WO2009027315A1 - Displaceable device for working on preferably flat surfaces - Google Patents
Displaceable device for working on preferably flat surfaces Download PDFInfo
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- WO2009027315A1 WO2009027315A1 PCT/EP2008/060962 EP2008060962W WO2009027315A1 WO 2009027315 A1 WO2009027315 A1 WO 2009027315A1 EP 2008060962 W EP2008060962 W EP 2008060962W WO 2009027315 A1 WO2009027315 A1 WO 2009027315A1
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- differential pressure
- suction
- unit
- motor current
- monitoring
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Classifications
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- 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
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- 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
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Definitions
- the invention relates to a movable device for performing work on preferably flat surfaces, in particular for cleaning windows in the form of an autonomous unit provided with a cleaning part, with a suction device for generating a negative pressure between the device and the surface, further comprising a safety device for preventing a detachment and subsequent crash of the device from the surface to be machined.
- Such a device is known, for example, from EP 1 237 456 B1, which generates an attractive force to the surface lying against it by the built-up negative pressure and in this way can move along obliquely extending or vertical surfaces.
- Such devices are used in particular for performing work on hard to reach areas, so for example, the cleaning of the outer surfaces of large buildings.
- the invention is therefore based on the object to improve a device of the type mentioned in that conditions or circumstances that can lead to a release of the device from the surface, are detected early in order to initiate appropriate countermeasures.
- a device which solves this problem is characterized by a monitoring unit for the self-adjusting differential pressure generated by the suction unit, the monitoring unit initiating countermeasures when the pressure falls below a predetermined pressure difference threshold.
- the advantage achieved by the invention is essentially that a change of the differential pressure to smaller values is detected early by the continuous monitoring, so that there is the possibility, early on, so before reaching a critical operating condition, to initiate appropriate countermeasures.
- the described monitoring can serve directly for triggering a fall arrestor, which, for example, mechanically couples to the surface.
- a fall arrestor which, for example, mechanically couples to the surface.
- the monitoring of the differential pressure is used as an additional security measure in connection with other measures for preventing falls.
- the monitoring unit for determining the differential pressure continuously detects the motor current of the suction device, wherein the differential pressure is determined from the characteristic curve representing the relationship between differential pressure and motor current of the suction unit.
- the characteristic curve is determined taking into account the design-related characteristics and flow conditions of the device. As a result, the specific properties of the device are taken directly into account.
- the monitoring unit recognizes the structure of the differential pressure when placing the device on the surface to be machined from the change in the motor current and signals the occurrence of the proper operating state. This can be done visually or acoustically and signal to the user whether the device is in "free-blowing" or in proper operating condition.
- the task of monitoring a device provided for working on preferably flat, obliquely or vertically extending surfaces against detachment and subsequent crash of the device from the surface to be processed, in particular for cleaning windows in the form of an autonomous unit provided with a cleaning part, with a suction device for generating a negative pressure between the device and the surface is achieved by detecting the motor current of the suction device by means of a monitoring unit and from this the device holding in contact with the surface differential pressure is determined, wherein falls below a minimum differential pressure, the detachment and subsequent crashes the device is triggered by the surface to be machined preventing safety device.
- the size of the motor current for triggering the safety device can be used directly in an advantageous manner, after usually a linear relationship between the motor current and differential pressure is observed.
- FIG. 2 shows a diagram of characteristic curves of a suction device designed as a fan as a function of the volume flow
- Fig. 3 shows the dependence of the differential pressure on the device of the current of the suction device to a specific embodiment.
- the movable device shown schematically in Fig. 1 is used to perform work on preferably flat surfaces 1, in particular for cleaning windows in the form of a provided with a cleaning part 6 autonomous unit. 2
- the device is provided with an only indicated drive unit 8 and with a suction device not shown for generating a negative pressure between the device and the surface 1. Furthermore, the device has a safety device for preventing detachment and subsequent crash of the device from the surface 1 to be processed.
