DE102011055764A1 - Process for processing a textile floor surface by means of a floor cleaning device and floor cleaning device - Google Patents

Process for processing a textile floor surface by means of a floor cleaning device and floor cleaning device

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Publication number
DE102011055764A1
DE102011055764A1 DE102011055764A DE102011055764A DE102011055764A1 DE 102011055764 A1 DE102011055764 A1 DE 102011055764A1 DE 102011055764 A DE102011055764 A DE 102011055764A DE 102011055764 A DE102011055764 A DE 102011055764A DE 102011055764 A1 DE102011055764 A1 DE 102011055764A1
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DE
Germany
Prior art keywords
floor cleaning
floor
cleaning device
pile direction
sensor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
DE102011055764A
Other languages
German (de)
Inventor
Thomas Popp
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Alfred Kaercher SE and Co KG
Original Assignee
Alfred Kaercher SE and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Alfred Kaercher SE and Co KG filed Critical Alfred Kaercher SE and Co KG
Priority to DE102011055764A priority Critical patent/DE102011055764A1/en
Publication of DE102011055764A1 publication Critical patent/DE102011055764A1/en
Application status is Withdrawn legal-status Critical

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Classifications

    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00Details 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
    • A47L9/28Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805Parameters or conditions being sensed
    • A47L9/2826Parameters or conditions being sensed the condition of the floor
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00Details 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
    • A47L9/28Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805Parameters or conditions being sensed
    • A47L9/2831Motor parameters, e.g. motor load or speed
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00Details 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
    • A47L9/28Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2847Surface treating elements
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Abstract

The invention relates to a method for processing a textile floor surface, in particular a high-pile carpet or carpet, with a self-propelled and self-steering floor cleaning device having a drive unit, a control unit for controlling the movement of the floor cleaning device and a floor cleaning unit with at least one electric motor driven cleaning brush. In order to provide such a method by which the most thorough cleaning of the textile floor surface is feasible, it is proposed that at least one sensor of a sensor unit of the floor cleaning device detects a sensor signal associated with a pile direction of the floor surface and transmits it to a pile direction detection element of the floor cleaning device, from the pile direction detection element the pile direction of the bottom surface is determined on the basis of the sensor signal, and the bottom surface is processed as a function of the determined pile direction. Moreover, the invention relates to a self-propelled and self-steering floor cleaning device.

Description

  • The invention relates to a method for processing a textile floor surface, in particular a high-pile carpet or carpet, with a self-propelled and self-steering floor cleaning device having a drive unit, a control unit for controlling the movement of the floor cleaning device and a floor cleaning unit with at least one electric motor driven cleaning brush.
  • Moreover, the invention relates to a self-propelled and self-steering floor cleaning device for performing such a method, wherein the floor cleaning device comprises a drive unit, a control unit for controlling the movement of the floor cleaning device and a floor cleaning unit with at least one electric motor driven cleaning brush.
  • There are self-propelled and self-steering floor cleaning devices are known with which the nature of a floor to be cleaned surface can be detected automatically. Thus, it is possible to classify the floor surface as to whether it is a hard surface or a textile floor surface. Depending on the nature of the floor surface this can be processed differently by the floor cleaning device. Such a floor cleaning device is for example in the DE 102 61 787 B3 described.
  • Textile floor surfaces can be subdivided into low pile or high pile carpets or carpets. It is for example from the DE 10 2010 000 573 A1 It is known that the textile bottom surface can be processed differently depending on the pile height. It is thus possible to increase the performance of the brush drive in high-pile carpets, in order to be able to remove dirt particles from high-pile carpeting. In addition, the performance of a suction unit of the floor cleaning device can be reduced to avoid its fixed eyes on the high pile carpet.
  • Object of the present invention is to provide a method and a floor cleaning device of the type mentioned, with the most thorough cleaning of the textile bottom surface is feasible.
  • This object is achieved in a generic method according to the invention in that detected by at least one sensor of a sensor unit of the floor cleaning device associated with a pile direction of the bottom surface sensor signal and transmitted to a Florrichtungsermittlungsglied the floor cleaning device, the Florrichtungsermittlungsglied based on the sensor signal, the pile direction of the bottom surface is determined and the bottom surface is processed in dependence on the determined pile direction.
  • In the present invention, the idea flows in that certain textile floor surfaces, in particular high-pile carpets or carpets, as a result of the respective manufacturing process, such as weaving or knitting process, fibers that are aligned along a certain preferred direction. This preferred direction of the bottom surface is hereinafter referred to as "pile direction". In the present case fibers also include self-contained fiber loops. The fibers can be aligned along their lower fiber sections along the pile direction. At their free fiber ends, the fibers may be oriented anisotropically and in particular all may be laid in the same direction, especially the pile direction of the bottom surface. However, the fibers can also assume any orientation relative to the pile direction at their free ends and in particular be distributed isotropically. This results, for example, from the fact that the floor surface is entered or processed by persons, which leads to a "folding" of the free ends of the fibers and thus a deviation of the same from the pile direction. Nevertheless, in this case too, the lower, non-free ends of the fibers remain oriented along the pile direction due to the respective production process.
