robot vacuum cleaner

Abstract

Robotic vacuum cleaner (2', 2a-e) moving on an air cushion (19) for cleaning floor surfaces (40), wherein the robotic vacuum cleaner (2', 2a-e) has: a housing (3), a control unit (5), at least one blower unit (4) arranged in the housing (3) with an intake side (E) and an exhaust side (A), a flexible air bellows (20a-e) arranged on the underside of the housing (3), wherein the air bellows (20a-e) is connected to the exhaust side (A) of the blower unit (4), at least one air cushion opening (18) in the housing, which is arranged on the underside of the housing (3), wherein the at least one air cushion opening (18) is connected to the exhaust air side (A) of the blower unit (4), so that an air cushion (19) can be generated between the air bellows (20a-e) and a floor surface (40) by means of the at least one blower unit (4), a suction opening (6a-c) for vacuuming up dust, wherein the suction opening (6a-c) is arranged on the underside of the housing (3) along an outer circumference (34a-b) of the vacuum robot (2', 2a-e) and / or the air bellows (20a-e), and is connected via a suction tract (14) to the suction side (E) of the at least one blower unit (4), at least one dust collection container (10, 10a-c) which is connected to and / or arranged in the intake tract (14), and a dust filter system (12, 13) arranged in the intake tract (14).

Description

[0001] The invention relates to a robotic vacuum cleaner for the automatic cleaning of floor surfaces.

[0002] There are numerous automated robotic vacuum cleaners that move independently across the floor surface on wheels, as shown, for example, in DE 10 2004 060 850 A1. With such vacuums, the moving drive and wheel elements, as well as their housings, inevitably collect dirt and hair, which must be laboriously removed regularly by the user. Hair that wraps around the wheels and axles of such a robotic vacuum cleaner is particularly difficult to remove.

[0003] The purpose of the invention is to provide an improved robotic vacuum cleaner.

[0004] This problem is solved using the features of claim 1 or 26.

[0005] Advantageous embodiments are the subject of dependent claims.

[0006] According to claim 1, a robotic vacuum cleaner is provided with an air cushion system for moving the robotic vacuum cleaner on an air cushion or air cushion film over a floor surface to be cleaned. The robotic vacuum cleaner has the following components: a housing, a control unit, and at least one blower unit arranged in the housing with an intake side and an exhaust side. The blower unit and other components of the robotic vacuum cleaner are controlled by the central control unit. By means of the at least one blower unit, a negative pressure can be generated on the intake side and a positive pressure on the exhaust side in the housing compared to the surrounding environment.

[0007] Terms used in this description, such as top, bottom, floor, side, etc., refer to the position of the respective components during the proper operation of the robot vacuum, i.e., when vacuuming a floor surface. For example, the underside of the housing is the side of the housing that faces the floor surface being cleaned during cleaning or vacuuming.

[0008] The robotic vacuum cleaner also features a flexible air bellows located on the underside of the housing, which is connected to the exhaust side of at least one fan unit, allowing positive pressure to be generated in the air bellows compared to the surrounding environment. For example, the air bellows is made at least partially of elastic materials such as rubber, thermoplastic polyamide (TPA), thermoplastic polyurethane (TPU), etc., or a combination thereof.

[0009] An air cushion opening is provided on the underside of the housing. This air cushion opening is connected to the exhaust side of at least one fan unit, so that when the at least one fan unit is operating, air escapes through the air cushion opening under the housing, creating an air cushion or film between the floor surface and the underside of the robotic vacuum cleaner or air bellows. This means that the robotic vacuum cleaner, or rather its underside, does not have contact with the floor surface being cleaned during operation, allowing the robotic vacuum cleaner to move across the floor without contact.

[0010] A suction opening for vacuuming up dust and similar materials is located on the underside of the housing along an outer circumference of the robot vacuum, so that the suction opening points downwards towards a floor surface. Specifically, the suction opening connects to the outer circumference of the air bellows or is located adjacent to the air bellows. The suction opening is connected via an intake tract to the intake side of at least one blower unit, so that the negative pressure generated by the blower unit on the intake side provides the desired suction effect at the suction opening. Furthermore, at least one dust collection container is provided, which is connected to and / or located within the intake tract, so that vacuumed dust and dirt can be collected in the container. A filter system located within the intake tract cleans the air drawn in through the suction opening of dust and dirt.For example, a first (coarse) filter is provided in the direction of airflow to clean the air of coarse dirt / dust, and a second (fine) filter is provided to clean fine dust, with at least one filter being connected to the collection container. For example, a coarse filter can be made of a 3D-printed permeable mesh, and a fine filter can consist of or contain organic natural wool such as sheep's wool.

[0011] The described robotic vacuum cleaner is mechanically and acoustically decoupled from the surface or floor being cleaned by being mounted on an air cushion. In contrast to DE 10 2004 060 850 A1, there are therefore no rollers or drive elements in which dust and hair can become trapped, requiring the user to remove them. Furthermore, this decoupling from the surface results in extremely low noise emissions from the robotic vacuum cleaner, making it very quiet during operation.

[0012] At least one blower unit is used energy-efficiently for both generating the air cushion and powering the vacuuming function of the robot vacuum. Since the suction opening runs along the outer circumference of the robot vacuum and / or air bellows (i.e., along the outer circumference of the generated air cushion beneath the bellows), it draws in both dust stirred up by the air cushion and the air flowing outwards beneath the bellows, as well as dust lying outside the robot vacuum. Furthermore, the airflow within the air cushion – from the air cushion opening outwards to the suction opening – assists in conveying dust and dirt towards the suction opening, thus effectively cleaning the floor. In particular, particles beneath the suction opening are exposed to airflow from both sides and are therefore more easily lifted from the floor by the suction effect.

[0013] To power components of the robotic vacuum cleaner, such as at least one blower unit and the control unit, the robot can have an internal electrical energy storage device. This could be a rechargeable battery that can be recharged as needed at a charging station. Alternatively or additionally, the robotic vacuum cleaner could have an integrated solar panel. To recharge the battery, the robotic vacuum cleaner can be controlled via an algorithm and by evaluating the brightness information from light sensors distributed around its perimeter, ensuring it moves to the brightest point in the area it can clean. Alternatively, a fuel cell could also be used for power supply.

[0014] Preferably, the robotic vacuum cleaner is designed to be rotationally symmetrical or substantially rotationally symmetrical around a central axis, with a circumferential suction opening. This allows the air flowing from the air cushion and the ambient air to be continuously and completely drawn in from all sides of the robotic vacuum cleaner for optimal cleaning results. Compared to conventional robotic vacuum cleaners, whose suction openings only extend over a portion of the unit, the robotic vacuum cleaner described here offers a cleaning area that covers the entire width / circumference of the unit as it moves. This means that a given area can be cleaned more efficiently with fewer travel paths; in particular, an area can be cleaned continuously in any direction of movement without the rotational movement required by conventional vacuum cleaners.

