Robotic vacuum cleaner, base station for a robotic vacuum cleaner, and method of cleaning a robotic vacuum cleaner

Abstract

A floor cleaning robot for cleaning a floor is disclosed. The floor cleaning robot is coupleable with a base station having a shearing edge. The floor cleaning robot comprises a cleaning roller, a fixation device and a lowering device. The cleaning roller comprises at least one cleaning edge and a shearing edge associated therewith. The at least one cleaning edge extends further in a radial direction from the cleaning roller than the at least one shearing edge. The fixation device rotatably fixes the cleaning roller about an axis of rotation. The lowering device is for jointly lowering the fixation device and the cleaning roller into at least three steps, wherein an upper step is a parked position, a middle step is a standard cleaning position and a lower step is a special cleaning phase. The special cleaning phase enables cleaning of the cleaning roller when the floor cleaning robot is coupled with the base station, wherein the shearing edge cooperates with the shearing edge of the base station to form a shearing unit when the cleaning roller is cleaned, so as to shred entangled dirt when the cleaning roller is rotated.

Description

Technical Field

[0001] The present invention relates to a robotic vacuum cleaner, a base station for the robotic vacuum cleaner, a method for cleaning the cleaning rollers of the robotic vacuum cleaner, and particularly to hair removal and lifting functions in the base station. Background Technology

[0002] When cleaning floors with a robotic vacuum cleaner, a common problem is that swirling dirt becomes entangled around the cleaning rollers. As cleaning time increases, more and more dirt accumulates on the rollers, hindering their rotation. This swirling dirt is particularly prone to beading hair, but fibers, threads, or other fabric residue can also be tangled around the rollers. This problem is especially severe when the dirt becomes entangled between the cleaning rollers and the rotating bracket, making rotation difficult or completely blocked.

[0003] If the cleaning rollers are not cleaned regularly, the problem will become increasingly serious, as the surrounding dirt will become almost impossible to remove after a longer period of time or can only be removed with increased effort.

[0004] In conventional robotic vacuum cleaners, the cleaning rollers are cleaned by a cutting element within the robot (see EP 2273 906 B1 and DE 10 2014 110 025 A1) or by a hair-cutting element in the base station (as described in CN 215 502 782U). US 2022 / 338 702 A1 describes cleaning the rollers via a spraying device in the base station.

[0005] However, these conventional cleaning devices require additional actuators. This is associated with increased costs and increased susceptibility to failure (such as actuator malfunction).

[0006] Therefore, there is a need for a robotic vacuum cleaner that can continuously, automatically, and reliably remove surrounding dirt (such as hair or feathers) from its cleaning rollers without incurring high costs. Furthermore, this cleaning should be easily integrated into existing systems. Summary of the Invention

[0007] At least some of the above problems are solved by the robotic vacuum cleaner according to claim 1, the base station according to claim 17, and the method for cleaning the cleaning roller of the robotic vacuum cleaner according to claim 23. The dependent claims relate to advantageous improvements to the subject matter of the independent claims.

[0008] This invention relates to a robotic vacuum cleaner for cleaning floors. The robotic vacuum cleaner is capable of coupling with a base station having shearing edges. The robotic vacuum cleaner includes a cleaning roller, a fixing device, and a lowering device. The cleaning roller includes at least one cleaning edge strip and an associated shearing edge. The at least one cleaning edge strip extends radially from the cleaning roller beyond the at least one shearing edge. The fixing device rotatably secures the cleaning roller about a rotation axis. The lowering device is used to lower the fixing device and the cleaning roller together into at least three steps, wherein the upper step is a stopping position, the middle step is a standard cleaning position, and the lower step is a special cleaning stage. The special cleaning stage enables cleaning of the cleaning roller while the robotic vacuum cleaner is coupled to the base station. During cleaning of the cleaning roller, the shearing edge cooperates with the shearing edge of the base station to form a shearing unit to pulverize entangled dirt as the cleaning roller rotates.

[0009] The following definitions are used in this disclosure. An axial direction is a direction extending parallel to the axis of rotation of the cleaning roller. Perpendicular to this axial direction, a radial direction can be defined, for example, as a direction measuring distance from the axis of rotation of the cleaning roller. A vertical direction can be defined as a direction parallel to (opposite to) gravity, typically opposite to the direction of gravity. Correspondingly, a horizontal direction can be defined perpendicular to the vertical direction. For the robotic vacuum cleaner, this particularly relates to floor cleaning, but not to cleaning vertical walls. “Entangled dirt” can be understood as any object capable of entanglement around the cleaning roller. This should be particularly understood as hair, lint, dust clumps, fibers, tissue residue, and others—anything that can entangle.

[0010] The lower step can be defined as the deepest step (vertically). It should be understood that the defined step restricts the descent device or its operation on the step. The stopping position can, for example, be used to allow the robot vacuum to move on wet or water surfaces, more specifically, to prevent the cleaning rollers from contacting the wet ground and thereby protect the cleaning strips from moisture. The stopping position can also be a parking position, which the robot vacuum occupies when it stops, for example, at the base station. For example, the stopping of the robot vacuum can be implemented after the cleaning rollers have finished cleaning at the base station. Optionally, the cutting edge is arranged at a constant distance behind the at least one cleaning strip with respect to the rotation direction of the cleaning roller. The rotation direction can be the same rotation direction that the robotic vacuum cleaner typically uses when cleaning the floor.

[0011] It should be understood that the cleaning strip has a certain degree of flexibility (e.g., bendability) so that the shearing edge and the cutting edge can come into contact within the base station. Furthermore, the distance between the cutting edge and the cleaning strip is chosen such that the cleaning strip itself is not damaged by the shearing action of the shearing edge and the cutting edge.

