EP2717754A1 - Machine de nettoyage de sol autoportée et procédé d'utilisation d'une machine de nettoyage de sol autoportée - Google Patents

Machine de nettoyage de sol autoportée et procédé d'utilisation d'une machine de nettoyage de sol autoportée

Info

Publication number
EP2717754A1
EP2717754A1 EP11727146.0A EP11727146A EP2717754A1 EP 2717754 A1 EP2717754 A1 EP 2717754A1 EP 11727146 A EP11727146 A EP 11727146A EP 2717754 A1 EP2717754 A1 EP 2717754A1
Authority
EP
European Patent Office
Prior art keywords
rear wheel
cleaning machine
self
floor cleaning
front wheel
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
EP11727146.0A
Other languages
German (de)
English (en)
Other versions
EP2717754B1 (fr
Inventor
Jürgen Walz
Christian Hofner
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.)
Alfred Kaercher SE and Co KG
Original Assignee
Alfred Kaercher SE and Co KG
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 Alfred Kaercher SE and Co KG filed Critical Alfred Kaercher SE and Co KG
Publication of EP2717754A1 publication Critical patent/EP2717754A1/fr
Application granted granted Critical
Publication of EP2717754B1 publication Critical patent/EP2717754B1/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4066—Propulsion of the whole machine
    • 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
    • A47L11/24—Floor-sweeping machines, motor-driven
    • 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
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • 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
    • 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
    • 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
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4069—Driving or transmission means for the cleaning tools

