EP2710944B1 - Self-propelled floor cleaning apparatus and method for operating a floor cleaning apparatus - Google Patents

Description

The invention first relates to an automatically movable floor cleaning device according to the features of the preamble of claim 1.

The invention further relates to a method for operating an automatically movable floor cleaning device according to the features of the preamble of claim 9.

Such floor cleaning devices are already known in many ways. For example, it applies to the DE 102011000536 A1 , the DE 102008014912 A1 , the DE 102011000250 A1 and the DE 1020110036772 A1 referenced.

Such automatically movable floor cleaning devices are also able to clear smaller obstacles with a rising, i.e. in relation to the surface on which the device moves shortly before reaching the obstacle, to overcome raised or rising edges, such as carpet edges in particular, but also, if necessary, thresholds.

From the US 2007/0271004 A1 a floor cleaning device is known which is designed for vacuum cleaning of a carpet and can detect the boundaries of a carpet before carrying out a cleaning process.

From the US 2012/0125363 A1 a floor cleaning device is known in which either a cleaning of an area around a carpet or a cleaning of the carpet itself is carried out.

Furthermore, it is in the prior art, for example from the publications US 2007/267570 A1 and JP 2004/049592 A known that floor cleaning devices can move in alignment with the extent of an obstacle for cleaning or detecting obstacles.

Floor cleaning devices as such and automatic procedures for this are also from the DE 102 422 57 A1 , the EP 2 407 847 A and the DE 10 2010 000174 A1 known.

Based on the presented prior art, in particular the US 2012/0125363 A1 , the invention is concerned with the task of specifying a floor cleaning device and a method for operating a floor cleaning device that enables a carpet edge to be cleaned as effectively as possible.

This object is initially achieved in the subject matter of claim 1, whereby the aim is that a distance between an edge of a housing of the floor cleaning device and the edge of the carpet can be selected so that the corner cleaning brush has a certain overlap, for example in the center, with regard to its circular area described by cleaning bristles moves to the edge of the carpet, but the distance can also be adjusted so that the edge of the carpet runs tangentially on the outside of the circular surface or as a slight secant to the circular surface, or that the distance can also be selected so that an end area of the cleaning brush rotating around the horizontal axis Cleaning the edge of the carpet, whereby in detail an end face of the cleaning brush can be assigned to the edge of the carpet and moved in contact with or overlapping the edge of the carpet.

This object is also achieved in the subject matter of claim 9, the aim being that the drive along is carried out by a computer-aided alignment of the direction of travel so that a brush of the cleaning device cleans the edge of the carpet as effectively as possible, namely in the case of a plate brush with an essentially vertical axis of rotation and protruding over a floor plan of a housing of the floor cleaning device with regard to a range of rotation of bristles, is moved approximately centrally to the edge of the carpet or the edge of the carpet forms a tangent or a slightly penetrating secant with respect to a bristle circle formed by the rotating bristles in the course of the process or that in In the event that a cleaning brush rotating about a horizontal axis is provided, an end region of this cleaning brush cleans the carpet edge during the process, with an end face of the cleaning brush associated with the carpet edge in contact or is moved in overlap with the edge of the carpet.

Because the floor cleaning device can thus include the carpet edge edge that can be driven over (hereinafter also referred to as an obstacle or obstacles or obstacle surface or obstacle edge) in a cleaning strategy, by specifically changing or adapting the direction of travel, it can also, for example, after a separate cleaning of the rising obstacle surface has taken place, cleaning the obstacle itself without, for example, driving over the rising obstacle edge. It then moves, for example, only on the obstacle for a certain period of time or until the special cleaning is completed. This is particularly useful if the base area of the obstacle has a certain size in relation to the base area of the floor cleaning device, that is to say for example the width and / or length of the obstacle at least one Twice or more corresponds to a dimension of the floor cleaning device in the usual direction of travel.

In such a floor cleaning device, as can also be seen from the documents cited at the beginning, it is particularly preferred that a microprocessor is provided, with a volatile and / or a non-volatile memory further preferably being assigned to the microprocessor with which programs, in particular travel programs, ie the exercise of cleaning strategies, are feasible. More preferably, such a floor cleaning device has a surface and / or room detection option, for example by contactless scanning, as mentioned, in particular infrared and / or sensor scanning by means of one or more sensors provided in the floor cleaning device, in particular ultrasonic and / or infrared sensors , for example is possible. In this way, the device can furthermore preferably create a mapping of a room or a plurality of rooms that are to be cleaned in an apartment, for example, possibly also in the course of a "teach-in" drive, and then carry out cleaning drives based on this mapping.

