EP2893861B1 - Method for cleaning contaminated surfaces with a self-propelled cleaning device and cleaning device for same - Google Patents
Method for cleaning contaminated surfaces with a self-propelled cleaning device and cleaning device for same Download PDFInfo
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- EP2893861B1 EP2893861B1 EP14196880.0A EP14196880A EP2893861B1 EP 2893861 B1 EP2893861 B1 EP 2893861B1 EP 14196880 A EP14196880 A EP 14196880A EP 2893861 B1 EP2893861 B1 EP 2893861B1
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- sensor
- cleaning device
- cleaning
- self
- floor
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Images
Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
- A47L9/2826—Parameters or conditions being sensed the condition of the floor
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- 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
- A47L11/4002—Installations of electric equipment
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
Definitions
- the invention relates to a self-propelled cleaning device for the automated cleaning of contaminated surfaces having a floor covering structure, wherein the cleaning device comprises working means for cleaning the contaminated surface.
- Such self-propelled cleaning devices are used for the automated cleaning of surfaces. They are for example designed as vacuum cleaners, which are then usually referred to as Robotsauger. But there are also self-propelled cleaning devices for wiping smooth floor coverings known.
- Robotsauger do not always have an optimal cleaning performance on different floor coverings.
- different floor coverings require different technical settings of Robotsaugers, such as different fan speed, brush speed and / or speed to achieve optimum cleaning results.
- the technical settings of the robot vacuum cleaner must be adapted to the particular floor covering to be cleaned.
- So far Robotsauger also use fixed technical settings for a cleaning trip. Only when approaching an obstacle, the driving speed is reduced. Therefore, they may consume more energy for certain floor coverings than would be required for optimal technical settings.
- Robotsauger The energy storage of Robotsauger is therefore burdened more than necessary so far.
- incorrect technical settings can also lead to damage to floor coverings, such as damage to a carpet runner at too high brush speed.
- the suction power of Robotsaugers is too low, for example, at high speed with low fan speed on a hard floor, so that the contaminated area is insufficiently cleaned.
- a cleaning robot known at the wheels of a carpet detection device is arranged.
- a Vacuum robot known which detects the nature of a ground surface to be cleaned via optical sensor elements.
- the object of the invention is therefore to provide a self-propelled cleaning device, with which the disadvantages of the above-mentioned prior art are avoidable, and therefore, regardless of the floor covering of the contaminated surface optimum suction without damaging the flooring with low energy consumption allows.
- the self-propelled cleaning device is provided for automated cleaning of a contaminated surface having a flooring structure. It has working means for cleaning the contaminated surface.
- the cleaning device is characterized in that it comprises a sensor for detecting the floor covering structure of the contaminated surface.
- the contaminated surface is preferably the surface of a carpet, a carpet, a tile floor, a stone floor, a laminate floor, a parquet floor and / or a PVC floor.
- the cleaning device is preferably also suitable for other floor coverings not mentioned in this list.
- the senor is preferably designed as a scanning sensor.
- a scanning sensor is preferably designed to scan the contaminated surface to detect imperfections and / or undulations of the contaminated surface.
- the senor comprises a piezoelectric sensor which cooperates with a scanning probe and forms the scanning sensor.
- a scanning sensor may also be referred to as a finger sensor.
- the piezo sensor cooperates with a spring-mounted wheel and forms the scanning sensor.
- the piezoelectric sensor is preferably arranged so that it detects a change in height of the wheel or the scanning probe.
- the self-propelled cleaning device comprises a device control, which is adapted to control the working means in response to the sensor signal of the sensor.
- the working means of the cleaning device preferably comprise a main brush, a side brush, a peripheral brush, a drive motor, a wheel and gear unit, a blower and / or further control sensors. But there are also more or other work equipment preferred, especially if the cleaning device is alternatively or additionally suitable for wiping smooth floors.
- the device control of the cleaning device controls its working means in response to the sensor signal, the operation of the cleaning device is systematically changed in dependence on the detected with the sensor flooring structure.
- the device control controls technical settings of the work equipment.
- the term work equipment such technical devices of the self-propelled cleaning device to understand that are relevant for the cleaning of the contaminated area.
- the term work equipment therefore includes a main brush, a side brush, a peripheral brush, a drive motor, a wheel and gear unit, a fan and / or other control sensors of the cleaning device.
- the device control controls the technical settings speed and / or direction of rotation of the main brush, the side brush, the edge brush, the drive motor and / or the wheel and gear unit - and thus the driving speed of the cleaning device -, and / or the suction power at the blower, and / or the sensitivity of the further control sensors in dependence on the detected sensor signal of the sensor. If the self-propelled cleaning appliance is suitable for wiping smooth floors, it accordingly controls the technical settings of the other or further working means.
- the self-propelled cleaning device Since the device control controls the technical settings of his work equipment as a function of the detected floor covering structure, the self-propelled cleaning device achieves an approximately optimal cleaning result for each floor covering structure with as little energy consumption as possible for the respective floor covering. Compared to a conventional, during a cleaning trip with the same technical settings of the Working means working, self-propelled cleaning device allows the cleaning device according to the invention therefore a significantly improved utilization of its energy storage or batteries.
- the device control is additionally designed to detect the floor covering structure by means of a comparison process of the measured sensor signal with reference signals.
- the reference signals it is preferable for the reference signals to show the floor covering structures for a specific driving speed of the self-propelled cleaning device.
- the comparison process of the measured sensor signal with the reference signals first preferably comprises a conversion of the measured sensor signal into a converted sensor signal which is calculated as if the self-propelled cleaning device had been operated at the constant defined travel speed. As a result, differences in the driving speed are taken into account. Subsequently, the comparison process comprises the comparison of the converted sensor signal with the reference signals.
- the self-propelled cleaning device has a read-only memory for storing conversion algorithms for converting the measured sensor signal into the converted sensor signal, as well as the reference signals.
- the sensed sensor signal allows the detection of a variety of different floor coverings and their structure by comparison with the reference signals, such as sensitive, normal or insensitive carpets, hard floors, stone or tile floors, laminate or PVC floors, parquet floors.
- Sensitive carpets are for example high-pile carpets
- insensitive carpets are, for example, close-meshed carpets such. B. Wilton carpets.
- delicate stone or tile floors are marble floors or high-gloss floors.
- the comparison process comprises a conversion of the measured sensor signal into a converted sensor signal, which reproduces the measured sensor signal for a defined constant driving speed, and a comparison of the converted sensor signal with the reference signals.
- the technical settings of the robotic vacuum equipment are adjusted.
