• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Self-propelled robot unit comprising a navigation system and moving means (11) for positioning the robot unit on an even surface and a system for influencing predefined areas of the substrate during movement of the unit between two points on the substrate. The robot unit's system for affecting predefined areas of the support comprises at least one impact unit (4) provided at an outside of the wheels relative to the center axis, but up one of the driven wheels (11). The invention also relates to a method of forming a plan for the robot unit's movements and laying out markings for a ball game court.
    公开号:DK201570651A1
    申请号:DKP201570651
    申请日:2015-10-12
    公开日:2017-05-01
    发明作者:Anders Ulrik Sørensen；Andreas Ydesen
    申请人:Intelligent Marking Aps；
    IPC主号:
    专利说明:

    A method of forming a plan for marking and performing marking on a level surface as well as a self-propelled robot unit comprising a navigation system and moving means for positioning the robot unit on a level surface.
    The invention relates to a method for forming a plan for markings and to carry out marking on a flat surface comprising an open outdoor area.
    In addition, the invention relates to a self-driving robot unit comprising a navigation system and moving means for positioning the robot unit on a level surface.
    A robot unit of this kind is described in DK patent application no. PA 2014 70710, with publication date 2015/10/16 and this is hereby incorporated by reference in its entirety.
    From US application no. 2009 0114738 discloses a robotic unit for laying fluorescent stripes on a substrate, eg track stripes on a sports substrate such as a lawn. According to the application, the position and orientation of the robot unit is always known as a result of receiving radio signals from satellites in space, and via the known position and orientation, the robot unit is guided around an area and deposits markings of a fluorescent liquid which is supplied to the substrate from a reservoir via a pump and nozzle.
    There are several shortcomings to this known robot device: it is difficult for ordinary people to program the device for a given task, the device may have difficulty avoiding even running over just-released coatings that can cause problems with the nozzle clogging, and Finally, for certain types of marking fluids, it is known that pigments are formed therein, so that no evenly distributed pigmentation occurs in the delivered liquid.
    It is the object of the present invention to address the stated problems of the prior art and to provide a robotic device and associated programming system which is of high reliability and usable by persons of no longer educational background.
    The object of the invention is met by a method of the type stated in the preamble of claim 1, which is characteristic of the characterizing part of claim 1. In this way, it becomes possible for a person without special technical preconditions to plan the establishment of the markings of the sports field in an open area, and to program a robotic unit to carry out the task itself. In particular, it is the user's use of a well-known instrument such as a computer or tablet or similar calculator that facilitates the task of programming. A map representation of the area that is desired as a basis for the playground can be sought initially through on-line services or, if the operator is on site, a built-in GPS unit in the calculator can easily present maps or vertical top-up photos of the nearby area around operator. Then it is easy to select a course via an app, identify the correct location for the course's establishment and make necessary corrections and then consolidate a plan for markings to a map. Now all necessary information that the robot unit must use for the task is established and the information must then only be transmitted, either directly to the robot unit or to an appropriate storage (a server) from which the robot unit can retrieve the information itself.
    This very simple programming methodology makes the robot unit much more usable than previously known robot units of this type.
    Appropriate embodiments of the method are set out in claims 2 to 5. Selection of two corners on the map makes the task of placing a trajectory particularly simple, and the scaling can be done completely automatically without the operator having to consider the matter further.
    And, as stated in claim 3, the externally positioned actuating unit, relative to the driving wheels, ensures that it is relatively easy to avoid overly established stripes or markings with the wheels of the unit. For that purpose, it is particularly useful, as stated in claim 4, that markings be started in the central parts and that finishes along the rim of a ball court. Claim 5 provides a particularly advantageous method for forming stripes that run at an angle, thereby establishing a completely sharp corner without challenging the robot unit in a purely controllable manner.
    The object of the invention is further met with a self-propelled robot unit comprising a navigation system and moving means for positioning the robot unit on a flat surface and a system for influencing predefined areas of the substrate during movement of the unit between two points on the substrate, the moving means comprising two individually driven wheels arranged with a spaced apart and having a common axis of rotation perpendicular to a center axis of the self-propelled robot unit, the center axis coinciding with a center normal of the two driven wheels as claimed in claim 6. This robot unit is characterized in that two non-driven wheels are arranged rotatably about each rotatable axis in a horizontal plane, the non-driven wheels being disposed on either side of the center axis and separately equally far from the center axis, as well as at a distance from the common axis of the driven wheels, whereby the robot unit's system of impact of predefined areas of the substrate include is at least one impact unit provided at an outside of the wheels relative to the center axis, but up one of the driven wheels. This positioning of the impact unit, which will typically comprise a metering metering nozzle, particularly supports the particular method of the invention for programming the robot unit and establishing, for example, markings for a playing field.
