Robotic vacuum cleaner and a mehtod in a robotic vacuum cleaner

Abstract

Herein a robotic vacuum cleaner comprising a nozzle (12) arranged in a portion of a housing of the vacuum cleaner is disclosed. The nozzle (12) comprises a leading edge portion / front edge (42) having an aperture.

Description

TECHNICAL FIELD

[0001] The present invention relates to a robotic vacuum cleaner.BACKGROUND

[0002] A robotic vacuum cleaner forms of a self-propelling unit provided with a drive arrangement comprising a control system configured to control a movement of the robotic vacuum cleaner along a surface to be cleaned. The control system may comprise one or more sensors providing input to assist in controlling the movement of the robotic vacuum cleaner. A vacuum producing unit of the robotic vacuum cleaner is arranged in fluid communication with an opening of a nozzle inlet facing the surface to be cleaned. Debris sucked or otherwise propelled into the opening is directed into a debris receptacle of the robotic vacuum cleaner. The debris receptacle is emptied, or replaced, when filled with debris to a certain degree.

[0003] Since a robotic vacuum cleaner is to move freely about a surface to be cleaned it would be limited in its movements by an electric cord. Thus, a robotic vacuum cleaner is battery powered and the cleaning capability of a robotic vacuum cleaner has to be designed with the capacity of the on-board battery in mind. Accordingly, the drive arrangement, the capacity of the vacuum producing unit, the use of various rotating brushes, etc. affect consumption of electric power and thus, the design of a robotic vacuum cleaner.

[0004] Thus, the vacuum, or suction, produced by the vacuum producing unit should be produced with as low electric energy consumption as possible while maintaining good cleaning efficiency.

[0005] Also, todays cleaners assume likewise spreading of particles over the length of the nozzle width and are thereby having openings in the nozzle to allow for this. This may reduce the overall cleaning performance since opening up the nozzle leads to air leakage.SUMMARY

[0006] It is an object of the present invention to provide a robotic vacuum cleaner, a nozzle and a method having potential to effectively clean fine dust and particles as well as cleaning larger debris than dust, such larger particles and small stones, into the robotic vacuum cleaner.

[0007] WO2016 / 037635 A1 discloses a robotic vacuum cleaner according to the preamble of independent claim 1 having potential to produce a suction force sufficient to draw also larger debris than dust, such as sand and small stones, into the robotic vacuum cleaner with low energy consumption.

[0008] The robotic vacuum cleaner has a nozzle inlet comprises the base portion extending at the first level extending substantially in parallel with the surface to be cleaned. The channel formed between distance members has the delimiting surface extending at the second level, a larger air flow is produced in the channel by the vacuum producing unit. The larger airflow and space provided in the channel assists in drawing debris larger than dust into the opening.

[0009] The present invention is described in the independent claims.

[0010] According to an aspect of the invention, a robotic vacuum cleaner comprising a housing, a drive arrangement being configured to drive the vacuum cleaner along a surface to be cleaned, a vacuum producing unit, a debris receptacle, and a nozzle inlet arranged in a portion of the housing facing the surface to be cleaned. The nozzle inlet comprises a frame structure forming an opening, the opening being arranged in fluid communication with the debris receptacle and the vacuum producing unit being arranged in in fluid communication with the opening. The frame structure has a leading edge portion and opposite thereto a trailing edge portion, the leading edge portion and the trailing edge portion border to the opening. The frame structure comprises a base portion extending substantially in parallel with the surface to be cleaned. The first level is arranged closer to the surface to be cleaned than the second level.

[0011] Since the nozzle inlet comprises the base portion extending at the first level and the channel formed between the distance members has the delimiting surface extending at the second level, a larger air flow is produced in the channel by the vacuum producing unit than at the base portion and the distance members at the first level.

[0012] It is understood that the first level is arranged closer to the surface to be cleaned than the second level in use of the robotic vacuum cleaner. The robotic vacuum cleaner may be a self-propelling unit. The drive arrangement may comprise one or more wheels, of which at least one wheel is directly or indirectly driven by an electric drive motor. The drive arrangement may further comprise a control system configured to control the electric drive motor to move the robotic vacuum cleaner about the surface to be cleaned. The control system may comprise one or more sensors to provide input assisting in controlling the movement of the robotic vacuum cleaner. The at least one sensor may be of one or more different kinds, such as e.g. an infrared sensor, a laser sensor, an ultrasonic sensor, or a contact sensor. The vacuum producing unit may comprise a fan driven by an electric fan motor. The opening may be arranged in fluid communication with the debris receptacle via a debris conduit system. The vacuum producing unit may be arranged in fluid communication with the opening via the debris conduit system and optionally also the debris receptacle, i.e. the vacuum producing unit in some embodiments may create a suction from the opening of the nozzle inlet via the debris conduit system to the debris receptacle. In use of the robotic vacuum cleaner the leading edge portion of the frame structure travels ahead of the trailing edge portion in most cleaning situations. The robotic vacuum cleaner may comprise one or more rotatable brushes assisting in propelling debris towards, or into, the opening of the nozzle inlet. The rotatable brushes may be driven by one or more electric brush motors.

[0013] Besides controlling the drive motor, the control system may also control the fan motor and / or the one or more brush motors. The robotic vacuum cleaner may comprise one or more rechargeable batteries configured to power the drive arrangement including the control system and the various electric motors.

[0014] According to the invention robotic vacuum cleaner comprises a housing. The robotic vacuum cleaner comprises a drive arrangement being configured to drive the vacuum cleaner along a surface to be cleaned. The robotic vacuum cleaner comprising a vacuum producing unit, a debris receptacle. The robotic vacuum cleaner comprising a nozzle arranged in the housing facing the surface to be cleaned. The nozzle comprises a front edge, and a suction opening. The suction opening being arranged in fluid communication with the debris receptacle and the vacuum producing unit. The front edge comprises an aperture.

