EP3351156B1 - Appareil de nettoyage se déplaçant automatiquement - Google Patents

Appareil de nettoyage se déplaçant automatiquement Download PDF

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Publication number
EP3351156B1
EP3351156B1 EP18150535.5A EP18150535A EP3351156B1 EP 3351156 B1 EP3351156 B1 EP 3351156B1 EP 18150535 A EP18150535 A EP 18150535A EP 3351156 B1 EP3351156 B1 EP 3351156B1
Authority
EP
European Patent Office
Prior art keywords
cleaning device
cleaning
floor
suction
fan
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
EP18150535.5A
Other languages
German (de)
English (en)
Other versions
EP3351156A1 (fr
Inventor
Gerhard Isenberg
Roman Ortmann
Christian Holz
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.)
Vorwerk and Co Interholding GmbH
Original Assignee
Vorwerk and Co Interholding GmbH
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Filing date
Publication date
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Publication of EP3351156A1 publication Critical patent/EP3351156A1/fr
Application granted granted 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
    • 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
    • A47L5/00—Structural features of suction cleaners
    • A47L5/12—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum
    • A47L5/14—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum cleaning by blowing-off, also combined with suction cleaning
    • 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
    • A47L25/00—Domestic cleaning devices not provided for in other groups of this subclass 
    • 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
    • A47L9/08—Nozzles with means adapted for blowing
    • 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
    • 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
    • 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
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

Definitions

  • the invention relates to a self-propelled moving cleaning device with a housing, a blower and a surface cleaning device for cleaning a surface to be cleaned.
  • the invention relates to a method for operating a self-propelled cleaning device with a blower and a surface cleaning device, wherein a surface to be cleaned is acted upon by an air flow of the blower.
  • Self-propelled cleaning devices of the aforementioned type are known in the art. These are in particular cleaning robots, which can perform a dry and / or wet cleaning task.
  • the cleaning device moves during cleaning over the surface to be cleaned and takes on, for example by means of a blower and / or optionally further provided cleaning elements, dust or dirt from the surface to be cleaned.
  • the cleaning device preferably navigates within the environment by means of a navigation and self-locating device, whereby distances to obstacles are measured in order to avoid a collision.
  • the publication DE 10 2008 014 912 A1 discloses an automatically movable cleaning device with a distance measuring device for measuring the distance of the cleaning device to an object, such as an obstacle such as a wall or a piece of furniture.
  • the distance measuring device There has, for example, a triangulation system whose light source emits light onto the object to be measured and whose sensor detects scattered or reflected light from the object.
  • the cleaning device thus receives information about the removal of obstacles, so that a movement strategy can be adapted to it and a collision with these avoided in advance.
  • the cleaning device cleans the surface over which the cleaning device moves.
  • the cleaning takes place on the one hand by means of the negative pressure generated by a fan, with dust and dirt are conveyed through a suction port of the housing in a filter chamber of the cleaning device and on the other usually additionally by the cooperation of a cleaning element, such as a bristle roller, which over the surface to be cleaned strokes and dissolves dust and dirt.
  • a cleaning element such as a bristle roller
  • a cleaning robot known on the underside of housing a flexible cleaning cloth is attached, which can be used beyond a guide surface of the cleaning robot edge region to clean vertically arranged surfaces such as baseboards.
  • the arranged on the underside of the housing cleaning cloth is placed with its edge area when approaching a corner, bottleneck or skirting upwards, and there performs a cleaning performance.
  • Another cleaning robot is in the DE10139213 known.
  • a self-propelled moving cleaning device which in addition to the cleaning of a substantially horizontal surface, in particular a bottom surface, also allows the cleaning of an overground surface, such as a plateau a baseboard.
  • the invention proposes to define a cleaning device according to the features of claim 1. Further embodiments of the invention are defined in the subclaims 2-9.
  • the cleaning device has, in addition to the usual surface cleaning device for cleaning a surface on which the cleaning device usually moves, in addition, an over-floor cleaning device for cleaning an overground surface, which is located on a different plane than the surface on which the cleaning device moves.
  • the over-floor cleaning device is thus used in particular for cleaning, for example, baseboards on the plateau often multiplied Dirt accumulates and is not achieved by the usual surface cleaning device of the cleaning device.
  • the cleaning device at the same time cleans a surface with the surface cleaning device and an over-surface surface by means of the over-surface cleaning device, so that during the usual cleaning operation known to the user, the over-surface surface is automatically cleaned.
  • the over-floor cleaning device cleans the over-bottom surface by means of a suction and / or blowing device, which has a flow opening which is directed to the surface of the surface so that accumulated suction material can be sucked or blown therefrom by the suction and / or blowing device.
