[go: up one dir, main page]

EP3351157B1 - Appareil de nettoyage se déplaçant automatiquement - Google Patents

Appareil de nettoyage se déplaçant automatiquement Download PDF

Info

Publication number
EP3351157B1
EP3351157B1 EP18150536.3A EP18150536A EP3351157B1 EP 3351157 B1 EP3351157 B1 EP 3351157B1 EP 18150536 A EP18150536 A EP 18150536A EP 3351157 B1 EP3351157 B1 EP 3351157B1
Authority
EP
European Patent Office
Prior art keywords
cleaning
cleaning device
floor
over
housing
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP18150536.3A
Other languages
German (de)
English (en)
Other versions
EP3351157A1 (fr
Inventor
Gerhard Isenberg
Roman Ortmann
Christian Holz
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Vorwerk and Co Interholding GmbH
Original Assignee
Vorwerk and Co Interholding GmbH
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 Vorwerk and Co Interholding GmbH filed Critical Vorwerk and Co Interholding GmbH
Publication of EP3351157A1 publication Critical patent/EP3351157A1/fr
Application granted granted Critical
Publication of EP3351157B1 publication Critical patent/EP3351157B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4041—Roll shaped surface treating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • 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
    • A47L9/0483—Reciprocating or oscillating tools, e.g. vibrators, agitators, beaters
    • 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
    • A47L11/40—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
    • A47L11/4036—Parts or details of the surface treating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L5/00—Structural features of suction cleaners
    • A47L5/12—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum
    • 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
    • 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
    • A47L9/0488—Combinations or arrangements of several tools, e.g. edge cleaning tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2847—Surface treating elements
    • 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
    • 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
    • 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
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
    • 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
    • A47L9/24—Hoses or pipes; Hose or pipe couplings
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means

