EP4307979A1

EP4307979A1 - Self-driving and self-steering floor-cleaning device, and floor-cleaning system having a floor-cleaning device of this type

Info

Publication number: EP4307979A1
Application number: EP21714835.2A
Authority: EP
Inventors: Paul STIRM; Stephan Siegel; Manuel SCHULZE
Original assignee: Alfred Kaercher SE and Co KG
Current assignee: Alfred Kaercher SE and Co KG
Priority date: 2021-03-19
Filing date: 2021-03-19
Publication date: 2024-01-24
Also published as: CN117042664A; WO2022194387A1

Abstract

The invention relates to a self-driving and self-steering floor-cleaning device, comprising: a housing (18) having a front portion (30), with respect to a main movement direction (20) of the floor-cleaning device (10), and a rear portion (32), the housing defining an enveloping contour (42) of the floor-cleaning device (10) with respect to a top view of the floor-cleaning device (10) positioned on a floor surface (16); a chassis (62) for movement on the floor surface (16), the chassis being retained on the housing (18) and comprising two drive elements (64) mutually spaced apart along a drive axis; at least one cleaning apparatus (100) for cleaning the floor surface (16), the at least one cleaning apparatus (100) comprising a wiping apparatus (76) having a wiping tool. The floor-cleaning device (10) can be rotated about an axis of rotation (80) running through a pivot point (78) by means of the drive elements (64) of the chassis (62). The front and rear portions (30, 32) of the housing (18) are shaped such that a corresponding front portion (30) of the enveloping contour (42) runs at least partly within a circular contour (86), the center point (87) of which lies on the drive axis and the diameter of which is given by the width of the housing (18) at the position of the drive axis (70), and that a corresponding rear portion (32) of the enveloping contour (42) runs at least partly outside of the circular contour (86), the rear portion (32) holding the wiping apparatus (76).

Description

SELF-PROPELLED AND SELF-DIRECTING FLOOR CLEANING DEVICE AND FLOOR CLEANING SYSTEM WITH SUCH FLOOR CLEANING DEVICE

The present invention relates to a self-propelled and self-steering floor cleaning device, which comprises a housing, a chassis held on the housing for moving on a floor surface, and at least one cleaning device for cleaning the floor surface, the at least one cleaning device comprising a wiping device with a wiping tool.

With such a floor cleaning device, the floor surface can be cleaned autonomously. For this purpose, the floor cleaning device includes at least one cleaning device, which can include, for example, a sweeping device with a brush roller for sweeping the floor surface and/or a wiping device for wet cleaning and/or dry cleaning of the floor surface. Such a floor cleaning device is described, for example, in WO 2018/162092 A1.

With regard to good maneuverability of the floor cleaning device when driving around obstacles on the floor surface, it can be advantageous to design the housing so rounded that an enveloping contour defined by the housing in a plan view of the housing is arcuate in order to improve the movement properties in a cramped environment to enhance. However, this desire is opposed to the goal of making the floor cleaning device as compact as possible, but at the same time maximizing the size of the at least one cleaning device, for example a cleaning roller or a dirt collection container. Accordingly, a balance between these two requirements must be found in the design of the floor cleaning device. There are autonomous floor cleaning devices with puck-shaped housings be known that have a circular envelope contour in plan view. Furthermore, for example, EP 2 574 264 B1, US Pat rounded. Due to the front flattened section of the housing with essentially angular transition areas to the housing sides, however, the maneuverability deteriorates when driving around obstacles.

US Pat. No. 10,149,589 B2 describes a floor cleaning device with an enveloping contour that is approximately wavy in plan view, with the front section of the housing being flattened. In addition to the problem described above, the Wankel shape leads to poorer utilization of the installation space inside the housing behind the cleaning roller, with the result that the floor cleaning device has to be dimensioned relatively large overall.

The object of the present invention is to provide a self-propelled and self-steering floor cleaning device and a floor cleaning system with good cleaning performance and a compact structure.

This object is achieved by a self-propelled and self-steering floor cleaning device according to the invention, comprising: a housing with a front section in relation to a main direction of movement of the floor cleaning device and a rear section which, in relation to a plan view of the floor cleaning device positioned on a floor surface, has an enveloping contour of the Floor cleaning device defined; a chassis held on the housing for moving on the ground surface, which comprises two drive elements arranged at a distance from one another along a drive axis; at least one cleaning device for cleaning the floor surface, which at least one cleaning device comprises a wiping device with a wiping tool; wherein: the floor cleaning device can be rotated via the drive elements of the chassis about an axis of rotation running through a pivot point; the front section of the housing is shaped in such a way that a corresponding front section of the enveloping contour runs at least in sections within a circular contour whose center point is on the drive axis and whose diameter is given by the width of the housing at the position of the drive axis; the rear section of the housing is shaped in such a way that a corresponding rear section of the envelope contour extends at least in sections outside the circular contour, with the rear section of the housing accommodating the wiper device.

In the floor cleaning device according to the invention, front and rear sections of the housing define corresponding front and rear sections of the enveloping contour. A front portion of the enveloping contour runs at least from sections within a circular contour around a center point on the drive axis to the drive elements. When the floor cleaning device is rotated about the axis of rotation running through the pivot point, the pivot point preferably being able to coincide with the center point, good maneuverability of the floor cleaning device for turning around corners, edges and/or obstacles can be achieved in this way. In contrast, the rear section of the enveloping contour protrudes at least in sections beyond the circular contour due to the shape of the rear section of the housing. Sufficient installation space for accommodating the wiper device is provided at the rear section. This favors a high cleaning performance, for example due to the possibility of a large extension of the cleaning tool in a transverse direction perpendicular to the main direction of movement. Also, for example, for a reservoir for a cleaning liquid and / or a dirty liquid container for dirty cleaning liquid Sufficient installation space available at the rear section to increase the cleaning performance. The positioning of the wiping device behind the drive elements is advantageous in order to pick up any dirt still present on the floor surface after the drive elements have passed through and to improve the cleaning result.

In a preferred embodiment of the invention, the housing may preferably have a D-shape in plan view at the front portion and a rectangular shape or substantially a rectangular shape at the rear portion.

Unless otherwise stated, statements relating to the enveloping contour and the shape of the housing defining the enveloping contour are to be understood as referring to a top view of the floor cleaning device.