[0012] Optionally, the cutting edge includes reinforcing elements for support. The technical advantage of these reinforcing elements is, for example, that deformation can be prevented during the cleaning process of the cleaning roller. This allows, for example, a higher compressive pressure to be applied to the cutting edge during roller cleaning, enabling reliable crushing of surrounding dirt. The reinforcing elements may, for example, be arranged behind the cutting edge with respect to the direction of rotation.

[0013] Optionally, the reinforcing element has at least two reinforcing elements, which are formed such that at any given time, the shearing edge of the base station lies flat on one of the reinforcing elements during the crushing of surrounding debris. The reinforcing element may, for example, extend radially to exactly the same distance as the cutting edge within a specific angular range, and the reinforcing element may be formed at different axial positions. In the case of a helical cutting edge, this achieves the desired permanent flatness. This results in the technical effect of avoiding vertical movement during shearing and achieving a silent operation because the shearing edge is always flat. Optionally, the at least one cleaning strip (e.g., a row of bristles) extends in the axial direction of the cleaning roller. The cleaning strip may extend, for example, in a spiral shape, or partially spiral in one direction, partially spiral in the opposite direction, or parallel to the axis of rotation, or a combination thereof. The spiral design provides the advantage of partially conveying dirt in the axial direction. Additionally, similar to shearing, an improved cutting effect is achieved. Furthermore, the spiral shape ensures that the cutting edge remains flat on the shearing edge of the base station during rotational motion, thereby achieving a quiet operation. Optionally, the at least one cleaning strip is formed in at least one of the following shapes: rows of bristles, rows of textile strips, rows of plastic strips, or strips of textile strips. The cleaning strip can be fixed to a columnar roller and extend radially from it. The textile or plastic strip can be flexibly formed from, for example, fabric, rubber, or plastic material and can accommodate dirt from the ground. The same applies to the textile strip, which can have a material capable of accommodating dirt from the ground. In the case of rows of bristles, not just one row can be formed, but two or three rows of bristles can be formed at the cleaning roller. Correspondingly, each row can have an associated cutting edge, which can be formed as described above.

[0014] Optionally, the cleaning roller includes an axial end section therebetween from which the at least one cleaning strip is arranged. The axial end section may taper in the direction toward the cleaning strip so that, during cleaning, surrounding contaminants are moved axially toward the cleaning strip. Optionally, the cleaning roller further includes two surrounding rings that terminate flush with the cutting edge in the radial direction and extend to a constant radial distance from the axis of rotation of the cleaning roller. This constant radial distance from the axis of rotation can be the same as the radial extension of the cutting edge. Regardless of the helical shape of the cutting edge, the rings are always responsible for maintaining the cutting edge in a constant, flat position. Rotational movement is not obstructed. Furthermore, the constant contact of the cutting edge at the shearing edge or at the rings prevents the cleaning roller from being struck or bounced, which could potentially damage the lowering mechanism.

[0015] The two annular rings can be formed axially between the two axial end sections, and optionally, a gap can exist between each axial end section and a corresponding associated annular ring. At least one bristle can be formed in the gap. The cutting edge can span the gap. The gap having the cutting edge as a bridging portion provides the advantage that, although surrounding dirt such as hair from the axial end sections may accumulate there, it can be easily broken off during subsequent brush cleaning. This particularly avoids the possibility of exemplary hair becoming entangled on the cleaning roller.

[0016] Optionally, the cleaning roller includes a corresponding rotatable coupling at its axial end section to allow for rotatable support within the fixture and coupling to a rotary motor. The axial end section terminates flush with the fixture to protect the rotatable coupling.

[0017] Optionally, the robotic vacuum cleaner further includes a control device for manipulating the descent mechanism. The control device may be configured to perform at least one of the following actions: - Determine the coupling between the sweeping robot and the base station; - Move the cleaning roller into the lower step when determining coupling; - When cleaning the floor, the cleaning roller is moved into the lower step to perform a deep cleaning of the floor; - When performing standard cleaning on the floor, move the cleaning roller into the central step; - Set the rotation speed of the cleaning roller; - Move the cleaning roller into the upper step to avoid contamination by wet dirt.

[0018] The lower step can be advantageously used for brush cleaning or deep cleaning or for other purposes, wherein corresponding control methods can be set, such as activating the special cleaning stage.

[0019] Optionally, the robotic vacuum cleaner includes electrical terminal contacts for coupling the robotic vacuum cleaner to the base station (e.g., in the front region). The electrical terminal contacts are configured to charge the robotic vacuum cleaner's battery via a power supply voltage from the base station. The control device may be configured to determine the electrical connection between the robotic vacuum cleaner and the base station.

[0020] Optionally, the lowering device includes at least one of the following components: a cam driver, a servo motor, a lead screw driver, and a force transmission element.

[0021] Optionally, the fixing device includes at least one of the following: - A pivot arm to allow the fixed device to be pivotally moved about a pivot axis. - A guiding element for linearly moving the fixing device. - At least one contact section is provided to provide coupling between the fixing device and the lowering device. - Suction channel, used to remove dirt during cleaning. - A cleaning edge, which defines at least one rear termination relative to the ground during cleaning, and the brush unit receives dirt before the cleaning edge during cleaning.

[0022] Therefore, according to the embodiment, the fixing device can perform movement or pivoting motion relative to the robotic vacuum cleaner. It is also possible that the cleaning roller is held suspended above the floor, wherein the fixing device uses a guide element (e.g., a track) configured for this purpose as a guide.

