EP3581082B1 - Robot d'aspiration et procédé de commande d'un robot d'aspiration - Google Patents

Robot d'aspiration et procédé de commande d'un robot d'aspiration Download PDF

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Publication number
EP3581082B1
EP3581082B1 EP19175820.0A EP19175820A EP3581082B1 EP 3581082 B1 EP3581082 B1 EP 3581082B1 EP 19175820 A EP19175820 A EP 19175820A EP 3581082 B1 EP3581082 B1 EP 3581082B1
Authority
EP
European Patent Office
Prior art keywords
vacuum cleaner
cleaning device
robotic vacuum
separation unit
separating unit
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
EP19175820.0A
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German (de)
English (en)
Other versions
EP3581082A1 (fr
Inventor
Stefan Tiekötter
Seyfettin Kara
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Miele und Cie KG
Original Assignee
Miele und Cie KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Miele und Cie KG filed Critical Miele und Cie KG
Publication of EP3581082A1 publication Critical patent/EP3581082A1/fr
Application granted granted Critical
Publication of EP3581082B1 publication Critical patent/EP3581082B1/fr
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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
    • A47L9/2805—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
    • 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
    • A47L9/10—Filters; Dust separators; Dust removal; Automatic exchange of filters
    • A47L9/12—Dry filters
    • A47L9/122—Dry filters flat
    • 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
    • A47L9/20—Means for cleaning filters
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation

Definitions

  • the invention relates to a robotic vacuum cleaner for autonomous cleaning of floor surfaces, the robotic vacuum cleaner having a first drive device for moving over floor surfaces, the robotic vacuum cleaner having a blower unit for generating a suction air flow, the robotic vacuum cleaner having a first separation unit for separating particles from the suction air flow, wherein the vacuum robot has a second separating unit for separating particles from the suction air flow and wherein the second separating unit is arranged downstream of the suction air of the first separating unit.
  • the robotic vacuum cleaners known from the prior art use filter elements in order to separate and store dust and dirt particles picked up during the cleaning operation.
  • a first separating unit for example in the form of a cyclone separator or a dust cassette, is often used for this purpose, which separates larger dust and dirt particles from the suction air flow by the influence of gravity.
  • This first separating unit is usually followed by a second separating unit downstream of the suction air flow, which separates and stores fine dust particles from the suction air flow.
  • Single-stage or multi-stage filter elements for example made of a fleece material, are used as the second separation unit.
  • a problem with all known filter elements is their tendency to become clogged with dust and dirt particles that have been separated out after a certain cleaning period.
  • a vacuum robot which has a drive device for moving over floor surfaces and a blower unit. Furthermore, the vacuum robot has a first separating unit for separating particles and a second separating unit for separating particles from the suction air flow. The second separating unit is arranged downstream of the first separating unit in the suction air. A cleaning device is arranged on the second separating unit, wherein the cleaning device cleans the second separating unit of separated particles.
  • the problem of the invention is therefore to provide an improved robotic vacuum cleaner that generates sufficient cleaning performance and whose filter elements are Users do not need to be cleaned manually.
  • a device according to patent claim 1 and a method according to patent claim 10 are provided.
  • a cleaning device is arranged on the second separating unit, wherein the cleaning device cleans the second separating unit of separated particles.
  • the first separating unit is designed as a cyclone separator or as a dust cassette, with the first separating unit separating larger dust and dirt particles from the suction air flow.
  • the second separating unit is designed as a filter element, which separates dust and dirt particles from the suction air flow.
  • the second separating unit is arranged suction air downstream of the first separating unit, as a result of which at least part of the generated suction air flow first passes through the first separating unit and then through the second separating unit.
  • the cleaning device is arranged directly on or adjacent to the second separating unit in the vacuum robot.
  • the cleaning device is designed to remove dust and dirt particles that have been deposited on or in the second separating unit during the cleaning operation of the robotic vacuum cleaner.
  • the cleaning of the second separating unit by the cleaning device prevents clogging of the second separating unit with separated dust and dirt particles during the cleaning operation of the vacuum robot.
  • the cleaning of the second separating unit by the cleaning device takes place automatically without the user having to remove the second separating unit from the vacuum robot and clean it manually. This automatic cleaning of the second separating unit by the cleaning device ensures, on the one hand, a constantly high suction power of the vacuum robot throughout the entire cleaning operation and, at the same time, reduces manual maintenance work by the user.
  • the second separating unit has a filter element, in particular a multi-stage filter element.
  • the filter element is designed to separate and/or store dust and dirt particles from a suction air flow.
  • the multi-stage filter element has a pre-filter and/or a main filter and/or a post-filter.
  • a single-stage filter element as the second separating unit of a vacuum robot.
  • the filter element is made from a fleece material and/or a foam material and/or a pleated filter material. Multi-stage filter elements have a cleaning operation longer service life than single-stage filter elements and can also be operated without pre-separation by a first separation unit.
  • the cleaning device acts on the second separating unit by means of a translatory movement.
  • the cleaning device transmits a movement impulse to the second separating unit.
  • the translational movement of the cleaning device takes place at cyclic intervals.
  • the translational movement of the cleaning device takes place between a first and a second position, with the cleaning device not having any contact with the second separating unit in the first position and with the cleaning device being in contact with the second separating unit in the second position.
  • the cleaning device it is also conceivable for the cleaning device to be in permanent contact with the second separating unit, with the cleaning device transmitting a movement impulse to the second separating unit by moving between a first and a second position.
  • the action of the cleaning device on the separating unit through a translational movement leads to a mobilization of the dust and dirt particles stored there in the separating unit. As a result of this mobilization, the stored dust and dirt particles are released from the filter element of the second separation unit.
  • the cleaning device acts on the second separating unit by means of a rotary movement.
  • the cleaning device or elements of the cleaning device are engaged with the second separating unit.
  • the cleaning device transmits a movement impulse to the second separating unit.
  • the cleaning device or elements of the cleaning device perform a rotary movement, with the second separating unit assuming a stationary position.
