Suction device for a suction robot, suction robot and a method for actuating a suction robot

Abstract

A suction device (100) for a robotic vacuum cleaner (10) is disclosed. The robotic vacuum cleaner has a suction channel (20) for picking up dirt (30) from a surface (40) during a forward movement (V). The suction device (100) comprises: a base plate (110) with an opening (115) for the suction channel (20), a holder (120) for the base plate (100), and a movement device (130). With respect to the forward movement (V), the base plate (110) comprises a front section (111) and a rear section (112), between which the opening (115) is formed and which each enable planar contact with the surface (40). The holder (120) is designed to keep the rear section (112) of the base plate (110) in contact with the surface (40).The movement device (130) serves to selectively raise or lower the front section (111), while the rear section (112) remains in contact with the surface (40) and is further designed to place the front section (111) fully on the surface (40) when lowering.

Description

[0001] The present invention relates to a suction device for a vacuum robot, a vacuum robot and a method for controlling a vacuum robot, and in particular to a vacuum robot with a liftable suction channel front edge. BACKGROUND

[0002] With conventional robotic vacuum cleaners, and especially with regard to the suction devices they use, the base plate is usually rigidly or floatingly connected to the robot. This floating base plate makes the robot less flexible in its use when dealing with coarse and fine dirt. Therefore, a compromise must always be made when cleaning with these models. Other conventional robotic vacuum cleaners also feature a movable base plate that can be lifted or swiveled as a whole.

[0003] However, it has become apparent that these existing solutions only provide inadequate results for dirt of varying sizes. Particularly with coarse dirt, these suction devices often lose contact with the surface, reducing suction power. Alternatively, the suction device may lie flat against the surface, making it difficult to pick up larger debris.

[0004] Therefore, there is a need for other suction devices that are flexible and can be used for both coarse and fine dirt with high suction power. Kurzbeschreibung der Erfindung

[0005] At least some of the aforementioned problems are solved by a suction device according to claim 1, a vacuum robot according to claim 8, and a method according to claim 11. The dependent claims relate to further advantageous embodiments of the subject matter of the independent claims.

[0006] The present invention relates to a suction device for a robotic vacuum cleaner. The robotic vacuum cleaner has a suction channel for picking up dirt from a surface in a forward movement. The suction device comprises: a base plate with an opening for the suction channel, wherein the base plate has a front section and a rear section with respect to forward movement, between which the opening is formed and which each enable planar contact with the surface; a holder for the base plate, wherein the holder is designed to keep the rear section of the base plate in contact with the surface; and a movement device for selectively raising or lowering the front section while the rear section remains in contact with the surface, wherein the movement device is further designed to place the front section completely flat on the surface when lowering.

[0007] A person skilled in the art understands planar contact to mean that the contact area has a minimum width and a minimum length along which simultaneous contact occurs. Contact along a line is therefore not planar contact, as there is no predefined minimum width. According to exemplary embodiments, the planar contact can, for example, extend over the entire width of the suction channel (perpendicular to the forward movement), and the minimum width can be greater than 1 cm or greater than 3 cm. This planar contact offers the technical advantage of maintaining high suction power on various surfaces.

[0008] Within the scope of this disclosure, "area contact" is to be understood as meaning that a small gap (e.g., 1 to 2 millimeters) can still remain between the surface and the base plate. Particularly with flat and hard surfaces (e.g., stone or parquet), it is advantageous for a small gap to remain. Therefore, "area contact" is to be understood as meaning that the airflow through the remaining gap is significantly dampened or negligible compared to the airflow entering through the raised front section.

[0009] The movement mechanism allows, for example, the rear section of the base plate to be in full contact with the surface in one position (e.g., after being lifted), and the front section to be in corresponding full contact with the surface in another position (e.g., after being lowered). The mounting can, for example, include guide elements, bearings, or a mechanism to implement the movement accordingly.

[0010] The direction of what is in front and what is behind can be defined according to the standard forward movement of the robot vacuum (i.e., the dirt is picked up from the front). Alternatively, the front section can also be referred to as the first section and the rear section as the second section. However, an expert is familiar with the direction of movement of a robot vacuum.

