EP2939581A1 - Appareil de nettoyage automobile et procédé de commande d'un appareil de nettoyage automobile - Google Patents

Appareil de nettoyage automobile et procédé de commande d'un appareil de nettoyage automobile Download PDF

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Publication number
EP2939581A1
EP2939581A1 EP15164886.2A EP15164886A EP2939581A1 EP 2939581 A1 EP2939581 A1 EP 2939581A1 EP 15164886 A EP15164886 A EP 15164886A EP 2939581 A1 EP2939581 A1 EP 2939581A1
Authority
EP
European Patent Office
Prior art keywords
travel
cleaning
cleaning device
thread lifter
thread
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
EP15164886.2A
Other languages
German (de)
English (en)
Other versions
EP2939581B1 (fr
Inventor
David Buhl
Stefan Tiekötter
Holger Ernst
Markus Penner
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.)
Miele und Cie KG
Original Assignee
Miele und Cie 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
Priority claimed from DE102014105991.3A external-priority patent/DE102014105991A1/de
Priority claimed from DE102014106041.5A external-priority patent/DE102014106041A1/de
Application filed by Miele und Cie KG filed Critical Miele und Cie KG
Publication of EP2939581A1 publication Critical patent/EP2939581A1/fr
Application granted granted Critical
Publication of EP2939581B1 publication Critical patent/EP2939581B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • 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
    • A47L9/02—Nozzles
    • 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
    • A47L9/02—Nozzles
    • A47L9/06—Nozzles with fixed, e.g. adjustably fixed brushes or the like
    • A47L9/0606—Nozzles with fixed, e.g. adjustably fixed brushes or the like rigidly anchored brushes, combs, lips or pads
    • A47L9/0613—Nozzles with fixed, e.g. adjustably fixed brushes or the like rigidly anchored brushes, combs, lips or pads with means specially adapted for picking up threads, hair or the like, e.g. brushes, combs, lint pickers or bristles pads
    • 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

