EP2481333A1 - Appareil de traitement de surface mobile, prenant un chemin aléatoire - Google Patents

Appareil de traitement de surface mobile, prenant un chemin aléatoire Download PDF

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Publication number
EP2481333A1
EP2481333A1 EP12152017A EP12152017A EP2481333A1 EP 2481333 A1 EP2481333 A1 EP 2481333A1 EP 12152017 A EP12152017 A EP 12152017A EP 12152017 A EP12152017 A EP 12152017A EP 2481333 A1 EP2481333 A1 EP 2481333A1
Authority
EP
European Patent Office
Prior art keywords
surface treatment
treatment device
steering shaft
carrier
chassis body
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.)
Granted
Application number
EP12152017A
Other languages
German (de)
English (en)
Other versions
EP2481333B1 (fr
Inventor
Klaus-Jürgen Fischer
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.)
Leifheit AG
Original Assignee
Leifheit AG
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 Leifheit AG filed Critical Leifheit AG
Publication of EP2481333A1 publication Critical patent/EP2481333A1/fr
Application granted granted Critical
Publication of EP2481333B1 publication Critical patent/EP2481333B1/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

Definitions

  • the invention relates to a self-acting and arbitrary surface-descending, mobile surface treatment device for cleaning, care or processing treatment of the surface, with at least one working element which is arranged on a support and is capable of handling the surface, and with a motor-driven with respect to the steering unstable Drive element that is able to move the carrier automatically in different directions over the surface.
  • Such surface treatment devices are mobile robots for dust wiping from the European patent specification EP 1347701 B Lake.
  • These known robots comprise a framework or a bell-shaped housing in which a drive device is arranged, which allows an arbitrary movement of the robot through the space.
  • the drive device is not connected to the actual housing and consists of a ball which is driven by an eccentric center of gravity, so that the ball travels different trajectories. In doing so, she takes the housing and the mobile robot with her and enables her to move arbitrarily in different directions within the room in order to drive over the entire surface of the room after a certain period of work.
  • a disadvantage of the known surface treatment devices is that the drive and the actual device are formed in two parts, so that on the one hand, the impression arises that would initially occur within the device in direction reversal a standstill until the ball abuts within the housing to an opposite surface
  • a bumping occurs when the ball again strikes after passing through the housing interior of the opposite side.
  • the separate Drive element is not recovered when using the surface treatment device or lost because it is separated from the surface treatment device.
  • a mobile floor cleaning device known that a surface can drive off automatically and abut an obstacle is able to change its direction automatically.
  • the drive axle is provided on a resiliently arranged in the housing axle, which is locked when driving straight ahead by the spring force and can be solved in the event of hitting an obstacle on an unlocking from the lock.
  • the steering axle is released and vehicle can drive in a different direction. In straight-line running, however, the steering axle is again straightened by the caster, so that the lock engages again and the floor cleaning device is being moved.
  • a disadvantage of this floor cleaning device is firstly that it drives straight ahead, as long as it does not hit against an obstacle. However, this requires a large number of movements until the ground is completely worn down, since a change of direction during the journey without an obstacle is not possible.
  • Another disadvantage is that the locking of the steering axle is indeed solved when hitting an obstacle, but this does not ensure that the vehicle automatically finds a way out of the blocking position in all cases when it drives frontally in front of a wall or stuck in a corner.
  • the steering axle can now be deflected by the unlocking, this does not prevent the forces for steering in acting exactly in the counter-forces that are triggered by the obstacle. This can only be achieved by an uneven distribution of the drive forces on the axle, but this has the disadvantage that the vehicle moves along the wall transversely to the original direction of travel when it has turned so far that the blocking position is canceled.
  • Another floor cleaning device shows the DE 10 2005 635 A ,
  • the random motion becomes one of four by a lateral boom Wheel bearings produced, in addition to the need to provide multiple wheel bearings, here too there is a risk that the vehicle is stuck in a corner or on a surface, so do not build up forces that can move the vehicle in a completely different direction.
  • the object of the invention is to create an arbitrary surface-traveling mobile surface treatment device, which has an effective, integrated into the device drive and is inexpensive to produce.
