DE102014106041A1 - Self-propelled cleaning device and operating method for a self-propelled cleaning device - Google Patents

Self-propelled cleaning device and operating method for a self-propelled cleaning device

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Publication number
DE102014106041A1
DE102014106041A1 DE102014106041.5A DE102014106041A DE102014106041A1 DE 102014106041 A1 DE102014106041 A1 DE 102014106041A1 DE 102014106041 A DE102014106041 A DE 102014106041A DE 102014106041 A1 DE102014106041 A1 DE 102014106041A1
Authority
DE
Germany
Prior art keywords
cleaning device
cleaning
travel
thread lifter
self
Prior art date
Legal status (The legal status 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 status listed.)
Withdrawn
Application number
DE102014106041.5A
Other languages
German (de)
Inventor
David Buhl
Stefan Tiekötter
Holger Ernst
Markus Penner
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Miele and Cie KG
Original Assignee
Miele and Cie KG
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 Miele and Cie KG filed Critical Miele and Cie KG
Priority to DE102014106041.5A priority Critical patent/DE102014106041A1/en
Priority claimed from EP15164886.2A external-priority patent/EP2939581B1/en
Publication of DE102014106041A1 publication Critical patent/DE102014106041A1/en
Application status is Withdrawn legal-status Critical

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Classifications

    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00Details 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
    • A47L9/02Nozzles
    • A47L9/06Nozzles with fixed, e.g. adjustably fixed brushes or the like
    • A47L9/0633Nozzles with fixed, e.g. adjustably fixed brushes or the like with retractable brushes, combs, lips or pads
    • A47L9/064Nozzles with fixed, e.g. adjustably fixed brushes or the like with retractable brushes, combs, lips or pads actuating means therefor
    • A47L9/0653Nozzles with fixed, e.g. adjustably fixed brushes or the like with retractable brushes, combs, lips or pads actuating means therefor with mechanical actuation, e.g. using a lever
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04Automatic control of the travelling movement; Automatic obstacle detection
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Abstract

The invention relates to a self-propelled cleaning device for automated cleaning of contaminated surfaces, comprising a device control, which controls the cleaning device along a travel path, and extending transversely to a direction of travel suction gap 6 and at least one parallel to the suction gap 6 arranged bottom seal. The cleaning device is characterized in that the at least one bottom seal is formed as a thread lifter 10 having on its side facing the ground fibers, and that the device control is adapted to a cleaning drive of the self-propelled cleaning device in a main direction of travel in a cleaning cycle of To break the thread lifter 10 for a travel section in the reverse direction of travel. The invention further relates to an operating method for such a self-propelled cleaning device.

