EP3409169B1 - Suction cleaning robot - Google Patents

Description

Field of the Invention

The invention relates to a vacuum cleaning robot, in particular a vacuum cleaning robot with an improved suction mouth seal.

Background of the Invention

The International Publication WO 2015/082 019 A1 discloses a self-propelled and self-steering floor cleaning device which comprises at least one cleaning unit, a dirt collecting container, a dirt inlet opening and a dirt outlet opening, the dirt outlet opening being formed on the bottom wall. In order to provide such a floor cleaning device, which allows simple removal of dirt particles from the dirt collecting container while achieving a simple construction, it is proposed that the floor cleaning device have a valve device which is arranged at the dirt outlet opening and can be operated by air pressure for transferring from the closed position to the open position. The floor cleaning device also has horn-shaped projections on the dirt outlet opening.

From the European patent application EP 2 912 981 A1 An autonomous cleaning device with a rotating brush unit on the underside of the housing is known, a flow path guide being provided in the region of the brush unit in order to guide dust into the brush unit. This is intended to increase the entry force of the dust on a lower surface of the housing. More generic vacuum cleaners are in US 2006 248 680 A1 , in WO 2015 082 019 A1 and in US 2001 027 587 A1 described.

The European patent application EP 3 028 617 A1 describes an autonomous robot covering an area. The robot includes a chassis, a drive system that is mounted on the chassis and is configured to maneuver the robot over a cleaning surface, and a cleaning assembly that is mounted on the chassis. The cleaning arrangement comprises a roller housing and a first roller which is rotatably attached to the roller housing and defines a first longitudinal axis and is rotatable about the first longitudinal axis in a first direction. The cleaning assembly also includes a second roller rotatably mounted on the roller housing behind and substantially parallel to the first roller, the second roller defining a second longitudinal axis and being rotatable about the second longitudinal axis in a second direction opposite to the first direction. The second roller is spaced from the first roller to form an air gap therebetween. The first and second rollers are each elastically compressible to allow passage of an object with a dimension that is greater than the air gap between the first and second rollers. The roller housing can have a plurality of projections on a front edge.

Object of the invention

The invention has for its object to provide a vacuum cleaning robot with an improved suction mouth seal.

Solution according to the invention

The reference symbols in all claims have no restrictive effect, but are merely intended to improve their legibility.

The object of the invention is achieved by a vacuum cleaner with the features of claim 1. The vacuum cleaner is equipped with a suction fan for generating a suction air flow and a suction mouth arranged in a base area of the vacuum cleaner and in flow communication with the suction fan, with projections being provided on a suction mouth edge which protrude from the base area protrude. The inside and / or outside surface (s) of at least one protrusion, preferably all protrusions, is or are curved around a first axis running parallel to the direction of movement of the suction mouth when the vacuum cleaner is intended to operate. This axis is arranged on the side of the respective projection facing the inside of the device, so that, as far as the inside of the projection is mentioned, the surface is concave and as far as the outside of the projection is mentioned, the surface is convex. The base area is an area which, when the vacuum cleaner is intended to operate, faces the area to be cleaned. All projections of the vacuum cleaning robot are preferably designed as described above. Depending on the geometry and requirement profile, however, only some of the projections can also be designed in this way. In the sense of the present invention, the suction mouth edge is formed by the edge (s) of the projection or the projections facing the floor cleaning roller.

The shape of the edge of the projection facing the floor cleaning roller is formed by a geometric cut of the curved inside or outside surface with an imaginary envelope surface of the floor cleaning roller. The cutting operation is to be understood here in the constructive context and not in the context of the production. The projection is therefore not necessarily produced by a cutting process, but rather is constructed geometrically in this way.

The suction mouth edge is concavely curved on the outside in the area between two projections. It is an achievable advantage of the invention that it defines a smooth and completely curved inlet area through which dirt is transported well. In addition, the risk of blockages or objects getting stuck in the inlet area or of the vacuum cleaning robot getting caught on objects is reduced.

