ES2941936A1 - WASTE TANK FOR CLEANING ROBOT WITH EMPTY (Machine-translation by Google Translate, not legally binding) - Google Patents

Abstract

Cleaning robot waste tank with emptying. Invention of a waste storage and transfer tank for its emptying and final destination from the waste collected by an autonomous cleaning robot (100) in its operations and domestic vacuum tasks. And its subsequent transfer to a maintenance station or base (200) where it is automatically emptied. Said deposit consists of a configuration of undulations (310) at its base, to facilitate the circulation and movement of said waste and counteract its settling and cantonment towards its final discharge. In addition to facilitating its emptying, the tank is configured with a lower surface of the waste tank (300) and the discharge hatch (305) with an angle defined between 0 and 50 degrees. (Machine-translation by Google Translate, not legally binding)

Description

DESCRIPTION

WASTE TANK FOR CLEANING ROBOT WITH EMPTY

TECHNIQUE SECTOR

The present invention is in the technical field of automatic or semi-automatic cleaning devices and, more specifically, autonomous waste vacuuming and cleaning devices usually known as cleaning robots, which have rechargeable battery charging stations or bases. . They are therefore devices that consist of two main bodies: a robot and its maintenance base station.

BACKGROUND OF THE INVENTION

Vacuum cleaning devices with autonomous or semi-autonomous movement means, such as robot vacuum cleaners, are widely known in the state of the art. The concept of robot vacuum cleaner is commonly understood as the structure formed by a frame that can be moved with respect to the surface to be cleaned with enough displacement means so that the movement is autonomous or semi-autonomous. And that it has batteries and means to recharge them, cleaning means, such as brushes to improve collection, a suction motor, and at least one control system operatively connected to the displacement and cleaning means, which allow the use of the device. in one or more modes of operation with more or less activity and operations.

The suction unit included in this type of device is generally located in the main structure of the device and is responsible for sucking dirt from the floor by generating a negative pressure difference. To carry out the tasks of collecting dirt and waste, these devices can have one or more rotating cleaning rollers, or similar elements, contained in a cavity of the structure itself, which occupy, at least, the entire width of the suction hole. And it is through this suction hole, through which the dirt collected is conducted to the interior container in which the waste collected during cleaning tasks accumulates.

Here, the waste storage means present in the state of the art usually consist of a waste collection tank, which is housed inside the robot and is generally removable from the main body to empty it. This type of element is usually made up of a waste storage drawer, with a mouth that feeds the waste into the drawer, one or more filters and one or more hatches for waste extraction and emptying of the drawer.

The maintenance of these storage systems is not complex, but, generally, it must be carried out manually by the user, causing annoying and uncomfortable situations by causing suspended clouds of volatile residues or being dumped unexpectedly when the storage is released. dust confined in the tank, which can return to the ground or affect the user and his environment.

To try to solve this problem, various automatic maintenance stations for cleaning robots have been presented. An example of them is the one presented in the international patent WO2020153672A1 SAMSUNG ELECTRONICS CO LTD (2019). Said document discloses an automatic station for emptying the waste tank of a cleaning robot with a double air chamber, the first one comprising a filter for the aspirated air, and the second a cyclonic separator.

The cleaning robots compatible with these maintenance stations generally have a dust evacuation hatch that is activated in response to air pressure generated inside the emptying base. Therefore, the control over the opening of the hatch depends directly on the actuator housed in the station. In the document WO2016209309A1 IROBOT CORP (2015) we observe a cleaning robot whose tank has a lower hatch through which dirt is extracted, and which is moved by the action of air pressure. Said hatch is notable for varying between an open and a closed position, both located within the structure of the cleaning apparatus.

This type of hatches that are activated by air pressure require a high suction power from the motor located in the maintenance base, which implies a high energy consumption because the pressure generated must not only perform the emptying functions but also a hatch opening function. Consequently, the device is also noisier and implies a more difficult coexistence in domestic environments.

In turn, systems with air pressure-actuated hatches run the risk of clogging the dust extraction duct, as well as incompletely performing emptying tasks, subsequently requiring the aforementioned bothersome manipulation of manual emptying by of the user.

In conclusion, robotic cleaning systems with an automatic maintenance station have extraction systems that must have high power to carry out the emptying operations, and do not ensure complete extraction efficiency during the development of their activity.

. EXPLANATION OF THE INVENTION

The invention that we present exposes a waste deposit for an automatic or semi-automatic floor cleaning device and a maintenance base station with an associated emptying mechanism, which, given the aforementioned problems, is capable of managing, at least partially, the tasks maintenance autonomously without the need for human interaction with responsible energy consumption and low noise pollution in the environment of their work operations.