Position and orientation information such as "front", "rear" or the like are present denreinigungsgerätes related to an intended use of Bo. Here, the floor cleaning device is intended determination positioned on the floor surface to be cleaned, which can be viewed as horizontally aligned in particular.

The floor cleaning device has a main direction of movement, which in particular coincides with its longitudinal direction. The floor cleaning device moves along the main movement direction, in particular when moving forward in a straight line.

It goes without saying that the floor cleaning device can include a control device in order to control the operation and in particular the movement, in particular drives of the chassis. A navigation device is preferably provided to enable the floor cleaning device to navigate autonomously within an environment. In this regard, reference is made to the specialist knowledge of a person skilled in the art. "Drive axle" can be understood here, for example, to mean that the drive elements can be rotated independently of one another about a common drive axle, ie the respective drive axles of the drive elements coincide. "Drive axle" can be understood, for example, as a projection of individual drive axles of the drive elements onto the floor surface, for example if the drive elements are provided as drive wheels with a wheel camber and the drive axles are accordingly inclined relative to the floor surface and therefore do not coincide.

The chassis can preferably be controlled in such a way that the pivot point lies on the drive axle. In particular, the pivot point can be arranged centrally between the drive elements.

For example, in the latter case, the floor cleaning device can be rotated on the spot around the axis of rotation running through the centrally arranged pivot point, in that the drive elements are driven with the same power to achieve the same speed, but in opposite directions (assuming, for example, the same dimensions).

In the case of a different type of control, the pivot point can lie, for example, on the drive axle, but not in the middle between the drive elements. This can be achieved, for example, by driving the drive elements with different powers to achieve different speeds.

In a preferred embodiment of the invention, the center point is arranged centrally between the drive elements.

For example, the center lies on a median longitudinal plane. The drive elements can be arranged symmetrically to each other with respect to the central longitudinal plane on the floor cleaning device. The housing can, at least in terms of its shape, be designed symmetrically or essentially symmetrically with respect to the central longitudinal plane. The chassis can advantageously be controlled in such a way that the pivot point is the center point. In particular, the pivot point and the midpoint are preferably in the middle between the drive elements, with the axis of rotation being able to lie in a central longitudinal plane of the floor cleaning device.

The front section of the housing extends, for example, from the drive axle to a housing front of the floor cleaning device.

The rear section of the housing extends, for example, from a Ge house rear side of the floor cleaning device to the drive axle.

Provision can be made for the front section of the housing to extend from a central transverse plane to a housing front of the floor cleaning appliance.

Provision can be made for the rear section of the housing to extend from a rear side of the floor cleaning appliance housing to a central transverse plane.

Provision can be made for the front section of the housing to be shaped in such a way that the corresponding front section of the enveloping contour is arcuate, at least in sections. Alternatively or additionally, the corresponding front section of the enveloping contour can be configured to extend in a straight line at least in sections.

In a preferred embodiment of the invention, the front section of the housing can be shaped in such a way that the corresponding front section of the enveloping contour is completely arc-shaped up to the drive axis.

Alternatively, it can be provided that the front section of the housing is shaped in such a way that the corresponding front section of the enveloping contour is designed polygonally up to the drive axis. The front section of the housing is advantageously shaped in such a way that the corresponding front section of the enveloping contour runs entirely within the circular contour. In this way, a floor cleaning device with improved maneuverability can be provided.

It can be advantageous if the housing, starting from a housin sefront of the housing, widens counter to the main direction of movement at least as far as the drive axis. The housing can also widen beyond the drive axis, for example up to a central transverse plane of the Bo denreinigungsgerätes or even beyond this.

Starting from the front of the housing, the housing preferably widens counter to the main direction of movement in such a way that the corresponding section of the enveloping contour lies within a semicircular section of the circular contour.

The front section of the housing is advantageously shaped in such a way that a curvature of the corresponding section of the enveloping contour in the area of a housing front is less than in the transition areas adjoining the housing front to the housing sides. The housing has, in the transverse direction, transversely and in particular perpendicularly to the main direction of movement, spaced apart from one another, in particular a left-hand side of the housing and a right-hand side of the housing. In the area of the housing front, the curvature of the enveloping contour is less than in the transition areas in the direction of the housing sides, so that the curvature in the transition areas is greater. To a certain extent, the housing can be viewed in plan as flattened (but preferably curved) at the housing front and more curved in the transition to the housing sides. The greater curvature in the area of the transition areas improves the maneuverability, in particular for cleaning close to obstacles and/or in corners. By flattening the housing on the front of the housing, the largest possible installation space can be achieved for the components of the floor cleaning device.

The wiping tool preferably extends in a transverse direction of the floor cleaning device, which is aligned perpendicularly to the main direction of movement, up to the drive elements. The wiping tool can extend in the transverse direction beyond the drive elements, as a result of which any dirt originating from the drive elements can be detected.

The rear section of the housing is advantageously shaped in such a way that the corresponding rear section of the enveloping contour extends in a straight line in sections along the main movement direction or is extended in a substantially straight line.

This can in particular be understood to mean that sections of the enveloping contour which extend in a straight line in sections along or essentially along the main direction of movement are present behind the axis of rotation as a result of the shape of the housing. Such a shape offers the advantage of cleaning close to the edge, for example, in which the floor cleaning device can be moved parallel to a wall or an obstacle.

The rear section of the enveloping contour advantageously extends in a straight line or essentially in a straight line on housing sides that are perpendicular to one another in relation to a transverse direction of the floor cleaning device, perpendicular to the main direction of movement. These are, for example, the left and right housing sides of the floor cleaning device.

In a preferred embodiment of the invention, the drive elements comprise two drive wheels which can be rotated on the housing about aligned drive axles. The drive axes are preferably aligned perpendicular to the main direction of movement. It is favorable if the rear section of the housing is shaped in such a way that the corresponding rear section of the enveloping contour is rectangular or essentially rectangular or can be inscribed in a rectangle. From the drive axle or a central transverse plane of the pivot point to the rear, the housing is, for example, rectangular or essentially rectangular and offers a large installation space for components. In particular, for example, cleaning tools of the at least one cleaning device can be made long or large with regard to an improved cleaning result, for example a roller brush and/or a wiping tool.