[0023] Optionally, the lowering device or the robotic vacuum cleaner includes a vertical stop for the fixing device to limit vertical movement (lifting or lowering). When the vertical stop limits vertical lifting, the robotic vacuum cleaner may have a pre-tensioning unit to pre-tension the fixing device away from the ground. The pre-tensioning device can create a pre-tensioning pressure on the fixing device against the stop. When the stop is a cam, the cleaning roller can automatically rise as the associated camshaft rotates. Optionally, the lowering device includes a cam driver, the camshaft, and at least one cam. The at least one contact section forms, for example, a cam receiver for the at least one cam, to vertically move the fixing device together with the cleaning roller as the camshaft is rotated by the cam driver. The at least one cam may be formed with a flattened area to stably secure the fixing device at at least two of the three steps. Alternatively or additionally, the cam may be continuously variable (increased or decreased) in the radial direction about the camshaft to continuously vertically move the cleaning roller as the camshaft rotates.

[0024] With the aid of the flattened area, the vehicle can stably navigate to different steps and remain stable during operation. The at least two steps here refer to the angular positions of the camshaft, where only two steps need to be stable (e.g., via the corresponding flattened area), while the third or subsequent step can only be a specific angular position of the camshaft. In particular, according to embodiments, the vehicle can continuously navigate to multiple steps or can continuously change between steps.

[0025] The camshaft and the cam driver can form parallel, offset axes of rotation. It is not necessary for the cam driver and the camshaft to be on a common axis of rotation or to rotate around a common axis of rotation.

[0026] Optionally, the robotic vacuum cleaner includes at least one suction opening in a direction toward the ground so as to be coupled to an associated suction opening of the base station when coupled to the base station, thereby providing the ability to suck up dirt from the base station into the robotic vacuum cleaner.

[0027] Therefore, with the aid of the suction opening, pulverized dirt can be sucked out from above and / or below during brush cleaning. For additional suction from below, a suction opening of the base station, which can itself be coupled to the robot vacuum to generate a suction flow, can also be used. For this purpose, for example, a so-called dirt unit can be used, which generates a suction flow that can be used to remove pulverized dirt from the cleaning rollers via corresponding channels of the base station.

[0028] The embodiments also relate to a base station for a robotic vacuum cleaner as described in this disclosure, wherein the fixing device of the robotic vacuum cleaner has the cleaning edge. The base station includes a substrate with a recess, in which a shearing edge is formed. The substrate is passable by the robotic vacuum cleaner to couple the robotic vacuum cleaner to the base station. The recess in the substrate is used to receive the cleaning edge when the robotic vacuum cleaner is coupled to the base station. The shearing edge in the recess, after coupling with the robotic vacuum cleaner, cooperates with the cutting edge of the robotic vacuum cleaner to form shearing units to shred tangled dirt as the cleaning roller rotates.

[0029] The shearing unit formed by the cutting edge and the shearing edge serves as a shearing element that shreds hair, fibers, down, and tissue, thereby cleaning the cleaning brush. The base station may be, for example, a multi-functional base station that provides, among other things, the following functions: power supply, battery charging, cleaning the cleaning roller, shutdown or pause, network connectivity, and many others. Optionally, the base station includes a pressing device located vertically above the recess. The pressing device is configured to create a space between the pressing device and the substrate for the robotic vacuum cleaner and to provide pressure for the shearing edge and the cutting edge. In the simplest example, the pressing device may be configured as a stop that counteracts the pressure applied, for example, by the cam drive, to press the cleaning roller vertically downwards along with the shearing edge, thereby achieving efficient cutting.

[0030] Optionally, the pressing device includes at least one of the following: rollers, a roller, and a guide ramp.

[0031] Optionally, the base station includes at least one suction opening connected to the recess via at least one air passage and coupled to the at least one suction opening of the robot vacuum when the base station is coupled to the robot vacuum, so as to suck out dirt pulverized during cleaning brushing.

[0032] Optionally, the base station includes electrical contacts for contacting the electrical terminal contacts of the robotic vacuum cleaner and / or ramps as entry aids for the substrate.

[0033] The embodiments also relate to systems having a robotic vacuum cleaner and a base station as described in this disclosure.

[0034] The embodiments also relate to a method for cleaning the cleaning rollers of a robotic vacuum cleaner as described in this disclosure. The method includes: - Determine the coupling between the sweeping robot and the base station, wherein the base station has a shearing edge; - Move the cleaning roller into the lower step so that the cutting edge contacts the shearing edge of the base station; and - Set the rotation speed of the cleaning roller to crush the dirt surrounding the cleaning roller.

[0035] Optionally, the method includes at least one of the following steps: - By actuating the lowering device to change the squeezing pressure, the sweeping robot is vertically supported at the lowering device of the base station. - Charge the battery of the robotic vacuum cleaner after coupling with the base station. - Deep cleaning of the floor is performed by lowering the cleaning roller into the lower step.

[0036] This method, or at least a portion thereof, can also be implemented or stored as instructions in software or on a computer program product, wherein the stored instructions are capable of implementing the steps according to the method when the method is run on a processor. Therefore, the present invention also relates to a computer program product or a machine-readable storage medium thereon storing software code (software instructions) configured to implement one of the methods described above when executed by a data processing device. The data processing device can be any form of computer or control unit having a corresponding microprocessor capable of executing the software code. Attached Figure Description

[0037] The embodiments of the invention will be better understood with the aid of the following detailed description and accompanying drawings of various embodiments; however, these embodiments should not be construed as limiting the present disclosure to the specific embodiments, but are merely for illustration and understanding.

[0038] Figure 1 A partial diagram showing the coupling between a robotic vacuum cleaner and a base station according to an embodiment of the present invention is shown.

[0039] Figure 2 The cleaning roller formed as described in the embodiment is shown in further detail.

[0040] Figure 3 An enlarged view of a sweeping robot in a base station according to an embodiment is shown.

[0041] Figure 4 Further details of the lowering and fixing devices that can be formed as described in the embodiments are shown.

[0042] Figure 5 The bottom surface is shown according to one embodiment of a robotic vacuum cleaner.

