WO2016096027A1 - Autonomous cleaning apparatus - Google Patents

Autonomous cleaning apparatus Download PDF

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Publication number
WO2016096027A1
WO2016096027A1 PCT/EP2014/078590 EP2014078590W WO2016096027A1 WO 2016096027 A1 WO2016096027 A1 WO 2016096027A1 EP 2014078590 W EP2014078590 W EP 2014078590W WO 2016096027 A1 WO2016096027 A1 WO 2016096027A1
Authority
WO
WIPO (PCT)
Prior art keywords
sensor
wheel suspension
wheel
suspension member
magnet
Prior art date
Application number
PCT/EP2014/078590
Other languages
French (fr)
Inventor
Magnus WENNERSTRÖM
Tamàs VÀMOS
Original Assignee
Aktiebolaget Electrolux
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Aktiebolaget Electrolux filed Critical Aktiebolaget Electrolux
Priority to PCT/EP2014/078590 priority Critical patent/WO2016096027A1/en
Publication of WO2016096027A1 publication Critical patent/WO2016096027A1/en

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2889—Safety or protection devices or systems, e.g. for prevention of motor over-heating or for protection of the user
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation

Definitions

  • the present disclosure relates to an autonomous cleaning apparatus.
  • Autonomous cleaning apparatuses have been available for sale for some years. Such autonomous cleaning apparatuses are usually provided with sensors arranged to gain information about an environment external to the autonomous cleaning apparatus. A control unit of the autonomous cleaning apparatus controls autonomous movement of the apparatus on basis of information gained from the sensors. For cleaning purposes, an autonomous cleaning apparatus is provided with one or more cleaning devices, such as rotating brushes and/or vacuum units, arranged to operate during autonomous movement. The autonomous cleaning apparatus is in this manner capable of autonomous movement as well as autonomous cleaning without intervention of a user of the apparatus.
  • Autonomous cleaning apparatuses are designed to operate within a home-environment. Thereby, they have to meet certain requirements when it comes to safety and robustness.
  • an autonomous cleaning apparatus is provided with an arrangement stopping operation of the cleaning device of the apparatus in case the apparatus is lifted from a floor surface so as to reduce the risk of anyone getting hurt by the cleaning device of the apparatus.
  • the autonomous cleaning apparatus is preferably made robust enough to withstand a rough treatment by a user.
  • an autonomous cleaning apparatus is arranged to operate in a dusty environment, it is an advantage if it comprises components and arrangements which are not sensitive to dust.
  • simple and reliable solutions to provide the safety and robustness requirements above are advantageous since today's industry and consumer market demand high quality and low cost products. Accordingly, in view of above, there is a need for an improved autonomous cleaning apparatus.
  • An object of the present invention is to provide an improved autonomous cleaning apparatus.
  • an autonomous cleaning apparatus capable of autonomous movement comprising an apparatus body, comprising a suspension mounting portion, a wheel, and a wheel suspension arrangement, where the wheel suspension arrangement comprises a wheel suspension member and the suspension mounting portion, where the wheel is arranged at the wheel suspension member, where the wheel suspension member is movably arranged at the suspension mounting portion, and where the wheel suspension arrangement further comprises a sensor arrangement comprising a sensor and a magnet, where the sensor is arranged to detect a distance to the magnet to thereby detect a position of the wheel suspension member.
  • the senor is arranged to detect the distance to the magnet to thereby detect the position of the wheel suspension member, a simple and reliable detection of the position of the wheel suspension member is provided.
  • the senor is arranged to detect a distance to the magnet, the detection of the position of the wheel suspension member may be performed without any physical contact between the sensor and the magnet. Thereby, the sensor arrangement will not be sensitive to dust.