Definitions

  • the invention relates to a self-propelled moving cleaning device with a surface cleaning device for cleaning a surface to be cleaned.
  • the invention relates to a method for operating a self-propelled moving cleaning device, wherein the cleaning device cleans a surface to be cleaned by means of a surface cleaning device.
  • Self-propelled cleaning devices of the aforementioned type are known in the art. These are in particular cleaning robots, which can perform a dry and / or wet cleaning task.
  • the cleaning device moves during cleaning over the surface to be cleaned and takes on, for example by means of a blower and / or optionally further provided cleaning elements, dust or dirt from the surface to be cleaned.
  • the cleaning device preferably navigates within the environment by means of a navigation and self-locating device, whereby distances to obstacles are measured in order to avoid a collision.
  • the publication DE 10 2008 014 912 A1 discloses an automatically movable cleaning device with a distance measuring device for measuring the distance of the cleaning device to an object, such as an obstacle such as a wall or a piece of furniture.
  • the distance measuring device has there, for example, a triangulation system, the light source of which emits light onto the object to be measured and whose sensor detects light scattered or reflected by the object.
  • the cleaning device thus receives information about the removal of obstacles, so that a movement strategy can be adapted to it and a collision with these avoided in advance.
  • the cleaning device cleans the surface over which the cleaning device moves.
  • the cleaning takes place on the one hand by means of the negative pressure generated by a fan, with dust and dirt are conveyed through a suction port of the housing in a filter chamber of the cleaning device and on the other usually additionally by the cooperation of a cleaning element, such as a bristle roller, which over the surface to be cleaned strokes and dissolves dust and dirt.
  • a cleaning element such as a bristle roller
  • a cleaning robot known on the underside of housing a flexible cleaning cloth is attached, which can be used beyond a guide surface of the cleaning robot edge region to clean vertically arranged surfaces such as baseboards.
  • the arranged on the underside of the housing cleaning cloth is placed with its edge area when approaching a corner, bottleneck or skirting upwards, and there performs a cleaning performance.
  • Another example of a cleaning robot is from the EP3100659 known.
  • a self-propelled moving cleaning device which in addition to the cleaning of a substantially horizontal surface, in particular a bottom surface, also allows the cleaning of an overground surface, such as a plateau a baseboard.
  • the cleaning device additionally comprises an over-floor cleaning element for mechanical cleaning a height-offset relative to the surface overground surface, wherein the over-surface cleaning element rotatable about an axis of rotation and / or pivot and at least one cleaning portion of the over-surface cleaning element based on a
  • usual orientation of the cleaning device has a height difference of about 3 cm or more to a lowermost footprint of the cleaning device.
  • the cleaning device now in addition to the usual surface cleaning device for cleaning a surface on which the cleaning device usually moves, in addition an oversoil cleaning element, which can clean an oversoil surface arranged in a relation to the surface on which the cleaning device moves, higher level is.
  • an oversoil cleaning element which can clean an oversoil surface arranged in a relation to the surface on which the cleaning device moves, higher level is.
  • a serving for cleaning portion of the over-floor cleaning element is arranged on the cleaning device that it intersects a height level, which has a distance of 3 cm or more, for example, up to 8 cm, to a lowermost footprint of the cleaning device.
  • the lowest footprint in the sense of the invention is a contact region of the cleaning device, which is based on the usual for a cleaning operation orientation of the cleaning device in contact with the surface on which the cleaning device is located.
  • This lowermost standing area is usually a circumferential area of one or more Verfahrzier of the cleaning device touching the surface and / or a peripheral portion of a cleaning element contacting the surface.
  • the cleansing portion of the oversoil cleaning element is thus 3 cm or more, up to, for example, 8 cm, above a surface on which the cleaning device stands, so that an oversoil cleaning in a corresponding level, for example 3 cm to 8 cm above the Surface can take place.
  • the subarea to be cleaned can also have a height difference of more than 8 cm from the base, for example 10 cm or 15 cm, in particular adapted to particularly high skirting boards or other overbase surfaces.
  • a typical oversoil surface for example, the plateau of a baseboard, which usually accumulates with suction and can not be cleaned with the usual in the art, self-propelled cleaning equipment, since they do not take into account measures to clean oversoil surfaces.
  • the rotatable over-floor cleaning element rotates advantageous during over-floor cleaning, so that there is a cleaning function, such as in a cleaning roller of a car wash. If the over-floor cleaning element is not rotatable by 360 degrees or more, but rather only pivotable over an angular portion, the over-floor cleaning element during the over-floor cleaning swing back and forth, wherein the surface area is swept over like a windshield wiper.
  • the over-surface cleaning element not only an over-ground surface can be cleaned, but for example also an associated side surface, such as a side surface of a baseboard. This additionally increases the cleaning effect.
  • the pivotable over-floor cleaning element can also be provided specifically that this is only initially pivoted for an over-floor cleaning relative to a housing of the cleaning device, namely on the over-surface to be cleaned and during the over-floor cleaning is not further moved about the axis of rotation, but the Overground surface and possibly an associated side surface rather only sweeps due to a movement of the cleaning device.
  • a motor of the cleaning device can be used, for example, a motor which also drives the Verfahrcid the cleaning device and / or a cleaning element of the surface cleaning device, or a separate motor, which exclusively only the movement of the Overground cleaning element is used.
  • the over-floor cleaning element comprises a brush and / or a roller and / or a comb.
  • a brush in this sense may, for example, be a substantially cylindrical element which has radially outwardly facing bristles on its peripheral surface.
  • the brush has a plurality of juxtaposed bristles in rows and columns.
  • the brush may also have a flat, non-curved support member on which a plurality of bristles are arranged in rows and columns. This brush can also rotate about the axis of rotation, but it is only in engagement with the surface of the floor or the side surface when the Bristles are currently located in an angular range which intersects the overfloor surface or side surface.
  • An over-surface cleaning element having a roller can be, for example, a textile cleaning roller or a roller coated with a textile, as used in particular in wet-cleaning devices.
  • the textile can be moistened with a liquid, in particular for an additional cleaning effect, so that a better dust adhesion can be achieved when contacting the overbase surface or the side surface by the roller than with a dry textile.
  • the roller can either be moistened manually by a user of the cleaning device or automatically by means of an application device connected to a liquid container.
  • the over-floor cleaning element may have a comb which has, for example, bristle elements arranged linearly.
  • Such a comb can either be rotatable about the axis of rotation or be pivotable about an axis of rotation, wherein in each case only an angular range limited to the width of the bristles is in contact with the surface or side surface to be cleaned.
  • over-floor cleaning elements are also conceivable, which combine a brush, a roller, a comb and / or a plurality of these.
  • the rotational axis is arranged substantially perpendicular to the base surface with respect to a cleaning device's usual orientation of the cleaning device. If the cleaning device with its lowermost standing surface is located on a surface, for example a floor surface, the axis of rotation is perpendicular to this base surface. As a result, the axis of rotation is usually also perpendicular to the surface of the surface of the floor, so that, for example, the bristles of the over-surface cleaning element can stroke over the surface over its longitudinal extension. An optional side surface to be cleaned preferably comes into contact with a peripheral portion of the over-surface cleaning element.
  • a substantially vertical arrangement of the axis of rotation relative to the base surface are also understood embodiments in which the axis of rotation is slightly tilted, for example, plus / minus 10 degrees.
