CN107969992A - For at least partially automatically cleaning the cleaning systems of at least one object on the ground in square region - Google Patents
For at least partially automatically cleaning the cleaning systems of at least one object on the ground in square region Download PDFInfo
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- CN107969992A CN107969992A CN201710962132.6A CN201710962132A CN107969992A CN 107969992 A CN107969992 A CN 107969992A CN 201710962132 A CN201710962132 A CN 201710962132A CN 107969992 A CN107969992 A CN 107969992A
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- dust removing
- removing units
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- dust
- unit
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- 238000004140 cleaning Methods 0.000 title claims abstract description 148
- 239000000428 dust Substances 0.000 claims abstract description 150
- 238000000605 extraction Methods 0.000 claims abstract description 31
- 239000002245 particle Substances 0.000 claims abstract description 29
- 238000007600 charging Methods 0.000 claims description 16
- 238000000034 method Methods 0.000 claims description 14
- 238000004891 communication Methods 0.000 claims description 8
- 238000010276 construction Methods 0.000 claims description 5
- 230000006698 induction Effects 0.000 claims description 5
- 230000001141 propulsive effect Effects 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 2
- 238000013461 design Methods 0.000 description 8
- 238000005259 measurement Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 239000008187 granular material Substances 0.000 description 5
- 230000006641 stabilisation Effects 0.000 description 5
- 238000011105 stabilization Methods 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 4
- 238000013500 data storage Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 241000287828 Gallus gallus Species 0.000 description 1
- 241001465754 Metazoa Species 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000004320 controlled atmosphere Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L5/00—Structural features of suction cleaners
- A47L5/12—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum
- A47L5/14—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum cleaning by blowing-off, also combined with suction cleaning
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/02—Docking stations; Docking operations
- A47L2201/022—Recharging of batteries
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B5/00—Cleaning by methods involving the use of air flow or gas flow
- B08B5/04—Cleaning by suction, with or without auxiliary action
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
- B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/25—UAVs specially adapted for particular uses or applications for manufacturing or servicing
- B64U2101/29—UAVs specially adapted for particular uses or applications for manufacturing or servicing for cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U80/00—Transport or storage specially adapted for UAVs
- B64U80/20—Transport or storage specially adapted for UAVs with arrangements for servicing the UAV
- B64U80/25—Transport or storage specially adapted for UAVs with arrangements for servicing the UAV for recharging batteries; for refuelling
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Cleaning In General (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The present invention relates to a kind of cleaning systems (10) for being used at least partially automatically clean at least one object (1) in square region on the ground, which includes at least：Dust removing units (100), the dust removing units are configured to unpiloted aircraft, and for producing the driving device (120) of lift, cleaning unit (200), it is to separate that the cleaning unit, which is configured to dust removing units (100), wherein, the dust removing units (100) include at least one dust-extraction unit (110), for making particle come off from object (1)；And the cleaning unit (200) includes at least one cleaning element (210), to store and/or store the particle to come off, so that the cleaning to object (1) is collaboratively carried out jointly by dust removing units (100) and cleaning unit (200).
Description
Technical field
Technical field the present invention relates to it is a kind of be used at least partially automatically clean on the ground in square region at least one
The cleaning systems of a object.Moreover, it relates to a kind of be used at least partially automatically carry out clean method.
Background technology
It is known from the state of the art, above the ground the dust in region, such as the dust on shelf etc. is by manually using chicken
The modes such as whisk, wet rag, dust catcher remove manually.A shortcoming herein be for cleaning objects consuming it is very high,
Wherein, clean surface is much wanted to be very difficult to close or can not approach at all.Further drawback is dust, especially house
In dust raised and stayed in space air by many clean method.The cleaning of automation is almost not in this kind of technology
It is possible.
The content of the invention
Therefore, it is an object of the present invention to eliminate these shortcomings at least in part.Particularly, it is an object of the present invention to
Realize the object, especially at least simplifiedly, more reliably, more comfortably and/or at least semi-automatedly cleaned in the interior space
It is furniture and/or shelf.Thus dust deposit and/or dirt in house especially can should reliably be reduced.
