Robotic surface treatment system

Abstract

A vacuum cleaning system comprising a robotic unit (2) comprising a traction device, a docking interface and an articulated arm (82) defining an end effector (90), wherein the end effector comprises a suction tool, and wherein the robotic unit defines a suction flow path extending from the suction tool to the docking interface. The system further comprises a hand-held vacuum cleaner (6) configured to dock with the docking interface, the hand-held vacuum cleaner comprising a vacuum motor for suctioning air through the suction flow path when docked with the docking interface.

Description

Technical Field

[0001] This invention relates to a robotic surface treatment system, and particularly, but not exclusively, to a robotic vacuum cleaning system. Background Technology

[0002] The robotic vacuum cleaner market has grown rapidly over the past decade. Changing lifestyles, rising disposable incomes, urbanization, and a growing focus on labor-saving equipment are some of the factors driving this growth, and this trend appears poised to continue.

[0003] While the robotization of vacuum cleaners has brought more products to market, the form factors of these robots have not diversified. Generally, commercially available robotic vacuum cleaners are disc-shaped and low-profile, allowing them to move under furniture for cleaning. Major technological developments have focused on improving navigation capabilities to enhance autonomy, as well as dustbin emptying systems and runtime. However, overall, the robotic vacuum cleaner market comprises many typically round machines that offer little in terms of differentiation.

[0004] Some efforts have been made to improve the functionality of robotic vacuum cleaners to cope with harsh environments. For example, US2020 / 001468 describes a robotic cylindrical machine with a cleaning head that can be moved independently. Thus, the cleaning head can drive itself away from the body of the machine to reach under furniture.

[0005] US2018 / 317725 and US2010 / 0256812 describe disc-shaped robots equipped with robotic arms. However, neither of these examples appears to be a practical application, and the utility of the robotic arm in each case seems to be limited.

[0006] It is against this backdrop that embodiments of the present invention were designed. Summary of the Invention

[0007] According to one aspect of the invention, a surface treatment system is provided, comprising a robot unit and a body. The robot unit includes a traction device defining a rolling axis and a ground plane. The traction device includes a pair of rolling elements, each defining a matching circumferential shape, wherein the pair of rolling elements are spaced apart along the rolling axis such that the circumferential shapes of the rolling elements define an imaginary cylindrical volume between them, the imaginary cylindrical volume having a cross-sectional area matching the circumferential shape, wherein the body is configured not to extend beyond the imaginary cylindrical volume, and wherein the robot unit includes an articulated arm.

[0008] Surface treatment systems can be particularly well-suited as robotic vacuum cleaners. Advantageously, the present invention provides a machine in which, due to its shape, larger (and therefore cheaper and / or more powerful) components or simpler flow paths are used, leveraging the advantages of a robotic arm that enhances the machine's flexibility in cleaning awkward locations that such machines cannot reach. This deviates from the conventional idea that robotic vacuum cleaners are given a compact and particularly flat shape to navigate into awkward places.

[0009] The articulated arm can be attached to the robotic unit at the shoulder joint and may also include an elbow joint. The two joints can define their respective pivot axes that are substantially parallel to each other. Alternatively, the two axes can be parallel to the floor surface / ground plane, allowing the robotic arm to pivot through a vertical plane of motion.

[0010] The articulated arm may also include a wrist joint capable of rotating about an axis defined by the forearm component of the articulated arm. Therefore, the wrist joint is capable of rotating about an axis transverse to the axes of the shoulder and elbow joints. One advantage of this is that the elbow portion of the arm has a dual function: rotation and extension, providing further flexibility to the articulated arm.

[0011] The articulated arm may include a tool mount for selectively mounting tools thereon, enabling various cleaning tools to be attached to the cleaning system. In the case of a vacuum cleaner, the articulated arm may also include a suction nozzle, such that the robotic unit defines an airflow path communicating with the suction nozzle.

[0012] The articulated arm can be folded into a stowed state, with the upper arm portion extending in a direction substantially perpendicular to the ground plane. This provides a particularly compact arrangement, as the arm can fold back against the body of the cleaning system to occupy less floor space.

[0013] Advantageously, the robotic unit may include a docking interface for receiving a handheld vacuum cleaner in a releasable engagement manner. Thus, although in some examples the robotic unit may be combined with an integrated suction motor and associated equipment, the example shown of a separate robotic unit and a dockable handheld vacuum cleaner offers a particularly flexible arrangement that effectively provides the user with a “2-in-1” machine.

