JP6968224B2 - Cleaning bin for cleaning robots - Google Patents

Description

The present specification relates to cleaning bins for cleaning robots, especially autonomous cleaning robots.

Cleaning robots include mobile robots that automatically perform cleaning tasks in an ambient environment such as a house. Many types of cleaning robots have some degree of autonomy in various ways. The cleaning robot can move around the surrounding environment and move autonomously, and can suck in dust when moving autonomously in the surrounding environment. The sucked dust is often stored in a cleaning bin that can be manually removed from the cleaning robot, which allows the dust to be removed from the cleaning bin. In some cases, the autonomous cleaning robot may be designed to automatically dock with the discharge station for the purpose of removing and emptying the debris sucked from the cleaning bin.

In one aspect, a cleaning bin that can be mounted on an autonomous cleaning robot that can operate to receive debris from the floor includes an inlet located between both lateral sides of the cleaning bin that defines the inner width of the cleaning bin. The cleaning bin is an outlet configured to be connected to the vacuum assembly, from which the vacuum assembly can operate to direct airflow from the inlet of the cleaning bin to the outlet of the cleaning bin, from the outlet and the airflow. It further includes a garbage compartment for receiving the first part of the separated garbage. The cleaning bin also includes an air channel located above the dust compartment and defined by the top surface of the dust compartment tilted with respect to the inner surface of the upper wall of the cleaning bin. The air channel extends over the inner width of the cleaning bin and receives airflow from the debris compartment through the top surface of the debris compartment. The cleaning bin contains a particulate compartment that receives a second portion of debris separated from the airflow. The cleaning bin also includes a debris separation cone with an inner tube that defines the upper and lower openings. The top opening receives airflow from the air channel. The inner tube is tapered from the upper opening to the lower opening so that the airflow forms a cyclone within the inner tube.

In another aspect, the autonomous cleaning robot comprises a body, a drive unit capable of moving the body across the floor, and a vacuum assembly carried on the body. The vacuum assembly can operate to generate airflow to carry debris from the floor as the body moves over the floor. The robot further includes a cleaning bin mounted on the body. Cleaning bins are an inlet and an outlet, an outlet connected to the vacuum assembly so that the airflow containing debris goes from the inlet to the outlet, and a debris compartment for receiving the first part of the debris separated from the airflow. , Forming a fine particle compartment for receiving the second part of the dust separated from the airflow and a cyclone that separates the second part of the dust from the airflow and directs the second part of the dust toward the fine particle compartment. Includes a debris separation cone, which is configured to receive airflow from the debris compartment.

In some implementations, the inlet extends over a length of 75% to 100% of the inner width of the cleaning bin.

In some embodiments, the top surface of the dust compartment comprises a first filter. In some cases, the first filter is sized to prevent debris with a width of 100 μm to 500 μm from passing through the air channel. In some cases, the filter surface of the first filter and the horizontal plane passing through the cleaning bin form an angle of 5 ° to 45 °.

In some implementations, the top surface of the debris compartment and the longitudinal axis of the debris separation cone define an angle of 85 ° to 95 °. The upper surface of the garbage compartment is inclined downward, for example, toward the garbage separation cone.

In some embodiments, the air channels extend over a length of 95% to 100% of the inner width of the cleaning bin.

In some implementations, the cleaning bin includes a drain port configured to connect to another vacuum assembly that can operate to direct airflow from the outlet to the drain port. The cleaning bin also includes, for example, a first flap that covers an open area pneumatically connected to a dust compartment and a particulate compartment. The first flap is configured to open, for example, when the pressure on the side of the first flap facing the dust compartment is less than the pressure on the side facing the fine particle compartment of the first flap. In some cases, the cleaning bin includes a second flap that covers the open area between the debris compartment and the particulate compartment. The open area covered by the first flap is larger than, for example, the open area covered by the second flap, the first flap is located farther from the discharge port than the second flap.

In some implementations, the longitudinal axis of the debris separation cone defines an angle of 5 ° to 25 ° with the vertical axis through the cleaning bin so that the top opening of the debris separation cone tilts away from the entrance of the cleaning bin. do.

In some embodiments, the inner tube is a conical structure that defines an inclination that forms an angle of 15 ° to 40 ° with the central axis of the conical structure.

In some implementations, the diameter of the upper opening of the inner tube is 20 mm to 40 mm and the diameter of the lower opening of the inner tube is 5 mm to 20 mm.

In some embodiments, the dust separation cone is the first dust separation cone, and the inner tube of the first dust separation cone receives the first part of the airflow. The cleaning bin includes, for example, a second debris separation cone adjacent to the first debris separation cone. The second dust separation cone has, for example, an inner tube defining an upper opening and a lower opening. The top opening receives, for example, a second portion of airflow from an air channel. The inner tube is tapered from the upper opening to the lower opening, for example, so that the second portion of the airflow forms a cyclone within the inner tube.

In some embodiments, the debris separation cone is one of a set of debris separation cones aligned in a straight line, with the set of debris separation cones oriented so that the top opening of each debris separation cone moves away from the inlet. It has a coplanar longitudinal axis that is tilted away from the entrance.

In some implementations, the top surface of the debris compartment includes a first filter and the cleaning bin further comprises a second filter located between the debris separation cone and the outlet.

In some embodiments, the outlet extends over the inner width of the cleaning bin.

In some embodiments, the cleaning bin further comprises an inlet duct pneumatically connected to the air channel as well as to the inner tube of the dust separation cone. The inlet duct has a minimum width of, for example, 5% to 15% of the width of the inlet.

In some embodiments, the cleaning bin further includes an outlet duct for directing the airflow from the inner tube of the debris separation cone to the outlet. The outlet duct is tapered towards, for example, the inner pipe of the dust separation cone.

In some embodiments, the cleaning bin further includes a door defining the bottom of the debris compartment and the bottom of the particulate compartment. The door is configured to be manually opened, for example, so that debris from both the debris compartment and the debris compartment can be removed from the cleaning bin.

In some implementations, the maximum height of the cleaning bin is less than 80 mm.

In some embodiments, the robot further includes a cleaning roller rotatably mounted on the body. The cleaning roller is configured to entrain the dust, for example, so as to move the dust toward the entrance of the cleaning bin. The inlet of the cleaning bin extends, for example, over a length of 60% to 100% of the length of the cleaning roller.

Advantages of the above configuration may include, but are not limited to, those described below and those described elsewhere herein. The cleaning bin can separate debris in multiple steps so that less debris reaches the filter located immediately prior to the vacuum assembly. At one point, it is less likely that dust will reach the filter and thus obstruct the airflow through the filter. As a result, the total amount of power drawn by the vacuum assembly to generate the airflow is greater than the total amount of power drawn by the vacuum assembly that does not separate most of the debris from the airflow before it reaches the filter. small. On the other side, the filter does not need to be cleaned or replaced frequently as less dust reaches the filter during the cleaning operation. By the time the filter needs to be cleaned or replaced, the robot can inhale a larger amount of debris.

Further, the cleaning bin can realize a plurality of dust separation steps with a relatively compact outer shape (for example, with a smaller outer shape in the height direction). As a result, the cleaning bin can be used with an autonomous cleaning robot having a relatively compact outer shape (eg, a lower height relative to the floor). In this regard, the space occupied by the autonomous cleaning robot equipped with the cleaning bin in the surrounding environment can be reduced, and the space can be made less noticeable in the surrounding environment. The cleaning robot can also fit into a smaller space (eg, under furniture or other obstacles) by having a small outer shape. In some examples, the cleaning bin contains multiple debris separation cones that are not arranged in a circle but in a straight line. By arranging the dust separation cones in a straight line, the height of the entire cleaning bin can be made smaller than the height of the entire cleaning bin when the dust separation cones are arranged in a circle.

Details of one or more implementations of the subject matter described herein are described in the accompanying drawings and the following description. Other possible features, embodiments, and advantages will be apparent from the detailed description, drawings, and claims of the invention.

It is a right sectional view of an autonomous cleaning robot and a cleaning bin during cleaning work. It is a bottom view of the autonomous cleaning robot of FIG. FIG. 3 is an upper front perspective view of a cleaning bin for the autonomous cleaning robot of FIG. 1. It is a right sectional view of the cleaning bin of FIG. 3A. It is a cut-out top view of the cleaning bin of FIG. 3A with the upper side surface of the cleaning bin removed. FIG. 3A is a front perspective view of the dust separator for the cleaning bin of FIG. 3A. It is a rear sectional view of the dust separator of FIG. 4A. It is a rear sectional view of the dust separator of FIG. 4A. FIG. 3 is a right sectional view of the cleaning bin of FIG. 3A connected to the vacuum assembly of the autonomous cleaning robot of FIG. FIG. 5 is a right cross-sectional view of the cleaning bin of FIG. 5A with the door open, separated from the vacuum assembly of the autonomous cleaning robot of FIG. It is a right sectional view of the cleaning bin of FIG. 3A when the autonomous cleaning robot carrying the cleaning bin is docked at the discharge station. It is a cut-out front perspective view of the dust section of the cleaning bin of FIG. 3A with the front side surface and the side surface of the cleaning bin removed.

Similar reference numbers and symbols in individual drawings indicate similar elements.

Referring to FIG. 1, the cleaning bin 100 is mounted on the cleaning robot 102. The cleaning bin 100 receives the dust 104 sucked by the robot 102 during the cleaning work of the floor surface 106. During the cleaning operation, the vacuum assembly 108 of the robot 102 generates an air flow 110 to lift the dust 104 from the floor surface 106 toward the vacuum assembly 108. The airflow 110 draws dust 104 from the floor surface 106 through the plenum 112. The airflow 110 then passes through the inlet 114 of the cleaning bin 100, through the dust compartment 116, through the top surface 118 of the dust compartment 116, into the air channel 120, through the dust separation cone 122, and then through the outlet of the cleaning bin 100. At 126, it is oriented to pass through the filter 124. When the airflow 110 including the dust 104 passes through the cleaning bin 100, the dust 104 is separated from the airflow 110 and accumulated in the cleaning bin 100.

