[go: up one dir, main page]

WO2014071297A1 - Dispositif de traitement de surface robotique - Google Patents

Dispositif de traitement de surface robotique Download PDF

Info

Publication number
WO2014071297A1
WO2014071297A1 PCT/US2013/068283 US2013068283W WO2014071297A1 WO 2014071297 A1 WO2014071297 A1 WO 2014071297A1 US 2013068283 W US2013068283 W US 2013068283W WO 2014071297 A1 WO2014071297 A1 WO 2014071297A1
Authority
WO
WIPO (PCT)
Prior art keywords
treatment device
surface treatment
robotic surface
robotic
wheel
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/US2013/068283
Other languages
English (en)
Inventor
Uday S. ROY
Mohar ROY
Prithwi S. ROY
Shibani SAHA
Vishal P. SHETH
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.)
Deming Systems LLC
Original Assignee
Deming Systems LLC
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 Deming Systems LLC filed Critical Deming Systems LLC
Publication of WO2014071297A1 publication Critical patent/WO2014071297A1/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
    • A47L11/02—Floor surfacing or polishing machines
    • A47L11/10—Floor surfacing or polishing machines motor-driven
    • A47L11/14—Floor surfacing or polishing machines motor-driven with rotating tools
    • A47L11/16—Floor surfacing or polishing machines motor-driven with rotating tools the tools being disc brushes
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A47L11/4005—Arrangements of batteries or cells; Electric power supply arrangements
    • 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
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

