WO2015158362A1 - Appareil de nettoyage de sol mobile guidé manuellement - Google Patents

Appareil de nettoyage de sol mobile guidé manuellement Download PDF

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Publication number
WO2015158362A1
WO2015158362A1 PCT/EP2014/057530 EP2014057530W WO2015158362A1 WO 2015158362 A1 WO2015158362 A1 WO 2015158362A1 EP 2014057530 W EP2014057530 W EP 2014057530W WO 2015158362 A1 WO2015158362 A1 WO 2015158362A1
Authority
WO
WIPO (PCT)
Prior art keywords
floor cleaning
force
speed
drive
cleaning device
Prior art date
Application number
PCT/EP2014/057530
Other languages
German (de)
English (en)
Inventor
Christian Wurm
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 DE112014006585.4T priority Critical patent/DE112014006585A5/de
Priority to PCT/EP2014/057530 priority patent/WO2015158362A1/fr
Publication of WO2015158362A1 publication Critical patent/WO2015158362A1/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
    • 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
    • A47L11/24—Floor-sweeping 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
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • 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
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • 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
    • A47L11/4075—Handles; levers

Definitions

  • the invention relates to a hand-held mobile floor cleaning device comprising at least one cleaning unit for cleaning a floor surface, a chassis for moving on the ground surface, a drive for the chassis, a control unit for driving the drive and a handle device for guiding the floor cleaning device.
  • Such a floor cleaning device is, for example, a walk behind ground cleaning device, which is controlled by an operator on the arranged on the back, based on a longitudinal or main movement direction of the floor cleaning device, grip device leader.
  • the floor cleaning appliance can be a scrubber-drier (scrubber) or a sweeper.
  • the drive can be activated via the operating element. For example, different driving levels can be set, so that the floor cleaning device can assume different speeds relative to the floor surface.
  • Object of the present invention is to provide a floor cleaning device of the type mentioned, whose handling is improved.
  • a generic floor cleaning device that at least one force sensor element coupled to the control unit is arranged on the handle device and that the drive is controlled by the control unit for controlling and / or regulating the speed of the floor cleaning device depending on the height of the handle device acting hand force, which is detectable with the at least one force sensor element.
  • the control unit can be provided with a sensor signal in this regard.
  • the control unit can control the drive of the floor cleaning device for controlling and / or regulating the speed of the floor cleaning device.
  • the speed is controlled and / or regulated according to a force-speed relationship stored in a storage unit of the floor cleaning appliance, for example in the form of a characteristic curve.
  • the floor cleaning device according to the invention proves to be particularly easy to handle.
  • the hand force acting upon the gripping device can be used to guide and control and / or regulate the speed of the floor cleaning appliance.
  • the inertia of the floor cleaning appliance and resistors in its process on the floor surface - for example due to uneven floors and due to the friction of the at least one cleaning unit with the Boden Structure- can be overcome in a simple manner. This proves to be particularly advantageous in the method of floor cleaning device on inclined planes, for example when loading and unloading the floor cleaning device when it is moved over a ramp.
  • the physical stress on the operator is kept low, even with longer cleaning operations.
  • an actuator can be saved separately from the handle device to activate the drive.
  • the hands of the operator may remain on the grip device.
  • the floor cleaning device not only proves to be easier to handle, but it can also increase its safety.
  • it may be provided that when the manual force is eliminated, the drive is or will be deactivated so that the floor cleaning device remains at rest or is braked.
  • Hand force in this case means that the force is exerted on the hand device on the handle. This is not limited to a force associated with muscle none of the hand is generated. In particular, this is a force transmitted via the arm / arms of the operator (pushing, pulling, pressing, pivoting, bracing, etc.).
  • the at least one force sensor element is designed and arranged on the gripping device such that it can be acted upon by the manual force.
  • the operator can apply the manual force directly to the at least one force sensor element.
  • the at least one force sensor element is arranged on a handle region of a grip element or forms it.
  • the amount of speed and / or the direction of the speed can be controlled and / or regulated.
  • the speed can be controlled and / or regulated as a vectorial variable.