[0043] Figure 6A base station according to one embodiment is shown.

[0044] Figure 7 An embodiment of a system consisting of a robotic vacuum cleaner and a base station is shown.

[0045] Figure 8 A schematic flowchart of a method for cleaning a cleaning roller according to an embodiment is shown. Detailed Implementation

[0046] Figure 1 A partial view of a robotic vacuum cleaner 100 for cleaning floors is shown, which, according to an embodiment of the invention, can be coupled to a base station 200. The shown portion of the base station 200 includes a shearing edge 212 at a recess 220. The robotic vacuum cleaner 100 includes a cleaning roller 110, a fixing device 120, and a lowering device 130. The cleaning roller 110 has at least one cleaning edge 114 (e.g., bristles) and an associated shearing edge 112. The at least one cleaning edge 114 extends radially beyond the at least one shearing edge 112 from the axis of rotation R of the cleaning roller 110. The fixing device rotatably secures the cleaning roller 110 about the axis of rotation R.

[0047] The lowering device 130 is configured to lower the stationary device 120 and the cleaning roller 110 together into at least three steps S1, S2, and S3. For this purpose, the lowering device 130 includes a camshaft 134 with cams 135, which define the three steps S1, S2, and S3, for example, via flattened areas. The upper step S1 is, for example, a stopping position; the middle step S2 is, for example, a standard cleaning position; and the lower step S3 is, for example, a special cleaning stage. The special cleaning stage is used to clean the cleaning roller 110 when the robot vacuum 100 is coupled to the base station 200, such as... Figure 1 As shown in the figure. When cleaning the cleaning roller 110, the cutting edge 112 and the shearing edge 212 of the base station 200 form a shearing unit, so that dirt such as hair, fibers, and threads wrapped around the cleaning roller 110 when the cleaning roller 110 rotates are crushed.

[0048] The illustrated robotic vacuum cleaner 100 also includes a suction channel 122 for sucking out dirt from the internal area of ​​the receiving cleaning roller 110 of the fixture 120. Here, dirt is sucked upwards during cleaning. During standard cleaning, the suction channel 122 is also used to suck out dirt received from the floor. The base station 200 also has a recess 220 that provides space, for example, for the cleaning edge 126 of the robotic vacuum cleaner 100. The recess 220 allows for a sufficiently deep descent of the fixture 120 to achieve reliable cutting at the cutting edge 112 and the shearing edge 212. The cleaning edge 126 can form a rearward definition of the suction opening with respect to the direction of movement of the robotic vacuum cleaner 100, which makes it easier to guide the dirt received by the cleaning roller 110 in the direction toward the suction channel 122.

[0049] Figure 2 The cleaning roller 110, as can be formed according to the embodiment, is shown in further detail. Exemplarily, the cleaning roller 110 having rows of bristles 114 is formed as a cleaning strip, wherein the bristles 114 are fixed within a columnar brush body. Exemplarily, two rows of bristles 114a, 114b are formed and fastened to the brush body at 180° intervals from each other. However, the cleaning strip 114 should not be limited to a row arrangement of bristles. According to the embodiment, a row of textile strips, a row of plastic strips, or a strip of textile strip can also be formed as the cleaning strip 114.

[0050] According to the embodiment shown, the cutting edge 112 is arranged at a constant distance behind the cleaning strip 114 with respect to the rotation direction of the cleaning roller 110 (e.g., during cleaning). When the rotation direction should be reversed, the cutting edge 112 is arranged in front of the cleaning strip 114.

[0051] The cleaning strips 114 (i.e., the exemplary arrangement of the bristle rows) are partially spirally arranged in the axial direction of the cleaning roller 110. The spiral arrangement of the bristle rows 114 extends in one direction to approximately the middle region of the cleaning roller 110, while in the other half of the cleaning roller 110, the bristle rows 114 are spirally formed in the opposite direction. However, according to other embodiments, it is also possible that the spiral arrangement over the entire cleaning roller 110 forms a direction of rotation, or extends only partially spirally, or forms linearly, parallel to the axis of rotation R.

[0052] Since the distance between the cutting edge 112 and the bristle row 114 can be chosen to be constant, the cutting edge 112 also extends spirally around the brush body or cleaning roller 110. According to the illustrated embodiment, two bristle rows 114 and two cutting edges 112a, 112b are formed behind the bristle rows 114. However, this number is merely an example. More or fewer bristle rows 114 and / or more or fewer cutting edges 112a, 112b can also be formed. In particular, it may be necessary to form only one bristle row 114 with only one cutting edge 112, extending around the cleaning roller 110 in the rotational direction.

[0053] According to an embodiment, the cutting edge 112 is supported by reinforcing elements 113 about the angular direction. During cutting, the cutting edge 112 therefore cannot bend, even when higher compressive pressure is applied. In the illustrated embodiment, three reinforcing elements 113a, 113b, and 113c are formed for this purpose, one of which is arranged in the axially intermediate position, where the rotational direction of the helical orientation of the bristle row 114 is reversed. The other two reinforcing elements 113a and 113b are formed on the right or left half of the cleaning roller 110, respectively.

[0054] According to an embodiment, the reinforcing element 113 has at least two reinforcing elements 113a, 113b, and 113c, which are formed such that at any given time, the shear edge 212 of the base station 200 rests flat on one of these reinforcing elements 113 when crushing surrounding dirt. Figure 2 As shown, these reinforcing elements can extend radially to exactly the same distance as the cut edge 112 within a specific angular range, and these reinforcing elements are exemplary formed at different axial positions. In the case of a helical cut edge, this achieves the desired permanent flatness.