  • a footprint is understood here a plane usually spanned by a plurality of contact points or contact surfaces level, which preferably has no gradients or inclinations. Should the cleaning device still be on a rising or sloping surface, for example, it goes without saying that the axis of rotation of the over-surface cleaning element is then tilted accordingly.
  • the axis of rotation is oriented substantially horizontally, so that the surface cleaning element is aligned parallel to a longitudinal extent of a plateau of a baseboard and the plateau as in a horizontally disposed roller a car wash cleans.
  • the oversoil cleaning element has bristles and / or filaments, which, based on an orientation of the cleaning device usual for a cleaning operation, have a free end region pointing downwards from its fastening location on the axis of rotation.
  • This embodiment is particularly suitable for a surface cleaning element rotating about a vertically arranged axis of rotation.
  • the bristles or filaments of the oversoil cleaning element are not perpendicular to the axis of rotation, but facing down, so that they point down from a mounting location above a plane of the surface area over the bottom surface and contact the surface area at least with their free end.
  • the bristles and / or filaments can be designed to be flexible and an inherent rigidity which, due to the weight force acting on the bristles or filaments, leads to a lowering of the bristles or filaments onto the surface of the overfloor surface.
  • textile filaments are suitable which form an over-surface cleaning element in the manner of a conventional mop and hang down onto the surface of the surface above the floor. The filaments can be wetted with liquid manually or automatically for better dust adhesion.
  • the over-floor cleaning element is displaceable onto a housing of the cleaning appliance and / or into a housing of the cleaning appliance or away from the housing and / or out of the housing.
  • the displacement of the over-floor cleaning element can for example take place exclusively outside the housing of the cleaning device, or include a shift within the housing.
  • the over-floor cleaning element can be particularly advantageous when not in use displaced into the housing, so that advantageously reduces the outer shape of the cleaning device and the over-floor cleaning element does not lead to an undesired spacing of the cleaning device from an obstacle, a room boundary or the like.
  • the over-floor cleaning element is moved out of the housing accordingly again, so that it is available for over-floor cleaning.
  • the over-floor cleaning element can be moved only outside the housing, namely on the housing to and from the housing away.
  • an over-floor cleaning element can be folded onto the housing of the cleaning appliance.
  • a regeneration element is also proposed, which is arranged on the housing, that the over-floor cleaning element along a sliding relative to the housing along the regeneration element.
  • the regeneration element may be, for example, a wiper lip, a brush or a comb.
  • the proposed regeneration element is used to clean the surface cleaning element by mechanical action.
  • the regeneration element is arranged in the displacement region of the oversoil cleaning element such that the oversoil cleaning element sweeps along the regeneration element during its displacement and releases dust and / or dirt, which was previously absorbed by an above-ground surface, to the regeneration element.
  • the regeneration element may comb, strip, or otherwise clean the bristles and / or filaments of a brush, roller, comb, or the like from dust and dirt.
  • the overground cleaning element is displaced solely for the purpose of regeneration at predetermined time intervals or at certain times relative to the housing of the cleaning device and thus also relative to the regeneration element.
  • the regeneration element may preferably be associated with a collecting container or the like, so that the dust and / or dirt removed from the over-surface cleaning element does not reach the over-surface surface or another surface.
  • a combination with a suction fan may be advantageous, which transfers the dissolved dust and / or dirt directly into a collecting container.
  • the dust and / or dirt is conveyed to the surface on which the cleaning device is standing or moving that the cleaning device can absorb the dust and / or dirt by means of the conventional surface cleaning device, for example by means of a suction fan of the cleaning device.
  • the over-surface cleaning element can be displaced by changing the height difference relative to a housing of the cleaning appliance.
  • the over-floor cleaning element can be adapted to a varying height of an over-ground surface or different heights of several over-ground surfaces.
  • the displacement of the over-floor cleaning element can be done for example by pivoting and / or moving the over-floor cleaning element relative to the housing.
  • the displacement is possible manually by a user of the cleaning device or automatically by means of a motor control, which is in particular coupled to a height detection. It can also be provided that a displacement of the over-floor cleaning element takes place relative to the housing only when an over-floor cleaning mode of the cleaning device is activated.
  • the rotational axis is associated with a spring element, which is arranged and formed on the cleaning device, that a restoring force of the spring element acts in a direction away from a housing of the cleaning device direction, and / or that the spring element by acting on a Force against the restoring force in a cocked position can be locked.
  • the over-floor cleaning element according to this embodiment is tensioned by spring force and can be displaced by releasing this tension relative to the housing of the cleaning device, in particular in a suitable for over-floor cleaning position are removed from the housing.
  • the Overground cleaning element are displaced by applying a predefined force back to the original position (rest position), for example, by a defined drive of the cleaning device against an object, a wall, a designated portion of a base station and the like.
  • a predefined force back to the original position (rest position)
  • the tension of the spring element against the restoring force and the locking in this position via an electrical, mechatronic, mechanical or pneumatic drive, for example servomotor, gearbox, piezoelectric element, shape memory alloy, etc., take place.
  • the over-floor cleaning element should, if possible, shift back again once the over-floor cleaning has been completed in order to avoid potential impacts with obstacles.
  • the cleaning device has a control device which controls a displacement and / or rotation of the over-surface cleaning element relative to a housing of the cleaning device in response to a detection signal of a detection device, wherein the detection device is adapted to detect an over-bottom surface.
  • a displacement and / or rotation of the over-floor cleaning element takes place automatically as a result of the signal of a detection device which can detect an over-ground surface and in particular also determine its height.
  • the detection device may include a contact sensor that detects a collision that is related to the presence of an over-floor surface.
  • the detection device may include a detection device for a navigation system of the cleaning device, which detects the environment of the cleaning device, so that shocks can be prevented and the cleaning device can move automatically within the environment.
  • the detection device can be a triangulation measuring device which can detect distances to objects, for example also baseboards with an overbottom surface.
  • the detection device an ultrasonic sensor, infrared sensor, induction sensor or the like. All detection devices have in common that they can determine a height or a height range of an oversoil surface by measuring in different height levels, so that the controller can conclude the existence of an overground surface and causes a shift and / or rotation of the oversoil cleaning element for cleaning the surface of the floor.
  • the detection device has two distance sensors which, relative to an orientation of the cleaning device customary for cleaning, have mutually offset in height and overlapping detection regions in a vertical direction relative to a projection.
  • the two distance sensors are arranged on the housing so that they allow the recognition of an overground surface, such as a plateau of a baseboard.
  • the sensor system includes a combination of two or more sensor elements, such as ultrasound sensors, infrared sensors, laser distance sensors or others, of which at least one determines a distance value to an object having an overground surface, in particular a baseboard.
  • At least one further distance sensor measures a distance correspondingly at a different height, so that it can be concluded from a difference of the measured distances and the respective height on a shape or height of the object, in particular it can be recognized whether it is an overground surface such as a Footer bar is.