  • the at least one force sensor element is designed for this purpose so that it can absorb a force along or against a longitudinal or main movement direction of the floor cleaning device.
  • the at least one force sensor element can absorb a transverse force in a transverse direction transverse to the longitudinal direction.
  • the floor cleaning device performs a cornering.
  • the direction of travel can be changed.
  • the amount of the speed can be controlled and / or regulated continuously or quasi-continuously.
  • the above-mentioned force-speed relationship is a continuous or quasi-continuous characteristic.
  • the amount of the speed can be controlled and / or regulated in stages.
  • the above-mentioned force-speed relationship is, for example, a discrete non-steady "characteristic". It is favorable that the speed can be controlled and / or regulated via the control and / or the regulation of at least one drive parameter of the drive. This allows a structurally simple implementation of the control and / or regulation of the speed. Accordingly, it can be provided that for the control and / or regulation of the speed, this is not necessarily measured and compared via the control unit with a predetermined desired speed, which is predetermined by the manual force on the grip device.
  • the manual force on the handle device is converted by the control unit into the control and / or regulation of at least one drive parameter of the drive.
  • the at least one drive parameter has the effect that the floor cleaning device moves over the floor surface at a certain speed. It may be provided that this speed is different depending on the nature of the floor surface, for example depending on the roughness and / or slope and / or depending on the operation of the at least one cleaning unit.
  • control and / or regulation of the speed of the floor cleaning appliance also means that the exercise of the manual force on the handle device leads to a speed of the floor cleaning appliance whose setpoint itself is not controlled and / or regulated, but from the control and / or regulation of the at least one drive parameter taking into account at least one inhibiting the movement of the floor cleaning device size.
  • force-speed relationship used herein.
  • the at least one drive parameter is preferably a motor voltage and / or a motor current of at least one drive motor of the drive.
  • the motor voltages and / or Motor currents can be controlled and / or regulated separately from each other.
  • the speed of the floor cleaning appliance or a measured variable associated with the speed can be detected with at least one sensor element and that the speed of the floor cleaning appliance can be regulated in the event of a deviation from the speed predetermined by the force applied to the gripping device. Accordingly, it can be provided that in fact the speed of the floor cleaning device is adjustable. A size that opposes the movement of the floor cleaning appliance, for example due to the nature and / or inclination of the floor surface, can thereby be taken into account. For example, the engine power of a drive motor is increased or decreased as the floor area increases and the speed decreases, the floor area decreases, and the speed increases, thereby controlling the speed to the predetermined value.
  • the drive can be controlled in such a way that the speed of the floor cleaning device can be controlled and / or regulated for the duration of the force applied to the handle device, wherein the drive can be deactivated without the action of force.
  • the drive is activated, the speed is controlled and / or regulated depending on the manual force. If the hand force is missing, the floor cleaning device stops.
  • the drive can be controlled in such a way that the speed can be controlled and / or regulated as a function of the force acting on the handle device, which lasts for a predetermined or predefinable period of time, the speed being maintained after the force has ceased.
  • the operator can exert a force on the gripping device for a predetermined or predefinable period of time, ie transmit a pulse to the gripping device.
  • the height of the pulse will interpreted by the control unit for controlling the drive and for controlling and / or regulating the speed.
  • the floor cleaning device moves at the speed given by the pulse.
  • another pulse can be transmitted to the gripping device acting, for example, in the opposite direction of the original impulse.
  • the pulse is transmitted to increase the speed in the forward direction and to decrease the speed in the reverse direction of the floor cleaning device.
  • a threshold value is checked and that a force and / or a change in the force is only considered as such, if this is a predetermined or predetermined
  • the speed may be controllable and / or controllable according to a force-speed relationship.
  • This is, for example, a continuous, quasi-continuous or discrete characteristic.
  • the power-speed relationship herein means, for example, a relationship according to which at least one drive parameter of a drive motor is controlled and / or regulated, whereby a structurally simple implementation of the floor cleaning device can be achieved. Control and / or regulation of the actual speed is not necessarily provided, but preferably also present. This has already been mentioned.
  • the force-speed relationship is changeable, whereby the floor cleaning device proves to be particularly versatile.
