Sulphur rover

Abstract

The present invention relates to an autonomous explosion proof and anti-dust robot (1), which comprises a vacuuming system designed to collect waste sulphur and spilled 5 granulates from a production plant. The vacuuming system of the robot comprises a suction unit with nozzle (213) adapted to perform vacuuming of potentially explosive material in a safe manner, a filter unit (22) and a collection unit to collect vacuumed material into a bin (231). Further, the vacuuming system of the robot is mounted on a chassis (3) and a control unit (34) controls the movement of the robot.

Description

[0001] SULPHUR ROVER

[0002] Field of the invention

[0003] The present invention relates to an autonomous vacuum cleaner robot specialized in collecting sulphur or other granular, potentially hazardous products from chemical processing plants.

[0004] Technical background

[0005] Sulphur is recovered as byproduct from natural gas and petroleum. Sulphur production plants usually produce granulated sulphur through granulation drums, then the sulphur granulates are taken through conveyors and other means to the transport and export area.

[0006] Throughout the process of granulation, sulphur dust and waste sulphur granulates are generated and a high quantity of sulphur granulates is spilled, which requires effort and resources to clear.

[0007] Waste, dust and spilled granulates are usually collected manually, increasing the risk of people exposure to hazardous environment and requiring a high amount of human resources working in the cleaning activity.

[0008] In the prior art it is known to foresee the production plant with devices for minimising sulphur dust during the process. It is also known to purify the gas from a production plant to remove harmful gases.

[0009] Similar autonomous vacuum cleaner robots to collect residues spilled during a production process are known in other industries like food and beverages and sand blasting shops, yet none were used earlier in similar hazardous environments with very stringent criteria and specifications like the production of sulphur granulates.

[0010] Object of the present invention is to provide a device which minimizes or eliminates the above-described problems. It is a further object of the invention to provide a device that operates in an autonomous way, requiring minimal human intervention and optimizing the process of sulphur collection. A further object of the invention is to allow remote control of the device and real-time monitoring of its operations and environment.

[0011] Summary of the invention

[0012] According to the invention, an autonomous explosion proof and anti-dust robot according to claim 1 is provided, which comprises a vacuuming system designed to collect the waste sulphur and the spilled granulates from various locations of the sulphur granulates production plant.

[0013] The vacuuming system of the robot comprises three units. The first unit, the suction unit, is adapted to perform vacuuming of potentially explosive material in a safe manner, such as suctioning sulphur granulates spilled outside of processing path of the granulating area and the storage area of the sulphur station. To this end the suction unit comprises a suction mechanism driven by a first motor connected to a vacuuming nozzle. The second unit, the filter unit, filters the suctioned air, redirecting the solid vacuumed material into the third unit and exhausting clean air. In the third unit, the collection unit, the solid vacuumed material is collected into a bin.

[0014] The vacuuming system of the robot is mounted on a chassis, which is provided with a DC motor feed by a battery included on the chassis. A first wheel arrangement powered by the DC motor ensures that the chassis is movable; a control unit controls the movement of the chassis and therefore of the robot.

[0015] The control unit can be programmed to direct the robot on a predetermined, recurrent path. However, a random path can also be desired as cleaning algorithm.

[0016] The vacuuming nozzle of the suction unit vacuums spilled granulates and dust from the floor of the sulphur granulates production plant with help of a suction mechanism. During the process of vacuuming, a safety module monitors relevant parameters of the suction unit to ensure electrical safety and interrupts the power supply to the motor in case of a fault.

[0017] All critical components of the vacuum cleaner robot, including the components of the vacuum system and the chassis, including in particular the wheels, suction connectors, and the extension pipe, may be provided with anti-static properties to mitigate the risk of static electricity build-up. Suitable materials are for example anti-static stainless steel extended (AISI 304) or anti-static anodized 7075 aluminum. This ensures a safe operation in environments sensitive to electrostatic discharge.