Description

  • The invention relates to a self-propelled cleaning device for automated cleaning of contaminated surfaces, wherein the cleaning device has a device control that controls the cleaning device along a travel path, and extending transversely to a direction of travel suction gap and at least one parallel to the suction gap arranged bottom seal. The invention further relates to an operating method for such a self-propelled cleaning device.
  • Self-propelled cleaning devices are used for the automated cleaning of surfaces. They are for example designed as vacuum cleaners, which are then usually referred to as vacuum robots. Furthermore, self-propelled cleaning devices for wiping a floor are known and combination devices that can clean by sucking and wiping.
  • At the suction gap, a negative pressure is generated, which has an air flow flowing into this suction gap result. From the air flow dust and dirt particles are lifted from the ground and sucked into the suction gap. In order to generate the highest possible flow velocities near the bottom, the airflow caused by the negative pressure is guided as specifically as possible and close to the ground surface. For this purpose, it is known to provide at least one parallel to the suction gap extending bottom seal, so that the air flow leads essentially only from one direction into the suction gap, whereby the air velocity increases in the air flow. The arrangement of the suction gap and the at least one parallel floor seal is usually also referred to as Staubsaugermund.
  • To support the cleaning effect, a rotating brush roll can be arranged in the region of the suction gap or in the suction gap itself, which ejects dust and dirt particles from the ground upwards and thus facilitates the suction of these particles.
  • With robotic vacuum cleaners, picking up threads, hair or long fibers proves problematic. Frequently, such threads, hair or fibers get caught in the filaments of the carpet. To lift off the mentioned impurities the suction power of vacuum robots is then often insufficient.
  • It is therefore an object of the present invention to provide a self-propelled cleaning device of the type mentioned, in which the inclusion of threads, hair and other long fibers is improved in particular by a carpet. It is a further object of the invention to provide an operating method for a self-propelled cleaning device, with which the recording of said threads, hair or long fibers is particularly effective.
  • According to the invention this object is achieved by a self-propelled cleaning device and an operating method for a self-propelled cleaning device with the features of the respective independent claim. Advantageous embodiments and further developments are the subject of the respective dependent claims.
  • An inventive self-propelled cleaning device, in particular a suction robot, of the type mentioned above is characterized in that the at least one bottom seal is designed as a thread lifter having on its side facing the ground side protruding fibers. Further, the device control is adapted to interrupt a cleaning drive of the self-propelled cleaning device in a main direction of travel for a cleaning cycle of the thread lifter for a driving section with the reverse direction of travel.
  • Such thread lifters, for example made of a suede or plastic material, are basically known for manually guided vacuum cleaners or vacuum cleaner nozzles. In such manually guided vacuum cleaners or vacuum cleaner nozzles usually two such thread lifters are used, one of which is arranged in front of and one behind the suction mouth. When sweeping the floor, the filaments, hair or fibers are combed out of the fibers of the thread lifter combed out of the carpet and get caught in the fibers of the thread lifter. In the typical manual back and forth movement of a vacuum cleaner or a vacuum cleaner nozzle the threads, hair or fibers are then stripped by the other way directed relative movement between the thread lifter and floor covering of the thread lifter and can finally be absorbed.
  • Since self-propelled cleaning devices usually move in one direction, called the main driving direction along their travel, this would lead to clogging of the thread lifter. According to the invention, however, the use of a thread lifter in a self-propelled cleaning device is made possible by the fact that the device control of the self-propelled cleaning device provides cleaning cycles for the thread lifter. In such a cleaning cycle, the drive of the cleaning device is interrupted on the track, reversed the direction of travel and possibly a short cleaning drive section in the reverse direction (reversing) covered. On this Cleaning section are stripped from the thread lifter recorded threads, hair or fibers. Subsequently, the cleaning section is run over again by the cleaning device in the main direction of travel, wherein the stripped threads, hair or fibers are absorbed by the suction gap.
  • In an advantageous embodiment of the cleaning device, the thread lifter is arranged in the main direction of travel in front of the suction gap. This ensures that located on the surface to be cleaned threads, hair and fibers are not caught on a cleaning drive on the brush roller, but are absorbed by the arranged in front of the suction gap thread lifter. Preferably, fibers of the thread lifter inclined at an angle in the main direction of travel down.
  • A suitable thread lifter may, for example, comprise a strip of a velor material. Alternatively conceivable is a thread lifter, which consists of at least two different plastics and is produced in a multi-component injection molding process. The at least two different plastics have different material properties. A main body of the thread lifter is a hard component of a first plastic with relatively hard and dimensionally stable material properties, such as polypropylene. At this body, the brush elements of the thread lifter are molded from a second plastic as a soft component. This second plastic has softer, flexible material properties compared to the hard component. The brush elements of the thread lifter from this soft component adapt optimally to the contour of the floor surface to be cleaned and remove threads, hair or other fibers from these threads. As a soft component of the thread lifter, for example, plastics from the group of thermoplastic elastomers are conceivable.