Thus, we start with an autonomous or semi-autonomous cleaning device, known as cleaning robots, which are designed to move around a certain work surface while performing various cleaning tasks, such as sweeping, vacuuming, scrubbing... To this , an automatic emptying station is attached to which the robot can be attached autonomously to carry out maintenance tasks, and in this specific case that concerns us, the extraction of dirt collected by the cleaning robot.

Consequently, the main purpose of the invention is to overcome one or more of the drawbacks of the state of the art in the face of manual actions for the tasks of emptying and unloading the collected waste. And to overcome these disadvantages, the invention presents a solution that comprises the motorization of one of the lower hatches of the waste storage tank of the cleaning robot, through which the waste is unloaded towards the maintenance station. associate.

The present disclosure discloses a cleaning robot comprising a main body, a control system, an energy storage means, a moving means and a cleaning means. The main body includes the control system inside, which is in charge of directing all the operations of the device. Specifically, this controller acts on the energy storage system, the displacement means and the cleaning means.

This control system consists of a printed circuit board or PCB (Printed Circuit Board, in Anglo-Saxon terminology) in which various electronic components necessary for the correct operation of the device such as capacitors, transistors, fixed resistors, variable resistors, regulators are arranged. voltage, inductor coils, transformers, diodes, rectifiers, switches, relays, integrated circuits and a multitude of sensors. All these components have as their main elements a series of microcontroller units or MCUs (Microcontroller Unit, in English) that regulate the activity and processes of the rest of the elements of a lower hierarchy. In certain more demanding applications it is necessary to use one or more central processing units or CPUs (Central Processing Units, in English) in said microcontrollers.

This control system can be supported with different sensors that help the robot navigate, such as LIDAR-type environment scanning sensors (Laser Imaging Detection and Rangin) or beams of bouncing infrared laser light, three-dimensional sensors , volumetric sensors to generate a cloud of points, depth sensors, infrared spectrum cameras and/or inertial measurement units or IMU (Internal Measurement Unit also in Anglo-Saxon terminology).

With regard to the displacement means, they are specified in at least two drive wheels located at the central end to the left and right of the cleaning robot. Each of the wheels is driven by a variable power electric motor. The mechanical power of these electric motors can be transmitted to the wheels directly or indirectly, through a series of gears that reduce the speed of the motor so that the wheels are capable of offering a greater mechanical torque in certain circumstances of overcoming high obstacles. These means of displacement They are complemented by the action of the non-motorized omnidirectional wheel that helps the robot to correctly perform the necessary turns and movements.

For its part, the cleaning means of the robot vacuum cleaner constitute different rotating brushes located in the main body of the device. This type of element is located in the lower part of the device and is characterized by having its axis of rotation perpendicular to the direction of advance of the robot, defined by the X axis of coordinates. The cleaning robot disclosed in the present invention has at least one side brush that rotates parallel to the Z axis and is in contact with the ground to carry out the tasks of sweeping the dirt present on the work surface to guide it towards the ground. minus one main brush, which rotates on an axis parallel to the Y axis.

The cleaning robot can accommodate various types of main brushes depending on the operating scenario. These different types of brushes have different materials and morphologies, which are adapted to specific situations. Some implementations of these main brushes correspond to silicone brushes, which allow the optimal collection of hair or animal or human hair. Others correspond to nylon microfiber brushes with stripes of different hardnesses, which optimize the collection of fine waste on hard and smooth surfaces. While other embodiments correspond to brushes with strips of nylon bristles and silicone strips, which perform better on carpets and/or with the collection of large and higher volume particles.

Some models of the cleaning robot also incorporate an identification system for the installed main brush that allows the device to know the brush housed inside and, consequently, modify its performance parameters.

On the other hand, the side brushes can also be formed by different types of material and/or different number of arms. as regards to the material, certain implementations have silicone arms, which act better against the collection of animal or human hair; while others have arms made up of a set of nylon filament, which behave better with large particles.

Some examples of the cleaning robot that incorporate an installed side brush identification system allow the device to know the brush that is being used and, consequently, modify its performance parameters.

At this point we can deduce that this set of brushes performs the tasks of collecting very different waste of small, medium and large volume, which are introduced into a deposit or collection tank installed inside the main body of the cleaning robot. .

