EP3357395B1 - Automatic travelling cleaner - Google Patents

Automatic travelling cleaner Download PDF

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Publication number
EP3357395B1
EP3357395B1 EP18154132.7A EP18154132A EP3357395B1 EP 3357395 B1 EP3357395 B1 EP 3357395B1 EP 18154132 A EP18154132 A EP 18154132A EP 3357395 B1 EP3357395 B1 EP 3357395B1
Authority
EP
European Patent Office
Prior art keywords
floor
treatment device
wheels
reference axis
floor treatment
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
EP18154132.7A
Other languages
German (de)
French (fr)
Other versions
EP3357395A1 (en
Inventor
Hendrik Koetz
Pia Hahn
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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Publication date
Application filed by Vorwerk and Co Interholding GmbH filed Critical Vorwerk and Co Interholding GmbH
Publication of EP3357395A1 publication Critical patent/EP3357395A1/en
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
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or 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
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • A47L9/2826—Parameters or conditions being sensed the condition of the floor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4041—Roll shaped surface treating tools
    • 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
    • A47L9/04—Nozzles with driven brushes or agitators
    • A47L9/0405—Driving means for the brushes or agitators
    • A47L9/0411—Driving means for the brushes or agitators driven by electric motor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • A47L9/2831—Motor parameters, e.g. motor load or speed
    • 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
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2847—Surface treating elements
    • 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
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
    • 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
    • A47L9/04—Nozzles with driven brushes or agitators
    • A47L9/0461—Dust-loosening tools, e.g. agitators, brushes
    • A47L9/0466—Rotating tools
    • 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
    • A47L9/04—Nozzles with driven brushes or agitators
    • A47L9/0461—Dust-loosening tools, e.g. agitators, brushes
    • A47L9/0488—Combinations or arrangements of several tools, e.g. edge cleaning tools

