Autonomous planar surface cleaning robot

• US 10,258,215 B2
• Filed: 04/14/2017
• Issued: 04/16/2019
• Est. Priority Date: 03/13/2014
• Status: Active Grant

• Current Assignee: Ecovacs Robotics, Inc. (Ecovacs Robotics (Suzhou) Co. Ltd.)
• Original Assignee: Ecovacs Robotics, Inc. (Ecovacs Robotics (Suzhou) Co. Ltd.)
• Inventors: Qian, Dongqi
• Primary Examiner(s): Nguyen, Dung Van
• Application Number:
  US15/488,127
• Publication Number:
  US 20170215682A1
• Time in Patent Office: 732 Days
• CPC Class Codes: A47L 1/02 Power-driven machines or devices
• CPC Class Codes: A47L 11/38 Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
• CPC Class Codes: A47L 11/4008 Arrangements of switches, indicators or the like
• CPC Class Codes: A47L 11/4011 Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
• CPC Class Codes: A47L 11/4036 Parts or details of the surface treating tools
• CPC Class Codes: A47L 11/4061 Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
• CPC Class Codes: A47L 11/4066 Propulsion of the whole machine
• CPC Class Codes: A47L 11/4072 Arrangement of castors or wheels
• CPC Class Codes: A47L 11/4075 Handles; levers
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: A47L 2201/06 Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
• CPC Class Codes: B62D 11/04 by means of separate power sources
• CPC Class Codes: B62D 55/06 with tracks without ground wheels
• CPC Class Codes: F16H 1/16 comprising worm and worm-wheel
• CPC Class Codes: F16H 1/28 with gears having orbital motion
• CPC Class Codes: F16H 37/041 for conveying rotary motion with constant gear ratio
• CPC Class Codes: G05D 1/021 specially adapted to land vehicles

Abstract

A driving mechanism for an autonomous planar surface cleaning robot is disclosed. The driving mechanism includes a first transmission component and a second transmission component spaced apart in parallel relationship relative to the first transmission component. Each of the first and second transmission components defines first and second ends and first and second sides, wherein the first sides face each other and the second sides face away from each other in a direction transverse from the direction of motion and the first and second ends are oppositely spaced along the direction of motion. Each of the first and second transmission components are independently controllable by a control unit of the autonomous planar surface cleaning robot.

Claims

1. A driving mechanism for an autonomous planar surface cleaning robot, the robot comprising a main body defining a cavity, a vacuum source coupled to the cavity, a vacuum sensor, and a control unit, the driving mechanism comprising:

a first transmission component; and

a second transmission component spaced apart in parallel relationship relative to the first transmission component;

wherein at least one of the first transmission component or the second transmission component is located within the cavity;

wherein each of the first and second transmission components defines first and second ends and first and second sides, wherein the first sides face each other and the second sides face away from each other in a direction transverse from the direction of motion and the first and second ends are oppositely spaced along the direction of motion; and

wherein each of the first and second transmission components are independently controllable by the control unit.

2. The driving mechanism of claim 1, wherein the first transmission component comprises a first motor operatively coupled to the control unit and the second transmission component comprises a second motor operatively coupled to the control unit.

3. The driving mechanism of claim 2, wherein the first and second motors are positioned at the first sides of the first and second transmission components and at the first ends of the first and second transmission components.

4. The driving mechanism of claim 2, wherein the first and second motors are positioned at the second sides of the first and second transmission components and at the first ends of the first and second transmission components.

5. The driving mechanism of claim 2, wherein the first and second motors are positioned at the first sides of the first and second transmission components and the first motor is positioned at the first end of the first transmission component and the second motor is positioned at the second end of the second transmission component.

6. The driving mechanism of claim 1, wherein each of the first and second transmission components further comprises a transmission system, and wherein each transmission system comprises a driving wheel.

7. The driving mechanism of claim 6, wherein each transmission system further comprises a driven wheel and a belt coupling the driven wheel to the driving wheel.

8. The driving mechanism of claim 7, wherein each belt is configured to synchronize rotation of the driven wheel with the driving wheel of its respective transmission system.

9. The driving mechanism of claim 7, wherein each of the first and second transmission components further comprises a motor, wherein each motor is positioned offset from its respective transmission system in the direction transverse to the direction of motion and between the driven wheel and the driving wheel of its respective transmission system in the direction of motion.

10. The driving mechanism of claim 1, wherein the first transmission component and the second transmission component are disposed such that the vacuum source is therebetween.

11. The driving mechanism of claim 1, wherein the first transmission component and the second transmission component are surrounded by a cleaning component.

12. A driving mechanism for an autonomous planar surface cleaning robot, the driving mechanism comprising:

a first transmission component comprising a first motor electrically coupled to a control unit; and

a second transmission component comprising a second motor electrically coupled to the control unit, wherein the second transmission component is spaced apart in parallel relationship relative to the first transmission component;

wherein at least one of the first transmission component or the second transmission component is located within a cavity coupled to a vacuum source of the autonomous planar surface cleaning robot;

wherein each of the first and second transmission components defines first and second ends and first and second sides, wherein the first sides face each other and the second sides face away from each other in a direction transverse from the direction of motion and the first and second ends are oppositely spaced along the direction of motion; and

wherein each of the first and second transmission components are independently controllable by the control unit.

13. The driving mechanism of claim 12, wherein the first and second motors are positioned at the first sides of the first and second transmission components and at the first ends of the first and second transmission components.

14. The driving mechanism of claim 12, wherein the first and second motors are positioned at the first sides of the first and second transmission components and the first motor is positioned at the first end of the first transmission component and the second motor is positioned at the second end of the second transmission component.

15. The driving mechanism of claim 12, wherein each of the first and second transmission components further comprises a transmission system, and wherein each transmission system comprises a driving wheel coupled to a driven wheel via a belt.

16. The driving mechanism of claim 15, wherein each of the first and second motors is positioned offset from its respective transmission system in the direction transverse to the direction of motion and between the driven wheel and the driving wheel of its respective transmission system in the direction of motion.

17. A driving mechanism for an autonomous planar surface cleaning robot, the driving mechanism comprising:

a first transmission component comprising a first transmission system; and

a second transmission component comprising a second transmission system, wherein the second transmission component is spaced apart in parallel relationship relative to the first transmission component;

wherein at least one of the first transmission component or the second transmission component is located within a cavity coupled to a vacuum source of the autonomous planar surface cleaning robot;

wherein each of the first and second transmission components defines first and second ends and first and second sides, wherein the first sides face each other and the second sides face away from each other in a direction transverse from the direction of motion and the first and second ends are oppositely spaced along the direction of motion; and

wherein each of the first and second transmission components are independently controllable by a control unit.

18. The driving mechanism of claim 17, wherein the first transmission component further comprises a first motor to drive the first transmission system and the second transmission component further comprises a second motor to drive the second transmission system, and wherein the first and second motors are electrically coupled to the control unit.

19. The driving mechanism of claim 18, wherein the first and second motors are positioned at the first sides of the first and second transmission components and at the first ends of the first and second transmission components.

20. The driving mechanism of claim 18, wherein the first and second motors are positioned at the first sides of the first and second transmission components and the first motor is positioned at the first end of the first transmission component and the second motor is positioned at the second end of the second transmission component.

21. The driving mechanism of claim 18, wherein each of the first and second transmission systems comprises a driven wheel coupled to a driving wheel via a belt.

22. The driving mechanism of claim 21, wherein each of the first and second motors is positioned offset from its respective transmission system in the direction transverse to the direction of motion and between the driven wheel and the driving wheel of its respective transmission system in the direction of motion.