EP3409165B1 - Dispositif de support sur un robot de nettoyage - Google Patents

Dispositif de support sur un robot de nettoyage Download PDF

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Publication number
EP3409165B1
EP3409165B1 EP18172813.0A EP18172813A EP3409165B1 EP 3409165 B1 EP3409165 B1 EP 3409165B1 EP 18172813 A EP18172813 A EP 18172813A EP 3409165 B1 EP3409165 B1 EP 3409165B1
Authority
EP
European Patent Office
Prior art keywords
support
robot cleaner
robot
dust
cleaning
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP18172813.0A
Other languages
German (de)
English (en)
Other versions
EP3409165A3 (fr
EP3409165A2 (fr
Inventor
Stefan Hassfurter
Markus Kühnel
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
BSH Hausgeraete GmbH
Original Assignee
BSH Hausgeraete GmbH
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Filing date
Publication date
Application filed by BSH Hausgeraete GmbH filed Critical BSH Hausgeraete GmbH
Publication of EP3409165A2 publication Critical patent/EP3409165A2/fr
Publication of EP3409165A3 publication Critical patent/EP3409165A3/fr
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Publication of EP3409165B1 publication Critical patent/EP3409165B1/fr
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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02—Nozzles
    • A47L9/04—Nozzles with driven brushes or agitators
    • A47L9/0461—Dust-loosening tools, e.g. agitators, brushes
    • A47L9/0466—Rotating tools
    • A47L9/0477—Rolls
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

Definitions

  • the invention relates to a cleaning robot for cleaning a surface, which has a chassis with at least one drive wheel, a dust pick-up device and a support which, in cooperation with the chassis, determines the distance of the dust pick-up device from the surface to be cleaned.
  • the support is designed in the form of one of the several support wheels or support disks.
  • the German Offenlegungsschrift DE 102 31 387 A1 discloses a floor cleaning device with a housing having a dirt inlet opening and a dirt collecting container as well as with a device for receiving dirt from a floor surface to be cleaned and for transferring the dirt into the dirt collecting container.
  • support elements for supporting the housing on the bottom surface are arranged, which are designed as pairs of support disks with a radially outer contact area for contact with the bottom surface and first and second side flanks, at least one side flank being oriented obliquely to the axis of rotation.
  • the support disks therefore have an essentially V-shaped configuration. In this way, a constant distance to the carpet is to be ensured on carpet in order to achieve a uniform cleaning result.
  • Two pairs of supporting disks are arranged symmetrically with respect to the main direction of movement of the floor cleaning device.
  • an automatically movable floor dust collecting device with an electric motor drive, a dust collecting container and a cover hood having a plan deviating from a circular shape, which is composed of a circular section and a shaped section oriented towards a rectangle, the rectangular section at the front in the direction of travel is.
  • the rectangular section is rounded in the corner areas, and a front edge connecting the corner areas is convex.
  • a support roller is provided in the center in order to achieve a three-point support of the device on the floor.
  • the international publication WO 2015/082 019 A1 relates to a self-propelled and self-steering floor cleaning device which comprises at least one cleaning unit and a dirt collecting container which has a container interior, a bottom wall, a dirt inlet opening and a dirt outlet opening, whereby dirt particles can be transferred into the container interior by means of the at least one cleaning unit.
  • the dirt outlet opening is formed on the bottom wall.
  • a valve device that can be actuated with compressed air is located at the dirt outlet opening.
  • the floor cleaning device can be moved autonomously on a floor surface to be cleaned.
  • it includes a chassis with two drive wheels and two swivel castors. The castors are arranged near a front of the floor cleaning device.
  • WO 2016/037 635 A1 discloses a vacuum robot with a suction inlet which is arranged in a part of a housing of the vacuum cleaner.
  • the suction inlet includes a frame structure that defines an opening.
  • the frame structure has a base section which extends essentially parallel to a surface to be cleaned on a first plane.
  • a section of the leading edge comprises at least two spacer elements which form a channel between them.
  • the channel has a delimiting surface which extends on a second plane essentially parallel to the first plane.
  • the first level is closer to the surface to be cleaned than the second level.
  • Each spacer has one essentially triangular cross-section.
  • the robot vacuum cleaner has a chassis that includes two wheels driven by an electric drive motor and non-driven support wheels.