[0011] Optionally, the base plate is designed to attach the suction duct to the opening, so that the suction duct opens into the opening. The opening thus forms a suction duct boundary edge, and lifting the front section therefore raises the front suction edge (suction duct boundary edge).

[0012] Optionally, the base plate between the front and rear sections includes two opposing side sections that together enclose the opening along a suction duct boundary edge. The side sections can be rigidly connected to the rear section. A rigid connection means, in particular, that the sections can be monolithic, i.e., formed from a single, continuous component / material. In this way, for example, the side sections, together with the rear section, can form a common contact surface with the surface. This has the technical effect of directing the suction of the incoming air towards or from the front, i.e., it is strongest where the contaminants are located. Air being drawn in from the side and rear can thus be largely prevented.

[0013] Optionally, the base plate is formed monolithically with the front and rear sections, and the mounting is a rotating mount around a pivot axis. The movement mechanism is then designed to perform a rotational movement of the base plate (as a whole) around the pivot axis. This has the technical effect of allowing the rear surface contact area to be increased or widened by rotation. This improves the seal against suction at the rear, which in turn increases suction power.

[0014] Optionally, the flat contact surface of the front section is not parallel to the flat contact surface of the rear section (relative to the surface), so that the base plate is angled by a predetermined angle. The movement device is then designed to rotate the base plate by the predetermined angle, resulting in an angle of inclination. α changes to the surface. The maximum tilt angle αThis would then be the predetermined angle of the bend. Optionally, the axis of rotation lies on a rear part of the suction channel boundary edge. The angle of rotation (angle of inclination) αThe angle can be between 0° and 20° or between 2° and 15°. During the aforementioned rotation, for example, the front section is lifted while the rear section, or a portion thereof, rotates in place. The side sections can be lifted along with the front section, so that only the rear section remains in contact with the surface. Therefore, the rear portion of the suction channel's boundary edge does not change its height above the surface during rotation. However, as mentioned, the suction channel's boundary edge can maintain a distance of 1 to 2 mm from the surface. This embodiment is particularly advantageous when the base plate's movement mechanism operates in a binary fashion (either up or down). The "up" position would be suitable for coarse dirt and high flow rates. The "down" position would be suitable for deep cleaning, as a high vacuum is generated in this position, even if the flow rate decreases slightly.In both cases, maximum surface contact is achieved, which in turn improves dirt pickup (both coarse and deep). Furthermore, this design is easy to manufacture if the base plate is produced monolithically as an angled component.

[0015] Optionally, the base plate can be designed in two parts. The movement mechanism can then be configured to move (only) the front section relative to the rear section. Movement of the front section relative to the rear section means that the distance (defined by a center of mass) between the two sections can change, potentially creating a gap between them. For example, the rear section can remain fixed in its position while the front section can be lifted vertically. The front and rear sections are then no longer in direct contact with each other. The relative movement can be linear, for example, but it can also include rotation or pivoting – as long as the front section is moved vertically upwards (i.e., away from the surface).The advantageous technical effect of this design lies again in the additional lateral sealing, so that only air is drawn in from the front in order to effectively suck up coarse dirt.

[0016] Examples of implementations also refer to a robotic vacuum cleaner for vacuuming up dirt from a surface. The robotic vacuum cleaner includes: a suction device as previously described; a housing with the suction channel and a suction motor; a sensor device for determining sensor data; a drive device for moving the vacuum robot; a control device for controlling the suction device, wherein the control device is configured to control at least the movement device based on the sensor data.

[0017] It goes without saying that the control device can also be designed with multiple components. For example, the control device can have several control units to control individual or all components of the robotic vacuum cleaner. For instance, a dedicated control unit can be provided for the movement mechanism, as well as for the drive mechanism or the suction motor.

[0018] Optionally, the sensor device is further designed to detect contaminants of a minimum size. The control device can then be configured to actuate the movement mechanism, based on the detected contaminants of this minimum size, to raise or lower the front section. The degree of raising / lowering can depend on the size of the contamination.

