CN104271021A - Self-propelled and self-steering floor cleaning device and method for controlling the movement thereof - Google Patents
Self-propelled and self-steering floor cleaning device and method for controlling the movement thereof Download PDFInfo
- Publication number
- CN104271021A CN104271021A CN201380024730.9A CN201380024730A CN104271021A CN 104271021 A CN104271021 A CN 104271021A CN 201380024730 A CN201380024730 A CN 201380024730A CN 104271021 A CN104271021 A CN 104271021A
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- China
- Prior art keywords
- brush
- floor cleaning
- cleaning apparatus
- covering device
- bristle
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- 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
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- 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
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Nozzles For Electric Vacuum Cleaners (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The invention relates to a self-propelled and self-steering floor cleaning device (10) comprising a housing (20) and a cleaning tool in the form of a cleaning brush (36) having cleaning bristles (63), wherein the housing (20) forms a brush receiving space (40) in which the cleaning brush (36) is received in such as manner as to be rotationally drivable about a rotary axis (39) oriented in relation to a longitudinal or main movement direction (22) of the floor cleaning device (10) in the transverse direction (38) of the floor cleaning device (10), and wherein the housing (20) includes or forms brush covers (50, 51) which cover at least regions of the cleaning brush (36) on the end face. In order to provide a floor cleaning device of this type, with which improved cleaning results can be achieved, according to the invention at least one brush cover (50, 51) is formed so that it can move relative to the housing (20) and can be transferred from a bristle covering position, in which the brush cover (50, 51) laterally protrudes over cleaning bristles (63) of the cleaning brush (36) in the transverse direction (38) of the floor cleaning device (10), to a bristle exposing position, in which some of the cleaning bristles (63) laterally protrude over the brush cover (50, 51) in the transverse direction (38) of the floor cleaning device (10), and vice versa. The invention also relates to a method for controlling the movement of a floor cleaning device of this type.
Description
Technical field
The present invention relates to the floor cleaning apparatus of a kind of automatic running and automatic turning, it comprises the burnisher that housing and form are the cleaning brush with clean bristle, wherein, housing forms brush spatial accommodation, cleaning brush with can around about the longitudinal direction of floor cleaning apparatus or direction of primary motion the orientation in a lateral direction of floor cleaning apparatus pivot axis the mode that drives be contained in this brush spatial accommodation, and wherein, housing comprises or constructs brush covering device, and it at least hides cleaning brush with section form in side.
In addition, the invention still further relates to a kind of for controlling automatic running and the method for the motion of the floor cleaning apparatus of automatic turning.
Background technology
The floor cleaning apparatus starting described type allows to carry out autonomous cleaning to ground.In order to travel on the ground, floor cleaning apparatus comprises the traveling mechanism usually remained on housing of band driving wheel, and these driving wheels are attached troops to a unit the CD-ROM drive motor having and can be driven by control unit.Can rotate by another CD-ROM drive motor at the cleaning brush of the orientation in a lateral direction of floor cleaning apparatus.This allow that and dirt particle is swept up from ground to be cleaned, sweep to the waste rexeptacle of floor cleaning apparatus and collect there.Cleaning brush is arranged in brush spatial accommodation, and is at least hidden by brush covering device with section form respectively in the side of this cleaning brush.Brush covering device for the protection of the barrier be present in space to be cleaned in case with rotate cleaning brush contact.This be proved particularly to may cleaned brush inswept, roll and thus impaired curtain or curtain significant.
In addition, brush covering device can form the sidewall of brush spatial accommodation, when floor cleaning apparatus have suction group component with siphon away by sweep up dirt particle time, this has confirmed it is favourable.Thus, air can be avoided to a great extent to enter brush spatial accommodation from side direction, and improve cleaning effect.
For beginning described type floor cleaning apparatus, confirmed disadvantageously, space to be cleaned particularly only can be inswept and clean by the cleaning brush hidden by brush covering device deficiently along wall or the border area in turning.In order to the seamed edge and turning that improve autonomous floor cleaning apparatus clean, autonomous floor cleaning apparatus is well known that, the additional cleaning sub-assembly with the clean bristle of the bottom surface extending over floor cleaning apparatus is set, comes clean seamed edge and turning by these additional cleaning sub-assemblies.But such floor cleaning apparatus has complicated structure.In addition, they have following shortcoming equally: barrier, such as curtain or curtain may cleaned brush inswept, roll and damage.
Summary of the invention
Task of the present invention is, provides such floor cleaning apparatus, utilizes this floor cleaning apparatus can realize better cleaning effect.
For the floor cleaning apparatus of the described type of beginning, this task solves in the following way according to the present invention, that is, at least one brush covering device is with the remainder (im of the relative housing of energy
) mode of moving constructs and can to hide position transfer to bristle off-position from bristle and vice versa, hide in position at this bristle, brush covering device extends laterally at floor cleaning apparatus the clean bristle exceeding cleaning brush in a lateral direction, in this bristle off-position, a part for clean bristle exceedes brush covering device extending laterally in a lateral direction of floor cleaning apparatus.
In floor cleaning apparatus according to the present invention, wherein at least one brush covering device has two positions.Hide in position at bristle, brush covering device exceedes clean bristle in extending laterally in a lateral direction of floor cleaning apparatus.Here can be understood as especially this, brush covering device is arranged in the outside of clean bristle in a lateral direction.The barrier deviating from the outside of brush spatial accommodation being positioned at brush covering device can be subject to the protection of this brush covering device with anti-rotational cleaning brush.Brush covering device can hide position transfer to bristle off-position from bristle.In bristle off-position, a part for clean bristle, particularly at cleaning brush towards the clean bristle on the end of brush covering device, exceed brush covering device extending laterally in a lateral direction of floor cleaning apparatus.By this way, the part of clean bristle can be stretched out from floor cleaning apparatus in outside with bristle ends freely, and particularly extends over bottom surface.This allow that also can effectively to clean by floor cleaning apparatus according to the present invention and be difficult to clean seamed edge and turning.The clean bristle extending over brush covering device can be swept to along seamed edge and the dirt particle in turning and it be swept away from ground.Result utilizes the cleaning effect that can realize improvement according to floor cleaning apparatus of the present invention thus.
