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Omni-directional robot cleaner

  • US 7,568,536 B2
  • Filed: 09/21/2006
  • Issued: 08/04/2009
  • Est. Priority Date: 05/23/2006
  • Status: Active Grant
First Claim
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1. An omni-directional robot cleaner, comprising:

  • a sensing unit, for obstacle detection;

    a cleaning unit, for collecting and removing dust and dirt;

    a processing unit, capable of receiving signals transmitted from the sensing unit while planning and mapping a travel path accordingly;

    a power unit, for providing power to the omni-directional robot cleaner while managing the same;

    a platform, for supporting the aforesaid units; and

    at least three driving units are configured in the omni-directional robot cleaner, for driving and controlling the movement of the platform, each being composed of an omni-directional wheel and an actuator, wherein said three omni-directional wheels can be identified as the first omni-directional wheel, the second omni-directional wheel and the third omni-directional wheel respectively, and wherein when the first omni-directional wheel is stopped without rotating while the second omni-directional wheel is rotating clockwisely and the third omni-directional wheel is rotating counterclockwisely, by which the platform is driven to in the direction specified by a first direction, when the first omni-directional wheel is stopped without rotating while the second omni-directional wheel is rotating counterclockwisely and the third omni-directional wheel is rotating clockwisely, the platform is driven to in the direction specified by a second direction that is the opposite direction of the first direction, when the third omni-directional wheel is stopped without rotating while the first omni-directional wheel is rotating clockwisely and the second omni-directional wheel is rotating counterclockwisely, by which the platform is driven to in the direction specified by a third direction, when the third omni-directional wheel is stopped without rotating while the first omni-directional wheel is rotating counterclockwisely and the second omni-directional wheel is rotating clockwisely, the platform is driven to in the direction specified by a forth direction that is the opposite direction of the third direction, and when the second omni-directional wheel is stopped without rotating while the third omni-directional wheel is rotating clockwisely and the first omni-directional wheel is rotating counterclockwisely, by which the platform is driven to in the direction specified by a fifth direction, and when the second omni-directional wheel is stopped without rotating while the first omni-directional wheel is rotating counterclockwisely and the third omni-directional wheel is rotating clockwisely, the platform is driven to in the direction specified by a sixth direction that is the opposite direction of the fifth direction, and when all the three omni-directional wheels are all enabled to rotate counterclockwisely, the platform is driven to rotate clockwisely without moving and when all the three omni-directional wheels are all enabled to rotate clockwisely, the platform is driven to rotate counterclockwisely without moving.

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