EP1967115B1 - Verfahren zur Erkennung eines Bodenbelages - Google Patents

Verfahren zur Erkennung eines Bodenbelages Download PDF

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Publication number
EP1967115B1
EP1967115B1 EP08002410A EP08002410A EP1967115B1 EP 1967115 B1 EP1967115 B1 EP 1967115B1 EP 08002410 A EP08002410 A EP 08002410A EP 08002410 A EP08002410 A EP 08002410A EP 1967115 B1 EP1967115 B1 EP 1967115B1
Authority
EP
European Patent Office
Prior art keywords
process according
floor covering
variables
motor
previous
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.)
Active
Application number
EP08002410A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP1967115A2 (de
EP1967115A3 (de
Inventor
Stefan Tiekötter
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.)
Miele und Cie KG
Original Assignee
Miele und Cie KG
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Filing date
Publication date
Application filed by Miele und Cie KG filed Critical Miele und Cie KG
Priority to PL08002410T priority Critical patent/PL1967115T3/pl
Priority to SI200830073T priority patent/SI1967115T1/sl
Publication of EP1967115A2 publication Critical patent/EP1967115A2/de
Publication of EP1967115A3 publication Critical patent/EP1967115A3/de
Application granted granted Critical
Publication of EP1967115B1 publication Critical patent/EP1967115B1/de
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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2857—User input or output elements for control, e.g. buttons, switches or displays
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02—Nozzles
    • A47L9/04—Nozzles with driven brushes or agitators
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • A47L9/2826—Parameters or conditions being sensed the condition of the floor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation 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
    • A47L9/2842—Suction motors or blowers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation 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
    • A47L9/2847—Surface treating elements

