Multi-legged robot and method for cleaning a surface

Abstract

A multi-legged robot (1), in particular a multi-legged robot (1) for cleaning a surface, is specified, comprising a suction device (2) for sucking up particles. The suction device (2) comprises at least one suction unit (3) and a controllable suction head (4) connected to the suction unit (3). Furthermore, a method for cleaning a surface using a multi-legged robot (1) is specified.

Description

A multi-leg robot such as a four-leg robot dog is disclosed. Furthermore, a method for cleaning a surface is specified.In mechanical production, for example in engine construction, very many metal chips are obtained, which can be distributed over a large part of the production. Removal of these is difficult because they often do not only lie on the ground. Normal robotic vacuums typically vacuum only on planar surfaces, and not at different levels.Currently, the chips are usually brought to the ground manually with brooms or with compressed air and then turned or sucked together. This represents a high manual outlay.It is an object to be achieved of at least some embodiments to specify a multi-leg robot by means of which the stated problem can be solved. A further object is to specify a method for cleaning a surface.These objects are achieved by objects according to the independent claims. Advantageous embodiments and developments of the subject matter are furthermore evident from the dependent patent claims, the following description and from the drawings.The multi-leg robot described here preferably has a fuselage section and a plurality of robot legs protruding from the fuselage section.For example, multi-leg robots could be designed as a four-leg robot or as a so-called robot dog. The multi-leg robot has a suction device which is preferably configured for sucking up small parts or particles. The suction devices have at least one suction unit, which can comprise a motor unit, for example, and a controllable suction head connected to the suction unit. Preferably, the suction head is designed such that it can be moved selectively by the multi-leg robot to a surface to be cleaned. For example, the suction head can be arranged on a robot arm or a gripping device of the multi-leg robot.According to a further embodiment, the multi-leg robot has a detection device for detecting particles, such as metal chips, in the environment. The detection device can have, for example, one or more cameras, such as a depth camera. Additionally or alternatively, the detection device can have one or more further sensors, such as a laser sensor. For example, the detection device can be arranged next to the suction head of the suction device.According to a further embodiment, it comprises a multi-leg robot comprising a container device. The container device can be arranged, for example, on the fuselage section of the multi-leg robot. For example, the container device can be detachably connected to the body or the fuselage section of the multi-leg robot via a docking station. As a result, the container device can be designed to be removable. The docking station can preferably be controlled via the control of the multi-leg robot. The container device is preferably connected to the suction head via a line element, such as a connecting hose. The suction device is preferably designed in such a way that, in the suction mode, particles, such as metal chips, are sucked in by means of the suction unit through the suction head and the line element is conveyed into the container device.The container device can have, for example, a handle by means of which the container device can be gripped and removed from the docking station. Preferably, the multi-leg robot has a gripping device which is configured to grip the container device and remove it from the docking station.Furthermore, a method for cleaning a surface is specified. In this case, a multi-leg robot described here, which can have one or more features of the aforementioned embodiments, is provided.The multi-leg robot detects particles, such as metal chips, that are present in its surroundings by means of the detection device. Subsequently, the multi-leg robot sucks up the captured particles by means of the suction device, in that the multi-leg robot moves the suction head of the suction device to the particles, for example by means of a gripping device or a gripping arm of the multi-leg robot, on which gripping device or arm the suction head is arranged. By means of the suction unit of the suction device, the particles are conveyed from the suction head via the line element to the container device. Subsequently, the container device can be gripped and emptied by the gripping device of the multi-leg robot. The emptied container device can then be inserted again into the docking station by the gripping device.Further advantages and advantageous embodiments of the multi-leg robot described here or of the method for cleaning a surface result from the embodiment described below in connection with FIG. 1.The elements shown and their relative sizes with respect to one another are fundamentally not to be regarded as being to scale. Rather, for improved displayability and / or for improved understanding, individual elements can be represented with exaggerated thickness or large dimensions.FIG. 1 shows a schematic view of a multi-leg robot 1 for cleaning a surface. The multi-leg robot 1 has a suction device 2 for sucking up particles, such as metal chips.The suction device 2 has a suction unit 3 and a suction head 4, wherein the suction head 4 is connected to the suction unit 3 via a line element 5. The suction unit 3 is arranged in a docking station. Furthermore, the suction device 2 has a removable container device 6 with a handle 7 which is detachably connected to the docking station and in which the absorbed particles are collected.In the exemplary embodiment shown in FIG. 1, the suction head 4 and a detection device (not shown) for detecting particles are arranged on a gripping device 8 of the multi-leg robot 1. After particles have been detected by the detection device, the multi-leg robot 1 can move the suction head 4 by means of the gripping device 8 to the detected particles and suck them in. The sucked particles are conveyed from the suction head 4 to the container device 6 through the piping member 5 by the operation of the suction unit 3. When the container device 6 is full, the multi-leg robot 1 can grip the container device 6 on the handle 7 by means of the gripping device 8 and remove the container device 6 from the docking station. The container device 6 can then be emptied by the multi-leg robot 1 and subsequently inserted again into the docking station.The multi-leg robot 1 controls the suction unit 3 and can bring the suction head 4 into any desired position, so that in particular elevated locations, which cannot be reached by a classic suction robot, can also be reached.Multi-leg robots 1 with a gripping device 8 or robot dogs with arms offer an ideal prerequisite for sucking in particles, such as metal chips. They have, for example, an arm or a gripping device 8 for guiding the suction head 4; they have, for example, cameras as a detection device for detecting the chips, are mobile and can carry up to 15 kg weight.Alternatively or additionally, the exemplary embodiments shown in the figures can have further features according to the embodiments of the general description.List of reference characters1 Multi-leg robot 2 Suction device 3 Suction unit 4 Suction head 5 Line element 6 Container device 7 Handle 8 Gripping device

Claims

Multi-leg robot (1), in particular for cleaning a surface, having a suction device (2) for sucking up particles, wherein the suction device (2) has at least one suction unit (3) and a controllable suction head (4) connected to the suction unit (3).Multi-leg robot (1) according to claim 1, comprising a detection device for detecting particles in the environment.Multi-leg robot (1) according to one of the preceding claims, having a container device (6) which is connected to the suction head (4) by means of a line element (5).Multi-leg robot (1) according to claim 3, wherein the container device (6) is designed to be removable.Multi-leg robot (1) according to one of claims 3 or 4, comprising a gripping device (8) configured to grip the container device (6) for a emptying operation.The multi-leg robot (1) according to any one of claims 3 to 5, wherein the container device (6) is connected to the body of the multi-leg robot (1) via a docking station.Method for cleaning a surface, comprising the steps of: - providing a multi-leg robot (1) according to one of the preceding claims, - detecting particles in an environment, and - sucking up particles by means of the suction device (2) of the multi-leg robot (1).Method according to claim 7, wherein the container device (6) is gripped and emptied by means of the gripping device (8).

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