The waste collection tank has a usable capacity volume of between 150 milliliters and 750 milliliters and usually has a housing for a particulate retention filter with access for maintenance. In addition, it has a mechanism for fastening to the robot's body, through which the tank is correctly fixed to the main structure of the robot. This holding mechanism also allows the removal of the deposit by the user.

The cleaning robot of the present invention has a waste collection tank or deposit oriented in the body of the robot transversally to the directional axis of the direction of travel, the widest longitudinal face of the waste tank coinciding with the suction hole. of the vacuum cleaner

In addition, the aerodynamic circuit of the cleaning robot is configured so that all the air drawn in circulates through the particle retention filter through the air ducts present in the tank. waste collection and the main structure of the cleaning robot so that the particles present in the sucked air are trapped in said filter.

This particle retention filter is generally located at the top of the waste collection tank so that it can be removed for maintenance and/or cleaning. The cavity where the filter is housed has a lid or cover that would seal the filter and, therefore, isolate the interior of the tank from pressure losses. Likewise, the cavity where the filter is housed can have a lever mechanism activated by a spring which is mobilized in the absence of the particle retention filter, thus making it impossible to close the lid in charge of sealing said filter. hollow and, consequently, the general use of the cleaning device.

Additionally, the waste collection tank can have a plate with dimensions greater than the dimensions of the inlet hole of the tank which, thanks to a hinge-type arrangement, obstructs the hole from the inside of the container, avoiding the possibility of spreading the dirt contained in the tank, thus serving as a plate to prevent the return of dirt in the event of tipping over when removing the tank manually.

The cleaning robot has means for detecting the waste collection tank, which consists of a magnet housed inside the receptacle which sends a signal to a Hall effect sensor integrated inside the maintenance base station. This system allows the cleaning robot to know if the waste collection tank has been installed correctly or not. And with this, inform the user accordingly.

Specifically, the engineered waste collection tank has two lower hatches to allow automatic emptying by a dump station. The first one allows the admission of an air flow inside the cavity where the waste is housed. While, the second of them facilitates the expulsion of air with the dirt confined in said cavity.

Thus, the invention proposes that at least one of the waste collection tank hatches be actuated by an electromechanical mechanism controlled by the signals emitted from the cleaning robot's control system.

In this way, the cleaning robot will be the one that controls the process of emptying the waste collection tank, avoiding possible problems in the extraction of dust caused by a possible wrong placement of the robot in the emptying station.

A maintenance station with automatic emptying or emptying base is commonly understood as the structure formed by a fixed frame that is generally connected to the electrical network. And it contains, among others, means for recharging the battery of the cleaning device, a suction or blowing motor that generates an air flow to totally and/or partially remove the residues inside the cleaning device, residue storage means , and a control system and means of communication operatively connected to the cleaning and/or disinfection device.

The emptying station includes means for recharging the vacuum robot's battery with at least two electrical contacts, which form part of an open power supply circuit connected to the network. Once the vacuum robot is coupled to the base, the robot by means of two other electrical contacts closes the relevant circuit, obtaining as a result the charging of the robot's energy storage means.

Regarding the waste storage means, these comprise a self-filtering disposable bag, which stores the dust sucked from the waste collection tank of the cleaning robot. This self-filtering bag acts as a filter for air particles simultaneously with the storage of waste. The bag can be made of various materials such as paper, microfilters, special papers, fabrics, vegetable fibers or other materials. The storage means may consist, in other applications, of a waste compartment or chamber, characterized by being removable for manual emptying by the user, so that it is not a disposable consumable, thus reducing the generation of waste.

The maintenance base station has a control system that is responsible for monitoring the status and performance of all drives and communication systems to carry out the process of emptying the waste collection tank. In turn, it can have communication devices between the emptying base with the vacuum robot and be able to execute orders such as starting the vacuuming, blowing or emptying process. This method of communication between the base station and the robot can be achieved by means of optoelectronic devices capable of measuring the infrared electromagnetic radiation emitted by an emitter arranged in the robot when it is located within the field of vision of a receiver housed in its field of vision. which would be located at the station.

Additionally, in certain applications it could have, for example, a component cleaning and/or disinfection system, or robot consumables, reusing the channeling of the air flow generated by a suction or blowing motor.

The maintenance or base station optionally has a status light diode. Thus, the process being carried out is indicated by, for example, a representative color code for each process.

And to carry out the process of emptying the waste collection tank, it is necessary to induce a certain air pressure inside the tank in order to achieve flow turbulence and inertial movements capable of transferring said waste housed inside it towards the maintenance station and its storage and emptying device through the discharge or ejection hatch.