[0018] The autonomous robot adheres to both the ATEX directive, in particular the specifications for dust zone 21, and NFPA standards, in particular the NFPA 652, NFPA 70® and NFPA 79 standards, and can ensure a safe operation in hazardous environments.

[0019] The autonomous robot is preferably provided with an extension arm which is designed to clean under conveyor belts and other confined spaces. The extension arm is connected to the robot and comprises a second vacuuming nozzle. A typical dimension of such an extension arm is 1.2 m with a suction port of about 55 cm of total length. Conveniently, the extension arm can be designed to overcome a crane rail or other similar obstacle present in the production plant. Thereby the extension arm is placed on the rail using anti-static vertical extension arm wheels and / or anti-static horizontal extension arm wheels, ensuring secure fixation to the rail and providing stability during operation. The extension arm wheels can be spring-loaded for better adherence. No other additional mechanism is required for attaching the equipment.

[0020] The first motor of the suction unit preferably is a brushless motor which powers the vacuum cleaner’s suction mechanism. Such a brushless motor allows the use of the robot in explosive hazardous areas as it lacks carbons, which is a potential safety hazard in such environments. The battery mounted on the chassis may also provide the power to the brushless motor for a cordless operation, although a separate batteiy for the motor may equally be foreseen.

[0021] The first vacuuming nozzle of the suction unit is preferably fixed on the lower part of the chassis such that it glides over the floor without touching it.

[0022] To protect the robot, and in particular the first vacuuming nozzle, from damage, the chassis can be equipped with a bumper placed on top of the nozzle in the front of the robot.

[0023] To further enhance the vacuuming process, the robot can also be provided with an environmental sensor. Such a sensor can also be configured to detect obstacles and thereby improve safety of the robot and further improve the efficiency of the cleaning process, as areas that are difficult to clean can also be reached safely. The data of the environmental sensors is sent to the control unit, which can process the information to adapt the vacuuming path of the robot. The environmental sensors can be fixed on the front of the chassis above a safety bumper, which protects both the vacuuming nozzle and the environmental sensor in case of accidental collision.

[0024] To easily identify the locations where cleaning is necessary, the environmental sensor may comprise a sulphur-detecting sensor, which can localize the granulates to be vacuumed to increase the efficiency of the robot.

[0025] Alternatively or in addition, the environmental sensor can include a color camera, infrared cameras, radars or other similar devices, environmental sensors like the Hokuyo USTio-LX and Micro Strain 3DM-GX5 can provide environmental feedback for navigation and obstacle detection. The environmental sensors can also include Lidar Sensor Technology to further enhance efficiency. Embedded devices such as the NVIDIA Jetson ORIN and Raspberry Pi Kit serve as control units for processing sensor data, executing cleaning algorithms and coordinating the robot's movements.

[0026] The safety module can comprise a variety of sensors such as a temperature sensor that monitors the internal temperature of the suction mechanism to prevent overheating. Temperature sensors can further monitor surface temperatures of CPU, batteiy packs, controller, motors, suction motor, and various points inside robot body. They are used to ensure safe operation of the robot, components and more importantly to ensure robot body temperature does not exceed 135 Celsius. If the cooling system fails for any reason, the temperature of the autonomous robot might raise to critical point exceeding T4 temperature requirement, if not monitored. Such a temperature sensor can derive its power directly from the data line, such that no external power supply is needed. The safety module can also comprise, additionally or in replacement, a current sensor which monitors the current drawn by each of the motors to prevent overload of the motors. A current increase can typically be an indicator for a component about to fail. Further individual components of the safety module can be a circuit breaker to ensures electrical safety by interrupting power in case of a fault such as a circuit short, a solid-state relay to control the power supply to the brushless motor, and a leakage monitoring element. In a preferred embodiment, the autonomous robot comprises further at least one filter within the suction unit which is placed such that it protects the first motor.