With regard to a rising obstacle surface that can be driven over by such a floor cleaning device, it is generally a question of obstacle surfaces that rise vertically by a few millimeters, for example 1 mm up to 20, 30 or 40 mm, from the surrounding floor. Furthermore, in the context of these explanations, rising obstacle surfaces are relevant, in which the mentioned vertical distance of the obstacle surface due to the rising very quickly or immediately, in steps, but in any case over a range of up to a few centimeters, measured perpendicular to a course of such an obstacle edge, for example 5 to 20 mm, is given.

Another preferred embodiment provides that after an elongated obstacle that can be driven over has been detected and the direction of travel is changed so that it drives along this obstacle, the vehicle is driven along by a computer-aided alignment of the direction of travel so that a corresponding brush of the cleaning device hits the edge of the obstacle as effectively as possible , especially the rising obstacle surface, cleans. For example, it can be provided that a circular brush, which is a brush with a substantially vertical axis of rotation and preferably, as will be explained in more detail below, a brush protruding over a floor plan of a housing of the floor cleaning device with regard to a range of rotation of the bristles of this brush is approximately in the middle moves to the obstacle edge or in such a way that the obstacle edge, as it were, forms a tangent, or a slightly penetrating secant with respect to a bristle circle formed by the rotating bristles, in the course of the process.

In addition or as an alternative, a multiple movement along the edge of the obstacle can also take place, for example, with a different distance from the edge of the housing (which runs in the direction of travel to the edge of the obstacle), or overlapping or not overlapping the edge of the obstacle, in such a way that the e.g. The circular brush cleans the edge of the obstacle as effectively as possible, but in another method a cleaning brush with an essentially horizontal axis of rotation is arranged within the outline of the housing.

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

On the one hand, it is possible for a change in the distance to the floor to be detected by means of a floor sensor and evaluated accordingly. Such floor cleaning devices often have such a floor sensor from the point of view that driving over a step and thus falling of the floor cleaning device on stairs is to be avoided. For this purpose, such a floor sensor is often arranged in the front area, based on a conventional cleaning travel direction of the floor cleaning device.

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

Furthermore, the floor cleaning device can have a, as already mentioned, preferably designed as a corner brush with a further preferably essentially vertical axis of rotation, which in any case has bristles that extend beyond the floor plan of the housing when it rotates and which can reach or drive over the traversable obstacle due to a change in the motor current of a can capture such corner brush driving electric motor.

The floor sensor can also be designed as a touch sensor. Such a sensor is also referred to as a tactile sensor. Reaching or driving over an obstacle that can be driven over can then be detected by direct contact and thus detectable change in the vertical height of the driven floor. A touch sensor can be designed, for example, as a foot that slides on the floor and can move vertically. As a result of a bevel or spherical or hemispherical shape or crowning provided preferably in the direction of travel, possibly all around This can prevent the floor cleaning device from getting stuck and thus getting stuck on obstacles as a result of such a touch sensor.

The floor cleaning device can also have a wall tracking sensor. This is usually provided in order to enable travel along a wall, at least with regard to a particular travel of the cleaning device, often also an exit travel when capturing a room that is to be cleaned. This wall-following sensor can be used in the present context in that a signal from a floor sensor, as described, is assessed in a combined manner with a signal from the wall-following sensor. If a signal from the floor sensor is detected, but not from the wall-tracking sensor, this can be evaluated to the effect that there is an obstacle that can be driven over, but not an edge that merges into a wall.

It is further preferred that the floor cleaning device, as already stated, has a housing with a, based on a plan view, housing floor plan, one or more wheels having a running surface and at least one cleaning brush which has a longitudinal axis, the wheel and the cleaning brush are arranged within the housing floor plan and the floor sensor - based on the same plan view - is arranged in a sector of the housing floor plan that is delimited by the longitudinal axis of the cleaning brush and a perpendicular to a geometric wheel axis, the perpendicular immediately outside the Running surface, on the side of the running surface facing an edge of the housing, runs.

