EP1519672A1

EP1519672A1 - Floor treatment system

Info

Publication number: EP1519672A1
Application number: EP03735619A
Authority: EP
Inventors: Joachim Keppler; Joachen Math; Roger Skoumal
Original assignee: Alfred Kaercher SE and Co KG
Current assignee: Alfred Kaercher SE and Co KG
Priority date: 2002-07-08
Filing date: 2003-06-13
Publication date: 2005-04-06
Anticipated expiration: 2023-06-13
Also published as: DE10231388A1; US20050166352A1; AU2003237938A1; WO2004004534A1; ATE519408T1; US7055210B2; EP1519672B1

Abstract

The invention relates to a floor treatment system (10) comprising a self-propelled, autonomous floor treatment unit (14), which contains an electrically driven floor treatment assembly (24), in addition to a rechargeable power supply unit (46) and comprising a central charging station (12) for recharging the power supply unit (46). According to the invention, the floor treatment unit (14) can be electrically connected to the charging station (12) by means of connecting elements (86, 88, 94, 96, 98) that are allocated to one another and are located on the charging station (12) and the floor treatment unit (14). The aim of the invention is to develop the floor treatment system (10) to allow improved electrical coupling of the connecting elements (86, 88) that are allocated to one another. To achieve this, at least one of the aforementioned inventive connecting elements is mounted in a spring-loaded manner.

Description

Tillage system

The invention relates to a tillage system with a self-propelled and self-controlling tillage unit, which has an electrically driven tillage unit and a rechargeable energy supply unit, and with a central charging station for recharging the energy supply unit, the tillage unit being arranged via mutually associated electrical connecting elements, which are arranged on the charging station and the tillage unit are electrically connectable to the charging station.

With the help of self-propelled and self-controlling tillage units, a floor surface can be worked, in particular cleaned, without the floor tillage unit having to be guided along the floor surface by an operator. Rather, the soil cultivation unit is designed in such a way that it automatically moves along the soil surface and processes it. If it encounters an obstacle, this is recognized by the tillage unit, which then changes its direction of travel in order to avoid the obstacle.

The cultivation of the floor area is carried out by means of a tillage unit which is carried by the tillage unit and which is supplied with electrical energy by an energy supply unit. The state of charge of the energy supply unit is monitored by an electrical control of the tillage unit. If the state of charge falls below a predetermined limit value, the tillage unit automatically controls the central charging station, at which the energy supply unit can be recharged. For this purpose, Work unit and arranged at the charging station associated electrical connecting elements, via which electrical energy can be transmitted. Such soil cultivation systems are known for example from WO99 / 28800.

In order to transfer electrical energy from the charging station to the tillage unit with as little loss as possible, it is necessary that the mutually associated electrical connecting elements can be electrically coupled to one another. It has been shown that such an electrical coupling cannot be reliably achieved in all cases in known tillage systems.

The object of the present invention is to develop a soil cultivation system of the type mentioned at the outset in such a way that it enables improved electrical coupling of the connecting elements which are assigned to one another.

This object is achieved according to the invention in a soil cultivation system of the generic type in that at least one of the connecting elements assigned to one another is held in a resilient manner. It has been shown that the electrical coupling of the connecting elements during docking of the tillage unit to the associated charging station can be improved by a resilient holder. Such a resilient bracket in particular prevents the soil processing unit, which is relatively light compared to the charging station, from being pushed back by the charging station when it hits the charging station, so that the connecting elements which are assigned to one another then have such a large spacing from one another that effective energy transmission is no longer possible is.

