Service robot for the automatic suction of dust from floor surfaces
First Claim
1. A method of automatically controlling a self-moving device with range and contact-sensors, the method comprising the steps of:
- individually determining and scanning a closer area around the device by using a movable arm on the device;
storing possible new positions at the border of the closer area;
the determination of the closer area and a selection of a new position is realized mainly on a basis of information of surroundings of the device which is stored in a data field and updated in each step to determine a next position;
optimizing a position to move the device by calculating and comparing each stored position which can be approached by the device by calculating and comparing for each of these positions certain evaluation parameters including distances or areas in reach of a possible new position which have not yet been scanned and by selecting the position with best evaluation results; and
moving the device to a new position until no further position can be selected.
1 Assignment
0 Petitions
Accused Products
Abstract
A self-moving device and method for the complete and full automatic examination of floor surfaces of all kind as well as for a particularly efficient suction of dust therefrom. In each case, the robot is controlled so as to explore the adjacent area and to detect the potential obstacles using special sensors before storing them in a data field. The displacement towards a new location is then carried out using the stored data until the whole accessible surface has been covered. One of the main constituent members of the robot includes an extensible arm that rests on the robot and on which contact and range sensors are arranged. When the robot is used as an automatic vacuum cleaner, an air flow is forced into the robot arm and the cleaning effect can further be enhanced by providing one or more circular rotary brushes at the front end of the arm. This device can essentially be used for domestic or industrial cleaning purposes with a view to replace traditional vacuum cleaners.
272 Citations
49 Claims
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1. A method of automatically controlling a self-moving device with range and contact-sensors, the method comprising the steps of:
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individually determining and scanning a closer area around the device by using a movable arm on the device;
storing possible new positions at the border of the closer area;
the determination of the closer area and a selection of a new position is realized mainly on a basis of information of surroundings of the device which is stored in a data field and updated in each step to determine a next position;
optimizing a position to move the device by calculating and comparing each stored position which can be approached by the device by calculating and comparing for each of these positions certain evaluation parameters including distances or areas in reach of a possible new position which have not yet been scanned and by selecting the position with best evaluation results; and
moving the device to a new position until no further position can be selected. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
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23. A method of automatically controlling a self-moving device with range and contact sensors, the method comprising the steps of:
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scanning a closer area in a form of a sector of a circle around the device, the scanning being by a movable arm;
turning the arm from left to right during the scanning and increasing a length of the arm at each turn, the arm starting at a retracted state during the scanning and the scanning continuing until a given maximum arm length is reached by the arm whereafter following the last turn, the arm is retracted; and
moving the device to a new position and repeating the scanning. - View Dependent Claims (24, 25, 26, 27, 28, 29)
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30. A device comprising:
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propelled wheels, at least one of the propelled wheels being steerable;
sensors; and
an extensible arm having a front end and a rear end, the extensible arm having a head positioned at the front end, the head being a support in addition to the at least one propelled wheels, the head including at least one of rollers, balls, wheels or bristles. - View Dependent Claims (31, 32, 33, 34)
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35. A device comprising:
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propelled wheels, at least one of the propelled wheels being steerable;
sensors; and
an extensible arm having a front end and a rear end, the extensible arm having a head positioned at the front end, at least one propelled circular brush being positioned at the head. - View Dependent Claims (36, 37, 38, 39, 40, 41, 42)
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43. A device comprising:
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propelled wheels, at least one of the propelled wheels being steerable;
sensors including a contact sensor, a step sensor and a height sensor; and
an extensible arm having a front end and a rear end, the extensible arm having a head positioned at the front end, the contact sensor being positioned at the head and detecting obstacles for movement of the arm, and the step sensor and the height sensor being positioned at the head and being used to detect obstacles which fail to block the arm, but which block movement of the device. - View Dependent Claims (44, 45, 46, 47, 48, 49)
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Specification