The cleaning bin 100 is a plurality of compartment bins including a plurality of dust separation stages, whereby dust is separated from the air flow 110 as the air flow 110 passes through each stage during the cleaning operation. At one or more stages of dust separation, a portion 104a of the dust 104 is deposited in the dust compartment 116. In another dust separation step, another portion 104b of the dust 104 is deposited in the particulate compartment 128. In a further dust separation step, yet another portion 104c of the dust 104 is deposited on the filter 124.

At the stage where the dust 104 is deposited in the fine particle compartment 128, the dust separation cone 122 receives the airflow 110 and causes the airflow 110 to form the cyclone 121. The cyclone 121 facilitates the separation of a part 104b of the dust 104 contained in the air flow 110. The portion 104b is then deposited in the fine particle compartment 128. A plurality of dust separation steps prior to the filter 124 may reduce the amount of dust 104 reaching the filter 124. Since less portion 104c of the debris 104 reaches the filter 124, the unclogging area of the filter 124 that is available for the vacuum assembly 108 to generate the airflow 110 is kept wider during the cleaning operation. As a result, the amount of power required for the vacuum assembly 108 during the cleaning operation can be reduced, which improves the overall energy efficiency of the vacuum assembly 108.

In some implementations, the cleaning robot 102 is an autonomous cleaning robot that autonomously traverses the floor surface 106 while sucking dust from the floor surface 106. In the example illustrated in FIGS. 1 and 2, the robot 102 includes a body 200 that is movable across the floor surface 106. As shown in FIG. 2, in some embodiments, the body 200 includes a substantially rectangular front portion 202a and a substantially semicircular rear portion 202b. The anterior portion 202a includes, for example, two lateral sides 204a, 204b that are substantially perpendicular to the anterior surface 206 of the anterior portion 202a.

The robot 102 includes a drive system including actuators 208a, 208b that can operate with the drive wheels 210a, 210b. The actuators 208a and 208b are mounted on the main body 200 and operably connected to the drive wheels 210a and 210b rotatably mounted on the main body 200. The drive wheels 210a and 210b support the main body 200 on the floor surface 106. The robot 102 includes a controller 212 that operates the actuators 208a and 208b so that the robot 102 moves around the floor surface 106 and advances autonomously during the cleaning work. The actuators 208a and 208b can operate so as to drive the robot 102 in the forward drive direction 130 (shown in FIG. 1). In some embodiments, the robot 102 includes caster wheels 211 that support the body 200 on the floor surface 106. For example, the caster wheel 211 supports the rear portion 202b of the main body 200 on the floor surface 106, and the drive wheels 210a and 210b support the front portion 202a of the main body 200 on the floor surface 106.

Further, the vacuum assembly 108 is supported in the main body 200 of the robot 102, for example, in the rear portion 202b of the main body 200. The controller 212 operates the vacuum assembly 108 so that the robot 102 can suck in the dust 104 during the cleaning operation by generating the air flow 110. The robot 102 includes, for example, a vent 213 in the rear portion 202b of the main body 200. The airflow 110 generated by the vacuum assembly 108 is exhausted to the surrounding environment of the robot 102 through the vent 213. In some implementations, the airflow 110 generated by the vacuum assembly 108 is not exhausted by venting the rear portion 202b of the body, but through a conduit connected to the cleaning head of the robot 102. The cleaning head includes, for example, one or more rollers that engage the floor surface 106 and sweep the dust 104 into the cleaning bin 100. The airflow 110 exhausted to the cleaning head can further improve the performance of collecting dust from the floor surface 106 by increasing the amount of airflow in the vicinity of the cleaning head and stirring the dust 104 on the floor surface 106.

In some cases, the cleaning robot 102 is a self-contained robot that autonomously moves across the floor surface 106 to suck in debris. The cleaning robot 102 carries, for example, a battery to power the vacuum assembly 108. By improving energy efficiency, the size required for each compartment of the cleaning robot 102 can be reduced, so that the overall size and / or height of the cleaning robot 102 can be reduced. For example, by improving the energy efficiency of the vacuum assembly 108, the size of the vacuum assembly 108 required to suck dust 104 from the floor surface 106 can be reduced. This can also reduce the size of the battery to meet the power requirements of the vacuum assembly 108.

In the example illustrated in FIGS. 1 and 2, the cleaning head of the robot 102 includes a first roller 212a and a second roller 212b. The rollers 212a, 212b are located in front of the cleaning bin 100, and the cleaning bin 100 is located in front of the vacuum assembly 108. The rollers 212a and 212b are operably connected to the actuators 214a and 214b, and are rotatably mounted on the main body 200, respectively. In particular, the rollers 212a and 212b are mounted on the lower side surface of the front portion 202a of the main body 200 so that the rollers 212a and 212b entrain the dust 104 on the floor surface 106. The rollers 212a, 212b are rotatable about an axis parallel to the floor surface 106. The rollers 212a, 212b include, for example, a brush or flap that entrains the floor surface 106 to collect debris 104 on the floor surface 106. The lengths of the rollers 212a and 212b are, for example, 10 cm to 50 cm, for example, 10 cm to 30 cm, 20 cm to 40 cm, and 30 cm to 50 cm, respectively. The rollers 212a, 212b extend substantially over the entire width of the anterior portion 202a between the lateral sides 204a, 204b.

During the cleaning operation, the controller 212 operates the actuators 214a and 214b so as to involve the dust 104 on the floor surface 106 by rotating the rollers 212a and 212b and move the dust 104 toward the plenum 112. The rollers 212a, 212b rotate in opposite directions with respect to each other, for example, in order to cooperate with the movement of the dust 104 toward the plenum 112. For example, one roller rotates counterclockwise and the other roller rotates clockwise. Next, the plenum 112 guides the airflow 110 containing the dust 104 to the cleaning bin 100. In the description herein, debris 104 deposits in different compartments of the cleaning bin 100 while the airflow 110 is directed through the cleaning bin 100 towards the vacuum assembly 108.

In some implementations, in order to sweep the dust 104 towards the rollers 212a, 212b, the robot 102 has a non-horizontal axis (eg, an axis at an angle of 75 ° to 90 ° with the floor surface 106). Includes a brush 214 that rotates with respect to. The robot 102 includes an actuator 216 operably connected to the brush 214. The brush 214 extends beyond the peripheral edge of the main body 200 so that dust 104 in a portion of the floor surface 106 that the rollers 212a and 212b cannot normally reach can be caught. During the cleaning operation, the controller 212 operates the actuator 216 so as to entrain the dust 104 that the rollers 212a and 212b cannot reach by rotating the brush 214. In particular, the brush 214 can entrain the dust 104 near the wall of the surrounding environment, and the dust 104 can be brushed toward the rollers 212a and 212b so that the robot 102 can easily suck the dust 104.

When the dust 104 is sucked by the robot 102, the cleaning bin 100 stores the sucked dust 104 in a plurality of sections. The cleaning bin 100 is mounted on the main body 200 of the robot 102 during the cleaning operation so as to receive the dust 104 sucked by the robot 102 and to communicate with the vacuum assembly 108 in the air. Referring to FIGS. 3A and 3B, the cleaning bin 100 includes an inlet 114, a dust compartment 116, an air channel 120, a dust separation cone 122, and a body 300 defining an outlet 126. The main body 300 includes lateral side surfaces 302a and 302b, front side surface 304, rear side surface 306, upper side surface 308, and bottom side surface 310. As shown in FIG. 3C, the lateral side surfaces 302a and 302b define the inner width W1 of the cleaning bin 100. The inner width W1 is, for example, 15 cm to 45 cm, for example, 15 cm to 25 cm, 25 cm to 35 cm, 35 cm to 45 cm, and the like. The inner width W1 is, for example, 65% to 100% of the lengths of the rollers 212a and 212b, for example, 65% to 75%, 75% to 85%, and 85% to 100% of the lengths of the rollers 212a and 212b.

In some embodiments, the front side surface 304, the rear side surface 306, and the side side surfaces 302a, 302b define a rectangular horizontal cross section of the cleaning bin 100. The geometry of the horizontal cross section may differ from this in other implementations. In some examples, a portion of the geometry of the cleaning bin 100 matches a portion of the geometry of the robot 102. For example, if the robot 102 contains a circular or semi-circular geometry, in some cases any of the sides of the cleaning bin 100 will follow the circular or semi-circular geometry of the robot 102. The sides include, for example, an arced portion such that the horizontal cross section of the cleaning bin 100 follows the circular or semi-circular geometry of the robot 102.

In some embodiments, the lateral sides 302a, 302b, upper side 308, and bottom side 310 define a rectangular vertical cross section of the cleaning bin 100. The geometry of the vertical cross section of the cleaning bin 100 may differ from this in other implementations. In some examples, the vertical cross section has an elliptical, trapezoidal, pentagonal, or other suitable shape. The lateral sides 302a, 302b are parallel to each other in some cases, but extend along axes that intersect each other in other cases. Similarly, in some cases the top side surface 308 and bottom side surface 310 are parallel to each other, while in other cases the top side surface 308 and bottom side surface 310 extend along axes that intersect each other. In some cases, the lateral sides 302a, 302b, the upper side 308, and / or the bottom side 310 include one or more curved portions.

In the description herein, in addition to storing the debris 104, the cleaning bin 100 includes a plurality of debris separation steps to separate debris of different sizes from the airflow 110. As shown in FIG. 3B, the cleaning bin 100 may have a relatively small height H1 despite having both dust storage and dust separation functions. The height H1 of the cleaning bin 100 is, for example, 50 mm to 100 mm, for example, less than 100 mm, less than 80 mm, and less than 60 mm. The height of the portion between the inlet 114 and the outlet 126 of the cleaning bin 100 is, for example, a height H1 or less.