  • the detection device can also have more than two distance sensors, for example a sensor array with a multiplicity of sensors, which are arranged vertically one above the other with respect to a conventional orientation of the cleaning device during a cleaning operation.
  • the sensors of this sensor array measure a multiplicity of measured values at different distances from a bottom surface so that a contour of an object can be scanned, an actual height, for example the height of a baseboard, can be detected and a height adjustment of the over-floor cleaning device can be triggered accordingly.
  • provision can be made, in particular, for one or more distance sensors of the detection device to be simultaneously sensors which are already present on the cleaning device according to the prior art, for example a measuring device, in particular a triangulation measuring device, for navigation and self-localization of the cleaning device or the like.
  • a measuring device in particular a triangulation measuring device, for navigation and self-localization of the cleaning device or the like.
  • laser distance sensor can advantageously be carried out at an angle of 360 degrees, a distance measurement to obstacles.
  • a first distance sensor has a detection region which, with respect to a vertical spatial direction, has a distance of less than approximately 3 cm to a bottom standing surface of the cleaning device, at least in a partial region, and in that a second distance sensor has a detection region which relates to the vertical spatial direction at least in a partial area has a distance of more than about 8 cm to the lowest footprint.
  • the distance sensors are positioned so that at least one distance sensor has a detection area, which includes a baseboard, and a second distance sensor has a detection area, which has no baseboard with respect to the same spatial direction.
  • the first distance sensor determines a distance to an object, as here, for example, the baseboard, while the second distance sensor, which optionally serves other tasks such as the navigation of the cleaning device, can be consulted only when an approach of the cleaning device has been determined to a room edge.
  • the distance of the second distance sensor from a floor surface is dimensioned so that its detection range is above the detection range of the first distance sensor and above the upper edge of a conventional footer.
  • the difference of the Distance values measured by both distance sensors allow a conclusion about the presence of a baseboard.
  • the detection ranges of the distance sensors can be, for example, measurement levels of a sensor, which lie in the usual orientation of the cleaning device during a cleaning operation substantially horizontally and parallel to a flat floor surface. If necessary, deviations may result here if the floor surface is an uneven surface and / or a floor surface with gradients or slopes.
  • the invention also proposes a method for operating a self-propelled cleaning device, wherein the cleaning device cleans a surface to be cleaned by means of a surface cleaning device, and wherein the cleaning device a relative to the surface height offset overground surface mechanically by means of a Overground cleaning element cleans while it is on the surface as for a cleaning operation by means of the surface cleaning device, wherein the over-surface cleaning element for an over-floor cleaning operation of a restoring force of the over-floor cleaning element associated spring element is displaced in a direction away from a housing of the cleaning device direction , and wherein the over-floor cleaning element upon application of a predefined force against the return force is transferred to the housing and locked there in a tensioned rest position.
  • This process control serves to displace the over-surface cleaning element relative to the housing in order to be able to carry out an over-floor cleaning.
  • the displacement may be a pivoting of the over-surface cleaning element relative to the housing of the cleaning device or an extension of the over-surface cleaning element from the housing of the cleaning device.
  • the pivoting or extending is thereby supported by the restoring force of the spring element, so that only the release of a lock is required for the transfer of the over-surface cleaning element in a floor cleaning position. This can be done for example by an operation of a button, switch or the like.
  • the restoring force of the spring element must be overcome.
  • the cleaning device cleans a surface to be cleaned by means of a surface cleaning device, wherein the cleaning device mechanically cleans a raised surface area offset relative to the surface by means of an over-surface cleaning element, while it as for a cleaning operation by means of the surface cleaning device is on the surface or moves on the surface, wherein the over-surface cleaning element is later regenerated by means of a regeneration element of the cleaning device by the over-floor cleaning element rubs at a displacement relative to a housing of the cleaning device to the regeneration element.
  • This procedure is used for the regeneration of the over-surface cleaning element after receiving dust and / or dirt during an over-floor cleaning operation.
  • the regeneration element acts mechanically on the over-surface cleaning element by the over-surface cleaning element rubbing along the regeneration element.
  • the regeneration element can advantageously be designed as a wiper lip, brush or comb, which reinforces the mechanical interaction between the two elements.
  • the over-surface cleaning element is rotated in order to spin off dust and / or dirt by centrifugal force from the surface of the over-surface cleaning element.
  • the suction of the over-floor cleaning element by means of an air flow is possible.
  • the over-floor cleaning element is retracted at certain intervals in the housing of the cleaning device, whereby the bristles and / or filaments, in particular textile filaments of the over-surface cleaning element, combed by a comb-like regeneration element and freed of dust and / or dirt.
  • This process step can be performed at a defined distance from an overground surface, so that the dissolved dust and / or dirt can not get back to the surface of the surface.
  • the dirt or dust removed from the over-floor cleaning element reaches an area on which the cleaning device moves, so that the cleaning device can absorb it during a normal cleaning operation by means of a surface cleaning device and transport it into a dust chamber.
  • the cleaning device can basically also be a device designed exclusively as a wet cleaning robot.
  • combinations are also conceivable, for example combined suction-wiper devices.
  • the mechanically acting over-floor cleaning element by a suction and / or Blowing be supplemented, which sucks suction material from an oversoil surface or blows out.
  • the FIGS. 1 to 3 show a cleaning device 1 according to a first embodiment.
  • the cleaning device 1 is designed here for example as an autonomous vacuum robot.
  • the cleaning device 1 has a housing 15, a surface cleaning device 2 and Verfahrzier which provide a footprint 7, which contacts a portion of a surface 3, on.
  • the surface cleaner 2 includes a bristle roller and a motor-blower unit (not shown).
  • an overfloor cleaning element 4 is arranged laterally with respect to a conventional forward direction of travel of the cleaning device 1, which serves for cleaning an overfloor surface 5.
  • the overfloor surface 5 is here, for example, a plateau of a baseboard.
  • the baseboard also has a side surface 23 which rises vertically from the surface 3.
  • the over-floor cleaning element 4 is formed here as a cylindrical roller 9, which has a plurality of bristles 11 which point radially outward.
  • the over-floor cleaning element 4 is mounted on a rotation axis 6 and rotatable about this.
  • the axis of rotation 6 of the roller 9 is perpendicular to the surface 3 and thus also perpendicular to the support surfaces 7 of the cleaning device 1.
  • the over-surface cleaning element 4 is so on the housing 15 of the cleaning device 1 arranged so that at least a portion of the bristles 11 of the roller 9 are above the surface 5, ie a height difference to the lowest floor space 7 of the cleaning device 1 have, which is equal to or greater than the distance between the base 7 and the Overground surface 5.
  • the height of the overground surface 5 relative to the surface 3 is, for example, 5 cm.
  • the over-surface cleaning element 4 is based on the oversoil effecting bristles 11 in a height range between about 3 cm and 6 cm, so that on the one hand, the side surface 23, and on the other hand, the surface 5 are cleaned can.
  • the cleaning device 1 additionally has a side brush 22, which in particular serves to clean transition regions between horizontal and vertical surfaces, for example between the surface 3 and the side surface 23.
