EP3974264A1 - Commande d'un appareil d'usinage pneumatique - Google Patents
Commande d'un appareil d'usinage pneumatique Download PDFInfo
- Publication number
- EP3974264A1 EP3974264A1 EP21191247.2A EP21191247A EP3974264A1 EP 3974264 A1 EP3974264 A1 EP 3974264A1 EP 21191247 A EP21191247 A EP 21191247A EP 3974264 A1 EP3974264 A1 EP 3974264A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- processing device
- user
- movement
- determined
- housing
- 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.)
- Granted
Links
- 238000003754 machining Methods 0.000 title 1
- 238000012545 processing Methods 0.000 claims abstract description 120
- 238000004140 cleaning Methods 0.000 claims abstract description 15
- 238000000034 method Methods 0.000 claims description 19
- 230000001133 acceleration Effects 0.000 claims description 13
- 125000004122 cyclic group Chemical group 0.000 claims description 10
- 230000008569 process Effects 0.000 claims description 8
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 230000008859 change Effects 0.000 description 8
- 238000004891 communication Methods 0.000 description 2
- 238000004146 energy storage Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 239000000758 substrate Substances 0.000 description 2
- 208000006820 Arthralgia Diseases 0.000 description 1
- 208000000491 Tendinopathy Diseases 0.000 description 1
- 206010043255 Tendonitis Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 201000004415 tendinitis Diseases 0.000 description 1
- 210000002435 tendon Anatomy 0.000 description 1
Images
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
- A47L5/00—Structural features of suction cleaners
- A47L5/12—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum
- A47L5/22—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum with rotary fans
- A47L5/24—Hand-supported suction cleaners
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- 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
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2857—User input or output elements for control, e.g. buttons, switches or displays
-
- 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
- A47L9/2889—Safety or protection devices or systems, e.g. for prevention of motor over-heating or for protection of the user
Definitions
- the invention relates to the control of a pneumatic processing device.
- the invention relates to the control of a multipurpose device for pneumatically cleaning a surface.
- a cordless vacuum cleaner includes a processing head with an air inlet and a housing in which a suction device is housed.
- a rigid tube through which the air stream runs extends between the processing head and the housing.
- An energy store for driving the suction device is usually located in or on the housing.
- Different additional elements can be used in the area of the processing head, for example a driven brush roller or different nozzles.
- a powerful model with a powerful suction device and an electrical energy storage device, which also allows longer operations, can have a considerable mass.
- a user can therefore tire relatively quickly when using the processing device.
- In the case of intensive, frequent or long-term use of the processing device there is a risk of excessive mechanical stress on the user. This can manifest itself, for example, in a tendonitis, sore muscles or a painful joint.
- DE 10 2018 111 484 A1 describes a vacuum cleaner with a drive unit which is able to support a user in operation.
- DE 10 2015 111 140 A1 describes approaches to support surface cleaning by determining cleaning-related information.
- a treatment device for pneumatically cleaning a surface comprises a housing with a suction device for providing an air flow; an air inlet for entering the airflow; a handle attached to the housing for a user to guide the processing device; a sensor unit for determining a user-induced movement of the processing device in space; and a processing device configured to determine whether the determined movement is indicative of excessive mechanical stress on the user.
- the load is preferably related to the user and in particular his joints, muscles or tendons and can be approximated based on actuating forces on the processing device.
- the loading can be dynamic by determining not only whether a movement or actuating force exceeds a predetermined threshold, but how often, how strong, how often it does it, or how quickly it changes.
- the actuating force is a force applied by the user that induces the movement of the processing device.
- the force can be determined at least approximately on the basis of a movement of the processing device.
- a force sensor can be provided which determines an actuation force applied by the user. It can also be determined that two or more movements or actuations of the processing device follow one another more often and/or more frequently than predetermined. If one or more of the variables mentioned exceed an assigned threshold value, the load on the user can be determined to be excessive.
- the processing device can, in particular, be designed to be wireless with an energy store, which can preferably be attached in or on the housing.
- Various other devices can be attached in the area of the air intake, for example a brush roller, a wiper, various nozzles, a beater or other active or passive elements.
- the processing device can be used in many different ways, for example for cleaning a floor, a piece of furniture or a vehicle interior and can be referred to as a multi-purpose suction device or "multi-use handstick" (MUH).
- MIMO multi-purpose suction device
- the sensor unit can include one or more sensors.
- the sensor unit can include a yaw rate sensor that is set up to determine a yaw rate or angular acceleration of the processing device. The determination can be made with respect to one, two or preferably three directions in space. In the sphere of action of the gravitational acceleration, the yaw rate sensor can be used to determine a rotational alignment of the processing device with respect to the center of the earth.