[0015] The opening is elongated extending in a direction perpendicular to the drive direction of the robotic vacuum cleaner, and the aperture is arranged adjacent to one end of the elongated opening.

[0016] The aperture is arranged at the right or left side of the nozzle.

[0017] One aperture is arranged at the right side of the nozzle. A second aperture is arranged at the left side of the nozzle.

[0018] A side brush is arranged at one end of the nozzle. The aperture is arranged at the same end.

[0019] The aperture is arranged adjacent to the end of the bristles of the side brush.BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Various aspects of the invention, including its particular features and advantages, will be readily understood from the example embodiments discussed in the following detailed description and the accompanying drawings, in which: Figs. 1 and 2 illustrate a top view and a perspective bottom view of a robotic vacuum cleaner according to embodiments, Fig. 3 illustrates a nozzle inlet of the robotic vacuum cleaner shown in Fig. 2, Fig. 4 illustrates a partial enlargement of the nozzle inlet shown in Fig. 3, and Fig. 5 illustrates a partial enlargement of an area of Fig. 2. Fig 6 illustrates a robotic vacuum cleaner and moving path Fig 7 illustrates a bottom side of a robotic vacuum cleaner, such as in Fig 1 or 2 Fig 8 illustrates a front side of a robotic vacuum cleaner, such as in Fig 1 or 2. Fig 9 illustrates a robotic vacuum cleaner, such as in Fig 1 or 2, and moving path Fig 10a-b illustrates a robotic vacuum cleaner and moving path DETAILED DESCRIPTION

[0021] Aspects of the present invention will now be described more fully. Like numbers refer to like elements throughout. Well-known functions or constructions will not necessarily be described in detail for brevity and / or clarity.

[0022] Figs. 1 and 2 illustrate a top view and a perspective bottom view of a robotic vacuum cleaner 2 according to embodiments. The robotic vacuum cleaner 2 comprises a housing 4, a drive arrangement 6 configured to drive the vacuum cleaner 2 along a surface to be cleaned, a vacuum producing unit 8 (schematically illustrated), a debris receptacle 10, and a nozzle 12 arranged in a portion of the housing 4 facing the surface to be cleaned.

[0023] The drive arrangement 6 ensures that the robotic vacuum cleaner is a self-propelling unit. The drive arrangement 6 comprises two wheels 18 driven by electric drive motors 20, (schematically illustrated). The drive arrangement 6 comprises non-driven supporting wheels 22. The drive arrangement 6 also comprises a control system 24 (schematically illustrated) configured to control the electric drive motors 20. The control system 24 comprises sensors 26 assisting in controlling the movement of the robotic vacuum cleaner 2.

[0024] The debris receptacle 10 is arranged in the housing 4. One side portion 32 of the debris receptacle 10 forms an outer surface portion of the robotic vacuum cleaner 2. Thus, the debris receptacle 10 is easily accessible and removable by a user for emptying thereof. The nozzle 12 is elongated and extends in parallel with a rotation axis of the two driven wheels 18. Thus, the nozzle extends across a travelling direction of the robotic vacuum cleaner 2 for broad cleaning coverage.

[0025] The nozzle 12 comprises a frame structure 28 forming an opening 30. The opening 30 is arranged in fluid communication with the debris receptacle 10 and the vacuum producing unit 8 is arranged in fluid communication with the opening 30. Thus, the vacuum producing unit 8 may produce a suction force at the opening 30 to transport debris from an area around the opening 30 via a debris conduit system to the debris receptacle 10.

[0026] The robotic vacuum cleaner 2 comprises a rotatable side brush 14 comprising bristles 34 extending radially to a rotation axis 16 of the rotatable side brush 14 and extending substantially in parallel with the surface to be cleaned. The bristles 34 extend to, and beyond, a lateral portion 35 of the housing 4 and over a side portion 36 of the nozzle 12. The bristles 34 have been illustrated schematically in Fig. 2. In practice the bristles 34 may be considerably thinner than illustrated and the rotatable side brush 14 may be provided with a considerably larger number of bristles 34 than illustrated. The robotic vacuum cleaner 2 comprises a rotatable elongated brush roll 38 arranged inside the housing 4 and extending along the nozzle 12 including the side portion 36 of the nozzle 12.

[0027] Fig. 3 illustrates the nozzle 12 of the robotic vacuum cleaner 2 shown in Fig. 2 in greater detail. In these embodiments, the nozzle 12 is comprised in a removable lid 40 configured to be positioned in the housing of the robotic vacuum cleaner 2. In alternative embodiments, the nozzle 12 may be formed directly in the housing.

[0028] As mentioned above, the nozzle 12 comprises a frame structure 28 forming an opening 30. The frame structure 28 has a leading edge portion (front edge) 42 and opposite thereto a trailing edge portion 44. The leading edge portion 42 and the trailing edge portion 44 border to the opening 30. The frame structure 28 comprises a base portion 46, which in use of the robotic vacuum cleaner extends substantially in parallel with the surface to be cleaned at a first level.

[0029] The leading edge portion 42 comprises at least two distance members 48 forming there between a channel 50 to the opening 30. In these embodiments the leading edge portion 42 comprises five distance members 48, 48'. In alternative embodiments the leading edge portion may comprise less than five distance members, e.g. three or four distance members, or more than five distance members, e.g. 6 - 10 distance members, alternatively no distance members.

[0030] Fig. 4 illustrates a partial enlargement of the nozzle 12 shown in Fig. 3. The channel 50 has a delimiting surface 52 extending at a second level substantially in parallel with the first level. In use of the robotic vacuum cleaner the first level is arranged closer to the surface to be cleaned than the second level.