Definitions

  • the invention relates to a method for detecting a floor covering, such as hard floor, carpet, etc., for a vacuum cleaner, which has a fan which is driven by an electric motor, wherein the motor is designed as an electronically commutated motor and wherein a storage unit is provided.
  • the vacuum cleaner is configured accordingly, for example by adjusting the suction or hard floors by limiting the suction mouth by extending bristle strips or the like. In vacuum cleaners, which have a motor-driven carpet brush, this is disabled when maintaining such a hard floor. These different configurations can be created manually by the user. It is also known to adjust these settings of the vacuum cleaner automatically depending on the surface structure of the floor covering to be maintained, self-regulating.
  • the vacuum cleaner has a fan which can be driven by an electric motor, wherein the motor is designed as an electronically commutated motor and wherein a storage unit is provided.
  • the invention provides that the blower motor of the vacuum cleaner is designed as electronically commutated motor, a memory unit is provided, are contained in the reference sizes for at least two floor coverings, a control unit starts a verification procedure for sensorless flooring detection, in which the motor of a first speed in a first operating point is brought to a second operating point at a second speed, the control unit during the verification procedure determines current characteristics from the engine and the current characteristics are compared with the reference variables, whereby an identification of the floor covering is achieved.
  • the current parameters can be formed from direct parameters and / or from indirect parameters.
  • the indirect parameters are read directly from the engine and the direct parameters can be calculated from the indirect parameters.
  • the motor current, the switching angle and the rotational speed are an indirect parameter and the negative pressure and the flow rate are a direct characteristic of the fan.
  • the blower motor is a switched reluctance motor operated brushless, having a rotor of a magnetic material and a stator containing magnetic coils.
  • the reluctance motor is formed with a different number of distinct teeth on the rotor and stator.
  • the stator teeth are wound with coils that are alternately turned on and off.
  • the teeth with the energized windings each pull the nearest teeth of the rotor
  • the switched motor may have only two or one phase.
  • the use of a sensor for detecting the speed and / or pressure of the negative pressure in the inventive method for detecting the floor covering can be dispensed with.
  • the engine is started in the verification procedure and then brought to the first speed. Subsequently, the motor approaches the second operating point, wherein in the next step, the current parameters resulting from both operating points are compared with the reference variables for identifying the floor covering.
  • the control unit detects a sudden change in the current parameters during operation of the vacuum cleaner and turns off the engine for a short time. Subsequently, the engine is immediately switched on again via the control unit, wherein the motor both mentioned operating points starts again and thus the verification procedure is performed. If the user changes the floor covering during the vacuuming, the suddenly changing characteristics automatically start the floor covering detection checking procedure.
  • the motor reaches its maximum speed at the second speed.
  • further operating points of the engine are approached between the first and the second rotational speed, which are also taken into account in the checking procedure.
  • the current parameters do not deviate more than 100%, preferably not more than 50% and particularly preferably not more than 20% from the reference variables. Deviations of the current parameters from the respective reference quantities may be taken into account in order to identify a floor covering via the verification procedure.
  • a difference quotient is calculated at least between the first and the second operating point, which is determined from the current parameters and with a corresponding difference quotient from the reference variables is compared.
  • the difference quotient can be calculated from the direct or indirect parameters.
  • the difference quotient is calculated from the negative pressure and the flow rate.
  • the control unit uses the indirect parameters such as the motor current, the switching angle or the speed to calculate the respective negative pressure and the flow in the first and in the second operating point. Subsequently, the difference quotient of the negative pressure to the flow rate is determined.
  • a plurality of difference quotients can be determined, which relate to more than two operating points.
  • a measure improving the invention can provide that upon a restart of the vacuum cleaner and / or during a change of the floor covering during the operation of the vacuum cleaner, the control unit starts the checking procedure.
  • the control unit starts the checking procedure.
  • a further advantageous embodiment of the method provides that an integral or a sum of the difference quotients is calculated between the first and the second operating point and compared with a corresponding integral or a sum of the difference quotients from the reference variables.
  • each floor covering is assigned individual reference variables, wherein limit values are provided as additional reference variables and in which a defined floor covering is recognized, if in the checking procedure the current parameters correspond to the limit values.
  • the defined floor covering may be, for example, a smooth floor covering. When this limit is reached, the verification procedure recognizes that there is a smooth floor covering.
  • reference variables can be read into the memory unit via an interface.
  • the control unit can form its own reference variables, for example via an integrated learning algorithm.
  • control unit controls additional electrical modules within the vacuum cleaner.
  • the additional modules may, for example, be brush elements that are switched on or off depending on the floor covering.
  • Fig. 1 shows a vacuum cleaner 1, which performs an automatic detection of a floor covering.
  • the vacuum cleaner 1 is designed as Robotsauger having a dust bag 9, a motor 3, which drives a fan 2, and a control unit 4.
  • the motor 3 is a reluctance motor.
  • the motor 3 is controlled by the control unit 4, wherein the motor 3 is additionally in communication with a power converter 10.
  • the control unit 4 has a memory unit 5 and a microcontroller 6.
  • the memory unit 5 contains reference variables for at least two floor coverings.
  • the vacuum cleaner 1 At the bottom of the vacuum cleaner 1 brushes 8 are provided, which can be controlled if necessary. Furthermore, the vacuum cleaner 1 has an interface 7 via which reference variables can be read into the storage unit 5. In the lower region of the vacuum cleaner 1, an accumulator 12 is provided, which is connected to the control unit 4 and to the power converter 10.
  • the method according to the invention for detecting the floor covering makes use of the reference variables stored in the storage unit 5, which are compared during a checking procedure with current parameters which can be determined from the motor 3, whereby an identification of the floor covering is achieved.
  • Fig. 2 three load curves 13,14,15 are shown.
  • the first load curve 13 describes a florid floor covering (eg Wilton)
  • the second load curve 14 refers to a low pile floor covering (eg Duracord)
  • the third load curve 15 describes a smooth floor covering (eg parquet).
  • a control procedure for sensorless floor covering detection is started by the control unit 4, in which the motor 3 is brought from a first speed of a first operating point AP 1 , to a second operating point AP 2 at a second speed.
  • the motor 3 is brought from a first speed of a first operating point AP 1 , to a second operating point AP 2 at a second speed.
  • the current parameters are the negative pressure and the flow, which are calculated at the operating point AP 1 and at the operating point AP 2 inter alia from the motor current and the rotational speed of the motor.
  • the difference quotient ( ⁇ p / ⁇ q) is determined, which results from the first operating point AP 1 and the second operating point AP 2 .
  • the difference quotient which was determined from the current parameters, is compared with a corresponding difference quotient from the stored reference quantities. If both differences in quotient compare, according to the present embodiment, either the Wilton floor covering, the Duracord floor covering or the smooth floor covering is present.
  • further parameters in the verification procedure can be compared with reference variables, for example the motor current, the switching angle, etc.
  • the operating point AP 3 is shown, which is achieved in a third speed of the engine. This speed can represent the maximum speed of the engine.
  • the engine speed is correspondingly increased from the first speed to the second speed and finally to the third speed, with the fan characteristic curve 16 shifting according to the respective speed (see arrow in FIG Fig. 2 ).
  • the microcontroller 6 compares the current parameters with the reference variables, and if the reference variables for a floor covering, for example Wilton, coincide with the current parameters, the microcontroller 6 identifies the floor covering Wilton. Between the load characteristic 14 and 15, a limit characteristic 11 is shown, in which limit values are stored as additional reference variables. If, in the verification procedure, the current parameters correspond to the limit values and / or fall below the limit values, there is a defined floor covering, in the present case a smooth floor covering. If, for example, one of the operating points AP 1 to AP 3 is below the limit characteristic curve 11, the checking procedure recognizes that a smooth floor covering is present.
  • the inventive method is designed such that when a floor covering change the control unit 4, the motor 3 switches off and on again for a short time and then the Verification procedure is performed.
  • the change of the floor covering recognizes the control unit 4 in that sudden changes in the current parameters in each operating point arise.
  • the control unit 4 the brush element 8 on or off.
  • the present method can be implemented particularly well in vacuum cleaners, in which the suction mouth is not or rarely raised from the floor covering, so preferably robotic vacuum cleaners, upright vacuum cleaners or hand vacuum cleaners.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Geophysics And Detection Of Objects (AREA)
  • Push-Button Switches (AREA)
  • Floor Finish (AREA)
EP08002410A 2007-03-07 2008-02-09 Verfahren zur Erkennung eines Bodenbelages Active EP1967115B1 (de)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PL08002410T PL1967115T3 (pl) 2007-03-07 2008-02-09 Sposób rozpoznawania wykładziny podłogowej
SI200830073T SI1967115T1 (sl) 2007-03-07 2008-02-09 Postopek za prepoznavanje talne obloge