The preferred surface (s) of the inside and / or the outside is or are mirror-symmetrical with respect to a plane that extends essentially perpendicular to the longitudinal extension of the suction mouth and essentially in the direction of movement of the vacuum cleaner during its intended operation. The preferred inside or outside surface (s) is or are rotationally symmetrical with respect to the longitudinal extension of the suction mouth and / or with respect to the direction of movement of the suction mouth Suction mouth during its intended operation.

The vacuum cleaner according to the invention advantageously has a particularly favorable geometry on the suction mouth. Due to the shape and arrangement of the at least one protrusion, the invention also allows the inlet openings in the suction mouth to be designed in such a way that a particularly good absorption of coarse dirt is possible without it getting stuck, being pushed in front of the suction mouth or being run over by the suction mouth without being included. The curved geometry of the protrusion or protrusions avoids edges so that obstacles can be overcome more easily.

A vacuum cleaner in the sense of the present invention is a device which can generate a suction air flow which acts on an object, usually a surface, for example a floor surface, in order to pick up particles such as dirt or dust particles, but also liquids, from the object by being caught by the suction air flow and entrained (hereinafter also referred to as "suction"). A vacuum cleaner can advantageously achieve a cleaning effect in this way.

The vacuum cleaner is generally equipped with a suction fan for generating a suction air flow, a suction mouth (hereinafter also referred to as a suction opening) of the vacuum cleaner being in flow connection with the suction side of the suction fan. The suction opening is typically designed such that it can be passed over a surface to be cleaned, for example a floor surface, in order to suck in the particles, for example dust or dirt. The suction fan is usually in flow connection with at least one dust separation device, for example a, usually replaceable, dust filter bag, a filter device or a centrifugal separator. Dirt particles absorbed by the suction air flow are generally collected in a dust collection room, the dust filter usually being present in the dust collection room in a vacuum cleaner with a dust filter bag. The vacuum cleaner can be designed, for example, as a wet vacuum cleaner, as a dry vacuum cleaner or as a combined wet / dry vacuum cleaner.

The task of the invention is also solved by a cleaning robot which is equipped with the vacuum cleaner according to the invention. This cleaning robot is also referred to below as a vacuum cleaning robot.

A cleaning robot is a cleaning device that is able to move automatically relative to a surface to be cleaned and to completely or partially clean the surface. For this purpose, the cleaning robot is equipped with one or more cleaning devices. For example, the cleaning robot can be equipped with stationary or driven brushes, rollers, wipers, cloths or other cleaning devices. Alternatively or additionally, the cleaning robot can comprise a vacuum cleaner, for example a wet vacuum cleaner or a dry vacuum cleaner or a combined wet / dry vacuum cleaner.

A cleaning robot is usually equipped with a trolley. The undercarriage can be controlled, for example, by a controller that can be present in the cleaning robot or outside the cleaning robot. The controller uses data to control the undercarriage, which are provided by one or more sensors which, at least in part, can be present in the cleaning robot or outside of the cleaning robot. Typical sensors include a mechanical collision sensor, a camera, an ultrasonic sensor, an infrared sensor, a distance sensor, an acceleration sensor and a compass. A cleaning robot can comprise one or more mapping means or have a functional connection therewith. Mapping means include, in particular, devices for recording, storing or evaluating geometric properties of the room in which the cleaning robot works or is intended to work. The mapping media can advantageously contribute to a planned navigation of the cleaning robot in the room. Spaces can be exterior or interior spaces, for example the interior spaces of buildings such as living rooms or household rooms.

A cleaning robot is usually battery operated. So that the battery of such a cleaning robot can be recharged after a cleaning phase, a charging station separate from the cleaning robot can be provided. The cleaning robot can be designed in such a way that it automatically starts the charging station to charge the battery and / or connects itself to the charging station independently.