  • To compensate for unevenness of the thread lifter can be mounted resiliently and in the vertical direction yielding to the ground-facing side of the cleaning device. In an alternative embodiment, the thread lifter is mounted on a height adjustment device, by its distance from the ground is variable. Such a thread lifter may e.g. on smooth floors, where picked up filaments can not be so effectively wiped off, are raised in a raised position to reduce the driving resistance and thus save drive power.
  • An operating method according to the invention for such a self-propelled cleaning device, which has a suction gap extending transversely to a direction of travel and at least one thread take-up arranged parallel to the suction gap, comprises the following steps:
    It is traveled a roadway for floor cleaning in a main direction of the cleaning device. The track is interrupted to carry out a cleaning cycle for the thread lifter by the cleaning device stops, for stripping recorded threads, hair or other fibers of the thread lifter moves a driving section against the main direction of travel while emits threads, hair or other fibers. Subsequently, the self-propelled cleaning device passes over the guideway in the main direction of travel, which it had traveled to clean the thread lifter against the main direction of travel. In this case, such threads, hair or fibers are taken on the suction gap of the self-propelled cleaning device, which had come off during the cleaning drive against the main direction of travel from the thread lifter. In the course of the last processing step, it is particularly advantageous to raise the thread lifter via the height adjustment in a raised position and / or at least to reduce the speed of the brush roller in the suction gap. This prevents a renewed entanglement of the threads, hair or other fibers in the thread lifter or the brush roll, which are released in the course of the cleaning run against the main travel direction. After completing the cleaning cycle, the drive continues in the main travel direction along the travel path. This results in the advantages described in connection with the cleaning device.
  • In an advantageous embodiment of the method, the cleaning cycle is carried out repeatedly, for example, at regular time or distance distances. Particularly preferably, the cleaning cycle is carried out together with planned changes of direction along the travel path. Since such changes in direction of travel are usually accompanied by stopping or at least a slowing down of the movement of the cleaning device, the cleaning cycles can be integrated into the cleaning path in the most energy-saving manner. In addition, the reversing within the cleaning cycles for a user are less noticeable than cleaning cycles that interrupt a longer straight-ahead section.
  • In an advantageous embodiment of the method, the cleaning cycle is only carried out when the cleaning device is on a soft floor covering, in particular a carpet or a carpet, as on the soft flooring stripping of the recorded threads, hair or fibers is more effective.
  • The invention will be explained in more detail by means of embodiments with reference to figures. The figures show:
  • 1 a schematic side view of a vacuum robot; and
  • 2 a schematic representation of a recording process of a thread based on six partial images.
  • In the 1 is a vacuum robot 1 as an example of a self-propelled cleaning device shown schematically in a partially sectioned side view. The vacuum robot 1 has arranged on or in a housing 2 a drive system 3 on top of that, on two drive wheels 4 one on each side of the robotic vacuum cleaner 1 arranged, acts. The drive wheels 4 can be independently driven by drive motors not shown separately here. Next is a jockey wheel 5 provided, which is either pivotable or designed as a rotatable ball in all directions. For independent control of the direction of rotation and rotational speed of the drive wheels 4 can the vacuum robot 1 Move with independently adjustable rotation and translation speeds on a surface to be cleaned.
  • In the middle area of the vacuum robot 1 is a suction gap 6 arranged in a known manner with a dust cassette 7 and a suction fan 8th connected is. In the area of the dust cassette 7 is a filter system, for example, arranged with a vacuum cleaner bag. It is supportive in the illustrated embodiment in the suction area 6 a rotating brush roll 9 arranged.
  • The suction robot is controlled 1 via a device control, not shown here, which comprises one or more microcontrollers. The device control controls the individual components of the vacuum robot 1 , such as the drive system 3 , the suction fan 8th and the brush roll 9 , In addition, the device control on a navigation system, which is a guideway of Saugroboters 1 plans and causes the track to be driven off. For navigation purposes and to avoid collisions with obstacles, there are also long and / or short range sensors which are evaluated by the device control or the navigation system. These sensors can work eg visually or acoustically.
  • A main direction of movement of the vacuum cleaner in operation is in the 1 by a directional arrow above the vacuum robot 1 specified. In the figure to the right of the suction gap 6 , So seen in the main movement direction in front of the suction gap 6 , is one as a thread lifter 10 trained bottom seal arranged. The thread lifter 10 has on its underside a strip of material of a material having a plurality of fine protruding and slanted fibers. The strip of material may for example be a velor strip. The fibers are oriented inclined to the main direction of movement. The thread lifter 10 acts as a bottom seal by moving the area of the suction gap 6 seals towards the front (in the main direction of travel), whereby the suction fan 8th of the vacuum robot 1 produced negative pressure to a stronger air flow in the area behind the suction gap 6 leads. In this way, already the suction effect of the vacuum robot 1 elevated. Furthermore, the skewed fibers of the thread lifter comb 10 a thread 11 , a hair or any other long fiber out of a carpet as a floor to be cleaned out, otherwise neither from the suction gap 6 directly, still from the brush roller 9 would be included.