- the sensor unit can also include an acceleration sensor which is set up to determine a translational acceleration in one, two or preferably three spatial directions.
- the selected directions in space preferably correspond to those of the yaw rate sensor.
- a yaw rate sensor and an acceleration sensor can be designed to be integrated in an inertial platform (inertial measurement unit, IMU).
- the sensor unit can also include a distance sensor that is set up to determine a distance between the housing and the surface. Based on the distance, an orientation of the processing device with respect to the surface can be determined. In addition, based on the distance, conclusions can be drawn about a body size or a hand position of the user. This information can be used to improve determination of excessive mechanical stress on the user.
- a mass of the processing device acting on the handle is essentially concentrated near the handle.
- the effective mass of the processing device corresponds to that part of the total mass that has to be moved by the user. For example, if part of the processing device is lying on a base, it does not have to be lifted when an opposite end is lifted. With a horizontal Movement, however, the mass of the entire processing device must be accelerated or decelerated.
- the processing device can comprise a processing head which is connected to the housing by means of a rigid tube and/or a joint.
- the air inlet is preferably provided on the processing head and the air flow usually runs through the tube.
- the tube typically has a length of more than about 50 cm, preferably more than about 80 cm, to allow cleaning of a floor on which the user is standing while guiding the processing device by the handle.
- the processing device can be designed in the manner of a dumbbell, so that the mass is concentrated on the processing head at one end of the tube and on the housing at the other end of the tube.
- the movement is cyclic in that a predetermined movement pattern is cycled through. If a specific movement of the processing device deviates from a recognized cycle, in particular if a characteristic of the cycle is changed over time, then it can be concluded that the user is tired due to excessive stress.
- the user's load may be determined based on a decrease in a repetition rate of the movement. For example, the user can move the processing device back and forth across the surface in an oscillating motion, for example to clean a floor. If the oscillating movement slows down, the user may be mechanically overloaded.
- the user's excessive loading may be determined based on a decrease in an amplitude of the cyclic movement. If, in a continuation of the given example, a processing head of the processing device is initially moved approx. 80 cm forwards and backwards over the floor and this distance drops to approx. 60 cm over time, it can be concluded that the user is subject to excessive mechanical stress.
- the processing device can include an output device, wherein the processing device can be set up to provide an indication of a specific mechanical load or a specific excessive mechanical load on the provide user.
- a specific mechanical stress can be compared to a predetermined threshold value. In a preferred embodiment, however, no threshold value is provided, but user fatigue is determined on the basis of the movement of the processing device.
- an excessive load on the user is determined if a predetermined movement of the processing device occurs more often and/or more frequently than predetermined.
- the excessive load can also be determined if a predetermined actuation force on the processing device exceeds more times and/or more frequently than predetermined.
- the actuation force can be determined directly or determined based on the movement.
- a mathematical or physical model can be used for the determination.
- the force can be determined assuming a predetermined frictional force between the processing device and a substrate.
- a geometry, a mass and optionally a mass distribution of the processing device can be taken into account when determining the actuating force.
- the processing device can be set up to provide an indication of improved guidance of the processing device.
- the output device can, for example, be optical, acoustic or haptic.
- the notice can be given in particular if the user has been found to be tired or is imminent based on previous usage history, for example taking into account previous usage history. If, for example, it was determined during one or more usage processes that a certain movement leads to signs of fatigue in the user after around 10 minutes, a message can be issued after around 8 or 9 minutes during a current use. In this variant, the message can already be issued before the user is tired.
- the notice can include, for example, a request to change the position of the hand, to change the processing device to another hand, to perform a compensating movement or to take a break.
- the processing device is set up to provide the information as a function of the body size of the person. Due to mass and Depending on the size, the mechanical load on users of different heights can vary. In addition, different measures can be taken to avoid or reduce the load depending on the body size of the user. Height can be entered manually, for example. Alternatively, body height can be estimated based on measurements from the sensor unit. In particular, based on a distance between the housing and the surface, an approximate height of the user can be estimated.
- the processing device is set up to determine a work process carried out with the processing device and to provide the information as a function of the work process.
- Different work processes include, for example, cleaning a horizontal surface such as a floor, a raised surface such as furniture, a vertical surface such as a curtain, or working "overhead" where the air intake is higher than the housing and/or a section of the processing device from the user is held above his head. This may be necessary, for example, when vacuuming a ceiling.
- Another example operation includes cleaning a surface that is close to a substrate, such as when working under furniture such as a table or sofa.
- the output device is usually included in the processing device and can be attached in or on the housing.
