WO2013171014A1 - Appareil de nettoyage du sol se déplaçant et se dirigeant de manière autonome ainsi que procédé destiné à commander son déplacement - Google Patents

Appareil de nettoyage du sol se déplaçant et se dirigeant de manière autonome ainsi que procédé destiné à commander son déplacement Download PDF

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Publication number
WO2013171014A1
WO2013171014A1 PCT/EP2013/057944 EP2013057944W WO2013171014A1 WO 2013171014 A1 WO2013171014 A1 WO 2013171014A1 EP 2013057944 W EP2013057944 W EP 2013057944W WO 2013171014 A1 WO2013171014 A1 WO 2013171014A1
Authority
WO
WIPO (PCT)
Prior art keywords
brush
floor cleaning
cover
cleaning device
brush cover
Prior art date
Application number
PCT/EP2013/057944
Other languages
German (de)
English (en)
Inventor
Matthias Mack
Günther Erbel
Martin Schmidgall
Jacob Janzen
Gottfried Benzler
Markus Dünne
Original Assignee
Alfred Kärcher Gmbh & 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 Kärcher Gmbh & Co. Kg filed Critical Alfred Kärcher Gmbh & Co. Kg
Priority to CN201380024730.9A priority Critical patent/CN104271021B/zh
Priority to EP13718160.8A priority patent/EP2849620B1/fr
Publication of WO2013171014A1 publication Critical patent/WO2013171014A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • 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
    • A47L9/02—Nozzles
    • A47L9/04—Nozzles with driven brushes or agitators
    • A47L9/0461—Dust-loosening tools, e.g. agitators, brushes
    • A47L9/0466—Rotating tools
    • A47L9/0477—Rolls
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation

Definitions

  • the invention relates to a self-propelled and self-steering floor cleaning device, comprising a housing and a cleaning tool in the form of a cleaning bristles cleaning brush, wherein the housing forms a Bürstenabilityraum in which the cleaning brush to a relative to a longitudinal or main movement direction of the floor cleaning device in the transverse direction of the floor cleaning device aligned rotational axis is received driven drivable, and wherein the housing brush covers covers or forms that cover the cleaning brush frontally at least partially.
  • the invention relates to a method for controlling the movement of a self-propelled and self-steering floor cleaning device.
  • the floor cleaning device comprises a housing typically held on the chassis with drive wheels, which are assigned by a control unit controllable drive motors.
  • the aligned in the transverse direction of the floor cleaning device cleaning brush can be rotated by means of another drive motor in rotation. This makes it possible to turn off dirt particles from the floor surface to be cleaned, to turn to a dirt container of the floor cleaning device and to collect it.
  • the cleaning brush is arranged in the brush receiving space and at its end faces in each case at least partially covered by a brush cover.
  • the brush covers serve to protect existing obstacles in the room to be cleaned from contact with the rotating cleaning brush.
  • the brush covers can further form lateral walls of the brush receiving space, which proves to be advantageous when the floor cleaning device has a suction unit for sucking away the swept dirt particles. As a result, a lateral air inlet into the brush receiving space can be largely avoided and the cleaning result can be improved.
  • Object of the present invention is to provide a generic floor cleaning device with which a better cleaning result can be achieved.
  • a floor cleaning device of the type mentioned in that at least one brush cover is movable relative to the housing and from a Bors- ten undergraduatedeck ein in which the brush cover laterally protrudes cleaning bristles of the cleaning brush in the transverse direction of the floor cleaning device, in a bristle release parting in which a part of the cleaning bristles in the transverse direction of the floor cleaning device protrudes laterally beyond the brush cover, and vice versa.
  • at least one of the brush covers occupy two positions. In a bristle cover position, the brush cover projects laterally over cleaning bristles in the transverse direction of the floor cleaning device.
  • this can be understood in particular to mean that the brush cover is arranged on the outside in relation to the cleaning bristles in the transverse direction. Obstacles, which are located on the brush receiving space facing away from the outside of the brush cover can be protected by this before the rotating cleaning brush. From the bristle cover position, the brush cover can be transferred to a bristle release parting. In the bristle release part, a part of the cleaning bristles, especially the cleaning bristles on the brush cover facing the end of the cleaning brush, in the transverse direction of the floor cleaning device laterally protrude beyond the brush cover. A part of the cleaning bristles can protrude in this way with the free bristle ends on the outside of the floor cleaning device and in particular protrude beyond its base.
  • the movement of the floor cleaning appliance according to the invention can in particular be controlled so that it is positioned with its longitudinal direction parallel to an edge and the edge facing brush cover is transferred from the bristle cover position in the bristle release line. This causes cleaning bristles to protrude beyond the brush cover at the edge.
  • the floor area along the edge can be effectively cleaned.
  • cleaning bristles of the cleaning brush protrude at an angle to the rotation axis in the direction of the brush cover, at least at their end facing the at least one movable brush cover.
  • the oblique to the axis of rotation and obliquely to a related radial direction of the cleaning brush stand in the direction of the brush cover. Thereby, the amount of movement of the brush cover for transferring from the bristle cover position to the bristle release part and vice versa can be reduced.
  • both brush covers can each be transferred from a bristle cover position into a bristle release graduation and vice versa.
  • the cleaning bristles can thereby protrude on both sides of the floor cleaning device laterally over the respective brush cover, so that the cleaning result can be improved overall.
  • the at least one movable brush cover is arranged on the outside of the housing and in the bristle cover position, preferably also in the bristle release part, forms the outer contour of the housing in sections.
  • the at least one movable brush cover is arranged on the outside on a left or right side of the floor cleaning device, based on its longitudinal or main movement direction.
  • the brush cover forms part of the outer contour, at least in the bristle cover position. This gives the possibility that the brush cover may contact an obstruction such as, in particular, an edge or wall and may be transferred as a result of the contact from the bristle cover position in the direction of its bristle release parting and in particular as far as the bristle release parting.
  • the brush cover also forms a portion of the outer contour in the bristle release parting so that permanent contact with an obstruction such as an edge or wall can be maintained while cleaning bristles protrude over the brush cover to allow cleaning along the edge or wall.
  • an obstruction such as an edge or wall
  • the brush cover in particular the possibility of a passive transfer of the movable brush cover from the bristle cover position into the bristle release part is given by an obstacle contacting it. A drive for the brush cover can be saved in this way.
  • At least one brush cover completely or substantially completely covers the cleaning brush on the front side. This allows for improved protection of obstacles. Furthermore, there is the possibility of the brush receiving space through the brush cover laterally completely or substantially completely close.
  • a gap is formed, which pass through the cleaning bristles in the bristle release line of the brush cover. Since the cleaning of the bottom surface is performed by the cleaning bristles contacting it, it is sufficient to provide a space between the brush cover and the touch plane when the brush cover takes the bristle release parting. The cleaning bristles can pass through the gap and thereby protrude laterally across the brush cover while rotating about the axis of rotation.
  • the at least one movable brush cover has a front brush cover section and a rear brush cover section on its side facing the floor cleaning device side, based on an operating position of the floor cleaning device on the footprint, in the longitudinal or main movement direction of the floor cleaning device and an intermediate this arranged recess which pass through the cleaning bristles in the bristle release part of the brush cover.
  • the lower edge of the brush cover can recede relative to the edge at the front and rear brush cover sections with respect to the touch plane, so that the edge in the region of the recess is higher than on the brush cover sections before and behind.