[0015] Preferably, the robotic vacuum cleaner has at least one exhaust vent on the exhaust side of the at least one fan unit in the housing to release air from the interior or the internal volume of the air bellows laterally and / or upwards into the surrounding environment or atmosphere. A desired overpressure in the air bellows can be set using the at least one exhaust vent in the housing, allowing the flexible bellows to adapt optimally to uneven floor surfaces. Additionally, this pressurized and thus recoil-like exhaust air from the exhaust vent can be used to support and / or primarily control the robotic vacuum cleaner's movement within the room. In particular, by limiting the cross-sectional area of ​​the exhaust vent leading from the air bellows compared to the cross-sectional area of ​​the air exiting from under the air bellows (the air cushion), a slight overpressure is maintained inside the air bellows relative to the average pressure of the air cushion.The overpressure in the air bellows, in conjunction with the force exerted by the outflowing air from the air cushion, ensures that the air bellows conforms evenly to the surface of the vacuum cleaner, as the flexible air bellows protrudes beyond the underside / base surface of the vacuum cleaner due to the overpressure. For example, the cross-section of the exhaust opening or its inlet channel can be fixed or, alternatively, variably adjustable to generate the desired overpressure in the air bellows.

[0016] Preferably, the air bellows has a plurality of air outlet openings arranged on its underside. During operation, air escapes through these outlet openings due to the overpressure generated inside the bellows. This allows a locally stable air cushion to be created between the bellows and a floor surface by means of at least one blower unit, and further supports / enhances the airflow exiting the air cushion opening. On uneven floors, the outflowing air at the plurality of outlet openings assists the flexible air bellows in conforming to its shape. The air outlet openings in the bellows can have a diameter between 0.5 mm and 2 mm, preferably between 1 mm and 3 mm, and particularly preferably between 1 mm and 2.5 mm. For example, the cross-section of the inlet channels of the air outlet openings can be fixed or, alternatively, variably adjustable to generate a desired overpressure in the air bellows.

[0017] At least one blower unit provides a specific air volume flow Q0 (air volume per unit of time, dV / dt), both on the exhaust air side and on the intake side. On the exhaust air side of the blower unit, the volume flow Q0 is divided into a first part Q L , which flows out to create an air cushion on the underside of the vacuum cleaner, and a second part Q A , exiting from the exhaust opening in the housing. The air volume flow Q0 generated by the blower unit on the intake side corresponds to the air volume flow Q0 on the exhaust side. To prevent air from being stirred up outside the vacuum cleaner by air flowing from the air cushion, the volume flow via the intake opening connected to the intake side (i.e., Q0) is composed of the volume flow Q L the air escaping at the edge of the air cushion and the air volume flow Q U from the area around the vacuum cleaner. Q0=QL+QA Q0=QL+QU

[0018] To prevent air from escaping from the air cushion to the outside, the volume flow rate Q corresponds to A from the exhaust air opening, the volume flow Q U the air drawn in from the surroundings. QA=QU

[0019] The cross-section of the exhaust opening and / or the cross-sections of the multiple air outlet openings are adjusted so that, during operation, ambient air from the robot vacuum cleaner, as well as the air flowing out around the outer circumference of the air bellows or air cushion, is completely drawn back in through the suction opening. This prevents particles from being stirred up around the system or the robot vacuum cleaner.

[0020] The exhaust vent serves two purposes: firstly, to regulate the overpressure within the internal air bellows, and secondly, to expel air to prevent exhaust from escaping at the suction opening. This prevents air from leaking out from beneath the robot vacuum. This pressurized, and therefore recoil-like, exhaust air can be used to assist, or primarily, control the robot vacuum's movement.

[0021] Preferably, the numerous air outlet openings on the underside of the air bellows are arranged along an edge region and / or near an outer circumference of the air bellows. The air exiting into the air cushion below and in the edge region of the air bellows provides additional lift or higher pressure on uneven surfaces, so that the robotic vacuum cleaner is pushed away from raised areas and can easily overcome unevenness. For example, the air bellows can be ring- or tire-shaped and extend around the air cushion opening in the housing.

[0022] The air bellows can be ring- or tire-shaped, with the air cushion opening located inside the ring / tire. Alternatively, the air bellows extends over the entire or substantially the entire underside of the robotic vacuum cleaner. In this configuration, the air bellows has numerous air outlet openings distributed across its entire surface to create an air cushion beneath it during operation.

[0023] Preferably, the air bellows has a rounded edge along its outer circumference, so that air flowing out from under the air bellows or on the underside of the robot vacuum cleaner is directed into the suction opening. A rounded end to the outer edge of the air bellows facilitates the complete return of the exhaust air from the air cushion to the adjacent suction opening (Coanda effect).

[0024] To stabilize the air bellows, a wall or side of the bellows facing the ground can have internal louvers and / or struts. During operation, these louvers prevent the bellows from bulging at local points or on a portion of its surface due to the overpressure generated by the blower unit. Preferably, the louvers do not extend into the area of ​​the air outlet openings at the edge of the bellows, or the air outlet openings are located outside the area of ​​the louvers. This ensures that the bellows retains a high degree of flexibility at the edge to adapt to uneven ground. The louvers can be arranged radially or substantially radially to a central axis of the robotic vacuum cleaner. Additionally or alternatively, the louvers can be continuous and / or interrupted in the radial direction.

[0025] To propel the robotic vacuum cleaner, at least one drive fan can be provided, attached to the housing and controllable by the control unit, to move and steer the robotic vacuum cleaner, which hovers on an air cushion, across the floor area to be cleaned in the room. For example, a drive fan has propellers or impellers, and the generated airflow can optionally be controlled with air rudders or, alternatively, by means of air nozzles.

[0026] For example, the drive system incorporates air vanes to direct the airflow generated by the drive fan, enabling the robotic vacuum cleaner to move in various directions. Alternatively or additionally, the drive fan can be mounted on the housing so that it can pivot, for example, around a vertical axis. This allows the drive airflow to be directed in different directions to move and steer the robotic vacuum cleaner across the floor area to be cleaned. For instance, the robotic vacuum cleaner can be controlled with just one centrally located drive fan that is mounted to rotate 360° around a vertical axis. Alternatively, at least two or three drive fans can be provided, evenly spaced around a central axis of the robotic vacuum cleaner, and these fans themselves can pivot and / or incorporate air vanes to direct the airflow.