For example, the cleaning robot can comprise a wet vacuum cleaner and can be designed to apply liquid to a surface to be cleaned and to suction the liquid again by means of the wet vacuum cleaner. In addition to the vacuum cleaner, the cleaning robot can comprise further cleaning devices such as brushes, rollers, wipers, cloths or other cleaning devices. The cleaning effect of the vacuum cleaner is preferably supported by these additional cleaning devices.

Cleaning robots that are equipped with a vacuum cleaner generally collect dirt and dust in a dust collector arranged in the cleaning robot. The space available on the cleaning robot is usually limited, so that the space provided for the dust collection container is also limited. In this respect, it is advantageous to provide a dust collection station to which dust and dirt from the dust collection container of the cleaning robot can be released from time to time. The cleaning robot can be designed in such a way that it automatically drives to the dust collecting station to discharge the dust and / or connects itself to the dust collecting station independently. The dust collecting station can be designed as a dust collecting station connected to a charging station or as a dust collecting station separated from a charging station.

Preferred embodiments of the invention

Advantageous training and further education, which individually or in combination with each other can be used are the subject of the dependent claims and the following description.

The projections are preferably arranged in a front suction mouth edge in relation to a preferred direction of movement of the vacuum cleaner in the intended operation. This embodiment of the invention can advantageously be achieved that the projections make it easier to drive over obstacles in the preferred direction of movement.

In a preferred embodiment of the invention, the vacuum cleaner has a floor cleaning roller arranged in the suction mouth, for example a rotatable brush. The axis of rotation of the brush preferably runs along that of the longitudinal extent of the suction mouth. The preferred rotation thing runs perpendicular to the direction of movement of the vacuum cleaner during its intended operation of the vacuum cleaner. The axis of rotation advantageously runs parallel to a surface to be cleaned when the vacuum cleaner is to be operated.

The preferred direction of rotation of the floor cleaning roller in the intended operation of the vacuum cleaner is selected so that the part of the floor cleaning roller facing the surface to be cleaned moves in the direction of the projection or projections. This can advantageously make it easier for dust or dirt to be absorbed into the vacuum cleaner via the projections.

This embodiment of the invention achieves a very good seal of the suction mouth, which can lead to a high level of fine dust absorption by the vacuum cleaning robot. A particularly good seal can be achieved in particular if the projection engages well in the suction mouth or the brush chamber and leaves only a comparatively small cross-sectional area open there.

For the purposes of the present invention, enveloping surface is to be understood as a rotationally symmetrical surface, the elements of which have a uniform distance from the body which is rotationally symmetrical about the axis of rotation of the bottom roller and is formed by rotation of the floor cleaning roller; the distance can also be the same Be zero, but is preferably greater than zero. For example, in the case of a cylindrical floor cleaning roller, for example a cylindrical brush, the enveloping surface is also a cylindrical surface, with a radius of the same or, preferably, larger than the radius of the floor cleaning roller. With a larger radius, it can advantageously be achieved that the floor cleaning roller can be rotated without touching the projection or the projections during operation of the vacuum cleaning robot. The distance is preferably less than 5 cm (centimeters), particularly preferably less than 2 cm, particularly preferably less than 1 cm, particularly preferably 5 mm (millimeters) or less. The distance is preferably more than 1 mm, particularly preferably 2 mm or more.

The at least one projection, particularly preferably all the projections, preferably has the shape of part of the surface of an ovoid on the inside and / or outside. As far as the inside of the projection is concerned, the shape of part of the concave inside of a spherical surface or the surface of an ovoid is meant; as far as the outside of the projection is concerned, the shape of part of the convex outside of a spherical surface or the surface of an ovoid is meant.