  • the robot cleaning device having a swingable brush that is swinged according to a state of a floor surface to be cleaned.
  • the brush in question prevents an overload of a suction motor as a result of its excessive contact with the floor surface to be cleaned.
  • the robot cleaning device contains a robot cleaning device body with a joint receiving part, a brush frame which is pivotably connected to the joint receiving part by a joint projection, and a suction connection which is sealingly connected to the dust suction part of the robot cleaning device body.
  • a brush cover is detachably attached to the brush frame by means of a brush cover latch.
  • a rotatable brush is rotatably arranged between the brush frame and the brush cover.
  • the robot cleaning device has a plurality of drive wheels and secondary wheels.
  • the US patent application US 2010/0133 022 A1 describes a robot.
  • the robot has a housing and a bumper which is connected to the housing and is designed to detect an obstacle to be avoided.
  • the robot also has a second bumper that detects an obstacle with a height that can be driven over. In this way, the robot can overcome the obstacle without avoiding it.
  • the robot comprises a suction nozzle unit for sucking in dirt with a suction box, an additional wheel being attached to the underside of the suction box.
  • the autonomous cleaning device comprises a device body with a first housing on a front side and a second housing which is formed on a rear side of the first housing.
  • the stand-alone cleaning apparatus includes a brush unit installed on the first housing and configured to sweep and collect dust from a floor, and a Dust collecting unit installed on the second housing and designed to store the dust collected by the brush unit.
  • the autonomous cleaning device comprises a drive unit for driving the device body, which is installed on the second housing, and a power unit which is installed on the second housing.
  • the drive unit includes drive wheels and a roller.
  • the international patent application WO 03/026 474 A2 describes an autonomous robot that is suitable, for example, for tasks such as vacuuming and surface cleaning.
  • the autonomous robot comprises a payload configured for vacuum cleaning, a drive system with a steering system, a navigation system and a control system for integrating processes of the aforementioned systems.
  • the autonomous robot includes drive wheels and rollers that are in contact with the ground.
  • the Korean patent application KR 10 2007 0 109 355 A a cleaning robot that makes it easier to clean corners on walls and floors and uses a cliff sensor to prevent rollers and drive wheels from falling at a point deeper than the floor of the cleaning robot.
  • the cleaning robot includes a body, a side brush, a pair of drive wheels, rollers and a cliff sensor.
  • the side brush conveys the foreign matter to the inlet port.
  • the pair of drive wheels are able to move the body.
  • the rollers are formed on at least a front part of the drive wheels.
  • the cliff sensor prevents the drive wheels and rollers from falling in a place lower than the floor of the robot cleaner.
  • the cliff sensor is provided peripherally of the reel.
  • the Korean patent KR 10 101 2 943 B1 describes a cleaning robot for cleaning corners.
  • the cleaning robot is provided to conveniently clean a space between a wall and a floor by installing a side brush formed on at least one side of a body.
  • the corner cleaning robot includes a body, a side brush, and rollers.
  • the body has a suction opening that draws in air with dust particles or dirt on the floor.
  • the side brush is attached to at least one side of the body to form a cleaning element that guides the dust or dirt on the wall corner to the suction opening, and a holding element that holds a predetermined portion of the Surrounds cleaning element.
  • the rollers are attached to an outer side of a rotation radius of the holding member to easily move the body.
  • the European patent application EP 2 846 671 A1 describes a mobile robot.
  • the mobile robot comprises a robot body with a forward drive direction, a drive system that supports the robot body on a surface to be cleaned in order to maneuver the robot over the surface to be cleaned, and a robot controller that is in data connection with the drive system.
  • the robot also includes a bumper that is movably supported by a front portion of the robot body, and an obstacle sensor system that is attached to the bumper.
  • the obstacle sensor system comprises at least one contact sensor arranged on the bumper, at least one proximity sensor arranged on the bumper and an additional printed circuit board arranged on the bumper, which is connected to the at least one contact sensor and the at least one proximity sensor and the robot controller.
  • the invention is based on the object of providing an improved cleaning robot for cleaning a surface, which has a chassis with at least one drive wheel, a dust collector and a support which, in cooperation with the chassis, determines the distance between the dust collector and the surface to be cleaned.
  • a chassis with at least one drive wheel
  • a dust collector and a support which, in cooperation with the chassis, determines the distance between the dust collector and the surface to be cleaned.
