EP3095370B1 - Reinigungssystem mit bewegungs- und/oder positionsbestimmung - Google Patents

Reinigungssystem mit bewegungs- und/oder positionsbestimmung Download PDF

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Publication number
EP3095370B1
EP3095370B1 EP15167972.7A EP15167972A EP3095370B1 EP 3095370 B1 EP3095370 B1 EP 3095370B1 EP 15167972 A EP15167972 A EP 15167972A EP 3095370 B1 EP3095370 B1 EP 3095370B1
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EP
European Patent Office
Prior art keywords
cleaning
utensil
cleaning system
motion sensor
motion
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.)
Active
Application number
EP15167972.7A
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German (de)
English (en)
French (fr)
Other versions
EP3095370A1 (de
Inventor
Dirk Salmon
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.)
Vermop Salmon GmbH
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Vermop Salmon GmbH
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Filing date
Publication date
Application filed by Vermop Salmon GmbH filed Critical Vermop Salmon GmbH
Priority to PL15167972T priority Critical patent/PL3095370T3/pl
Priority to EP15167972.7A priority patent/EP3095370B1/de
Priority to DK15167972.7T priority patent/DK3095370T3/en
Priority to HUE15167972A priority patent/HUE037874T2/hu
Priority to ES15167972.7T priority patent/ES2654172T3/es
Publication of EP3095370A1 publication Critical patent/EP3095370A1/de
Application granted granted Critical
Publication of EP3095370B1 publication Critical patent/EP3095370B1/de
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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
    • A47L13/00—Implements for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L13/10—Scrubbing; Scouring; Cleaning; Polishing
    • A47L13/20—Mops
    • 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
    • A47L13/00—Implements for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L13/10—Scrubbing; Scouring; Cleaning; Polishing
    • A47L13/50—Auxiliary implements