An ovoid in the sense of the present invention is a three-dimensional round body. The preferred ovoid is mirror-symmetrical with respect to a plane that extends essentially perpendicular to the longitudinal extent of the suction mouth and essentially in the direction of movement of the suction mouth when it is intended to operate. The ovoid is particularly preferably similar to an ellipsoid or an ellipsoid, for example a triaxial or a biaxial ellipsoid. The preferred ovoid is rotationally symmetrical with respect to the longitudinal extent of the suction mouth and / or with respect to the direction of movement of the suction mouth during its intended operation.

It is an achievable advantage of this embodiment of the invention that on the one hand an ovoid is well suited as a flow restriction of an inlet channel and on the other hand allows a large cross section at the edge of the suction mouth, which enables a good seal to the suction mouth. However, the invention also includes embodiments in which the inside and / or outside surface (s) have a different geometry, for example the shape of part of the lateral surface of a cone. Combinations of parts of conical surfaces, ovoid surfaces and cylindrical surfaces are also possible the scope of the present invention.

Particularly preferably, a section of the inner and / or outer surface of the at least one projection, particularly preferably all projections, facing the floor cleaning roller has the shape of a cylinder jacket, particularly preferably a circular cylinder jacket, the cylinder axis preferably parallel to the preferred direction of movement of the suction mouth in the normal operation of the Vacuum cleaner runs. In this way, particularly favorable dust pick-up can advantageously be achieved. It can also be achieved that obstacles can be overcome particularly easily.

In a preferred embodiment of the invention, the inside and / or outside surface of the at least one projection, particularly preferably all of the projections, is also curved around a second axis running perpendicular to the direction of movement of the suction mouth when the vacuum cleaner is intended to operate and parallel to the longitudinal extension of the suction mouth, whereby also this second axis is arranged on the side of the projection (9) facing the interior of the device. With this embodiment of the invention it can advantageously be achieved that the surfaces are provided with comparatively large radii both in the direction of travel and transversely thereto. This allows obstacles to be given small areas of attack on the outside, which enables these obstacles to be easily passed over. On the inside, in particular non-globular coarse dirt can be aligned in the suction direction and thus better absorbed. The radius of the curvature around the second axis (hereinafter referred to as the second radius) is preferably smaller than the radius of the curvature around the first axis (hereinafter referred to as the first radius). The second radius is preferably greater than 1 cm, particularly preferably equal to or greater than The second radius is preferably less than 6 cm, particularly preferably equal to or less than 4 cm, for example 3 cm. The first radius is preferably greater than 2 cm, particularly preferably equal to or greater than 4 cm. The second radius is preferred Radius less than 10 cm, particularly preferably equal to or less than 6 cm, for example 5 cm.

The suction mouth edge preferably forms a wave contour toward the suction mouth. It is an achievable advantage of this embodiment of the invention that, for example, exposed cables cannot be pulled into the suction mouth, or only with difficulty. Still, with such a waveform, the brush roller can still go down easily be removed.

In a preferred embodiment of the invention, the projections are obstructed from one another in such a way that two adjacent projections, particularly preferably all projections adjacent to each other, form an inlet channel between them which is open to the surface to be cleaned during the intended operation of the suction mouth. The inlet channel delimited by two adjacent projections is preferably funnel-shaped. It is an achievable advantage of this embodiment of the invention that it enables easy passage of coarse dirt and easy passage over obstacles. Furthermore, due to the small contact area, the vacuum cleaning robot can be easily turned.

The projections preferably protrude more than 5 mm, particularly preferably 10 mm or more, beyond the base area. The projections preferably protrude less than 5 cm, particularly preferably 2 cm or less, beyond the base area. It is an achievable advantage of this embodiment of the invention that there is little friction between the floor covering and the vacuum cleaning robot. Tests have shown that, for example, good cleaning performance is achieved at a height of between 5 mm and 2 cm.

An impeller is preferably arranged in a widened projection, particularly preferably for supporting the suction mouth on the surface to be cleaned. It is an achievable advantage of this embodiment of the invention that low-resistance rotating and driving movements are possible, since the impeller is surrounded on all sides by inclines.

