EP2710944A2 - Self-propelled floor cleaning apparatus and method for operating a floor cleaning apparatus - Google Patents

Abstract

The device (1) has elongated barriers that are provided with a carpet edge (14) in an increasing obstacle surface at a traverse direction. A component configured to detect the obstacle. The obstacle is cleaned in adjacent area and extension of the obstacle is oriented with respect to the barrier surface. The lateral distance in traversing edge of the floor cleaning device to the obstacle surface is lower than the width perpendicular to the direction of travel. An independent claim is included for a method for operating an automatically movable floor-cleaning appliance.

Description

The invention relates first to an automatic traveling floor cleaning device, wherein the floor cleaning device is capable of low, elongated obstacles, such as typically given by a carpet edge, with a rising obstacle surface, in a method with a direction of travel at right or acute angle to a longitudinal extent of the obstacle and further wherein the floor cleaning device has a means for detecting the obstacle.

Likewise, the invention relates to a method of operating a self-propelled floor cleaning appliance having the abovementioned capabilities and means.

Such floor cleaning devices have already become known in many respects. It is for example on the DE 102011000536 A1 , the DE 102008014912 A1 , the DE 102011000250 A1 and the DE 1020110036772 A1 directed.

Such self-propelled floor cleaning appliances are also capable of handling smaller obstacles, with rising, i.e. relative to the surface on which the device moves shortly before reaching the obstacle, raised or rising edge, in particular carpet edge edges, but also if necessary to overcome thresholds.

The cleaning strategy of such floor cleaning devices is designed, for example, that a certain space selected for cleaning, which is compatible with the Building space can match, but can also relate to a section of a building space (only), is traversed in a specific regular sequence, so that there is a complete coverage as possible of the action of a cleaning brush and / or the extraction of dirt based on the surface traveled. The aforementioned, possibly located within this cleaning strategy traversable obstacles are in this case overrun in each case in the direction of an internally given in the cleaning robot field or in a specific orientation to a given wall of a room. If necessary, you will also be run over several times.

Based on the aforementioned prior art, the invention has the object to provide an automatically movable cleaning device and a method for operating such a floor cleaning device, which allows an even more effective cleaning.

A possible solution to this problem is given according to a first idea of the invention in an automatically movable floor cleaning device, that a method of operation for cleaning the obstacle or adjacent to the obstacle area is feasible, in which the cleaning device assumes a traversing direction, which is aligned with the extension of the obstacle is and with respect to the obstacle surface includes a method on a floor area in front of the obstacle, with a lateral distance of an associated in the travel direction edge of the device to the obstacle surface is smaller than corresponds to a width of the device perpendicular to the direction of travel. Regardless of the possibility, which may be used in the course of a room cleaning, or may be initially used to run over the obstacle and on the obstacle (such as on a Carpet) also to clean, is hereby given a configuration that allows the floor cleaning device to drive specifically to the long stretched obstacle along, so for example on a carpet edge. Hereby, a corresponding end face of the obstacle, which is also referred to herein as a rising obstacle surface, or a surface portion immediately before the obstacle surface, to be cleaned specifically. In particular, the floor cleaning device can also drive along the obstacle surface, on the floor area, which is given in front of the obstacle, that is correspondingly lower, that during a cleaning trip a contact with the obstacle surface is not given by the bristles of brushes of the cleaning device. In particular, several such cleaning trips can be provided programmatically, each leading closer to the obstacle surface, for example, until a touch of bristles by brushing the device takes place during such a cleaning drive or the device moves with respect to its cleaning brushes at least partially overlapping the obstacle surface.

By virtue of the fact that the floor cleaning appliance can thus incorporate the traversable elongated obstacles into a cleaning strategy by targeted modification or adaptation of the travel direction, it can also be the obstacle itself, for example after a separate cleaning of the rising obstacle surface without, for example, the rising obstacle edge to run over, clean off. It then proceeds, for example, in a certain period of time or until the special cleaning is complete, only on the obstacle. This is particularly useful if the base of the obstacle has a certain extent in relation to the base of the floor cleaning device, so for example, the obstacle in its width and / or length at least a double or more corresponds to a dimension of the floor cleaning device in the usual direction of travel.