  • the drive element is at least one drive wheel which is mounted on a chassis body, which is connected via a steering shaft bearing and a steering shaft to the carrier and about a steering axis (A) is rotatable, wherein the chassis body is formed or is stored, that for forming a lead the running surface of the drive wheel with the surface outside the steering axis (A) and the steering shaft bearing is a swash bearing, in which the steering shaft is held and about which the steering shaft is pivotable.
  • the carrier will usually be a housing which, as in the known surface treatment devices, extends like a dome over the drive unit, wherein the carrier may as well be a framework or even an annular or angular frame. Furthermore, this carrier can be designed in several parts, for example, a stable annular frame with attached plastic dome for covering the functional parts.
  • the surface treatment devices according to the invention are used, for example, as dust wiping devices, wherein the working element in this case can be a dust brush arranged for example in a circle around the chassis body and fastened to the carrier.
  • the latter can also be designed antistatic to effectively absorb dust with low energy consumption can.
  • the surface treatment device can also realize any other form of treatment of a substrate, up to a lawnmower.
  • the surface treatment device between usually vertical, but at least inclined edge boundaries can go back and forth. These marginal boundaries are necessary to realize the required direction reversal by abutting a deckle.
  • a damp floor wiping function is possible.
  • the working element may be designed as a mob or pickup, which is either attached moist to the carrier or moistened by a humidifying function of the wearer, for example, by leaking water that can seep from a carrier-side water tank through small openings in the working element.
  • a wobble bearing is to be understood as meaning a bearing which is capable of holding an axle, optionally under load of a bearing clearance, in a surface which is arranged parallel to the surface to be treated or at an angle which is significantly smaller than 90 degrees.
  • a swash bearing for example, a bearing eye, which may consist of a simple, circular breakthrough in the simplest case.
  • a classic bearing eye in which the component to be stored is held in a rotatably held, crowned on its outer side bearing segment. Due to the higher cost of such a classic Lagerauges this variant will be more likely to provide for complex surface treatment equipment. On the other hand, it will be sufficient for the usual functions if, in compliance with the required wear resistance, a mere breakthrough in the sense of a passage opening is used.
  • the drive according to the invention is designed so that a forward or tail of the drive wheel is provided.
  • This already known from motor vehicles technology, which is used there for straightening the steering and for stabilizing the straight line use is here reversed in their function. If a tail has stabilized the straight ahead, a forward run, so the fact that the drive wheel with its support surface on the ground in front of the axis of rotation of the drive wheel comes into contact with the ground, used to generate an arbitrary stability, so that the surface treatment device during of the flow is just not stable in a defined straight-ahead drive.
  • the surface treatment device and the carrier are designed so that there is no front and no back, but that the device has substantially the same driving characteristics in all directions.
  • the drive wheel within the bearing will adjust so that then a caster occurs. This happens because the drive wheel is rotatable by 360 degrees in the swash bearing, so that in consequence of the free movement, the drive wheel will put to the rear, as is known for example from shopping carts of a supermarket. If, for example, the surface treatment device then strikes a wall on the opposite side of a room, the wobble bearing is arranged between the contact surface of the drive wheel on the floor and the wall.
  • the drive wheel in this case then no caster, but, if a backward motion is to be staged, a flow on.
  • the swash-bearing will ensure that the chassis body is moved within its degrees of freedom as a result of the driving force until at some point one Movement occurs, which can generate a force component on the swash bearing, which ensures that the carrier can be moved again.
  • the advance will have a positive effect, so that the surface treatment device moves in an arbitrary, generally rotated spatial direction.
  • Advance and swash bearing have the further advantage that it is very unlikely that the surface treatment device is moved exactly in the opposite reverse direction, but that it is likely to drive another route. In this way, the arbitrary movement of the surface treatment device over the cleaning period is realized, so that with the necessary probability after an acceptable period of time each area of the room could be traversed.
  • the mobile surface treatment devices also ensure that obstacles in the room, such as decorative items or carpets, do not cause the surface treatment device is blocked.
  • the chassis body is preferably arranged inside the carrier and has the drive components of the surface treatment device.
