U.S. patent application number 15/542622 was filed with the patent office on 2018-04-12 for robotic vacuum cleaner.
This patent application is currently assigned to Eurofilters Holding N.V.. The applicant listed for this patent is Eurofilters Holding N.V.. Invention is credited to Ralf SAUER, Jan SCHULTINK.
Application Number | 20180098675 15/542622 |
Document ID | / |
Family ID | 52811054 |
Filed Date | 2018-04-12 |
United States Patent
Application |
20180098675 |
Kind Code |
A1 |
SAUER; Ralf ; et
al. |
April 12, 2018 |
Robotic Vacuum Cleaner
Abstract
The invention relates to a robotic vacuum cleaner comprising a
base mounted on wheels, a dust collector, and a floor nozzle
arranged on the base for taking in an air flow into the robotic
vacuum cleaner, the floor nozzle being adjustable in height with
respect to the base.
Inventors: |
SAUER; Ralf; (Overpelt,
BE) ; SCHULTINK; Jan; (Overpelt, BE) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Eurofilters Holding N.V. |
Overpelt |
|
BE |
|
|
Assignee: |
Eurofilters Holding N.V.
Overpelt
BE
|
Family ID: |
52811054 |
Appl. No.: |
15/542622 |
Filed: |
December 11, 2015 |
PCT Filed: |
December 11, 2015 |
PCT NO: |
PCT/EP2015/079469 |
371 Date: |
July 10, 2017 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
A47L 9/2868 20130101;
A47L 9/2842 20130101; A47L 9/1445 20130101; A47L 9/2852 20130101;
A47L 2201/022 20130101; A47L 9/2894 20130101; A47L 9/0477 20130101;
A47L 2201/00 20130101; A47L 9/009 20130101; A47L 9/2873 20130101;
A47L 2201/04 20130101; A47L 5/22 20130101; A47L 9/2884 20130101;
A47L 9/28 20130101; A47L 9/02 20130101; A47L 2201/06 20130101; A47L
9/0494 20130101; A47L 9/2821 20130101 |
International
Class: |
A47L 9/04 20060101
A47L009/04; A47L 9/28 20060101 A47L009/28; A47L 9/00 20060101
A47L009/00 |
Foreign Application Data
Date |
Code |
Application Number |
Jan 20, 2015 |
EP |
15151741.4 |
Jan 20, 2015 |
EP |
15151742.2 |
Apr 8, 2015 |
EP |
15162703.1 |
Claims
1. A robotic vacuum cleaner comprising a base mounted on wheels, a
dust collector, and a floor nozzle arranged on said base for
collecting an air flow into said robotic vacuum cleaner, said floor
nozzle being adjustable in height with respect to said base.
2. The robotic vacuum cleaner according to claim 1, where said
floor nozzle can be positioned at an inclination with respect to
said base.
3. The robotic vacuum cleaner according to claim 1, where said
floor nozzle is pivotally hinged to said base.
4. The robotic vacuum cleaner according to claim 1, where said
floor nozzle is arranged on one side of said base.
5. The robotic vacuum cleaner according to claim 1, where said
floor nozzle is lockable with respect to said base in a fixed
position or a plurality of fixed positions.
6. The robotic vacuum cleaner according to claim 1, comprising a
distance and/or obstacle sensor.
7. The robotic vacuum cleaner according to claim 1, comprising a
stepping motor or a servo motor for height adjustment of said floor
nozzle with respect to said base.
8. The robotic vacuum cleaner according to claim 1, comprising a
brush roller arranged in or on said floor nozzle.
9. The robotic vacuum cleaner according to claim 1, comprising a
control device for controlling height adjustment of said floor
nozzle with respect to said base.
10. The robotic vacuum cleaner according to claim 1, comprising a
pressure or air flow sensor for determining the pressure or the
speed of the air suctioned in.
11. The robotic vacuum cleaner according to claim 1, comprising a
motorized fan unit for suctioning an air flow in through said floor
nozzle.
12. The robotic vacuum cleaner according to claim 1, where said
robotic vacuum cleaner is a bag-type vacuum cleaner or a bagless
vacuum cleaner.
13. The robotic vacuum cleaner according to claim 1, comprising a
navigation device for autonomously driving said robotic vacuum
cleaner.
14. The robotic vacuum cleaner according to claim 1, comprising one
or several devices for determining the location.
15. The robotic vacuum cleaner according to claim 4, wherein said
floor nozzle is arranged in front of said base.
16. The robotic vacuum cleaner according to claim 9, wherein said
control device automatically controls height adjustment of said
floor nozzle with respect to said base.
Description
[0001] The invention relates to a robotic vacuum cleaner.
[0002] Conventional vacuum cleaners are operated by a user who
moves the vacuum cleaner, and in particular the floor nozzle
through which dust is suctioned, across the surface to be cleaned.
