EP4064951B1 - Reinigungsroboter und reinigungssystem - Google Patents

Reinigungsroboter und reinigungssystem Download PDF

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Publication number
EP4064951B1
EP4064951B1 EP20747362.0A EP20747362A EP4064951B1 EP 4064951 B1 EP4064951 B1 EP 4064951B1 EP 20747362 A EP20747362 A EP 20747362A EP 4064951 B1 EP4064951 B1 EP 4064951B1
Authority
EP
European Patent Office
Prior art keywords
cleaning
mop
cleaning robot
covers
receiving unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP20747362.0A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP4064951C0 (de
EP4064951A1 (de
Inventor
Norbert Weis
Marc Heiland
Christian Stenglein
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.)
Carl Freudenberg KG
Original Assignee
Carl Freudenberg 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 Carl Freudenberg KG filed Critical Carl Freudenberg KG
Publication of EP4064951A1 publication Critical patent/EP4064951A1/de
Application granted granted Critical
Publication of EP4064951C0 publication Critical patent/EP4064951C0/de
Publication of EP4064951B1 publication Critical patent/EP4064951B1/de
Active legal-status Critical Current
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
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • 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
    • A47L11/02—Floor surfacing or polishing machines
    • A47L11/10—Floor surfacing or polishing machines motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
    • 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
    • A47L2201/028—Refurbishing floor engaging tools, e.g. cleaning of beating brushes