Motion according to floor cleaning apparatus of the present invention can control especially in the following way, namely, make floor cleaning apparatus be parallel to seamed edge location with its longitudinal direction, and make to hide position transfer towards the brush covering device of seamed edge from bristle to bristle off-position.This causes clean bristle to extend over brush covering device at seamed edge place.If floor cleaning apparatus is parallel to seamed edge motion, the ground so along seamed edge can be cleaned effectively.
Preferably, the clean bristle of cleaning brush at least relatively rotates axis and stretches out towards the direction of brush covering device obliquely on the end of its brush covering device that can move towards at least one.The pivot center of relative clean brush tilts and the clean bristle of relatively associated inclined stretches out towards the direction of brush covering device.Thus, can reduce brush covering device for hiding position transfer to the range of movement of bristle off-position from bristle, and vice versa.
Advantageously, two brush covering devices can hide position transfer to bristle off-position from bristle respectively, and vice versa.Thus, clean bristle side direction can extend over corresponding brush covering device on the both sides of floor cleaning apparatus, thus can improve cleaning effect on the whole.
Advantageously, at least one brush covering device that can move is arranged on housing in outside, and hides in position at bristle, advantageously also in bristle off-position, goes out the outline of housing with section formal construction.At least one brush covering device that can move is arranged in floor cleaning apparatus about on the left side of its longitudinal direction or direction of primary motion or right side in outside.In addition, at least hide in position at bristle, brush covering device forms a part for outline.This provide following possibility, namely, brush covering device can touch barrier, such as particularly seamed edge or wall, and shifts towards the direction of its bristle off-position because this contact can hide position from bristle, and particularly until transfer in bristle off-position.Preferably, brush covering device also can form the section of exterior contour in bristle off-position, thus the contact with barrier, such as seamed edge or wall can be kept, and clean bristle extends over brush covering device so that it is clean to realize along seamed edge or wall.
In the last-mentioned Advantageous embodiments of floor cleaning apparatus according to the present invention, in particular, provide following possibility, that is, the brush covering device of enable motion hides position by the barrier be in contact with it from bristle and transfers to bristle off-position passively.The driving for brush covering device can be saved by this way.
Can specify, at least one brush covering device hides cleaning brush completely or substantially completely in side.This allow that the protection of improvement in case barrier.In addition, also provide and carry out following possibility, that is, making brush spatial accommodation by brush covering device side direction completely or substantially completely closed.
Advantageously, gap is formed between at least one brush covering device that can move and the contact plane limited in downside by floor cleaning apparatus, this contact plane overlaps with the holding plane limited by this placed side when floor cleaning apparatus is positioned on placed side, and clean bristle passes this gap in the bristle off-position of brush covering device.Because undertaken by the clean bristle be in contact with it the clean of ground, so when brush covering device occupies bristle off-position, between brush covering device and contact plane, maintain gap just enough.Clean bristle can pass gap, and during its rotation axis that rotates rotates, extends over brush covering device in a lateral direction thus.
Confirm advantageously, at least one brush covering device that can move is in its side towards the placed side for floor cleaning apparatus, brush covering device section and rear brush covering device section and arranging recess between which before having along the longitudinal direction of floor cleaning apparatus or direction of primary motion about the run location of floor cleaning apparatus on placed side, clean bristle in the bristle off-position of brush covering device through this recess.In the region of recess, the lower edge of brush covering device is relative to the relative contact plane rollback in edge on brush covering device section in the front and back, thus edge in the region of recess distributes higher compared with the edge on brush covering device section in the front and back.Thus, in particular, provide following possibility, that is, when brush covering device occupies bristle off-position, clean bristle extends only through recess, and does not pass below brush covering device in the region of clean bristle brush covering device section in the front and back.This can realize by brush covering device substantially hiding completely cleaning brush.Meanwhile, clean bristle can extend over the brush covering device in its bristle off-position.
Can specify, at least one brush covering device that can move in its side towards the placed side for floor cleaning apparatus, about the run location of floor cleaning apparatus on placed side at least with section form be spill construct.Such as, recess above-mentioned has the shape seen from below in spill.The lower edge towards contact plane of brush covering device also can be designed to spill in the vertical whole length of its longitudinal direction along floor cleaning apparatus.Thus, can form the gap between brush covering device and contact plane, in the bristle off-position of brush covering device, clean bristle is through this gap.
In the Advantageous embodiments of floor cleaning apparatus according to the present invention, confirm advantageously, clean bristle is when the rotation axis that rotates rotates with about 30 ° to about 70 °, and preferably approximately the angular region of 40 ° to about 60 ° extends over brush covering device that at least one can move, that occupy bristle off-position.Thus, clean bristle close to ground time, when they contact and when leaving ground, extend over brush covering device, thus the ground region be arranged in outside this brush covering device can be cleaned.
Advantageously, at least one brush covering device that can move can move to hide position transfer in bristle off-position from bristle on the axial direction of cleaning brush, and vice versa, wherein, brush covering device moves to hide position transfer in bristle off-position from bristle in an advantageous manner towards the direction of cleaning brush.This can be embodied as floor cleaning apparatus and bring the simple design of structure.Such as, be arranged in brush covering device that is in hull outside and particularly formation outline section and can touching barrier, such as, move towards the direction of cleaning brush when seamed edge or wall and hide position transfer to bristle off-position from bristle.
Advantageously, at least one brush covering device that can move can support movably, is particularly supported on the remainder of housing.
Advantageously, be provided with guiding device, for guiding at least one brush covering device that can move when hiding from bristle in position transfer to bristle off-position and conversely.For this purpose, to have deposited cash on brush covering device and on the remainder of housing coefficient guide element.
Advantageously, floor cleaning apparatus comprises at least one return element, and at least one brush covering device that can move can hide position transfer to bristle off-position against its returning place force from bristle.Due to returning place force, brush covering device can be transferred to bristle from bristle off-position and hide position, and for this reason without the need to driving.Such as, this returning place force acts on the axial direction of cleaning brush, and especially for making brush covering device with leaving mobile from cleaning brush in the axial direction.