Conventional floor vacuum cleaners there comprise, for example, a
housing which is mounted on rollers and/or runners. A dust
collection container is arranged in the housing and contains a
filter bag. A floor nozzle is via a suction tube and a suction hose
connected to the dust collection chamber. In conventional floor
vacuum cleaners, a motorized fan unit is further arranged in the
housing and creates a negative pressure in the dust collection
container. In the air flow direction, the motorized fan unit is
therefore arranged downstream of the floor nozzle, the suction
tube, the suction hose, and the dust collection container or the
filter bag, respectively. Since cleaned air passes though such
motorized fan units, they are sometimes referred to as clean air
motors.
[0003] Particularly in former times, there were also vacuum
cleaners in which the suctioned dirty air was passed directly
through the motor fan and into a dust bag directly attached
downstream. Examples thereof are shown in U.S. Pat. No. 2,101,390,
U.S. Pat. No. 2,036,056 and U.S. Pat. No. 2,482,337. These forms of
vacuum cleaners are nowadays no longer very common.
[0004] Such dirty air or fouled air motor fans are also referred to
as a "dirty air motor" or "direct air motor". The use of such dirty
air motors is also described in documents GB 554 177, U.S. Pat. No.
4,644,606, U.S. Pat. No. 4,519,112, US 2002/0159897, U.S. Pat. No.
5,573,369, US 2003/0202890 or U.S. Pat. No. 6,171,054.
[0005] In recent years, robotic vacuum cleaners have also gained
popularity. Such robotic vacuum cleaners no longer have to be
guided by a user over the surface to be cleaned; they instead drive
autonomously across the floor. Examples of such robotic vacuum
cleaners are known, for example, from EP 2 741 483, DE 10 2013 100
192 and US 2007/0272463.
[0006] The drawback of these known robotic vacuum cleaners is that
they have only low dust absorption. This is due to the fact that
either the dust absorption is achieved only by the brushing effect
of a rotating brush roller, or motorized fan units with very low
power are used.
[0007] An alternative robotic vacuum cleaner is described in WO
02/074150. This robotic vacuum cleaner is structured in two parts
and comprises a container or fan module and a cleaning module which
is connected to the fan module via a hose.
[0008] Conventional robotic vacuum cleaners often have difficulties
where the surface to be cleaned is uneven. Such unevenness can be
given, for example, by the fact that a carpet is placed on a hard
floor (such as parquet) and the robotic vacuum cleaner must change
from the hard floor to the carpet. Other unevenness can be given,
for example, with door sills. Robotic vacuum cleaners regularly
bump into such elevations of the surface to be cleaned and can not
move onward because they can not overcome the elevation.
[0009] Against this background, the object underlying the invention
is to provide an improved robotic vacuum cleaner.
[0010] This object is satisfied with the subject matter of claim 1.
A robotic vacuum cleaner is provided according to the invention
comprising a base mounted on wheels, a dust collector, and a floor
nozzle arranged on the base for collecting an air flow into the
robotic vacuum cleaner, the floor nozzle being adjustable in height
with respect to the base.
[0011] Adjustability in height of the floor nozzle allows the
robotic vacuum cleaner to overcome floor unevenness, in particular
elevations. If, for example, the robotic vacuum cleaner when coming
from a hard floor, with its floor nozzle bumps against a carpet
edge, then the floor nozzle can be raised relative to the base so
that the robotic vacuum cleaner can then push itself onto the
carpet. The base itself can be formed to not be adjustable in
height.
[0012] The floor nozzle is fluidically connected to the base and/or
to the dust collector, for example via a hose and/or tube
connection. The air flow (for example, suctioned in) flows through
the floor nozzle into the robotic vacuum cleaner and therefore
subsequently into the dust collector connected fluidically to the
floor nozzle.
[0013] Height adjustment of the floor nozzle attached to the base
can be effected in different ways. The floor nozzle can in
particular be positioned at an inclination with respect to the
base. The base can be oriented parallel to the surface to be
cleaned. The inclined position can be such that the distance
between the floor nozzle and a surface to be cleaned increases
starting from the base.
[0014] Due to the inclined or slanted position, the robotic vacuum
cleaner can push itself onto an elevation. If the floor nozzle
there at least partly rests on the floor (the elevation), then the
base can by a (forward) motion of the robotic vacuum cleaner also
be raised.
[0015] The floor nozzle can be arranged on or attached to the base
in different ways. For example, the floor nozzle can be pivotally
hinged on the base. In this case, height adjustment of the floor
nozzle is effected by pivoting about a pivot axis. This makes it
possible to bring the floor nozzle into a position that is inclined
relative to the base. In an initial position, the floor nozzle can
be oriented parallel to the base and/or parallel to a surface to be
cleaned.
