EP3592191B1 - Robot nettoyeur de vitres - Google Patents

Robot nettoyeur de vitres Download PDF

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Publication number
EP3592191B1
EP3592191B1 EP18710844.4A EP18710844A EP3592191B1 EP 3592191 B1 EP3592191 B1 EP 3592191B1 EP 18710844 A EP18710844 A EP 18710844A EP 3592191 B1 EP3592191 B1 EP 3592191B1
Authority
EP
European Patent Office
Prior art keywords
cleaning
window
fluid channel
cleaning robot
reservoir
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
EP18710844.4A
Other languages
German (de)
English (en)
Other versions
EP3592191C0 (fr
EP3592191A1 (fr
Inventor
Shai Abramson
Asaf Levin
Shalom Levin
Janine ENGEL
Justin Henry
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.)
Alfred Kaercher SE and Co KG
Original Assignee
Alfred Kaercher SE and Co 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 Alfred Kaercher SE and Co KG filed Critical Alfred Kaercher SE and Co KG
Publication of EP3592191A1 publication Critical patent/EP3592191A1/fr
Application granted granted Critical
Publication of EP3592191B1 publication Critical patent/EP3592191B1/fr
Publication of EP3592191C0 publication Critical patent/EP3592191C0/fr
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Anticipated expiration legal-status Critical

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L1/00—Cleaning windows
    • A47L1/02—Power-driven machines or devices
    • 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
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • A47L11/4083—Liquid supply reservoirs; Preparation of the agents, e.g. mixing devices
    • 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
    • A47L9/2868—Arrangements for power supply of vacuum cleaners or the accessories thereof
    • A47L9/2873—Docking units or charging stations
    • 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
    • A47L2201/02—Docking stations; Docking operations
    • 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
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/026—Refilling cleaning liquid containers

Definitions

  • the present invention relates to a window cleaning robot, comprising a fastening device for adhering to a window surface, a drive device for moving across the window surface and a cleaning device for cleaning the window surface, the cleaning device having at least one cleaning element which is on a contact side of the window cleaning robot, which during its use facing the window surface, is arranged, wherein the window cleaning robot comprises at least one reservoir for cleaning liquid, at least one fluid channel, via which cleaning liquid from the at least one reservoir can be fed to the at least one cleaning element to moisten it, and at least one arranged on or in the at least one fluid channel Resistance element for providing a resistance against a flow of cleaning liquid through the fluid channel from the at least one reservoir to the at least one cleaning element.
  • a window cleaning robot is for example in the EP 3 181 027 A1 described.
  • the window cleaning robot enables autonomous cleaning of a window surface, ie in particular a vertically oriented surface.
  • the window cleaning robot is designed to be self-propelled and self-steering.
  • the window cleaning robot can adhere to the window surface by means of a fastening device operated by negative pressure, and the drive device enables the window cleaning robot to move on the window surface, with the window cleaning robot moving along a main direction of movement or forward direction and the window surface, for example, along a meandering cleaning path.
  • the window cleaning robot described in the EP reference document has a cleaning device with a cleaning brush leading in the main direction of movement in order to loosen coarse dirt from the window surface.
  • the cleaning brush in the main direction of movement comprises the following Window cleaning robot, the cleaning device mentioned at the beginning with at least one cleaning element.
  • the cleaning element for example a cleaning cloth, is arranged on the contact side of the window cleaning robot, which faces the window surface when it is in use. On the contact side, the window cleaning robot defines a contact plane or touch plane that coincides with a plane defined by the window face.
  • the EP 3 181 027 A1 describes that the window surface can be wetted with a cleaning liquid before cleaning. Alternatively, there is the possibility of wetting the cleaning element with the cleaning liquid.
  • the cleaning element can be used to remove dirt from the window surface.
  • the DE 10 2006 033 668 A1 describes a cleaning device for a preferably flat surface, in particular a window pane.
  • the cleaning device has a body and a cleaning device as well as a dosing device that supplies the cleaning device with cleaning agent and also a suction cup that holds the cleaning device in contact with the surface to be cleaned and rests sealingly on the surface at the edge, with a suction device sucking air out of the suction cup and out of the body blows out. At least part of the air blown out by the suction device can be supplied to the dosing device as pressure medium for dispensing the cleaning agent.
  • the object of the present invention is to provide a window cleaning robot of the type mentioned at the outset, in which user-friendly moistening of the cleaning element is made possible with regard to a better cleaning result.
  • the window cleaning robot according to the invention has at least one storage container.
  • the window cleaning robot carries a supply of cleaning liquid with it, so that the user does not have to wet the window surface and/or the cleaning element.
  • the cleaning liquid can be supplied to the at least one cleaning element via the at least one fluid line from the reservoir. Since the window cleaning robot is usually used on a vertically oriented window surface, the amount of cleaning liquid that is applied to the window surface via the at least one cleaning element is important. On the one hand, it is desirable to apply a sufficient amount to achieve a better cleaning result.
  • the window cleaning robot comprises at least one resistance element arranged on or in at least one fluid channel.
  • the resistance element which can also be referred to as a throttle element in this case, forms a resistance with which a flow of the cleaning liquid through the fluid channel to the cleaning element can be influenced, in particular inhibited and, if necessary, also completely prevented.
  • the at least one resistance element makes it possible, given a structurally relatively simple design of the cleaning device, to meter the amount of cleaning liquid supplied to the at least one cleaning element in such a way that preferably as much cleaning liquid as possible and as little as necessary is applied through the resistance area formed by the resistance element can.
  • the at least one resistance element is designed to be passive, for example without moving parts.
  • the use of at least one controllable is conceivable Valve, to simplify the construction, however, the cleaning device can preferably do without a valve on at least one fluid channel.
  • the at least one resistance element is liquid-permeable.
  • the at least one resistance element is formed separately from the at least one fluid channel and is arranged on or in it.
  • the structural design can be simplified, and depending on the requirements of the window cleaning robot, there is the possibility, for example, of providing resistance elements of different types that provide different resistances.
  • the resistance element can be arranged, for example, at an inlet or at an outlet of the fluid channel, or be positioned in it.
  • the resistance element is arranged in a form-fitting manner in the fluid channel.
  • the at least one resistance element is or forms an absorber element or filter element.
  • a cleaning function of the filter element for the cleaning liquid is possible, but not absolutely necessary.
  • the absorber element or filter element is in particular liquid-permeable, so that the flow of cleaning liquid through the at least one fluid channel is at least impeded.
  • the absorber element or filter element may have intrinsic passageways and/or a porous nature.
  • the absorber element makes it possible to take up and hold a certain amount of cleaning liquid (eg physically and/or chemically), and it can be used to a certain extent to temporarily store the cleaning liquid while forming the resistance area.
  • cleaning liquid eg physically and/or chemically
  • Cleaning fluid can from the Absorber element exit again, but is prevented by the capillary action.
  • cleaning liquid can be released from the absorber element, in particular when pressure is applied to the absorber element, as explained below. This allows targeted moistening of the cleaning element to be achieved.
  • the cleaning liquid can be temporarily absorbed by the resistance element, e.g. physically and/or chemically, and can then be released again, with the resistance element serving to a certain extent as an intermediate store for cleaning liquid.