  • the flow opening is located above the level of the overground surface, so that suction material can be acted upon, for example, by blowing air from above, so that the suction material is transferred to the surface following gravity, which is then cleaned in the usual manner by the surface cleaning device.
  • the suction and / or blowing device is set up to suck suction material from the over-bottom surface, it may be advisable that the flow opening is arranged below the plane of the over-bottom surface, so that the suction material located on the over-bottom surface follows gravity into the flow opening of the suction - And / or blowing device can be transferred.
  • the flow opening of the suction and / or blowing device is positioned and aligned on the cleaning device, that the opening plane of the flow opening at least 3 cm or more, up to, for example 8 cm, above the base of the cleaning device and thus also over the surface on which the cleaning device stands, lies.
  • the flow opening can in principle also be higher than 8 cm, for example for particularly high baseboards of 10 cm, 15 cm or more.
  • the base of the cleaning device is usually specified by peripheral portions of the Verfahrcken the cleaning device. Alternatively or additionally, a base surface - or at least a portion of this - but also a peripheral portion of a cleaning element, such as a cleaning roller or the like.
  • the footprint of the cleaning device agrees with a conventional orientation of the cleaning device for a cleaning operation with a partial surface of the surface to be cleaned, namely in that area in which the footprint of the cleaning device, such as a peripheral part of a Verfahrrades, the surface touches.
  • the suction and / or blowing device is thus aligned so that it can direct suction and / or blowing air at a height of at least 3 cm on the surface of the floor.
  • This height includes those elevation levels within which plateaus of baseboards are usually located.
  • the over-surface cleaning device in particular the flow opening, can be designed to be displaceable relative to the housing of the cleaning device and thus also to the surface on which the cleaning device is located, so that the height difference between the flow opening and the base surface of the cleaning device or the surface on which is the cleaning device, can vary.
  • the height adjustment can be carried out automatically and / or manually by a user of the cleaning device.
  • the fan acting on the suction and / or blowing device with suction and / or blowing air is a blower assigned to the surface cleaning device of the cleaning device or a blower designed separately for the blower of the surface cleaning device.
  • these can be in flow connection in different ways with a fan.
  • the suction and / or blowing device or its flow opening is connected to the blower of the cleaning device, which also acts on the surface cleaning device for cleaning a bottom surface with suction.
  • a main flow channel of the cleaning device which is formed between a suction mouth of the cleaning device and the suction side of the blower, have a branch to the over-floor cleaning device, so that the flow opening the suction and / or blowing device is also connected to the suction side of the fan and thus can be exposed to a negative pressure.
  • the branch can advantageously be switchable, ie closed or opened depending on the desired cleaning situation, so that either suction material is received in the cleaning device via the suction mouth and / or via the over-surface cleaning device.
  • the over-surface cleaning device can furthermore also have a blower designed separately from the blower of the surface cleaning device.
  • This separate fan then advantageously serves only to act on the suction and / or blowing device with negative pressure or overpressure, so that the function of the suction and / or blowing device is completely independent of the function of the surface cleaning device. Likewise, the flow paths of the surface cleaning device and the over-surface cleaning device within the cleaning device can thereby be completely separated, so that no branches, switching elements and the like are necessary.
  • suction and / or blowing device has a flow connection to the pressure side of the blower
  • suction material located on the surface of the floor surface is conveyed away, namely preferably from the surface above the floor to the underlying surface, in particular the floor surface, so that the cleaning appliance can suck away the blown-off suction material in the usual manner by means of the surface cleaning device.
  • the suction and / or blowing device has a flow connection to the suction side of the blower, the suction material is sucked directly into the cleaning device through the flow opening of the suction and / or blowing device.
  • the cleaning process for the overground surface thus resembles the cleaning process for the cleaning of the floor surface by means of the surface cleaning device, in particular the surface cleaning device and the suction and / or blowing device of the overground cleaning device can be connected simultaneously to the suction side of the blower, so that at the same time a suction of the overground surface and a Suction of the relative to a vertical direction underlying surface is possible.
  • the user thus has no second process step to perform, for example, first to clean a floor surface and then an over-floor surface, or vice versa. Rather, both cleaning operations are carried out within a single step, so that the user noticed at best no difference in the handling of the cleaning device.
  • the over-floor cleaning device has a cleaning arm providing a flow channel, which is arranged at least partially from the outside on the housing of the cleaning appliance such that the flow opening projects beyond an outer contour of the housing next to the housing.
  • the cleaning arm is arranged from the outside on the housing of the cleaning device, for example integrally formed with the housing or displaceably attached thereto, so that an end portion of the cleaning arm, which has the flow opening over the outer contour of the housing in the horizontal direction - in an orientation of the cleaning device during a conventional cleaning operation, ie standing on a surface - protrudes and can perform cleaning of an overground surface next to the cleaning device.