Definitions

  • the invention relates to a cleaning system with movement and position determination.
  • a cleaning group In the area of professional cleaning, questions of logistics, scheduling and object control as well as cost-effective training of cleaning personnel are becoming more and more important. For example, a cleaning group must have an overview of the cleansing power and, in the case of activities to be carried out immediately, a decision as to which cleaning person will be entrusted with a particular short-term task. For this it is necessary to have knowledge about the whereabouts of the individual cleaning staff. This is determined in a conventional manner via predetermined schedules, from which it can be determined by looking through the flow charts, which cleaning force is at a certain time in which part of the building.
  • a cleaning system with a position determination is from the DE 10 2010 060 347 A known.
  • the self-cleaning cleaning device for floor cleaning described therein is a suction and / or sweeping robot having a sensor for measuring a distance to an object and comparing a defined distance with the distance measured by the sensor.
  • the invention has for its object to optimize a cleaning system to the effect that even complex cleaning processes are more efficient to carry out. This object is achieved by a cleaning system having the features of claim 1. Preferred embodiments follow from the remaining claims.
  • a cleaning system with movement and / or position determination comprises an evaluation device in at least one cleaning utensil.
  • the at least one cleaning utensil has at least one movement sensor system and a data transfer module, wherein the motion sensor system detects the movement of the cleaning utensil and the data transfer module is suitable for wirelessly transmitting data to the evaluation unit, preferably by means of a near field communication (NFC) transmission method or by means of Bluetooth.
  • NFC near field communication
  • the motion sensor With the help of the motion sensor while the movement of the cleaning utensil is detected. From the movement of the cleaning utensil, the position of the cleaning utensil can be determined, but also trained in the course of a training, the correct movement during the operation of the cleaning utensil. Via a data transfer module, the data generated by the motion sensor can be transmitted wirelessly to the evaluation device, where these various evaluations can be supplied.
  • the data transfer module can use any standard technology and standard wireless data transmission standard. Only examples are Bluetooth Low Energy and Bluetooth ANT + called.
  • the wireless communication may be performed using a wireless communication protocol such as an IEEE 802.11 compliant wireless local area network protocol, a mobile communication protocol such as WiMAX, LTE or other ITU-R compatible protocol, a short wavelength radio communication protocol such as Near Field Communication (NFC) or a wireless process control protocol like Wireless HART, just to name the most common examples.
  • a wireless communication protocol such as an IEEE 802.11 compliant wireless local area network protocol, a mobile communication protocol such as WiMAX, LTE or other ITU-R compatible protocol, a short wavelength radio communication protocol such as Near Field Communication (NFC) or a wireless process control protocol like Wireless HART, just to name the most common examples.
  • NFC Near Field Communication
  • the cleaning utensil can be a hand-operated cleaning device, such as e.g. be a mop while the evaluation is located in the associated cleaning cart.
  • the cleaning utensil with the motion sensor system can be a cleaning trolley and for the evaluation device to be stationary and to be used e.g. located in a building to be cleaned.
  • the motion sensor system comprises inertial sensors and gyroscopes.
  • the movement and orientation of the cleaning utensil can be detected and calculate a position from the recorded data transmitted to the evaluation device.
  • the motion sensor system comprises three inertia sensors arranged orthogonally to one another, which are aligned on the three spatial axes, and three gyroscopes arranged orthogonally to one another, which are likewise aligned on the three spatial axes. Due to the defined and each orthogonal positioning of the inertial sensors and gyroscopes also a complex movement sequence of the cleaning utensil can be calculated with an accuracy that is high enough to the desired information about the position of the cleaning utensil, but also for training purposes, the desired information about the To be able to detect the movement sequence of the cleaning utensil.
  • the cleaning utensil is a cleaning trolley and the movement sensor system comprises a pulse generator and a direction of rotation sensor in a rotatable wheel of the cleaning trolley.
  • the movement sensor system comprises a pulse generator and a direction of rotation sensor in a rotatable wheel of the cleaning trolley.
  • the use of a pulser and a rotational direction sensor in a rotatable wheel provides a very simple way to track the position of the cleaning cart. In this case, the distance traveled via the pulse generator in the rotatable wheel and the movement direction in each case taken in a clocked time interval via the direction of rotation sensor in the rotatable wheel is detected.
  • the cleaning system further comprises a position-determining device, preferably a GPS (Global Positioning System) sensor.
  • a GPS Global Positioning System
  • the use of a GPS sensor may be used to correct for evaluation errors that occur in the calculation of the position of the cleaning utensil from the data provided by the at least one motion sensor over a longer period of time.
  • a comparison between the position determined with the aid of the GPS sensor and the position calculated on the basis of the movement sensor system can take place at predetermined time intervals.
  • the motion sensor system comprises a sensor for magnetic field strength.
  • a sensor for magnetic field strength This serves to provide terminal-based radio positioning, e.g. via WiFi.