Advantageously, on the side that the brush covering device that can be moved by least one of cleaning brush hides, at least there is not the supporting member for cleaning brush can be supported rotationally.By this compact structure that can realize floor cleaning apparatus towards " (fliegend) supporting of waving " on the end of the brush covering device that can move at cleaning brush, wherein, the brush covering device that can move also can hide in position at bristle has the spacing smaller apart from cleaning brush.The clean bristle extending over brush covering device in the bristle off-position of brush covering device can construct shorter.Supporting member for brushing supporting can be installed from side towards the direction at brush middle part.
Advantageously, at least one brush covering device that can move hides in position at its bristle, spaced apart with the clean bristle towards brush covering device of cleaning brush.Thus, when brush covering device occupies bristle covering position, the wearing and tearing caused by brush covering device of clean bristle can be avoided.In addition, the low noisiness that can realize floor cleaning apparatus runs.Can specify, except except the gap the downside of brush covering device and the contact plane of floor cleaning apparatus, clean bristle occupies the brush covering device that can move of bristle off-position at interior side contacts.
Confirm advantageously, at least one brush covering device that can move deviate from the outside convex-shaped of brush spatial accommodation at it constructs, particularly when forming the brush covering device of outline with section form, this brush covering device can move towards the direction of cleaning brush by making its mode touching barrier.Show, the brush covering device that can move can hide position transfer to bristle off-position by the reliable design ground of convex from bristle.
In order to realize this advantage, advantageously, at least one brush covering device that can move deviates from the outside in brush space at it, about the longitudinal direction of floor cleaning apparatus on front side of it and/or rear side there is the inclined-plane that relative longitudinal direction tilts.Such as when floor cleaning apparatus contact under relative longitudinal direction or the angled situation of direction of primary motion barrier, such as particularly wall time, this is favourable.Due to inclined-plane, such as chamfered edge or rounding, brush covering device can contact wall in a straightforward manner, thus makes it can hide position transfer to bristle off-position from bristle, and particularly axially moves towards the direction of cleaning brush.
Advantageously, at least one brush covering device is in its side towards the placed side for floor cleaning apparatus, and about the run location of floor cleaning apparatus on placed side, comprising can the lip part of elastic deformation.The lip part of the energy elastic deformation of being such as made up of elastomeric material reduces floor cleaning apparatus with brush covering device on the ground by the possibility of hooking.This is particularly favourable when cleaning carpet ground.In addition confirmed advantageously, the motion of floor cleaning apparatus, such as when so-called " the pasting wall to travel " or " pasting barrier to travel " next also can set forth, controlled to the remainder depending at least one brush covering device and housing relative position to each other and/or relative motion.Can guarantee that brush covering device is by means of only the barrier with side direction to a great extent, the contact passive movement of such as wall, instead of by with earth surface, thus can not hinder to motion control.
Lip part particularly or roughly extend on the longitudinal direction of floor cleaning apparatus.Advantageously, between lip part and contact plane, form gap, clean bristle can extend over the brush covering device in its bristle off-position with gap through this.Particularly can form above-mentioned recess on lip part.
Advantageously, at least one brush covering device has covering members and dirt leads away part, this covering members hides cleaning brush at least in part in side, and this dirt is led away part and to be arranged in brush spatial accommodation and to construct the dirt face of leading away and lead away in order to the direction of the import of the waste rexeptacle towards floor cleaning apparatus the dirt particle utilizing cleaning brush to sweep up from ground.The dirt particle swept up from ground can arrive the dirt face of leading away, and this dirt leads away the direction orientation of the import facing to waste rexeptacle.This can realize, and is transferred in waste rexeptacle by dirt particle targetedly.Particularly when having suction group component to produce the suction airstream entered through brush spatial accommodation in waste rexeptacle, confirm that this design of floor cleaning apparatus is particularly advantageous.
Such as, covering members can be designed to tabular or be roughly tabular.Dirt leads away part can be spaced apart with covering members in the axial direction and stretch in brush spatial accommodation.
Advantageously, the brush covering device that can move from bristle hide position to move to bristle off-position and conversely time, dirt is led away part and is connected securely with covering members and move together with this covering members.Thus, the structural design scheme of floor cleaning apparatus is maintained simply.
Can specify, dirt is led away part and is surrounded cleaning brush in the circumferential direction upper part of cleaning brush.Such as, dirt is led away part and surround cleaning brush on the girth of about 3/4ths of cleaning brush.
If cleaning brush is according to " dustpan " clean principle work, after so the dirt face of leading away is preferably placed in cleaning brush on the longitudinal direction of floor cleaning apparatus, and dirt particle can be swept on the dirt face of leading away from below.
Advantageously, floor cleaning apparatus comprises sensor unit, in order to the remainder relative position to each other that detects at least one brush covering device that can move and housing and/or relative motion.Sensor unit such as can provide sensor signal, depends on the motion of this sensor signal controllably face cleaning equipment.This can realize so-called " pasting wall to travel " especially, wherein, floor cleaning apparatus is parallel to wall motion, cleaning floor is carried out with the clean bristle extending over brush covering device in its bristle off-position along this wall, wherein, brush covering device is by transfer in bristle off-position with the contact of wall and remain there.
Advantageously, sensor unit has at least one sensor element, by this sensor element can be contactless detect at least one brush covering device that can move and housing remainder relative position to each other and/or relative motion, particularly avoid the detection suffering the contact of mechanical wear to relative position and/or relative motion.
Advantageously, the relative position of remainder at least one brush covering device that can move and housing and/or the continuous detection of relative motion is provided with.The motion of floor cleaning apparatus can be controlled by this way more accurately.
Confirmed advantageously when practical application floor cleaning apparatus, at least one sensor element is Hall element.When using Hall element, high measurement accuracy and the contactless detection to relative position and/or relative motion can be guaranteed.Also the continuous detection to relative position and/or relative motion can be realized.
Advantageously, sensor unit has at least one magnet, and this magnet is arranged in the accommodation section of the brush covering device that at least one can move, and at least one Hall element be arranged in housing remainder on and with this at least one magnet acting in conjunction.When brush covering device moves, be arranged in the magnet passive movement in accommodation section.This motion can be disposed in the Hall element record in the remainder of housing, and can provide associated sensor signal.Such as at least one magnet is arranged in is led away in the accommodation section that part formed by above-mentioned dirt, preferably deviates from the side of cleaning brush at it, to protect magnet in case dirt particle.Such as; dirt is led away part and is had the section be arranged in above cleaning brush, and this section has accommodation section, and magnet is inserted this accommodation section from top; and it covers the casing section it being furnished with Hall element in downside, thus Hall element also can be protected in case dirt particle.