  • In the method according to the invention, the use of at least one sensor of a sensor unit of the floor cleaning device is provided. On the basis of the sensor, a sensor signal associated with the pile direction of the bottom surface can be detected and transmitted to a pile direction determining member of the floor cleaning appliance. By means of the pile direction determining member, the pile direction of the floor surface to be processed can be determined and the floor surface can be processed as a function of the determined pile direction. This allows targeted editing of the floor area. For example, it is possible that the floor cleaning device is aligned relative to the bottom surface that it is processed along the pile direction to effectively remove dirt particles from the pile, for which at the same time only a relatively small amount of energy is applied. This is particularly advantageous in a self-propelled and self-steering floor cleaning device for extending the battery life. If the cleaning brush is a brush roller, the cleaning brush can be rotated for this purpose about a rotational axis oriented transversely to the pile direction. In addition, the floor cleaning device can be aligned relative to the bottom surface, that the pile is cleaned transversely to the pile direction with the cleaning brush, wherein the axis of rotation of the cleaning brush in parallel oriented to the pile direction. As a result, for example, given the opportunity to remove remaining dirt particles effectively from the pile.
  • In an advantageous variant of the method according to the invention can be provided that the floor cleaning device based on a predetermined Florrichtungserfassungspfad on the bottom surface, processed the bottom surface with the cleaning brush and detected by a current sensor, the motor current of a drive motor cleaning brush path dependent and a related sensor signal is transmitted to the Florrichtungsermittlungsglied , In practice, the floor cleaning device can be operated so that the cleaning brush is rotated at a constant speed, in response to a control by the control unit. The speed is maintained, for example, that the motor current of the drive motor of the cleaning brush is adjusted resistance dependent. The resistance that the pile of the cleaning brush opposes, the greater the angle between the cleaning bristles and the pile direction is (minimum when aligning the cleaning brush transverse to the pile direction and maximum when aligning the cleaning brush parallel to the pile direction). By path-dependent measurement of the motor current, depending on the orientation of the floor cleaning device relative to the bottom surface and thus the pile direction, the pile direction can be determined in this way by the pile direction determining member.
  • It is advantageous if the floor cleaning device is moved along an arcuate, in particular a circular arc-shaped pile direction detection path. Starting from a starting point, the floor cleaning device can move, for example, a semicircle or full circle and path-dependent capture the motor current. The motor current is minimal when the floor cleaning device is aligned parallel to the pile direction and maximum when it is aligned perpendicular to the pile direction. As a result, the pile direction can be reliably determined.
  • It is also conceivable that the floor cleaning device is not curved, but is moved by another path. For example, the floor cleaning device can be moved according to a fan or radial path or according to a star path. The portion of the pile direction detection path at which the lowest motor current is measured can be regarded by the pile direction detecting member as running along the pile direction and the pile direction can be determined therefrom.
  • In a further advantageous variant of the method according to the invention, it can be provided that a boundary edge of the bottom surface is detected using an edge detection sensor, a sensor signal relating to this is transmitted to the pile direction determining element and the course of the boundary edge is regarded by the pile direction determining element as aligned along the pile direction or transversely to the pile direction. Such a variant of the method may prove advantageous, in particular for carpets, since carpet edges usually run along or across the pile direction. The carpet edge forms a boundary edge of the textile bottom surface, which is detected by means of the edge detection sensor. A related sensor signal can be evaluated by the pile direction determining member to the effect that it is assumed that the carpet edge is oriented parallel or transverse to the pile direction. As a result, the pile direction can be reliably determined in a technically simple manner. This method is also suitable for textile floor surfaces in the form of carpets that fill the entire floor surface of a room and can adjoin without gaps on the side walls of the room. In the present case, for example, a floor or carpet strip can be detected by the edge detection sensor as a boundary edge of the textile floor surface, which is arranged on a side wall adjacent to the carpet floor. Also in this case, the course of the boundary edge of the edge detection sensor can be technically easily detected and reliably assumed by the pile direction determining member that the pile direction is aligned longitudinally or transversely to the boundary edge.
  • Preferably, the floor cleaning device is aligned at least in a first orientation along the boundary edge and in a second orientation transverse to the boundary edge, respectively processed the bottom surface with the cleaning brush and based on a current sensor of the motor current of a drive motor cleaning brush detected orientation dependent and transmit a related sensor signal to the Florrichtungsermittlungsglied. As a result, the pile direction determining member can determine whether the boundary edge extends along the pile direction or transversely thereto.
  • It is advantageous if a radiation sensor is used as edge detection sensor and the course of the boundary edge is detected without contact. This makes it technically easy to detect the course of the boundary edge. The radiation sensor may be, for example, a sensor which is sensitive in the visible light range or in the infrared light range. For example, the radiation sensor is a camera, in particular a digital camera. As a radiation sensor and an ultrasonic sensor can be used, such as Determine the distances of the floor cleaning device from a side wall of the floor surface and to deduce the course of the boundary edge such as floor or carpet strip.
  • In a further advantageous variant of the method according to the invention, it is favorable if an acceleration sensor is used as the edge detection sensor and the course of the boundary edge is detected by passing it over with the floor cleaning device. For example, the floor cleaning device can be moved over the floor surface and unevenness thereof can be detected by means of the acceleration sensor. Unevenness can be, in particular, carpet edges, which can be interpreted by the floor cleaning appliance as boundary edges of the carpet and interpreted as being aligned longitudinally or transversely to the direction of the pile.