Above-mentioned purpose is by a kind of cleaning systems of feature with claim 1 and by one kind with claim
The method of 9 feature is realized.The further feature and details of the present invention is from corresponding dependent claims, specification and drawings
Draw.Here, it is of course also apply to side according to the invention with reference to the feature and details that cleaning systems according to the invention describe
Method, and correspondingly vice versa, so as to mutually be referred to all the time for the disclosure of each inventive aspect or can
Mutually to be referred to all the time.
The purpose realizes that the cleaning systems are used at least partially automatically clean especially by a kind of cleaning systems
On the ground in square region, at least one object especially at least one interior space and/or in house, especially
The surface of face and/or furniture and/or such as furniture.
Here, the cleaning systems are included with lower unit：
1. at least one dust removing units, which is preferably configured as unpiloted aircraft, especially unmanned plane,
And it is preferred that with the driving device for being used to produce lift and/or propulsive force；
2. at least one especially not fly able cleaning unit, it is point which, which is preferably configured as with dust removing units,
Open.
Preferably, dust removing units are configured to moveable and/or fly able, be especially structured to flying robot and/
Or it is configured to unmanned plane.It is particularly preferred that cleaning unit is designed to static and/or not movable and/or is only capable of on ground
Upper movement.Here, above the ground region be preferably room on the ground side and/or with room floors extension spaced apart
Region, preferably of up to being above the ground up at least 1m or until at least 2m.Therefore, dust removing units only exist different from pure
Clean dust-collecting robot is carried out on ground level.
Especially design, dust removing units include at least one dust-extraction unit, for making particle, preferably dust granule or dirt
Particle, preferably dust comes off from least one object and is preferably transported in air (space air) in room.
Especially design, cleaning unit includes at least one cleaning element, to especially from air or space air storage and/or
Store the particle to come off.Preferably, storage and/or storage and/or such progress that comes off, i.e. the cleaning to object passes through dedusting
Unit and cleaning unit collaboratively carry out jointly.This has the following advantages that, i.e. especially reliably and cosily to described at least one
A object is cleaned, wherein, dust deposit and/or the dust raised can be reduced.
In other words, particularly design, be used in functions, the i.e. partial function for cleaning at least one object
" kicking up a dust " and " storage dust " separates.Herein preferably, kick up a dust and carried out by dust removing units, and store dust
Carried out by cleaning unit.Especially, " storage " particle, especially dust and dirt are understood as cleaning powder collection herein
In unit and therefore the environment (such as space air) with cleaning unit separates.Especially it is also contemplated that cleaning unit is inhaled
Receive space air, cleaning removes particle (dust and dirt) and discharges air again.Therefore, especially by dust removing units
It can realize and targetedly raise particle from object, because cleaning appliance can be reuptaked and store the particle from air.
This, which is realized, effectively cleans at least one object.
Another advantage according to the invention can design, and cleaning systems are configured to housework and (such as are used only for house with system
Make sure with) and/or be configured to for automatically carrying out dedusting to the object indoors and/or in family, especially furniture etc.
Industrial cleaning systems.Especially feasible can be, cleaning unit be configured to be used for by particle, especially dust granule and/or
House dust granule and/or loose dust deposits are transported in the room air in room.
It may be advantageous that equipped with one or at least two or at least three or more, preferably moveable dedusting list
Member, these dust removing units make the particle as loose dust deposits form, especially dust granule come off from object and/or
It is conveyed, is preferably supplied in space air.Then it especially can store and/or store in the following way particle, i.e.
Cleaning unit draws space air and/or filters out particle from space air in addition.Here, with cleaning unit on the contrary, dedusting
Unit is configured to aircraft, preferably unmanned plane.Here, dust removing units be preferably configured as be with cleaning unit it is physically separate, its
In, such as radio connection is only existed between dust removing units and cleaning unit.
Design alternatively is, the driving devices of dust removing units have at least one driving element, preferably (such as vertically to
The propeller of lower effect and/or) rotor, to produce especially lift and especially propulsive force in dust removing units, so as to
Enough cause the flight of dust removing units and/or at least one sporting flying.Following advantage is realized with this, i.e. even if the difficulty of object
It can also be cleaned with close position by dust removing units.