- a monitoring unit for the adjusting, generated by the suction differential pressure, wherein the monitoring unit initiates countermeasures when falling below a predetermined pressure difference threshold, which serve to secure the device.
- a predetermined pressure difference threshold which serve to secure the device.
- the monitoring unit which may for example be arranged in a cavity 4 of the autonomous unit 2, is set up in such a way that it constantly detects the motor current of the suction device in order to determine the differential pressure.
- the differential pressure is then determined from the characteristic curve representing the relationship between the differential pressure and the motor current of the suction unit. 2 shows the characteristic curves of a fan used as a suction unit, as a function of the volume flow.
- the characteristic curve can be determined in individual cases, taking into account the design-related peculiarities and flow conditions of the device and thus take particular account of structural characteristics influencing the characteristic curve.
- a further advantageous possibility also for the operation monitoring of the device is that the monitoring unit recognizes when mounting the device on the surface to be machined from the change of the motor current the building up differential pressure, whereupon the occurrence of the proper operating state can be signaled. This can be done acoustically or optically; Another type of signal transmission is conceivable here, so that a remote monitoring is possible.
Abstract
The invention relates to a displaceable device (2) for working on preferably flat surfaces (1), in particular for cleaning windows. Said displaceable device is formed as an autonomous unit (2) provided with a cleaning part and a suction device for producing low pressure between the device and the surface (1), as well as a safety device that prevents the device from detaching from the surface that is to be worked on and from falling. A monitoring device detects the adjustable differential pressure produced by the suction unit and said monitoring unit takes counteractive measures to secure the device in case the predetermined pressure differential threshold value is lower.
Description
Verfahrbare Vorrichtung zum Durchführen von Arbeiten an vorzugsweise ebenen Flächen Movable device for performing work on preferably flat surfaces
Die Erfindung betrifft eine verfahrbare Vorrichtung zum Durchführen von Arbeiten an vorzugsweise ebenen Flächen, insbesondere zur Reinigung von Fenstern in Form einer mit einem Reinigungsteil versehenen autonomen Einheit, mit einer Saugeinrichtung zur Erzeugung eines Unterdrucks zwischen der Vorrichtung und der Fläche, ferner mit einer Sicherheitseinrichtung zur Verhinderung eines Ablösens und anschließenden Abstürzens der Vorrichtung von der zu bearbeitenden Fläche.The invention relates to a movable device for performing work on preferably flat surfaces, in particular for cleaning windows in the form of an autonomous unit provided with a cleaning part, with a suction device for generating a negative pressure between the device and the surface, further comprising a safety device for preventing a detachment and subsequent crash of the device from the surface to be machined.
Eine derartige Vorrichtung ist beispielsweise aus der EP 1 237 456 B1 bekannt, die durch den aufgebauten Unterdruck eine Anziehungskraft zu der ihnen anliegenden Fläche erzeugt und sich auf diese Weise entlang von schräg verlaufenden oder auch senkrecht stehenden Flächen bewegen kann. Derartige Vorrichtungen dienen insbesondere zum Durchführen von Arbeiten an schwer zugänglichen Flächen, also beispielsweise dem Reinigen der Außenflächen von großen Gebäuden.Such a device is known, for example, from EP 1 237 456 B1, which generates an attractive force to the surface lying against it by the built-up negative pressure and in this way can move along obliquely extending or vertical surfaces. Such devices are used in particular for performing work on hard to reach areas, so for example, the cleaning of the outer surfaces of large buildings.
Entscheidend ist hierbei, sicherzustellen, dass die vom Unterdruck abhängige Haltekraft einen bestimmten Wert nicht unterschreitet, so dass eine im Betrieb befindliche Vorrichtung am Herabfallen gehindert und somit Personen- und Sachschäden vermieden werden können.It is crucial to ensure that the negative pressure-dependent holding force does not fall below a certain value, so that a device in operation prevented from falling down and thus personal injury and property damage can be avoided.
