DE102019209413A1 - Modular vacuum robot - Google Patents

Abstract

The invention relates to a robot vacuum cleaner (12) which can be dismantled into its functional modules (10) and reassembled in the original or different arrangement (62; 64; 66; 68) of the functional modules (10).

Description

The invention relates to a modular vacuum robot according to the preamble of patent claim 1 and a system according to the preamble of patent claim 10.

Usually vehicle interiors are currently cleaned manually with vacuum cleaners. Such cleaning of a vehicle interior is laborious, since the person performing the work has to be inside the vehicle and have to work off the surface to be cleaned with the hand-held vacuum cleaner or the hose.

Vacuum robots are now relatively widespread for building interiors. Their use in vehicles would also be desirable. One aspect that has to be adapted to the vacuum robot for this purpose is its adaptability to different conditions in order to make use in the vehicle interior useful. For example, when using the vacuum robot in the footwell of a vehicle, it is necessary to be able to adapt the vacuum robot to different footwells in terms of its size, ground clearance, ability to overcome obstacles, the cleaning method, energy consumption and the like.

From the WO 2005/107556 A1 a modular vacuum cleaner is known.

The EP 3 409 168 A1 discloses a cleaning robot in which a corner cleaning module can be connected to a robot unit via a mechanical interface.

The DE 10 2009 027 557 A1 describes a modular work device with a base device and an adaptable work device.

From the CN 106901665 A Finally, a modular smart home service robot is known. This includes a drive module, a monitoring module and a sweeping module that can be plugged together. Related functional modules can also be selected and plugged in depending on the respective requirements.

The invention is now based on the object of creating a vacuum robot which can be adapted in as many different ways as possible to different room areas to be cleaned.

The object is achieved by the subject matter of the independent claims 1 and 10.

Further preferred embodiments of the invention result from the other features mentioned in the subclaims.

• - einem Fahrmodul
• - einem Reinigungsmodul
• - einem Steuerungsmodul
• - einem Energiemodul.

A first aspect of the invention relates to a modular vacuum robot comprising a number of functional modules with at least:

• - a driving module
• - a cleaning module
• - a control module
• - an energy module.

According to the invention it is provided that the functional modules can be coupled to one another in at least two mechanical configurations.

The function modules each independently fulfill a specific function. The driving module thus forms a functional drive train, for example two motorized chain drives. The cleaning module offers a cleaning function, and if only one cleaning module is provided, it is a suction module with, for example, a suction tract and suction motor, which provides a vacuum cleaner function. The control module is able to control all coupled modules and their interaction and includes the necessary electronics. The energy module includes, for example, a battery.

The functional modules can particularly preferably be releasably coupled. A mechanical configuration relates to the relative positions or the relative orientations of the functional modules to one another. The functional modules can preferably be coupled in a large number of different configurations, for example three, four or more configurations. In particular, the possibility of coupling a constant selection of function modules in different configurations should be emphasized here.

The modular vacuum robot can thus be adapted in many ways to different rooms to be cleaned, for example footwells in vehicles. Due to the flexible arrangement of the individual functional modules, the size and shape of the robotic vacuum cleaner can be adapted so that it can clean the largest possible area in narrow or obstructed rooms. The type and scope of the functions can also be adapted, for example by selecting a suitable cleaning module with regard to the performance of the suction motor and also the cleaning method or tools used, such as suction nozzles or suction brushes. The energy module can for example have more or less capacity if the room to be cleaned is larger or smaller. For example, depending on the available installation space, a larger battery or several smaller batteries can be used. The driving module can for example comprise a chain or wheel drive. The The control module can be matched to the function modules accordingly and also include room-specific control routines.

The functional modules preferably include a sufficient number of standardized mechanical interfaces to implement several configurations. The function modules can be coupled via the standardized mechanical interfaces.

"Standardized" is not based on a normative standard, but on a uniform design of the mechanical interfaces with regard to the different function modules.