- the processing device includes a wireless interface for coupling to an output device, the output device being included in the output device.
- the output device can include, for example, a mobile device such as a smartphone, a laptop or another device that is capable of communication and is in particular assigned to the user.
- a system comprises a processing device described herein and an output device with an output device.
- the output device can be optical, acoustic or haptic.
- the notice can be provided during or after a work process by the user with the editing device.
- a method for controlling a processing device for pneumatically cleaning a surface comprises steps determining a user-induced movement of the processing device in space; and determining whether the determined movement is indicative of excessive mechanical stress on the user.
- the method can be carried out partially or completely on a processing device described herein and in particular on a processing device included therein.
- the method can be in the form of a computer program product with program code means.
- Features or advantages of the method can be transferred to the processing device or vice versa.
- features or advantages of a system comprising the processing device can be transferred to the method or vice versa.
- FIG. 1 schematically shows an example system 100 that includes an output device 105 and a processing device 110 .
- the output device 105 is set up for wireless communication with another device and includes an output device 115.
- the output device 105 is shown as a smartphone by way of example.
- the processing device 110 is set up to clean a surface 120 pneumatically.
- a cordless processing device 110 is assumed, which is of essentially rigid construction, but preferably has at least one joint between processing head 165 and tube 175 .
- the processing device 110 includes a housing 125 with a suction device 130 for providing an air flow 135, an energy store 140, a handle 145, a control or processing device 150, an output device 155 and a sensor unit 160. It should be noted that in others than the illustrated embodiment not all of the components mentioned must be provided at the location shown. In particular, embodiments are also conceivable in which individual elements can be attached to one another so that they do not necessarily have to be in direct contact with the housing 125 .
- a processing head 165 is provided which has an air inlet 170 thereon and which is attached to the housing 125 by means of a hinge and the rigid connecting tube 175 .
- the sensor unit 160 includes one or more sensors that provide signals on the basis of which a movement or an acceleration of the processing device 110 can be determined.
- a multi-axis acceleration sensor and a multi-axis yaw rate sensor can be provided.
- a distance sensor can be provided, which is set up to determine a distance from the surface 120, in particular a floor.
- the distance sensor is preferably attached as close as possible to the yaw rate or acceleration sensor and is more preferably located on one of the spatial axes with respect to which an acceleration or rotation is determined.
- a distance between the sensor unit 160 and the surface 120 is in figure 1 marked with d.
- figure 2 shows a flowchart of a method 200 for controlling a processing device 110.
- a step 205 an acceleration of the processing device 110 can be detected.
- a rotation rate of the processing device 110 can be determined concurrently or in parallel.
- a height of the processing device 110 above a subsurface, in particular a surface 120 to be cleaned or a floor, can also be determined in a step 215 concurrently or parallel to this.
- the determinations of steps 205, 210 and 215 preferably relate to a common, predetermined point or section of the processing device 110. This section is more preferably in the area of the handle 145 and usually closer to the handle 145 than to the air inlet 170.
- a movement of the processing device 110 can be determined in a step 220 on the basis of one or more of the detected sensor values.
- a recurring cycle can be found, which is induced by the user.
- the determined movement can be extracted from the overall movement. If the processing device 110 is moved forwards and backwards by a user, for example in such a way that the processing head 165 is guided in an oscillating manner over a floor, while the user simultaneously moves slowly sideways, forwards or backwards with the processing device 110, the oscillating movement can be extracted and of a movement representing work progress.
- a change in a movement parameter of the cyclic movement can be determined.
- the cyclic movement has a period, in which case an extension of the period can more preferably be determined.
- the cyclic movement can have an amplitude, in which case a reduction in the amplitude can more preferably be determined.
- an operation may be determined in a step 230.
- the operation indicates the use of the processing device 110 and usually indicates an object that is cleaned with the processing device 110 .
- An exemplary operation includes cleaning a floor, another cleaning an upholstered furniture.
- a body height of a user guiding the processing device 110 can be determined on the basis of the determined movement or the cyclic component of the movement.
- the body height can be determined on the basis of a distance of the handle 145 from a floor. This can be done in particular when it has been determined that the operation being carried out involves cleaning a floor.
- the distance of the handle 145 from the floor 120 can be determined on the basis of a distance of the sensor unit 160 from the floor 120, a location of the processing device 110 in space and a geometric position of the handle 145 with respect to the sensor unit 160 (cf. representation of figure 1 ).
- a step 240 on the basis of the change in a movement parameter determined in step 225, it can be determined whether there is an indication of physical fatigue on the part of the user.
- the fatigue can be indicative of excessive mechanical load when guiding the processing device 110 can be determined.