The use of at least one resilient electrical connection element is particularly advantageous if the tillage unit has a collision detection sensor to which a resiliently held sensing element is assigned, the movement of which can be detected relative to a chassis of the tillage unit to provide a collision detection signal. For example, a bumper bar surrounding the tillage unit in the circumferential direction can be used, which is spring-mounted relative to a chassis of the tillage unit, so that the bumper bar executes a relative movement to the chassis when the tillage unit encounters an obstacle. This relative movement is recognized by the collision detection sensor of the tillage unit, which then changes its direction of travel. Such collision detection sensors are known, for example, from EP 0 274 310 B1. If the tillage unit strikes the charging station with such a collision detection sensor, there is a risk that the impact will trigger a collision detection signal and the tillage unit will then reverse its direction of travel, so that an electrical coupling of the connecting elements assigned to one another is not possible. However, if at least one of the connecting elements is held resiliently, because of the spring travel made possible by the connecting element, the tillage unit can briefly maintain its original direction of movement without the collision detection sensor already being activated and triggering a reversal of the direction of travel, while the mutually assigned connecting elements already come into electrical contact with one another and consequently a charging current can flow from the charging station to the power supply unit of the tillage unit. The charging current can be controlled by the tillage unit are detected so that a subsequent collision detection signal of the collision detection sensor can be suppressed. This ensures that the tillage unit does not recognize the charging station as an obstacle to be avoided when docking. Rather, the tillage unit takes up a desired position for the charging station for recharging the energy supply unit, so that the connecting elements assigned to one another can electrically connect to one another.

When using a collision detection sensor with a resiliently held pushbutton element, for example a bumper strip surrounding the tillage unit in the circumferential direction, it is advantageous if the spring constant of the resilient electrical connection element is less than the spring constant of the collision detection sensor, since this can be ensured in a structurally simple manner that a charging current can flow before the collision detection sensor detects a collision and triggers a reversal of the direction of travel. The use of a lower spring strength for the spring-loaded connecting element than for the spring-loaded pushbutton element of the collision detection sensor makes it possible, in particular, for a collision detection signal to be suppressed until the loading process is completed when the tillage unit is docked to the central charging station. After recharging has taken place, the state of charge exceeds a predefinable limit value, so that the collision detection signal can then be released and the tillage unit consequently reverses the direction of travel and continues to process the floor area. The electrical coupling of the connecting elements assigned to one another can take place without contact, in that electrical energy can be transmitted inductively or capacitively.

In a preferred embodiment it is provided that the mutually associated connecting elements form electrical contact elements for ohmic coupling of the tillage unit to the charging station. This enables a structurally particularly simple configuration of the associated connecting elements, it being necessary for the transmission of electrical energy that the connecting elements designed as electrical contact elements touch each other so that a charging current can flow.

It has proven to be advantageous if the tillage system has at least two first connecting elements, each of which is assigned at least one second connecting element. The use of a plurality of first and second connecting elements, which are arranged on the tillage unit or on the charging station, ensures that mechanical coupling of at least one first connecting element with a second connecting element can be achieved even with an imprecise orientation of the tillage unit relative to the charging station.

For example, incorrect orientation of the tillage unit in the vertical direction can be compensated for by arranging the first connecting elements at a vertical distance from one another.

In a preferred embodiment it is provided that at least one first connecting element is arranged at a distance from one another second connecting elements are assigned. It is particularly advantageous here if, depending on the orientation of the tillage unit relative to the charging station, one or more of the second connecting elements can be electrically connected to a first connecting element. With an optimal alignment of the tillage unit relative to the charging station, for example, two second connection elements can be electrically connected to a common first connection element, whereas if the soil tillage unit is misoriented, only a second connection element can be connected to the assigned first connection element.

It has proven to be advantageous if the second connecting elements are arranged in a plane that is preferably oriented horizontally. For example, a plurality of second connecting elements can be arranged next to one another in the horizontal direction on the charging station or on the tillage unit.

A particularly reliable coupling of the connecting elements assigned to one another can be achieved in that at least one of the connecting elements assigned to one another is of flat design. Due to the flat design, an extensive contact area is provided, which simplifies the transmission of electrical energy.

The flat connecting element can, for example, be designed in the form of a strip.

The flat connecting element is preferably held resiliently. For example, it can be provided that the flat connecting element forms a leaf spring. This enables inexpensive production and assembly of the spring-held connecting element.

It is advantageous if the flat connecting element is arranged on the charging station.