  • the solution should be structurally simple and at the same time reliable.
  • the object is achieved by a cleaning robot for cleaning a surface with the features of claim 1.
  • the cleaning robot has a chassis with at least one drive wheel, a dust pick-up device and a support that, in cooperation with the chassis, the distance between the dust pick-up device and the one to be cleaned Area determined on.
  • the support is arranged next to the dust collection device in the direction of travel.
  • the projection of the support in a projection plane, which runs parallel to the surface to be cleaned in the intended operation of the cleaning robot, is arranged asymmetrically in relation to a mirror axis which runs in the projection plane in the direction of travel through the center of the projection of the dust collector.
  • a cleaning robot is a cleaning device that is able to move automatically relative to a surface to be cleaned or to an object to be cleaned and to clean the surface or the object in whole or in part.
  • the cleaning robot is equipped with one or more cleaning devices.
  • the cleaning robot can be equipped with stationary or powered brushes, rollers, wipers, cloths or other cleaning devices.
  • the cleaning robot can include a vacuum cleaner, for example a wet vacuum cleaner or a dry vacuum cleaner or a combined wet / dry vacuum cleaner.
  • a cleaning robot is usually equipped with a chassis.
  • the chassis can be controlled, for example, by a controller that can be present in the cleaning robot or outside the cleaning robot.
  • the controller uses data which are provided by one or more sensors which, at least in part, can be present in the cleaning robot or outside the cleaning robot.
  • Typical sensors include a mechanical collision sensor, a camera, an ultrasonic sensor, an infrared sensor, a distance sensor, an accelerometer, and a compass.
  • a cleaning robot can comprise one or more mapping means or be functionally connected to them.
  • Mapping means include in particular devices for recording, storing or evaluating geometric properties of the space in which the cleaning robot works or is intended to work. The mapping means can advantageously be used for a planned navigation of the cleaning robot in the Contribute space.
  • Rooms can be outside or inside, e.g. B. interiors of buildings such as living rooms or household rooms.
  • a cleaning robot is usually operated by an accumulator. So that the accumulator of such a cleaning robot can be charged again after a cleaning phase, a charging station separate from the cleaning robot can be provided.
  • the cleaning robot can be designed in such a way that it automatically approaches the charging station in order to charge the accumulator and / or connects itself to the charging station independently.
  • a cleaning robot can for example comprise a vacuum cleaner, wherein the vacuum cleaner can be designed as a wet vacuum cleaner, a dry vacuum cleaner or a combined wet / dry vacuum cleaner.
  • the cleaning robot can comprise a wet vacuum cleaner and be designed to apply liquid to a surface to be cleaned or an object to be cleaned and to suck off the liquid again by means of the wet vacuum cleaner.
  • the cleaning robot can include further cleaning devices such as brushes, rollers, wipers, cloths or other cleaning devices. The cleaning action of the vacuum cleaner is preferably supported by these additional cleaning devices.
  • a drive wheel is a component of the chassis that can attack the surface to be cleaned in order to move the cleaning robot relative to the surface to be cleaned.
  • the drive wheel is usually disk-shaped, but a roller or a ball are also a drive wheel in the sense of the present invention.
  • a drive wheel can also act indirectly via a chain or a belt, for example in the manner of a tracked vehicle, on the surface to be cleaned.
  • a dust pick-up device in the sense of the present invention is the device with which dust and protective particles, from which the surface is to be cleaned, are carried from the surface into the cleaning robot.
  • This is usually a brush, for example a rotary brush.
  • the direction of travel is the intended direction of movement of the cleaning robot in the case of straight travel for the purpose cleaning the surface.
  • the expression "in the direction of travel next to the dust collecting device” means that - in a projection plane that runs parallel to the surface to be cleaned in the intended operation of the vacuum robot, onto which the dust collecting device and the support are projected in the direction perpendicular to the projection plane - the projection of the support has a greater distance from a straight line running in the direction of travel in the projection plane than the projection of the edge of the suction mouth which is closest to the projection of the support. The distance is in each case the smallest distance measured in the projection plane from the support or the next edge of the suction mouth.