Design preferably is that dust removing units have the undercarriage that can be opened, to be transformed into ground robot.So as to
It can realize, such as ground or skirting can be cleaned additionally by dust removing units.
Especially it is contemplated that dust-extraction unit includes the driving device of at least one driving element, especially dust removing units
Propeller and/or rotor, so that dust-extraction unit is not only with dedusting function but also with the driving function for dust removing units.Change
Yan Zhi, for example, the propeller of driving device and/or rotor and/or nozzle can be not only used for cleaning (such as raise air and/or
Dust) and can be used for driving dust removing units (i.e. in particular for flight).For this reason, such as dust removing units in order to make particle from
Object comes off and makes rotor and/or propeller upwardly-directed in the side that should produce air-impingement.To this end it is possible to use, for example, dedusting
The tilting gearing of unit.
Optionally, dust removing units be designed to wind turbine element, especially air stream generating element, such as air blower or
Nozzle, it is to separate which, which is for example configured to the driving element of driving device,.Particularly wind turbine element herein can be with
It is configured to air blower or hair-dryer, for example to want clean position to blow air to object, so that particle takes off from object
Fall.Especially, therefore wind turbine element and/or dust-extraction unit do not have driving function so that pass through dust-extraction unit and/or wind turbine element
The air-impingement of generation must be balanced by driving device, so as not to obtain undesirable sporting flying.For example, dust-extraction unit
Including tilting gearing, to make wind turbine element alignment want clean position.Thus especially accurate and effective cleaning can be realized.
It is preferred that filled it is possible that awing adjusting dedusting by driving device and/or by separated tilting gearing
The angle of inclination put, so as to produce targetedly air-impingement according to angle of inclination by dust-extraction unit.It is alternatively or attached
Add ground, the angle of inclination of dust removing units can be also adjusted by tilting gearing, so that such as driving element is also used as using
In the wind turbine for producing air-impingement.This can realize the extremely simple and of low cost construction of dust removing units.Especially driving dress
Putting can tilt whole dust removing units, such as unmanned plane, to adjust the angle of inclination for air-impingement, so as to drive dress
Put and also be used as tilting gearing.Alternatively or additionally, tilting gearing can only make dust-extraction unit, such as wind turbine relative to dedusting
Unit deflects.
In addition, dust-extraction unit may be designed to have at least one electro-dissociator, especially to add to the air comprising particle
Carry electric charge.For example, electro-dissociator is configured to electric device for this, which is arranged on dust-extraction unit and/or wind turbine and/or drive
Dynamic element, preferably in the region of rotor.Especially, electro-dissociator directly contact by dust-extraction unit in order to clean the air to produce
Impact.Dust granule can be reduced with this and dirt particle is attached to the power that may be loaded with the surface of electric charge, and made clear
Clean effect be improved significantly.
It is preferred that it is possible that equipped with least two or at least three or at least four or at least eight dust removing units and this
A little dust removing units are used to clean, wherein, these dust removing units collaboratively implement cleaning jointly as group.Alternatively or additionally
Ground, these dust removing units have a communication device respectively, are communicated to mutually communication and/or with cleaning unit.This can be realized
Especially rapidly and effectively clean at least one object.
Optionally, equipped with least two or at least three or at least four or at least eight cleaning units, such as each
One, room cleaning unit.Alternatively or additionally, cleaning unit can with and/or each cleaning unit in it is at least one can
To be configured with the base station of air purifying function.It is also contemplated that equipped with one or more chargings for being used for dust removing units
Stand, wherein, different from cleaning unit, charging station does not have air purifying function.Especially herein it is contemplated that cleaning unit and/or
Base station and/or charging station regularly send signal, especially radio signal, which is preferably received by dust removing units, so as to
Dust removing units can measure the orientation of cleaning unit and/or charging station and/or base station.Thus, such as following advantage can be realized,
That is, dust removing units can automatically fly to cleaning unit and/or base station and/or charging station, so as to the accumulation of energy for example to dust removing units
Device charges.
