plurality of functional modules are provided which differ in their functionalities.
  • Fig. 1 is a schematic representation of a household robot
  • Fig. 2 shows an embodiment of a household robot system
  • FIG. 3 shows a coupling process between a household robot and a functional module
  • FIG. 4 shows an embodiment of a mechanical interface between a household robot and a functional module
  • FIG. 5 shows a further embodiment of the interface of FIG. 4; FIG. and
  • Fig. 6 illustrates a release device for the interface of Fig. 5. Detailed description of an embodiment
  • FIG. 1 shows a schematic representation of a household robot 100.
  • the household robot 100 comprises a drive device 105 for moving the household robot 100 over a bottom surface 110, an energy store 15, one or more sensors 120 for scanning an environment of the household robot 100, a control device 125 and preferably a chassis 130 for receiving the components of the home robot 100.
  • the control device 125 preferably comprises a programmable microcomputer or microcontroller and is configured to control a movement of the household robot 100 over the bottom surface 110.
  • the control device 125 can in particular receive and process sensor signals of one of the sensors 120 and, in dependence thereof, supply the drive device 105 with energy from the energy store 15.
  • the energy store 15 can in particular be a rechargeable energy store, for example in the form of a battery pack.
  • the household robot 100 further comprises a cargo bay 135 for receiving a functional module 140.
  • a mechanical interface 145 is provided in order to mechanically couple the functional module 140 to the domestic robot 100.
  • a release device 150 is provided so that the functional module 140 is preferably held against displacement and rotation on the household robot 100, in particular in the loading bay 135, as long as the release device 150 is not actuated. After actuation of the release device 150, the functional module 140, in particular by a predetermined movement, be separated from the household robot 100. It is further preferred that an energy interface 155, a data interface 160 or a material interface 165 between the household robot 100 and the function module 140 is provided.
  • the interfaces 155 to 165 are coupled to the mechanical interface 145 in such a way that an as automatic as possible connection or disconnection takes place when the mechanical interface 145 is connected or disconnected.
  • the material interface 165 can lead to a container 170 of the household robot 100, which holds, for example, water or cleaning agent.
  • the household robot 100 may have further elements, in particular a wireless interface for connection to a data network.
  • a lighting device or an actuator may be provided, such as a camera or a gripper, in order to realize a basic function of the household robot 100 that is independent of the functional module 140.
  • Function module 140 may interact with household robot 100 via interfaces 145, 155, 160, or 165 to accomplish a predetermined task.
  • the function module 140 can transmit via the data interface 160 the request to approach a predetermined position or to perform a predetermined driving maneuver. Control in the reverse direction is also possible, for example by the control device 125 sending a signal to the function module 140 via the data interface 160, which relates to a request for performing a predetermined function.
  • FIG. 2 shows an exemplary embodiment of a home based robotic system 200 based on the home robot 100 of FIG. 1 and at least one functional module 140.
  • the home robot 100 may be equipped with one of the functional modules 140 to form the home robot 100 'having the function of the selected one Function module 140 is expanded.
  • the function of the functional module 140 can be extended, in particular, by the mobility of the household robot 100, so that new applications can be covered or known applications can be addressed in an improved manner. It is particularly preferred that the functional module 140 has a predetermined shape that complements the domestic robot 100 in a predetermined manner.
  • the household robot 100 ' preferably has a closed surface, that is to say the least possible rugged surface, in order to minimize the risk of it getting stuck on one object or pinching another object.
  • the household robot 100 ' is as flat as possible and has a flat top as possible to allow movement of the household robot 100 under a piece of furniture.
  • FIG. 3 shows a coupling process between the domestic robot 100 and a functional module 140.
  • the functional module 140 and the domestic robot 100 are shown separately; in the lower area of FIG. 3, both elements are combined to form the household robot 100 '.
  • the mechanical interface 145 is preferably implemented in interaction with the household robot 100 with the function module 140. If the mechanical interface 145 is completely established, it preferably couples the functional module 140 in all three spatial directions of a Cartesian coordinate system with the domestic robot 100 with regard to translational, and more preferably also with respect to rotational movements.
  • the release device 150 is configured, if necessary, to cancel the coupling with respect to a translation between the functional module 140 and the domestic robot 100 along a predetermined spatial axis.
  • This spatial axis preferably runs in a vertical direction. This direction is preferably perpendicular to the bottom surface 1 10 or closes with this a preferred acute angle.
  • FIG. 4 shows an embodiment of the mechanical interface 145 between the domestic robot 100 and the functional module 140.
  • tion module 140 shown as an empty box, functional components of the function module 140 are not visible.
  • the cargo bay 135 of the domestic robot 100 corresponds here in shape to the outer shape of the functional module 140.
  • the cargo bay 135 is substantially box-shaped, so that the functional module 140, when it is lowered from the position shown down into the loading bay 135, in two horizontal Richtun - Is held positively.
  • optional vertical webs 405 are additionally provided on the functional module 140, to which vertical grooves 410 in the region of the loading bay 135 of the household robot 100 correspond.
  • the combination of the lands 405 with the grooves 410 may uniquely determine a predetermined orientation of the functional module 140 with respect to the home robot 100.
  • FIG. 5 shows a further embodiment of the mechanical interface 145 of FIG. 4.
  • the functional module 140 carries a cover 505, in which the release device 150 is integrated.
  • the household robot 100 is not shown.
  • the release device 150 comprises a manual actuator 510, which is designed here as a rotary knob.
  • the rotary knob is rotatable about a vertical axis and, depending on its rotational position, one or more engaging elements 515 are moved in a direction substantially perpendicular to the direction in which the functional module 140 can be approximated to the domestic robot 100 to control the Close interface 145.
  • the actuating element 510 can in particular be designed to be retractable.
  • the actuating element 510 in particular against the force of an elastic element, can be pressed into the functional module 140.
  • a mechanism known from a ballpoint pen can hold the actuator 510 in this position until it is pushed in again.
  • FIG. 6 shows the release device 150 for the interface 145 in the embodiment of FIG. 5.
  • the cover 505 of the functional module 140 is shown in a position reversed relative to the illustration of FIG. 5, the release device 150 being locked in the upper region of FIG opened or operated in the lower area.
  • the release device 150 comprises a cam 605 as a control element, wherein the cam 605 is rotatably mounted about an axis of rotation 610.
  • the rotation can be controlled in particular by means of the actuating element 510 of FIG.
  • a spline 615 is provided on the cam 605 in a radial portion of the rotation axis 610, which is guided in a slot 620 of a cover 625 in order to limit the angle of rotation of the cam 605 to a predetermined range.
  • the cover 625 is located with respect to the cam 605 on the opposite side of the lid 505 and is fixed thereto.
  • each engagement element 515 is provided which each enclose an angle of approximately 90 ° with each other.
  • An engagement member 515 is preferably received in a guide 630 fixed to the cover 505.
  • An elastic member 635 presses the engagement member 515 radially inwardly against the cam disk 605.
  • a radial position of the engagement member 515 is thus dependent on the shape of the cam 605 and its rotational position about the rotation axis 610.
  • the embodiment shown may be made entirely of plastic, in one embodiment only the elastic element 635 is made of a metal.
  • the release device 150 is embodied here on the functional module 140, but in another embodiment can also be embodied conversely on the domestic robot 100. In this case, in particular, the engagement element 15 can be attached to the household robot 100 and configured to intervene in order to lock the functional module 140 into a recess provided on the functional module 140.