[0016] The floor nozzle can be arranged on one side of the base. It
can in particular be arranged in front of the base (in the
direction of the intended direction of movement). The base can
comprise a housing. In this case, the floor nozzle can be arranged
on or attached to the housing. It can, for example, be pivotally
hinged to the housing of the base. The floor nozzle can be arranged
on one side of the housing, in particular in front of the housing
(viewed in the direction of the intended direction of
movement).
[0017] In the above-described robotic vacuum cleaners, the floor
nozzle can be lockable in a fixed position or a plurality of fixed
positions with respect to the base. The floor nozzle can thereby be
fixed in a desired position relative to the base, which allows for
the adjustment of desired pressure conditions at, under and/or in
the floor nozzle as well as for pushing the robotic vacuum cleaner
onto an unevenness or floor elevation. In the case of a pivotal
arrangement, this can be, in particular, one or several pivoting or
angular positions. Alternatively or additionally, the floor nozzle
can be arranged freely movable with respect to the base.
[0018] The robotic vacuum cleaners described above can comprise a
distance and/or obstacle sensor. The distance and/or obstacle
sensor can be an optical sensor or a pressure sensor. The distance
and/or obstacle sensor can be arranged on the base or on the floor
nozzle. A distance sensor or obstacle sensor is used to detect
unevenness, in particular elevations.
[0019] The robotic vacuum cleaners described above can comprise a
stepping motor or a servo motor for height adjustment of the floor
nozzle with respect to the base. With such a stepping motor or a
servo motor, for example, the floor nozzle can be moved (rotated)
about a pivot axis.
[0020] The above-described robotic vacuum cleaners can comprise a
brush roller arranged in or on the floor nozzle. The brush roller
(sometimes referred to as a beating and/or rotation brush) can be
driven electro-motorically.
[0021] The floor nozzle can comprise a floor plate with a base
surface which, during operation of the robotic vacuum cleaner,
faces the surface to be cleaned, where the floor plate comprises an
air flow channel in the base surface through which air to be
cleaned enters the floor nozzle. The floor plate is also referred
to as a nozzle sole. The air flow channel is also referred to as a
suction slot, nozzle opening, suction mouth or suction channel.
[0022] The floor plate can with its base surface during operation
of the robotic vacuum cleaner rest in an initial position on the
surface to be cleaned (the floor) or be spaced apart therefrom. The
base surface can in particular be arranged parallel to the surface
to be cleaned. The floor nozzle can comprise a bristle strip with
which, in the event of a spacing, the air flow through the slot
between the surface to be cleaned and the floor plate can be
adjusted. The air flow channel can parallel to the base surface
have a straight, i.e. not curved, or a curved shape. It can have
two parallel transverse sides, formed in particular to be
rectilinear. In particular, it can have a rectangular shape or base
surface.
[0023] The longitudinal direction is meant to be the direction in
which the air flow channel has its minimal extension parallel to
the base surface of the floor nozzle; The transverse direction is
perpendicular thereto (i.e., in the direction of maximum extension
of the air flow channel) and also parallel to the base surface. The
longitudinal sides are therefore the sides along or parallel to the
direction of minimum extension, and the transverse sides are the
sides along the direction of maximum extension in the plane of the
base surface.
[0024] The floor nozzle can also comprise several air flow
channels. In the case of several air flow channels, they can have
the same shape or different shapes.
[0025] The floor nozzle can comprise a drive device in order to
drive at least one of the wheels. The wheels can be designed for
direct contact with the floor. Alternatively, they can be designed
as drive wheels for a crawler chain. In the latter case, the
crawler chain will during operation of the robotic vacuum cleaner
directly contact the ground for moving the robotic vacuum
cleaner.
[0026] One of the wheels, several or all wheels can be
omnidirectional wheels. This is particularly useful with direct
contact of the wheels to the floor during operation of the robotic
vacuum cleaner.
[0027] The use of one or several omnidirectional wheels allows for
very flexible and versatile movement of the robotic vacuum cleaner,
whereby the latter can reliably reach and also again leave spaces
that are difficult to access.
[0028] The floor nozzle can comprise a rotation device for rotating
the air flow channel about an axis perpendicular to the base
surface. Such a rotation device allows for advantageously aligning
the air flow channel through which dirt and dust to be absorbed
enters the floor nozzle. This increases the suction efficiency of
the robotic vacuum cleaner since, in particular, the floor surface
processed by the floor nozzle is optimized due to the air flow
channel. The rotation device can in particular be designed in the
manner described in European patent application No. 15 151
741.4.
[0029] Each omnidirectional wheel can on its circumference comprise
a plurality of rotatably mounted rollers or roller bodies,
respectively, these axes of which doe not extend parallel to the
wheel axis (of the omnidirectional wheel). The axes of the rollers
can in particular run or be oriented at an angle or transverse with
respect to the wheel axis. An example of an omnidirectional wheel
is a Mecanum wheel, which is described, inter alia, in U.S. Pat.