Definitions

  • the invention relates to a cleaning robot comprising a base body, a drive device, and a cleaning device.
  • the cleaning device is equipped for wet cleaning floors to be cleaned.
  • a receiving unit for a mop cover is assigned to the base body on the side facing the floor to be cleaned.
  • a mop cover is attached to the receiving unit for wet cleaning.
  • the invention further relates to a cleaning system comprising a cleaning robot and a base station.
  • Robots that are trained for wet cleaning are, for example, from the EP 3 482 669 A1 known.
  • a cleaning element can be placed on the floor to be cleaned and then removed from the floor to be cleaned.
  • the cleaning element is firmly connected to the cleaning robot.
  • the disadvantage here is that the area coverage of such a cleaning robot is limited, as dirt accumulates on the cleaning element, which must be removed from time to time. However, this requires interrupting the cleaning robot's cleaning work and manually removing the dirt from the cleaning element.
  • the invention is based on the object of providing a cleaning robot for wet cleaning which has a higher area performance.
  • the cleaning robot is equipped to automatically replace the mop cover attached to the receiving unit with another mop cover.
  • the mop cover is detachably attached to the receiving unit, and the cleaning robot is equipped to automatically replace the mop cover without the assistance of an operator. If a larger area needs to be cleaned, it is conceivable that the surface coverage of a single mop cover may not be sufficient.
  • the inventive design allows the cleaning robot to replace a worn mop cover with a new one during cleaning. This enables the cleaning robot to achieve a higher surface coverage and, in particular, to completely clean larger areas.
  • the mop covers are attached to the receiving unit by a fixing device.
  • the fixing device can consist, for example, of magnets attached to the mop cover and the receiving unit. It is also conceivable for the mop cover to be attached to the receiving unit by means of a hook-and-loop fastener.
  • the receiving unit is designed to be movably mounted beneath the base body and retracts into the base body to remove the mop cover. The mop cover is then removed from the receiving unit and can be replaced.
  • a first storage unit for storing mop covers can be assigned to the base body.
  • the first storage unit is equipped to hold multiple mop covers and feed them to the receiving unit as required.
  • the first storage unit can be equipped to hold five unused mop covers.
  • the mop covers stored in the first storage unit can be provided with a cleaning agent.
  • the mop covers are stored in the first storage unit pre-moistened and prepared for cleaning.
  • the mop covers stored in this way are immediately ready for wet cleaning after being fed to the receiving unit.
  • a second storage unit for storing used mop covers can be assigned to the base body. If a used mop cover is replaced with a new one during cleaning, a new mop cover is removed from the first storage unit and the used mop cover is transferred to the second storage unit.
  • the mop covers can be reusable. Such mop covers are preferably made of a textile fabric.
  • the mop covers are preferably machine washable, allowing hygienic cleaning of the mop covers in a washing machine.
  • the mop covers can be designed as disposable items.
  • the disposable items can be designed as disposable wipes.
  • the disposable items are pre-moistened with a cleaning agent and stored in a box.
  • the box contains a represents a sales unit and that the box with the mop covers arranged therein can be purchased by the user as a unit.
  • the box could serve as the storage unit, allowing the box and the mop covers stored therein to be placed directly into the base of the cleaning robot. This makes handling particularly easy.
  • the mop covers can be made of a textile material, making them reusable. It is particularly advantageous if the mop covers are machine washable. This design also reduces the amount of waste.
  • a transport device can be assigned to the base body, which transports mop covers from the storage unit to the receiving unit and/or from the receiving unit to the second storage unit.
  • the transport device can, for example, comprise a gear arrangement or a belt drive or the like.
  • the mop covers are preferably held in a form-fitting manner on the receiving unit.
  • the mop covers can be provided with an arrangement of perforations on opposing edges, for example in the form of a perforated strip pattern.
  • the perforations engage with elevations assigned to the receiving unit, for example, gear-like projections. This allows the mop cover to be securely held on the receiving unit.
  • the transport unit it is conceivable for the transport unit to engage with the form-fitting elements and transport the mop cover from the first storage unit to the receiving unit and/or from the receiving unit to the second storage unit.
  • the mop cover can be equipped with a stiffener. This can be made from the textile strips assigned to the edges of the mop cover or
  • Plastic strips are used. The stiffening results in a dimensionally stable mop cover.
  • the cleaning system for solving the problem comprises a cleaning robot as described above and a base station, wherein the base station is equipped to receive a first supply of mop covers.
  • Base stations for cleaning robots are well known.
  • the base station is used to charge the batteries of the cleaning robot's electric drive.
  • the cleaning robot can drive to the base station automatically.
  • the base station is further provided with a first supply unit in which mop covers are stored.
  • the cleaning robot can automatically pick up one or more mop covers from the base station. If the cleaning robot is equipped to pick up only one mop cover, it is fed directly to the pick-up unit. If the cleaning robot is equipped to pick up multiple mop covers, they are fed to the cleaning robot's storage unit.
  • the base station can be equipped with a second supply for used mop covers.
  • the cleaning robot it is conceivable for the cleaning robot to be equipped with only a single mop cover, which is located on the receiving unit, with the cleaning robot driving to the base station to replace the mop cover.
  • the mop cover can be transferred directly from the receiving unit to the second supply.
  • the cleaning robot is equipped to feed used mop covers temporarily stored in a second storage unit to the second supply of the base station.
  • the base station can have a pretreatment device for pretreating the mop covers.
  • the base station can be equipped with a fresh water connection and/or a waste water connection.
  • the base station is equipped with a pretreatment device, the mop covers can be stored untreated, i.e. dry, in the first storage area.
  • the pretreatment device pretreats the mop covers.
  • the mop covers arranged in the first storage area can also be pretreated.
  • the mop covers are preferably provided with a suitable cleaning agent. It is conceivable that a cleaning agent tailored to the upcoming cleaning task is applied to the mop cover. For example, a cleaning agent suitable for natural stone or a cleaning agent suitable for wooden floors can be applied to the mop cover as needed. Furthermore, it is conceivable to apply fragrances or care products to the mop covers.
  • the dosage and selection of cleaning agents or care products can depend on automatic recognition of the cleaning task at hand, the floor to be cleaned, or a predefined assignment of a floor area or room to be cleaned.
  • the cleaning robot can be equipped with a room recognition device.