The inlet 114 of the cleaning bin 100 is an opening that penetrates the front side surface 304 of the cleaning bin 100. The inlet 114 is located between the lateral sides 302a and 302b of the cleaning bin 100. The inlet 114 is pneumatically connected to the plenum 112 and the garbage compartment 116. In some implementations, the sealing portion of the cleaning bin 100 is such that when the cleaning bin 100 is mounted on the body 200 of the robot 102, the cleaning bin 100 forms a sealing engagement with the body 200 of the robot 102. It is located on the outer surface of the front side surface 304. In this regard, the inlet 114 directs the direction of the airflow 110 containing the dust 104 from the plenum 112 to the dust compartment 116 during the cleaning operation.

The inlet 114 extends over length L1, where length L1 is, for example, 75% to 100% of the inner width W1 of the cleaning bin 100, for example 75% to 85%, 80% to 90% of the inner width W1. It is 85% to 95%. The inlet 114 extends, for example, over 60% to 100% of the length of the rollers 212a, 212b, eg, 60% to 70%, 70% to 80%, 80% to 90%, 90 of the length of the rollers 212a, 212b. Spreads from% to 100%. Since the inlet 114 substantially extends over the entire length of the rollers 212a, 212b, the airflow 110 generated by the vacuum assembly 108 can draw the airflow 110 along the overall length of the rollers 212a, 212b. As a result, the airflow 110 may facilitate the suction of dust 104 at positions extending over the entire length of the rollers 212a, 212b.

The dust compartment 116 is defined by the front side surface 304, the bottom side surface 310, the lateral side surfaces 302a and 302b, the rear surface 314 of the dust compartment 116, and the upper surface 118 of the dust compartment 116. The dust compartment 116 stores a large amount of dust sucked by the robot 102. The dust compartment 116 typically stores most of the volume of dust 104 sucked in by the robot 102. In this regard, the volume of the dust compartment 116 is 25% to 75% of the total volume of the cleaning bin 100 defined by the lateral sides 302a, 302b, front side 304, rear side 306, top side 308, and bottom side 310. For example, 25% to 50%, 40% to 60%, and 50% to 75%.

From the overall image shown in FIG. 3B, the vertical cross section of the dust compartment 116 has a trapezoidal shape. In some cases, the rear surface 314 and the front surface of the dust compartment 116 are substantially parallel, eg, at an angle of 0 ° to 15 ° to each other. The front surface corresponds to, for example, the inner surface of the front side surface 304 of the cleaning bin 100. The top surface 118 of the dust compartment 116 is angled with respect to the front side surface 304 defining the inlet 114. The top surface 118 of the dust compartment 116 is, for example, angled with respect to the direction of the airflow 110 entering the dust compartment 116 and / or with respect to the direction of the airflow 110 passing through the top surface 118 of the dust compartment 116. The directions of the airflow 110 entering the top surface 118 and the dust compartment 116 form, for example, an angle of 5 ° to 45 °, for example, an angle of 5 ° to 25 °, 15 ° to 35 °, and 25 ° to 45 °. The upper surface 118 of the dust compartment 116 also forms an angle with respect to the inner surface of the upper side surface 308 of the cleaning bin 100. In some examples, the top surface 118 is angled such that the airflow 110 passing through the inlet 114 is horizontally directed toward the top surface 118. The top surface 118 and the front side surface 304 form, for example, an acute angle, for example, an angle of less than 90 °. The top surface 118 is angled, for example, to a horizontal plane passing through the cleaning bin 100. The upper surface 118 and the horizontal plane form an angle of 5 ° to 45 °, for example, an angle of 5 ° to 25 °, 15 ° to 35 °, and 25 ° to 45 °.

The upper surface 118 includes a filter surface 118a surrounded by a block surface 118b. The filter surface 118a is a filter such as a prefilter or screen that allows the airflow 110 to flow from the dust compartment 116 to the air channel 120. The filter surface 118a is removable and washable in some cases. The filter surface 118a is, in some cases, a disposable filter. The filter surface 118a is, for example, a porous surface. The filter surface 118a is sized to prevent dust having a width of 100 μm to 500 μm from passing through the air channel 120. The filter surface 118a is located along the top surface 118 such that the dust 104 and the airflow 110 traveling horizontally from the inlet face the filter surface 118a and enter the air channel 120.

The block surface 118b is located relative to the filter surface 118a and the inlet 114 so as to block the airflow 110 at a particular portion of the dust compartment 116. The filter surface 118a is located between a part 316 of the block surface 118b and the inlet 114. A portion 316 of the block surface 118b is located between the filter surface 118a and the rear surface 314 of the dust compartment 116. The partial 316 of the block surface 118b is, for example, a non-horizontal plane that prevents the airflow 110 from entering the dead zone 318 below the partial 316 of the block surface 118b. As a result, any debris 104 that has entered the dead zone 318 is separated from the airflow 110. The dust 104 that has entered the dead zone 318 is, for example, dust 104 that is too large to pass through the filter surface 118a. A part of the dust 104 is stored in the dust compartment 116, but in some cases, the dust 104 continues to recirculate in the dust compartment 116 during the cleaning operation while the airflow 110 is generated. The block surface 118b and the generated dead zone 318 can prevent the dust 104 from interfering with the airflow 110 passing through the filter surface 118a.

The air channel 120 receives, for example, the airflow 110 that has passed through the filter surface 118a from the dust compartment 116 after the filter surface 118a separates a part of the dust 104 from the airflow 110. The air channel 120 is located above the dust compartment 116 and is defined by the top surface 118 of the dust compartment 116, the inner surface of the upper side surface 308 of the cleaning bin 100, and the lateral sides 302a, 302b of the cleaning bin 100. The bottom surface of the air channel 120 corresponds, for example, to the top surface 118 of the dust compartment 116. In some cases, the air channel 120 extends substantially over the entire length of the inner width W1 of the cleaning bin 100, eg, over 95% to 100% of the inner width W1 of the cleaning bin 100. The air channel 120 has, for example, a substantially triangular or trapezoidal shape. In particular, the vertical cross section of the air channel 120 has a substantially triangular shape. The bottom surface of the air channel 120 forms an angle of, for example, 5 ° to 45 ° with the top surface of the air channel 120, for example, an angle of 5 ° to 25 °, 15 ° to 35 °, 25 ° to 45 °, and the like. The bottom surface of the air channel 120 is inclined downward toward the dust separation cone 122.

Also referring to FIG. 4A, the cleaning bin 100 includes a dust separator 320 including a housing 322, a vortex finder 324, and a dust separation cone 122. The housing 322 defines an inlet duct 326 to receive the airflow 110 from the air channel 120. In some examples, the bottom surface of the inlet duct 326 is parallel to the bottom surface of the air channel 120. The inlet duct 326 is pneumatically connected to the air channel 120 and pneumatically connected to the internal volume 328 of the dust separator 320 shown in FIG. 4B. The internal volume 328 of the dust separator 320 includes a housing 322 and an upper inner tube 328a defined by a vortex finder 324. The internal volume 328 further includes a lower inner tube 328b defined by a dust separation cone 122. The internal volume 328 is a continuous internal volume formed by the upper inner tube 328a and the lower inner tube 328b.

In some examples, as shown in FIG. 4C, the overall height H2 of the dust separator 320 is 40 mm to 80 mm, for example 40 mm to 60 mm, 50 mm to 70 mm, 60 mm to 80 mm. The total height H2 of the dust separator 320 is, for example, 50% to 90% of the total height of the cleaning bin 100, for example, 50% to 60%, 60% to 70% of the total height of the cleaning bin 100. 70% to 80%, 80% to 90%, and the like.

In some instances, the minimum cross-sectional area of the inlet duct 326 ^is a 50 mm 2 to 300 mm ² or more, and the like for example ^{50mm 2 ~200mm 2, 200mm 2 ~300mm} 2, or more. In a further example, the minimum height H3 of the inlet duct 326 is 10 mm to 25 mm, such as 10 mm to 20 mm, 15 mm to 25 mm, and the like. In some cases, the minimum height H3 of the inlet duct 326 is expressed as a percentage of the total height H2 of the dust separator 320. The minimum height H3 is, for example, 15% to 40% of the total height H2 of the dust separator 320, for example, 15% to 30%, 20% to 35%, 25% to 40% of the total height H2. be.

The inlet duct 326 is pneumatically connected to the upper inner pipe 328a defined by the housing 322. The housing 322 is fixed to the dust separation cone 122 and the vortex finder 324. The housing 322 receives the vortex finder 324 so that the outlet duct 334 of the vortex finder 324 extends through the upper inner tube 328a. As shown in FIG. 4C, in some examples, the housing 322 has a cylindrical shape and the upper inner tube 328a also has a cylindrical shape. In some examples, the housing 322 has a height H4 of 10 mm to 30 mm, for example a height H4 of 10 mm to 20 mm, 15 mm to 25 mm, 20 mm to 30 mm, and the like.

As shown in FIGS. 3C and 4A, the inlet duct 326 of the dust separator 320 has a second wing 330 oriented tangentially to the surface of the upper inner pipe 328a and a second wing at an angle to the first wing 330. Includes wings 332 and. In some cases, the height H4 is expressed as a percentage of the total height H2 of the dust separator 320. The height H4 is, for example, 15% to 40% of the total height H2 of the dust separator 320, for example, 15% to 30%, 20% to 35%, 25% to 40% of the total height H2. .. In some examples, the height H4 of the housing 322 is substantially equal to the minimum height H3 of the inlet duct 326. In some implementations, the height of the upper inner tube 328a is equal to the height of the housing 322 minus the wall thickness of the vortex finder 324. In some examples, the diameter D1 of the upper inner tube 328a is 20 mm to 40 mm, such as 20 mm to 30 mm, 25 mm to 35 mm, 30 mm to 40 mm, and the like. The height of the upper inner tube 328a is, for example, 0.5 mm to 2 mm smaller than the height H4 of the housing 322.