Definitions

  • the invention relates to an automatically movable soil cultivation device, in particular a cleaning robot, with a soil cultivation element, at least two motor-driven wheels and a detection device for recognizing a type of soil of a surface to be worked, the detection device having a frictional resistance element.
  • the invention relates to a method for operating an automatically movable soil cultivation device with a soil cultivation element, at least two motor-driven wheels and a detection device for detecting a type of soil of a surface to be worked.
  • Soil cultivation devices of this type are sufficiently known in the prior art.
  • E.g. are vacuum or wiping robots, which can autonomously sweep a surface to be cleaned and perform cleaning tasks such as vacuuming, wiping or similar. make.
  • a detection device is provided which first determines the type of soil before the processing operation. This ensures, for example, that certain areas of a room are excluded from processing because their surface is not suitable for this.
  • a wiping robot it can be provided, for example, that carpets are excluded from wet cleaning.
  • blower power and brushing power can be adapted to the respective surface. Sealing lips or support rollers can also be adjusted depending on the type of soil detected.
  • Optical measuring devices such as imaging measuring devices, are frequently used, which take a picture of the surface by means of a camera system and compare them with reference pictures or reference features. The technical effort for the camera system and the image processing for evaluating the images is correspondingly high.
  • Another disadvantage of optical detection devices is that an optimal measurement result can only be achieved if the area to be determined is shielded from ambient light. In this respect, such a detection device requires a greater outlay on equipment.
  • the DE 103 57 635 A1 further discloses a floor cleaning device in which floor detection is carried out by detecting slip and / or driving resistance on a floor surface.
  • the slip is determined by comparing the distance traveled and revolutions of a drive wheel and / or a driven brush.
  • the invention proposes an automatically movable soil cultivation device, in which the frictional resistance element contacts the surface during locomotion in such a way that a force resultant engages the soil cultivation device outside of a reference axis, the reference axis being oriented parallel to a main direction of movement of the soil cultivation device predetermined by the orientation of the wheels and is aligned in the middle between the wheels in relation to a direction perpendicular to the reference axis.
  • the soil cultivation device has a friction resistance element which is not arranged symmetrically to a reference axis defined by the position of the wheels on the soil cultivation device.
  • the frictional resistance element can have different distances from the wheels.
  • the frictional resistance element is arranged on a housing of the soil cultivation device in such a way that the frictional resistance element is in contact with the surface during normal operation of the soil cultivation device, ie during the processing of a surface.
  • the frictional resistance element is subjected to a force which, due to the non-central arrangement of the frictional resistance element relative to the wheels, causes a drift of the tillage implement on the surface.
  • the soil tillage implement travels straight ahead, ie it follows its main direction of movement, which is predetermined by the plane of rotation of the wheels. If, however, the soil tillage implement changes from a hard floor surface, for example, which has a low frictional resistance to a carpet, the frictional resistance between the frictional resistance element increases and the area. As a result, an increased frictional force acts on the frictional resistance element, a first part of the frictional force being attributed to that area of the frictional resistance element which is arranged on one side of the reference axis, and a second part of the frictional force being attributed to that area of the frictional resistance element which is on the opposite Side of the reference axis is formed.
  • the friction resistance element provides contact surfaces of different sizes on both sides of the reference axis to the surface to be cleaned. It is essential that differently large resistance forces act on the two sides of the friction resistance element, so that a drift of the tillage implement results.
  • a plurality of friction resistance elements can also be arranged on the tillage implement, which overall have an asymmetrical arrangement and / or configuration with respect to the reference axis.
  • the frictional resistance element be a machining element for machining the surface to be machined, in particular a cleaning roller rotating perpendicular to the reference axis.
  • the processing element usually located anyway on the soil cultivation device thus simultaneously serves, in addition to its actual processing function, also as a friction resistance element of the detection device for detecting a type of soil.
  • the processing element can be a rotating cleaning roller, for example, which has bristle elements or a textile cleaning covering on its peripheral surface.
  • a partial area of the circumferential surface of the cleaning roller or, in general, of the frictional resistance element protrudes beyond the standing plane spanned by the wheels in a state of the tillage implement not standing on a surface, so that there is contact between the frictional resistance element and the ground surface of the soil preparation implement Surface comes, for example.
  • the cultivation element advantageously rotates during soil cultivation, it being possible to rotate both in the direction of rotation of the wheels and in the opposite direction.
  • friction resistance elements arranged immovably on the tillage implement are also possible.
  • the frictional resistance element can be a bristle strip, a sealing lip or a resistance element protruding from under the housing of the tillage implement, which serves the sole purpose of producing a resistance force which, due to the asymmetrical effect, drifts relative to the reference axis of the tillage implement.
  • the friction resistance element be arranged perpendicular to the reference axis and have a greater length on one side of the reference axis than on the opposite side of the reference axis.
  • the frictional resistance element is a cylindrical cleaning element which rotates about an axis of rotation and which crosses the reference axis.
  • the two subareas of the resistance element, which extend on different sides of the reference axis, are of different lengths and are therefore subject to differently large forces when they come into contact with the surface to be cleaned.
  • the tillage device has a control and evaluation device, which is set up to compare the speeds of the wheels with the same driving force to identify the type of soil and to compare a determined speed difference with reference types dependent on the type of soil.
  • the previously described resistance-dependent drift of the tillage implement leads to a speed difference of the driven wheels, since the wheel which is on the side with greater friction resistance rotates less quickly than the wheel arranged on the opposite side with respect to the reference axis reference differences stored in a memory of the tillage implement are compared, each of which is characteristic of a particular type of soil on which the tillage implement moves.
  • E.g. is a speed difference when driving on a carpet larger than a speed difference when driving on a hard floor.
  • a match is found between the calculated speed difference and a reference difference or a reference difference range, it can be concluded that the type of soil currently being driven on. Knowing the type of soil can then z.
  • the detection device have a current measuring device assigned to a drive motor of the frictional resistance element, a control and evaluation device of the tillage device being set up to compare a current drawn by the drive motor with reference currents dependent on the soil type.
  • the frictional resistance element can be the same frictional resistance element which also leads to the drift of the tillage implement. Alternatively, however, it can also be an additional frictional resistance element.
  • the friction resistance element is driven by a drive motor, which draws a defined current depending on a friction resistance depending on the type of soil. If, starting from driving on a hard floor, for example, the current consumed by the drive motor rises, it can be concluded that the hard floor has been left and the tillage implement is now moving over a carpet, for example.
  • the frictional resistance element can, for example, be a side brush of the tillage implement, which is mounted in a rotating manner.
  • a side brush is usually arranged in relation to a main direction of movement at the front of the soil cultivation device and is used to move suction material from, for example, room corners into a suction channel of the soil cultivation device.
  • the side brush consists, for example, of several tufts of bristles which have direct contact with the surface to be cleaned. Depending on the nature of the floor, the side brush experiences a different degree of friction, namely a relatively low friction on hard floors and a higher friction on carpets. Since the drive motor of the side brush, or generally of the friction resistance element, is speed-controlled, there is an increased current or power consumption of the drive motor when there is high friction.
  • This current or this output can be evaluated in relation to the type of soil.
  • the same principle also applies to other frictional resistance elements which are not designed as a side brush, for example a rotating main brush of the tillage implement.
  • the main brush is usually one across the width of the soil tillage device arranged brush, which processes a surface to be cleaned over a large area.
  • the detection device has an optical reflection measuring device with a light source and a light receiver, a light emission direction of the light source being oriented essentially in the direction of the standing plane spanned by the wheels.
  • the detection device can thus also have an optical reflection measuring device for detecting the type of soil.
  • the reflection measuring device can be a distance measuring device, for example, which primarily serves to detect abysses.
  • the light source of the optical reflection measuring device is preferably arranged in the front area of the tillage device in order to prevent a tillage device moving forward in the main direction of movement, for example from falling on stairs or the like.
  • the reflection measuring device can have, for example, an infrared light source and an infrared light receiver.
  • the light from the light source is radiated onto the surface to be examined, reflected there and finally strikes the light receiver.
  • the degree of reflection of the measured area can be used to infer the type of floor of the area, since, for example, a carpet has a lower degree of reflection than a hard floor (tiles, wooden floorboards or the like).
  • the invention also proposes a method for operating an automatically movable tillage implement which has a tillage element, at least two motor-driven wheels and a detection device for recognizing a type of soil of a surface to be worked, the method including that a frictional resistance element the detection device contacts the surface during locomotion such that a force resultant attacks the soil tillage implement outside of a reference axis, the reference axis being oriented parallel to a main direction of movement of the soil tillage implement predetermined by the orientation of the wheels and oriented in the middle between the wheels in relation to a direction perpendicular to the reference axis, and wherein for recognizing the soil type The speeds of the wheels are compared with one another with the same driving force, a determined speed difference being compared with reference differences depending on the type of soil.
  • the method includes that a soil type of a surface to be worked is identified by means of a drift which arises as a result of a resistance force acting asymmetrically on the tillage implement.
  • the drift is in turn caused by a speed difference of the wheels, which can be measured and compared with reference differences depending on the type of soil.
  • the method includes a determination of the type of surface to be cleaned not only on the basis of a drift of the tillage implement, but also on the basis of a changing current or power consumption of the drive motor of the frictional resistance element, which is set on different types of soil.
  • light is directed by a light source onto the surface to be processed and onto it from the surface a light receiver is reflected back reflected light portion. Based on the degree of reflection of the measured area, a conclusion can be drawn about the type of area.
  • an output of a fan of the soil tillage implement and / or a rotational speed of the soil tillage element is varied, and / or that information about the type of soil identified is stored in a digital environment map of the soil tillage implement.
  • energy management of the soil cultivation device can also be optimized depending on the type of soil of the surface to be worked, in particular with regard to a processing time for processing a surface, with regard to improved cleaning performance or the like.
  • Figure 1 shows an inventive soil cultivation device 1, which is designed here as a vacuum robot.
  • the soil tillage implement 1 is positioned on a surface, here, for example, a wooden floorboard.
  • the soil tillage implement 1 can be moved automatically and has a navigation and self-localization device with which an orientation within rooms is possible.
  • the soil tillage implement 1 has two wheels 3, 4 (see Figure 2 ) and a tillage element 2, which is designed here as a brush roller.
  • the tillage device 1 is supported on the one hand by the two wheels 3, 4 and on the other hand by a contact surface 13 of the tillage element 2 on the surface to be cleaned, both the wheels 3, 4 for locomotion of the tillage device 1 and the tillage element 2 for cleaning are motor-driven.
  • the soil tillage implement 1 has a main direction of movement 8, which is predetermined by the plane of rotation of the wheels 3, 4.
  • the tillage element 2 is arranged perpendicular to this main direction of movement 8, the tillage element 2 rotating about an axis of rotation 10.
  • the soil tillage implement 1 also has a side brush 12, which is also motor-driven and is particularly suitable for cleaning room corners and room boundaries. Furthermore, the soil cultivation device 1 has a distance measuring device 11, which is designed here, for example, as a triangulation measuring device arranged within the soil cultivation device 1 and can preferably measure distances to obstacles in an angular range of 360 degrees. The distance measuring device 11 is part of the navigation and self-localization device.
  • Figure 2 shows the soil tillage implement 1 in a view from below.
  • Two reflection measuring devices 9 can also be seen here, which are used for measuring the distance to a surface arranged below the tillage implement 1.
  • these reflection measuring devices 9 are suitable for protection against falling of the tillage implement 1 on an abyss, for example on stairs.
  • the reflection measuring device 9 has a light source and a light receiver (both not shown), the light source directing a light beam onto a surface to be cleaned. This light beam is at least partially reflected or scattered on the surface, a portion usually returning to the light receiver of the reflection measuring device 9 and being able to be evaluated for distance measurement.
  • the reflection measuring device 9 also serves to determine the type of floor of the surface to be cleaned, since the degree of reflection of the surface can also be used to infer the type of floor, for example because a carpet reflects less than a hard floor such as a tiled floor or a wooden floor.
  • the tillage element 2, ie the bristle roller, is here at the same time a frictional resistance element 6 which, when the tillage implement 1 is in the state in which it is to be cleaned, touches the area to be worked with its contact surface 13.
  • the frictional resistance element 6 exerts a more or less large frictional force on the surface during the movement of the tillage implement 1.
  • the frictional resistance element 6 is arranged asymmetrically with respect to a reference axis 7 of the tillage implement 1.
  • the reference axis 7 is oriented parallel to the main direction of movement 8 of the tillage implement 1 and is also placed in the middle between the two wheels 3, 4 in relation to a direction perpendicular to the reference axis 7.
  • the friction resistance element 6 has a larger projection and a larger part of the contact surface on one side of the reference axis 7 13 on as to the opposite side.
  • the tillage implement 1 leaves the previously traced main direction of movement 8 in the direction of the side on which the greater part of the contact surface 13 to the surface to be worked exists. This is the half side of the tillage implement 1 on which the wheel 3 is arranged.
  • FIG 3 shows a drift of the tillage implement 1 during a forward movement, which is caused by the asymmetrical arrangement of the friction resistance element 6.
  • soil tillage implement 1 is pivoted to the left by the frictional force acting on the frictional resistance element 6, so that the previous main direction of movement 8 is left.
  • This speed difference is from a control and evaluation device 5 (see Figure 2 ) of the soil tillage implement 1 is calculated and compared with reference differences characteristic of certain soil types.
  • the reference differences can be stored, for example, in a memory of the tillage implement 1, which the control and evaluation device 5 can access. Furthermore, it is also possible for the reference differences to be stored on a memory of an external server and for the control and evaluation device 5 to access them by means of wireless communication.
  • the reference differences can also be in the form of difference ranges, for example be specified so that a match is recognized when the calculated speed difference falls within a certain difference range. If there is a match, the type of floor to be cleaned can be reliably determined.
  • targeted processing of the area to be worked can then be controlled.
  • a power of a suction blower of the tillage implement 1 to be specifically adjusted, a rotational speed of the tillage element 2 or the like.
  • an area map which is accessed, for example, by the navigation system of the tillage device 1, to be provided with information about the position of certain types of floor, such as carpets.
  • the previously described reflection measuring device 9 can be used, which evaluates a reflection of the area currently being traveled on and assigns known types of soil. Furthermore, it is also possible for a current consumption of a drive motor of the tillage element 2 and / or of the side brush 12 to be measured and evaluated.
  • the soil cultivation device 1 can in principle also be designed as a wiping robot, combined suction-wiping device or the like. It is also possible that the tillage not only serves to clean a surface, but also other processing tasks such as polishing, grinding, oiling and the like.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Soil Working Implements (AREA)
  • Agricultural Machines (AREA)
  • Cleaning In General (AREA)
  • Nozzles For Electric Vacuum Cleaners (AREA)

Description

Gebiet der TechnikTechnical field

Die Erfindung betrifft ein selbsttätig verfahrbares Bodenbearbeitungsgerät, insbesondere einen Reinigungsroboter, mit einem Bodenbearbeitungselement, mindestens zwei motorisch angetriebenen Rädern und einer Detektionseinrichtung zur Erkennung einer Bodenart einer zu bearbeitenden Fläche, wobei die Detektionseinrichtung ein Reibwiderstandselement aufweist.The invention relates to an automatically movable soil cultivation device, in particular a cleaning robot, with a soil cultivation element, at least two motor-driven wheels and a detection device for recognizing a type of soil of a surface to be worked, the detection device having a frictional resistance element.

Daneben betrifft die Erfindung ein Verfahren zum Betrieb eines selbsttätig verfahrbaren Bodenbearbeitungsgerätes mit einem Bodenbearbeitungselement, mindestens zwei motorisch angetriebenen Rädern und einer Detektionseinrichtung zur Erkennung einer Bodenart einer zu bearbeitenden Fläche.In addition, the invention relates to a method for operating an automatically movable soil cultivation device with a soil cultivation element, at least two motor-driven wheels and a detection device for detecting a type of soil of a surface to be worked.