[0055] According to an embodiment, the cleaning roller 110 includes two axial end sections 116, between which a cleaning strip 114 (i.e., an exemplary bristle row) is arranged. The axial end sections 116 taper in the axial direction, that is, they narrow in the direction toward the bristle row 114. This achieves the advantage that surrounding dirt is automatically moved toward the bristle row and there it can be pulverized during brush cleaning.

[0056] According to the illustrated embodiment, the cleaning roller 110 optionally includes two surrounding rings 115 that terminate flush with the cutting edge 112 in the radial direction and have a constant radial distance from the axis of rotation R of the cleaning roller 110 (same as the cutting edge 112). This results in the shearing edge 212 of the base station 200 constantly lying flat on the two surrounding rings 115 or the spirally formed cutting edge 112 when coupled to the base station 200. This provides the advantage that no knocking or jumping of the cleaning roller 110 occurs during operation, which could in turn lead to undesirable vertical movement of the robot vacuum cleaner 100 within the base station 200. This significantly improves cleaning results and avoids damage.

[0057] According to an embodiment, two circumferential rings 115 are arranged between two axial end sections 116, wherein a gap 117 is formed between one of the circumferential rings 115 and one of the axial end sections 116 respectively. Within the gap 117, at least one bristle 114c can be arranged on each side of the bristle row 114. This bristle 114c can be used to prevent circumferential dirt from entering the corresponding gap 117, but rather to receive it and then crush it with the cutting edge 112 or the shearing edge 212. In the illustrated embodiment, the cutting edge 112 also extends beyond the gap 117. The cutting edge 112 also prevents, for example, hair in the gap 117 from being entangled, but instead crushes and then collects the hair by means of the cutting edge 112 during brush cleaning.

[0058] According to the illustrated embodiment, the cleaning roller 110 further includes two rotary coupling members 119, one of which is applied at the axial end section 116 respectively, and the rotary coupling members are used to couple the cleaning roller 110 to a motor serving as a driver for the cleaning roller 110. According to the embodiment, these axial end sections 116 are coupled to a fixing device (in... Figure 2 (Not shown) terminates flush with the rotating coupling member to protect it from incoming contaminants. Tapered end sections 116 further protect the rotating coupling member 119 by guiding contaminants away from the end.

[0059] Figure 3 An enlarged view of the robotic vacuum cleaner 100 in base station 200 is shown, illustrating a radial cross-section passing through the cleaning roller 110 and extending through one of the reinforcing elements 113. In contrast, from... Figure 1 The cross-section extends at locations where no reinforcing element 113 is formed.

[0060] According to the illustrated embodiment, the rotation direction D of the cleaning roller 110 is counterclockwise, causing the surrounding dirt to extend clockwise. This surrounding dirt is pulverized by the synergistic action of the cutting edge 112 and the shearing edge 212 and subsequently sucked out via the suction channel 122. Additionally, it is also possible that at least a portion of the broken dirt is sucked out via (e.g., in the base station 200) the recess 220 and the suction opening 270.

[0061] According to an embodiment, the lowering device 130 forms a vertical stop 125 for fixing the device 120. The vertical stop 125 can exemplarily limit vertical lifting, as in... Figure 3 As shown in the diagram. However, alternatively, it is equally possible that the vertical stop defines a vertical descent. When the vertical stop is as shown in... Figure 3 When the vertical lifting is defined as shown, the embodiment has an advantageous pre-tightening unit that pre-tightens the fixing device 120 away from the ground toward the stop 125 so as to enable the vertical upward movement of the fixing device 120 when the stop 125 is changed.

[0062] The vertical stop 125 can be formed, for example, via a cam 135 on the camshaft 134 (see also...). Figure 1 The cam 135 can allow multiple vertical positions S1, S2, S3 of the fixing device 120 when the camshaft 124 rotates, wherein the preload unit generates pressure on the cam 135, causing the cleaning roller 110 to automatically move upward when the camshaft 134 rotates.

[0063] Figure 4 Further details of the lowering device 130 and fixing device 120, which can be formed as described in the embodiments, are shown. The lowering device 130 may exemplarily have a cam drive 132, a servo motor, a lead screw drive, or a force transmission element 134. Cams 135 are arranged on the camshaft 134, which define the different vertical steps S1, S2, S3 of the fixing device 120 previously described. Additionally, Figure 4 A roller driver 124 is shown, which drives the cleaning roller 110 (to perform rotational motion) via a thread 123.

[0064] According to the illustrated embodiment, the fixing device 120 includes pivot arms 121 that enable pivoting of the fixing device 120 about a pivot axis A. This pivoting is achieved via a cam driver 132, wherein the coupling between the lowering device 130 and the fixing device 120 is again achieved via contact sections 125, which are contacted by cams 135. In this way, the vertical movement of the fixing device 120 is limited or a vertical position is set. Therefore, from Figure 3 The stop element is the contact section 125, such as in Figure 4 As shown in the image.

[0065] Alternatively, it is equally possible that the fixing device 120 is not pivotally supported about the pivot axis A, but performs linear motion. For this purpose, a linear guide element capable of achieving linear motion can be formed.

[0066] According to an embodiment, the contact section 125 can be formed as a cam receiver for the cam 135, such that the retaining device 120 moves vertically together with the cleaning roller 110 when the camshaft 134 is rotated by the cam driver 132. The cam 135 can be formed, for example, as shown in (see...). Figure 1 Multiple flattened areas S1, S2, and S3 can be formed at the cam 135 to stably fix the fixing device 120 at at least two steps S1, S2, and S3. Alternatively or additionally, additional stable steps can be formed by additional flattened areas. For example, in... Figure 1 In this configuration, the second section S2 is formed as a flattened region, but this is not always the case. This region can also be formed as a slightly curved area. In each case, steps S1, S2, and S3 correspond to specific winding positions of the camshaft 134, where, for example, an intermediate position between the fully raised position S1 and the fully lowered position S3 is also possible.