Definitions

  • the invention relates to a self-propelled cleaning device for automated cleaning of contaminated surfaces, wherein the cleaning device has a device control that controls the cleaning device along a travel path, and extending transversely to a direction of travel suction gap and at least one parallel to the suction gap arranged bottom seal.
  • the invention further relates to an operating method for such a self-propelled cleaning device.
  • 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 vacuum robots. Furthermore, self-propelled cleaning devices for wiping a floor are known and combination devices that can clean by sucking and wiping.
  • a negative pressure is generated, which has an air flow flowing into this suction gap result. From the air flow dust and dirt particles are lifted from the ground and sucked into the suction gap. In order to generate the highest possible flow velocities near the bottom, the airflow caused by the negative pressure is guided as specifically as possible and close to the ground surface.
  • the arrangement of the suction gap and the at least one parallel floor seal is usually also referred to as Staubsaugermund.
  • a rotating brush roll can be arranged in the region of the suction gap or in the suction gap itself, which ejects dust and dirt particles from the ground upwards and thus facilitates the suction of these particles.
  • An inventive self-propelled cleaning device in particular a suction robot, of the type mentioned above is characterized in that the at least one bottom seal is designed as a thread lifter having on its side facing the ground side protruding fibers. Further, the device control is adapted to interrupt a cleaning drive of the self-propelled cleaning device in a main direction of travel for a cleaning cycle of the thread lifter for a driving section with the reverse direction of travel.
  • Such thread lifters for example made of a suede or plastic material, are basically known for manually guided vacuum cleaners or vacuum cleaner nozzles.
  • manually guided vacuum cleaners or vacuum cleaner nozzles usually two such thread lifters are used, one of which is arranged in front of and one behind the suction mouth.
  • the filaments, hair or fibers are combed out of the fibers of the thread lifter combed out of the carpet and get caught in the fibers of the thread lifter.
  • the threads, hair or fibers are then stripped by the other way directed relative movement between the thread lifter and floor covering of the thread lifter and can finally be absorbed.
  • the thread lifter is arranged in the main direction of travel in front of the suction gap. This ensures that located on the surface to be cleaned threads, hair and fibers are not caught on a cleaning drive on the brush roller, but are absorbed by the arranged in front of the suction gap thread lifter.
  • fibers of the thread lifter inclined at an angle in the main direction of travel down.
  • the thread lifter is arranged in the main direction of travel behind the suction gap.
  • fibers of the thread lifter inclined at an angle in the main direction of travel down.
  • a suitable thread lifter may, for example, comprise a strip of a velor material.
  • a thread lifter which consists of at least two different plastics and is produced in a multi-component injection molding process. The at least two different plastics have different material properties.
  • a main body of the thread lifter is a hard component of a first plastic with relatively hard and dimensionally stable material properties, such as polypropylene.
  • the brush elements of the thread lifter are molded from a second plastic as a soft component. This second plastic has softer, flexible material properties compared to the hard component.
  • the brush elements of the thread lifter from this soft component adapt optimally to the contour of the floor surface to be cleaned and remove threads, hair or other fibers from these threads.
  • plastics from the group of thermoplastic elastomers are conceivable.
  • the thread lifter can be mounted resiliently and in the vertical direction yielding to the ground-facing side of the cleaning device.
  • the thread lifter is mounted on a height adjustment device, by its distance from the ground is variable.
  • Such a thread lifter may e.g. on smooth floors, where picked up filaments can not be so effectively wiped off, are raised in a raised position to reduce the driving resistance and thus save drive power.
  • An operating method according to the invention for such a self-propelled cleaning device which has a suction gap extending transversely to a direction of travel and at least one thread lifter arranged parallel to the suction gap, comprises the following steps: A travel path for floor cleaning in a main travel direction of the cleaning device is traveled. The track is interrupted to carry out a cleaning cycle for the thread lifter by the cleaning device stops, for stripping recorded threads, hair or other fibers of the thread lifter moves a driving section against the main driving direction and picks stripped threads, hair or other fibers, in particular sucks. Then the journey continues in the main direction of travel along the driveway. This results in the advantages described in connection with the cleaning device.
  • the cleaning cycle is carried out repeatedly, for example, at regular time or distance distances.
  • the cleaning cycle is carried out together with planned changes of direction along the travel path. Since such changes in direction of travel are usually accompanied by stopping or at least a slowing down of the movement of the cleaning device, the cleaning cycles can be integrated into the cleaning path in the most energy-saving manner.
  • the reversing within the cleaning cycles for a user are less noticeable than cleaning cycles that interrupt a longer straight-ahead section.
  • the cleaning cycle is only carried out when the cleaning device is on a soft floor covering, in particular a carpet or a carpet, as on the soft flooring stripping of the recorded threads, hair or fibers is more effective.
  • FIG. 1 is a suction robot 1 as an example of a self-propelled cleaning device shown schematically in a partially sectioned side view.
  • the vacuum robot 1 has arranged on or in a housing 2 a drive system 3, which acts on two drive wheels 4, one arranged on each side of the vacuum robot 1.
  • the drive wheels 4 can be driven independently of each other via drive motors not shown here individually.
  • a support wheel 5 is provided, which is formed either pivotable or as a rotatable ball in all directions. With independent control of the direction of rotation and rotational speed of the drive wheels 4, the vacuum robot 1 can perform movement with independently adjustable rotational and translational speeds on a surface to be cleaned.
  • a suction gap 6 is arranged, which is connected in a known manner with a dust cassette 7 and a suction fan 8.