It is advantageous if the rear section of the housing is shaped in such a way that the corresponding rear section of the envelope contour has rounded corner areas at the transitions to the housing sides. To put it simply, the housing can be rounded, for example, at the corner areas in the transition from the rear of the housing to the sides of the housing.

It is favorable if the rear section of the housing is shaped in such a way that the corresponding rear section of the enveloping contour protrudes backwards beyond the circular contour. In practice, it has been shown that by extending the housing backwards beyond the circular contour, especially with a rectangular or essentially rectangular shape of the housing or envelope contour, more space can be gained for components of the floor cleaning device. As a result, it is possible to build the soil cleaning device more compact overall because the use of space is optimized.

Conveniently, the housing is shaped in such a way that the corresponding rear section of the enveloping contour protrudes backwards beyond the circular contour by an amount or substantially by an amount by which a housing front of the housing lags behind the circular contour at the front. Accordingly, it can be advantageous if the housing is lengthened at the rear by or essentially by the same amount as it is shortened at the front relative to the circular contour. The pivot point is preferably arranged in front of a median transverse plane of the floor cleaning device, based on the main direction of movement. In this case, the pivot point is preferably shifted forward by such an amount or essentially such an amount in relation to the central transverse plane as the front of the housing lags behind the circular contour.

The pivot point is preferably positioned in front of the middle of the housing in relation to the main direction of movement. The forward offset of the pivot point preferably corresponds to the amount or essentially the amount by which the housing front lags behind the circular contour at the front.

The center of the housing is defined, for example, by inscribing the housing in a plan view in a rectangle, the center of the housing being defined by the intersection of the diagonals of the rectangle.

In a preferred embodiment of the invention, a ratio of a length of the housing in the main direction of movement to a width of the housing transversely and in particular perpendicularly to a main movement direction is approximately 0.7 to 1.4, preferably approximately 0.8 to 1.2, more preferably about 0.9 to 1.1.

The drive elements can, for example, be or include drive wheels.

The drive elements can, for example, be caterpillar elements or summarize. Accordingly, the chassis can be a caterpillar chassis.

With regard to a structurally simple design and compact design, it can be advantageous if the chassis includes only two drive elements. The drive elements preferably have separate drive units and can be driven separately from one another. In this way, an electronic differential can be implemented.

The at least one cleaning device preferably comprises a sweeping device with a brush roller that can be driven in rotation and a dirt collection container for collecting the dirt that has been swept up.

The sweeping device can preferably include a suction unit for applying negative pressure to the dirt collection container in order to increase the cleaning performance.

Alternatively it can be provided that the sweeping device is free of a suction unit.

The roller brush is preferably arranged between the drive elements and in particular special drive wheels, wherein an axis defined by the roller brush is preferably aligned parallel to the drive axis. An inlet opening for dirt to be swept up is advantageously positioned between the drive elements.

Alternatively, it can be provided that the brush roller is positioned in front of the drive elements in the main direction of movement or behind the drive elements in the main direction of movement.

It is advantageous if the sweeping device, if present, is arranged in front of the floor cleaning device in relation to the main direction of movement of the wiping device. First, dirt can be swept off the floor surface with the sweeping device and the floor surface can then be cleaned with the wiping device. This enables a particularly good cleaning result. The sweeping roller is advantageously driven in such a way that it is moved on the bottom side counter to the main direction of movement. Swept dirt, for example, can be conveyed backwards or forwards over the brush roller. Alternatively, the sweeping roller can be driven in such a way that it is moved on the ground side in the main direction of movement. Swept up dirt can be conveyed forwards or backwards over the brush roller.

Preferably, the floor cleaning device lies loosely with the sweeping roller on the floor surface.

The at least one cleaning device can advantageously include at least one side brush, which protrudes beyond the enveloping contour with cleaning elements. The at least one side brush is positioned, for example, in a corner area on the front left and/or in a corner area on the front right of the housing. An improved supply of dirt to the sweeping device can be enabled via the side brush. The side brush can preferably be used to improve cleaning close to the edge with the floor cleaning device.

In a preferred embodiment, the wiping device can be designed in particular for wet cleaning of the floor surface.

Alternatively or additionally, it is conceivable that a wiping device is provided for dry cleaning of the floor surface.

The wiping tool can be or include a wiping roller, a wiping cloth or at least one wiping pad, for example.

If a wiping roller is provided, this preferably has an axis of rotation oriented transversely and in particular perpendicularly to the main direction of movement. The wiping roller can be driven in such a way that they are in the bottom side Main direction of movement is moved. Although this may require increased drive power for the chassis, this results in a particularly good cleaning result. Alternatively, provision can be made for the wiper roller to be moved on the floor side counter to the main direction of movement, as a result of which the driving resistance can be reduced, for example.

The wiping device preferably comprises a dirty liquid container for receiving dirty cleaning liquid. Damp cleaning of the floor surface can be carried out using the wiping device. Advantageously, the wiping device is provided in addition to the sweeping device.

The wiping device preferably comprises a reservoir for cleaning liquid that can be applied to the floor surface and/or to the wiping tool.

In a preferred embodiment of the invention, the wiping device does not have a suction unit for sucking up the cleaning liquid and comprises a stripping element with which the cleaning liquid can be stripped off the wiping roller. The electrical input power of the wiping device can be kept low and the operating time of the floor cleaning device can be extended.

In another advantageous embodiment of the invention, it can be provided that the wiping device comprises a suction unit for sucking up the cleaning liquid.

Conveniently, the wiping device can be completely or partially removed from the housing. Preferably, the reservoir, the dirty liquid container and the wiper roller can be removed from the housing. This offers the possibility, for example, of relieving the load on the floor cleaning device and extending the operating time if only dry cleaning of the floor surface is to be carried out using the sweeping device. The floor cleaning device preferably has a support device for support on the floor surface, which includes the drive elements of the chassis and the wiping tool. Preferably, no further support elements are provided when the floor cleaning device includes the wiping device, so that the support is provided only by the drive elements and the wiping tool.

The chassis can include a preferably steerable support roller for support on the floor surface. In relation to the main movement direction, the support roller can be arranged, for example, in front of the drive elements or behind the drive elements. In a preferred embodiment, the support roller is positioned behind the drive elements and between the brush roller and the mopping tool.