[0031] If no distance members are used the delimiting surface 52 extends all along the leading edge portion 42.

[0032] In this embodiment, each distance member 48 has a substantially triangular cross section extending substantially in parallel with the first plane. Each distance member 48 extends between the first level and the second level with a top 54 of the substantially triangular cross section facing outwardly from the opening 30 and a base 56 of the substantially triangular cross section extending in parallel with the opening 30. Side surfaces 58 of the distance members 48 extend substantially from the top 54 to the base 56 of the substantially triangular cross section. At least a portion of the side surfaces 58 extend substantially perpendicularly to the base portion 46 and to the delimiting surface 52 of the channel 50.

[0033] The trailing edge portion 44 forms part of the base portion 46 and part of the side portion 36 of the nozzle 12. In these embodiments the side portion 36 extends at the second level. Accordingly, at the base portion 46 the trailing edge portion 44 extends at the first level and at the side portion 36 the trailing edge portion 44 extends at the second level. In alternative embodiments the entire trailing edge portion 44 may extend at the first level.

[0034] It is clearly visible in Figs. 3 and 4 that the delimiting surface 52 extends at a different level than the base portion 46, i.e. at the second level. Also at a lateral end 47 of the nozzle inlet 12 and at the trailing edge portion 44 of the side portion 36, the side portion 36 may extend at the second level. Alternatively, the lateral end 47 and the trailing edge portion 44 of the side portion 36 may extend at the first level. As also clearly visible in Figs. 3 and 4, the leading edge portion 42 comprises a number of portions extending at the second level, namely delimiting surfaces 52 of channels formed between the distance members 48 as well at end portions of the opening 30 next to the outer distance members 48'.

[0035] The nozzle 12 comprises at least one cross brace 62 extending from at least one of the distance members 48 to the trailing edge 44. The at least one cross brace 62 forms part of the base portion 46 and extends at the first level.

[0036] The substantially triangular cross section of two adjacent distance members 48 reduce the cross section of the channel 50 formed there between towards the opening 30. Thus, one of the side surfaces 58 of a first of the at least two distance members 48 and one thereto opposing side surface 58 of a second of the at least two distance members 48 forms a funnel towards the opening 30.

[0037] A bottom surface 60 of each of the distance members 48 forms a smooth transition between the second level and the first level.

[0038] Fig. 5 illustrates an enlargement of the encircled area V of Fig. 2 with the rotatable side brush removed for the sake of clarity. As discussed in connection with Fig. 2, the robotic vacuum cleaner 2 comprises a rotatable elongated brush roll 38 arranged inside the housing 4 and extending along the nozzle inlet 12. The rotatable elongated brush roll 38 comprises radially extending members 64', 64" extending from inside the housing 40 at least to the first level. In these embodiments, a first radially extending member 64' of the radially extending members comprises a resilient lip and a second radially extending member 64" of the radially extending members comprises bristles. Alternatively, all radially extending members 64', 64" may comprise resilient lips or bristles.

[0039] In use of the robotic vacuum cleaner 2, the base member 46 at the first level may extend at a distance of less than 2 mm from the surface to be cleaned. In use of the robotic vacuum cleaner 2, the base portion 46 may be that part of the nozzle 12, which extends closest to the surface to be cleaned. In use of robotic vacuum cleaner 2, the nozzle 12 may form part of the housing 4 or alternatively, may be attached to the housing 4, and wherein the base portion 46 may extend closest to the surface to be cleaned of the nozzle 12 and the housing 4.

[0040] Fig 6 illustrates a robotic vacuum cleaner 2 moving along a wall. The enlarged portion illustrates a particle 80 in front of the robotic vacuum cleaner which is too large to enter between the leading edge portion / front edge and the surface to be cleaned. The particle 80 will stay in front of the leading edge portion. During turning of the robotic vacuum cleaner the particle will move relative to the leading edge portion towards the outside of the robotic vacuum cleaner. An aperture 51 (as described in Fig above) is arranged at the end of the nozzle. Since the aperture 51 provides a larger opening the particle may pass and enter the nozzle and further to the dust receptacle.

[0041] A second particle 81 is also illustrated. This particle is moved be the bristles of the side brush towards the nozzle 12. If the particle is too big to enter between the leading edge portion / front edge and the surface to be cleaned. The particle 81 will stay in front of the robotic vacuum cleaner or leading edge portion.

[0042] The aperture 51 provides a larger opening and the particle may pass and enter the nozzle and further to the dust receptacle.

[0043] Fig 7 illustrates the bottom side of a robotic vacuum cleaner, such as one described above. The robotic vacuum cleaner 2 comprises a nozzle having a front edge 42 and an opening 12. Inside the opening, a rotatable brush 38 may be arranged. The robotic vacuum cleaner also comprises a side brush 14. The front edge comprises an aperture 51.

[0044] Fig 8 illustrates the front of a robotic vacuum cleaner, such as one described above, eg in Fig 7. The front shows sensors 26 connected to a control system as described above. The front edge 42 comprises a first section S1 arranged with one distance to the surface to be cleaned, and a second section S2 with a second distance to the surface to be cleaned which is higher than the first distance. The second section S2 comprise an aperture (51). The second section S2 thereby provides a larger opening for allowing larger particles to enter the nozzle and the robotic vacuum cleaner.

[0045] Fig 9 illustrates a robotic vacuum cleaner, such as one described above from above and a moving pattern during cleaning. The robotic vacuum cleaner comprises a side brush arranged at the side always facing the outside of the turning. A particle 80 is trapped in front of the robotic vacuum cleaner because it is too large to pass between the front edge and the surface to be cleaned. When turning the robotic vacuum cleaner the particle 80 will move relative the robotic vacuum cleaner, along the front edge towards the outside of the turn. By having an aperture 51 with a height larger than the height over the rest of the front edge the particle 80 may pass the aperture and thereby be cleaned.