  • the evaluation unit has a map with field strengths and positions of radio transmitters, such as e.g. WiFi Access Points, and then calculates from the currently measured magnetic field strengths, the sensor provided for cleaning magnetic field sensor and supplies via the data transfer module to the evaluation, a position that can also be aligned with the position based on the Movement sensor technology supplied data is calculated.
  • the position determination device comprises a server-based radio positioning, which detects the field strengths and calculates the position of the cleaning utensil by means of a mapping of the positions of radio transmitters and their field strengths stored in a memory of the evaluation device.
  • the cleaning utensils communicate with each other and with the evaluation device via a mobile radio network.
  • the cleaning utensils may be provided with SIM cards, which allows a delay-free data transfer.
  • the cleaning equipment equipped with a SIM card can send the data to a cloud from which data can be retrieved and redistributed using defined access rights.
  • the cleaning utensil has at least two spaced-apart movement sensor systems which are attached to those positions of the cleaning utensil which, when the cleaning utensil is used as intended, image different, characteristic movements of the cleaning utensil.
  • the cleaning utensil is a mop holder held by the cleaning personnel on a stick and guided in a loop over the surface to be cleaned
  • a first motion sensor may be located at the top of the stick, while the second motion sensor may be located at the mop holder is close to the mop cover.
  • the motion sequence determined by calculation can be compared with an ideal sequence of movements stored in the memory of the evaluation device , As part of a training, the movement can be analyzed and improved.
  • this also applies in the same way to other cleaning devices such as e.g. guiding a puller when cleaning large windows, which in the best possible way also follow a complex sequence of movements.
  • the evaluation device is stationary.
  • logistics, scheduling and object control can be carried out from a central position.
  • the position of the individual cleaning forces can be detected in an object and displayed in real time.
  • the schedule can be easily changed and the one Cleaner to be informed, which is spatially best suited to take on a specific task.
  • the cleaning performance provided to a client can be proven by recording the real processed area.
  • a receiving module is provided on the cleaning utensil and adapted to receive data from the evaluation unit.
  • feedback is also given to the respective cleaning force within the scope of checking the correct movement, wherein preferably an output interface is provided on the cleaning utensil in order to enable a visual and / or acoustic signal output.
  • a further preferred embodiment of the invention consists in that the data transfer module and an authentication unit cooperating with the data transfer module are additionally suitable for communicating with one or more access control devices for authenticating the cleaning utensil.
  • the targeted access to hygiene areas can be regulated and controlled. For example, it can be avoided in certain hygiene areas by an access denial that a cleaning utensil not provided for the cleaning of a specific hygiene area can be carried into the hygiene area.
  • Fig. 1 schematically a cleaning cart 10 and a mop holder 12 are shown.
  • the mop holder 12 is to be understood in this embodiment, only as an example and it may be in the same way any other cleaning device that communicates with an arranged on the cleaning trolley 10 evaluation unit 20.
  • the mop holder 12 has three movement sensor systems 14, 16 and 18, which are arranged at a suitable location.
  • This is the handle 22, in which the motion sensor 14 is embedded, the handle 24, in which the motion sensor 16 is located, as well as the mop plate 26 on or in which the motion sensor 18 is arranged.
  • Each motion sensor 14, 16 and 18 is adapted to detect the local motion state of the mop holder 12.
  • Each individual motion sensor system 14, 16 and 18 comprises three orthogonally arranged inertial sensors which are aligned on the three spatial axes and three gyroscopes arranged orthogonally to one another, which are likewise aligned on the three spatial axes.
  • each individual motion sensor system 14, 16, 18 is associated with a data transfer module 30 or, as in Fig. 1 is shown schematically, in the region of the handle 24, a central data transfer module 30 is provided by means of which the the movement sensor systems 14, 16, 18 obtained data are transmitted to the evaluation unit 20 in the cleaning cart 10.
  • a communication module 28 is provided on the cleaning cart 10, which is in data connection to the evaluation unit 20.
  • the evaluation unit 20 may be assigned a data memory 32, preferably in the form of a memory chip.
  • the mop holder 12 can receive data.
  • a schematically illustrated receiving module 36 is provided, which is connected to a signal generator 38, which can output an acoustic and / or optical signal.
  • the data exchange between the evaluation unit 20 in the cleaning cart 10 and the mop holder 12 can use all common techniques for wireless data transmission. Due to the usual proximity between the cleaning cart 10 and the mop holder 12, however, data transmission techniques with a low energy density are particularly suitable. Examples of such data transmission protocols are short-wave radio communication protocols such as near field communication (NFC) or Bluetooth, in particular Bluetooth Low Energy and Bluetooth ANT +.
  • NFC near field communication
  • Bluetooth Bluetooth Low Energy and Bluetooth ANT +.
  • the configuration, as in Fig. 1 is shown in a special way to train the movement in the use of the mop holder 12.
  • an ideal reference movement is stored in the data memory 32, which is in data exchange with the evaluation unit 20. If the mop holder 12 is now actuated, then typical movement patterns occur which, depending on the position of the movement sensor systems 14, 16, 18 follow different patterns.