The floor cleaning device is preferably only supported via the support roller on the floor surface when the wiping tool is removed from the floor cleaning device. In this case, the floor cleaning device can be supported in addition to the drive elements via the support roller on the floor surface. To reduce the driving resistance, however, the support via the support roller is not required if the wiping tool is attached to the floor cleaning device and the support is provided in addition to the drive elements via the wiping tool.

The support of the floor cleaning device via the wiping tool also has the advantage that a sufficient contact force can be achieved in the area of the wiping tool with regard to a good cleaning result.

In a preferred embodiment of the invention, the weight of the floor cleaning device, for example, about 70% to 90% loads on the drive elements and about 30% to 10% convincing on the wiping tool. The housing is preferably designed to be splash-proof.

The floor cleaning device preferably comprises a sensor device with at least one tactile sensor element. In a preferred embodiment, the sensor element can extend along the entire circumference of the housing. In this way, with only one tactile sensor element, collisions of the floor cleaning device at any position with an obstacle can be detected.

Alternatively, multiple tactile sensor elements can be provided.

It is favorable if the floor cleaning device comprises a sensor device with at least one sensor element, with which the condition of the floor surface can be detected, and a control device, with the control device controlling the running gear depending on a signal from the sensor device to select a cleaning path. In this way, the floor area can be cleaned as required. Alternatively or additionally, damage to the floor surface can be avoided by improper cleaning.

The sensor device is preferably designed optically and enables the nature of the floor surface to be determined, for example by means of spectroscopic methods.

A textile floor covering can preferably be detected by means of the sensor device, in particular a rug or a carpeted floor, and portions of the floor surface with textile floor covering are advantageously bypassed when the wiping tool is arranged in the floor cleaning device. If a textile floor covering is found, for example, damp cleaning by means of the wiping device is avoided. For this purpose, the corresponding section of the floor area can be bypassed. Instead of the optical sensor device, a tactile sensor element can be provided, for example, which is fastened sufficiently low on the housing. In this way, for example, a threshold resulting from a carpet can be tactilely detected.

As mentioned above, the present invention also relates to a floor cleaning system.

A floor cleaning system according to the invention comprises a floor cleaning device of the type described above and a charging station for the floor cleaning device, which includes electrical contact elements for contact-based or contactless coupling with corresponding electrical contact elements of the floor cleaning device when the floor cleaning device assumes a charging position at the charging station.

The advantages that were mentioned in connection with the explanation of the inventive Shen floor cleaning device can also be achieved with the erfindungsge Permitted floor cleaning system. In this regard, reference can be made to the above statements. Advantageous embodiments of the floor cleaning system result from advantageous embodiments of the floor cleaning device.

For example, a rechargeable battery of the floor cleaning device can be charged via the corresponding contact elements.

The contact elements can each be designed for physical contact. Alternatively, for example, a contactless coupling can take place, in particular by electromagnetic induction. In this way, for example, the battery of the floor cleaning device can be charged without contact.

The charging station preferably includes a plate-shaped mounting element for setting up the floor cleaning device, which element can be positioned completely above the mounting element. The positioning element advantageously includes or forms a trough-shaped depression and support elements for a wiping roller of the floor cleaning device that protrude upwards therefrom, so that there is a space between the wiping tool and a bottom of the depression. A damp wiping tool can dry better by lying on the support elements. Any dripping residual liquid can be collected in the recess. The support elements are designed, for example, as strips or ribs.

The contact elements are preferably arranged on projections starting from a bottom of the recess. If there is any liquid in the recess, the contact elements are not wetted and the electrical operational reliability of the floor cleaning system is consequently increased.

The following description of preferred embodiments of the invention is used in connection with the drawings to explain the invention in more detail. Show it:

Figure 1 is a perspective view of a preferred embodiment of the floor cleaning device according to the invention;

FIG. 2: a plan view of the floor cleaning device from FIG. 1;

FIG. 3: a view of the floor cleaning device from FIG. 1 from below;

FIG. 4: a preferred floor cleaning system according to the invention

Embodiment in a side view, comprising the floor cleaning device from FIG. 1 and a charging station; and

Figure 5: a perspective view of the charging station from Figure 4. The drawing shows a preferred embodiment of a floor cleaning device according to the invention, given the reference numeral 10 overall. The floor cleaning device 10 is part of a preferred embodiment of the floor cleaning system 12 according to the invention, which is shown in FIG. 4 and, in addition to the floor cleaning device 10, includes a charging station 14 shown in FIGS.

With the floor cleaning device 10 autonomous cleaning of a Bodenflä surface 16 is possible. For this purpose, the floor cleaning device 10 is designed to be self-driving and self-steering and forms in particular a cleaning robot with which, as explained below, both dry cleaning and wet cleaning of the floor surface 16 can be carried out, with wet cleaning being optional.

The floor cleaning device 10 includes a housing 18 for receiving the com ponents. Relative to a main direction of movement 20, the housing 18 has a housing front 22 and a housing rear 24, the housin sefront 22 being arranged on the housing 18 at the front and the housing rear 24 being arranged on the housing 18 at the rear. The main direction of movement 20 runs along a longitudinal direction 26 of the floor cleaning appliance 10. A transverse direction 28 is aligned transversely and in particular perpendicularly to the main direction of movement 20 and to the longitudinal direction 26.

The housing front 22 is part of a front portion 30 of the housin ses 18, and the housing rear 24 is part of a rear portion 32 of the housing 18.

The front section 30 extends in the present example from the Ge housing front 22 to the drive axle 70 of the drive wheels 66 (this will be discussed below). The rear section 32 extends from the drive axle 70 to the housing rear 24. The housing 18 includes a left housing side 34 and a right housing side 36. The housing sides 34, 36 are spaced apart in the transverse direction 28 from one another.

As can be seen in particular from FIGS. 2 and 3, the housing 18 has transition regions 38 on the front section 30, which adjoin the housing front 22 at the front left and front right. At the transition areas 38, the housing 18 transitions into the housing sides 34, 36.

At the rear section 32, the rear side 24 of the housing merges into the housing sides 34, 36 via corner areas 40.