Definitions

  • This disclosure relates generally to a robotic surface treatment device and, more particularly, to a robotic surface treatment device with floor pads rotationally actuated to treat a surface.
  • a manual, hand-held scrubber often works better than a wheel-driven vehicular-type cleaning apparatus because the manual, hand-held scrubber allows the individual using the scrubber to put his/her body weight in action on the scrubber.
  • This application of the body weight to the scrubber is essential to dislodging the dirt and grease that are stuck on the floor. Therefore, the effectiveness of a cleaning apparatus is directly proportional to the amount of force (pressure) the apparatus can exert through the cleaning tool on the surface that needs dirt, grease, etc. to be removed therefrom.
  • a robotic surface treatment device and a method of treating a surface using the robotic surface treatment device are provided to address and/or overcome some or all of the deficiencies or drawbacks associated with existing robotic surface treatment devices.
  • a robotic surface treatment device may include at least two wheels, at least two electric motors, at least two treatment pads, a main controller, a plurality of sensors, and at least one power source.
  • One electric motor may be connected to one corresponding wheel via a motor shaft.
  • At least one treatment pad may be attached to a bottom surface of a corresponding wheel.
  • the main controller may be positioned on top of and in connection with drive controllers positioned on top of each electric motor.
  • the plurality of sensors may be integrated in the main controller.
  • the power source may be connected to the main controller.
  • At least one treatment fluid tank may be positioned on the top of the robotic surface treatment device.
  • At least one treatment fluid tube may extend from a bottom surface of the treatment fluid tank to a bottom surface of the robotic surface treatment device.
  • the mass of the treatment fluid may be used to stabilize the robotic surface treatment device and increase the torque of the electric motors.
  • the plurality of sensors may be laser or acoustic sensors configured to measure a distance between the robotic surface treatment device and an obstacle.
  • the sensors may be spaced radially about the robotic surface treatment device and may be positioned with equal distances between one another.
  • a treatment fluid tube shut off valve may be positioned in line between the treatment fluid tank and the treatment fluid tube, wherein the treatment fluid tube shut off valve opens upon the robotic surface treatment device activating to treat a surface.
  • the power source may be a rechargeable, light weight, lithium ion battery.
  • the treatment pads may include an abrasive material configured to scrub, polish, buff, and/or clean a hard surface.
  • Alarms and status indicators may be integrated into the main controller to alert an individual that the rechargeable battery power level is low, that the treatment fluid level is low, and/or that the electric motors have stalled or powered down.
  • the plurality of sensors may be positioned at an angle of approximately 22 degrees apart from one another.
  • the electric motors used to rotate the wheels may be servo motors or stepper motors.
  • At least one weight may be provided on a top surface of the robotic surface treatment device, wherein a rod may be positioned on a top surface of the robotic surface treatment device and the at least one weight may be positioned on the rod.
  • the mass of the weight may be used to stabilize the robotic surface treatment device and increase the torque of the electric motors.
  • the robotic surface treatment device may be operated through the use of a remote control device.
  • a method of treating a surface using a robotic surface treatment device includes the steps of: providing a robotic surface treatment device as described hereinabove, rotating the wheels of the robotic surface treatment device via rotation of the motor shafts, wherein the motor shafts may be rotated by the electric motors, and increasing the rotational speed of a first wheel comparative to a second wheel, thereby moving the first wheel along a radial trajectory line until the first wheel is positioned in front of the second wheel, wherein the first wheel may be initially positioned at the back of the robotic surface treatment device and the second wheel may be initially positioned at the front of the robotic surface treatment device.
  • the method may further include the step of using the main controller to create a boundary line of the treating area by using the sensors to determine the distance and coordinates of the treating area.
  • the method may further include the step of recalculating the boundary line of the treating area by using the sensors of the main controller to re-calibrate the distance and coordinates of the treating area.
  • the method may further include the step of walking the robotic surface treatment device along a treating path by repeating the steps described hereinabove at least two times, wherein the wheels may be rotated in an opposite direction after the first wheel has been brought to the front of the robotic surface treatment device.
  • the method may further include the step of treating a circular area by rotating one wheel at one rotational speed and rotation the other wheel at a comparatively faster speed in the same rotational direction.
  • the method may further include the step of providing a treatment fluid in at least one treatment fluid tank positioned on top of the robotic surface treatment device, and at least one treatment fluid tube that may extend from the treatment fluid tank to a bottom surface of the robotic surface treatment device.
  • the method may further include the step of spreading treatment fluid on the treating area and the treatment pads via the treatment fluid tube.
  • the method may further include the step of remotely operating the robotic surface treatment device via a remote control device.
  • FIG. 1 is a simplified cross-sectional view of a robotic surface treatment device in accordance with this disclosure.
  • FIG. 2 is a detailed cross-sectional view of a robotic surface treatment device in accordance with this disclosure.
  • FIG. 3 is an illustration showing the turning movement of the robotic surface treatment device shown in FIG. 2.