Stand der TechnikState of the art

Bodenbearbeitungsgeräte dieser Art sind im Stand der Technik hinreichend bekannt. Bspw. handelt es sich um Saug- oder Wischroboter, welche autonom eine zu reinigende Oberfläche abfahren können und dabei Reinigungsaufgaben wie Saugen, Wischen o.ä. vornehmen. Um die Art der Bearbeitung der jeweiligen Bodenart der Oberfläche anzupassen, ist eine Detektionseinrichtung vorgesehen, welche vor dem Bearbeitungsvorgang zuerst die Bodenart ermittelt. Hierdurch wird bspw. erreicht, dass bestimmte Bereiche eines Raumes von einer Bearbeitung ausgeschlossen werden, weil deren Oberfläche dafür nicht geeignet ist. Bei einem Wischroboter kann es bspw. vorgesehen sein, dass Teppiche von einer Nassreinigung ausgeschlossen werden. Darüber hinaus können bei einem Saugroboter bspw. Gebläseleistung und Bürstleistung auf die jeweilige Oberfläche angepasst werden. Ebenso können Dichtlippen oder Stützrollen in Abhängigkeit von der erkannten Bodenart verstellt werden.Soil cultivation devices of this type are sufficiently known in the prior art. E.g. are vacuum or wiping robots, which can autonomously sweep a surface to be cleaned and perform cleaning tasks such as vacuuming, wiping or similar. make. In order to adapt the type of processing to the respective type of soil of the surface, a detection device is provided which first determines the type of soil before the processing operation. This ensures, for example, that certain areas of a room are excluded from processing because their surface is not suitable for this. In the case of a wiping robot, it can be provided, for example, that carpets are excluded from wet cleaning. In addition, with a vacuum robot, for example, blower power and brushing power can be adapted to the respective surface. Sealing lips or support rollers can also be adjusted depending on the type of soil detected.

Zur Bestimmung der Bodenart sind im Stand der Technik unterschiedliche Detektionseinrichtungen bekannt. Häufig werden optische Messeinrichtungen wie bildgebende Messeinrichtungen verwendet, welche mittels eines Kamerasystems ein Bild der Oberfläche aufnehmen und mit Referenzbildern oder Referenzmerkmalen vergleichen. Der technische Aufwand für das Kamerasystem sowie die Bildverarbeitung zur Auswertung der Bilder ist entsprechend hoch. Nachteilig bei optischen Detektionseinrichtungen ist des Weiteren häufig, dass nur dann ein optimales Messergebnis erreicht werden kann, wenn die zu bestimmende Fläche gegen Umgebungslicht abgeschottet ist. Insofern erfordert eine derartige Detektionseinrichtung einen größeren apparativen Aufwand.Different detection devices are known in the prior art for determining the type of soil. Optical measuring devices, such as imaging measuring devices, are frequently used, which take a picture of the surface by means of a camera system and compare them with reference pictures or reference features. The technical effort for the camera system and the image processing for evaluating the images is correspondingly high. Another disadvantage of optical detection devices is that an optimal measurement result can only be achieved if the area to be determined is shielded from ambient light. In this respect, such a detection device requires a greater outlay on equipment.

Des Weiteren ist im Stand der Technik, beispielsweise aus der DE 10 2004 010 827 A1 des Weiteren bekannt, einen Motorstrom einer Antriebseinheit und/oder Bodenbearbeitungseinheit eines Bodenbearbeitungsgerätes auszuwerten und mit Referenzwerten zu vergleichen. Der Motorstrom zeigt eine von der Bodenflächenbeschaffenheit abhängige Charakteristik, sodass von einem charakteristischen Motorstrom des Bodenbearbeitungsgerätes auf eine aktuell bearbeitete Bodenfläche geschlossen werden kann.Furthermore, in the prior art, for example from DE 10 2004 010 827 A1 furthermore known to evaluate a motor current of a drive unit and / or tillage unit of a tillage device and to compare it with reference values. The motor current shows a characteristic which is dependent on the condition of the ground surface, so that a characteristic motor current of the tillage device can be used to infer a currently worked ground surface.

Die DE 103 57 635 A1 offenbart des Weiteren ein Bodenreinigungsgerät, bei welchem eine Bodenerkennung dadurch durchgeführt wird, dass ein Schlupf und/oder ein Fahrwiderstand auf einer Bodenfläche erfasst wird. Der Schlupf wird über einen Vergleich zwischen gefahrener Strecke und Umdrehungen eines Antriebsrades und/oder einer angetriebenen Bürste ermittelt.The DE 103 57 635 A1 further discloses a floor cleaning device in which floor detection is carried out by detecting slip and / or driving resistance on a floor surface. The slip is determined by comparing the distance traveled and revolutions of a drive wheel and / or a driven brush.

Zusammenfassung der ErfindungSummary of the invention

Ausgehend von dem vorgenannten Stand der Technik ist es Aufgabe der Erfindung, ein Bodenbearbeitungsgerät mit einer Detektionseinrichtung zu schaffen, die auf alternative Art und Weise eine zuverlässige Bestimmung der Bodenart ermöglicht.Starting from the aforementioned prior art, it is an object of the invention to provide a soil tillage implement with a detection device create, which enables a reliable determination of the soil type in an alternative way.

Zur Lösung schlägt die Erfindung ein selbsttätig verfahrbares Bodenbearbeitungsgerät vor, bei welchem das Reibwiderstandselement die Fläche während einer Fortbewegung so kontaktiert, dass eine Kraftresultierende außerhalb einer Referenzachse an dem Bodenbearbeitungsgerät angreift, wobei die Referenzachse parallel zu einer durch die Orientierung der Räder vorgegebenen Hauptbewegungsrichtung des Bodenbearbeitungsgerätes orientiert ist und bezogen auf eine Richtung senkrecht zu der Referenzachse mittig zwischen den Rädern ausgerichtet ist.To solve the problem, the invention proposes an automatically movable soil cultivation device, in which the frictional resistance element contacts the surface during locomotion in such a way that a force resultant engages the soil cultivation device outside of a reference axis, the reference axis being oriented parallel to a main direction of movement of the soil cultivation device predetermined by the orientation of the wheels and is aligned in the middle between the wheels in relation to a direction perpendicular to the reference axis.

Erfindungsgemäß weist das Bodenbearbeitungsgerät ein Reibwiderstandselement auf, welches nicht symmetrisch zu einer durch die Position der Räder an dem Bodenbearbeitungsgerät definierten Referenzachse angeordnet ist. Bspw. kann das Reibwiderstandselement unterschiedliche Abstände zu den Rädern aufweisen. Das Reibwiderstandselement ist so an einem Gehäuse des Bodenbearbeitungsgerätes angeordnet, dass das Reibwiderstandselement während eines üblichen Betriebs des Bodenbearbeitungsgerätes, d.h. während einer Bearbeitung einer Fläche, in Kontakt mit der Fläche steht. Somit unterliegt das Reibwiderstandselement aufgrund des Reibwiderstandes einer Kraftbeaufschlagung, die aufgrund der nicht zentralen Anordnung des Reibwiderstandselementes relativ zu den Rädern eine Drift des Bodenbearbeitungsgerätes auf der Fläche verursacht. Sofern beide Räder gleichen Kraftverhältnissen unterliegen, fährt das Bodenbearbeitungsgerät geradeaus, d.h. es folgt seiner Hauptbewegungsrichtung, die durch die Rotationsebene der Räder vorgegeben ist. Sofern das Bodenbearbeitungsgerät jedoch von bspw. einer Hartbodenfläche, welche einen geringen Reibwiderstand aufweist, auf einen Teppichboden wechselt, erhöht sich der Reibwiderstand zwischen dem Reibwiderstandselement und der Fläche. Dadurch greift eine erhöhte Reibkraft an dem Reibwiderstandselement an, wobei ein erster Teil der Reibkraft auf denjenigen Bereich des Reibwiderstandselementes entfällt, welcher auf der einen Seite der Referenzachse angeordnet ist, und ein zweiter Teil der Reibkraft auf denjenigen Bereich des Reibwiderstandselementes entfällt, welcher auf der entgegengesetzten Seite der Referenzachse ausgebildet ist. Somit greifen auf den gegenüberliegenden Seiten des Bodenbearbeitungsgerätes unterschiedlich große Kräfte an dem Reibwiderstandselement - und damit auch an den Rädern - an. Dies führt dazu, dass derjenige Bereich des Bodenbearbeitungsgerätes, welcher eine größere Angriffsfläche zwischen dem Reibwiderstandselement und der Fläche aufweist, stärker gebremst wird als der entsprechend andere Teilbereich. Infolge dessen kommt es zu einem Drehzahlunterschied der mit gleicher Antriebskraft angetriebenen Räder, welcher wiederum ein Verschwenken des Bodenbearbeitungsgerätes relativ zu der ursprünglichen Fortbewegungsrichtung verursacht, d.h. das Bodenbearbeitungsgerät vollzieht eine Kurvenfahrt. Anhand dieser bodenartabhängigen Drift kann schließlich die Bodenart der Fläche erkannt werden, auf welcher das Bodenbearbeitungsgerät verfährt. Insbesondere können so Hartböden von Teppichböden unterschieden werden, kurzflorige Teppichböden von langflorigen Teppichböden und dergleichen.According to the invention, the soil cultivation device has a friction resistance element which is not arranged symmetrically to a reference axis defined by the position of the wheels on the soil cultivation device. E.g. the frictional resistance element can have different distances from the wheels. The frictional resistance element is arranged on a housing of the soil cultivation device in such a way that the frictional resistance element is in contact with the surface during normal operation of the soil cultivation device, ie during the processing of a surface. Thus, due to the frictional resistance, the frictional resistance element is subjected to a force which, due to the non-central arrangement of the frictional resistance element relative to the wheels, causes a drift of the tillage implement on the surface. If both wheels are subject to the same force relationships, the soil tillage implement travels straight ahead, ie it follows its main direction of movement, which is predetermined by the plane of rotation of the wheels. If, however, the soil tillage implement changes from a hard floor surface, for example, which has a low frictional resistance to a carpet, the frictional resistance between the frictional resistance element increases and the area. As a result, an increased frictional force acts on the frictional resistance element, a first part of the frictional force being attributed to that area of the frictional resistance element which is arranged on one side of the reference axis, and a second part of the frictional force being attributed to that area of the frictional resistance element which is on the opposite Side of the reference axis is formed. For this reason, differently large forces act on the friction resistance element - and thus also on the wheels - on the opposite sides of the tillage implement. The result of this is that the area of the tillage implement which has a larger contact surface between the frictional resistance element and the surface is braked more than the corresponding other partial area. As a result, there is a difference in speed of the wheels driven with the same driving force, which in turn causes the tillage implement to pivot relative to the original direction of travel, ie the tillage implement takes a turn. On the basis of this soil type-dependent drift, the soil type of the surface on which the soil tillage implement travels can finally be recognized. In particular, hard floors can be distinguished from carpets, short-pile carpets from long-pile carpets and the like.