  • “Arranged” relating to a support or a drive wheel always refers in connection with the present invention to the position of the intended contact point (s) between the support or drive wheel and the surface to be cleaned. Therefore, the projection of the support in the sense of the present invention is more precisely the projection of the intended contact point (s) between the support or drive wheel and the surface to be cleaned.
  • the support can advantageously be arranged close to the dust receiving device.
  • This aspect of the invention uses, among other things, the knowledge that it is not necessarily necessary for safe support and proper operation of the cleaning robot that the support is arranged in the direction of travel in the area of the dust collecting device.
  • asymmetrical in the direction of travel with respect to the dust collecting device means that - again in a projection plane which is in the intended operation of the robotic vacuum cleaner runs parallel to the surface to be cleaned, onto which the dust collection device and the support are projected in the direction perpendicular to the projection plane - the projection of the support relative to a mirror axis that runs in the projection plane in the direction of travel through the center of the projection of the dust collection device, is not arranged symmetrically.
  • the projection of the support within the meaning of the present invention is more precisely the projection of the intended contact point (s) between the support or drive wheel and the surface to be cleaned.
  • the support can advantageously be arranged close to the dust receiving device.
  • This aspect of the invention uses, among other things, the knowledge that it is not necessarily necessary for a safe support and proper operation of the cleaning robot that the support is arranged symmetrically in the direction of travel with respect to the dust collecting device.
  • the solution to the problem is also achieved by a cleaning robot for cleaning a surface with the features of claim 2.
  • the cleaning robot has a chassis with at least one drive wheel, a dust collector and a support that, in cooperation with the chassis, the distance between the dust collector and the surface to be cleaned.
  • the support is arranged in the vicinity of the dust collection device in relation to the direction of travel.
  • the projection of the support in a projection plane, which runs parallel to the surface to be cleaned in the intended operation of the cleaning robot, is arranged asymmetrically in relation to a mirror axis which runs in the projection plane in the direction of travel through the center of the projection of the dust collector.
  • the width of the dust collecting device is the average extent of the projection of the dust collecting device in the direction of travel, e.g. B. in the case of a dust collector in the form of a cylindrical brush running perpendicular to the direction of travel, the cylinder diameter of which.
  • the "distance related to the direction of travel” is the smallest distance measured in the projection plane between a straight line that runs perpendicular to the direction of travel through the center of the projection of the dust collector, and a straight line that runs perpendicular to the direction of travel through the center of the projection of the support.
  • the invention can advantageously take advantage of the fact that the support sits on a hard floor as a surface to be cleaned, but can penetrate into a carpet.
  • the dust-collecting device can maintain the distance that is favorable for good dust-collecting both in the case of hard floors and carpets as the surface to be cleaned.
  • the distance between The dust collecting device and the surface to be cleaned can advantageously be adapted to the nature of the surface to be cleaned.
  • the support is arranged next to the dust collecting device in the direction of travel, particularly preferably at most 20 cm (centimeters), especially preferably at most 10 cm, especially preferably less than 5 cm, especially preferably less than 2 cm next to the dust collecting device.
  • the aforementioned distance between the support and the dust collecting device is - in a projection plane that runs parallel to the surface to be cleaned in the intended operation of the vacuum robot, to which the dust collecting device and the support are perpendicular are projected to the projection plane - the difference between the distances of the projection of the support and the projection of the edge of the suction mouth that is closest to the projection of the support, in each case from a straight line running in the direction of travel in the projection plane.
  • all supports are preferably arranged in the direction of travel next to the dust collecting device, particularly preferably at most 20 cm (centimeters), especially preferably at most 10 cm, especially preferably less than 5 cm, especially preferably less than 2 cm next to the dust collecting device.
  • the projection of the support has a greater distance from one in the plane of projection in the direction of travel as the projection of the edge of the suction mouth that is closest to the projection of the support, the one in the Projection plane running in the direction of travel straight through the projection of the center of gravity of the cleaning robot.
  • the robot vacuum cleaner has a single support.
  • the cleaning robot also preferably has a single support, the projection of the suction mouth on the side facing away from the support extending in the direction perpendicular to the direction of travel as far as the lateral edge of the cleaning robot.
  • the support is arranged asymmetrically in the direction of travel with respect to the dust collecting device. If the cleaning robot has several supports, these are preferably arranged asymmetrically with respect to the dust collection device.
  • the support is spaced from the dust receiving device by at most two widths of the dust receiving device in relation to the direction of travel.