[0046] Fig 10a illustrates front of a robotic vacuum cleaner 2, such as one described above. The robotic vacuum cleaner in this embodiment do not have a side brush, however sensors, drive means, control means etc are similar to a robotic vacuum cleaner as described above, e.g. in Fig 1-2. The robotic vacuum cleaner comprises a front edge 42 having a first section S1 and a second section S2. In this embodiment the first section mainly extends between two parts of the second section. The second section comprises an aperture, in this embodiment each part of the second section comprises an aperture 51. The second section and the aperture 51 is arranged in each end of the opening 30 (see Fig 10b)

[0047] Fig 10b illustrates front of a robotic vacuum cleaner 2, such as one described above. The figure illustrates a preferred moving path of a robotic vacuum cleaner of the claimed type, especially when no side brush is attached to the robotic vacuum cleaner. A particle 80 trapped in front of the robotic vacuum cleaner due to that its size is too big to pass between the front edge and the surface to be cleaned, eg pass in the first section S1. An S-form moving pattern may make it possible to clean even these larger particles. When turning the robotic vacuum cleaner the particle 80 will move along the front edge towards the outside of the turn. By having an aperture large enough to allow the particle 80 to pass the particle 80 will be cleaned.

[0048] If the moving pattern of the robotic vacuum cleaner during cleaning is based on turning always in the same direction, e.g spiral cleaning, it may be enough with only one aperture arranged at the side always facing the outside of the curve. If the moving pattern during cleaning is turning at both left and right, e.g. random cleaning, it is preferred to arrange one aperture at each side of the robotic vacuum cleaner, e.g. both sides of the elongated opening.

[0049] The robotic vacuum cleaner (2) according to the invention comprises a housing (4). The robotic vacuum cleaner comprising a drive arrangement (6) being configured to drive the vacuum cleaner (2) along a surface to be cleaned. The robotic vacuum cleaner comprising a vacuum producing unit (8), a debris receptacle (10). The robotic vacuum cleaner comprising a nozzle arranged in the housing (4) facing the surface to be cleaned. The nozzle comprises a front edge, and a suction opening (30). The suction opening (30) being arranged in fluid communication with the debris receptacle (10) and the vacuum producing unit (8). The front edge comprises an aperture (51).

[0050] The opening is elongated extending in a direction perpendicular to the drive direction of the robotic vacuum cleaner. The aperture is arranged adjacent to one end of the elongated suction opening.

[0051] The aperture is arranged at the right or left side of the nozzle and / or right or left side of the elongated suction opening.

[0052] One aperture is arranged at the right side of the nozzle. A second aperture is arranged at the left side of the nozzle.

[0053] A side brush (14) is arranged at one end of the nozzle The aperture is arranged at the same end.

[0054] The aperture is arranged adjacent to the end of the bristles of the side brush.

[0055] This invention should not be construed as limited to the embodiments set forth herein. A person skilled in the art will realize that different features of the embodiments disclosed herein may be combined to create embodiments other than those described herein, without departing from the scope of the present invention, as defined by the appended claims. Although the invention has been described with reference to example embodiments, many different alterations, modifications and the like will become apparent for those skilled in the art. Therefore, it is to be understood that the foregoing is illustrative of various example embodiments and that the invention is defined only by the appended claims.

[0056] As used herein, the term "comprising" or "comprises" is open-ended, and includes one or more stated features, elements, steps, components or functions but does not preclude the presence or addition of one or more other features, elements, steps, components, functions or groups thereof.

Examples

Embodiment Construction

[0021]Aspects of the present invention will now be described more fully. Like numbers refer to like elements throughout. Well-known functions or constructions will not necessarily be described in detail for brevity and / or clarity.

[0022]Figs. 1 and 2 illustrate a top view and a perspective bottom view of a robotic vacuum cleaner 2 according to embodiments. The robotic vacuum cleaner 2 comprises a housing 4, a drive arrangement 6 configured to drive the vacuum cleaner 2 along a surface to be cleaned, a vacuum producing unit 8 (schematically illustrated), a debris receptacle 10, and a nozzle 12 arranged in a portion of the housing 4 facing the surface to be cleaned.

[0023]The drive arrangement 6 ensures that the robotic vacuum cleaner is a self-propelling unit. The drive arrangement 6 comprises two wheels 18 driven by electric drive motors 20, (schematically illustrated). The drive arrangement 6 comprises non-driven supporting wheels 22. The drive arrangement 6 also comprises a control ...

TECHNICAL FIELD

[0001] The present invention relates to a robotic vacuum cleaner.BACKGROUND

[0002] A robotic vacuum cleaner forms of a self-propelling unit provided with a drive arrangement comprising a control system configured to control a movement of the robotic vacuum cleaner along a surface to be cleaned. The control system may comprise one or more sensors providing input to assist in controlling the movement of the robotic vacuum cleaner. A vacuum producing unit of the robotic vacuum cleaner is arranged in fluid communication with an opening of a nozzle inlet facing the surface to be cleaned. Debris sucked or otherwise propelled into the opening is directed into a debris receptacle of the robotic vacuum cleaner. The debris receptacle is emptied, or replaced, when filled with debris to a certain degree.

[0003] Since a robotic vacuum cleaner is to move freely about a surface to be cleaned it would be limited in its movements by an electric cord. Thus, a robotic vacuum cleaner is battery powered and the cleaning capability of a robotic vacuum cleaner has to be designed with the capacity of the on-board battery in mind. Accordingly, the drive arrangement, the capacity of the vacuum producing unit, the use of various rotating brushes, etc. affect consumption of electric power and thus, the design of a robotic vacuum cleaner.