[0014] It is noteworthy that the handheld vacuum cleaner can define a longitudinal axis along which the suction nozzle and vacuum motor are oriented, wherein the handheld vacuum cleaner is mounted to the docking interface such that the longitudinal axis extends transversely to and optionally perpendicularly to the ground plane defined by the traction device. The handheld vacuum cleaner may also include a pistol grip, wherein, when the handheld vacuum cleaner is mounted to the docking interface, the pistol grip extends over at least a portion of the body of the robot unit. In some examples of the invention, this provides an improved weight distribution of the machine. This is particularly true when the pistol grip supports the battery pack at its end.

[0015] Within the scope of this application, it is expressly intended that the various aspects, embodiments, examples, and alternatives listed in the foregoing paragraphs, claims, and / or the following description and drawings, and in particular their individual features, may be taken independently or in any combination. That is, all embodiments and / or features of any embodiment may be combined in any manner and / or combination unless such features are incompatible. The applicant reserves the right to amend any initially filed claim or accordingly file any new claim, including the right to modify any initially filed claim to incorporate any feature of any other claim, even if not initially filed in this manner. Attached Figure Description

[0016] The above and other aspects of the invention will now be described by way of example only, with reference to the accompanying drawings, in which:

[0017] Figure 1 This is a side view of a vacuum cleaning system according to an example of the present invention, which includes a robot drive module with a robot arm and a handheld vacuum cleaner mounted on the robot drive module.

[0018] Figure 2 yes Figure 1 A perspective view of a vacuum cleaning system, with the robotic arm fully extended;

[0019] Figure 3 This is a side view of the vacuum cleaning system, with the arm positioned as follows: Figure 2 The unfolded state shown;

[0020] Figure 4 A handheld vacuum cleaner is shown in a stick vacuum cleaner configuration;

[0021] Figure 5 This is a schematic diagram of the handheld vacuum cleaner itself, depicting some of its important internal components;

[0022] Figure 6A and 6B This is a perspective view of the vacuum cleaning system as seen from the rear. Figure 6A A handheld vacuum cleaner docked to a robot drive module is shown. Figure 6B A handheld vacuum cleaner, detached from the robot drive module, is shown.

[0023] Figure 7 This is a perspective view of the robot drive module from the rear, showing the docking insert separated from the docking section. Figure 8A -C shows various views of the docking insert; and

[0024] Figure 9A A front perspective view of the vacuum cleaning system is shown. Figure 9B A similar view is shown, but the airflow path through the machine is emphasized.

[0025] Please note that the same or similar features in different figures are indicated by similar reference symbols. Detailed Implementation

[0026] Specific embodiments of the invention will now be described, in which many features will be discussed in detail to provide a thorough understanding of the inventive concepts as defined in the claims. However, it will be apparent to those skilled in the art that the invention can be practiced without specific details, and in some cases, well-known methods, techniques, and structures have not been described in detail in order not to unnecessarily obscure the invention.

[0027] In summary, this invention provides a novel robot-driven surface treatment system, embodied in the illustrated example as a vacuum cleaning system. The cleaning system is a hybrid design comprising a robot drive unit or module and a handheld vacuum cleaner detachably attached to the robot drive module. Furthermore, the robot drive module is equipped with a robot arm, the distal end of which carries a cleaning tool or cleaning head. Thus, the robot arm provides an extended range of reach for the robotic cleaning system, enabling it to clean under lower furniture. A convenient feature of the system is that the cleaning tool, which can be attached to the distal end of the robot arm, can also be attached directly or via a stick extension tube to the handheld vacuum cleaner. Therefore, the cleaning system is particularly convenient because the user can use the handheld vacuum cleaner to perform spot cleaning or more extensive cleaning tasks, such as when it is in stick vacuum mode, but the cleaning head can be mounted on the robot drive module, allowing it to perform autonomous cleaning tasks according to a user-suitable schedule. Further features and advantages will become apparent from the following discussion.

[0028] The accompanying drawings illustrate a robotic vacuum cleaner 2 according to an example of the present invention. First, refer to... Figures 1 to 3The robotic vacuum cleaner 2 comprises two main parts. The first part is the robot drive unit, cell, or module, typically labeled "4," and the second part is the handheld vacuum cleaner, typically labeled "6." As will be understood, the handheld vacuum cleaner 6 can be detached from the robot drive module 4, such that when the handheld vacuum cleaner 6 is disengaged from the robot drive module 4, it can be used independently as a vacuum cleaner, or it can work in conjunction with the robot drive module 4 to provide an autonomous vacuum cleaner system 6. It can be seen that... Figures 1 to 3 The robot drive module 4 and the handheld vacuum cleaner 6 are shown in a docked state, while Figure 6B The robot drive module 4 is shown in a separated or un-docked state.