Advantageously, floor cleaning apparatus comprises control unit, the sensor signal of the brush covering device that can move about at least one and the remainder of housing relative position to each other and/or relative motion can be transferred to this control unit, and floor cleaning apparatus comprises the traveling mechanism with driving wheel, driving wheel is attached troops to a unit the CD-ROM drive motor having at least one to be connected (Wirkverbindung) with control unit effect, and this CD-ROM drive motor can depend on sensor signal to drive control by control unit.
As already mentioned, this sensor signal that can realize depending on sensor unit is to control the motion of floor cleaning apparatus.Thus, particularly can perform already mentioned equally " pasting wall to travel ", and can the ground along wall be cleaned.
Can specify, floor cleaning apparatus comprises suction group component, in order to be sucked in the waste rexeptacle of floor cleaning apparatus by dirt.Better cleaning effect can be realized when using suction group component.
Task of the present invention is also, providing a kind of for controlling automatic running and the method for the floor cleaning apparatus of automatic turning, achieving better cleaning effect by the embodiment of the method.
This task is solved by method according to the present invention, above-mentioned automatic running is controlled and the motion of the floor cleaning apparatus of automatic turning by the method, wherein, the remainder that sensor unit by floor cleaning apparatus detects at least one brush covering device that can move and housing relative position to each other and/or relative motion, and associated sensor signal is transferred to the control unit of floor cleaning apparatus, and wherein, floor cleaning apparatus comprises the traveling mechanism of band driving wheel, driving wheel is attached troops to a unit the CD-ROM drive motor having at least one to be connected with control unit effect, this CD-ROM drive motor depends on sensor signal to drive control by control unit.
As already mentioned, by method according to the present invention, brush covering device and housing relative position to each other and/or relative motion can be utilized, so that it is clean to perform near to the edge of barrier.Other combine the already mentioned advantage of floor cleaning apparatus according to the present invention and can realize equally when using the method.
Advantageously, the existence of barrier, particularly wall is detected by sensor unit, and calculate the distance of floor cleaning apparatus towards the direction of barrier as follows by control unit, that is, make floor cleaning apparatus touch barrier with the brush covering device that at least one can move and make this brush covering device hide position from bristle to move to bristle off-position.After identifying barrier, particularly wall, floor cleaning apparatus can travel as follows, that is, make brush covering device transfer to when touching barrier in bristle off-position, thus clean bristle extends over brush covering device.Particularly floor cleaning apparatus can be parallel to barrier orientation when considering sensor signal.
Advantageously, at bar contact at least one can move brush covering device, floor cleaning apparatus with depending on sensor signal along barrier travel, wherein, brush covering device occupies bristle off-position.This allow that and perform so-called " against barrier to travel ", wherein, the ground along barrier is cleaned.Particularly floor cleaning apparatus is parallel to barrier traveling.
Advantageously, detect the motor current of at least one CD-ROM drive motor and/or motor torque and associated measuring-signal be supplied to control unit, control unit when driving control CD-ROM drive motor except sensor signal also considers this measuring-signal.Especially, motor current and/or motor torque are the parameters for resistance, and when floor cleaning apparatus travels along barrier, barrier reacts on floor cleaning apparatus with this resistance.Such as, if the relative barrier run-off the straight of floor cleaning apparatus, so this can be measured by motor current and/or motor torque by floor cleaning apparatus, and changes and drive control to CD-ROM drive motor, thus floor cleaning apparatus is travelled along barrier again.Thus, when combining with the sensor signal of control unit, can implement to against barrier in a reliable fashion and travelling.
Especially, the turning that can realize improving by method according to the present invention is cleaned.Such as, it is cleaned from both direction approaching turning to be cleaned.The subsides wall that floor cleaning apparatus can perform along the wall connected around the corner travels, and wherein, first along a wall approaching turning, floor cleaning apparatus is and then in location, another wall place and along another wall approaching turning.Confirmed advantageously at this, as previously alluded, floor cleaning apparatus comprises two brush covering devices that can move on outside opposite each other.
Accompanying drawing explanation
Following description of the preferred embodiment of the present invention is by reference to the accompanying drawings for setting forth the present invention further.Wherein:
Fig. 1 illustrates the view of the preferred embodiment according to floor cleaning apparatus of the present invention from below;
Fig. 2 illustrates the amplification diagram of the local A in Fig. 1, and wherein, the brush covering device of floor cleaning apparatus occupies bristle and hides position;
Fig. 3 illustrates the diagram corresponding to Fig. 2, and wherein, brush covering device occupies bristle off-position;
Fig. 4 illustrates the side view of the floor cleaning apparatus of Fig. 1 along the direction of arrow in Fig. 1 " 4 ";
Fig. 5 illustrates the part diagram of the cutting of floor cleaning apparatus with the form of three-dimensional exploded view, wherein, particularly show a part for the magnet of the sensor unit of floor cleaning apparatus and housing, brush covering device, cleaning brush; And
Fig. 6 illustrates the schematic block diagram of the floor cleaning apparatus of Fig. 1.
Detailed description of the invention
Fig. 1 illustrates overall with the preferred embodiment of the floor cleaning apparatus of Reference numeral 10 mark from below.Floor cleaning apparatus 10 is configured to automatic running and auto-steering, and is configured to the form of so-called " clean robot ".Travel in order to upper on placed side to be cleaned or ground 12 (Fig. 4), floor cleaning apparatus 10 comprises traveling mechanism 14, and what this traveling mechanism comprised the on-propelled of two driving wheels 15 and 16 and two energy pivotables turns to roller 17 and 18.Driving wheel 15,16 and turn to roller 17,18 to limit the contact plane of floor cleaning apparatus 10, this contact plane is overlapping with the holding plane limited by ground 12 in the run location of floor cleaning apparatus.