The outer surface of at least one projection is preferably convexly curved and the convex curvature and the concave curvature merge into one another. It is an achievable advantage of this embodiment of the invention that an even smoother inlet area can thus be defined, which can lead to even better cleaning behavior and improved handling. A radius of the convex curvature is preferably smaller than a radius of the concave curvature.

Brief description of the drawings

Further advantageous embodiments are described in more detail below with reference to several exemplary embodiments shown in the drawings, to which the invention is not limited, however.

Figur 1:

ein Blockschaltbild eines als Saugreinigungsroboter ausgeführten erfindungsgemäßen Saugmunds,

Figur 2:

eine perspektivische Ansicht von unten auf den Saugmund des Saugreinigungsroboters der Figur 1,

Figur 3:

eine Vorderansicht auf den Saugmund der Figur 2,

Figur 4:

eine Schnittdarstellung durch den Saugmund der Figuren 2 und 3,

Figur 5:

eine Unteransicht auf den Saugmund der Figuren 2 bis 4,

Figur 6:

eine seitliche Schnittdarstellung durch einen Einlassbereich zwischen zwei Vorsprüngen am Saugmund des Saugreinigungsroboters der Figur 1,

Figur 7:

eine seitliche Schnittdarstellung durch einen Vorsprung am Saugmund des Saugreinigungsroboters der Figur 1, und

Figur 8:

eine weitere Schnittdarstellung durch eine leicht veränderte Ausführung eines Vorsprungs am Saugmund des Saugreinigungsroboters der Figur 1.

It shows schematically:

Figure 1:

2 shows a block diagram of a suction mouth according to the invention designed as a vacuum cleaning robot,

Figure 2:

a perspective view from below of the suction mouth of the robot vacuum cleaner Figure 1 .

Figure 3:

a front view of the suction mouth of the Figure 2 .

Figure 4:

a sectional view through the suction mouth of the Figures 2 and 3 .

Figure 5:

a bottom view of the suction mouth of the Figures 2 to 4 .

Figure 6:

a side sectional view through an inlet area between two projections on the suction mouth of the vacuum cleaning robot Figure 1 .

Figure 7:

a side sectional view through a projection on the suction mouth of the robot vacuum cleaner Figure 1 , and

Figure 8:

a further sectional view through a slightly modified design of a projection on the suction mouth of the vacuum cleaning robot Figure 1 ,

Detailed description of embodiments of the invention

In the following description of preferred embodiments of the present invention, identical reference symbols designate identical or comparable components.

In Figure 1 a vacuum cleaning robot 1 is shown in a block diagram. The vacuum cleaning robot 1 comprises a controller 2, such as a microcontroller, which controls the functions of the vacuum cleaning robot 1. The controller 2 is connected to a drive 3 of the chassis, which controls wheels 4, two of which are shown as examples. The controller 2 is also connected to a suction fan 5 in order to control it. In particular, the suction power of the suction fan 5 can be increased or decreased. The suction fan 5 is in flow connection with a suction mouth 6. Dirt is picked up from a surface to be cleaned via the suction mouth 6. The vacuum cleaning robot 1 mainly moves in a direction of travel F. The term front or front area is defined here in relation to the direction of travel F of the vacuum cleaning robot 1. A floor cleaning roller 7 is arranged in the suction mouth 6 or a brush chamber.