  • the cleaning device comprises a plurality of fluid channels via which cleaning liquid can be supplied to the at least one cleaning element.
  • the fluid channels are arranged side by side along a direction of extension of the at least one cleaning element.
  • the at least one cleaning element has a longitudinal extent transverse to a main direction of movement of the window cleaning robot (this direction of extent is also referred to below as the transverse direction).
  • the fluid channels can be arranged side by side in the transverse direction, for example.
  • the fluid channels are advantageously configured identically.
  • the cleaning device comprises a plurality of resistance elements which are assigned to a respective fluid channel, the resistance elements preferably being of identical design.
  • precisely one reservoir is provided, from which the at least one cleaning element and in particular the precisely one cleaning element can flow via the plurality of fluid channels Cleaning liquid can be fed. Accordingly, it is favorable if the cleaning device includes exactly one reservoir and exactly one cleaning element. For example, several fluid channels are provided.
  • Exactly one reservoir is designed to extend longitudinally, for example, in the transverse direction of the window cleaning robot. If there are a plurality of storage containers, it can be provided that these are arranged laterally next to one another in the transverse direction.
  • the at least one cleaning element preferably extends transversely to a main direction of movement of the window cleaning robot (in the transverse direction) and is designed as a cloth or sponge.
  • the main direction of movement can also be regarded as the forward direction of the window cleaning robot, along which main direction of movement or forward direction the window cleaning robot usually travels over the window surface.
  • the main direction of movement can be oriented in any direction relative to a direction of gravity (or vertical), depending on the travel path of the window cleaning robot, in particular upwards counter to the direction of gravity, downwards in the direction of gravity, perpendicular to the direction of gravity or oblique to the direction of gravity.
  • the at least one resistance element is formed by a narrowing of the cross section of the at least one fluid channel.
  • the fluid channel including its inlet and/or its outlet, can have a narrowing of the cross section, which makes it difficult for cleaning liquid to pass through the fluid channel, in order to form a resistance area.
  • the at least one resistance element provides essentially the entire resistance to a flow of cleaning liquid through the at least one fluid channel.
  • the absorber element or filter element is designed to be elongated and is preferably aligned in a direction of progression or extension of the at least one fluid channel, in particular when arranged in the fluid channel.
  • the absorber element or filter element consists, for example, of a porous material or includes a porous material.
  • the porous texture of the absorber element or filter element allows the cleaning liquid to flow through, but opposes the flow through the fluid channel with resistance.
  • the absorber element or filter element includes passages for the cleaning liquid.
  • the passages can have a relatively small cross section, so that the passage of cleaning liquid is impeded.
  • the absorber element or filter element consists at least partially of at least one of the following: cellulose-based material, cotton or cotton-based material, fiber material (natural and/or synthetic fibers) and/or polymer material.
  • the absorber element or filter element is a tooth floss roll.
  • a dental floss roll for example made of cotton-based material, is used in dentistry to absorb saliva and coolant during drilling.
  • an absorber element or filter element proves to be advantageous for use in window cleaning robots.
  • the absorber element or filter element is a cigarette filter, for example, which consists of cellulose-based material, for example.
  • the window cleaning robot has a pump unit for conveying a gas, for example air, and for providing a pressure difference across the at least one resistance element such that when the pressure difference is present, cleaning liquid flows through the at least one fluid channel, with the at least one resistance element favorably having sufficient resistance provides that the cleaning liquid, in the absence of the pressure difference, on flowing through the at least a fluid channel is prevented.
  • a pressure difference can be provided with the pump assembly, as a result of which different pressures occur in particular on different sides (upstream and downstream) of the at least one resistance element and the pressure on the upstream side is higher than on the downstream side.
  • the cleaning liquid can flow through the at least one fluid channel, so that under the action of the pump unit, the inhibiting effect of the resistance element is overcome in such a way that a minimum amount or advantageously a desired amount of cleaning liquid is supplied to the at least one cleaning element.
  • the at least one fluid channel is preferably not flowed through by the at least one cleaning liquid in the absence of the pressure difference, under the effect of the resistance element.
  • cleaning liquid can be "collected" on the at least one resistance element, for example in the absence of the pressure difference, for example by being absorbed in the absorber element. If the pressure difference occurs across the resistance element, the cleaning liquid is pumped through the at least one fluid channel and the at least one cleaning element supplied, for example by cleaning liquid dissolves from the absorber element.
  • the at least one resistance element provides sufficient resistance that the cleaning liquid, in the absence of the pressure difference, is prevented from flowing through the at least one fluid channel regardless of the orientation of the window cleaning robot relative to a direction of gravity. This makes it possible to prevent the at least one storage container from leaking out unintentionally, for example when the window cleaning robot is positioned on the contact side on a horizontal installation surface, for example that of a table.
  • the at least one cleaning element can also be moistened when the window cleaning robot is positioned horizontally.
  • the window cleaning robot advantageously includes a control device for controlling the pump unit.
  • the pump unit can preferably be controlled in order to provide a discrete pressure difference across the at least one resistance element.
  • pressure differences can be provided by the pump unit at intervals of approximately one second, with a respective pressure surge being able to last approximately 10 ms to 50 ms, for example. Provision can be made for an operator to be able to set the intervals and/or the duration of the pressure surges in order to ensure optimal moistening of the at least one cleaning element.
  • the pump unit can be acted upon continuously in order to provide the pressure difference.
  • the pump assembly is in fluid connection with the at least one storage container via at least one fluid line and if an overpressure can be generated in the at least one storage container by means of the pump assembly.
  • the pump assembly is in fluid communication with the at least one reservoir, for example via at least one hose line.
  • the interior of the reservoir can be subjected to excess pressure, as a result of which a pressure difference arises across the at least one resistance element.
  • cleaning liquid can be pumped through the fluid line, cleaning liquid for example being released from the absorber element, as has been described above.
  • the window cleaning robot includes a fastening device. It is favorable if the fastening device comprises an absorbent body and if the pump unit is part of the Fastening device of the window cleaning robot is, for example, for applying negative pressure to the suction body.
  • the pump unit can evacuate a space between the suction body and the window surface or cause the suction body to deform so that the window cleaning robot can adhere to the window surface.
  • the control device is in an operative connection with in particular at least one valve in order to selectively bring the pump unit into fluid connection with the suction body.
  • the suction body is used to secure the window cleaning robot on the window surface, apart from the normal cleaning operation, during which the window cleaning robot moves over the window surface.
  • the control device can actuate the at least one valve in order to "suck firmly" onto the window surface.
  • the at least one valve to the suction body is closed, for example, as a result of which the pump unit can provide the pressure difference across the at least one resistance element, as mentioned above.
  • a valve is not required and can be omitted.
  • a diaphragm pump for example, is suitable as a suitable pump unit for the above-mentioned purpose, the suction side of which can be connected to the suction body and the pressure side of which can be connected, for example, to the at least one reservoir. If only discrete pressure surges are delivered to provide the pressure difference, this can be sufficient to moisten the cleaning element, with the suction body not yet being activated.
  • the use of the pump unit of the fastening device allows a structural simplification of the window cleaning robot.
  • a separate pump unit for pressurizing the cleaning device is not required.