- the technical settings changed in dependence on the detected floor covering structure are preferably a rotational speed and / or a direction of rotation of the main brush, a side brush, a peripheral brush, a drive motor and / or a wheel and gear unit of the self-propelled cleaning device, a suction power of a blower of the self-propelled cleaning device, and / or a sensitivity of further control sensors of the self-propelled cleaning device.
- the sensor signal also makes it possible to detect a direction of extension of carpet edges and / or joints between joined tiles. It is preferred that the direction of travel of the self-propelled cleaning device is adjusted as a function of the extension direction, so that the direction of travel of the cleaning device is arranged at an angle to the joint direction. As a result, the brushes engage better in the joints and along the edges, and the cleaning result is improved.
- the speed of the main brush is lowered for delicate carpets, particularly high pile carpets, so as not to rupture or tear the carpet threads.
- the speed of the side brushes is lowered in hard floors, not to slam away lying on them dirt.
- the rotational speed of the wheel and gear unit is lowered in high-pile carpets and tiles, so that the driving speed of the robotic vacuum cleaner is lowered.
- the sensitivity of other control sensors is increased in sensitive floor coverings and / or lowered in insensitive floor coverings.
- the measured sensor signal or the converted sensor signal is filtered prior to the comparison to noise, for example by Contamination of the contaminated area or vibration of the cleaning device due to its operation, filter out.
- the flooring structure By detecting the flooring structure, it is possible to adapt the technical settings of technical facilities of the robotic vacuum cleaner, in particular its working equipment. This not only improves the cleaning result but also optimizes energy consumption and therefore battery performance. Overall, the cleaner therefore works cleaner and cheaper than conventional cleaning equipment.
- the flooring structure can be included in the navigation strategy.
- the self-propelled cleaning device of Fig. 1 is a Robotsauger 1, which is intended for cleaning, especially for vacuuming, carpets and smooth floors.
- the invention is not limited to such Robotsauger 1, but also applicable to self-propelled cleaning equipment, which are additionally or alternatively provided for wiping smooth floors.
- self-propelled cleaning device and Robotsauger 1 are used synonymously.
- the robotic vacuum cleaner 1 has a drive system which comprises a drive motor, a gear unit and one or more, optionally independently drivable, Drive wheels includes. From the drive system shows the FIG. 1 Here, however, only schematically a wheel and gear unit 16 of the drive system.
- the drive system of the Robotsaugers 1 on a support wheel 14 which is formed either pivotable or as a rotatable ball in all directions. In mutually independent control of the directions of rotation and rotational speeds of the drive wheels of Robotsauger 1 perform any movements on a surface 20 to be cleaned.
- Fig. 1 (a) a smooth floor
- Fig. 1 (b) - (d) a carpet presented.
- the robotic vacuum cleaner 1 has in a suction region 10 a rotating main brush 17 and rotating side brushes 18, which are provided to support suction nozzles, not shown.
- suction nozzles impurities, such as dust and dirt particles, in a known manner with a filter system, e.g. a vacuum cleaner bag, which is arranged in a dust cassette 19, collected.
- the suction nozzles interact with a fan motor 15.
- the suction area 10, the rotating brush 17, 18, the drive system and the filter system with the fan motor 15 represent the decisive for the cleaning of the contaminated surface 20 working means of Robotsaugers 1. Further existing for the operation of Robotsaugers 1 technical facilities, such as a rechargeable Battery for power supply, charging connections for the battery or a removal option for the vacuum cleaner bag are in the Fig. 1 not shown for reasons of clarity.
- Robotsauger 1 has a device control 11, which is connected to the working means 15-18 for the control thereof.
- Robotsauger 1 of this embodiment has a sensor 12 which is designed as a pressure sensor.
- a sensor 12 which is designed as a pressure sensor.
- it comprises a piezoelectric sensor which is provided for detecting the floor covering structure of the floor 2, the surface 20 of which is to be cleaned.
- the terms sensor 12 and piezoelectric sensor are used interchangeably.
- the piezoelectric sensor 12 cooperates via a spring 13 with the support wheel 14 of the Robotsaugers 1, so that a scanning sensor is formed. Upon compression of the support wheel 14, the sensor 12 via the spring 13 together pressed. This change leads to a change in a voltage U built up by the piezoelectric sensor 12 (see FIG. Fig. 3 (d) ), which is referred to as an electrical sensor signal 70 (see FIG. Fig. 3 (d) ) is detected.
- the sensor signal 70 is therefore a measure of the waviness of the floor covering.
- the piezoelectric sensor 12 instead of the spring 13 and the jockey wheel 14, the piezoelectric sensor 12 cooperates with a sensing probe 12 'which sweeps over the contaminated surface 20 and compresses the piezoelectric sensor 12 when a ripple occurs, such that the voltage across the piezoelectric sensor 12 decreasing voltage U changes and can be detected as a sensor signal 70.
- the sensor 12 is the Fig. 1 (b) via a pivoting mechanism 101, 102 connected to the wheel and gear unit 16.
- the sensor 12 with the Abtastfinger 12 ' is raised so that it is surrounded by a housing 100 of the Robotsaugers 1 and therefore protected. Only when depositing the Robotsaugers 1 to the bottom 2 of the sensor 12 is extended with the Abtastfinger 12 'so that it sweeps over the contaminated surface 20.
- a space 3 is shown, in which a first round carpet 41 and a second square carpet 42 are arranged.
- a robotic vacuum cleaner (not shown here) travels over a driving route 5 represented by way of example during a cleaning drive.
- the flooring structure changes as the carpets 41, 42 pass over, with the result that the measured sensor signal 70 changes.
- the measured sensor signal 70 corresponds to that of the floor covering 8 without one of the carpets 41, 42, in a second travel area 52 it corresponds to that of the first or second carpet 41, 42, and in a third travel area 53 it corresponds to a transition from Floor covering 8 without one of the carpets 41, 42 to the first or second carpet 41, 42, ie an edge.
- the sensor signals 70 detected by the sensor 12 also differ from one another when passing over the first and second carpets 41, 42 and, if appropriate, the sensor signals 70 detected by the sensor 12 when passing over the transition from the floor covering 8 without one of the carpets 41, 42 to the first carpet 41 and from the floor covering 8 without one of the carpets 41, 42 to the second carpet 42 from each other.
- the Fig. 3 (a) shows a further room 3 with several furniture 6.
- possible routes are shown 5 Robotsaugers 1 at a first cleaning trip.
- the spatial points 50 are shown at which the sensor 12 has detected voltage peaks U MAX .
- the sensor signal 70 of the sensor 12 is in the Fig. 3 (d) for a defined Route 28, the in Fig. 3 (c) is shown, exemplified.