[0004] Thus, the vacuum, or suction, produced by the vacuum producing unit should be produced with as low electric energy consumption as possible while maintaining good cleaning efficiency.

[0005] Also, todays cleaners assume likewise spreading of particles over the length of the nozzle width and are thereby having openings in the nozzle to allow for this. This may reduce the overall cleaning performance since opening up the nozzle leads to air leakage.SUMMARY

[0006] It is an object of the present invention to provide a robotic vacuum cleaner, a nozzle and a method having potential to effectively clean fine dust and particles as well as cleaning larger debris than dust, such larger particles and small stones, into the robotic vacuum cleaner.

[0007] WO2016 / 037635 A1 discloses a robotic vacuum cleaner according to the preamble of independent claim 1 having potential to produce a suction force sufficient to draw also larger debris than dust, such as sand and small stones, into the robotic vacuum cleaner with low energy consumption.

[0008] The robotic vacuum cleaner has a nozzle inlet comprises the base portion extending at the first level extending substantially in parallel with the surface to be cleaned. The channel formed between distance members has the delimiting surface extending at the second level, a larger air flow is produced in the channel by the vacuum producing unit. The larger airflow and space provided in the channel assists in drawing debris larger than dust into the opening.

[0009] The present invention is described in the independent claims.

[0010] According to an aspect of the invention, a robotic vacuum cleaner comprising a housing, a drive arrangement being configured to drive the vacuum cleaner along a surface to be cleaned, a vacuum producing unit, a debris receptacle, and a nozzle inlet arranged in a portion of the housing facing the surface to be cleaned. The nozzle inlet comprises a frame structure forming an opening, the opening being arranged in fluid communication with the debris receptacle and the vacuum producing unit being arranged in in fluid communication with the opening. The frame structure has a leading edge portion and opposite thereto a trailing edge portion, the leading edge portion and the trailing edge portion border to the opening. The frame structure comprises a base portion extending substantially in parallel with the surface to be cleaned. The first level is arranged closer to the surface to be cleaned than the second level.

[0011] Since the nozzle inlet comprises the base portion extending at the first level and the channel formed between the distance members has the delimiting surface extending at the second level, a larger air flow is produced in the channel by the vacuum producing unit than at the base portion and the distance members at the first level.

[0012] It is understood that the first level is arranged closer to the surface to be cleaned than the second level in use of the robotic vacuum cleaner. The robotic vacuum cleaner may be a self-propelling unit. The drive arrangement may comprise one or more wheels, of which at least one wheel is directly or indirectly driven by an electric drive motor. The drive arrangement may further comprise a control system configured to control the electric drive motor to move the robotic vacuum cleaner about the surface to be cleaned. The control system may comprise one or more sensors to provide input assisting in controlling the movement of the robotic vacuum cleaner. The at least one sensor may be of one or more different kinds, such as e.g. an infrared sensor, a laser sensor, an ultrasonic sensor, or a contact sensor. The vacuum producing unit may comprise a fan driven by an electric fan motor. The opening may be arranged in fluid communication with the debris receptacle via a debris conduit system. The vacuum producing unit may be arranged in fluid communication with the opening via the debris conduit system and optionally also the debris receptacle, i.e. the vacuum producing unit in some embodiments may create a suction from the opening of the nozzle inlet via the debris conduit system to the debris receptacle. In use of the robotic vacuum cleaner the leading edge portion of the frame structure travels ahead of the trailing edge portion in most cleaning situations. The robotic vacuum cleaner may comprise one or more rotatable brushes assisting in propelling debris towards, or into, the opening of the nozzle inlet. The rotatable brushes may be driven by one or more electric brush motors.

[0013] Besides controlling the drive motor, the control system may also control the fan motor and / or the one or more brush motors. The robotic vacuum cleaner may comprise one or more rechargeable batteries configured to power the drive arrangement including the control system and the various electric motors.

[0014] According to the invention robotic vacuum cleaner comprises a housing. The robotic vacuum cleaner comprises a drive arrangement being configured to drive the vacuum cleaner along a surface to be cleaned. The robotic vacuum cleaner comprising a vacuum producing unit, a debris receptacle. The robotic vacuum cleaner comprising a nozzle arranged in the housing facing the surface to be cleaned. The nozzle comprises a front edge, and a suction opening. The suction opening being arranged in fluid communication with the debris receptacle and the vacuum producing unit. The front edge comprises an aperture.

[0015] The opening is elongated extending in a direction perpendicular to the drive direction of the robotic vacuum cleaner, and the aperture is arranged adjacent to one end of the elongated opening.

[0016] The aperture is arranged at the right or left side of the nozzle.

[0017] One aperture is arranged at the right side of the nozzle. A second aperture is arranged at the left side of the nozzle.

[0018] A side brush is arranged at one end of the nozzle. The aperture is arranged at the same end.

[0019] The aperture is arranged adjacent to the end of the bristles of the side brush.BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Various aspects of the invention, including its particular features and advantages, will be readily understood from the example embodiments discussed in the following detailed description and the accompanying drawings, in which: Figs. 1 and 2 illustrate a top view and a perspective bottom view of a robotic vacuum cleaner according to embodiments, Fig. 3 illustrates a nozzle inlet of the robotic vacuum cleaner shown in Fig. 2, Fig. 4 illustrates a partial enlargement of the nozzle inlet shown in Fig. 3, and Fig. 5 illustrates a partial enlargement of an area of Fig. 2. Fig 6 illustrates a robotic vacuum cleaner and moving path Fig 7 illustrates a bottom side of a robotic vacuum cleaner, such as in Fig 1 or 2 Fig 8 illustrates a front side of a robotic vacuum cleaner, such as in Fig 1 or 2. Fig 9 illustrates a robotic vacuum cleaner, such as in Fig 1 or 2, and moving path Fig 10a-b illustrates a robotic vacuum cleaner and moving path DETAILED DESCRIPTION

[0021] Aspects of the present invention will now be described more fully. Like numbers refer to like elements throughout. Well-known functions or constructions will not necessarily be described in detail for brevity and / or clarity.