In addition it is contemplated that dust removing units are configured to unmanned plane, are preferably configured as four-axle aircraft, helicopter or construction
Into Multi-axis aircraft.Especially, dust removing units are configured to space indoors and/or use in the family, so as to autonomous there
Flight.
As cleaning unit is for example configured to, i.e., the cleaning unit can be by user's artificial sport of cleaning systems.Can
Can, cleaning unit has at least one motor element, especially at least a roller, for example to make the cleaning by user
Unit is moved or rolled on the ground.In addition it is possible that moving with making cleaning unit motorization, and for example by be remotely controlled into
Row control.It is possible thereby to simply position cleaning unit.
In addition, within the scope of the invention it may be advantageous that the driving device of dust removing units includes at least two or four
A or eight driving elements, wherein, in order to control the sporting flying of dust removing units, the rotating speed of each driving element can be (different respectively
Ground) change, wherein, it can produce propulsive force especially by driving element (especially mutual) speed discrepancy.Thus, in order to
Air-impingement is targetedly projected, such as dust removing units can also be tilted.
In addition it is possible that cleaning unit is configured to air cleaning unit to draw space air, and cleaning element
It is preferred that with least one filter, an especially at least suspended filter, HEPA (High Efficiency Particulate Air) filters or
Cyclone filter device and a combination for being likely to be above-mentioned different filter, to be filtered out from the space air drawn
Grain.Especially, the space air after filtering can then be transported out from cleaning unit again, especially produced by boasting.
This, cleaning element preferably includes at least one hair-dryer to draw space air.Especially, cleaning unit has detection herein
Device, to detect the direction of dust removing units, especially dust removing units, and therefore according to the dedusting of detection alignment dust removing units
Region.For this reason, cleaning unit for example can also be configured to it is movable and/or can motorized motion.
In addition it is possible that cleaning unit is configured to the base station for dust removing units, and including charging unit, preferably feel
Formula and/or energized charging unit is answered, it is achieved thereby that charging by charging unit to dust removing units.Here, it is preferred that can
With when (especially Storage Unit, the especially accumulators of dust removing units) electric power storage is horizontal low and/or in cleaning end
Afterwards, dust removing units automatically can drive towards and/or fly to cleaning unit, to charge to dust removing units, so as to it is preferred that be connect by electricity
Touch and/or can implement to charge to the Storage Unit of dust removing units, especially storage battery by induction type energy transmission.This is improved
Comfort in cleaning, because charging need not manually carry out.
In addition it is contemplated that dust removing units have electronic control unit and/or electronic stabilization device, wherein, the electronics
Control device and/or electronic stabilization device and the sensing device of dust removing units and/or cleaning unit for example electrically and/or via
Radio and/or through a cable connection, be especially connected with Inertial Measurement Unit and/or laser scanner and/or image sensor,
To implement autonomous flight and/or independent navigation and/or autonomous cleaning especially within one or more rooms.It is preferred herein
Ground, dust removing units can automatically and/or by it is regular be spaced fly at least one object want clean position, with
Just cleaned.For this it is also contemplated that such as user is pre-configured on dust removing units and/or on cleaning unit to want clean object
And/or object wants clean position.For example, it can also be stored in for information necessary to cleaning dust removing units and/or clear
In the data storage element of clean unit.Especially, electronic control unit and/or electronic stabilization device and the data storage element this
Sample connects so that can read the navigation that information is used for dust removing units.Preferably, dust removing units include especially sensing device,
Also at least one hot identification sensor and/or personal identification function, for example to identify personnel in the room and/or to move
Thing, and especially avoid the personnel and/or animal so that can be to avoid injury.Can also be according to above-mentioned sensing device
Measurement data for security reasons adjusts at least one dust removing units or multiple dust removing units or whole cleaning systems
Operation.
Additionally, it is contemplated that using dust removing units and/or cleaning unit personnel's detection functions, in particular for sky
The offer air blower function of controlled atmosphere section.For this reason, such as dust removing units can be directed at personnel to provide comfortable function and to people
Member blows air.
