EP2617338A1 - Système automatique de nettoyage de locaux - Google Patents

Système automatique de nettoyage de locaux Download PDF

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Publication number
EP2617338A1
EP2617338A1 EP11825510.8A EP11825510A EP2617338A1 EP 2617338 A1 EP2617338 A1 EP 2617338A1 EP 11825510 A EP11825510 A EP 11825510A EP 2617338 A1 EP2617338 A1 EP 2617338A1
Authority
EP
European Patent Office
Prior art keywords
vacuum cleaner
parking module
robotic vacuum
drive mechanism
front cover
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.)
Withdrawn
Application number
EP11825510.8A
Other languages
German (de)
English (en)
Other versions
EP2617338A4 (fr
Inventor
Vladimir Lvovich Bondarev
Pavel Nikolaevich Domnin
Elena Ivanovna Nikulina
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.)
Obschestvo S Ogranichennoy Otvetstvennostju Kompaniya "Norkpalm"
Original Assignee
Obschestvo S Ogranichennoy Otvetstvennostju Kompaniya "Norkpalm"
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
Priority claimed from RU2010138047/12A external-priority patent/RU2430672C1/ru
Application filed by Obschestvo S Ogranichennoy Otvetstvennostju Kompaniya "Norkpalm" filed Critical Obschestvo S Ogranichennoy Otvetstvennostju Kompaniya "Norkpalm"
Publication of EP2617338A1 publication Critical patent/EP2617338A1/fr
Publication of EP2617338A4 publication Critical patent/EP2617338A4/fr
Withdrawn legal-status Critical Current

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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
    • 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
    • A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
    • 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
    • A47L2201/02—Docking stations; Docking operations
    • 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
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/022—Recharging of batteries