  • the cleaning device 1 furthermore has a detection device 17 which, among other things, has a triangulation measuring device here.
  • the triangulation measuring device is usually used to measure distances to objects in order to create a map of an environment of the cleaning device 1 and then to enable navigation and self-localization of the cleaning device 1 within the environment.
  • the triangulation measuring device measures distances within a planar detection area 21, which here lies above the plane of the overground area 5.
  • the triangulation measuring device can not perform a distance measurement to the baseboard, but for example to a wall behind it.
  • the cleaning device 1 also has a plurality of further distance sensors 18,19, which are arranged vertically one above the other with respect to the orientation of the cleaning device 1 shown.
  • These distance sensors 18, 19 are here, for example, ultrasonic sensors, which can also measure a distance to objects.
  • Each distance sensor 18, 19 also has a detection area 20, which lies below the detection area 21 of the triangulation measuring device.
  • the detection regions 20 of all distance sensors 18, 19 are located in a height plane below the plane of the over-bottom surface 5.
  • a procedure for the illustrated cleaning device 1 can now be carried out so that the cleaning device 1 first performs a cleaning of the surface 3 by means of the surface cleaning device 2.
  • the surface cleaning device 2 acts on the surface to be cleaned 3 and sucks suction material from the surface 3 in a dust chamber of the cleaning device 1 a.
  • the detection device 17 of the cleaning device 1 continuously measures distances to obstacles within the environment, including the side surface 23 and, for example, a wall (not shown) arranged behind it. Since the triangulation measuring device of the detection device 17 measures within a detection range 21, which is arranged relative to the surface 3 relative to the surface 3 above the detection regions 20 of the distance sensors 18, 19 designed as ultrasonic sensors, different distance values result for the closest obstacle.
  • the triangulation measuring device measures a distance to the wall above the overblown surface 5, while the distance sensors 18, 19, relative to the same measuring direction, measure a distance to the side surface 23 of the baseboard which intersects the detection regions 20 of the distance sensors 18, 19.
  • the measured distance values of the detection device 17 are forwarded to an evaluation and control device of the cleaning device 1, which is based on the present Distance difference and the knowledge about the heights of the detection areas 20, 21 to the existence of an over-bottom surface 5 between the detection area 20 of the vertical uppermost distance sensor 18 and the detection area 21 of the triangulation measuring conclude.
  • the cleaning device 1 moves to the baseboard and oriented relative to this so that the over-surface cleaning element 4 having side of the housing 15 of the cleaning device 1 to the side surface 23 of the skirting shows. If the height of the bristles 11 of the over-surface cleaning element 4 is not yet at a height which is suitable for cleaning the over-bottom surface 5, the evaluation and control device can displace the over-surface cleaning element 4 or the rotation axis 6 accordingly, so that at least one cleaning portion of the over-floor cleaning element 4 is arranged above the over-bottom surface 5. Furthermore, the over-surface cleaning element 4 can be moved relative to the housing 15 of the cleaning device 1 on the side surface 23 or the over-bottom surface 5. This can be done automatically or manually by a user of the cleaning device 1.
  • the over-surface cleaning element 4 For example, for the displacement of the over-surface cleaning element 4 a tensioned against its restoring force spring element relaxed by pressing a button, so that the over-floor cleaning element 4 is displaced as a result.
  • the over-floor cleaning element 4 is applied to the side surface 23 such that at least a part of the bristles 11 projects beyond the over-bottom surface 5.
  • the over-surface cleaning element 4 is rotated about the axis of rotation 6. This is done by means of a motor of the cleaning device 1.
  • the rotation dust and dirt brushed down on the one hand by the surface 5 and on the other hand from the side surface 23 so that they fall on gravity following the surface 3 on which the cleaning device 1 is or along the Side surface 23 moves.
  • This dust and / or dirt can then by means of the surface cleaning device 2 of the cleaning device 1 are transferred into a dust chamber of the cleaning device 1.
  • the cleaning device 1 After the cleaning of the over-bottom surface 5 and the side surface 23 is completed, the cleaning device 1, for example, go to a base station (not shown) and push the over-surface cleaning element 4 against a designated area, whereupon the spring element of the over-floor cleaning element 4 against its restoring force back into a Rest position displaced and locked in it.
  • the overfloor cleaning element 4 can be fundamentally displaced so that it is placed higher than the overall height of the cleaning device 1, so that the overfloor cleaning element 4 thereby also in the detection areas 20, 21st the detection device 17 would protrude.
  • an information to the control device of the cleaning device 1 could be carried out during an over-floor cleaning such that a corresponding angular range for the navigation of the cleaning device 1 is hidden or not taken into account.
  • FIGS. 4 and 5 show a second embodiment of a cleaning device 1, wherein the over-floor cleaning element 4 is also rotatable about a vertical axis of rotation 6 body.
  • This over-floor cleaning element 4 is formed as a brush 8 with a plurality of textile filaments 12, which are each anchored to a mounting location 13 in the brush 8 and hang with their opposite, free end portions 14 of gravity following.
  • the brush 8 rotates, so that the filaments 12 are lifted due to the attacking centrifugal force and strike over the over-bottom surface 5.
  • a moistening device (not shown) may be assigned to the over-surface cleaning element 4, which ensures moistening of the filaments 12.
  • the filaments 12 may also be moistened manually by a user.
  • the procedure can be carried out in this cleaning device 1 analogous to the embodiment shown above, d. H. It is also possible for the over-surface cleaning element 4 to be displaced relative to the housing 15 of the cleaning device 1 and for the over-surface surface 5 to be detected by means of the detection device 17.
  • FIGS. 6 to 8 show a third embodiment of the invention, in which the overground cleaning element 4 has a comb 10 with vertically arranged bristles 11.
  • the comb 10 is pivotable relative to the housing 15 about a rotation axis 6.
  • the comb 10 can be displaced by a pivoted into the housing 15 rest position in a pivoted out of the housing 15 oversoil cleaning position.
  • the displacement is preferably carried out automatically after detection of an over-bottom surface 5.
  • Die FIG. 8 shows the form-fitting pivoted into the housing 15 state of the over-floor cleaning element. 4
  • FIG. 9 shows an alternative embodiment, in which the overground cleaning element 4, starting from the illustrated rest position linearly out of the housing 15 is displaced to perform an over-floor cleaning.
  • the formed as a comb 10 over-floor cleaning element 4, for example, during the cleaning of an over-bottom surface 5 to the Rotation axis 6 are pivoted, for example, in a back-and-forth movement over an angular range of 90 degrees, the free end portions 14 of the bristles 11 on a side surface 23 and an over-bottom surface 5 stroke.
  • FIGS. 10 and 11 two of many other embodiments of a cleaning device according to the invention 1, in which the as a comb 10 (FIG. FIG. 10 ) or as a roller 9 ( FIG. 11 ) trained over-floor cleaning element 4 is associated with a regeneration element 16 which serves as a scraper for the bristles 11 of the over-floor cleaning element 4.
  • the over-floor cleaning element 4 which has picked up dust and dirt from the over-bottom surface 5 or optionally also from a side surface 23 during an over-floor cleaning, can perform regeneration at arbitrary times by the user or automatically at fixed times or intervals.
  • the over-surface cleaning element 4 is displaced relative to the regeneration element 16, so that there is a mechanical interaction between the over-surface cleaning element 4 and the regeneration element 16.
  • the deposited on the bristles 11 of the over-floor cleaning element 4 dust and dirt is stripped off the regeneration element 16 and falls for example on a surface 3, which can then be cleaned by means of a surface cleaning device 2 of the cleaning device 1 again.
  • the dust and / or dirt falls directly into a corresponding receptacle or the like.
  • the over-surface cleaning element 4 comes into direct contact with the regeneration element 16 when it is displaced back into the housing 15 of the cleaning device 1, so that regeneration takes place after each use of the over-surface cleaning element 4.