Der Erfindung liegt daher die Aufgabe zugrunde, eine Vorrichtung der eingangs genannten Art dahingehend zu verbessern, dass Bedingungen oder Umstände, die zu einem Lösen der Vorrichtung von der Fläche führen können, frühzeitig erkannt werden, um geeignete Gegenmaßnahmen einleiten zu können.The invention is therefore based on the object to improve a device of the type mentioned in that conditions or circumstances that can lead to a release of the device from the surface, are detected early in order to initiate appropriate countermeasures.
Eine diese Aufgabe lösende Vorrichtung ist gekennzeichnet durch eine Überwachungseinheit für den sich einstellenden, durch die Saugeinheit erzeugten Differenzdruck, wobei die Überwachungseinheit bei Unterschreiten einer vorgegebenen Druckdifferenz-Schwelle der Sicherung der Vorrichtung dienende Gegenmaßnahmen einleitet.A device which solves this problem is characterized by a monitoring unit for the self-adjusting differential pressure generated by the suction unit, the monitoring unit initiating countermeasures when the pressure falls below a predetermined pressure difference threshold.
Der durch die Erfindung erreichte Vorteil besteht im wesentlichen darin, dass eine Änderung des Differenzdruckes zu kleineren Werten
hin durch die kontinuierliche Überwachung frühzeitig erkannt wird, so dass die Möglichkeit besteht, schon frühzeitig, also vor Erreichen eines kritischen Betriebzustandes, geeignete Gegenmaßnahmen einzuleiten.The advantage achieved by the invention is essentially that a change of the differential pressure to smaller values is detected early by the continuous monitoring, so that there is the possibility, early on, so before reaching a critical operating condition, to initiate appropriate countermeasures.
Grundsätzlich kann die beschriebene Überwachung unmittelbar zum Auslösen einer Absturzsicherung, die beispielsweise mechanisch an die Fläche ankoppelt, dienen. Im Rahmen der Erfindung ist jedoch bevorzugt vorgesehen, dass die Überwachung des Differenzdrucks als zusätzliche Sicherheitsmaßnahme im Zusammenhang mit anderen Maßnahmen zur Absturzvermeidung eingesetzt wird.In principle, the described monitoring can serve directly for triggering a fall arrestor, which, for example, mechanically couples to the surface. In the context of the invention, however, it is preferably provided that the monitoring of the differential pressure is used as an additional security measure in connection with other measures for preventing falls.
Ferner wird in vorteilhafter Weiterbildung der Erfindung vorgeschlagen, dass die Überwachungseinheit zur Ermittlung des Differenzdrucks den Motorstrom der Saugeinrichtung ständig erfasst, wobei der Differenzdruck aus dem die Beziehung zwischen Differenzdruck und Motorstrom der Saugeinheit wiedergebenden Kennlinienverlauf ermittelt wird.Furthermore, it is proposed in an advantageous development of the invention that the monitoring unit for determining the differential pressure continuously detects the motor current of the suction device, wherein the differential pressure is determined from the characteristic curve representing the relationship between differential pressure and motor current of the suction unit.
Hierbei kann zweckmäßigerweise vorgesehen sein, dass der Kennlinienverlauf unter Berücksichtigung der bauartbedingten Eigenheiten und Strömungsverhältnisse der Vorrichtung ermittelt ist. Dadurch werden die spezifischen Eigenschaften der Vorrichtung unmittelbar berücksichtigt.It can be expediently provided that the characteristic curve is determined taking into account the design-related characteristics and flow conditions of the device. As a result, the specific properties of the device are taken directly into account.
In der Praxis hat sich jedoch gezeigt, dass der erzielte Unterdruck unmittelbar dem Motorstrom folgt, so dass für den Kennlinienverlauf ein linearer Zusammenhang zwischen Motorstrom der Saugeinheit und Differenzdruck zugrunde gelegt werden kann.In practice, however, it has been shown that the negative pressure achieved directly follows the motor current, so that a linear relationship between the motor current of the suction unit and the differential pressure can be used for the characteristic curve.