  • In an advantageous variant of the method according to the invention can be provided that the control unit drives the drive unit to rotate the floor cleaning device relative to the bottom surface, determined by Radencodern the number of revolutions of drive wheels and is calculated by a computing device based on the Radencodersignale a rotation angle of the floor cleaning device that independently detected by means of a rotation sensor, the rotation angle of the floor cleaning device and a related sensor signal is transmitted to the computing element, and that the computing element based on a difference in the rotation angle determines the wheel slip of the drive wheels and radschupfabhängig the pile direction is determined by Florrichtungungsermittlungsglied. In practice, it is found that the drive wheels of the floor cleaning appliance are subject to slippage, which is the greater the smaller the angle between the longitudinal direction of the floor cleaning appliance and the pile direction. The slip of the drive wheels is correspondingly greater when they rotate in the pile direction than when they rotate transversely to the pile direction. The number of revolutions that can be detected by means of the Radencoder can be used by the computing element to determine a rotation angle of the floor cleaning device relative to the bottom surface. In a further, independent measurement can be detected by means of a rotary sensor, such as a gyroscope, the rotation angle of the floor cleaning device and transmitted to the computing element. If the computing element detects a difference between the angles of rotation, the slip of the drive wheels can be determined. From the amount of wheel slip, the pile direction determining member can derive whether the drive wheels are aligned longitudinally or transversely to the pile direction and thereby determine the pile direction.
  • It is favorable if the pile direction determining member determines the pile direction on the basis of different determination methods and the results are checked for their plausibility and for conformity. As a result, the pile direction can be determined in a more reliable manner. In particular, it is possible to determine the pile direction according to one of the preceding methods.
  • It may be provided that the floor cleaning device, the geometry of the bottom surface or a bottom surface having space is specified. For this purpose, the floor cleaning device may have a storage member in which a map of the floor space or the room is stored.
  • It is also conceivable that a map of the floor surface or the room is created by the floor cleaning device itself, for example, based on landmarks that are detected by the floor cleaning device by means of one or more sensors and registered as characteristic points in the map.
  • In both cases mentioned above, this provides the possibility that the floor cleaning device determines its position relative to the floor surface.
  • It is advantageous if the position of the floor cleaning device is determined based on a localization member relative to the bottom surface and the pile direction of the bottom surface is stored position-dependent in a storage member. If, for example, it is determined when determining the pile direction that different segments of the bottom surface have a different pile direction, this can be stored and taken into account when processing the bottom surface. The process proves to be adaptable and versatile.
  • Preferably, bottom surface segments, which differ with respect to their pile direction, are processed differently by the floor cleaning device as a function of the determined, floor surface segment-dependent pile direction. As a result, the floor surface can be processed as required and targeted and in particular cleaned.
  • In order to achieve the most thorough, reliable and / or nationwide cleaning of the floor surface, it is advantageous if the floor surface is cleaned as a function of the determined pile direction on the basis of a predefinable cleaning path.
  • As already mentioned, provision can be made for the floor area to be cleaned in parallel and / or antiparallel and / or transversely to the pile direction by means of the floor cleaning appliance. at a parallel and / or anti-parallel direction of movement of the floor cleaning device, the pile can be reliably freed from dirt particles, at the same time a relatively low power to drive the cleaning brush is to provide. For additional further cleaning of the bottom surface, the floor cleaning device can be moved transversely to the pile direction and the bottom surface can be cleaned transversely to the pile direction to also remove remaining dirt particles from the pile. As a result, in a systematic parallel and / or anti-parallel and transverse to the pile direction cleaning direction with the floor cleaning device results in a particularly thorough cleaning.
  • It can be provided that the fibers of the bottom surface are aligned by the floor cleaning appliance by means of the cleaning brush on the basis of a predeterminable pattern as a function of the determined pile direction. This can be provided, for example, if the actual cleaning of the floor surface takes place on the basis of a random cleaning path in which the floor cleaning device travels "on collision" over the floor surface or if the floor surface is cleaned in segments by cleaning patterns whose cleaning paths have no relation to the determined pile direction , for example, after one in the DE 10 2004 004 505 B9 described method. In particular, in such cases, it may be desirable that after cleaning the bottom surface of the fibers are aligned on the basis of the predetermined pattern by being combed by the cleaning brush and aligned in a predeterminable direction. So that the floor surface can be given an attractive look. Of course, this is also possible if the bottom surface, as mentioned above, is cleaned on the basis of a cleaning path predetermined as a function of the pile direction. It is also conceivable that by deliberately laying the fibers on the basis of a predetermined pattern on the floor surface will leave an indication that this has been cleaned. For this purpose, the fibers can first all uniform in one direction, especially the pile direction, be transferred. Subsequently, the fibers can be allocated in certain areas depending on the position so that, for example, the word "CLEANED" appears on the floor surface.
  • As mentioned above, the invention also relates to a floor cleaning device for carrying out the method mentioned. In a generic floor cleaning device, the above-mentioned object is achieved in that the floor cleaning device comprises a sensor unit with at least one sensor with which a sensor associated with a pile direction of the bottom surface to be processed sensor signal is detected, and a pile direction determining member to which the sensor signal transferable and from in that the pile direction of the bottom surface can be determined on the basis of the sensor signal, and that the bottom surface of the floor cleaning appliance can be processed as a function of the determined pile direction.
  • With the help of the floor cleaning device according to the invention, it is possible to carry out the method according to the invention. The advantages which can already be achieved in connection with the method according to the invention and advantageous variants thereof, to which reference is hereby made, can likewise be achieved by means of the floor cleaning device.
  • It is advantageous if the floor cleaning appliance has wheel encoders which are each assigned to a drive wheel for determining the number of revolutions of the respective drive wheel. As a result, the distance traveled by the floor cleaning device and / or changes in direction can be determined. This makes it possible, in particular, to plan, execute and control movements of the floor cleaning appliance relative to the floor surface, especially along predetermined pile direction detection paths.