  • the cleaning bristles only reach through the recess when the brush cover occupies the bristle release parting, whereas they do not reach under the brush cover in the region of the front and rear brush cover sections. This allows substantially complete coverage of the cleaning brush by the brush cover. At the same time, the cleaning bristles may protrude beyond the brush cover in their bristle release pitch
  • the at least one movable brush cover on its side facing a footprint for the floor cleaning device side, based on an operating position of the floor cleaning device on the footprint, at least partially concave.
  • the above-mentioned recess has a concave shape seen from below.
  • the Bermmhrebene facing lower edge of the brush cover can be configured concave from front to back over the entire length in the longitudinal direction of the floor cleaning device. Thereby, a clearance between the brush cover and the touch plane can be formed, which is penetrated by the cleaning bristles in the bristle release part of the brush cover.
  • the cleaning bristles may protrude over the brush cover when approaching the bottom surface, when it comes in contact with and when leaving the bottom surface, so that outside of these arranged bottom surface areas can be cleaned.
  • the at least one movable brush cover is displaceable in the axial direction of the cleaning brush for transferring from the bristle cover position to the bristle release part and vice versa, wherein the brush cover is conveniently displaced in the direction of the cleaning brush to transfer from the bristle cover to the bristle release part.
  • a brush cover arranged on the outside of the housing and in particular forming a section of the outer contour can be displaced in the direction of the cleaning brush upon contact with an obstacle, such as an edge or a wall, and transferred from the bristle cover position into the bristle release parting.
  • the at least one movable brush cover is mounted displaceably, in particular on the housing, moreover.
  • a guide means is provided for guiding the at least one movable brush cover during transfer from the bristle cover position to the bristle release part and vice versa.
  • co-operating guide elements may be provided on the brush cover and on the housing.
  • the floor cleaning device comprises at least one restoring element, against the restoring force of which the at least one movable brush cover can be transferred from the bristle cover position into the bristle release parting.
  • the restoring force acts in the axial direction of the cleaning brush and in particular for displacement of the brush cover in the axial direction away from the cleaning brush.
  • the at least one movable brush cover in its bristle cover position is spaced from the brush cover facing cleaning bristles of the cleaning brush.
  • wear of the cleaning bristles can be avoided by the brush cover, when this assumes the bristle cover position.
  • a quieter operation of the floor cleaning device is possible. It may be provided that the cleaning bristles contact the movable bristle cover occupying the bristle release line internally, except when a clearance between the underside of the brush cover and the touch level of the floor cleaning device.
  • the at least one movable brush cover is designed to be convex on its outer side facing away from the brush receiving space, in particular in the case of a brush cover forming sections of the outer contour, which points in the direction of the cleaning brush. is pushing by contacting an obstacle. It can be seen that the movable brush cover can be reliably transferred by the convex configuration from the bristle cover position into the bristle release parting.
  • the at least one movable brush cover on its outside facing away from the brush compartment relative to the longitudinal direction of the floor cleaning device on its front and / or rear relative to the longitudinal direction inclined bevels.
  • This is favorable, for example, if the floor cleaning device contacts an obstacle, in particular a wall, at an angle to the longitudinal or main direction of movement. Due to the bevels, such as chamfers or radii, the brush cover can contact the wall in a simpler way, so that it can be transferred from the bristle cover position in the bristle release parting and in particular axially displaced in the direction of the cleaning brush.
  • At least one brush cover preferably comprises an elastically deformable lip on its side facing a footprint for the floor cleaning appliance, with respect to an operating position of the floor cleaning appliance on the footprint.
  • the elastically deformable lip for example of a rubber material, reduces the likelihood that the floor cleaning appliance will stick to the floor surface with the brush cover. This is particularly advantageous when cleaning carpet surfaces. It also proves to be advantageous if the movement of the floor cleaning device is controlled depending on the relative position and / or relative movement of the at least one brush cover and the housing incidentally to each other, such as in a so-called “wall” or "obstacle tracking ride", which will be discussed below becomes .
  • the lip is in particular extends in or substantially in the longitudinal direction of the floor cleaning device. Conveniently, a gap is formed between the lip and the touch plane through which the cleaning bristles may protrude beyond the brush cover in their bristle release pitch.
  • the above-mentioned recess may in particular be formed on the lip.
  • At least one brush cover has a cover part which at least partially covers the cleaning brush, and a Schmutzableitteil, which is arranged in the brush receiving space and a Schmutzableit phenomenon for discharging with the cleaning brush from a bottom surface facing away from dirt particles in the direction of an inlet opening of a Dirt container of the floor cleaning device. From the bottom surface remote dirt particles can reach the Schmutzableit Structure, which is directed towards the inlet opening of the dirt container. This makes it possible to transfer dirt particles targeted in the dirt container.
  • a suction unit for generating a suction air flow through the brush receiving space in the dirt container into such a design of the floor cleaning device proves to be advantageous.
  • the cover part may for example be designed plate-shaped or substantially plate-shaped.
  • the Schmutzableitteil can project axially from the cover and engage in the brush receiving space.
  • the Schmutzableitteil is fixedly connected to the cover and is moved along with this, with a movement of a movable brush cover from the bristle cover position in the bristle release line and vice versa.
  • the structural design of the floor cleaning device can be kept simple. It can be provided that the Schmutzableitteil the cleaning brush in the circumferential direction partially surrounds. For example, the Schmutzableitteil surrounds the cleaning brush over about three quarters of its circumference.
  • the dirt drainage area in the longitudinal direction of the floor cleaning appliance is preferably arranged behind the cleaning brush, and dirt particles can be swept from below onto the dirt drainage area.