  • an autonomous cleaning apparatus is provided with a sensor arrangement not being sensitive to dust and being resistant to rough treatment of a user.
  • an improved autonomous cleaning apparatus is provided. Consequently, the above mentioned object is achieved.
  • the magnet is arranged on the wheel suspension member and where the sensor is arranged at the suspension mounting portion.
  • the senor is arranged on the wheel suspension member and where the magnet is arranged at the suspension mounting portion.
  • the sensor comprises a Hall effect sensor.
  • the suspension member comprises a lever arm pivotally connected to the suspension mounting portion.
  • a compact wheel suspension arrangement may be provided.
  • the apparatus further comprises a control unit configured to stop operation of the apparatus when the suspension member is displaced from a first position to a second position.
  • a control unit configured to stop operation of the apparatus when the suspension member is displaced from a first position to a second position.
  • the sensor arrangement comprises a sensor and a magnet, where the sensor is arranged to detect a distance to the magnet to thereby detect a position of the wheel suspension member, operation of the apparatus will be stopped in a reliable manner.
  • Fig. 1 is a top view, illustrating an autonomous cleaning apparatus
  • Fig. 2a is a side view illustrating a wheel suspension arrangement with a wheel suspension member in a first position
  • Fig. 2a is a side view illustrating the wheel suspension arrangement with the wheel suspension member in a second position.
  • Fig. 1 illustrates an autonomous cleaning apparatus 1 .
  • the autonomous cleaning apparatus 1 will be called the apparatus 1 .
  • the apparatus 1 comprises an apparatus body 3, one or more sensors 6.1 -6.3 and a control unit 19.
  • the one or more sensors 6.1 -6.3 may comprise an imaging unit 6.1 and one or more laser units 6.2, 6.3.
  • the one or more sensors 6.1 -6.3 are arranged to gain information about an environment external to the apparatus 1 .
  • the control unit 19 controls autonomous movement of the apparatus 1 on the basis of the gained information by controlling operation of motors arranged to rotate driving wheels (not shown in Fig. 1 ) of the apparatus 1 .
  • the apparatus 1 further comprises one more cleaning devices (not shown) such as rotating brushes, and/or vacuum units, arranged to operate during autonomous movement. Thereby, the apparatus 1 is capable of autonomous movement as well as autonomous cleaning without the intervention of a user.
  • the apparatus body 3 comprises a suspension mounting portion 4.1 , a wheel, and a wheel suspension arrangement (not shown in Fig. 1 ).
  • the suspension mounting portion 4.1 is a portion of the apparatus body 3 where the wheel suspension arrangement is arranged.
  • Fig. 2a illustrates a wheel suspension arrangement 7 according to some embodiments.
  • the wheel suspension arrangement 7 comprises a wheel suspension member 9 and the suspension mounting portion 4.1 .
  • a wheel 5 is arranged at the wheel suspension member 9.
  • the wheel suspension member 9 is movably arranged at the suspension mounting portion 4.1 .
  • the wheel suspension arrangement 7 further comprises a sensor arrangement 13 comprising a sensor 15 and a magnet 17, where the sensor 15 is arranged to detect a distance to the magnet 17 to thereby detect a position of the wheel suspension member 9. Also, since the sensor 15 is arranged to detect the distance to the magnet 17 to thereby detect the position of the wheel suspension member 9 and since the wheel 5 is arranged at the wheel suspension member 9, also a position of the wheel is detected by detecting the distance to the magnet 17.
  • the suspension member 9 is in a first position.
  • the suspension member 9 is arranged to be in the first position during normal operation of the apparatus, i.e. during autonomous movement of the apparatus on a floor surface.
  • the suspension member 9 may be biased, by the force of a spring (not shown) towards a second position.