Figure 2 shows a perspective view from below of the suction mouth 6. A plurality of projections 9 spaced apart from one another are formed on a suction mouth edge 8. The projections 9 protrude from a base area of the vacuum cleaning robot 1, not shown here. In other words, they face a surface to be cleaned. Each projection 9 has a convexly curved outer surface and a correspondingly concavely curved inner surface, a first axis of curvature of the enveloping body running parallel to the direction of travel F, so that the projections, like barrel or cylinder sections, extend parallel to the direction of travel F. The convexly curved envelope body is essentially formed from a bi- or triaxial ellipsoid body. The longest semiaxis is that axis of rotation of the enveloping body that runs parallel to the direction of travel F. The section 14 of the projection 9 facing the floor cleaning roller is, however, cylindrical, the cylinder axis running parallel to the intended direction of movement and the cylinder jacket smooth in the curvature of the ellipsoid about its axis parallel to Longitudinal extension of the suction mouth 6 passes over.

In a rear area, which faces the suction mouth 6, the projection 9 is cut off. In this case, however, the enveloping body or the projection 9 is not cut off or formed, for example, perpendicular to the direction of travel F, but is delimited by an enveloping geometry of the floor cleaning roller, as explained in more detail below.

An inlet channel 10 is formed between two projections 9. Because the diameter or the lateral extent of a projection 9 decreases in the direction of travel F or with increasing distance from the suction mouth 6, the inlet duct 10 widens accordingly in this direction. A funnel-like area for supplying coarse dirt to the suction mouth 6 is thus formed in the inlet channel 10. At least in a front area, the inlet channel 10 is not completely formed by the two adjacent projections 9, but additionally by a plate.

As in Figure 2 can be seen, the projections 9 and the inlet channels 10 do not run parallel to the opening of the suction mouth or to a surface to be cleaned, but are inclined upward and thus form a run-on slope. The start slope helps to overcome obstacles.

In Figure 3 a front view of the suction mouth edge 8 is shown. The projections 9 spaced apart from one another and the inlet channels 10 arranged therebetween can be seen again. The suction mouth edge 8 is shown above a surface 11. It can be seen that only the projections 9 or regions or sections of the projections 9 stand on the surface 11 or are in the immediate vicinity thereof. The projections 9 can have a height of approximately ten millimeters, for example. There are then only round sections with a small area in contact with the surface 11, which facilitates the movement and rotation of the vacuum cleaning robot.

In Figure 4 a sectional view through the suction mouth 6 is shown. It can be seen that the projections 9 and the inlet channels 10 form a shaft contour 12. The wave contour 12 consists only of curvatures and therefore contains no edges, what improved both the driving characteristics and the cleaning performance of the vacuum cleaning robot. The convex curvature of the projection 9, seen from the outside, about the axis parallel to the preferred direction of movement has a first radius r1. The inlet channel 10 is formed by a concavely curved section with a radius r2 when viewed from the outside. The projections 9 and the inlet channels 10 are arranged such that the convex curvature and the concave curvature merge directly into one another. In addition, the radii are selected such that the radius r1 of the convex curvature is smaller than the radius of the concave curvature r2. As in Figure 8 to see, the projection also has a convex curvature seen from the outside with a radius r3 about an axis which runs parallel to the longitudinal extent of the suction mouth 6.

In Figure 5 a bottom view of the vacuum cleaning robot 1 with the suction mouth 6 is shown. At the suction mouth edge 8, the projections 9 and the inlet channels 10 form the shaft contour 12. The projections 9 are constructed by a cutting operation with the envelope geometry of the floor cleaning roller, so that this cutting edge forms the shaft contour 12 both perpendicular to the direction of travel F, as shown in FIG Figure 5 , as well as parallel to the direction of travel, as in Figure 4 shown. This complex shape of the suction mouth in the area of the floor cleaning roller allows the suction mouth to be sealed well. At the same time, the supply of coarse dirt to the suction mouth 6 is optimized by the funnel-shaped design of the inlet channel 10.

An impeller 13 is arranged in a wider projection 9a, which improves the maneuverability of the vacuum cleaning robot 1. The impeller 13 is only surrounded by bevels or curved surfaces, which enables low-resistance turning and driving movements.