Grundsätzlich reicht es im Sinne der Erfindung aus, dass das Reibwiderstandselement zu beiden Seiten der Referenzachse unterschiedlich große Kontaktflächen zu der zu reinigenden Fläche bereitstellt. Wesentlich ist, dass unterschiedlich große Widerstandskräfte an den beiden Seiten des Reibwiderstandselementes angreifen, sodass eine Drift des Bodenbearbeitungsgerätes resultiert. Anstatt eines einzigen Reibwiderstandselementes können auch mehrere Reibwiderstandselemente an dem Bodenbearbeitungsgerät angeordnet sein, welche insgesamt eine unsymmetrische Anordnung und/oder Ausbildung zu der Referenzachse aufweisen.In principle, it is sufficient in the sense of the invention that the friction resistance element provides contact surfaces of different sizes on both sides of the reference axis to the surface to be cleaned. It is essential that differently large resistance forces act on the two sides of the friction resistance element, so that a drift of the tillage implement results. Instead of a single friction resistance element, a plurality of friction resistance elements can also be arranged on the tillage implement, which overall have an asymmetrical arrangement and / or configuration with respect to the reference axis.

Es wird vorgeschlagen, dass das Reibwiderstandselement ein Bearbeitungselement zur Bearbeitung der zu bearbeitenden Fläche ist, insbesondere eine senkrecht zu der Referenzachse rotierende Reinigungswalze ist. Das üblicherweise ohnehin an dem Bodenbearbeitungsgerät befindliche Bearbeitungselement dient somit gleichzeitig, neben seiner eigentlichen Bearbeitungsfunktion, zusätzlich als Reibwiderstandselement der Detektionseinrichtung zur Erkennung einer Bodenart. Das Bearbeitungselement kann bspw. eine rotierende Reinigungswalze sein, welche an ihrer Umfangsfläche Borstenelemente oder einen textilen Reinigungsbelag aufweist. Ein Teilbereich der Umfangsfläche der Reinigungswalze bzw. allgemein des Reibwiderstandselementes ragt in einem nicht auf einer Fläche stehenden Zustand des Bodenbearbeitungsgerätes über die von den Rädern aufgespannte Standebene hinaus, sodass es bei einem auf der Fläche stehenden Zustand des Bodenbearbeitungsgerätes zu einem Kontakt zwischen dem Reibwiderstandselement und der Fläche kommt, bspw. zu einem Eingriff der Borstenelemente oder Fasern der Reinigungswalze in Fasern der zu reinigenden Fläche. Dadurch kann bspw. ein Teppichboden von einem Hartboden unterschieden werden. Vorteilhaft rotiert das Bearbeitungselement während der Bodenbearbeitung, wobei sowohl eine Rotation in Rotationsrichtung der Räder, als auch in entgegengesetzte Richtung möglich ist.It is proposed that the frictional resistance element be a machining element for machining the surface to be machined, in particular a cleaning roller rotating perpendicular to the reference axis. The processing element usually located anyway on the soil cultivation device thus simultaneously serves, in addition to its actual processing function, also as a friction resistance element of the detection device for detecting a type of soil. The processing element can be a rotating cleaning roller, for example, which has bristle elements or a textile cleaning covering on its peripheral surface. A partial area of the circumferential surface of the cleaning roller or, in general, of the frictional resistance element protrudes beyond the standing plane spanned by the wheels in a state of the tillage implement not standing on a surface, so that there is contact between the frictional resistance element and the ground surface of the soil preparation implement Surface comes, for example. An engagement of the bristle elements or fibers of the cleaning roller in fibers of the surface to be cleaned. In this way, for example, a carpet can be distinguished from a hard floor. The cultivation element advantageously rotates during soil cultivation, it being possible to rotate both in the direction of rotation of the wheels and in the opposite direction.

Des Weiteren sind jedoch auch unbeweglich an dem Bodenbearbeitungsgerät angeordnete Reibwiderstandselemente möglich. In einem besonders einfachen Fall kann es sich bei dem Reibwiderstandselement um eine Borstenleiste, eine Dichtlippe oder ein unter dem Gehäuse des Bodenbearbeitungsgerätes hervorstehendes Widerstandselement handeln, welches ausschließlich dem Zweck dient, eine Widerstandskraft hervorzurufen, die aufgrund der unsymmetrischen Wirkung relativ zu der Referenzachse zu einer Drift des Bodenbearbeitungsgerätes führt.Furthermore, friction resistance elements arranged immovably on the tillage implement are also possible. In a particularly simple case, the frictional resistance element can be a bristle strip, a sealing lip or a resistance element protruding from under the housing of the tillage implement, which serves the sole purpose of producing a resistance force which, due to the asymmetrical effect, drifts relative to the reference axis of the tillage implement.

Es wird vorgeschlagen, dass das Reibwiderstandselement senkrecht zu der Referenzachse angeordnet ist und zu einer Seite der Referenzachse eine größere Länge aufweist als zu der gegenüberliegenden Seite der Referenzachse. In einem besonders einfachen Fall ist das Reibwiderstandselement ein um eine Rotationsachse rotierendes zylindrisches Reinigungselement, welches die Referenzachse kreuzt. Die beiden, sich auf unterschiedlichen Seiten der Referenzachse erstreckenden Teilbereiche des Widerstandselements sind dabei unterschiedlich lang und unterliegen somit unterschiedlich großen Kräften bei dem Kontakt mit der zu reinigenden Fläche.It is proposed that the friction resistance element be arranged perpendicular to the reference axis and have a greater length on one side of the reference axis than on the opposite side of the reference axis. In a particularly simple case, the frictional resistance element is a cylindrical cleaning element which rotates about an axis of rotation and which crosses the reference axis. The two subareas of the resistance element, which extend on different sides of the reference axis, are of different lengths and are therefore subject to differently large forces when they come into contact with the surface to be cleaned.