[0029] In this example, the machine is a vacuum cleaner, but it is also conceivable that various modifications could be made to enable it to perform other surface treatment functions, such as mopping, polishing, disinfectant spraying, etc. Therefore, the cleaning system according to the invention should also be considered as extending to surface treatment appliances or systems. However, for the purposes of this discussion, the focus will be on the vacuum cleaner, but it should be understood that embodiments of the invention can be applied more broadly to general surface treatment functions.

[0030] Back Figures 1 to 3 It is understood that the robot drive module 4 and the handheld vacuum cleaner 6 are dockable to be used as a self-propelled robotic vacuum cleaner. In this respect, the robot drive module 4 provides the movement requirements of the machine, while the handheld vacuum cleaner 6 provides the suction power.

[0031] It is envisioned that each sub-unit can provide its own power, such that the robot drive module 4 would include an onboard battery pack (not shown) to power its corresponding drive motor (not shown), while the handheld vacuum cleaner 6 includes a battery pack to power its onboard vacuum motor. However, it is also envisioned that power transfer between the robot drive module 4 and the handheld vacuum cleaner 6 would be beneficial, for example, during charging. Therefore, it would be useful if the user wanted to perform their own cleaning, such as on-site removal of debris from certain areas of the house, that the handheld vacuum cleaner 6 could be used alone, or as a handheld vacuum cleaner, or as a stick vacuum cleaner. However, the handheld vacuum cleaner 6 could be docked to the robot drive module 4, allowing both machines to then function as autonomous vacuum cleaners.

[0032] In this regard, it should be understood that the robot drive module 4 will also be provided with a suitable navigation system, which will be responsible for map creation, path planning, and task scheduling. However, this functionality is beyond the scope of this discussion, and further explanation of these aspects will be omitted.

[0033] Also refer to Figure 4 and 5 It will be noted that the handheld vacuum cleaner has the form factor of the machine currently marketed by the applicant as the Dyson V10 or V11. Although the overall form factor of the handheld vacuum cleaner 6 is therefore known in the art, it will be briefly outlined below for better understanding.

[0034] The handheld vacuum cleaner 4 includes a body 10 with an elongated handle 12, a cyclone separator 14, and a suction inlet 16. As shown, the suction inlet 16 is formed as a short nozzle, but cleaning tools or stick extensions can be releasably attached to the suction inlet 16 as needed. The cyclone separator 14 has a longitudinal axis X and extends away from the handle 12, such that the suction inlet 16 is located at the end of the cyclone separator 14 furthest from the handle 12.

[0035] The main body 10 includes a suction generator 20, which includes a motor 22 and an impeller 24 located above and towards the rear of the handle 12. A battery 26 is located below the handle 12. As shown, the battery 26 is located at the end of the handle 12. The handle 12 has a pistol grip design, and a trigger 28 is positioned at the upper end of the handle 12 for easy operation. Optionally, as seen here, a trigger guard 29 extends forward from the handle and surrounds the front of the trigger 28. It can be seen that, for ergonomic reasons, the handle 12 is generally transverse to the longitudinal axis X of the main body and extends along the handle axis H, thus forming an angle θ1 with it, which in this example is approximately 110 degrees.

[0036] The cyclone separation unit 14 includes a primary cyclone separator 30 and a plurality of secondary cyclone separators 32 located downstream of the primary cyclone separator 30 and arranged in a circular array around an axis X. This configuration is conventional in cyclone vacuum cleaning technology. The primary cyclone separator 30 includes a box-shaped separator body 34 with cylindrical outer walls 36 and end walls 38, which at least partially define a cyclone separator chamber 40. The separator chamber 40 is annular and extends around a longitudinal axis X. Therefore, the axis of the separator chamber 40 coincides with the longitudinal axis X of the machine.

[0037] In terms of the flow path through the machine, the suction inlet 16 merges into a central pipe 42, which passes through the separator chamber 40 from the end wall 38 along the longitudinal axis X of the machine.

[0038] The central duct 42 terminates at the primary cyclone separator inlet 44, which discharges into the separator chamber 40 near the top of the primary cyclone separator 30. Although in Figure 5It is not clearly shown, but the primary cyclone inlet 44 is at a tangential angle to the air movement in the separator chamber 40 in use, which is conventional.