In Figure 6 is a side sectional view of the vacuum cleaning robot 1 in the area of the suction mouth 6. The floor cleaning roller 7 is arranged in the suction mouth 6. Here, the floor cleaning roller 7 is designed as a bristle roller. The section through an inlet channel 10 is shown in the area of the suction mouth edge 8. This enables the top view of a projection 9. It can be seen here that the shaft contour 12 was constructed by means of an enveloping body of the floor cleaning roller 7, because in this side view the shaft contour 12 runs concentrically to the circumference of the Floor cleaning roller 7.

A similar to that in Figure 6 The sectional view shown in the side is similar to that in FIG Figure 7 and Figure 8 shown. Here, however, the sectional view does not run through an inlet channel 10 but through a projection 9. Accordingly, a projection 9 is shown in cross section. Here, too, the shaft contour 12 is formed concentrically with the circumference of the floor cleaning roller 7.

The distance between the circumference of the floor cleaning roller 7, in this case the radially outer end of the bristles, and the shaft contour 12, that is to say the ends of the projections 9 and the inlet channels 10 facing the suction mouth 6, is kept as small as possible to ensure a good one To achieve sealing of the suction mouth 6.

The features disclosed in the above description, the claims and the drawings may be of importance both individually and in any combination for the implementation of the invention in its various embodiments.

LIST OF REFERENCE NUMBERS

1

Saugreinigungsroboter

2

control

3

drive

4

wheel

5

aspirator

6

saugmund

7

Floor cleaning roller

8th

suction mouth

9

head Start

9a

head Start

10

inlet channel

11

surface

12

wave contour

13

Wheel

14

cylindrical section

F

direction of travel

r1

radius

r2

radius

r3

radius

Claims (9)

1. Vacuum cleaner with a suction fan (5) for generating a suction air flow, a suction opening (6) arranged in a base area of the vacuum cleaner, which has a flow connection to the suction fan (5), wherein protrusions (9), which protrude from the base area, are provided on a suction opening rim (8),
   wherein the interior and/or exterior area is curved about a first axis running in parallel with the movement direction of the suction opening (6) during the intended operation of the vacuum cleaner, wherein the first axis is arranged on the side of the protrusion (9) facing towards the appliance interior,
   wherein the vacuum cleaner has a floor cleaning roller (7) arranged in the suction opening (6) and the shape of the edge of the protrusion (9) facing towards the floor cleaning roller (7) is formed by a geometric cut in the curved interior or exterior area with a notional enveloping surface of the floor cleaning roller (7),
   characterised in that the suction opening rim (8) is curved in a concave manner in the region between two protrusions (9).
2. Vacuum cleaner according to claim 1, characterised in that the at least one protrusion (9) has the shape of part of the area of an ovoid on the interior and/or exterior.
3. Vacuum cleaner according to one of the preceding claims, characterised in that the interior and/or exterior area of the at least one protrusion (9) is curved about a second axis running perpendicularly to the movement direction of the suction opening (6) during the intended operation of the vacuum cleaner and running in parallel with the longitudinal extension of the suction opening (6), wherein the second axis is arranged on the side of the protrusion (9) facing towards the appliance interior.
4. Vacuum cleaner according to one of the preceding claims, characterised in that the suction opening rim (8) forms an undulating contour (12) towards the suction opening.
5. Vacuum cleaner according to one of the preceding claims, characterised in that an inlet duct (10) delimited by two protrusions (9) is embodied in a funnel-shaped manner.
6. Vacuum cleaner according to one of the preceding claims, characterised in that the protrusions (9) protrude ten millimetres beyond the base area.
7. Vacuum cleaner according to one of the preceding claims, characterised in that a wheel (13) is arranged in a widened protrusion (9a).
8. Vacuum cleaner according to one of claims 1 to 7, characterised in that the exterior area of at least one protrusion (9) is curved in a convex manner and the convex curvature and the concave curvature transition into one another.
9. Cleaning robot equipped with a vacuum cleaner according to one of the preceding claims.

Images