    It should be noted that the driven wheels may have a spacing different from the distance between the non-driven wheels. But this difference must not be so great that the robot unit will not be able to drive up a regular ramp consisting of two separate ramps. In addition to the increased stability of the 4 wheels, the advantage of the use of this type of ramps is also of importance for the use of the unit, which can easily and elegantly drive both up and down from a regular trailer, of the type that is commonly requested for a passenger car, or caused to run on similar ramps up and down stairs.
    By placing the actuating unit next to one of the driven wheels, it will in theory be possible to rotate this unit about a vertical axis, by appropriate forward / backward drive of the driving wheels, and thus even the smallest circles and other figures can be formed relatively easy with this configuration.
    A particularly reliable and easy-to-clean system for handling the paint is achieved through the measures mentioned in claim 7 regarding pipe connections and valves. In particular, it is important when establishing football pitches that a thorough stirring of the paint can occur, as this may tend to form sediment of pigment. The flushing of the valve is also important for its operational safety. Other suitable embodiments of the method are set forth in claims 8 and 9.
    The invention will now be explained in more detail with reference to the drawings, in which:
    FIG. 1 is a top view of the robot unit,
    FIG. 2 shows a 3D representation of the robot unit,
    FIG. 3 shows the robot unit of FIG. 1 seen from below,
    FIG. 4 is an overview of the fluid transport system,
    FIG. 5 is a starting image on a mobile communication and calculator screen,
    FIG. 6 shows a screen with a tentative representation of a track on a map representation of a sports area,
    FIG. 7 shows a screen showing representation of the planned path as in FIG. 6, FIG. 8 shows a screen with input unit corresponding to a joystick,
    FIG. Fig. 9 shows a screen where the planned route of the robot unit is marked; 10 shows a screen with information for the user,
    FIG. 11 shows a screen similar to the figure in FIG. 10, but where the card is enlarged,
    FIG. 12 shows a monitoring screen which is used, for example, when the self-driving unit is working on a marking task; and FIG. 13 shows an enlarged section of the actuating unit.
    FIG. 1 is a top view of a self-propelled robot unit 1, and a navigation system comprising an antenna 2 and moving means, for example wheels in the form of two front wheels 11 and two rear wheels 12. Hereby the robot unit 1 can be positioned in a predetermined position in a predetermined position. even surface 3 eg using GPS or equivalent positioning.
    The robot unit further includes a system for affecting predefined areas of the substrate 3 during the device's movement between two points on the substrate. It is noted that the moving means comprise two individually driven wheels, hereinafter called front wheels 11, which are arranged at a distance from one another and with co-rotational axis 13.1. 3, it is seen that the axis of rotation 13 is perpendicular to a center axis 14 of the self-propelled robot unit, where the center axis 14 coincides with a center normal joint axis of rotation of the two driven wheels 11. Two non-driven wheels, hereinafter referred to as rear wheels 12, are arranged rotatably about each its in horizontal plane, individually rotating axis. The propulsion then causes each rear wheel to rotate about its own horizontal axis, and by this axis itself being able to rotate independently in a horizontal plane, it is possible for the rear wheels 12 to independently always self-align, so that they simply follow the direction of the front wheels with least resistance. The direction of travel of the robot unit is defined by the difference of the front wheels in rotation speed and direction.
    As seen in FIG. 3, the non-driven wheels 12 are disposed on each side of the center axis 14 and separately equally far from the center axis 14. They are also spaced apart from the coinciding axis 13 of the driven wheels, so that the four wheels 11,12 between the tensioner supporting surface. The heaviest element of the robot unit, namely the reservoir 19, should then be placed at the point where the diagonals of the stretched support surface meet, which is also fulfilled here. In FIG. 2, the robot unit system for affecting predefined areas of the substrate is seen, which comprises an actuating unit 4 which is located at an outside of the wheels 11, 12 relative to the center axis 14, but up one of the front wheels 11. The actuating unit comprises a nozzle 5, nozzle shielding 6, height adjustment, and width adjustment. This is best shown in Figs. The shield comprises two plate wheels 6 which have axis of rotation parallel to the axis of rotation 13 front wheels 11, and to the plate wheels 6 a system for controlling their spacing is provided, a control wheel 7 making it possible and easy for the user to adjust the distance between the plate wheels 6. The plate wheels are freely running and disposed on either side of the nozzle 5, and the control mechanism for the distance of the plate wheels is arranged so that the nozzle 5 will always be located just between the plate wheels 6.