Weiter besteht hierdurch im Rahmen der Erfindung die Möglichkeit, dass die Überwachungseinheit beim Aufsetzen der Vorrichtung auf die zu bearbeitende Fläche aus der Änderung des Motorstroms den Aufbau des Differenzdrucks erkennt und das Eintreten des ordnungsgemäßen Betriebszustands signalisiert. Dies kann optisch oder akustisch erfolgen und dem Benutzer signalisieren, ob die Vorrichtung sich in "freiblasendem" oder in ordnungsgemäßem Betriebszustand befindet.Furthermore, in the context of the invention, there is the possibility that the monitoring unit recognizes the structure of the differential pressure when placing the device on the surface to be machined from the change in the motor current and signals the occurrence of the proper operating state. This can be done visually or acoustically and signal to the user whether the device is in "free-blowing" or in proper operating condition.
In verfahrensmäßiger Hinsicht wird die Aufgabe der Überwachung einer zum Arbeiten an vorzugsweise ebenen, schräg oder senkrecht verlaufenden Flächen vorgesehenen Vorrichtung gegen Ablösen und anschließendem Abstürzen der Vorrichtung von der zu bearbeitenden Fläche, insbesondere zur Reinigung von Fenstern in Form einer mit einem Reinigungsteil versehenen autonomen Einheit, die mit einer Saugeinrichtung zur Erzeugung
eines Unterdrucks zwischen der Vorrichtung und der Fläche versehen ist, dadurch gelöst, dass mittels einer Überwachungseinheit der Motorstrom der Saugeinrichtung erfasst und hieraus der die Vorrichtung in Anlage an der Fläche haltende Differenzdruck ermittelt wird, wobei bei Unterschreiten eines minimalen Differenzdrucks eine das Ablösen und anschließende Abstürzen der Vorrichtung von der zu bearbeitenden Fläche verhindernde Sicherheitseinrichtung ausgelöst wird.In terms of the method, the task of monitoring a device provided for working on preferably flat, obliquely or vertically extending surfaces against detachment and subsequent crash of the device from the surface to be processed, in particular for cleaning windows in the form of an autonomous unit provided with a cleaning part, with a suction device for generating a negative pressure between the device and the surface is achieved by detecting the motor current of the suction device by means of a monitoring unit and from this the device holding in contact with the surface differential pressure is determined, wherein falls below a minimum differential pressure, the detachment and subsequent crashes the device is triggered by the surface to be machined preventing safety device.
Hierbei kann in vorteilhafter Weise unmittelbar die Größe des Motorstroms für das Auslösen der Sicherheitseinrichtung herangezogen werden, nachdem gewöhnlich ein linearer Zusammenhang zwischen Motorstrom und Differenzdruck zu beobachten ist.In this case, the size of the motor current for triggering the safety device can be used directly in an advantageous manner, after usually a linear relationship between the motor current and differential pressure is observed.
Im Folgenden wird die Erfindung an einem in der Zeichnung dargestellten Ausführungsbeispiel näher erläutert; es zeigen:In the following the invention will be explained in more detail in an embodiment shown in the drawing; show it:
Fig. 1 eine schematische Darstellung einer Vorrichtung nach der Erfindung,1 is a schematic representation of a device according to the invention,
Fig. 2 ein Diagramm von charakteristischen Kennlinien einer als Lüfter ausgebildeten Saugeinrichtung in Anhängigkeit vom Volumenstrom,2 shows a diagram of characteristic curves of a suction device designed as a fan as a function of the volume flow,
Fig. 3 ein die Abhängigkeit des Differenzdruckes an der Vorrichtung von der Stromstärke der Saugeinrichtung an einer speziellen Ausführungsform.Fig. 3 shows the dependence of the differential pressure on the device of the current of the suction device to a specific embodiment.