No. 3,876,255.
[0030] The robotic vacuum cleaners described above can comprise a
control device for controlling height adjustment of the floor
nozzle with respect to the base. The control device can in
particular be designed to automatically control height adjustment
of the floor nozzle with respect to the base. For example, the
control device can be configured to control a pivotal motion of the
floor nozzle about a pivot axis.
[0031] The control device can be adapted to control the
above-mentioned stepping motor or the above-mentioned servo motor.
The control device can be designed to control height adjustment in
dependence of or as a function of signals or data from a distance
and/or an obstacle sensor. If, for example, a distance and/or
obstacle sensor detects unevenness or an elevation, then the
control device can cause the floor nozzle to be raised with respect
to the base. In an analogous manner, the control device can cause
the floor nozzle to be lowered when a depression is detected.
[0032] The robotic vacuum cleaners described above can comprise a
pressure and/or airflow sensor for determining the pressure and/or
the speed of the air suctioned in. The control device can be
configured to control height adjustment of the floor nozzle in
dependence of or as a function of data or signals from a pressure
and/or air flow sensor. In this way, the suction and/or air flow
conditions can be set in a desired manner in order to achieve an
optimized suctioning result.
[0033] The robotic vacuum cleaners described above can comprise a
motorized fan unit for suctioning in an airflow through the floor
nozzle. The motorized fan unit can be a dirty air motor or a clean
air motor.
[0034] The motorized fan unit can have an in particular single
stage radial fan. The use of a motorized fan unit leads to
particularly good cleaning or suctioning results. With a radial
fan, the air is suctioned in parallel or axially relative to the
drive axis of the fan wheel and deflected by the rotation of the
fan wheel, in particular by approximately 90.degree., and blown out
radially.
[0035] The floor nozzle comprises a suction opening for producing a
fluidic connection to the motorized fan unit. This suction opening
is in fluidic communication with the air flow channel.
[0036] The motorized fan unit can be arranged between the floor
nozzle and the dust collector unit such that an air flow suctioned
in through the floor nozzle flows through the motorized fan unit
into the dust collector assembly.
[0037] A dirty air motor or direct air motor is thereby
advantageously used in a robotic vacuum cleaner. Even with low
motor power, a high volumetric flow can be obtained with the
robotic vacuum cleaner according to the invention.
[0038] According to one alternative, the motorized fan unit can
also be arranged fluidically downstream of the dust collector such
that an air flow suctioned in through the floor nozzle flows
through the dust collector into the motorized fan unit. In this
alternative, in particular a clean air motor is used.
[0039] The robotic vacuum cleaners described above can comprise a
floor nozzle module and a power supply module, where the floor
nozzle module comprises the base mounted on wheels and the floor
nozzle connected to the base. The power supply module is mounted on
wheels and comprises a drive device for driving at least one of the
wheels of the power supply module. The power supply module is
connected to the floor nozzle module via a power supply cable in
order to supply the floor nozzle module with power.
[0040] Due to the structure of the robotic vacuum cleaner with a
floor nozzle module on the one hand and a power supply module on
the other hand, a versatile robotic vacuum cleaner is obtained. The
power supply for the floor nozzle module is provided by the
(autonomously movable) power supply module. Therefore, the floor
nozzle module need not comprise its own rechargeable batteries and
can therefore be formed to be compact and have less weight. This
improves movability of the floor nozzle module. The floor nozzle
module can reach the surfaces to be suctioned even in confined
conditions.
[0041] The floor nozzle module and the power supply module are in
this embodiment designed as individual or (spatially) separate
units; they are each mounted separately on their own wheels. The
floor nozzle module and the power supply modules are movable
independently of one another. In particular, they can be connected
to one another only by way of the power supply cable.
[0042] The dust collector can be arranged on or in the floor nozzle
module. Alternatively, the dust collector can be arranged on or in
the power supply module. In the latter case, the floor nozzle
module and the power supply module are connected to one another by
way of a suction hose. Air suctioned in through this suction hose
can be passed through the floor nozzle into the dust collector.
[0043] The motorized fan unit can be arranged on or in the floor
nozzle module. Alternatively, the motorized fan unit can be
arranged on or in the power supply module.
[0044] In any case, when the dust collector is arranged on or in
the power supply module and the motorized fan unit on or in the
floor nozzle module, the motorized fan unit comprises a dirty air
motor.
[0045] When providing a power supply module, one, several, or all
the wheels of the power supply module can be omnidirectional
wheels.
[0046] Alternatively to the embodiment with two modules, the
robotic vacuum cleaner can also comprise only one module. For
example, the dust collector and/or a power supply device can then
be arranged on or in the wheel-mounted base. In this case, no
separate power supply module is provided.
[0047] The robotic vacuum cleaner can be a bag-type vacuum cleaner.