[0039] The bottom end of the separator chamber 40 near the end wall 38 and the adjacent portion of the cylindrical outer wall 36 together define a dirt collector or box 46 for collecting relatively large particles that rotate out of the circumferential airflow in the separator chamber 40. The end wall 38 is pivotable relative to the cylindrical outer wall 36, allowing the end wall 38 to be opened to discharge the collected dirt from the box 46. It should be noted at this point that the details of the box opening mechanism and other related details are likely conventional, and therefore further discussion of these points will be omitted. Thus, this discussion will focus on the main aspects of the handheld vacuum cleaner 6.

[0040] As described above, the cyclone separation unit 14 includes a set of secondary cyclone separators or "cyclone separators" 32, which have optimized geometry for separating fine particles from the airflow passing through the machine, compared to the relatively larger particles optimized for the primary cyclone separator 30. The airflow transitions from the separator chamber 40 of the primary cyclone separator 30 to the secondary cyclone separator 32 through a cylindrical permeable shroud 48 extending externally around a central duct 42. Therefore, the shroud 48 extends about and is coaxial with the longitudinal axis X. The shroud 48 is permeable to air and is in the form of, for example, a perforated mesh plate, thus forming an air outlet from the separator chamber 40 for capturing fibrous material on the shroud 48.

[0041] A shroud 48 surrounds a duct 50 extending longitudinally along the machine, defining inlets 51 leading to a plurality of relatively small secondary cyclone separators 32. Typically, the secondary cyclones 32 are conical, defining dirt outlets at their respective tips 52, through which dirt is discharged into a fine dust collector 54. In this example, the fine dust collector 54 is defined by the outer cylindrical wall of the cyclone separator unit 14, which is positioned radially outward relative to the main dirt collector 46. Thus, in this configuration, when the end wall 38 is open, both the main dust collector 46 and the fine dust collector 54 are open, allowing dirt to be discharged from the machine.

[0042] In summary, during use, the handheld vacuum cleaner 6 is activated by the user pressing trigger 28, which opens the suction generator 20. The suction generator 20 then establishes a negative pressure differential, which draws airflow through the suction inlet 16, upwards along the central duct 42, and into the separator chamber 40, where the airflow rotates about the longitudinal axis X. This rotating flow in the separator chamber 40 creates a cyclone effect, separating relatively heavy or larger dirt particles from the air. Due to the typical orientation of the handheld vacuum cleaner 6, these larger dirt particles tend to collect in the main dirt collector 46. A portion of the clean air then passes through the shroud 48, along the duct 50, into the secondary cyclone separator 32, which separates smaller and lighter air particles, which are discharged through the cyclone tip 52. The clean air is drawn from the various outlets 60 of the secondary cyclone separator 32 and then through the suction generator 20, where it is released into the atmosphere.

[0043] It is worth noting that, Figure 5 The image shows a handheld vacuum cleaner in its "naked" state, without any cleaning tools attached. However, it should be understood that various cleaning attachments can be attached to the handheld vacuum cleaner as needed. In this regard, Figure 4 A handheld vacuum cleaner 6 with an attached stick 62 is shown, which transforms the handheld vacuum cleaner 6 into a stick vacuum cleaner or "stick vacuum cleaner". Here, the distal end of the stick 62 has a motorized cleaning head 64 attached thereto, which is optimized for cleaning hard floors or other floor coverings such as carpets and rugs.

[0044] After describing the overall structure of the handheld vacuum cleaner 6, the discussion will focus on the structure of the robot drive module 4. This can be seen in many of the accompanying figures in conjunction with the handheld vacuum cleaner 6, but... Figure 6B and 7 It can also be seen in the middle.

[0045] The robot drive module 4 includes a body 70 with a pair of wheels 72 on either side of the body 70, one wheel located on one side of the body 70. In this example, the wheel 72 is circular and includes a disc-shaped hub 74, the periphery of which defines or supports a traction surface 76. The traction surface 76 may be made of a different material than the hub 74 to improve traction on certain surfaces. For example, the traction surface 76 may be a strip-like element made of a non-slip rubber material or similar material to provide improved traction on hard floors. Although the robot drive module 4 is provided with circular wheels in this example, it is also conceivable that another type of rolling device, such as a tracked drive system, could be provided. Therefore, the wheel should be considered as a traction device for the robot drive module 4.

[0046] Wheels 72 are located on either side of the body 70 and have the same diameter. Therefore, their outer circumference defines an imaginary cylinder that defines the rolling axis 73, and the structure of the body 70 is contained within this imaginary cylinder. More specifically, in the example shown, the body 70 is barrel-shaped, with an outer diameter slightly smaller than that of the wheels 62. In other words, in this example, the body 70 is generally cylindrical and has a diameter approximately the same as that of the wheels 72.