  • “In relation to the direction of travel” means that - again in a projection plane that runs parallel to the surface to be cleaned in the intended operation of the vacuum robot, onto which the dust collecting device and the support are projected in the direction perpendicular to the projection plane - the distance between the center of the projection of the dust collecting device and the center of the projection of the support is at most two widths of the dust collecting device.
  • the "distance related to the direction of travel” is the smallest distance measured in the projection plane between a straight line that runs perpendicular to the direction of travel through the center of the projection of the dust collector, and a straight line that runs perpendicular to the direction of travel through the center of the projection of the support .
  • the support is at most a width, particularly preferably at most half a width, of the dust receiving device from the dust receiving device.
  • the preferred support is a support wheel; if there are several supports, all supports are preferably support wheels.
  • the support wheel is usually disk-shaped, but a roller or a ball are also a support wheel within the meaning of the present invention.
  • the preferred support wheel can rotate about an axis of rotation.
  • the axis of rotation of the support wheel in the case of several support wheels, the axis of rotation of all support wheels, runs or runs perpendicular to the direction of travel of the cleaning robot.
  • the preferred support wheel has a barrel shape, which means that the diameter of the support wheel is greatest in the middle and decreases towards the sides.
  • the preferred diameter of the support wheel in the case of several support wheels, preferably all support wheels, is or are smaller than 10 cm, particularly preferably smaller than 5 cm, particularly preferably smaller than 2 cm.
  • the preferred dust collection device is a rotary brush.
  • the support is preferably at a distance of at most two diameters, particularly preferably at most one diameter, particularly preferably at most half a diameter, of the rotary brush from the dust collecting device in relation to the direction of travel.
  • the preferred rotary brush can rotate about an axis of rotation which, in the intended operation of the robotic vacuum cleaner, runs parallel to the surface to be cleaned.
  • the preferred axis of rotation runs perpendicular to the direction of travel of the cleaning robot.
  • the axes of rotation of the rotary brush and the support wheel in the case of several support wheels, preferably the rotation axes of all support wheels, run parallel to one another.
  • the axes of rotation of the drive wheel and of the support wheel, and in the case of several support wheels, preferably the axes of rotation of all support wheels, run parallel to one another.
  • the preferred cleaning robot has two drive wheels, but the invention also includes embodiments with only one or more than two drive wheels, for example three drive wheels.
  • the center of gravity of the cleaning robot is on the side of the drive wheel on which the support is also located. In this way it can advantageously be achieved that part of the weight of the vacuum cleaner always rests on the support.
  • the focus of the cleaning robot is on the side of the drive wheel on which the dust collection device is also located.
  • the center of gravity of the cleaning robot is particularly preferably in front of the drive wheel in the direction of travel.
  • the drive wheel or wheels and support (s) in the intended operation of the cleaning robot are arranged at their height in the direction perpendicular to the surface to be cleaned so that the floor surface of the cleaning robot is always tilted in the direction of the dust collecting device.
  • part of the weight of the cleaning robot preferably rests on the dust collecting device, e.g. B. the rotary brush.
  • the support preferably sinks into the carpet.
  • the dust collection device penetrates the carpet over its entire width, which can improve the dust collection.
  • the brush also acts as an additional drive, which can advantageously prevent the robotic vacuum cleaner from getting stuck in the fibers of a carpet.
  • the cleaning robot according to the invention also has one or more further bearings via which, during the intended operation, at least part of the weight of the cleaning robot is placed on the surface to be cleaned.
  • These bearings are preferably arranged in the direction of travel on the other side of the drive wheel or wheels than the support. That is, if the support z. B. are arranged in the direction of travel in front of the drive wheel or the drive wheels, the one or more further bearings are arranged in the direction of travel behind the drive wheel or the drive wheels.
  • the preferred dust receiving device has a dust receiving opening with a front edge in the intended operation of the cleaning robot.
  • the edge is equipped with projections which protrude from a base surface of the dust receiving opening.
  • the preferred cleaning robot is designed as a vacuum cleaner and the dust receiving opening as the suction opening of the vacuum cleaner.
  • a vacuum cleaner in the sense of the present invention is a device that can generate a suction air flow, which acts on an object, usually a surface, for example a floor surface, in order to pick up particles such as dirt or dust particles, but also liquids, from the object by being caught and entrained by the suction air flow (hereinafter also referred to as "suction") designated).