  • FIG. 4 is an illustration showing the turning movement of the robotic surface treatment device in a direction opposite the one shown in FIG. 3.
  • FIGS. 5 and 6 are illustrations showing the robotic surface treatment device of FIG. 2 walking forward and backward along a line.
  • FIG. 7 is an illustration showing the robotic surface treatment device of FIG. 2 rotating in a circle to treat a circular area.
  • FIG. 8 is an illustration showing how the robotic surface treatment device of FIG. 2 uses its sensors to determine where obstacles are located in the treatment area.
  • FIG. 9 is an illustration showing the robotic surface treatment device of FIG. 2 using the sensors of the main controller to establish a boundary line for the treatment area.
  • FIG, 10 is an illustration showing the robotic surface treatment device of FIG. 2 establishing a circular area to treat,
  • FIG. 11 is an illustration showing a different type of treatment area that includes multiple obstacles including furniture, a closet, and a door.
  • FIG, 12 is an illustration showing an established boundary line for the robotic surface treatment device and a circular sweep area for treating.
  • FIG. 13 is an illustration showing a new position for the robotic surface treatment device after a circular area has been treated, wherein the robotic surface treatment device recalculates a boundary line.
  • FIG. 14 is an illustration showing the robotic surface treatment device walking along a chosen trajectory line for treating.
  • FIG. 15 is an illustration showing the robotic surface treatment device spinning in a tight circle for treating a small area.
  • FIGS, 16 and 17 are illustrations showing a robotic surface treatment device walking along a trajectory line and turning around to walk along a trajectory line in an opposite direction.
  • FIGS. 18 and 19 are illustrations showing a robotic surface treatment device positioned against an obstacle and establishing a boundary line for treating an area.
  • the present invention is directed to, in general, a robotic surface treatment device and, in particular, a robotic surface treatment device with floor pads rotationally actuated to treat a surface.
  • a robotic surface treatment device with floor pads rotationally actuated to treat a surface.
  • Certain preferred and non-limiting embodiments of the components of the robotic surface treatment device ar e illustrated in FIGS. 1 and 2. Th e robotic surface treatment device will first be described in detail followed by a description of a method of using the robotic surface treatment device to treat a surface.
  • the robotic surface treatment device 30 includes a plurality of wheels 2 for treating a floor or similar surface by , among other methods, buffing, rubbing, sanding, polishing, or cleaning the surface.
  • the robotic surface treatment device 30 includes two separate wheels 2.
  • the wheels 2 are positioned on an undersurface of the robotic surface treatment device 30.
  • Each wheel 2 is rotated by an electric motor 3.
  • Each wheel 2 is rotated by a separate electric motor 3,
  • a motor shaft 4 extends from each electric motor 3 and is connected to each respective wheel 2 to allow the rotation of the motor shaft 4 to effectuate the rotation of the wheel 2.
  • the wheels 2 can be made with metal, such as steel, stainless steel, aluminum, titanium, or any other suitable metal. Additional materials that may be used for the wheels 2 include plastic or any other appropriate hard material.
  • the wheels 2 are made with a light weight material which helps in optimizing the size of electric motor 3 that is needed to rotate the wheels 2. The lighter the material used for the wheels 2, the smaller the electric motor 3 that is needed because less power is needed to rotate the wheels 2. The optimization of the electric motor 3 will in turn decide the amp-hour (energy storage) requirement of the power source 18 that is needed to power the robotic surface treatment device 30,
  • each wheel 2 is driven by an individual electric motor 3.
  • electric motors may be used to achieve the rotational movement required to rotate the wheels 2 including a stepper motor, a servo motor, a DC motor, an AC motor, a geared motor, or an ungeared motor, among others.
  • the basic principles and operation of the invention is independent of the type and quantity of wheels 2 and electric motors 3 that are used.
  • a treatment pad 1 is attached for use in treating the surface that the robotic surface treatment device 30 is resting upon.
  • a Velcro®-type material is glued to a lower surface of each wheel 2.
  • the treatment pad 1 can then be attached to the bottom surface of the wheel 2 by pressing the treatment pad 1 against the Velcro®-type material.
  • the treatment pad 1 may be either made of a cloth material or a paper material, among others.
  • the treatment pads 1 may be replaced after every use of the robotic surface treatment device 30 or as deemed necessary by the user of the robotic surface treatment device 30 based upon his/her needs.
  • each wheel 2 is independently driven by its respective electric motor 3.
  • Each electric motor 3 is controlled by an appropriate type of motor controller 7, such as a drive system, based on the type of electric motor that is used to rotate the wheels 2.
  • One or more motor controllers 7 (based on the number of electric motors used for the robotic surface treatment device) will receive the speed, position, and direction commands from a main controller 8. This arrangement gives each electric motor 3 the ability to rotate both in a clock-wise and counter-clockwise direction. Therefore, each electric motor 3 has two degrees of freedom for movement. The speed and direction of each electric motor 3 will determine the resultant movement direction of the robotic surface treatment device 30, but the actual treating operation and effectiveness of the robotic surface treatment device 30 is independent of the movement direction of the robotic surface treatment device 30, The actual treating operation and effectiveness of the robotic surface treatment device 30 is dependent on the factor of friction developed between the treatment surface, the wheels 2, and the treatment pads 1.