  • the chassis body will preferably have one or more drive wheels that can be distributed on one or more axles. In the usual applications, it will be sufficient to provide a wheel axle with a drive wheel, wherein at the same time the drive motor is mounted on the chassis body. This motor is powered by a power supply in the form of a battery or batteries, which is also located on the chassis body.
  • More complex embodiments of the drive body are designed in the manner of a bogie, wherein two opposite axes are provided, of which, for example, the front is steerable and has the lead or lag.
  • two opposite axes are provided, of which, for example, the front is steerable and has the lead or lag.
  • several axes or only one axis can be driven.
  • the chassis geometry can be designed so that the Surface treatment device tends to deviate from the straight-line direction and usually run down curved lines.
  • the chassis body is connected via the steering shaft bearing with the carrier.
  • the steering shaft bearing can be arranged both on the chassis body and on the carrier, wherein the respective other component then has the steering shaft, which projects into the steering shaft bearing.
  • a passage opening is arranged on the carrier, in which the chassis body is inserted with the projecting in the direction of the passage opening steering shaft.
  • the steering shaft may be provided at the opposite end with a fuse in the form of a lock washer, a nut screwed or a thickening, which prevents the removal of the steering shaft from the steering shaft bearing.
  • the steering shaft bearing is arranged on the chassis body, in which case the steering shaft protrudes from the carrier in the direction of the steering shaft bearing. Again, a corresponding safeguard against unintentional removal may be provided.
  • the steering shaft bearing is designed so that the steering axle is pivotable in the bearing.
  • a certain bearing clearance can be maintained in the direction of travel, which is only necessary for free pivoting and for generating the necessary degrees of freedom of movement of the chassis body.
  • the motor arranged inside the carrier can be operated via an operating unit. They can be operated in different speeds or also other functions, for example optional additional functions, which will be described later.
  • the operating unit may have a timer, which switches off the surface treatment device either after manual input or after a predetermined time interval, since after this Interval, for example, is to be expected, the necessary work is done.
  • the device can also be used overnight, without it moving the whole night the area.
  • the operating unit can be arranged directly on the chassis carrier, which requires that either the chassis carrier is removable and so the operating unit is accessible or that the operating unit can be reached by the shape of the carrier either with the device lifted from below or through the carrier.
  • a control unit can also be operated via a wireless data connection or a remote control.
  • the operating unit is arranged on the carrier, so that it is accessible from the outside.
  • the communication either also takes place via a wireless remote control or via sliding contacts or comparable transmission paths.
  • the operating unit can also be arranged on the steering shaft, as long as it extends through the carrier to the outside. In this case, sliding contacts can be omitted, since here, too, the control unit is directly connected to the chassis body, if the steering shaft is also connected to the chassis body and the propeller shaft bearing is arranged on the carrier side.
  • the wireless connection to the operating unit can be realized particularly easily if the operating unit has a connection possibility to a small computer. It can e.g. be a bluetooth connection.
  • a small computer for example via a so-called "app" of a smartphone, the operation is particularly comfortable and easy to be realized.
  • a remote control can be done from outside, so that the device can be contacted via the telephone network.
  • the operating unit can also be the power supply of a battery.
  • the operating unit may have a USB interface, which has corresponding power lines, optionally with the interposition of slip rings, with the accumulator in communication. The device can then be charged via this USB interface.
  • a recharging function of the accumulator can also take place in that a charging cable can be connected directly to it or has this corresponding plug, which can be plugged directly into a socket. This can be done with mounted chassis body or even with the chassis body removed, wherein preferably the accumulator is removable from the chassis body, so that it can be charged separately from the device. This not only allows the interchangeability of the accumulators for the purpose of maintenance, but also the provision of a secondary accumulator in the event that the first is consumed.
  • the working element can in turn be arranged movably to the carrier.
  • several tools may be arranged on the carrier.
  • the implement may be motor driven so that it also moves in addition to the movement of the carrier to improve the cleaning result or processing result.