  • the spring is adapted to exert a biasing force that is less than a force exerted on the spring by a weight of the body of the apparatus during normal operation of the apparatus. In this manner, the suspension member 9 will be in the first position during normal operation of the apparatus.
  • the sensor 15 may be arranged on the wheel suspension member 9 or at the suspension mounting portion 4.1 . In embodiments where the sensor 15 is arranged on the wheel suspension member 9, the magnet 17 is arranged at the suspension mounting portion 4.1 . In embodiments where the sensor 15 is arranged at the suspension mounting portion 4.1 , the magnet 17 is arranged on the wheel suspension member 9.
  • Fig. 2b illustrates the wheel suspension arrangement 7 illustrated in Fig. 2a with the suspension member 9 in the second position.
  • the wheel suspension arrangement 7 may have been displaced from the first position, shown in Fig. 2a, to the second position, shown in Fig. 2b, by the force of the spring and/or by the force of gravity when the apparatus is lifted from a floor surface.
  • the distance between the sensor 15 and the magnet 17 has been reduced as a consequence of the suspension member 9 having been displaced from the first position to the second position.
  • the sensor 15 may easily sense the difference in the magnetic field of the magnet 17 caused by the difference in distance between the sensor 15 and the magnet 17. Thereby, a simple and reliable detection of the position of the wheel 5 is provided.
  • the senor 15 is arranged to detect a distance to the magnet 17, the detection of the position of the wheel suspension member 9 can be performed without any physical contact between the sensor 15 and the magnet 17 and without the need for any mechanical switches. Thereby, an apparatus is provided which is less sensitive to dust and less exposed to damages incurred by a rough treatment of a user.
  • the sensor 15 may comprise an inductive sensor, capacitive sensor and/or a Hall effect sensor.
  • the suspension member 7 comprises a lever arm pivotally connected to the suspension mounting portion 4.1 .
  • the wheel suspension member 9 is ratably arranged at the suspension mounting portion 4.1 . This provides a compact wheel suspension arrangement 7.
  • the suspension member 7 is movably arranged in a linear manner to the suspension mounting portion 4.1
  • the apparatus comprises a control unit configured to stop operation of the apparatus when the suspension member 9 is displaced from the first position to the second position.
  • the sensor arrangement 13 comprises a sensor 15 and a magnet 17, where the sensor 15 is arranged to detect a distance to the magnet 17 to thereby detect a position of the wheel suspension member 9, operation of the apparatus 1 will be stopped in a reliable manner in case the apparatus is lifted from a floor surface.
  • wheel suspension member 9 may further comprise a motor 23 arrange to rotate the wheel 5, via a transmission (not shown) which also may be comprised in the wheel suspension member 9.
  • the control unit may be further configured to stop operation of the motor 23 when the suspension member 9 is displaced from the first position to the second position. Thereby, the risk of anyone getting hurt by the apparatus is further reduced and handling of the apparatus may be facilitated.
  • the apparatus 1 may further comprise a second wheel suspension arrangement comprising a second suspension mounting portion 4.2.
  • Such second wheel suspension arrangement may be provided with corresponding features as the wheel suspension arrangement 7 described above.
  • the control unit 19 may easily control autonomous movement of the apparatus 1 by controlling operation of motors arranged to rotate each wheel (not shown in Fig. 1 ) of the apparatus 1 .
  • the apparatus 1 may comprise two wheel suspension arrangements.
  • operation of the apparatus 1 can be stopped in an even more reliable manner in case the apparatus 1 is lifted from a floor surface since detection of the apparatus 1 being lifted from a floor surface can be performed at a respective side of the apparatus 1 .
  • the apparatus may comprise a caterpillar track.
  • the apparatus may comprise one or more bumper sensors, a fan, a receptacle or bag for dust and one or more filters.