[0027] According to a further embodiment, the drive has at least three pivotable and / or rotatable air nozzles to move and propel the robotic vacuum cleaner across the floor surface to be cleaned. Preferably, the air nozzles are arranged evenly around the circumference of the robotic vacuum cleaner to enable efficient movement in all directions. For example, a servo motor is provided for each air nozzle to pivot. This could be, for example, a servo motor with a worm gear or a stepper motor with electromagnetic position locking. Preferably, the air nozzles are pivotable about a vertical or substantially vertical axis.

[0028] According to a preferred embodiment, each air nozzle has an air guide element for directing and / or stopping the air flowing from the nozzle. The air guide element can have a cylindrical base body that is rotatable about a vertical axis and has a plurality of horizontal or substantially horizontal nozzle openings. For example, three to five horizontal nozzle openings. In particular, at least some of the nozzle openings in the air guide element are curved or non-linear, so that air flowing through the element can be deflected in the horizontal plane. The air guide element is mounted in a bearing or receptacle on the housing such that, depending on the rotational position of the air guide element or the base body, air flows only through some of the nozzle openings, thus deflecting the airflow in a desired direction. This allows the robotic vacuum cleaner to be driven in a desired direction.In another rotational position, the air guide element can block the airflow, preventing air from exiting the nozzle element. The curvature of the nozzle openings is designed such that the resulting deflection angle of the air is greater than the rotation angle of the air guide element. Specifically, the radius of curvature decreases towards the air outlet, and thus the air deflection increases.

[0029] Alternatively, an air nozzle can be designed as a flexible hose, whereby the outgoing air can be directed in a desired direction by bending the hose. For example, the airflow can be completely interrupted or stopped by kinking the hose.

[0030] To supply the air nozzles with air, at least one blower unit can be connected to at least three air nozzles. Alternatively, at least one additional blower unit can be arranged within the housing to supply the at least three air nozzles with air. The at least one blower unit and the additional blower unit can be arranged in series or in parallel. When two blower units are connected in series, the additional blower unit, positioned downstream of the first blower unit in the direction of airflow, draws air from the exhaust side at the outlet of the first blower unit. For example, air outlets for steering the robot vacuum cleaner via the air nozzles can be located between the two units, and downstream of the two units (i.e., on the exhaust side), the air bellows and air cushion are supplied with the exhaust air.The first air unit must provide at least the delivery volume of the second unit and sufficient reserve for supplying the air nozzles.

[0031] When two blower units are connected in parallel, the second blower unit supplies the steering air nozzles, while the third, as described above, supplies the air bellows and generates the air cushion. Both units draw air directly from the intake tract. For this purpose, and with distributed routing of the intake and exhaust ducts, the two units can also be arranged vertically, one above the other. Alternatively, a single blower unit with sufficient power or flow rate can be used to supply the air nozzles, air bellows, and air cushion.

[0032] According to another alternative, the robotic vacuum cleaner's drive system is independent of the at least one blower unit and, for example, features one or more air conveying units (e.g., propeller drives) that are rotatably mounted on the housing around a vertical axis, allowing the airflow to be directed as desired. In each of the described designs, two or more blower units can be provided to supply the air bellows and generate the air cushion.

[0033] Preferably, the position of the robotic vacuum cleaner in the room is controlled by three air conveying units, such as the described air nozzles or blower unit(s). An electronic motion control system, controlled by the control unit, consists of individual control algorithms whose setpoint outputs are weighted with gain factors and incorporated into the setpoints for specifying the rotation angle of the mechanics. This combines the effect of the air nozzles and / or guide vanes or blower units.

[0034] To correct the robot vacuum's position, the control unit requires data on the robot's location in the room. An initial determination is made inertially based on measurements from several distributed accelerometers and / or an angular velocity sensor on the robot vacuum. Furthermore, the robot vacuum has at least one first distance sensor, which is oriented downwards towards the floor during operation, at least one second distance sensor, which is oriented upwards during operation, and at least one third distance sensor, which is oriented horizontally during operation, all of which are connected to the control unit. The first distance sensor is used to detect obstacles such as walls, baseboards, and small objects lying around, and to determine the degree of soiling. The second distance sensor is used to detect downward-facing obstacles in the air, such as protrusions, struts (e.g., ceilings, windows, etc.).Crossbeams of chairs or tables) and surfaces such as seats or tabletops. Using the third distance sensor, a distance scan to walls can be performed when the robot vacuum rotates, and the detectable environmental contour is stored as x and y values ​​of one or more 2D vector chains. This also serves to correct acceleration- or rotation-angle-based position determination and to generally determine the position within the possible movement space.

[0035] The distance sensors are distributed around the housing in such a way that the entire or substantially the entire area surrounding the robot vacuum is covered. Optionally, a distance sensor can be configured as an array to cover a larger area. For position correction, the control unit regulates the airflow force or volume flow of the air nozzles / blower units and / or the rotation of the air nozzles / guide vanes / blower units.

[0036] For example, with a neutral movement setting (sweeping), the forces exerted by all three air nozzles or blower units counteract each other and largely cancel each other out. When correcting the rotation in a desired direction, the air nozzles, air rudders, or blower units, or their air outlets, are rotated around a symmetry axis perpendicular to the floor surface at the same angle against the desired direction of rotation. This results in the system rotating around the symmetry axis or central axis. The amplification factor acts on the combined rotation angle of the outlets and determines the magnitude of the overall force.

[0037] The system, or rather the robotic vacuum cleaner, can be accelerated and / or decelerated in a position correction direction. The force of the position correction can be controlled via a PID controller, depending on the distance to the target / correction point. For example, the system is to move / hover towards a target point. For this, the air nozzles or blower units are aligned so that they are turned away from an axis passing through the target point. The PID controller also affects the orientation of the air nozzles or blower units closest to the target point for acceleration and deceleration. If one of the air nozzles or blower units is at the limit of its possible air deflection angle, the PID controller only acts to decelerate the air nozzles or blower units closest to the target point, and to accelerate the remaining air nozzles or blower units if no limit has been reached.In driving mode (track control), the system can be turned against the intended direction of travel using two air nozzles or blower units, while the third air nozzle or blower unit is blocked or throttled.

[0038] Preferably, the suction opening is formed around the entire outer circumference of the housing, so that suction can occur along the entire or substantially the entire outer circumference. For example, a (flexible) suction lip forms the outer edge of the suction opening. That is, the suction opening lies between the suction lip and an outer circumference of the air bellows. Preferably, the suction lip is flared or inclined radially outwards, so that the suction opening has a larger cross-section for suction. Particularly preferably, the suction lip projects vertically beyond the underside of the air bellows, thus preventing the robotic vacuum cleaner from suctioning itself to a floor surface during operation.

[0039] The base or surface facing the ground of the robot vacuum cleaner can be at least partially oval or circular, so that the robot vacuum cleaner vacuums evenly all around, since the suction opening is arranged along the circumference of the robot vacuum cleaner.