  • the at least one fluid channel has at least one feed section, via which cleaning liquid enters the at least one fluid channel, and a discharge section arranged at an angle to the at least one feed section, via which the cleaning liquid is discharged in the direction of the at least one cleaning element can be guided, wherein the at least one feed section and the discharge section are aligned at an angle to one another.
  • the angle between the at least one feed section and the discharge section can be approximately 90°, for example.
  • the at least one feed section is favorably aligned parallel or substantially parallel to the contact plane of the window cleaning robot defined on the contact side.
  • the above-mentioned contact plane defined by the window cleaning robot can coincide with the plane defined by the window surface.
  • the at least one feed section preferably runs parallel to the contact plane.
  • the dispensing section is preferably oriented transversely or substantially transversely to the plane of contact.
  • the at least one resistance element in particular the absorber element or filter element, is arranged in the discharge section.
  • cleaning liquid can be supplied via the at least one feed section and pumped through the at least one resistance element in the direction of the at least one cleaning element under the action of the pump unit.
  • the at least one resistance element can advantageously be wetted in particular and is suitable for absorbing and holding a certain amount of cleaning liquid.
  • a drop of cleaning liquid can form, which detaches itself from the resistance element and moistens the at least one cleaning element.
  • the at least one feed section is arranged in the at least one storage container or engages in it in such a way that the at least one feed section is arranged at a distance from a bottom wall of the at least one storage container when the window cleaning robot is oriented with the contact side vertically downwards. This reduces the probability that cleaning liquid contained in the reservoir will enter the at least one feed section.
  • the window cleaning robot for example on a horizontal installation surface, the unintentional escape of cleaning liquid is largely avoided.
  • the spacing of the feed section relative to the bottom wall can correspondingly limit the entry of cleaning liquid into the at least one fluid line.
  • the at least one feed section is preferably aligned in a main direction of movement of the window cleaning robot or counter to the main direction of movement.
  • the at least one feed section can be aligned with at least one directional component in or against the main direction of movement, with an inlet opening of the at least one feed section preferably being arranged on its end face.
  • the orientation ensures that cleaning liquid enters the fluid channel depending on the direction of movement of the window cleaning robot.
  • the loading of the at least one fluid channel with cleaning fluid changes. In practice, this proves to be advantageous in order to be able to better meter the quantity of cleaning liquid that is supplied to the at least one cleaning element.
  • two feed sections are provided which are aligned at an angle to one another and open into the discharge section.
  • the two feed sections advantageously define a common plane, which can in particular run parallel to the contact plane.
  • the provision of two feed sections proves to be advantageous in practice.
  • Cleaning liquid can enter the fluid channel via a feed section, and air can escape from the feed channel via the other feed section in order to produce the pressure equalization. This proves to be favorable in order to ensure reliable moistening of the at least one cleaning element.
  • the angle between the feed sections is advantageously less than 180° and suitably less than about 90°.
  • the angle between the feed sections can be, for example, approximately 60° to 90°, preferably approximately 70° to 80°. In this case, the angle between the feed sections is considered in particular to be the smaller angle formed between them.
  • the feed sections are arranged in such a way that a bisector of the angle between the feed sections is aligned in a main direction of movement of the window cleaning robot or counter to the main direction of movement.
  • the at least one resistance element in particular the absorber element or filter element, advantageously protrudes into one another in an opening area of the feed sections. This proves to be advantageous, for example, for the humidification of the absorber element or filter element.
  • cleaning liquid is supplied to the at least one cleaning element through the at least one fluid channel, preferably depending on the direction of travel of the window cleaning robot with respect to the direction of gravity, for example depending on whether the window cleaning robot moves against or in the direction of gravity.
  • a window cleaning robot of the type mentioned at the outset which comprises at least one reservoir for cleaning liquid and at least one fluid channel, via which cleaning liquid can be supplied from the at least one reservoir to the at least one cleaning element to moisten it
  • a supply of cleaning liquid to the at least one cleaning element through the at least one fluid channel depending on the direction of travel of the window cleaning robot with respect to the direction of gravity.
  • cleaning liquid enters the at least one fluid channel as a function of a change in the direction of travel of the window cleaning robot.
  • a window cleaning robot of the type mentioned at the outset which comprises at least one reservoir for cleaning liquid and at least one fluid channel, via which cleaning liquid can be supplied from the at least one reservoir to the at least one cleaning element to moisten it, provision can be made for cleaning liquid to enter the at least one fluid channel takes place depending on a change in the direction of travel of the window cleaning robot.
  • the cleaning device comprises two or more fluid channels and if at least one partition wall is arranged between adjacent fluid channels in the at least one reservoir and partially separates spatial areas in the at least one reservoir from one another, with cleaning liquid flowing past the at least one partition wall from one spatial area can flow into a further spatial area and can flow along the at least one partition wall in the direction of an inlet opening of at least one fluid channel.
  • This makes it possible, for example, to conduct cleaning fluid along the partition wall in the direction of the fluid channel when the window cleaning robot changes direction (e.g. left turn and/or right turn), especially when the storage container extends in the transverse direction.
  • the spatial areas are nevertheless in flow connection with one another, so that advantageously as even a distribution of cleaning liquid as possible in the reservoir can be ensured.
  • the at least one reservoir has a longitudinal extension and a central area with respect to this, ie in particular a central spatial area if at least two fluid channels are provided opposite one another laterally next to the central area, and if a respective partition wall is arranged between the central area and a fluid channel positioned immediately next to it. This makes it possible to ensure that the fluid channels on the side next to the middle area can still be supplied with sufficient cleaning liquid when cleaning liquid is used up during operation of the window cleaning robot and its level in the reservoir drops.
  • the at least one fluid channel comprises at least one nozzle element forming its outlet with at least one outlet opening for cleaning liquid. It proves to be advantageous if the resistance element, in particular the absorber element or filter element, is fixed on the fluid channel or in the fluid channel by means of the nozzle element.
  • the cleaning device favorably comprises a cleaning element holding part, on which the cleaning element is preferably detachably fixed.
  • the cleaning member is fixed to the cleaning member holding part with Velcro.
  • the cleaning element can be detached from the cleaning element holding part for cleaning or replacement.
  • the cleaning element holding part can be held directly or indirectly, for example via a connecting part, on the at least one reservoir.
  • the cleaning element holding part or the connecting part is suspended via preferably elastically deformable elements which are arranged, for example, on opposite end sides of the cleaning element holding part or connecting part.
  • the cleaning element holding part is directly or indirectly resiliently mounted relative to the at least one storage container.
  • Spring elements are provided, for example, which act on the cleaning element holding part with a force directed onto the window surface.
  • an outlet of the at least one fluid channel, in particular the nozzle element is directed towards at least one drip element of the cleaning element holding part on its side facing away from the cleaning element.
  • cleaning liquid emerging from the fluid channel does not directly wet the at least one cleaning element, but first reaches the at least one dripping element.
  • the dripping element is arranged, for example, at a distance from the fluid channel.
  • the cleaning liquid can be distributed on the drip element in order to ensure a more uniform moistening of the at least one cleaning element.
  • At least one passage opening for cleaning liquid is preferably formed in the cleaning element holding part on an edge of the at least one dripping element. The cleaning liquid reaches the cleaning element holding part through the at least one passage opening.
