CN106659345A - 机器人真空吸尘器 - Google Patents

机器人真空吸尘器 Download PDF

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CN106659345A
CN106659345A CN201480081364.5A CN201480081364A CN106659345A CN 106659345 A CN106659345 A CN 106659345A CN 201480081364 A CN201480081364 A CN 201480081364A CN 106659345 A CN106659345 A CN 106659345A
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robotic vacuum
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CN106659345B (zh
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A·克林特米尔
D·卡斯滕松
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Electrolux AB
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    • 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
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • 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
    • A47L9/02—Nozzles
    • A47L9/04—Nozzles with driven brushes or agitators
    • A47L9/0461—Dust-loosening tools, e.g. agitators, brushes
    • A47L9/0466—Rotating tools
    • A47L9/0477—Rolls
    • 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
    • A47L5/00—Structural features of suction cleaners
    • A47L5/12—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum
    • A47L5/22—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum with rotary fans
    • 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
    • A47L9/02—Nozzles
    • A47L9/04—Nozzles with driven brushes or agitators
    • 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
    • A47L9/02—Nozzles
    • A47L9/04—Nozzles with driven brushes or agitators
    • A47L9/0405—Driving means for the brushes or agitators
    • A47L9/0411—Driving means for the brushes or agitators driven by electric motor
    • 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
    • A47L9/02—Nozzles
    • A47L9/04—Nozzles with driven brushes or agitators
    • A47L9/0461—Dust-loosening tools, e.g. agitators, brushes
    • A47L9/0488—Combinations or arrangements of several tools, e.g. edge cleaning tools