    The common axis of rotation between the plate wheels and the front wheels 11 ensures that the plate wheels will never move across the surface in a direction that deviates from the normal to their axis of rotation. This means, on the one hand, that the axis of rotation of the plate wheels can be completely fixed, and thus, on the other hand, that the position of the plate wheels relative to the vehicle is always clearly defined.
    The plate wheels suspension 15 is arranged so that the wheels 6 simply rest against the support via their weight, and by individual rotation of the suspension 15 in a vertical plane, each wheel will of itself be made to follow the possible variations and unevenness of the substrate. A height control wheel 8 is also arranged over the nozzle so that the distance of the nozzle to the support is also adjustable according to the type and quality of the support. The plate wheels suspension 15 is mounted on a rotatable, hollow shaft 9, which in turn can be rotated via an articulated actuator 10, so that the wheels 6 can be rotated up and free of the support so that they are not damaged by fast driving and are also easier to inspect for an operator. A motor, for example a stepper motor 33, is connected to the same mechanism as the control wheel 7, through the hollow shaft 9 so that the robot unit can also adjust by its own force the distance between the plate wheels and thus the width of the piece being affected.
    As shown in FIG. 4, the nozzle 5 of the actuator 5, via a hose connection 16 in connection with a pump 17, and the pump 17 via a further hose connection 18 is connected to a reservoir 19 for paint, where a valve system is inserted in the hose connection 16 between pump 17 and the nozzle unit 5 20 so that flushing of the nozzle 5 with rinse aid and agitation measurement in the reservoir 19 by means of the pump 17 is possible.
    The valve system 20 thus comprises an agitation valve 21 in the form of a 2-position valve in connection with the pressure side of the pump. In a first position, the pressure side of the pump is connected to the hose connection 16 to the nozzle 5 and the return hose 22 to the reservoir 19 is shut off. This results in a fixed amount of paint per nozzle, according to the pump's performance and speed. unit of time. In particular, volumetric pumps such as peristaltic pumps deliver a fixed amount of paint per minute. rotation, which is desirable here. In another position, the pressure side of the pump connects to the return hose 22 to the reservoir 19, and access to the hose connection 16 to the nozzle is blocked so that the paint in the reservoir can be agitated so that no sediments occur at the bottom of the reservoir, and should there be any the agitation helps them dissolve.
    The valve system also includes a flush valve 23 in the form of a 2-position valve, which in a first position connects the pump pressure to the nozzle 5, where the external hose connection 24 is shut off, and this is how the flush valve 23 is configured to dispense paint via the nozzle. 5.1 In another position, the pressure side of the pump 17 is shut off and an external hose connection 24 is coupled to the nozzle 5, whereby the nozzle can be flushed out by the softener such as water via the external hose connection 24.
    An additional shut-off valve 25 is provided before the nozzle 5, so that influx can be closed to the nozzle 5. This ensures that no paint will run out or drop out of the nozzle 5 when the other valves are in the closed position, but there is paint or rinse aid. in the hose connections. The position of the additional shut-off valve is controlled by an electrical signal so that it can be activated during operation according to the robot unit program.
    The position of the agitation valve 21 is also electrically controlled and under the control of the robot unit's control system so here too it is the program that decides which position 21 the valve should be inserted.
    The flush valve 23 is manually controlled and under the direct control of an operator. Consequently, when the robot unit 1 is to be programmed to carry out a marking on a level surface comprising an open outdoor area which has not previously been marked so that there is no inlaid program for the marking, it can conveniently be done by means of an electronic calculation and a communication device such as a tablet, a telephone or a PC, or an equivalent electronic device which comprises at least one output screen. In the following review, it is assumed that the screen is also an input screen which is touch sensitive so that the user can communicate with the device by touching the screen with his fingers or a pointing dimming device. Other types of user input to the system will be able to perform the functions shown.
    When launching an application hereafter referred to as app or program, the device status is displayed, eg '' Server - Connected '' and 'ROS - Connected' as well as several others which inform the operator that the device is now ready to receive input and in appropriate connection with the surroundings via connection channels, such as WiFi or telephone connection.