Traveling mechanism 14 remains on the housing 20 of floor cleaning apparatus 10 in downside, and this housing forms the matrix of floor cleaning apparatus 10.Housing 20 limits longitudinal direction or the direction of primary motion 22 of floor cleaning apparatus 10, when driving wheel 15 drives with identical power with 16, ground 12 reacts on them with identical resistance, and when floor cleaning apparatus 10 does not touch barrier, floor cleaning apparatus 10 moves along this longitudinal direction or direction of primary motion.
As seen from Figure 6 like that, driving wheel 15,16 is attached troops to a unit and is had CD-ROM drive motor 24 or 25, and they are acted on by control circuit 26 or 27 and control unit 28 and are connected and can be driven control by this control unit.In addition, driving wheel 15,16 is attached troops to a unit wheel encoder (Radencoder) 29 or 30, and they are connected with control unit 28 by signal line 31 or 32, so that for it provides the signal of the quantity of turn-taking about wheel 15 or 16.
In addition, floor cleaning apparatus 10 comprises floor cleaning unit 34, and this floor cleaning unit to be acted on control unit 28 by control circuit and being connected, and exemplarily illustrate only a control circuit 35 in these control circuits in figure 6.The suction group component 37 that floor cleaning unit 34 comprises cleaning brush 36 and only schematically shows in FIG.
Cleaning brush 36 is designed to roller brush, and it limits the brush axis 39 of orientation on the horizontal direction 38 of floor cleaning apparatus 10, and this brush axis is also the pivot center of cleaning brush 36 simultaneously.Cleaning brush 36 is contained in the brush spatial accommodation 40 be made up of housing 20 near the front side of floor cleaning apparatus 10 in the mode of energy rotating drive, wherein, is provided with the unshowned in the drawings CD-ROM drive motor of floor cleaning unit 34 to drive cleaning brush.In brush spatial accommodation 40, support, wherein, the side 41 and 42 of cleaning brush is not used for the supporting member that can support rotationally cleaning brush 36 " freely waving ".Specifically, to the supporting of cleaning brush 36 to be realized by bearing sleeve 43 and 44 with corresponding side 41,42 mode separately.The driving force of CD-ROM drive motor is delivered on cleaning brush 36 by bearing sleeve 43.
Cleaning brush 36 carries out work according to " dustpan " clean principle, wherein, its rotation direction is as follows, dirt particle swept up towards the direction of the rear side of floor cleaning apparatus 10 from ground 12 and swept to be tilted to after and the dirt face of leading away of upwards rising.Under the effect of suction group component 37, dirt particle is inhaled into (Fig. 5) waste rexeptacle 46 through the import 47 of waste rexeptacle 46 from the dirt face of leading away 45.
As seen particularly from Fig. 1 to Fig. 3, brush spatial accommodation 40 extends to right side 49 along an one-tenth horizontal direction 38 from the left side 48 of floor cleaning apparatus 10.On left side 48 and right side 49, brush spatial accommodation 40 is by brush covering device 50 or 51 lateral seal on horizontal direction 38 of housing 20.Thus, brush covering device 50 and 51 forms the wall hiding cleaning brush 36 on side 41 or 42 substantially completely of brush spatial accommodation 40.In addition, brush covering device 50 and 51 is arranged on floor cleaning apparatus 10 in outside, wherein, brush covering device forms the part of outline for floor cleaning apparatus 10 as the part of matrix, and on left side 48 or right side 49 transversely direction 38 extend laterally all the other components exceeding floor cleaning apparatus 10.
Brush covering device 50 and 51 about the middle fore-and-aft plane of floor cleaning apparatus 10 in function with texturally to construct with being mutually symmetrical.For those reasons, the brush covering device 50 on left side 48 is only presented in below.
Brush covering device 50 be included in a lateral direction outside arrange covering members 52 and be connected with this covering members, on horizontal direction 38, lead away part 53 at the dirt of disposed inboard.Covering members 52 hides cleaning brush 36 substantially completely in outside on the side 41 of cleaning brush.In inner side, dirt leads away part 53 and covering members 52 separately, and this dirt is led away the axis that part has about brush axis 39 and extended and stretch in brush spatial accommodation 40.
Covering members 52 have in side view approximate in egg type to oval and spatially in cancavo-convex shape, wherein, this covering members constructs in outside on the longitudinal direction 22 and short transverse of floor cleaning apparatus 10 convexly.On outer edge, covering members 52 has two-stage type chamfered edge 54, and this two-stage type chamfered edge extends to rear side along the edge of covering members 52 from front side.Especially, covering members 52 is provided with inclined-plane about longitudinal direction 22 thus on a front and rear side, thus the profile of this covering members is transitioned in the remainder of housing 20.
Covering members 52 comprises two sections, namely larger upper curtate 55 and less lower curtate 56.Lower curtate 56 is towards ground 12 and be designed to lip part 57.Lip part 57 by can the material of elastic deformation, such as rubber make, and 22 to extend substantially along the longitudinal direction.Gap 58 is formed between lip part 57 and ground 12.This gap is used for making brush covering device 50 not run-off the straight and floor cleaning apparatus 10 is not hooked when particularly travelling on carpet 12.In order to the danger additionally reducing run-off the straight is provided with the lip part 57 of energy elastic deformation, and the upper curtate 55 of covering members 52 constructs rigidly.
Lip part 57 has front lip part section 59 and rear lip part section 60, and the lower edge of lip part 57 is parallel to ground 12 respectively along this front lip part section and rear lip part section and extends.Gap 58 size in the region of front lip part section 59 with rear lip part section 60 is the same and in the scope of several millimeters.Between lip part section 59 and 60, have middle part lip part section 61, in the middle part of this lip part section region in lip part 57 have relative to the recess 62 of ground 12 in spill.Due to recess 62, the lower edge of lip part 57 is relative to ground 12 rollback, thus gap 58 is greater than in the region of lip part section 59 and 60 in recess 62 region.
Recess 62 roughly has the bar-shaped shape of widening from back to front, and this recess is positioned to make the middle part of this recess to be disposed generally under brush axis 39 on longitudinal direction 22.Thus, observe (Fig. 4) from left side 48, cleaning brush 36 does not hide for completely covered 52 in very little section, in particular to the free end of the clean bristle 63 to cleaning brush 36, and not capped in the angular region of about 55 degree when it rotates around brush axis 39 about this cleaning brush.