Landscapes

  • Manipulator (AREA)
  • Electric Vacuum Cleaner (AREA)

Abstract

L'invention concerne un robot domestique comprenant un dispositif d'entraînement ; un accumulateur d'énergie ; un capteur destiné à palper un environnement du robot domestique ; un dispositif de commande conçu pour commander le dispositif d'entraînement sur la base d'un signal du capteur avec l'énergie issue de l'accumulateur d'énergie aux fins de réalisation d'un mouvement de déplacement prédéfini du robot domestique ; et une interface mécanique conçue pour le couplage du module fonctionnel et du robot domestique par complémentarité de forme en toute sécurité en termes de mouvement relatif. L'interface mécanique comporte un dispositif de libération conçu pour supprimer la complémentarité de forme par rapport à une direction spatiale.
PCT/EP2017/068907 2016-07-28 2017-07-26 Robot domestique et système robotique domestique Ceased WO2018019895A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP17752034.3A EP3490419B1 (fr) 2016-07-28 2017-07-26 Robot domestique et système robotique domestique

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016213920.7A DE102016213920A1 (de) 2016-07-28 2016-07-28 Haushaltsroboter und Haushaltsrobotersystem
DE102016213920.7 2016-07-28

Publications (1)

Publication Number Publication Date
WO2018019895A1 true WO2018019895A1 (fr) 2018-02-01

Family

ID=59626573

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2017/068907 Ceased WO2018019895A1 (fr) 2016-07-28 2017-07-26 Robot domestique et système robotique domestique

Country Status (3)