[0027] The robot can comprise a vacuum gauge to check the state of the filter unit, detect possible clogging and warn the operator, when the filter unit must be cleaned. Large surface antistatic star filters made of polyester can be located inside the filter unit and provide high resistance against clogging and passage of fine dust. Also, HEPA filters can be used on the top cover of the robot. Other suitable filters are also known to the skilled person and could be used depending on the circumstances.

[0028] To allow remote control of the robot and real-time monitoring of its operations and environment through sensor data the robot includes an interface communicating with external devices for diagnostics and control. In detail, via the interface, information from the safety module and from the sensor module is sent to external devices and information from external devices is received and sent to the control unit to direct the robot’s movements together with the data received by the sensor module. The wheels, the suction unit and the lid can all be controlled externally via the interface. An example interface is the RS232 interface.

[0029] The first vacuuming nozzle of the robot can have a thin slit that is substantially as wide as front part of the chassis, especially adapted to vacuum large amounts of granulated material and simultaneously cleaning the path, such that the robot can easily move. The width of the thin slit of the vacuuming nozzle is adapted to the width of the granulates to be vacuumed and the nozzle can be exchanged, if need be. The first vacuuming nozzle may include a positioning mechanism to adapt the distance of the nozzle from the floor depending on the input of the environmental sensor. The movement of said positioning mechanism, in particular the lowering or the rising of the first vacuuming nozzle, being controlled by the control unit. A vacuum hose can connect the vacuuming nozzle and the filter unit, whereby a i-inch vacuum hose is especially adapted for the collection of debris of the sulphur production plant.

[0030] In the same way as the robot is intended to collect waste and spilled granulates autonomously, it can also be designed to empty the drop-down bin in an autonomous manner once it is filled with vacuumed material. The drop-down bin is made of an AISI304 stainless steel and can typically collect up to 60kg of vacuumed material per trip, after which it is required to discharge the content of the bin in a dedicated area. To ensure that the content of the bin can be discharged autonomously, the bin includes a lid with a self-closing spring hinge which enables the bin’s lid to open and close automatically to dispose easily and safely of the vacuumed material.

[0031] In certain configurations, it can be useful that the robot is directed by an operator to the dedicated discharging area. The operator may operate then the lid from a distance with a remote control. In other configurations, a weight gauge indicates to the control unit when the bin is full. The control unit can then be programmed to autonomously direct the robot to the discharging area to empty the bin.

[0032] The chassis is preferably made of metal, in particular of anti-static stainless steel extended (AISI 304) or anti-static anodized 7075 aluminum, whereby the chassis is preferably provided with sturdy wheels that are suitable for rough surfaces such as surfaces with spilled granulates, and wherein mobility and manoeuvrability to the robot is ensured by a skid steering mechanism. Depending on the configuration, other types of wheels may also be implemented, such as caster wheels, spherical wheels or omnidirectional wheels. In any case, the wheels are designed according to ATEX guidelines to ensure static-free and safe operation.

[0033] To ensure reliable operation in the dusty environment of the production plant and facilitate smooth movement of moving parts, all parts of the robot are protected against dust and debris with sealing elements like external retaining rings, flanged ball bearings, seals compressions springs, and FKM rubber sheets made of suitable material, for example a special type of rubber, and placed at openings of the autonomous robot.

[0034] The autonomous robot can be part of a vacuum cleaner arrangement comprising a charging station. Such a charging station can be configured to be placed outside the ATEX zone or inside the ATEX zone. When the charging station is placed outside the ATEX zone, no ATEX certified equipment or special enclosures are needed, which makes this option more cost-effective. Furthermore, access is facilitated, and only standard electrical requirements apply. However, with such a configuration, the path to the charging station is increased for the robot, and a suitable exit from the ATEX zone has to be provided.