Thus, this air pressure is generated by a suction or blowing motor that generates an air flow to totally or partially remove the residues inside the cleaning device. Generally, the electric motor generates a pressure difference at its ends due to the rotation of its blades or blades, which rotate jointly with the motor rotor.

This motor of the emptying mechanism in the maintenance base station is responsible for carrying out a blowing process or driving an air flow through the tank intake hatch when the robot vacuum cleaner is coupled to the base. The air flow generated by this electric motor enters through the hole released by the intake hatch to push the dirt contained inside the tank of the robot cleaner towards the hole released by the tank discharge hatch, so that the dirt be conducted to the station's waste storage facilities.

Generally, the process of emptying the waste collection tank is usually insufficient in similar devices present in the state of the art, since due to the very structure of the tank it can have areas, sections or corners where the air flow it is incapable of dragging accumulated dirt. Consequently, a dust accumulation problem is generated in these spaces inside the waste chamber due to its constructive design, which ultimately would have to be solved manually by the user, stripping the system of its intended goodness.

In order to direct the air flow through one or more surfaces, it is necessary to take into account the aerodynamic resistance resulting from the combination between the shape and the material with which the waste collection tank of the cleaning robot has also been manufactured. . That is why the internal surface of the tank in the cleaning robot has a configuration with one or more undulations to facilitate the internal current of the air flow, thus generating internal turbulence that facilitates the dispersion of air throughout the tank chamber. . This method prevents the accumulation of debris in corners or cavities of the tank during the emptying process, thus increasing its efficiency and preventing the user from participating in the process of emptying the tank of the cleaning robot.

Said undulations present inside the receptacle are arranged depending on the position of the admission and expulsion hatches of the tank, so that the aerodynamic current inside the same is optimal so that the emptying is carried out completely in the manner most efficient possible.

In order to solve the problems presented in the state of the art, the invention proposes direct action on the opening mechanism of the intake and/or discharge hatches arranged in the autonomous cleaning robot. This action consists of the sequencing of a series of openings and closings when the robot is coupled to the base during the emptying process in an automatic or semi-automatic way. This sequencing is carried out based on some usage parameters such as the area vacuumed, the usage time, the suction power used or others. The succession of opening and closing one or both hatches is aimed at completely emptying all the dirt collected by the robot during the cleaning task stored in its waste collection tank.

Some applications of this invention have only one motorized hatch, the other being activated, therefore, by the air pressure generated by the electric motor arranged inside the base station of maintenance. The opening and closing sequence would be carried out in this case exclusively on the hatch that has an electromechanical drive.

By means of this method, it is intended to modify the direction of the air flow in a controlled manner, generating a series of internal turbulences within the tank in order to remove all types of dirt regardless of the size of the waste, increasing the emptying efficiency.

Any two or more of the features described in this specification included in this description section, may be combined to give rise to implementations that are not specifically described herein.

BRIEF DESCRIPTION OF THE DRAWINGS

To complement the description that is being made and in order to help a better understanding of the characteristics of the invention, a set of drawings is attached as an integral part of said description, where, with an illustrative and non-limiting nature, what has been represented has been following:

Figure 1.- Top plan view of a conventional cleaning robot.

Figure 2.- Perspective view of the lower floor of the conventional cleaning robot.

Figure 3.- Left side perspective view of the conventional cleaning robot.

Figure 4.- Bottom plan view of the conventional cleaning robot.

Figure 5.- Perspective view of the conventional maintenance base station with the emptying device.

Figure 6.- Uncovered and interior perspective view of the conventional maintenance base station with the emptying device.

Figure 7.- Emptying logic flow diagram of the conventional maintenance base station with the emptying device.

Figure 8.- Logic flow chart for blowing out the conventional maintenance base station with the emptying device.

Figure 9.- Logic flow chart for emptying by aspiration of the conventional maintenance base station with the emptying device.

Figure 10.- Logic flow diagram of the led (from English light-emitting diode or light-emitting diode) of the status of the conventional maintenance base station with the emptying device.

Figure 11.- Bottom perspective view of the waste collection tank. Figure 12.- Top perspective view of the waste collection tank. Figure 13.- Lower plan view of the waste collection tank.

Figure 14.- Top perspective view of the waste collection tank. Figure 15.- Exploded top perspective view of the waste collection tank with the filter element.

Figure 16.- View of the front plan section of the waste collection tank.

Figure 17.- View of the front plan section of the waste collection tank.

Figure 18.- Graphic table of Pressure/Time of the emptying process.

Figure 19.- Recreation of a front view of the air flow inside the waste collection tank.