- the illustration shows the course of the voltage U across the piezoelectric sensor 12 as a function of the time t.
- the Fig. 3 (e) - (h) show reference signals 71 - 76 for different floor coverings. Shown is the voltage U detected in the sensor 12 in [V] (volts) over the time t in [s] (seconds).
- the reference signals 71-76 correspond to fictitious sensor signals which would be detected when the floor coverings were driven over at a constant defined travel speed of the robot vacuum cleaner 1.
- a first reference signal 71 for a laminate floor is shown.
- the voltage peaks U MAX indicate the presence of a waviness, in this case a joint 8 between two laminate tiles 8 or strips (see FIG. Fig. 3 (c) ).
- a constant voltage curve indicates a flat bottom. Since the distance A between the voltage peaks U MAX is equal here, the laminate floor is in a straight line transverse to the joint direction 91, 92 (s. Fig. 3 (c) ) run over.
- the waveform voltage spikes U MAX at different distances which indicate a distance of the joints 81 from each other and from those at a known speed on the dimensions of the laminate tiles or strips can be closed. From the height of the voltage peaks U MAX can also be closed to the depth of the joints.
- the Fig. 3 (f) shows a second reference signal 72 for a tiled floor.
- the voltage peaks U MAX indicate the presence of the waviness, namely a joint 81 between two tiles.
- the distance A between the voltage peaks U MAX is the same, which indicates a straight over driving the joints 81 transverse to the joint direction 91, 92.
- the stress peaks U MAX take longer in comparison to those in the laminate floor, which at the same driving speed and the same angle of the direction of travel 9 to the joint direction 91, 92 indicates a wider joint 81 and allows the conclusion on stone or tile floor compared to laminate flooring.
- the Fig. 3 (g) shows in sequence an earlier third reference signal 73 for a close mesh carpet such as a Wilton floor, and a later fourth reference signal 74 for a high pile carpet. Since carpets have a non-uniform waviness, the waveform of these reference signals 73, 74 here varies unevenly, and in fact the larger the higher the pile of the carpet.
- FIG. 5 shows an earlier fifth reference signal 75 for a smooth floor, for example for a PVC floor, and a later sixth reference signal 76 for a smooth floor with a structure, for example for a dimpled PVC floor.
- the sensor signal 70 of the sensor 12 is detected via a defined route 28 and first converted in a comparison process to the constant defined vehicle speed in a converted sensor signal. Subsequently, the flooring is identifiable by comparison with the reference signals 71-76.
- the in the Fig. 3 (d) shown sensor signal 70 for example, for the room 3 of Fig. 3 (a) - (c) be closed on a laminate floor of laminate tiles 8.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Electric Vacuum Cleaner (AREA)
- Electric Suction Cleaners (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
Die Erfindung betrifft ein selbstfahrendes Reinigungsgerät zur automatisierten Reinigung von verunreinigten Flächen, die eine Bodenbelagsstruktur aufweisen, wobei das Reinigungsgerät Arbeitsmittel zum Reinigen der verunreinigten Fläche umfasst.The invention relates to a self-propelled cleaning device for the automated cleaning of contaminated surfaces having a floor covering structure, wherein the cleaning device comprises working means for cleaning the contaminated surface.
Derartige selbstfahrende Reinigungsgeräte dienen der automatisierten Reinigung von Flächen. Sie sind beispielsweise als Staubsauger ausgebildet, die dann üblicherweise als Robotsauger bezeichnet werden. Es sind aber auch selbstfahrende Reinigungsgeräte zum Wischen von glatten Bodenbelägen bekannt.Such self-propelled cleaning devices are used for the automated cleaning of surfaces. They are for example designed as vacuum cleaners, which are then usually referred to as Robotsauger. But there are also self-propelled cleaning devices for wiping smooth floor coverings known.
Solche Robotsauger weisen auf unterschiedlichen Bodenbelägen nicht immer eine optimale Reinigungsleistung auf. Denn unterschiedliche Bodenbeläge erfordern verschiedene technische Einstellungen des Robotsaugers, wie beispielsweise unterschiedliche Gebläseleistung, Bürstendrehzahl und/oder Fahrgeschwindigkeit, um ein optimales Reinigungsergebnis zu erzielen. Um eine optimale Reinigungsleistung auf unterschiedlichen Bodenbelägen zu erzielen, müssen die technischen Einstellungen des Robotsaugers an den jeweilig zu reinigenden Bodenbelag angepasst werden.Such Robotsauger do not always have an optimal cleaning performance on different floor coverings. For different floor coverings require different technical settings of Robotsaugers, such as different fan speed, brush speed and / or speed to achieve optimum cleaning results. In order to achieve optimum cleaning performance on different floor coverings, the technical settings of the robot vacuum cleaner must be adapted to the particular floor covering to be cleaned.
Es ist zwar bekannt, die verunreinigte Fläche mit einer Kamera zu erfassen und/oder den Motorstrom des Antriebsmotors des Robotsaugers während der Reinigungsfahrt zu messen. Mit einer Kamera sind Höhen und Tiefen des Bodenbelags der verunreinigten Fläche aber nicht erfassbar. Eine Strommessung erlaubt nur eine grobe Unterscheidung, z.B. zwischen einem Hartboden und einem Teppichboden.Although it is known to detect the contaminated surface with a camera and / or to measure the motor current of the drive motor of Robotsaugers during the cleaning drive. With a camera, however, heights and depths of the soil of the contaminated area can not be detected. A current measurement allows only a rough distinction, e.g. between a hard floor and a carpet floor.
Bisher verwenden Robotsauger zudem feste technische Einstellungen für eine Reinigungsfahrt. Lediglich bei Annäherung an ein Hindernis wird die Fahrgeschwindigkeit verringert. Daher verbrauchen sie für bestimmte Bodenbeläge gegebenenfalls mehr Energie, als bei optimalen technischen Einstellungen benötigt würde.So far Robotsauger also use fixed technical settings for a cleaning trip. Only when approaching an obstacle, the driving speed is reduced. Therefore, they may consume more energy for certain floor coverings than would be required for optimal technical settings.