  • These data provided via the motion sensors assigned to the motion sensor systems are transmitted wirelessly from the data transfer module 30 to the communication module 28 transmitted and fed to the evaluation unit 20, which processes the transmitted motion data using a suitable software program and compared with the stored in the data memory 32 reference data for the movement.
  • a feedback signal is sent via the communication module 28 to the receiving module 36 in the mop holder 12, which for the user via the signal generator 38 in a is issued in a suitable manner.
  • an acoustic signal can be output if the movement deviates from the ideal sequence of movements beyond a predetermined tolerance deviation.
  • suitable energy sources such as accumulators can be provided, with which the electronic components, but also a possible signal generator are supplied with energy.
  • one of the wheels 42 may be associated with a secondary dynamo 40, which supplies the electronic components of the cleaning cart with energy.
  • the required energy can also be generated in a conventional manner by the movement of the handle itself and buffered in an accumulator.
  • two or more movement sensor systems of a cleaning utensil can be located exclusively in the handle, as well 24 may be arranged.
  • This has the advantage that such, due to the electronic components therein expensive handle with different cleaning heads can be coupled, via a suitable identification interface 44, with a passive component, preferably an RFID chip on the cleaning head communicates, the type of cleaning head is detected.
  • the identification interface 44 provides this information to the data transfer module 30 in the handle (see Fig. 1 ), so that the evaluation unit 20 on the cleaning cart 10 receives the information with which cleaning head the handle 24 is currently coupled.
  • Fig. 3 illustrated embodiment is different in that, unlike the embodiments according to Fig. 1 and 2 , the motion sensor 18 is associated with the universal joint 46 between the handle and the mop plate 26.
  • angle sensors can be used which detect the respective angular states in the universal joint 46 continuously and in a short clock sequence and feed them to the data transfer module 30.
  • the evaluation unit 20 is fixed, for example, arranged in a building complex to be cleaned.
  • the cleaning utensils are a variety of cleaning trolleys 10a, 10b, 10c, but also a mop holder 12a.
  • a data communication Between one of the evaluation unit 20 associated communication module 28 and corresponding data transfer module 30 in all cleaning utensils 10a, 10b, 10c, 12a is a data communication.
  • this is no longer a radio communication protocol such as near field communication or Bluetooth, but it is preferred to use the already existing in larger buildings wireless network (Wireless Local Area Network) for data exchange.
  • the individual cleaning utensils 10a, 10b, 10c and 12a can, as in the reference to Fig. 1 described manner, each with at least one motion sensor to be configured, which in the case of the embodiment according to Fig. 4 for determining the position of the individual cleaning utensils in a building complex.
  • the data of one or more Accelerometers and of one or more gyroscopes, which receive data from a magnetometer, thus serve to position and thus orientation of the mobile cleaning utensils 10a, 10b, 10c and 12a.
  • the data determined in this case are supplied to the evaluation unit 20, which store these data in a memory and can display in real time on a monitor 48 in a suitable manner.
  • the positions of the individual cleaning utensils 10a, 10b, 10c and 12a within a building can be identified on a floor plan in order to be able to detect the respectively current position of individual cleaning forces.
  • the position determination can also be made via the route that the cleaning carriages cover.
  • one or more additional position detecting means may be provided which is associated with the cleaning utensils.
  • This may be a sensor 58a, which detects the position of the cleaning cart 10a in a building with the aid of the Global Positioning System (GPS), or also a sensor 58b for determining the position and field strength of radio transmitters.
  • GPS Global Positioning System
  • the evaluation unit 20 must have a mapping of the positions and field strengths of radio transmitters present at different points in the building for matching the determined data.
  • the position detection device 58 has been explained only with reference to two specific examples 58a, 58b, but any position detection devices can be used. Are known in rooms installed Local brands such as RFID tags, small Bluetooth or infrared transmitters and QR codes, which can be recognized by a mobile reader on the cleaning tool, just to name a few more options for position detection devices.
  • the positioning of the cleaning utensils serves primarily to improve the logistics and scheduling of complex cleaning tasks. Via a centrally arranged location, for example a work station at the evaluation unit 20, it can be determined at any time which cleaning power is currently located in the building and, if within the framework of facility management, a particular task is to be taken over at short notice and with this task can be entrusted. In addition, however, it can also be proven for a cleaning company to the client that the cleaning performance has actually been achieved. To be able to afford such an object control, as in the exemplary embodiment Fig.
  • the networking between the mop holder 12a as a cleaning utensil and the stationary evaluation unit 20 serves to be able to check whether the currently used starsutensil is the right one. For example, a cleaning surface must be moved over a surface covered with a carpet, rather than over a tiled floor. It is also possible to check whether the mop holder 12a mounted on the mop holder fits the respective floor covering.
  • Another application of the networked cleaning system is to grant access permissions to certain areas of the building.
  • the networked cleaning system can thus be used to define specially equipped cleaning utensils that have exclusive access to certain sensitive areas.