The list of technical means or references used in this invention are the following:

100 .- Autonomous or semi-autonomous cleaning robot.

101 . - Fixed frame.

102 . - Bumper or bumper.

103 . - Means of recharging.

104 . - Download-based communication infrared sensor.

105. a - Right drive wheel.

105. b .- Left drive wheel.

106 . - Omnidirectional wheel.

107 . - LIDAR sensor.

108 . - IR floor sensor

109 . - Energy storage media

110 . - IR wall sensor.

111 . - Side rotating brush.

112 . - Central rotating brush.

113 . - Cover of the central brush.

114 . - Liquid tank

115 . - Cleaning mop

116 . - Control system

.- Maintenance base station for emptying.

201 . - Aspiration duct of the filtering element of the robot.

202 . - Garbage bag.

203 . - Robot housing.

204 . - Sensors for location and guidance (IR).

205 . - Air inlet hole.

206 . - Air outlet hole.

207 . - Means of recharging the battery.

208 . - Air outlet grill of the suction motor to the outside or cooling of the blowing motor

209 . - Air intake duct

210 . - Air outlet duct

211 . - Blow motor

212 . - Control system

.- Waste storage deposit.

301 . - Main body.

302 . - Waste inlet hole

303 . - Clamping methods (tab)

304 . - Admission hatch.

305 . - Unloading hatch.

306 . - Filter

307 . - Filter cavity cover.

308 . - Unloading flap motor feeding elements 309 . - Anti-return plate.

310 . - Ripples to generate turbulence.

311 . - Filter housing.

312 . - Filter air inlet grid.

313 . - Manual opening of the waste tank.

314 . - Filter presence safety mechanical spring.

315 . - Unloading hatch motor.

316 . - Waste chamber.

317 . - Turbulence in the air flow.

400 .- Pressure/Time Graph of the emptying process

401 . - Collection start phase.

402 . - Phase of opening and sequential closing of the discharge hatch.

403 . - Final phase of collection.

404 . - Pressure drop as a consequence of closing the discharge hatch.

PREFERRED EMBODIMENT OF THE INVENTION

The following detailed description of the preferred embodiment refers to the accompanying drawings that form part of this specification, and which show, by way of illustration, a specific preferred embodiment in which the invention is carried out. These embodiments are described in sufficient detail to enable those skilled in the art to carry out the invention, and it is understood that other embodiments may be used and that structural, mechanical, and/or electrical logical changes may be made without depart from the scope of the invention. In order to avoid unnecessary details that allow those skilled in the art to carry out the detailed description, it should therefore not be taken in a limiting sense.

The present invention describes a cleaning set made up of an autonomous cleaning robot and a maintenance base station with emptying of the deposit of said device, which opens this waste collection deposit mechanically by means of an electromechanical actuator.

For this, the complementary elements on the described invention are presented with the aim of achieving the same objective. It is contemplated and therefore it is intended to protect the ability to achieve the objective of the invention through substitutions or modifications through different elements that interact in the described process.

The embodiment of the proposed invention consists of a cleaning robot with a waste storage tank ( 300 ) that comprises, at least:

- A main body ( 301 );

- A waste inlet hole ( 302 );

- A filter ( 306 );

- An admission hatch ( 304 );

- An unloading hatch ( 305 );

- An unloading hatch motor ( 315 ).

In addition, the proposed invention consists of a maintenance base station ( 200 ) that comprises, at least:

- A garbage collection bag ( 202 );

- An air inlet hole ( 205 );

- An air outlet hole ( 206 );

- Battery recharging means ( 207 );

- An air intake duct ( 209 );

- An air outlet duct ( 210 );

- Blower motor ( 211 );

- Control system ( 212 ).

With reference to FIGS. 1-4, the vacuum and cleaning system shows an autonomous or semi-autonomous cleaning robot ( 100 ) with a circular shape with a diameter of 330 millimeters. This rounded shape allows great versatility of movement when facing all kinds of obstacles.

Inside its fixed frame ( 101 ) is housed the control system ( 116 ) commanded by a series of electronic components arranged on a printed circuit board that includes a central processing unit. This processing unit sends the orders to the actuators taking into account the signals from the sensors that are included in the control system ( 116 ) such as IR or Infrared ground sensors ( 108 ) to detect sudden changes in height that the robot cannot bypass, and a wall IR sensor ( 110 ) for precise edge tracking, a download-based communication IR sensor ( 104 ) for the correct coupling of the cleaning robot to the maintenance base station, a bumper or bumpers ( 102 ) to detect frontal collisions and a LIDAR (Laser Imaging Detection and Ranging) ( 107 ) with which the robot builds the map of the work environment and is capable of establishing the most optimal movement routes.