A further possible solution to the problem is given in a method for operating such a self-propelled floor cleaning device in that the floor cleaning device after detecting the obstacle, the traversing direction so that it moves along this obstacle, with a distance to an associated in the traverse edge of the Device which is smaller than it corresponds to a width of the device perpendicular to this direction of travel. Such a modification can be made immediately after a first crossing of the obstacle or obstacle surface; However, it can also be carried out according to a conventional method in the space according to a predetermined pattern - first - or between such events, ie between the first or repeated driving over the obstacle surface or the obstacle and the completion of the cleaning drive according to a given cleaning strategy.

Further features of the invention are described below, also in the figure description and the drawing, often in their preferred assignment to the already explained concept or illustrated. However, they can also be of importance in an association with only one or more individual features, as described here or represented graphically, or independently or in a different overall concept.

In such a floor cleaning device, as is also apparent from the cited documents, the hereby also with regard to the embodiments described there of a space detection by non-contact For the purpose of incorporating features of these prepublished documents in claims of the present application, it is particularly preferred that a microprocessor is provided, more preferably the microprocessor is a volatile and / or or a non-volatile memory is associated with the programs, in particular traversing programs, ie the exercise of cleaning strategies are feasible. Further preferably, such a floor cleaning device on a surface and / or space detection option, such as by non-contact scanning, as mentioned, in particular an infrared and / or sensor scanning by means of one or more provided in the floor cleaning device sensors, in particular ultrasonic and / or infrared sensors , for example, is possible. As a result, the device can furthermore preferably map a room, or a plurality of rooms, which are to be cleaned in an apartment, for example also in the course of a "teach-in" drive, and subsequently carry out cleaning trips on the basis of this mapping.

With regard to a rising obstacle surface that can be run over by such a floor cleaning device, it is generally about obstacle surfaces, which rise from the surrounding ground vertically by a few millimeters, for example, 1 mm to 20, 30 or 40 mm. Further, in the context of these explanations, increasing obstacle areas are relevant, in which the said vertical distance of the obstacle surface according to the rise very rapidly or directly, stepwise, but in any case over a range up to a few centimeters, measured perpendicular to a course of such an obstacle edge , is, for example, 5 to 20 mm, is given.

A further preferred embodiment provides that after detecting an elongated overrun obstacle and changing the direction of travel so that it moves along this obstacle, the traversing is performed by a computer-aided alignment of the travel direction so that a corresponding brush of the cleaning device as effectively as possible the obstacle edge , especially the rising obstacle surface, cleans. For example, it can be provided that a disc brush, which is a brush with a substantially vertical axis of rotation and preferably, as explained in more detail below, is about a plan of a housing of the floor cleaning device with respect to a rotation range of bristles of this brush protruding brush, approximately in the middle to the obstacle edge moves or such that the obstacle edge as it were a tangent, or a low penetrating secant with respect to a bristle circle formed by the rotating bristles, in the course of the process.

In addition or alternatively, a multiple method along the obstacle edge, then for example with different distance of the housing edge edge (in the direction of travel to the obstacle edge), or across or not across the obstacle edge, such that in a method, the example mentioned Dish brush as effectively as possible cleans the obstacle edge, in another method, however, a arranged within the floor plan of the housing cleaning brush with a substantially horizontal axis of rotation.

The drive over obstacle can be detected by the floor cleaning device in various ways.

Thus, it is possible on the one hand that a change in the ground clearance is detected by means of a ground sensor and evaluated accordingly. Such floor cleaning devices often have such a floor sensor from the point of view that the driving over a step and thus a collapse of the floor cleaning device should be avoided on a staircase. Such a floor sensor is often arranged for this purpose in the front area, based on a conventional cleaning-traversing the floor cleaning device.