    A list for selecting input or status functions is shown on the right and these include "Dashboard", "" Route Planner ", Tool Management", "" Robot Status "and" "Configuration" as shown in fig. 5. The user can select '' Route Planner '' here and get a screen similar to that shown in Fig. 6th
    Here, a map representation of the open outdoor area is initially presented on the screen and the user can now select a plan that is desired to be marked on the ground at a suitable location on the outdoor area shown. Thus, under an appropriate input button, for example, '' shapes '' as indicated in FIG. 6 there are a number of predefined marking patterns, eg Football, Handball, Roundball and others. In the graphical map representation, the user can now choose, for example, the location of two lanes of a lane, or another fixed structure in the lane to be marked. For example, if it is a circular trajectory with a circular outline, the center of the trajectory or the location of a tangent would be more appropriate to point to the map representation. In the case of a soccer field, it is appropriate to identify the desired location of two corners on the outdoor area. After that, the application can lay the lane from the two corners and state the length and width of the selected lane, and whether these dimensions are in accordance with current rules for this type of lane. In FIG. 6 and 7, a selection plan for a football field 26 and two corner flags 27 is shown. Alternatively, the user selects the size measurements initially and is given a selection plan as a movable and rotatable object, which can be moved to a suitable location on the map, which is displayed simultaneously. Here, of course, the system must scale the path so that it appears in natural size relative to the selected view of the map.
    The marking plans shown for path 26 in FIG. 6 and 7 are tentative and are not definitively consolidated into the map representation shown in the area. As shown in FIG. 10 and 11, there may be conflict between the selected path and structures known from the map representation of the selected region. The circle 29 in FIG. 10 and 11 show such a conflict that the user must address. This can be either because the map shows elements that do not exist in reality or that there are objects in the selected area that do not appear on the map and which make it impossible to establish a football field mark here. The user may move the path or he may choose that the map representation of the area is not in accordance with reality and consolidate the selection plan 26 to the map 28 regardless of the marked conflict.
    FIG. 9 shows a consolidated marking plan 26, including the route which the robot unit is expected to follow when marking according to the plan. Here, the operator may need to make certain corrections if a planned driving route cannot be completed. Alternatively, the robot unit may contain its own sensors such as cameras and via appropriate logic functions, for example, established through the formation of neural network structures, even navigating objects such as stands, coach benches and other things that may exist around the track. When the electronic calculator, after user approval, consolidates the plan for the card representation, it can communicate the consolidated plan to a robotic unit, which can then execute the markings on the substrate according to the consolidated plan. During the marking, the robot unit may be in communication with the operator's calculating unit, and for example give messages about the progression of the task or unforeseen events. In FIG. 12, a status screen is shown which it may look like during this work. Here is an error (indicated by '' Wheel Error '') and an associated graphic indicating a wheel block. It is now up to the operator to decide how to solve the problem. If the robot unit has its own camera system, this could be used and images of the situation could be streamed to the electronic device. The robot unit can also carry its own winged camera drone, such as a helicopter drone, which the operator, from his place elsewhere, can use and try to determine the cause of the error message. Finally, the operator can seek out the device and here try to solve the problem by appropriate intervention.
    This particular app for the invention can be used for robotic devices other than those described here, in the case where a marking pattern is to be determined, which must subsequently be laid out on a level surface. For example, it will be possible to use this app for, for example, planning a robot-assisted laying of road strips or strips at a vehicle parking facility. The robot unit itself can also be used for this work, however, it should be noted that the impact unit must contain a different type of nozzle or equipment for applying road strips. For example, in temporary traffic regulations or in marking for use in establishing actual road strips, it would be natural to use a smaller self-driving robot unit and an app for planning the task, of the same type and size as described here. Actual road strips, of the type used today, would require a larger robotic unit with, for example, heat source to heat the strip material before, during or after application, but all the principles shown for programming as well as positioning of the impact unit could apply even in heavier stock.
    Another area of application for the robot device and the app is green painting of discontinued lawns. This is common in areas where droughts are common and irrigation water is expensive. California and Arizona are such areas where it is considered important that lawns have a fresh green appearance, even during periods of drought, where the grass naturally looks brown and stale. Here, not only are stripes applied, but the entire lawn surface is painted with green paint, so a somewhat wider impact unit is expected to be required. When the self-propelled robotic unit is to perform its job of marking a runway, it does this by: a. The self-propelled robot unit 1 follows the predefined driving route 26 on the ground by independently propelling the two parallel drive wheels 11 toward the ground; b. Paint is delivered to the substrate as the paint is drained from a reservoir 19 on the robot unit 1, c. The paint is applied in an area of the robot unit 1 with a predefined width across the driving direction exterior to one of the two juxtaposed driven wheels 11.