A bag vacuum cleaner is a vacuum cleaner in which the suctioned
dust is separated and collected in a vacuum cleaner filter bag. The
robotic vacuum cleaner can in particular be a bag vacuum cleaner
for disposable bags.
[0048] In the robotic vacuum cleaners described, the dust collector
can comprise a vacuum cleaner filter bag, in particular with an
area of at most 2000 cm.sup.2, in particular at most 1500 cm.sup.2.
The dust collector can in particular consist of such a vacuum
cleaner filter bag.
[0049] The filter area of a vacuum cleaner filter bag designates
the entire area of the filter material which is located between or
within the edge seams (for example welding or adhesive seams). Any
possibly side or surface folds that may be present also need to be
considered. The area of the bag filling opening or inlet opening
(including a seam surrounding this opening) is not part of the
filter area.
[0050] The vacuum cleaner filter bag can be a flat bag or have a
block bottom shape. A flat bag is formed by two side walls made of
filter material which are joined together (for example welded or
glued) along their peripheral edges. The bag filling opening or
inlet opening can be provided in one of the two side walls. The
side faces or walls can each have a rectangular basic shape. Each
side wall can comprise one or more layers of nonwoven and/or
nonwoven fabric.
[0051] The robotic vacuum cleaner in the form of a bag-type vacuum
cleaner can comprise a vacuum cleaner filter bag, where the vacuum
cleaner filter bag is designed in the form of a flat bag and/or a
disposable bag.
[0052] The bag wall of the vacuum cleaner filter bag can comprise
one or more layers of a nonwoven and/or one or more layers of
nonwoven fabric. It can in particular comprise a laminate of one or
more layers of nonwoven and/or one or more layers of nonwoven
fabric. Such a laminate is described, for example, in WO
2007/068444.
[0053] The term nonwoven fabric is used within the meaning of
standard DIN EN ISO 9092:2010. In particular, film and paper
structures, in particular filter paper, are there not regarded as
being nonwoven fabric. "Nonwoven" is a structure made of fibers
and/or continuous filaments or short fiber yarns shaped into a
surface structure by some method (except interlacing of yarns such
as woven fabric, knitwear, lace, or tufted fabric) but not bonded
by some method. With a bonding process, a nonwoven turns into
nonwoven fabric. The nonwoven or nonwoven fabric can be dry laid,
wet laid or extruded.
[0054] The suction devices described can comprise a holder for a
vacuum cleaner filter bag. Such a holder can be arranged on, at or
in the base and/or a housing of the robotic vacuum cleaner.
[0055] Instead of a bag-type vacuum cleaner, the robotic vacuum
cleaner can be a bagless vacuum cleaner, in particular with a
blow-out filter with a filter area of at least 800 cm.sup.2. A
bagless vacuum cleaner is a vacuum cleaner in which the suctioned
dust is separated and collected without a vacuum cleaner filter
bag. In this case, the dust collector can comprise an impact
separator or a centrifugal separator or a cyclone separator,
respectively.
[0056] The robotic vacuum cleaners described above can comprise a
navigation device for autonomously driving the robotic vacuum
cleaner. The navigation device can be coupled to a control device
for controlling height adjustment of the floor nozzle with respect
to the base. In this way, height adjustment can also be controlled
in dependence of or as a function of data or signals from the
navigation device.
[0057] The robotic vacuum cleaners described can comprise one or
more devices for determining the location or position. The devices
for determining the location can be, in particular, cameras,
displacement sensors and/or distance sensors. The distance sensors
can be based, for example, on sound waves or electromagnetic
waves.
[0058] The navigation device can be coupled to one or several
devices for determining the location. In particular navigation or
autonomous driving can be performed in dependence of or as a
function of data or signals from one or several devices for
determining the location.
[0059] Further features are described with reference to the
figures, where
[0060] FIG. 1 schematically shows a robotic vacuum cleaner composed
of two modules;
[0061] FIG. 2 schematically shows a block circuit diagram of a
robotic vacuum cleaner composed of two modules,
[0062] FIG. 3 schematically shows an embodiment of a robotic vacuum
cleaner com posed of one module.
[0063] FIG. 1 is a schematic representation of a first embodiment
of a robotic vacuum cleaner 1. Robotic vacuum cleaner 1 illustrated
comprises a power supply module 2 and a floor nozzle module 3 which
is connected to power supply module 2 by way of a flexible suction
hose 4. Robotic vacuum cleaner 1 is in this embodiment therefore
structured having two modules, where power supply module 2 and
floor nozzle module 3 are separate units which are connected to one
another only by way of suction hose 4.