  • the cleaning arm may in particular be displaceable relative to the housing, so that it is adjustable, for example with respect to a vertical direction and / or with respect to the displacement of the flow opening region of the cleaning arm within the same plane, so that the flow opening, for example, to one side the housing can be moved, or alternatively in the front and / or rear of the housing.
  • the cleaning arm can be adjusted particularly flexible relative to the housing to be adjusted depending on the current orientation of the cleaning device within an environment variable to be cleaned on an overground surface.
  • the cleaning arm may in particular be arranged on the housing such that the end region of the cleaning arm having the flow opening in the vertical direction has a distance of approximately 3 cm to 8 cm from the surface on which the cleaning device stands.
  • the flow opening is advantageously at the height of the over-floor surface to be cleaned or above, wherein as the over-bottom surface, for example, a plateau of a baseboard can be cleaned.
  • the cleaning arm can be displaced by motor or alternatively or additionally manually by a user of the cleaning device.
  • a detection device of the cleaning device can be used, which detects overfloor surfaces, for example plateaus of baseboards, and displaces the cleaning arm relative to the housing of the cleaning device so that the flow opening of the cleaning arm is positioned at a height which controls the cleaning of the overfloor surface allowed, namely such that the sucked or blown through the flow opening air flows at least with a share on the surface to be cleaned over the bottom.
  • the over-floor cleaning device has a cleaning arm providing a flow channel, which has a substantially rotated by 180 degrees L-shaped relative to a cross section through the housing and the cleaning arm, the long leg relative to a conventional orientation of the cleaning device during cleaning is oriented substantially vertically and whose short leg is oriented substantially horizontally.
  • the cleaning arm can be specially designed, by appropriate design of the flow opening, to clean off a skirting board which on the one hand has a vertical surface partial area and on the other hand has a horizontal surface partial area, namely the baseboard plateau.
  • the cleaning arm thus surrounds the free surface of the baseboard so that both the plateau and the side surface facing the interior of the room can be optimally cleaned.
  • the flow opening of the suction and / or blowing device can be formed on the long leg and / or the short leg, so that the suction and / or blowing device thereby cleans the side surface or the plateau or preferably both simultaneously.
  • the cleaning arm can also be formed preferably adjustable in height on the housing, so that the height of the horizontally oriented leg to the height of the overground surface, namely here, for example, the plateau of the baseboard, can be adjusted.
  • a valve element is arranged, which is arranged to lock or release a flow path.
  • the valve element thus blocks the flow path between the fan and the flow opening, so that air can not pass through the flow opening when the valve element is closed, or air can flow through the flow opening when the valve element is open.
  • the training with a valve element is particularly appropriate where the over-floor cleaning device a flow channel of the surface cleaning device is connected, for example by means of a branch, since the flow paths of the surface cleaning device and the overburden cleaning device can thereby be decoupled from each other situation, so that the entire flow of the blower thus depending on the current position of the valve element only the surface cleaning device, only the over-floor cleaning device or both can be provided simultaneously.
  • the valve element is particularly preferably arranged at a branch between a main flow channel of the cleaning device for supplying the surface cleaning device and a flow channel of the over-floor cleaning device, ie on the suction side of the blower.
  • valve element can also be assigned to the pressure side of the fan, wherein the suction and / or blowing device is preferably designed in this case as exclusive blowing device, which leads the compressed air of the blower to the flow opening of the over-floor cleaning device.
  • the valve element can be switched as a function of a detection signal of a detection device, wherein the detection device is set up to detect an above-ground surface.
  • the valve element can be opened as a function of a detection signal, for example when approaching a room edge area, so that a corresponding cleaning of an overfloor area located there can take place.
  • the detection device may, for example, have a sensor for distance measurement near the ground. This sensor may, for example, be a distance sensor, such as an ultrasonic sensor, an infrared sensor, a laser distance sensor and the like, mounted laterally relative to a conventional direction of travel of the cleaning device.
  • the detection device it is also possible for the detection device to have a camera with corresponding image processing for detecting an overbottom surface.
  • the detection device has two distance sensors which, relative to an orientation of the cleaning device customary for cleaning, have mutually offset in height and overlapping detection regions in a vertical direction relative to a projection.
  • the two distance sensors are arranged on the housing so that they allow the recognition of an overground surface, such as a plateau of a baseboard.
  • the sensor system includes a combination of two or more sensor elements, such as ultrasound sensors, infrared sensors, laser distance sensors or others, of which at least one determines a distance value to an object having an overground surface, in particular a baseboard.