[0040] According to an alternative embodiment, the base of the robotic vacuum cleaner can have at least one right-angled or substantially right-angled projection. In this embodiment as well, the suction opening runs along the circumference of the robotic vacuum cleaner, so that the right-angled projection allows for thorough cleaning of (room) corners.

[0041] The blower unit can be designed as a radial fan with a rotor having a vertical axis of rotation. The rotor is designed to divide the air drawn in from the intake tract into a first portion, which is directed to the drive or air nozzles of the robotic vacuum cleaner, and a second portion, which is directed to the air bellows and / or the air cushion opening, i.e., used to create an air cushion beneath the vacuum cleaner. The rotor splits and distributes the available airflow capacity of the blower unit. For this purpose, the rotor has differently designed impeller blades that divide the airflow accordingly. Preferably, the first portion of the conveyed air is directed radially, and the second portion is directed vertically or substantially vertically downwards through openings in the rotor to the air bellows and the air cushion opening.

[0042] The robot vacuum cleaner can have a fill level indicator that, for example, tells the user when the dustbin is full. A pressure sensor located in the intake tract, between the first (coarse) filter and the second (fine) filter, measures whether there is a reduced pressure (negative pressure) caused by particles clogging the first (coarse) filter. If the pressure drops significantly or falls below a predefined level, a visual indicator light activates, signaling that the dustbin needs emptying. Optionally, another pressure sensor is located after the fine filter to indicate when the fine filter needs to be replaced. Optionally, the robot vacuum cleaner can be networked (IoT) and communicate via an app or smart home system that the dustbin is full.

[0043] According to one embodiment, a robotic vacuuming system is provided, comprising a robotic vacuum cleaner as described above, an electrical energy storage device, and a base station for charging the energy storage device. Optionally, the base station includes a function for emptying at least one collection container.

[0044] Unless otherwise noted, all the above and below described designs and components of the robot vacuum cleaner can be combined with each other as desired.

[0045] The figures illustrate embodiments of the invention in more detail. They show: Fig. 1 a schematic, not to scale cross-sectional view of a vacuum robot movable on an air cushion according to a first embodiment, Fig. 2. A schematic, not to scale view of the robot vacuum cleaner from Fig. 1 from the bottom, Fig. 3 A schematic representation of the air volume flows into and out of the vacuum robot of Fig. 1, Fig. 4 A schematic, not to scale, internal view of an air bellows for the robotic vacuum cleaner of Fig. 1 according to a first embodiment, Fig. 5 a schematic, not to scale cross-sectional view of a vacuum robot according to a second embodiment, Fig. 6 a schematic, not to scale view of a vacuum robot according to a third embodiment from below, Fig. 7 a schematic, not to scale top view of the vacuum robot from Fig. 6, Fig. 8 schematic, not to scale cross-sectional views of a drive nozzle according to a first embodiment in various opening positions, Fig. 9 schematic, not to scale cross-sectional views of a drive nozzle according to a second embodiment in various opening positions, Fig. 10 a schematic, not to scale cross-sectional view of a drive nozzle according to a third embodiment, Fig. 11 schematic representations of the location and orientation of air vents of a robotic vacuum cleaner for moving the robotic vacuum cleaner on a floor, Fig. 12. Schematic representation of the distribution of the air delivery capacity of a blower unit of a vacuum robot, Fig. 13 a schematic, not to scale cross-sectional view of a blower unit, Fig. 14 schematic diagrams of the location of components on the vacuum robot and a diagram of a control system for the components, Fig. 15 A schematic, not to scale cross-sectional view of a dust collection container for a robotic vacuum cleaner, Fig. 16a-c schematic, not to scale views of a vacuum robot according to a fourth embodiment, and Fig. 17 a schematic, not to scale cross-sectional view of a vacuum robot according to a fifth embodiment.

[0046] Fig. Figure 1 shows a schematic, not to scale, cross-sectional view of a vacuum robot 2a that can move on an air cushion according to a first embodiment.

[0047] The robotic vacuum cleaner 2a consists of: a housing 3, a control unit 5 ( Fig. 14(c)), a blower unit 4 arranged in the housing 3, a flexible air bellows 20a on an underside 32 of the robot vacuum cleaner 2a and a dust collection container 10. The robot vacuum cleaner 2a and its components are controlled by the control unit 5 of the robot 2a.

[0048] Terms used in this description, such as top, bottom, floor, side, etc., refer to the position of the respective components during the proper operation of the robot vacuum, i.e., when vacuuming a floor surface. For example, the underside of the robot vacuum or its housing is the side that faces the floor surface being cleaned during the cleaning process.

[0049] The airflow generated by the blower unit 4 is indicated by arrows. On the exhaust side A, or in the exhaust duct 16 of the blower unit 4, the airflow is divided into a first part, which flows into and fills the air bellows 20a, and a second part, which flows out through an air cushion opening 18 on the underside 32 of the robotic vacuum cleaner 2a or the housing 3, forming an air cushion 19 under the robotic vacuum cleaner 2a or the air bellows 20a, so that the robotic vacuum cleaner 2a hovers on the air cushion 19 above a floor surface 40. Air flows continuously from the central air cushion opening 18 radially outwards to a circumferential suction opening 6a. The suction opening 6a is formed between an outer circumference or an outer surface 34a of the air bellows 20a and a suction lip 7a on the outer circumference of the housing 3.

[0050] An intake side E of the blower unit 4 is connected to the suction opening 6 via an intake tract 14, so that air is drawn in through the suction opening 6 and flows via an intake duct 8 and the collection container 10 to the intake side E. In the collection container 10, the airflow passes through a coarse filter 13 and a fine filter 12, so that dust and dirt are retained in the container 10.

[0051] Ambient air (and dust) is additionally drawn in from outside the robot vacuum 2a via the suction opening 6a. To ensure that the blower unit 4 provides sufficient suction for the air in the air cushion and the ambient air, an exhaust opening 22 is provided, which discharges air from the air bellows 20a upwards.

[0052] Fig. Figure 3 schematically represents the air volume flows into and out of the vacuum robot 2a generated by the blower unit 4. The volume flow Q0 generated by the blower unit 4 on the exhaust air side A in the exhaust air duct 16 divides into the volume flow Q L for air cushion opening 18 and air bellows 20a and the volume flow Q exiting from the exhaust opening 22 A on. According to the volume flow Q exiting the exhaust air opening. A A volume flow Q is generated via the suction opening 6a. U generated from the ambient air, so that the total volume flow on the intake side E in the intake tract 14 corresponds again to the original volume flow Q0 of the blower unit 4. The suction effect of the vacuum robot 2a for ambient air can thus be adjusted by changing the cross-section of the exhaust opening 22.