As explained below, but in the present context, a special arrangement is proposed.

Next, the floor cleaning device, as already mentioned, as a corner brush preferably trained brush having more preferably substantially vertical axis of rotation, which in any case has a bristles on the housing base reaching out bristles and reaching or driving over the overridden obstacle due to a change in the motor current of a such corner brush driving electric motor can detect.

Furthermore, the floor sensor can also be designed as a touch sensor. Such a sensor is also called a tactile sensor. A reaching or passing over a drivable obstacle can then be detected by direct contact and thus detectable change in the vertical height of the run over floor. For example, a touch sensor may be configured as a floor-mounted, sliding foot that can deflect vertically. According to a preferably in the direction of travel, possibly round, provided bevel or spherical or hemispherical shape or crown can snagging and thus jamming of the floor cleaning device obstacles are avoided by such a touch sensor.

Also, the floor cleaning device may have a Wandfolgesensor. This is usually provided, in any case with regard to a special drive of the cleaning device, often also allow a starting drive in detecting a room that is to be cleaned, a ride along a wall. In the present context, this wall-following sensor can be used in that a signal of a floor sensor, as described, is evaluated together with a signal of the wall-following sensor. If a signal of the ground sensor is detected, but not of the wall-following sensor, this can be evaluated in such a way that there is a drive-over obstacle, but not an edge that merges into a wall.

Further, it is preferred that the floor cleaning device, as already stated, a housing having a, with respect to a plan view, housing plan, one or more, a tread having wheels and at least one cleaning brush having a longitudinal axis, wherein further the wheel and the cleaning brush are arranged within the housing plan and the floor sensor is arranged in a sector of the housing plan, which is bounded by the longitudinal axis of the cleaning brush and a perpendicular to a geometric axis of the wheel, with respect to the same plan view, wherein the vertical immediately outside the Running surface, on the edge of the housing facing side of the tread, runs.

If a disc brush is provided, it may also be wholly or partly located in said sector. Preferably, this disc brush is then also arranged, viewed from an impeller, arranged beyond the cleaning brush. In particular, when the cleaning brush extends in the direction of its longitudinal axis to the peripheral edge of the housing over the wheel or its tread out, said boundary of the sector, at least in this outwardly extending portion of the cleaning brush, preferably by a parallel to the axis of the Cleaning brush extending axis, which represents a wheel-side boundary of the cleaning brush, usually based on the radial bristle length.

Said sector can also be given in only one wheel of the floor cleaning device in this form. Should it be a wheel that can be pivoted to change a direction of travel, the definition preferably refers to the position of the wheel when driving straight ahead.

However, a constellation is preferred in which two wheels are provided, which moreover are preferably arranged on a common axis running parallel to the axis of the cleaning brush.

By this measure, the floor sensor is set in an arrangement that allows the floor cleaning device to move along an obstacle edge, such as the edge of a carpet, with the floor sensor is already in coverage to the carpet, so reports a comparatively small vertical height However, the (associated) wheel and / or associated brush are still at the level below the floor.

The detection of the obstacle can also by means of an evaluation of the motor current consumption of a corner cleaning brush, if this is provided, be made. In particular, therefore, a corner cleaning brush in the form of a disc brush. Upon encountering or passing over an obstacle, the torque and thus the motor current changes, so that this evaluation is made possible.

Alternatively or additionally, the evaluation by means of the already mentioned tactile sensor or touch sensor can be performed. Also, a signal supplied by this sensor can then be evaluated accordingly, possibly also in connection with the signal of a Wandfolgesensors.

Fig. 1

ein selbsttätig verfahrbares Reinigungsgerät beim Entlangfahren an einer Teppichrandkante;

Fig. 2

eine Darstellung gemäß Fig. 1, mit Darstellung der Anordnung von Rad und Tellerbürste in Bezug auf eine Gehäuserandkante; und

Fig. 3

eine Unteransicht des Bodenreinigungsgerätes gemäß Fig. 1 beziehungsweise Fig. 2 mit einer möglichen Zuordnung einer Teppichrandkante bei einem Verfahren.