Definitions

  • the proposed invention relates to automatic systems that perform room cleaning using robotic equipment.
  • Patent of the Russian Federation No. 2357644 published on June 10, 2009 describes a robotic cleaning system that is assumed to be the closest prior art.
  • the known system comprises a robotic vacuum cleaner that performs cleaning while moving automatically over the target surface and a charging station designed so that it can be connected to the vacuum cleaner to charge its on-board battery.
  • the system additionally allows the robotic vacuum cleaner to freely cross thresholds of any height.
  • Robotic vacuum cleaners and their charging stations can have different constructions and performance specifications. Charging stations can be stationary or mobile.
  • RU Patent No. 2350252 published on March 27, 2009 describes a robotic vacuum cleaner charging method that allows detecting incorrect connection between the contact terminals and the charging terminals and preventing wrong positioning of the robotic vacuum cleaner in relation to the charging device when the vacuum cleaner is charged manually.
  • the robotic vacuum cleaner return system includes a self-guidance signal transmitter, a self-guidance signal receiver and a control device.
  • the self-guidance signal receiver is installed in the robotic vacuum cleaner and receives at least one signal transmitted by the self-guidance signal transmitter.
  • the control device recognizes the signal and directs the robotic vacuum cleaner to the charging device.
  • the robotic vacuum cleaner receives an infrared signal transmitted by the charging device, determines its location and docks with the charging device to charge its on-board battery.
  • RU Patent No. 2321879 published on April 10, 2008 proposes a mobile cleaning robot capable of image recognition and a robot guidance system including a charging device with a docking guidance image printed on it.
  • RU Patent No. 2311868 published on December 10, 2007 describes an automatic room cleaning system.
  • the system includes video cameras and a garbage robot.
  • the video cameras are installed in the upper corners of the room and are connected wirelessly through a video lock-in unit and the first transceiver with the second transceiver installed on the garbage robot.
  • the garbage robot also includes a transceiver antenna, a microprocessor, batteries, chassis motors, a mechanical gripper with motors, and a garbage compartment.
  • the video cameras are stationary, with the combined field of view covering the entire surface of the monitored floor, and the number of video cameras is selected so as to ensure full view of the floor surface.
  • RU Patent No. 2303387 published on July 27, 2007 describes an automatic cleaning system and a method of returning the cleaning robot to an external charging device.
  • the system includes an external charging device with a charging stand and charging terminals, and a number of transmitting parts that send signals of different strength with different codes.
  • the cleaning robot includes a battery, terminals for connection to the charging terminals in order to supply electric energy to the battery, a receiving part that receives signals from the transmitting parts, and a control part that controls the robotic cleaner movement using the signals received by the receiving part.
  • An automatic room cleaning system with a cleaning robot and a charging station is also known from application US 2009/0049640 published on February 26, 2009 .
  • the charging station additionally provides unloading of the garbage from the cleaning robot to a separate container.
  • the common features of the known and the provided robotic room cleaning systems are the robotic vacuum cleaner, the charging station and the control system.
  • the charging station can serve as a parking module.
  • a parking module and an automatic room cleaning system that comprises a robotic vacuum cleaner, a charging station, a control system, and a parking module are provided.
  • the parking module comprises a case (body) that can accommodate at least the robotic vacuum cleaner inside, and a front cover with a controlled drive mechanism that opens and closes the said front cover.
  • the object (purpose) of the proposed invention is to provide an automatic room cleaning system with a parking module that would ensure efficient use of the interior space, integration with the design of the room, and prevention of unauthorized and undesired contact of children and pets with the complex, expensive robotic equipment.
  • a design of a robotic vacuum cleaner parking module that comprises a case capable of accommodating at least the robotic vacuum cleaner, a front cover controlled by a drive mechanism that opens and closes the said front cover, a drive mechanism controller, and a power supply system is provided.
  • Such parking module construction is not known from the prior art.
  • a design of an automatic room cleaning system with a robotic vacuum cleaner parking module that comprises a robotic vacuum cleaner, a charging station, and a parking module for the robotic vacuum cleaner integrated under a common control system that synchronizes the operation of the main elements is also provided.
  • the provided system is distinguished (characterized) in that the parking module has a case enclosing the robotic vacuum cleaner and the charging station and a front cover with a controlled drive mechanism that opens and closes the cover in response to commands sent by the control system.
  • the size and materials of the parking module allow integrating it into the base (socle or dado part) of the furniture to preserve the appearance (design) of the room.
  • the control of the robotic vacuum cleaner and the drive mechanism (for example, an electromechanical drive) of the parking module front cover is provided by one common control system which makes the proposed system easier to use.