  • At least one further distance sensor measures a distance correspondingly at a different height, so that it can be concluded from a difference of the measured distances and the respective height on a shape or height of the object, in particular it can be recognized whether it is an overground surface such as a Footer bar is.
  • the detection device can also have more than two distance sensors, for example a sensor array with a multiplicity of sensors, which are arranged vertically one above the other with respect to a conventional orientation of the cleaning device during a cleaning operation.
  • the sensors of this sensor array measure a plurality of measured values at different distances from a floor surface, so that a contour of an object can be scanned, an actual height, for example the height of a baseboard, can be detected and a height adjustment of the over-floor cleaning device can be triggered accordingly.
  • provision can be made, in particular, for one or more distance sensors of the detection device to be simultaneously sensors which are already present on the cleaning device according to the prior art, for example as a measuring device, in particular a triangulation measuring device, for navigation and self-localization of the cleaning device or the like.
  • the triangulation measuring device used for the navigation can advantageously be carried out at an angle of 360 degrees, a distance measurement to obstacles.
  • a first distance sensor has a detection region which, with respect to a vertical spatial direction, has a distance of less than approximately 3 cm to a bottom standing surface of the cleaning device, at least in a partial region, and in that a second distance sensor has a detection region which relates to the vertical spatial direction at least in a partial area has a distance of more than about 8 cm to the lowest footprint.
  • the distance sensors are positioned so that at least one distance sensor has a detection area, which includes a baseboard, and a second distance sensor has a detection area, which has no baseboard with respect to the same spatial direction.
  • the first distance sensor determines a distance to an object, as here, for example, the baseboard, while the second distance sensor, which optionally serves other tasks such as the navigation of the cleaning device, can be consulted only when an approach of the cleaning device has been determined to a room edge.
  • the distance of the second distance sensor from a floor surface is dimensioned so that its detection range is above the detection range of the first distance sensor and above the upper edge of a conventional footer.
  • the difference between the distance values measured by the two distance sensors permits a conclusion as to the presence of a baseboard.
  • the detection ranges of the distance sensors can be, for example, measurement levels of a sensor, which lie in a conventional orientation of the cleaning device during a cleaning operation substantially parallel to a flat floor surface. If necessary, deviations may result here if the floor surface is an uneven surface and / or a floor surface with gradients or slopes.
  • the over-floor cleaning device has a mechanical cleaning element for the mechanical cleaning of the over-bottom surface.
  • the mechanical cleaning element may, for example, be bristle elements, brushes, cleaning rollers, textile elements and the like. These can, for example, meaningfully support a likewise provided suction or blowing device.
  • the cleaning element may particularly preferably be arranged on a cleaning arm of the cleaning appliance, as has already been proposed.
  • the invention also proposes a method for operating a self-propelled cleaning device with a fan and a surface cleaning device, wherein a surface to be cleaned is acted upon by an air flow of the blower, wherein an over-floor cleaning device of the cleaning device relative to the surface height adjusted overground surface cleans by the overfloor surface is applied during the arrangement of the cleaning device on the surface with blown air of a blower of the cleaner, the overfill cleaning device blows the blown air against a usual forward direction of the cleaner, the cleaner then turns and moves against the previous forward direction, while the surface cleaning device sucks suction material blown down from the surface above the floor.
  • the method is particularly suitable for operating a previously described self-propelled cleaning device.
  • the method now includes on the one hand a cleaning of a surface by means of a surface cleaning device, in particular a floor surface on which the cleaning device moves, and on the other hand a cleaning of an overground surface, which may be a plateau of a baseboard, for example.
  • a suction of a blower of the cleaning device temporarily either only the surface cleaning device or only the over-floor cleaning device be available. If the cleaning of the surface and the surface of the surface take place simultaneously and by means of the same blower, a blower output of the cleaning device is divided, so that both cleaning operations can take place successfully.
  • a fan designed separately for the fan for the surface cleaning device is used to operate the above-floor cleaning device.
  • the two cleaning processes can be carried out completely independently of one another, in particular also separated with respect to the flow paths involved.
  • the overfloor surface is cleaned by blowing off, the overfloor cleaning device blowing blown air onto the overfloor surface so that the suction material located on the overfloor surface is removed and preferably blown to the surface located below the overfloor surface, whereupon a cleaning by means of the surface cleaning device takes place Transfer of the suction material into the suction chamber of the cleaning device allows.
  • the process control thus provides for two successive process steps, wherein a first process step provides that the overground surface is first directed with blown air counter to a usual forward direction of travel of the cleaning device on the surface of the surface.