In a preferred embodiment of the robot vacuum cleaner of the invention, it is provided that the mechanical interfaces are selected from the group: Velcro connection, magnetic connection, plug connection.

In this way, the functional modules can be designed in such a way that they can be largely freely arranged with respect to one another.

In a further preferred embodiment of the robot vacuum cleaner of the invention, it is provided that the functional modules can be electrically coupled via spiral cables.

These offer the advantage that they are flexible in their length and guidance and can follow different arrangements of functional modules. Unused cable lengths are kept under tension and are thus secured during operation of the robot vacuum cleaner.

In a further preferred embodiment of the robot vacuum cleaner of the invention, it is provided that the functional modules can be electrically coupled via electrical contacts that are integrated at standardized mechanical interfaces.

This means that the construction of the robot vacuum cleaner is extremely compact and the electrical system is fully protected inside the robot vacuum cleaner.

The above-mentioned magnetic connections, especially the Velcro connections, and especially the plug connections, are then suitable as standardized interfaces.

In a further preferred embodiment of the robot vacuum cleaner of the invention, it is provided that an identification feature is stored in each of the functional modules, which can be read out via the electrical contacts and passed to the control module.

Preferably, it is not only possible to identify the functional module as such, but also to identify the electrical contact via which the identification feature can be read out. For this purpose, the respective functional module can have stored a large number of identification features, the number corresponding, for example, to that of the electrical contacts, plus an identification feature for the functional module itself.

This offers the advantage that the control module can read out the configuration solely through the coupling.

The identification feature or features can be stored, for example, on an electronic storage medium.

In a further preferred embodiment of the robotic vacuum cleaner of the invention, it is provided that a further functional module selected from the following group is provided: a further cleaning module in the form of a brush module, a push module, a sensor module.

The brush module can be, for example, a motor-driven brush module. The brush module can also be a combined suction brush module and can, for example, be coupled to the suction module. The impact module can include, for example, a bumper element to protect the robotic vacuum cleaner in the event of a collision.

In a further preferred embodiment of the robot vacuum cleaner of the invention, it is provided that a sensor module is provided which comprises an infrared sensor or an ultrasonic sensor. This means that the robot vacuum cleaner can actively capture the room to be cleaned and navigate better.

In a further preferred embodiment of the robot vacuum cleaner of the invention, it is provided that the robot vacuum cleaner can be configured for use in a vehicle. In particular, the functional modules can be provided in a corresponding size for this purpose and can be configured such that an envelope surface of the robotic vacuum cleaner is particularly small. Cleaning modules can also be provided, which can handle materials and dirt that are typical of vehicle floors particularly well.

• - ein Fahrzeug; und
• - einen erfindungsgemäßen modularen Saugroboter gemäß der vorhergehenden Beschreibung,

wobei der Saugroboter für eine Verwendung im Innenraum des Fahrzeugs konfiguriert ist und in dem Innenraum angeordnet ist.Another aspect of the invention relates to a system comprising:

• - a vehicle; and
• - a modular vacuum robot according to the invention according to the preceding description,

wherein the robotic vacuum cleaner is configured for use in the interior of the vehicle and is arranged in the interior.

Expressed once again in other words, the invention relates to a robot vacuum cleaner which can be dismantled into its functional modules and reassembled in the original or different arrangement of the functional modules.

The various embodiments of the invention mentioned in this application can be advantageously combined with one another, unless stated otherwise in the individual case.

• 1A-G Funktionsmodule eines erfindungsgemäßen Saugroboters;
• 2A-D unterschiedliche Konfigurationen der Funktionsmodule aus 1;
• 3A-B weitere Funktionsmodule eines erfindungsgemäßen Saugroboters;
• 4 ein erfindungsgemäßes System.