  • the control system consists of several elements and integrates all components of the proposed automatic room cleaning system with the parking module into a single circuit. Creation and programming of such a control system is based on the known means and methods and does not present any difficulties.
  • the robotic vacuum cleaner and the drive mechanism of the parking module front cover are designed so as to allow combined and/or separate sending of operating commands from the control system.
  • the control system provides control the robotic vacuum cleaner and the drive mechanism together and/or separately.
  • the drive mechanism receives power from the controller and can be controlled over a wireless (radio) and/or conductive (galvanic) communication channel.
  • the control system comprises a programmable module that stores and processes control commands and provides synchronized control of the robotic vacuum cleaner, the charging station and the front cover drive mechanism; the above elements are usually equipped with the appropriate controllers, sensors and transceivers for this purpose.
  • the control system comprises modules that send control command signals to the robotic vacuum cleaner, the charging station and the controller of the parking module front cover drive mechanism, and the above devices comprise elements necessary to execute the control system commands.
  • the control system comprises at least one wireless (radio) remote control unit that can receive and transmit commands to the operating elements of the proposed automatic room cleaning system.
  • control system it is preferable for the control system to be integrated with the charging station and/or the robotic vacuum cleaner; however, it can also be designed as a separate unit.
  • the proposed system can additionally include an audio and/or LED module indicating the execution of the operating commands and/or the specified operating modes.
  • the provided technical solution involves installation of a parking space for automatic household cleaning systems - robotic vacuum cleaners with wireless control capabilities - primarily in the standard-size base niches of virtually any furniture set (preferably kitchen furniture).
  • the provided automatic parking module is an electronic/mechanical equipment that can be integrated into the standard base niches of furniture sets or other specially allocated spaces. It provides unique ergonomic placement and operation of a robotic vacuum cleaner in household conditions while preserving the appearance of the room, which is an important factor for the consumer.
  • the robotic vacuum cleaner with the charging station can be a product of any known manufacturer and is not an independent subject of this invention.
  • the parking module comprises the following basic modules and units:
  • the mains adapter is the standard static power supply unit of the robotic vacuum cleaner.
  • the floor-standing charging base is the standard robotic vacuum cleaner navigation and automatic charging device.
  • the communication channel is wireless, and the navigation method is infrared.
  • the method of contact between the charging station and the parked robotic vacuum cleaner is galvanic.
  • the system can receive power from the standard mains adapter.
  • the wireless remote control unit is usually the standard device used to activate and control the robotic vacuum cleaner and program the individual weekly cleaning schedule.
  • the controller of the parking module front cover drive mechanism can be, for example, a modified standard car alarm unit with a power output for electric lock control and a function that allows programming the duration of the control pulses sent to the locks.
  • the electromechanical drive that opens and closes the front cover can be based on the solutions known from the prior art and presents no difficulties.
  • the operating principle of the linear electromechanical drive is similar to automatic garage gates operated by a remote control unit.
  • the drive controller can be equipped with a secondary power source and/or connected directly to the standard robotic vacuum cleaner power source.
  • Wireless keyrings are an additional independent control channel for the drive controller and are necessary to force the opening/closing of the front cover remotely.
  • the robotic vacuum cleaner is at the charging base (the front cover is closed)
  • the commands from the additional keyrings are blocked. This provides protection from possible electromechanical synchronization faults.
  • the electromagnetic compatibility of the wireless keyrings is as per GOST R 50789-95 and GOST R 41.97 ( Russian State Standards).
  • the independent wireless drive controller control channel is used in the following situations:
  • the galvanic (conductive) channel is always used when the robot is successfully parked at the charging base, and is essentially a channel for transmission of the module front door opening/closing commands over a cable.
  • the presence of +12V voltage at the output of the charging base means that the robot is "present” inside the parking module and generates a command to close the door, while 0V means that the robot is "absent" from the charging base and generates a command to open the door.
  • the proposed system operates as follows.
  • the parking module case is installed in a prepared base niche - for example, of a kitchen furniture set - suitable in terms of the useful volume. For example, this may require cutting an opening in the base of the furniture to provide the necessary clearance on the right and on the left side so that the parking module front cover would open freely and covering the edges of the material with plastic edge trimming caps.
  • the mains adapter is connected through a socket on the back wall of the parking module and is installed in the base space of the furniture.
  • the presence and lighting of a signal LED on the front cover can serve as a power and mains adapter status indicator.
  • the front cover is opened using the wireless control unit or the additional keyring to allow the robot to navigate to and park at the charging base located inside the parking module.