Des Weiteren wird vorgeschlagen, dass das Bodenbearbeitungsgerät eine Steuer- und Auswerteeinrichtung aufweist, welche eingerichtet ist, zur Erkennung der Bodenart die Drehzahlen der Räder bei gleicher Antriebskraft miteinander zu vergleichen und eine festgestellte Drehzahldifferenz mit bodenartabhängigen Referenzdifferenzen zu vergleichen. Die zuvor beschriebene widerstandsabhängige Drift des Bodenbearbeitungsgerätes führt zu einer Drehzahldifferenz der angetriebenen Räder, da sich dasjenige Rad, welches sich auf derjenigen Seite mit größerem Reibwiderstand befindet, weniger schnell dreht als das bezogen auf die Referenzachse auf der gegenüberliegenden Seite angeordnete Rad. Diese Drehzahldifferenz wird mit in einem Speicher des Bodenbearbeitungsgerätes gespeicherten Referenzdifferenzen verglichen, welche jeweils charakteristisch für eine bestimmte Bodenart sind, auf welcher das Bodenbearbeitungsgerät verfährt. Bspw. ist eine Drehzahldifferenz beim Befahren eines Teppichbodens größer als eine Drehzahldifferenz beim Befahren eines Hartbodens. Sofern eine Übereinstimmung zwischen der berechneten Drehzahldifferenz und einer Referenzdifferenz bzw. einem Referenzdifferenzbereich gefunden wird, kann auf die aktuell befahrene Bodenart geschlossen werden. Bei Kenntnis der Bodenart kann anschließend z. B. eine Reinigungsart, bspw. trocken oder feucht, eine mechanische Bearbeitung oder dergleichen eingestellt werden, um die Fläche optimal bearbeiten zu können.Furthermore, it is proposed that the tillage device has a control and evaluation device, which is set up to compare the speeds of the wheels with the same driving force to identify the type of soil and to compare a determined speed difference with reference types dependent on the type of soil. The previously described resistance-dependent drift of the tillage implement leads to a speed difference of the driven wheels, since the wheel which is on the side with greater friction resistance rotates less quickly than the wheel arranged on the opposite side with respect to the reference axis reference differences stored in a memory of the tillage implement are compared, each of which is characteristic of a particular type of soil on which the tillage implement moves. E.g. is a speed difference when driving on a carpet larger than a speed difference when driving on a hard floor. If a match is found between the calculated speed difference and a reference difference or a reference difference range, it can be concluded that the type of soil currently being driven on. Knowing the type of soil can then z. B. a type of cleaning, for example. Dry or moist, mechanical processing or the like can be set in order to optimally edit the surface.

Des Weiteren wird vorgeschlagen, dass die Detektionseinrichtung eine einem Antriebsmotor des Reibwiderstandselementes zugeordnete Strommesseinrichtung aufweist, wobei eine Steuer- und Auswerteeinrichtung des Bodenbearbeitungsgerätes eingerichtet ist, einen von dem Antriebsmotor aufgenommenen Strom mit bodenartabhängigen Referenzströmen zu vergleichen. Das Reibwiderstandselement kann dabei das gleiche Reibwiderstandselement sein, welches auch zur Verursachung der Drift des Bodenbearbeitungsgerätes führt. Alternativ kann es sich jedoch auch um ein zusätzliches Reibwiderstandselement handeln. Das Reibwiderstandselement wird von einem Antriebsmotor angetrieben, welcher abhängig von einem bodenartabhängigen Reibwiderstand einen definierten Strom aufnimmt. Sofern ausgehend von dem Befahren eines Hartbodens bspw. der von dem Antriebsmotor aufgenommene Strom ansteigt, kann darauf geschlossen werden, dass der Hartboden verlassen wurde und das Bodenbearbeitungsgerät nun über bspw. einen Teppichboden verfährt. Das Reibwiderstandselement kann bspw. eine Seitenbürste des Bodenbearbeitungsgerätes sein, welche rotierend gelagert ist. Eine solche Seitenbürste ist üblicherweise bezogen auf eine Hauptbewegungsrichtung vorne an dem Bodenbearbeitungsgerät angeordnet und dient zum Verlagern von Sauggut aus bspw. Raumecken in einen Saugkanal des Bodenbearbeitungsgerätes. Die Seitenbürste besteht bspw. aus mehreren Borstenbüscheln, die einen direkten Kontakt zu der zu reinigenden Fläche aufweisen. Je nach der Bodenbeschaffenheit erfährt die Seitenbürste eine unterschiedlich starke Reibung, nämlich auf Hartboden eine relativ geringe Reibung und auf Teppichboden eine demgegenüber höhere Reibung. Da der Antriebsmotor der Seitenbürste, bzw. allgemein des Reibwiderstandselementes, drehzahlgeregelt ist, kommt es bei hoher Reibung zu einer erhöhten Strom- bzw. Leistungsaufnahme des Antriebsmotors. Dieser Strom bzw. diese Leistung kann in Bezug auf die Bodenart ausgewertet werden. Das gleiche Prinzip gilt ebenfalls für andere Reibwiderstandselemente, welche nicht als Seitenbürste ausgebildet sind, bspw. eine rotierende Hauptbürste des Bodenbearbeitungsgerätes. Die Hauptbürste ist in der Regel eine über die Breite des Bodenbearbeitungsgerätes angeordnete Bürste, die eine zu reinigende Fläche großflächig bearbeitet.Furthermore, it is proposed that the detection device have a current measuring device assigned to a drive motor of the frictional resistance element, a control and evaluation device of the tillage device being set up to compare a current drawn by the drive motor with reference currents dependent on the soil type. The frictional resistance element can be the same frictional resistance element which also leads to the drift of the tillage implement. Alternatively, however, it can also be an additional frictional resistance element. The friction resistance element is driven by a drive motor, which draws a defined current depending on a friction resistance depending on the type of soil. If, starting from driving on a hard floor, for example, the current consumed by the drive motor rises, it can be concluded that the hard floor has been left and the tillage implement is now moving over a carpet, for example. The frictional resistance element can, for example, be a side brush of the tillage implement, which is mounted in a rotating manner. Such a side brush is usually arranged in relation to a main direction of movement at the front of the soil cultivation device and is used to move suction material from, for example, room corners into a suction channel of the soil cultivation device. The side brush consists, for example, of several tufts of bristles which have direct contact with the surface to be cleaned. Depending on the nature of the floor, the side brush experiences a different degree of friction, namely a relatively low friction on hard floors and a higher friction on carpets. Since the drive motor of the side brush, or generally of the friction resistance element, is speed-controlled, there is an increased current or power consumption of the drive motor when there is high friction. This current or this output can be evaluated in relation to the type of soil. The same principle also applies to other frictional resistance elements which are not designed as a side brush, for example a rotating main brush of the tillage implement. The main brush is usually one across the width of the soil tillage device arranged brush, which processes a surface to be cleaned over a large area.

Des Weiteren kann vorgesehen sein, dass die Detektionseinrichtung eine optische Reflexionsmesseinrichtung mit einer Lichtquelle und einem Lichtempfänger aufweist, wobei eine Lichtemissionsrichtung der Lichtquelle im Wesentlichen in Richtung der von den Rädern aufgespannten Standebene ausgerichtet ist. Neben dem Reibwiderstandselement kann die Detektionseinrichtung somit auch eine optische Reflexionsmesseinrichtung zur Erkennung der Bodenart aufweisen. Die Reflexionsmesseinrichtung kann bspw. eine Abstandsmesseinrichtung sein, welche vorrangig zur Detektion von Abgründen dient. Die Lichtquelle der optischen Reflexionsmesseinrichtung ist vorzugsweise im vorderen Bereich des Bodenbearbeitungsgerätes angeordnet, um ein in Hauptbewegungsrichtung vorwärts fahrendes Bodenbearbeitungsgerät bspw. vor Abstürzen an Treppen oder dergleichen zu bewahren. Die Reflexionsmesseinrichtung kann bspw. eine Infrarotlichtquelle und einen Infrarotlichtempfänger aufweisen. Das Licht der Lichtquelle wird auf die zu untersuchende Fläche gestrahlt, dort reflektiert und trifft schließlich auf den Lichtempfänger. Anhand des Reflexionsgrades der vermessenen Fläche kann auf die Bodenart der Fläche geschlossen werden, da bspw. ein Teppichboden einen geringeren Reflexionsgrad aufweist als ein Hartboden (Fliesen, Holzdielen oder dergleichen).Furthermore, it can be provided that the detection device has an optical reflection measuring device with a light source and a light receiver, a light emission direction of the light source being oriented essentially in the direction of the standing plane spanned by the wheels. In addition to the frictional resistance element, the detection device can thus also have an optical reflection measuring device for detecting the type of soil. The reflection measuring device can be a distance measuring device, for example, which primarily serves to detect abysses. The light source of the optical reflection measuring device is preferably arranged in the front area of the tillage device in order to prevent a tillage device moving forward in the main direction of movement, for example from falling on stairs or the like. The reflection measuring device can have, for example, an infrared light source and an infrared light receiver. The light from the light source is radiated onto the surface to be examined, reflected there and finally strikes the light receiver. The degree of reflection of the measured area can be used to infer the type of floor of the area, since, for example, a carpet has a lower degree of reflection than a hard floor (tiles, wooden floorboards or the like).