    In particular, point c is crucial for the robot unit's services, because by applying the paint in this way it becomes easy to prevent the unit's wheels from running on just dispensed paint.
    If there are target posts on the track and a marking must be established very close to the post, the robot unit has a simple algorithm for securing this task, the idea is initially driven all the way to the post and then the marking is established while driving away from the post.
    In planning the route of the robot unit 1 to establish the markings on the surface, it is preferred that the robot unit 1 forms internal markings on the ball field and finishes with the formation of the outer markings and so that the outer markings are formed without the area of the ball court itself being touched by the wheels of the robot unit. This is particularly easy to accomplish since the robot unit's actuating unit or paint application area is mounted further relative to the driven wheels 11.
    During the performance of the task of forming the markings of the sports court, for example, lines should be formed that meet at an angle comprising leg one 30 and leg two 31, such as a right angle in a corner of a football or handball court as shown in FIG. 9. Here it has been found convenient that the formation of such an angle occurs by forming a leg 30 during the robot unit's propulsion towards the meeting point 32 of the two legs and simultaneously dispensing paint, and the robot unit 1 continues the progress past the meeting point 32 and stops dispensing paint when the robot unit area for applying paint or the nozzle 5 crosses the meeting point 32 and the robot unit 1 then turns outside the two legs without dispensing paint so that the second leg 31 can be formed in a direction of travel away from the meeting point 32 for the two legs as paint dispensing is initiated as the robot unit area for applying paint or the nozzle 5 crosses past the meeting point 32. In this way, a sharp marking of the angle is obtained.
    The robot unit is equipped with a software-based IMU-GNSS stabilization function that continuously, in real-time, corrects for the unwanted movements of the GNSS antenna mast 2 caused by the robot unit's tilt or roll due to an uneven surface. The surface is listed above as '' smooth '' but this is a relative term, and outdoor surfaces in particular may have irregularities to a greater or lesser extent, and these may interfere with the determination of the actual position of the impacting unit, unless taken into account. for this. The software feature is implemented using data from the robot's IMU, which continuously provides data on the robot's angular position relative to the horizontal. This angle is continuously measured, and against this background and the height of the GNSS antenna, an offset vector is calculated, which is continuously offset against the GNSS position read continuously. The offsetting ensures that the compensated GNSS position is accurate and not, or only to a limited extent, affected by the tilt or roll of the robot unit. The compensation is also taken into account in the direction of travel control of the auto steering software and the speed of the two traction wheels on the robot. This provides a more precise positioning of the impact area relative to the surface, and thus a more precise marking of the field.
    Reference number 1 Self-propelled robot unit, 2 Antenna 3 Substrate 4 Impact unit 5 Nozzle 6 Plate wheel 7 Control wheel 8 Height control wheel 9 Swivel shaft 10 Actuator 11 Front wheel 12 Rear wheel 13 Rotary axis 14 Center axis 15 Plate wheels suspension 16 Hose connection, 17 Pump hose 19 21 Agitation Valve 22 Return Hose 23 Rinse Valve 24 External Hose Connection 25 Shut-off Valve 26 Prefootball Path Marking Plan 27 Corners 28 Card Representation 29 Collision 30 Legs 31 Legs Two 32 Meeting Point 33 Stepper Motor
    权利要求:
    Claims (10)
    [1]
    A method of forming a plan for markings (26) and carrying out marking on a flat surface (3) comprising an open outdoor area, characterized in that: a. A map representation (28) of the open outdoor area is presented on an electronic and (b) the user selects a plan to be marked on the substrate (3), and c. the user selects a starting point (27) on the map representation for forming the plan, and d. electronic calculator generates a tentative plan for markings according to the selected starting point (27) and presents it on top of the map representation of the outdoor area, and e. that the user may make corrections, such as translation and / or rotation of the plan in relation to map representation of the area and / or scaling of all or part of the plan and approve the plan's consolidation with the map representation, and f. the electronic unit of account the plan suffers from the map representation and communicates the consolidated plan to a robotic unit which then completes the markings on the substrate according to the consolidated plan.
    [2]
    Method according to claim 1, characterized in that the plan comprises markings for a ball court, such as a football or handball court and that the court comprises two corners (27) and that the user's choice of starting point and size of the plan is based on the location of the corners in the landscape and a representation thereof on the graphic map representation (28) of the outdoor area.