The second wing 332 and the first wing 330 form an angle of, for example, 10 ° to 40 °, for example, an angle of 10 ° to 20 °, 20 ° to 30 °, 30 ° to 40 °, and the like. In some implementations, the minimum width W2 of the inlet duct 326 is 5 mm to 20 mm, for example 5 mm to 15 mm, 10 mm to 20 mm, and the like. The minimum width W2 is, for example, 5% to 15% of the width of the inlet 114 of the cleaning bin 100, for example, 5% to 10%, 10% to 15% of the width of the inlet 114. The diameter D2 is, for example, 70% to 95% of the diameter D1, 70% to 85%, 75% to 90%, 80% to 95%, and the like of the diameter D1. With such a size, the abrupt reduction of the area through which the airflow 110 flows between the inlet 114 and the outlet 126 can be minimized, thus reducing the overall force pulled by the vacuum assembly 108.

The upper inner pipe 328a is pneumatically connected to the lower inner pipe 328b defined by the dust separation cone 122. The dust separation cone 122 defines an upper opening 346 of the lower inner pipe 328b and a lower opening 348 of the lower inner pipe 328b. The upper opening 346 pneumatically connects the lower inner pipe 328b to the upper inner pipe 328a. The lower opening 348 connects the lower inner tube 328b to the fine particle compartment 128, whereby the fine particle compartment 128 can receive the dust 104 from the dust separator 320, as described herein.

The dust separation cone 122 has a conical trapezoidal shape. In this regard, the lower inner tube 328b also has a conical trapezoidal shape. The height H5 of the dust separation cone 122 and the upper inner pipe 328a is 30 mm to 60 mm, for example, 30 mm to 40 mm, 40 mm to 50 mm, and 50 mm to 60 mm. In some cases, the height H5 is expressed as a percentage of the total height H2 of the dust separator 320. The height H5 is, for example, 60% to 90% of the total height H2 of the dust separator 320, for example, 60% to 80%, 65% to 85%, 70% to 90% of the total height H2. ..

Returning to FIG. 4B, since the dust separation cone 122 and the lower inner pipe 328b have a conical trapezoidal shape, the dust separation cone 122 and the lower inner pipe 328b can be determined by the angle A1 with respect to the central axis 336 of the conical trapezoidal shape. The central axis 336 of the lower inner tube 328b corresponds to a conical trapezoidal central axis, eg, the central axis of the dust separation cone 122 defined by the lower inner tube 328b. The angle A1 corresponds to the angle between the tilt and the central axis 336 of the dust separation cone 122. The angle A1 is, for example, 7.5 ° to 20 °, for example, 7.5 ° to 15 °, 10 ° to 17.5 °, and 12.5 ° to 20 °.

In some examples, the diameter D2 of the lower opening 348 of the lower inner tube 328b is 5 mm to 20 mm, for example 5 mm to 10 mm, 10 mm to 15 mm, 15 mm to 20 mm, and the like. The diameter of the upper opening 346 of the lower inner tube 328b is, for example, equal to the diameter D1 of the upper inner tube 328a. The diameter D2 is, for example, 10% to 50% of the diameter D1, such as 10% to 30%, 20% to 40%, 30% to 50% of the diameter D1.

Referring to FIGS. 3B and 4B, in some examples, the dust separator 320 and the dust separation cone 122 are tilted in the cleaning bin 100. In some implementations, the angle A2 formed by the vertical shaft 349 passing through the cleaning bin 100 and the central shaft 336 of the dust separation cone 122 is 0 ° to 45 °, for example 0 ° to 10 °, 5 ° to 25. °, 10 ° to 40 °, 15 ° to 45 °, etc. The vertical axis 349 is, for example, perpendicular to the floor surface 106. In some cases, the vertical axis 349 is parallel to the anterior surface 304 and / or the posterior surface 306.

In some examples, the central axis 336 is substantially perpendicular to the top surface 118 of the debris compartment 116 and / or the bottom surface of the air channel 120. The central axis and the bottom surface of the air channel 120 form an angle of, for example, 85 ° to 95 °, for example, an angle of 87 ° to 93 °, 89 ° to 91 °, and the like. Since the dust separation cone 122 is tilted with respect to the vertical axis 349, increasing the depth of the dust separation cone 122 without having to increase the height H1 of the cleaning bin 100 to accommodate the dust separation cone 122. Can be done. As a result, the cleaning bin 100 can effectively form the cyclone 121 to separate the debris 104 while maintaining the compact height H1.

The vortex finder 324 includes an outlet duct 334 through which the airflow 110 exits the internal volume 328 of the dust separator 320. The outlet duct 334 pneumatically connects the lower inner pipe 328b to the outlet channel 340 in front of the filter 124. The upper inner pipe 328a is pneumatically connected to the lower inner pipe 328b, and the lower inner pipe 328b is pneumatically connected to the outlet duct 334. The lower opening 342 of the outlet duct 334 is located in the lower inner pipe 328b. In this regard, the outlet duct 334 extends through the upper inner pipe 328a and terminates in the lower inner pipe 328b. Since the dust separator 320 and the dust separation cone 122 are tilted, the restriction on the airflow 110 going out from the outlet duct 334 can be reduced. In particular, due to the inclination of the dust separator 320, if the outlet duct 334 is arranged in such a direction that the air flow flows vertically from the dust separator 320, the air flow 110 at the outlet duct 334 may occur. The restrictions imposed on are reduced.

In some examples, the outlet duct 334 is tapered towards the lower inner pipe 328b. As shown in FIG. 4B, the inner wall surface of the outlet duct 334 and the central axis 336 of the lower inner pipe 328b form an angle A3 of, for example, 5 ° to 30 °, for example, 5 ° to 20 °, 10 ° to 25 °. , Makes an angle A3 such as 15 ° to 30 °. In some cases, the outer wall surface of the outlet duct 334 and the inner wall surface of the outlet duct 334 form an angle A3 with the central axis 336. The lower opening 342 of the outlet duct 334 has a diameter D3 of 10 mm to 30 mm, and the diameter D3 is, for example, 10 mm to 20 mm, 20 mm to 30 mm, and the like. The diameter D3 is, for example, 25% to 75% of the diameter D1, 25% to 50%, 40% to 60%, 50% to 75%, and the like of the diameter D1. The upper opening 344 of the outlet duct 334 has a diameter larger than the diameter D3 of the lower opening 342, which diameter is, for example, 0.5 mm to 5 mm larger than the diameter of the lower opening 342. The taper of the outlet duct 334 can increase the depth of the cyclone 121 formed in the lower inner tube 328b. In particular, during the cleaning operation, the deepest point of the cyclone 121 may extend further downward toward the lower opening 348 of the lower inner tube 328b. The taper of the outlet duct 334 can increase the passage of air exiting the outlet duct 334, thus reducing the narrowing to the airflow 110. In this regard, the taper of the outlet duct 334 may reduce the power consumption of the vacuum assembly 108.

In some examples, the length L2 of the outlet duct 334 is long enough such that the lower opening 342 of the outlet duct 334 is located within the lower inner pipe 328b. The length L2 is, for example, 10.5 mm to 30.5 mm, for example, 11 mm to 26 mm, 16 mm to 30 mm, and the like. The length L2 is, for example, 0.5 mm to 5 mm smaller than the height H4 of the housing 322.

Referring to FIG. 3B, the particle compartment 128 is located below the dust separator 320. The fine particle compartment 128 is defined by a bottom side surface 310 of the cleaning bin 100, lateral sides 302a and 302b of the cleaning bin 100, a wall portion 350 of the fine particle compartment 128, and a separation wall 352 between the fine particle compartment 128 and the dust compartment 116. .. The wall portion 350 defines the upper surface of the fine particle compartment 128. The fine particle compartment 128 has a substantially triangular shape or a substantially trapezoidal shape. In this regard, the wall portion 350 is angled with respect to the bottom side surface 310 of the cleaning bin 100. The wall portion 350 forms, for example, an angle similar to the angle between the bottom surface 310 of the cleaning bin 100 and the bottom surface of the air channel 120 and the top surface 308 of the cleaning bin 100.

Since the separation wall 352 blocks the air flow between the dust compartment 116 and the fine particle compartment 128, it also prevents the dust 104 from moving between the dust compartments 116 and 128. Since the large size dust is separated by the filter surface 118a and deposited in the dust compartment 116, the fine particle compartment 128 accepts smaller size dust (eg, fine particles). The dust 104 stored in the fine particle compartment 128 is typically less than the dust compartment 116. In this regard, the volume of the fine particle compartment 128 is 1% to 10% of the volume of the dust compartment 116, for example, 1% to 5%, 4% to 8%, 5% to 10% of the volume of the dust compartment 116. be. The volume of the garbage compartment 116 is, for example, 600 mL to 1000 mL, for example, 600 mL to 800 mL, 700 mL to 900 mL, 750 mL to 850 mL, 800 mL to 1000 mL, and the like. The volume of the fine particle compartment is, for example, 20 mL to 100 mL, for example, 20 mL to 50 mL, 30 mL to 70 mL, 40 mL to 60 mL, 45 mL to 55 mL, 60 mL to 100 mL, and the like.

The outlet channel 340 in front of the filter 124 is defined by the upper side surface 308 of the cleaning bin 100, the lateral sides 302a and 302b of the cleaning bin 100, the dust separator 320, the filter 124, and the wall portion 350 of the particle compartment 128. The filter 124 is located on the rear side surface 306 of the cleaning bin 100 at the outlet 126 of the cleaning bin 100. In some cases, the filter 124 is detachably attached to the rear side surface 306 of the cleaning bin 100. The filter 124 allows the airflow 110 to pass through the outlet 126 of the cleaning bin 100 and towards the vacuum assembly 108 of the robot 102. In some examples, the filter 124 is a high-efficiency particulate air (HEPA) filter. In some cases, the filter 124 is removable, replaceable, disposable and / or washable.