[0019] According to exemplary embodiments, the robotic vacuum cleaner can detect dirt and, if this is detected in the area in front (e.g., in the direction of travel), the control device can raise the front section accordingly. The area in front can extend within a predetermined distance from the robotic vacuum cleaner, and the height at which it is raised can depend on the detected size and / or quantity of dirt.

[0020] Optionally, the control device is further developed to control the movement mechanism, lifting the front section at predetermined time intervals. According to exemplary embodiments, a (constant) lifting period can be freely selected. For example, lifting can occur every few seconds (e.g., every 2, 3, 4, 5, ... 10 seconds) for 1, 2, 3, ..., 5 seconds. The timing can be freely selected or adapted to the suction result. The sensor device can thus estimate the suction result or maximize dirt pickup. This could be sensed via the power consumption of the suction motor. Cameras can also be used as sensors to assess the suction result (e.g., by comparing the front and rear sections). The periods can also be selected depending on the degree of contamination on the surface.The size or average size of the impurities can also serve as a parameter for the timing.

[0021] Exemplary embodiments also relate to a method for controlling a robotic vacuum cleaner, as previously described. The method comprises Raising the front section while the rear section remains in contact with the surface; lowering the front section while the rear section remains in contact with the surface; and repeating the raising and lowering at predetermined time intervals or when the sensor device detects contaminants of a minimum size.

[0022] These embodiments thus solve the technical problem of improving coarse material intake, for which, according to these embodiments, (only) the front edge (and possibly the side edges) of the base plate suction channel is raised, while the rear edge of the suction channel remains unchanged in its position. Two different methods are used for this purpose: (i) the base plate is formed in two parts and there is a separation between the front suction edge and the side / rear edge, allowing the height of the front suction edge to be varied freely from the rest of the base plate; (ii) the entire base plate is mounted to tilt about an axis, the axis being coincident with the rear suction channel boundary edge (i.e. the rear suction edge).

[0023] Unlike conventional suction devices, in these embodiments the rear section remains in contact with the surface. This allows air to be drawn in advantageously only through the front section – and not through the rear section (or only to a negligible extent). Contaminants are thus picked up with high suction power in all cases. This applies to both coarse and fine dirt. Tests have shown that these embodiments significantly improve the percentage of dirt or contaminants picked up compared to conventional suction devices. BRIEF DESCRIPTION OF THE FIGURES

[0024] The embodiments of the present invention are better understood from the following detailed description and the accompanying drawings, which, however, should not be understood as limiting the disclosure to the specific embodiments, but merely serve for explanation and understanding. Fig. 1 shows a suction device for a robotic vacuum cleaner according to one embodiment. Figs. 2A and 2B illustrate two different embodiments for raising and / or lowering the front section of the suction device. Figs. 3A-3C show different views of a robotic vacuum cleaner according to embodiments. Fig. 4 shows a schematic flowchart for a method for controlling a robotic vacuum cleaner. DETAILED DESCRIPTION

[0025] Fig. 1 Figure 1 shows a suction device 100 for a robotic vacuum cleaner 10 according to an exemplary embodiment. The robotic vacuum cleaner 10 has a suction channel 20 for picking up contaminants 30 from a surface 40 during a forward movement V. The suction device 100 comprises: a base plate 110 with an opening 115 for the suction channel 20, a holder 120 for the base plate 100, and a movement device 130. With respect to the forward movement V, the base plate 110 comprises a front section 111 and a rear section 112, between which the opening 115 is formed and which each enable planar contact with the surface 40. The holder 120 is designed to keep the rear section 112 of the base plate 110 in contact with the surface 40.The movement device 130 serves to selectively raise or lower the front section 111, while the rear section 112 remains in contact with the surface 40 and is further designed to place the front section 111 fully on the surface 40 when lowering.

