EP3581082B1 - Vacuum robot and method for controlling same - Google Patents

Description

The invention relates to a robotic vacuum cleaner for autonomous cleaning of floor surfaces, the robotic vacuum cleaner having a first drive device for moving over floor surfaces, the robotic vacuum cleaner having a blower unit for generating a suction air flow, the robotic vacuum cleaner having a first separation unit for separating particles from the suction air flow, wherein the vacuum robot has a second separating unit for separating particles from the suction air flow and wherein the second separating unit is arranged downstream of the suction air of the first separating unit.

The robotic vacuum cleaners known from the prior art use filter elements in order to separate and store dust and dirt particles picked up during the cleaning operation. A first separating unit, for example in the form of a cyclone separator or a dust cassette, is often used for this purpose, which separates larger dust and dirt particles from the suction air flow by the influence of gravity. This first separating unit is usually followed by a second separating unit downstream of the suction air flow, which separates and stores fine dust particles from the suction air flow. Single-stage or multi-stage filter elements, for example made of a fleece material, are used as the second separation unit. A problem with all known filter elements is their tendency to become clogged with dust and dirt particles that have been separated out after a certain cleaning period. The clogging of the filter elements reduces the available volume flows of suction air, which reduces the cleaning performance of the vacuum robot. In order to counteract this reduction in cleaning performance, the user of such a vacuum robot must remove the second separating unit at regular intervals and clean it manually. Most users find this extremely annoying and unhygienic.

From the EP 2 862 490 A1 a vacuum robot is known which has a drive device for moving over floor surfaces and a blower unit. Furthermore, the vacuum robot has a first separating unit for separating particles and a second separating unit for separating particles from the suction air flow. The second separating unit is arranged downstream of the first separating unit in the suction air. A cleaning device is arranged on the second separating unit, wherein the cleaning device cleans the second separating unit of separated particles.

The problem of the invention is therefore to provide an improved robotic vacuum cleaner that generates sufficient cleaning performance and whose filter elements are Users do not need to be cleaned manually. To solve this problem, a device according to patent claim 1 and a method according to patent claim 10 are provided. Advantageous refinements and developments of the invention result from the following dependent claims.

According to the invention it is provided that a cleaning device is arranged on the second separating unit, wherein the cleaning device cleans the second separating unit of separated particles. The first separating unit is designed as a cyclone separator or as a dust cassette, with the first separating unit separating larger dust and dirt particles from the suction air flow. The second separating unit is designed as a filter element, which separates dust and dirt particles from the suction air flow. The second separating unit is arranged suction air downstream of the first separating unit, as a result of which at least part of the generated suction air flow first passes through the first separating unit and then through the second separating unit.

The cleaning device is arranged directly on or adjacent to the second separating unit in the vacuum robot. The cleaning device is designed to remove dust and dirt particles that have been deposited on or in the second separating unit during the cleaning operation of the robotic vacuum cleaner.

The cleaning of the second separating unit by the cleaning device prevents clogging of the second separating unit with separated dust and dirt particles during the cleaning operation of the vacuum robot. The cleaning of the second separating unit by the cleaning device takes place automatically without the user having to remove the second separating unit from the vacuum robot and clean it manually. This automatic cleaning of the second separating unit by the cleaning device ensures, on the one hand, a constantly high suction power of the vacuum robot throughout the entire cleaning operation and, at the same time, reduces manual maintenance work by the user.

It is also preferred that the second separating unit has a filter element, in particular a multi-stage filter element. The filter element is designed to separate and/or store dust and dirt particles from a suction air flow. The multi-stage filter element has a pre-filter and/or a main filter and/or a post-filter. In an alternative embodiment, however, it is also conceivable to provide a single-stage filter element as the second separating unit of a vacuum robot. The filter element is made from a fleece material and/or a foam material and/or a pleated filter material. Multi-stage filter elements have a cleaning operation longer service life than single-stage filter elements and can also be operated without pre-separation by a first separation unit.

It is preferred that the cleaning device acts on the second separating unit by means of a translatory movement. When the cleaning device acts on the second separating unit, the cleaning device transmits a movement impulse to the second separating unit. The translational movement of the cleaning device takes place at cyclic intervals. The translational movement of the cleaning device takes place between a first and a second position, with the cleaning device not having any contact with the second separating unit in the first position and with the cleaning device being in contact with the second separating unit in the second position. In an alternative embodiment, however, it is also conceivable for the cleaning device to be in permanent contact with the second separating unit, with the cleaning device transmitting a movement impulse to the second separating unit by moving between a first and a second position.