  • the cleaning means includes driving means for vibrating the cleaning member holding part.
  • a drive motor can be provided, for example, which is coupled to the cleaning element holding part via an eccentric element and causes it to vibrate.
  • the drive motor is fixed, for example, on at least one reservoir.
  • the cleaning device advantageously forms a structural unit which comprises the at least one reservoir and which is preferably movably held on a housing of the window cleaning robot.
  • the structural unit can be slidably mounted on the housing, it being possible for the structural unit to be slidable in particular in the transverse direction of the window cleaning robot.
  • the cleaning device comprises at least one stripping element for stripping downstream of the at least one cleaning element, based on a main direction of movement of the window cleaning robot of cleaning liquid from the window surface.
  • the pull-off element is designed, for example, as a pull-off lip.
  • the window cleaning robot includes a sensor device, by means of which the moisture content of the cleaning element can be determined.
  • a sensor device by means of which the moisture content of the cleaning element can be determined.
  • two electrodes are provided which contact the at least one cleaning element.
  • determining a voltage difference or a current flow it can be determined whether the cleaning element is sufficiently moistened. If this is not the case, the user can be provided with a relevant notification on a notification unit of the window cleaning robot, for example.
  • the window cleaning robot includes a sensor device, by means of which a filling level of cleaning liquid in the at least one reservoir can be determined.
  • a sensor device by means of which a filling level of cleaning liquid in the at least one reservoir can be determined.
  • the window cleaning robot is used with a docking station, via which the at least one reservoir can be filled with cleaning liquid.
  • the sensor device can be used to determine that the reservoir is sufficiently filled. The filling process can then be terminated.
  • the at least one resistance element is advantageously arranged on the cleaning device in an exchangeable manner. This gives the possibility, for example, of replacing the resistance element when it is worn or of changing the wetting properties for the at least one cleaning element by replacing the resistance element.
  • the resistance range provided by the at least one resistance element can be viewed in particular as a high-impedance range.
  • the figures 1 and 2 show an advantageous embodiment of a window cleaning robot according to the invention, designated overall by the reference numeral 10, hereinafter robot 10.
  • the robot 10 is designed to be self-propelled and self-steering and enables the autonomous cleaning of a window surface of a window not shown in the drawing.
  • the robot 10 is therefore usually used to clean a vertically oriented window surface.
  • the robot 10 includes a housing 12 which houses an attachment device 14 for adhering to the window surface, a drive device 16 for moving over the window surface, a control device 18, a pump unit 20 and a first cleaning device 22 .
  • the configuration of the robot 10 as far as the sticking to the window surface, the method and the function of the first cleaning device 22 is concerned is, for example, in detail in FIG EP 3 181 027 A1 described.
  • the drive device 16, the control device 18, the pump unit 20 and the first cleaning device 22 reference is made to the above publication. The functionality of the components described above is only briefly outlined.
  • the fastening device 14 of which the pump unit 20 is a component, serves on the one hand to ensure that the robot 10 adheres to the window surface during the cleaning movement.
  • the fastening device 14 comprises a sealing element 24 which encloses a suction chamber 26 which can be subjected to negative pressure, it being possible for the negative pressure to be provided by means of a further pump unit 28 .
  • the fastening device 14 in the present case comprises two suction bodies 30, designed as suction cups.
  • the suction bodies 30 can be subjected to negative pressure by the pump unit 20, as a result of which the robot 10 can adhere so firmly to the window surface that it does not detach itself from it for a longer period of time, for example several hours.
  • the robot 10 For locomotion, the robot 10 includes the drive device 16, which can include drive wheels 32 and castors 34, for example. During the cleaning movement, the robot 10 usually moves along a main movement direction H.
  • the main movement direction H is a forward direction of the robot 10 and runs in its longitudinal direction.
  • a transverse direction Q of the robot 10 is aligned transversely to the main direction of movement H ( figures 1 and 2 ).
  • the robot 10 has a front side 36 and a rear side 38, these details relating to the main direction of movement H.
  • the robot 10 can have a navigation device 40 which, like the fastening device 14 and the drive device 16, is operatively connected to the control device 18 ( figure 3 ).
  • the robot 10 includes a device 42 for providing electrical energy, which can include, for example, at least one preferably rechargeable battery.
  • a device 42 for providing electrical energy can include, for example, at least one preferably rechargeable battery.
  • the presence of a power cord is also conceivable.
  • the device 42 is coupled to the control device 18, as is an operating and notification device 44 for an operator.
  • the first cleaning device 22 and the second cleaning device 46 explained below are part of a cleaning system 48 which is coupled to the control device 18 .
  • the first cleaning device 22 includes a cleaning roller 50 which is aligned in the transverse direction Q and is arranged near the front side 36 . Dirt on the window surface can be removed with cleaning elements of the cleaning roller 50, for example cleaning bristles.
  • the robot 10 has a contact side 52 which, when used as intended, faces the window surface to be cleaned.
  • figure 2 Figure 12 shows the robot 10 looking at the contact face 52.
  • the robot defines a contact plane 54 which, when attached to the window face, is coincident with the plane defined thereby.
  • the figures 5 and 10 to 12 schematically show the position of the contact plane 54 when the robot 10 is used as intended.
  • the second cleaning device 46 enables it to be wet cleaned.
  • the first cleaning device 22 is positioned in front of the second cleaning device 46 so that areas of the window surface to be cleaned are first covered by the first cleaning device 22 and then by the second cleaning device 46 .
  • the second cleaning device 46 is arranged on the rear side 38, or it defines the rear side 38 through its position on the housing 12.
  • the window cleaning robot 10 comprises at least one reservoir for a cleaning liquid, at least one moistenable cleaning element and at least one fluid channel, via which the cleaning liquid from the at least one reservoir can be supplied to the at least one cleaning element in order to moisten it.
  • the cleaning device 46 comprises a reservoir 56, a cleaning element 58 and six fluid channels 60, in which case the respective number of these components could also be different.
  • the cleaning device 46 is designed to extend longitudinally in the transverse direction Q and has a housing 62 that extends in the transverse direction Q, the extension of which in the longitudinal direction of the robot 10 is significantly less than in the transverse direction Q. Accordingly, in the cleaning device 46, the reservoir 56 and the Cleaning element 58 has an extension in the transverse direction Q.
  • the housing 62 is held movably on the housing 12 of the robot 10 and is preferably mounted so that it can be displaced in the transverse direction Q. This improves the capabilities of the robot 10 for cleaning near edges, for example on window frames.
  • the reservoir 56 with an interior space 64 is formed in the housing 62 .
  • a lower wall 66, an upper wall 68 and a peripheral side wall 70 of the housing 62 delimit the reservoir 56.
  • This position or orientation information relates to the assumption that the robot 10 is aligned with the contact side 52 perpendicular to the direction of gravity and serves to To facilitate understanding of the invention based on the present description and the drawing. It is understood that when the robot 10 is used on a vertically oriented window surface, the "bottom” and “top” properties for the walls 66, 68 and “side wall” for the wall 70 do not correspond to the actual orientation with respect to a direction of gravity because these depend on the direction of travel of the robot 10.