  • The height of the thread lifter 10 above the floor is adjustable via an adjustment mechanism. The height adjustment is via an electric motor 13 realized, which has a screw placed on its shaft 14 a worm wheel 15 drives. The thread lifter 10 is like that with the worm wheel 15 connected to it during a rotary motion of the worm wheel 15 is pivoted and raised. This allows the thread lifter 10 be lifted off the ground when it is not needed, for example, when the vacuum robot is on a smooth floor. In this way, drive power of the vacuum robot 1 can be saved, as an unnecessary grinding of the thread lifter 10 is prevented over a ground. Furthermore, the thread lifter 10 be raised in the range of traversing edges to hooking the vacuum robot 1 to prevent this edge and thus to facilitate driving over the edge. Alternatively, it is conceivable, the thread lifter 10 via an elastic element at the bottom of the housing 2 of the vacuum robot 1 to arrange. The elastic element 12 may be, for example, a soft rubber strip, possibly with a hollow profile. The thus achieved elastic and deformable recording of the thread lifter 10 allows a good and safe resting of the thread lifter 10 on the floor also in the area of uneven floors such as carpet edges.
  • The arrangement of the thread lifter 10 together with its height adjustment in front of the suction gap 6 in relation to the direction of travel of the vacuum robot 1 Ensures that threads, hair and other long fibers through the preceding thread take-up 10 be absorbed before moving into the area of the rotating brush roll 9 reach. This creates the risk of wrapping the brush roll 9 with for example long hair prevented.
  • 2 shows the recording process of a thread 11 in a method of operation according to the invention in more detail. The recording process is in the 2 reproduced in six partial images, the consecutive situations play. First, in the partial image a is a movement of the vacuum robot 1 in the symbolized at the top of the screen by an arrow direction of movement, here the main movement direction shown. Overflows the vacuum robot 1 with his thread lifter 10 the thread on the surface to be cleaned 11 , as shown in drawing b, the thread 11 by the fibers of the thread lifter which are at an angle to the direction of movement 10 picked up and hooked in these fibers of the thread lifter 10 ,
  • The following is the suction robot 1 a cleaning cycle for the thread lifter 10 passed through. This is shown in the sub-pictures c to f. During the cleaning cycle, the vacuum robot stops 1 his drive in the main direction of movement and moves for a short distance in the reverse direction opposite to the main direction of movement. This movement causes the thread 11 - and possibly more in the thread lifter 10 absorbed threads, hair or other long fibers - through the bottom of the thread lifter 10 be stripped off. During this stripping, the thread becomes entangled 11 to the illustrated tangle. As shown in picture c, the tangled thread is 11 less entangled in the filaments of the carpet. The length of the Rückwärtsfahrabschnitts is advantageously in the range of a few centimeters. It is designed so that the most extensive cleaning of the thread lifter 10 ensured by recorded impurities.
  • After completion of the Rückwärtsfahrabschnittes, as shown in picture d, the adjustment lifts the thread lifter 10 at least so far on the soil to be cleaned, that no contact between the thread lifter 10 and the bottom surface is made. In addition, the speed of the brush roller 9 At least considerably reduced to the power consumption of the vacuum robot 1 to reduce. Subsequently, the suction robot passes over 1 the distance that he traveled during his reverse drive in the main direction of travel. This is the crumpled thread 11 over the brush roll 9 and the suction gap 6 of the vacuum robot 1 added. Lifting the thread lifter 10 via the adjustment prevents a renewed entanglement of the thread 11 in the thread lifter 10 , In addition, it is advantageous the speed of the brush roller 9 to reduce, to catching the crumpled thread 11 in the brush roll 9 to prevent. Once the vacuum robot 1 arrived at the position of his driveway, which he had taken before the start of his reverse drive, the adjustment lowers the thread lifter 10 again on the surface to be cleaned and the vacuum robot 1 continues the cleaning trip.
  • The in the picture c the 2 shown reverse driving the cleaning cycle can basically at any time during a cleaning trip on the guideway of the vacuum robot 1 be performed. It can be provided, for example, to carry out such a cleaning drive at regular time and / or distances. Furthermore, it can be provided to carry out such a cleaning run only when the vacuum robot 1 Also located on a carpet, since only in this case, the stripping of the recorded threads, hair and other fibers can be performed effectively on the ground.
  • In order to integrate the cleaning cycles as energy-saving as possible in a planned cleaning path, it may be provided to carry out a cleaning cycle, in particular at those points in the travel path on which the vacuum robot 1 Due to the route, it stops or slows down. In a meandering cleaning trip, for example, which allows a particularly good coverage of a surface to be cleaned, without areas are traversed several times, for example, at such points where the vacuum robot 1 makes a 90 degree turn by rotating in place, such a cleaning cycle will be integrated. For this purpose, the vacuum robot moves 1 For example, slightly beyond the planned pivot point, stops and resets to the planned pivot point, the portion of the reset the reverse drive to clean the thread lifter 10 represents.
  • During the cleaning cycle, in which the threads, hair or other fibers from the thread lifter 10 can be deleted, then, for example, the rotation of the brush roller 9 stopped or greatly slowed down, so that the yarn, hair, fibers wound to the ball are sucked up without them in the rotating brush roll 9 caught.
  • LIST OF REFERENCE NUMBERS
  • 1
     robotic vacuum
    2
     casing
    3
     drive system
    4
     drive wheels
    5
     stabilizer
    6
     suction gap
    7
     dust cassette
    8th
     aspirator
    9
     brush roll
    10
     thread lifting
    11
     thread
    12
     Elastic element
    13
     electric motor
    14
     slug
    15
     worm