In a plan view (Figure 2) of the floor cleaning device 10 positioned as intended on the floor surface 16, the housing 18 defines an enveloping contour 42. The enveloping contour 42 runs along the outer circumference of the housing 18 and is drawn in Figure 2 with a thicker line for the sake of clarity . References to the enveloping contour 42 and the shape of the housing 18 are to be interpreted as referring to the plan view of the floor cleaning device 10 .

Envelope contour 42 includes a front portion 44 defined by front portion 30 of housing 18 and a rear portion 46 defined by rear portion 32 of housing 18 .

As can be seen from FIGS. 2 and 3, the enveloping contour 42 can be inscribed overall in a rectangle 48 in the case of the floor cleaning device 10 . The ratio of a length 50 of the housing 18 in the main direction of movement 20 and thus the longitudinal direction 26 to a width 52 of the housing 18 in the transverse direction 28 is approximately 0.95 to 1.0 in the present exemplary embodiment.

The housing 18 is designed symmetrically with respect to a central longitudinal plane 54 of the floor cleaning device 10. The floor cleaning device 10, in particular the housing 18, has a center point 56 on. The center point 56 results from the intersection of two imaginary diagonals 58 of the rectangle 48.

The floor cleaning device 10 has a central transverse plane 60 which is oriented perpendicularly to the central longitudinal plane 54 and includes the center point 56 .

For moving on the floor surface 16, the floor cleaning device 10 comprises a chassis 62. In the present case, the chassis 62 comprises two drive elements 64, configured as drive wheels 66.

Instead of the drive wheels 66 can be provided on the chassis 62 as drive elements, for example Rau penelemente.

The drive wheels 66 are positioned at a distance from one another in the transverse direction 28 and are preferably arranged symmetrically relative to one another with respect to the central longitudinal plane 54 .

A respective drive wheel 66 can be driven in rotation about a respective drive axis by means of an independent drive unit 68, so that the soil cleaning device 10 can be moved and steered. In the present exemplary embodiment, the drive axles of the drive wheels 66 are aligned with one another, i.e. the drive wheels 66 can each be driven in rotation about a common drive axle 70 . The drive axle 70 runs in the transverse direction 28 (FIG. 2).

In the present case, the running gear 62 also includes a non-driven support roller 72. The support roller 72 can be steered passively and is arranged behind the drive wheels 66 in the main direction of movement 20. The support roller 72 is positioned between a sweeping device 74 and a wiping device 76 of the floor cleaning device 10, which will be discussed below (FIG. 3). Depending on how the drive wheels 66 are driven, the floor cleaning device 10 is rotated about a pivot point 78 . In the present case, the drive wheels 66 have the same dimensions.

If the drive wheels 66 are rotated in opposite directions at the same speed, the pivot point 78 is on the drive axle 70 in the middle between the drive wheels 66. In this case, the floor cleaning device 10 rotates on the spot.

If, on the other hand, one drive wheel 66 is rotated faster than the other drive wheel 66, the pivot point 78 is eccentric, but on the drive axle 70.

For the following description, it is assumed, without limitation for the present invention, that the pivot point 78 is located centrally between the drive wheels 66 on the axis of rotation 70, as shown in FIGS.

An axis of rotation 80 runs through the pivot point 78. The axis of rotation 80 is aligned transversely and in particular perpendicularly to a contact plane of a support device 82 of the floor cleaning appliance 10, the contact plane coinciding with a plane defined by the floor surface 16. In the present example, the support device 82 includes the drive wheels 66 and, if present, a wiping tool 83 of the wiping device 76.

A circular contour 86 is shown in FIGS. The center point 87 of the circular contour 86 is present on the drive axle 70 and is in particular arranged centrally between the drive wheels 66 . As explained, the chassis 62 can be controlled in such a way that the pivot point 78 is also positioned centrally between the drive wheels 66 . In the example explained here, the center point 87 is accordingly the pivot point 78. The diameter of the circular contour 86 corresponds to the housing width of the housing 18 at the position of the drive axis 70, in relation to the main direction of movement 20. As can also be seen from FIGS. 2 and 3, the front section 30 is shaped in such a way that the front section 44 of the enveloping contour 42 runs at least partially within the circular contour 86 and is preferably at least partially arcuate.

In particular, the section 30 is presently shaped such that the section 44 is completely arcuate and runs completely within the circular contour 86 .

The housing 18 has a convex shape, in particular, on the front section 30 . In particular, the housing 18 widens, starting from the housing front 22, counter to the main direction of movement 20, preferably at least as far as the drive axis 70.

In the present exemplary embodiment, the housing widens even further counter to the main direction of movement 20, beyond the central transverse plane 60, up to approximately three quarters of the length 50.

As can also be seen from FIGS. 2 and 3, the front section 30 is shaped in such a way that the curvature of the envelope contour 42 in the area of the housing front 22 is less than at the transition areas 38. In the area of the housing front 22, the housing 18 is as a result of this Shape flattened, in relation to the corner areas 40.

In practice, it has been shown that the course of the front section 44 at least partially within the circular contour 86 and preferably its at least partially arcuate shape means that the floor cleaning device 10 can be easily maneuvered. At the same time, sufficient installation space for components of the floor cleaning device 10 is provided internally in the housing, so that the floor cleaning device 10 can be built in a compact manner overall. As can also be seen from FIGS. 2 and 3, the rear section 32 of the housing 18 is shaped in such a way that the rear section 46 of the enveloping contour 42 runs outside the circular contour 86 in sections. In this way, sufficient space can be made available at the rear of the floor cleaning device 10 to accommodate its components. In particular, the wiper device 76 in the rear section 30 of the housing 18 is here taken.

A particularly large amount of installation space is also available in the present case because the rear section 32 is shaped in such a way that the rear section 46 of the enveloping contour 42 is essentially rectangular. The Eckberei surface 40 are, however, rounded. Due to the rounding, the maneuverability of the floor cleaning device 10 can be increased, for example when reversing.

The rear section 30 is, in particular on the housing sides 34, 36, shaped in such a way that the rear section 46 extends in sections in a straight line or essentially in a straight line. The extension runs in the direction of main movement 20 (FIGS. 2 and 3). This shape has proven to be advantageous for cleaning close to the edge, in which the floor cleaning device 10 can be moved parallel to a boundary of the floor surface 16 or to an obstacle.