Die in Fig. 1 schematisch dargestellte verfahrbare Vorrichtung dient zum Durchführen von Arbeiten an vorzugsweise ebenen Flächen 1 , insbesondere zur Reinigung von Fenstern in Form einer mit einem Reinigungsteil 6 versehenen autonomen Einheit 2.The movable device shown schematically in Fig. 1 is used to perform work on preferably flat surfaces 1, in particular for cleaning windows in the form of a provided with a cleaning part 6 autonomous unit. 2
Dazu ist die Vorrichtung mit einer nur angedeuteten Antriebseinheit 8 sowie mit einer nicht näher dargestellten Saugeinrichtung zur Erzeugung eines Unterdrucks zwischen der Vorrichtung und der Fläche 1 versehen. Ferner weist die Vorrichtung eine Sicherheitseinrichtung zur Verhinderung eines Ablösens und anschließenden Abstürzens der Vorrichtung von der zu bearbeitenden Fläche 1 auf.For this purpose, the device is provided with an only indicated drive unit 8 and with a suction device not shown for generating a negative pressure between the device and the surface 1. Furthermore, the device has a safety device for preventing detachment and subsequent crash of the device from the surface 1 to be processed.
Um frühzeitig die Gefahr eines Ablösens der Vorrichtung von der Fläche zu erkennen, ist eine Überwachungseinheit für den sich einstellenden, durch die Saugeinheit erzeugten Differenzdruck vorgesehen, wobei die Überwachungseinheit bei Unterschreiten einer vorgegebenen Druckdifferenz-Schwelle Gegenmaßnahmen einleitet, die der Sicherung der Vorrichtung dienen. Dies kann auf unterschiedliche, insbesondere mechanische Weise
geschehen, wofür Lösungen aus der Praxis bekannt sind. Die Überwachung des Differenzdrucks kann dabei sowohl als alleinige, insbesondere jedoch auch als zusätzliche Sicherheitsmaßnahme zur Absturzvermeidung eingesetzt werden.To early detect the risk of detachment of the device from the surface, a monitoring unit is provided for the adjusting, generated by the suction differential pressure, wherein the monitoring unit initiates countermeasures when falling below a predetermined pressure difference threshold, which serve to secure the device. This can be done in different, especially mechanical ways happen, for which solutions are known from practice. The monitoring of the differential pressure can be used both as a sole, but especially as an additional security measure to prevent crashes.
Die Überwachungseinheit, die beispielsweise in einem Hohlraum 4 der autonomen Einheit 2 angeordnet sein kann, ist so eingerichtet, dass sie zur Ermittlung des Differenzdrucks den Motorstrom der Saugeinrichtung ständig erfasst. Der Differenzdruck wird dann aus dem die Beziehung zwischen Differenzdruck und Motorstrom der Saugeinheit wiedergebenden Kennlinienverlauf ermittelt. Fig. 2 zeigt hierzu die charakteristischen Kennlinien eines als Saugeinheit eingesetzten Lüfters, in Abhängigkeit vom Volumenstrom.The monitoring unit, which may for example be arranged in a cavity 4 of the autonomous unit 2, is set up in such a way that it constantly detects the motor current of the suction device in order to determine the differential pressure. The differential pressure is then determined from the characteristic curve representing the relationship between the differential pressure and the motor current of the suction unit. 2 shows the characteristic curves of a fan used as a suction unit, as a function of the volume flow.
Der Kennlinienverlauf kann im Einzelfall unter Berücksichtigung der bauartbedingten Eigenheiten und Strömungsverhältnisse der Vorrichtung ermittelt sein und somit die Kennlinie beeinflussende bauliche Eigenschaften besonders berücksichtigen.The characteristic curve can be determined in individual cases, taking into account the design-related peculiarities and flow conditions of the device and thus take particular account of structural characteristics influencing the characteristic curve.
Häufig ist es stattdessen jedoch ausreichend, wenn für den Kennlinienverlauf ein linearer Zusammenhang zwischen Motorstrom der Saugeinheit und Differenzdruck zugrunde gelegt wird, wie dies aus dem Diagramm der Fig. 3 hervorgeht.Often, however, it is instead sufficient if a linear relationship between the motor current of the suction unit and differential pressure is taken as the basis for the characteristic curve, as can be seen from the diagram of FIG.