[0064] Power supply module 2 is mounted on four wheels 5, where
each of these wheels is in the example shown designed as an
omnidirectional wheel. In principle, however, conventional wheels
can also be used instead of the omnidirectional wheels. Each
omnidirectional wheel 5 has a plurality of rotatably mounted
rollers 6 on its circumference. The rotational axes of rollers 6
are all not parallel to the wheel axis 7 of the respective
omnidirectional wheel. For example, the rotational axes of the
rollers can assume an angle of 45.degree. relative to the
respective wheel axis. The surfaces of the rollers or roller bodies
are curved or bent.
[0065] Examples of such omnidirectional wheels are described in
U.S. Pat. No. 3,876,255, US 2013/0292918, DE 10 2008 019 976 or DE
20 2013 008 870.
[0066] Power supply module 2 comprises a drive device for driving
wheels 5 of the power supply module. The drive device can comprise
a separate drive unit, for example, in the form of an electric
motor, for each wheel 5 so that each wheel 5 can be driven
independently of the other wheels. Rollers 6 are rotatably mounted
without a drive.
[0067] By suitably driving individual or all wheels 5, power supply
module 2 can be moved in any direction. If, for example, all four
wheels 5 are moved at the same speed in the same direction of
rotation, then the power supply module moves straight ahead. With a
counter-rotating movement of the wheels on one side, a lateral
movement or displacement can be achieved.
[0068] In principle, not all wheels need to be drivable; Individual
wheels can also be provided without their own drive. In addition,
it is also possible that individual wheels are not driven for
certain movements, even if they are basically drivable.
[0069] In alternative embodiments, the power supply module can also
comprise fewer or more than four wheels. Not all wheels there need
to be designed as omnidirectional wheels. An example with three
omnidirectional wheels is described in US 2007/0272463.
[0070] Floor nozzle module 3 comprises a base 8 and a floor nozzle
9 arranged on this base 8. Base 8 (and therefore also the entire
floor nozzle module 3) is in the example shown mounted on four
omnidirectional wheels 5. These wheels are in the embodiment sized
to be smaller than the wheels of power supply module 2. In
analogous form, floor nozzle 3 also comprises a drive device for
wheels 5. Here as well, the drive device for each wheel comprises a
single drive unit, for example, in the form of electric motors, in
order to drive each wheel separately and independently of the other
wheels. In this way, the floor nozzle can also be moved in any
direction by suitably driving the wheels. In principle,
conventional wheels can also be used instead of the omnidirectional
wheels.
[0071] Instead of wheels which, as in the embodiment illustrated,
directly contact the floor and cause movement of the robotic vacuum
cleaner due to this contact, the wheels can also be designed as
drive wheels for a crawler chain so that the robotic vacuum cleaner
is moved by a track drive.
[0072] Floor nozzle 9 is pivotally hinged on base 8 via a pivot
joint 10. Due to this pivotal mounting, floor nozzle 9 is designed
to be adjustable in height with respect to base 8, it can be tilted
upwardly.
[0073] Floor nozzle 9 comprises a floor plate with a base surface
which, during operation of the robotic vacuum cleaner faces the
floor, i.e. the surface to be suctioned. In the floor plate, an air
flow channel is incorporated parallel to the base surface through
which the dirty air is suctioned in and via a flexible hose
connection 11 passed into base 8, from where it is passed through
suction hose 4 to a dust collector in power supply module 2.
[0074] The floor nozzle can comprise a rotation device for rotating
the air flow channel about an axis perpendicular to the base
surface.
[0075] In the examples shown, power supply module 2 comprises a
housing 12 on which a motorized fan unit 13 is arranged. A tube
member 14 leads from motorized fan unit 13 into the interior of
housing 12 to a vacuum cleaner filter bag disposed within the
housing and forming a dust collector. The vacuum cleaner filter bag
can be removably attached in the interior of housing 12 in a
conventional manner, for example, by way of a holding plate.
[0076] In the arrangement shown, a continuous fluidic connection to
the dust collector is therefore established by floor nozzle 3, hose
member 11, base 8, suction hose 4, motorized fan unit 13 and tube
member 14. Motorized fan unit 13 is there arranged between suction
hose 4 and the dust collector so that dirty air suctioned in
through the floor nozzle flows through motorized fan unit 13 (in
particular via tube member 14) into the vacuum cleaner filter bag
arranged in the interior of housing 12.
[0077] Motorized fan unit 13 is therefore a dirty air motor. This
is in particular a motorized fan unit comprising a radial fan.
[0078] The motorized fan unit has a volumetric flow of more than 30
l/s (determined according to DIN EN 60312-1: 2014-01, with an
aperture of 8) at an electrical input power of less than 450 W, a
volumetric flow rate of more than 25 l/s at an electrical input
power of less than 250, and a volumetric flow of more than 10 l/s
at an electrical input power of less than 100 W.
[0079] The fan diameter can be 60 mm to 160 mm. A motorized fan
unit can be used, which is also used in Soniclean Upright vacuum
cleaners (e.g. SONICLEAN VT PLUS).