[0035] When the charging station is placed inside the ATEX zone, the cable rail and the charging ports need to be ATEX certified. This entails choosing material which is resistant to corrosion, impact, and potential chemical exposure. It further requires robust connectors of the charging ports. Because of these strict requirements, loose cables are eliminated, and tripping hazards and potential ignition sources are minimized. All electrical components are encased within a safe, enclosed system. Whereby direct connection to charging ports reduces the risk of sparks and arcing. All components of the charging station inside the ATEX zone are to be grounded to prevent electrostatic discharge.

[0036] To integrate the charging station into a centralised charging management system, the charging station can include communication ports enabling integration with said centralised management system.

[0037] Description of the figures

[0038] Fig.i shows a first embodiment of the autonomous robot as seen from the front;

[0039] Fig. 2 shows a second embodiment of the autonomous robot as seen from the front;

[0040] Fig. 3 shows the vacuuming nozzle with the positioning mechanism;

[0041] Fig. 4 shows the star filter protecting the first motor;

[0042] Fig.5 shows an embodiment of the extension arm with the second vacuuming nozzle;

[0043] Fig.6 shows how the extension arm is stabilised on the rail by means of both vertical and spring loaded horizontal anti-static wheels;

[0044] Fig.7 shows a schematic example embodiment of some of the main technical characteristics of the present invention;

[0045] Fig.8 shows a third embodiment of the autonomous robot as seen from the back. Figure i shows a first embodiment of the autonomous robot according to the invention. It shows a large and thin first vacuuming nozzle 213 placed in front of the chassis 3. The nozzle is protected by bumper 215 placed just above the first vacuuming nozzle 213. The bumper 215 also protects the environmental sensor 12 placed above the bumper 215 from damage in the event of a collision. The first wheel arrangement 33 of the chassis 3 includes 4 sturdy wheels made of suitable, anti-static, synthetic material, such that the robot can reach even very encumbered locations.

[0046] Figure 2 shows a second embodiment of the autonomous robot according to the invention. It is equally equipped with a large and thin first vacuuming nozzle 213 which also substantially covers the width of the chassis 3. In the second embodiment however, the first wheel arrangement 33 includes another type of wheels, which are made of an anti-static metal and are concealed within the chassis 3 instead being located adjacent to the chassis 3 like in the first embodiment. This configuration has the advantage of protecting the wheel mechanism of malfunctioning, because sulphur granulates cannot enter the chassis 3. The first vacuuming nozzle 213 of the second embodiment has a sturdy construction which can resist occasional collisions. Additionally, the first vacuuming nozzle 213 has a positioning mechanism 2131 to adapt the distance of the first vacuuming nozzle 213 to the floor depending on the amount of granulates to be suctioned and thereby increasing efficiency and speed of the vacuuming process. Information on the amount of granulates to be suctioned can be received from the environmental sensor 12, and in particular from a sulphur-detecting sensor of the environmental sensor 12. In the particular design of the chassis 3 according to the second embodiment, the environmental sensor 12 is placed on a protected inclined surface of the chassis 3 such that it does not stick out of the perimeter of the chassis 3 and a separate bumper is not necessary.

[0047] In Figure 3 the first vacuuming nozzle 213 of the second embodiment is shown in more detail. The first vacuuming nozzle 213 includes a suction port designed to transport the suctioned material from the first vacuuming nozzle 213 to the filter unit 22 (not shown) inside the chassis 3. On both sides of the suction port the positioning mechanism 2131 is shown, which comprises two pairs of coils each cooperating with a movable, pin mounted to rigid, vertical profiles to re- siliently control the distance of the nozzle to the ground. This is particularly useful when large amounts of granulates have accumulated in certain areas of the production plant. The positioning mechanism receives instructions from the control unit 34 (not shown), which processes the information gathered by the environmental sensor. In particular, information on the amount of granules is required to compute the optimal height for efficient suctioning of the granules.