[0026] Fig. 2A und Fig. 2B Figure 1 shows two embodiments for raising or lowering the front section 111. The base plate 110 shown comprises the opening 115, which is surrounded by the front section 111, a rear section 112, and two opposing side sections 113, 114, the side sections 113, 114 connecting the front section 111 to the rear section 112. The suction channel 20 opens into the opening 115 of the base plate 110, such that the outer limiting edge 116 of the opening 115 forms a suction channel limiting edge 116. The front suction channel boundary edge 116 borders the front sections 111 and the rear suction channel boundary edge 116 borders the rear sections 112. According to exemplary embodiments, the side sections 113, 114 can also each form a planar contact (with a minimum width of e.g. 1 cm) with the floor.

[0027] Fig. 2A Figure 1 shows an embodiment in which the motion device 130 is designed to rotate the base plate 110 about a pivot axis R. The corresponding bracket 120 can be used as shown in Figure 1. Fig. 1 be designed, i.e., it can simply press the rear suction limiting edge 116 onto the surface. It is understood that no dedicated physical axis is required. The mount from the Fig. 1 However, this is not mandatory. The movement device 130 and / or the bracket 120 can, for example, have a corresponding mechanism such as a Watt mechanism to convert the rotary motion of the base plate 110 into a linear motion. The movement device 130 can then effect the linear motion within the robot vacuum 10 via a corresponding motor with a linear drive. The axis of rotation R does not change during the movement of the base plate 110, so that the rear suction edge 116 remains on the surface 40, while the front section 111 moves away from the surface 40.

[0028] The movement unit 130, for example, can continuously adjust the tilt angle α and thus flexibly adapt the height to the conditions (e.g., the size of the dirt 30 or the floor covering). This results in optimized suction performance.

[0029] In this embodiment, the entire base plate 110 is tilted about the axis of rotation R at the rear suction channel boundary edge 116. This also raises side sections 113, 114 from the base.

[0030] Fig. 2B Figure 1 shows an embodiment in which the entire base plate 110 is not tilted as a whole, but rather the front section 111 and the rear section 112 are separable. The base plate 110 is formed in two parts, with the rear section 112 being rigidly connected to the robotic vacuum cleaner 10. The front section 111 is, for example, mounted so that it can move independently of the rear section 112. For example, the movement device 130 can be configured to move only the front section 111 vertically upwards (e.g., in a linear movement L) or to pivot it upwards, while the rear section 112 and the side sections 113, 114 remain in their positions.

[0031] According to further embodiments, it is also possible that the two embodiments shown are derived from the Fig. 2A und Fig. 2B can be combined with each other. For example, in the embodiment of the Fig. 2B The rear section 112 may also be rotatably mounted, and the front section 111 may perform a linear movement L or a pivoting movement independently of the rotary movement R. Both movements R and L can be performed independently of each other.

[0032] According to exemplary embodiments, the robotic vacuum cleaner has a control device 500 (see Fig. 3A ), which is designed to control the movement device 130 and raise / lower the front section 111 at predetermined time intervals. This can occur periodically or irregularly (e.g., in response to the detected substrate). If it occurs periodically, the front section 111 can, for example, be raised every 2 to 4 seconds for 1 to 2 seconds. However, the timing is freely selectable and can be adjusted depending on the suction success (detectable, for example, by optical sensors).

[0033] Fig. 3A und 3B Figure 1 shows a robotic vacuum cleaner 10 according to an exemplary embodiment. The robotic vacuum cleaner 10 comprises a housing 200 and, on its underside, the suction device 100 with the base plate 110, which provides the opening 115 for suction. A brush roll 130 is arranged within the opening 115, for example, to brush the surface (not shown) during suction. The robotic vacuum cleaner 10 also includes a holder 135 for a lateral brush wheel to brush dirt located laterally towards the opening 115. The opening 115 forms the inlet of the suction channel 20, through which air is drawn in by a suction motor (not shown) to vacuum the contaminants 30 from the surface.

[0034] The robotic vacuum cleaner 10 also includes two side wheels 140 with a drive unit 400 to move the robotic vacuum cleaner 10 (autonomously) across the surface. An additional, rotatable front wheel 141 serves to support the robotic vacuum cleaner 10 at the front. For autonomous movement of the robotic vacuum cleaner 10, one or more sensors 150 are provided, which detect the environment and send corresponding sensor information to a control unit 500. Based on the sensor data, the control unit 500 is designed to avoid collisions with objects and to vacuum the surface as completely as possible.