The action of the cleaning device on the separating unit through a translational movement leads to a mobilization of the dust and dirt particles stored there in the separating unit. As a result of this mobilization, the stored dust and dirt particles are released from the filter element of the second separation unit.

In a further embodiment, it is preferred that the cleaning device acts on the second separating unit by means of a rotary movement. The cleaning device or elements of the cleaning device are engaged with the second separating unit. When the cleaning device acts on the second separating unit, the cleaning device transmits a movement impulse to the second separating unit. The cleaning device or elements of the cleaning device perform a rotary movement, with the second separating unit assuming a stationary position. In an alternative embodiment, however, it is also conceivable that the cleaning device assumes a stationary position and the second separating unit executes a rotary movement.

The action of the cleaning device on the separating unit through a rotational movement leads to a mobilization of the dust and dirt particles stored there in the separating unit. As a result of this mobilization, the stored dust and dirt particles are released from the filter element of the second separation unit.

In addition, it is preferred that the cleaning device has a rod element, with the rod element acting on the second separating unit. The rod element has an approximately elongated shape. In an alternative embodiment, however, it is also conceivable that the rod element has widenings at least in sections. When the rod element acts on the second separating unit, there is approximately linear contact between the rod element and the filter element of the second separating unit. In the embodiment in which the rod element has widenings at least in sections, the action of the rod element on the second separating unit results in an approximately rectangular contact between the rod element and the filter element of the second separating unit. The use of a rod element for the cleaning device enables a movement pulse to be transferred from the cleaning device to the second separating unit in a metered manner. In particular, a rod element enables the movement impulse to be positioned precisely in relation to the filter element of the second separating unit.

The cleaning device has a mesh element, with the mesh element acting on the second separating unit. The mesh element has at least one agitation element which is in contact with a filter element of the second separating unit. In an embodiment in which the network element has a large number of agitation elements, it is preferred that the agitation elements are distributed evenly over a base area of the network element. The network element has a base area which approximately corresponds to a base area of the second separating unit. The mesh member is moveable between first and second positions.

The use of a mesh element for the cleaning device enables extensive contact between the cleaning device and the filter element of the second separating unit. As a result, the movement impulse of the cleaning device is transmitted almost over the entire base area of the filter element of the second separating unit. This enables optimal cleaning of the second separating unit from stored dust and dirt particles.

In an alternative embodiment, the robotic vacuum cleaner has a second drive device, with the second drive device driving the cleaning device. The drive device has a motor element and a gear element, which are set up to drive the cleaning device. A second drive device enables independent operation of the cleaning device of the second separating unit. The second separating unit can thus be cleaned independently of any other operating status of the vacuum robot.

In a further alternative embodiment, it is preferred that the cleaning device is driven by the first drive device. The first drive device is set up to move the vacuum robot autonomously over the surface to be cleaned. It is further preferred that the first drive device Cleaning device drives via a coupling device. The coupling device has at least one mechanical component which connects the first drive device to the cleaning device. In an alternative embodiment, however, it is also conceivable for the mechanical component to connect the cleaning device to a drive wheel of the robotic vacuum cleaner.

The coupling device enables the cleaning device to be operated via the drive energy which the first drive device generates. As a result, a separate second drive device is not required for the operation of the cleaning device. Transfer or navigation trips by the vacuum robot can thus be used for the cleaning operation of the second separating unit.

In a further alternative embodiment, it is preferred that the robotic vacuum cleaner has an interface device, it being possible for the cleaning device to be driven via the interface device. The interface device is designed to enter into a connection with an external transmission element, with the cleaning device being able to be driven via this connection. For example, a transmission element is arranged at a charging station of the vacuum robot. This enables the second separating unit to be cleaned via a transmission element of the charging station. As a result, no separate drive device is required for the cleaning device in the vacuum robot. For example, the required drive device can be outsourced to a charging station of the vacuum robot. In addition, the time that the vacuum robot spends charging its energy storage at the charging station can be used to clean the second separation unit.

Also preferred is a method for cleaning a second separating unit of a vacuum robot according to one of the preceding claims, the method having the following steps:
determining a saturation value of the second separation unit; and

Generating a control signal for controlling the cleaning device of the second separating unit, taking into account the measured saturation value of the second separating unit.