[0048] In Figure 4 the position of the antistatic star filter 222 within the autonomous robot can be seen. The antistatic star filter is inserted into an opening within the chassis 3. The filter 222 is then covered by mounting the suction unit 21 on top of the opening within the chassis and the bin. The filter 222 then protects the first motor 211 within the suction unit 21. A sealing 36 surrounds the opening within the chassis 3 to make the connection between the suction unit 21 and the chassis dust-proof. The bin can be latched and unlatched to the chassis by means of fastening clamps.

[0049] Figure 5 show details of the extension arm 11 that can be attached to the chassis 3 when vacuuming under conveyor belts and other confined spaces is desired. The extension arm 11 can easily be fixed and removed from the chassis 3 by means of a fastening mechanism for a flexible use of the autonomous robot 1. As can be seen from the figures, the extension arm 11 can be designed to overcome a crane rail or other similar obstacle present in the production plant. The extension arm 41 can include a u-shaped inverted space that can cooperate with a rail on the floor of the production plant by means of brackets with extension armwheels 112, 113. Thereby the extension arm 11 is placed on the rail using anti-static vertical extension arm wheels 112, ensuring secure fixation to the rail and providing stability during operation. The extension arm 11 includes a second vacuuming nozzle 111 at the end of the extension arm 11. To transport the vacuumed material from the second vacuuming nozzle 111 to the filter unit, the extension arm includes a tube that essentially follows the shape of the extension arm and whose diameter is adapted to quantity of material which can be suctioned by the second vacuuming nozzle 111. The control unit 34 can be designed to selectively power the first vacuuming nozzle 213, the second vacuuming nozzle 111 or both nozzles simultaneously. The shown design of the extension arm is adapted to a specific production plant situation, but it is clear that several other designs can be envisaged, be it for the shape of the arm as for the shape of the nozzle. Figures 6a and 6b show an alternative attachment configuration of the extension arm 11 to the rail. Here the extension arm 11 is placed on the rail using both anti-static vertical extension arm wheels 112 and anti-static horizontal extension arm wheelsii3, ensuring secure fixation to the rail and providing stability during operation. In the shown embodiment, the horizontal extension arm wheels 113 are spring-loaded for better adherence. No other additional mechanism is required for attaching the equipment.

[0050] In figure 7 an overview of the main components of an embodiment of the autonomous robot 1 is given in a very schematic way, such that no dimensions of the different elements can be interfered from it. Not all electrical, mechanical and information connections are shown, the skilled person is however capable of adding the required connections for a functioning autonomous robot Autonomous vacuum cleaner robot 1 for collecting sulphur in hazardous environments comprises a vacuum system 2 having a suction unit 21 comprising a first motor 211 and a suction mechanism 212 driven by the first motor 211 and connected to a first vacuuming nozzle 213, typically with a cleaning width of 550 mm. The suction unit 21 is adapted for suctioning sulphur granulates, in particular with respect to its size, its suctioning power and the explosion-proof properties. The vacuum system further comprises a filter unit 22 to filter the suctioned air and separate solid vacuumed material from the filtered air The filtered solid vacuumed material is collected in a collection unit 23, comprising a bin 231 designed to collect the solid vacuumed material. The bin 231 can typically contain a volume of 381 of vacuumed material, although bigger and smaller bins can be envisaged, depending on the circumstances. To provide autonomous movement to the vacuum system 2, it is mounted on a chassis 3. The chassis 3 is provided with a second motor 31 and a battery 32. Per battery charge, the autonomous robot 1 can operate during 6 to 8 hours. The chassis 3 is movable by means of a first wheel arrangement 33 powered by the second motor 31, with which the autonomous robot 1 can reach a maximum speed of 1.5 m / s. This allows a swift navigation and cleaning of expansive areas. The autonomous displacement of the chassis is controlled by a control unit 34. The control unit 34 can be designed to execute predetermined cleaning algorithms. It can also be designed to adapt predetermined cleaning algorithms to environmental information received from the environmental sensor 12. The chassis 3 can be designed to enclose none, part of or the whole vacuum system 2. For example, in the first embodiment of fig.i less components are enclosed in the chassis than in the second embodiment of fig. 2 and 3.