In some cases, the outlet 126 extends over the inner width W1 of the cleaning bin 100. In addition, the filter 124 extends over the entire inner width W1 of the cleaning bin 100 and the outlet channel 340 extends over the entire inner width W1 of the cleaning bin 100. The outlet 126 extends, for example, over 90% to 100% of the length of the inner width W1. When the outlet 126 extends over the entire inner width W1 of the cleaning bin 100, the rear side surface 306 of the cleaning bin 100 corresponds to the outlet 126.

Although a single dust separator 320 has been described with reference to FIGS. 3A and 3C, in some examples the dust separator 320 is one of several dust separator sets 320a-320f. be. In the example shown in FIGS. 3A and 3C, the dust separators 320 and 320a are one of the six dust separators 320a to 320f. In some implementations, the dust separators 320a-320f present in the cleaning bin 100 are less or more, such as 1-5 or 7 or more. In some implementations, the cleaning bin 100 includes 2 to 16 dust separators, eg 2 to 4 dust separators, 4 to 8 dust separators, 4 to 12 dust separators. Includes 4 to 16 garbage separators and the like. In some cases, the dust separators 320a-320f are aligned. The dust separators 320a to 320f are arranged along the horizontal axis 356 passing through the cleaning bin 100. The horizontal axis 356 is parallel to the front side surface 304 of the cleaning bin 100. The sets 320a to 320f of the dust separator are lined up over the inner width W1 of the cleaning bin 100. The dust separators 320a to 320f spread over the entire inner width W1 of the cleaning bin 100, for example. The dust separators 320a to 320f are arranged so that the airflow 110 faces the dust separators 320a to 320f in the same direction. In particular, each portion of the airflow 110 received by the dust separators 320a to 320f heads backward toward the rear side surface 306 of the cleaning bin 100, respectively. Similarly, each portion of the airflow 110 exhausted from the dust separators 320a to 320f heads toward the rear side surface 306 of the cleaning bin 100.

The dust separators 320a-320f each include a structure and conduit similar to those described for the dust separator 320 (eg, as shown in FIGS. 4A-4C). The inlet ducts 326a to 326f of the dust separators 320a to 320f are pneumatically connected to the air channel 120 so as to receive a part of the air flow 110, respectively. The inlet ducts 326a to 326f direct the airflow 110 entering the dust separators 320a to 320f toward the rear side surface 306 of the cleaning bin 100 (for example, along a plurality of parallel axes toward the rear side surface 306 of the cleaning bin 100). Orient it so that it goes in the same direction. The inlet ducts 326a-326f allow air to flow into the dust separators 320a-320f in a manner that reduces the overall power increase that the vacuum assembly 108 may require to draw air into the dust separators 320a-320f. It can be shaped like this. In particular, the flow path passing through the inlet ducts 326a to 326f may be shaped to reduce air narrowing along the flow path. In this regard, the combined width of the inlet ducts 326a-326f may be smaller than the width of the air channel 120, but the shape of the inlet ducts 326a-326f provides a flow path for the airflow 110 in the inlet ducts 326a-326f. The possible increase in power due to the narrowing can be reduced.

The outlet ducts 334a to 334f of the dust separators 320a to 320f are pneumatically connected to the outlet channels 340, respectively. The outlet ducts 334a to 334f direct the airflow 110 from the dust separators 320a to 320f backward toward the rear side surface 306 of the cleaning bin 100 and upward toward the upper side surface 308 of the cleaning bin 100 (for example, the cleaning bin). Oriented in the same direction (along a plurality of parallel axes towards the rear side surface 306 of the 100 and upward towards the rear side surface 306 of the cleaning bin 100).

The longitudinal axes of the dust separators 320a to 320f are parallel to each other. In some cases, each longitudinal axis of the dust separators 320a-320f (eg, the central axis of the dust separation cones of the dust separators 320a-320f) is coplanar. Each longitudinal axis has an angle away from the inlet 114 of the cleaning bin 100 such that the upper opening of the dust separators 320a-320f tilts away from the inlet 114. The lower openings of the dust separation cones of the dust separators 320a to 320f are each connected to the fine particle compartment 128 so as to deposit small size dust separated from the airflow 110 in the fine particle compartment 128.

In some cases, the dust separators 320a, 320c, 320e are clocked by the inlet ducts 326a, 326c, 326e in the direction of the airflow 110 in the inner pipe of the dust separators 320a, 320c, 320e (from the viewpoint shown in FIG. 3C). It differs from the dust separators 320b, 320d, and 320f in that it is positioned so as to rotate. On the other hand, the inlet ducts 326b, 326d and 326f are positioned so that the direction of the airflow 110 is counterclockwise (from the viewpoint shown in FIG. 3C) in the inner pipes of the dust separators 320b, 320d and 320f. In some cases, the dust separators 320a-320f are arranged in pairs such that any inlet duct 326a-326f is adjacent to one of the other inlet ducts 326a-326f. In this regard, the air channel 120 does not need to include a separate conduit for each of the inlet ducts 326a-326f. Rather, as shown in FIG. 3C, the air channel 120 includes three separate conduits 354a-354c for guiding the airflow 110 from the air channel 120 to the inlet ducts 326a-326f. In some cases, the clockwise debris separators 320a, 320c, 320e are (i) counterclockwise debris separators 320b, 320d, 320f and another counterclockwise debris separator 320b, 320d, 320f, respectively. Or (ii) located between the counterclockwise dust separators 320b, 320d, 320f and one of the lateral sides 302a, 302b of the cleaning bin 100. In addition, the counterclockwise dust separators 320b, 320d, 320f are (i) between the clockwise dust separators 320a, 320c, 320e and another clockwise dust separator 320a, 320c, 320e, respectively. Located or (ii) located between the clockwise dust separators 320a, 320c, 320e and one of the lateral sides 302a, 302b.

Referring to FIG. 5A, the outlet 126 is configured to be connected to the housing 500 of the vacuum assembly 108 of the robot 102 such that the airflow 110 containing dust is directed from the inlet 114 to the outlet 126. The housing 500 and outlet 126 form a sealing engagement at the time of connection to ensure that the airflow 110 generated by the vacuum assembly 108 travels through the cleaning bin 100. Referring to FIG. 1 again, during the cleaning operation, the vacuum assembly 108 operates to draw air from the vicinity of the cleaning rollers 212a and 212b through the cleaning bin 100 toward the vacuum assembly 108 to form an air flow 110.

The airflow 110 containing the dust 104 is directed to enter the cleaning bin 100 through the inlet 114 of the cleaning bin 100 after passing through the plenum 112 of the robot 102. In particular, the airflow 110 is directed to enter the dust compartment 116. In some implementations, the inlet 114 directs the airflow 110 entering the dust compartment 116 such that the dust 104 contained in the airflow 110 is directed toward the top surface 118 of the dust compartment 116.

The dust 104, which is too large to pass through the filter surface 118a, remains in the dust compartment 116. The filter surface 118a functions as a dust separation step that allows the separated dust to be retained in the dust compartment 116. A portion 104a of dust 104, which is too large to pass through the filter surface 118a, comes into contact with the filter surface 118a. The portion 104a of the dust 104 is moved toward the rear of the dust compartment 116 by the airflow 110 and the downward inclination of the top surface 118 of the dust compartment 116 with respect to the upper side surface 308 of the cleaning bin 100. In addition, since the direction of the airflow 110 is tangential along the filter surface 118a as it travels through the air channel 120, the airflow 110 strips off a portion 104a of dust 104 accumulated along the filter surface 118a. take. In some implementations, the airflow 110 moves the dust 104 accumulated along the filter surface 118a towards the block surface 118b. When the dust 104 reaches the block surface 118b, the dust 104 is separated from the airflow 110 by being separated from the filter surface 118a. After that, the dust 104 falls into the dust compartment 116. Therefore, by stripping off the dust 104, it is possible to prevent the dust 104 from blocking the filter surface 118a and interfering with the airflow 110 passing through the filter surface 118a. After that, a part 104a of the dust 104 heads toward the dead zone 318 of the dust compartment 116, so that it is separated from the filter surface 118a and falls in the dust compartment 116 (for example, by gravity). The dust compartment 116 stores the separated portion 104a of the dust 104 during the cleaning operation.

In some cases, the portion 104a of the dust 104 stored in the dust compartment 116 corresponds to the dust separated from the airflow 110 during the plurality of stages. Alternatively, or in addition, the debris compartment 116 functions as a debris separation step in which the debris 104, which is too heavy to travel on the airflow 110, falls to the bottom of the debris compartment 116 due to gravity. In some examples, the filter surface 118a serves as another dust separation step as described herein. The debris compartment 116 receives the debris 104 separated from the airflow 110 during both of these debris separation steps.

The portion 104a of the dust 104 separated from the airflow 110 is different from the portion 104b separated from the airflow 110 through the cyclone 121 as described herein. In particular, the portion 104a of the dust 104 is separated through the portion 110a of the airflow 110 that does not form a cyclone. Part 110a of the airflow 110 traveling through the garbage compartment 116, for example, travels along a loop extending over the top surface 118, along the rear surface of the garbage compartment 116, along the bottom surface of the garbage compartment 116, and travels along the bottom surface of the garbage compartment 116. Proceed along the front of the surface and pass the top surface 118. In some examples, some of the portion 110a of the airflow 110 travels directly from the inlet 114 through the debris compartment 116 and through the top surface 118 of the debris compartment 116. Part 110a of the airflow 110 does not form a cyclone. In this regard, the dust compartment 116 separates the portion 104a from the airflow 110 in which no cyclone is formed.