Landscapes

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

Claims (10)

  1. Dispositif de nettoyage (1) se déplaçant automatiquement, comprenant un dispositif de nettoyage de surface (2) pour nettoyer une surface (3) à nettoyer, dans lequel le dispositif de nettoyage (1) comporte en outre un élément de nettoyage au-dessus du sol (4) pour nettoyer mécaniquement une surface au-dessus du sol (5) qui est décalée en hauteur par rapport à la surface (3), dans lequel l'élément de nettoyage au-dessus du sol (4) peut tourner et/ou pivoter autour d'un axe de rotation (6) et au moins une zone partielle nettoyante de l'élément de nettoyage au-dessus du sol (4) présente, en référence à une orientation usuelle du dispositif de nettoyage (1) pour une opération de nettoyage, une différence de hauteur d'environ 3 cm ou plus par rapport à une surface inférieure d'appui (7) du dispositif de nettoyage (1), caractérisé par un élément de régénération (16), en particulier sous la forme d'une lèvre de raclage, d'une brosse ou d'un peigne, qui est associé au boîtier (15) de manière que l'élément de nettoyage au-dessus du sol (4) se déplace le long de l'élément de régénération (16) en étant en contact avec lui lors d'un déplacement par rapport au boîtier (15).
  2. Dispositif de nettoyage (1) selon la revendication 1, caractérisé en ce que l'élément de nettoyage au-dessus du sol (4) comprend une brosse (8) et/ou un rouleau (9) et/ou un peigne (10).
  3. Dispositif de nettoyage (1) selon la revendication 1 ou 2, caractérisé en ce que l'axe de rotation (6) est agencé sensiblement perpendiculairement à la surface d'appui (7) en référence à une orientation usuelle du dispositif de nettoyage (1) pour une opération de nettoyage.
  4. Dispositif de nettoyage (1) selon l'une des revendications précédentes, caractérisé en ce que l'élément de nettoyage au-dessus du sol (4) présente des poils (11) et/ou des filaments (12) qui, en référence à une orientation usuelle du dispositif de nettoyage (1) pour une opération de nettoyage, présentent une zone d'extrémité libre (14) dirigée vers le bas depuis leur endroit de fixation (13) à l'axe de rotation (6).
  5. Dispositif de nettoyage (1) selon l'une des revendications précédentes, caractérisé en ce que l'élément de nettoyage au-dessus du sol (4) est déplaçable sur un boîtier (15) du dispositif de nettoyage (1) et/ou dans un boîtier (15) du dispositif de nettoyage (1), et/ou est déplaçable à l'écart du boîtier (15) et/ou hors du boîtier (15).
  6. Dispositif de nettoyage (1) selon l'une des revendications précédentes, caractérisé en ce que l'élément de nettoyage au-dessus du sol (4) est déplaçable par rapport à un boîtier (15) du dispositif de nettoyage (1) par modification de la différence de hauteur.
  7. Dispositif de nettoyage (1) selon l'une des revendications précédentes, caractérisé en ce qu'est associé à l'axe de rotation (6), un élément élastique conçu et associé au dispositif de nettoyage (1) de telle manière qu'une force de rappel de l'élément élastique agisse dans une direction en éloignement d'un boîtier (15) du dispositif de nettoyage (1) et/ou que l'élément élastique puisse être arrêté dans une position sous tension par l'action d'une force opposée à la force de rappel.
  8. Dispositif de nettoyage (1) selon l'une des revendications précédentes, caractérisé par un dispositif de commande qui commande un déplacement et/ou une rotation de l'élément de nettoyage au-dessus du sol (4) par rapport à un boîtier (15) du dispositif de nettoyage (1) en fonction d'un signal de détection d'un dispositif de détection, dans lequel le dispositif de détection est configuré pour détecter une surface au-dessus du sol (5).
  9. Procédé pour faire fonctionner un dispositif de nettoyage (1) se déplaçant automatiquement, dans lequel le dispositif de nettoyage (1) nettoie une surface (3) à nettoyer au moyen d'un dispositif de nettoyage de surface (2), dans lequel le dispositif de nettoyage (1) nettoie mécaniquement une surface au-dessus du sol (5) décalée en hauteur par rapport à la surface (3) au moyen d'un élément de nettoyage au-dessus du sol (4), dans lequel l'élément de nettoyage au-dessus du sol (4) tourne et/ou pivote en va et vient autour d'un axe de rotation (6) lors d'un nettoyage au-dessus du sol pendant qu'il repose ou se déplace sur la surface (3) comme pour une opération de nettoyage au moyen du dispositif de nettoyage de surface (2), caractérisé en ce que, pour une opération de nettoyage au-dessus du sol, l'élément de nettoyage au-dessus du sol (4) est déplacé dans une direction en éloignement d'un boîtier (15) du dispositif de nettoyage (1) du fait d'une force de rappel d'un élément élastique associé à l'axe de rotation (6), et dans lequel l'élément élastique est déplacé vers le boîtier (15) par l'action d'une force prédéterminée opposée à la force de rappel et est arrêté là dans une position de repos sous tension.
  10. Procédé pour faire fonctionner un dispositif de nettoyage (1) se déplaçant automatiquement, dans lequel le dispositif de nettoyage (1) nettoie une surface (3) à nettoyer au moyen d'un dispositif de nettoyage de surface (2), dans lequel le dispositif de nettoyage (1) nettoie mécaniquement une surface au-dessus du sol (5) qui est décalée en hauteur par rapport à la surface (3) au moyen d'un élément de nettoyage au-dessus du sol (4) pendant qu'il repose ou se déplace sur la surface (3) comme pour une opération de nettoyage au moyen du dispositif de nettoyage de surface (2), caractérisé en ce que l'élément de nettoyage au-dessus du sol (4) est régénéré plus tard au moyen d'un élément de régénération (16) du dispositif de nettoyage (1) du fait que l'élément de nettoyage au-dessus du sol (4) se déplace le long de l'élément de régénération (16) en étant en contact avec lui lors d'un déplacement par rapport à un boîtier (15) du dispositif de nettoyage (1).
EP18150536.3A 2017-01-09 2018-01-08 Appareil de nettoyage se déplaçant automatiquement Active EP3351157B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102017100299.5A DE102017100299A1 (de) 2017-01-09 2017-01-09 Sich selbsttätig fortbewegendes Reinigungsgerät