As can also be seen from FIGS. 2 and 3, the rear section 32 is shaped in such a way that the rear section 46 protrudes backwards, counter to the main direction of movement 20, beyond the circular contour 86. In this way, space for components of the floor cleaning device 10 can be provided in the rear area of the housing 18 . In this way, a compact design for the floor cleaning device 10 can be achieved with high maneuverability at the same time. In the present example, it is provided that the housing end 24 protrudes backwards by an amount 88 substantially beyond the circular contour 86 by which the housing front 22 remains behind the circular contour 86 . The "shortening" or "compression" of the housing 18 at the front relative to the circular contour 86 corresponds to the "lengthening" of the housing 18 at the rear compared to the circular contour 86.

The pivot point 78 (and the center point 87 of the circular contour 86) is shifted forward by the amount 88 in the main direction of movement 20 relative to the center point 56. The pivot point 78 is accordingly in front of the central transverse plane 60 (Figure 2).

To control the operation, the floor cleaning device 10 comprises a control device 90 with which i.a. the chassis 62 can be controlled. The control device 90 is arranged in a front region of the housing 18 and below a navigation device 92 . Navigation device 92 is a sensor device and includes at least one sensor element that is coupled to control device 90 . For example, an optical sensor, a radar sensor, an IR sensor and/or an ultrasonic sensor is provided.

Furthermore, a sensor device with a tactile sensor element 94 is provided (FIG. 1), which is coupled to the control device 90 . In the present case, the sensor element 94 is formed by a touch-sensitive element running along the entire outer circumference of the housing 18 . The sensor element 94 is accordingly a so-called impactor or "bumper" with which collisions of the floor cleaning device 10 with obstacles on all sides can be tactilely detected. It is favorable here that the sensor element 94 extends along the entire outer circumference.

Alternatively, several sensor elements 94 can be provided, which can be connected to one another. To provide electrical energy, the floor cleaning device 10 includes a rechargeable battery 96, which is positioned in the front area of the housing 18, for example below the control device 90 (FIG. 3).

The floor cleaning device 10 includes electrical contact elements 98 which are arranged in the present case in the front area of the housing 18 on the underside. About the contact elements 98, the battery 96 can be aufschlagt with electrical energy.

The floor cleaning device 10 comprises at least one cleaning device 100 for cleaning the floor surface 16. In the present case, a total of three cleaning devices 100 are provided.

A first cleaning device is the already mentioned sweeping device 74. The sweeping device 74 comprises a sweeping roller 106 which can be driven in rotation about an axis of rotation 104 by means of a drive unit 102. The sweeping roller 106 is a brush roller.

The sweeping roller 106 is positioned between the drive wheels 66, with between the drive wheels 66's also a sweeping opening 108 is arranged. The roller brush 106 runs parallel to the drive axles 70.

Dirt can be swept away from the floor surface 16 by means of the brush roller 106 and swept into a dirt collecting container 110 (shown schematically in FIG. 4).

The direction of rotation of the sweeping roller 106 is selected here so that it is moved on the ground side counter to the main direction of movement 20 and the dirt is transported overhead to the front into the dirt collection container 110 .

The sweeping device 74 includes a suction unit 112 for applying a vacuum to the dirt collecting container 110, as a result of which the cleaning performance can be increased. The floor cleaning device 10 comprises a side brush 114 as a further cleaning device 100. The side brush 114 is arranged in the front region of the housing 18 and protrudes beyond the enveloping contour 42 with brush-shaped cleaning elements 116.

The side brush 114 can be used in particular to carry out an advantageous cleaning close to the edge with the floor cleaning device 10 . Dirt can be swept up in sweeping device 74 .

Another cleaning device 100 is formed by the wiping device 76 . The wiping device 76 comprises the wiping tool 83. In the present case, the wiping tool 83 is a wiping roller 84, which can be driven in rotation about an axis of rotation 120 by means of a drive unit 118.

The axis of rotation 120 runs in the transverse direction 28. The direction of rotation of the wiping roller 84 is selected such that it rotates in the main direction of movement 20 on the bottom side. This improves the cleaning performance.

The wiping device 76 is arranged behind the sweeping device 74 in relation to the main direction of movement 20 .

In the present case, the wiping device 76 is designed for wet cleaning of the floor surface 16 . In this way, a dry cleaning and then a wet cleaning of the floor surface 16 can be carried out first. Alternatively, for example, a wiping device for dry cleaning of the bottom surface 16 can be provided.

The wiping roller 84 extends in the transverse direction 28 over a large part of the width of the floor cleaning appliance 10. In particular, an area that corresponds to the distance between the drive wheels 66 in the transverse direction 28 is covered by the wiping roller 84 (FIG. 3). In this way, a high surface cleaning performance can be achieved with the floor cleaning device 10 . The wiping device 76 includes a dirty liquid container 122 for receiving dirty cleaning liquid. In the present case, a stripping element 124 is arranged on the dirty liquid container 122, with which dirty cleaning liquid can be stripped off the cover of the wiping roller 84.

The wiping device 76 also includes a reservoir 126 for uncontaminated cleaning liquid, in particular water. A cleaning chemical can be added to increase the cleaning performance. The wiping roller 84 can be moistened and/or the floor surface 16 can be impinged on by means of the uncontaminated cleaning liquid.

The support device 82 includes the drive wheels 66 and the wiping roller 84. This makes it possible to ensure sufficient contact force for the wiping roller 84 to achieve good cleaning performance.

The wiping device 76 can be removed from the floor cleaning device 10 if only a dry cleaning of the floor surface 16 via the sweeping device 74 is desired. In this case, the floor cleaning device 10 is only on the drive wheels 66 and the support roller 72 on the surface 16 Bodenflä.

The floor cleaning device 10 comprises a sensor device with a sensor element 128 which is coupled to the control device 90 . The sensor element 128 is used to detect the condition of the bottom surface 16 and is in the present case in the front area of the housing 18 is arranged on the bottom side.

If the sensor element 128 detects a textile floor covering, for example a rug or a carpeted floor, this section of the floor surface 16 is bypassed by the floor cleaning device 10 since wet cleaning of the textile floor covering is to be avoided. The charging station 14 mentioned at the outset includes a plate-shaped Aufstellele element 130, which can be positioned on the floor surface 16 and to set up the floor cleaning device 10 is used. The positioning element 130 is dimensioned such that the floor cleaning device 10 is positioned completely above the positioning element 130 .