  • the working element is preferably connected to the carrier with a detachable connection so that it can be exchanged or that e.g. a turning possibility can be provided.
  • the working element is applied to the holding frame, which is detachably connected to the carrier, wherein the holding frame has a working element on both sides and in both orientations with the carrier is connectable.
  • the surface treatment device will be supported on the ground via the working element.
  • the drive wheel is then mounted on the chassis body or the chassis body in turn mounted on the carrier that the drive wheel rests with the support surface on the ground and can transmit the driving force.
  • the working element has to absorb larger forces, for example, if the surface treatment device is designed as a lawn mower or as a wet mop, a more complex chassis body can be used, which ensures stable storage of the surface treatment device of the surface to be processed. This is particularly advisable when the working element is arranged to be movable and motor driven on the carrier, so that additional demands on the directional stability of the chassis can arise over the dynamics of the working element and the associated abutment forces.
  • Another optional feature of the present invention may be that the motor is reversible in direction. Such reversal may be e.g. then be switched when a corresponding sensor triggers.
  • This sensor may, for example, be a circulating pressure sensor which detects when the surface treatment device is moving against a vertical surface.
  • Such sensors are known, for example, from the flexible transport systems of industrial logistics and are realized by means of a circulating belt which is pressed in by an obstacle, wherein these impressions are detected by a sensor system.
  • Shock sensors for example piezoelectric sensors
  • the motor automatically detects when working against an obstacle.
  • the drive wheel blocks, so that the drive shaft of the engine is blocked, which can lead to an automatic switching of the engine in another direction.
  • This automatic switching can also be used to detect, for example, a bogus obstacle.
  • the motor can go back for a short period and then try again to go to the original direction.
  • a bogus obstacle such as a slightly higher floor tile held up
  • the motor can go back for a short period and then try again to go to the original direction.
  • a multiple change of direction such is designed surface treatment device preferably provided with an intrinsic logic, in which a corresponding control circuit is deposited.
  • FIG. 1 schematically shows an embodiment of the invention in a side view in section.
  • FIG. 1 illustrated surface treatment device has a carrier 1, which has a cavity in the interior.
  • a motor drive is arranged, which transmits its driving force via a drive wheel 2, which is guided by a breakthrough in the bottom of the surface treatment device to the treatment area on the surface to be treated.
  • a drive wheel 2 which is guided by a breakthrough in the bottom of the surface treatment device to the treatment area on the surface to be treated.
  • the processing element here in the form of a brush-like mob, shown.
  • the engine is arranged on a chassis body 5 and operated via an operating unit 6.
  • This operating unit 6 in turn can be actuated via a passage (not shown) from the outside.
  • a remote data transmission for example via a remote control or via a computer.
  • the chassis body 5 is connected via a steering shaft 3 with the carrier 1 of the surface treatment device.
  • the steering shaft 3 is fixedly connected to the carrier 1, the chassis body 5 is movably mounted in a steering shaft bearing 4 on the steering shaft 3 about a steering axis A.
  • the steering shaft bearing 4 is designed as a swash bearing.
  • this swash bearing is formed by a hollow cylindrical passage through which the steering shaft 3 is guided.
  • the chassis body 5 is movable in storage and not is stored defined. Since at the same time the drive wheel 2 has a lead or a caster, that is arranged with its support surface on the surface to be treated outside the steering axis A, creates an unstable state, which leads to an arbitrary change in direction, but in particular enables the surface treatment device, when abutting an obstacle to move by a corresponding proper movement of the chassis support 5 in a new direction.
  • the drive wheel 2 is formed as a classic wheel.
  • the drive wheel 2 may also be a ball or a roller.
  • the operating element 6 can also be arranged on the outside of the carrier 1.
  • the operating command can then be transmitted to the drive motor either via sliding contacts, or there is a wireless data transmission, wherein in the case of wireless data transmission can be completely dispensed with the control element 6, which is then replaced by the remote control or a small computer ,
  • the steering shaft 3 can also be arranged on the chassis body 5, so that the steering shaft bearing 4 is in turn arranged on the carrier 1.
EP20120152017 2011-01-31 2012-01-20 Appareil de traitement de surface mobile, prenant un chemin aléatoire Not-in-force EP2481333B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE201110000423 DE102011000423A1 (de) 2011-01-31 2011-01-31 Mobiles Flächenbehandlungsgerät