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102007011381A DE102007011381B3 (de) 2007-03-07 2007-03-07 Verfahren zur Erkennung eines Bodenbelages

Publications (3)

Publication Number Publication Date
EP1967115A2 EP1967115A2 (de) 2008-09-10
EP1967115A3 EP1967115A3 (de) 2009-09-09
EP1967115B1 true EP1967115B1 (de) 2010-07-28

Family

ID=39277939

Family Applications (1)

Application Number Title Priority Date Filing Date
EP08002410A Active EP1967115B1 (de) 2007-03-07 2008-02-09 Verfahren zur Erkennung eines Bodenbelages

Country Status (5)

Country Link
EP (1) EP1967115B1 (pl)
AT (1) ATE475349T1 (pl)
DE (2) DE102007011381B3 (pl)
PL (1) PL1967115T3 (pl)
SI (1) SI1967115T1 (pl)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102015104250A1 (de) 2015-03-20 2016-09-22 Miele & Cie. Kg Bodenpflegegerät und Verfahren zur Pflege eines zumindest teilweise mit Teppich belegten Bodens mit einem selbstfahrenden Bodenpflegegerät
DE102015104244A1 (de) 2015-03-20 2016-09-22 Miele & Cie. Kg Bodenpflegegerät und Verfahren zur Pflege eines Bodens mit einem selbstfahrenden Bodenpflegegerät
DE102015104251A1 (de) 2015-03-20 2016-09-22 Miele & Cie. Kg Bodenpflegegerät und Verfahren zur Pflege eines Hartbodens mit einem selbstfahrenden Bodenpflegegerät
WO2024010712A1 (en) * 2022-07-07 2024-01-11 Irobot Corporation Mobile cleaning robot with variable cleaning features