  • the floor cleaning device comprises a sensor unit for detecting a relative position and / or relative movement of the at least one movable brush cover and the housing to each other.
  • the sensor unit may provide, for example, a sensor signal, depending on which the movement of the floor cleaning device can be controlled.
  • This allows, in particular, a so-called “wall-tracking drive” in which the floor cleaning device is moved parallel to a wall along which the floor surface is cleaned with excellent bristles over the brush cover in the bristle release section thereof, the brush cover being transferred into contact with the bristle release line by contact with the wall and this is held.
  • the sensor unit has at least one sensor element, with which the relative position and / or relative movement of the at least one movable brush cover and the housing, moreover, can be detected contactlessly with respect to one another, in particular a contact-related detection of the relative position subject to mechanical wear and / or To avoid relative movement.
  • a continuous detection of the relative position and / or relative movement of the at least one movable brush cover and the housing is otherwise provided.
  • the movement of the floor cleaning device can be controlled in this way more accurately.
  • the at least one sensor element is a Hall sensor. Using a Hall sensor, a high measurement accuracy and a contactless detection of the relative position and / or relative movement can be ensured. A continuous detection of the relative position and / or relative movement is possible.
  • the sensor unit has at least one magnet which is arranged in a receptacle of the at least one movable brush cover, and the at least one Hall sensor is otherwise arranged on the housing and interacts with the at least one magnet.
  • the magnet arranged in the receptacle is moved. This movement can be registered by the housing, which is otherwise arranged on the Hall sensor, and a related sensor signal can be provided.
  • the at least one magnet is arranged, for example, in a receptacle formed by the aforementioned dirt drainage part, preferably on its side facing away from the cleaning brush, in order to protect the magnet from dirt particles. For example, this indicates
  • Schmutzableitteil a arranged above the cleaning brush section on with a recording, in which the magnet is inserted from above and a housing portion on which the Hall sensor is arranged, covers the bottom, so that the Hall sensor can be protected from dirt particles.
  • the floor cleaning device comprises a control unit, to which a sensor signal relative to the relative position and / or relative movement of the at least one movable brush cover and the housing incidentally fed to each other, and if the floor cleaning device comprises a drive wheels exhibiting running gear, which at least one associated with the control unit in operative connection drive motor is associated, which is controlled by the control unit in response to the sensor signal.
  • the floor cleaning device comprises a suction unit for sucking dirt into a dirt container of the floor cleaning device.
  • a suction unit for sucking dirt into a dirt container of the floor cleaning device.
  • Object of the present invention is also to provide a method for controlling the movement of a self-propelled and self-steering floor cleaning device, by the execution of a better cleaning result is achieved.
  • This object is achieved by an inventive method in which the movement of one of the aforementioned self-propelled and self-steering floor cleaning devices is controlled, with a sensor unit of the floor cleaning device a relative position and / or relative movement of the at least one movable brush cover and the housing incidentally to each other is detected and a control unit of the floor cleaning device, a sensor signal is supplied in this regard, and wherein the floor cleaning device comprises a drive wheels exhibiting chassis, which is at least one associated with the control unit in operative connection drive motor, which is controlled by the control unit in response to the sensor signal.
  • the relative position and / or relative movement of the brush cover and the housing relative to one another can be used with the method according to the invention in order to carry out cleaning near obstacles close to the edge.
  • the others already described in connection with the invention According to the floor cleaning device mentioned advantages can also be achieved using the method.
  • the control unit calculates the path of the floor cleaning appliance in the direction of the obstacle so that the floor cleaning appliance contacts the obstacle with the at least one movable brush cover and this is moved from the bristle cover position to the bristle release parting.
  • the floor cleaning device can be moved so that the brush cover is transferred under contact of the obstacle in the bristle release parting, so that cleaning bristles protrude over the brush cover.
  • the floor cleaning device can be aligned parallel to the obstacle, taking into account the sensor signal.
  • the floor cleaning device is moved along the obstacle depending on the sensor signal, contacting the obstacle with the at least one movable brush cover, wherein the brush cover occupies the bristle release parting.
  • the floor cleaning device is moved parallel to the obstacle.
  • the motor current and / or the motor torque of the at least one drive motor is detected and the control unit is provided with a relevant measurement signal that is taken into account by the control unit when controlling the drive motor in addition to the sensor signal.
  • the motor current and / or the motor torque are in particular a measure of the resistance that the obstacle opposes the floor cleaning device when it is moved along the obstacle. For example, if the floor cleaning appliance jams relative to the obstacle, it can cleaning device can be determined based on the motor current and / or motor torque and the control of the drive motor can be changed so that the floor cleaning device moves along the obstacle again. In combination with the sensor signal of the control unit, obstacle tracking travel can thereby be performed in a more reliable manner.
  • the floor cleaning device may perform wall tracking travels along the corners abutting walls, the corner being approached along one wall, the floor cleaning device subsequently being positioned against the other wall, and the corner being approached along the other wall. It proves to be advantageous if the floor cleaning device, as mentioned above, comprises two movable brush covers on opposite outer sides.
  • Figure 1 is a view of a preferred embodiment of a floor cleaning device according to the invention from below;
  • Figure 2 an enlarged view of detail A in Figure 1, wherein a
  • Brush cover of the floor cleaning device occupies a bristle cover position
  • Figure 3 is a view corresponding to Figure 2, wherein the brush cover occupies a bristle release line;
  • Figure 4 is a side view of the floor cleaning device of Figure 1 in the direction of arrow "4" in Figure 1;
  • Figure 5 is a partial sectional view of the floor cleaning device of Figure 1 in a perspective exploded view, in particular a part of a housing, a brush cover, a cleaning brush and a magnet of a sensor unit of the floor cleaning device are shown and