After the airflow 110 passes through the dust compartment 116, the airflow 110 passes through the filter surface 118a and goes out of the dust compartment 116. The airflow 110 is then directed to pass through the air channel 120, whereby the airflow 110 is directed towards the dust separators 320a-320f. The airflow 110 forms a cyclone (for example, cyclone 121) in each of the dust separators 320a to 320f. FIG. 5A shows a single dust separator 320 on which the cyclone 121 is formed. The dust separator 320 receives a part 110b of the air flow 110 and forms a cyclone 121 in the part 110b of the air flow 110. In particular, part 110b of the airflow 110 rotates around the internal volume 328 of the dust separator 320. As the part 110b of the airflow 110 continues to rotate around the internal volume 328, the diameter of the path through which the part 110b of the airflow 110 passes decreases. This path comprises, for example, a plurality of substantially circular loops whose diameter decreases as they approach the bottom of the internal volume 328. In this regard, part 110b of the airflow 110 forms the cyclone 121. Although a single cyclone 121 is illustrated, each of the dust separators 320a-320f accepts different parts of the airflow 110 and is formed in the corresponding portion of the airflow 110 by the other dust separators 320a-320f. It forms a cyclone different from the one that was used.

The dust separators 320a to 320f serve as another dust separation step in which a portion 104b of the dust 104 is separated and the portion 104b is deposited in the fine particle compartment 128. Since the filter surface 118a separates a portion 104a of the dust 104 from the airflow 110 before the airflow 110 reaches the dust separators 320a-320f, the dust 104 reaching the airflow 110 may tend to be smaller. The filter surface 118a can also separate fibrous or filamentous debris from the airflow 110. This can reduce the possibility that large dust or filamentous dust cannot get out of the relatively small space in the dust separators 320a to 320f. In some implementations, as described for the dust separator 320 of FIGS. 4A-4C, the airflow 110 is directed to enter the internal volume 328 through the inlet duct 326 of the dust separator 320. In particular, the airflow 110 is directed to enter the upper inner pipe 328a. In some cases, the dust 104 contained in the airflow 110 toward the upper inner pipe 328a hits the outer surface of the vortex finder 324 as it enters the upper inner pipe 328a. As a result, the dust 104 decelerates and begins to fall downward toward the lower inner pipe 328b.

In addition, since the upper inner pipe 328a is pneumatically connected to the lower inner pipe 328b, the airflow 110 including the dust 104 also goes from the upper inner pipe 328a to the lower inner pipe 328b. As the airflow 110 travels through the internal volume 328, the airflow 110 forms the cyclone 121. The vortex finder 324 facilitates the formation of the cyclone 121 as the airflow travels through the upper inner tube 328a. The conical shape of the lower inner tube 328b further facilitates the formation of the cyclone 121 as the airflow 110 flows through the lower inner tube 328b. The cyclone 121 extends through at least a portion of the lower inner tube 328b.

The vacuum assembly 108 tends to draw the airflow 110 through the outlet duct 334 at the top of the dust separator 320, which applies a vacuum suction force in the direction opposite to the downward flow direction of the cyclone 121. In some implementations, this vacuum suction force creates a decompression zone towards the center of the dust separator 320, which causes the airflow 110 to move rapidly around the decompression zone in the form of a cyclone 121. become. The dust 104 contained in the airflow 110 comes into contact with the wall portion of the lower inner pipe 328b, whereby the dust 104 decelerates with respect to the airflow 110 and moves downward along the slope of the wall portion of the lower inner pipe 328b. .. Friction between the dust 104 and the wall can further reduce the speed of the dust 104. Due to gravity, the dust 104 receives a downward force toward the fine particle compartment 128. In this regard, a portion 104b of the dust 104 is separated from the airflow 110 by the cyclone 121 formed in the dust separator 320. The lower opening 348 is positioned relative to the fine particle compartment 128 such that the fine particle compartment 128 receives the dust 104 traveling through the lower inner pipe 328b. The dust 104 separated from the airflow 110 passes through the lower inner pipe 328b toward the lower opening 348 and receives a force from gravity so as to enter the fine particle compartment 128.

Although the dust separator 320 has been described, the dynamics of this flow can be applied to each of the dust separators 320a to 320f. In particular, the dust separators 320a to 320f each receive a part of the airflow 110 so as to form a cyclone in each inner pipe. Each of the dust separators 320a to 320f separates a part of the sucked dust 104 from the air flow 110, and deposits the separated dust in the fine particle compartment 128.

The airflow 110 follows the cyclone formed by the dust separators 320a to 320f and is drawn out through the outlet ducts of the dust separators 320a to 320f. Since the envelope of the cleaning bin 100 is short (for example, the height H1 is short), the dust separators 320a to 320f are designed so that the narrowing of the airflow 110 from the dust separators 320a to 320f through the outlet duct is small. Is tilted. Each portion of the airflow 110 from the dust separators 320a-320f is remixed at the outlet channel 340. The mixed airflow 110 is drawn through the outlet channel 340, thereby directing the airflow 110 through the outlet 126 and the filter 124. The filter 124 serves as an additional debris separation step for the cleaning bin 100. The filter 124 separates dust 104 larger than a predetermined size (for example, dust 104 having a width larger than about 0.1 μm to about 0.5 μm) from the air flow 110. In some cases, the vacuum assembly 108 then exhausts the airflow 110 to the surrounding environment of the robot 102 through the vent 213. In another example, the airflow 110 is exhausted to the cleaning head to stir the debris on the floor surface 106 more strongly.

In this regard, in one embodiment, the cleaning bin 100 facilitates the separation of debris 104 at four different stages. The separation of the dust 104 from the airflow 110 promoted by gravity is the first separation step. The separation of the dust 104 from the airflow 110 promoted by the filter surface 118a is the second separation step. The separation of the dust 104 from the airflow 110 promoted by the dust separation cone 122 is the third separation step. Separation of dust 104 from the airflow 110 promoted by the filter 124 is the fourth separation step.

The dust 104 remaining in the dust compartment 116 after the cleaning work corresponds to the first portion 104a of the dust 104 accumulated in the cleaning bin 100. The second portion 104b of the dust 104 is deposited in the fine particle compartment 128, and the third portion 104c of the dust 104 is deposited in the filter 124 at the outlet 126 of the cleaning bin 100. The airflow 110 then passes through the inlet 114 of the cleaning bin 100, through the dust compartment 116, through the top surface 118 of the dust compartment 116, into the air channel 120, through the dust separation cone 122, and then through the outlet of the cleaning bin 100. At 126, it is oriented to pass through the filter 124. The dust 104 in the dust compartment 116 generally contains large dust (eg, dust having a width of 100 μm to 500 μm or more), and the dust 104 in the fine particle compartment 128 contains dust having a width of 100 μm to 500 μm or less.

In some mounting embodiments, the cleaning bin 100 is detachably mounted on the body 200 of the robot 102 and is removed from the robot 102 after cleaning work. In particular, with reference to FIG. 5B, the cleaning bin 100 is separated from the housing 500 of the vacuum assembly 108 so that the dust 104 stored in the cleaning bin 100 can be removed. The vacuum assembly 108 is, for example, part of the robot 102. In some cases, the housing and vacuum assembly 108 are attached to the cleaning bin 100, and the cleaning bin 100, vacuum assembly 108, and housing 500 are removed as a unit to allow dust 104 to be removed from the cleaning bin 100. In some cases, dust is removed from the cleaning bin 100 while the cleaning bin 100 remains mounted on the body 200 of the robot 102. The bottom side surface 310 of the cleaning bin 100 includes a door 502 that defines the bottom surface of the dust compartment 116 and the bottom surface of the fine particle compartment 128. When the door 502 is opened, both dust 104 in the dust compartment 116 and the fine particle compartment 128 can be removed from the cleaning bin 100 (eg, from the door 502). The door 502 is rotatably attached to the cleaning bin 100. The user manually rotates the door 502 from each compartment 116, 128 so that the dust 104 can be ejected from each compartment 116, 128. Alternatively, the door 502 may be slidably attached to the cleaning bin 100 or otherwise attached such that the door 502 can be manually opened so that the debris 104 in both the debris compartment 116 and the debris compartment 128 can be removed.

In some cases, in addition to ejecting the contents of the dust compartment 116 and the fine particle compartment 128, the user removes the cleaning bin 100 from the robot 102 and then removes the filter 124 from the cleaning bin 100. The user then cleans the filter 124 and rearranges the filter 124 in the cleaning bin 100. In some cases, the user discards the filter 124 and repositions a new filter in the cleaning bin 100. In some cases, the filter surface 118a is removed and cleaned and rearranged, or the filter surface 118a is discarded and replaced with a new filter surface.

In some implementations, after cleaning, the robot 102 is docked at a discharge station 600 (schematically shown in FIG. 6) that includes a vacuum assembly. The discharge station 600 performs a discharge operation. In the discharge operation, the vacuum assembly operates to generate an airflow 602 through the cleaning bin 100 towards the discharge station 600. FIG. 6 shows the vacuum assembly 108 of the robot 102 in the current context, but does not show the other components of the robot 102 for simplicity. Further, the discharge station 600 is schematically illustrated. An example of a discharge station to which the robot 102 can be docked is described in US Pat. No. 9,462,920, issued October 11, 2016, entitled "Evacation Station," which is incorporated herein by reference in its entirety. ing.

During the discharge operation, the airflow 602 causes the dust 104 in the cleaning bin 100 to move toward the discharge station 600. The discharge station 600 forms a seal with the cleaning rollers 212a, 212b, for example, so that the vacuum assembly of the discharge station 600 draws air through the vent 213 of the robot 102 during operation to generate the airflow 602 shown in FIG. .. The air flow 602 carries the dust 104 contained in the dust compartment 116 and the fine particle compartment 128 to the discharge station 600. In this regard, the user does not need to manually remove the dust 104 from the cleaning bin 100.