The control system ( 116 ) also commands the correct operation of the energy storage means ( 109 ). In the robot recommended, this system is specified in a set of 8 cylindrical cells of 18 mm diameter. radius and 65 millimeters in length. These lithium-ion cells are connected in parallel in two groups of four elements, which in turn are connected in series to provide a potential difference of 14.8 volts and a capacity of 6400 milliamperes per hour to the storage media. of energy ( 109 ). When the autonomous or semi-autonomous cleaning device ( 100 ) runs out of energy, it receives its supply through the recharging means ( 103 ) of the autonomous or semi-autonomous cleaning device ( 100 ).

In the illustrations shown in FIGS. 3-4, the autonomous or semi-autonomous cleaning device ( 100 ) has a movement system consisting of a right drive wheel ( 105.a ) and a left drive wheel ( 105.b ) each located on the left and right side of the frame, respectively. fixed ( 101 ). These wheels are driven by individual variable power electric motors and are supported by an omnidirectional wheel ( 106 ) located at the front of the fixed frame ( 101 ).

In reference to the cleaning means, these are made up of a lateral rotating brush ( 111 ) located on the right side of the fixed frame ( 101 ). The function of this brush is to collect the dirt present on the edges and corners and guide it towards the central rotating brush ( 112 ) through which the dirt is sucked into the autonomous or semi-autonomous cleaning device ( 100 ). This main brush can be disassembled for maintenance operations by removing the cover of the central brush ( 113 ) that fixes it to the autonomous or semi-autonomous cleaning device ( 100 ).

Specifically, the autonomous or semi-autonomous cleaning robot ( 100 ) houses inside the waste storage mechanism ( 300 ) with a cavity with undulations at its own base to generate turbulence ( 310 ) that facilitates the circulation of air and waste with a internal volume of between 150 ml and 750 ml of the waste chamber ( 316 ) that houses a discharge hatch motor ( 315 ) and a discharge hatch ( 305 ) with movement assisted by said motor, in turn this storage system waste It also consists of a filter ( 306 ), a filter cavity cover ( 307 ) to access said filter and a waste inlet hole ( 302 ). Such a motor ( 315 ) that drives the discharge hatch ( 305 ) is located inside the waste tank ( 300 ).

Specifically, the waste deposit ( 300 ) of the disclosed cleaning robot has an air intake hatch ( 304 ) that opens automatically by the action of the positive pressure of the air flow generated by the maintenance base station ( 200 ) for its emptying. In addition, it has an air discharge hatch ( 305 ) that is actuated by a motor ( 315 ) controlled by the signals emitted from the control system ( 116 ).

In this way, the base maintenance station ( 200 ) for emptying controls the opening and closing of the intake hatch ( 304 ), while the autonomous cleaning robot ( 100 ) has control over the discharge hatch ( 305 ). of air and dirt.

In this preferred embodiment, the emptying of the waste tank is carried out by means of the air flow generated by the blower motor ( 211 ) that generates a positive air pressure through the air outlet hole ( 206 ) that enters the system. waste storage ( 300 ) of the autonomous cleaning device ( 100 ) through the intake hatch ( 304 ). Thus, once the air has entered through the intake hatch, the procedure that follows is as follows: 1°). Push the waste inside the tank, 2°). The discharge hatch opens ( 305 ) by the action of the motor ( 315 ), and 3°). It enters through the air inlet hole ( 205 ) until it houses the waste in the waste collection bag ( 202 ). This blowing motor is controlled by the control system ( 212 ) of said base station while the air discharge hatch ( 305 ) is actuated by a motor ( 315 ) controlled by the signals emitted from the control system ( 116 ) of the robot cleaner (1 00 ).

Thus, the autonomous or semi-autonomous cleaning robot ( 100 ) is positioned and coupled to the maintenance base station ( 200 ) for emptying above the robot housing ( 203 ) thanks to localization and guidance sensors (IR) ( 204 ), in this way, it is possible to fit the intake hatch ( 304 ) with the air outlet hole ( 206 ) which in turn connects the blower motor ( 211 ) and the discharge hatch ( 305 ) of the storage system. ( 300 ) with the air inlet hole ( 205 ).