[0067] Therefore, according to the embodiment, the cam 135 continuously increases or decreases in the radial direction of the camshaft 134 so that the cleaning roller 110 can be continuously moved vertically as the camshaft rotates.

[0068] Figure 5 The illustration shows the bottom surface of a robotic vacuum cleaner 100, with the bottom surface facing the ground and a cleaning roller 110 with exemplary brush rows 114 used in a mounting device 120. The rotation direction D of the cleaning roller 110 can, for example, be such that the cleaning roller rotates backward when viewed from below, thus aiding in standard motion. In this rotational motion D, dirt is transported from the ground toward a central area, from which it can be drawn through a corresponding suction channel 122 (see...). Figure 1 ( ) suck out the dirt.

[0069] According to the illustrated embodiment, the robotic vacuum cleaner 100 includes a suction opening 140, which can be exemplarily used to couple with an associated suction opening 270 of the base station 200 when coupled to the base station 200, thereby providing the ability to suck dirt from the base station 200 into the robotic vacuum cleaner 100. These openings can be coupled to a so-called dirt collection unit to collect dirt. Figure 5 Also shown is a sweeping edge 126, which is arranged behind the cleaning roller 110 in the opposite direction of movement and defines the sweeping area rearward. In the illustrated embodiment, the axial end section 116 terminates laterally flush with the fixing device 120, preventing dirt from reaching the rotating coupling ( Figure 5 (Not visible in the middle) and instead guided towards the middle due to the cone shape.

[0070] Figure 6 A base station 200 according to one embodiment is shown. The previously described robotic vacuum cleaner 100 can be coupled to this base station 200, but in... Figure 6 Not shown in the diagram. Base station 200 includes a substrate 210 that can be driven over by robot vacuum cleaner 100 to couple robot vacuum cleaner 100 to base station 200. Additionally, base station 200 includes a recess 220 in substrate 210. When coupling robot vacuum cleaner 100 to base station 200, recess 220 is used to receive cleaning edge 126. A shearing edge 212 is formed in or therein of recess 220, which, after coupling with robot vacuum cleaner 100, merges with the cutting edge 112 of robot vacuum cleaner 100 (see, for example, see...). Figure 2 The synergistic effect allows the cleaning roller 110 to form shearing units as it rotates to crush tangled dirt.

[0071] The base station 200 also includes an optional pressing device 230, which is arranged vertically above the recess 220. A space for the robotic vacuum cleaner 100 is formed between the pressing device 230 and the recess 220, wherein the pressing device 230 can provide or support the compressive force between the shearing edge 212 and the cutting edge 112. The compressive force can be applied, for example, by an exemplary cam driver 132 that presses the cleaning roller 110 of the robotic vacuum cleaner 100 vertically downward, which in turn causes the robotic vacuum cleaner 100 to be pressed vertically upward and abut against the pressing device 230. This provides a stop so that the exemplary cam driver 132 can apply compressive force between the shearing edge 212 and the cutting edge 112.

[0072] According to an embodiment, the pressing device 230 is formed as a roller, a wheel, or a guide ramp (slope) coupled to the top surface of the sweeping robot 100. The sweeping robot 100 may have a corresponding reinforcement at this location.

[0073] According to an embodiment, the base station 200 includes a suction opening 270. After coupling with the base station 200, the suction opening 270 forms a fluid connection (air passage) between the recess 220 and the robotic vacuum cleaner 100. The suction opening 270 of the base station 200 can connect with the suction opening 140 of the robotic vacuum cleaner 100 (see...). Figure 5 The coupling allows the pulverized dirt to be sucked out during brush cleaning.

[0074] According to an embodiment, the base station 200 also includes electrical contacts 280 for contacting electrical terminal contacts of the robotic vacuum cleaner 100 (e.g., in the front region). Additionally, the base station 200 optionally includes a ramp 214, which may be formed as a drive-in aid for the substrate 210. The ramp 214 may in particular have an uneven portion to increase friction between the robotic vacuum cleaner's actuator and the substrate.

[0075] Figure 7 A system is shown consisting of a robotic vacuum cleaner 100 and a base station 200 coupled according to an embodiment. Here, the robotic vacuum cleaner 100 is located in the space between a pressing device 230 and a base plate 210, such that the pressing device 230 forms a stop and the lowering device 130 of the robotic vacuum cleaner 100 presses the cleaning roller 110 against the shearing edge 212 of the base station 200.

[0076] According to an embodiment, the robotic vacuum cleaner 100 includes a control device 150 for manipulating the descent device 130. Furthermore, the control device 150 determines via corresponding sensors that the robotic vacuum cleaner 100 is coupled to the base station 200, and subsequently the cleaning roller 110 descends into the lower step S3. Even while cleaning the floor, the control device 150 can move the cleaning roller 110 into the lower step S3 for deep cleaning. Additionally, during standard floor cleaning, the control device 150 can move the cleaning roller 110 into the middle step S2 or the upper step S1 to avoid contamination by wet dirt. In all cleaning operations, the control device 150 can adaptively set the rotation speed of the cleaning roller 110.

[0077] Figure 8 A schematic flowchart illustrates a method for cleaning the cleaning roller 110 of a robotic vacuum cleaner 100 as described in this disclosure. The method includes: - Determine the coupling between the sweeping robot and the base station in S110, wherein the base station has a shearing edge; - Move the cleaning roller S120 into the lower step so that the cutting edge contacts the shearing edge of the base station; and - Set the rotational speed of the cleaning roller in S130 so as to crush the dirt surrounding the cleaning roller.

[0078] Optionally, the method may include one or more of the following steps: - By actuating the lowering device to change the squeezing pressure, the sweeping robot is vertically supported at the lowering device of the base station. - Charge the battery of the robotic vacuum cleaner after coupling with the base station. - Deep cleaning of the floor is performed by lowering the cleaning roller into the lower step.