Publications (2)

Publication Number Publication Date
EP2481333A1 true EP2481333A1 (fr) 2012-08-01
EP2481333B1 EP2481333B1 (fr) 2013-01-09

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Application Number Title Priority Date Filing Date
EP20120152017 Not-in-force EP2481333B1 (fr) 2011-01-31 2012-01-20 Appareil de traitement de surface mobile, prenant un chemin aléatoire

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EP (1) EP2481333B1 (fr)
DE (1) DE102011000423A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106741290A (zh) * 2016-11-21 2017-05-31 国网山东省电力公司电力科学研究院 一种适用于复杂环境的换向系统及机器人及应用及方法

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2767206A1 (fr) 2013-02-13 2014-08-20 Leifheit Ag Appareil de traitement de surfaces mobile

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10205635A1 (de) 2002-02-12 2003-08-28 Stephan Schymonski Werkzeugverbindung
EP1347701A1 (fr) 2000-10-30 2003-10-01 Torbjorn Aasen Robot mobile
DE102004038074B3 (de) * 2004-07-29 2005-06-30 Alfred Kärcher Gmbh & Co. Kg Reinigungsroboter
GB2411820A (en) 2004-02-18 2005-09-14 Reckitt Benckiser Self driven cleaning device

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10242257C5 (de) * 2001-09-14 2017-05-11 Vorwerk & Co. Interholding Gmbh Selbsttätig verfahrbares Bodenstaub-Aufsammelgerät, sowie Kombination eines derartigen Aufsammelgerätes und einer Basisstation
DE102005057635B4 (de) * 2005-12-02 2009-08-20 Hochschule Ravensburg-Weingarten Fahrzeug
DE102009024990B4 (de) * 2009-06-16 2022-06-23 Vorwerk & Co. Interholding Gmbh Elektrogerät mit einer Halterung für eine Fernbedienung

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1347701A1 (fr) 2000-10-30 2003-10-01 Torbjorn Aasen Robot mobile
EP1347701B1 (fr) * 2000-10-30 2004-12-08 Torbjorn Aasen Robot mobile
DE10205635A1 (de) 2002-02-12 2003-08-28 Stephan Schymonski Werkzeugverbindung
GB2411820A (en) 2004-02-18 2005-09-14 Reckitt Benckiser Self driven cleaning device
DE102004038074B3 (de) * 2004-07-29 2005-06-30 Alfred Kärcher Gmbh & Co. Kg Reinigungsroboter

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106741290A (zh) * 2016-11-21 2017-05-31 国网山东省电力公司电力科学研究院 一种适用于复杂环境的换向系统及机器人及应用及方法
CN106741290B (zh) * 2016-11-21 2019-03-15 国网山东省电力公司电力科学研究院 一种适用于复杂环境的换向系统及机器人及应用及方法

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EP2481333B1 (fr) 2013-01-09
DE102011000423A1 (de) 2012-08-02

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