[0022] Figs. 1 and 2 illustrate a top view and a perspective bottom view of a robotic vacuum cleaner 2 according to embodiments. The robotic vacuum cleaner 2 comprises a housing 4, a drive arrangement 6 configured to drive the vacuum cleaner 2 along a surface to be cleaned, a vacuum producing unit 8 (schematically illustrated), a debris receptacle 10, and a nozzle 12 arranged in a portion of the housing 4 facing the surface to be cleaned.

[0023] The drive arrangement 6 ensures that the robotic vacuum cleaner is a self-propelling unit. The drive arrangement 6 comprises two wheels 18 driven by electric drive motors 20, (schematically illustrated). The drive arrangement 6 comprises non-driven supporting wheels 22. The drive arrangement 6 also comprises a control system 24 (schematically illustrated) configured to control the electric drive motors 20. The control system 24 comprises sensors 26 assisting in controlling the movement of the robotic vacuum cleaner 2.

[0024] The debris receptacle 10 is arranged in the housing 4. One side portion 32 of the debris receptacle 10 forms an outer surface portion of the robotic vacuum cleaner 2. Thus, the debris receptacle 10 is easily accessible and removable by a user for emptying thereof. The nozzle 12 is elongated and extends in parallel with a rotation axis of the two driven wheels 18. Thus, the nozzle extends across a travelling direction of the robotic vacuum cleaner 2 for broad cleaning coverage.

[0025] The nozzle 12 comprises a frame structure 28 forming an opening 30. The opening 30 is arranged in fluid communication with the debris receptacle 10 and the vacuum producing unit 8 is arranged in fluid communication with the opening 30. Thus, the vacuum producing unit 8 may produce a suction force at the opening 30 to transport debris from an area around the opening 30 via a debris conduit system to the debris receptacle 10.

[0026] The robotic vacuum cleaner 2 comprises a rotatable side brush 14 comprising bristles 34 extending radially to a rotation axis 16 of the rotatable side brush 14 and extending substantially in parallel with the surface to be cleaned. The bristles 34 extend to, and beyond, a lateral portion 35 of the housing 4 and over a side portion 36 of the nozzle 12. The bristles 34 have been illustrated schematically in Fig. 2. In practice the bristles 34 may be considerably thinner than illustrated and the rotatable side brush 14 may be provided with a considerably larger number of bristles 34 than illustrated. The robotic vacuum cleaner 2 comprises a rotatable elongated brush roll 38 arranged inside the housing 4 and extending along the nozzle 12 including the side portion 36 of the nozzle 12.

[0027] Fig. 3 illustrates the nozzle 12 of the robotic vacuum cleaner 2 shown in Fig. 2 in greater detail. In these embodiments, the nozzle 12 is comprised in a removable lid 40 configured to be positioned in the housing of the robotic vacuum cleaner 2. In alternative embodiments, the nozzle 12 may be formed directly in the housing.

[0028] As mentioned above, the nozzle 12 comprises a frame structure 28 forming an opening 30. The frame structure 28 has a leading edge portion (front edge) 42 and opposite thereto a trailing edge portion 44. The leading edge portion 42 and the trailing edge portion 44 border to the opening 30. The frame structure 28 comprises a base portion 46, which in use of the robotic vacuum cleaner extends substantially in parallel with the surface to be cleaned at a first level.

[0029] The leading edge portion 42 comprises at least two distance members 48 forming there between a channel 50 to the opening 30. In these embodiments the leading edge portion 42 comprises five distance members 48, 48'. In alternative embodiments the leading edge portion may comprise less than five distance members, e.g. three or four distance members, or more than five distance members, e.g. 6 - 10 distance members, alternatively no distance members.

[0030] Fig. 4 illustrates a partial enlargement of the nozzle 12 shown in Fig. 3. The channel 50 has a delimiting surface 52 extending at a second level substantially in parallel with the first level. In use of the robotic vacuum cleaner the first level is arranged closer to the surface to be cleaned than the second level.

[0031] If no distance members are used the delimiting surface 52 extends all along the leading edge portion 42.

[0032] In this embodiment, each distance member 48 has a substantially triangular cross section extending substantially in parallel with the first plane. Each distance member 48 extends between the first level and the second level with a top 54 of the substantially triangular cross section facing outwardly from the opening 30 and a base 56 of the substantially triangular cross section extending in parallel with the opening 30. Side surfaces 58 of the distance members 48 extend substantially from the top 54 to the base 56 of the substantially triangular cross section. At least a portion of the side surfaces 58 extend substantially perpendicularly to the base portion 46 and to the delimiting surface 52 of the channel 50.

[0033] The trailing edge portion 44 forms part of the base portion 46 and part of the side portion 36 of the nozzle 12. In these embodiments the side portion 36 extends at the second level. Accordingly, at the base portion 46 the trailing edge portion 44 extends at the first level and at the side portion 36 the trailing edge portion 44 extends at the second level. In alternative embodiments the entire trailing edge portion 44 may extend at the first level.