Claims (11)

  1. Self-propelled cleaning device for automated cleaning of contaminated surfaces, comprising a device control, which controls the cleaning device along a travel path, and a transversely extending to a direction of travel suction gap ( 6 ) and at least one parallel to the suction gap ( 6 ) arranged bottom seal, characterized in that the at least one bottom seal as a thread lifter ( 10 ) is formed, which has at its bottom-facing side of the projecting fibers, and that the device control is adapted to a cleaning drive of the self-propelled cleaning device in a main direction of travel in a cleaning cycle of the thread lifter ( 10 ) for a driving section with the reverse direction of travel to interrupt.
  2. Cleaning device according to claim 1, wherein the thread lifter ( 10 ) in the main direction of travel before the suction gap ( 6 ) is arranged.
  3. Cleaning device according to claim 1 or 2, wherein the fibers of the thread lifter ( 10 ) inclined at an angle in the main direction pointing down.
  4. Cleaning device according to one of claims 1 to 3, wherein the thread lifter ( 10 ) has a strip of a velor material.
  5. Cleaning device according to one of claims 1 to 3, wherein the thread lifter ( 10 ) is elastically and in the vertical direction yieldingly mounted on the floor facing side of the cleaning device.
  6. Cleaning device according to one of claims 1 to 4, wherein the thread lifter ( 10 ) is mounted on a height adjustment device, by its distance from the ground is changeable.
  7. Operating method for such a self-propelled cleaning device, which has a transverse to a direction of travel extending suction gap ( 6 ) and at least one parallel to the suction gap ( 6 ) arranged thread lifter ( 10 ), comprising the following steps: - driving off a roadway for floor cleaning in a main direction of travel of the cleaning device; - Performing a cleaning cycle for the thread lifter ( 10 ), in which the cleaning device stops, for stripping recorded threads, hair or other fibers from the thread lifter ( 10 ) travels a driving section counter to the main driving direction - traversing the travel path traveled in the cleaning cycle in the main direction of travel with the lifting device lifted by the height adjustment device ( 10 ) for receiving the stripped threads, hair or other fibers via the suction gap ( 6 ); and - continuing the ride to clean the ground in the main direction of travel along the driveway.
  8. The method of claim 7, wherein the cleaning cycle is performed repeatedly.
  9. The method of claim 8, wherein the cleaning cycle is performed at regular time or distance distances.
  10. The method of claim 7, wherein the cleaning cycle is performed along with planned travel changes along the guideway.
  11. Method according to one of claims 7 to 10, wherein the cleaning cycle is carried out only when the cleaning device is on a soft floor covering, in particular a carpet or a carpet floor.
DE102014106041.5A 2014-04-30 2014-04-30 Self-propelled cleaning device and operating method for a self-propelled cleaning device Withdrawn DE102014106041A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE102014106041.5A DE102014106041A1 (en) 2014-04-30 2014-04-30 Self-propelled cleaning device and operating method for a self-propelled cleaning device