  • a filter system for example with a vacuum cleaner bag, is arranged.
  • Supporting a rotating brush roller 9 is arranged in the illustrated embodiment in the suction region 6.
  • the vacuum robot 1 is controlled by a device control, not shown here, which comprises one or more microcontrollers.
  • the device control controls the individual components of the vacuum robot 1, such as e.g. the drive system 3, the suction fan 8 and the brush roller 9.
  • the device controller has a navigation system that plans a travel path of the vacuum robot 1 and causes the route is traveled.
  • sensors can e.g. work optically or acoustically.
  • a main direction of movement of the vacuum cleaner in operation is in the FIG. 1 indicated by a directional arrow above the vacuum robot 1.
  • the thread lifter 10 has on its underside a strip of material of a material having a plurality of fine protruding and inclined fibers.
  • the strip of material may for example be a velor strip.
  • the fibers are oriented inclined to the main direction of movement.
  • the thread take-up 10 acts as a bottom seal by sealing the region of the suction gap 6 towards the front (in the main travel direction), as a result of which the negative pressure generated by the suction fan 8 of the vacuum robot 1 leads to an even greater air flow in the region behind the suction gap 6. In this way, the suction effect of the vacuum robot 1 is already increased. Furthermore, the inclined fibers of the thread lifter 10 comb a thread 11, a hair or other long fiber out of a carpet as a floor to be cleaned out, which would otherwise not be absorbed directly from the suction gap 6, nor from the brush roller 9.
  • the height of the thread lifter 10 above the ground is adjustable via an adjusting mechanism.
  • the height adjustment is realized by an electric motor 13 which drives a worm wheel 15 via a worm 14 placed on its shaft.
  • the thread lifter 10 is connected to the worm wheel 15 so that it is pivoted and lifted during a rotational movement of the worm wheel 15.
  • the thread lifter 10 can be lifted off the ground when it is not needed, for example, when the vacuum robot is on a smooth floor.
  • drive energy of the vacuum robot 1 can be saved, since unnecessary grinding of the thread lifter 10 is prevented via a floor.
  • the thread lifter 10 can be raised in the range of edges to be traveled to prevent snagging of the vacuum robot 1 at this edge and thus the To override the edge easier.
  • the thread lifter 10 via an elastic element on the underside of the housing 2 of the vacuum robot 1.
  • the elastic element 12 may be, for example, a soft rubber strip, possibly with a hollow profile.
  • the arrangement of the thread lifter 10 together with its height adjustment in front of the suction gap 6 with respect to the direction of travel of the vacuum robot 1 ensures that threads, hair and other long fibers are taken up by the preceding thread lifter 10 before they reach the area of the rotating brush roller 9. As a result, the risk of wrapping the brush roller 9 is prevented with, for example, long hair.
  • FIG. 2 shows the recording process of a thread 11 in an operating method according to the invention in more detail.
  • the recording process is in the FIG. 2 Played in six fields that play sequentially through situations.
  • a movement of the vacuum robot 1 is shown in the partial image a in the direction of movement symbolized by an arrow at the upper edge of the image, in this case the main movement direction. If the suction robot 1 passes over the thread 11 located on the surface to be cleaned, as shown in FIG. 5 b, the thread 11 is received by the fibers of the thread lifter 10 at an angle to the direction of movement and becomes entangled in these fibers of the thread lifter 10.
  • a cleaning cycle for the thread lifter 10 is passed by the vacuum robot 1. This is shown in the sub-pictures c to f.
  • the vacuum robot 1 stops its travel in the main direction of movement and moves for a short distance in the opposite direction of movement opposite to the main direction of movement. This movement causes the thread 11 - and possibly further recorded in the thread lifter 10 threads, hair or other long fibers - are stripped by the bottom of the thread lifter 10. In this stripping, the thread 11 entangles to the ball shown. As shown in picture c, the entangled thread 11 is less entangled in the filaments of the carpet.
  • the length of the sudstructurefahrabitess is advantageously in the range of a few centimeters. It is so dimensioned that the most extensive cleaning of the thread lifter 10 is ensured by recorded impurities.
  • the adjustment raises the thread lifter 10 at least as far as the floor to be cleaned, that no contact between the thread lifter 10 and the bottom surface.
  • the speed of the brush roller 9 is at least considerably reduced in order to reduce the power consumption of the vacuum robot 1.
  • the vacuum robot 1 passes over the distance which it has covered during its reverse drive in the main direction of travel. In this case, the crumpled thread 11 is received via the brushing roller 9 and the suction gap 6 of the vacuum robot 1.
  • the lifting of the thread lifter 10 via the adjusting device prevents a renewed entanglement of the thread 11 in the thread lifter 10.
  • the in the picture c the FIG. 2 illustrated backward travel of the cleaning cycle can in principle be performed at any time during a cleaning trip on the guideway of the vacuum robot 1. It can be provided, for example, to carry out such a cleaning drive at regular time and / or distances. Further, it may be provided to carry out such a cleaning run only when the vacuum robot 1 is also located on a carpet, since only in this case, the stripping of the recorded threads, hair and other fibers can be performed effectively on the ground.
  • a cleaning cycle in particular at those points in the travel path at which the vacuum robot 1 stops or slows down its journey.
  • a meandering cleaning drive for example, which allows a particularly good coverage of a surface to be cleaned, without areas are traversed several times, for example, at such points where the vacuum robot 1 makes a 90 degree turn by rotating on the spot, such a cleaning cycle to get integrated.
  • the vacuum robot 1 drives, for example, slightly beyond the planned turning point, stops and sets back to the planned turning point, wherein the portion of the reset represents the reverse drive for cleaning the thread lifter 10.
  • the rotation of the brush roller 9 can be stopped or slowed down so that the wound yarns, hair, fibers are sucked up without that they are caught in the rotating brush roller 9.
  • FIG. 3 is a suction robot 1 as an example of a self-propelled cleaning device shown schematically in a partially sectioned side view.
  • the vacuum robot 1 has arranged on or in a housing 2 a drive system 3, which acts on two drive wheels 4, one arranged on each side of the vacuum robot 1.
  • the drive wheels 4 can be driven independently of each other via drive motors not shown here individually.