[0079] This method can also be implemented by a computer, that is, by instructions stored on a storage medium and capable of executing the steps of the method when running on a processor. These instructions typically include one or more instructions that can be stored in different kinds in or around a control unit (with a processor), and when these instructions are read and executed by the control unit, they cause the control unit to perform the functions, functionalities, and operations necessary for implementing the method according to the invention.

[0080] It should be understood that all the functions previously described for the robotic vacuum cleaner 100 and / or the base station 200 can be configured as other optional method steps. It should also be understood that the mentioned order is not necessarily the order in which these method steps are performed. These steps may also be performed in a different order or only a portion of these method steps may be performed.

[0081] The features of the invention disclosed in the specification, claims and drawings may be important individually or in any combination for the implementation of the invention. List of reference numerals 100 Robot Vacuum Cleaner 110 cleaning roller 112 Cutting Edge 113 Enhancement Components 114 Cleaning strips (rows or strips formed of bristles, textiles, or plastics) 115-degree encircling ring (for shearing edges) 116 Axial End Section 117 gap 119 Rotary Coupler 120 fixing device 121 Pivot Arm 122 suction channels 123 Transmission Device 124 Roller Driver 125 contact section 126 Clean the edges 130 descent device 132 Cam Driver 134 Camshaft 135 Cam 140 Inhalation Opening 150 control device 200 base stations 210 substrate 212 Cutting edge 214 Slope 220 recessed portion 230 Downward Pressurization Device 270 suction opening 280 electrical contacts (e.g., for charging) The axis of rotation of the R cleaning roller S1, S2, S3 descending steps A pivot axis U towards the ground D. Rotation direction of the cleaning roller

Claims

1. A floor cleaning robot (100) for cleaning floors, wherein the floor cleaning robot (100) is coupled to a base station (200), wherein the base station (200) has a shearing edge (212), the floor cleaning robot (100) comprising: A cleaning roller (110) having at least one cleaning edge strip (114) and an associated cutting edge (112), wherein the at least one cleaning edge strip (114) extends radially from the cleaning roller (110) further than the at least one cutting edge (112); Fixing device (120), which rotatably fixes the cleaning roller (110) about a rotation axis (R); and A lowering device (130) is used to lower the fixing device (120) and the cleaning roller (110) together into at least three steps (S1, S2, S3), wherein the upper step (S1) is the stopping position, the middle step (S2) is the standard cleaning position, and the lower step (S3) is the special cleaning stage. In the case of coupling the sweeping robot (100) with the base station (200), the special cleaning stage achieves cleaning of the cleaning roller (110), and when cleaning the cleaning roller (110), the cutting edge (112) and the shearing edge (212) of the base station (200) cooperate to form a shearing unit so as to crush the tangled dirt when the cleaning roller (110) rotates.

2. The sweeping robot (100) according to claim 1, wherein the cutting edge (112) is arranged at a constant distance behind the at least one cleaning strip (114) with respect to the rotational direction of the cleaning roller (110).

3. The robotic vacuum cleaner (100) according to claim 1 or 2, wherein the cutting edge (112) has a reinforcing element (113) for support.

4. The robotic vacuum cleaner (100) according to claim 3, wherein the reinforcing element (113) has at least two reinforcing elements (113a, 113b, 113c), the at least two reinforcing elements being formed such that at any time the shearing edge (212) of the base station (200) lies flat on one of the reinforcing elements (113) when crushing surrounding dirt.

5. The sweeping robot (100) according to any one of claims 1 to 4, wherein the at least one cleaning strip (114) extends in the axial direction of the cleaning roller (110) and has at least one of the following orientations: parallel to the axis of rotation (R), helical, partially helical in one direction, partially helical in the opposite direction, or a combination thereof.

6. The robotic vacuum cleaner (100) according to any one of claims 1 to 5, wherein the at least one cleaning strip (114) is formed in at least one of the following shapes: - rows of bristles, - Rows of textile strips, - Rows of plastic strips, - Striped textile edge strips.

7. The robotic vacuum cleaner (100) according to any one of claims 1 to 5, wherein the cleaning roller (110) further comprises: An axial end section (116) is provided between the at least one cleaning strip (114) and the axial end section (116) tapers in a direction toward the cleaning strip (114) so ​​as to move the surrounding dirt axially toward the cleaning strip (114) during cleaning.

8. The robotic vacuum cleaner (100) according to any one of claims 1 to 7, wherein the cleaning roller (110) further comprises: Two surrounding rings (115) terminate flush with the cutting edge (112) in the radial direction and extend to a constant radial distance from the axis of rotation (R) of the cleaning roller (110), wherein the constant radial distance is equal to the radial extension of the cutting edge (112) from the axis of rotation (R) of the cleaning roller (110).

9. The sweeping robot (100) according to claim 8, wherein the two annular rings (115) are formed axially between the two axial end segments (116) and a gap (117) is formed between one axial end segment (116) and a correspondingly associated annular ring (115). And at least one bristle (114c) is formed in the gap (117) and the cutting edge (112) crosses the gap (117).

10. The robotic vacuum cleaner (100) according to claim 9, wherein the cleaning roller (110) further comprises: Correspondingly, a corresponding rotary coupling (119) is provided at the axial end section (116), the rotary coupling being rotatably supported in the fixing device (120) and for coupling to a rotary motor, wherein the axial end section (116) terminates flush with the fixing device (120) in order to protect the rotary coupling (116).