  • the entire weight of the robotic surface treatment device 30 sits on the wheels 2 of the apparatus, In the embodiment shown in FIGS. 1 and 2, half of the total weight of the robotic surface treatment device 30 is supported by each wheel 2. In another embodiment, if the robotic surface treatment device 30 were to include three wheels, each wheel would support one third of the total weight of the robotic surface treatment device 30. Therefore, the friction that is developed between the wheels 2 and the floor surface is directly proportional to the weight of the robotic surface treatment device 30 and inversely proportional to the number of wheels 2 on the robotic surface treatment device 30.
  • This embodiment of the invention is the closest a robotic surface treatment device can get to the effectiveness of treating a surface as compared to when a human applies his/her body weight to a mop or scrubber to treat the surface.
  • the weight of the robotic surface treatment device 30 creates the needed friction between the wheels 2 and the floor surface, thereby keeping the robotic surface treatment device 30 in constant contact with the floor surface.
  • a rod 22 may be attached to a top surface of the robotic surface treatment device 30.
  • the rod 22 can extend through a cavity in the robotic surface treatment device 30.
  • Weights 23 may then be loaded onto the robotic surface treatment device 30 by sliding down the rod 22.
  • the robotic surface treatment device 30 includes a plurality of wheels 2 connected to individual electric motors 3 via a motor shaft 4. Attached to the bottom surface of each wheel 2 is a treatment pad 1 for scrubbing and/or wiping the treatment surface.
  • the treatment pads 1, in one embodiment, may be disc-shaped.
  • the treatment pads 1 often correspond to the shape of the bottom surface of the wheels 2,
  • the treatment pads 1 may be made of paper or cloth depending on the surface that must be treated. It is contemplated that the treatment pads 1 may be used for rubbing, polishing, sanding, buffing, and/or cleaning the floor surface.
  • the treatment pads 1 are disposable and may be discarded after every occurrence of floor cleaning or as often as needed by the user of the robotic surface treatment device 30.
  • An abrasive material may also be used for the treatment pads 1 to allow an individual to clean up dirt and grime that may be firmly attached to the treatment surface,
  • the treatment pads 1 are attached to the bottom surface of the wheels 2.
  • the wheels 2 may be made with light-weight material such as aluminum or alloy metals, plastic, or any similar appropriate material.
  • the wheels 2 are keyed into the motor shafts 4, which effectuates the rotation of the wheels 2 when the motor shafts 4 are rotated by the electric motors 3. Since the treatment pads 1 are attached to the wheels 2, the treatment pads 1 are permitted to rotate as well, thereby treating the surface upon which the robotic surface treatment device 30 rests. This allows the treatment pads 1 to treat the floor surface as the electric motors 3 turn the motor shafts 4, while at the same time the treatment pads 1 do not slip against the surface of the wheels 2 to which they are attached.
  • the electric motors 3 may be small servo motors, stepper motors, or geared DC motors, among other types of motors. Since the robotic surface treatment device 30 will be powered by a power source 18, the motors 3 must be selected with care to ensure that they are high efficiency and have a high starting torque. A high starting torque is important because the robotic surface treatment device 30 needs to start against the floor surface by quickly overcoming the static friction between the treatment pads 1 and the floor surface and then staying in motion by overcoming any dynamic friction that is created. The amount of static friction between the treatment pads 1 and the floor surface is proportional to the weight of the robotic surface treatment device 30 and the roughness of the floor surface. As the electric motors 3 are powered, the motor shafts 4 begin to rotate. The motor shafts 4 are used to transmit power and torque from the electric motors 3 to the wheels 2 of the robotic surface treatment device 30. In this instance, the amount of force required to rotate the wheels 2 against the floor surface is called the load.
  • a plurality of treatment fluid tubes 5 are positioned adjacent each electric motor 3.
  • the treatment fluid tubes 5 extend vertically along each electric motor 3 with one end positioned above each treatment pad 1.
  • ordinary soapy water may be used as the treatment fluid.
  • additional types of treatment fluid or liquid detergent, such as wax may also be used in place of ordinary soapy water to improve the treatment of the floor surface.
  • the treatment fluid 10 is stored in one or more small tanks 11 positioned directly above the treatment fluid tubes 5.
  • the treatment fluid helps to maintain the friction between the wheels 2 of the robotic surface treatment device 30 and the floor surface, By keeping the robotic surface treatment device 30 stable, the torque of the robotic surface treatment device 30 is increased by directly transferring the mass of the fluid to the motors as it sits above the motors.
  • a shut-off valve 21 is activated, allowing the treatment fluid 10 to flow downward through the treatment fluid tube 5 through a gravitational force.
  • the treatment fluid 10 flows to the end of the treatment fluid tube 5 positioned above the wheels 2 and drips onto the treatment pads 1 and/or the surface that requires treating.
  • a treatment fluid chamber cap 12 is positioned over top of an aperture in the treatment fluid chamber 11, and allows an individual to refill the robotic surface treatment device 30 with new treatment fluid 10.
  • the treatment fluid chamber cap 12 must be closed before the robotic surface treatment device 30 can be put into operation.
  • a drive controller and servo amplifier chamber 6 is positioned above each electric motor 3. Positioned within this chamber 6 and on top of each electric motor 3, is a drive controller and servo amplifier board 7, Each electric motor 3 needs a controller/amplifier board 7 (cards/modules) for controlling and varying the motor speed, direction, and amount of torque that is applied to the wheels 2 of the robotic surface treatment device 30. Each electric motor 3 may be individually controlled by separate controller/amplifier boards 7, It is often the case that small electric motors come prepackaged with built-in driver controllers, which may also be used in conjunction with the robotic surface treatment device 30,