  • FIG. 6 shows a schematic block diagram of the floor cleaning appliance from FIG. 1.
  • FIG. 1 shows in a view from below a preferred embodiment of a floor cleaning appliance, which is designated overall by the reference numeral 10.
  • the floor cleaning device 10 is self-propelled and self-steering and designed in the form of a so-called "cleaning robot".
  • the floor cleaning appliance 10 For operation on a set-up or floor surface 12 (FIG. 4), the floor cleaning appliance 10 comprises a running gear 14, which has two drive wheels 15 and 16 and two non-driven swivel castors 17 and 18.
  • the drive wheels 15, 16 and the castors 17, 18 define a touch level of the floor cleaning device 10, which coincides in its operating position with a set-up level defined by the bottom surface 12.
  • the chassis 14 is held on the underside of a housing 20 of the floor cleaning appliance 10, which forms a base body of the floor cleaning appliance 10.
  • the housing 20 defines a longitudinal or main direction of movement 22 of the floor cleaning device 10, along which the floor cleaning device 10 moves when the drive wheels 15 and 16 are driven with equal force, the bottom surface 12 opposes them the same resistance and the floor cleaning device 10 contacted no obstacle.
  • the drive wheels 15, 16 associated with drive motors 24 and 25, which are via control lines 26 and 27 with a control unit 28 in operative connection and can be controlled by this.
  • the drive wheels 15, 16 are associated with Radencoder 29 and 30, which are connected via signal lines 31 and 32 to the control unit 28 to provide these signals relating to the number of revolutions of the wheels 15 and 16 respectively.
  • the floor cleaning device 10 further comprises a floor cleaning unit 34, which is in operative connection with the control unit 28 via control lines, of which only one control line 35 is shown by way of example in FIG.
  • the floor cleaning unit 34 comprises a cleaning brush 36 and a suction unit 37 shown only schematically in FIG.
  • the cleaning brush 36 is configured as a roller brush which defines a brush axis 39 aligned in the transverse direction 38 of the floor cleaning appliance 10, which at the same time is also a rotation axis of the cleaning brush 36.
  • the cleaning brush 36 is received in a rotationally drivable manner in a brush receiving space 40 formed by the housing 20 near the front side of the floor cleaning appliance 10, a drive motor of the floor cleaning unit 34 not shown in the drawing being provided for its drive.
  • the cleaning brush 36 is mounted "free-floating", with their end faces 41 and 42 are free of bearing elements for rotatable mounting.
  • the bearing of the cleaning brush 36 is rather at a distance from the respective end faces 41, 42 via bearing bushes 43 and 44.
  • the driving force of the drive motor is transmitted via the bearing bush 43 to the cleaning brush 36.
  • the cleaning brush 36 operates on the "dustpan” cleaning principle, wherein its direction of rotation is such that dirt particles facing away from the bottom surface 12 in the direction of the back of the floor cleaning device 10 and on a sloping backwards and upwards Schmutzableit Structure 45 swept. Under the action of the suction unit 37, the dirt particles are sucked into a dirt container 46 from the Schmutzableit Structure 45, through an inlet opening 47 of the dirt container 46 through ( Figure 5).
  • the brush receiving space 40 extends along the entire transverse direction 38 from a left side 48 to a right side 49 of the floor cleaning device 10.
  • the brush covers 50 and 51 thereby form walls of the brush receiving space 40, which cover the cleaning brush 36 at the end faces 41 and 42 substantially completely.
  • the brush covers 50 and 51 are also arranged on the outside of the floor cleaning device 10, wherein they form part of the base body of the outer contour of the floor cleaning device 10 and on the left side 48 and the right side 49 on the other components of the floor cleaning device 10 in the transverse direction 38th protrude laterally.
  • the brush covers 50 and 51 are formed with respect to a central longitudinal plane of the floor cleaning device 10 symmetrically in function and structure to each other. For this reason, only the brush cover 50 on the left side 48 will be discussed below.
  • the brush cover 50 comprises a cover member 52 arranged on the outside in the transverse direction and a dirt removal member 53 arranged on the inside thereof in the transverse direction 38.
  • the cover member 52 covers the cleaning brush 36 on its end face 41 on the outside substantially completely.
  • the dirt removal part 53 protrudes from the cover part 52, which has an axial extent with respect to the brush axis 39 and engages in the brush receiving space 40.
  • the cover member 52 has a side view approximately egg-shaped to elliptical and spatially a concave-convex shape, wherein it is outside convex in the longitudinal direction 22 and formed in the height direction of the floor cleaning device 10.
  • the cover 52 has a two-stage chamfer 54 which extends from the front to the back along the edge of the cover 52.
  • the cover 52 is thereby provided at the front and at the back relative to the longitudinal direction 22 with a chamfer, so that its contour in the housing 20 passes over the rest.
  • the cover member 52 comprises two sections, namely a larger, upper section 55 and a smaller, lower section 56.
  • the lower section is a larger, upper section 55 and a smaller, lower section 56.
  • the lip 56 is the bottom surface 12 facing and configured as a lip 57.
  • the 57 is made of an elastically deformable material, such as rubber, and extends substantially in the longitudinal direction 22. Between the lip 57 and the bottom surface 12, a gap 58 is formed. The space has the purpose that the brush cover 50 is not tilted during the process on particular carpet floor surfaces 12 and the floor cleaning device 10 gets stuck. In order to reduce the risk of tilting in addition, the elastically deformable lip 57 is provided, whereas the upper portion 55 of the cover 52 is formed rigid.
  • the lip 57 has a front lip portion 59 and a rear lip portion 60, along which the lower edge of the lip 57 extends parallel to the bottom surface 12, respectively.
  • the gap 58 in the region of the front lip portion 59 and the rear lip portion 60 is the same size and is in the range of a few millimeters.
  • the recess 62 has approximately the shape of a club widening from the rear to the front, and is positioned in the longitudinal direction 22 so that its center is approximately below the brush axis 39. Seen from the left side 48 ( Figure 4), the cleaning brush 36 is thereby not completely covered by the cover member 52 in a small portion, with respect to free ends of the cleaning bristles 63 of the cleaning brush 36, and with respect to these over an angular range of approximately 55 degrees during rotation about the brush axis 39.
  • the Schmutzableitteil 53 surrounds the cleaning brush 36 in the circumferential direction to about three quarters and has a front portion 64, an upper portion 65 and a rear portion 66 on.
  • the rear portion 66 forms a Schmutzableit Structure 67, which already mentioned