Dirt is led away part 53 about 3/4ths ground in its circumferential direction and is surrounded cleaning brush 36, and has front section 64, upper curtate 65 and rear section 66.Rear section 66 forms the dirt face of leading away 67, and this dirt is led away over glaze and hide the already mentioned dirt face of leading away 45 in the length leading away part 53 at dirt.Therefore, the dirt swept up by cleaning brush 36 can be guided on the dirt face of leading away 57, and is guided from the direction that this dirt is led away facing to import 47.Advantageously, import 47 thus can be spaced apart with left side 48 with its outer side edges edge, and however dirt particle still can reliably be directed in waste rexeptacle 46.
Brush covering device 50 is bearing on the remainder of housing 20 in the mode of energy axially-movable.For this purpose, be fixed on that the supporting member 68 of the axle journal form on covering members 52 is fixing (in Figure 5, to be illustrated) on a front and rear side on the housing 20.Supporting member 68 stretches in the supporting member 69 of the correspondence of the bearing sleeve form on housing 20 and (supporting member 69 is only shown in Figure 5).The movement of brush covering device 50 is carried out against the returning place force of the elasticity in this case return element 70 of helical spring form, and this helical spring supports in bearing sleeve on the housing 20, to stretch in the recess on covering members 52 and to be supported on this covering members.Returning place force outwards acts on, thus brush covering device 50 can be moved on cleaning brush 36 against returning place force to external pressure by return element 70 in home position.
As particularly seen from Fig. 2, brush covering device 50 cleaning brush 36 on the end of brush covering device 50 transversely direction 38 extend laterally and exceed clean bristle 63, thus covering members 52 is arranged in outside about the free end of clean bristle 63.Clean bristle 63 with its free end be arranged in covering members 52 towards on the side of brush spatial accommodation 40, and particularly axially spaced apart with covering members 52.For this reason, the home position of brush covering device 50 is also referred to as bristle and hides position, and when not having power to be applied to brush covering device from outside, brush covering device occupies this bristle and hides position.At this, clean bristle 63 can be avoided to contact with covering members 52 due to wearing and tearing.
When floor cleaning apparatus 10 touches barrier, such as, when should carry out along it wall cleaned, brush covering device 50 can be moved due to the power acted on the axial direction of cleaning brush 36.The movement of brush covering device 50 is carried out on the direction of cleaning brush, until arrive bristle off-position (Fig. 3).In the bristle off-position moved into, clean bristle 63 cleaning brush 36 on the end of covering members 52 with its freely end side direction on horizontal direction 38 extend over covering members 52.At this, clean bristle 63 passes gap 58 in the region of recess 62 in the angular region of about 55 ° above-mentioned.For this purpose, confirmed advantageously, clean bristle 63 is relative brush axis 39 and associated inclined ground orientation on the end towards covering members 52.
Because cleaning brush 36 supports with freely waving, compact structure form can be realized, wherein, only need the very little mobile distance of about 5mm to move to bristle off-position so that brush covering device 50 is hidden position from bristle.
In the bristle off-position of brush covering device 50, clean bristle 63 side direction on horizontal direction 38 extends over covering members 52.Thus, in particular, provide following possibility, that is, what can perform ground 12 is clean, until that touch brush covering device 50 and it is hidden position from bristle move to barrier bristle off-position, e.g. particularly wall.Same in bristle off-position, brush covering device 50 forms a part for the outline of floor cleaning apparatus 10 together with covering members 52, thus makes the free end of the clean bristle 63 extended laterally extend over matrix and the bottom surface of floor cleaning apparatus 10 simultaneously.
Thus, effectively cleaning ground 12 can be realized by floor cleaning apparatus according to the present invention.Can the region near barrier on inswept ground 12 by brush covering device 50 to be hidden position transfer to bristle off-position from bristle, and dirt particle can be swept up from this region.In addition, under the effect of suction group component 37, dirt particle can be made to pass gap 58 be inhaled in waste rexeptacle by constructing suction streams.
Not only hide in position but also in bristle off-position at bristle, covering members 52 hides cleaning brush 36 all substantially completely in side.Thus, such as particularly curtain or curtain are subject to protection with inswept by anti-cleaning brush 36 to barrier.In addition, the suction streams towards the direction of suction group component 37 improves.
In addition, floor cleaning apparatus 10 comprises the sensor unit 72 with multiple sensor element, and these sensor elements to be acted on control unit 28 by signal line and being connected, and illustrate only the bars circuit 73 in these signal lines in figure 6.Sensor unit 72 has Hall element 74, and this Hall element is attached troops to a unit in brush covering device 50.Hall element 74 is on the housing 20 fastening, is being arranged in dirt and leads away on the casing section 75 above the upper curtate 65 of part 53.Upper curtate 65 is formed the accommodation section 76 of channel-shaped, and permanent magnet 77 is positioned in this accommodation section.
When brush covering device 51, also have corresponding Hall element, accommodation section and magnet.
By Hall element 74 can be contactless detect brush covering device 50 relative to the relative motion of housing 20 remainder and relative position, and provide associated continuous print sensor signal for control unit 28.In addition, when brush covering device 50 moves relative to the remainder of housing 20, in Hall element 74, produce signal due to the magnet 77 of motion, this signal controlled unit 28 can assess motion and/or the position of detecting brush covering device 50.
Control unit 28 can drive control CD-ROM drive motor 24 or 25 by control circuit 26 and 27 with depending on sensor signal.This in particular, provides following possibility, that is, floor cleaning apparatus 10 along and be especially parallel to barrier, particularly wall and travel, to carry out clean near barrier to ground 12.
Such as, in order to carry out, to the cleaning near wall on ground 12, can proceeding as follows when performing so-called " pasting wall to travel " (wherein, brush covering device 50 contacts wall):
Floor cleaning apparatus 10 can identify wall by the sensor element of sensor unit 72, and sensor signal is sent to control unit 28.In this case, optical sensor element 78 shown in Figure 4, but also tactile sensor element can be set.Control unit 28 can calculate distance and particularly angle, in this distance and particularly under angle, floor cleaning apparatus 10 moves towards the direction of wall, thus makes brush covering device 50 touch wall and hide position by this wall from bristle to move towards the direction of bristle off-position.For this purpose, confirmed advantageously, covering members 52 convexly constructs in outside and has chamfered edge 54.When floor cleaning apparatus 10 is with the angular orientation that opposing sides is larger, so brush covering device 50 also can be moved.