  • SBC single board computer
  • PLC Programmable Logic Controller
  • This SBC/PLC controller 8 runs the entire robotic surface treatment device 30.
  • the controller 8 is an electronic circuit board that houses several different components 9, including high-speed microprocessors/microcontrollers, random access memory (RAM), erasable programmable memory (EPROM), clock circuits, bus circuits, various sensors (positional and/or directional), light curtains, fluid level sensors, and other peripheral devices with built-in wireless or radio transmitters/receivers.
  • the SBC/PLC controller 8 performs many tasks, including controlling the robotic surface treatment device 30 by turning it on or off based on an operator's command, whether that is through a local switch mounted on the robotic surface treatment device 30 or through a hand-held remote.
  • the controller 8 is also used to provide sensors that sense barriers/walls/obstacles around the vicinity of the robotic surface treatment device 30 to determine the floor space/area that still needs to be treated. These sensors may include laser or acoustic beams, among others.
  • Path planning is also achieved by the controller 8 to optimize the coverage of the entire treatment area in the shortest amount of time possible.
  • the controller 8 also allows the robotic surface treatment device 30 to receive manual commands from a hand-held radio controller over a radio link or wireless signal from the operator if a remote control or tele-operation mode is selected.
  • the robotic surface treatment device 30 is also capable of using the controller 8 to sense the battery charge level of the power source 18 and, in turn, illuminate a "Charging Required" light and/or generate an auto-charging decision for the robotic surface treatment device 30.
  • the controller 8 may be used to sense the treatment fluid level in the treatment fluid tanks 11, and can generate an alarm (e.g. light indication) that the treatment fluid 10 needs to be refilled.
  • the controller 8 may also sense when the robotic surface treatment device 30 is stuck or stalled and may illuminate a fault light and/or generate alarm signals.
  • controller 8 may also be possible to use the controller 8 to transmit all of the status updates and alarm indications over a wireless link to a home computer or mobile device, such as a smart phone, to notify an individual of the status of the robotic surface treatment device 30.
  • Control of the fluid tube shut-off valve 21 may be achieved by using the controller 8. Determination of the speed and directional relationship between the electric motors 3 in order to control the robotic surface treatment device 30 movement in an efficient manner may be done through use of the controller 8. This ensures that the floor surface is treated in the shortest possible time using the least amount of energy.
  • a final operation that the controller 8 may perform is to generate speed/direction/position commands and send them to the drive controllers and amplifiers boards 7 in order to move the robotic surface treatment device 30 about the floor surface that needs to be treated,
  • the controller 8 may receive feedback from the motor controllers and amplifiers to determine if the robotic surface treatment device 30 is overloaded or in another type of condition.
  • a negative power supply terminal/lead 13 may be positioned on an upper surface of the SBC/PLC controller 8.
  • a flexible cable 14 connects the negative power supply terminal/lead 13 to a negative power supply terminal/lead 15 on the power source 18.
  • a positive power supply terminal/lead 20 may be positioned on an upper surface of the SBC/PLC controller 8.
  • a flexible cable 14 connects the positive power supply terminal/lead 20 to a positive power supply terminal/lead 19 on the power source 18.
  • the power source 18 may be a wireless and/or rechargeable battery such as a light weight lithium ion battery, a nickel-cadmium battery, solar powered battery or any other type of rechargeable battery suitable for use in electric or hybrid cars because these types of batteries are well-known for charge life and a high number of charge/discharge cycles, enhancing the overall battery life.
  • a recharge plug 17 for the power source 18 is positioned on top of the power source 18 via a pair of flexible cables 16. Each flexible cable 16 connects the recharge plug 17 to the negative power supply terminal/lead 15 and the positive power supply terminal/lead 19 of the power source 18, respectively.
  • FIGS. 3-7 a method of treating a surface using the robotic surface treatment device 30 is illustrated.
  • one embodiment of the invention is shown with two wheels 2 used for treating the floor surface.
  • the robotic surface treatment device 30 includes more than two wheels used for treating the floor surface.
  • FIG. 3 a two-wheeled robotic surface treatment device 30 is shown turning from an East- West direction to a South direction.
  • the wheels Al and Bl are initially on the same line with one another in a first position.
  • the robotic surface treatment device 30 Once the robotic surface treatment device 30 has determined it needs to move, the back wheel Bl and the front wheel Al rotate in a clockwise direction causing the robotic surface treatment device 30 to turn right.
  • the back wheel Bl rotates at a relatively higher speed as compared to the rotation of the front wheel Al . Since the back wheel Bl rotates at a higher speed, the back wheel Bl is able to cover a larger radial distance than the front wheel Al . This emulates almost a human-like motion, simulating a human as he turns right on his/her legs while sweeping a mop.
  • the new front wheel B2 and the new back wheel A2 are again in line with one another at a new, second position.
  • FIG. 4 shows a similar movement of the robotic surface treatment device 30, however, the robotic surface treatment device 30 moves from an East- West direction to a North direction. During this movement, the wheels rotate in a counter-clockwise rotation to achieve the desired direction of movement, Likewise, the back wheel again rotates at a higher rate than the front wheel, thereby covering a larger radial distance than the front wheel.