Der Energiespeicher der Robotsauger wird daher bisher mehr als erforderlich belastet. Außerdem können falsche technische Einstellungen auch zu Beschädigungen von Bodenbelägen führen, beispielsweise zu einer Beschädigung eines Teppichläufers bei zu hoher Bürstendrehzahl. Oder die Saugleistung des Robotsaugers ist zu gering, beispielsweise bei zu hoher Fahrgeschwindigkeit mit geringer Gebläseleistung auf einem Hartboden, so dass die verunreinigte Fläche unzureichend gereinigt wird.The energy storage of Robotsauger is therefore burdened more than necessary so far. In addition, incorrect technical settings can also lead to damage to floor coverings, such as damage to a carpet runner at too high brush speed. Or the suction power of Robotsaugers is too low, for example, at high speed with low fan speed on a hard floor, so that the contaminated area is insufficiently cleaned.
Aus der
Aufgabe der Erfindung ist es daher, ein selbstfahrendes Reinigungsgerät zur Verfügung zu stellen, mit dem die Nachteile des oben genannten Standes der Technik vermeidbar sind, und das daher unabhängig vom Bodenbelag der verunreinigten Fläche eine optimale Saugleistung ohne Beschädigung des Bodenbelags bei kleinem Energieverbrauch ermöglicht.The object of the invention is therefore to provide a self-propelled cleaning device, with which the disadvantages of the above-mentioned prior art are avoidable, and therefore, regardless of the floor covering of the contaminated surface optimum suction without damaging the flooring with low energy consumption allows.
Erfindungsgemäß wird diese Aufgabe durch ein selbstfahrendes Reinigungsgerät mit den Merkmalen des Anspruchs 1 gelöst. Vorteilhafte Ausgestaltungen sind den Unteransprüchen zu entnehmen.According to the invention, this object is achieved by a self-propelled cleaning device having the features of
Das selbstfahrende Reinigungsgerät ist zur automatisierten Reinigung einer verunreinigten Fläche, die eine Bodenbelagsstruktur aufweist, vorgesehen. Es weist Arbeitsmittel zum Reinigen der verunreinigten Fläche auf.The self-propelled cleaning device is provided for automated cleaning of a contaminated surface having a flooring structure. It has working means for cleaning the contaminated surface.
Das Reinigungsgerät zeichnet sich dadurch aus, dass es einen Sensor zum Erfassen der Bodenbelagsstruktur der verunreinigten Fläche umfasst.The cleaning device is characterized in that it comprises a sensor for detecting the floor covering structure of the contaminated surface.
Dabei ist die verunreinigte Fläche bevorzugt die Oberfläche eines Teppichbodens, eines Teppichs, eines Fliesenbodens, eines Steinbodens, eines Laminatbodens, eines Parkettbodens und/oder eines PVC-Bodens. Das Reinigungsgerät eignet sich aber vorzugsweise zudem für weitere in dieser Aufzählung nicht genannte Bodenbeläge.The contaminated surface is preferably the surface of a carpet, a carpet, a tile floor, a stone floor, a laminate floor, a parquet floor and / or a PVC floor. However, the cleaning device is preferably also suitable for other floor coverings not mentioned in this list.
Um die Bodenbelagsstruktur der verunreinigten Fläche, beziehungsweise der Bodenbeläge, zu erfassen, ist der Sensor bevorzugt als ein Abtastsensor ausgebildet. Ein solcher Abtastsensor ist bevorzugt dafür vorgesehen, die verunreinigte Fläche abzutasten, um Unebenheiten und/oder Welligkeiten der verunreinigten Fläche zu erfassen.In order to detect the flooring structure of the contaminated area, or the floor coverings, the sensor is preferably designed as a scanning sensor. Such a scanning sensor is preferably designed to scan the contaminated surface to detect imperfections and / or undulations of the contaminated surface.
Gemäß der Erfindung umfasst der Sensor einen Piezosensor, der mit einem Abtastfühler zusammen wirkt und den Abtastsensor bildet. Ein derartiger Abtastsensor kann auch als Finger-Sensor bezeichnet werden. In einer alternativen bevorzugten Ausgestaltung ist vorgesehen, dass der Piezosensor mit einem federnd aufgehängten Rad zusammenwirkt und den Abtastsensor bildet. In beiden Ausgestaltungen ist der piezoelektrische Sensor bevorzugt so angeordnet, dass er eine Höhenveränderung des Rades oder des Abtastfühlers erfasst.According to the invention, the sensor comprises a piezoelectric sensor which cooperates with a scanning probe and forms the scanning sensor. Such a scanning sensor may also be referred to as a finger sensor. In an alternative preferred embodiment, it is provided that the piezo sensor cooperates with a spring-mounted wheel and forms the scanning sensor. In both embodiments, the piezoelectric sensor is preferably arranged so that it detects a change in height of the wheel or the scanning probe.
Es ist weiterhin bevorzugt, dass das selbstfahrende Reinigungsgerät eine Gerätesteuerung umfasst, die dazu eingerichtet ist, die Arbeitsmittel in Abhängigkeit von dem Sensorsignal des Sensors zu steuern.It is further preferred that the self-propelled cleaning device comprises a device control, which is adapted to control the working means in response to the sensor signal of the sensor.
Die Arbeitsmittel des Reinigungsgerätes umfassen bevorzugt eine Hauptbürste, eine Seitenbürste, eine Randbürste, ein Antriebsmotor, eine Rad- und Getriebeeinheit, ein Gebläse und/oder weiterer Steuersensoren. Es sind aber auch weitere oder andere Arbeitsmittel bevorzugt, insbesondere sofern sich das Reinigungsgerät alternativ oder zusätzlich zum Wischen von Glattböden eignet.The working means of the cleaning device preferably comprise a main brush, a side brush, a peripheral brush, a drive motor, a wheel and gear unit, a blower and / or further control sensors. But there are also more or other work equipment preferred, especially if the cleaning device is alternatively or additionally suitable for wiping smooth floors.
Indem die Gerätesteuerung des Reinigungsgerätes seine Arbeitsmittel in Abhängigkeit von dem Sensorsignal steuert, wird die Arbeitsweise des Reinigungsgerätes in Abhängigkeit von der mit dem Sensor erfassten Bodenbelagsstruktur systematisch verändert.By the device control of the cleaning device controls its working means in response to the sensor signal, the operation of the cleaning device is systematically changed in dependence on the detected with the sensor flooring structure.
Besonders bevorzugt steuert die Gerätesteuerung technische Einstellungen der Arbeitsmittel. Dabei sind unter dem Begriff Arbeitsmittel solche technischen Einrichtungen des selbstfahrenden Reinigungsgerätes zu verstehen, die für die Reinigung der verunreinigten Fläche maßgeblich sind. Vorzugsweise umfasst der Begriff Arbeitsmittel daher eine Hauptbürste, eine Seitenbürste, eine Randbürste, einen Antriebsmotor, eine Rad- und Getriebeeinheit, ein Gebläse und/oder weitere Steuersensoren des Reinigungsgerätes.Particularly preferably, the device control controls technical settings of the work equipment. In this case, the term work equipment such technical devices of the self-propelled cleaning device to understand that are relevant for the cleaning of the contaminated area. Preferably, the term work equipment therefore includes a main brush, a side brush, a peripheral brush, a drive motor, a wheel and gear unit, a fan and / or other control sensors of the cleaning device.