  • the lower wall 66 which forms a bottom wall of the reservoir 56 in the context of the present explanation, has a smaller distance to the contact plane 54 than the upper wall 68.
  • the side wall 70 runs in sections transversely to the contact plane 54 ( figure 5 ).
  • a recess 72 is formed on the housing 62 on the side of the lower wall 66 facing away from the interior space 64 .
  • the recess 72 extends over its entire length along the transverse direction Q and is delimited in the longitudinal direction of the robot 10 by extensions of the side wall 70 .
  • a cleaning element holding part 74 (hereinafter holding part 74) and a connecting part 76 are accommodated, each of which extends substantially over the entire length of the housing 62 in the transverse direction Q.
  • the holding part 74 serves to hold the cleaning element 58, which in the present case is designed in the form of a cloth.
  • the cleaning element 58 can be releasably fixed to the holding part 74, for example by means of a Velcro fastener. This gives the possibility of removing the cleaning element 58 for cleaning or replacing it with a different type of cleaning element, for example to adapt to the window surface.
  • the holding part 74 and the connecting part 76 are connected to one another, in the present case, for example, by latching.
  • Passage areas 78 of the holding part 74 and 80 of the connecting part 76 are in each case aligned with one another.
  • the passage areas 78, 80 are each designed like a dome.
  • the number of passage areas 78 corresponds to that of the fluid channels 60; accordingly, there are six passage areas 78, 80 in each case.
  • the fluid channels 60 and the passage areas 78, 80 are each arranged laterally next to one another in the transverse direction Q. In a middle area 82 of the cleaning device 46, based on the transverse direction Q, no fluid channel 60 and no passage area 78, 80 is arranged.
  • the central area 82 On the opposite sides of the central area 82 there are three fluid channels 60 and passage areas 78, 80 respectively. On each side, the fluid channels 60 on the one hand and the dome areas 78, 80 on the other hand are positioned equidistant from one another. Regarding the middle range 82, the arrangement is mirror-symmetrical with respect to a plane of symmetry perpendicular to the contact plane 54, which runs in the longitudinal direction of the robot 10. Due to the identical configuration of fluid channels 60 and passage areas 78, 80, only one of these components is discussed in each case.
  • the connecting part 76 and, via this, the holding part 74 and the cleaning element 58 are held on the housing 62 .
  • the cleaning device 46 has elastically deformable elements 86 arranged on mutually opposite end sections 84 of the connecting part 76 ( figure 10 ).
  • the connecting part 76 is fixed hanging on the housing 62 by means of the corresponding coupling elements 88 , 90 via the elements 86 . Due to the deformability of the elements 86, however, the connecting part 76 and thus the cleaning element 58 can move relative to the housing 62. In particular, the cleaning element 58 can be exposed to vibrations, as explained below, which lead to relative movement with respect to the housing 62 and improve the cleaning of the window surface.
  • the reservoir 56 can, for example, have an inlet 92 ( figures 6 and 11 ) a cleaning liquid can be supplied.
  • the cleaning liquid is, in particular, water to which a cleaning chemical can be added to increase the cleaning effect.
  • the inlet 92 can, for example, couple to a corresponding outlet of a docking station (not shown) for the robot 10 . When the robot 10 is in the docked position, cleaning liquid can flow from a reservoir of the docking station into the reservoir 56 .
  • the robot 10 has a sensor device 94 which has, for example, two electrodes 96 in the interior 64 .
  • the electrodes 96 can in particular be coupled to the control device 18, which can be part of the sensor device 94.
  • a voltage difference and/or a current flow depending on the level of the cleaning liquid in the reservoir 56 can be detected by the sensor device 94 .
  • a relevant signal can be transmitted to the docking station in order to end the filling process.
  • the fluid channel has at least one feed section.
  • two feed sections 98, 100 are provided.
  • the fluid channel 60 includes a dispensing portion 102 which is aligned with the cleaning element. An angle between the discharge section 102 and a respective feed section 98, 100 is approximately 90°.
  • the dispensing portion 102 extends through an opening 104 in the bottom wall 66 and projects into the recess 72 .
  • the dispensing section 102 reaches through an opening 106 of the passage area 80 and, in the present case, projects approximately to an opening 108 of the passage area 78 ( figure 5 ).
  • the fluid channel 60 includes a contact flange 110 for resting against the lower wall 66.
  • the release section is preferably aligned transversely and in particular perpendicularly to the contact plane 54 .
  • a resistance element 112 is accommodated in the discharge section 102 .
  • each of the fluid channels 60 is assigned a resistance element 112 .
  • the resistance element 112 is formed separately from the fluid channel 60 and is inserted into the dispensing section 102 in a form-fitting manner. It is elongated oriented along the dispensing portion 102 .
  • the resistance element 102 is a moistenable absorber element 114, which can absorb cleaning liquid and release it again. Accordingly, the absorber element 114 can become soaked with cleaning liquid. By applying a force, in particular a pressure, cleaning liquid can be released again.
  • Cleaning liquid can be absorbed by capillary action.
  • the cleaning liquid can be released from the absorber element 114 under capillary action.
  • the absorber element 114 consists of a cotton-based material.
  • a so-called dental cotton roll for the absorber element 114 which is positioned in the oral cavity during dental treatment, has proven to be advantageous.
  • the absorber element 114 protrudes beyond the dispensing section 102 in the direction of the cleaning element 58 .
  • this is not mandatory.
  • the fluid channel 60 includes a nozzle element 116 which forms an outlet 118 of the fluid channel 60 .
  • the nozzle element 116 also serves to fix the absorber element 114 to the dispensing section 102 and can be made of an elastic material for this purpose.
  • the nozzle element 116 has a plurality of outlet openings 120 which are located within the space enclosed by the passage area 78 ( figures 5 and 9 ).
  • the holding part 74 comprises a dripping element 122 in the respective passage area 78 which is arranged at a distance from the outlet openings 120 .
  • the Drip element 122 is centrally aligned with respect to dispensing portion 102 .
  • the dripping element 122 is surrounded by an essentially ring-shaped passage opening 124 which is only interrupted by means of webs (not shown) for the application of the dripping element 122 to the holding part 74 .
  • Cleaning liquid that emerges from the discharge section 102 i.e. that is discharged from the absorber element 114, passes through the outlet openings 120 to the dripping element 122 and from there through the through-opening 124 to the cleaning element 58.
  • the cleaning liquid over a large area of the cleaning element 58 distributed, especially since a plurality of fluid channels 60 is present.
  • further liquid transport can take place via the capillary effect.
  • the supply sections 98 and 100 already mentioned open out into one another at a mouth area 126 and into the discharge section 102.
  • the absorber element 114 protrudes into the mouth area 126 ( figure 8 ).
  • Cleaning liquid reaches the feed sections 98 up to the absorber element 114. It has proven to be advantageous that a respective inlet of a feed section 98, 100 is arranged at a distance from the lower wall 66. When the robot 10 is positioned with the contact side 52 vertically downward, this limits the amount of cleaning liquid that can enter the fluid channel 60 . This ensures, for example, that no cleaning liquid gets onto the cleaning element 58 when the robot 10 is positioned on a set-up surface (for example a table top).