  • the cleaning robot can be provided with a memory unit in which a predetermined cleaning program is stored for a specific room.
  • the cleaning program can specify the wiping duration, the amount of cleaning fluid to be applied, the contact pressure of the mop cover on the floor to be cleaned, and/or the type of cleaning or care product.
  • the mop cover may be equipped with communication means for communicating with the cleaning robot.
  • Various, preferably electronically readable, identifiers are conceivable as communication means.
  • Such identifiers include, for example, QR codes, punched tape patterns, and radio transponders such as RFID chips.
  • the cleaning robot it is conceivable for the cleaning robot to have variously designed mop covers available in the storage unit or in the base station, and for the cleaning robot to select a mop cover specified by the cleaning program for the upcoming cleaning task, with the mop cover being located using the communication means.
  • the pretreatment device can be designed as a spray device that sprays the mop covers with a cleaning and care agent when they are removed from the supply.
  • the pretreatment device is equipped to pretreat all mop covers stored in the first supply.
  • the base station can have a post-treatment device for post-treating mop covers.
  • the post-treatment device is particularly equipped to post-treat the used mop covers transferred by the cleaning robot to the second supply.
  • the post-treatment can include disinfection and/or drying. For disinfection, it is conceivable to expose the used mop covers to UV light.
  • the mop covers can be dried using an air stream, for example, via a fan.
  • Figure 1 shows a cleaning robot 1, comprising a base body 2, a drive device 3, and a cleaning device 4.
  • the cleaning robot 1 is equipped to move autonomously across a floor to be cleaned and to perform cleaning work in the process.
  • the drive device 3 comprises wheels driven by an electric motor, wherein the electric motor is powered by a rechargeable battery.
  • the drive device 3 further comprises a sensor device by means of which the cleaning robot 1 can navigate across the floor to be cleaned.
  • the battery is charged in a base station 13.
  • the cleaning robot 1 is configured to approach the base station 13 automatically.
  • the cleaning device 4 is equipped for wet cleaning floors to be cleaned.
  • a receiving unit 5 for a mop cover 6 is assigned to the base body 2 on the side facing the floor to be cleaned.
  • a mop cover 6 is attached to the receiving unit 5.
  • the cleaning robot 1 is equipped to automatically exchange the mop cover 6 attached to the receiving unit 5 for another mop cover 6.
  • the base body 2 can be provided with a first storage unit 7 for storing mop covers
  • the first storage unit 7 is preferably integrated into the base body 2, so that a supply of mop covers 6 is arranged in the first storage unit 7 within the base body 2.
  • the mop covers 6 stored in the storage unit 7 can be pretreated with a cleaning agent so that they are immediately ready for use when they are fed to the receiving unit 5.
  • a second storage unit 8 for storing used mop covers 6 can be assigned to the base body 2.
  • the mop covers 6 are preferably designed to be reusable.
  • the wiping covers 6 can be designed as disposable items or disposable wipes.
  • FIG. 2 shows in detail the recording unit 5 of the Figure 1 described cleaning robot 1.
  • the base body 2 is assigned a transport device 10, which transports mop covers 6 from the first storage unit 7 to the receiving unit 5 and then from the receiving unit 5 to the second storage unit 8.
  • the mop cover 6 is held in a form-fitting manner on the receiving unit 5 and is securely held on the receiving unit 5 by a fixing means 11 in the form of magnets.
  • FIG 3 shows a further development of the Figure 1 described cleaning robot 1, wherein the mop cover 6 is equipped with communication means 9 for communicating with the cleaning robot 1.
  • the cleaning robot 1 also comprises communication means 9 in order to be able to exchange data with the mop cover 6.
  • the communication means 9 are equipped to communicate via near field communication (NFC).
  • NFC near field communication
  • an RFID chip can be integrated into the mop cover 6.
  • the RFID chip can contain data that enable the mop cover 6 to be clearly assigned. In this context, it is particularly conceivable to record the number of cleaning cycles completed by the mop cover 6 and to localize the mop cover 6.
  • Figure 4 shows various designs of mop covers.
  • the mop cover 6 shown above is made of a textile material and is reusable. For cleaning, the mop cover 6 can be machine washed.
  • the mop cover 6 shown below is designed as a disposable item or as a single-use cloth.
  • Figure 5 shows a cleaning system 17 comprising a cleaning robot 1 as described above, and a base station 13.
  • the base station 13 is equipped to receive a first supply 14 of mop covers 6.
  • the cleaning robot 1 is equipped to remove a mop cover 6 from the first supply 14 and feed it to the receiving unit 5. If the cleaning robot 1 has a storage unit 8, the cleaning robot 1 can also remove multiple mop covers 6 from the first supply 14.
  • Figure 6 shows a further development of the Figure 5 described cleaning system 17.
  • the base station 13 comprises a second supply 15 for receiving used mop covers 6.
  • Figure 7 shows the process of exchanging mop covers 6 while the cleaning robot 1 is in the base station 13. While the mop covers 6 are being exchanged, a charging process can take place at the same time, during which the rechargeable battery integrated in the base body 2 of the cleaning robot 1 is charged. If the cleaning robot 1 is in the base station 13, a used mop cover 6 can be transported from the receiving unit 5 towards the second supply 15 via the transport device 10. A fresh mop cover 6 is then removed from the first supply 14 and fed to the receiving unit 5 via the transport device 10, where it is fastened to the receiving unit 5 in a force-fitting and form-fitting manner by means of the fixing means 11.
  • the cleaning robot 1 has a first storage unit 7 and a second storage unit 8
  • the used mop covers 6 held in the second storage unit 8 are fed to the second supply 15, while several mop covers 6 are removed from the first supply 14 and fed to the first storage unit 7.
  • Figure 8 shows a further development of the previously described cleaning system 17.
  • the base station 13 is equipped with a pretreatment device 16 for pretreating mop covers 6.
  • the pretreatment device 16 is configured to apply a cleaning agent adapted to the upcoming cleaning task to a mop cover 6.
  • the pretreatment device 16 comprises a spray device which is designed to provide the mop covers 6 arranged in the first supply 14 with a cleaning agent.
  • the mop cover which is fed to the receiving unit 5 of the cleaning robot 1 is pretreated.
  • the cleaning agent is therefore applied immediately before being fed to the receiving unit 5.
  • the pretreatment device 16 comprises a reservoir 19 in which cleaning agent is arranged.
  • Figure 9 shows a further embodiment of the cleaning system 17.
  • the base station 13 is equipped with a first supply 14 for receiving unused mop covers 6 and a second supply 15 for receiving used mop covers 6.
  • the base station 13 has a pretreatment device 16 for pretreating mop covers 6, which are arranged in the first supply 14.
  • the base station 13 has a post-treatment device 18 for post-treating mop covers 6, which are located in the second supply 15.
  • the post-treatment device 18 is designed as a drying device and has a fan for this purpose.