In einer bevorzugten Ausführungsform steuert die Gerätesteuerung die technischen Einstellungen Drehzahl und/oder Drehrichtung bei der Hauptbürste, der Seitenbürste, der Randbürste, dem Antriebsmotor und/oder der Rad- und Getriebeeinheit - und somit auch die Fahrgeschwindigkeit des Reinigungsgerätes -, und/oder die Saugleistung bei dem Gebläse, und/oder die Empfindlichkeit der weiteren Steuersensoren in Abhängigkeit von dem erfassten Sensorsignal des Sensors. Bei einer Eignung des selbstfahrenden Reinigungsgerätes zum Wischen von Glattböden steuert sie dementsprechend die technischen Einstellungen der anderen beziehungsweise weiteren Arbeitsmittel.In a preferred embodiment, the device control controls the technical settings speed and / or direction of rotation of the main brush, the side brush, the edge brush, the drive motor and / or the wheel and gear unit - and thus the driving speed of the cleaning device -, and / or the suction power at the blower, and / or the sensitivity of the further control sensors in dependence on the detected sensor signal of the sensor. If the self-propelled cleaning appliance is suitable for wiping smooth floors, it accordingly controls the technical settings of the other or further working means.
Da die Gerätesteuerung die technischen Einstellungen seiner Arbeitsmittel in Abhängigkeit von der erfassten Bodenbelagsstruktur steuert, erzielt das selbstfahrende Reinigungsgerät bei jeder Bodenbelagsstruktur ein etwa optimales Reinigungsergebnis bei einem für den jeweiligen Bodenbelag möglichst kleinem Energieverbrauch. Im Vergleich zu einem herkömmlichen, während einer Reinigungsfahrt mit gleichen technischen Einstellungen der Arbeitsmittel arbeitenden, selbstfahrenden Reinigungsgerät ermöglicht das erfindungsgemäße Reinigungsgerät daher eine erheblich verbesserte Auslastung seines Energiespeichers beziehungsweise Akkus.Since the device control controls the technical settings of his work equipment as a function of the detected floor covering structure, the self-propelled cleaning device achieves an approximately optimal cleaning result for each floor covering structure with as little energy consumption as possible for the respective floor covering. Compared to a conventional, during a cleaning trip with the same technical settings of the Working means working, self-propelled cleaning device allows the cleaning device according to the invention therefore a significantly improved utilization of its energy storage or batteries.
Um die Bodenbelagsstruktur zu erfassen, ist es bevorzugt, dass die Gerätesteuerung zudem dazu ausgelegt ist, die Bodenbelagsstruktur durch einen Vergleichsprozess des gemessenen Sensorsignals mit Referenzsignalen zu erfassen. Für den Vergleichsprozess ist bevorzugt, dass die Referenzsignale die Bodenbelagsstrukturen für eine bestimmte Fahrgeschwindigkeit des selbstfahrenden Reinigungsgerätes aufzeigen. Der Vergleichsprozess des gemessenen Sensorsignals mit den Referenzsignalen umfasst zuerst bevorzugt eine Umrechnung des gemessenen Sensorsignals in ein umgerechnetes Sensorsignal, welches so berechnet ist, als ob das selbstfahrende Reinigungsgerät bei der konstanten definierten Fahrgeschwindigkeit betrieben worden wäre. Dadurch werden Differenzen in der Fahrgeschwindigkeit berücksichtigt. Anschließend umfasst der Vergleichsprozess den Vergleich des umgerechneten Sensorsignals mit den Referenzsignalen.In order to detect the floor covering structure, it is preferred that the device control is additionally designed to detect the floor covering structure by means of a comparison process of the measured sensor signal with reference signals. For the comparison process, it is preferable for the reference signals to show the floor covering structures for a specific driving speed of the self-propelled cleaning device. The comparison process of the measured sensor signal with the reference signals first preferably comprises a conversion of the measured sensor signal into a converted sensor signal which is calculated as if the self-propelled cleaning device had been operated at the constant defined travel speed. As a result, differences in the driving speed are taken into account. Subsequently, the comparison process comprises the comparison of the converted sensor signal with the reference signals.
Weiterhin bevorzugt weist das selbstfahrende Reinigungsgerät einen Festwertspeicher zur Speicherung von Umrechnungsalgorithmen zum Umrechnen des gemessenen Sensorsignals in das umgerechnete Sensorsignal, sowie der Referenzsignale auf.Further preferably, the self-propelled cleaning device has a read-only memory for storing conversion algorithms for converting the measured sensor signal into the converted sensor signal, as well as the reference signals.
Bevorzugt ist ein Verfahren zum Reinigen von verunreinigten Flächen mit einem insbesondere erfindungsgemäßen selbstfahrenden Reinigungsgerät, insbesondere mit einem Robotsauger, bei dem
- ein Sensorsignal mit einem Sensor gemessen wird;
- eine Bodenbelagsstruktur einer verunreinigten Fläche durch einen Vergleichsprozess des Sensorsignals mit Referenzsignalen erfasst wird; und
- technische Einstellungen mindestens eines Arbeitsmittels des selbstfahrenden Reinigungsgerätes in Abhängigkeit von der erfassten Bodenbelagsstruktur verändert werden.
- a sensor signal is measured with a sensor;
- a flooring structure of a contaminated area is detected by a comparison process of the sensor signal with reference signals; and
- technical settings of at least one working means of the self-propelled cleaning device depending on the detected flooring structure to be changed.
Das erfasste Sensorsignal ermöglicht durch den Vergleich mit den Referenzsignalen die Erkennung einer Vielzahl verschiedener Bodenbeläge und ihrer Struktur, beispielsweise empfindliche, normale oder unempfindliche Teppichböden, Hartböden, Stein- oder Fliesenböden, Laminat oder PVC Böden, Parkett- Böden. Empfindliche Teppichböden sind beispielsweise Hochflorteppiche, unempfindliche Teppichböden sind beispielsweise engmaschige Teppiche wie z. B. Wilton- Teppiche. Empfindliche Stein- oder Fliesenböden sind beispielsweise Marmorböden oder hochglänzende Böden.The sensed sensor signal allows the detection of a variety of different floor coverings and their structure by comparison with the reference signals, such as sensitive, normal or insensitive carpets, hard floors, stone or tile floors, laminate or PVC floors, parquet floors. Sensitive carpets are for example high-pile carpets, insensitive carpets are, for example, close-meshed carpets such. B. Wilton carpets. For example, delicate stone or tile floors are marble floors or high-gloss floors.