In the following, the invention will be explained further with reference to the attached drawing, which, however, represents only one embodiment. Hereby shows:

Fig. 1

an automatically movable cleaning device when traveling along a carpet edge;

Fig. 2

a representation according to Fig. 1 , showing the arrangement of wheel and disc brush with respect to a housing edge edge; and

Fig. 3

a bottom view of the floor cleaning device according to Fig. 1 respectively Fig. 2 with a possible assignment of a carpet edge in a process.

Shown and described is an automatically movable floor cleaning device. 1

This floor cleaning device, as in particular synonymous with FIG. 3 shows, has two wheels 2, 3, which are preferably driven individually in the embodiment.

Furthermore, the floor cleaning appliance 1 has a cleaning brush 4 which essentially rotates about a horizontal axis, and a corner cleaning brush 5 which rotates about a substantially vertical axis. In the exemplary embodiment and preferably, this is designed as a plate brush.

In a plan view of the device, wherein in FIG. 3 in concrete terms, the bottom view is shown, the housing 6 can be seen, the peripheral edge, now in turn based on FIG. 3 , is essentially composed of a rectangular section 7 and a circular section 8. In the exemplary embodiment, the rectangular section 7 is also designed with a slightly smaller width than the subsequently adjoining circular section, wherein the circular section 8 also assigned to the rectangular section 7 has a straight section 9.

Next, the floor cleaning device has a microprocessor, not shown in detail, and associated electronic memory and beyond a control device and a control program in which traversing routines are stored or can be created or changed based on measured or detected parameters.

For detecting a room in which the floor cleaning device 1 moves, it has a, in the embodiment accommodated in the hood portion 10, non-contact scanning device. Reference is made to the above-mentioned prior art.

In FIG. 1 a typical Verfahrsituation the floor cleaning device 1 is shown.

The floor cleaning device 1 moves first in the illustrated space 11, for example, along a wall 12, whereby the dashed lines shown original traverse direction V results. Here, the floor cleaning device 1 passes over a carpet 13, which has a carpet edge 14 as an elongated obstacle. The edge of the carpet 14 here also stands for a generally addressed rising obstacle surface.

By a sensor-based detection, possibly also by the detection by scanning, as described, the floor cleaning device 1 can determine the course of the edge of the carpet edge 14 relative to its original direction of travel V. If this special cleaning mode is chosen at any rate, which may optionally be possible, but may also be provided as a fixed routine, it performs one or more cleaning runs in a travel direction R which is oriented substantially parallel to the edge of the carpet edge 14.

Here, the method of the device is in particular made so that it moves with a distance in the direction of travel of the obstacle surface, here for example the edge of the carpet 14, an associated in the direction of travel edge of the device 1, which is smaller than a width b of the device. This serves in particular to clean the area in front of the obstacle, without already making contact with the obstacle. This distance can also be reduced, if necessary, in several trips successively. In particular, the distance may be smaller than that mentioned Width b corresponds to approximately one hundredth of the specified width or even to a method of movement in which it comes into contact with the obstacle.

Next, the distance of a peripheral edge, especially in the embodiment of a housing edge portion 9 or optionally 15 (see FIG. 3 ) to the edge of the carpet 14, optionally also in the attack on the edge of the carpet edge 14, be chosen so that a corner cleaning brush 5, if provided, as in FIG. 1 and 2 also shown, with respect to their circular surface 17 described by the cleaning bristles 16 in a certain overlap, for example, moves centrally to the edge of the carpet edge 14. The distance can also be adjusted in a corresponding method, however, so that the edge of the carpet edge 14 extends tangentially - outside - to the circular area 17 or as a preferably minor secant to the circular area 17th

Further, the distance may be chosen so, in particular, even if a corner cleaning brush is not provided that an end portion of the cleaning brush 4 rotating about a horizontal axis cleans said edge of the carpet edge 14 in this method. Also insofar different positions can be realized, for example, such that an end face of the cleaning brush assigned to the obstacle edge, but with a certain distance, moves or moves into contact or in overlap to the obstacle edge.