[0053] The hovering robotic vacuum cleaner 2a drifts in space depending on the floor's incline and its direction of rotation is undefined. To correct its position and direction of rotation, as well as to control the robotic vacuum cleaner's movement in the plane of motion, planar to the floor surface 40, three devices rotatable within this plane are provided. These devices deflect the outflowing air, and the resulting recoil and impact with the surrounding air exert a force on the vacuum cleaner 2a-c. The devices can direct or stop the airflow. The orientation of the devices' outlet openings can be controlled by rotary machines, a rotary machine with a lever mechanism, or a linear motor via a lever mechanism.

[0054] In this embodiment, the robotic vacuum cleaner 2a has three drive fans 26a-c to move the vacuum cleaner 2a, which floats on the air cushion 19, over a floor in the room. For this purpose, the drive fans 26a-c can be designed to rotate about a vertical axis and / or have air vanes to direct the airflow generated by the drive fan, thus enabling the robotic vacuum cleaner 2a to move in different directions.

[0055] Fig. Figure 2 shows a schematic, not-to-scale view of the vacuum robot 2a from Fig. 1 from below. During operation, an underside 36a of the air bellows 20a faces a floor surface 40 to be cleaned and adapts to existing unevenness due to the flexibility of the air bellows 20a, which is continuously filled by the blower unit 4. To divide the airflow to the air bellows 20a and to the air cushion opening 18, a partition 28 with corresponding openings is provided on the underside 32 of the robotic vacuum cleaner 2a or the housing 3.

[0056] Fig. Figure 4 shows a schematic, not-to-scale, internal view of an air bellows 20b for the vacuum cleaner robot of Fig. 1 according to a further embodiment. In contrast to the air bellows 20a described above, this air bellows 20b has radially outwardly extending lamellae 30a-c on its inner surface 21, as well as air outlet openings 24a-c along its outer circumference. The lamellae 30a-c stabilize the air bellows 20b, and the air outlet openings 24a-c reinforce the air cushion 19 generated under the robotic vacuum cleaner 2a in the edge region of the vacuum cleaner 2a. This reinforcement of the air cushion 19 enables the vacuum cleaner 2a to reliably overcome small steps and other uneven surfaces.

[0057] Fig. Figure 5 shows a schematic, not-to-scale cross-sectional view of a vacuum robot 2b according to a second embodiment. Unless otherwise stated, the components and functions of this embodiment correspond to those of the vacuum robot 2a described above.

[0058] In contrast to the design described above, the air bellows 20c of this vacuum robot 2b extends essentially over the entire underside of the vacuum cleaner 2b. A large number of air outlet openings are formed on the underside 36b of the air bellows 20c, so that the airflow exits the air bellows 20c evenly over the entire surface.

[0059] This creates a uniform air cushion 19 and reduces turbulence caused by strong air currents.

[0060] Fig. Figure 6 shows a schematic, not-to-scale view from below of a vacuum robot 2c according to a further embodiment. In this embodiment, a base surface 38, or the underside 32 of the vacuum cleaner 2c, is formed in the form of a tapered circular surface, similar to a teardrop shape. The suction lip 7b, suction opening 6b, and air bellows 20d, or its outer circumference 34b, have the same tapered shape. Thus, room corners, etc., can be efficiently cleaned by means of the tapered projection.

[0061] Fig. Figure 7 shows a schematic, not-to-scale top view of the 2c robotic vacuum cleaner. Fig. 6. In this embodiment, three essentially identical dust collection containers 10a-c are arranged evenly around a central axis Z of the vacuum cleaner 2c. Drive nozzles or air nozzles 27a-c are arranged between the collection containers 10a-c to move the vacuum cleaner 2c in the room. The air nozzles 27a-c can be supplied with air via the blower unit 4. Additionally or alternatively, one or more further blower units can be provided to supply the air nozzles 27a-c with air independently of the blower unit 4, so that the suction effect of the vacuum cleaner 2c is not affected.

[0062] Fig. Figure 8 shows a schematic, not-to-scale cross-sectional view of such a device in the form of an air nozzle 42a according to a first embodiment. The nozzle 42a has a cylindrical base body 49a rotatably mounted about a vertical axis, with nozzle walls 44a and horizontally extending nozzle openings 46a or passages. The cylindrical base body 49a is rotatably mounted in a nozzle bearing 48, so that, depending on the rotational position, different nozzle openings 46a can be supplied with air via an air outlet 56 of the suction device 2a-c, as indicated by arrows. By rotating the base body 49a, the airflow can be deflected in a desired direction. The resulting recoil or force can drive the suction device 2a-c, which is suspended on the air cushion 19, in a desired direction. The rotation of the cylindrical base body 49a or the air nozzle 42a is controlled by a motor controlled by the control unit.

[0063] Fig. Figure 8(a) shows the nozzle 42a in a position with a straight or substantially undeflected airflow. Fig. Figure 8(b) shows the nozzle body 49a in a position where the airflow is slightly deflected (to the left). The further the nozzle body 49a is rotated, the more the airflow is deflected until the flow is finally blocked by the nozzle walls 44a in front of the air outlet 56 (not shown).

[0064] Fig. Figure 9 shows a schematic, not-to-scale cross-sectional view of a drive nozzle or air nozzle 42b according to a second embodiment. As described above, this nozzle 42b also has a cylindrical base body 49b with nozzle walls 44b and nozzle openings 46b, wherein the base body 49b is rotatably mounted about a vertical axis in a nozzle bearing 48. In contrast to the air nozzle 42a described above, in this embodiment the nozzle walls 44b are significantly narrower, or the nozzle openings 46b have a larger cross-section, so that the air volume flow through these nozzles 42b is greater than in the nozzles 42a. Fig. 9(a) shows the position of the base body 49b with no deflection of the airflow from the air outlet 56 of the suction device 2a-c, Fig. 9(b) the position during a slight deflection of the airflow to the left, Fig. 9(c) the position during a strong leftward airflow deflection, and Fig. 9(d) the position of the cylindrical base body 49b of the nozzle 42b when the airflow is blocked.

[0065] Fig. Figure 10 shows a schematic, not-to-scale, cross-sectional view in a vertical plane of a drive nozzle or air nozzle 42c according to a third embodiment. The air nozzle 42c has a flexible hose 50 which is connected to the air outlet 56. In this embodiment, the airflow exiting the hose 50 can be deflected by bending or kinking the hose 50 in the horizontal plane. Fig. Figure 10 shows the elongated cross-section 52b of the hose 50 at its bend, and the circular cross-section 52a at the connection to the air outlet 56. At the nozzle opening or outlet, the hose cross-section can be either circular 52a or flat 52b. The hose 50 can be bent or kinked into a desired position, for example, by means of a lever mechanism (not shown).