[0047] The main body 70 can be considered to have a forward-facing side 78 and a rearward-facing side 80. The forward-facing side 78 supports the proximal end or proximal end of the robotic arm 82. The rearward-facing side 80 defines a docking interface, region, or portion 84, which will be described in more detail later. Thus, it can be seen that the general barrel shape of the main body 60 is used to break the suitable recess 86 of the robotic arm 70 and the docking portion 84.

[0048] The robotic arm 82 is movable relative to the body 70 and includes an end effector 90 at its distal end, to which different types of cleaning tools can be attached. As shown, the end of the robotic arm 82 has an attached motorized cleaning head 92, which includes a rotatable agitator. Therefore, the robotic arm 82 provides a suction flow path for the robotic vacuum cleaner 2, extending from the end of the robotic arm 82 along the body 70 of the robot drive module 4 and the handheld vacuum cleaner 6. Figure 9A and 9B This is clearly shown in a side-by-side view, where some parts of the machine have been removed, so that the suction path 94 through the machine can be understood.

[0049] In the illustrated embodiment, the robotic arm 82 is hinged and movable between two main configurations: a folded configuration and an extended configuration. In the folded configuration, the robotic arm is folded against the robot drive module 4, and in the extended configuration, the robotic arm extends substantially straight away from the robot drive module 4 parallel to the floor surface 101 at an extreme position. Figure 2 and 3 The fully expanded configuration is clearly shown in the diagram, and... Figure 3 The lieutenant general noted that the main part of the robotic arm 82 extends parallel to the floor surface 101. Therefore, in this way, when in the folded configuration, the robotic arm 82 occupies minimal space because it folds close to the robot drive module 4, but it can easily extend a great distance in front of the robot drive module 4, so it can extend under furniture and enter narrow gaps.

[0050] As shown in the figure, the robotic arm 82 includes an upper arm portion 100 and a lower arm or "forearm" portion 102. The upper arm portion 100 has a first end 104 connected to the body 70 and a second end 106 connected to the forearm portion 102. Similarly, the forearm portion 102 includes a first end 108 connected to the upper arm portion 100 and a second end 110 defining an end effector 90.

[0051] Although the robotic arm 82 can be constructed in various ways, it should be noted that in the illustrated embodiment, the upper arm portion 100 has a two-part structure, comprising parallel arm members 100a and 100b. This provides the robotic arm 82 with a robust structure and suitable torsional stiffness that is more resistant to deflection and twisting.

[0052] The connection between the upper arm portion 100 and the body 70 is achieved via a pair of sockets 112 defined in the body 60, the pair of sockets 112 receiving the respective proximal ends of a pair of upper arm members 100a, 100b to define a shoulder joint 114. Although in Figure 1-3 Although not shown, body 70 may include a suitable drive system to pivot the upper arm portion 100 relative to body 70 at shoulder joint 114. Similarly, the distal ends of upper arm members 100a, 100b define a yoke elbow joint 116 in which the end portion of forearm 102 is received. Elbow joint 116 is suitably configured to allow forearm portion 102 to pivot relative to upper arm portion 100. For this purpose, a separate drive motor (not shown) may be used, or joint 116 may be driven by a drive mechanism powered by body 60.

[0053] It is worth noting that the shoulder joint 114 and the elbow joint 116 define their respective pivot axes 114' and 116'. As shown, the pivot axes 114' and 116' are arranged parallel to the ground plane. Therefore, the pivot axes 114' and 116' are also parallel to the rolling axis 73 and perpendicular to the longitudinal axis X of the handheld vacuum cleaner 6. By means of the parallel horizontal arrangement of the pivot axes 114' and 116', the articulated arm 82 is arranged to pivot about the shoulder joint 114 and the elbow joint 116 through a substantially vertical plane P.

[0054] In this illustrated example, when viewed from the side, the upper arm portion 100 has a dog-leg shape, therefore each of the upper arm members 100a, 100b includes a first portion 120 that defines a small angle relative to the second portion 122. This is in Figure 3 This is best seen in the middle. Figure 3It is clearly shown that when the robotic arm 82 is in the fully extended position, a significant portion of the upper arm section 100, namely the entirety of its second section 122, lies adjacent to the ground 101. This is advantageous because it allows the significant portion of the robotic arm 82 to lie flat on the adjacent floor surface 101. The first section 120 of the upper arm components 100a, 100b slopes downward from the shoulder joint 114 of the body 70 and then straightens to extend parallel to the floor.