A saturation value of the second separating unit can be determined, for example, via a pressure sensor system, which detects the differential pressure that occurs at the second separating unit during the cleaning operation. The resulting differential pressure correlates with the saturation value of the second separation unit. A cleaning operation of the second separating unit takes place only if a definable Saturation value of the second separation unit is exceeded. As a result, the cleaning operation of the second separating unit can be configured as required.

In one embodiment of the method, it is preferred that in the step of generating a control signal for controlling the cleaning device of the second separating unit, movement information and/or status information of the vacuum robot is taken into account. As a result, the cleaning operation of the second separating unit can be restricted to states of the vacuum robot in which the cleaning operation of the second separating unit has no negative or disruptive influence.

Figur 1

Seitliche Schnittansicht eines Saugroboters aus dem Stand der Technik;

Figur 2

Seitliche Schnittansicht eines Saugroboters mit einer Stab-Reinigungseinrichtung;

Figur 3

Seitliche Schnittansicht eines Saugroboters mit einer Netz-Reinigungseinrichtung;

Figur 4

Seitliche Schnittansicht eines Saugroboters mit einer Reinigungseinrichtung, welche durch eine zweite Antriebseinrichtung angetrieben wird;

Figur 5

Seitliche Schnittansicht eines Saugroboters mit einer Reinigungseinrichtung, welche durch eine rotatorische Bewegung auf die Abscheideeinheit einwirkt;

Figur 6

Seitliche Schnittansicht eines Saugroboters auf einer Ladestation, wobei diese über eine Schnittstelle die Reinigungseinrichtung des Saugroboters antreibt.

An embodiment of the invention is shown purely schematically in the drawings and is described in more detail below. Show it:

figure 1

Side sectional view of a prior art robotic vacuum cleaner;

figure 2

Side sectional view of a vacuum robot with a rod cleaning device;

figure 3

Side sectional view of a vacuum robot with a net cleaning device;

figure 4

Side sectional view of a robotic vacuum cleaner with a cleaning device which is driven by a second drive device;

figure 5

Side sectional view of a vacuum robot with a cleaning device, which acts on the separating unit by means of a rotary movement;

figure 6

Side sectional view of a vacuum robot on a charging station, which drives the cleaning device of the vacuum robot via an interface.

figure 1 shows the side sectional view of a vacuum robot 10, as is known from the prior art. The robotic vacuum cleaner 10 has at least two wheels 36 on its underside 34 with which it can drive autonomously over floor surfaces to be cleaned. At least one of these wheels 36 is driven via a drive device (not shown in figure 1 ) motor-driven. On the side 34 of the robot vacuum housing, which faces the floor surface to be cleaned, the robot vacuum 10 has a suction mouth 38. The robot vacuum 10 is able to pick up dust and dirt particles from the floor surface via this suction mouth 38 and thereby clean them. A brush roller 40 is arranged inside the suction mouth 38 of the vacuum robot 10 to increase the cleaning performance. During cleaning operation, the brush roller 40 sweeps dust and dirt particles into the suction mouth 38 of the vacuum robot 10 via a rotational movement.

In the housing of the vacuum robot 10, the suction mouth 38 is connected to a dust cassette 16 via a suction channel. Via this suction channel 42, the dust and dirt particles that have been sucked in and swept in pass from the suction mouth 38 into the dust cassette 16, where they are separated and stored by the suction air flow. The dust cassette thus functions as the first separating unit. The separation of larger dust and dirt particles from the suction air flow in the dust cassette 16 takes place primarily via gravity. A second separating unit 18 is arranged at the outlet of the fine dust cassette 16, where the suction air flow generated by the vacuum robot 10 emerges from the latter. The second separating unit 18 separates those dust and dirt particles from the suction air flow which were not separated by the first separating unit 16 . These are primarily particularly fine and light dust and dirt particles. The second separating unit 18 is formed by a multi-stage filter element 22 which is composed of a pre-filter 44 , a main filter 46 and a post-filter 48 . The pre-filter 44 consists, for example, of a foam layer, the main filter 46 of a pleated filter material and the post-filter 48 of a fine dust filter material. Downstream of the second separating unit 18, the cleaned suction air flow then flows through the fan of the vacuum robot (not shown in Fig figure 1 ) before it is blown out of the housing of the vacuum robot 10 as exhaust air.