  • suction suction
  • a vacuum cleaner can advantageously achieve a cleaning effect in this way.
  • the vacuum cleaner is usually equipped with a suction fan for generating a suction air flow, a suction opening of the vacuum cleaner being in flow connection with the suction side of the suction fan.
  • the suction opening is typically designed so that it passes over the object to be cleaned, e.g. B. a floor surface, can be performed to remove the particles, e.g. B. dust or dirt to suck in.
  • the suction fan is usually in flow connection with at least one dust separation device, for example a, as a rule exchangeable, dust filter bag, a filter device or a centrifugal separator. Dirt particles picked up by the suction air stream are generally collected in a dust collection space, the dust filter usually being in the dust collection space in the case of a vacuum cleaner with a dust filter bag.
  • Cleaning robots that are equipped with a vacuum cleaner usually collect dirt and dust in a dust collector arranged in the cleaning robot.
  • the space available on the cleaning robot is usually limited, so that the space provided for the dust collector is also limited.
  • the cleaning robot can be designed in such a way that it automatically approaches the dust collection station in order to dispense the dust and / or connects itself to the dust collection station independently.
  • the dust collecting station can be designed as a dust collecting station connected to a charging station or as a dust collecting station separate from a charging station.
  • FIG Figure 1 An exemplary embodiment of a cleaning robot 1 according to the invention equipped with a vacuum cleaner is shown in FIG Figure 1 shown.
  • a filter and dust collection cartridge 2 is embedded in the top of the cleaning robot 1 and can be removed with the aid of a handle 3. Seen from the front, to the right of the filter and dust collection cartridge 2, there is a blow-out opening 4 for cleaned suction air.
  • Operating and display elements 5 are located in the front upper area of the cleaning robot in the direction of travel.
  • a collision detector cage 6 is arranged in front of these display elements and can detect collisions of the cleaning robot 1 in the direction of travel.
  • the cleaning robot 1 is also equipped with a camera 7 and an infrared sensor 8. By depressing an eject button 9, a rotary brush 10, which is located on the underside of the cleaning robot 1 and is in Figure 1 subsequent figures can be seen, eject downwards.
  • the bottom of the robot cleaner is in Figure 2 shown in perspective.
  • the cleaning robot 1 can be moved in the direction of travel F with two drive wheels 11 of the chassis. By setting different speeds of the drive wheels 11, the cleaning robot 1 can also perform turns and cornering.
  • the dust collecting robot has the cylindrical rotating brush 10 as the dust collecting device, which is set in rotation when the robot is started up. In this case, the bristles 12 of the rotary brush 10 attack the surface to be cleaned in order to remove dust and dirt and to transport it into the cleaning robot 1.
  • a fan of the cleaning robot which is not shown in the figures, sucks the dust and dirt transported by the rotary brush 10 and other dust and dirt into the interior of the cleaning robot 1, where it gets into the filter and dust-collecting cartridge 2. There the dirt and dust are separated from the suction air and the suction air is blown out.
  • Figure 2 also shows the support 13 in the form of a barrel-shaped roller, which is arranged next to the rotary brush 10.
  • the center of gravity of the cleaning robot 1 is located on the front side as seen from the drive wheels 11, so that the weight of the cleaning robot 1 rests partly on the rotary brush 10 and the support 13.
  • the rotary brush 10 is not symmetrical with respect to the direction of travel and the housing of the cleaning robot, but rather off-center, namely in Figure 2 Arranged offset to the right as seen from the front of the cleaning robot 1.
  • the support 13 is also arranged eccentrically to the left of the rotary brush 10; she is thus in particular placed asymmetrically with respect to the rotary brush 10.
  • the support is located near the rotary brush 10.
  • the axis of rotation of the rotary brush 10 and the axis of rotation of the support 13 are arranged parallel to one another and are spaced from one another by approximately half a diameter of the rotary brush 10.
  • the axis of rotation of the rotary brush 10 and that of the support 13 also run parallel to the axis of rotation of the drive wheels 11.
  • the front edge of the cleaning robot 1 in the intended operation of the cleaning robot 1 is equipped with projections 14 which protrude from a base of the dust receiving opening 15.