  • the opposite direction of the forward travel direction anyway corresponds to that direction in which exhaust air of the blower for the surface cleaning device is blown out of the cleaning device on the pressure side.
  • This exhaust air is now used to blow off the overground surface.
  • the cleaning device turns and moves against the previous forward direction during the blow-off of the over-bottom surface, thereby moving the cleaning device over that portion of the surface on which the removed from the surface over the floor suction has fallen.
  • the cleaning device can move along a skirting board during the blow-off process, then turn 180 degrees in the horizontal plane and oppose it Direction, again along the skirting, proceed to collect the blown-off suction.
  • a method for operating a self-propelled cleaning device with a blower and a surface cleaning device wherein a surface to be cleaned is acted upon by an air flow of the blower, and wherein an over-floor cleaning device of the cleaning device cleans a relative to the surface offset in height overground surface by the overground surface during the arrangement of the cleaning device is acted upon on the surface with blown air of a blower of the cleaning device, wherein the over-floor cleaning device blows out the blown air in the direction of a usual forward direction of the cleaning device, wherein the cleaning device sucks down from the surface of the overblown suction material from the surface.
  • the separate blower can be arranged within the cleaning device that blown air flows out of the blower on the pressure side of the blower in a conventional forward direction of the cleaning device and thus suction material in the direction of travel of the cleaning device of the surface of the floor blows on the surface.
  • suction material in a single step and using only one direction of travel can be removed from the surface of the floor and absorbed.
  • the exhaust air of the blower also used for the surface cleaning device is blown out in a conventional forward direction of the cleaning device from the cleaning device, so that in this case also removed in a step suction material from the surface of the surface and the surface, for example Floor surface, can be added. It is not required by blowing in the forward direction of travel, that the cleaning device turns between the blow-off on the surface of the surface and the suction of the surface. Thus, the method is particularly time-saving applicable. Furthermore, it can also be provided that blown air is simultaneously blown out both in the usual forward direction of travel of the cleaning device and in the opposite direction. This can advantageously increase the cleaning performance of the cleaning device.
  • a portion of a suction air flow of the surface cleaning device is used, for example by means of switchable valve elements to suck the surface of the floor.
  • either the entire air flow of the blower can be used to clean the surface of the floor, or alternatively only a certain proportion.
  • the flow paths of the surface cleaning device and the over-floor cleaning device can be switched accordingly.
  • the over-floor cleaning is advantageously supported by a mechanical cleaning element.
  • This cleaning element may be, for example, a brush.
  • a vertical position of the cleaning element can be adjusted automatically by the cleaning device on the basis of a detected height of the overground surface, in particular by means of a screw jack.
  • the required height can be detected, for example, via a detection device, preferably an infrared sensor array or the like.
  • the sensor array may be upstream of the cleaning element in the direction of movement of the cleaning device in order to detect any obstacles or changes in the height of the overground surface early and to initiate changes or evasive actions.
  • the method can also provide that cleaning data on cleaning operations of the cleaning device are stored, so that For example, a cleaning of a floor surface is dispensed with if an evaluation and control device determines that such has recently taken place. In this case, for example, only an overground surface is cleaned without involving the floor surface.
  • a process management can also provide that a cleaning of an overground surface is dispensed with, provided that it has only recently been carried out, and that in this case only one surface is cleaned by means of the surface cleaning device.
  • FIG. 1 shows a cleaning device 1, which is designed here as a self-moving vacuum robot.
  • the cleaning device 1 has a housing 2 with an outer contour 15, which reproduces the outline of the cleaning device 1 in the case of a vertical projection of the housing 2.
  • a fan 3 is arranged, which is on the one hand on a suction side 12 with a suction mouth 22 in flow communication, and on a pressure side 11 with a suction and / or blowing device 8.
  • a surface cleaning device arranged, which is designed here as a brush roller. From the suction mouth 22 to the blower 3, a main flow channel 24 leads.
  • the suction and / or blowing device 8 of the over-surface cleaning device 6 has a cleaning arm 14, which partially accommodates the flow channel 13 and at a free end region has a flow opening 9 through which suction air and / or blowing air can flow.
  • the cleaning arm 14 is here formed on the upper side of the housing 2 of the cleaning device 1 and extends substantially in the manner of an inverted U to the flow opening 9 having end portion.
  • the cleaning device 1 further comprises a base 10, which has peripheral portions of the Verfahr impart the cleaning device 1 here.
  • This base 10 is on a surface to be cleaned 5, namely a Floor surface.
  • the cleaning device 1 further comprises on the underside of the housing 2, an additional brush 23, which serves to clean transitions between the surface 5 and a vertical space edge region.
  • the cleaning device 1 has a detection device 17 with two different distance sensors 18.