[0066] The position of the air nozzles 27a-c, 42a-c and the orientation of the airflows of the air nozzles 27a-c, 42a-c and the drive fan 26a-c described above for driving the robot vacuum cleaner 2a-c are shown schematically in Fig. Figure 11 shows three of the described air nozzles 27a-c, 42a-c and drive blower 26a-c are evenly spaced, i.e., spaced 120° apart from each other around the central axis Z ( Fig. 1) of the suction device 2a-c. An electronic motion control system controlled by the control unit consists of individual control algorithms whose setpoint outputs are weighted with gain factors and included in the setpoints for the rotation angle specification of the mechanics, so that the effect of the three air nozzles 27a-c, 42a-c and drive blower 26a-c is combined.

[0067] Fig. Figure 11(a) shows the orientation of the airflows for a neutral motion specification (sweeping) in which the force effect of all three air outlets or airflows counteracts each other and cancels each other out as far as possible. Fig. Figure 11(b) shows the orientation of the airflows for a rotation correction, i.e., a rotation about the axis of symmetry Z perpendicular to the floor surface. For this purpose, all described air nozzles 27a-c, 42a-c and drive fan 26a-c are rotated at the same angle against the desired direction of rotation in order to rotate the suction unit 2a-c about the axis of symmetry Z in the overall force effect. The amplification factor acts on the common rotation angle of the air nozzles 27a-c, 42a-c and drive fan 26a-c and determines the magnitude of the overall force effect. Fig. Figure 11(c) shows the airflow direction in travel mode (path control). In this mode, two air nozzles 27a-c, 42a-c or drive fans 26a-c are rotated against the intended direction of travel (here, rotated downwards), and the third air nozzle 27a-c, 42a-c or drive fan 26a-c is blocked or throttled. Conversely, in braking mode, two air nozzles 27a-c, 42a-c or drive fans 26a-c are rotated against the direction of travel, and the remaining third air nozzle 27a-c, 42a-c or drive fan 26a-c is blocked or throttled.

[0068] The system can be accelerated and decelerated in a position correction direction. The force of the position correction is controlled by a PID controller depending on the distance to a target point X or correction point. If the system is to move / hover towards a target point X, the air nozzles 27a-c, 42a-c, and the drive fan 26a-c are oriented away from the target point X along an axis passing through it, as shown in Fig. 11(d) to Fig. Figure 11(f) illustrates this. The PID controller also acts on the orientation of the two air nozzles 27a-c, 42a-c, or drive fan 26a-c, located closest to the target point, for acceleration and deceleration. If one of the air nozzles 27a-c, 42a-c, or drive fan 26a-c is at the limit of its possible air deflection angle, as shown in Figure 11(f), the PID controller adjusts the direction of the air nozzles. Fig. As shown in Figure 11(f) at the top right, the PID controller only acts to brake the air nozzles 27a-c, 42a-c or drive fan 26a-c that are closest to the target point, and to accelerate the remaining air nozzles 27a-c, 42a-c or drive fan 26a-c without reaching a limit.

[0069] Fig. Figure 12 shows a schematic representation of the distribution of the air delivery capacity of a blower unit 4 for generating an air cushion 19 and for driving a vacuum robot 2a-c as described above. In this embodiment, the blower unit 4 is designed as a radial fan 58. As shown, the air delivery capacity of the radial fan 58 is directed to three air outlets 56 for the air nozzles 27a-c, 42a-c and to three air outlets 54 for the air bellows 20a-d and the air cushion opening 18 via the radial cover of the outlets 54, 56 on the radial fan 58.

[0070] Fig. Figure 13 shows a schematic, not-to-scale cross-sectional view of a blower unit 4 in the form of a radial fan 58. The radial fan 58 is arranged in the housing 3 as described above. The fan 58 has a motor 62 and an associated rotor 60. The motor 62 of the fan 58 is mounted on a mounting base 72 of the housing 3, so that the rotor 60 can rotate about the central axis Z of the suction unit 2a-c. The rotor 60 is designed to generate an airflow and divide it into a first part, which is directed to the air outlets 56 of the air nozzles 27a-c, 42a-c, and a second part, which is directed to the air outlets 54 of the air bellows 20a-d and air cushion opening 18, or to the exhaust duct 16. For this purpose, the rotor 60 has first air conveying blades 64 on its upper side facing the intake side E, which generate an airflow to the air outlets 56. To generate an airflow to the air outlets 54 and 56 respectively.The rotor 60 has secondary air conveying blades 66 in relation to the air bellows 20a-d and the air cushion opening 18, as well as through-openings 67 that run from top to bottom through the rotor 60, so that air is conveyed downwards through the rotor 60. The secondary air conveying blades 66 are offset radially inwards compared to the primary air conveying blades 64 and are thus arranged closer to the axis Z. Fixed guide vanes 70 are arranged between the motor base 72 and the housing 3 to direct the airflow into the exhaust duct 16 under the blower unit or the radial fan 58 and to connect the mounting base 72 to the housing 3. Cooling channels 68 are provided in the rotor 60 near the motor, running from top to bottom through the rotor 60, so that the air flowing through the channels 68 during operation cools the motor 62.

[0071] A multitude of air conveying blades 64, 66 are arranged circumferentially around the rotor 60 to generate a uniform airflow. The first air conveying blades 64 generate a high-volume, low-pressure airflow at air outlets 56. The second air conveying blades 66 generate a low-volume, high-pressure airflow at air outlets 54, thus creating a stable air cushion 19 beneath the suction unit 2a-c. To prevent air from escaping from the high-pressure area or exhaust tract 16 beneath the suction unit 2a-c, a counter-pressure deflector in the form of a projection 74 is provided on the housing 3, extending along the outer circumference of the rotor 60.

[0072] Fig. Figure 14(a) shows a schematic side view of a vacuum robot 2' to illustrate the position and orientation of sensor components for controlling the vacuum cleaner 2'. Fig. 14(b) shows a position scheme 88 in a top view of the suction cup 2' with different positions at which the in Fig. The components listed in 14(c) are arranged as described in the following. Fig. As shown in Figure 14(c), the control unit 5, or a microcontroller, receives sensor data from three downward-facing distance sensor arrays 92 and three upward-facing distance sensor arrays 94, each located at positions 1, 2, and 3. Further sensor data is received from a horizontally oriented distance sensor 90 and a pressure sensor 98 ( Fig. 1) of the pressure chamber or the intake side E, both of which are centrally located at position 7. Based on the sensor data, the control unit 5 controls the air delivery force and the rotation of the air nozzles 27a-c, 42a-c and drive blower 26a-c described above, which are located at positions 1, 2 and 3 respectively.

[0073] The control unit 5 continues to receive data from pressure sensors 96 of the dust collection containers 10a-c, which are located at positions 4, 5 and 6. Based on this data, the control unit 5 controls a fill level indicator (not shown) of the collection containers 10a-c, which displays the fill level of the respective collection container 10a-c to the user.