In addition it is possible that dust removing units and/or cleaning unit sensing device has corpuscular counter, the particle meter
Number device is for example arranged adjacently to dust-extraction unit and/or in the region of dust-extraction unit, to examine air and/or to determine pollution
Degree.Especially, according to identified dustiness can determine project air-impingement duration and/or it is clean continue when
Between.Therefore can efficiently be cleaned with the time.
It being particularly envisaged that dust removing units and/or cleaning unit sensing device has Inertial Measurement Unit, this is used
Property measuring unit have multiple inertial sensors such as acceleration transducer and/or speed probe Spatial Coupling.Especially, pass
Induction device includes inertial navigation system herein, and the inertial navigation system is for example for flight navigation.It is particularly preferred that inertia measurement
Unit includes the mutually orthogonal acceleration transducer (such as translating sensor) of three difference to detect the translation of dust removing units
Movement.
In addition it is possible that dust removing units are with least one image sensor or at least two image sensors or at least
Three image sensors.Especially, dust removing units can also have 3D video cameras herein, so as to improve determining in the room
Position.In addition, dust removing units preferably include the electro-dissociator for partial ionization air, so as to so that particle discharges.Especially exist
This is it is also contemplated that the electro-dissociator and/or wind turbine of dust removing units are oriented according to the information of at least one camera unit.This can make
Cleaning during flight operation is improved.
Equally, technical scheme is also a kind of to be used at least partially automatically clean preferably square region on the ground
The method of interior at least one object, especially face and/or furniture.Herein equipped with least one dust removing units and/or especially
Not fly able cleaning unit.Preferably, dust removing units are configured to unpiloted aircraft, are especially structured to nobody herein
Machine.
It is preferably carried out herein, especially one after the other or in any order implements successive step, wherein, separate step
It can also repeat to implement.
1. made by least one dust-extraction unit of dust removing units in dust removing units flight, especially during sporting flying
Grain comes off from least one object,
2. stored and/or stored (by dust-extraction unit and/or dedusting list by least one cleaning element of cleaning unit
Member) particle that comes off.
Especially, these steps be used herein to cleaning to object by dust removing units and cleaning unit jointly collaboratively into
OK.For example, the cleaning element of cleaning unit is configured to filter and/or is configured to hair-dryer and/or analog herein.According to this
The advantages of the advantages of therefore method of invention is brought with being crossed in detail with reference to System describe according to the invention is identical.Especially
It is that the method according to the invention is suitable for running cleaning systems according to the invention.
In addition can design, in order to independently carry out the flight of dust removing units, especially autonomous flight, and/or in order to autonomous
Navigate dust removing units, dust removing units, especially one or more rooms environment is measured, especially by dust removing units
And/or the sensing device of cleaning unit, so as to it is preferred that determine dust removing units during cleaning and/or during dust removing units fly
Position.Especially, the laser scanner of sensing device can be used herein.Preferably feasible can not only remove herein
Dirt unit and cleaning unit by using and/or storage coordinate measurement dust removing units position.Preferably, for measuring environment
The information on environment constantly, especially can be enduringly stored in data storage element, so as to during flight
Utilize described information.Alternatively or additionally it is contemplated that for example being predefined by the user of cleaning systems for navigating
The information on environment.For this reason, cleaning unit and/or dust removing units can for example have (such as data) interface, the interface
For for example exchanging information with computer and/or smart phone.
A kind of dust removing units, removing especially in accordance with cleaning systems according to the invention equally (also individually) is claimed
Dirt unit.In addition, a kind of cleaning unit is claimed, especially in accordance with cleaning systems according to the invention in same (also individually)
Cleaning unit.
Brief description of the drawings
Further advantage, feature and the details of the present invention referring to the drawings carries out the embodiment of the present invention by following
The explanation of detailed description is drawn.Here, the feature mentioned in claims and specification is individually or with arbitrary group
Conjunction all may be vital to the present invention.Wherein：
Fig. 1 shows the schematic diagram of each several part of cleaning systems according to the invention,
Fig. 2 shows another schematic diagram of each several part of cleaning systems according to the invention,
Fig. 3 shows the schematic diagram of cleaning systems according to the invention,
Fig. 4 shows the schematic diagram of each several part of dust-extraction unit, and
Fig. 5 shows the schematic diagram of the method for being shown as the present invention.