    • 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

Abstract

在此披露了一种包括吸嘴入口(12)的机器人真空吸尘器，该吸嘴入口被安排在该真空吸尘器的壳体的一部分中。吸嘴入口(12)包括形成开口(30)的框架结构(28)。框架结构(28)包括与待清洁的表面基本上平行延伸的底座部分(46)，该底座部分(46)在第一水平上延伸。前边缘部分(42)包括至少两个距离构件(48)，在这两个距离构件之间形成了至开口(30)的通道(50)。通道(50)具有在基本上平行于该第一水平的第二水平上延伸的定界表面(52)。相比于该第二水平，该第一水平被安排为更接近待清洁的表面。每个距离构件(48)具有基本上三角形的截面。这些距离构件的多个侧表面(58)的至少一部分基本上垂直于底座部分(46)延伸。

Description

机器人真空吸尘器
技术领域
本发明涉及机器人真空吸尘器。
背景
机器人真空吸尘器形成设有驱动装置的自推进单元，该驱动装置包括被配置为沿着待清洁表面控制机器人真空吸尘器的移动的控制系统。控制系统可以包括提供输入以帮助控制机器人真空吸尘器的移动的一个或多个传感器。机器人真空吸尘器的真空产生单元被安排为与面朝待清洁表面的吸嘴入口的开口流体连通。被吸入或以其他方式被推进入开口的碎屑被引导至机器人真空吸尘器的碎屑容器。当碎屑被装满至一定程度时，碎屑容器被清空或被更换。
由于机器人真空吸尘器围绕待清洁表面是自由移动的，因此电线限制了机器人真空吸尘器的移动。因此，机器人真空吸尘器是由电池提供动力的，并且机器人真空吸尘器的清洁能力必须被牢记设计为具有装载电池的容量。相应地，驱动装置、真空产生单元的能力、不同旋转刷的使用等影响电力的消耗，并且因此影响机器人真空吸尘器的设计。
因此，应该使用尽可能低的电能消耗产生真空产生单元产生的真空或吸力，同时保持良好的清洁效率。
发明内容
本发明的目的是提供一种机器人真空吸尘器，该机器人真空吸尘器具有势能以产生足够的吸力将除了灰尘外较大的碎屑(如沙子和小石头)在低耗能的情况下吸入该机器人真空吸尘器。
根据本发明的一个方面，该目的是通过机器人真空吸尘器来达到的，该机器人真空吸尘器包括壳体、被配置为沿着待清洁的表面驱动该真空吸尘器的驱动装置、真空产生单元、碎屑容器、以及被安排在该壳体的一部分内面朝待清洁的表面的吸嘴入口。该吸嘴入口包括形成开口的框架结构，该开口被安排为与碎屑容器流体连通，并且真空产生单元被安排为与该开口流体连通。框架结构具有前边缘部分以及与其相对的后边缘部分，该前边缘部分与该后边缘部分毗邻开口。该框架结构包括与待清洁的表面基本上平行延伸的底座部分，该底座部分在第一水平上延伸。前边缘部分包括至少两个距离构件，在这两个距离构件之间形成了至该开口的通道，该通道具有在基本上平行于第一水平的第二水平上延伸的定界表面。相比于该第二水平，该第一水平被安排为更接近待清洁的表面。每一个距离构件具有与第一平面基本上平行延伸的基本上三角形的截面，该距离构件在第一水平与第二水平之间延伸，该基本上三角形的截面的顶部从开口面朝向外，并且该基本上三角形的截面的底座与高开口平行延伸。距离构件的多个侧表面从顶部基本上延伸至基本上三角形的截面的底座，这些侧表面的至少一部分基本上垂直于底座部分延伸。
由于吸嘴入口包括在第一水平上延伸的底座部分，并且距离构件之间形成的通道具有在第二水平上延伸的定界表面，真空产生单元在通道内产生的气流大于在第一水平上在底座部分以及距离构件产生的气流。通道里提供的更大的气流和空间帮助将比灰尘大的碎屑抽取进开口，同时，在底座部分的气流是较小的，因此节省电能。而且，这些距离构件的基本上三角形的截面减少了朝向开口的通道的截面，因此感应逐渐朝向开口增加的空气速度。进一步地，由于这些侧表面的部分基本上垂直于底座部分延伸，通道中比灰尘大的碎屑(如沙子和小石子)将会通过通道被引导至开口、并且不会在相邻的距离构件的顶部或底座部分与待清洁的表面之间被捕获，这可以增加机器人真空吸尘器与待清洁的表面之间的距离，并且干扰了在吸嘴入口周围产生的吸力。结果，达到了上述目的。