[0074] Fig. Figure 15 shows a schematic, not-to-scale cross-sectional view of a dust collection container 10 for a vacuum robot 2', 2a-c as described above. The collection container 10 has two collection trays 84, 86, which are separated by the coarse filter 13. In the housing 3, downstream of the outlet of the collection container 10 in the direction of airflow (arrow), the fine filter 12 is arranged. The coarse dirt / dust is collected in the first collection tray 84, and the remaining fine dirt / dust in the second collection tray 86. The collection container 10 is removable and can be pulled out and pushed in laterally into the housing 3 until seals 82a-b, attached to an outer surface of the housing 3, abut a rear surface of a vertical front face of the collection container 10. These seals 82a-b form a vertical sealing plane.Furthermore, seals 80ab are attached around the upper edge of the collection container 10, surrounding the collection container 86, so that when the collection container 10 is pulled out of the housing 3, any dust remaining on the surface of the fine filter 12 is scraped off and falls into the collection container 10 or the collection container 86. The seals are designed as elastic sealing rubbers with a cavity, which can be inserted into the housing 3 or the collection container 10.

[0075] Fig. Figures 16a-c show schematic, not-to-scale views of a lower part of a vacuum robot 2d according to a fourth embodiment. Unless otherwise stated, the components and functions of this embodiment correspond to those of the vacuum robots 2', 2a-c described above.

[0076] Fig. Figure 16a shows a cross-sectional view of the robot vacuum cleaner 2d in a deactivated state and Fig. 16c in activated state with air cushion 19. Fig. Figure 16b shows the vacuum robot 2d from below. In this configuration, the flexible air bellows 20e has a multitude of reinforcements 102 on its surface facing the floor. Each of the reinforcements 102 has air outlet openings 24d through which air escapes during operation to generate or reinforce the air cushion 19. As in Fig. Figure 16c shows that the air bellows 20e bulges downwards due to the overpressure in the air bellows 20e. As described above, the air cushion pressure decreases radially outwards from the central axis Z due to the increasing flow area. The air pressure is increased again at the edge of the vacuum robot 2d through the air outlet openings 24d. The air bellows 20e is attached to the housing 3 of the vacuum robot 2d along its inner and outer circumference by means of a clamping device 100a-b.

[0077] Furthermore, the robot vacuum cleaner 2d has a grill 104 in front of the suction opening 6c to prevent non-absorbent particles and objects from being sucked into the vacuum cleaner 2d.

[0078] Fig. Figure 17 shows a schematic, not-to-scale cross-sectional view of a vacuum robot 2e according to a fifth embodiment. Unless otherwise stated, the components and functions of this embodiment correspond to those of the vacuum robots 2', 2a-d described above.

[0079] In contrast to the previous embodiments, the underside of the robotic vacuum cleaner 2e does not have a flexible air bellows, but rather a rigid air cushion housing 106 with a plurality of air outlet openings 24e. In this embodiment as well, the air cushion 19, or rather the radially outward-sloping pressure in the air cushion 19, is reinforced by the airflow from the air outlet openings 24e, so that the vacuum cleaner 2e has sufficient lift to hover above a floor surface 40.

[0080] Various energy sources can be used to operate the described robotic vacuum cleaners 2', 2a-e. These include, for example, rechargeable electrical energy storage devices, fuel cells, etc. A robotic vacuum cleaner system can be provided with a robotic vacuum cleaner 2', 2a-c as described above and a base station (not shown) for automatically charging the energy storage device and optionally for emptying the collection containers 10, 10a-c.

[0081] Unless otherwise noted, all the above-described configurations and components of the robotic vacuum cleaners 2', 2a-e can be combined with each other. Reference sign 2', 2a-e robotic vacuum cleaner 3 cases 4 blower unit 5 Control unit 6a-c Suction opening 7a-b Suction lip 8 Intake channel 10, 10a-c dust collection container 12 fine filters 13 Coarse filters 14 Intake tract 16 Exhaust air tract 18 air cushion opening 19 air cushions 20a-e flexible air bellows 21 Inside air bellows 22 Exhaust opening 24a-e Air outlet opening 26a-c drive blower 27a-c air nozzle 28 Partition wall 30a-c lamella 32 Underside Robot vacuum cleaner 34a-b Outer side / circumference Air bellows 36a-c Underside of air bellows 38 Floor area 40 floor area 42a-c air nozzle 44a-b Nozzle walls 46a-b Nozzle opening 48 nozzle bearings 49a-b Base body / air guide element 50 flexible hose 52a-b cross-section hose outlet 54 Air outlet to air bellows / air cushion opening 56 Air outlet to air nozzle 58 radial fans 60 Rotor 62 Engine 64 first air conveying blade 66 second air conveying blade 67 Passage opening 68 Engine cooling channel 70 guide vane 72 Motor mounting bases 74 Counterpressure deflection projection 80a-b Seal Collection Container 82a-b Housing seal 84 coarse collection containers 86 fine collection containers 88 Position scheme 90 Distance sensor wall 92 Distance Sensor Array Floor 94 Distance Sensor Array Sky 96 Pressure sensor filling container 98 Pressure sensor 100a-b clamping 102 Reinforcement 104 Grill 106 air cushion housings A Exhaust side E Intake side Z-axis Q0 Volume flow blower unit Q L Air cushion volume flow Q A Airflow rate from exhaust opening Q U Ambient air volume flow X Destination point QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] DE 10 2004 060 850 A1 [0002, 0011]