Alternative or addedly can specify, floor cleaning apparatus 10 contacts barrier with brush covering device 50, associated sensor signal is sent to control unit 28, and and then sensor element 78 auxiliary under determine that barrier is wall by control unit 28.
Close to, floor cleaning apparatus 10 can be parallel to wall orientation with longitudinal direction 22, and wherein, brush covering device 50 occupies bristle off-position, and the basic ground of formula above contacts wall in addition.In order to precise coordination contact, covering members 52 has flat lug boss 79 in outside, this lug boss is designed to rib-like, and 22 extensions along the longitudinal direction.As mentioned above, the free end of clean bristle 63 passes gap 58 in the region of recess 62.
In like fashion, floor cleaning apparatus 10 can be parallel to wall and travel, and wherein, due to the brush covering device 50 occupying bristle free position, to make near wall clean becomes possibility.In addition, this motion can control by the sensor signal of Hall element 74.If sensor element changes, so control unit 28 can identify the direction of motion that floor cleaning apparatus 10 deviate from expectation, and drives control CD-ROM drive motor 24 and 25 to correct this motion.
The motor current that can be detected by control unit 28 equally of CD-ROM drive motor 24 and 25 and/or the signal of motor torque and wheel encoder 29 and 30 can be considered in motion control.When floor cleaning apparatus 10 is such as when travelling along wall during run-off the straight, the rotating speed of motor power and/or motor torque and driving wheel 15 and 16 changes.Except the sensor signal of Hall element 74, control unit 28 can measure by measuring-signal the direction of motion that floor cleaning apparatus 10 deviate from expectation, and travel direction corrects where necessary.
Because not only in left side 48 but also all have the brush covering device 50 or 51 that can move on right side 49, travel so floor cleaning apparatus 10 can carry out subsides wall with left side 48 and right side 49.This be proved especially turning is cleaned advantageous particularly.Such as, floor cleaning apparatus 10 travels as far as possible until turning along the first wall, and cleans along the first wall.And then, floor cleaning apparatus 10 can be moveed backward approaching second wall, and travels as far as possible until turning along the second wall, and cleans along the second wall at this.Show, can turning be cleaned by this way, only except cleaning plane (Kehrspiegel) that is relatively little, cleaning brush 36 sweep less than residue dirt region.
Claims (26)
1. an automatic running and the floor cleaning apparatus of automatic turning (10), described floor cleaning apparatus comprises housing (20) and form for having the burnisher of the cleaning brush (36) of clean bristle (63), wherein, housing (20) forms brush spatial accommodation (40), cleaning brush (36) is being contained in described brush spatial accommodation around the mode driven rotationally about the longitudinal direction of floor cleaning apparatus (10) or the pivot center (39) of the upper orientation of the horizontal direction (38) of direction of primary motion (22) in floor cleaning apparatus (10), and wherein, housing (20) comprises or constructs brush covering device (50, 51), described brush covering device at least hides cleaning brush (36) with section form in side, it is characterized in that, at least one brush covering device (50, 51) construct in the mode of the remainder motion of the relative housing (20) of energy and position transfer can be hidden to bristle off-position from bristle, and vice versa, hide in position at described bristle, described brush covering device (50, 51) the upper side direction of the horizontal direction (38) in floor cleaning apparatus (10) extends over the clean bristle (63) of cleaning brush (36), in described bristle off-position, the upper side direction of the horizontal direction (38) of a part in floor cleaning apparatus (10) of clean bristle (63) extends over described brush covering device (50, 51).
2. floor cleaning apparatus according to claim 1, it is characterized in that, the clean bristle (63) of cleaning brush (36) at least relatively rotates axis (39) and stretches out towards the direction of described brush covering device (50,51) obliquely on the end of its brush covering device that can move towards at least one (50,51).
3. floor cleaning apparatus according to claim 1 and 2, is characterized in that, two brush covering devices (50,51) can hide position transfer to bristle off-position from bristle respectively, and vice versa.
4. the floor cleaning apparatus according to any one of the claims, it is characterized in that, at least one brush covering device that can move (50,51) described is arranged on housing (20) in outside, and hide in position at bristle, preferably also in bristle off-position, go out the outline of housing (20) with section formal construction.
5. the floor cleaning apparatus according to any one of the claims, is characterized in that, at least one brush covering device (50,51) hides cleaning brush (36) completely or substantially completely in side.
6. the floor cleaning apparatus according to any one of the claims, it is characterized in that, gap (58) is formed between at least one brush covering device that can move (50,51) described and the contact plane limited in downside by floor cleaning apparatus (10), described contact plane overlaps with the holding plane limited by described placed side when floor cleaning apparatus (10) is positioned on placed side (12), and clean bristle (63) passes described gap in the bristle off-position of described brush covering device (50,51).
7. the floor cleaning apparatus according to any one of the claims, it is characterized in that, at least one brush covering device (50 that can move described, 51) in its side towards the placed side (12) for floor cleaning apparatus (10), along the longitudinal direction (22) of floor cleaning apparatus (10), there is front brush covering device section (59) and rear brush covering device section (60) about the run location of floor cleaning apparatus (10) on placed side (15) and arrange recess (62) between which, clean bristle (63) is at described brush covering device (50, 51) through described recess in bristle off-position.
8. the floor cleaning apparatus according to any one of the claims, it is characterized in that, clean bristle (63) when the rotation axis that rotates (39) rotates with about 30 ° to about 70 °, preferably approximately the angular region of 40 ° to about 60 ° extend over described at least one can move, the brush covering device (50,51) that occupies bristle off-position.
9. the floor cleaning apparatus according to any one of the claims, it is characterized in that, at least one brush covering device that can move (50,51) described can move on the axial direction of cleaning brush (36), hide position transfer to bristle off-position from bristle, and vice versa.
10. the floor cleaning apparatus according to any one of the claims, it is characterized in that, floor cleaning apparatus (10) comprises at least one return element (70), and at least one brush covering device that can move (50,51) described can hide position transfer to bristle off-position against the returning place force of described return element from bristle.