Neben dem zuvor beschriebenen Bodenbearbeitungsgerät wird mit der Erfindung ebenfalls ein Verfahren zum Betrieb eines selbsttätig verfahrbaren Bodenbearbeitungsgerätes vorgeschlagen, welches ein Bodenbearbeitungselement, mindestens zwei motorisch angetriebene Räder und eine Detektionseinrichtung zur Erkennung einer Bodenart einer zu bearbeitenden Fläche aufweist, wobei das Verfahren beinhaltet, dass ein Reibwiderstandselement der Detektionseinrichtung die Fläche während einer Fortbewegung so kontaktiert, dass eine Kraftresultierende außerhalb einer Referenzachse an dem Bodenbearbeitungsgerät angreift, wobei die Referenzachse parallel zu einer durch die Orientierung der Räder vorgegebenen Hauptbewegungsrichtung des Bodenbearbeitungsgerätes orientiert ist und bezogen auf eine Richtung senkrecht zu der Referenzachse mittig zwischen den Rädern ausgerichtet ist, und wobei zur Erkennung der Bodenart die Drehzahlen der Räder bei gleicher Antriebskraft miteinander verglichen werden, wobei eine festgestellte Drehzahldifferenz mit bodenartabhängigen Referenzdifferenzen verglichen wird. Wie zuvor bereits in Bezug auf das Bodenbearbeitungsgerät beschrieben, beinhaltet das Verfahren, dass eine Bodenart einer zu bearbeitenden Fläche anhand einer Drift erkannt wird, die sich infolge einer unsymmetrisch an dem Bodenbearbeitungsgerät angreifenden Widerstandskraft einstellt. Die Drift ist wiederum durch eine Drehzahldifferenz der Räder bedingt, welche gemessen und mit bodenartabhängigen Referenzdifferenzen verglichen werden kann. Im Übrigen gelten die zuvor in Bezug auf das Bodenbearbeitungsgerät dargestellten Merkmale und Vorteile.In addition to the previously described tillage implement, the invention also proposes a method for operating an automatically movable tillage implement which has a tillage element, at least two motor-driven wheels and a detection device for recognizing a type of soil of a surface to be worked, the method including that a frictional resistance element the detection device contacts the surface during locomotion such that a force resultant attacks the soil tillage implement outside of a reference axis, the reference axis being oriented parallel to a main direction of movement of the soil tillage implement predetermined by the orientation of the wheels and oriented in the middle between the wheels in relation to a direction perpendicular to the reference axis, and wherein for recognizing the soil type The speeds of the wheels are compared with one another with the same driving force, a determined speed difference being compared with reference differences depending on the type of soil. As already described above in relation to the tillage implement, the method includes that a soil type of a surface to be worked is identified by means of a drift which arises as a result of a resistance force acting asymmetrically on the tillage implement. The drift is in turn caused by a speed difference of the wheels, which can be measured and compared with reference differences depending on the type of soil. For the rest, the features and advantages described previously with regard to the tillage implement apply.

Insbesondere wird auch vorgeschlagen, dass ein von einem Antriebsmotor eines Reibwiderstandselements aufgenommener Strom gemessen wird, wobei ein von dem Antriebsmotor aufgenommener Strom mit bodenartabhängigen Referenzströmen verglichen wird. Gemäß dieser Ausgestaltung beinhaltet das Verfahren eine Bestimmung der Art der zu reinigenden Fläche nicht nur anhand einer Drift des Bodenbearbeitungsgerätes, sondern zusätzlich auch anhand einer sich ändernden Strom- bzw. Leistungsaufnahme des Antriebsmotors des Reibwiderstandselementes, welche sich auf unterschiedlichen Bodenarten einstellt.In particular, it is also proposed that a current drawn by a drive motor of a frictional resistance element is measured, a current drawn by the drive motor being compared with reference currents dependent on the soil type. According to this embodiment, the method includes a determination of the type of surface to be cleaned not only on the basis of a drift of the tillage implement, but also on the basis of a changing current or power consumption of the drive motor of the frictional resistance element, which is set on different types of soil.

Des Weiteren kann auch vorgesehen sein, dass mittels einer Lichtquelle Licht auf die zu bearbeitende Fläche gerichtet wird und ein von der Fläche auf einen Lichtempfänger zurückreflektierter Lichtanteil ausgewertet wird. Aufgrund des Reflexionsgrades der gemessenen Fläche kann auf eine Art der Fläche geschlossen werden.Furthermore, it can also be provided that light is directed by a light source onto the surface to be processed and onto it from the surface a light receiver is reflected back reflected light portion. Based on the degree of reflection of the measured area, a conclusion can be drawn about the type of area.

Schließlich kann vorgesehen sein, dass in Abhängigkeit von der erkannten Bodenart eine Leistung eines Gebläses des Bodenbearbeitungsgerätes und/oder eine Drehzahl des Bodenbearbeitungselementes variiert wird, und/oder dass eine Information über die erkannte Bodenart in einer digitalen Umgebungskarte des Bodenbearbeitungsgerätes gespeichert wird. Insbesondere kann auch ein Energiemanagement des Bodenbearbeitungsgerätes abhängig von der Bodenart der zu bearbeitenden Fläche optimiert werden, insbesondere in Bezug auf eine Bearbeitungsdauer für die Bearbeitung einer Fläche, in Bezug auf eine verbesserte Reinigungsleistung oder dergleichen. Des Weiteren kann es auch möglich sein, die genaue Lage von Teppichen, Fliesen, Holzböden und dergleichen nach einer Erkennung in einer digitalen Umgebungskarte zu markieren und diese Information in zukünftigen Bearbeitungszyklen des Bodenbearbeitungsgerätes zu verwenden.Finally, it can be provided that, depending on the type of soil identified, an output of a fan of the soil tillage implement and / or a rotational speed of the soil tillage element is varied, and / or that information about the type of soil identified is stored in a digital environment map of the soil tillage implement. In particular, energy management of the soil cultivation device can also be optimized depending on the type of soil of the surface to be worked, in particular with regard to a processing time for processing a surface, with regard to improved cleaning performance or the like. Furthermore, it may also be possible to mark the exact location of carpets, tiles, wooden floors and the like after recognition in a digital map of the area and to use this information in future processing cycles of the soil cultivation device.

Kurze Beschreibung der ZeichnungenBrief description of the drawings

Im Folgenden wird die Erfindung anhand von Ausführungsbeispielen näher erläutert. Es zeigen:

Fig. 1
Ein erfindungsgemäßes Bodenbearbeitungsgerät in einer perspektivischen Ansicht von außen,
Fig. 2
eine Unteransicht des Bodenbearbeitungsgerätes,
Fig. 3
eine driftende Fortbewegung des Bodenbearbeitungsgerätes.
The invention is explained in more detail below on the basis of exemplary embodiments. Show it:
Fig. 1
A soil tillage implement according to the invention in a perspective view from the outside,
Fig. 2
a bottom view of the soil tillage implement,
Fig. 3
a drifting movement of the tillage implement.

Beschreibung der AusführungsformenDescription of the embodiments

Figur 1 zeigt ein erfindungsgemäßes Bodenbearbeitungsgerät 1, welches hier als Saugroboter ausgebildet ist. Das Bodenbearbeitungsgerät 1 ist auf einer Fläche positioniert, hier bspw. einem Holzdielenboden. Das Bodenbearbeitungsgerät 1 ist selbsttätig verfahrbar und weist eine Navigations- und Selbstlokalisierungseinrichtung auf, mit welcher eine Orientierung innerhalb von Räumlichkeiten möglich ist. Das Bodenbearbeitungsgerät 1 verfügt über zwei Räder 3, 4 (siehe Figur 2) sowie ein Bodenbearbeitungselement 2, welches hier als eine Bürstenwalze ausgebildet ist. Das Bodenbearbeitungsgerät 1 stützt sich einerseits über die beiden Räder 3, 4 und andererseits mit einer Kontaktfläche 13 des Bodenbearbeitungselementes 2 auf der zu reinigenden Fläche ab, wobei sowohl die Räder 3, 4 zur Fortbewegung des Bodenbearbeitungsgerätes 1 als auch das Bodenbearbeitungselement 2 zur Durchführung einer Reinigung motorisch angetrieben sind. Das Bodenbearbeitungsgerät 1 weist eine Hauptbewegungsrichtung 8 auf, welche durch die Rotationsebene der Räder 3, 4 vorgegeben ist. Das Bodenbearbeitungselement 2 ist senkrecht zu dieser Hauptbewegungsrichtung 8 angeordnet, wobei das Bodenbearbeitungselement 2 um eine Rotationsachse 10 rotiert. Figure 1 shows an inventive soil cultivation device 1, which is designed here as a vacuum robot. The soil tillage implement 1 is positioned on a surface, here, for example, a wooden floorboard. The soil tillage implement 1 can be moved automatically and has a navigation and self-localization device with which an orientation within rooms is possible. The soil tillage implement 1 has two wheels 3, 4 (see Figure 2 ) and a tillage element 2, which is designed here as a brush roller. The tillage device 1 is supported on the one hand by the two wheels 3, 4 and on the other hand by a contact surface 13 of the tillage element 2 on the surface to be cleaned, both the wheels 3, 4 for locomotion of the tillage device 1 and the tillage element 2 for cleaning are motor-driven. The soil tillage implement 1 has a main direction of movement 8, which is predetermined by the plane of rotation of the wheels 3, 4. The tillage element 2 is arranged perpendicular to this main direction of movement 8, the tillage element 2 rotating about an axis of rotation 10.