Further preferably, the floor cleaning device 1, see FIG. 3 , a contactless or touching ground sensor 18. The floor sensor 18 is obviously arranged in a sector of the housing plan, which with respect to a geometric axis 19 of an associated wheel 2 or a geometric Axis 20 of the cleaning brush 4 outside this axis 19 and 20, edge edge side of the housing 6, is arranged. In addition, optionally, as far as this results in a different arrangement, alternative definition, the floor sensor 18, based on the same plan view, arranged in a sector of the housing plan, through the longitudinal axis of the cleaning brush 4 and a vertical S to the geometric axis of the wheel 20 is limited, wherein the vertical immediately outside the tread of the wheel, on one of the peripheral edge of the housing side facing the tread extends.

Thus, the process along the peripheral edge (also) by means of this soil sensor can be controlled. As long as the floor sensor 18 is (already) in overlap with the higher adjoining area of the carpet 13, the floor cleaning appliance moves in the direction of the peripheral edge 14, preferably with a slight tendency to curve away from the peripheral edge in the direction of the particular cleaning process of interest here Carpet covered floor area, so that each time when the sensor reports no overlap to the carpet (in the embodiment) or the ground obstacle generally more, there is a return movement to the carpet.

As an alternative to the sensor-based detection of the edge of the carpet edge 14, or of the ground obstacle in general, detection of the rising obstacle surface is possible by monitoring the motor current of the corner cleaning brush 5 designed, for example, as a plate brush. The recorded motor current can be detected, for example, by a related resistor circuit and evaluated by a control circuit or a control program of the vacuum robot. While During a cleaning run, the motor current, depending on the nature of the floor to be cleaned, results on a substantially homogeneous area in a relatively narrow bandwidth, ie practically with a constant value. In the case of passing over an obstacle, such as a carpet edge 14, an increased torque, resulting in an increase in the motor current. Insofar as further evaluation of a signal, such as a wall-following sensor, indicates that this increased torque / motor current increase is not caused by, for example, reaching a room boundary, such as a wall 12 or piece of furniture, this increase in motor current may be from the cleaner 1 be considered as passing an obstacle. It is then possible to initiate a routine that reciprocates repeatedly in the same surface area, so that a rise in the motor current which always occurs in the same way can be evaluated as the edge of an obstacle, for example the edge of the carpet 14, and the orientation of the direction of travel corresponding thereto detected edge 14 can be made. This multiple reciprocation can also (initially) be made with the other sensors described, if necessary.

Additionally or alternatively, a tactile sensor can be provided, which monitors the ground level immediately adjacent to the lateral housing edge, to the outside. If this causes an increase in the floor area, in particular without an additional message, for example a wall-following sensor, this can also be interpreted as a flat obstacle in the sense of a edge 14 of the carpet. According to the above description of the change in the direction of travel can then, if necessary, even after multiple driving over a corresponding area, the direction of travel changed and set be that the desired process results along the obstacle surface.

All disclosed features are essential to the invention. The disclosure of the associated / attached priority documents (copy of the prior application) is hereby also incorporated in full in the disclosure of the application, also for the purpose of including features of these documents in claims of the present application. The subclaims characterize in their optionally sibling version independent inventive developments of the prior art, in particular to make on the basis of these claims divisional applications.