  • the action of the cleaning device on the separating unit through a rotational movement leads to a mobilization of the dust and dirt particles stored there in the separating unit. As a result of this mobilization, the stored dust and dirt particles are released from the filter element of the second separation unit.
  • the cleaning device has a rod element, with the rod element acting on the second separating unit.
  • the rod element has an approximately elongated shape.
  • the rod element has widenings at least in sections.
  • the action of the rod element on the second separating unit results in an approximately rectangular contact between the rod element and the filter element of the second separating unit.
  • the cleaning device has a mesh element, with the mesh element acting on the second separating unit.
  • the mesh element has at least one agitation element which is in contact with a filter element of the second separating unit.
  • the network element has a large number of agitation elements, it is preferred that the agitation elements are distributed evenly over a base area of the network element.
  • the network element has a base area which approximately corresponds to a base area of the second separating unit.
  • the mesh member is moveable between first and second positions.
  • the use of a mesh element for the cleaning device enables extensive contact between the cleaning device and the filter element of the second separating unit. As a result, the movement impulse of the cleaning device is transmitted almost over the entire base area of the filter element of the second separating unit. This enables optimal cleaning of the second separating unit from stored dust and dirt particles.
  • the robotic vacuum cleaner has a second drive device, with the second drive device driving the cleaning device.
  • the drive device has a motor element and a gear element, which are set up to drive the cleaning device.
  • a second drive device enables independent operation of the cleaning device of the second separating unit. The second separating unit can thus be cleaned independently of any other operating status of the vacuum robot.
  • the cleaning device is driven by the first drive device.
  • the first drive device is set up to move the vacuum robot autonomously over the surface to be cleaned.
  • the first drive device Cleaning device drives via a coupling device.
  • the coupling device has at least one mechanical component which connects the first drive device to the cleaning device. In an alternative embodiment, however, it is also conceivable for the mechanical component to connect the cleaning device to a drive wheel of the robotic vacuum cleaner.
  • the coupling device enables the cleaning device to be operated via the drive energy which the first drive device generates. As a result, a separate second drive device is not required for the operation of the cleaning device. Transfer or navigation trips by the vacuum robot can thus be used for the cleaning operation of the second separating unit.
  • the robotic vacuum cleaner has an interface device, it being possible for the cleaning device to be driven via the interface device.
  • the interface device is designed to enter into a connection with an external transmission element, with the cleaning device being able to be driven via this connection.
  • a transmission element is arranged at a charging station of the vacuum robot. This enables the second separating unit to be cleaned via a transmission element of the charging station.
  • no separate drive device is required for the cleaning device in the vacuum robot.
  • the required drive device can be outsourced to a charging station of the vacuum robot.
  • the time that the vacuum robot spends charging its energy storage at the charging station can be used to clean the second separation unit.
  • a saturation value of the second separating unit can be determined, for example, via a pressure sensor system, which detects the differential pressure that occurs at the second separating unit during the cleaning operation. The resulting differential pressure correlates with the saturation value of the second separation unit.
  • a cleaning operation of the second separating unit takes place only if a definable Saturation value of the second separation unit is exceeded. As a result, the cleaning operation of the second separating unit can be configured as required.
  • the cleaning operation of the second separating unit can be restricted to states of the vacuum robot in which the cleaning operation of the second separating unit has no negative or disruptive influence.
  • FIG 1 shows the side sectional view of a vacuum robot 10, as is known from the prior art.
  • the robotic vacuum cleaner 10 has at least two wheels 36 on its underside 34 with which it can drive autonomously over floor surfaces to be cleaned. At least one of these wheels 36 is driven via a drive device (not shown in figure 1 ) motor-driven.
  • the robot vacuum 10 On the side 34 of the robot vacuum housing, which faces the floor surface to be cleaned, the robot vacuum 10 has a suction mouth 38.
  • the robot vacuum 10 is able to pick up dust and dirt particles from the floor surface via this suction mouth 38 and thereby clean them.
  • a brush roller 40 is arranged inside the suction mouth 38 of the vacuum robot 10 to increase the cleaning performance. During cleaning operation, the brush roller 40 sweeps dust and dirt particles into the suction mouth 38 of the vacuum robot 10 via a rotational movement.
  • the suction mouth 38 is connected to a dust cassette 16 via a suction channel. Via this suction channel 42, the dust and dirt particles that have been sucked in and swept in pass from the suction mouth 38 into the dust cassette 16, where they are separated and stored by the suction air flow.
  • the dust cassette thus functions as the first separating unit.
  • the separation of larger dust and dirt particles from the suction air flow in the dust cassette 16 takes place primarily via gravity.
  • a second separating unit 18 is arranged at the outlet of the fine dust cassette 16, where the suction air flow generated by the vacuum robot 10 emerges from the latter. The second separating unit 18 separates those dust and dirt particles from the suction air flow which were not separated by the first separating unit 16 .
  • the second separating unit 18 is formed by a multi-stage filter element 22 which is composed of a pre-filter 44 , a main filter 46 and a post-filter 48 .