Dabei umfasst der Vergleichsprozess ein Umrechnen des gemessenen Sensorsignals in ein umgerechnetes Sensorsignal, welches das gemessene Sensorsignal für eine definierte konstante Fahrgeschwindigkeit wiedergibt, sowie einen Vergleich des umgerechneten Sensorsignals mit den Referenzsignalen.In this case, the comparison process comprises a conversion of the measured sensor signal into a converted sensor signal, which reproduces the measured sensor signal for a defined constant driving speed, and a comparison of the converted sensor signal with the reference signals.
In Abhängigkeit von der erfassten Bodenbelagsstruktur werden die technischen Einstellungen der Arbeitsmittel des Robotsaugers angepasst.Depending on the floor coverings structure, the technical settings of the robotic vacuum equipment are adjusted.
Die in Abhängigkeit von der erfassten Bodenbelagsstruktur veränderten technischen Einstellungen sind bevorzugt eine Drehzahl und/oder eine Drehrichtung der Hauptbürste, einer Seitenbürste, einer Randbürste, eines Antriebsmotors und/oder einer Rad- und Getriebeeinheit des selbstfahrenden Reinigungsgerätes, eine Saugleistung eines Gebläses des selbstfahrenden Reinigungsgerätes, und/oder eine Empfindlichkeit von weiteren Steuersensoren des selbstfahrenden Reinigungsgerätes.The technical settings changed in dependence on the detected floor covering structure are preferably a rotational speed and / or a direction of rotation of the main brush, a side brush, a peripheral brush, a drive motor and / or a wheel and gear unit of the self-propelled cleaning device, a suction power of a blower of the self-propelled cleaning device, and / or a sensitivity of further control sensors of the self-propelled cleaning device.
Das Sensorsignal ermöglicht zudem ein Erkennen einer Erstreckungsrichtung von Teppichkanten und/oder Fugen zwischen aneinander gefügten Fliesen. Es ist bevorzugt, dass die Fahrtrichtung des selbstfahrenden Reinigungsgerätes in Abhängigkeit von der Erstreckungsrichtung angepasst wird, so dass die Fahrtrichtung des Reinigungsgerätes in einem Winkel zur Fugenrichtung angeordnet ist. Dadurch greifen die Bürsten besser in die Fugen ein und an den Kanten entlang, und das Reinigungsergebnis wird verbessert.The sensor signal also makes it possible to detect a direction of extension of carpet edges and / or joints between joined tiles. It is preferred that the direction of travel of the self-propelled cleaning device is adjusted as a function of the extension direction, so that the direction of travel of the cleaning device is arranged at an angle to the joint direction. As a result, the brushes engage better in the joints and along the edges, and the cleaning result is improved.
In einer bevorzugten Ausführungsform wird die Drehzahl der Hauptbürste bei empfindlichen Teppichen, insbesondere bei Hochflorteppichen, gesenkt, um die Teppichfäden nicht zu zerreißen oder auszureißen.In a preferred embodiment, the speed of the main brush is lowered for delicate carpets, particularly high pile carpets, so as not to rupture or tear the carpet threads.
In einer weiteren bevorzugten Ausführungsform wird die Drehzahl der Seitenbürsten bei Hartböden gesenkt, um auf ihnen liegenden Schmutz nicht weg zuschleudern.In a further preferred embodiment, the speed of the side brushes is lowered in hard floors, not to slam away lying on them dirt.
In einer weiteren bevorzugten Ausführungsform wird die Drehzahl der Rad- und Getriebeeinheit bei Hochflorteppichen und Fliesen gesenkt, so dass die Fahrgeschwindigkeit des Robotsaugers gesenkt wird.In a further preferred embodiment, the rotational speed of the wheel and gear unit is lowered in high-pile carpets and tiles, so that the driving speed of the robotic vacuum cleaner is lowered.
In einer weiteren bevorzugten Ausführungsform wird die Empfindlichkeit weiterer Steuersensoren bei empfindlichen Bodenbelägen erhöht und/oder bei unempfindlichen Bodenbelägen gesenkt.In a further preferred embodiment, the sensitivity of other control sensors is increased in sensitive floor coverings and / or lowered in insensitive floor coverings.
In einer bevorzugten Ausführungsform wird das gemessene Sensorsignal oder das umgerechnete Sensorsignal vor dem Vergleich gefiltert, um Störsignale, beispielsweise durch Verunreinigungen der verunreinigten Fläche oder Erschütterungen des Reinigungsgerätes aufgrund seines Betriebes, auszufiltern.In a preferred embodiment, the measured sensor signal or the converted sensor signal is filtered prior to the comparison to noise, for example by Contamination of the contaminated area or vibration of the cleaning device due to its operation, filter out.
Durch die Erfassung der Bodenbelagsstruktur ist eine Anpassung der technischen Einstellungen technischer Einrichtungen des Robotsaugers möglich, insbesondere seiner Arbeitsmittel. Dadurch wird nicht nur das Reinigungsergebnis verbessert, sondern auch der Energieverbrauch und daher die Akkuleistung optimiert. Insgesamt arbeitet das Reinigungsgerät daher sauberer und kostengünstiger, als herkömmliche Reinigungsgeräte. Zudem ist die Bodenbelagsstruktur in die Navigationsstrategie einbeziehbar.By detecting the flooring structure, it is possible to adapt the technical settings of technical facilities of the robotic vacuum cleaner, in particular its working equipment. This not only improves the cleaning result but also optimizes energy consumption and therefore battery performance. Overall, the cleaner therefore works cleaner and cheaper than conventional cleaning equipment. In addition, the flooring structure can be included in the navigation strategy.