[0055] As described above, the robotic arm 82 can be from Figure 2 and Figure 3 The extended or unfolded position shown folds back to Figure 1 The retracted state is shown. It can also be controlled to be positioned between two extreme positions. The two-part parallel structure of the upper arm portion 100 is advantageous in this case because it allows the lower arm portion 102 to pivot around the elbow joint 116 and nest or be located between the parallel arm members 100a, 100b of the upper arm portion 100. This allows for a particularly compact retracted arrangement of the robotic arm 82. Figure 1 As shown, for example, in the retracted position, the lower arm portion 102 is vertically oriented and surrounded by at least a portion of the parallel upper arm members 100a, 100b, i.e., by their second portion 122. Furthermore, the upper end of the robotic arm 82 is not the highest point of the robotic vacuum cleaner 2, because although it is vertically oriented, it is below the vertical height reached by the upper end of the handheld vacuum cleaner 6, as indicated by line V. This is in Figure 1 This can be clearly seen in the image. In other words, no part of the robotic arm 82 extends above the upper end of the robotic vacuum cleaner 2.

[0056] The two-part structure of the upper arm portion 100 also provides flexibility in how the airflow path is arranged from the cleaning head to the body 70. For example, one of the upper arm components 100a and 100b can be configured to define the airflow path, while the other of the upper arm components 100a and 100b can be configured to carry the necessary mechanical and electrical components to power the elbow joint 116. Figure 9A and 9B This is clearly shown, wherein the first tube portion 130 extends vertically upward from the cleaning head 92 within the forearm portion 102, and the first tube portion 130 bends at an angle of 180 degrees to form the second tube portion 132, which extends downward through one of the arm portions 100a of the upper arm portion 100 and into the body 70 of the robot drive module 4.

[0057] Having described the robotic arm aspect of Vacuum Cleaning System 2, the discussion will now turn to the general configuration and docking aspects of Vacuum Cleaning System 2.

[0058] As described above, the main body 70 defines a docking portion 84, which is adapted to receive a handheld vacuum cleaner 6 in a manner that completes the airflow path through the machine and thus provides a suction source. When the handheld vacuum cleaner 6 docks with the robot drive module 4, the handheld vacuum cleaner 6 is arranged in an upright position relative to the floor surface (see...). Figure 3 In this way, the longitudinal axis X of the handheld vacuum cleaner 6 is substantially vertical in the example shown. In other words, the longitudinal axis X of the handheld vacuum cleaner 6 is generally perpendicular to the floor surface 101, which defines the ground plane. This arrangement provides an ergonomic angle for the user to dock the handheld vacuum cleaner 6 to the robot drive module 4. This is because users tend to hold the handheld vacuum cleaner 2 in this manner to access the docking portion 84 from above, so the vertical docking arrangement is convenient for the user.

[0059] The handheld vacuum cleaner 6, besides being oriented roughly vertically, is also positioned in the docking portion 84 such that its handle 12 points forward. That is, the linear portion of the handle 12 is aligned with the front-rear axis F of the main body 60. Figure 1-3 As shown, the arrangement and orientation of the handheld vacuum cleaner 6 in the docking interface 84 cause the handle 12 to extend above the top of the body 70 of the robot drive module 4. The handle 12 is generally horizontal relative to the floor surface / ground plane 101, although it should be understood that in the illustrated embodiment, the handle 12 is not precisely horizontal, but rather defined at a small angle.

[0060] As can be clearly seen from the side view of the vacuum cleaning system 2, the handle 12 extends along the front-rear direction F on the robot drive module 4 to a extent that it crosses and extends beyond the rolling axis 73 defined by the wheel 72. It is noteworthy that the battery 26 is located at the end of the handle 12, and in the arrangement shown, when the handheld vacuum cleaner 6 is docked to the robot drive module 4, the battery 26 can be considered to be in a cantilevered arrangement. Therefore, the battery 26 is supported on the end of the handle 12, which extends horizontally when the handheld vacuum cleaner 6 is docked to the robot drive module 4.

[0061] It is worth noting that the handle 12 and battery 26 have a combined length such that the end of battery 26 is positioned horizontally, approximately in line with the end of wheel 72. Therefore, battery 26 can be considered to extend beyond the top of at least a portion of the robot drive module 4. Furthermore, it should be noted that the direction in which handle 12 extends is aligned with the direction of robot arm 82, so as to be parallel to robot arm 82. Therefore, handle 12 can be considered to point in the forward direction of vacuum cleaning system 2. One advantage of this arrangement is that the weight of battery 26 provides a balancing effect, as battery 26 is located on the opposite side of the rolling axis 73 relative to the body 10 of handheld vacuum cleaner 6. Together with the mass of articulated arm 82, this arrangement provides a convenient means of balancing the dual-wheel arrangement of robot drive module 4.