Eine weitere vorteilhafte Möglichkeit auch für die Betriebsüberwachung der Vorrichtung besteht darin, dass die Überwachungseinheit beim Aufsetzen der Vorrichtung auf die zu bearbeitende Fläche aus der Änderung des Motorstroms den sich aufbauenden Differenzdrucks erkennt, worauf das Eintreten des ordnungsgemäßen Betriebszustands signalisiert werden kann. Dies kann auf akustische oder optische Weise erfolgen; auch eine andere Art der Signalübertragung ist hierbei denkbar, so dass auch eine Fernüberwachung möglich ist.
A further advantageous possibility also for the operation monitoring of the device is that the monitoring unit recognizes when mounting the device on the surface to be machined from the change of the motor current the building up differential pressure, whereupon the occurrence of the proper operating state can be signaled. This can be done acoustically or optically; Another type of signal transmission is conceivable here, so that a remote monitoring is possible.
Claims
1. Verfahrbare Vorrichtung zum Durchführen von Arbeiten an vorzugsweise ebenen Flächen, insbesondere zur Reinigung von Fenstern in Form einer mit einem Reinigungsteil versehenen autonomen Einheit (2), mit einer Saugeinrichtung zur Erzeugung eines Unterdrucks zwischen der Vorrichtung und der Fläche (1 ), ferner mit einer Sicherheitseinrichtung zur Verhinderung eines Ablösens und anschließenden Abstürzens der Vorrichtung von der zu bearbeitenden Fläche, gekennzeichnet durch eine Überwachungseinheit für den sich einstellenden, durch die Saugeinheit erzeugten Differenzdruck, wobei die Überwachungseinheit bei Unterschreiten einer vorgegebenen Druckdifferenz-Schwelle der Sicherung der Vorrichtung dienende Gegenmaßnahmen einleitet.1. A movable device for performing work on preferably flat surfaces, in particular for cleaning windows in the form of a provided with a cleaning unit autonomous unit (2), with a suction device for generating a negative pressure between the device and the surface (1), further with a safety device for preventing detachment and subsequent crash of the device from the surface to be treated, characterized by a monitoring unit for the adjusting, generated by the suction differential pressure, wherein the monitoring unit initiates countermeasures when falling below a predetermined pressure difference threshold of securing the device.
2. Vorrichtung nach Anspruch 1 , dadurch gekennzeichnet, dass die Überwachung des Differenzdrucks als zusätzliche Sicherheitsmaßnahme zur Absturzvermeidung eingesetzt wird.2. Apparatus according to claim 1, characterized in that the monitoring of the differential pressure is used as an additional security measure to prevent falls.
3. Vorrichtung nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass die Überwachungseinheit zur Ermittlung des Differenzdrucks den Motorstrom der Saugeinrichtung ständig erfasst, wobei der Differenzdruck aus dem die Beziehung zwischen Differenzdruck und Motorstrom der Saugeinheit wiedergebenden Kennlinienverlauf ermittelt wird.3. Apparatus according to claim 1 or 2, characterized in that the monitoring unit for detecting the differential pressure, the motor current of the suction device constantly detected, wherein the differential pressure from the relationship between the differential pressure and the motor current of the suction unit reproducing characteristic curve is determined.
4. Vorrichtung nach Anspruch 3, dadurch gekennzeichnet, dass der Kennlinienverlauf unter Berücksichtigung der bauartbedingten Eigenheiten und Strömungsverhältnisse der Vorrichtung ermittelt ist.4. Apparatus according to claim 3, characterized in that the characteristic curve is determined taking into account the design-related characteristics and flow conditions of the device.