  • FIGS. 4a and 4b show the operation of the cleaning robot 1 according to the invention on hard floor 16.
  • the front part of the cleaning robot 1 rests partly on the support 13 and partly on the rotary brush 10. The latter achieves a particularly good cleaning effect.
  • the front part of the cleaning robot 1 also partially loads on the projections 14.
  • Figure 5a shows the mode of operation of the cleaning robot 1 on carpet 19.
  • the support 13 sinks into the carpet 19.
  • the rotary brush 10 can also penetrate the carpet 19 over its entire width, which can result in improved dust absorption in the carpet 19.
  • the rotary brush 10 can also act as an additional drive, which can prevent the cleaning robot 1 from getting stuck in the fibers of the carpet 19.
  • the cleaning robot 1 according to the invention is simple, robust and inexpensive to manufacture.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Electric Suction Cleaners (AREA)
  • Nozzles For Electric Vacuum Cleaners (AREA)

Claims (10)

  1. Robot de nettoyage (1) pour le nettoyage d'une surface, lequel présente un châssis avec au moins une roue motrice (11), un dispositif de réception de poussière et un support (13), qui détermine en coopération avec le châssis l'écartement entre le dispositif de réception de poussière et la surface à nettoyer, dans lequel le dispositif de réception de poussière est une brosse rotative (10) qui, vue d'un côté avant du robot de nettoyage (1), est disposée en décalage vers la droite, de façon décentrée, dans lequel le support (13) est, vu du côté avant du robot de nettoyage (1), disposé à gauche de façon décentrée à côté de la brosse rotative (10).
  2. Robot de nettoyage (1) selon la revendication 1, caractérisé en ce que dans un plan de projection s'étendant dans le fonctionnement prévu du robot de nettoyage parallèlement à la surface à nettoyer, l'écartement par rapport au sens de marche entre le milieu de la projection du dispositif de réception de poussière et le milieu de la projection du support (13) est inférieur à la moitié de la largeur du dispositif de réception de poussière.
  3. Robot de nettoyage (1) selon la revendication 1 ou 2, caractérisé en ce que le support (13) est écarté du dispositif de réception de poussière, par rapport à un sens de marche (F) du robot de nettoyage (1), d'au plus deux largeurs du dispositif de réception de poussière.
  4. Robot de nettoyage (1) selon l'une des revendications précédentes, caractérisé en ce que le support (13) est une roue de support.
  5. Robot de nettoyage (1) selon la revendication 4, caractérisé en ce que les axes de rotation de la brosse rotative (10) et de la roue de support s'étendent parallèlement l'un à l'autre.
  6. Robot de nettoyage (1) selon la revendication 4 ou 5, caractérisé en ce que les axes de rotation de la roue motrice (11) et de la roue de support s'étendent parallèlement l'un à l'autre.
  7. Robot de nettoyage (1) selon l'une des revendications précédentes, caractérisé en ce que le centre de gravité du robot de nettoyage se trouve sur le côté de la roue motrice (11) comportant également le support (13).
  8. Robot de nettoyage (1) selon l'une des revendications précédentes, caractérisé en ce que le dispositif de réception de poussière présente un orifice de réception de poussière (15) avec, dans le fonctionnement prévu du robot de nettoyage, un bord avant et le bord est doté de saillies (14) faisant saillie d'une surface de base de l'orifice de réception de poussière (15).
  9. Robot de nettoyage (1) selon l'une des revendications précédentes, caractérisé en ce que le robot de nettoyage est doté d'un aspirateur et le dispositif de réception de poussière comprend un orifice d'aspiration de l'aspirateur.
  10. Robot de nettoyage (1) selon l'une des revendications précédentes, dans lequel la projection du support (13) est disposée de façon asymétrique dans un plan de projection s'étendant dans le fonctionnement prévu du robot de nettoyage parallèlement à la surface à nettoyer, par rapport à un axe de symétrie s'étendant dans le plan de projection dans le sens de marche (F) à travers le milieu de la projection du dispositif de réception de poussière.
EP18172813.0A 2017-05-29 2018-05-17 Dispositif de support sur un robot de nettoyage Active EP3409165B1 (fr)

Applications Claiming Priority (1)

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DE102017208970.9A DE102017208970A1 (de) 2017-05-29 2017-05-29 Stützanordnung an einem Reinigungsroboter

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