应当理解，相比于第二水平，使用机器人真空吸尘器时，第一水平被安排为更接近待清洁的表面。该机器人真空吸尘器可以是自推进单元。该驱动装置可以包括一个或多个轮子，其中至少一个轮子由电动驱动马达直接或间接驱动。该驱动装置可以进一步包括控制系统，该控制系统被配置为控制该电动驱动马达在待清洁的表面周围移动机器人真空吸尘器。该控制系统可以包括提供输入的一个或多个传感器以帮助控制机器人真空吸尘器的移动。该至少一个传感器可以属于一个或多个不同的种类，如红外传感器、激光传感器、超声波传感器或接触传感器。该真空产生单元可以包括由电动风扇马达驱动的风扇。该开口可以被安排为通过碎屑管道系统与碎屑容器流体连通。真空产生单元可以被安排为通过碎屑管道系统与开口流体连通、并且可选地同样与碎屑容器流体连通，即在一些实施例中真空产生单元可以产生从吸嘴入口通过碎屑管道系统至碎屑容器的吸力。在机器人真空吸尘器使用时，在大多数清洁情况下框架结构的前边缘部分在后缘部分前面行进。该机器人真空吸尘器可以包括一个或多个可旋转刷子以帮助将碎屑朝向吸嘴入口的开口推进或推进入该吸嘴入口的开口。一个或多个电动刷子马达可以驱动可旋转侧刷。除了控制驱动马达之外，控制系统还可以控制风扇马达和/或一个或多个刷子马达。机器人真空吸尘器可以包括一个或多个可再充电电池，这些可再充电电池被配置成为包括控制系统以及不同电动马达的驱动装置充电。
根据多个实施例，该第一水平可以在距离待清洁的表面不到2mm处延伸。以此方式，真空产生单元可以在框架结构的底座部分周围的区域内产生大的吸力，该底座部分被安排在第一水平，并且不需要沿着开口的一部分延伸的突出元件(如弹性脊)来减少流入开口的空气量。而且，在第一水平可以在距离待清洁的表面不到2mm处延伸的情况下，可以得到通道内更大的气流。应当理解，使用机器人真空吸尘器时，该第一水平可以在距离待清洁的表面不到2mm处延伸。当机器人真空吸尘器立于如硬木地板的结实表面上时，测量第一水平与待清洁的表面之间的距离。
纯粹举例而言，第一与第二水平之间的距离可以在1-8mm之间。
根据多个实施例，该底座部分可以是吸嘴入口的延伸至最靠近待清洁的表面的那部分。以此方式，该吸嘴入口可以不需要任何沿着开口的部分延伸的突出元件(如弹性脊)来在底座部分周围的区域内产生足够的吸力。
根据多个实施例，该吸嘴入口可以形成该壳体的一部分或可替代地可以附接至该壳体，并且其中，该底座部分可以最接近于该吸嘴入口的待清洁的表面以及该壳体延伸。
根据多个实施例，每一个距离构件的底部表面可以形成该第二水平与该第一水平之间的平滑过渡。由于框架结构的前边缘部分包括多个距离构件，以此方式，如当机器人真空吸尘器从裸露的地板表面过渡到地毯上或越过门槛时，前边缘部分可以滑动越过待清洁的表面的竖直过渡部。
根据多个实施例，该吸嘴入口可以包括从这些距离构件中的至少一个距离构件延伸至该后边缘的至少一个横撑。以此方式，可以防止在开口中捕获如电缆的细长物体。
根据多个实施例，其中，该至少一个横撑形成了底座部分的一部分并且在第一水平上延伸。以此方式，横撑可以防止后边缘在开口中抵靠住待清洗的表面的竖直过渡部(如地毯边缘)。这可能以其他方式防止机器人真空吸尘器继续向前行进。
根据多个实施例，该机器人真空吸尘器可以包括被安排在壳体内并且沿着吸嘴入口延伸的可旋转细长刷辊，该可旋转细长刷辊包括多个径向延伸的构件，这些径向延伸的构件从壳体内部至少延伸至第一水平。以此方式，该细长刷辊可以帮助将特别大的碎屑(如沙子和小石头)推进入该开口。
根据多个实施例，这些径向延伸的构件中的第一径向延伸的构件可以包括弹性唇缘，并且这些径向延伸的构件中的第二径向延伸的构件可以包括多个刷毛。
附图简要说明
从以下详细说明和附图中讨论的实例实施例将容易理解本发明的不同方面，包括其具体特征和优点，在附图中：
图1和图2展示了根据多个实施例的机器人真空吸尘器的俯视图以及透视底视图，
图3展示了图2中示出的机器人真空吸尘器的吸嘴入口，
图4展示了图3中示出的吸嘴入口的局部放大图，并且
图5展示了图2的区域的局部放大图。
详细说明
现在更加全面地说明本发明的各个方面。贯穿全文，相同的数字指代相同的元件。为简洁和/或清晰起见，众所周知的功能或构造不必在此进行详细描述。
图1和图2展示了根据多个实施例的机器人真空吸尘器2的俯视图以及透视底视图。机器人真空吸尘器2包括壳体4、被配置为沿着待清洁的表面驱动真空吸尘器2的驱动装置6、真空产生单元8(示意性地展示)、碎屑容器10、以及被安排在壳体4的面朝待清洁的表面的部分中的吸嘴入口12。
驱动装置6确保了真空吸尘器是自推进单元。驱动装置6包括由电动驱动马达20驱动的两个轮子18(示意性地展示)。驱动装置6包括非驱动支撑轮22。驱动装置6还包括被配置为控制电动驱动马达20的控制系统24(示意性地展示)。控制系统24包括帮助控制机器人真空吸尘器2的移动的传感器26。
碎屑容器10被安排在壳体4中。碎屑容器10的一个侧部32形成机器人真空吸尘器2的外表面部分。因此，碎屑容器10是易于进入的并且可由使用者移除以便对其进行清空。吸嘴入口12是细长的并且平行于两个从动轮子18的旋转轴线。因此，吸嘴入口横跨机器人真空吸尘器2的行进方向延伸以便清洁宽覆盖范围。