LIST OF REFERENCE NUMBERS

1 Floor cleaning device b width 2 wheel 3 wheel 4 cleaning brush 5 Corner cleaning brush 6 casing 7 rectangular section 8th circular section 9 section 10 hood section 11 room 12 wall 13 carpet 14 Carpet edge 15 Housing rim section 16 cleaning bristles 17 circular area 18 floor sensor 19 axis 20 axis R traversing S vertical V Original travel direction

Claims (10)

An automatically moving floor cleaning device (1), wherein the floor cleaning device (1) is capable of low, elongated obstacles, as typically given by a carpet edge (14), with a rising obstacle surface, in a process with a direction of travel in the right or sharp Angle to a longitudinal extent of the obstacle, to run over and further wherein the floor cleaning device (1) has a means for detecting the obstacle, characterized in that the floor cleaning device (1) is designed such that a way of moving the obstacle or to the obstacle adjacent area is feasible, in which the cleaning device (1) occupies a direction of travel (R or V), which is aligned with the extent of the obstacle and with respect to the obstacle surface includes a method on a floor area in front of the obstacle, with a lateral distance one assigned in the direction of travel eten edge of the device (1) to the obstacle surface, which is less than a width of the device (1) perpendicular to the direction of travel. Method for operating a self-propelled floor cleaning device (1), which is able to low, elongated obstacles, as typically given by a carpet edge (14), with a rising obstacle surface, in a method with a direction of travel at right or acute angle to a longitudinal extent of the obstacle, to run over and further wherein the floor cleaning device (1) has a means for detecting the obstacle, characterized in that after detection of the obstacle by the floor cleaning device (1) the traversing direction of the floor cleaning device (1) so is changed so that it moves along this obstacle, with a distance of an associated in the travel direction edge of the device (1) to the obstacle surface, which is less than a width of the device (1) perpendicular to the direction of travel. Floor cleaning device or method for operating the same according to one of the preceding claims or in particular according thereto, characterized in that reaching or passing over a drivable obstacle by a change in the ground clearance by means of a floor sensor (18) can be detected or detected. Floor cleaning device (1) or method for operating the same according to one or more of the preceding claims or in particular according thereto, characterized in that for detection of an obstacle, a motor current absorption of a corner cleaning brush (5) is used or is used. Floor cleaning device (1) or method for operating the same according to one or more of the preceding claims or in particular according thereto, characterized in that for a sensor-related detection of an obstacle, a signal of a tactile sensor is available or used. Floor cleaning appliance (1) or method for operating the same according to one or more of the preceding claims or in particular according thereto, characterized in that the floor cleaning appliance (1) has a corner cleaning brush (5) with bristles (16) which in any case reach beyond the housing ground plan during rotation. has and that a reaching or driving over an overridden obstacle according to a change in a motor current of the corner cleaning brush (5) driving electric motor is detected or detected. Floor cleaning appliance or method for operating the same according to one or more of the preceding claims or in particular according thereto, characterized in that the floor sensor (18) is a non-contact sensor or a sensor is used. Floor cleaning device or method for operating the same according to one or more of the preceding claims or in particular according thereto, characterized in that the floor sensor (18) is designed as a touch sensor and that a reaching or driving over a passable obstacle by the touch sensor can be detected or detected. Floor cleaning device or method for operating the same according to one or more of the preceding claims or in particular according thereto, characterized in that the floor cleaning device (1) has a Wandfolgesensor and that reaching or running over a traversable obstacle according to an evaluation of a signal of the Wandfolgesensors is detected or detected , Floor cleaning device or method for operating the same according to one or more of the preceding claims or in particular according thereto, characterized in that the floor cleaning device (1) has a housing (6) with a, with respect to a plan view, housing plan view, one or more, a tread having wheels (2, 3) and at least a cleaning brush (4) having a longitudinal axis, that the wheel (2, 3) and the cleaning brush (4) are arranged within the housing outline and that the floor sensor (18), based on the same plan view in a sector of the housing -Plan is arranged, which is bounded by the longitudinal axis of the cleaning brush (4) and a vertical (S) to a geometric axis (19, 20), wherein the vertical (S) immediately outside the tread, facing on a peripheral edge of the housing Side of the tread, runs.

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