If a circular brush is provided, it can also be wholly or partially located in the mentioned sector. This circular brush is then preferably also arranged on the other side of the cleaning brush, as seen from an impeller. In particular, when the cleaning brush extends in the direction of its longitudinal axis to the edge of the housing over the wheel or its running surface, the mentioned limitation of the sector, at least in this extending section of the cleaning brush, is preferably also by a parallel to the axis of the Cleaning brush given axis, which represents a wheel-side limitation of the cleaning brush, usually based on its radial bristle length.

The mentioned sector can also be given in this form with only one wheel of the floor cleaning device. If it is a question of a wheel that can be swiveled to change a direction of travel, the definition preferably relates to the position of the wheel when driving straight ahead.

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

Through this measure, the floor sensor is set in an arrangement that enables the floor cleaning device to move along an obstacle edge, such as the edge of a carpet, the floor sensor already being in overlap with the carpet, i.e. reporting a comparatively low vertical height , the (assigned) wheel and / or the assigned brush are still on the level of the floor below.

The detection of the obstacle can also be carried out by evaluating the motor current consumption of a corner cleaning brush, if this is provided. In particular, a corner cleaning brush in the form of a plate brush. When you meet or run over a If there is an obstacle, the torque changes and thus the motor current, so that this evaluation is made possible.

As an alternative or in addition, the evaluation can also be carried out by means of the aforementioned tactile sensor or touch sensor. A signal supplied by this sensor can then also be evaluated accordingly, possibly also in connection with the signal from a wall follower sensor.

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.

The invention is further explained below with reference to the accompanying drawing, which however only represents an exemplary embodiment. Here shows:

Fig. 1

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

Fig. 2

a representation according to Fig. 1 , with representation of the arrangement of wheel and circular brush in relation to a housing 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 one process.

An automatically movable floor cleaning device 1 is shown and described.

This floor cleaning device, as can be seen in particular in conjunction with Figure 3 results, has two wheels 2, 3, which are preferably each individually driven in the embodiment.

Furthermore, the floor cleaning device 1 has a cleaning brush 4 rotating essentially around a horizontal axis, and a corner cleaning brush 5 rotating around an essentially vertical axis. In the exemplary embodiment, this is preferably designed as a plate brush.

In a plan view of the device, wherein in Figure 3 specifically, the bottom view is shown, the housing 6 can be seen, its edge, now again based on Figure 3 , is essentially composed of a rectangular section 7 and a circular section 8. In the exemplary embodiment, the rectangular section 7 is also formed with a slightly smaller width than the subsequently adjoining circular segment, the circular segment 8 also having a straight section 9 associated with the rectangular segment 7.

Furthermore, the floor cleaning device has a microprocessor (not shown in detail) and associated electronic memory and, in addition, a control device and a control program in which movement routines are stored or can be created or changed on the basis of measured or recorded parameters.

To detect a room in which the floor cleaning device 1 moves, it has a contactless scanning device, which is accommodated in the hood section 10 in the exemplary embodiment. For this, reference is made to the prior art also mentioned at the beginning.

In Figure 1 a typical movement situation of the floor cleaning device 1 is shown.

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

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

In this case, the device is moved in such a way that it moves at a distance from a peripheral edge of the device 1 in the direction of travel of the obstacle surface, here for example the carpet edge 14, to an edge of the device 1 in the direction of travel, which is less than a width b of the device. This is used, in particular, to clean the surface in front of the obstacle without touching the obstacle. This distance can also be successively reduced over several trips if necessary. The distance can in particular also be smaller than it corresponds to the mentioned width b, for example up to one hundredth of the mentioned width or even up to a procedure in which there is contact with the obstacle.

Furthermore, the spacing of an edge, especially in the exemplary embodiment of a housing edge section 9 or optionally 15 (cf. Figure 3 ) to the carpet edge 14, optionally also in overlap with the carpet edge 14, be selected so that a corner cleaning brush 5, if it is provided, as in Figure 1 and 2 also shown, with respect to its circular area 17 described by the cleaning bristles 16, moves in a certain overlap, for example in the center of the carpet edge 14. With a corresponding method, however, the distance can also be set such that the carpet edge 14 runs tangentially - on the outside - to the circular area 17 or as a preferably slight secant to the circular area 17.