Abstract

An autonomous cleaning apparatus (1) is provided capable of autonomous movement. The apparatus (1) comprises an apparatus body (3), comprising a suspension mounting portion (4.1), a wheel (5), and a wheel suspension arrangement (7). The wheel suspension arrangement (7) comprises a wheel suspension member (9) and the suspension mounting portion (4.1). The wheel (5) is arranged at the wheel suspension member (9). The wheel suspension member (9) is movably arranged at the suspension mounting portion (4.1). The wheel suspension arrangement (7) further comprises a sensor arrangement (13) comprising a sensor (15) and a magnet (17). The sensor (15) is arranged to detect a distance to the magnet (17) to thereby detect a position of the wheel suspension member (9).

Description

AUTONOMOUS CLEANING APPARATUS
TECHNICAL FIELD
The present disclosure relates to an autonomous cleaning apparatus.
BACKGROUND
Autonomous cleaning apparatuses have been available for sale for some years. Such autonomous cleaning apparatuses are usually provided with sensors arranged to gain information about an environment external to the autonomous cleaning apparatus. A control unit of the autonomous cleaning apparatus controls autonomous movement of the apparatus on basis of information gained from the sensors. For cleaning purposes, an autonomous cleaning apparatus is provided with one or more cleaning devices, such as rotating brushes and/or vacuum units, arranged to operate during autonomous movement. The autonomous cleaning apparatus is in this manner capable of autonomous movement as well as autonomous cleaning without intervention of a user of the apparatus.
Autonomous cleaning apparatuses are designed to operate within a home-environment. Thereby, they have to meet certain requirements when it comes to safety and robustness. Advantageously, an autonomous cleaning apparatus is provided with an arrangement stopping operation of the cleaning device of the apparatus in case the apparatus is lifted from a floor surface so as to reduce the risk of anyone getting hurt by the cleaning device of the apparatus. Further, the autonomous cleaning apparatus is preferably made robust enough to withstand a rough treatment by a user. Even further, since an autonomous cleaning apparatus is arranged to operate in a dusty environment, it is an advantage if it comprises components and arrangements which are not sensitive to dust. Also, simple and reliable solutions to provide the safety and robustness requirements above are advantageous since today's industry and consumer market demand high quality and low cost products. Accordingly, in view of above, there is a need for an improved autonomous cleaning apparatus.
SUMMARY
An object of the present invention is to provide an improved autonomous cleaning apparatus.
According to an aspect of the present disclosure, the object is achieved by an autonomous cleaning apparatus capable of autonomous movement comprising an apparatus body, comprising a suspension mounting portion, a wheel, and a wheel suspension arrangement, where the wheel suspension arrangement comprises a wheel suspension member and the suspension mounting portion, where the wheel is arranged at the wheel suspension member, where the wheel suspension member is movably arranged at the suspension mounting portion, and where the wheel suspension arrangement further comprises a sensor arrangement comprising a sensor and a magnet, where the sensor is arranged to detect a distance to the magnet to thereby detect a position of the wheel suspension member.
Since the sensor is arranged to detect the distance to the magnet to thereby detect the position of the wheel suspension member, a simple and reliable detection of the position of the wheel suspension member is provided.
Further, since the sensor is arranged to detect a distance to the magnet, the detection of the position of the wheel suspension member may be performed without any physical contact between the sensor and the magnet. Thereby, the sensor arrangement will not be sensitive to dust.
Even further, since the sensor is arranged to detect a distance to the magnet, the detection of the position of the wheel suspension member can be performed without using any mechanical switches. Thereby, an autonomous cleaning apparatus is provided with a sensor arrangement not being sensitive to dust and being resistant to rough treatment of a user. As a result of the above features, an improved autonomous cleaning apparatus is provided. Consequently, the above mentioned object is achieved.
Optionally, the magnet is arranged on the wheel suspension member and where the sensor is arranged at the suspension mounting portion.
Optionally, the sensor is arranged on the wheel suspension member and where the magnet is arranged at the suspension mounting portion. Optionally, the sensor comprises a Hall effect sensor. Thereby, a reliable and exact distance to the magnet can be detected and thus also a reliable and exact detection of position of the wheel suspension member is achieved.