  • a second distance sensor 18 (not visible in the figures) is part of a triangulation measuring device which simultaneously serves for navigation and self-localization of the cleaning device 1 within an environment. When driving around the environment detects the Triangulationsmess adopted a travel blocking obstacles, such as room boundaries, furniture and the like.
  • a light source emits a light beam and receives reflections or scattered light portions of the emitted light from different distances. It can be concluded that the distance of the reflective obstacle.
  • the distance sensor 18 designed as an ultrasonic sensor has a detection area 19, which lies below a detection area 20 of the triangulation measuring device.
  • the distance of the planes of the two detection areas 19, 20 here refers to the illustrated orientation of the cleaning device 1, in which the cleaning device 1 by means of the base 10 is on the surface to be cleaned 5, which corresponds to a conventional orientation of the cleaning device 1 during a cleaning operation.
  • the cleaning device (1) operates such that it moves during a cleaning operation within the environment, for example, on the surface 5 to be cleaned.
  • an evaluation and control device of the cleaning device 1 includes an existence of an obstacle a height which lies between the detection area 19 of the first distance sensor 18 and the detection area 20 of the distance sensor 18 of the triangulation measuring device.
  • the obstacle is a foot strip whose over-bottom surface 7, namely its plateau, is above the detection region 19 of the distance sensor 18 formed as an ultrasonic sensor, but below the detection region 20 of the distance sensor 18 of the triangulation measuring device.
  • Due to the measured distance difference can be closed at a distance difference of, for example, 0.5 mm to 30 mm to an existence of a baseboard as an obstacle, especially if as here the two detection areas 19, 20 below or above a common height of a baseboard, namely, for example 30 mm to 80 mm, lie.
  • the cleaning device 1 is moved toward the over-bottom surface 7, so that the cleaning device 1 with a respect to a conventional forward direction side region of the housing 2 on which the over-bottom surface 7 having Obstacle passes by.
  • the orientation and height of the cleaning arm 14 of the suction and / or blowing device 8 is aligned so that its flow opening 9 is arranged above the over-bottom surface 7.
  • the between the pressure side 11 of the blower 3 and the flow channel 13 of the suction and / or Blower 8 arranged valve element 16 is opened, so that the compressed air of the blower 3 in the flow channel 13 and to the cleaning arm 14 can flow.
  • the blown air flows through the cleaning arm 14 and reaches the flow opening 9, which is arranged above the overbottom surface 7.
  • the blown air passes through the flow opening 9 through the overbottom surface 7 and blows there suction material from the surface area 7 down on the surface 5.
  • the cleaning device 1 turns by 180 degrees and moves into reverse direction along the skirting board. In this case, the previously blown down from the surface of the surface 7 over the surface 5 suction material is received in the usual manner by means of the surface cleaning device 4 of the cleaning device 1 and via the suction mouth 22 in the cleaning device 1, where it enters a dust chamber.
  • the flow channel 13 of the suction and / or blowing device 8 can be connected to the suction side 12 of the blower 3, for example at a branch of the main flow channel 24.
  • the flow opening 9 of the cleaning arm 14 is acted upon by suction, so that arranged on the over-bottom surface 7 Suction is sucked through the flow opening 9 in the cleaning arm 14 and passes through the flow channel 13 to a suction chamber of the cleaning device 1.
  • the suction material located on the over-bottom surface 7 is sucked directly into the cleaning device 1 without participation of the surface-cleaning device 4.
  • FIGS. 2 to 4 further show a cleaning device 1, which a laterally - in a usual forward direction of travel - arranged on the housing 2 suction and / or blowing device 8 has.
  • the suction and / or blowing device 8 has a substantially L-shaped in cross-section cleaning arm 14, wherein the L-shape is rotated against the usual orientation of an L by 180 degrees, so that the short leg is disposed above the long leg.
  • FIG. 2 shows the cleaning arm 14 with trained as bristles cleaning elements 21, which point away from the cleaning arm 14 in a direction facing away from the housing 2, namely in the direction of an obstacle to be cleaned.
  • the cleaning elements 21 arranged on the short leg of the cleaning arm 14 serve for cleaning an over-bottom surface 7 while the cleaning elements 21 arranged on the long leg of the cleaning arm 14 serve to sweep over a vertically standing side surface of the footrest having the over-bottom surface 7.
  • FIG. 3 shows a side view of the cleaning device 1 according to FIG. 2 , It can be seen that the suction and / or blowing device 8 in addition to the cleaning elements 21 has a flow opening 9 through which suction and / or blowing air can flow.
  • the cleaning elements 21 of the cleaning arm 14 are guided around the flow opening 9 in the circumferential direction, so that they simultaneously represent a sealing element for the flow opening 9.