  • It is advantageous if the floor cleaning device comprises a computing element for determining a rotation angle of the floor cleaning device relative to the bottom surface by means of Radencodersignalen, and a rotation sensor with which independent of the rotation angle of the floor cleaning device relative to the bottom surface detectable and a related signal to the computing element is transferable, and if, based on a difference of the rotation angle, the wheel slip of the drive wheels can be determined by the computing element and the pile direction can be determined as a function of wheel slip dependent on the pile direction determination element. As already explained, the slip of the drive wheels depends on their orientation relative to the pile direction. Due to the two independent determinations of the angle of rotation of the floor cleaning device relative to the bottom surface, the amount of wheel slip can be calculated and the pile direction can be determined by the pile direction determination member wheel slip-dependent.
  • Advantageously, the sensor unit has a current sensor associated with a drive motor of the cleaning brush for detecting the motor current and providing a relevant sensor signal to the pile direction determining element. On the basis of the path-dependent motor current, which is detected along a pile direction detection path, the pile direction determining member can determine the pile direction. This has already been explained above.
  • Alternatively or additionally, the sensor unit advantageously comprises at least one edge detection sensor for detecting the course of a boundary edge of the bottom surface and providing a relevant sensor signal to the pile direction determining member. This has already been discussed earlier.
  • In a technically simple implementation of the floor cleaning device, it is advantageous if the edge detection sensor is a radiation sensor for non-contact detection of the course of the boundary edge. For example, the radiation sensor is a sensor that is sensitive in the range of visible light or infrared light. The radiation sensor may also be an ultrasonic sensor.
  • Alternatively or additionally, advantageously, an edge detection sensor in the form of an acceleration sensor may be provided for detecting the course of the boundary edge when passing over by means of the floor cleaning device. With the aid of the acceleration sensor, unevenness of the floor, in particular carpet edges, can be detected structurally simply and reliably.
  • For positioning and localization relative to the floor surface and / or within the space comprising the floor surface, the floor cleaning device may comprise navigation sensors. These may include, for example, optical sensors, infrared sensors, ultrasonic sensors, shock or contact sensors which provide sensor signals by means of which the floor cleaning device can create a map of the floor surface or of the room. A map of the bottom surface or of the room can also be stored or storable in a storage member of the floor cleaning appliance.
  • Advantageously, the floor cleaning device has a locating member for determining the position of the floor cleaning device relative to the bottom surface and a storage member for position-dependent storage of the pile direction. As already mentioned, this enables a versatile and needs-based processing of the floor area. For example, differing Bodenflächensegemente can be processed differently with respect to their pile direction.
  • Advantageously, the floor cleaning appliance comprises a storage member for storing cleaning paths, by means of which the floor surface can be cleaned in dependence on the determined pile direction and / or for storing patterns, by means of which the fibers of the floor surface can be transferred by the floor cleaning appliance as a function of the determined pile direction. On the achievable advantages has already been discussed in connection with the explanation of the corresponding variants of the method according to the invention. It can be provided that the cleaning paths and / or the patterns can be stored variably in the storage member.
  • The following description of a preferred embodiment of the invention serves in conjunction with the drawings, the detailed explanation of the invention. Show it:
  • 1 a side view of a floor cleaning device according to the invention;
  • 2 : An enlarged schematic representation of detail A in FIG 1 ;
  • 3 : a schematic block diagram of the floor cleaning device 1 ;
  • 4 : a floor surface to be cleaned in the form of a carpet and schematically the floor cleaning device located on it 1 in plan view and
  • 5 : a representation accordingly 4 , wherein the floor cleaning device is positioned on a carpet.
  • 1 shows a side view of a preferred embodiment of a floor cleaning device according to the invention 10 , The floor cleaning device 10 is designed as a mobile, self-propelled and self-steering cleaning robot 12 with which a floor surface 14 autonomously processed and in particular can be cleaned. At the bottom surface 14 In the present case, this is a textile floor surface, in particular a deep pile floor surface, for example in the form of a deep pile carpet 16 ( 4 ) or a carpet 18 ( 5 ).
  • As follows, in particular with reference to a in 3 shown block diagram of the cleaning robot 12 is recognizable, comprises the cleaning robot 12 a suspension 20 , the two drive wheels rotatable about a common axis of rotation 21 and 22 having. The drive wheels 21 and 22 are drive motors 23 respectively. 24 associated with them via motor shafts 25 respectively. 26 are coupled. The drive motors 23 and 24 are with an electronic control unit 27 of the cleaning robot 12 electrically connected and can from this via control lines 28 respectively. 29 be controlled. The drive wheels 21 . 22 and the drive motors 23 and 24 and the associated motor shafts 25 . 26 together form a drive unit 30 of the cleaning robot 12 ,
  • Depending on the drive of the drive motors 23 . 24 through the control unit 27 can he cleaning robot 12 straight or in curves over the floor area 14 It can also be rotated on the spot by the drive wheels 21 and 22 be driven in opposite directions.
  • The motor shafts 25 . 26 are Radencoder 31 respectively. 32 associated with which the number of revolutions of the motor shafts 25 and 26 and thus the drive wheels 21 respectively. 22 can be detected. Via signal lines 33 respectively. 34 can signals the Radencoder 31 respectively. 32 the control unit 27 be supplied for evaluation.
  • The cleaning robot 12 further comprises a floor cleaning unit 35 with a cleaning brush 36 , The cleaning brush 36 is about a rotation axis 37 rotationally drivable, transverse to a longitudinal direction 38 is aligned, the longitudinal direction 38 at the same time a main direction of movement of the cleaning robot 12 equivalent. To drive the cleaning brush 36 indicates the floor cleaning unit 35 an electromagnetic drive motor 39 on that with the cleaning brush 36 via a motor shaft 40 is coupled. The drive motor 39 is from the control unit 27 via an electrical control line 41 connected, via which the drive motor 39 For example, an information can be provided at what speed the cleaning brush 36 should be turned.