The positioning element 130 has a depression 132 . In the area of Vertie tion 132 wheel wells 134 are arranged. When the drive wheels 66 are positioned in the wheel recesses 134, a reliable, clearly defined position of the floor cleaning device 10 at the charging station 14 can be ensured.

In particular, this ensures that contact elements 136 of the charging station 14 can couple to the contact elements 98 of the floor cleaning device 10 so that the battery 96 can be charged.

The contact elements 136 are arranged on projections 138 starting from a bottom 140 of the depression 132 . In the event that any cleaning liquid collects in the depression 132 (e.g. discharged from the wiping roller 84), the contact elements 136 are protected from the cleaning liquid. This increases the electrical safety of the floor cleaning system 12 .

In the case of the floor cleaning system 12, the contact elements 98, 136 couple to one another in a contact-based manner. It can be provided within the scope of the invention that corresponding electrical contact elements of the charging station 14 and of the floor cleaning device 10 can be coupled to one another in a contactless manner. For example, a contactless inductive energy transfer from the charging station 14 to the floor cleaning device 10 can be provided.

Supporting elements 142 also protrude from the bottom 140 of the depression 132 . In the present case, the support elements 142 are strip-shaped. The support elements 142 are used to support the wiping roller 84 so that between the wiping roller's 84 and the floor 140 a gap 144 is formed. In this way, the wiping roller 84 can dry better.

Reference list:

10 floor cleaning device 12 floor cleaning system 14 charging station 16 floor surface 18 housing

20 main direction of movement 22 housing front 24 housing rear 26 longitudinal direction 28 transverse direction 30 front section housing 32 rear section housing 34 left housing side 36 right housing side 38 transition area 40 corner area 42 enveloping contour

44 front section enveloping contour

46 rear section enveloping contour

48 rectangle

50 length

52 width

54 median longitudinal plane

56 midpoint

58 diagonal

60 central transverse plane

62 landing gear

64 drive element

66 drive wheel

68 drive unit

70 drive axle Support roller Sweeping device Wiping device Pivot point Rotational axis Supporting device Wiping tool Wiping roller Circular contour center Amount Control device Navigation device Sensor element Battery contact element Cleaning device Drive unit Rotational axis Sweeping roller Sweeping opening Dirt collection container Suction unit Side brush Cleaning element Drive unit rotation axis Dirty liquid container Wiping element Storage container Sensor element Installation element Deepening Wheel recess Contact element Projection Floor Support element Interspace

Claims

PATENT CLAIMS

1. Self-propelled and self-steering floor cleaning device, comprising: a housing (18) with a front section (30) in relation to a main direction of movement (20) of the floor cleaning device (10) and a rear section (32) which, in relation to a top view of the on a floor surface (16) positioned floor cleaning device (10), an envelope contour (42) of Bodenreinigungsge rätes (10) defined; a chassis (62) held on the housing (18) for moving on the floor surface (16), which comprises two drive elements (64) arranged at a distance from one another along a drive axis (70); at least one cleaning device (100) for cleaning the floor surface (16), which at least one cleaning device (100) comprises a wiping device (76) with a wiping tool; wherein: the floor cleaning device (10) can be rotated via the drive elements (64) of the chassis (62) about an axis of rotation (80) running through a pivot point (78); the front section (30) of the housing (18) is shaped in such a way that a corresponding front section (44) of the enveloping contour (42) runs at least in sections within a circular contour (86), the center point (87) of which is on the drive axle (70) and whose diameter is given by the width of the housing (18) at the position of the drive axle (70); the rear section (32) of the housing (18) is shaped in such a way that a corresponding rear section (46) of the enveloping contour (42) runs at least in sections outside the circular contour (86), wherein the rear portion (32) of the housing (18) receives the wiping device (76).

2. Floor cleaning device according to claim 1, characterized in that the chassis (62) can be controlled in such a way that the pivot point (78) lies on the drive axle (70) and in particular is arranged centrally between the drive elements (64).

3. Floor cleaning device according to claim 1 or 2, characterized in that the center (87) is arranged centrally between the drive elements (64).

4. Floor cleaning device according to one of the preceding claims, characterized in that the chassis (62) can be controlled in such a way that the pivot point (78) is the center point (87).

5. Floor cleaning device according to one of the preceding claims, characterized in that the front section (30) of the housing (18) extends from the drive axle (70) to a housing front (22) of the floor cleaning device (10) and/or that the hin tere portion (32) of the housing (18) from a rear housing (24) of the floor cleaning device to the drive shaft (70).

6. Floor cleaning device according to one of the preceding claims, characterized in that the front section (30) of the housing (18) is shaped in such a way that the corresponding front section (44) of the enveloping contour is designed to extend at least in sections in an arcuate manner and/or at least in sections to extend in a straight line .

7. Floor cleaning device according to one of the preceding claims, characterized in that the front portion (30) of the housing (18) is shaped so that the corresponding front portion (44) of Enveloping contour (42) up to the drive axle (70) is completely arcuate or polygonal.

8. Floor cleaning device according to one of the preceding claims, characterized in that the front section (30) of the housing (18) is shaped such that the corresponding front section (44) of the enveloping contour (42) runs completely within the circular contour (86).

9. Floor cleaning device according to one of the preceding claims, characterized in that the housing (18), starting from a housing front (22) of the housing (18) widens counter to the main movement direction (20) at least up to the drive axle (70).

10. Floor cleaning device according to one of the preceding claims, characterized in that the front section (30) of the housing (18) is shaped such that a curvature of the corresponding section of the enveloping contour (42) in the area of a housing front (22) is less than at the transition areas (38) adjoining the housing front (22) to the housing sides (34, 36).

11. Floor cleaning device according to one of the preceding claims, characterized in that the wiping tool extends in a transverse direction (28) of the floor cleaning device (10), which is oriented perpendicular to the main movement direction (20), up to the drive elements (64).

12. Floor cleaning device according to one of the preceding claims, characterized in that the corresponding rear section (32) of the housing (18) is shaped in such a way that the rear section (46) of the enveloping contour (42) extends in a straight line in sections along the main direction of movement (20). or extends substantially in a straight line.