figure 2 shows a side sectional view of a robotic vacuum cleaner 10 with a rod cleaning device 20 on the second separating unit 18. The cleaning device 20 has two rod elements 24 which are in engagement with the pre-filter 44 and the main filter 46 of the filter element 22. The rod elements 24 perform a translatory movement in and on the filter element 22 which loosens dust and dirt particles from the filter element 22 . This causes the filter element 22 to be cleaned and extends its service life for the cleaning operation to a significant extent. The rod elements 24 of the cleaning device 20 are driven via a camshaft 50 which is connected to the drive device 12 of the vacuum robot 10 via a coupling device 30 . The camshaft 50 converts the rotational movement of the drive device 12 into a translational movement of the rod elements 24. In this way, the drive device 12 is also used to operate the cleaning device 22.

figure 3 shows a side sectional view of a vacuum robot 10 with a net cleaning device 20. Here, too, a three-stage filter element 22 acts as the second separating unit 18. A net element 26 is arranged in this, which can be set in a translatory movement via a camshaft 50. As a result of this movement, the net cleaning device 20 transmits a shaking movement to the filter element 22. Fixed dust and dirt particles in the filter material of the filter element 22 are thereby solved. The camshaft 50 is driven via a coupling device 30 which can be connected to the drive device 12 of the vacuum robot 10 . This allows continuous or partial operation of the cleaning device 20 while the robotic vacuum cleaner 10 moves autonomously over a floor surface.

figure 4 shows a side sectional view of a robotic vacuum cleaner 10 with a cleaning device 20 which is driven by a second drive device 28 . A second separate drive device 28 is arranged below the second separating unit 18 . This second drive device 28 serves exclusively to drive the cleaning device 20. In addition, the robotic vacuum cleaner 10 has a first drive device 12, which enables the robotic vacuum cleaner 10 to move over floor surfaces. The second drive device 28 drives a rod element 24 which is arranged inside the filter element 22 and which functions as the second separating unit 18 . As a result of the second drive device 28 , the rod element 24 performs a translatory movement, which transfers kinetic energy to the filter element 22 . As a result, dust and dirt particles stored in the filter material of the filter element 22 are mobilized and loosened. A flywheel 52 is arranged between the second drive device 28 and the rod element 24 and converts the rotational movement generated by the drive device 28 into a translational movement of the rod element 24 .

figure 5 shows a side sectional view of a robotic vacuum cleaner 10 with a cleaning device 20 which is driven by a second drive device 28 . The second drive device 28 is arranged laterally next to the second separating unit 18 and drives a rod element 24 which is arranged within the second separating unit 18 . A filter element 22 acts as a second separating unit 18 . The rod element 24 is arranged axially along the transverse axis of the filter element 22 . Mobilization elements 54 are arranged on the rod element 24 itself and extend radially outwards starting from the rod element 24 . The mobilization elements 54 extend almost over the entire length of the rod element 24, which is arranged inside the filter element 22. The mobilization elements 54 are in engagement with the filter material of the filter element 22. If the rod element 24 is caused to rotate by the second drive device 28, the mobilization elements 54 transmit this movement impulse to the filter material. As a result of this movement impulse, dust and dirt particles stored in the filter material are released from it.

figure 6 shows a side sectional view of a robotic vacuum cleaner 10 on a charging station 56. The charging station 56 is designed in such a way that the robotic vacuum cleaner 10 drives over it autonomously can. In addition, the charging station 56 is designed in such a way that the robotic vacuum cleaner 10 aligns itself autonomously with respect to the charging station 56 when driving over it. Among other things, this results in electrical contact being made between the charging station 56 and the robotic vacuum cleaner 10, which initiates a charging process for the energy storage devices (not shown in Fig figure 6 ) of the robotic vacuum cleaner 10 via the charging station 56. In addition, the charging station 56 forms a suction channel 58 which forms at least one suction mouth interface 60 . This suction mouth interface 60 forms a largely fluid-tight connection to the suction mouth 38 of the vacuum robot 10 when it is on the charging station 56 . This enables the dust cassette 16 of the vacuum robot 10 to be pushed out via its suction mouth 38 by means of a suction air flow which is generated by an external fan. The external blower is arranged inside the charging station 56 or inside another vacuum cleaner, which is connected to the suction channel 58 of the charging station 56 in a fluid-tight manner.