[0062] For example, from Figure 1 Of particular notable is that the robotic arm 82 in the retracted position is in a folded upright configuration, with the surface of the robotic arm 80 adjacent to the distal surface of the battery 26. Therefore, in effect, when the robotic arm 82 moves to its retracted position, the battery 26 provides a motion buffer for the movement of the robotic arm 82.

[0063] Another benefit associated with the vacuum cleaning system 2 is the interchangeability of the cleaning head 92 between the robotic arm 82 and the handheld vacuum cleaner 4. This provides consistency in cleaning when either machine is used to clean the floor and also offers more efficient packaging. To allow for the sharing of cleaning heads, both the suction inlet 16 of the handheld vacuum cleaner 6 and the end effector 90 of the robotic arm 82 are provided with the same type of connector or tool mount. Therefore, the same cleaning head 92 can be releasably snapped into place on either machine. In addition to the electric cleaning head, it should be understood that the handheld vacuum cleaner 6 can be equipped with other cleaning tools, such as crevice tools or mattress tools, depending on the user's needs. Such cleaning tools can be electric or non-electric.

[0064] Now go to Figure 6A , 6B 7 and Figures 8A-8C The discussion will now focus on the integration of the vacuum cleaning system. Figure 6A A handheld vacuum cleaner 6 is shown docked to a vacuum cleaning system 2 on a robot drive module 4, while Figure 6A and 7 The robot drive module 4 itself is shown. However, it is worth noting that... Figure 6B The docking insert 138, which engages with the robot drive module 4, is depicted. Figure 7 The diagram shows the removal of the docking insert 138 from the robot drive module 4.

[0065] The docking portion 84 is generally defined by a floor 140 and a curved wall 142 in the rear side 80 of the body 70 of the robot drive module 4. The shape of the curved wall 142 roughly matches the circular geometry of the housing of the handheld vacuum cleaner 6. Thus, the handheld vacuum cleaner 6 appears to be partially "sitting" in the robot drive module 4 in a backpack configuration. The floor 140 of the docking portion 84 includes electrical and airflow connections, which allow the handheld vacuum cleaner 6 to effectively engage with the robot drive module 4.

[0066] like Figure 6B As shown, the airflow connector 144 is defined at the center of the floor 140 of the mating area 84, and the airflow connector 144 is configured to mate with the suction inlet 16 of the handheld vacuum cleaner 6. Similarly, located next to the airflow connector 144 is the electrical connector 146, which is configured to mate with the corresponding electrical connector 148 of the handheld vacuum cleaner 6.

[0067] Although the airflow connector 144 completes the airflow path through the machine, from the cleaning head 92 along the robot arm 82 into the body 70, through the docking portion 84, and finally to the handheld vacuum cleaner 6, the electrical connector 146 can provide power and / or data transmission between the robot drive module 4 and the handheld vacuum cleaner 6. For example, in terms of power, the body 70 may optionally house a larger battery system than the handheld vacuum cleaner 6, thus enabling the robot drive unit 4 to power the handheld vacuum cleaner 6 may be advantageous. Similarly, the handheld vacuum cleaner 6 can be charged via the robot drive module 4 when the vacuum cleaning system 2 is docked to a suitable ground docking station for charging purposes.

[0068] The electrical connection between the robot drive module 4 and the handheld vacuum cleaner 6 can also be used for data transmission. For example, a user can interact with the user interface 150 provided on the handheld vacuum cleaner 6 to command the operating functions of the vacuum cleaning system 2. Therefore, the electrical connector 146 provides means for transmitting commands from the handheld vacuum cleaner 6 to the robot drive module 4, whereby they can be operated by an onboard control system (not shown).

[0069] In some embodiments of the invention, it is envisioned that the docking portion 84 may be an integral part of the body 70 with a fixed structure, thus allowing only a single type of handheld vacuum cleaner 6 to dock with it. However, in other embodiments, it is envisioned that the docking portion 84 may be reconfigured to allow docking with more than one type of handheld vacuum cleaner. One way to achieve this is to have a movable feature on the docking portion 84, which would allow the user to selectively configure the docking portion 84 to engage with a specific type of handheld vacuum cleaner. For example, the rear wall 142 may have a sliding portion that can switch between different positions to change the geometry of the docking portion 84, thereby providing support for different types of handheld vacuum cleaners.