  • the absorber element 114 provides resistance to a flow of cleaning liquid through the fluid channel 60 to the cleaning element. This proves to be advantageous for targeted moistening of the cleaning element 58 when the robot 10 is in use.
  • the present, advantageous embodiment enables a structurally simple design of the cleaning device 46 and at the same time offers the possibility of supplying the cleaning element 58 with the required quantity of cleaning liquid.
  • feed sections 98, 100 are provided.
  • An angle 128 is formed between the feed sections 98, 100, for example of approximately 80°.
  • the feed sections 98, 100 are arranged and aligned in such a way that a bisector of the angle 128 runs along the main direction of movement H ( figure 8 ).
  • the orientation of the feed sections 98, 100 can influence the amount of cleaning liquid that is fed to the fluid channel 60 depending on the direction of travel of the robot 10 with respect to the direction of gravity, with this configuration again being based on the consideration that the robot 10 is usually vertical aligned window surfaces are cleaned. For example, during a movement counter to the direction of gravity (upward in Figure 18), essentially no cleaning liquid is fed to the fluid channel 60; this takes place both in the case of a left turn and in the case of a right turn via one of the feed sections 98, 100 with pressure equalization by the respective other feed section 98 , 100.
  • partition walls are arranged in the reservoir 56, which can be formed by the housing 62, for example.
  • partition walls 130 are arranged between a respective fluid channel 60 at the end in the transverse direction Q and the fluid channel 60 positioned directly next to it ( figures 6 and 8th ).
  • the respective partition wall 130 separates spatial areas 132 of the interior space 64 from one another.
  • a respective partition 130 is designed in such a way that cleaning liquid can flow past the partition 130 from one spatial area 132 into the adjacent spatial area 132 .
  • Cleaning liquid can flow along the respective partition wall 130 in the direction of an inlet opening 134 of a feed section 98 or 100 flow.
  • the dividing wall 130 ensures that when the level of the cleaning liquid falls during the operation of the robot 10 there is a sufficient quantity of cleaning liquid in the fluid channels 60 arranged at the end to also reliably moisten the cleaning element 58 at the end.
  • a partition wall 130 is likewise arranged in each case between the middle region 82 (now viewed in the reservoir 56) and the fluid channels 60 arranged laterally next to it in the transverse direction Q. This ensures that the fluid channels 60 arranged laterally directly next to the middle region 82 are supplied with a sufficient quantity of cleaning liquid.
  • the absorber element 114 can be moistened with the cleaning liquid and forms a resistance to the flow through the fluid channel 60. For this reason, the absorber element 114 can also be referred to as a throttle element.
  • cleaning liquid can be applied in a targeted manner by generating a pressure difference across the absorber element 114 .
  • the pressure is on the upstream side of the absorber element 114 than on the downstream side.
  • the pressure difference is provided by means of a pump unit, it being advantageous in order to achieve a structurally simple configuration if the pump unit 20 of the fastening device can be used.
  • the pump assembly 20 is a membrane pump that can apply negative pressure to the suction body 30 and excess pressure to the interior 64 .
  • the pump unit 20 is flow-connected to the pump unit 20 via a connecting element 136 with a fluid line 138 connected thereto ( figures 2 and 4 ).
  • a valve 140 can be provided, which is assigned to the suction body 30 and can be controlled by the control device 18 . During the cleaning operation the valve 140 must be closed. However, a valve is not absolutely necessary.
  • the pump assembly 20 can apply gas, such as in particular air, to the interior space 64 and thereby provide an overpressure in the interior space 64 .
  • gas such as in particular air
  • the pump unit 20 is activated in particular in a discrete or pulsed manner.
  • Each pulse can last approximately 10 ms to 50 ms, for example.
  • the duration between successive pulses can be about 1 s.
  • the absorber element 114 is moistened with a suitable quantity of cleaning liquid, as explained above. Since the absorber element 114 provides resistance to flow through the fluid passage 60, cleaning fluid will not drip from the absorber element 114 in the absence of the pressure differential.
  • the activation of the pump unit 20 leads to the provision of the pressure difference across the absorber element 114, so that drops of cleaning liquid can be released from the absorber element 114 and, as explained above, can reach the cleaning element 58 via the nozzle element 116 and the drip element 122.
  • the mode of operation of the pump unit 20 can be adjusted by an operator in order to adjust the amount of cleaning liquid dispensed.
  • the above configuration enables the cleaning element 58 to be moistened as uniformly as possible, with the amount of cleaning liquid being metered in a targeted manner.
  • the cleaning device 46 comprises a drive device 142 with a drive motor 144.
  • the drive motor 144 is held, for example, on the housing 62 ( figure 11 ).
  • An eccentric element 148 is held eccentrically on a drive shaft 146 of the drive motor 144 .
  • the eccentric element 148 is arranged in a form-fitting manner in a receptacle 150 of the connecting part 76 . Under the action of the drive motor 144, the connecting part 76 and with it the holding part 74 are made to vibrate.
  • the holding part 74 is also spring-loaded in the direction of the window surface.
  • the cleaning device includes spring elements 152, designed as compression springs.
  • the spring elements 152 are supported on dome areas 154 of the housing ( figures 6 and 8th ).
  • the respectively opposite end acts on the connecting part 76 with a spring force directed towards the window area.
  • the robot 10 includes a further sensor device 156 in order to determine the moisture content of the cleaning element 58 .
  • the sensor device 156 includes electrodes 158 ( figure 9 ).
  • a voltage difference and/or a current flow between the electrodes 158 can be determined by the control device 18, which can be part of the sensor device 156. If it is determined that the cleaning element 58 is not sufficiently moist, a notification can be provided to the user, for example on the notification device 44 .
  • the cleaning device 46 Downstream of the cleaning element 58 in the main direction of movement H, the cleaning device 46 comprises a stripping element 160.
  • the stripping element 160 is configured as a stripping lip 162.
  • the stripping lip 162 extends in the transverse direction Q essentially over the entire width of the housing 62 and allows residual liquid to be removed from the strip window area.
  • figure 12 shows in one of the figure 5 corresponding manner an embodiment of a cleaning device 170, which can be used instead of the cleaning device 46 in the robot 10 according to the invention.
  • Identical reference symbols are used for features and components that are the same or have the same effect.
  • the fluid channel 60 has the discharge section 102 and only one feed section 172.
  • the discharge section 102 and the feed section 172 are oriented at an angle to one another, the angle here being slightly greater than 90° and being approximately 100°.
  • the feed section 172 is aligned, at least in terms of components, approximately parallel to the contact plane 54 and further counter to the main direction of movement H.
  • An absorber element 114 is also used as the resistance element 112, which in the present case is a cigarette filter, for example.
  • the fluid channel 60 in the cleaning device 170 is made of an elastically deformable material, for example, and is inserted into the opening 104 .