FIG. 7 is a cut-out perspective view of the dust compartment 116 with the lateral side surface 302b and the front side surface 304 of the cleaning bin 100 removed so that the inside of the dust compartment 116 can be seen. To allow air to be drawn in by the vacuum assembly of the drain station 600, the cleaning bin 100 includes a drain port 700 configured to be connected to the vacuum assembly of the drain station 600. The vacuum assembly of the discharge station 600 is operable to direct the airflow 602 from the outlet 126 of the cleaning bin 100 to the discharge port 700. The airflow 602 passes through the vent 213, the outlet 126, the outlet channel 340, and the dust separators 320a to 320f from the surrounding environment. A part 602a of the airflow 602 from the dust separators 320a to 320f passes through the air channel 120 and then passes through the upper surface 118 of the dust compartment 116 toward the dust compartment 116. In some cases, the portion 602a of the airflow 110 carries the debris in the debris compartment 116 to the discharge port 700 on the filter surface 118a, thereby reducing the buildup of debris that could interfere with the airflow through the filter surface 118a. Another portion 602b of the airflow 602 from the dust separators 320a-320f passes through the fine particle compartment 128 and then through the separation wall 352 towards the dust compartment 116. The part 602b of the air flow 602 carries a part 104b of the dust 104 in the fine particle compartment 128 to the discharge port 700. The portions 602a and 602b are remixed in the garbage compartment 116 and then head toward the discharge station 600 through the discharge port 700.

The separation wall 352 includes an open area 704a, an open area 704b, and an open area 704c between the dust compartment 116 and the particulate compartment 128 so that the discharge station 600 can empty the particulate compartment 128. The open areas 704a, 704b, 704c are pneumatically connected to the dust compartment 116 and the fine particle compartment 128. As illustrated in FIG. 7, the open area 704a corresponds to a set of discontinuous open areas between the fine particle compartment 128 and the dust compartment 116. In another case, the open areas 704a, 704b, 704c are single continuous open areas that are discontinuous with the other open areas 704a, 704b, 704c, respectively. In another embodiment, there are fewer or more open areas along the separation wall 352.

The open areas 704a, 704b, 704c are covered by the retractable flaps 706a, 706b, 706c. The flaps 706a, 706b, 706c are configured to open when the pressure on the flaps 706a, 706b, 706c facing the dust compartment 116 is less than the pressure on the flaps 706a, 706b, 706c facing the particulate compartment 128. In some embodiments, the tops of the flaps 706a, 706b, 706c are fixed to the separation wall 352 (eg, glued to the separation wall 352) and the bottoms of the flaps 706a, 706b, 706c are not fastened and described above. Can be separated from the separation wall 352 under the pressure conditions of. The flaps 706a, 706b, 706c are formed from a deformable and elastic material. The flaps 706a, 706b, 706c are deformed in response to the high pressure on the side of the flaps 706a, 706b, 706c facing the fine particle compartment 128, and become an open position. When the high pressure is released and the pressures on both sides are made uniform, the flaps 706a, 706b, 706c elastically return to the closed position.

In some cases, the open areas 704a, 704b, 704c located far from the discharge port 700 are larger than the open areas 704a, 704b, 704c located near the discharge port 700. For example, the open area 704a is larger than the open area 704b, and the open area 704b is larger than the open area 704c. The open area 704a is located farther from the discharge port 700 than the open area 704b, and the open area 704b is located farther from the discharge port 700 than the open area 704c. Therefore, the flap 706a is longer than the flap 706b and the flap 706b is longer than the flap 706c. The relative size of the open areas 704a, 704b, 704c and the relative distance to the discharge port 700 determine the relative position of the airflow 602 flowing through each of the open areas 704a, 704b, 704c. As a result, the relative size and relative distance can be selected so that a similar amount of airflow 602 flows through each of the open areas 704a, 704b, 704c. This makes it possible to more uniformly discharge the dust 104 from the fine particle compartment 128 and the dust compartment 116 from the discharge station 600. In particular, by increasing the size of the open area 704a farthest from the discharge port 700, the dust 104 located at the position farthest from the discharge port 700 among the fine particle compartment 128 and the dust compartment 116 is cleaned in the cleaning bin 100 during the discharge operation. Can be discharged more easily from. The plurality of inflow points at which the airflow 602 enters the dust compartment 116 from the fine particle compartment 128 promotes the swirling motion of the airflow 602 mixed in the dust compartment 116, thereby stirring the dust 104 and dust 104 from the dust compartment 116. Emissions are improved.

When the flaps 706a, 706b, 706c are in the open position (shown in FIG. 6), the dust compartment and the fine particle compartment 128 are pneumatically connected. As a result, the airflow 602 containing the dust 104 can flow between the dust compartment 116 and the fine particle compartment 128. In particular, a part 602b of the air flow 602 flows into the fine particle compartment 128 and then into the dust compartment 116 through the dust separators 320a to 320f, whereby the discharge station 600 discharges the dust 104 from the fine particle compartment 128. Will be possible. When the discharge station 600 performs a discharge operation such that the vacuum assembly produces airflow 602, the operation of the vacuum assembly reduces the pressure on the side of the dust compartment 116 of the flaps 706a, 706b, 706c, thereby the flaps 706a, The 706b and 706c are deformed to the open position.

When the flaps 706a, 706b, 706c are in the closed position (shown in FIG. 7), the open areas 704a, 704b, 704c are not pneumatically connected to the dust compartment 116 and the fine particle compartment 128. As a result, air cannot flow directly from the fine particle compartment 128 through the open areas 704a, 704b, 704c to the dust compartment 116. When the vacuum assembly 108 of the robot 102 operates during the cleaning operation, the pressure on the side of the flaps 706a, 706b, 706c facing the dust compartment 116 becomes higher than the pressure on the other side of the flaps 706a, 706b, 706c, so that the flaps 706a , 706b, 706c remain in the closed position. As a result, the dust 104 accumulated in the dust compartment 116 and the dust 104 deposited in the fine particle compartment 128 remain in each compartment during the cleaning operation.

We have described several implementations, but it will be understood that they can be varied in many ways. Therefore, other implementation forms are also included in the claims.

Furthermore, it is also preferable to include the following examples in the present invention.
[Item 1]
A cleaning bin that can be mounted on an autonomous cleaning robot that can operate to receive dust from the floor.
With an inlet located between the lateral sides of the cleaning bin defining the inner width of the cleaning bin;
An outlet configured to be connected to a vacuum assembly, wherein the vacuum assembly can operate to direct airflow from the inlet of the cleaning bin to the outlet of the cleaning bin;
With a garbage compartment for receiving the first part of the garbage separated from the airflow;
An air channel located above the dust compartment and defined by the upper surface of the dust compartment tilted with respect to the inner surface of the upper wall of the cleaning bin, which extends over the inner width of the cleaning bin and is said to be said. With an air channel that receives the airflow from the garbage compartment through the top surface of the garbage compartment;
With a fine particle compartment for receiving the second part of the debris separated from the airflow;
A dust separation cone having an inner tube defining an upper opening and a lower opening, wherein the upper opening receives the airflow from the air channel, and the inner tube is such that the airflow forms a cyclone in the inner tube. With a dust separation cone that is tapered from the upper opening to the lower opening;
Cleaning bin equipped with.
[Item 2]
Item 2. The cleaning bottle according to Item 1, wherein the inlet extends over a length of 75% to 100% of the inner width of the cleaning bottle.
[Item 3]
Item 2. The cleaning bottle according to Item 1, wherein the upper surface of the dust compartment includes a first filter.
[Item 4]
Item 3. The cleaning bottle according to Item 3, wherein the first filter has a size that prevents dust having a width of 100 μm to 500 μm from passing through the air channel.
[Item 5]
Item 3. The cleaning bottle according to Item 3, wherein the filter surface of the first filter and the horizontal plane passing through the cleaning bottle form an angle of 5 ° to 45 °.
[Item 6]
The upper surface of the dust compartment and the longitudinal axis of the dust separation cone define an angle of 85 ° to 95 °, and the upper surface of the dust compartment is inclined downward toward the dust separation cone. Item 1. The cleaning bin according to Item 1.
[Item 7]
Item 2. The cleaning bottle according to Item 1, wherein the air channel extends over a length of 95% to 100% of the inner width of the cleaning bottle.
[Item 8]
With an exhaust port configured to connect to another vacuum assembly that can operate to direct airflow from the outlet to the exhaust port;
A first flap that covers an open area pneumatically connected to the dust compartment and the fine particle compartment, wherein the pressure on the side of the first flap facing the dust compartment is the side of the first flap facing the fine particle compartment. With a first flap configured to open when less than the pressure of;
Item 1. The cleaning bottle according to Item 1.
[Item 9]
Further provided with a second flap covering the open area between the dust compartment and the particulate compartment.
The open area covered by the first flap is larger than the open area covered by the second flap, and the first flap is located farther from the discharge port than the second flap. , Item 8.
[Item 10]
The longitudinal axis of the dust separation cone defines an angle of 5 ° to 25 ° with the vertical axis passing through the cleaning bin so that the upper opening of the dust separation cone tilts away from the inlet of the cleaning bin. , Item 1. Cleaning bin.
[Item 11]
Item 2. The cleaning bin according to Item 1, wherein the inner pipe is a conical structure and is a conical structure defining an inclination forming an angle of 15 ° to 40 ° with the central axis of the conical structure.
[Item 12]
Item 2. The cleaning bottle according to Item 1, wherein the diameter of the upper opening of the inner tube is 20 mm to 40 mm, and the diameter of the lower opening of the inner tube is 5 mm to 20 mm.
[Item 13]
The dust separation cone is a first dust separation cone, and the inner pipe of the first dust separation cone receives the first portion of the air flow.
The cleaning bin comprises a second dust separation cone adjacent to the first dust separation cone, the second dust separation cone having an inner pipe defining an upper opening and a lower opening, wherein the upper opening is said. 2. The cleaning bin according to 1.
[Item 14]
The dust separation cone is one of a set of dust separation cones arranged in a straight line, and the set of dust separation cones is such that the upper opening of each dust separation cone is tilted in a direction away from the inlet. Item 2. The cleaning bin according to Item 1, which has a longitudinal axis on the same plane that is angled in a direction away from the inlet.
[Item 15]
Item 2. The cleaning bin according to Item 1, wherein the upper surface of the dust compartment includes a first filter, and the cleaning bin further includes a second filter located between the dust separation cone and the outlet.
[Item 16]
Item 2. The cleaning bottle according to Item 1, wherein the outlet extends over the inner width of the cleaning bottle.
[Item 17]
Further comprising an inlet duct pneumatically connected to the air channel and pneumatically connected to the inner tube of the dust separation cone, the inlet duct having a minimum width of 5% to 15% of the width of the inlet. The cleaning bin according to 1.
[Item 18]
An outlet duct for directing the airflow from the inner pipe of the dust separation cone to the outlet is further provided, and the outlet duct is tapered toward the inner pipe of the dust separation cone. Item 1. The cleaning bin according to Item 1.
[Item 19]
Further comprising a door defining the bottom surface of the dust compartment and the bottom surface of the particulate compartment, the door can be manually opened so that dust in both the dust compartment and the particulate compartment can be removed from the cleaning bin. Item 2. The cleaning bin according to Item 1, which is configured as follows.
[Item 20]
Item 2. The cleaning bottle according to Item 1, wherein the maximum height of the cleaning bottle is less than 80 mm.
[Item 21]
With the main body;
With a drive unit that can move the main body over the floor surface;
A vacuum assembly carried on the body; which is capable of operating to generate airflow to carry debris from the floor as the body moves over the floor;
The cleaning bin mounted on the main body and
It is an autonomous cleaning robot equipped with
The cleaning bin is
With the entrance;
With an outlet that is connected to the vacuum assembly such that the airflow containing the debris is directed from the inlet to the outlet;
With a garbage compartment for receiving the first part of the garbage separated from the airflow;
With a fine particle compartment for receiving a second portion of the dust separated from the airflow;
The airflow from the dust compartment is received so as to form a cyclone that separates the second portion of the dust from the airflow and directs the second portion of the dust towards the fine particle compartment. With a garbage separation cone configured as;
Has an autonomous cleaning robot.
[Item 22]
A cleaning roller rotatably mounted on the main body, further comprising a cleaning roller configured to move the dust toward the inlet of the cleaning bin by entraining the dust, said the cleaning bin. Item 2. The autonomous cleaning robot according to Item 21, wherein the entrance extends over 60% to 100% of the length of the cleaning roller.