  • the force-speed relationship can be changed by the action of force on the grip device.
  • the force-speed relationship is changeable such that at least one drive parameter of the drive to increase or decrease of the power is variable.
  • the force-speed relationship can be changed by increasing or decreasing the force for a predetermined or predetermined period of time.
  • the operator transmits a pulse to the handle assembly which alters the force-speed relationship such that upon application of force to the handle assembly, as before transmission of the pulse, the power of the drive is increased. Does not change the resistance of the movement of the floor cleaning device, its speed is thereby increased. If the speed of the floor cleaning device drops, because the friction between the floor cleaning device and the floor surface is increased, or because it has a slope, the pulse leads to an increase in the power of the drive motor, which moves the floor cleaning device, for example, at the previously assumed speed.
  • the same can apply if the force is reduced for the predetermined or predefinable period of time. It is favorable if the activation of the at least cleaning unit can be detected and that the force-speed relationship can be changed depending on the activation. If the at least one cleaning unit is activated, the friction between the floor cleaning device and the floor surface may increase, for example due to the rotation of a cleaning brush contacting the floor surface. This can slow down the floor cleaning appliance. By changing the force-speed relationship, for example, a drive parameter of the drive is changed so that the speed of the floor cleaning device is increased again.
  • a plurality of force-speed relationships is stored, one of which is selected, which is based on the control and / or regulation of the speed.
  • the floor cleaning device proves to be particularly versatile.
  • the floor cleaning device has a selector element or operating element for selecting a force-speed relationship.
  • the operator may select a desired force-speed relationship so that the control and / or regulation of the speed is done in a manner convenient to the operator.
  • the respective force-speed relationship is stored, for example, linked to a condition of the floor surface.
  • different drive parameters of the drive are changed via the force-speed relationship.
  • the respective force-speed relationship is stored linked to a cleaning profile associated with the use of the at least one cleaning aggregate. Different cleaning profiles can lead to different levels of friction between the floor surface and the floor cleaning device.
  • the respective force-velocity profile may take this into account, and preferably alter at least one drive parameter of the drive in a manner to vary the power of the drive to increase or decrease the speed.
  • the respective force-speed relationship is stored linked to an operating profile of an operator of the floor cleaning appliance. This allows for personalization of the force-speed relationship and thereby increases the handling friendliness of the floor cleaning appliance.
  • an operating profile of the operator recognizable and associated with the operating profile of the operator force-speed relationship is applicable.
  • the floor cleaning device may have a detection unit for detecting an access authorization stored on a permission carrier assigned to the floor cleaning device.
  • the access authorization may be stored in the memory unit with an operating profile associated with a force-speed relationship.
  • the at least one force sensor element can be designed such that the speed can be increased by means of a pressure force on the grip device and the speed can be reduced by means of a tensile force on the grip device.
  • Pressure and “train” in the present case relate in particular to forces in or against the longitudinal or main direction of movement of the floor cleaning appliance, "pressure” having at least one component in this direction and “pulling” at least one component in the opposite direction.
  • the gripping device may comprise two gripping elements, wherein at least one force sensor element is arranged on each gripping element, preferably one A force sensor element for receiving a pressure force on the grip device and a force sensor element for receiving a tensile force on the grip device.
  • the gripping elements may be separate or interconnected.
  • the chassis has a first drive wheel and a second drive wheel, if the drive has a first drive motor and a second drive motor, which are assigned to the first drive wheel or the second drive wheel, and if the first drive motor and the second drive motor separately are controllable.
  • the gripping device comprises two gripping elements, and at least one force sensor element is preferably arranged on each gripping element, wherein the first drive motor can be activated as a function of a hand force acting on the first gripping element and the second drive motor depending on a hand force acting on the second gripping element.
  • the floor cleaning appliance can move along or against a longitudinal direction (straight or backward). If the hand forces differ from one another, it is possible to turn the floor cleaning device by driving the drive wheels at different rotation rates. In particular, this advantageously also allows the control of the chassis such that the drive wheels are rotated in opposite directions with identical rotation rates. The floor cleaning device can thus be turned in place like a tracked vehicle and its maneuverability can be increased considerably.