Definitions

  • the invention relates to a self-propelled floor cleaning machine.
  • the invention further relates to a method for operating a self-propelled floor cleaning machine with steered front wheel and driven rear wheel.
  • a mobile floor cleaning machine is known, with a drive unit for locomotion of the floor cleaning machine and at least one cleaning tool, wherein the at least one cleaning tool and / or the drive unit have multiple modes and the user by means of controls a certain mode is selectable ,
  • a movable carriage in particular working or floor cleaning machine, with at least one pivotable impeller and / or a pivotable actuating, working or cleaning unit and at least one sensor device is known.
  • the sensor device is arranged such that it is at least relatively pivotable with the at least one steerable impeller and / or the pivotable actuating, working or cleaning unit in the same pivoting direction.
  • the invention has for its object to provide a self-propelled floor cleaning machine with high driving safety.
  • the self-propelled floor cleaning machine comprises: - a front wheel device; a steering device associated with the front wheel means; a steering angle sensor device by which a steering angle to the front wheel means is detectable; a rear wheel device with at least one left rear wheel and at least one right rear wheel; a first electromotive drive device associated with the at least one left rear wheel; a second electromotive drive means associated with the at least one right rear wheel; a cleaning liquid applying means, by which cleaning liquid can be discharged on a floor with a loading region, which is arranged between the front wheel device and the rear wheel device; and a controller which is signal-operatively connected to the steering angle sensor means at the first electromotive drive means and the second electromotive drive means, wherein the first electromotive drive means and the second electromotive drive means are individually controllable in response to signals from the steering angle sensor means.
  • the inventive solution results in increased driving safety especially on wet ground and when driving uphill.
  • a high cleaning efficiency results, it being ensured that during a forward travel (direction of the speed vector from the rear wheel device to the front wheel device) the steered front wheel device is in an uninflated area ("dry area”). ) is guided.
  • the driven rear wheel device is then guided in an applied area ("wet area”).
  • traction may be generally inferior as compared to the area in which the front wheel means are guided, especially if the cleaning fluid contains chemical additives such as soft soap which increase slipperiness on the floor.
  • the first electromotive drive device and the second electromotive drive device are individually controlled, that is to say independently of one another, if required. This results in an optimized adaptation to the background conditions even when cornering. It can increase the traction. This, in turn, makes it possible to set an optimized speed adapted to the background conditions. This results in a time-effective cleaning with high driving safety.
  • the individual activation of the first electromotive drive device and the second electromotive drive device during cornering and in particular adjustment of different speeds during cornering can ensure an optimized work result.
  • the control device comprises in particular an electronic differential device for the at least one left rear wheel and the at least one right rear wheel.
  • the first electromotive drive device and / or the second electromotive drive device comprise a transverse flux motor.
  • a motor as a single-wheel drive, high efficiency can be achieved with a large torque range.
  • the front wheel device comprises one or more castors.
  • a (non-driven) swivel castor ensures a stable web guide. It can be realized in a simple way a steering.
  • control device comprises a speed limiting device, wherein a maximum speed is dependent on the steering angle.
  • a maximum speed is dependent on the steering angle.
  • Drive parameters of the control device for the first electromotive drive device and the second electromotive drive device may include speed and direction of rotation. It may, for example, be favorable if, during a tight cornering (for example at a steering angle of 90 °) on the inner rear wheel, a reverse direction of rotation is set in comparison to the outer rear wheel.
  • the rear wheel device is assigned a sensor device which determines wheel parameters and in particular slip-determined Radparameter detected, and the sensor device is signal-effectively connected to the control device. This makes it possible, if corresponding slip-determined parameters are detected to perform an anti-slip regulation.
  • control device comprises an anti-slip control.
  • one or more nozzles are provided for cleaning liquid, which is arranged between the front wheel device and the rear wheel device.
  • an application area can be formed, which is arranged between the front wheel device and the rear wheel device.
  • water or a water-additive mixture can be dispensed through the nozzles.
  • a loading of the floor to be cleaned with cleaning fluid takes place while driving forwards behind the front wheel device and in front of the rear wheel device.
  • the steering can be performed on the front wheel device in a non-applied area ("dry area").
  • the drive takes place in the applied area.
  • a floor cleaning machine is designed as a roughing machine and in particular roughing suction machine.
  • a roughing-suction machine absorbs excess cleaning fluid after roughing. It is fundamentally possible for a self-propelled floor cleaning machine according to the invention to be personally guided, for example by a driver. It is also possible that a self-propelled floor cleaning machine is remotely operated or designed as a cleaning robot.
  • the invention further provides a self-propelled floor cleaning machine, in particular sweeper, comprising a front wheel, a steering device, which is associated with the front wheel means, a steering angle sensor means by which a steering angle to the front derrad raised is detectable, a rear wheel with at least one left rear wheel and at least one right rear wheel, a first electromotive drive device, which is assigned to the at least one left rear wheel, a second electromotive drive device, which is assigned to the at least one right rear wheel, and a control device which signals with the steering angle sensor device, the first electromotive drive device and the second electromotive drive device is connected, wherein the first electromotive drive device and the second electromotive drive device as a function of v On signals of the steering angle sensor device are each individually controlled.
  • Such a self-propelled floor cleaning machine in particular when it is designed as a sweeper, no application of cleaning liquid between the front wheel and the Schuradeinrich- device is provided.