  • the pre-filter 44 consists, for example, of a foam layer, the main filter 46 of a pleated filter material and the post-filter 48 of a fine dust filter material. Downstream of the second separating unit 18, the cleaned suction air flow then flows through the fan of the vacuum robot (not shown in Fig figure 1 ) before it is blown out of the housing of the vacuum robot 10 as exhaust air.
  • FIG 2 shows a side sectional view of a robotic vacuum cleaner 10 with a rod cleaning device 20 on the second separating unit 18.
  • the cleaning device 20 has two rod elements 24 which are in engagement with the pre-filter 44 and the main filter 46 of the filter element 22.
  • the rod elements 24 perform a translatory movement in and on the filter element 22 which loosens dust and dirt particles from the filter element 22 . This causes the filter element 22 to be cleaned and extends its service life for the cleaning operation to a significant extent.
  • the rod elements 24 of the cleaning device 20 are driven via a camshaft 50 which is connected to the drive device 12 of the vacuum robot 10 via a coupling device 30 .
  • the camshaft 50 converts the rotational movement of the drive device 12 into a translational movement of the rod elements 24. In this way, the drive device 12 is also used to operate the cleaning device 22.
  • FIG 3 shows a side sectional view of a vacuum robot 10 with a net cleaning device 20.
  • a three-stage filter element 22 acts as the second separating unit 18.
  • a net element 26 is arranged in this, which can be set in a translatory movement via a camshaft 50.
  • the net cleaning device 20 transmits a shaking movement to the filter element 22.
  • Fixed dust and dirt particles in the filter material of the filter element 22 are thereby solved.
  • the camshaft 50 is driven via a coupling device 30 which can be connected to the drive device 12 of the vacuum robot 10 . This allows continuous or partial operation of the cleaning device 20 while the robotic vacuum cleaner 10 moves autonomously over a floor surface.
  • FIG 4 shows a side sectional view of a robotic vacuum cleaner 10 with a cleaning device 20 which is driven by a second drive device 28 .
  • a second separate drive device 28 is arranged below the second separating unit 18 .
  • This second drive device 28 serves exclusively to drive the cleaning device 20.
  • the robotic vacuum cleaner 10 has a first drive device 12, which enables the robotic vacuum cleaner 10 to move over floor surfaces.
  • the second drive device 28 drives a rod element 24 which is arranged inside the filter element 22 and which functions as the second separating unit 18 .
  • the rod element 24 performs a translatory movement, which transfers kinetic energy to the filter element 22 .
  • dust and dirt particles stored in the filter material of the filter element 22 are mobilized and loosened.
  • a flywheel 52 is arranged between the second drive device 28 and the rod element 24 and converts the rotational movement generated by the drive device 28 into a translational movement of the rod element 24 .
  • FIG 5 shows a side sectional view of a robotic vacuum cleaner 10 with a cleaning device 20 which is driven by a second drive device 28 .
  • the second drive device 28 is arranged laterally next to the second separating unit 18 and drives a rod element 24 which is arranged within the second separating unit 18 .
  • a filter element 22 acts as a second separating unit 18 .
  • the rod element 24 is arranged axially along the transverse axis of the filter element 22 .
  • Mobilization elements 54 are arranged on the rod element 24 itself and extend radially outwards starting from the rod element 24 .
  • the mobilization elements 54 extend almost over the entire length of the rod element 24, which is arranged inside the filter element 22.
  • the mobilization elements 54 are in engagement with the filter material of the filter element 22. If the rod element 24 is caused to rotate by the second drive device 28, the mobilization elements 54 transmit this movement impulse to the filter material. As a result of this movement impulse, dust and dirt particles stored in the filter material are released from it.
  • FIG 6 shows a side sectional view of a robotic vacuum cleaner 10 on a charging station 56.
  • the charging station 56 is designed in such a way that the robotic vacuum cleaner 10 drives over it autonomously can.
  • the charging station 56 is designed in such a way that the robotic vacuum cleaner 10 aligns itself autonomously with respect to the charging station 56 when driving over it. Among other things, this results in electrical contact being made between the charging station 56 and the robotic vacuum cleaner 10, which initiates a charging process for the energy storage devices (not shown in Fig figure 6 ) of the robotic vacuum cleaner 10 via the charging station 56.
  • the charging station 56 forms a suction channel 58 which forms at least one suction mouth interface 60 .
  • This suction mouth interface 60 forms a largely fluid-tight connection to the suction mouth 38 of the vacuum robot 10 when it is on the charging station 56 .
  • the external blower is arranged inside the charging station 56 or inside another vacuum cleaner, which is connected to the suction channel 58 of the charging station 56 in a fluid-tight manner.
  • the charging station 56 has a drive device 62 for a cleaning device 20 of the second separating unit 18 of the vacuum robot 10 .
  • This drive device 62 is connected to an axle 64 which has an interface 66 .
  • this axis 64 together with the interface 66, enters the housing of the robotic vacuum cleaner 10 and establishes a connection with an axis 68 of the cleaning device 20 of the second separating unit 18.
  • a net element 26 which is arranged within the second separating unit 18 , acts as the cleaning device 20 .
  • the movement generated by the drive device 62 in the loading station 56 is transmitted to the axis 68 of the cleaning device 20 via the interface 66 of the axis 64 .
  • the net element 26 of the cleaning device 20 is set in a translational movement, which causes the second separating unit 18 to be cleaned of dust and dirt particles.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Electric Vacuum Cleaner (AREA)