吸嘴入口12包括形成开口30的框架结构28。开口30被安排为与碎屑容器10流体连通并且真空产生单元8被安排为与开口30流体连通。因此，真空产生单元8可以在开口30处产生吸力用于将碎屑从开口30周围的区域通过碎屑管道系统运送至碎屑容器10。
机器人真空吸尘器2包括可旋转侧刷14，该可旋转侧刷包括刷毛34，这些刷毛径向延伸至可旋转侧刷14的旋转轴线16、并且与待清洁的表面基本上平行延伸。刷毛34延伸至并超出壳体4的外侧部35并且越过吸嘴入口12的侧部36。图2已经示意性地展示了刷毛34。实际上，刷毛34可以比展示出的薄得多，并且可旋转侧刷14可以设有比展示出的显著更多的刷毛34。机器人真空吸尘器2包括可旋转细长刷辊38，该细长刷辊被安排在壳体4内并且沿着包括吸嘴入口12的侧部36的吸嘴入口12延伸。
图3详细展示了图2所示的机器人真空吸尘器2的吸嘴入口12。在这些实施例中，吸嘴入口12被包括在可移除的盖40中，该可移除的盖被配置成位于机器人真空吸尘器2的壳体中。在替代性实施例中，在壳体中可以直接形成吸嘴入口12。
如上所述，吸嘴入口12包括形成开口30的框架结构28。框架结构28具有前边缘部分42和与其相对的后边缘部分44。前边缘部分42和后边缘部分44毗邻开口30。框架结构28包括底座部分46，该底座部分在使用机器人真空吸尘器时在第一水平上与待清洁的表面基本上平行延伸。前边缘部分42包括至少两个距离构件48，在这两个距离构件之间形成了至开口30的通道50。在这些实施例中，前边缘部分42包括五个距离构件48、48’。在替代性实施例中，前边缘部分可以包括少于五个距离构件(例如三个或四个距离构件)、或多于五个距离构件(例如6至10个距离构件)。
图4展示了图3中示出的吸嘴入口12的局部放大图。通道50具有在基本上平行于第一水平的第二水平上延伸的定界表面52。相比于第二水平，使用机器人真空吸尘器时，第一水平被安排为更接近待清洁的表面。每一个距离构件48具有与第一平面基本上平行延伸的基本上三角形的截面。每一个距离构件48在第一水平与第二水平之间延伸，该基本上三角形的截面的顶部54从开口30面朝向外，并且该基本上三角形的截面的底座56与开口30平行延伸。距离构件48的多个侧表面58从顶部54基本上延伸至基本上三角形的截面的底座56。这些侧表面58的至少一部分基本上垂直于底座部分46、并且垂直于通道50的定界表面52延伸。
后边缘部分44形成底座部分46的一部分以及吸嘴入口12的侧部36的一部分。在这些实施例中，侧部36在第二水平上延伸。相应地，后边缘部分44在底座部分46处在第一水平上延伸并且后边缘部分44在侧部36处在第二水平上延伸。在替代性实施例中，整个后边缘部分44可以在第一水平上延伸。
在图3和图4中清楚地可见，定界表面52在与底座部分46(即第二水平)不同的水平上延伸。同样，在吸嘴入口12的外侧端47和在侧部36的后边缘部分44，侧部36可以在第二水平上延伸。可替代地，外侧端47和侧部36的后边缘部分44可以在第二水平上延伸。同样如在图3和图4中清楚地可见，前边缘部分42包括在第二水平上延伸的多个部分，即在多个距离构件48之间以及在邻近外距离构件48’的开口30的多个端部形成的多个通道的多个定界表面52。
吸嘴入口12包括从这些距离构件48中的至少一个距离构件延伸至该后边缘部分44的至少一个横撑62。至少一个横撑62形成底座部分46的一部分并且在第一水平上延伸。
两个相邻距离构件48的基本上三角形的截面减少了在这些距离构件之间形成的、朝向开口30的通道50的截面。因此，该至少两个距离构件48中的第一距离构件的多个侧表面58中的一者与该至少两个距离构件48中的第二距离构件的一个相反侧表面58形成了朝向开口30的漏斗。
每一个距离构件48的底部表面60形成了第二水平与第一水平之间的平滑过渡。
图5展示了图2的圈出的区域V的放大图，但是其中为了清晰起见移除了可旋转侧刷。如与图2相关联而讨论的，机器人真空吸尘器2包括可旋转细长刷辊38，该可旋转细长刷辊被安排在壳体4内并且沿吸嘴入口12延伸。可旋转细长刷辊38包括从壳体40的内部至少延伸至第一水平的径向延伸的构件64’、64”。在这些实施例中，这些径向延伸的构件中的第一径向延伸的构件64’包括弹性唇缘，并且这些径向延伸的构件中的第二径向延伸的构件64”包括多个刷毛。可替代性地，所有径向延伸的构件64’、64”可以包括弹性唇缘或刷毛。