Das Bodenbearbeitungsgerät 1 verfügt des Weiteren über eine ebenfalls motorisch angetriebene Seitenbürste 12, welche insbesondere zur Reinigung von Raumecken und Raumbegrenzungen geeignet ist. Des Weiteren weist das Bodenbearbeitungsgerät 1 eine Abstandsmesseinrichtung 11 auf, welche hier bspw. als eine innerhalb des Bodenbearbeitungsgerätes 1 angeordnete Triangulationsmesseinrichtung ausgebildet ist und Abstände zu Hindernissen vorzugsweise in einem Winkelbereich von 360 Grad messen kann. Die Abstandsmesseinrichtung 11 ist Teil der Navigations- und Selbstlokalisierungseinrichtung.The soil tillage implement 1 also has a side brush 12, which is also motor-driven and is particularly suitable for cleaning room corners and room boundaries. Furthermore, the soil cultivation device 1 has a distance measuring device 11, which is designed here, for example, as a triangulation measuring device arranged within the soil cultivation device 1 and can preferably measure distances to obstacles in an angular range of 360 degrees. The distance measuring device 11 is part of the navigation and self-localization device.

Figur 2 zeigt das Bodenbearbeitungsgerät 1 in einer Ansicht von unten. Zu erkennen sind hier des Weiteren zwei Reflexionsmesseinrichtungen 9, welche einer Abstandsmessung zu einer unterhalb des Bodenbearbeitungsgerätes 1 angeordneten Fläche dienen. Insbesondere eignen sich diese Reflexionsmesseinrichtungen 9 zum Schutz gegen Abstürzen des Bodenbearbeitungsgerätes 1 an einem Abgrund, bspw. an Treppenstufen. Die Reflexionsmesseinrichtung 9 weist eine Lichtquelle und einen Lichtempfänger (beide nicht dargestellt) auf, wobei die Lichtquelle einen Lichtstrahl auf eine zu reinigende Fläche richtet. Dieser Lichtstrahl wird zumindest teilweise an der Fläche reflektiert bzw. gestreut, wobei üblicherweise ein Anteil zurück zu dem Lichtempfänger der Reflexionsmesseinrichtung 9 gelangt und zur Abstandsmessung ausgewertet werden kann. Die Reflexionsmesseinrichtung 9 dient des Weiteren zur Bestimmung der Bodenart der zu reinigenden Fläche, da anhand des Reflexionsgrades der Fläche auch auf die Bodenart geschlossen werden kann, da bspw. ein Teppich weniger reflektiert als ein Hartboden wie bspw. ein Fliesenboden oder ein Holzfußboden. Figure 2 shows the soil tillage implement 1 in a view from below. Two reflection measuring devices 9 can also be seen here, which are used for measuring the distance to a surface arranged below the tillage implement 1. In particular, these reflection measuring devices 9 are suitable for protection against falling of the tillage implement 1 on an abyss, for example on stairs. The reflection measuring device 9 has a light source and a light receiver (both not shown), the light source directing a light beam onto a surface to be cleaned. This light beam is at least partially reflected or scattered on the surface, a portion usually returning to the light receiver of the reflection measuring device 9 and being able to be evaluated for distance measurement. The reflection measuring device 9 also serves to determine the type of floor of the surface to be cleaned, since the degree of reflection of the surface can also be used to infer the type of floor, for example because a carpet reflects less than a hard floor such as a tiled floor or a wooden floor.

Das Bodenbearbeitungselement 2, d.h. die Borstenwalze, ist hier gleichzeitig ein Reibwiderstandselement 6, welches bei auf der zu reinigenden Fläche aufgestelltem Zustand des Bodenbearbeitungsgerätes 1 mit seiner Kontaktfläche 13 die zu bearbeitende Fläche berührt. Je nach der Bodenart der Fläche, z. B. Teppichboden oder Hartboden, übt das Reibwiderstandselement 6 bei der Fortbewegung des Bodenbearbeitungsgerätes 1 eine mehr oder weniger große Reibkraft auf die Fläche aus. Das Reibwiderstandselement 6 ist bezogen auf eine Referenzachse 7 des Bodenbearbeitungsgerätes 1 unsymmetrisch angeordnet. Die Referenzachse 7 ist parallel zu der Hauptbewegungsrichtung 8 des Bodenbearbeitungsgerätes 1 orientiert und zudem bezogen auf eine Richtung senkrecht zu der Referenzachse 7 mittig zwischen den beiden Rädern 3, 4 platziert. Dadurch weist das Reibwiderstandselement 6 zu einer Seite der Referenzachse 7 einen größeren Überstand und einen größeren Teil der Kontaktfläche 13 auf als zu der gegenüberliegenden Seite. Bei der Fortbewegung des Bodenbearbeitungsgerätes 1 über die Fläche kommt es zu einem Kräfteungleichgewicht bezogen auf die beiden Halbseiten des Bodenbearbeitungsgerätes 1, da an der Halbseite des Bodenbearbeitungsgerätes 1, welche das Rad 3 aufweist, eine wesentlich größere Reibkraft angreift als an der gegenüberliegenden Seite, welche das Rad 4 aufweist. Infolge dessen verlässt das Bodenbearbeitungsgerät 1 die zuvor verfolgte Hauptbewegungsrichtung 8 in Richtung derjenigen Seite, auf welcher der größere Teil der Kontaktfläche 13 zu der zu bearbeitenden Fläche besteht. Dies ist hier die Halbseite des Bodenbearbeitungsgerätes 1, an welcher das Rad 3 angeordnet ist.The tillage element 2, ie the bristle roller, is here at the same time a frictional resistance element 6 which, when the tillage implement 1 is in the state in which it is to be cleaned, touches the area to be worked with its contact surface 13. Depending on the type of soil, e.g. B. carpet or hard floor, the frictional resistance element 6 exerts a more or less large frictional force on the surface during the movement of the tillage implement 1. The frictional resistance element 6 is arranged asymmetrically with respect to a reference axis 7 of the tillage implement 1. The reference axis 7 is oriented parallel to the main direction of movement 8 of the tillage implement 1 and is also placed in the middle between the two wheels 3, 4 in relation to a direction perpendicular to the reference axis 7. As a result, the friction resistance element 6 has a larger projection and a larger part of the contact surface on one side of the reference axis 7 13 on as to the opposite side. When the soil tillage implement 1 moves over the surface, there is an imbalance of forces in relation to the two half sides of the soil tillage implement 1, since on the half side of the soil tillage implement 1, which has the wheel 3, a much greater frictional force acts than on the opposite side, which is the Wheel 4 has. As a result, the tillage implement 1 leaves the previously traced main direction of movement 8 in the direction of the side on which the greater part of the contact surface 13 to the surface to be worked exists. This is the half side of the tillage implement 1 on which the wheel 3 is arranged.