  • Such a self-propelled floor cleaning machine can be operated with increased driving safety. If, for example, driving over wet foliage, then an optimized operation can be realized by the individually independent controllability of the first electromotive drive device and the second electromotive drive device.
  • the invention is also based on the object to provide a method for operating a self-propelled floor cleaning machine with steered front wheel and driven rear wheel means, wherein a Cleaning fluid is applied to the floor to be cleaned, and there is an application area between the front wheel device and the rear wheel device, in which optimized driving safety is achieved.
  • This object is achieved in that a first drive means which is associated with a left rear wheel, and a second drive means which is associated with a right rear wheel, is controlled individually in response to a steering angle to the front wheel device.
  • the method according to the invention has the advantages already explained in connection with the floor cleaning machine according to the invention.
  • steering takes place on the front wheel device outside the loading area, that is to say in one
  • the drive of the rear wheel device takes place in a loading area, ie in a "wet area”. Due to the independent, individual controllability of the first drive device and the second drive device and thus the independent control of the left rear wheel and right rear wheel can be achieved adapted to the ground especially when cornering an optimized traction.
  • the invention is further based on the object to provide a method for operating a self-propelled floor cleaning machine and in particular a self-propelled sweeper with steered front wheel and driven rear wheel device, in which an optimized driving safety is achieved.
  • first drive means which is associated with a left rear wheel
  • second drive means which is assigned to a right rear wheel, individually driven in response to a steering angle of a front wheel device.
  • the rear wheel device is driven by an electric motor, whereby an electronic differential device is used for the first drive device and the second drive device.
  • an electronic differential device is used for the first drive device and the second drive device.
  • the first drive device and the second drive device are driven with respect to speed and direction of rotation. It can also be favorable if a maximum speed depending on
  • Figure 1 is a schematic representation of a first embodiment of a floor cleaning machine according to the invention
  • Figure 2 is a sectional view taken along line 2-2 of Figure 1;
  • Figure 3 is a schematic side view of a second Ausry
  • FIGS. 1 and 2 For example, a floor cleaning machine.
  • the floor cleaning machine 10 has a body 12. On the body 12 sit a front wheel 14 and a rear wheel 16. By the front wheel 14 and the rear wheel 16, the floor cleaning machine 10 drive on a floor 18 to be cleaned.
  • the front wheel device 14 has a steering roller 20.
  • the steering roller 20 is connected to a generally designated 22 steering device.
  • an angular position (indicated in Figure 2 by the reference numeral 24) of the steering roller 20 can be adjusted to a central axis 26 of the floor cleaning machine 10.
  • the steering roller 20 is aligned parallel to the central axis 26 and a corresponding steering angle is a zero angle.
  • the steering device 22 defines a steering axle 28.
  • This steering axle 28 preferably intersects the central axis 26.
  • the steering axle 28 is oriented transversely and, for example, perpendicular to the central axis 26.
  • a seat 30 is arranged for a driver.
  • a driver sitting on the seat 30 can operate a steering wheel 32 of the steering device 22.
  • the floor cleaning machine 10 comprises a steering angle sensor device 34.
  • a steering angle at the front wheel device 14 in particular an angular position of the steering roller 20 relative to the central axis 26
  • a steering angle at the front wheel device 14 in particular an angular position of the steering roller 20 relative to the central axis 26
  • the steering device comprises, for example, a mechanical steering rod which connects the steering roller 20 and the steering wheel 32.
  • the steering angle Sensor device 34 then detects in particular an angular position of the steering wheel 32 or the handlebar.
  • the steering device 22 may comprise handlebars with a gearbox located therebetween.
  • a handlebar is connected to the steering wheel 32, and another handlebar is connected to the steering roller 20.
  • An intermediate gear provides rotational angle reduction or translation.
  • the transmission can also be connected directly to the steering wheel 32 or the steering roller 20.
  • the steering device 22 comprises a steering motor, wherein a steering position of the steering roller 20 is then driven by a motor.
  • the steering roller 20 is rotatable about an axis of rotation 36 which is transverse to the central axis 26. When driving straight ahead in the straight-ahead direction 27, the axis of rotation 36 is oriented perpendicular to the central axis 26.
  • the rear wheel device 26 includes (at least) one (relative to a forward drive) left rear wheel 38 and (at least) a right rear wheel 40 (Figure 2).
  • the left rear wheel 38 is seated on a shaft 42a.
  • the right rear wheel sits on a shaft 42b.
  • the shafts 42a and 42b have coaxial axes of rotation 44 which are transverse and in particular perpendicular to the central axis 26.
  • the rear wheels 38 and 40 are unguided, that is, the axes of rotation 44 are fixed relative to the central axis 38.
  • the left rear wheel 38 is assigned a first electromotive drive device 46.
  • This first electromotive drive device 46 comprises a wheel motor which directly drives the left rear wheel 38.
  • the first electromotive drive device 46 includes, for example, a transverse flux motor.
  • the right rear wheel 40 is assigned a second electromotive drive device 48. This also includes a wheel motor, which drives the right rear wheel 40 directly.
  • the second electromotive drive device 48 likewise preferably comprises a transverse flux motor.
  • the floor cleaning machine 10 comprises a control device 50.
  • the steering angle sensor device 34 is in signal-effective connection with this control device 50; It gives its signals (detected steering angle) to the control device 50 for further processing.
  • the floor cleaning machine 10 comprises corresponding operating pedals 52 for a driver and in particular an "accelerator pedal” and “brake pedal". By pressing the “accelerator pedal”, the speed can be increased and by pressing the "brake pedal” is a deceleration.
  • the corresponding pedals are in signal-effective connection with the control device 50 (indicated in Figure 2 by the reference numeral 54). A corresponding position of these pedals effected via the control device 50, a corresponding control of the first electric motor drive means 46 and the second electric motor drive means 48. These stand in signal-effective connection with the control device 50; in FIG. 2, this is indicated by reference numerals 56a and 56b.