Furthermore, the distance can be selected, especially if a corner cleaning brush is not provided, that an end area of the cleaning brush 4 rotating about a horizontal axis cleans the carpet edge 14 mentioned in this method. In this respect, too, different positions can be implemented, for example in such a way that an end face of the cleaning brush is assigned to the obstacle edge, but at a certain distance, moves or moves in contact with or overlapping the obstacle edge.

The floor cleaning device 1 more preferably has, see Figure 3 , a contactless or touching floor sensor 18. The floor sensor 18 is clearly arranged in a sector of the housing outline, which is related to a geometric axis 19 of an associated wheel 2 or a geometric axis 20 of the cleaning brush 4 outside this axis 19 or 20, on the edge side of the housing 6, is arranged. In a further, if necessary, alternative definition, if this results in a different arrangement, the floor sensor 18, based on the same plan view, is arranged in a sector of the housing outline, which is defined by the longitudinal axis of the cleaning brush 4 and a perpendicular S to the geometric wheel axis 20 is limited, the vertical running directly outside the running surface of the wheel, on a side of the running surface facing the edge of the housing.

This means that the movement along the edge can also be (also) controlled by means of this floor sensor. As long as the floor sensor 18 is (already) in overlap with the higher adjoining area of the carpet 13, the floor cleaning device moves in the special cleaning process of interest here in the direction of the edge 14, preferably with a slight curve tendency away from the edge in the direction of the not with Carpet-covered floor area, so that every time the sensor no longer reports any overlap with the carpet (in the exemplary embodiment) or the floor obstacle in general, a return movement to the carpet takes place.

As an alternative to the sensor-based detection of the edge of the carpet 14, or of the floor obstacle in general, detection of the rising obstacle surface is also possible by monitoring the motor current of the corner cleaning brush 5, which is designed, for example, as a circular brush. The motor current taken up can be detected, for example, by a related resistance circuit and evaluated by a control circuit or a control program of the robotic vacuum cleaner. During a cleaning run, the motor current is essentially homogeneous, depending on the nature of the floor to be cleaned Area in a relatively narrow range, i.e. practically with a constant value. In the case of driving over an obstacle, such as a carpet edge 14, an increased torque occurs, which results in an increase in the motor current. If a further evaluation of a signal, such as a wall-tracking sensor, shows that this increased torque / the increase in the motor current is not caused by reaching a room boundary such as a wall 12 or a piece of furniture, this increase in the motor current from the cleaning device 1 can be counted as crossing an obstacle. A routine can then be initiated that repeatedly drives back and forth in the same area, so that an increase in the motor current that always occurs in the same way can be assessed as the edge of an obstacle, for example carpet edge 14, and the direction of travel is aligned accordingly detected edge 14 can be made. This multiple back and forth movement can also be carried out (initially) with the other sensors described.

In addition or as an alternative, a tactile sensor can also be provided, which monitors the floor height directly next to the lateral edge of the housing towards the outside. If an increase in the floor area is detected as a result, in particular without an additional message, for example from a wall tracking sensor, this can also be interpreted as a flat obstacle in the sense of a carpet edge 14. Corresponding to the above description of the change in the direction of travel, the direction of travel can then be changed and set, if necessary also here after repeatedly crossing a corresponding area, so that the desired movement along the obstacle surface results. <b> List of reference symbols: </b> 1 Floor cleaning device b width 2 wheel 3 wheel 4th Cleaning brush 5 Corner cleaning brush 6th casing 7th Rectangle section 8th Circle segment 9 section 10 Hood section 11 room 12 wall 13th carpet 14th Carpet edge 15th Housing edge section 16 Cleaning bristles 17th Circular area 18th Floor sensor 19th axis 20th axis R. Direction of travel S. vertical V Original direction of travel

Claims (11)