[0035] Furthermore, the sensors 150 can analyze the surface 40 or the substrate and determine, for example, whether the substrate is level (e.g., a stone floor or a wooden floor) or whether it is carpeted. The roughness of the carpet can also be detected (e.g., using optical sensors). Based on this, the control unit 500 can adjust the height or the angle of inclination. α Adjust or modify the leading edge or front section 111 to optimize suction performance.

[0036] Fig. 3A For example, it shows the case where the front section 111 forms a planar contact with the surface, while the Fig. 3B The case shows that the rear section 112 forms a surface contact with the substrate. Thus, the position from the Fig. 3A This can be used for deep cleaning (e.g., of a carpet) and small crevices (tile joints, parquet gaps, etc.). Advantageously, a small gap (approx. 1 mm) can remain between the front section 111 and the surface 40. Only in cases of heavy soiling is the front section 111 lifted, regardless of the substrate. The position from the Fig. 3B It would, for example, be designed for picking up coarse contaminants regardless of the substrate. In the illustrated embodiment, the base plate 110 is monolithic and rotatably mounted about the rear suction channel boundary edge 116. However, the two-part base plate 110 could also be used in the illustrated vacuum robot 10.

[0037] Fig. 3C Figure 1 shows a front view of the robotic vacuum cleaner 10. The robotic vacuum cleaner 10 shown has, for example, additional sensors 155 that enable all-round detection (e.g., via LiDAR, cameras, radar, etc.). The front view shows that the rear edge 116 of the suction channel is in contact with the floor, as it is at the same height as the side wheels 140. According to exemplary embodiments, this contact with the floor is maintained even when the movement device 130 moves or rotates the front section 111 vertically.

[0038] Fig. 4 Figure 10 shows a schematic flowchart for a procedure for controlling a vacuum robot. The procedure includes: Lifting S110 of the front section while the rear section remains in contact with the surface; lowering S120 of the front section while the rear section remains in contact with the surface; and repeating the lifting S110 and lowering S120 at predetermined time intervals or when contaminants of a minimum size are detected by the sensor device.

[0039] It is understood that all previously described functional features of the vacuum robot 10 can be designed as further optional steps of the procedure according to the exemplary embodiments.

[0040] According to exemplary embodiments, the control device 500 of the robotic vacuum cleaner 10 is designed to first analyze the existing substrate and the existing contamination 30 (type of floor, quantity and / or size of contaminants 30) and, based on this, to select the most optimal angle α or height of the front section 111 in order to achieve a maximum possible suction power.

[0041] Key aspects of the exemplary embodiments can be summarized as follows: The vacuum robot 10 according to the exemplary embodiments has a component (suction device 100) for vacuuming a surface 40, which forms a transition between the suction channel 20 and the suction surface 40. An opening 115 for the surface 40 to be cleaned forms an outlet of the suction channel 20, the opening 115 being limited by the suction channel boundary edges 116.

[0042] Two embodiments have been described in detail that achieve the desired technical effect. In the first embodiment, the front suction channel boundary edge 116 can be moved or raised independently of an exemplary side edge 113, 114 and / or rear side edge. The height of the front suction channel boundary edge 116 can thus be varied without changing the height of other edges.

[0043] According to the second option, the base plate 110 is rotatably mounted about a rotational axis R located on the rear edge of the suction channel 116. The rotational angle α provided for this purpose can be changed, for example, between α_min and α_max, where α_min can be: 0°, 1°, 2°, ... (a small gap is intentionally left at the front when α_min > 0) and α_max: 10°, 15°, ... The robotic vacuum cleaner 10 is able to automatically adjust to an optimal position based on the surface or the degree of soiling. For this purpose, the robotic vacuum cleaner can, for example, detect the amount of dirt picked up (e.g., via corresponding sensors 150, 155 or via a suction power analysis of the vacuum motor). Likewise, the type and amount of soiling can be detected by optically scanning the surface 40 (e.g., via cameras) and taken into account during control.