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014106041.5A DE102014106041A1 (en) 2014-04-30 2014-04-30 Self-propelled cleaning device and operating method for a self-propelled cleaning device
EP15164886.2A EP2939581B1 (en) 2014-04-29 2015-04-23 Self-propelled cleaning device and method of operation for a self-propelled cleaning device

Publications (1)

Publication Number Publication Date
DE102014106041A1 true DE102014106041A1 (en) 2015-11-05

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Application Number Title Priority Date Filing Date
DE102014106041.5A Withdrawn DE102014106041A1 (en) 2014-04-30 2014-04-30 Self-propelled cleaning device and operating method for a self-propelled cleaning device

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE7237505U (en) * 1973-11-14 1900-01-01 Wessel H
DE2233414A1 (en) * 1972-07-07 1974-01-24 Licentia Gmbh vacuum cleaner nozzle
DE10301113A1 (en) * 2002-03-04 2003-09-25 Schneiderfilz Schneider Gmbh & Vacuum cleaner nozzle comprises swivelable thread pick-up modules which swivel outwards for intake of fibres and swivel inwards for releasing fibres
DE20312836U1 (en) * 2003-08-20 2004-01-22 Mörschel, Siegbert Suction nozzle especially for vacuum-cleaner has pile fiber coating in front of and behind suction opening and has air inlet provided at small side of housing
US20090281661A1 (en) * 2008-04-24 2009-11-12 Evolution Robotics Application of localization, positioning & navigation systems for robotic enabled mobile products

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2233414A1 (en) * 1972-07-07 1974-01-24 Licentia Gmbh vacuum cleaner nozzle
DE7237505U (en) * 1973-11-14 1900-01-01 Wessel H
DE10301113A1 (en) * 2002-03-04 2003-09-25 Schneiderfilz Schneider Gmbh & Vacuum cleaner nozzle comprises swivelable thread pick-up modules which swivel outwards for intake of fibres and swivel inwards for releasing fibres
DE20312836U1 (en) * 2003-08-20 2004-01-22 Mörschel, Siegbert Suction nozzle especially for vacuum-cleaner has pile fiber coating in front of and behind suction opening and has air inlet provided at small side of housing
US20090281661A1 (en) * 2008-04-24 2009-11-12 Evolution Robotics Application of localization, positioning & navigation systems for robotic enabled mobile products

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