Landscapes

  • Cleaning Implements For Floors, Carpets, Furniture, Walls, And The Like (AREA)
  • Spray Control Apparatus (AREA)
EP20747362.0A 2019-11-28 2020-07-23 Reinigungsroboter und reinigungssystem Active EP4064951B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019132312.6A DE102019132312B4 (de) 2019-11-28 2019-11-28 Reinigungsroboter und Reinigungssystem
PCT/EP2020/070771 WO2021104689A1 (de) 2019-11-28 2020-07-23 Reinigungsroboter und reinigungssystem

Publications (3)

Publication Number Publication Date
EP4064951A1 EP4064951A1 (de) 2022-10-05
EP4064951C0 EP4064951C0 (de) 2025-05-21
EP4064951B1 true EP4064951B1 (de) 2025-05-21

Family

ID=71846371

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20747362.0A Active EP4064951B1 (de) 2019-11-28 2020-07-23 Reinigungsroboter und reinigungssystem

Country Status (8)

Country Link
US (1) US11690493B2 (pl)
EP (1) EP4064951B1 (pl)
KR (1) KR102773632B1 (pl)
CN (1) CN114340463B (pl)
CA (1) CA3144815C (pl)
DE (1) DE102019132312B4 (pl)
PL (1) PL4064951T3 (pl)
WO (1) WO2021104689A1 (pl)

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Also Published As

Publication number Publication date
CA3144815A1 (en) 2021-06-03
EP4064951C0 (de) 2025-05-21
KR20220020360A (ko) 2022-02-18
US11690493B2 (en) 2023-07-04
US20220409001A1 (en) 2022-12-29
CN114340463B (zh) 2023-11-21
PL4064951T3 (pl) 2025-10-06
DE102019132312B4 (de) 2022-11-03
KR102773632B1 (ko) 2025-02-25
WO2021104689A1 (de) 2021-06-03
CN114340463A (zh) 2022-04-12
EP4064951A1 (de) 2022-10-05
CA3144815C (en) 2024-04-16
DE102019132312A1 (de) 2021-06-02

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