  • For removing dirt particles from the floor surface 14 can bristles 42 the cleaning brush 36 in Flor 43 the present high pile floor area 14 intervene and remove dirt particles from it. The dirt particles can be a dirt container 44 of the cleaning robot 12 be supplied. The floor cleaning unit can be supportive 35 for this purpose one from the control unit 27 preferably comprise actuatable suction unit.
  • The drive motor 39 is a current sensor 45 associated with the motor current of the drive motor 39 captured and the control unit 27 via a signal line 46 can be transmitted.
  • The current sensor 45 as well as the Radencoder 31 and 32 belong to a sensor unit 47 of the cleaning robot 12 which may include other sensors. In particular, the sensor unit comprises 47 Sensors for edge detection, for example a radiation sensor 48 which is in the present case a radiation sensor which is sensitive to electromagnetic radiation, in particular in the region of visible light, for example in the form of a digital camera. Furthermore, the sensor unit comprises 47 a rotation sensor 49 , for example in the form of a gyroscope. In addition, with the reference numeral 50 additional sensors may be present, for example one or more acceleration sensors, infrared sensors, ultrasonic sensors or obstacle sensors. Via corresponding signal lines, in the present case by only one signal line 51 can be symbolized, the signals of the sensors 48 to 50 the control unit 27 to be provided.
  • By means of the sensor unit 47 , in particular the radiation sensor 48 as well as the various sensors 50 can from the cleaning robot 12 a map of the floor area to be cleaned 14 and a room 52 ( 4 and 5 ) are created, in which the floor area 14 located. This is known per se and is therefore not explained in detail here. The card can be stored in a memory 53 the control unit 27 be deposited, which can also be provided that an operator to the cleaning robot 12 already a card in the memory element 53 provides, without these first from the cleaning robot 12 must be created.
  • Based on the signals of the sensor unit 47 and taking into account one in the memory member 53 deposited map of the floor area 14 or the room 52 can the cleaning robot 12 its position relative to the ground surface 14 or in the room 52 determine. For this purpose is in the control unit 27 a localization member 54 available. About the position of the cleaning robot 12 In addition, its orientation can be determined. This too is known per se and is therefore not explained in detail here.
  • As already mentioned, it is the floor area 14 in the present case, a textile deep-pile floor surface with relatively long carpet fibers 55 , who share the pile 43 the floor area 14 form. Textile floor surfaces 14 , especially a deep pile carpet 16 or carpet 18 , in practice comprise fibers 55 , which have a preferred direction due to the respective manufacturing process, such as weaving or knitting process. This preferred direction is present as a pile direction 57 designated. The fibers 55 are especially in the area of their lower, a carrier 16 the floor area 14 facing ends along the pile direction 57 aligned. The free ends of the fibers 55 On the other hand, they may be completely or partially oriented isotropically or anisotropically and accordingly point in different directions, as the case may be, for example, the bottom surface 14 committed, used or edited. By the fibers 55 for example with the cleaning brush 36 They can be combed along the pile direction 57 be aligned.
  • The cleaning robot 12 is characterized in particular by the fact that the pile direction 57 the floor area 14 can be determined and the floor area 14 depending on the determined Florrichtung can be edited. This can in particular a thorough and energy-saving cleaning of the floor area 14 be executed.
  • To determine the pile direction 57 has the control unit 27 a pile direction detector 58 on, abbreviated below "Investigator 58 "by means of the investigator 58 can the pile direction 57 be determined depending on information provided to the control unit 27 based on the signals of the sensor unit 47 be transmitted.
  • To determine the pile direction 57 can the cleaning robot 12 For example, perform the following procedure:
    Initially, the cleaning robot 12 by an operator on the floor surface 14 positions or moves autonomously there. The starting position of the cleaning robot 12 relative to the floor area 14 is in the 4 and 5 through the solid contour of the cleaning robot 12 shown. The longitudinal direction 38 can be quite at an angle relative to the pile direction 57 be aligned. Starting from the starting position, the control unit controls 27 the drive unit 30 such that the cleaning robot 12 on the floor surface 14 along a predefinable pile direction detection path 59 is moved. The pile direction detection path 59 is present arcuate, in particular a semicircle, the cleaning robot 12 moved along. After passing through the pile direction detection path 59 takes the cleaning robot 12 a position relative to the floor surface 14 one in the 4 and 5 by a dashed contour of the cleaning robot 12 is shown.
  • While moving the cleaning robot 12 along the pile direction detection path 59 detects the current sensor 45 the motor current of the drive motor 39 for the cleaning brush 36 , which is operated at a constant speed. The motor current is resistance dependent, with the resistance of the pile 43 the cleaning brush 36 opposite, the greater, the greater the angle between the longitudinal direction 38 and the pile direction 57 is. Is the rotation axis 37 accordingly across the pile direction 57 aligned, is the resistance of the pile 43 and thus the motor current is minimal. In contrast, the resistance and thus the motor current is maximum when the axis of rotation 37 parallel to the pile direction 57 is aligned.