  • the wheels 2 of the robotic surface treatment device 30 may rotate in opposite directions during operation. Occasionally, an individual may need to use the robotic surface treatment device 30 to buff, sand, and/or polish a surface. In this operation, it is necessary that the robotic surface treatment device 30 does not move, but rather remains in the same position and rotates the wheels 2 to buff the surface. This can be accomplished by rotating the wheels 2 at the same speed and in opposite directions, This helps to keep the robotic surface treatment device 30 in the same position, but buffs the surface as the wheels 2 rotate opposite one another.
  • FIG. 5 illustrates a robotic surface treatment device 30 walking from west to east along a trajectory line to treat a surface.
  • both the front wheel B and the back wheel A rotate in the same direction.
  • the wheels A and B both rotate in a clockwise direction.
  • the wheels A and B both rotate in a counter-clockwise direction.
  • the rotation of the back wheel A is always faster than the rotation of the front wheel B, thereby allowing the back wheel A to cover a larger radial distance than the front wheel B. This rotational difference is necessary to allow the robotic surface treatment device 30 to move forward along the treatment surface.
  • FIG. 1 illustrates a robotic surface treatment device 30 walking from west to east along a trajectory line to treat a surface.
  • the back wheel A rotates in a clockwise direction and follows a radial trajectory path to move from position A l to position A2.
  • the front wheel B also rotates in a clockwise direction but at a much slower rotational speed. Therefore, the front wheel B moves a much shorter radial distance from position B l to position B2.
  • the direction of rotation for both of the wheels A and B is in a counter-clockwise direction.
  • wheel B is now the back wheel and must rotate at a faster speed than the new front wheel A.
  • Wheel B rotates at a faster speed and moves a radial distance from position B2 to position B3, while the new front wheel A rotates at a slower speed and moves a radial distance from position A2 to position A3.
  • the robotic surface treatment device 30 continues these steps, advancing towards an Eastern direction, until the desired treatment surface has been fully treated. Depending on the treatment surface that needs to be treated, the robotic surface treatment device 30 may perform these steps just a few times, or, if the treatment surface is large, the robotic surface treatment device 30 may need to perform these steps multiple times.
  • FIG. 6 shows a similar movement of the robotic surface treatment device 30 as explained in FIG. 5.
  • a backwards movement of the robotic surface treatment device 30 is illustrated. Again, in this movement, both the front wheel arid back wheel rotate in the same direction - clockwise in one step and counter-clockwise in another step. Further, as in FIG. 5, the speed of rotation of the back wheel is always faster than the speed of rotation of the front wheel during this movement. Therefore, the back wheel covers a larger radial distance than the front wheel in order to move the robotic surface treatment device 30 forward.
  • the back wheel in the first position is wheel A, which is rotated clockwise and follows a radial trajectory to move from point Al to point A2.
  • the front wheel in the first position is wheel B, which is also rotated clockwise and follows a radial trajectory to move from point B l to point B2.
  • the back wheel is now wheel B and the front wheel is wheel A.
  • the direction of rotation for the wheels A and B is now in a counter-clockwise direction.
  • the back wheel B rotates at a faster speed than the front wheel A and travels a radial distance from point B2 to point B3.
  • the front wheel A rotates at a slower speed than the back wheel B and travels a radial distance from point A2 to point A3.
  • FIG. 7 illustrates an example of the robotic surface treatment device 30 turning in a circular motion in a clockwise direction to cover a relatively large diametrical distance.
  • the robotic surface treatment device 30 may be configured to rotate in a circle to treat a designated area of the treatment surface. In FIG. 7, this is achieved by reducing the rotational speed of the inner wheel and rotating the wheels in the same direction during each step of the movement.
  • the wheels shown in FIG. 7 rotate in the same direction, thereby causing the robotic surface treatment device 30 to rotate in a circle.
  • the outer wheel does not rotate as fast as the back wheel in FIGS.
  • the robotic surface treatment device 30 can rotate in a smaller space or a larger space. If the outer wheel rotates at a faster speed, a larger space can be treated by the robotic surface treatment device 30, If the outer wheel rotates at a slower speed, a smaller space can be treated by the robotic surface treatment device 30.
  • the controller 8 of the robotic surface treatment device 30 may be equipped with a plurality of acoustic or laser-based distance sensors, wherein each sensor is radially positioned at an angle from each other. Using this arrangement it is possible for the sensors to cover all directions (360 degrees) surrounding the robot. In one embodiment of the invention, sixteen (16) distance sensors are positioned on the robotic surface treatment device 30. Each sensor is positioned at an angle of 22,5 degrees from one another, thereby covering the entire 360 degrees of area surrounding the robotic surface treatment device 30, as shown in FIG. 8. In FIG.
  • the robotic surface treatment device 30 is located at the center of a rectangular space (room) that is completely empty.
  • the distance measurement sensors (laser or acoustic) radiate or propagate in all directions from the center of the robotic surface treatment device 30, thereby measuring the length of distance from the center of the robotic surface treatment device 30 to each wall of the room.
  • the plurality of laser or acoustic sensors project laser or sonar beams onto the walls of the room and measure the corresponding distances.
  • the distances and coordinates of each point where each beam meets each wall are stored in the controller's 8 memory.
  • the controller 8 interpolates an imaginary line (dotted line in FIG. 9) that connects all of the points of intersection between the laser or sonar beams and the walls of the room. This helps the controller 8 to determine what the boundary lines of the treatment surface will be.