In addition, the charging station 56 has a drive device 62 for a cleaning device 20 of the second separating unit 18 of the vacuum robot 10 . This drive device 62 is connected to an axle 64 which has an interface 66 . When the robotic vacuum cleaner 10 is arranged on the charging station 56, this axis 64, together with the interface 66, enters the housing of the robotic vacuum cleaner 10 and establishes a connection with an axis 68 of the cleaning device 20 of the second separating unit 18. A net element 26 , which is arranged within the second separating unit 18 , acts as the cleaning device 20 . The movement generated by the drive device 62 in the loading station 56 is transmitted to the axis 68 of the cleaning device 20 via the interface 66 of the axis 64 . As a result, the net element 26 of the cleaning device 20 is set in a translational movement, which causes the second separating unit 18 to be cleaned of dust and dirt particles.

In a further embodiment that is not shown, it would be conceivable to provide a cleaning element which is arranged in a stationary manner inside the robotic vacuum cleaner. To clean the second separating unit, it performs a movement relative to the cleaning element.

Reference List

10

vacuum robot

12

first drive device

16

first separation unit

18

second separation unit

20

cleaning device

22

filter element

24

rod element

26

mesh element

28

second drive device

30

coupling device

34

Underside vacuum robot

36

wheels

38

suction mouth

40

brush roller

42

suction channel

44

pre-filter

46

main filter

48

post filter

50

camshaft

52

flywheel

54

mobilization elements

56

charging station

58

Suction channel of the charging station

60

suction mouth interface

62

Drive device charging station

64

axis

66

interface

68

Axis cleaning device

Claims (11)

1. Robotic vacuum cleaner (10) for autonomously cleaning floor surfaces, the robotic vacuum cleaner having a first drive device (12) for travelling over floor surfaces, the robotic vacuum cleaner (10) having a fan unit for generating a suction air flow, the robotic vacuum cleaner (10) having a first separation unit (16) for separating particles from the suction air flow, the robotic vacuum cleaner (10) having a second separation unit (18) for separating particles from the suction air flow, the second separation unit (18) being arranged downstream of the first separation unit (16) in the suction air flow, a cleaning device (20) being arranged on the second separation unit (18), the cleaning device (20) cleaning the second separation unit (18) of separated particles, characterised in that
   the cleaning device (20) has a net element (26), the net element (26) acting on the second separation unit (18).
2. Robotic vacuum cleaner (10) according to claim 1,
   characterised in that
   the second separation unit (18) has a filter element (20), in particular a multi-stage filter element.
3. Robotic vacuum cleaner (10) according to either of the preceding claims, characterised in that
   the cleaning device (20) acts on the second separation unit (18) by means of a translational movement.
4. Robotic vacuum cleaner (10) according to any of the preceding claims, characterised in that
   the cleaning device (20) acts on the second separation unit (18) by means of a rotational movement.
5. Robotic vacuum cleaner (10) according to any of the preceding claims, characterised in that
   the cleaning device (20) has a rod element (24), the rod element (24) acting on the second separation unit (18).
6. Robotic vacuum cleaner (10) according to any of the preceding claims, characterised in that
   the robotic vacuum cleaner (10) has a second drive device (28), the second drive device (28) driving the cleaning device (20).
7. Robotic vacuum cleaner (10) according to any of claims 1 to 5,
   characterised in that
   the cleaning device (20) is driven by the first drive device (12).
8. Robotic vacuum cleaner (10) according to claim 7,
   characterised in that
   the first drive device (12) drives the cleaning device (20) via a coupling device (30).
9. Robotic vacuum cleaner (10) according to any of claims 1 to 5,
   characterised in that
   the robotic vacuum cleaner (10) has an interface device (32), wherein the cleaning device (20) can be driven via the interface device.
10. Method for cleaning a second separation unit (18) of a robotic vacuum cleaner (10) according to any of the preceding claims, the method comprising the following steps:

    measuring a saturation value of the second separation unit (18); and

    generating a control signal for controlling the cleaning device (20) of the second separation unit (18) taking into account the measured saturation value of the second separation unit (18).
11. Method according to claim 10,
    characterised in that
    movement information and/or status information of the robotic vacuum cleaner (10) is taken into account in the step of generating a control signal for controlling the cleaning device (20) of the second separation unit (18).

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