[0080] The motorized fan unit of the SONICLEAN VT PLUS was
characterized according to DIN EN 60312-1: 2014-01 as explained
above. The motorized fan unit was measured without the vacuum
cleaner housing. For possibly necessary adapters for connecting to
the measuring chamber, the descriptions in section 7.3.7.1 apply.
The table shows that high volumetric flows are obtained at low
rotational speeds and low input power.
TABLE-US-00001 "Dirty air" (fan wheel diameter 82 mm) with aperture
8 (40 mm) negative rotational pressure volumetric Input power
voltage speed box flow [W] [V] [RPM] [kPa] [l/s] 200 77 15,700 0.98
30.2 250 87 17,200 1.17 32.9 300 95 18,400 1.34 35.2 350 103 19,500
1.52 37.5 400 111 20,600 1.68 39.4 450 117 21,400 1.82 41.0
[0081] Instead of a dirty air motor, power supply module 2 can also
comprise a conventional clean air motor which is in the direction
of air flow arranged downstream of the dust collector. In this
case, the dirty air suctioned in would pass through suction hose 4
to power supply module 2, enter its housing 12 and be passed into
the dust collector, for example, in the form of a vacuum cleaner
filter bag.
[0082] Robotic vacuum cleaner 1 comprises a navigation device for
driving power supply module 2 and floor nozzle module 3 in an
autonomous manner. For this purpose, a correspondingly programmed
microcontroller is arranged in housing 12 of power supply module 2.
The navigation device is connected to devices for determining the
location. They include cameras 15 as well as distance sensors 16.
The distance sensors can be, for example, laser sensors.
[0083] Navigation of the robotic vacuum cleaner occurs in a known
manner, as described, for example, in WO 02/074150. The navigation
device arranged in housing 12 controls both the drive unit of power
supply module 2 as well as the drive unit of floor nozzle module
3.
[0084] A device is provided for the latter for transmitting control
signals from the navigation device in housing 12 of power supply
module 2 to floor nozzle module 3, in particular to the drive
device of the floor nozzle module. For this purpose, wireless
transmitters/receivers can respectively be arranged on the side of
power supply module 2 and floor nozzle module 3. Alternatively, a
wired connection for transmitting control signals can also be
provided along the suction hose.
[0085] Floor nozzle module 3 can in a supporting manner also
comprise one or more devices for determining the location. For
example, path sensors and/or distance sensors can be provided on
the floor nozzle module. In order to use the corresponding
information for control and navigation, respective signals are
transmitted from the floor nozzle module to the navigation
device.
[0086] The power supply for the robotic vacuum cleaner can be
effected in a cabled or wireless manner. In particular, power
supply module 2 can comprise rechargeable batteries which can be
charged, for example, in a cabled or wireless (inductive) manner.
For charging the rechargeable batteries, robotic vacuum cleaner 1
can move, for example, autonomously to a charging station.
[0087] Power supply for the floor nozzle module, in particular its
drive device, can be effected by way of a power supply cable in or
along suction hose 4. If the power supply to the drive device of
the floor nozzle module is not exclusively effected by a power
connection via suction hose 4, then floor nozzle module 3 itself
can also comprise rechargeable batteries.
[0088] FIG. 2 is a schematic block diagram of a robotic vacuum
cleaner 1 with a power supply module 2 and a floor nozzle module 3.
The drive device for wheels 5 of power supply unit 2 comprises,
firstly, four drive units 17 in the form of electric motors and,
secondly, a microcontroller 18 for controlling the electric
motors.
[0089] Provided in power supply module 2 is further a navigation
device 19 which serves to autonomously drive the power supply
module and the floor nozzle module. Navigation device 19 comprising
a microcontroller is connected both to microcontroller 18 of the
drive device as well as to a further microcontroller 20 which is
part of the devices for determining the location. Data signals from
different sensors and/or cameras are processed in microcontroller
20 and made available to navigation device 19.
[0090] Navigation device 19 is also connected to motorized fan unit
13 in order to control it.
[0091] In the example illustrated, power supply or voltage supply
is effected by way of a rechargeable battery 21, which can be
charged wirelessly or in a cabled manner. For the sake of clarity,
not all power supply connections are shown in the figure.
[0092] Floor nozzle module 3 also comprises a drive device for its
four wheels 5, where the drive device, like in the case of power
supply module 2, comprises a microcontroller 15 and four electric
motors 14. The control signals for the drive device of floor nozzle
module 3 originate from navigation device 19 which is arranged in
power supply module 2. The signals are transmitted via a
communication line 22 which can be arranged, for example, in the
wall of the suction hose. Alternatively, however, this signal
transmission could also be effected wirelessly.
