Autonomous vacuum cleaner

• US 9,943,203 B2
• Filed: 09/10/2012
• Issued: 04/17/2018
• Est. Priority Date: 09/09/2011
• Status: Active Grant

• Current Assignee: Dyson Technology Limited (Beeswax Holdings UK Limited)
• Original Assignee: Dyson Technology Limited (Beeswax Holdings UK Limited)
• Inventors: Samuels, Benedict Nicholas, Vanderstegen-Drake, Mark Stamford, Brown, Andre David, Dyson, James
• Primary Examiner(s): Carter, Monica
• Assistant Examiner(s): BERRY, STEPHANIE R
• Application Number:
  US13/608,640
• Publication Number:
  US 20130061415A1
• Time in Patent Office: 2,045 Days
• Field of Search: 15 491, 15319, 15358
• CPC Class Codes: A47L 2201/00 Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: A47L 9/2889 Safety or protection devices or systems, e.g. for prevention of motor over-heating or for protection of the user
• CPC Class Codes: B60L 1/003 to auxiliary motors, e.g. for pumps, compressors
• CPC Class Codes: B60L 15/2036 Electric differentials, e.g. for supporting steering vehicles
• CPC Class Codes: B60L 2200/40 Working vehicles
• CPC Class Codes: B60L 2220/44 Wheel Hub motors, i.e. integrated in the wheel hub
• CPC Class Codes: B60L 2240/421 Speed
• CPC Class Codes: B60L 2260/32 Auto pilot mode
• CPC Class Codes: B60L 50/52 characterised by DC-motors
• CPC Class Codes: B60L 53/14 Conductive energy transfer
• CPC Class Codes: Y02T 10/64 Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/70 Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 10/7072 Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
• CPC Class Codes: Y02T 10/72 Electric energy management in electromobility
• CPC Class Codes: Y02T 90/14 Plug-in electric vehicles

Abstract

An autonomous vacuum cleaner having a bump detection system, the vacuum cleaner comprising a chassis having traction means for supporting the chassis on a surface and a cleaner head defining a dirty air inlet, and a body carried on the chassis and being movable relative to it in response to a collision with an obstacle, the body including at least one of an airflow generator for generating an airflow along an airflow path from the dirty air inlet to a clean air outlet and a separating apparatus positioned in the airflow path to separate dirt from the air, wherein the vacuum cleaner further comprises sensing means for sensing relative movement between the chassis and the body.

Claims

1. An autonomous vacuum cleaner comprising a chassis having at least one traction unit for supporting the chassis on a surface and a cleaner head defining a dirty air inlet, a body carried on the chassis and being movable relative to it in response to a collision with an obstacle, the body including at least one of an airflow generator for generating an airflow along an airflow path from the dirty air inlet to a clean air outlet and a separating apparatus mounted thereto and positioned in the airflow path to separate dirt from the air, wherein the vacuum cleaner further comprises a sensing mechanism for sensing relative movement between the chassis and the body.

2. The autonomous vacuum cleaner of claim 1, wherein a portion of the chassis is coupled to a portion of the body such that the body is slidable relative to the chassis.

3. The autonomous vacuum cleaner of claim 2, wherein an elongate slot is defined in a portion of the body adjacent a portion of the chassis and a retaining member associated with the chassis is slidably received within the slot.

4. The autonomous vacuum cleaner of claim 1, wherein the body is adapted to move angularly with respect to the longitudinal axis of the chassis in order to detect collisions oblique to the direction of travel of the vacuum cleaner.

5. The autonomous vacuum cleaner of claim 3, wherein the retaining member is rounded in shape thereby being movable linearly in the slot and angularly movable relative to the slot so that the body is moveable angularly with respect to the longitudinal axis of the chassis in order to detect collisions oblique to the direction of travel of the vacuum cleaner.

6. The autonomous vacuum cleaner of claim 2, wherein the body is mounted to the chassis on one or more supporting members associated with the chassis, the one or more supporting members being tiltable when the body moves relative to the chassis.

7. The autonomous vacuum cleaner of claim 6, wherein the one or more supporting members are sleeve members.

8. The autonomous vacuum cleaner of claim 7, wherein the one or more sleeve members have a spring extending therethrough and are connected to the body in order to provide a self-centering force for the one or more sleeve members.

9. The autonomous vacuum cleaner of claim 2, further comprising one or more guiding members provided on one of the body or the chassis that engage with a respective guiding track provided on the other of the body or chassis, the engagement between the guiding members and the guidance track thereby constraining relative movement between the body and the chassis.

10. The autonomous vacuum cleaner of claim 9, wherein at least one of the guiding members and the guiding track are incorporated into a housing portion associated with the chassis.

11. The autonomous vacuum cleaner of claim 2, wherein one or more rolling members are provided intermediate the body and the chassis.

12. The autonomous vacuum cleaner of claim 1, wherein the sensing mechanism comprises an actuating member arranged to trigger one or more sensors in circumstances in which the body moves relative to the chassis in response to a collision.

13. The autonomous vacuum cleaner of claim 12, wherein the sensing mechanism includes first and second switches disposed either side of the actuator.

14. The autonomous vacuum cleaner of claim 13, wherein the switches are snap-action switches.

15. The autonomous vacuum cleaner of claim 1, wherein the body includes a control system that is interfaced to the sensing mechanism.

16. The autonomous vacuum cleaner of claim 15, wherein the control system receives a signal from the sensing mechanism in response to detecting relative movement between the body and the chassis.

27. The autonomous vacuum cleaner of claim 1, wherein the separating apparatus is mounted disengagingly to the body.

17. A mobile robot having a collision detection system, the robot comprising a chassis including a drive arrangement, and a body mounted on the chassis and adapted to be movable relative to it in response to a collision with an object, the body including at least one further electronic component, wherein the robot further includes a sensing mechanism for sensing relative movement between the chassis and the body due to a collision event and, in response, to send a signal to an on-board control system.

18. The mobile robot of claim 17, wherein a portion of the chassis is coupled to a portion of the body so that the body is slidable relative to the chassis.

19. The mobile robot of claim 17, wherein a portion of the body is adapted to move angularly with respect to a longitudinal axis of the chassis in order to detect collisions oblique to the direction of travel.

20. The mobile robot of claim 18, wherein an elongate slot is defined in a portion of the body adjacent a portion of the chassis and a retaining member associated with the chassis is slidably received within the slot.

21. The mobile robot of claim 20, wherein the retaining member is rounded in shape thereby being movable linearly in the slot and angularly movable relative to the slot so that the body is moveable angularly with respect to the chassis in order to detect collisions oblique to the direction of travel of the vacuum cleaner.

22. The mobile robot of claim 18, wherein the body is mounted to the chassis on one or more supporting members associated with the chassis, the supporting members being tiltable when the body moves relative to the chassis.

23. The mobile robot of claim 22, wherein the one or more supporting members prevent separation of the body and the chassis.

24. The mobile robot of claim 23, wherein the one or more supporting members include a spring connected to the body in order to provide a self-centering force for the supporting members.

25. The mobile robot of claim 17, further comprising one or more guiding members provided on one of the body or the chassis that engage with a respective guiding track provided on the other of the body or chassis, the engagement between the guiding members and the guidance track thereby constraining relative movement between the body and the chassis.

26. The mobile robot of claim 17, wherein the at least one further electronic component is the control system, or a power source, or an external sensing system.