[0051] To make the autonomous robot 1 suitable for hazardous environments, i.e. to make the autonomous robot adhere to both ATEX and NFPA standards, and in particular to dust zone 21 and NFPA 652, NFPA 70® and NFPA 79, different measures can be taken. The material of the whole autonomous robot is preferably chosen to be anti-static. The first and / or the second motors can be selected to be brushless. A safety module controlling different internal parameters of the autonomous robot can be foreseen, which comprises a temperature sensor 2141 sensing dangerous temperature increase, a current sensor 2142 to detect a malfunctioning of any of the first 211 or second 31 motors. When critical thresholds are reached, the power supply can be interrupted by a circuit breaker 2143, thereby ensuring electrical safety.

[0052] The autonomous robot 1 can be charged on a charging station 4. The charging station allows the robot to be fully recharged within 4 hours, minimizing downtime and maximizing productivity. The charging station 4 can be placed outside the ATEX zone or inside the ATEX zone in a restricted area. It can further comprise a communication port 41 to connect to a centralized management system located on the autonomous robot 1 or in the location where an operator can remotely control the robot 1.

[0053] In figure 8 a third embodiment of the autonomous robot is show from the back. This embodiment shows fastening clamps that allow fast and easy unlatching of the bin, and thereby easy access to the star filter placed below the bin.

[0054] List of references:

[0055] 1 Autonomous robot n Extension arm m Second vacuuming nozzle

[0056] 112 Vertical extension arm wheels

[0057] 113 Horizontal extension arm wheels

[0058] 12 Environmental sensor

[0059] 121 Sulphur-detecting sensor

[0060] 122 Lidar sensor Technology

[0061] 13 Interface

[0062] 14 Centralised management system

[0063] 2 Vacuum system

[0064] 21 Suction unit

[0065] 211 First motor

[0066] 212 Suction mechanism

[0067] 213 First vacuuming nozzle

[0068] 2131 Positioning mechanism

[0069] 214 Safety module

[0070] 2141 Temperature sensor

[0071] 2142 Current sensor

[0072] 2143 Circuit breaker

[0073] 2144 Solid-state relay

[0074] 215 Vacuum hose

[0075] 22 Filter unit

[0076] 221 Vacuum gauge

[0077] 222 Antistatic star filter

[0078] 23 Collection unit

[0079] 231 Bin

[0080] 3 Chassis

[0081] 31 Second motor

[0082] 32 Battery

[0083] 33 First wheel arrangement

[0084] 34 Control unit

[0085] 35 Bumper

[0086] 36 Sealings

[0087] 4 Charging station

[0088] 41 Communication ports

Claims

CLAIMS1. Autonomous vacuum cleaner robot (1) for collecting sulphur in hazardous environments comprising:- a vacuum system (2) having o a suction unit (21) comprising a first motor (211) and a suction mechanism (212) driven by the first motor (211) and connected to a first vacuuming nozzle (213), the unit being adapted for suctioning sulphur granulates, o a filter unit (22) filtering suctioned air and solid vacuumed material; and o a collection unit (23), comprising a bin (231), to collect the solid vacuumed material,- and a chassis (3) on which the vacuum system is mounted, the chassis being provided with a second motor (31) and a battery (32), the chassis being movable by means of a first wheel arrangement (33) powered by the second motor (31), the chassis (3) further comprising a control unit (34) for controlling the movement of the first wheel arrangement (33).

2. The autonomous robot (1) according to claim 1, whereby the suction unit comprises a safety module (214) ensuring electrical safety by monitoring relevant parameters of the motor, the safety module (214) being designed to switch off the first (211) and / or the second motor (31) when predetermined safety thresholds are reached.

3. The autonomous robot (1) according to claim 1 or 2, whereby all critical components used for the vacuum cleaner robot (1), including the components of the vacuum system (2) and the chassis (3), are provided with anti-static properties.