  • the at least one force sensor element is designed, for example, as an expansion measuring strip or as a pressure sensor, which is arranged on a surface of a grip element of the grip device.
  • the pressure sensor is, for example, a so-called FSR sensor (Force Sensing Resistor), which has a different electrical resistance depending on the force acting on it.
  • the at least one force sensor element may be the surface form the handle element or applied to this, for example, glued. It is also conceivable to provide a recess on the surface of the grip element into which the at least one force sensor element is inserted. When attacking the handle element, the operator can contact the at least one force sensor element and act upon the manual force.
  • All force sensor elements can be designed as a corresponding strain gauge or pressure sensor.
  • At least one force sensor element is designed as a load cell, which interconnects segments of the grip device which are separate from one another, for example segments in the form of a grip element and a holding part the grip device, via which holding part the grip device is held on the floor cleaning device.
  • All force sensor elements can be designed as load cells.
  • the gripping element and the holding part are connected to one another, for example, via a load cell, which can, as it were, engage as a core in the gripping element and the holding part.
  • a load cell which can, as it were, engage as a core in the gripping element and the holding part.
  • the corresponding manual force can be detected via the load cell.
  • the respective gripping element can be connected to the holding part via a respective weighing cell.
  • the holding part for example, also have two segments which are interconnected via a load cell.
  • a distance of the floor cleaning device to an activated drive in the direction of travel of the floor cleaning device ahead obstacle can be determined and the drive is deactivated when falling below a threshold distance.
  • the safety of the floor cleaning device can be increased.
  • at least one sensor element for example an ultrasonic sensor, an infrared sensor or an optical camera, the presence of an obstacle can be detected. In case of imminent collision with the obstacle, the drive can be deactivated to avoid a collision.
  • Figure 1 a schematic plan view of a first embodiment of a floor cleaning device according to the invention and an operator;
  • Figure 2 a schematic block diagram of the floor cleaning device
  • FIG. 1 A first figure.
  • FIG. 3 shows a gripping element (top view) of a gripping device of the floor cleaning appliance from FIG. 1;
  • Figure 4 an alternative handle element (sectional view) of a handle device of the floor cleaning device of Figure 1;
  • FIG. 5 is a diagram showing the speed of the floor cleaning appliance of FIG. 1 as a function of time, depending on a force acting on the gripping device by the operator;
  • Figure 6 a representation corresponding to Figure 5, wherein the controller
  • FIG. 7 is a schematic plan view of a second preferred embodiment of a floor cleaning device according to the invention and an operator;
  • FIG. 8 shows a front view of an alternative grip device that can be used in the floor cleaning devices of FIGS. 1 or 7, and
  • FIG. 9 shows a plan view of the grip device from FIG. 8.
  • FIGS 1 and 2 show a schematic representation or as a block diagram occupied by the reference numeral 10 advantageous embodiment of a floor cleaning device according to the invention.
  • the floor cleaning device 10 comprises a housing 12, on which at least one cleaning unit 14 is held for cleaning a bottom surface 16.
  • the cleaning unit 14 is shown only schematically.
  • the cleaning unit 14 comprises, for example, a floor cleaning head with at least one rotatable cleaning brush and a dirt collecting device.
  • the floor cleaning device 10 could also be a sweeper.
  • the chassis 18 in the present case comprises two drive wheels 20, 21 which are rotatable, for example, about a common axis of rotation.
  • Each drive wheel 20, 21 is assigned its own drive motor 22 and 23, respectively.
  • the drive motors 22, 23 form a drive 24 of the floor cleaning device 10.
  • the chassis 18 further includes a steering roller 26th
  • the floor cleaning device 10 further comprises a control unit 28, which comprises, for example, a microprocessor.
  • the control unit 28 is connected via control lines 30, 31 to the drive motors 22 and 23, respectively.
  • the drive motors 22, 23 can be actuated by the control unit 28 in order to drive the drive wheels 20, 21 and to move the floor cleaning device 10 on the floor surface 16.
  • the cleaning unit 14 can be controlled by the control unit 28 via a control line 32.
  • the cleaning head can be raised or lowered and / or a cleaning brush can be set in rotation.
