Robot for vacuum cleaning surfaces via a cycloid movement

• US 20020112899A1
• Filed: 01/22/2002
• Published: 08/22/2002
• Est. Priority Date: 01/25/2001
• Status: Active Grant

• Current Assignee: Salamander Solutions Inc.
• Original Assignee: Koninklijke Philips Electronics N.V. (Koninklijke Philips N.V.)
• Inventors: Dijksman, Johan Frederik, Dona, Marinus Josephus Jakobus
• Granted Patent: US 6,745,431 B2
• Time in Patent Office: Days
• US Class Current: 180/7.1
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: A47L 9/009 Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles

Abstract

The invention relates to a robot vacuum cleaner for cleaning surfaces (9), which robot vacuum cleaner is provided with a housing (1), a suction unit (3) accommodated in said housing, a suction nozzle (7) mounted to the housing so as to be present near the surface in operation, a motor-drivable wheel system (13) by means of which the housing can be displaced over the surface, and an electrical control unit (17) for controlling a displacement of the housing generated by means of the wheel system.

According to the invention, the displacement of the housing controlled by the control unit (17) comprises a substantially cycloid movement brought about by a rolling movement of an imaginary rolling circle (37) along an imaginary line of displacement (39) of the housing over the surface, said imaginary rolling circle extending parallel to the surface (9) and being fixed with respect to the housing (1), and the suction nozzle (7) being eccentrically arranged with respect to the rolling circle. As a result, the width of the track cleaned by the suction nozzle during the displacement of the robot along the line of displacement is considerably larger than the main dimension (W_S) of the suction nozzle.

Claims

1. A robot for vacuum cleaning surfaces, which robot is provided with a housing, a suction unit accommodated in said housing, a suction nozzle mounted to the housing, which suction nozzle is situated, during operation, close to a surface to be vacuum cleaned, a motor-drivable wheel system by means of which the housing can be displaced over the surface to be cleaned, and an electrical control member for controlling a displacement of the housing to be generated by means of the wheel system, characterized in that the displacement controlled by the control member comprises a substantially cycloid movement that is brought about by a rolling motion of an imaginary rolling circle along an imaginary line of displacement of the housing over the surface to be cleaned, the suction nozzle being eccentrically arranged with respect to the rolling circle, which rolling circle extends parallel to the surface to be cleaned and is fixed with respect to the housing.

2. A robot as claimed in claim 1, characterized in that the wheel system comprises at least three wheels arranged at regular intervals in accordance with an imaginary base circle, each wheel having a wheel axle extending in accordance with a radial of the base circle and being drivable by means of a separate motor, and each wheel being provided, along its circumference, with a number of rolls each having a roll axle extending in a tangential direction with respect to the wheel axle of the relevant wheel.

3. A robot as claimed in claim 2, characterized in that the rolling circle is concentric with the base circle, while the radius of the rolling circle is at the most equal to approximately W_S/2π

, where W_S is a main dimension of the suction nozzle, measured along a radial of the base circle.

4. A robot as claimed in claim 3, characterized in that the suction nozzle extends, viewed along said radial of the base circle, substantially up to said base circle.

5. A robot as claimed in claim 3, characterized in that the radius of the rolling circle is smaller than approximately 0.16.R_B, where R_B is the radius of the base circle.