Optionally, the suspension member comprises a lever arm pivotally connected to the suspension mounting portion. Thereby, a compact wheel suspension arrangement may be provided.
Optionally, the apparatus further comprises a control unit configured to stop operation of the apparatus when the suspension member is displaced from a first position to a second position. Thereby, an autonomous cleaning apparatus is provided where the risk of anyone getting hurt by the apparatus is reduced. Correspondingly, since the sensor arrangement comprises a sensor and a magnet, where the sensor is arranged to detect a distance to the magnet to thereby detect a position of the wheel suspension member, operation of the apparatus will be stopped in a reliable manner.
Further features of, and advantages with, the present disclosure will become apparent when studying the appended claims and the following detailed description. Those skilled in the art will realize that the different features described may be combined to create embodiments other than those described in the following, without departing from the scope of the present disclosure, as defined by the appended claims. BRIEF DESCRIPTION OF THE DRAWINGS
The various aspects of the present disclosure, including its particular features and advantages, will be readily understood from the following detailed description and the accompanying drawings, in which:
Fig. 1 is a top view, illustrating an autonomous cleaning apparatus,
Fig. 2a is a side view illustrating a wheel suspension arrangement with a wheel suspension member in a first position, and
Fig. 2a is a side view illustrating the wheel suspension arrangement with the wheel suspension member in a second position.
DETAILED DESCRIPTION
The embodiments herein will now be described more fully with reference to the accompanying drawings, in which example embodiments are shown. Disclosed features of example embodiments may be combined as readily understood by one of ordinary skill in the art. Like numbers refer to like elements throughout. Well-known functions or constructions will not necessarily be described in detail for brevity and/or clarity.
Fig. 1 illustrates an autonomous cleaning apparatus 1 . In the following, the autonomous cleaning apparatus 1 will be called the apparatus 1 . The apparatus 1 comprises an apparatus body 3, one or more sensors 6.1 -6.3 and a control unit 19. The one or more sensors 6.1 -6.3 may comprise an imaging unit 6.1 and one or more laser units 6.2, 6.3. The one or more sensors 6.1 -6.3 are arranged to gain information about an environment external to the apparatus 1 . The control unit 19 controls autonomous movement of the apparatus 1 on the basis of the gained information by controlling operation of motors arranged to rotate driving wheels (not shown in Fig. 1 ) of the apparatus 1 . The apparatus 1 further comprises one more cleaning devices (not shown) such as rotating brushes, and/or vacuum units, arranged to operate during autonomous movement. Thereby, the apparatus 1 is capable of autonomous movement as well as autonomous cleaning without the intervention of a user.
The apparatus body 3 comprises a suspension mounting portion 4.1 , a wheel, and a wheel suspension arrangement (not shown in Fig. 1 ). The suspension mounting portion 4.1 is a portion of the apparatus body 3 where the wheel suspension arrangement is arranged.
Fig. 2a illustrates a wheel suspension arrangement 7 according to some embodiments. The wheel suspension arrangement 7 comprises a wheel suspension member 9 and the suspension mounting portion 4.1 . A wheel 5 is arranged at the wheel suspension member 9. The wheel suspension member 9 is movably arranged at the suspension mounting portion 4.1 . The wheel suspension arrangement 7 further comprises a sensor arrangement 13 comprising a sensor 15 and a magnet 17, where the sensor 15 is arranged to detect a distance to the magnet 17 to thereby detect a position of the wheel suspension member 9. Also, since the sensor 15 is arranged to detect the distance to the magnet 17 to thereby detect the position of the wheel suspension member 9 and since the wheel 5 is arranged at the wheel suspension member 9, also a position of the wheel is detected by detecting the distance to the magnet 17.
In Fig. 2a, the suspension member 9 is in a first position. The suspension member 9 is arranged to be in the first position during normal operation of the apparatus, i.e. during autonomous movement of the apparatus on a floor surface. The suspension member 9 may be biased, by the force of a spring (not shown) towards a second position. In such embodiments, the spring is adapted to exert a biasing force that is less than a force exerted on the spring by a weight of the body of the apparatus during normal operation of the apparatus. In this manner, the suspension member 9 will be in the first position during normal operation of the apparatus. As illustrated in Fig. 2a, the sensor 15 may be arranged on the wheel suspension member 9 or at the suspension mounting portion 4.1 . In embodiments where the sensor 15 is arranged on the wheel suspension member 9, the magnet 17 is arranged at the suspension mounting portion 4.1 . In embodiments where the sensor 15 is arranged at the suspension mounting portion 4.1 , the magnet 17 is arranged on the wheel suspension member 9.