Figur 3 zeigt eine Drift des Bodenbearbeitungsgerätes 1 während einer Vorwärtsbewegung, welche durch die unsymmetrische Anordnung des Reibwiderstandselementes 6 verursacht wird. Das in der Darstellung gemäß Figur 3 von rechts kommend in eine Hauptbewegungsrichtung 8 fahrende Bodenbearbeitungsgerät 1 wird durch die an dem Reibwiderstandselement 6 angreifende Reibkraft nach links verschwenkt, sodass die vorhergehende Hauptbewegungsrichtung 8 verlassen wird. Durch das Angreifen der Reibkraft kommt es zu einer Drehzahldifferenz der angetriebenen Räder 3, 4, wobei hier das Rad 3 auf der Halbseite des Bodenbearbeitungsgerätes 1 mit dem größeren Anteil des Reibwiderstandselementes 6 eine geringere resultierende Drehzahl aufweist als das andere Rad 4. Diese Drehzahldifferenz wird von einer Steuer- und Auswerteeinrichtung 5 (siehe Figur 2) des Bodenbearbeitungsgerätes 1 berechnet und mit für bestimmte Bodenarten charakteristischen Referenzdifferenzen verglichen. Die Referenzdifferenzen können bspw. in einem Speicher des Bodenbearbeitungsgerätes 1 hinterlegt sein, auf welchen die Steuer- und Auswerteeinrichtung 5 zugreifen kann. Des Weiteren ist es auch möglich, dass die Referenzdifferenzen auf einem Speicher eines externen Servers hinterlegt sind und die Steuer- und Auswerteeinrichtung 5 mittels einer kabellosen Kommunikation darauf zugreift. Die Referenzdifferenzen können bspw. auch in Form von Differenzbereichen angegeben sein, sodass eine Übereinstimmung erkannt wird, wenn die berechnete Drehzahldifferenz in einen bestimmten Differenzbereich fällt. Bei einer Übereinstimmung kann die Bodenart der zur reinigenden Fläche zuverlässig bestimmt werden. Figure 3 shows a drift of the tillage implement 1 during a forward movement, which is caused by the asymmetrical arrangement of the friction resistance element 6. According to the illustration Figure 3 Coming from the right in a main direction of movement 8 soil tillage implement 1 is pivoted to the left by the frictional force acting on the frictional resistance element 6, so that the previous main direction of movement 8 is left. By attacking the frictional force there is a speed difference of the driven wheels 3, 4, here the wheel 3 on the half side of the tillage implement 1 with the larger proportion of the friction resistance element 6 has a lower resulting speed than the other wheel 4. This speed difference is from a control and evaluation device 5 (see Figure 2 ) of the soil tillage implement 1 is calculated and compared with reference differences characteristic of certain soil types. The reference differences can be stored, for example, in a memory of the tillage implement 1, which the control and evaluation device 5 can access. Furthermore, it is also possible for the reference differences to be stored on a memory of an external server and for the control and evaluation device 5 to access them by means of wireless communication. The reference differences can also be in the form of difference ranges, for example be specified so that a match is recognized when the calculated speed difference falls within a certain difference range. If there is a match, the type of floor to be cleaned can be reliably determined.

In Abhängigkeit von der Kenntnis der Bodenart kann daraufhin eine gezielte Bearbeitung der zu bearbeitenden Fläche gesteuert werden. Insbesondere ist es möglich, dass eine Leistung eines Sauggebläses des Bodenbearbeitungsgerätes 1 gezielt angepasst wird, eine Drehzahl des Bodenbearbeitungselementes 2 oder dergleichen. Des Weiteren ist es auch möglich, dass eine Umgebungskarte, auf welche bspw. das Navigationssystem des Bodenbearbeitungsgerätes 1 zugreift, mit Informationen über die Position von bestimmten Bodenarten, wie bspw. Teppichen, versehen wird.Depending on the knowledge of the type of soil, targeted processing of the area to be worked can then be controlled. In particular, it is possible for a power of a suction blower of the tillage implement 1 to be specifically adjusted, a rotational speed of the tillage element 2 or the like. Furthermore, it is also possible for an area map, which is accessed, for example, by the navigation system of the tillage device 1, to be provided with information about the position of certain types of floor, such as carpets.

Um die Zuverlässigkeit der Bestimmung der Bodenart noch weiter zu erhöhen, kann es vorgesehen sein, zusätzliche Verfahren zur Bodenartbestimmung ergänzend einzusetzen. Hierzu kann bspw. die zuvor beschriebene Reflexionsmesseinrichtung 9 eingesetzt werden, welche eine Reflexion der aktuell befahrenen Fläche auswertet und bekannten Bodenarten zuordnet. Des Weiteren ist es auch möglich, dass eine Stromaufnahme eines Antriebsmotors des Bodenbearbeitungselementes 2 und/oder der Seitenbürste 12 gemessen und ausgewertet wird.In order to further increase the reliability of the determination of the soil type, additional methods for determining the soil type can be used in addition. For this purpose, for example, the previously described reflection measuring device 9 can be used, which evaluates a reflection of the area currently being traveled on and assigns known types of soil. Furthermore, it is also possible for a current consumption of a drive motor of the tillage element 2 and / or of the side brush 12 to be measured and evaluated.

Obwohl die Erfindung hier in Bezug auf ein als Saugroboter ausgebildetes Bodenbearbeitungsgerät 1 beschrieben ist, kann das Bodenbearbeitungsgerät 1 grundsätzlich auch als Wischroboter, kombiniertes Saug-Wisch-Gerät oder dergleichen ausgebildet sein. Auch ist es möglich, dass die Bodenbearbeitung nicht nur einer Reinigung einer Fläche dient, sondern auch anderen Bearbeitungsaufgaben wie bspw. Polieren, Schleifen, Ölen und dergleichen.Although the invention is described here with reference to a soil cultivation device 1 designed as a vacuum robot, the soil cultivation device 1 can in principle also be designed as a wiping robot, combined suction-wiping device or the like. It is also possible that the tillage not only serves to clean a surface, but also other processing tasks such as polishing, grinding, oiling and the like.

Liste der BezugszeichenList of reference numbers

11
BodenbearbeitungsgerätTillage implement
22
BodenbearbeitungselementTillage element
33
Radwheel
44
Radwheel
55
Steuer- und AuswerteeinrichtungControl and evaluation device
66
ReibwiderstandselementFriction resistance element
77
ReferenzachseReference axis
88th
HauptbewegungsrichtungMain direction of movement
99
ReflexionsmesseinrichtungReflection measuring device
1010
RotationsachseAxis of rotation
1111
AbstandsmesseinrichtungDistance measuring device
1212th
SeitenbürsteSide brush
1313
KontaktflächeContact area

Claims (10)

  1. A self-propelled floor treatment device (1), in particular a cleaning robot, with a floor treatment element (2), at least two motorized wheels (3, 4) and a detection device for detecting a floor type of a surface to be treated, wherein the detection device has a frictional resistance element (6), characterized in that the friction resistance element (6) contacts the surface during a movement in such a way that a resultant force outside of a reference axis (7) acts on the floor treatment device (1), wherein the reference axis (7) is oriented parallel to a main direction of movement (8) of the floor treatment device (1) prescribed by the orientation of the wheels (3, 4), and aligned centrally between the wheels (3, 4) in relation to a direction perpendicular to the reference axis (7).
  2. The floor treatment device (1) according to claim 1, characterized in that the frictional resistance element (6) is a treatment element (1) for treating the surface to be treated, in particular a cleaning roller that rotates perpendicular to the reference axis (7).
  3. The floor treatment device (1) according to claim 1 or 2, characterized in that the frictional resistance element (6) is arranged perpendicular to the reference axis (7), and has a larger length on one side of the reference axis (7) than on the opposite side of the reference axis (7).
  4. The floor treatment device (1) according to one of the preceding claims, characterized by a controller and evaluator (5), which is set up to detect the floor type by comparing the speeds of the wheels (3, 4) at the same driving force and comparing a determined difference in speed with floor type-dependent reference differences.
  5. The floor treatment device (1) according to one of the preceding claims, characterized in that the detection device has an ammeter allocated to a drive motor of the frictional resistance element (6), wherein a controller and evaluator (5) of the floor treatment device (1) is set up to compare a current received by the drive motor with floor type-dependent reference currents.
  6. The floor treatment device (1) according to one of the preceding claims, characterized in that the detection device has an optical reflection measuring device (9) with a light source and a light receiver, wherein a light emission direction of the light source is essentially directed toward the ground plane spanned by the wheels (3, 4).
  7. The floor treatment device (1) according to claim 6, characterized in that the reflection measuring device (9) is a distance measuring device, in particular a distance measuring device designed to detect precipices.
  8. A method for operating a self-propelled floor treatment device (1), with a floor treatment element (2), at least two motorized wheels (3, 4) and a detection device for detecting a floor type of a surface to be treated, characterized in that a friction resistance element (6) of the detection device contacts the surface during a movement in such a way that a resultant force outside of a reference axis (7) acts on the floor treatment device (1), wherein the reference axis (7) is oriented parallel to a main direction of movement (8) of the floor treatment device (1) prescribed by the orientation of the wheels (3, 4), and aligned centrally between the wheels (3, 4) in relation to a direction perpendicular to the reference axis (7) and wherein the speeds of the wheels (3, 4) are compared given an identical drive force so as to detect the floor type, wherein a determined difference in speed is compared with floor type-dependent reference differences.
  9. The method according to claim 8, characterized in that a current received by a drive motor of a frictional resistance element (6) is measured, wherein a current received by the drive motor is compared with floor type-dependent reference currents.
  10. The method according to claim 8 or 9, characterized in that a power of a fan of the floor treatment device (1) and/or a speed of the floor treatment element (2) is varied as a function of the detected floor type, and/or that information about the detected floor type is stored in a digital area map of the floor treatment device (1).
EP18154132.7A 2017-02-01 2018-01-30 Automatic travelling cleaner Active EP3357395B1 (en)

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DE102017101936.7A DE102017101936A1 (en) 2017-02-01 2017-02-01 Automatically movable soil tillage implement

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ES2777791T3 (en) 2020-08-06
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DE102017101936A1 (en) 2018-08-02
US10602900B2 (en) 2020-03-31
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EP3357395A1 (en) 2018-08-08
CN108371519B (en) 2021-08-10

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