5. Vorrichtung nach Anspruch 3, dadurch gekennzeichnet, dass für den Kennlinienverlauf ein linearer Zusammenhang zwischen Motorstrom der Saugeinheit und Differenzdruck zugrunde gelegt wird.5. Apparatus according to claim 3, characterized in that for the characteristic curve a linear relationship between the motor current of the suction unit and differential pressure is used.
6. Vorrichtung nach einem der Ansprüche 3 bis 5, dadurch gekennzeichnet, dass die Überwachungseinheit beim Aufsetzen der Vorrichtung auf die zu bearbeitende Fläche aus der Änderung des Motorstroms den Aufbau des Differenzdrucks erkennt und das Eintreten des ordnungsgemäßen Betriebszustands signalisiert.6. Device according to one of claims 3 to 5, characterized in that the monitoring unit when placing the device on the surface to be machined from the change in the motor current detects the structure of the differential pressure and signals the occurrence of the proper operating state.
7. Verfahren zur Überwachung einer zum Arbeiten an vorzugsweise ebenen, schräg oder senkrecht verlaufenden Flächen vorgesehenen Vorrichtung gegen Ablösen und anschließenden Abstürzen der Vorrichtung von der zu bearbeitenden Fläche, insbesondere zur Reinigung von Fenstern in Form einer mit einem Reinigungsteil versehenen autonomen Einheit, die mit einer Saugeinrichtung zur Erzeugung eines Unterdrucks zwischen der Vorrichtung und der Fläche versehen ist, dadurch gekennzeichnet, dass mittels einer Überwachungseinheit der Motorstrom der Saugeinrichtung erfaßt und hieraus der die Vorrichtung in Anlage an der Fläche haltende Differenzdruck ermittelt wird, wobei bei Unterschreiten eines minimalen Differenzdrucks eine das Ablösen und anschließende Abstürzen der Vorrichtung von der zu bearbeitenden Fläche verhindernde Sicherheitseinrichtung ausgelöst wird.7. A method for monitoring an intended for working on preferably flat, oblique or vertical surfaces provided device against detachment and subsequent crashes of the device from the surface to be processed, in particular for cleaning windows in the form of a provided with a cleaning unit autonomous unit with a Suction device is provided for generating a negative pressure between the device and the surface, characterized in that detected by means of a monitoring unit, the motor current of the suction device and from this the device in contact with the surface holding differential pressure is determined, wherein when falling below a minimum differential pressure, the detachment and subsequent crashes of the device from the surface to be machined preventing safety device is triggered.
8. Verfahren nach Anspruch 7, dadurch gekennzeichnet, dass unmittelbar die Größe des Motorstroms für das Auslösen der Sicherheitseinrichtung herangezogen wird. 8. The method according to claim 7, characterized in that directly the size of the motor current is used for triggering the safety device.
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
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EP08803133A EP2187793B1 (en) | 2007-08-30 | 2008-08-21 | Displaceable device for working on preferably flat surfaces |
AT08803133T ATE553684T1 (en) | 2007-08-30 | 2008-08-21 | MOVABLE DEVICE FOR PERFORMING WORKS ON PREFERABLY FLAT SURFACES |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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DE102007041067A DE102007041067A1 (en) | 2007-08-30 | 2007-08-30 | Movable device for performing work on preferably flat surfaces |
DE102007041067.2 | 2007-08-30 |
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WO2009027315A1 true WO2009027315A1 (en) | 2009-03-05 |
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/EP2008/060962 WO2009027315A1 (en) | 2007-08-30 | 2008-08-21 | Displaceable device for working on preferably flat surfaces |
Country Status (4)
Country | Link |