In a preferred embodiment, a plurality of contact elements are assigned to the flat connecting element. This gives the possibility that when the tillage unit is docked to the charging station, at least one of the contact elements strikes the associated flat connecting element, so that a charging current can flow.

In a particularly preferred embodiment of the tillage system according to the invention it is provided that two horizontally oriented, leaf spring-like connecting elements are arranged one above the other at the charging station, each of which is assigned at least two contact elements held on the tillage unit. The two leaf spring-like connecting elements can be supplied with a voltage of different polarity by an energy source of the charging station.

As mentioned at the beginning, the soil cultivation system according to the invention enables, among other things, the cleaning of a floor surface. For this purpose, the tillage unit can form a mobile suction device with a suction turbine and a dirt collecting container having a suction inlet. Starting from the suction inlet, a suction flow can emerge from the suction turbine. be called so that dirt can be picked up from the floor surface and transferred to the dirt collecting container.

It is advantageous here if a brush roller with sweeping brushes reaching through the suction inlet is rotatably driven at the suction inlet. This makes it possible not only to vacuum the floor surface but also to brush it.

It is expedient if the charging station comprises a suction unit and a dirt-holding container, and when the energy supply unit is recharged, the dirt-collecting container can at the same time be suctioned off from the suction unit via the suction inlet. When the tillage unit is docked to the charging station, not only can energy be transmitted for recharging the energy supply unit of the mobile suction device, but also the dirt collecting container of the suction device can be emptied.

The following description of a preferred embodiment of the invention serves in conjunction with the drawing for a more detailed explanation. Show it:

Figure 1 is a schematic side view of a tillage system according to the invention;

FIG. 2 shows a longitudinal sectional view of the tillage system according to FIG. 1; Figure 3 is a front view of a loading station of the tillage system;

Figure 4 is an enlarged sectional view of detail X from Figure 1 in the

Approximation of associated electrical connecting elements of the tillage system;

FIG. 5: a view in the direction of arrow A from FIG. 4;

6 shows an enlarged sectional view of detail X from FIG

Meeting of the associated electrical connecting elements;

FIG. 7: a view in the direction of arrow B from FIG. 6;

Figure 8: an enlarged sectional view of detail X from Figure 1 after

Running through a spring travel of the mutually associated electrical connecting elements and

FIG. 9: a view in the direction of arrow C from FIG. 8.

In the drawing, a floor cultivation system according to the invention is shown in the form of a floor cleaning system, generally designated by reference number 10, which comprises a central charging station 12 and a self-propelled and self-controlling tillage unit in the form of a mobile suction device 14. The suction device 14 is designed as a mobile cleaning robot and has a housing 16 with a top wall 18 and a bottom wall 20, which define a suction channel 22 between them. In its rear area, the housing 16 carries a suction turbine 26, which is driven by an electric drive motor 24 and is in flow connection with the suction channel 22 via an intake port 28.

The bottom wall 20 has in its front area, facing away from the suction turbine 26, a suction inlet 30 which is swept by sweeping brushes 32 of a brush roller 34 which can be driven in rotation. A dirt filter 36 is arranged within the suction channel 22, and the area between the brush roller 34 and the dirt filter 36 forms a dirt collecting container 38. To clean the bottom surface, a suction flow is generated by the suction turbine 26, with the aid of which dirt from the bottom surface passes through the suction inlet 30 can be transferred into the dirt collecting container 38. The dirt pickup from the floor surface is supported by the brush roller 34.

The housing 16 forms a chassis of the mobile suction device 14, on which two drive wheels 40 are rotatably mounted in a manner known per se and therefore not shown in the drawing, each of which is assigned a drive motor (not shown) which is known per se.

As is clear from Figure 1, the housing 16 is surrounded in the circumferential direction by a resiliently mounted on the housing 16 sensing ring 42 on which a cover 44 is placed. To achieve a better clarity, the feeler ring 42 and the cover 44 are not shown in FIG. 2.