  • Schmutzableit Structure 45 axially overlapped over the length of Schmutzableitteils 53. Debris removed from the cleaning brush 36 can therefore be directed onto the dirt deflecting surface 57 and guided by it in the direction of the inlet opening 47. This is advantageous because it allows the inlet opening 47 with its outer edge of the left side 48 can be spaced and dirt particles can still be reliably guided into the dirt container 46.
  • the brush cover 50 is mounted on the housing 20 by the way axially displaceable.
  • bearing elements 68 fixed to the cover 52 bearing elements 68 in the form of bearing pins on the front and at the rear set (shown in Figure 5 on the housing 20).
  • the bearing elements 68 engage in corresponding bearing elements 69 on the housing 20 in the form of bearing sleeves (only one bearing element 69 shown in Figure 5).
  • the displacement of the brush cover 50 takes place counter to the restoring force of an elastic return element 70, in the present case in the form of a helical spring, which is supported in a bearing sleeve on the housing 20, engages in a receptacle on the cover 52 and is supported on this.
  • the restoring force acts to the outside, so that the brush cover 50 is pressed in a basic position by the return element 70 to the outside and against the restoring force on the cleaning brush 36 can be moved to.
  • the brush cover 50 laterally projects beyond the bristles 63 at the end of the cleaning brush 36 facing the brush cover 50 in the transverse direction 38, so that the cover 52 is arranged outside with respect to the free ends of the cleaning bristles 63.
  • the cleaning bristles 63 are arranged on the brush receiving space 40 facing side of the cover 52 with their free ends and in particular axially spaced from the cover 52.
  • the basic position of the brush cover 50 is also referred to as bristle cover position, which it occupies when no force acts on it from the outside. A contact of the cleaning bristles 63 due to wear with the cover 52 can be avoided.
  • the brush cover 50 can be displaced due to a force acting in the axial direction of the cleaning brush 36.
  • the displacement of the brush cover 50 takes place in the direction of the cleaning brush 36 into a bristle release parting (FIG. 3).
  • the cleaning bristles 63 on the cover part 52 facing the end of the cleaning brush 36 projecting laterally beyond the cover 52 with their free ends in the transverse direction 38.
  • the cleaning bristles 63 pass through the gap 58 in the region of the recess 62 over the above-mentioned angular range of approximately 55 °.
  • the cleaning bristles 63 are aligned at the end facing the cover 52 obliquely with respect to the brush axis 39 and the radial direction related thereto. Since the cleaning brush 36 36 is cantilevered, a compact design can be achieved in which only a small displacement of about 5 mm is required to move the brush cover 50 from the bristle cover to the bristle release parting.
  • the cleaning bristles 63 protrude laterally beyond the cover 52 in the transverse direction 38.
  • the brush cover 50 forms with the cover 52 a part of the outer contour of the floor cleaning device 10, so that the free ends of the laterally projecting cleaning bristles 63 at the same time protrude beyond the base body and the base of the floor cleaning device 10.
  • the floor cleaning device 10 further comprises a sensor unit 72 with a plurality of sensor elements, which are connected via signal lines to the control unit 28 in operative connection, of which only one signal line 73 is shown in FIG.
  • the sensor unit 72 has a Hall sensor 74, which is associated with the brush cover 50.
  • the Hall sensor 74 is fixed to the housing 20, on a housing portion 75, which is disposed above the upper portion 65 of the Schmutzableitteils 53.
  • a trough-shaped receptacle 76 is formed, in which a permanent magnet 77 is positioned.
  • the control unit 28 can control the drive motors 24 and 25 as a function of the sensor signal via the control lines 26 and 27. This makes it possible, in particular, to move the floor cleaning appliance 10 along and in particular parallel to an obstacle, such as in particular a wall, in order to carry out a cleaning of the floor area 12 close to the obstacle.
  • the floor cleaning device 10 can detect the wall by means of sensor elements of the sensor unit 72 and transmit a sensor signal to the control unit 28.
  • an optical sensor element 78 is shown in FIG. 4, but it would also be possible to provide a tactile sensor element.
  • the control unit 28 may calculate the path, and in particular the angle, at which the floor cleaning appliance 10 is moved towards the wall so that the brush cover 50 contacts the wall and is displaced therethrough from the bristle cover position toward the bristle release line.
  • the cover 52 is convex on the outside and has the chamfer 54.
  • the brush cover 50 can be shifted even when the floor cleaning device 10 is aligned at a relatively large angle to the wall.
  • the floor cleaning device 10 contacts the obstacle with the brush cover 50, a relevant sensor signal is transmitted to the control unit 28 and then determined by the control unit 28 with the aid of the sensor element 78 that the obstacle is one Wall acts.
  • the floor cleaner 10 may then be aligned with the longitudinal direction 22 parallel to the wall, with the brush cover 50 occupying the bristle release line and continuing to contact the wall substantially flat.
  • the cover 52 on the outside flat projections 79 which are designed rib-shaped and extend in the longitudinal direction 22.
  • the free ends of the cleaning bristles 63 pass through the gap 58 in the region of the recess 62.
  • the floor cleaning device 10 can then be moved parallel to the wall, with a near-wall cleaning due to the bristle release division occupying brush cover 50 is possible.
  • the movement can be controlled on the basis of the sensor signal of the Hall sensor 74. the. If the sensor element changes, the control unit 28 can recognize that the floor cleaning appliance 10 deviates from the desired direction of movement and actuate the drive motors 24 and 25 to correct the movement.
  • the motion control motor currents and / or motor torques of the drive motors 24 and 25 can be included, which can also be detected by the control unit 28, and signals of the Radencoder 29 and 30. If the floor cleaning device 10, for example, when driving along the wall tilted change the engine power and / or the engine torque and the rotational speeds of the drive wheels 15 and 16.
  • the control unit 28 can determine from the measurement signals, in addition to the sensor signal of the Hall sensor 74 that the floor cleaning device 10 deviates from the desired direction of movement and optionally make a direction correction.
  • the floor cleaning device 10 can make wall-tracking trips with the left side 48 and the right side 49. This proves to be particularly advantageous for corner cleaning.
  • the floor cleaning appliance 10 moves as far as possible along a first wall into the corner and cleans along the first wall. Subsequently, the floor cleaning device 10 can reset, approach the second wall and as far as possible drive along the second wall into the corner while cleaning along the second wall. It turns out that in this way, corners can be cleaned except for only a relatively small residual dirt area not covered by the sweeping mirror of the cleaning brush 36.