Embodiment
In following attached drawing, the identical technical characteristic even if to different embodiments also uses identical reference numeral.
The each several part of cleaning systems 10 according to the invention is schematically shown in Fig. 1.It can be seen that herein static
And/or the cleaning unit 200 moved on the ground is only capable of, which includes at least one for the clear of clean room air
Clean element 210.Cleaning element 210 can for example have filter and/or hair-dryer for this.In addition, cleaning unit 200 can also
With air intake 211, the air intake especially with grid, air can enter cleaning element by the air intake
In 210.For this reason, grid is for example fixed on cleaning element 210 and/or cleaning unit 200 outside, especially enters in air
In the region of mouth 211.
The air 2 of entrance is schematically marked by arrow in Fig. 1, wherein, cleaning unit 200, which also has, to be used to discharge
Air 3 air outlet slit 212.Here, the air 3 of discharge refers in particular to the air after cleaning unit 200 filters.It is preferred that
Ground, cleaning unit 200 include unshowned electronic device and/or driving unit, pass through the electronic device and/or driving unit energy
Make the flexibly so movement and/or orientation of cleaning unit 200 so that air intake 211 is oriented for space air to be inhaled
Get cleaning region and/or air outlet slit 212 is orientated along the direction essentially the inverse with this.It is particularly preferred that cleaning is single
Member 200 makes air intake 211 be oriented towards the direction of dust removing units 100 for this.
In addition, schematically show dust removing units 100 in Fig. 1, which is for example configured to unmanned plane, especially
It is four-axle aircraft.Preferably, dust removing units 100 include dust-extraction unit 110, such as wind turbine, it can be in alignment with the clear of object 1
Clean position.In order to realize that the flight of dust removing units 100 is run, equipped with one or more driving elements 121 and the driving
Element is arranged on dust removing units 100.Driving element 121 is especially structured to the propeller and/or rotor acted on downwards.Change speech
It, driving element 121 from ground start (from raked floor) when downwards that is, act on dust removing units 100 towards ground direction,
And therefore cause lift and/or the air-impingement towards ground direction.
Multiple dust removing units 100 can also be included by schematically showing cleaning systems 10 in fig. 2.In addition it can be seen that and remove
The driving element 121 of dirt unit is also used as dust-extraction unit 110, that is, can be used for projecting and be used for clean air-impingement.
Alternatively or additionally, it is configured to separate with least one driving element 121 (complete) as shown in Figure 1, can also be equipped with
Dust-extraction unit 110.
Additionally, it is contemplated that as being only schematically shown in fig. 2, at least one biography is equipped with dust removing units 100
Induction device 150.In addition, the rotor 122 of dust removing units 100 is schematically shown in fig. 2.
In addition can design, cleaning unit 200 has the touch-down zone 220 at least one dust removing units 100.
This, touch-down zone 220 can be for example configured to for the Storage Unit 105 unshowned in fig. 2 charging to dust removing units 100
Charging unit 220.Here, dust removing units 100 automatically fly to the touch-down zone 220 for example can be by being sent by cleaning unit 200
Signal, such as radio signal and/or optical signal are realized.The signal can for example be received by dust removing units 100 and profit
With the signal measuring orientation.
The construction of dust removing units 100 is schematically shown in figure 3.It can be seen that herein, dust removing units 100 have at least
One Storage Unit 105, at least one tilting gearing 130, at least one electronic control unit and/or electronic stabilization device 140
With at least one communication device 160.Here, communication device 160 with cleaning unit 200 for example for communicating and/or for measuring
The orientation of cleaning unit.Here, communication for example can be used for navigating and/or for data exchange.
In addition, it can be seen that the sensing device 150 that can be equipped with dust removing units 100 according to Fig. 3.Sensing device 150 is for example
Including at least one Inertial Measurement Unit 151 and/or at least one laser sensor 152 in other words laser scanner 152 and/or
At least one image sensor 153 and/or at least one corpuscular counter 154 and/or at least one heat sensor 155.