Country Link
EP (1) EP3490419B1 (fr)
DE (1) DE102016213920A1 (fr)
WO (1) WO2018019895A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113219960A (zh) * 2020-01-21 2021-08-06 科沃斯机器人股份有限公司 一种自移动装置的控制方法及自移动装置
EP3806616B1 (fr) 2018-06-13 2023-12-27 Positec Power Tools (Suzhou) Co., Ltd Dispositif automoteur et système de fonctionnement automatique

Families Citing this family (8)

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Publication number Priority date Publication date Assignee Title
DE102017222044B4 (de) 2017-12-06 2019-07-04 BSH Hausgeräte GmbH Verfahren und Vorrichtung zum Austausch von Funktionsmodulen eines Haushaltsroboters
DE102018000083B4 (de) 2018-01-09 2022-03-31 Carl Freudenberg Kg Reinigungsroboter, Reinigungssystem mit Reinigungsroboter und Verfahren zur Reinigung einer Fläche
DE102018219900B4 (de) 2018-11-21 2022-12-15 BSH Hausgeräte GmbH Roboter zur Oberflächenpflege sowie Robotersystem
DE102018219901B3 (de) * 2018-11-21 2020-02-13 BSH Hausgeräte GmbH Roboter zur Oberflächenpflege mit einem Fahrantriebssystem
DE102018222822B3 (de) 2018-12-21 2020-02-06 BSH Hausgeräte GmbH Haushaltsroboter und Verfahren für seine Steuerung
DE102019211044B4 (de) * 2019-07-25 2024-01-18 BSH Hausgeräte GmbH Roboter zur Oberflächenpflege
CN114343485A (zh) * 2020-10-13 2022-04-15 广东美的白色家电技术创新中心有限公司 一种扫地机器人
CN116898354A (zh) * 2021-08-05 2023-10-20 科沃斯机器人股份有限公司 机器人基站及机器人系统

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EP1797809A2 (fr) * 2005-12-19 2007-06-20 Samsung Gwangju Electronics Co., Ltd. Robot aspirateur compact avec cyclone
EP1759965B1 (fr) 2005-09-05 2010-02-24 Samsung Gwangju Electronics Co., Ltd. Système de robots mobiles avec plusieurs des modules de travail interchangeables et son procédé de controle
DE102010031427A1 (de) * 2010-02-11 2011-08-11 Yan, Jason, Taipei Automatische Reinigungsvorrichtung in Flachbauweise
US20120180249A1 (en) * 2011-01-14 2012-07-19 Micro-Star Int'l Co., Ltd. Dust container and dust collector using the same
US20120199006A1 (en) * 2010-12-30 2012-08-09 Irobot Corporation Dust bin for a robotic vacuum
US20130305483A1 (en) * 2012-05-17 2013-11-21 Dyson Technology Limited Autonomous vacuum cleaner

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Publication number Priority date Publication date Assignee Title
EP1711098A1 (fr) * 2004-02-04 2006-10-18 S.C.JOHNSON & SON, INC. Dispositif de traitement des sols a systeme de nettoyage a base de cartouches
US20060288519A1 (en) * 2005-06-28 2006-12-28 Thomas Jaworski Surface treating device with top load cartridge-based cleaning systsem
EP1759965B1 (fr) 2005-09-05 2010-02-24 Samsung Gwangju Electronics Co., Ltd. Système de robots mobiles avec plusieurs des modules de travail interchangeables et son procédé de controle
EP1797809A2 (fr) * 2005-12-19 2007-06-20 Samsung Gwangju Electronics Co., Ltd. Robot aspirateur compact avec cyclone
DE102010031427A1 (de) * 2010-02-11 2011-08-11 Yan, Jason, Taipei Automatische Reinigungsvorrichtung in Flachbauweise
US20120199006A1 (en) * 2010-12-30 2012-08-09 Irobot Corporation Dust bin for a robotic vacuum
US20120180249A1 (en) * 2011-01-14 2012-07-19 Micro-Star Int'l Co., Ltd. Dust container and dust collector using the same
US20130305483A1 (en) * 2012-05-17 2013-11-21 Dyson Technology Limited Autonomous vacuum cleaner

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3806616B1 (fr) 2018-06-13 2023-12-27 Positec Power Tools (Suzhou) Co., Ltd Dispositif automoteur et système de fonctionnement automatique
CN113219960A (zh) * 2020-01-21 2021-08-06 科沃斯机器人股份有限公司 一种自移动装置的控制方法及自移动装置

Also Published As

Publication number Publication date
EP3490419B1 (fr) 2020-09-09
DE102016213920A1 (de) 2018-02-01
EP3490419A1 (fr) 2019-06-05

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