  • the control device 50 supplies corresponding control signals to the first electromotive drive device 46 and the second electromotive drive device 48.
  • the corresponding control signals thereby effect, in particular, an adjustment of the rotational speed and also the direction of rotation respectively on the left rear wheel 38 and the right rear wheel 40.
  • Brake pedal actuation is decelerated and a corresponding brake is actuated.
  • the rear wheel device 16 is associated with a sensor device, designated as a whole by 58, which records wheel parameters and, in particular, detects wheel parameters. Includes parameters that characterize a slip.
  • the sensor device 58 comprises a first part 60a, which is assigned to the left rear wheel 38, and a second part 60b, which is assigned to the right rear wheel 40.
  • the actual rotational speed of the left rear wheel 38 and the right rear wheel 40 are determined by the sensor device 58.
  • the sensor device 48 is in signal-effective connection with the control device 50. Corresponding sensor signals are transmitted to the latter for further processing.
  • the floor cleaning machine 10 is designed as a roughing machine and in particular roughing suction machine. It comprises one or more roughing elements 62, in particular roughing discs. These are arranged on a bottom 64 of the floor cleaning machine 10 facing the floor 18. A roughing element 62 is arranged rotatably between the rear wheel 16 and the front wheel 14, for example.
  • the floor cleaning machine 10 comprises a loading device 66 for cleaning liquid, via which cleaning liquid, which is in particular a mixture of water with a chemical additive, can be dispensed in an application area 68 onto the floor 18 to be cleaned.
  • cleaning liquid which is in particular a mixture of water with a chemical additive
  • the loading device 66 comprises in particular a plurality of nozzles 70, via which the cleaning liquid can be dispensed into the loading area 68.
  • the nozzles 70 may be arranged in one or more rows.
  • the nozzles 70 can be arranged and designed so that the one or more roughing elements 62 (tools) are sprayed directly and from there Cleaning liquid reaches the floor 18 and / or that the bottom 18 is sprayed directly.
  • the loading area 68 is located between the front wheel device 14 and the rear wheel device 16. This means that during a cleaning run, the front wheel device 14 travels (in the "dry area") in an area not acted upon by cleaning fluid, while the rear wheel device 16 is in a region that is acted upon by cleaning fluid of the bottom 18 moves, that is in the "wet area” (possibly with chemical additives) drives.
  • the control device 50 includes an electronic differential device 72. Through this can be the different drive means 46, 48 for left rear wheel 38 and right rear wheel 40 control differently if necessary. In particular, the control takes place individually as a function of the steering angle, which is detected by the sensor device 34. When cornering, for example, depending on the steering position on the front wheel 14, the left rear wheel 38 or the right rear wheel 40 is rotated faster.
  • the first electromotive drive device 46 and the second electromotive drive device 48 are individually controlled via the differential device 72 of the control device 50, that is, controlled independently of each other.
  • the front wheel device 14 is basically tracking.
  • an anti-slip control can be realized.
  • the control device 50 includes an anti-slip control 74. This determines from signals of the sensor device 58, whether slip is present or not. If there is slippage, the speed is increased, if necessary, by appropriate activation of the drive devices 46, 48.
  • the control device 50 further comprises a speed limiting device 76.
  • the traction control 74 may be part of the speed limiting device 76.
  • the speed limiting device 76 limits the speed as a function of the steering angle to a predetermined value, and this can be achieved in particular when cornering by a differential control of the electric motor drive devices 46 and 48.
  • a tank 78 for cleaning fluid is integrated. It may be provided that the tank 78 comprises an area for, for example, water and includes an area for chemical additives. Via the tank 78 or via a mixing area, the nozzles 70 are supplied with cleaning fluid.
  • the floor cleaning machine 10 may further include a suction device 80 through which excess liquid from the bottom 18 is absorbable.
  • the suction device 80 includes, for example, a suction bar 82, which is placed on the floor 18 during the cleaning operation. Liquid is sucked in via this suction bar 82 and taken up in a tank 84.
  • the tank 84 is a waste water tank.
  • the suction bar 82 is arranged behind the rear wheel 16, for example, with respect to a forward direction of travel.
  • the improved traction especially on slippery surfaces is improved by detection of corresponding wheel parameters by the sensor device 58.
  • an additional braking device is provided, which is formed for example by means of a friction cone in order to achieve a high braking effect.
  • the optimum speed can be achieved depending on the ground;
  • Cleaning liquid which contains especially soft soap, can make the floor 18 slippery.
  • the inventive solution ensures that the steering guidance is done by the front wheel 14 in the "dry area", that is done before the loading area 68.
  • a second embodiment of a floor cleaning machine according to the invention which is shown schematically in FIG. 3 and denoted there by 86, is a sweeper.
  • This sweeper comprises one or more sweeping heads 88.
  • This sweeping machine 86 is described in its basic design, for example in DE 10 2004 022 359 AI, to the full contents of which reference is made.
  • the floor cleaning machine 86 comprises a front wheel device 14 and a rear wheel device 16 corresponding to the floor cleaning machine 10, wherein the rear wheel device 16 again comprises separate electromotive drive devices 46, 48 for the left rear wheel 38 and the right rear wheel 40.
  • the floor cleaning machine 86 is provided with a controller 50 corresponding to the controller 50 of the floor cleaning machine 10; like reference numerals are used for like elements.
  • left rear wheel 38 and right rear wheel 40 of the floor cleaning machine 86 are individually controlled in response to a steering angle of the front wheel 14.
  • no urging means 66 is provided between the front wheel 14 and the rear wheel 16.
  • the floor cleaning machine 86 may, for example, also be designed as a roughing machine in which a loading device is provided, wherein the loading area (relative to a forward direction of travel) is positioned in front of the front wheel device 14 or behind the rear wheel device 16.