  • the floor cleaning device 10 may have an operating unit 34.
  • a control element 36 may be provided to activate the cleaning unit 14, to deactivate and / or to change its operation.
  • the floor cleaning device 10 further comprises a grip device 38.
  • the grip device 38 is arranged on a rear side of the floor cleaning device 10 with reference to a longitudinal or main movement direction 40.
  • the main direction of movement is the direction of movement of the floor cleaning device 10 in straight straight ahead. It runs in the longitudinal direction.
  • an operator 42 can control the floor cleaning device 10 during the procedure on the floor surface 16.
  • the grip device 38 in the present case comprises two grip elements 44, wherein each hand of the operator 42 is associated with a grip element 44.
  • a grip element 44 is shown in FIG.
  • the grip elements 44 are arranged separately on the rear side of the floor cleaning appliance 10.
  • the grip elements 44 are identical.
  • Each handle element 44 is designed, for example, U-shaped and includes a handle portion 46, on which the hand of the operator 42 can attack.
  • a force sensor element 48 encompassed by the grip device 38 is arranged in order to detect a manual force of the operator 42 on the grip element 44 and thus the grip device 38.
  • a related sensor signal can be transmitted to the control unit 28 via a signal line 50. Based on the sensor signal, the control ervenez 28 via control of the drive 24, the speed of the floor cleaning device 10 control and / or regulate. This will be discussed below.
  • the force sensor element is designed, for example, as a pressure sensor, in particular as a so-called FSR sensor (Force Sensing Resistor), or as a strain gauge.
  • the force sensor element 48 is, for example, annular, for example in the form of a sleeve which surrounds the gripping region 46.
  • an operator applies a hand force on the handle member 44, the size and the direction of the force can be determined.
  • it can be determined whether a compressive force in the longitudinal direction 40 can be exerted straight ahead or a tensile force counter to the longitudinal direction 40.
  • two force sensor elements 52, 53 encompassed by the grip device are present on the respective grip region 46.
  • the force sensor elements 52, 53 are arranged on opposite sides of the grip area 46.
  • the respective force sensor element 48, 52, 53 forms part of the surface of the grip element 44 so that it is automatically contacted by the operator 42 when gripping the grip element 44.
  • the speed of the floor cleaning appliance 10 in particular the amount and the direction of the floor cleaning device 10, speed, depending on the height of the handle device 38 acting on the manual force of the operator 42 is controlled and / or regulated.
  • each drive motor 22, 23 is associated with a grip element 44 and the corresponding force sensor element 48 (or the force sensor elements 50, 52), for example the left grip element 44 the drive motor 22 for the (left) drive wheel 20 and the right grip element 44, the drive motor 23 for the (right) drive wheel 21st
  • the floor cleaning device 10 comprises a memory unit 54, which may preferably be integrated in the control unit 28.
  • the memory unit 54 stores at least one force-speed relationship, on the basis of which the drive motors 22, 23 are actuated. When exerting the manual force on a handle member 44 is determined depending on the corresponding sensor signal with which motor voltage and / or with which motor current of the corresponding drive motor 22, 23 to operate.
  • force-speed relationship also includes a relationship between the manual force and a motor parameter of the respective drive motor 22, 23 without controlling and / or controlling the actual speed of the floor cleaning implement 10.
  • the speed of the floor cleaning implement 10 may be due to the resistance in the process, which is opposite to the movement of the floor surface 16 due to friction or inclination.
  • both drive motors 22, 23 are operated with the same motor voltage and / or the same motor current, whereby the rotation rates of the drive wheels 20, 21 are identical.
  • the floor cleaning device 10 moves in straight straight ahead driving or reversing longitudinally or counter to the longitudinal direction 40. If the hand force exerted on the gripping elements 44 differs, the corresponding drive motor 22 or 23 is operated with different types of motor voltage and / or different types of motor current. The rotation rates of the drive wheels 20, 21 are different, so that the floor cleaning device 10 performs a cornering.
  • the force sensor element 48 and the force sensor elements 52, 53 can be acted upon both with a tensile force and with a compressive force, in particular the possibility exists of operating the drive wheels 20, 21 at the same rotation rate, but in different directions of rotation.
