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.

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

[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? 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.