  • Moves the cleaning robot 12 As in the present case, a semicircle, this results in an approximately sinusoidal motor current signal, the control unit 27 Path-dependent via the signal line 46 can be provided. This signal is from the investigator 58 evaluated to where it has a maximum and where it has a minimum. Based on the position of the maximum along the pile direction detection path 59 can the investigator 58 notice that at this point the cleaning robot 12 across the pile direction 57 is aligned. Similarly, the cleaning robot 12 at a point of the pile direction detection path 59 along the pile direction 57 aligned when the motor current signal has a minimum.
  • Instead of a semicircular pile direction detection path 59 could also a different kind of pile direction detection path from the cleaning robot 12 be driven through, for example, a full circle. It is also possible a fan-shaped ride or a star-shaped ride, in which the cleaning robot 12 successively individual "rays" of the fan or the star descends and determines, when driving along which beam, the motor current is minimal or maximum. Also in this way can the investigator 58 the pile direction 57 determine.
  • In the memory element 53 For example, different pile direction detection paths can be stored variably in particular.
  • The pile direction 57 can also be determined in the following way:
    By means of the radiation sensor 48 , especially in the form of a digital camera, images of the floor surface 14 and their boundaries are included, which are in particular walls 60 of the room 52 is. The respective from the radiation sensor 48 viewed area is in the 4 and 5 by dash-dotted lines 61 limited shown. The sensor signal of the radiation sensor 48 , especially an optical image, can the control unit 27 over the signal line 51 to be provided.
  • Depending on the orientation of the cleaning robot 12 relative to the floor area 14 It is possible that the radiation sensor 48 a boundary edge 62 detected. In the case of the carpet 16 in 4 it is at the boundary edge 62 around a carpet edge 63 , By means of the investigator 58 can the course of the carpet edge 63 be analyzed, and it is the investigator 58 assumed that the carpet edge 63 either along the pile direction 57 is aligned or transverse to this.
  • After that, this is in 4 not shown separately, the control unit 27 the drive unit 30 such that the longitudinal direction 38 on the one hand parallel to the carpet edge 63 and the other across the edge of the carpet 63 is aligned. In both cases, the control unit 27 the drive motor 39 the cleaning brush 36 Activate and orientation-dependent the motor current by means of the current sensor 45 to capture. This allows it the investigator 58 determine if the pile direction 57 parallel or transverse to the carpet edge 63 is aligned, the pile direction 57 in the example of 4 parallel to the carpet edge 63 runs.
  • The above method can also be used in the case of in 5 shown carpet 18 be executed. As a boundary edge 62 can by the investigator 58 For example, a carpet or skirting board 64 be viewed, which is the floor area 14 surrounds and on the wall 60 is appropriate. The skirting board 64 can by means of the radiation sensor 48 recorded and their course from the investigator 58 be determined. The investigator 58 can assume that the carpet 18 so laid is that the pile direction 57 either along or across the skirting board 64 is aligned. Subsequently, the cleaning robot 12 as explained above in two orientations relative to the skirting board 64 aligned, orientation-dependent, the motor current of the drive motor 39 determines and from this the pile direction 57 be determined.
  • The course of the carpet edge 63 at the in 4 As an alternative or in addition, the example shown can also be determined by one of the sensors 50 is an edge detection sensor in the form of an acceleration sensor, can be detected with the bumps. For this purpose, the cleaning robot 12 in the room 52 to be moved. Detects the acceleration sensor 50 a vibration due to the carpet edge 63 , may be a related signal to the control unit 27 provided and by the investigator 58 the course of the carpet edge 63 be calculated. The subsequent determination of the pile direction 57 takes place as explained above.
  • The pile direction 57 can also be determined as follows:
    The control unit 27 can the drive unit 30 such that the cleaning robot 12 on the floor surface 14 around a vertical axis 65 is turned. Meanwhile, the Radencoder capture 31 and 32 the number of revolutions of the drive wheels 21 respectively. 22 and transmit the control unit 27 corresponding sensor signals. The sensor signals can be a computing element 66 the control unit 27 be supplied.
  • Regardless, the rotation of the cleaning robot 12 by means of the rotation sensor 49 detected and a related sensor signal of the control unit 27 over the control line 51 be provided, which also to the computing element 66 is transmitted. The calculator 66 can tell if between the signals of the Radencoder 31 and 32 on the one hand and the rotary sensor 49 On the other hand, there is a difference.
  • Such a difference results, for example, in that the drive wheels 21 and 22 Slip subject, which is greater, the smaller the angle between the pile direction 57 and the direction of rotation (in the longitudinal direction 38 ) of the drive wheels 21 and 22 is. Accordingly, the slip is maximum when the rotational axis of the drive wheels transverse to the pile direction 57 is aligned and minimal when the axis of rotation of the drive wheels along the pile direction 57 is aligned.
  • Depending on the respectively determined rotation angle, the computing element 66 the rotation angle-dependent slip of the drive wheels 21 and 22 determine and the investigator 58 provide relevant information. Based on this information, it is for the investigator 58 possible, the pile direction 57 to determine.
  • It can be provided that the cleaning robot 12 more than just one of the methods presented here for determining the pile direction 57 performs and thereby determined each pile directions 57 for consistency and the results are checked for plausibility.
  • When working on the floor surface 14 depending on the determined pile direction 57 can be provided that the cleaning robot 12 the floor area 14 cleans with a predefinable cleaning path. The cleaning paths can in particular be changed in the storage member 53 be deposited. For example, it can be provided that the bottom surface initially parallel and / or anti-parallel to the pile direction 57 is cleaned to effectively dirt particles using the cleaning brush 36 from the pile 43 to remove. Subsequently, the floor area 14 be edited so that they are transverse to the pile direction 57 by means of the cleaning brush 36 is cleaned to any remaining dirt particles also from the pile 43 to remove. It proves to be advantageous in practice, the processing direction parallel and / or anti-parallel and additionally transverse to the pile direction 57 to choose, because this can be a thorough cleaning of the floor area 14 be achieved. At the same time, the energy consumption of the cleaning robot 12 largely minimized while increasing its battery life.