  • the FIG. 4 finally shows a plan view of the cleaning device 1 with the suction and / or blowing device. 8
  • the cleaning of the over-bottom surface 7 takes place so that the flow opening 9 is in flow communication with a suction side 12 of the blower 3 of the cleaning device 1.
  • the negative pressure is applied to the flow opening 9, which suction material flows from the over-bottom surface 7 and the side surface of the baseboard into the flow channel 13 of the cleaning arm 14 sucks.
  • the cleaning elements 21 rest on the over-bottom surface 7 or the side surface of the baseboard and seal the flow channel 13 at the flow opening 9.
  • the flow opening 9 is automatically positioned by the L-shape of the cleaning arm 14 when the cleaning elements 21 of the short leg on the over-bottom surface 7 so that the flow opening 9 is within the limited by the cleaning elements 21 portion of the cleaning arm 14.
  • the flow opening 9 thus acts on a height range of approximately 3 cm to 8 cm here with negative pressure. Suction material can thus be sucked off both on the side surface of the baseboard and on the over-bottom surface 7 of the baseboard.
  • the suction and / or blowing device 8 in such a way that the cleaning arm 14 blows blowing air on the over-bottom surface 7 and that thereby transferred to the surface 5 suction material then by means of the surface cleaning device 4 of the surface 5, namely the floor surface, is absorbed.
  • FIG. 5 shows a cleaning device 1 according to the invention.
  • the cleaning device 1 is basically like the cleaning device 1 according to FIG. 1 formed but has a separately formed to the blower 3 of the surface cleaning device 4 blower 3a.
  • the fan 3 the suction and / or blowing device 8 is acted upon with suction and / or blowing air an additional fan 3a available.
  • a valve element 16 Between the fan 3a and a flow channel 13 is a valve element 16 which can obstruct or release a flow path from the fan 3a to the flow channel 13.
  • suction and / or blowing devices 8 shown are possible, for example enabling both a blowing function and a suction function, optionally with the aid of an additional blower 3a for the suction and / or blowing device 8
  • the cleaning device 1 in addition to the illustrated vacuum robot also be a combined suction wiper device or the like.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Cleaning In General (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Nozzles For Electric Vacuum Cleaners (AREA)
  • Electric Suction Cleaners (AREA)

Claims (9)

  1. Appareil de nettoyage (1) se déplaçant automatiquement, comprenant un boîtier (2), un souffleur (3) et un dispositif de nettoyage de surface (4) pour nettoyer une surface (5) à nettoyer, dans lequel l'appareil de nettoyage (1) comprend en outre un dispositif de nettoyage en hauteur (6) pour nettoyer une surface en hauteur (7) qui est décalée en hauteur par rapport à la surface (5), dans lequel le dispositif de nettoyage en hauteur (6) comprend un dispositif d'aspiration et/ou de soufflage (8) qui présente une liaison d'écoulement de fluide avec un souffleur (3) et dont l'ouverture de passage de fluide (9) présente une différence de hauteur d'environ 3 cm ou plus par rapport à une surface de support (10) de l'appareil de nettoyage (1) en référence à une orientation habituelle de l'appareil de nettoyage (1) pour une opération de nettoyage, caractérisé en ce que le souffleur (3) qui applique de l'air d'aspiration et/ou de soufflage au dispositif d'aspiration et/ou de soufflage (8) est un souffleur (3a) qui est distinct du souffleur (3) du dispositif de nettoyage de surface (4).
  2. Dispositif de nettoyage (1) selon la revendication 1, caractérisé en ce que le dispositif d'aspiration et/ou de soufflage (8) présente une liaison d'écoulement de fluide avec un côté de refoulement (11) et/ou un côté d'aspiration (12) du souffleur (3a).
  3. Dispositif de nettoyage (1) selon l'une des revendications précédentes, caractérisé en ce que le dispositif de nettoyage en hauteur (6) comprend un bras de nettoyage (14) présentant un canal d'écoulement de fluide (13), qui est en particulier déplaçable par rapport au boîtier (2) et qui est agencé au moins partiellement à l'extérieur du boîtier (2) de l'appareil de nettoyage (1) de telle manière que l'ouverture de passage de fluide (9) s'étende, à côté du boîtier (2), au-delà d'un contour extérieur (15) du boîtier (2).
  4. Appareil de nettoyage (1) selon l'une des revendications précédentes, caractérisé en ce que le dispositif de nettoyage en hauteur (6) comprend un bras de nettoyage (14) présentant un canal d'écoulement de fluide (13) et qui, par rapport à une section transversale à travers le boîtier (2) et le bras de nettoyage (14), présente sensiblement une forme en L qui est tournée de 180 degrés, dont la branche longue est orientée sensiblement verticalement en référence à une orientation habituelle de l'appareil de nettoyage (1) pendant un nettoyage et dont la branche courte est orientée sensiblement horizontalement.