- a step 245 may provide an indication.
- the notice may include a warning about overload or advice.
- the advice may relate to the use or handling of the processing device 110 .
- the work process determined in step 230 and/or the height of the user determined in step 235 can be used.
- figure 3 shows an exemplary course 300 of a location coordinate of a processing device 110 with respect to a spatial axis.
- the selected spatial axis corresponds to an example of an in figure 1 direction denoted by z.
- a time in milliseconds is shown in the horizontal direction and an angle in degrees around a predetermined spatial axis in the vertical direction.
- the representation relates to a processing operation in which a floor is processed by a person standing on it using a processing device 110 .
- an angle of rotation of the processing device 110 about the z-axis is changed cyclically during a time segment of the processing operation of approximately 20 seconds.
- the cycle has a period of about 2 seconds and an amplitude of about 15 to 20 degrees.
- an absolute change in one of these parameters or a predetermined rate of change can be determined. For example, if the parameters remain essentially unchanged over a predetermined time and then change by more than a relative amount and/or faster than a predetermined speed, it can be assumed that the user is tired.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Electric Vacuum Cleaner (AREA)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102020212046.3A DE102020212046B4 (de) | 2020-09-24 | 2020-09-24 | Steuerung eines pneumatischen Bearbeitungsgeräts |
Publications (2)
Publication Number | Publication Date |
---|---|
EP3974264A1 true EP3974264A1 (fr) | 2022-03-30 |
EP3974264B1 EP3974264B1 (fr) | 2023-07-19 |
Family
ID=77338539
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP21191247.2A Active EP3974264B1 (fr) | 2020-09-24 | 2021-08-13 | Commande d'un appareil d'usinage pneumatique |
Country Status (2)
Country | Link |
---|---|
EP (1) | EP3974264B1 (fr) |
DE (1) | DE102020212046B4 (fr) |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20070084613A1 (en) * | 2004-10-20 | 2007-04-19 | Qiang Zhang | Power tool anti-kickback system with rotational rate sensor |
US20120060322A1 (en) * | 2010-09-10 | 2012-03-15 | Simonelli David J | Method and apparatus for assisting pivot motion of a handle in a floor treatment device |
DE102015108464A1 (de) * | 2015-05-28 | 2016-12-01 | Vorwerk & Co. Interholding Gmbh | Verfahren zum Betrieb eines elektromotorisch angetriebenen Gerätes |
DE102015111140A1 (de) | 2015-07-09 | 2017-01-12 | Khs Gmbh | Positionier-, Halte- und/oder Führungssystem für Behälter, Behältertransporteur und Behälterbehandlungsmaschine |
GB2554780A (en) * | 2016-10-10 | 2018-04-11 | Conta Sro | Vacuum cleaner |
DE102018111484A1 (de) | 2018-05-14 | 2019-11-14 | Vorwerk & Co. Interholding Gmbh | Staubsauger sowie Verfahren zum Betreiben eines Staubsaugers |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102015110140A1 (de) | 2015-06-24 | 2016-12-29 | Vorwerk & Co. Interholding Gmbh | Unterstützung einer Oberflächenreinigung |
-
2020
- 2020-09-24 DE DE102020212046.3A patent/DE102020212046B4/de active Active
-
2021
- 2021-08-13 EP EP21191247.2A patent/EP3974264B1/fr active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20070084613A1 (en) * | 2004-10-20 | 2007-04-19 | Qiang Zhang | Power tool anti-kickback system with rotational rate sensor |
US20120060322A1 (en) * | 2010-09-10 | 2012-03-15 | Simonelli David J | Method and apparatus for assisting pivot motion of a handle in a floor treatment device |
DE102015108464A1 (de) * | 2015-05-28 | 2016-12-01 | Vorwerk & Co. Interholding Gmbh | Verfahren zum Betrieb eines elektromotorisch angetriebenen Gerätes |
DE102015111140A1 (de) | 2015-07-09 | 2017-01-12 | Khs Gmbh | Positionier-, Halte- und/oder Führungssystem für Behälter, Behältertransporteur und Behälterbehandlungsmaschine |
GB2554780A (en) * | 2016-10-10 | 2018-04-11 | Conta Sro | Vacuum cleaner |
DE102018111484A1 (de) | 2018-05-14 | 2019-11-14 | Vorwerk & Co. Interholding Gmbh | Staubsauger sowie Verfahren zum Betreiben eines Staubsaugers |
Also Published As
Publication number | Publication date |
---|---|
DE102020212046A1 (de) | 2022-03-24 |
DE102020212046B4 (de) | 2023-06-22 |
EP3974264B1 (fr) | 2023-07-19 |
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