  • Next, when editing the floor surface 14 be provided, of course, that the cleaning robot 12 his position continuously based on the localization member 54 determined to its position on the floor surface 14 and / or in the room 52 to determine. This is particularly advantageous if the most comprehensive possible cleaning of the floor area 14 should be done, because this can be the cleaning robot 12 already cleaned Sections of the floor area 14 different from uncleaned sections.
  • It can also be provided that the cleaning robot 12 in determining the pile direction 57 notes that, unlike the ones in the 4 and 5 shown examples, bottom surface segments of the bottom surface 14 are present, which are in terms of their pile direction 57 differ. The cleaning robot 12 can the individual floor surface segments by means of its position on the basis of the localization member 54 determine and the pile direction 57 position-dependent in the memory element 53 to save. Based on this information, the individual floor surface segments of the cleaning robot 12 for example, be edited differently.
  • It is also conceivable that a cleaning of the floor area 14 not on the basis of a predefinable cleaning path, but that of the cleaning robot 12 the floor area 14 more or less random or "on collision" cleans. Nevertheless, the information regarding the pile direction 57 the floor area 14 from the cleaning robot 12 be evaluated by the fibers 55 be processed after such a cleaning process using a predetermined pattern, without the need for actual cleaning needs to be done. For this purpose, the cleaning robot 12 on the pattern over the floor surface 14 be moved that the fibers 55 depending on the orientation of the axis of rotation 37 and thus in the direction of rotation of the cleaning brush 36 be allocated according to the predetermined pattern. For example, the fibers can all be uniformly transferred in the same direction. It is also conceivable that an indication will be left on the floor surface that it has been cleaned. So can the fibers 55 initially uniform in one direction, such as the pile direction 57 , be repositioned and then regionally laid out so that, for example, the word "CLEANED" appears on the floor surface.
  • This alignment of the fibers 55 of course, according to a predeterminable pattern is also possible if the bottom surface 14 is cleaned according to a predetermined cleaning path.
  • QUOTES INCLUDE IN THE DESCRIPTION
  • This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.
  • Cited patent literature
    • DE 10261787 B3 [0003]
    • DE 102010000573 A1 [0004]
    • DE 102004004505 B9 [0025]

Claims (23)

  1. A method for processing a textile floor surface, in particular a high-pile carpet or carpet, with a self-propelled and self-steering floor cleaning device having a drive unit, a control unit for controlling the movement of the floor cleaning appliance and a floor cleaning unit with at least one electric motor driven cleaning brush, characterized in that at least a sensor of a sensor unit of the floor cleaning device is detected and transmitted to a Florrichtungsermittlungsglied the floor cleaning device, the pile direction of the bottom surface is determined by the pile direction detecting member based on the sensor signal and the bottom surface is processed in dependence on the determined pile direction.
  2. A method according to claim 1, characterized in that the floor cleaning device proceed on the basis of a predetermined Florrichtungserfassungspfad on the bottom surface, edited the bottom surface with the cleaning brush and detected by a current sensor, the motor current of a drive motor cleaning brush path dependent and a related sensor signal is transmitted to the Florrichtungsermittlungsglied.
  3. A method according to claim 2, characterized in that the floor cleaning device is moved along an arcuate, in particular a circular arc-shaped pile direction detection path.
  4. Method according to one of the preceding claims, characterized in that using an edge detection sensor detects a boundary edge of the bottom surface, transmit a relevant sensor signal to the Florrichtungsermittlungsglied and the course of the boundary edge of the Florrichtungsermittlungsglied is considered aligned along the pile direction or transversely to the pile direction.
  5. A method according to claim 4, characterized in that the floor cleaning device is aligned at least in a first orientation along the boundary edge and in a second orientation transverse to the boundary edge, each edited the bottom surface with the cleaning brush, based on a current sensor of the motor current of a drive motor cleaning brush detected orientation dependent and a related sensor signal is transmitted to the pile direction detecting member.
  6. A method according to claim 4 or 5, characterized in that a radiation sensor is used as the edge detection sensor and the course of the boundary edge is detected without contact.
  7. Method according to one of claims 4 to 6, characterized in that an acceleration sensor is used as the edge detection sensor and the course of the boundary edge is detected by driving over the same with the floor cleaning device.
  8. Method according to one of the preceding claims, characterized in that the control unit drives the drive unit to rotate the floor cleaning device relative to the bottom surface, determined by Radencodern the number of revolutions of drive wheels and is calculated by a computing element based on the Radencodersignale a rotation angle of the floor cleaning device that independent thereof detected by means of a rotation sensor, the rotation angle of the floor cleaning device and a related sensor signal is transmitted to the computing element, and that the computing element based on a difference in the rotation angle determines the wheel slip of the drive wheels and the Florrichtungsermittlungsglied radschlupfabhängig the pile direction is determined.
  9. Method according to one of the preceding claims, characterized in that the pile direction determining member determines the pile direction by means of different determination methods and the results are checked for their plausibility and for conformity.
  10. Method according to one of the preceding claims, characterized in that the position of the floor cleaning device based on a localization member determined relative to the bottom surface and the pile direction is stored in a storage member position-dependent.