Fig. 2b illustrates the wheel suspension arrangement 7 illustrated in Fig. 2a with the suspension member 9 in the second position. The wheel suspension arrangement 7 may have been displaced from the first position, shown in Fig. 2a, to the second position, shown in Fig. 2b, by the force of the spring and/or by the force of gravity when the apparatus is lifted from a floor surface. As seen in Fig. 2b, the distance between the sensor 15 and the magnet 17 has been reduced as a consequence of the suspension member 9 having been displaced from the first position to the second position. As a result, the sensor 15 may easily sense the difference in the magnetic field of the magnet 17 caused by the difference in distance between the sensor 15 and the magnet 17. Thereby, a simple and reliable detection of the position of the wheel 5 is provided.
Further, since the sensor 15 is arranged to detect a distance to the magnet 17, the detection of the position of the wheel suspension member 9 can be performed without any physical contact between the sensor 15 and the magnet 17 and without the need for any mechanical switches. Thereby, an apparatus is provided which is less sensitive to dust and less exposed to damages incurred by a rough treatment of a user.
The sensor 15 may comprise an inductive sensor, capacitive sensor and/or a Hall effect sensor.
In the embodiments shown in Fig. 2a and Fig. 2b, the suspension member 7 comprises a lever arm pivotally connected to the suspension mounting portion 4.1 . Thus, in such embodiments, the wheel suspension member 9 is ratably arranged at the suspension mounting portion 4.1 . This provides a compact wheel suspension arrangement 7.
However, according to some embodiments, the suspension member 7 is movably arranged in a linear manner to the suspension mounting portion 4.1
According to some embodiments, the apparatus comprises a control unit configured to stop operation of the apparatus when the suspension member 9 is displaced from the first position to the second position. Thereby, the risk of anyone getting hurt by the cleaning device of the apparatus is reduced. Correspondingly, since the sensor arrangement 13 comprises a sensor 15 and a magnet 17, where the sensor 15 is arranged to detect a distance to the magnet 17 to thereby detect a position of the wheel suspension member 9, operation of the apparatus 1 will be stopped in a reliable manner in case the apparatus is lifted from a floor surface.
As illustrated in Fig. 2a and Fig. 2b, wheel suspension member 9 may further comprise a motor 23 arrange to rotate the wheel 5, via a transmission (not shown) which also may be comprised in the wheel suspension member 9. The control unit may be further configured to stop operation of the motor 23 when the suspension member 9 is displaced from the first position to the second position. Thereby, the risk of anyone getting hurt by the apparatus is further reduced and handling of the apparatus may be facilitated.
In embodiment where the wheel suspension member 9 comprises a motor 23 arrange to rotate the wheel 5, via a transmission comprised in the wheel suspension member 9, a compact propulsion unit for propulsion of the apparatus is provided. With reference to Fig. 1 , the apparatus 1 may further comprise a second wheel suspension arrangement comprising a second suspension mounting portion 4.2. Such second wheel suspension arrangement may be provided with corresponding features as the wheel suspension arrangement 7 described above. In embodiments where the apparatus comprises two wheel suspension arrangements, the control unit 19 may easily control autonomous movement of the apparatus 1 by controlling operation of motors arranged to rotate each wheel (not shown in Fig. 1 ) of the apparatus 1 . Also, in embodiments where the apparatus 1 comprises two wheel suspension arrangements, operation of the apparatus 1 can be stopped in an even more reliable manner in case the apparatus 1 is lifted from a floor surface since detection of the apparatus 1 being lifted from a floor surface can be performed at a respective side of the apparatus 1 . As a result, the risk of anyone getting hurt by the apparatus 1 may be further reduced. Instead of, or in combination with, the wheels, the apparatus may comprise a caterpillar track. Also, the apparatus may comprise one or more bumper sensors, a fan, a receptacle or bag for dust and one or more filters.