Claims (11)

  1. Aspirateur robot (10) destiné au nettoyage autonome de surfaces de sol, l'aspirateur robot présentant un premier dispositif d'entraînement (12) destiné à se déplacer sur des surfaces de sol, l'aspirateur robot (10) présentant une unité de ventilation destinée à générer un flux d'air d'aspiration, l'aspirateur robot (10) présentant une première unité de séparation (16) destinée à séparer des particules du flux d'air d'aspiration, l'aspirateur robot (10) présentant une seconde unité de séparation (18) destinée à séparer des particules du flux d'air d'aspiration, la seconde unité de séparation (18) étant disposée en aval du flux d'air d'aspiration de la première unité de séparation (16),
    un dispositif de nettoyage (20) étant disposé sur la seconde unité de séparation (18), le dispositif de nettoyage (20) nettoyant la seconde unité de séparation (18) de particules séparées,
    caractérisé en ce
    que le dispositif de nettoyage (20) présente un élément de réseau (26), l'élément de réseau (26) agissant sur la seconde unité de séparation (18).
  2. Aspirateur robot (10) selon la revendication 1,
    caractérisé en ce
    que la seconde unité de séparation (18) présente un élément filtrant (20), en particulier un élément filtrant à plusieurs étages.
  3. Aspirateur robot (10) selon l'une des revendications précédentes,
    caractérisé en ce
    que le dispositif de nettoyage (20) agit sur la seconde unité de séparation (18) au moyen d'un mouvement de translation.
  4. Aspirateur robot (10) selon l'une des revendications précédentes,
    caractérisé en ce
    que le dispositif de nettoyage (20) agit sur la seconde unité de séparation (18) au moyen d'un mouvement de rotation.
  5. Aspirateur robot (10) selon l'une des revendications précédentes,
    caractérisé en ce
    que le dispositif de nettoyage (20) présente un élément de tige (24), l'élément de tige (24) agissant sur la seconde unité de séparation (18).
  6. Aspirateur robot (10) selon l'une des revendications précédentes,
    caractérisé en ce
    que l'aspirateur robot (10) présente un second dispositif d'entraînement (28), le second dispositif d'entraînement (28) entraînant le dispositif de nettoyage (20).
  7. Aspirateur robot (10) selon l'une des revendications 1 à 5,
    caractérisé en ce
    que le dispositif de nettoyage (20) est entraîné par le premier dispositif d'entraînement (12).
  8. Aspirateur robot (10) selon la revendication 7,
    caractérisé en ce
    que le premier dispositif d'entraînement (12) entraîne le dispositif de nettoyage (20) par l'intermédiaire d'un dispositif d'accouplement (30).
  9. Aspirateur robot (10) selon l'une des revendications 1 à 5,
    caractérisé en ce
    que l'aspirateur robot (10) présente un dispositif d'interface (32), le dispositif de nettoyage (20) pouvant être entraîné par l'intermédiaire du dispositif d'interface.
  10. Procédé destiné au nettoyage d'une seconde unité de séparation (18) d'un aspirateur robot (10) selon l'une des revendications précédentes, le procédé présentant les étapes suivantes :
    mesure d'une valeur de saturation de la seconde unité de séparation (18) ; et
    génération d'un signal de commande destiné à commander le dispositif de nettoyage (20) de la seconde unité de séparation (18) en prenant en compte la valeur de saturation mesurée de la seconde unité de séparation (18).
  11. Procédé selon la revendication 10
    caractérisé en ce
    que lors de l'étape de génération d'un signal de commande destiné à commander le dispositif de nettoyage (20) de la seconde unité de séparation (18), des informations de mouvement et/ou des informations d'état de l'aspirateur robot (10) sont prises en compte.
EP19175820.0A 2018-06-14 2019-05-22 Robot d'aspiration et procédé de commande d'un robot d'aspiration Active EP3581082B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102018114212.9A DE102018114212A1 (de) 2018-06-14 2018-06-14 Saugroboter und Verfahren zur Steuerung eines Saugroboters

Publications (2)

Publication Number Publication Date
EP3581082A1 EP3581082A1 (fr) 2019-12-18
EP3581082B1 true EP3581082B1 (fr) 2022-03-02

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Application Number Title Priority Date Filing Date
EP19175820.0A Active EP3581082B1 (fr) 2018-06-14 2019-05-22 Robot d'aspiration et procédé de commande d'un robot d'aspiration

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EP (1) EP3581082B1 (fr)
DE (1) DE102018114212A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102020109656A1 (de) 2020-04-07 2021-10-07 Alfred Kärcher SE & Co. KG Filtereinheit für eine Reinigungsmaschine, Boden-Reinigungsmaschine und Verfahren zum Betreiben einer Boden-Reinigungsmaschine
DE102020115217A1 (de) * 2020-06-09 2021-12-09 Miele & Cie. Kg Saugroboter und Reinigungsstation
DE102023201462A1 (de) 2023-02-20 2024-08-22 BSH Hausgeräte GmbH Verfahren zum autonomen Reinigen einer Filtereinrichtung

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4255132B2 (ja) * 2006-10-18 2009-04-15 株式会社東芝 電気掃除機
JP5798496B2 (ja) * 2012-01-16 2015-10-21 シャープ株式会社 集塵装置、および掃除機
KR101495191B1 (ko) * 2013-10-21 2015-02-24 엘지전자 주식회사 로봇 청소기 및 이의 먼지 감지 방법
GB2539934B (en) * 2015-07-01 2017-10-11 Dyson Technology Ltd A separating apparatus

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EP3581082A1 (fr) 2019-12-18

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