The invention is explained below in exemplary embodiments with reference to the accompanying drawings. Show it:

• 1A-G Function modules of a robot vacuum cleaner according to the invention;
• 2A-D different configurations of the function modules 1 ;
• 3A-B further functional modules of a robot vacuum cleaner according to the invention;
• 4th a system according to the invention.

The 1A to 1F show a number of functional modules 10 a vacuum robot according to the invention 12 (compare other figures).

In 1A are driving modules 14th shown with a left driving module 16 and a right driving module 18th . The driving modules 16 , 18th each include a drive 20th , two gears 22nd and a chain 24 .

In 1B are shock modules 26th shown comprising a lower impact module 28 and an upper shock module 30th .

1C shows a cleaning module 32 , the suction module 34 is trained. The suction module 34 has a naturally aspirated engine 36 and a suction tract 38 on.

1D shows a control module in a greatly simplified manner 40 . This can include a circuit board and other components, such as data input and data output interfaces and signal processing components and, if necessary, software.

1E shows another cleaning module 42 in the form of a brush module 44 . The brush module 44 is shown in side plan view and is shown in isometric perspective in, for example 2A to 2D to see. It includes an intake manifold 46 and a suction nozzle 48 with internal driven brush not visible here.

1F shows sensor modules 50 with an infrared sensor module 52 and an ultrasonic sensor module 54 .

In 1G are still energy modules 56 shown, in this case with two separate battery modules 58 , 60.

The 2A to 2D now each show a vacuum robot according to the invention 12 , its functional modules 10 , which are the functional modules 10 out 1 acts, according to the invention in different mechanical configurations 62 , 64 , 66 , 68 are coupled to each other.

2A shows a first mechanical configuration 62 . It is described from left to right there on a front side of the vacuum robot 10 first the upper impact module 30th recognizable to which the lower impact module 28 is coupled down. To the lower impact module 28 is the infrared sensor module 52 coupled. The upper shock module 30th is in turn on the suction module 34 attached to which the brush module is located in the direction of the front and below 44 connects. On the side of the suction module 34 is the battery module 58 provided as well as under this and the suction module 34 the control module 40 . On the side of the brush module 44 and below the control module 40 extend the left driving module 16 and the right driving module hidden in this view 18th .

2 B shows a second mechanical configuration 64 . It is described from left to right on the front of the robot vacuum cleaner 10 first again the upper impact module 30th recognizable to which the lower impact module 28 is coupled down. To the lower impact module 28 in this example is an ultrasonic sensor module 54 coupled. The upper shock module 30th is in turn on the suction module 34 attached, being below the upper shock module 30th , between this and the suction module 34 , the battery module 58 and the battery module 60 are located. To the suction module 34 closes in the direction of the front and below the battery modules 58 , 60 the brush module 44 at. The control module 40 is up here on the suction module 34 intended. Below the suction module 34 and on the side of the brush module 44 extend the left driving module 16 and the right driving module, which is also visible in this view 18th .

2C shows a third mechanical configuration 66 that far-reaching the second mechanical configuration 64 corresponds. However, it can be seen that the control module 40 on top of the suction module 34 in the third mechanical configuration 66 versus the second mechanical configuration 64 towards the front of the robot vacuum cleaner 12 is offset.

2D shows a fourth mechanical configuration 68 . It is described from left to right on the front of the robot vacuum cleaner 10 first again the upper impact module 30th recognizable. In this example, these are the ultrasonic sensor module 54 and the infrared sensor module 52 to the upper impact module 30th coupled. The upper shock module 30th is in turn on the suction module 34 attached, being below the upper shock module 30th , between this and the suction module 34 , the brush module 44 is located. As in the first mechanical configuration 62 is also here on the side of the suction module 34 the battery module 58 provided as well as under this and the suction module 34 the control module 40 . The control module 40 is in the fourth mechanical configuration 68 but still further in the middle under the suction module 34 relocated than in the first mechanical configuration 62 . On the side of the brush module 44 and below the control module 40 in turn extend the left driving module 16 and the right driving module hidden in this view 18th .