Landscapes

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

Abstract

L'invention concerne un appareil de nettoyage du sol (10) se déplaçant et se dirigeant de manière autonome, comprenant un boîtier (20) et un outil de nettoyage sous forme d'une brosse de nettoyage (36) pourvue de poils de nettoyage (63), le boîtier (20) formant une chambre de réception de poils (40) dans laquelle la brosse de nettoyage (36) est reçue de manière à pouvoir être entraînée en rotation autour d'un axe de rotation (39) qui est orientée dans la direction transversale (38) de l'appareil de nettoyage du sol (39), par rapport à une direction longitudinale (22) dans laquelle l'appareil de nettoyage du sol (10) se déplace essentiellement, et le boîtier (20) comprenant ou formant des couvertures de brosse (50, 51) lesquelles recouvrent la brosse de nettoyage (36) au moins sur certaines parties de la face frontale. Pour fournir un tel appareil de nettoyage du sol permettant d'obtenir un meilleur résultat de nettoyage, au moins une couverture de brosse (50, 51) selon l'invention est réalisée mobile par rapport aux autres parties du boîtier (20) et peut passer d'une position de recouvrement des poils, dans laquelle la couverture de brosse (50, 51) dépasse latéralement des poils de nettoyage (63) de la brosse de nettoyage (36) dans la direction transversale (38) de l'appareil de nettoyage du sol (10), à une position de libération des poils, dans laquelle une partie des poils de nettoyage (63) dépasse la couverture de brosse (50, 51) latéralement dans la direction transversale (38) de l'appareil de nettoyage du sol (10), et inversement. En outre, l'invention concerne un procédé destiné à commander le déplacement d'un tel appareil de nettoyage du sol.
PCT/EP2013/057944 2012-05-18 2013-04-16 Appareil de nettoyage du sol se déplaçant et se dirigeant de manière autonome ainsi que procédé destiné à commander son déplacement WO2013171014A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201380024730.9A CN104271021B (zh) 2012-05-18 2013-04-16 自动行驶且自动转弯的地面清洁设备以及用于控制其运动的方法
EP13718160.8A EP2849620B1 (fr) 2012-05-18 2013-04-16 Appareil de nettoyage du sol se déplaçant et se dirigeant de manière autonome ainsi que procédé destiné à commander son déplacement