    [3]
    The method of claim 2, wherein: a. The self-propelled robot unit (1) follows the predefined driving route on the substrate (3) by independently propelling two parallel drive wheels (11) toward the substrate, b. Paint is delivered to the substrate (3) as the paint is drawn from a reservoir (19) on the robot unit (1), c. The paint is applied in an area belonging to the robot unit (1) with a predefined width across the driving direction exterior to one of the two parallel driven wheels (11).
    [4]
    A method according to claim 3, wherein the robot unit (1) forms internal markings on the ball court and terminates with the formation of the outer markings and so that these marks are formed without the area of the ball court itself being touched by the wheels of the robot unit (11, 12).
    [5]
    The method of claim 1, wherein forming lines that meet at an angle comprising two legs (30, 31) such as, for example, a right angle in a corner of a football or handball court is formed by forming a first leg (30) during the robot unit's progress towards the meeting point (32) for the two legs and simultaneously dispensing paint, and the robot continues to progress past the meeting point and stops paint dispensing as the robot unit's area for applying paint (4) crosses past the meeting point (32) and the robot unit then makes a turn outside the two legs (30,31) without dispensing paint, so that the second leg (31) can be formed in a direction of travel away from the meeting point (32) of the two legs, with dispensing of paint being inserted Work as the robot application area of paint crosses past the meeting point (32).
    [6]
    The self-propelled robot unit (1) use in the method according to one or more of claims 1 to 5, comprising a navigation system and moving means (11) for positioning the robot unit on an even surface and a system for influencing predefined areas of the substrate during the movement of the unit between two points on the support, the moving means comprising two individually driven wheels (11) arranged at a distance from one another and with coincident rotation axis (13), which axis is perpendicular to a center axis (14) of the self-propelled robot unit (1), the center axis (14) ) coincides with a center normal for the two driven wheels (11), characterized in that two non-driven wheels (12) are arranged rotatably about their respective rotatable axis, the non-driven wheels (12) being arranged on each side of the center axis (14) and separately equally far from the center axis (14), and at a distance from the common axis (13) of the driven wheels, wherein the robot unit's system of influence a F predefined regions of the support comprise at least one actuating unit (4) provided at an outside of the wheels relative to the center axis, but up one of the driven wheels (11).
    [7]
    Self-propelled robot unit as claimed in claim 6, characterized in that the actuating unit (4) is arranged with at least one nozzle (5) which is connected to a pump (17) via a hose connection (16) and wherein the pump via a further hose connection (18) is connected to a paint reservoir (19), in which a valve system (20) is inserted into the hose connection (16) between the pump and the nozzle (5), so as to flush the nozzle (5) with a rinsing agent. and agitation of paint in the reservoir (19) by means of the pump (17) is possible.
    [8]
    Self-propelled robot unit (1) as claimed in claim 7, characterized in that the valve system (20) comprises an agitation valve (21) in the form of a valve adjacent the pressure side of the pump which in a first position connects the pressure side of the pump with the hose connection (16). ) to the nozzle (5) and shut off the return hose (22) to the reservoir (19), and in another position connect the pressure side of the pump (17) with the return hose (22) to the reservoir (19) and block access to the hose connection (16).
    [9]
    Self-propelled robotic unit as claimed in claim 8, characterized in that the valve system further comprises a flush valve (23) in the form of a valve which in a first position connects the pump pressure with the nozzle (5) and cuts off an external hose connection (24), and which in another position, the pressure side of the pump (17) shuts off and connects the external hose connection to the nozzle (5), thereby permitting it to be flushed by the softener via the external hose connection (24).
    [10]
    10. Self-propelled robot unit, characterized in that the position of the agitation valve (21) is electrically controlled and under control of the robot unit control system, and that the flush valve (23) is manually controlled and under the control of an operator.
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    同族专利:
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    申请号 | 申请日 | 专利标题
    DKPA201570651A|DK178897B1|2015-10-12|2015-10-12|Self-propelled robot unit comprising a navigation system and moving means for positioning the robot unit on a level surface.|DKPA201570651A| DK178897B1|2015-10-12|2015-10-12|Self-propelled robot unit comprising a navigation system and moving means for positioning the robot unit on a level surface.|
    US15/767,827| US20180307242A1|2015-10-12|2016-09-28|Self-propelled robot unit including a navigation system and movement items for positioning of the robot unit on an even base|
    PCT/DK2016/050311| WO2017063652A1|2015-10-12|2016-09-28|Self-propelled robot unit including a navigation system and movement items for positioning of the robot unit on an even base|
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