  • an infrared channel for the navigation and parking of the robot, since it is the most accurate and noise-resistant communication channel. Since an infrared signal works efficiently only if a direct line of sight is available, it is preferable to provide free space in a 1 m radius in front of the module for the robot to manoeuvre during the parking.
  • Standard robotic vacuum cleaner navigation facilities installed in the rooms in accordance with the manufacturer's recommendations should be used to ensure successful parking of the robot from a room adjacent to the one in which the base is located.
  • the robotic vacuum cleaner, the charging station, the parking module and the control system need to be synchronized with each other before the vacuum cleaner can be activated remotely.
  • the parking command can be sent from the standard control unit or directly from the robotic vacuum cleaner keyboard.
  • the robotic vacuum cleaner receives and processes signals from movement coordinators (if they are available and activated) and the floor-standing charging base, and adjusts its movement path optically to ensure accurate docking with the parking module. Successful parking of the robot at the charging station can be confirmed by audible and light signals.
  • the parking module front cover closes automatically in a smooth motion, ensuring concealed ergonomic storage and continuously monitored charging of the robotic vacuum cleaner.
  • the robotic vacuum cleaner leaves the parking module when it receives a command from the built-in timer (according to a pre-programmed cleaning schedule) or from a wireless control unit.
  • the robotic vacuum cleaner's exit from the parking module is preceded by the synchronous opening of the front door and can be accompanied with an audible and a light signal (such as a melody).
  • the robotic vacuum cleaner automatically returns to the charging base in the parking module without human interference, and the door is automatically closed behind it, preventing unauthorized contact with the equipment.
  • the owner of such an automatic house cleaning system only needs to periodically empty the dust container and clean the brushes from hairs and garbage.
  • the dust container can also be emptied automatically; in this case the user is only required to perform regular servicing of the system.
  • the robotic vacuum cleaner cleans the entire visible area of the apartment since there is no blind zone around the charging device.
  • the robotic vacuum cleaner occupies no space in the visible area (which is important for small apartments) and does not disrupt the stylistic interior solution.
  • the procedure of synchronization between the robotic vacuum cleaner and the parking module consists of several simple operations and is performed when the parking module is installed, for example, in a furniture set. This procedure may need to be repeated in the process of system operation in case of abnormal situations related to power failures, robotic vacuum cleaner faults, or replacement of the remote control unit batteries.
  • the synchronization can be automatic (programmed) or semiautomatic (requiring the user to input the necessary commands).
  • an individual weekly cleaning schedule can be programmed so that the vacuum cleaner will perform the cleaning when it is convenient for the user.
  • the proposed automatic room cleaning system with the robotic vacuum cleaner parking module has definite advantages over similar systems existing in the world.
  • Fig. 1 shows the logic of the system operation.
  • the proposed design of the parking module front door drive that makes use of a linear electric actuator is characterized by simplicity, reliability and precise command execution. However, its relatively high cost and substantial noise produced during the operation can be viewed as disadvantages.
  • This technical solution is characterized by a relatively low cost, but allows implementing only one automatic operation - smooth opening of the module front cover.
  • the cover is closed manually in this case, which does not meet all the objectives. Therefore, the front cover drive option with a linear electric actuator selected by the developer is the optimum solution that meets all the objectives and ensures that all operations are performed reliably.
  • the provided parking module and its design improve the ergonomics of the automatic room cleaning system, save the interior space in the room while preserving its appearance, and prevent undesirable contact of children and pets with the complex, expensive robotic equipment.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
EP11825510.8A 2010-09-14 2011-06-02 Système automatique de nettoyage de locaux Withdrawn EP2617338A4 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
RU2010138047/12A RU2430672C1 (ru) 2010-09-14 2010-09-14 Автоматическая система уборки помещения с парковочным модулем для робота-пылесоса
RU2010138171 2010-09-15
PCT/RU2011/000382 WO2012036586A1 (fr) 2010-09-14 2011-06-02 Système automatique de nettoyage de locaux

Publications (2)

Publication Number Publication Date
EP2617338A1 true EP2617338A1 (fr) 2013-07-24
EP2617338A4 EP2617338A4 (fr) 2014-08-20

Family

ID=45831819

Family Applications (1)

Application Number Title Priority Date Filing Date
EP11825510.8A Withdrawn EP2617338A4 (fr) 2010-09-14 2011-06-02 Système automatique de nettoyage de locaux

Country Status (2)

Country Link
EP (1) EP2617338A4 (fr)
WO (1) WO2012036586A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014111868A1 (de) * 2014-08-20 2016-02-25 Miele & Cie. Kg Ortsfeste Basisstation für einen Saugroboter

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CN110554653B (zh) * 2018-05-31 2024-08-09 中瑞福宁机器人（沈阳）有限公司 基于工业控制器和人机界面的集装箱自动清洗的控制系统

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014111868A1 (de) * 2014-08-20 2016-02-25 Miele & Cie. Kg Ortsfeste Basisstation für einen Saugroboter

Also Published As

Publication number Publication date
WO2012036586A1 (fr) 2012-03-22
EP2617338A4 (fr) 2014-08-20

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