100 Cleaning bin 102 Cleaning robot 104 Dust 104a 1st part 104b 2nd part 104c 3rd part 106 Floor surface 108 Vacuum assembly 110 Airflow 112 Plenum 114 Inlet 116 Dust compartment 118 Top surface 118a Filter surface 118b Block surface 120 Air channel 121 Cyclone 122 Dust Separation cone 124 Filter 126 Exit 128 Fine particle compartment 130 Front drive direction 200 Main body 202a Front part 202b Rear part 204a, 204b Side side 206 Front side 208a, 208b Actuator 210a, 210b Drive wheel 211 Caster wheel 212 Controller 212a First roller 212b Second Roller 213 Vent 214 Brush 214a, 214b Actuator 216 Actuator 300 Main body 302a, 302b Side side 304 Front side 306 Rear side 308 Top side 310 Bottom side 314 Rear 316 Part 318 Dead zone 320, 320a ~ 320f Dust separator 322 Housing 324 Finder 326, 326a to 326f Inlet duct 328 Internal volume 328a Upper inner pipe 328b Lower inner pipe 330 First wing 332 Second wing 334 334a to 334f Outlet duct 336 Central axis 340 Exit channel 342 Lower opening 344 Upper opening 346 Upper opening 348 Bottom opening 349 Vertical shaft 350 Wall 352 Separation wall 354a, 354b, 354c Duct 356 Horizontal shaft 500 Housing 502 Door 600 Discharge station 602 Airflow 700 Discharge port 704a, 704b, 704c Open area 706a, 706b, 706c Flap

Claims (18)

A cleaning bin that can be mounted on an autonomous cleaning robot that can operate to receive dust from the floor.
With an inlet located between the lateral sides of the cleaning bin defining the inner width of the cleaning bin;
An outlet configured to be connected to a vacuum assembly of the autonomous cleaning robot, wherein the vacuum assembly of the autonomous cleaning robot directs airflow from the inlet of the cleaning bin to the outlet of the cleaning bin. With an exit that can be operated to attach;
A set of dust separation cones aligned in a straight line over at least a part of the inner width of the cleaning bin, wherein the cyclone is formed in the inner pipe of the dust separation cone and dust is discharged from the airflow. With a set of debris separation cones configured to receive a portion of the airflow so as to separate the first part of the;
With a fine particle compartment for receiving the first portion of the debris separated from the airflow;
A dust compartment for receiving a second portion of dust separated from the airflow and configured to separate the second portion of dust from the airflow when a cyclone is not formed. ;
An air channel pneumatically connected to the dust compartment to receive the airflow passing through the surface of the dust compartment, the inside of the dust separation cone so as to direct the airflow to the inner pipe of the dust separation cone. With an air channel pneumatically connected to the tube;
Equipped with
A cleaning bin whose bottom surface is inclined downward toward the dust separation cone. The cleaning bottle of claim 1 , wherein the surface of the dust compartment comprises a filter for separating a third portion of dust from the airflow. The dust separation cone is provided with a lower opening and an upper opening, respectively, the upper opening of the dust separation cone is configured to receive the airflow from the dust compartment, and the lower opening of the dust separation cone is the fine particles. The cleaning bin according to claim 1, wherein the compartment is connected to the particulate compartment so as to receive the first portion of debris separated from the airflow passing through the lower opening. The cleaning bottle according to claim 1, wherein the inlet extends over a length of 75% to 100% of the inner width of the cleaning bottle. The cleaning bin according to claim 1, wherein the dust separation cone has a longitudinal axis on the same plane angled in a direction away from the inlet so that the upper opening of the dust separation cone tilts away from the inlet. .. The longitudinal axis of the dust separation cone defines an angle of 5 ° to 25 ° with a vertical axis passing through the cleaning bin such that the top opening of the dust separation cone tilts away from the inlet of the cleaning bin. , The cleaning bin according to claim 5. The cleaning bin according to claim 1, wherein the dust separation cone has a longitudinal axis on the same plane that is angled in a direction away from the inlet so that the upper opening of the dust separation cone is tilted toward the outlet. The cleaning bin according to claim 1, further comprising an air channel pneumatically connected to each of the dust separation cones, wherein the air channel extends over the inner width of the cleaning bin. The cleaning bin according to claim 1, wherein the inclination of the inner pipe of the dust separation cone and the central axis of the inner pipe of the dust separation cone define an angle of 15 ° to 40 °, respectively. The cleaning bin according to claim 1, wherein the set of dust separation cones is located along a horizontal axis parallel to the front side surface of the cleaning bin. The cleaning bottle according to claim 1, wherein the lateral side surface of the cleaning bottle defines a rectangular vertical cross section of the cleaning bottle. The cleaning bottle according to claim 1, wherein the set of dust separating cones contains 4 to 16 dust separators. An autonomous cleaning robot
With a drive system for moving the autonomous cleaning robot around the floor;
With vacuum assembly;
It ’s a cleaning bottle,
With the entrance;
With an outlet connected to the vacuum assembly, the vacuum assembly can be operated to direct airflow from the inlet of the cleaning bin to the outlet of the cleaning bin;
With the first compartment for receiving the first part of the debris separated from the airflow;
A set of dust separation cones aligned in a straight line over a part of the cleaning bin, in which a cyclone is formed in the dust separation cone and the first portion of dust is separated from the airflow. With a set of debris separation cones that are configured to receive a portion of the airflow.
A second compartment for receiving a second portion of dust separated from the airflow, the second compartment being configured to separate the second portion of dust from the airflow when no cyclone is formed. With parcels;
An air channel pneumatically connected to the second compartment to receive the airflow passing through the surface of the second compartment, and the dust separating cone of the dust separating cone so as to direct the airflow to the inner pipe of the dust separating cone. With an air channel pneumatically connected to the inner tube;
With a cleaning bin,
Equipped with
An autonomous cleaning robot in which the bottom surface of the air channel is inclined downward toward the dust separation cone. The autonomous cleaning robot according to claim 13 , wherein the entrance of the cleaning bin is located between the lateral sides of the cleaning bin that defines the inner width of the cleaning bin. 13. The autonomous cleaning robot of claim 13 , wherein the surface of the second compartment comprises a filter for separating a third portion of dust from the airflow. The dust separation cone is provided with a lower opening and an upper opening, respectively, the upper opening of the dust separation cone is configured to receive the airflow from the second compartment, and the lower opening of the dust separation cone is the said. 13. The autonomous cleaning robot according to claim 13, wherein the first compartment is connected to the first compartment so as to receive the first portion of dust separated from the airflow passing through the lower opening. The autonomous cleaning robot according to claim 13 , wherein the entrance extends over a length of 75% to 100% of the inner width of the cleaning bottle. 13. The autonomy of claim 13 , wherein the dust separation cone has a coplanar longitudinal axis angled in a direction away from the inlet such that the upper opening of the dust separation cone tilts away from the inlet. Cleaning robot.

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