  • the floor cleaning device 10 can thereby be rotated on the spot like a tracked vehicle.
  • the ability to drive the drive 24 by exerting a hand force on the handle device 38, proves to be particularly advantageous for the handling of the floor cleaning device 10.
  • the applied by the operator 42 force to move the floor cleaning device 10 can be kept low, which also longer-lasting cleaning operations without fatigue of the operator 42 can be performed. Resistors in the process of the floor cleaning device 10, for example, uneven ground surfaces 16 or when driving on gradients - for example via ramps when loading the floor cleaning device 10 - are facilitated.
  • the grip device 38 which is present anyway for guiding the floor cleaning device 10, integrates the control of the drive 24.
  • FIG. 5 shows by way of example how the speed v of the floor cleaning appliance 10 can be controlled and / or regulated as a function of a hand force F applied to the handle device 38.
  • the force-time relationship is characterized by a ve 56, and the velocity-time relationship through a curve 58.
  • the drive 24 is activated as long as a force acts on the grip device 38. If the force changes at times 60 and 62, the speed also changes. For example, at time 60, the force is increased according to the curve 56, which also increases the speed according to the curve 58. At time 62, the force is lowered according to the curve 56, whereby the speed according to the curve 58 is lowered. If the manual force is omitted, the drive 24 is deactivated, and the floor cleaning device 10 stops or stops, whereby the safety of the floor cleaning device 10 can be increased.
  • Figure 6 shows how the drive 24 can be controlled in a different manner depending on the force on the handle means 38, wherein also in this case, the force-time relationship by curves 56 and the speed-time relationship is symbolized by the curve 58 ,
  • the drive 24 is actuated in such a way that the speed is maintained after the force has ceased, depending on a force acting on the grip device 38, which lasts for a predetermined or predefinable period of time.
  • the floor cleaning device 10 is controlled by a pulse.
  • the floor cleaning device 10 continues without force.
  • a pulse is applied to the gripping device 38 and the speed according to the curve 58 is increased.
  • a pulse opposite the longitudinal direction 40 is exerted on the gripping device 38 and the speed according to the curve 58 decreases.
  • the floor cleaning device 10 it is advantageous in the floor cleaning device 10, when the force-speed relationship is changeable.
  • a selection or control element 64 is provided at the operating unit 34 . Via the operating element 64, the operator 42 can select and apply one of a plurality of force-speed relationships stored in the storage unit 54.
  • the floor cleaning device 10 proves to be particularly versatile and easy to handle. Depending on the preference of the operator 42 can be adjusted, as the floor cleaning device 10 is responsive to the applied to the handle device 38 manual force.
  • the force-speed relationship is changed upon activation or deactivation of the cleaning unit 14.
  • the control element 36 is actuated and the cleaning unit 14 is activated, the friction of a cleaning brush with the bottom surface 16 can lead to a slowing down of the floor cleaning appliance 10.
  • the control unit 28 may increase the motor voltage and / or the motor current of the drive motors 22, 23 in order to increase the speed of the floor cleaning device 10 again.
  • force-speed relationships may also be stored associated with the nature of the floor surface 16, an operating profile of the operator 42 and / or with a cleaning profile associated with the use of the cleaning assembly 14. This has already been mentioned above. The selection of the corresponding relationship takes place, for example, via the operating element 64.
  • the floor cleaning device 10 comprises a detection unit 66, via which an access authorization associated with an operating profile can be detected, with which the floor cleaning device 10 can be used.
  • the detected access authorization is checked for validity by the control unit 28 and determines to which operating profile the access authorization is assigned and which force / speed relationship is associated with the operating profile. This can be an automatic adjustment the corresponding relationship depends on the operating profile. This proves to be particularly easy to handle.
  • the access authorization is contacted or contactless by the detection unit 66 and is stored in particular on a floor cleaning device 10 assigned authorization carrier (not shown).
  • the force-speed relationship can be changed by applying force to the grip device 38.