Ausführungsbeispiele der Erfindung sind in den nachfolgenden Zeichnungen rein schematisch dargestellt und werden im Folgenden näher beschrieben. Es zeigt:
- Fig. 1
- zeigt in (a) und (b) jeweils einen Ausschnitt aus einem selbstfahrenden Reinigungsgerät mit einem Sensor zum Erfassen der Bodenbelagsstruktur, wobei der Sensor ein piezoelektrischer Sensor ist, in (c) das Reinigungsgerät aus (b) am Boden, und in (d) das Reinigungsgerät aus (b) abgehoben vom Boden;
- Fig. 2
- zeigt schematisch einen Raum, auf dessen Boden der Verlauf einer Reinigungsfahrt eines selbstfahrenden Reinigungsgerätes dargestellt ist;
- Fig. 3
- zeigt in (a) - (c) schematisch einen weiteren Raum, auf dessen Boden die Verläufe von Reinigungsfahrten des selbstfahrenden Reinigungsgerätes dargestellt sind, in (d) ein Sensorsignal eines Verlaufes einer in (a) - (c) dargestellten Reinigungsfahrt, und in (e) - (h) Referenzsignale verschiedener Bodenbelagsstrukturen; und
- Fig. 4
- zeigt einen weiteren Verlauf einer Reinigungsfahrt durch den Raum aus
Fig. 3 .
- Fig. 1
- shows in (a) and (b) respectively a section of a self-propelled cleaning device with a sensor for detecting the flooring structure, wherein the sensor is a piezoelectric sensor, in (c) the cleaning device of (b) on the ground, and in (d) the cleaning device from (b) lifted off the ground;
- Fig. 2
- schematically shows a room on the bottom of the course of a cleaning trip of a self-propelled cleaning device is shown;
- Fig. 3
- shows in (a) - (c) schematically another room, on the bottom of the courses of cleaning trips of the self-propelled cleaning device are shown, in (d) a sensor signal of a course of a (a) - (c) cleaning trip shown, and in ( e) - (h) reference signals of various flooring structures; and
- Fig. 4
- shows a further course of a cleaning trip through the room
Fig. 3 ,
Das selbstfahrende Reinigungsgerät der
Der Robotsauger 1 weist ein Antriebssystem auf, das einen Antriebsmotor, eine Getriebeeinheit und ein oder mehrere, gegebenenfalls unabhängig voneinander antreibbare, Antriebsräder umfasst. Vom Antriebssystem zeigt die
Zudem weist das Antriebssystem des Robotsaugers 1 ein Stützrad 14 auf, welches entweder verschwenkbar oder als eine in alle Richtungen drehbare Kugel ausgebildet ist. Bei voneinander unabhängiger Ansteuerung der Drehrichtungen und Drehgeschwindigkeiten der Antriebsräder kann der Robotsauger 1 beliebige Bewegungen auf einer zu reinigenden Fläche 20 ausführen.In addition, the drive system of the
Als zu reinigende Fläche 20 ist in
Der Robotsauger 1 weist in einem Saugbereich 10 eine rotierende Hauptbürste 17 und rotierende Seitenbürsten 18 auf, die zur Unterstützung von nicht dargestellten Saugdüsen vorgesehen sind. Mit den Saugdüsen werden Verunreinigungen, wie beispielsweise Staub und Schmutzpartikel, in bekannter Weise mit einem Filtersystem, z.B. einem Staubsaugerbeutel, der in einer Staubkassette 19 angeordnet ist, aufgefangen. Die Saugdüsen wirken mit einem Gebläsemotor 15 zusammen.The
Der Saugbereich 10, die rotierenden Bürsten 17, 18, das Antriebssystem und das Filtersystem mit dem Gebläsemotor 15 repräsentieren die für die Reinigung der verunreinigten Fläche 20 maßgeblichen Arbeitsmittel des Robotsaugers 1. Weitere für den Betrieb des Robotsaugers 1 vorhandene technische Einrichtungen, beispielsweise eine wieder aufladbare Batterie zur Stromversorgung, Ladeanschlüsse für die Batterie oder eine Entnahmemöglichkeit für den Staubsaugerbeutel sind in der
Der Robotsauger 1 weist eine Gerätesteuerung 11 auf, die mit den Arbeitsmitteln 15 - 18 zu deren Steuerung verbunden ist. Ein Steuersensor und/oder eine Gerätekamera, mit dem oder mit der der Robotsauger 1 fortlaufend seine Umgebung erfasst, um beispielsweise die Fahrtrichtung und/oder die Fahrtgeschwindigkeit in bekannter Weise zu steuern, sind hier ebenfalls aus Übersichtlichkeitsgründen nicht dargestellt.
Der Robotsauger 1 dieses Ausführungsbeispiels weist einen Sensor 12 auf, der als Drucksensor ausgebildet ist. Dafür umfasst er einen piezoelektrischen Sensor, der zum Erfassen der Bodenbelagsstruktur des Bodens 2 vorgesehen ist, dessen Fläche 20 zu reinigen ist. Im Folgenden werden die Begriffe Sensor 12 und piezoelektrischer Sensor synonym verwendet. Der piezoelektrische Sensor 12 wirkt über eine Feder 13 mit dem Stützrad 14 des Robotsaugers 1 zusammen, so dass ein Abtastsensor gebildet wird. Bei einem Einfedern des Stützrades 14 wird der Sensor 12 über die Feder 13 zusammen gedrückt. Diese Veränderung führt zu einer Veränderung einer von dem piezoelektrischen Sensor 12 aufgebauten Spannung U (s.
Im Ausführungsbeispiel der
In den
In
Sofern sich die Beschaffenheit der Teppiche 41, 42 unterscheidet, unterscheiden sich zudem die vom Sensor 12 erfassten Sensorsignale 70 beim Überfahren des ersten und des zweiten Teppichs 41, 42 voneinander, sowie gegebenenfalls die vom Sensor 12 erfassten Sensorsignale 70 beim Überfahren des Überganges vom Bodenbelag 8 ohne einen der Teppiche 41, 42 zum ersten Teppich 41 und vom Bodenbelag 8 ohne einen der Teppiche 41, 42 zum zweiten Teppich 42 voneinander.If the quality of the
Die
Aufgrund des geradlinigen Spannungsverlaufes des Sensorsignals 70 zwischen den gemessenen Spannungsspitzen UMAX kann auf einen glatten Boden geschlossen werden. Aufgrund des Vorhandenseins von Spannungsspitzen UMax kann auf Fugen 81 geschlossen werden. Die gleichmäßige Verteilung der Spannungsspitzen UMAX, das heißt der gleichmäßige zeitliche Abstand A (s.