In the illustrations FIGs. 5-6 shows the base maintenance station ( 200 ) for its emptying and, in particular, the battery recharging means ( 207a / 207b ) to recharge the energy storage means ( 109 ) and the components to carry out the emptying function of the waste chamber ( 316 ) of the cleaning device. This last process is produced by driving a flow of air generated by the blowing motor ( 211 ) and through the air outlet channel of the base ( 210 ) it is led into the tank of the cleaning robot, thus actuating by its own pressure the inlet hatch ( 304 ) so that, then, it drags the dirt accumulated inside and returns through the discharge hatch ( 305 ) towards the air inlet duct ( 209 ) from the base to the system waste storage ( 300 ).

In order to facilitate the extraction of dirt from the waste chamber ( 316 ), it is intended to carry out a sequence of openings and closings by energizing the discharge hatch motor ( 315 ) of the tank. This sequential opening of the hatch is configured based on the area and time cleaned by the autonomous cleaning device ( 100 ) and produces turbulence in the air flow ( 317a / 317b ) transferred by the waste chamber ( 316 ) exemplified in FIG. . 19, which facilitate the extraction of residues.

To detail this process of emptying the waste storage tank ( 300 ), the exemplary graph of FIG. 18, which shows the temporal variation of the pressure induced in the tank chamber ( 316 ) during the emptying process. Likewise, an initial phase ( 401 ) can be observed where there is a non-linear increase in pressure until reaching a maximum of around 20 kilopascals. In this fluctuating semi-stationary phase of pressure ( 402 ) the direct consequence of the sequence can be appreciated. of closures and openings of the discharge hatch, which give rise to temporary pressure drops ( 404 ). In this state, the turbulence described above is generated. And after that, the pressure drop results after completing the emptying process.

As shown in FIG. 17 the discharge hatch is opened by rotating it on a pivot at its ends, attached to the main body of the waste tank ( 300 ), exemplified in FIG. 17.

When the discharge hatch ( 305 ) is in the open position, its dimensions mean that the free end is below the lower level of the waste tank ( 300 ), introducing part of it into the entrance of the intake duct of the air ( 206 ) from the maintenance base station for emptying. In this way, it is closer to a connection by fitting than by superficial coupling, therefore, the coupling between the emptying maintenance base station ( 200 ) and the cleaning robot ( 100 ) is more hermetic and guarantees a minimization of the aerodynamic losses in the connection.

In turn, the geometry and configuration of the interior part of the waste chamber ( 316 ) consists of undulations ( 310 ) that favor the conduction of the waste to the discharge hatch ( 305 ) and that favor the appearance of turbulence ( 317a / 317b ) necessary inside the waste tank ( 300 ), which are visible in FIG. 19. In this specific situation, these undulations ( 310 ) are used to move the residues adhered to less radiated corners.

The arrangement and morphology of these corrugations ( 310 ) in the interior part of the waste chamber ( 316 ) depend directly on the position, size and direction of the intake ( 304 ) and discharge ( 305 ) hatches, as can be seen in FIGS. 16-17. The direct dependence of these elements implies an effective carrying out of the process of emptying the storage by the waste deposit ( 300 ), since the geometric configuration of the interior of the waste chamber ( 316 ) is precisely designed so that the Precise air flows for the optimal functioning of the cleaning system.

The recommended apparatus has a blowing motor ( 211 ) inside the maintenance base station ( 200 ) for its emptying, which performs a blowing process to drive a flow of air through the intake hatch ( 304 ) of the waste storage by the waste tank ( 300 ) when the robot vacuum cleaner ( 100 ) is attached to the base ( 200 ). The pressure forces generated cause the intake hatch ( 304 ) to open and remain contained within the waste chamber ( 316 ). For its part, the discharge hatch ( 305 ) is automatically actuated by an electric motor ( 315 ) to remain open towards the outside of the storage system through the waste tank ( 300 ). This configuration of gates directly favors the passage of a current or air flow that is capable of dragging the waste contained by the waste storage in the waste tank ( 300 ) towards the discharge hatch ( 305 ) through the waste channeling duct. waste from the maintenance base station ( 200 ) for emptying.

In addition, the angle defined between the lower surface of the waste tank ( 300 ) and the discharge hatch ( 305 ) is situated by configurations between 0 and 50 degrees, to channel and favor its emptying.

Subsequently, the waste extracted from the waste storage tank from the cleaning robot ( 300 ) is channeled through the air outlet duct ( 210 ) of the maintenance base station ( 200 ) for emptying, where they are deposited in a waste collection bag ( 202 ).