13. Floor cleaning device according to Claim 12, characterized in that the rear section (46) of the enveloping contour (42) on housing sides (34, 36) which are related to one another in a transverse direction (28) of the floor cleaning device (10) perpendicular to the main direction of movement (20 ) Opposite, rectilinear or substantially rectilinear.

14. Floor cleaning device according to one of the preceding claims, characterized in that the rear section (32) of the housing (18) is shaped such that the corresponding rear section (46) of the enveloping contour (42) is rectangular or essentially rectangular or in a Rectangle can be inscribed.

15. Floor cleaning device according to one of the preceding claims, characterized in that the rear section (32) of the housing (18) is shaped in such a way that the corresponding rear section (46) of the enveloping contour (42) has rounded corner regions (40) at the transitions to Has housing sides (34, 36).

16. Floor cleaning device according to claim 14 or 15, characterized in that the rear section (32) of the housing (18) is shaped such that the corresponding rear section (46) of the enveloping contour (42) backwards over the circular contour (86) protrudes.

17. Floor cleaning device according to claim 16, characterized in that the housing (18) is shaped so that the corresponding rear portion (32) of the enveloping contour (42) backwards over the circular contour (86) by an amount (88) or substantially an amount (88) protrudes by which a housing front (22) of the housing (18) remains in front behind the circular contour (86).

18. Floor cleaning device according to one of the preceding claims, characterized in that the pivot point (78), based on the Main direction of movement (20), in front of a central transverse plane (60) of the Bo denreinigungsgerätes (10) is arranged.

19. Floor cleaning device according to one of the preceding claims, characterized in that a ratio of a length (50) of the Ge housing (18) in the main direction of movement (20) to a width (52) of the housing (18) transversely and in particular perpendicularly to a main direction of travel (20) is about 0.7 to 1.4, preferably about 0.8 to 1.2, more preferably 0.9 to 1.1.

20. Floor cleaning device according to one of the preceding claims, characterized in that the drive elements (64) are or include drive wheels (66).

21. Floor cleaning device according to one of claims 1 to 19, characterized in that the drive elements (64) are or include track elements.

22. Floor cleaning device according to one of the preceding claims, characterized in that the chassis (62) comprises only two drive elements (64).

23. Floor cleaning device according to one of the preceding claims, characterized in that the at least one cleaning device (100) comprises a sweeping device (74) with a rotary brush (106) that can be driven in rotation and a dirt collection container (110) for collecting the dirt that has been swept up.

24. Floor cleaning device according to claim 23, characterized in that the sweeping device (74) comprises a suction unit (112) for applying negative pressure to the dirt collecting container (110).

25. Floor cleaning device according to claim 23 or 24, characterized in that the roller brush (106) is arranged between the drive elements (64), in particular that an axis (104) defined by the roller brush (106) is aligned parallel to the drive axis (70). is.

26. Floor cleaning device according to claim 24 or 25, characterized in that the sweeping device (74) is arranged upstream of the wiping device (76) on the floor cleaning device (10) in relation to the main movement direction (20).

27. Floor cleaning device according to one of the preceding claims, characterized in that the at least one cleaning device (100) comprises at least one side brush (114) which protrudes beyond the enveloping contour (42) with cleaning elements (116).

28. Floor cleaning device according to one of the preceding claims, characterized in that the wiping tool is or comprises a wiping roller, a wiping cloth or at least one wiping pad.

29. Floor cleaning device according to one of the preceding claims, characterized in that the wiping device (76) comprises a dirt liquid container (122) for receiving dirty cleaning liquid.

30. Floor cleaning device according to one of the preceding claims, characterized in that the wiping device (76) comprises a reservoir (126) for cleaning liquid which can be applied to the floor surface (16) and/or the wiping tool (84).

31. Floor cleaning device according to one of the preceding claims, characterized in that the wiping device (76) free of a The suction unit is for sucking up the cleaning liquid and from a stripping element (124) with which the cleaning liquid can be stripped from the wiping tool.

32. Floor cleaning device according to one of the preceding claims, characterized in that the wiping device (76) is completely or partially removable from the housing (18).

33. Floor cleaning device according to one of the preceding claims, characterized in that the floor cleaning device (10) has a support device (82) for support on the floor surface (16), which comprises the drive elements (64) of the running gear (62) and the wiping tool .

34. Floor cleaning device according to one of the preceding claims, characterized in that the running gear (62) includes a preferably steerable support roller (72) for support on the floor surface (16).

35. Floor cleaning device according to claim 34, characterized in that the floor cleaning device (10) is only supported on the support roller (72) on the floor surface (16) when the wiping tool is removed from the floor cleaning device (10).

36. Floor cleaning device according to one of the preceding claims, characterized in that the floor cleaning device (10) comprises a sensor device with at least one sensor element (128) with which the condition of the floor surface (16) can be detected, and a control device (90), wherein the control device (90) controls the running gear (62) depending on a signal from the sensor device to select a cleaning path.

37. Floor cleaning device according to claim 36, characterized in that a textile floor covering can be detected by means of the sensor device, in particular a rug or carpeted floor, and that sections of the floor surface (16) are bypassed with textile floor covering when the wiping tool in the floor cleaning device (10) is arranged.

38. Floor cleaning system, comprising a floor cleaning device (10) according to one of the preceding claims and a charging station for the floor cleaning device (10), which comprises electrical contact elements (136) for contact-based or contactless coupling with corresponding electrical contact elements (98) of the floor cleaning device (10). , when the floor cleaning device (10) at the charging station (12) assumes a loading position.

39. Floor cleaning system according to claim 38, characterized in that the charging station (12) comprises a plate-shaped positioning element (130) for positioning the floor cleaning device (10), which can be positioned completely above the positioning element (130).

40. Floor cleaning system according to claim 39, characterized in that the positioning element (130) comprises or forms a trough-shaped depression (132) and supporting elements (142) protruding upwards from this for a wiping roller (84) of the floor cleaning device (10), so that between an intermediate space (144) is present between the wiping tool (83) and a base (140) of the depression.

41. Floor cleaning system according to claim 40, characterized in that the contact elements (136) are arranged on projections (138) starting from a bottom (140) of the recess (132).