Die
In
Die
Die
Die
Das Sensorsignal 70 des Sensors 12 wird über eine definierte Fahrstrecke 28 erfasst und in einem Vergleichsprozess zunächst auf die konstante definierte Fahrgeschwindigkeit in ein umgerechnetes Sensorsignal umgerechnet. Anschließens ist der Bodenbelag durch einen Vergleich mit den Referenzsignalen 71- 76 identifizierbar. Durch Vergleich des in der
Dabei sind nicht nur Teppichböden von Hartböden eindeutig unterscheidbar, sondern auch die Bodenbelagsstruktur, wie beispielsweise glatt, genoppt, hochflorig oder engmaschig, ist erkennbar. Zudem ist die Fugenrichtung 91, 92, in der Bretter, Leisten und/oder Fliesen 8 eines Bodens 2 verlegt sind, und/oder sind die Ausmaße der Bretter und/oder Fliesen 8, mit Hilfe der auf die Fugen 81 hinweisenden Spannungsspitzen UMAX erfassbar. Diese Informationen sind auch für die Berechnung eines optimierten Fahrweges 5 nutzbar.Not only are carpets of hard floors clearly distinguishable, but also the flooring structure, such as smooth, knobbed, deep pile or close-meshed, is recognizable. In addition, the
- 11
- RobotsaugerRobot vacuum cleaners
- 1010
- Saugbereichsuction area
- 100100
- Gehäusecasing
- 101101
- Schwenk- MechanikSwivel mechanism
- 102102
- Schwenk- MechanikSwivel mechanism
- 1111
- Gerätesteuerungdevice control
- 1212
- (piezoelektrischer) Sensor(piezoelectric) sensor
- 12'12 '
- Abtastfühlerscanning probe
- 1313
- Federfeather
- 1414
- Rad, StützradWheel, support wheel
- 1515
- Gebläsefan
- 1616
- Rad- und GetriebeeinheitWheel and gear unit
- 1717
- Hauptbürstemain brush
- 1818
- Seitenbürsteside brush
- 1919
- Saugbehältersuction tank
- 22
- Bodenground
- 2020
- Verunreinigte FlächeContaminated area
- 2828
- Definierte FahrstreckeDefined driving distance
- 33
- Raumroom
- 4141
- Erster TeppichFirst carpet
- 4242
- Zweiter TeppichSecond carpet
- 55
- Reinigungsstreckecleaning section
- 5050
- Raumpunktspace point
- 51, 52, 5351, 52, 53
- erste - dritter Reinigungsbereichfirst - third cleaning area
- 66
- MöbelFurniture
- 7070
- Sensorsignalsensor signal
- 71 - 7671 - 76
- Referenzsignalereference signals
- 88th
- Bodenbelag, Fliese, LaminatFlooring, tile, laminate
- 8181
- Rillegroove
- 99
- Fahrtrichtungdirection of travel
- 91, 9291, 92
- Fugenrichtungjoint direction
- UU
- Spannung, gemessen in Volt [V]Voltage, measured in volts [V]
- UMAX U MAX
- SpannungsspitzeTransient
- tt
- Zeit, gemessen in Sekunden [s]Time, measured in seconds [s]
Claims (6)
- Self-propelled cleaning device (1) for automatically cleaning a contaminated surface (20) having a floor covering structure, the self-propelled cleaning device (1) comprising tools (15-18) for cleaning the contaminated surface (20) and a sensor (12) for detecting the floor covering structure of the contaminated surface (20), the sensor (12) being designed as a scanning sensor, characterised in that the sensor comprises a piezoelectric sensor that interacts with a wheel (14) of the self-propelled cleaning device (1).
- Cleaning device (1) according to claim 1, characterised in that said device comprises a device control means (11) which is designed to control the tools (15-18) on the basis of a sensor signal (70) from the sensor (12).
- Cleaning device (1) according to either claim 1 or claim 2, characterised in that the tools (15-18) are a main brush (17), a side brush (18), an edge brush, a drive motor, a wheel and transmission unit (16), a fan (15) and/or additional control sensors.
- Cleaning device (1) according to either claim 2 or claim 3, characterised in that the device control means (11) controls technical settings of the tools (15-18), in particular the rotational speed and/or direction of rotation of the main brush (17), the side brush (18), the edge brush, the drive motor and/or the wheel and transmission unit (16), the suction power of the fan (15) and/or the sensitivity of the additional control sensors.
- Cleaning device (1) according to any of claims 1 to 4, characterised in that the device control means (11) is designed to detect the floor covering structure by comparing the measured sensor signal (70) with reference signals (71-76).
- Cleaning device (1) according to claim 5, characterised in that said device comprises a read-only memory for storing the reference signals (71-76).
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DE102014100164.8A DE102014100164A1 (en) | 2014-01-09 | 2014-01-09 | Method for cleaning contaminated surfaces with a self-propelled cleaning device and cleaning device therefor |
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EP2893861A3 EP2893861A3 (en) | 2015-12-09 |
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DE102017118227A1 (en) * | 2017-08-10 | 2019-02-14 | Vorwerk & Co. Interholding Gmbh | Soil cultivation device with an accumulator |
CN111227723B (en) * | 2020-03-14 | 2023-09-05 | 珠海一微半导体股份有限公司 | Soft earth surface detection device and cleaning robot |
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KR910006885B1 (en) * | 1988-08-15 | 1991-09-10 | 미쯔비시 덴끼 가부시기가이샤 | Floor detector for vacuum cleaners |
DE4243235A1 (en) * | 1992-12-19 | 1994-06-23 | Fedag Romanshorn Fa | Attachment for suction cleaner with speed-controlled rotary brush |
DE10113105A1 (en) * | 2000-03-17 | 2001-10-04 | Vorwerk Co Interholding | Vacuum cleaner with motor driven rotary carpet brush and linear hard floor brush, for cleaning floor has sensing system using ultrasonic transmitter and receiver to determine nature of floor |
DE10262191A1 (en) * | 2002-12-23 | 2006-12-14 | Alfred Kärcher Gmbh & Co. Kg | Mobile tillage implement |
DE10357635B4 (en) * | 2003-12-10 | 2013-10-31 | Vorwerk & Co. Interholding Gmbh | Floor cleaning device |
JP2005211364A (en) * | 2004-01-30 | 2005-08-11 | Funai Electric Co Ltd | Self-propelled cleaner |
KR100827235B1 (en) * | 2006-05-19 | 2008-05-07 | 삼성전자주식회사 | Cleaning robot using carpet dector and search method of carpet boundary using the same |
DE102007010979B3 (en) * | 2007-03-05 | 2008-05-08 | Miele & Cie. Kg | Floor space cleaning method, involves controlling processing intensity of individual area of floor space in flowing processing cycle based on degree of pollution of individual area of floor space |
KR101322247B1 (en) * | 2007-09-06 | 2013-10-25 | 삼성전자주식회사 | suction brush for use in vacuum cleaner and height adjusting method thereof |
DE102010000573B4 (en) * | 2010-02-26 | 2022-06-23 | Vorwerk & Co. Interholding Gmbh | Method of controlling the power of a suction/sweeping device |
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