Publications (2)

Publication Number Publication Date
EP3351157A1 EP3351157A1 (fr) 2018-07-25
EP3351157B1 true EP3351157B1 (fr) 2019-09-11

Family

ID=60937639

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18150536.3A Active EP3351157B1 (fr) 2017-01-09 2018-01-08 Appareil de nettoyage se déplaçant automatiquement

Country Status (8)

Country Link
US (1) US10602896B2 (fr)
EP (1) EP3351157B1 (fr)
JP (1) JP2018110857A (fr)
CN (1) CN108283470B (fr)
DE (1) DE102017100299A1 (fr)
ES (1) ES2748891T3 (fr)
SG (1) SG10201710811XA (fr)
TW (1) TW201832712A (fr)

Families Citing this family (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017100301A1 (de) * 2017-01-09 2018-07-12 Vorwerk & Co. Interholding Gmbh Sich selbsttätig fortbewegendes Reinigungsgerät
DE102017100299A1 (de) 2017-01-09 2018-07-12 Vorwerk & Co. Interholding Gmbh Sich selbsttätig fortbewegendes Reinigungsgerät
CN109276189A (zh) * 2018-09-28 2019-01-29 徐常柏 一种扫地机控制方法及控制系统
TWI679512B (zh) * 2018-10-05 2019-12-11 東元電機股份有限公司 無人自走車
DE102019112666A1 (de) * 2019-05-15 2020-11-19 Miele & Cie. Kg Saugroboter mit Seitenbürste
DE102019209416A1 (de) * 2019-06-27 2020-12-31 Volkswagen Aktiengesellschaft Fahrzeug mit Linearaktuator
CN111466842B (zh) * 2020-04-29 2021-06-08 重庆理工大学 一种墙角清扫机器人及其工作方法
DE102020208400B4 (de) 2020-07-03 2022-02-24 BSH Hausgeräte GmbH Verfahren zur verbesserten kantenreinigung einer wand
US20220125265A1 (en) * 2020-10-26 2022-04-28 Guangzhou Thirty Seven Degree Smarthome Co., Ltd. Intelligent vacuum device with extendable and deformable suction arm
CA203979S (en) * 2021-01-14 2022-08-23 Beijing Roborock Technology Co Ltd Cleaning robot
GB2605750B (en) * 2021-01-22 2023-07-19 Dyson Technology Ltd Autonomous surface treatment apparatus
DE102021206579B4 (de) 2021-06-25 2024-05-02 BSH Hausgeräte GmbH Verfahren zur verbesserten reinigung eines räumlich begrenzten bereichs
DE102022204314B3 (de) * 2022-05-02 2023-07-06 BSH Hausgeräte GmbH Reinigungsgerät für einen Haushalt
DE102023201679B3 (de) * 2023-02-23 2024-08-22 BSH Hausgeräte GmbH Verfahren zu einer kollisionsfreien Wand- und/oder Kantenreinigung
TWI873715B (zh) * 2023-07-12 2025-02-21 緯創資通股份有限公司 移動載具及用於移動載具的定位方法
CN222549125U (zh) * 2024-05-28 2025-03-04 北京小米移动软件有限公司 扫地机器人