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EP (1) | EP2187793B1 (en) |
AT (1) | ATE553684T1 (en) |
DE (1) | DE102007041067A1 (en) |
WO (1) | WO2009027315A1 (en) |
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WO2017079886A1 (en) * | 2015-11-10 | 2017-05-18 | 深圳市赛亿科技开发有限公司 | Method for dynamically adjusting suction force of window cleaning robot |
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CN103359197B (en) * | 2012-04-05 | 2015-08-19 | 科沃斯机器人有限公司 | Glass cleaning device and ambulation control method thereof |
CN106388688B (en) * | 2016-10-17 | 2020-06-19 | 江苏美的清洁电器股份有限公司 | Window cleaning robot |
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DE29822854U1 (en) * | 1998-03-11 | 1999-07-29 | Fraunhofer Ges Forschung | Device for moving on vertical, curved and / or inclined facade and glass surfaces |
WO2001080703A1 (en) * | 2000-04-26 | 2001-11-01 | BSH Bosch und Siemens Hausgeräte GmbH | Device for carrying out works on a surface |
EP1360922A2 (en) * | 2002-05-07 | 2003-11-12 | Royal Appliance MFG. CO. | Robotic vacuum cleaner with removable portable vacuum head and semi-automated environment mapping |
WO2004098984A1 (en) * | 2003-05-07 | 2004-11-18 | Unique Cleaning Systems Gmbh | Automatic climbing mechanism for facades, especially glass facades |
EP1237456B1 (en) * | 1999-12-07 | 2005-04-27 | BSH Bosch und Siemens Hausgeräte GmbH | Security device for a device that can be moved on a surface |
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JPH03294189A (en) * | 1990-04-09 | 1991-12-25 | Toshiba Corp | Wall face traveling robot |
DE19835038C1 (en) * | 1998-03-11 | 1999-07-01 | Fraunhofer Ges Forschung | Adjustable mounting for cleaning robot for glass panels on building facade |
JP3892462B2 (en) * | 2002-09-24 | 2007-03-14 | 徹 三宅 | Window cleaning equipment |
DE10322201B3 (en) * | 2003-05-16 | 2004-08-26 | Taurus Instruments Gmbh | Automatic cleaning system for facade of building has two rotating brush heads in housings one above the other and connected to suction pipes |
-
2007
- 2007-08-30 DE DE102007041067A patent/DE102007041067A1/en not_active Withdrawn
-
2008
- 2008-08-21 WO PCT/EP2008/060962 patent/WO2009027315A1/en active Application Filing
- 2008-08-21 EP EP08803133A patent/EP2187793B1/en not_active Not-in-force
- 2008-08-21 AT AT08803133T patent/ATE553684T1/en active
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0362894A2 (en) * | 1988-10-07 | 1990-04-11 | Hitachi, Ltd. | Vacuum cleaner and method for operating the same |
EP0423670A1 (en) * | 1989-10-18 | 1991-04-24 | Hitachi, Ltd. | Vacuum cleaner and method of controlling the same |
DE29822854U1 (en) * | 1998-03-11 | 1999-07-29 | Fraunhofer Ges Forschung | Device for moving on vertical, curved and / or inclined facade and glass surfaces |
EP1237456B1 (en) * | 1999-12-07 | 2005-04-27 | BSH Bosch und Siemens Hausgeräte GmbH | Security device for a device that can be moved on a surface |
WO2001080703A1 (en) * | 2000-04-26 | 2001-11-01 | BSH Bosch und Siemens Hausgeräte GmbH | Device for carrying out works on a surface |
EP1360922A2 (en) * | 2002-05-07 | 2003-11-12 | Royal Appliance MFG. CO. | Robotic vacuum cleaner with removable portable vacuum head and semi-automated environment mapping |
WO2004098984A1 (en) * | 2003-05-07 | 2004-11-18 | Unique Cleaning Systems Gmbh | Automatic climbing mechanism for facades, especially glass facades |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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WO2017079886A1 (en) * | 2015-11-10 | 2017-05-18 | 深圳市赛亿科技开发有限公司 | Method for dynamically adjusting suction force of window cleaning robot |
Also Published As
Publication number | Publication date |
---|---|
DE102007041067A1 (en) | 2009-03-05 |
EP2187793B1 (en) | 2012-04-18 |
ATE553684T1 (en) | 2012-05-15 |
EP2187793A1 (en) | 2010-05-26 |
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