Landscapes

  • Electric Suction Cleaners (AREA)
  • Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)

Abstract

L'invention concerne une machine de nettoyage de sol autoportée (10) comprenant un dispositif de roue avant (14), un dispositif de direction (22) correspondant au dispositif de roue avant (14), un dispositif de capteur d'angle de braquage (34) grâce auquel un angle de braquage peut être détecté au niveau du dispositif de roue avant, un dispositif de roues arrière (16) avec au moins une roue arrière gauche (38) et au moins une roue arrière droite (40), un premier dispositif d'entraînement à moteur électrique (46) correspondant à la roue arrière gauche, un deuxième dispositif d'entraînement à moteur électrique (48) correspondant à la roue arrière droite, un dispositif d'application en liquide de nettoyage, par l'intermédiaire duquel un liquide de nettoyage peut être appliqué sur un sol, comportant une partie d'application qui se trouve entre le dispositif de roue avant et le dispositif de roues arrière, et un dispositif de commande (50) relié de manière à pouvoir transmettre et recevoir des signaux au dispositif de capteur d'angle de braquage (58), au premier dispositif d'entraînement à moteur électrique et au deuxième dispositif d'entraînement à moteur électrique, le premier dispositif d'entraînement à moteur électrique (46) et le deuxième dispositif d'entraînement à moteur électrique pouvant être commandés individuellement en fonction des signaux provenant du dispositif de capteur d'angle de braquage (58).
EP11727146.0A 2011-06-10 2011-06-10 Machine de nettoyage du sol autotractée et procédé d'utilisation d'une telle Not-in-force EP2717754B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2011/059681 WO2012167836A1 (fr) 2011-06-10 2011-06-10 Machine de nettoyage de sol autoportée et procédé d'utilisation d'une machine de nettoyage de sol autoportée

Publications (2)

Publication Number Publication Date
EP2717754A1 true EP2717754A1 (fr) 2014-04-16
EP2717754B1 EP2717754B1 (fr) 2018-03-14

Family

ID=44453901

Family Applications (1)

Application Number Title Priority Date Filing Date
EP11727146.0A Not-in-force EP2717754B1 (fr) 2011-06-10 2011-06-10 Machine de nettoyage du sol autotractée et procédé d'utilisation d'une telle

Country Status (3)