11. The sweeping robot (100) according to any one of claims 1 to 10, further comprising a control device (150) for manipulating the lowering device (130), and the control device (150) being configured to perform at least one of the following actions: - Determine the coupling between the robotic vacuum cleaner (100) and the base station (200); - When determining coupling, the cleaning roller (110) is moved into the lower step (S3); - When cleaning the floor, the cleaning roller (110) is moved to the lower step (S3) to perform deep cleaning of the floor; - When performing standard cleaning on the ground, the cleaning roller (110) is moved into the central step (S2); - Set the rotational speed of the cleaning roller (110); - Move the cleaning roller into the upper step (S1) to avoid contamination by wet dirt.

12. The robotic vacuum cleaner (100) according to claim 11 further comprises: Electrical terminal contacts (160) for coupling the robotic vacuum cleaner (100) to the base station (200), wherein the electrical terminal contacts (160) are configured to charge the battery of the robotic vacuum cleaner (100) via the power supply voltage of the base station (200). And the control device (150) is configured to determine the coupling between the sweeping robot (100) and the base station (200) by means of the provided power supply.

13. The sweeping robot (100) according to any one of claims 1 to 12, wherein the lowering device (130) has at least one of the following components: a cam driver (132), a servo motor, a lead screw driver, and a force transmission element (134).

14. The robotic vacuum cleaner (100) according to claim 13, wherein the lowering device (130) has a camshaft (134) and at least one cam (135) and the at least one contact section (125) forms a cam receiving portion for the at least one cam (135) so as to move the fixing device (120) and the cleaning roller (110) vertically together when the camshaft (134) is rotated by the cam driver (132), wherein the at least one cam (135) is shaped as follows: It has a flattened area so as to stably fix the fixing device (120) at at least two of the three steps (S1, S2, S3). or The cleaning roller (110) is continuously increased or decreased in the radial direction with respect to the camshaft (134) so ​​as to continuously move the cleaning roller (110) vertically as the camshaft (134) rotates.

15. The robotic vacuum cleaner (100) according to any one of claims 1 to 14, wherein the fixing device (120) has at least one of the following: - A pivot arm (121) is provided so that the fixed device (120) can be pivotally moved about the pivot axis (A). - A guide element for linearly moving the fixing device (120). - At least one contact section (125) is provided to provide coupling between the fixing device (120) and the lowering device (130). - Suction channel (122), said suction channel is used to suck out dirt during cleaning. - Sweeping edge (126), which defines at least one rear termination relative to the ground during cleaning and the brush unit (110) receives dirt before the sweeping edge (126) during cleaning.

16. The sweeping robot (100) according to any one of claims 1 to 15, wherein the lowering device (130) forms a vertical stop for the fixing device (120) and the sweeping robot (100) further comprises a pre-tightening unit for pre-tightening the fixing device (120) away from the ground when the vertical stop restricts vertical lifting.

17. The sweeping robot (100) according to any one of claims 1 to 16, wherein the sweeping robot has at least one suction opening (140) in a direction toward the ground so as to be coupled to an associated suction opening (270) of the base station (200) when coupled to the base station (200), thereby providing the suction of dirt from the base station (200) into the sweeping robot (100).

18. A base station (200) for a robotic vacuum cleaner (100) according to any one of claims 1 to 16, wherein the fixing device (120) of the robotic vacuum cleaner (100) has a cleaning edge (126) according to claim 11 and the base station (200) has: A substrate (210) that can be driven over by the sweeping robot (100) to couple the sweeping robot (100) to the base station (200); The recess (220) in the substrate (210) is used to receive the cleaning edge (126) when the robotic vacuum cleaner (100) is coupled to the base station (200); and The shearing edge (212) in the recess (220) works in conjunction with the cutting edge (112) of the sweeping robot (100) after coupling with the sweeping robot (100) to form shearing units to crush tangled dirt as the cleaning roller (110) rotates.

19. The base station (200) according to claim 18 further comprises: A pressing device (230) is vertically positioned above the recess (220), wherein the pressing device (230) is configured to form a space for the sweeping robot (100) between the pressing device (230) and the substrate (210) and to provide or support the pressing force for the shearing edge (212) and the cutting edge (112).

20. The base station (200) according to claim 19, wherein the pressing device (230) comprises at least one of the following: a roller, a roller, and a guide ramp.

21. The base station (200) according to any one of claims 18 to 20, further comprising: At least one suction opening (270) is connected to the recess (220) via at least one air passage and coupled to the at least one suction opening (140) of the robot vacuum (100) when the base station (200) is coupled to the robot vacuum (100) so as to suck out dirt crushed during cleaning brushing.

22. The base station (200) according to any one of claims 18 to 21 further comprises at least one of the following: - Electrical contact (280), the electrical contact being used to contact the electrical terminal contacts of the sweeping robot (100), - A ramp (214) serving as a driving aid for the substrate (210).

23. A system having: The sweeping robot according to any one of claims 1 to 17 and The base station according to any one of claims 18 to 22.

24. A method for cleaning the cleaning roller (110) of a robotic vacuum cleaner (100) according to any one of claims 1 to 17, the method comprising: - Determine the coupling between the robotic vacuum cleaner (100) and the base station (200), the base station having a shearing edge (212). - Move the cleaning roller (110) into the lower step (S3) so that the cutting edge (112) contacts the shearing edge (212) of the base station (200); and - Set the rotational speed of the cleaning roller (110) to crush the dirt surrounding the cleaning roller (110).

25. The method of claim 24, further comprising at least one of the following steps: - By actuating the lowering device to change the squeezing pressure, the sweeping robot (100) is vertically supported at the lowering device (230) of the base station (200). - Charge the battery of the robotic vacuum cleaner (100) after coupling with the base station (200). - Deep cleaning of the ground is performed by lowering the cleaning roller into the lower step (S3).

26. A machine-readable storage medium having instructions stored thereon, the instructions being configured to, when executed by a data processing apparatus, perform the method according to claim 24 or claim 25.

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