4. The autonomous robot (1) according to any preceding claim, wherein the autonomous robot (1) further comprises an extension arm (11) designed to clean under conveyor belts and other confined spaces, the extension arm (11) beingconnected to the chassis (3) and comprising a second vacuuming nozzle (111), the extension arm preferably being designed to be easily attachable to and removable from the chassis by means of a fastening mechanism.

5. The autonomous robot (1) according to any preceding claim, whereby the first motor (211) is a brushless motor.

6. The autonomous robot (1) according to any preceding claim, whereby the first vacuuming nozzle (213) has a thin, wide slit that substantially covers the front part of the chassis (3).

7. The autonomous robot (1) according to any preceding claim, whereby the first vacuuming nozzle (213) is connected to the filter unit by means of a vacuum hose (215).

8. The autonomous robot (1) according to any preceding claim, whereby the first vacuuming nozzle (213) of the suction unit is fixed on the lower part of the chassis such that it glides over the floor at small distance from the floor.

9. The autonomous robot (1) according to any preceding claim, further comprising an environmental sensor (12) to provide environmental feedback and / or obstacle detection, and whereby the control unit (34) is designed to process sensor data from the environmental sensor (12) and execute cleaning algorithms.

10. The autonomous robot (1) according to claim 9, whereby the vacuuming nozzle (213) includes a positioning mechanism (2131) to adapt the distance of the nozzle from the floor depending on the input of the environmental sensor (12), the movement of said positioning mechanism being controlled by the control unit.

11. The autonomous robot (1) according to the preceding claim, wherein the environmental sensor (12) includes at least one of a sulphur-detecting sensor and / or Lidar Sensor Technology.

12. The autonomous robot (1) according to any preceding claim, the robot further comprising a bumper (35) fixed to the chassis and placed on top of the nozzle.

13. The autonomous robot (1) according to any preceding claim in combination with claim 2, whereby the safety module (214) comprises one or more of the following:a. a temperature sensor (2141) to prevent overheating of the suction mechanism, b. a current sensor (2142) monitoring the current drawn by the motor to prevent overload of the motor, c. a circuit breaker (2143) to ensures electrical safety by interrupting power in case of a fault, d. a solid-state relay (2144) to control the power supply to the brushless motor.

14. The autonomous robot (1) according to any preceding claim, further comprising at least one motor filter within the suction unit (21) which is placed such that it protects the first motor (211).

15. The autonomous robot (1) according to any preceding claim, wherein the filter unit further comprises a vacuum gauge (221) to check the state of the filter unit (22), detect possible clogging and warn the operator when the filter must be cleaned.

16. The autonomous robot (1) according to any preceding claim, further comprising an antistatic star filter (222) within a filter chamber of the filter unit (22), whereby the star filter (222) is preferably made of polyester.

17. The autonomous robot (1) according to any preceding claim, further comprising an interface (13) for external communication.

18. The autonomous robot (1) according to any preceding claim, whereby the bin (231) of the collection unit (23) is a drop-down bin to enable an easy and safe disposal of the vacuumed material.

19. The autonomous robot (1) according to any preceding claim, whereby the chassis (3) is made of metal, in particular of anti-static stainless steel extended (AISI 304) or anti-static anodized 7075 aluminum.

20. The autonomous robot (1) according to any preceding claim, whereby the first wheel assembly (33) comprises caster wheels, standard wheels, spherical wheels, or omnidirectional wheels.

21. Vacuum cleaner robot arrangement comprising an autonomous robot (1) according to any preceding claim and further comprising a charging station (4), wherein all components of the charging station are grounded.

22. Vacuum cleaner arrangement according to the previous claim, wherein the au- tonomous robot (1) further includes a centralised charging management system (14), whereby the charging station (4) includes communication ports (41) enabling integration with said centralised management system (14).

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