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102011052023A1 (de) * 2011-07-21 2013-01-24 Miele & Cie. Kg Verfahren zur Füllstandsüberwachung bei einem Staubsauger
DE102012102631A1 (de) * 2012-03-27 2013-10-02 Alfred Kärcher Gmbh & Co. Kg Verfahren zum Einstellen eines Saugsystems, Verfahren zum Betreiben eines Saugsystems und Saugsystem
DE102012107765B4 (de) 2012-08-23 2020-02-13 Miele & Cie. Kg Robotsauger und Verfahren zum Betrieb eines Robotsaugers
DE102013223864A1 (de) 2013-11-21 2015-05-21 BSH Hausgeräte GmbH Verfahren zum Betreiben eines Staubsaugers und Staubsauger
DE102016206917A1 (de) * 2016-04-22 2017-10-26 BSH Hausgeräte GmbH Verfahren zur Leistungsanpassung eines akkumulatorbetriebenen Staubsaugers
DE102018209383A1 (de) 2018-06-13 2019-12-19 Robert Bosch Gmbh Verfahren zum Bestimmen der Beschaffenheit eines Bodens
DE102018209385A1 (de) 2018-06-13 2019-12-19 Robert Bosch Gmbh Verfahren zum Bestimmen der Beschaffenheit eines Bodens
DE102020205767A1 (de) 2020-05-07 2021-11-11 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Ermitteln mindestens einer Information zu einem Boden
DE102021200388B4 (de) * 2021-01-18 2023-09-28 BSH Hausgeräte GmbH Einlernfunktion für Staubsauger mit Motordüsen

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0790009B2 (ja) * 1988-03-07 1995-10-04 株式会社日立製作所 電気掃除機の制御方法
KR920007588B1 (ko) * 1990-08-29 1992-09-08 주식회사 금성사 자동주행청소기의 카페트 및 계단감지장치 및 방법
US7076830B2 (en) * 2003-01-09 2006-07-18 Royal Appliance Mfg. Co. Electronically commutated drive system for vacuum cleaner
DE102005044617A1 (de) * 2004-10-01 2006-04-13 Vorwerk & Co. Interholding Gmbh Verfahren zum Pflegen und/oder Reinigen eines Bodenbelages sowie Bodenbelag und Bodenpflege- und oder Reinigungsgerät hierzu
DE102007025389A1 (de) * 2007-05-30 2008-12-04 Miele & Cie. Kg Verfahren zum Betreiben eines Staubsaugers und Staubsauger zur Durchführung eines solchen Verfahrens

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102015104250A1 (de) 2015-03-20 2016-09-22 Miele & Cie. Kg Bodenpflegegerät und Verfahren zur Pflege eines zumindest teilweise mit Teppich belegten Bodens mit einem selbstfahrenden Bodenpflegegerät
DE102015104244A1 (de) 2015-03-20 2016-09-22 Miele & Cie. Kg Bodenpflegegerät und Verfahren zur Pflege eines Bodens mit einem selbstfahrenden Bodenpflegegerät
DE102015104251A1 (de) 2015-03-20 2016-09-22 Miele & Cie. Kg Bodenpflegegerät und Verfahren zur Pflege eines Hartbodens mit einem selbstfahrenden Bodenpflegegerät
DE102015104251B4 (de) 2015-03-20 2022-05-19 Miele & Cie. Kg Bodenpflegegerät und Verfahren zur Pflege eines Hartbodens mit einem selbstfahrenden Bodenpflegegerät
WO2024010712A1 (en) * 2022-07-07 2024-01-11 Irobot Corporation Mobile cleaning robot with variable cleaning features

Also Published As

Publication number Publication date
DE502008001004D1 (de) 2010-09-09
ATE475349T1 (de) 2010-08-15
EP1967115A2 (de) 2008-09-10
EP1967115A3 (de) 2009-09-09
PL1967115T3 (pl) 2010-12-31
DE102007011381B3 (de) 2008-05-15
SI1967115T1 (sl) 2010-11-30

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