  • a support wheel 5 is provided, which is formed either pivotable or as a rotatable ball in all directions. With independent control of the direction of rotation and rotational speed of the drive wheels 4, the vacuum robot 1 can perform movement with independently adjustable rotational and translational speeds on a surface to be cleaned.
  • a suction gap 6 is arranged, which is connected in a known manner with a dust cassette 7 and a suction fan 8.
  • a filter system for example with a vacuum cleaner bag, is arranged.
  • Supporting a rotating brush roller 9 is arranged in the illustrated embodiment in the suction region 6.
  • the vacuum robot 1 is controlled by a device control, not shown here, which comprises one or more microcontrollers.
  • the device control controls the individual components of the vacuum robot 1, such as e.g. the drive system 3, the suction fan 8 and the brush roller 9.
  • the device controller has a navigation system that plans a travel path of the vacuum robot 1 and causes the route is traveled.
  • sensors can e.g. work optically or acoustically.
  • a main direction of movement of the vacuum cleaner in operation is in the FIG. 3 indicated by a directional arrow above the vacuum robot 1.
  • the thread lifter 10 has on its underside a strip of material of a material having a plurality of fine protruding and inclined fibers.
  • the strip of material may for example be a velor strip.
  • the fibers are oriented inclined to the main direction of movement.
  • the thread lifter 10 acts as a bottom seal by sealing the region of the suction gap 6 towards the rear (in the main driving direction), as a result of which the vacuum generated by the suction fan 8 of the vacuum robot 1 leads to an even greater air flow in the region in front of the suction gap 6. In this way, the suction effect of the vacuum robot 1 is already increased. Furthermore comb the skewed Fibers of the thread lifter 10 a thread 11, a hair or other long fiber from a carpet as a floor to be cleaned out, which would otherwise not be absorbed directly from the suction gap 6, nor from the brush roller 9.
  • FIG. 4 shows the recording process of a thread 11 in an operating method according to the invention in more detail.
  • the recording process is in the FIG. 4 Played in four fields that play successive situations.
  • a movement of the vacuum robot 1 is shown in the partial image a in the direction of movement symbolized by an arrow at the upper edge of the image, in this case the main movement direction.
  • a thread 11 located in the region of the suction gap 6 is not picked up by the suction robot 1, since the thread 11 is hooked, for example, in the filaments of a carpet.
  • a cleaning cycle for the thread lifter 10 is passed by the vacuum robot 1. This is shown in the sub-picture c.
  • the vacuum robot 1 stops its travel in the main direction of movement and moves for a short distance in the opposite direction of movement opposite to the main direction of movement. This movement causes the thread 11 - and possibly further recorded in the thread lifter 10 threads, hair or other long fibers - are stripped by the carpet of the thread lifter 10. In this stripping, the thread 11 entangles to the ball shown.
  • the length of the rinseurbanfahrabitess is advantageously in the range of a few centimeters. It is dimensioned such that the contaminants stripped off the thread lifter 10 reach the area of the suction gap 6.
  • the entangled thread 11 is less strongly entangled in the filaments of the carpet, so that it can be easily lifted off the ground in the region of the suction gap 6 or in the brush roller 9 and sucked by the vacuum robot 1. This can still take place during the reverse drive of the cleaning cycle (partial image c) or after the vacuum robot 1 has again assumed its main direction of movement and continues its journey along the planned travel path.
  • the in the picture c the FIG. 4 illustrated backward travel of the cleaning cycle can in principle be performed at any time during a cleaning trip on the guideway of the vacuum robot 1. It can be provided, for example, to carry out such a cleaning drive at regular time and / or distances. Further, it can be provided to carry out such a cleaning ride only when the vacuum robot 1 is also on a carpet, since only in this case, the stripping of the recorded threads, hair and other fibers can be performed effectively on the ground.
  • a cleaning cycle in particular at those points in the travel path at which the vacuum robot 1 stops or slows down its journey.
  • a meandering cleaning drive for example, which allows a particularly good coverage of a surface to be cleaned, without areas are traversed several times, for example, at such points where the vacuum robot 1 makes a 90 degree turn by rotating on the spot, such a cleaning cycle to get integrated.
  • the vacuum robot 1 drives, for example, slightly beyond the planned turning point, stops and sets back to the planned turning point, wherein the portion of the reset represents the reverse drive for cleaning the thread lifter 10.
  • FIGS. 5a and 5b Two further embodiments of a vacuum robot 1 with a thread lifter 10 are shown.
  • the same reference numerals in this figure denote the same or equivalent elements as in the FIGS. 1 to 4 , Of the vacuum robot 1 only the area of the suction gap 6 and the thread lifter 10 is shown in each case.
  • the thread lifter 10 is fixed via an elastic element 12 on the underside of the housing 2 of the vacuum robot 1.
  • the elastic element 12 may be, for example, a soft rubber strip, possibly with a hollow profile.
  • a height of the thread lifter 10 is adjustable above the ground via an adjustment mechanism.
  • the height adjustment is realized via an electric motor 13 which drives a worm wheel 15 via a worm 14 placed on its shaft.
  • the thread lifter 10 is connected to the worm wheel 15 so that it is pivoted during a rotational movement of the worm wheel 15 and is raised.
  • the thread lifter 10 can be lifted from the ground when it is not needed. In this way, drive energy of the vacuum robot 1 can be saved, since unnecessary grinding of the thread lifter 10 is prevented via a floor.
  • the thread lifter 10 in Raised area to be traveled edges to prevent snagging of the suction robot 1 at this edge, thereby facilitating the crossing of the edge.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Nozzles For Electric Vacuum Cleaners (AREA)
EP15164886.2A 2014-04-29 2015-04-23 Appareil de nettoyage automobile et procédé de commande d'un appareil de nettoyage automobile Active EP2939581B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014105991.3A DE102014105991A1 (de) 2014-04-29 2014-04-29 Selbstfahrendes Reinigungsgerät und Betriebsverfahren für ein selbstfahrendes Reinigungsgerät
DE102014106041.5A DE102014106041A1 (de) 2014-04-30 2014-04-30 Selbstfahrendes Reinigungsgerät und Betriebsverfahren für ein selbstfahrendes Reinigungsgerät