Country Link
US (1) US20140090664A1 (fr)
EP (1) EP2717754B1 (fr)
WO (1) WO2012167836A1 (fr)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DK2925205T3 (en) 2012-11-28 2017-08-21 Kaercher Gmbh & Co Kg Alfred Self-propelled floor cleaner and method of operating a self-propelled floor cleaner
DE102013113794A1 (de) 2013-12-10 2015-06-11 Alfred Kärcher Gmbh & Co. Kg Bodenreinigungsmaschine und Verfahren zum Betreiben einer Bodenreinigungsmaschine
EP2892201B1 (fr) * 2014-01-06 2017-08-30 Argus Cyber Security Ltd. Vigile détective
TW201605401A (zh) * 2014-08-08 2016-02-16 Uni Ring Tech Co Ltd 自走式清潔裝置
EP3188849B1 (fr) 2014-09-05 2022-02-16 Tennant Company Systèmes et procédés de fourniture de liquides de traitement comportant des nanobulles
SE539542C2 (en) * 2014-09-25 2017-10-10 Husqvarna Ab Floor surfacing machine
US11565750B2 (en) * 2018-12-02 2023-01-31 Mtd Products Inc Differential traction drive and steering axis coordination system and method
CN114145677A (zh) * 2021-12-07 2022-03-08 广东美房智高机器人有限公司 一种服务站及清洁系统

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3043004C2 (de) 1980-11-11 1983-12-08 Licentia Patent-Verwaltungs-Gmbh, 6000 Frankfurt Elektrischer Einzelradantrieb bei mehrachsigen Fahrzeugen
FR2701436B1 (fr) 1993-02-16 1995-03-31 Auxelic Chaîne de traction électrique avec essieu moteur à effet différentiel électrique.
US5487738A (en) 1995-03-31 1996-01-30 Sciulli; Eugene B. Apparatus for drawing fluids into a hypodermic syringe
AU1228897A (en) 1996-01-25 1997-07-31 Penguin Wax Co., Ltd. Floor working machine with a working implement mounted on a self-propelled vehicle acting on floor
US6830120B1 (en) * 1996-01-25 2004-12-14 Penguin Wax Co., Ltd. Floor working machine with a working implement mounted on a self-propelled vehicle for acting on floor
DE19959440C2 (de) 1999-12-09 2001-12-13 Georg Hefter Maschb Verfahrbarer Wagen, insbesondere Arbeits- oder Bodenreinigungsmaschine
US7041029B2 (en) * 2004-04-23 2006-05-09 Alto U.S. Inc. Joystick controlled scrubber
DE102004022359A1 (de) 2004-04-30 2005-11-17 Alfred Kärcher Gmbh & Co. Kg Fahrbare Bodenreinigungsmaschine
DE602004002288T2 (de) 2004-05-26 2007-02-08 JohnsonDiversey, Inc., Sturtevant Fussbodenreinigungsmaschine
JP4842335B2 (ja) * 2009-02-12 2011-12-21 日立建機株式会社 電動車両の旋回補助装置

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
None *
See also references of WO2012167836A1 *

Also Published As

Publication number Publication date
EP2717754B1 (fr) 2018-03-14
US20140090664A1 (en) 2014-04-03
WO2012167836A1 (fr) 2012-12-13