[0034] It is clearly visible in Figs. 3 and 4 that the delimiting surface 52 extends at a different level than the base portion 46, i.e. at the second level. Also at a lateral end 47 of the nozzle inlet 12 and at the trailing edge portion 44 of the side portion 36, the side portion 36 may extend at the second level. Alternatively, the lateral end 47 and the trailing edge portion 44 of the side portion 36 may extend at the first level. As also clearly visible in Figs. 3 and 4, the leading edge portion 42 comprises a number of portions extending at the second level, namely delimiting surfaces 52 of channels formed between the distance members 48 as well at end portions of the opening 30 next to the outer distance members 48'.

[0035] The nozzle 12 comprises at least one cross brace 62 extending from at least one of the distance members 48 to the trailing edge 44. The at least one cross brace 62 forms part of the base portion 46 and extends at the first level.

[0036] The substantially triangular cross section of two adjacent distance members 48 reduce the cross section of the channel 50 formed there between towards the opening 30. Thus, one of the side surfaces 58 of a first of the at least two distance members 48 and one thereto opposing side surface 58 of a second of the at least two distance members 48 forms a funnel towards the opening 30.

[0037] A bottom surface 60 of each of the distance members 48 forms a smooth transition between the second level and the first level.

[0038] Fig. 5 illustrates an enlargement of the encircled area V of Fig. 2 with the rotatable side brush removed for the sake of clarity. As discussed in connection with Fig. 2, the robotic vacuum cleaner 2 comprises a rotatable elongated brush roll 38 arranged inside the housing 4 and extending along the nozzle inlet 12. The rotatable elongated brush roll 38 comprises radially extending members 64', 64" extending from inside the housing 40 at least to the first level. In these embodiments, a first radially extending member 64' of the radially extending members comprises a resilient lip and a second radially extending member 64" of the radially extending members comprises bristles. Alternatively, all radially extending members 64', 64" may comprise resilient lips or bristles.

[0039] In use of the robotic vacuum cleaner 2, the base member 46 at the first level may extend at a distance of less than 2 mm from the surface to be cleaned. In use of the robotic vacuum cleaner 2, the base portion 46 may be that part of the nozzle 12, which extends closest to the surface to be cleaned. In use of robotic vacuum cleaner 2, the nozzle 12 may form part of the housing 4 or alternatively, may be attached to the housing 4, and wherein the base portion 46 may extend closest to the surface to be cleaned of the nozzle 12 and the housing 4.

[0040] Fig 6 illustrates a robotic vacuum cleaner 2 moving along a wall. The enlarged portion illustrates a particle 80 in front of the robotic vacuum cleaner which is too large to enter between the leading edge portion / front edge and the surface to be cleaned. The particle 80 will stay in front of the leading edge portion. During turning of the robotic vacuum cleaner the particle will move relative to the leading edge portion towards the outside of the robotic vacuum cleaner. An aperture 51 (as described in Fig above) is arranged at the end of the nozzle. Since the aperture 51 provides a larger opening the particle may pass and enter the nozzle and further to the dust receptacle.

[0041] A second particle 81 is also illustrated. This particle is moved be the bristles of the side brush towards the nozzle 12. If the particle is too big to enter between the leading edge portion / front edge and the surface to be cleaned. The particle 81 will stay in front of the robotic vacuum cleaner or leading edge portion.

[0042] The aperture 51 provides a larger opening and the particle may pass and enter the nozzle and further to the dust receptacle.

[0043] Fig 7 illustrates the bottom side of a robotic vacuum cleaner, such as one described above. The robotic vacuum cleaner 2 comprises a nozzle having a front edge 42 and an opening 12. Inside the opening, a rotatable brush 38 may be arranged. The robotic vacuum cleaner also comprises a side brush 14. The front edge comprises an aperture 51.

[0044] Fig 8 illustrates the front of a robotic vacuum cleaner, such as one described above, eg in Fig 7. The front shows sensors 26 connected to a control system as described above. The front edge 42 comprises a first section S1 arranged with one distance to the surface to be cleaned, and a second section S2 with a second distance to the surface to be cleaned which is higher than the first distance. The second section S2 comprise an aperture (51). The second section S2 thereby provides a larger opening for allowing larger particles to enter the nozzle and the robotic vacuum cleaner.

[0045] Fig 9 illustrates a robotic vacuum cleaner, such as one described above from above and a moving pattern during cleaning. The robotic vacuum cleaner comprises a side brush arranged at the side always facing the outside of the turning. A particle 80 is trapped in front of the robotic vacuum cleaner because it is too large to pass between the front edge and the surface to be cleaned. When turning the robotic vacuum cleaner the particle 80 will move relative the robotic vacuum cleaner, along the front edge towards the outside of the turn. By having an aperture 51 with a height larger than the height over the rest of the front edge the particle 80 may pass the aperture and thereby be cleaned.

[0046] Fig 10a illustrates front of a robotic vacuum cleaner 2, such as one described above. The robotic vacuum cleaner in this embodiment do not have a side brush, however sensors, drive means, control means etc are similar to a robotic vacuum cleaner as described above, e.g. in Fig 1-2. The robotic vacuum cleaner comprises a front edge 42 having a first section S1 and a second section S2. In this embodiment the first section mainly extends between two parts of the second section. The second section comprises an aperture, in this embodiment each part of the second section comprises an aperture 51. The second section and the aperture 51 is arranged in each end of the opening 30 (see Fig 10b)

[0047] Fig 10b illustrates front of a robotic vacuum cleaner 2, such as one described above. The figure illustrates a preferred moving path of a robotic vacuum cleaner of the claimed type, especially when no side brush is attached to the robotic vacuum cleaner. A particle 80 trapped in front of the robotic vacuum cleaner due to that its size is too big to pass between the front edge and the surface to be cleaned, eg pass in the first section S1. An S-form moving pattern may make it possible to clean even these larger particles. When turning the robotic vacuum cleaner the particle 80 will move along the front edge towards the outside of the turn. By having an aperture large enough to allow the particle 80 to pass the particle 80 will be cleaned.