  5. Appareil de nettoyage (1) selon l'une des revendications précédentes, caractérisé en ce qu'est agencé entre le souffleur (3a) et le dispositif d'aspiration et/ou de soufflage (1) un élément formant valve (16) pour bloquer ou libérer un trajet d'écoulement de fluide.
  6. Appareil de nettoyage (1) selon la revendication 5, caractérisé en ce que l'élément formant valve (16) est commutable en fonction d'un signal de détection d'un dispositif de détection (17), le dispositif de détection (17) étant agencé pour détecter une surface en hauteur (7).
  7. Appareil de nettoyage (1) selon l'une des revendications précédentes, caractérisé en ce que le dispositif de nettoyage en hauteur (6) présente un élément de nettoyage mécanique (21) pour nettoyer mécaniquement la surface en hauteur (7).
  8. Procédé pour faire fonctionner un appareil de nettoyage (1) se déplaçant automatiquement, en particulier un procédé pour faire fonctionner un appareil de nettoyage (1) selon l'une des revendications précédentes, comprenant un souffleur (3) et un dispositif de nettoyage de surface (4), dans lequel une surface (5) à nettoyer est soumise à l'action d'un flux d'air du souffleur (3a), dans lequel un dispositif de nettoyage en hauteur (6) de l'appareil de nettoyage (1) nettoie une surface en hauteur (7) décalée en hauteur par rapport à la surface (5), par le fait que la surface en hauteur (7) est soumise à l'action de l'air de soufflage d'un souffleur (3a) de l'appareil de nettoyage (1) pendant que l'appareil de nettoyage (1) est placé sur la surface (5), caractérisé en ce que le dispositif de nettoyage en hauteur (6) souffle l'air de soufflage à l'encontre d'une direction habituelle de déplacement avant de l'appareil de nettoyage (1), dans lequel l'appareil de nettoyage (1) ensuite tourne et se déplace dans la direction opposée à la direction d'avance précédente tandis que le dispositif de nettoyage de surface (4) aspire sur la surface (5) le matériau à aspirer qui a été descendu par soufflage depuis la surface en hauteur(7).
  9. Procédé pour faire fonctionner un appareil de nettoyage (1) se déplaçant automatiquement, en particulier un procédé pour faire fonctionner un appareil de nettoyage (1) selon l'une des revendications précédentes, comprenant un souffleur (3) et un dispositif de nettoyage de surface (4), dans lequel une surface (5) à nettoyer est soumise à l'action d'un flux d'air du souffleur (3a), dans lequel un dispositif de nettoyage en hauteur (6) de l'appareil de nettoyage (1) nettoie une surface en hauteur (7) décalée en hauteur par rapport à la surface (5), par le fait que la surface en hauteur (7) est soumise à l'action de l'air de soufflage d'un souffleur (3a) de l'appareil de nettoyage (1) pendant que l'appareil de nettoyage (1) est placé sur la surface (5), caractérisé en ce que le dispositif de nettoyage en hauteur (6) souffle l'air de soufflage dans la direction habituelle de déplacement avant de l'appareil de nettoyage (1), l'appareil de nettoyage (1) aspirant le matériau à aspirer qui a été descendu par soufflage depuis la surface en hauteur(7).
EP18150535.5A 2017-01-09 2018-01-08 Appareil de nettoyage se déplaçant automatiquement Active EP3351156B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102017100301.0A DE102017100301A1 (de) 2017-01-09 2017-01-09 Sich selbsttätig fortbewegendes Reinigungsgerät

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EP3351156A1 EP3351156A1 (fr) 2018-07-25
EP3351156B1 true EP3351156B1 (fr) 2019-07-10

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US (1) US10602893B2 (fr)
EP (1) EP3351156B1 (fr)
JP (1) JP2018110858A (fr)
CN (1) CN108283479A (fr)
DE (1) DE102017100301A1 (fr)
ES (1) ES2746858T3 (fr)
SG (1) SG10201710778WA (fr)

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Also Published As

Publication number Publication date
CN108283479A (zh) 2018-07-17
SG10201710778WA (en) 2018-08-30
US10602893B2 (en) 2020-03-31
EP3351156A1 (fr) 2018-07-25
DE102017100301A1 (de) 2018-07-12
ES2746858T3 (es) 2020-03-09
US20180192834A1 (en) 2018-07-12
JP2018110858A (ja) 2018-07-19

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