Landscapes

  • Electric Vacuum Cleaner (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
EP15167972.7A 2015-05-18 2015-05-18 Reinigungssystem mit bewegungs- und/oder positionsbestimmung Active EP3095370B1 (de)

Priority Applications (5)

Application Number Priority Date Filing Date Title
PL15167972T PL3095370T3 (pl) 2015-05-18 2015-05-18 System do sprzątania z określaniem ruchu i/albo położenia
EP15167972.7A EP3095370B1 (de) 2015-05-18 2015-05-18 Reinigungssystem mit bewegungs- und/oder positionsbestimmung
DK15167972.7T DK3095370T3 (en) 2015-05-18 2015-05-18 MOVEMENT AND / OR POSITION DETERMINATION CLEANING SYSTEM
HUE15167972A HUE037874T2 (hu) 2015-05-18 2015-05-18 Mozgás- és/vagy pozíció-detektálással rendelkezõ tisztítórendszer
ES15167972.7T ES2654172T3 (es) 2015-05-18 2015-05-18 Sistema de limpieza con determinación del movimiento y de la posición

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP15167972.7A EP3095370B1 (de) 2015-05-18 2015-05-18 Reinigungssystem mit bewegungs- und/oder positionsbestimmung

Publications (2)

Publication Number Publication Date
EP3095370A1 EP3095370A1 (de) 2016-11-23
EP3095370B1 true EP3095370B1 (de) 2017-10-11

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Application Number Title Priority Date Filing Date
EP15167972.7A Active EP3095370B1 (de) 2015-05-18 2015-05-18 Reinigungssystem mit bewegungs- und/oder positionsbestimmung

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EP (1) EP3095370B1 (pl)
DK (1) DK3095370T3 (pl)
ES (1) ES2654172T3 (pl)
HU (1) HUE037874T2 (pl)
PL (1) PL3095370T3 (pl)

Cited By (1)

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IT202100003785A1 (it) * 2021-02-18 2022-08-18 Hygenia S R L Attrezzo per la pulitura di superfici

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PL3434166T3 (pl) * 2017-07-28 2021-11-08 Vermop Salmon Gmbh Sprzęt do sprzątania z jednostką rejestracji danych
DE102018111423C5 (de) 2018-05-14 2023-04-27 Carl Freudenberg Kg Reinigungssystem
CN111938508B (zh) * 2019-05-15 2024-03-08 添可智能科技有限公司 地刷类型识别方法、吸尘设备及存储介质
GB2602072B (en) * 2020-12-17 2023-06-07 Dyson Technology Ltd Floor cleaner dock
AU2021436649A1 (en) * 2021-03-26 2023-07-27 Carl Freudenberg Kg Method for electronically documenting a cleaning process
EP4071680B1 (de) * 2021-04-06 2025-02-19 VERMOP GmbH System zur strukturierung von leistungen in einem zu reinigenden objekt
IT202100016871A1 (it) * 2021-06-28 2022-12-28 Cm Service S R L Dispositivo per la pulizia di una superficie, in particolare una pavimentazione
IT202200012221A1 (it) * 2022-06-09 2023-12-09 Eurocleans S R L Kit e metodo intelligente di pulizia

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WO2000054646A2 (en) * 1999-03-16 2000-09-21 Dit International Hq A/S A container for storage of cleaning textiles, a cleaning trolley for transporting the container and a method of transporting cleaning textiles
US7431524B2 (en) * 2004-02-24 2008-10-07 Avet-Usa, Inc. Advanced data controlled cleaning system
DE102010060347B4 (de) 2010-11-04 2024-05-16 Vorwerk & Co. Interholding Gmbh Selbsttätig verfahrbares Gerät sowie Verfahren zur Durchführung einer Überprüfung einer Abstandsmessgenauigkeit
EP2586351A1 (en) * 2011-10-28 2013-05-01 Tina Trolleys Apparatus for moisturising a mop

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT202100003785A1 (it) * 2021-02-18 2022-08-18 Hygenia S R L Attrezzo per la pulitura di superfici
EP4049577A1 (en) * 2021-02-18 2022-08-31 Hygenia S.r.l. Tool for the cleaning of surfaces

Also Published As

Publication number Publication date
PL3095370T3 (pl) 2018-01-31
EP3095370A1 (de) 2016-11-23
DK3095370T3 (en) 2018-01-02
ES2654172T3 (es) 2018-02-12
HUE037874T2 (hu) 2018-09-28

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