  • the nozzle element 116 at the outlet 118 is omitted, but this could also be present.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Manipulator (AREA)
  • Cleaning By Liquid Or Steam (AREA)
  • Cleaning Implements For Floors, Carpets, Furniture, Walls, And The Like (AREA)

Claims (15)

  1. Robot de nettoyage de fenêtres comprenant un dispositif de fixation (14) pour adhérer à une surface de fenêtre, un dispositif d'entraînement (16) pour le mouvement sur la surface de fenêtre, un dispositif de nettoyage (46) pour nettoyer la surface de fenêtre, où le dispositif de nettoyage (46; 170) comprend au moins un élément de nettoyage (58) qui est disposé sur un côté de contact (52) du robot de nettoyage de fenêtres (10), qui fait face à la surface de la fenêtre lors de son utilisation, au moins un récipient de stockage (56) pour le liquide de nettoyage, au moins un canal de fluide (60) par lequel le liquide de nettoyage peut être envoyé du au moins un récipient de stockage (56) au au moins un élément de nettoyage (58) pour son humidification, et au moins un élément de résistance (112) disposé sur ou dans le au moins un canal de fluide (60) pour fournir une résistance à un écoulement de liquide de nettoyage à travers le canal de fluide (60) depuis le au moins un récipient de stockage (58) jusqu'au au moins un élément de nettoyage (58), caractérisé en ce que le au moins un élément de résistance (112) est perméable aux liquides, en ce que le au moins un élément de résistance (112) est formé séparément du au moins un canal de fluide (60) et est disposé sur ou dans celui-ci et en ce que le au moins un l'élément de résistance (112) est ou forme un élément absorbeur (114).
  2. Robot de nettoyage de fenêtres selon la revendication 1, caractérisé en ce que le dispositif de nettoyage (46; 170) comprend une pluralité de canaux de fluide (60) et/ou en ce que le au moins un élément de nettoyage (58) s'étend transversalement à une direction principale de mouvement (H) du robot de nettoyage de fenêtres (10) et est réalisé sous la forme d'un chiffon ou d'une éponge.
  3. Robot de nettoyage de fenêtres selon la revendication 2, caractérisé en ce qu'au moins l'un des suivants s'applique:
    - les canaux de fluide (60) sont disposés côte à côte le long d'une direction d'extension (Q) du au moins un élément de nettoyage (58);
    - le dispositif de nettoyage (46; 170) comprend une pluralité d'éléments de résistance (112) qui sont associés à un canal de fluide (60) respectif;
    - un récipient de stockage (56) est prévu, à partir duquel du liquide de nettoyage peut être fourni au au moins un élément de nettoyage (58) et en particulier au précisément un élément de nettoyage (58) par l'intermédiaire de la pluralité de canaux de fluide (60).
  4. Robot de nettoyage de fenêtres selon l'une des revendications précédentes, caractérisé en ce qu'au moins l'un des suivants s'applique:
    - l'élément absorbeur (114) est conçu pour s'étendre en longueur et est de préférence orienté dans une direction de progression ou d'extension du au moins un canal de fluide (60);
    - l'élément absorbeur (114) consiste en un matériau poreux ou comprend un matériau poreux;
    - l'élément absorbeur (114) comprend des passages pour le liquide de nettoyage;
    - l'élément absorbeur (114) consiste au moins partiellement en un matériau à base de cellulose, en un matériau de coton ou à base de coton, en un matériau fibreux et/ou en un matériau polymère;
    - l'élément absorbeur (114) est un rouleau d'ouate dentaire ou un filtre de cigarette.
  5. Robot de nettoyage de fenêtres selon l'une des revendications précédentes, caractérisé en ce que le robot de nettoyage de fenêtres (10) comporte un groupe de pompage (20) pour transporter un gaz et pour fournir une différence de pression à travers le au moins un élément de résistance (112) de telle sorte que lorsque la différence de pression est appliquée, du liquide de nettoyage s'écoule à travers le au moins un canal de fluide (60), de préférence en ce que le au moins un élément de résistance (112) fournit une résistance suffisante pour que le liquide de nettoyage, en l'absence de la différence de pression, soit empêché de s'écouler à travers le au moins un canal de fluide (60).
  6. Robot de nettoyage de fenêtres selon la revendication 5, caractérisé en ce qu'au moins l'un des suivants s'applique:
    - le au moins un élément de résistance (112) fournit une résistance suffisante pour que le liquide de nettoyage, en l'absence de la différence de pression, soit empêché de s'écouler à travers le au moins un canal de fluide (60) indépendamment de l'orientation du robot de nettoyage de fenêtres (10) par rapport à une direction de la gravité;
    - le robot de nettoyage de fenêtres (10) présente un dispositif de commande (18) pour commander le groupe de pompage (20), et le groupe de pompage (20) peut être commandé pour fournir une différence de pression discrète ou continue;
    - le groupe de pompage (20) est en liaison fluidique avec le au moins un récipient de stockage (56) par l'intermédiaire d'au moins une conduite de fluide (138), et une surpression peut être générée dans le au moins un récipient de stockage (56) au moyen du groupe de pompage (20);
    - le dispositif de fixation (14) comprend un corps d'aspiration (30) pour fixer par aspiration le robot de nettoyage de fenêtres (10) sur la surface de fenêtre, et le groupe de pompage (20) fait partie du dispositif de fixation (14) du robot de nettoyage de fenêtres (10) pour appliquer une pression négative sur le corps d'aspiration (30), où le dispositif de commande (18) est en liaison fonctionnelle en particulier avec au moins une soupape (140) pour amener sélectivement le groupe de pompage (20) en liaison fluidique avec le corps d'aspiration (30).
  7. Robot de nettoyage de fenêtres selon l'une des revendications précédentes, caractérisé en ce que le au moins un canal de fluide (60) présente au moins une section d'alimentation (98, 100) par laquelle le liquide de nettoyage pénètre dans le au moins un canal de fluide (60), et une section de distribution (102) disposée sous un angle par rapport à la au moins une section d'alimentation (98, 100), par laquelle le liquide de nettoyage peut être guidé en direction du au moins un élément de nettoyage (58), où la au moins une section d'alimentation (98, 100) et la section de distribution (102) sont orientées sous un angle l'une par rapport à l'autre, en particulier en ce que l'angle est d'environ 90°.
  8. Robot de nettoyage de fenêtres selon la revendication 7, caractérisé en ce qu'au moins l'un des suivants s'applique:
    - la au moins une section d'alimentation (98, 100) est orientée parallèlement ou sensiblement parallèlement au plan de contact (54) du robot de nettoyage de fenêtres (10) défini sur le côté de contact (52) et/ou la section de distribution (102) est orientée transversalement ou sensiblement transversalement au plan de contact (54);
    - le au moins un élément absorbeur (114) est disposé dans la section de distribution (102);
    - la au moins une section d'alimentation (98, 100) est disposée dans le au moins un récipient de stockage (56) ou s'y engage de telle manière que la au moins une section d'alimentation (98, 100), lors de l'orientation du robot de nettoyage de fenêtres (10) avec le côté de contact (52) verticalement vers le bas, est disposée à distance d'une paroi de fond (66) du au moins un récipient de stockage (56);
    - la au moins une section d'alimentation (98, 100) est orientée dans une direction de déplacement principale (H) du robot de nettoyage de fenêtres (10) ou à l'opposé de la direction de déplacement principale (H);
    - deux sections d'alimentation (98, 100) qui sont orientées sous un angle l'une par rapport à l'autre et débouchent dans la section de distribution (102) sont prévues.