[0070] Another option is shown in the illustrated example. Here, the docking portion 84 is at least partially defined by a detachable docking insert 138. The docking insert 138 is interchangeable with different docking inserts having geometries designed to match different types of handheld vacuum cleaners.

[0071] The docking insert 138 includes a base 152 and a rear wall 154, which are shaped to complement a correspondingly shaped recess 156 defined in the body 70 of the robot drive module 4.

[0072] The base 152 is generally circular and defines a generally flat annular platform 158 for receiving the front end of the housing of the handheld vacuum cleaner 6. The annular platform 158 surrounds the airflow connector 144 and the electrical connector 146.

[0073] The rear wall 154 extends upward from the base 152 and terminates at the laterally extending cap 160. The rear wall 154 extends approximately 25% of the circumference of the base 152 to fit into the recess 156 in the body 70. To conform to the cylindrical outer surface of the handheld vacuum cleaner's housing, the rear wall 154 is curved in the horizontal plane with a radius of curvature approximately equal to the radius of the base 152. The rear wall 154 thus continues the curvature of the rear wall 142 in the body 70, with a portion located on the side of the rear wall 154 of the mating insert 138.

[0074] The cap portion 160 has a curved upper surface 162 that extends away from the rear wall 154 in a direction opposite to that of the base 152. (As observed...) Figure 7 As can be seen, the curved upper surface 162 of the cap 160 matches the curved upper surface of the generally cylindrical body 70. Therefore, when the mating insert 138 is assembled onto the body 70, the curved upper surface 162 of the mating insert 138 is flush with the curved upper surface of the body 70 and thus merges into the curved upper surface of the body 70.

[0075] observe Figure 8C The lower side of the mating insert 138 is clearly shown, and it can be seen that the rear edge of the base 152 is provided with electrical ports 164 and airflow ports 166 corresponding to electrical connector 146 and airflow connector 144, respectively. Similarly, Figure 7 The docking portion 84 without the docking insert 138 is shown, and it will be understood that the docking portion 84 is provided with corresponding electrical ports 170 and airflow ports 172, which are capable of engaging with corresponding ports 164, 166 in the docking insert 138.

[0076] Various modifications to the illustrated examples are possible without departing from the scope of the invention as defined by the claims.

Claims

1. A surface treatment system, comprising: The robot unit includes a traction device defining a rolling axis and a ground plane, and a main body. The traction device includes a pair of rolling elements arranged on both sides of a main body, each rolling element defining a matching circumferential shape. The pair of rolling elements are spaced apart along a rolling axis such that the circumferential shapes of the rolling elements define an imaginary cylindrical volume between them, the imaginary cylindrical volume having a cross-sectional area matching the circumferential shape. The main body is configured not to extend beyond the imaginary cylindrical volume. The robot unit includes a hinged arm attached to the robot unit at a shoulder joint, and also includes an elbow joint; and The articulated arm further includes a wrist joint that is rotatable about an axis defined by the forearm member of the articulated arm.

2. The system according to claim 1, wherein, The shoulder and elbow joints of the articulated arm define their respective pivot axes, which are substantially parallel to each other.

3. The system according to claim 1, wherein, The elbow joint is actuated by a drive mechanism.

4. The system according to claim 1, wherein, The articulated arm includes a tool mounting section for selectively mounting tools thereon.

5. The system according to claim 4, wherein, The articulated arm also includes a suction nozzle, and the robotic unit defines an airflow path in communication with the suction nozzle.

6. The system according to claim 5, wherein, The tool mounting section and the suction nozzle are integrated.

7. The system according to claim 1, wherein, The articulated arm can be folded into a stowed state, wherein, in the stowed state, the upper arm portion of the articulated arm extends in a direction substantially perpendicular to the ground plane.

8. The system according to claim 1, wherein, The robotic unit includes a docking interface for receiving a handheld vacuum cleaner in a releasable engagement manner.

9. The system according to claim 8, wherein, The handheld vacuum cleaner has a longitudinal axis, along which the suction nozzle and vacuum motor are oriented, wherein the handheld vacuum cleaner is mounted to the docking interface such that the longitudinal axis extends perpendicularly to the ground plane defined by the traction device.

10. The system according to claim 8, wherein, The handheld vacuum cleaner includes a pistol grip, and wherein, when the handheld vacuum cleaner is mounted to the docking interface, the pistol grip extends over at least a portion of the body of the robot unit.

11. The system according to claim 10, wherein, The pistol grip supports the battery pack at its end.

12. The system according to claim 9, wherein, The docking interface is defined on the first side of the rolling axis.

13. The system according to claim 12, wherein, The hinge arm extends from the body on the second side of the rolling axis.

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