Publications (2)

Publication Number Publication Date
EP2939581A1 true EP2939581A1 (fr) 2015-11-04
EP2939581B1 EP2939581B1 (fr) 2017-03-01

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EP15164886.2A Active EP2939581B1 (fr) 2014-04-29 2015-04-23 Appareil de nettoyage automobile et procédé de commande d'un appareil de nettoyage automobile

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102016105171A1 (de) * 2016-03-21 2017-09-21 Miele & Cie. Kg Verfahren zum Fahrbetrieb eines selbstfahrenden Bodenreinigungsgeräts
CN107252281A (zh) * 2017-06-22 2017-10-17 深圳市晓控通信科技有限公司 一种基于物联网的用于工业生产车间的智能清扫机器人
DE102016108801A1 (de) * 2016-05-12 2017-11-16 Vorwerk & Co. Interholding Gmbh Staubsaugerdüse mit Fadenheber
CN112947197A (zh) * 2021-02-22 2021-06-11 安徽祥源科技股份有限公司 一种易于清理的电气自动化控制台

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1569098A (en) * 1978-04-29 1980-06-11 Wessel H Vacuum cleaner nozzles
EP0630604A1 (fr) * 1993-06-25 1994-12-28 Vorwerk & Co. Interholding GmbH Aspirateur, plus particulièrement buse ou partie pour dito
US20060037170A1 (en) * 2004-02-10 2006-02-23 Funai Electric Co., Ltd. Self-propelling cleaner

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1569098A (en) * 1978-04-29 1980-06-11 Wessel H Vacuum cleaner nozzles
EP0630604A1 (fr) * 1993-06-25 1994-12-28 Vorwerk & Co. Interholding GmbH Aspirateur, plus particulièrement buse ou partie pour dito
US20060037170A1 (en) * 2004-02-10 2006-02-23 Funai Electric Co., Ltd. Self-propelling cleaner

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102016105171A1 (de) * 2016-03-21 2017-09-21 Miele & Cie. Kg Verfahren zum Fahrbetrieb eines selbstfahrenden Bodenreinigungsgeräts
DE102016108801A1 (de) * 2016-05-12 2017-11-16 Vorwerk & Co. Interholding Gmbh Staubsaugerdüse mit Fadenheber
CN107252281A (zh) * 2017-06-22 2017-10-17 深圳市晓控通信科技有限公司 一种基于物联网的用于工业生产车间的智能清扫机器人
CN112947197A (zh) * 2021-02-22 2021-06-11 安徽祥源科技股份有限公司 一种易于清理的电气自动化控制台

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