Similar Documents

Publication Publication Date Title
EP2717754B1 (fr) Machine de nettoyage du sol autotractée et procédé d'utilisation d'une telle
EP2925205B1 (fr) Machine de nettoyage de sols automotrice et procédé pour faire fonctionner une machine de nettoyage de sols automotrice
DE112008003171B4 (de) Fahrzeuglenkvorrichtung
DE10343640B4 (de) Lenksystem für ein landwirtschaftliches oder industrielles Nutzfahrzeug
DE102005057635B4 (de) Fahrzeug
EP0926976B1 (fr) Machine de travail du sol
EP3793885B1 (fr) Véhicule à chenilles
EP3959111B1 (fr) Procédé pour faire fonctionner un système d'assistance au conducteur d'un véhicule automobile qui peut fonctionner au moins partiellement à l'électricité en vue de commander quatre roues, système d'assistance au conducteur ainsi que véhicule automobile
WO2014191024A1 (fr) Procédé pour ajuster une position de lèvres d'aspiration d'une machine de nettoyage de sol et machine de nettoyage de sol
DE4219876C2 (de) Radfahrzeug, insbesondere Forstmaschine
EP3956253A1 (fr) Procédé de direction et système de direction d'un chariot de manutention
DE102006046497A1 (de) Vorrichtung zur Lenkkraftunterstützung durch einseitiges Bremsen
DE102010019480A1 (de) Fahrzeuganhänger, Fahrzeuggespann sowie Fahrerassistenzverfahren
EP2641790A1 (fr) Système de freinage pour commander la manýuvre en marche arrière d'un véhicule d'attelage
DE102018214473B4 (de) Lenkvorrichtung für ein Kraftfahrzeug, insbesondere für einen Personenkraftwagen, sowie Kraftfahrzeug, insbesondere Personenkraftwagen, mit einer solchen Lenkvorrichtung
DE102015011408B3 (de) Verfahren zum Betreiben einer Lenkung eines Fahrzeugs und Lenkung für ein Fahrzeug
WO2017097681A1 (fr) Procédé d'assistance active de la direction pour un véhicule bloqué et appareil de commande
EP3106368B1 (fr) Vehicule agricole
EP1990254B1 (fr) Procédé de fonctionnement pour un système de direction d'un véhicule doté d'un moteur électrique
EP3653469A1 (fr) Dispositif de direction d'un véhicule
WO2011029590A2 (fr) Véhicule à chenilles
EP3901004B1 (fr) Compensation de dérive
EP3781010B1 (fr) Machine de nettoyage pourvue d'une tête de nettoyage pourvue d'un équipement de transmission
DE102012008782B4 (de) Verfahren zum Betreiben eines mit einer lenkbaren Vorderachse und einer lenkbaren Hinterachse ausgestatteten Kraftfahrzeugs
DE202006001049U1 (de) Selbstfahrendes Bodenreinigungsgerät

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 20131204

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

DAX Request for extension of the european patent (deleted)
TPAC Observations by third parties

Free format text: ORIGINAL CODE: EPIDOSNTIPA

17Q First examination report despatched

Effective date: 20160628

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

INTG Intention to grant announced

Effective date: 20171025

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

Ref country code: AT

Ref legal event code: REF

Ref document number: 978041

Country of ref document: AT

Kind code of ref document: T

Effective date: 20180315

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 502011013898

Country of ref document: DE

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20180314

REG Reference to a national code

Ref country code: DE

Ref legal event code: R082

Ref document number: 502011013898

Country of ref document: DE

Representative=s name: HOEGER, STELLRECHT & PARTNER PATENTANWAELTE MB, DE

Ref country code: LT

Ref legal event code: MG4D

Ref country code: DE

Ref legal event code: R081

Ref document number: 502011013898

Country of ref document: DE

Owner name: ALFRED KAERCHER SE & CO. KG, DE

Free format text: FORMER OWNER: ALFRED KAERCHER GMBH & CO. KG, 71364 WINNENDEN, DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180314

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180314

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180314

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180314

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180614

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180314

RAP2 Party data changed (patent owner data changed or rights of a patent transferred)

Owner name: ALFRED KAERCHER SE & CO. KG

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180614

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180314

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180314

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180615

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180314

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180314

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180314

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180314

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180314

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180314

Ref country code: AL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180314

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20180726

Year of fee payment: 8

Ref country code: IT

Payment date: 20180625

Year of fee payment: 8

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180314

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180314

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180314

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 502011013898

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180716

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180314

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

26N No opposition filed

Effective date: 20181217

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20180614

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180314

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20180630

REG Reference to a national code

Ref country code: IE

Ref legal event code: MM4A

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180314

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20180610

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FR

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20180630

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20180630

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20180610

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20180630

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20180614

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20180630

REG Reference to a national code

Ref country code: AT

Ref legal event code: MM01

Ref document number: 978041

Country of ref document: AT

Kind code of ref document: T

Effective date: 20180610

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20180610

REG Reference to a national code

Ref country code: DE

Ref legal event code: R119

Ref document number: 502011013898

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: TR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180314

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20200101

Ref country code: IT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20190610

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO

Effective date: 20110610

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MK

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20180314

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180714