[0093] Floor nozzle module 3 comprises a base 8 on which floor
nozzle 9 is rotatably mounted by way of pivot joints 10. A
schematically indicated air flow channel 24 is arranged on the side
of floor nozzle 9 facing the surface to be cleaned. Dirty air is
suctioned in through air flow channel 24 and is via base 8 and
suction hose 4 passed into the power supply module, more precisely
its dust collector.
[0094] In a first position (initial position), floor nozzle 9 is
aligned parallel to the base and to the (level) surface to be
cleaned. The floor nozzle can in particular be locked in this
position.
[0095] As can also be seen in particular in FIG. 1, a distance or
obstacle sensor 25 is arranged on floor nozzle 9. If, for example,
unevenness, such as an elevation, is by way of this distance sensor
or obstacle sensor 25 determined in the surface to be cleaned, then
floor nozzle 9 can be adjusted in height relative to the surface to
be cleaned or relative to base 8, respectively. The unevenness can
be, for example, a carpet edge or a door sill.
[0096] Height adjustment of floor nozzle 9 is effected, for
example, by pivoting the floor nozzle about the pivot joint with
which floor nozzle 9 is connected to base 8. For this purpose,
rotational axes 10 can be designed as shafts which are each coupled
to a stepping motor or a servo motor 26.
[0097] A control device 27 for controlling height adjustment of
floor nozzle 9 relative to base 8 is provided in floor nozzle
module 3. The control device comprises a programmed microcontroller
and is connected to sensor 25. If an obstacle in the form of, for
example, an elevation is detected by distance or obstacle sensor
25, then a corresponding signal is sent to control device 27 which
then drives electric motors 26 in such a way that the floor nozzle
by way of a rotation pivots by a certain angle and is thereby
raised. In this new position, the floor nozzle can then be locked
by stopping (or blocking) electric motors 26.
[0098] It can by way of distance or obstacle sensor 25 be verified
whether or not an obstacle exists for this (new) height adjustment
or angular position of floor nozzle 9. Furthermore, if an obstacle
is detected, then floor nozzle 9 can be raised further.
[0099] Due to the raised floor nozzle 9, floor nozzle module 3 is
no longer blocked by the elevation because the latter fits
underneath floor nozzle 9.
[0100] If floor nozzle 9 in the course of the advance motion rests
on or impacts such an elevation, then base 8 is due to the inclined
position of floor nozzle 9 also lifted upwardly when the floor
nozzle module is further advanced. In this way, floor nozzle module
3 pushes itself completely onto and over the elevation.
[0101] Floor nozzle 9 can also be provided with a distance sensor
on its underside, i.e. on the side facing the surface to be
cleaned. This distance sensor can, for example, be arranged in the
floor plate of floor nozzle 9. With this distance sensor, the
distance can be determined between the floor nozzle (its underside)
and the surface to be cleaned. It can via the changes in the
detected distance be ascertained whether or not the surface to be
cleaned exhibits any unevenness.
[0102] If a depression in the surface to be cleaned is in this way
detected (for example, the transition from a carpet to a hard
floor), then the floor nozzle can again be lowered. In an analogous
manner, it can be detected via a decreasing distance between the
base surface of the floor nozzle and the surface to be cleaned
whether an elevation is present and a corresponding upwardly motion
of the floor nozzle can be initiated.
[0103] Floor nozzle module 3, in particular floor nozzle 9, can
comprise an active (electro-motorically driven) brush roller or a
passive (not electro-motorically driven) brush roller.
[0104] Instead of the embodiment illustrated in FIGS. 1 and 2, in
which the fan unit is arranged on the side of the power supply
module, the fan unit can also be arranged on, at or in the floor
nozzle module. In this case, the dust collector can also be
provided on the side of the floor nozzle module. A suction hose
connection between the floor nozzle module and the power supply
module is thereby rendered obsolete. In this case, only a power
cable must be provided between the power supply module and the
floor nozzle module. Alternatively, however, the dust collector can
also be provided on the side of the power supply module.
[0105] Instead of a two-module design as schematically illustrated
in FIGS. 1 and 2, the robotic vacuum cleaner can also consist
merely of one module, as shown schematically in FIG. 3.
[0106] In this case, floor nozzle 9 is via a rotational axis or
shaft 10 likewise hinged to a base 8 which in this case comprises
housing 12. In this embodiment as well, floor nozzle 9 can be
adjusted in height relative to base 8 by way of pivoting about
rotational axis 10. In an initial position, floor nozzle 9 can be
aligned parallel to a planar surface to be cleaned. Pivoting the
floor nozzle leads to an oblique position.
[0107] Floor nozzle 9 also in this embodiment on its underside (the
side facing the surface to be cleaned) comprises an air flow
channel through which dirty air is suctioned in and via a hose
member 11 passed into housing 12 of base 8, in the interior of
which the dust collector is arranged, for example in the form of a
vacuum cleaner filter bag or an impact separator.
* * * * *