In addition, in figure 3 it can be seen that the driving device 120 of dust removing units 100 can be equipped with, which has at least
One driving element 121.
Dust-extraction unit 110 is illustrated in greater detail in Fig. 4, which is used for cleaning objects.Dust-extraction unit 110 exists
This is particularly used to make the particle of object 1 come off by projecting air-impingement.For this reason, dust-extraction unit 110 is for example including at least
One wind turbine element 111, the wind turbine element are for example fixed on the outside of dust removing units 100.Can be alternatively or additionally,
Dust-extraction unit 110 includes the driving element 121 of the driving device 120 of dust removing units 100.In other words, by described at least one
The air-impingement that driving element 120 projects can be used for cleaning.
The method according to the invention 500 is schematically shown in Figure 5.Here, according to first method step 501, except
Particle is set to come off from object 1 by least one dust-extraction unit 110 of dust removing units 100 during the flight of dirt unit 100.According to
Two method and steps 502, the particle to come off is stored and/or stores by least one cleaning element 210 of cleaning unit 200.
The elaboration to embodiment only describes the present invention in the range of embodiment above.Certainly, as long as technically
Significant, each feature of each embodiment can be freely mutually combined, and be made without departing from the scope of the present invention.
Reference numerals list
1 object
2 air entered
The air of 3 discharges
10 systems, cleaning systems
100 dust removing units
105 Storage Units
110 dust-extraction units
111 wind turbine elements
120 driving devices
121 driving elements, propeller
122 rotors
130 tilting gearings
140 electronic control units and/or electronic stabilization device
150 sensing devices
151 Inertial Measurement Units
152 laser sensors, laser scanner
153 image sensors
154 corpuscular counters
155 heat sensors
160 communication devices
200 cleaning units, air cleaning unit
210 cleaning elements
211 air intakes
212 air outlet slits
220 charging units, touch-down zone
500 methods
Claims (10)
1. the cleaning systems (10) at least partially automatically cleaning at least one object (1) on the ground in square region,
Include at least：
- dust removing units (100), the dust removing units are configured to unpiloted aircraft；
- cleaning unit (200), it is to separate which, which is configured to dust removing units (100),；
Wherein, the dust removing units (100) include at least one dust-extraction unit (110), for making particle come off from object (1),
And；
The cleaning unit (200) includes at least one cleaning element (210), to store and/or store the particle to come off,
So as to which the cleaning to object (1) is collaboratively carried out jointly by dust removing units (100) and cleaning unit (200).
2. cleaning systems (10) according to claim 1, it is characterised in that the driving device of the dust removing units (100)
(120) there is at least one driving element (121), preferably rotor (122), to produce in the dust removing units (100) lift and/
Or propulsive force, and thus causing the flight of dust removing units (100) and/or at least one sporting flying.
3. cleaning systems (10) according to claim 1 or 2, it is characterised in that the dust-extraction unit (110) has wind turbine
Element (111), it is to separate which, which is configured to the driving element of driving device (120) (121), and particularly structure
As air blower or hair-dryer, to want clean position to blow air to object (1), so that particle is de- from object (1)
Fall.
4. the cleaning systems (10) according to one of the claims, it is characterised in that by driving device (120) and/
Or the angle of inclination of dust-extraction unit (110) can be awing adjusted by separated tilting gearing (130), so as to be filled by dedusting
Targetedly air-impingement can be produced according to angle of inclination by putting (110).
5. the cleaning systems (10) according to one of the claims, it is characterised in that the dust-extraction unit (110) has
At least one electro-dissociator, to the air charging electric charge comprising particle.
6. the cleaning systems (10) according to one of the claims, it is characterised in that equipped with least two or three or
Four or eight dust removing units (100), can be used as group by these dust removing units and collaboratively implement to clean jointly, and this
A little dust removing units preferably have a communication device (160) respectively, to mutually communication.
7. the cleaning systems (10) according to one of the claims, it is characterised in that dust removing units (100) construction
Into unmanned plane, it is preferably configured as four-axle aircraft or Multi-axis aircraft.