[0044] The features of the invention disclosed in the description, claims and figures may be essential for the realization of the invention, either individually or in any combination. REFERENCE MARK LIST

[0045] 10 Vacuum robot 20 Suction channel 30 Contamination 40 Surface 100 Suction device 110 Base plate 111 Front section (in forward direction) 112 Rear section 113, 114 Side sections 115 Opening 116 Suction channel boundary edge 120 Bracket 130 Movement device 135 Brush wheel bracket 140 Side wheels 141 Front wheel 150, 155 Sensors 200 Housing 400 Drive device 500 Control device V Forward movement R Rotation axis α Rotation angle / tilt angle

Claims

1. Suction device (100) for a vacuum robot (10) having a suction channel (20) for picking up dirt (30) from a surface (40) in a forward movement (V), the suction device (100) comprising: a base plate (110) with an opening (115) for the suction channel (20), wherein the base plate has a front section (111) and a rear section (112) with respect to the forward movement (V), between which the opening (115) is formed and which each enable planar contact with the surface (40); a holder (120) for the base plate (100), wherein the holder is designed to keep the rear section (112) of the base plate (110) in contact with the surface (40);and a movement device (130) for selectively raising or lowering the front section (111) while the rear section (112) remains in contact with the surface (40), wherein the movement device (130) is further designed to place the front section (111) fully on the surface (40) when lowering.

2. Suction device (100) according to claim 1, wherein the base plate (110) is designed to attach the suction channel (20) to the opening (115) so that the suction channel (20) opens into the opening (115).

3. Suction device (100) according to claim 1 or claim 2, wherein the base plate (110) has two opposing side sections (113, 114) between the front section (111) and the rear section (112), which together enclose the opening (115) along a suction channel boundary edge (116), and wherein the side sections (113, 114) are firmly connected to the rear section (112).

4. Suction device (100) according to one of claims 1 to 3, wherein the base plate (110) is formed monolithically with the front section (111) and the rear section (112) and the support (120) is a rotary support about an axis of rotation (R), and wherein the movement device (130) is designed to perform a rotary movement of the base plate (110) about the axis of rotation (R).

5. Suction device (100) according to claim 4, wherein the planar contact of the front section (111) is not parallel to the planar contact of the rear section (112), such that the base plate (110) is unwound by a predetermined angle, and wherein the movement device (130) is configured to unwind the base plate (110) by the predetermined angle ( α ) to turn.

6. Suction device (100) according to claim 4 or claim 5, insofar as it relates backward to claim 3, wherein the axis of rotation (R) is located on a rear part of the suction channel boundary edge (116) and the angle of rotation is between 0° and 20° or between 2° and 15°.

7. Suction device (100) according to one of claims 1 to 3, wherein the base plate (110) is formed in 2 parts and the movement device (130) is designed to move the front section (111) relative to the rear section (112).

8. Robotic vacuum cleaner (10) for vacuuming up contaminants (30) from a surface (40), the robotic vacuum cleaner (10) comprising: - a suction device (100) according to one of the preceding claims; - a housing (200) with the suction channel (20) and a suction motor; - a sensor device (150, 155) for determining sensor data; - a drive device (400) for moving the robotic vacuum cleaner (10); - a control device (500) for controlling the suction device (100), wherein the control device (500) is configured to control at least the movement device (130) based on the sensor data.

9. Robotic vacuum cleaner (10) according to claim 8, wherein the sensor device (500) is further configured to detect contaminants of a minimum size, and wherein the control device (500) is configured to control the movement device (130) based on detected contaminants (30) of the minimum size in order to lift the front section (111).

10. Vacuum robot (10) according to claim 8 or claim 9, wherein the control device (500) is further designed to control the movement device (130) to raise the front section (111) at predetermined time intervals.

11. Method for controlling a vacuum robot according to any one of claims 8 to 10, the method comprising: lifting (S110) the front section (111) while the rear section (112) remains in contact with the surface (40); lowering (S120) the front section (111) while the rear section (112) remains in contact with the surface (40); and repeating the lifting (S110) and lowering (S120) at predetermined time intervals or when the sensor device detects contaminants (30) of a minimum size.

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