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10241492B4 (de) * 2002-09-07 2006-11-02 Wessel-Werk Gmbh Bodendüse für Staubsauger
US7146682B2 (en) * 2003-01-31 2006-12-12 The Hoover Company Powered edge cleaner
CN2807637Y (zh) * 2005-06-22 2006-08-16 胡卫中 手机摄像头伸缩装置
DE102008014912B4 (de) 2008-03-19 2023-01-19 Vorwerk & Co. Interholding Gmbh Selbsttätig verfahrbares Bodenstaub-Aufsammelgerät
DE102009049637A1 (de) 2009-10-15 2011-04-28 Carl Freudenberg Kg Reinigungsroboter
JP5073840B2 (ja) 2010-06-11 2012-11-14 シャープ株式会社 吸引捕集装置
KR101960816B1 (ko) * 2011-12-22 2019-03-22 삼성전자주식회사 로봇청소기
KR101970541B1 (ko) * 2012-04-06 2019-04-22 삼성전자주식회사 로봇 청소기 및 그 제어 방법
CN202568094U (zh) * 2012-05-08 2012-12-05 光荣电业（东莞）有限公司 一种自转式多边形自动清洁器
JP2013233305A (ja) * 2012-05-09 2013-11-21 Mitsubishi Electric Corp 自走式掃除機
JP2014236838A (ja) 2013-06-07 2014-12-18 シャープ株式会社 自走式掃除機
JP2016047220A (ja) * 2014-08-28 2016-04-07 株式会社東芝 電気掃除機
DE102015108823A1 (de) * 2015-06-03 2016-12-08 Miele & Cie. Kg Reinigungseinrichtung für ein selbstfahrendes Bodenbearbeitungsgerät
US10481611B2 (en) * 2016-05-20 2019-11-19 Lg Electronics Inc. Autonomous cleaner
DE102017100299A1 (de) 2017-01-09 2018-07-12 Vorwerk & Co. Interholding Gmbh Sich selbsttätig fortbewegendes Reinigungsgerät

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
None *

Also Published As

Publication number Publication date
SG10201710811XA (en) 2018-08-30
EP3351157A1 (fr) 2018-07-25
JP2018110857A (ja) 2018-07-19
US20180192837A1 (en) 2018-07-12
CN108283470A (zh) 2018-07-17
TW201832712A (zh) 2018-09-16
DE102017100299A1 (de) 2018-07-12
US10602896B2 (en) 2020-03-31
CN108283470B (zh) 2021-08-10
ES2748891T3 (es) 2020-03-18

Similar Documents

Publication Publication Date Title
EP3351157B1 (fr) Appareil de nettoyage se déplaçant automatiquement
EP3351156B1 (fr) Appareil de nettoyage se déplaçant automatiquement
EP1706012B1 (fr) Appareil pour le nettoyage des sols comportant des moyens pour detecter le sol
EP3310233B1 (fr) Buse d'aspiration pour un aspirateur
DE102007054500A1 (de) Verfahrbares Haushalts-Bodenreinigungsgerät sowie Befeuchtungseinrichtung für eine Wischwalze
DE202018104772U1 (de) Schmutzwassersammel- und -detektionsmechanismus und Reinigungsvorrichtung
EP3409165B1 (fr) Dispositif de support sur un robot de nettoyage
EP3409168B1 (fr) Module de nettoyage d'angle pour robots de nettoyage modulaires
DE112014000174T5 (de) Rollenbürste für Oberflächenreinigungsroboter
DE202017100064U1 (de) Sich selbsttätig fortbewegendes Reinigungsgerät
EP2514533B1 (fr) Appareil de nettoyage autotracté destiné au nettoyage de modules solaires
DE102015114775A1 (de) Saugroboter
EP3750465B1 (fr) Machine de nettoyage du sol autonettoyante
DE69904710T2 (de) Bürste- und abstandhalteranordnung
DE102017208960A1 (de) Staubsauger mit einem motorisch betriebenen Dichtmittel
DE202024105505U1 (de) Reinigungsvorrichtung, Basisstation und Reinigungssystem
DE19916427B4 (de) Haushaltsroboter zum automatischen Staubsaugen von Bodenflächen
EP2939581B1 (fr) Appareil de nettoyage automobile et procédé de commande d'un appareil de nettoyage automobile
EP2849620B1 (fr) Appareil de nettoyage du sol se déplaçant et se dirigeant de manière autonome ainsi que procédé destiné à commander son déplacement
DE102007014548A1 (de) Verfahrbares Haushalts-Bodenfeuchtreinigungsgerät
DE102017125085A1 (de) Bodenpflegegerät
DE102020209600B4 (de) Vorrichtung zur Reinigung eines Serviceroboters
DE102019204625B3 (de) Reinigungsroboter mit Abstandssensoren
DE102024206119B3 (de) Verfahren zum Reinigen einer Seitenbürste
DE102018212772B4 (de) Reinigungsgerät mit einem bewegbar befestigten Schutzgitter

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION HAS BEEN PUBLISHED

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20181102

RBV Designated contracting states (corrected)

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

INTG Intention to grant announced

Effective date: 20190404

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 1177397

Country of ref document: AT

Kind code of ref document: T

Effective date: 20190915

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 502018000195

Country of ref document: DE

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20190911

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG4D

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190911

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191211

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190911

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190911

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190911

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191211

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190911

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191212

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190911

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190911

REG Reference to a national code

Ref country code: ES

Ref legal event code: FG2A

Ref document number: 2748891

Country of ref document: ES

Kind code of ref document: T3

Effective date: 20200318

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190911

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190911

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190911

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200113

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190911

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190911

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190911

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200224

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: CZ

Payment date: 20191227

Year of fee payment: 3

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 502018000195

Country of ref document: DE

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

PG2D Information on lapse in contracting state deleted

Ref country code: IS

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190911

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200112

26N No opposition filed

Effective date: 20200615

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190911

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190911

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20200131

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20200108

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20200131

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20200108

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CZ

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210108

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210131

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210131

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: TR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190911

Ref country code: MT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190911

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190911

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190911

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20220108

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20220108

P01 Opt-out of the competence of the unified patent court (upc) registered

Effective date: 20230517

REG Reference to a national code

Ref country code: AT

Ref legal event code: MM01

Ref document number: 1177397

Country of ref document: AT

Kind code of ref document: T

Effective date: 20230108

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20230108

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20230108

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20250120

Year of fee payment: 8

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: ES

Payment date: 20250214

Year of fee payment: 8

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20250123

Year of fee payment: 8

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: IT

Payment date: 20250131

Year of fee payment: 8