The top wall 18 carries a rechargeable energy supply unit in the form of a rechargeable battery 46 and additionally accommodates an electrical control 48 and two infrared light-sensitive sensors 50 and a Hall sensor 52 in the area above a drive wheel 40. By means of the Hall sensor 52, a relative movement of the on the sensing ring 42 seated lid 44 can be detected based on the housing 16. If such a relative movement occurs, the Hall sensor 52 transmits a collision detection signal to the controller 48. Such a relative movement occurs when the suction device 14 strikes an obstacle. The direction of travel of the suction device 14 can then be changed on the basis of the collision detection signal, in particular a direction reversal can take place.

A target radiation emitted by the charging station 12 can be received by means of the two infrared-light-sensitive sensors 50 arranged above the drive wheels 40, so that when the charging state of the battery 46 falls below a predetermined value, the suction device 14 can automatically start the charging station 12 to recharge the battery 46.

The charging station has a housing 54 which surrounds a suction unit 56 and a dirt-holding container 58 which can be subjected to negative pressure by the suction unit 56.

A cantilever 60 is held on the side of the housing 56 and carries four infrared light-emitting diodes 62, 63, 64, 65 at its free end. Below and at a distance from the arm 60, a ramp 66 is formed on the housing 54 of the charging station 12 and has a suction opening 68. At the suction opening 68 is followed by a suction channel 70, which forms a flow connection between the suction opening 68 and the dirt holding container 58.

The boom 60 has on its underside facing the ramp 66 a stepped support plate 72 with a rear support plate section 74 facing the housing 54 and a front support plate section 76 facing away from the housing 54, which are integrally connected to one another via a step 78. A further infrared light-emitting diode 80 is arranged at stage 78. An infrared target radiation is emitted by the infrared light-emitting diodes 62, 63, 64, 65 and 80, which is detected depending on the direction by the infrared light-sensitive sensors 50 of the suction device 14 and by means of which the suction device 14 can automatically control the charging station 12. The suction device 14 moves when docking to the charging station 12 on the ramp 66, so that the suction inlet 30 is aligned with the suction opening 68. By forming a suction flow symbolized by the arrows 82 in FIG. 2, dirt can then be transferred from the dirt collecting container 38 of the mobile suction device 14 via the suction inlet 30 into the dirt holding container 58 of the charging station 12. At the same time, the battery 46 of the suction device 14 is recharged. For this purpose, two electrical connection elements in the form of two leaf springs 86, 88 are held on a support wall 84 connecting the rear support plate section 74 of the arm 60 to the ramp 66, the springs being clamped between two support elements 90, 92 fixed on the support wall 84. The two preloaded and convexly curved leaf springs 86 and 88 are connected via connecting lines (not shown in the drawing) to a positive pole or the negative pole of an electrical voltage source of the charging station 12 which is known per se and is therefore not shown in the drawing. The The voltage source can be connected to the mains voltage by means of a mains cable known per se.

The two leaf springs 86 and 88 are each assigned two electrical contact pins rigidly held on the cover 44 of the suction device 14. A first contact pin 94 and a second contact pin 96 interact with the leaf spring 86, and a third contact pin 98 positioned below the first contact pin 94 and a fourth contact pin arranged below the second contact pin 96 (not shown in the drawing) interact with the leaf spring 88 together. This is particularly clear from FIGS. 4 and 5. If the contact pins meet the two leaf springs 86 and 88, as shown in FIGS. 6 and 7, electrical energy can be transmitted from the charging station 12 to the suction device 14 by a charging current to the battery via the leaf springs 86, 88 and the contact pins 46 flows.

As is clear from FIGS. 8 and 9, a further approach of the suction device 14 to the charging station 12 leads to the fact that the two leaf springs 86 and 88 perform an evasive movement along a spring travel 102 shown in FIG. 9 due to their elasticity. The spring constant of the two leaf springs 86 and 88 is chosen to be lower than the spring constant of the resilient holder of the feeler ring 42. This ensures that the leaf springs 86 and 88 can initially perform a resilient evasive movement and a charging current can flow before the Hall sensor 52 detects a collision - Signal signal due to a relative movement of the cover 44 and the feeler ring 42 is provided with respect to the housing 16. Accordingly, when the suction device 14 strikes the charging station 12, the controller 48 first detects the flow of a charging current to the battery 46, so that an incoming then collision detection signal can be suppressed until the charging process is complete. The collision detection signal is then released so that the suction device 14 reverses the direction of travel and now moves in the direction facing away from the charging station 12. This ends the recharging of the battery 46 and the simultaneous suctioning of the dirt collecting container 38 and the suction device 14 can resume its normal operation for cleaning the floor surface.