8. the cleaning systems (10) according to one of the claims, it is characterised in that cleaning unit (200) construction
Into the base station for dust removing units (100), and the charging unit including charging unit (220), preferred induction type, to can be real
Now charge to dust removing units (100), wherein, preferably when electric power storage is horizontal low or after cleaning terminates, dust removing units (100)
Automatically can drive towards and/or fly to cleaning unit (200), to charge to dust removing units so that it is preferred that by electrical contact and/or
It can implement to charge to the Storage Unit of dust removing units (100) (105) by induction type energy transmission.
9. the method (500) at least partially automatically cleaning at least one object (1) on the ground in square region, utilizes
At least one dust removing units (100) and cleaning unit (200), wherein, dust removing units (100) are configured to unpiloted flight
Device,
Wherein at least implement the steps of, to pass through the common collaboratively implementation pair of dust removing units (100) and cleaning unit (200)
The cleaning of object (1)：
- dust removing units (100) fly during by least one dust-extraction unit (110) of dust removing units (100) make particle from
Object (1) comes off,
- particle to come off is stored and/or stored by least one cleaning element (210) of cleaning unit (200).
10. according to the method for claim 9 (500), it is characterised in that can run according to one of the claims
Cleaning systems (10).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102016120362.9A DE102016120362A1 (en) | 2016-10-25 | 2016-10-25 | Cleaning system for at least partially automatic cleaning of at least one object in the overground area |
| DE102016120362.9 | 2016-10-25 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107969992A true CN107969992A (en) | 2018-05-01 |
Family
ID=61866364
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710962132.6A Pending CN107969992A (en) | 2016-10-25 | 2017-10-17 | For at least partially automatically cleaning the cleaning systems of at least one object on the ground in square region |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107969992A (en) |
| DE (1) | DE102016120362A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109976177A (en) * | 2019-04-01 | 2019-07-05 | 广东职业技术学院 | Smart home security robot with face identification functions |
| CN110432690A (en) * | 2019-08-09 | 2019-11-12 | 吕昶珺 | A kind of sofa with self-cleaning function |
| EP4095035A1 (en) * | 2021-05-25 | 2022-11-30 | Valmet Technologies Oy | Unmanned aerial vehicle |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110899289A (en) * | 2019-11-12 | 2020-03-24 | 合肥永升机械有限公司 | Unmanned aerial vehicle tracks welding dust collecting equipment |
| CN113847978B (en) * | 2021-10-08 | 2023-09-08 | 浙江东鼎电子股份有限公司 | Data acquisition device for dynamic weighing of vehicle and application method |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100621078B1 (en) * | 2004-09-23 | 2006-09-19 | 삼성전자주식회사 | Method and air conditioning system for enhancing air quality |
| DE102014009903A1 (en) * | 2014-07-05 | 2016-01-07 | Ridha Azaiz | Method for controlling a missile for cleaning surfaces |
| CN104354856A (en) * | 2014-11-07 | 2015-02-18 | 苏州博菡环保科技有限公司 | Air purifier based on four-rotor aircraft |
-
2016
- 2016-10-25 DE DE102016120362.9A patent/DE102016120362A1/en not_active Withdrawn
-
2017
- 2017-10-17 CN CN201710962132.6A patent/CN107969992A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109976177A (en) * | 2019-04-01 | 2019-07-05 | 广东职业技术学院 | Smart home security robot with face identification functions |
| CN109976177B (en) * | 2019-04-01 | 2022-05-27 | 广东职业技术学院 | Intelligent household security robot with face recognition function |
| CN110432690A (en) * | 2019-08-09 | 2019-11-12 | 吕昶珺 | A kind of sofa with self-cleaning function |
| CN110432690B (en) * | 2019-08-09 | 2022-01-25 | 江苏里高智能家居有限公司 | Sofa with self-cleaning function |
| EP4095035A1 (en) * | 2021-05-25 | 2022-11-30 | Valmet Technologies Oy | Unmanned aerial vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| DE102016120362A1 (en) | 2018-04-26 |
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Application publication date: 20180501 |