  9. Robot de nettoyage de fenêtres selon la revendication 8, caractérisé en ce qu'au moins l'un des suivants s'applique:
    - l'angle entre les sections d'alimentation (98, 100) est d'environ 60° à 90°, de préférence d'environ 70° à 80°;
    - les sections d'alimentation (98, 100) sont agencées de telle manière qu'une bissectrice de l'angle (128) entre les sections d'alimentation (98, 100) est orientée dans une direction de déplacement principale (H) du robot de nettoyage de fenêtres (10) ou à l'opposé de la direction de déplacement principale (H);
    - le au moins un élément absorbeur (114) fait saillie dans une zone d'embouchure (126) des sections d'alimentation (98, 100) l'une dans l'autre.
  10. Robot de nettoyage de fenêtres selon l'une des revendications précédentes, caractérisé en ce qu'au moins l'un des suivants s'applique:
    - un apport de liquide de nettoyage au au moins un élément de nettoyage (58) a lieu à travers le au moins un canal de fluide (60) en fonction de la direction de déplacement du robot de nettoyage de fenêtres (10) par rapport à la direction de la gravité;
    - le au moins un canal de fluide (60) est conçu de telle sorte qu'une entrée de liquide de nettoyage dans le au moins un canal de fluide (60) a lieu en fonction d'un changement de direction de déplacement du robot de nettoyage de fenêtres (10);
    - le dispositif de nettoyage (46; 170) comprend deux ou plusieurs canaux de fluide (60), et dans le au moins un récipient de stockage (56), au moins une paroi de séparation (130) est agencée entre des canaux de fluide (60) adjacents et sépare partiellement entre elles des zones spatiales (132) dans le au moins un récipient de stockage (56), où le liquide de nettoyage peut s'écouler le long de la au moins une paroi de séparation (130) d'une zone spatiale (132) dans une autre zone spatiale (132) et peut s'écouler le long de la au moins une paroi de séparation (130) en direction d'une ouverture d'entrée (134) d'au moins un canal de fluide (98, 100).
  11. Robot de nettoyage de fenêtres selon la revendication 10, caractérisé en ce que trois ou plusieurs canaux de fluide (60) disposés latéralement les uns à côté des autres le long d'une direction d'extension longitudinale (Q) du au moins un récipient de stockage (56) sont prévus, où une paroi de séparation respective (130) est disposée entre un canal de fluide (60) du côté de d'extrémité et un canal de fluide (60) positionné immédiatement à côté de celui-ci, et/ou en ce que le au moins un récipient de stockage (56) présente une extension longitudinale et une zone médiane (82) par rapport à celle-ci, en ce qu'au moins deux canaux de fluide (60) situés l'un en face de l'autre latéralement à côté de la zone médiane (82) sont prévus, où une paroi de séparation (130) respective est disposée entre la zone médiane (82) et un canal de fluide (60) positionné immédiatement à côté de celle-ci.
  12. Robot de nettoyage de fenêtres selon l'une des revendications précédentes, caractérisé en ce que le au moins un canal de fluide (60) comprend au moins un élément de buse (116) formant sa sortie (118) avec au moins une ouverture de sortie (120) pour le liquide de nettoyage et/ou le dispositif de nettoyage (46; 170) comprend une partie de support d'élément de nettoyage (74) à laquelle l'élément de nettoyage (58) peut être fixé de préférence de manière amovible.
  13. Robot de nettoyage de fenêtres selon la revendication 12, caractérisé en ce qu'au moins l'un des suivants s'applique:
    - une sortie (118) du au moins un canal de fluide (60), en particulier l'élément de buse (116), est dirigée vers au moins un élément d'égouttement (122) de la partie de support d'élément de nettoyage (74) sur son côté tourné à l'opposé de l'élément de nettoyage (58);
    - au moins une ouverture de passage (124) pour le liquide de nettoyage est formée dans la partie de support d'élément de nettoyage (74) sur un bord du au moins un élément d'égouttement (122);
    - le dispositif de nettoyage (46; 170) comprend un dispositif d'entraînement (142) pour faire vibrer la partie de support d'élément de nettoyage (74).
  14. Robot de nettoyage de fenêtres selon l'une des revendications précédentes, caractérisé en ce que le dispositif de nettoyage (46; 170) forme une unité structurelle comprenant le au moins un récipient de stockage (56), qui est maintenue de préférence mobile sur un boîtier (12) du robot de nettoyage de fenêtres (10), et/ou en ce que le dispositif de nettoyage (46; 170), par rapport à une direction de déplacement principale (H) du robot de nettoyage de fenêtres (10), comprend au moins un élément de retrait (160) situé en aval du au moins un élément de nettoyage (58) pour retirer le liquide de nettoyage de la surface de fenêtre.
  15. Robot de nettoyage de fenêtres selon l'une des revendications précédentes, caractérisé en ce qu'au moins l'un des suivants s'applique:
    - le robot de nettoyage de fenêtres (10) comprend un dispositif capteur (156), au moyen duquel l'humidité de l'élément de nettoyage (58) peut être déterminée;
    - le robot de nettoyage de fenêtres comprend un dispositif capteur (94), au moyen duquel un niveau de remplissage de liquide de nettoyage dans le au moins un récipient de stockage (56) peut être déterminé;
    - le au moins un élément de résistance (112) est disposé sur le dispositif de nettoyage (46; 170) de manière échangeable.
EP18710844.4A 2017-03-09 2018-03-09 Robot nettoyeur de vitres Active EP3592191B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB1703810.0A GB2560366A (en) 2017-03-09 2017-03-09 Improvements relating to robotic cleaning systems and robots therefor
PCT/EP2018/055953 WO2018162737A1 (fr) 2017-03-09 2018-03-09 Robot de nettoyage pour fenêtres

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EP3592191B1 true EP3592191B1 (fr) 2023-08-16
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EP18710459.1A Active EP3592189B1 (fr) 2017-03-09 2018-03-09 Améliorations en relation avec des systèmes de robots nettoyeurs et robots à cet usage
EP18710842.8A Active EP3592190B1 (fr) 2017-03-09 2018-03-09 Améliorations en relation avec des systèmes de robots nettoyeurs et robots à cet usage

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EP18710842.8A Active EP3592190B1 (fr) 2017-03-09 2018-03-09 Améliorations en relation avec des systèmes de robots nettoyeurs et robots à cet usage

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CN (3) CN110381784B (fr)
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EP3592189A1 (fr) 2020-01-15
WO2018162725A1 (fr) 2018-09-13
WO2018162737A1 (fr) 2018-09-13
CN110381784A (zh) 2019-10-25
GB201703810D0 (en) 2017-04-26
EP3592191C0 (fr) 2023-08-16
CN110381783A (zh) 2019-10-25
EP3592189B1 (fr) 2023-10-04
WO2018162733A1 (fr) 2018-09-13
CN110381784B (zh) 2022-03-25
CN110381785A (zh) 2019-10-25
CN110381785B (zh) 2021-07-27
EP3592190C0 (fr) 2023-10-04
EP3592190B1 (fr) 2023-10-04
EP3592190A1 (fr) 2020-01-15
GB2560366A (en) 2018-09-12
EP3592189C0 (fr) 2023-10-04
EP3592191A1 (fr) 2020-01-15

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