  • An increase or decrease of the force on the grip device 38 for a predetermined or predefinable period of time can be interpreted by the control unit 28 in that a drive parameter of the drive motors 22, 23 is changed so that their power is increased or decreased.
  • the force-speed relationship can thereby be changed by applying force so that the floor cleaning device 10 moves faster with the same force or moves slower.
  • the operator 42 exerts a pulse in the longitudinal direction 40 on the grip device 38.
  • the power of the drive motors 22, 23 is thereby increased, and the speed of the floor cleaning device 10 is increased.
  • a control and / or regulation of the speed can continue to be made.
  • the force on the handle device 38 is lowered or that the operator 42 exerts a pulling force against the longitudinal direction 40 on the handle device 38.
  • This has the consequence that with the same force, the speed of the floor cleaning device 10 is reduced, the speed can be further controlled and / or regulated.
  • the possibility of changing the force-speed relationship as a function of a force acting on the gripping device 38 also proves to be advantageous in particular when the resistance which is opposed to the floor cleaning appliance 10 in the method is increased.
  • An increase in the resistance is, as mentioned, for example by activation of the cleaning unit 14, by unevenness of the bottom surface 16 and by driving along a slope.
  • the increase in resistance results in a decrease in the speed of the floor cleaning appliance 10.
  • the operator 42 exerts an impulse on the gripping device 38 because its trailing speed is adapted to the floor cleaning device 10.
  • the power of the drive motors 22, 23 can be increased, so that the speed of the floor cleaning apparatus 10 is increased again.
  • the floor cleaning device 10 has a sensor element 68, with which the actual speed of the floor cleaning device 10 or a linked with this measured variable can be measured.
  • a corresponding sensor signal can be provided via a signal line 69 of the control unit 28.
  • the predetermined by the manual force on the handle device 38 speed can be actually measured and controlled by a control of a drive parameter of the drive motors 22, 23 takes place, for example, the motor voltage and / or the motor current. Accordingly, when the manual force is exerted on the gripping device 38, the speed is actually regulated, the power of the drive motors 22, 23 being adjusted if necessary. In the present case, this is also understood by "force-speed relationship".
  • the floor cleaning device 10 may further comprise at least one sensor element 70, with the presence of an obstacle is recognizable.
  • the sensor element 70 includes, for example, an ultrasonic sensor, an infrared sensor or a camera for detecting the obstacle.
  • a related sensor signal may be provided to the control unit 28 via a signal line 71.
  • the drive 24 can be deactivated so that the collision can be avoided. For this purpose, it is checked, for example, whether the obstacle falls below a threshold distance to the floor cleaning device 10.
  • a second advantageous embodiment of a floor cleaning appliance according to the invention shown in FIG. 7 is designated by reference numeral 80.
  • the floor cleaning device 80 differs from the floor cleaning device 10 by the arrangement of the drive wheels 20, 21 and the castor 26.
  • the drive wheels 20, 21 are arranged in the longitudinal direction 40 behind the steering roller 26 (for example, near the rear or near the front of the Floor cleaning device 10), and in the floor cleaning device 80, this is reversed (for example, near the front or near the back of the floor cleaning device 80).
  • the operation of the floor cleaning device 80 corresponds to that of the floor cleaning device 10. Also with the floor cleaning device 80, the achievable with the floor cleaning device 10 advantages are achieved, so that in this regard can be made to the above explanations.
  • FIGS. 8 and 9 show a front view and a top view, respectively, of a gripping device 82 which, instead of the gripping device 38, is used in the cleaning of the floor.
  • device 10 or 80 can be used.
  • the gripping device 38 comprises two bow-shaped, in particular U-shaped gripping elements 84 and a holding part 86.
  • the holding part 86 is for example T-shaped.
  • the grip device 82 is held on the floor cleaning device 10 or 80.
  • the gripping elements 82 and the holding part 86 are different segments of the gripping device 82, which are separated from each other and connected via a respective force sensor element 88 encompassed by the gripping device 82.
  • the grip elements 84 and the holding part 86 for example, each spaced from one another by a gap.
  • the force sensor element 88 connects as a "soul" the respective grip element 84 with the holding part 86.