Claims

P A T E T A N S P R Ü C H E

Soil cultivation system with a self-propelled and self-controlling tillage unit, which comprises an electrically driven tillage unit as well as a rechargeable energy supply unit, and with a central charging station for recharging the energy supply unit, the tillage unit via associated electrical connecting elements, which are arranged at the charging station and the tillage unit, with the Charging station is electrically connectable, characterized in that at least one of the mutually associated connecting elements (86, 88) is held in a resilient manner.

Soil cultivation system according to claim 1, characterized in that the tillage unit (14) comprises a collision detection sensor (52), to which a spring-held sensing element (42, 44) is assigned, the movement of which relative to a chassis (16) of the tillage unit (14) for provision a collision detection signal can be detected.

Soil cultivation system according to claim 2, characterized in that the resilient holder of the at least one electrical connecting element (86, 88) has a lower spring constant than the resilient holder of the sensing element (42, 44).

4. Soil cultivation system according to claim 1, 2 or 3, characterized in that the mutually associated connecting elements form electrical contact elements (86, 88, 94, 96, 98) for ohmic coupling of the tillage unit (14) to the charging station (12).

5. Soil cultivation system according to one of the preceding claims, characterized in that the soil cultivation system (10) has at least two first connecting elements (86, 88), each of which is assigned at least one second connecting element (94, 96; 98).

6. Soil cultivation system according to claim 5, characterized in that the first connecting elements (86, 88) are arranged at a vertical distance from one another.

7. Soil cultivation system according to one of the preceding claims, characterized in that at least one first connecting element (86, 88) is assigned a plurality of spaced-apart second connecting elements (94, 96; 98).

8. Soil cultivation system according to claim 7, characterized in that depending on the orientation of the tillage unit (14) relative to the charging station (12) one or more of the second connecting elements (94, 96; 98) with the associated first connecting element (86, 88) are electrically connectable.

9. Soil cultivation system according to claim 7 or 8, characterized in that the respectively a first connecting element (86, 88) assigned second connecting elements (94, 96; 98) are arranged in one plane.

10. Soil cultivation system according to one of the preceding claims, characterized in that at least one of the mutually associated connecting elements (86, 88) is flat.

11. Soil cultivation system according to claim 10, characterized in that the at least one flat connecting element (86, 88) is strip-shaped.

12. Soil cultivation system according to claim 10 or 11, characterized in that the flat connecting element (86, 88) is resiliently held.

13. Soil cultivation system according to claim 10, 11 or 12, characterized in that the flat connecting element (86, 88) forms a leaf spring.

14. Soil cultivation system according to one of claims 10 to 13, characterized in that the flat connecting element (86, 88) is arranged on the charging station (12).

15. Soil cultivation system according to one of claims 10 to 14, characterized in that the flat connecting element (86, 88) is assigned a plurality of contact pins (94, 96; 98).

16. Bodenbearbeϊtungssystem according to any one of the preceding claims, characterized in that at the charging station (12) two horizontally aligned, leaf spring-like connecting elements (86, 88) are arranged one above the other, each of which at least two contact pins (94, 96; 98) held on the tillage unit assigned.

17. Soil cultivation system according to one of the preceding claims, characterized in that the tillage unit forms a mobile suction device (14) with a suction turbine (26) and a suction inlet (30) having a dirt collecting container (38).

18. Soil cultivation system according to claim 17, characterized in that the charging station (12) comprises a suction unit (56) and a dirt receptacle (58), wherein when recharging the energy supply unit (46) at the same time the dirt collecting container (38) via the suction inlet (30) from Suction unit (56) is extractable.