[0048] If the moving pattern of the robotic vacuum cleaner during cleaning is based on turning always in the same direction, e.g spiral cleaning, it may be enough with only one aperture arranged at the side always facing the outside of the curve. If the moving pattern during cleaning is turning at both left and right, e.g. random cleaning, it is preferred to arrange one aperture at each side of the robotic vacuum cleaner, e.g. both sides of the elongated opening.

[0049] The robotic vacuum cleaner (2) according to the invention comprises a housing (4). The robotic vacuum cleaner comprising a drive arrangement (6) being configured to drive the vacuum cleaner (2) along a surface to be cleaned. The robotic vacuum cleaner comprising a vacuum producing unit (8), a debris receptacle (10). The robotic vacuum cleaner comprising a nozzle arranged in the housing (4) facing the surface to be cleaned. The nozzle comprises a front edge, and a suction opening (30). The suction opening (30) being arranged in fluid communication with the debris receptacle (10) and the vacuum producing unit (8). The front edge comprises an aperture (51).

[0050] The opening is elongated extending in a direction perpendicular to the drive direction of the robotic vacuum cleaner. The aperture is arranged adjacent to one end of the elongated suction opening.

[0051] The aperture is arranged at the right or left side of the nozzle and / or right or left side of the elongated suction opening.

[0052] One aperture is arranged at the right side of the nozzle. A second aperture is arranged at the left side of the nozzle.

[0053] A side brush (14) is arranged at one end of the nozzle The aperture is arranged at the same end.

[0054] The aperture is arranged adjacent to the end of the bristles of the side brush.

[0055] This invention should not be construed as limited to the embodiments set forth herein. A person skilled in the art will realize that different features of the embodiments disclosed herein may be combined to create embodiments other than those described herein, without departing from the scope of the present invention, as defined by the appended claims. Although the invention has been described with reference to example embodiments, many different alterations, modifications and the like will become apparent for those skilled in the art. Therefore, it is to be understood that the foregoing is illustrative of various example embodiments and that the invention is defined only by the appended claims.

[0056] As used herein, the term "comprising" or "comprises" is open-ended, and includes one or more stated features, elements, steps, components or functions but does not preclude the presence or addition of one or more other features, elements, steps, components, functions or groups thereof.

Examples

Embodiment Construction

[0021]Aspects of the present invention will now be described more fully. Like numbers refer to like elements throughout. Well-known functions or constructions will not necessarily be described in detail for brevity and / or clarity.

[0022]Figs. 1 and 2 illustrate a top view and a perspective bottom view of a robotic vacuum cleaner 2 according to embodiments. The robotic vacuum cleaner 2 comprises a housing 4, a drive arrangement 6 configured to drive the vacuum cleaner 2 along a surface to be cleaned, a vacuum producing unit 8 (schematically illustrated), a debris receptacle 10, and a nozzle 12 arranged in a portion of the housing 4 facing the surface to be cleaned.

[0023]The drive arrangement 6 ensures that the robotic vacuum cleaner is a self-propelling unit. The drive arrangement 6 comprises two wheels 18 driven by electric drive motors 20, (schematically illustrated). The drive arrangement 6 comprises non-driven supporting wheels 22. The drive arrangement 6 also comprises a control ...

Claims

1. A robotic vacuum cleaner (2) comprising a housing (4), a drive arrangement (6) being configured to drive the vacuum cleaner (2) along a surface to be cleaned, a vacuum producing unit (8), a debris receptacle (10), and a nozzle (12) arranged in a portion of the housing (4) facing the surface to be cleaned, wherein the nozzle (12) comprises an elongated suction opening (30), the suction opening (30) being arranged in fluid communication with a the debris receptacle (10) and the vacuum producing unit (8) being arranged in fluid communication with the suction opening (30), wherein a front edge (42) being arranged along one side of the elongated suction opening (30),and between the front edge and the surface to be cleaned an air channel (50) is created, wherein a side brush (14) is arranged at one end of the nozzle, characterised in that, the front edge (42) comprises an aperture (51), which is arranged at the same end of the nozzle where the side brush (14) is arranged.

2. Robotic vacuum cleaner according to claim 1, wherein air flow in the aperture (51) is increased compared to the air flow in the other part of the air channel.

3. Robotic vacuum cleaner according to any of claims 1-2, wherein the aperture (51) allows a larger particle to pass under the front edge compared to the other part of the front edge into the suction opening.

4. Robotic vacuum cleaner according to any of claims 1-3, wherein the opening is elongated extending in a direction perpendicular to the drive direction of the robotic vacuum cleaner, and the aperture is arranged adjacent to one end of the elongated suction opening.

5. Robotic vacuum cleaner according to any of claims 1-4, wherein the aperture is arranged at the right or left side of the nozzle.

6. Robotic vacuum cleaner according to any of claims 1-5, wherein one aperture is arranged at the right side of the nozzle and a second aperture is arranged at the left side of the nozzle.

7. Robotic vacuum cleaner according to claim 6, wherein the aperture is arranged adjacent to the end of the bristles of the side brush.

8. Robotic vacuum cleaner according to any of claims 1-7, wherein the front edge comprises a first section with a first distance between the front edge and a surface to be cleaned and a a second section with a second distance, which is longer than the first distance.

9. A robotic vacuum cleaner according to claim 8, wherein the second distance is more than 2 times longer than the first distance, preferably more than 3 times higher than the first distance.

10. A robotic vacuum cleaner according to any of claims 8-9, wherein the section of the front edge arranged closest to the surface to be cleaned is the first section.

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