  • the holding part 86 comprises two segments, which are spaced from each other by a gap, and which are connected by a force sensor element 90, also designed as a kind of soul ,
  • the force sensor elements 88 and 90 are preferably load cells for detecting the manual force on the grip device 82. Force can be absorbed in and against the longitudinal direction 40 via the force sensor elements 88, 90, as pulling or pressing force on the grip device 82, and in the transverse direction 41. This also allows the floor cleaning apparatus 10 or 80 to be controlled in one of the manners explained above.
  • the direction of travel of the floor cleaning appliance 10 can be taken in particular as a function of a transverse force or transverse force component.
  • the drive wheels 20, 21 are driven at different rates of rotation.
  • the floor cleaning device 10 performs a cornering. A change in the lateral or lateral force component can lead to a change of direction. It turns out in practice that the floor cleaning device 10 can thereby be intuitively controlled.

Landscapes

  • Electric Vacuum Cleaner (AREA)

Abstract

L'invention concerne un appareil de nettoyage de sol mobile guidé manuellement, comprenant au moins une unité de nettoyage (14) servant à nettoyer une surface de sol (16), un mécanisme de roulement (18) servant au déplacement sur la surface de sol (16), un entraînement (24) destiné au mécanisme de roulement (18), une unité de commande (28) servant à commander l'entraînement (24) et un moyen de préhension (38; 82) servant à guider l'appareil de nettoyage de sol (10; 80). Selon l'invention, pour produire un tel dispositif de nettoyage de sol de manipulation améliorée, le moyen de préhension (38; 82) comporte au moins un élément capteur de force (48; 52, 53; 88, 90) couplé à une unité de commande (28) et l'entraînement (24) peut être commandé par l'unité de commande (28) pour commander et/ou réguler la vitesse de l'appareil de nettoyage de sol (10; 80) en fonction de l'intensité de la force avec laquelle la main agit sur le moyen de préhension (38; 82), qui peut être détectée à l'aide de l'au moins élément capteur de force (48; 88, 90; 52, 53).
PCT/EP2014/057530 2014-04-14 2014-04-14 Appareil de nettoyage de sol mobile guidé manuellement WO2015158362A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
DE112014006585.4T DE112014006585A5 (de) 2014-04-14 2014-04-14 Handgeführtes fahrbares Bodenreinigungsgerät
PCT/EP2014/057530 WO2015158362A1 (fr) 2014-04-14 2014-04-14 Appareil de nettoyage de sol mobile guidé manuellement

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2014/057530 WO2015158362A1 (fr) 2014-04-14 2014-04-14 Appareil de nettoyage de sol mobile guidé manuellement

Publications (1)

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WO2015158362A1 true WO2015158362A1 (fr) 2015-10-22

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DE (1) DE112014006585A5 (fr)
WO (1) WO2015158362A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0173393A2 (fr) * 1984-08-28 1986-03-05 Unilever N.V. Machine d'entretien du sol
US5044043A (en) * 1986-04-21 1991-09-03 Tennant Company Speed and steering control for a floor maintenance machine
US20060101613A1 (en) * 2004-11-17 2006-05-18 Nilfisk-Advance, Inc. Control handle assembly
US20070039122A1 (en) * 2005-08-19 2007-02-22 The Scott Fetzer Company Vacuum cleaner with drive assist
EP1782724A2 (fr) * 2005-11-03 2007-05-09 The Scott Fetzer Company Appareil de nettoyage avec poignée amovible avec interface utilisateur électronique

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0173393A2 (fr) * 1984-08-28 1986-03-05 Unilever N.V. Machine d'entretien du sol
US5044043A (en) * 1986-04-21 1991-09-03 Tennant Company Speed and steering control for a floor maintenance machine
US20060101613A1 (en) * 2004-11-17 2006-05-18 Nilfisk-Advance, Inc. Control handle assembly
US20070039122A1 (en) * 2005-08-19 2007-02-22 The Scott Fetzer Company Vacuum cleaner with drive assist
EP1782724A2 (fr) * 2005-11-03 2007-05-09 The Scott Fetzer Company Appareil de nettoyage avec poignée amovible avec interface utilisateur électronique

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