使用机器人真空吸尘器2时，第一水平上的底座构件46可以在距离待清洁的表面不到2mm处延伸。使用机器人真空吸尘器2时，底座部分46可以是吸嘴入口12的延伸至最靠近待清洁的表面的那部分。使用机器人真空吸尘器2时，吸嘴入口12可以形成壳体4的一部分或可替代地可以附接至壳体4，并且其中，底座部分46可以最接近于吸嘴入口12的待清洁的表面以及壳体4延伸。
本发明不应被解释为限制于在此提出的这些实施例。本领域技术人员将认识到，可以在不脱离所附权利要求书限定的本发明的范围的情况下将本文披露的实施例的不同特征进行组合以创造下面所描述之外的实施例。尽管已经参照多个实例实施例描述了本发明，但许多不同的改变、修改等等对于本领域技术人员将变得清楚。因此，应当理解的是，前述内容是对不同实例实施例的说明并且本发明仅由所附权利要求书限定。
在此使用的术语“包括(comprising)”或“包括(comprises)”是开放式的并且包括一个或多个所述的特征、元件、步骤、部件或功能，而并不排除一个或多个其他的特征、元件、步骤、部件、功能或其群组的存在或添加。

Claims (10)

1.一种机器人真空吸尘器(2)，包括壳体(4)、被配置为沿着待清洁的表面来驱动该真空吸尘器(2)的驱动装置(6)、真空产生单元(8)、碎屑容器(10)、以及被安排在该壳体(4)的面朝该待清洁的表面的部分中的吸嘴入口(12)，其中，该吸嘴入口(12)包括形成开口(30)的框架结构(28)，该开口(30)被安排为与该碎屑容器(10)流体连通，并且，该真空产生单元(8)被安排为与该开口(30)流体连通，其中，该框架结构(28)具有前边缘部分(42)以及与其相对的后边缘部分(44)，该前边缘部分(42)以及后边缘部分(44)毗邻该开口(30)，
其特征在于，该框架结构(28)包括与待清洁的表面基本上平行延伸的底座部分(46)，该底座部分(46)在第一水平上延伸，其中，该前边缘部分(42)包括至少两个距离构件(48)，在这两个距离构件之间形成了至该开口(30)的通道(50)，该通道(50)具有在基本上平行于第一水平的第二水平上延伸的定界表面(52)，其中，相比于该第二水平，该第一水平被安排为更接近待清洁的表面，其中，每一个距离构件(48)具有与该第一平面基本上平行延伸的基本上三角形的截面，该距离构件(48)在该第一水平与该第二水平之间延伸，该基本上三角形的截面的顶部(54)从开口(30)面朝外，并且该基本上三角形的截面的底座(56)与该开口(30)平行延伸，并且其中，该距离构件(48)的多个侧表面(58)从该顶部(54)基本上延伸至该基本上三角形的截面的底座(56)，这些侧表面(58)的至少一部分基本上垂直于该底座部分(46)延伸。
2.根据权利要求1所述的机器人真空吸尘器(2)，其中，该第一水平在距离该待清洁的表面不到2mm处延伸。
3.根据权利要求1或2所述的机器人真空吸尘器(2)，其中，该底座部分(46)是该吸嘴入口(12)的、最靠近该待清洁的表面延伸的那部分。
4.根据权利要求3所述的机器人真空吸尘器(2)，其中，该吸嘴入口(12)形成了该壳体(4)的一部分或附接至该壳体(4)，并且其中，该底座部分(46)最接近于该吸嘴入口(12)的待清洁的表面以及该壳体(4)延伸。
5.根据以上权利要求中任一项所述的机器人真空吸尘器(2)，其中，这些距离构件(48)中的每一个距离构件的底部表面(60)形成了该第二水平与该第一水平之间的平滑过渡。
6.根据以上权利要求中任一项所述的机器人真空吸尘器(2)，其中，这至少两个距离构件(48)中的第一距离构件的多个侧表面(58)中的一者与这至少两个距离构件(48)中的第二距离构件的一个相反侧表面(58)形成了朝向该开口(30)的漏斗。
7.根据以上权利要求中任一项所述的机器人真空吸尘器(2)，其中，该吸嘴入口(12)包括从这些距离构件(48)中的至少一者延伸至该后边缘部分(44)的至少一个横撑(62)。
8.根据权利要求7所述的机器人真空吸尘器(2)，其中，该至少一个横撑(62)形成了该底座部分(46)的一部分并且在该第一水平上延伸。
9.根据以上权利要求中任一项所述的机器人真空吸尘器(2)，包括被安排在该壳体(4)内并且沿着该吸嘴入口(12)延伸的可旋转细长刷辊(38)，该可旋转细长刷辊(38)包括多个径向延伸的构件(64’，64”)，这些径向延伸的构件从该壳体(4)内部至少延伸至该第一水平。
10.根据权利要求9所述的机器人真空吸尘器(2)，其中，这些径向延伸的构件中的第一径向延伸的构件(64’)包括弹性唇缘，并且这些径向延伸的构件中的第二径向延伸的构件(64”)包括多个刷毛。
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