Claims

[1] Robotic vacuum cleaner (2', 2a-e) moving on an air cushion (19) for cleaning floor surfaces (40), wherein the robotic vacuum cleaner (2', 2a-e) has: a housing (3), a control unit (5), at least one blower unit (4) arranged in the housing (3) with an intake side (E) and an exhaust side (A), a flexible air bellows (20a-e) arranged on the underside of the housing (3), wherein the air bellows (20a-e) is connected to the exhaust side (A) of the blower unit (4), at least one air cushion opening (18) in the housing, which is arranged on the underside of the housing (3), wherein the at least one air cushion opening (18) is connected to the exhaust air side (A) of the blower unit (4), so that an air cushion (19) can be generated between the air bellows (20a-e) and a floor surface (40) by means of the at least one blower unit (4), a suction opening (6a-c) for vacuuming up dust, wherein the suction opening (6a-c) is arranged on the underside of the housing (3) along an outer circumference (34a-b) of the vacuum robot (2', 2a-e) and / or the air bellows (20a-e), and is connected via a suction tract (14) to the suction side (E) of the at least one blower unit (4), at least one dust collection container (10, 10a-c) which is connected to and / or arranged in the intake tract (14), and a dust filter system (12, 13) arranged in the intake tract (14). [2] Robot vacuum cleaner according to claim 1, with at least one exhaust opening (22) in the housing (22) to release air from the interior of the air bellows (20) laterally and / or upwards. [3] Robot vacuum cleaner according to claim 1 or 2, wherein the air bellows (20b-d) has a plurality of air outlet openings (24a-e) arranged on an underside (36b) of the air bellows (20b-d), so that an air cushion (19) can be generated between the air bellows (20b-d) and a floor surface (40) by means of the at least one blower unit (4). [4] Robot vacuum cleaner according to claim 3, wherein the plurality of air outlet openings (24a-e) are arranged on the underside (36b) in a periphery along an outer circumference (34b) of the air bellows (20b-d). [5] Robot vacuum cleaner according to one of the preceding claims, wherein the air bellows (20c) extends over the entire or substantially the entire underside (32) of the robot vacuum cleaner (2b). [6] Robot vacuum cleaner according to one of the preceding claims, wherein the air bellows (20a-e) has a rounded edge along an outer circumference (34a-b) so that air flowing radially outwards under the air bellows (20a-e) is directed into the suction opening (6a-c). [7] Robot vacuum cleaner according to one of the preceding claims, wherein a wall of the air bellows (20b) facing the floor has internal lamellae (30a-c) and / or webs, wherein in particular the air outlet openings (24a-e) are located outside the area of ​​the lamellae (30a-c). [8] Robotic vacuum cleaner according to claim 7, wherein the lamellae (30a-c) are arranged radially to a central axis (Z) of the robotic vacuum cleaner, and / or wherein the lamellae (30a-c) are continuous and / or interrupted in the radial direction. [9] Robot vacuum cleaner according to any of the preceding claims, wherein the air bellows (20a-e) is at least partially made of: rubber, thermoplastic polyamide (TPA), thermoplastic polyurethane (TPU), or a combination thereof. [10] Robotic vacuum cleaner according to one of the preceding claims, with at least one drive blower (26a-c) which is attached to the housing and can be controlled by the control unit (5) to move the robotic vacuum cleaner (2', 2a-e) floating on the air cushion (19) on a floor surface (40) to be cleaned in the room. [11] Robot vacuum cleaner according to claim 10, with air rudders for steering the airflow generated by the at least one drive blower (26a-c). [12] Robot vacuum cleaner according to claim 10 or 11, wherein the at least one drive fan (26a-c) is pivotably mounted on the housing (3). [13] Robot vacuum cleaner according to one of the preceding claims, with at least three pivotable air nozzles (27a-c, 42a-c) for moving the robot vacuum cleaner (2c) on a floor surface (40) to be cleaned, wherein the air nozzles (27a-c, 42a-c) are arranged uniformly along the circumference of the robot vacuum cleaner (2c). [14] Robot vacuum cleaner according to claim 13, wherein the at least one blower unit (4) is connected to the at least three air nozzles (27a-c, 42a-c). [15] Robot vacuum cleaner according to claim 13 or 14, wherein each of the at least three air nozzles (27a-c, 42a-c) has an air guide element (49a-c, 50) for directing and stopping air flowing out of the air nozzle (27a-c, 42a-c). [16] Robot vacuum cleaner according to claim 15, wherein the air guide element (49a-b, 50) is rotatable about a vertical axis with at least one horizontally or substantially horizontally extending nozzle opening (46a-b), so that, depending on the rotational position of the air guide element (49a-b, 50), air flowing through the air guide element (49a-b, 50) can be directed in a desired direction or blocked. [17] Robot vacuum cleaner according to one of the preceding claims 13 to 16, wherein at least one further blower unit is arranged in the housing (3) for supplying the at least three air nozzles (27a-c, 42a-c) with air, wherein in particular the at least one blower unit (4) and the further blower unit are arranged in series or in parallel. [18] Robotic vacuum cleaner according to one of the preceding claims, wherein a cross-section of the at least one exhaust air opening (22) is designed such that, during operation of the robotic vacuum cleaner (2', 2a-e), the volume flow of the suction opening (6a-c) corresponds to the volume flow (Q L ) to generate an air cushion (19) and the volume flow (Q A ) through the exhaust air opening (22) corresponds, and / or that the volume flow (Q U ) of the intake ambient air to the volume flow (Q A ) through which at least one exhaust opening (22) corresponds. [19] Vacuum robot according to one of the preceding claims, wherein a suction lip (7ab) forms an outer closure of the suction opening (6a-c), wherein the suction lip (7a-b) is in particular radially flared outwards. [20] Robot vacuum cleaner according to claim 19, wherein the suction lip (7a-b) extends vertically beyond a bottom surface (36a-b) of the air bellows (20a-e) so that suction of the robot vacuum cleaner (2', 2a-e) to a floor surface (40) is prevented during operation. [21] Robot vacuum cleaner according to one of the preceding claims, wherein a base surface (38) of the robot vacuum cleaner (2', 2a-e) is at least partially oval or circular. [22] Robot vacuum cleaner according to one of the preceding claims, wherein a base surface (38) of the robot vacuum cleaner (2c) has at least a right-angled or substantially right-angled projection. [23] Robotic vacuum cleaner according to one of the preceding claims, wherein the at least one blower unit (4) is designed as a radial fan (58) with a rotor (60) having a vertical axis of rotation, wherein the rotor (60) is designed to divide the air taken in by the intake tract (14) into a first part which is directed to the air nozzle(s) (27a-c, 42a-c) of the robotic vacuum cleaner (2', 2a-e), and a second part which is directed to the air bellows (20a-e) and to the air cushion opening (18), wherein in particular the rotor (60) is designed to convey the first part of the conveyed air outwards in a radial direction, and to convey the second part downwards in a vertical or substantially vertical direction through openings (67a-b) in the rotor (60). [24] Robotic vacuum cleaner according to claim 23, wherein the rotor (60) has first air conveying vanes (64) for conveying air from the intake tract (14) to the air nozzle(s) (27a-c, 42a-c), and second air conveying vanes (66a-b) for conveying air from the intake tract (14) through the rotor (60) to the air bellows (20a-e) and to the air cushion opening (18). [25] Robotic vacuum cleaner according to one of the preceding claims, with at least a first distance sensor (92) which is oriented downwards towards a floor (40), at least a second distance sensor (94) oriented upwards, and at least a third distance sensor (90) oriented horizontally, wherein the distance sensors are connected to the control unit (5) for controlling the drive blowers (26a-c) and / or air nozzles (27a-c, 42a-c). [26] Robot vacuum system with a robotic vacuum cleaner (2', 2a-e) according to one of the preceding claims with an electrical energy storage device, and a base station for charging the energy storage device. [27] Robot vacuum cleaner according to claim 26, wherein the base station has a cleaning unit for cleaning the robot vacuum cleaner, in particular for emptying the collection container.

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