The functional modules 10 are coupled via standardized mechanical interfaces in the form of Velcro connections and electrically via spiral cables 70 , as in 2C exemplarily between the control module 40 and the suction module 34 as well as the battery module 60 and the suction module 34 is shown.

The 3A and 3B show further function modules 10 a vacuum robot according to the invention 12 . The aim is not to emphasize the respective function and instead to look at an advantageous design aspect. It can be seen in both figures that the functional modules 10 consistently formed from flat surfaces and similar, here cuboid geometries. This is advantageous for the mechanical coupling options. In addition, the function modules 10 , as exemplified using the modules 72 and 74 shown to be designed in different colors. For example, a darker color can be selected in an operational environment with less solar radiation and a lighter color in an operational environment with higher solar radiation in order to maintain the operating temperature of the vacuum robot 12 to influence.

4th shows a system according to the invention 76 with a vehicle 78 having an interior 80 having.

In the interior 80 is a modular vacuum robot according to the invention 12 arranged for indoor use 80 of the vehicle 76 configured.

List of reference symbols

10

Function module

12th

Vacuum robot

14th

Driving module

16

left driving module

18th

right driving module

20th

drive

22nd

gear

24

Chain

26th

Shock modules

28

lower shock module

30th

upper shock module

32

Cleaning module

34

Suction module

36

Naturally aspirated engine

38

Suction tract

40

Control module

42

Cleaning module

44

Brush module

46

Intake manifold

48

Suction nozzle

50

Sensor modules

52

Infrared sensor module

54

Ultrasonic sensor module

56

Energy modules

58

Battery module

60

Battery module

62

first mechanical configuration

64

second mechanical configuration

66

third mechanical configuration

68

fourth mechanical configuration

70

Coiled cable

72

module

74

module

76

system

78

vehicle

80

inner space

QUOTES INCLUDED IN THE DESCRIPTION

This list of the documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent literature cited

• WO 2005/107556 A1 [0004]
• EP 3409168 A1 [0005]
• DE 102009027557 A1 [0006]
• CN 106901665 A [0007]

Claims (10)

Modular vacuum robot (12), comprising a number of functional modules (10), with at least: - a driving module (14); - a cleaning module (32); - a control module (40); - An energy module (56), characterized in that the functional modules (10) can be coupled to one another in at least two mechanical configurations (62; 64; 66; 68). Modular vacuum robot (12) according to Claim 1 , characterized in that the functional modules (10) can be coupled via standardized mechanical interfaces. Modular vacuum robot (12) according to Claim 2 , characterized in that the mechanical interfaces are selected from the group: Velcro connection, magnetic connection, plug connection. Modular vacuum robot (12) according to one of the preceding claims, characterized in that the functional modules (10) can be electrically coupled via spiral cables (70). Modular vacuum robot (12) according to one of the preceding claims, characterized in that the functional modules (10) can be electrically coupled via electrical contacts which are integrated at standardized mechanical interfaces. Modular vacuum robot (12) according to Claim 5 , characterized in that an identification feature is stored in each of the functional modules (10), which can be read out via the electrical contacts and routed to the control module (40). Modular vacuum robot (12) according to one of the preceding claims, characterized in that a further functional module selected from the following group is provided: a further cleaning module (42) in the form of a brush module (44), a push module (26), a sensor module (50). Modular vacuum robot (12) according to Claim 7 , characterized in that a sensor module (50) is provided which comprises an infrared sensor (52) or an ultrasonic sensor (54). Modular vacuum robot (12) according to one of the preceding claims, characterized in that the vacuum robot (12) can be configured for use in a vehicle (78). A system (76) comprising: - a vehicle (78); and - a modular vacuum robot (12) Claim 9 wherein the robotic vacuum cleaner (12) is configured for use in the interior (80) of the vehicle (78) and is arranged in the interior (80).

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