  11. Method according to one of the preceding claims, characterized in that bottom surface segments, which differ with respect to their pile direction, are processed differently by the floor cleaning appliance as a function of the determined, floor area segment-dependent pile direction.
  12. Method according to one of the preceding claims, characterized in that the bottom surface is cleaned as a function of the determined pile direction by means of a predefinable cleaning path.
  13. Method according to one of the preceding claims, characterized in that the bottom surface is cleaned by moving the floor cleaning device parallel and / or anti-parallel and / or transversely to the pile direction.
  14. Method according to one of the preceding claims, characterized in that the fibers of the bottom surface are aligned by the floor cleaning device by means of the cleaning brush on the basis of a predetermined pattern depending on the pile direction.
  15. Self-propelled and self-steering floor cleaning device for carrying out the method according to one of the preceding claims, wherein the floor cleaning device ( 10 ) a drive unit ( 30 ), a control unit ( 27 ) for controlling the movement of the floor cleaning device ( 10 ) and a floor cleaning unit ( 35 ) with at least one electric motor driven cleaning brush ( 36 ), characterized in that the floor cleaning device ( 10 ) a sensor unit ( 47 ) with at least one sensor ( 45 . 48 . 49 . 50 ) with which one with a pile direction ( 57 ) of the floor surface to be worked on ( 14 ) sensor signal is detectable, as well as a pile direction determining member ( 58 ), to which the sensor signal can be transmitted and from which, based on the sensor signal, the pile direction ( 57 ) of the floor surface ( 14 ) and that the floor surface ( 14 ) from the floor cleaning device ( 10 ) as a function of the determined pile direction ( 57 ) is editable.
  16. Floor cleaning appliance according to claim 15, characterized in that the floor cleaning appliance ( 10 ) Radencoder ( 31 . 32 ), each having a drive wheel ( 21 . 22 ) are assigned to determine the number of revolutions of the respective drive wheel ( 21 . 22 ).
  17. Floor cleaning appliance according to claim 16, characterized in that the floor cleaning appliance ( 10 ) a computing element ( 66 ) comprises for determining a rotation angle of the floor cleaning device ( 10 ) relative to the floor surface ( 14 ) based on Radencodersignalen, and a rotation sensor ( 49 ), independently of which the angle of rotation of the floor cleaning device ( 10 ) relative to the floor surface ( 14 ) and a corresponding signal to the computing element ( 66 ) is transferable, and that the computing element ( 66 ) based on a difference in the rotational angle a wheel slip of the drive wheels ( 21 . 22 ) can be determined and from the Florrichtungsermittlungsglied ( 58 ) depending on wheel slip the pile direction ( 57 ) can be determined.
  18. Floor cleaning appliance according to one of claims 15 to 17, characterized in that the sensor unit ( 47 ) a drive motor ( 39 ) of the cleaning brush ( 36 ) associated current sensor ( 45 ) for detecting the motor current and providing a related sensor signal to the pile direction determining member ( 58 ).
  19. Floor cleaning appliance according to one of claims 15 to 18, characterized in that the sensor unit ( 27 ) an edge detection sensor ( 48 ) comprises for detecting the course of a boundary edge ( 62 ) of the floor surface ( 14 ) and providing a respective sensor signal to the pile direction determining member ( 58 ).
  20. Floor cleaning appliance according to claim 19, characterized in that the edge detection sensor ( 48 ) a radiation sensor ( 48 ) for non-contact detection of the course of the boundary edge ( 62 ).
  21. Floor cleaning appliance according to claim 19 or 20, characterized in that the edge detection sensor ( 48 ) an acceleration sensor ( 50 ) is for detecting the course of the boundary edge ( 62 ) when driving over by means of the floor cleaning device ( 10 ).
  22. Floor cleaning appliance according to one of claims 15 to 21, characterized in that the floor cleaning device ( 10 ) a localization member ( 54 ) for determining the position of the floor cleaning device ( 10 ) relative to the floor surface ( 14 ) and a memory member ( 53 ) for position-dependent storage of the pile direction ( 57 ) having.
  23. Floor cleaning appliance according to one of claims 15 to 22, characterized in that the floor cleaning device ( 10 ) a memory member ( 53 ) for storing cleaning paths, by means of which the floor surface ( 14 ) as a function of the determined pile direction ( 57 ) is cleanable and / or for storing patterns, by means of which the fibers ( 55 ) of the floor surface ( 14 ) from the floor cleaning device ( 10 ) as a function of the determined pile direction ( 57 ) are repositionable.
DE102011055764A 2011-11-28 2011-11-28 Process for processing a textile floor surface by means of a floor cleaning device and floor cleaning device Withdrawn DE102011055764A1 (en)

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DE102011055764A DE102011055764A1 (en) 2011-11-28 2011-11-28 Process for processing a textile floor surface by means of a floor cleaning device and floor cleaning device

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DE102011055764A DE102011055764A1 (en) 2011-11-28 2011-11-28 Process for processing a textile floor surface by means of a floor cleaning device and floor cleaning device
PCT/EP2012/072766 WO2013079334A1 (en) 2011-11-28 2012-11-15 Method for treating a textile floor surface by means of a floor cleaning device, and floor cleaning device

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EP3479667A1 (en) * 2017-11-02 2019-05-08 Melos GmbH Artificial turf maintenance robot

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DE10261788B3 (en) * 2002-12-23 2004-01-22 Alfred Kärcher Gmbh & Co. Kg Mobile harrow
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EP3412186A1 (en) * 2017-06-09 2018-12-12 Vorwerk & Co. Interholding GmbH Method for operating an automatically moving soil-working implement
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