Claims

An autonomous cleaning apparatus (1 ) capable of autonomous movement comprising:
- an apparatus body (3), comprising a suspension mounting portion (4.1 ),
- a wheel (5), and
- a wheel suspension arrangement (7),
where said wheel suspension arrangement (7) comprises a wheel suspension member (9) and said suspension mounting portion (4.1 ), where said wheel (5) is arranged at said wheel suspension member (9), where said wheel suspension member (9) is movably arranged at said suspension mounting portion (4.1 ), and where said wheel suspension arrangement (7) further comprises a sensor arrangement (13) comprising:
- a sensor (15) and
- a magnet (17),
where said sensor (15) is arranged to detect a distance to said magnet (17) to thereby detect a position of said wheel suspension member (9).
The apparatus (1 ) according to claim 1 , where said magnet (17) is arranged on said wheel suspension member (9) and where said sensor (15) is arranged at said suspension mounting portion (4.1 ).
The apparatus (1 ) according to claim 1 , where said sensor (15) is arranged on said wheel suspension member (9) and where said magnet (17) is arranged at said suspension mounting portion (4.1 ).
The apparatus (1 ) according to any one of the preceding claims, where said sensor (15) comprises a Hall effect sensor.
The apparatus (1 ) according to any one of the preceding claims, where said suspension member (7) comprises a lever arm pivotally connected to said suspension mounting portion (4.1 ).
The apparatus (1 ) according to any one of the preceding claims, further comprising a control unit (19) configured to stop operation of said apparatus (1 ) when said suspension member (9) is displaced from a first position to a second position.
PCT/EP2014/078590 2014-12-18 2014-12-18 Autonomous cleaning apparatus WO2016096027A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/EP2014/078590 WO2016096027A1 (en) 2014-12-18 2014-12-18 Autonomous cleaning apparatus

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2014/078590 WO2016096027A1 (en) 2014-12-18 2014-12-18 Autonomous cleaning apparatus

Publications (1)

Publication Number Publication Date
WO2016096027A1 true WO2016096027A1 (en) 2016-06-23

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ID=52345185

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Application Number Title Priority Date Filing Date
PCT/EP2014/078590 WO2016096027A1 (en) 2014-12-18 2014-12-18 Autonomous cleaning apparatus

Country Status (1)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2552331A (en) * 2016-07-18 2018-01-24 F Robotics Acquisitions Ltd Improvements relating to robotic lawnmowers

Citations (4)

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Publication number Priority date Publication date Assignee Title
US20080065265A1 (en) * 2006-05-31 2008-03-13 Irobot Corporation Detecting robot stasis
EP2570064A1 (en) * 2011-09-01 2013-03-20 Samsung Electronics Co., Ltd. Driving wheel assembly and robot cleaner having the same
EP2732939A2 (en) * 2011-07-13 2014-05-21 Yujin Robot Co., Ltd. Wheel assembly of mobile robot
WO2014192332A1 (en) * 2013-05-30 2014-12-04 シャープ株式会社 Self-propelling electronic device

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080065265A1 (en) * 2006-05-31 2008-03-13 Irobot Corporation Detecting robot stasis
EP2732939A2 (en) * 2011-07-13 2014-05-21 Yujin Robot Co., Ltd. Wheel assembly of mobile robot
EP2570064A1 (en) * 2011-09-01 2013-03-20 Samsung Electronics Co., Ltd. Driving wheel assembly and robot cleaner having the same
WO2014192332A1 (en) * 2013-05-30 2014-12-04 シャープ株式会社 Self-propelling electronic device

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2552331A (en) * 2016-07-18 2018-01-24 F Robotics Acquisitions Ltd Improvements relating to robotic lawnmowers
GB2552331B (en) * 2016-07-18 2020-02-05 F Robotics Acquisitions Ltd Improvements relating to robotic lawnmowers
US11172606B2 (en) 2016-07-18 2021-11-16 Mtd Products Inc Robotic lawnmower with passive cleaning assembly
US11589504B2 (en) 2016-07-18 2023-02-28 Mtd Products Inc Robotic lawnmower with passive cleaning assembly

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