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102012104326A DE102012104326A1 (de) 2012-05-18 2012-05-18 Selbstfahrendes und selbstlenkendes Bodenreinigungsgerät sowie Verfahren zur Steuerung von dessen Bewegung
DE102012104326.4 2012-05-18

Publications (1)

Publication Number Publication Date
WO2013171014A1 true WO2013171014A1 (fr) 2013-11-21

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PCT/EP2013/057944 WO2013171014A1 (fr) 2012-05-18 2013-04-16 Appareil de nettoyage du sol se déplaçant et se dirigeant de manière autonome ainsi que procédé destiné à commander son déplacement

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Country Link
EP (1) EP2849620B1 (fr)
CN (1) CN104271021B (fr)
DE (1) DE102012104326A1 (fr)
WO (1) WO2013171014A1 (fr)

Families Citing this family (4)

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Publication number Priority date Publication date Assignee Title
KR20160096099A (ko) 2013-12-06 2016-08-12 알프레드 캐르혀 게엠베하 운트 컴파니. 카게 자기 추진형 및 자기 스티어링형 플로어 청소 디바이스 및 청소 시스템
CN114601389A (zh) * 2020-12-08 2022-06-10 苏州爱普电器有限公司 表面清洁头
US11950748B2 (en) 2022-02-03 2024-04-09 Black & Decker, Inc. Vacuum cleaner and cleaning accessory for a vacuum cleaner
US11937760B2 (en) 2022-02-03 2024-03-26 Black & Decker, Inc. Vacuum cleaner and cleaning accessory for a vacuum cleaner

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DE2637588B1 (de) * 1976-08-20 1977-09-08 Martin Schydlo Reinigungsvorrichtung fuer fluessigkeitsbecken
DE10242257A1 (de) * 2001-09-14 2003-04-24 Vorwerk Co Interholding Selbsttätig verfahrbares Bodenstaub-Aufsammelgerät, sowie Kombination eines derartigen Aufsammelgerätes und einer Basisstation
WO2005089614A1 (fr) * 2004-03-18 2005-09-29 Vorwerk & Co. Interholding Gmbh Accessoire de nettoyage par aspiration conçu pour un aspirateur
EP1716801A2 (fr) * 2005-04-25 2006-11-02 LG Electronics Inc. Dispositif de nettoyage automatique
GB2443364A (en) * 2005-06-07 2008-04-30 Electrolux Home Care Prod Na Vacuum brushroll edge cleaner

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CA944508A (en) * 1970-07-08 1974-04-02 S.A. Brush Company Limited Carpet sweepers
DE4200630A1 (de) * 1991-02-01 1992-08-06 Kurt Zachhuber Bodenreinigungsmaschine
DE19539586C2 (de) * 1995-03-07 1997-04-10 Juergen Rabe Gerät zum Reinigen von Oberflächen
DE19510340C1 (de) * 1995-03-22 1996-04-11 Nilfisk Schwamborn Gmbh Saughaube für Fußboden-Naßreinigungsmaschinen
DE10110905A1 (de) * 2001-03-07 2002-10-02 Kaercher Gmbh & Co Alfred Bodenbearbeitungsgerät, insbesondere Bodenreinigungsgerät

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2637588B1 (de) * 1976-08-20 1977-09-08 Martin Schydlo Reinigungsvorrichtung fuer fluessigkeitsbecken
DE10242257A1 (de) * 2001-09-14 2003-04-24 Vorwerk Co Interholding Selbsttätig verfahrbares Bodenstaub-Aufsammelgerät, sowie Kombination eines derartigen Aufsammelgerätes und einer Basisstation
WO2005089614A1 (fr) * 2004-03-18 2005-09-29 Vorwerk & Co. Interholding Gmbh Accessoire de nettoyage par aspiration conçu pour un aspirateur
EP1716801A2 (fr) * 2005-04-25 2006-11-02 LG Electronics Inc. Dispositif de nettoyage automatique
GB2443364A (en) * 2005-06-07 2008-04-30 Electrolux Home Care Prod Na Vacuum brushroll edge cleaner

Also Published As

Publication number Publication date
EP2849620A1 (fr) 2015-03-25
CN104271021A (zh) 2015-01-07
EP2849620B1 (fr) 2016-07-27
CN104271021B (zh) 2016-09-14
DE102012104326A1 (de) 2013-11-21

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