In short, the motorization of the discharge hatch ( 305 ) implies a considerable increase in the performance of the emptying processes by achieving greater emptying efficiency with less energy use and less noise pollution in the environment of use. Likewise, the sequencing of the openings and closings of said trap door by means of the activation of the electric motor ( 315 ) allows, together with the use of an irregular geometry inside the waste chamber ( 316 ), the generation of a high level of turbulence that Together, they lead to excellent extraction of the waste contained and stored in the waste tank ( 300 ) by the maintenance base station ( 200 ) for emptying.

Finally, a complete embodiment of this waste tank can contain a main body ( 301 ), an air intake hatch ( 304 ), an air discharge hatch ( 305 ) that is driven by a motor ( 315 ), which performs a variable sequencing of openings depending on the parameters of use of the robot vacuum cleaner ( 100 ) such as area sucked and/or time of use and/or suction power or others, one or several waste inlet holes ( 302 ), fastening means in the form of tabs ( 303 ), a filter ( 306 ), a filter cavity cover ( 307 ), feed elements for the discharge hatch motor ( 308 ), a non-return plate ( 309 ), corrugations to generate turbulence ( 310 ), a filter housing ( 311 ), a filter air inlet grid ( 312 ), one or more manual openings of the waste tank ( 313 ), a mechanical filter presence safety spring ( 314 ), and a waste chamber ( 316 ).

The industrial application of the present invention is clear, since it makes it possible to obtain a system for emptying the tank in an autonomous cleaning robot with high efficiency that reduces energy consumption and noise pollution, while avoiding any human intervention in the process. the process.

Claims (6)

1. Robot cleaning waste tank with automatic emptying for a maintenance base station ( 200 ) that has an air inlet hole ( 205 ), an air outlet hole ( 206 ) characterized by having a hatch for air intake ( 304 ) that opens automatically by the action of the positive pressure of the air flow generated by the blower motor ( 211 ) inside the maintenance base station ( 200 ) together with another discharge hatch ( 305 ) of air that is driven by a motor ( 315 ). Said blowing motor is controlled by the control system ( 212 ) of said base station, while the air discharge hatch ( 305 ) is actuated by a motor ( 315 ) controlled by the signals emitted from the control system ( 116) . ) of the robot cleaner ( 100 ). 2. Cleaning robot waste tank with automatic emptying according to Claim 1 , characterized in that the waste tank is emptied by means of the air flow generated by the blower motor ( 211 ) that generates a positive air pressure through of the air outlet hole ( 206 ) that enters the waste tank ( 300) of the autonomous cleaning robot ( 100 ) through the intake hatch ( 304 ). Thus, once the air has entered through the intake hatch: 1°). It pushes the waste inside the tank, 2°). The discharge hatch ( 305 ) is opened by the action of the motor ( 315 ), and 3°). It enters through the inlet hole of air ( 205 ) until the waste is housed in the waste collection bag ( 202 ). 3.

Automatic emptying robot cleaning waste tank according to any of the preceding claims , characterized in that the waste tank ( 300 ) has undulations ( 310 ) at the base of the waste tank itself to generate turbulence that helps to dislodge the remains of residues contained inside and lead them towards the air inlet hole ( 205 ). 4. Automatic emptying robot cleaning waste tank according to any of the preceding claims , characterized in that the lower surface of the waste tank ( 300 ) and the discharge hatch ( 305 ) are configured with an angle defined between 0 and 50 degrees. 5. Automatic emptying cleaning robot waste tank according to any of the preceding claims , characterized in that the motor ( 315 ) that drives the discharge hatch ( 305 ) is located inside the waste tank ( 300 ). 6. Robot cleaning waste tank with automatic emptying for a maintenance base station ( 200 ), which has an air inlet hole ( 205 ), an air outlet hole ( 206 ), a blowing motor air ( 208 ) characterized by containing a main body ( 301 ), an air intake hatch ( 304 ), an air discharge hatch ( 305 ) that is driven by a motor ( 315 ), which performs a sequencing of variable openings depending on the parameters of use of the robot vacuum cleaner ( 100 ) such as area sucked and/or time of use and/or suction power or others, one or several waste inlet holes ( 302 ), media fastening as tabs ( 303 ), a filter ( 306 ), a filter cavity cover ( 307 ), feeding elements of the discharge hatch motor ( 308 ), a non-return plate ( 309 ), corrugations to generate turbulence ( 310 ), a filter housing ( 311 ), a filter air inlet grille ( 312 ), one or more manual openings of the waste tank ( 313 ), a mechanical filter presence safety spring ( 314 ), and a chamber waste ( 316 ).