  • the controller 8 goes through a series of decision-making processes to determine the correct course of action. These decision-making processes including determining whether the area within the boundary line is large enough for the robotic surface treatment device 30 to make any movements at all, whether the area within the boundary line is large enough for the robot to make circular movements, and what the maximum radius of the circle that the robotic surface treatment device 30 can cover first. As shown in FIG. 10, the controller 8 of the robotic surface treatment device 30 then creates an imaginary circle, based on the initial feedback from the distance sensors, which the robotic surface treatment device 30 intends to treat first.
  • FIG. 11 treatment areas are rarely devoid of obstacles, Quite often a room will include multiple pieces of furniture, lamps, and similar objects.
  • Using the robotic surface treatment device 30 in this type of atmosphere requires additional planning from the controller 8.
  • the treatment area in FIG. 11 includes a couch, a desk, and a closet, as well as a window and a door.
  • the laser or acoustic beams radially point out at different directions in the room, wherein the angle between each sensor is the same.
  • the laser or acoustic beams propagate outwards and come into contact with the walls or furniture, as shown in FIG. 11.
  • the distances and coordinates of each of these intersecting points are stored in the controller's 8 memory. Thereafter, a boundary line is created by the controller 8 to calculate the area of the room that the robotic surface treatment device 30 will need to treat.
  • the controller 8 goes through a set of decision-making processes to determine what is the best strategy for movement or if any movement at all is possible under the given layout of the room and objects.
  • the controller 8 has decided that the robotic surface treatment device 30 should sweep through a circle first.
  • the maximum diameter of the circle is the shortest distance to the wall or obstacle, which avoids any collisions between the robotic surface treatment device 30 and an obstacles. It is critical that once the robotic surface treatment device 30 decides on sweeping through a circle first, there is no need to continue monitoring the distances between the robotic surface treatment device 30 and the walls/barriers/obstacles until it has completed the sweep of the circle.
  • the robotic surface treatment device 30 sweeps through the circle as fast as it can.
  • the robotic surface treatment device 30 once again measures the distances between the robotic surface treatment device 30 and the walls/barriers/obstacles and creates a new boundary line.
  • the controller 8 then goes through the decision-making processes again in order to determine the best possible movement paths for the robotic surface treatment device 30 to take in the shortest amount of time possible.
  • the robotic surface treatment device 30 is capable of treating an area other than just by rotating in a circle to treat the greatest amount of area possible.
  • the controller 8 of the robotic surface treatment device 30 may decide that the best course of movement is to walk through a trajectory line of the treatment area. Using the method of moving the robotic surface treatment device 30 forward along a designated line, the trajectory line can be followed by the robotic surface treatment device 30, thereby treating a large area of the treatment surface.
  • the controller 8 may also decide that it may be better to complete another circular sweep of the treatment area, as shown in FIG. 15. In this instance, the diameter of the circular sweep is smaller than the initial circular sweep and, therefore, the robotic surface treatment device 30 may possibly spin while keeping one of the wheels fixed at the center of the circular sweep.
  • the controller 8 may decide that the best course of action is to simultaneously walk and spin as the robotic surface treatment device 30 moves along a trajectory line, as shown in FIG. 16. Allowing the robotic surface treatment device 30 to simultaneously spin and walk helps the robotic surface treatment device 30 to cover a wider path to treat, but at the same time it takes a longer amount of time to complete the movement, As shown in FIG. 17, once the robotic surface treatment device 30 completes the walk while spinning along the trajectory path, the robotic surface treatment device 30 may turn around and continue its walk and spinning in a direction opposite to the original trajectory path in order to provide a complete sweeping through the targeted treatment area.
  • the robotic surface treatment device 30 may acquire a new position adjacent to a piece of furniture (obstacle), thereby establishing a new current position using the controller 8, as shown in FIG. 18.
  • the controller 8 and robotic surface treatment device 30 are continuously measuring barrier distances and updating the boundary line of the treatment area that needs to be treated next. Once this new boundary line measurement and computation is complete, the c ontroller 8 plans a new path and movement strategy and executes the same.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un dispositif de traitement de surface robotique qui comprend au moins deux roues, au moins deux moteurs électriques, un premier moteur électrique étant relié à au moins une roue correspondante par un arbre de moteur, au moins deux tampons de traitement, au moins un tampon de traitement étant fixé à une surface inférieure d'une roue correspondante, une unité de commande principale positionnée sur la partie supérieure d'unités de commande d'entraînement et connectée à celles-ci, les unités de commande étant positionnées sur la partie supérieure de chaque moteur électrique, une pluralité de capteurs intégrés dans l'unité de commande principale, et une pile rechargeable reliée à l'unité de commande principale. Au moins un réservoir de fluide de traitement peut être positionné sur le dispositif de traitement de surface robotique et au moins un tube de fluide de traitement peut être relié au réservoir de fluide de traitement. La masse du fluide de traitement peut être utilisée pour stabiliser le dispositif de traitement de surface robotique et augmenter le couple des moteurs électriques.
PCT/US2013/068283 2012-11-04 2013-11-04 Dispositif de traitement de surface robotique Ceased WO2014071297A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201261722183P 2012-11-04 2012-11-04
US61/722,183 2012-11-04