1. Self-propelling floor cleaning device (1), comprising a cleaning brush (4) which rotates substantially about a horizontal axis and a corner cleaning brush (5) which rotates substantially about a vertical axis, the floor cleaning device (1) being able to travel over a carpet edge (14), and the floor cleaning device (1) further having a means for detecting the carpet edge (14), the floor cleaning device (1) being designed such that a procedure for cleaning the carpet edge (14) or a region adjacent to the carpet edge (14) can be carried out, in which procedure the cleaning device (1) assumes a direction of travel (R or V) which is aligned with the extension of the carpet edge (14) and, with respect to the carpet edge (14), includes travelling on a floor region in front of the carpet edge (14), characterised in that a distance from an edge of a housing (6) of the floor cleaning device (1) to the carpet edge (14) can be selected such that the corner cleaning brush (5) travels, with respect to the circular area (17) thereof that is defined by cleaning bristles (16), in a certain overlap, for example centrally with respect to the carpet edge (14), however, the distance can also be adjusted such that the carpet edge (14) extends tangentially on the outside of the circular area (17) or as a slight secant with respect to the circular area (17), or in that the distance can also be selected such that an end region of the cleaning brush (4) which rotates about the horizontal axis cleans the carpet edge (14), it being possible specifically for an end face of the cleaning brush to be associated with the carpet edge (14) and to travel in contact with or in overlap with the carpet edge (14).
2. Floor cleaning device according to claim 1, characterised in that it is possible to detect when an obstacle, which can be travelled over, has been reached or travelled over by means of a floor sensor (18) as a result of a change in the floor distance.
3. Floor cleaning device (1) according to either of the preceding claims, characterised in that a motor current consumption of the corner cleaning brush (5) can be used to detect an obstacle.
4. Floor cleaning device (1) according to any of the preceding claims, characterised in that a signal from a tactile sensor can be used to detect an obstacle by means of sensors.
5. Floor cleaning device according to any of claims 2 to 4, characterised in that the floor sensor (18) is a contactless sensor.
6. Floor cleaning device according to any of claims 2 to 4, characterised in that the floor sensor (18) is designed as a contact sensor and in that it is possible to detect when an obstacle, which can be travelled over, has been reached or travelled over by means of the contact sensor.
7. Floor cleaning device according to any of the preceding claims, characterised in that the floor cleaning device (1) has a wall tracking sensor and in that it is possible to detect, based on an evaluation of a signal from the wall tracking sensor, when an obstacle, which can be travelled over, has been reached or travelled over.
8. Floor cleaning device according to any of the preceding claims, characterised in that the floor cleaning device (1) has a housing (6) having a housing outline, based on a top view, and one or more wheels (2, 3) having a tread, in that the wheel (2, 3) and the cleaning brush (4) are arranged within the housing outline, and in that the floor sensor (18), based on the same top view, is arranged in a sector of the housing outline which is defined by the longitudinal axis of the cleaning brush (4) and a perpendicular line (S) with respect to a geometric axis (19, 20), the perpendicular line (S) extending immediately outside the tread, on the side of the tread facing an edge of the housing.
9. Method for operating a self-propelling floor cleaning device (1) which is able to travel over a carpet edge (14) while travelling in a direction of travel at a right or acute angle with respect to a longitudinal extension of the carpet edge (14), and the floor cleaning device (1) further having a means for detecting the carpet edge (14), the direction of travel of the floor cleaning device (1) being changed after the carpet edge (14) is detected by the floor cleaning device (1) such that said floor cleaning device travels along this obstacle, characterised in that the travelling along is carried out by means of computer-assisted alignment of the direction of travel such that a brush of the cleaning device (1) cleans the carpet edge (14) as effectively as possible, specifically in the case of a circular brush having a substantially vertical axis of rotation and protruding beyond an outline of a housing (6) of the floor cleaning device (1) with respect to a rotation region of brushes (16), travels approximately centrally with respect to the carpet edge (14) or the carpet edge (14) forms a tangent or a slightly inward secant with respect to a bristle circle formed by the rotating bristles in the course of travelling, or in that, if a cleaning brush (4) which rotates about a horizontal axis is provided, an end region of said cleaning brush (4) cleans the carpet edge (14) during travel, with an end face of the cleaning brush (14) being associated with the carpet edge (14) and travelling in contact with or in overlap with the carpet edge (14).
10. Method for operating a self-propelling floor cleaning device (1) according to claim 9, characterised in that the floor cleaning device (1) has a floor sensor (18), and in that the floor cleaning device (1), as long as the floor sensor (18) is already in overlap with the higher adjoining region of a carpet (13) having the carpet edge (14), travels in the direction of the edge (14) at a slight curve tendency away from the edge (14) in the direction of a floor region not covered with carpet (13), such that a return movement to the carpet (13) is carried out every time the sensor (18) no longer reports any overlap with the carpet (13).
11. Method according to either claim 9 or claim 10, characterised by the use of a floor cleaning device (1) according to any of claims 1 to 8.

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