Publications (1)

Publication Number Publication Date
WO2014071297A1 true WO2014071297A1 (fr) 2014-05-08

Family

ID=50622779

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2013/068283 Ceased WO2014071297A1 (fr) 2012-11-04 2013-11-04 Dispositif de traitement de surface robotique

Country Status (2)

Country Link
US (1) US20140127975A1 (fr)
WO (1) WO2014071297A1 (fr)

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9504367B2 (en) * 2013-11-20 2016-11-29 Samsung Electronics Co., Ltd. Cleaning robot and method for controlling the same
KR102083193B1 (ko) * 2013-11-25 2020-03-02 삼성전자주식회사 로봇 청소기
KR101578881B1 (ko) * 2014-03-11 2015-12-18 에브리봇 주식회사 로봇 청소기 및 그의 제어 방법
GR20150100128A (el) * 2015-03-19 2016-10-20 Ελευθεριος Νικολαου Παπαγεωργιου Συσκευη στηριξης και χειρισμου τηλεσκοπικων βραχιονων καθαρισμου
DE102015104247B4 (de) * 2015-03-20 2022-05-12 Miele & Cie. Kg Selbstfahrendes Bodenpflegegerät mit einer Vorrichtung zum Auftragen einer Bodenpflegeflüssigkeit
US11857129B1 (en) 2016-08-10 2024-01-02 AI Incorporated Robotic floor cleaning device with controlled liquid release mechanism
KR102188797B1 (ko) * 2018-04-02 2020-12-08 에브리봇 주식회사 로봇 청소기 및 그 제어 방법
US11633832B2 (en) 2018-11-30 2023-04-25 The Boeing Company Systems and methods for sanding a surface of a structure
SE543845C2 (en) * 2019-12-05 2021-08-10 Husqvarna Ab A floor surfacing machine with different drive motors
CN114055255B (zh) * 2021-11-18 2022-11-15 中南大学 一种基于实时点云的大型复杂构件表面打磨路径规划方法
CN114488943B (zh) * 2022-01-07 2024-01-12 华中科技大学 面向配合工况下的随机多区域高效打磨路径规划方法
US20240041281A1 (en) * 2022-08-04 2024-02-08 Zhenwu Huang Autonomous Cleaning Robot System and Method

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4719659A (en) * 1985-12-28 1988-01-19 Uragami Fukashi Rotary travelling surface treatment device
US5279672A (en) * 1992-06-29 1994-01-18 Windsor Industries, Inc. Automatic controlled cleaning machine
US20050065662A1 (en) * 2003-09-19 2005-03-24 Royal Appliance Mfg. Co. Sensors and associated methods for controlling a vacuum cleaner
US20100197210A1 (en) * 2007-07-20 2010-08-05 Onfloor Technologies Llc Floor Finishing Machine
US20100306939A1 (en) * 2007-12-18 2010-12-09 Carl Freudenberg Kg Cleaning device
US20110071714A1 (en) * 2009-09-24 2011-03-24 Honda Motor Co., Ltd. Control device of inverted pendulum type vehicle
US20110153081A1 (en) * 2008-04-24 2011-06-23 Nikolai Romanov Robotic Floor Cleaning Apparatus with Shell Connected to the Cleaning Assembly and Suspended over the Drive System
US20120167917A1 (en) * 2011-01-03 2012-07-05 Gilbert Jr Duane L Autonomous coverage robot

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4719659A (en) * 1985-12-28 1988-01-19 Uragami Fukashi Rotary travelling surface treatment device
US5279672A (en) * 1992-06-29 1994-01-18 Windsor Industries, Inc. Automatic controlled cleaning machine
US20050065662A1 (en) * 2003-09-19 2005-03-24 Royal Appliance Mfg. Co. Sensors and associated methods for controlling a vacuum cleaner
US20100197210A1 (en) * 2007-07-20 2010-08-05 Onfloor Technologies Llc Floor Finishing Machine
US20100306939A1 (en) * 2007-12-18 2010-12-09 Carl Freudenberg Kg Cleaning device
US20110153081A1 (en) * 2008-04-24 2011-06-23 Nikolai Romanov Robotic Floor Cleaning Apparatus with Shell Connected to the Cleaning Assembly and Suspended over the Drive System
US20110071714A1 (en) * 2009-09-24 2011-03-24 Honda Motor Co., Ltd. Control device of inverted pendulum type vehicle
US20120167917A1 (en) * 2011-01-03 2012-07-05 Gilbert Jr Duane L Autonomous coverage robot

Also Published As

Publication number Publication date
US20140127975A1 (en) 2014-05-08

Similar Documents

Publication Publication Date Title
US20140127975A1 (en) Robotic Surface Treatment Device
JP7292652B2 (ja) 自律式表面清掃ロボット
EP4111927B1 (fr) Nettoyeur de sols autonome avec un détecteur d'humidité
US8774970B2 (en) Trainable multi-mode floor cleaning device
JP6549033B2 (ja) 自律移動地面処理ロボット、及びその清掃作業の制御方法
US9510715B2 (en) Robotic vacuum cleaning
CN102083352A (zh) 用于机器人使能的移动产品的定位、位置控制和导航系统的应用
US20230355070A1 (en) Robotic systems and methods
US20240358216A1 (en) Cleaning device
CN111050619A (zh) 具有作业装置的全向移动的行驶平台
Hong et al. Mopping module design and experiments of a multifunction floor cleaning robot
WO2023213011A1 (fr) Systèmes et procédés robotiques
CN111065306A (zh) 机器人清洁设备的方法
CN118302094A (zh) 扭矩辅助式表面维护机器
CN107752921A (zh) 一种带独立拖布清洁系统并自动跟随的电动拖地机
Sharma et al. A Design Study on Arduino based Autonomous Cleaning Robot
CN108334082A (zh) 基于基站定位的清扫机自动充电方法及其控制系统

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 13851106

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 13851106

Country of ref document: EP

Kind code of ref document: A1