11. floor cleaning apparatus according to any one of the claims, it is characterized in that on the side (41) hidden by least one brush covering device that can move (50,51) described of cleaning brush (36), at least there is not the supporting member for cleaning brush (36) can be supported rotationally.
12. floor cleaning apparatus according to any one of the claims, it is characterized in that, at least one brush covering device that can move (50,51) described hides in position spaced apart with the clean bristle (63) towards described brush covering device (50,51) of cleaning brush (36) at bristle.
13. floor cleaning apparatus according to any one of the claims, is characterized in that, at least one brush covering device that can move (50,51) described deviates from convex-shaped ground, the outside structure of brush spatial accommodation (40) at it.
14. floor cleaning apparatus according to any one of the claims, it is characterized in that, at least one brush covering device (50,51) is in its side towards the placed side (12) for floor cleaning apparatus (10), about the run location of floor cleaning apparatus (10) on described placed side (12), comprise the lip part (57) of energy elastic deformation.
15. floor cleaning apparatus according to any one of the claims, it is characterized in that, at least one brush covering device (50, 51) there is covering members (52) and dirt leads away part (53), described covering members hides cleaning brush (36) at least in part in side, described dirt is led away part and is arranged in brush spatial accommodation (40), and construct the dirt face of leading away (67) and lead away in order to the direction of the import (47) of the waste rexeptacle (46) towards floor cleaning apparatus (10) dirt utilizing cleaning brush (36) to sweep up from ground (12).
16. floor cleaning apparatus according to claim 15, it is characterized in that, the brush covering device that can move (50,51) from bristle hide position to move to bristle off-position and conversely time, dirt is led away part (53) and is connected securely with covering members (52) and move together with described covering members.
17. floor cleaning apparatus according to any one of the claims, it is characterized in that, floor cleaning apparatus (10) comprises sensor unit (72), in order to the remainder relative position to each other that detects at least one brush covering device that can move (50,51) described and housing (20) and/or relative motion.
18. floor cleaning apparatus according to claim 17, it is characterized in that, sensor unit (72) has at least one sensor element (74), by described sensor element can be contactless detect at least one brush covering device that can move (50,51) described and housing (20) remainder relative position to each other and/or relative motion.
19. floor cleaning apparatus according to claim 18, is characterized in that, described at least one sensor element (74) is Hall element (74).
20. floor cleaning apparatus according to claim 19, it is characterized in that, sensor unit (72) has at least one magnet (77), described magnet is arranged in the accommodation section (76) of at least one brush covering device that can move (50,51) described, and at least one Hall element described (74) be arranged in housing (20) remainder on and with the acting in conjunction of described at least one magnet (77).
21. according to claim 17 to the floor cleaning apparatus according to any one of 20, it is characterized in that, floor cleaning apparatus (10) comprises control unit (28), about at least one brush covering device (50 that can move described, 51) described control unit can be transferred to the sensor signal of the remainder of housing (20) relative position to each other and/or relative motion, and floor cleaning apparatus (10) comprises and has driving wheel (15, 16) traveling mechanism (14), described driving wheel is attached troops to a unit has at least one to act on control unit (28) CD-ROM drive motor (24 be connected, 25), described CD-ROM drive motor can depend on sensor signal to drive control by described control unit (28).
22. floor cleaning apparatus according to any one of the claims, it is characterized in that, floor cleaning apparatus (10) comprises suction group component (37), in order to be sucked by dirt in the waste rexeptacle (46) of floor cleaning apparatus (10).
23. 1 kinds for controlling automatic running according to any one of the claims and the method for the motion of the floor cleaning apparatus of automatic turning, wherein, the remainder that sensor unit by floor cleaning apparatus detects at least one brush covering device that can move and housing relative position to each other and/or relative motion, and associated sensor signal is transferred to the control unit of floor cleaning apparatus, and wherein, floor cleaning apparatus comprises the traveling mechanism with driving wheel, described driving wheel is attached troops to a unit the CD-ROM drive motor having at least one to be connected with control unit effect, described CD-ROM drive motor depends on sensor signal to drive control by described control unit.
24. methods according to claim 23, it is characterized in that, the existence of barrier, particularly wall is detected by sensor unit, and calculate the distance of floor cleaning apparatus towards the direction of barrier as follows by control unit, that is, make floor cleaning apparatus touch barrier with at least one brush covering device that can move described and make described brush covering device hide position from bristle to move to bristle off-position.
25. methods according to claim 24, is characterized in that, when the brush covering device occupying bristle off-position that barrier and at least one can be moved contacts, floor cleaning apparatus travels along barrier with depending on sensor signal.
26. methods according to claim 25, it is characterized in that, detect the motor current of at least one CD-ROM drive motor described and/or motor torque and associated measuring-signal is supplied to control unit, described control unit also considers described measuring-signal when driving control CD-ROM drive motor except sensor signal.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102012104326A DE102012104326A1 (en) | 2012-05-18 | 2012-05-18 | Self-propelled and self-steering floor cleaning device and method for controlling its movement |
| DE102012104326.4 | 2012-05-18 | ||
| PCT/EP2013/057944 WO2013171014A1 (en) | 2012-05-18 | 2013-04-16 | Self-propelled and self-steering floor cleaning device and method for controlling the movement thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104271021A true CN104271021A (en) | 2015-01-07 |
| CN104271021B CN104271021B (en) | 2016-09-14 |
Family
ID=48170456
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201380024730.9A Expired - Fee Related CN104271021B (en) | 2012-05-18 | 2013-04-16 | Automatic running and the floor cleaning apparatus of automatic turning and for the method controlling its motion |
Country Status (4)
| Country | Link |
|---|---|
| EP (1) | EP2849620B1 (en) |
| CN (1) | CN104271021B (en) |
| DE (1) | DE102012104326A1 (en) |
| WO (1) | WO2013171014A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114601389A (en) * | 2020-12-08 | 2022-06-10 | 苏州爱普电器有限公司 | Surface cleaning head |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015082019A1 (en) | 2013-12-06 | 2015-06-11 | Alfred Kärcher Gmbh & Co. Kg | Self-propelled and self-steering floor cleaning device and cleaning system |
| US11950748B2 (en) | 2022-02-03 | 2024-04-09 | Black & Decker, Inc. | Vacuum cleaner and cleaning accessory for a vacuum cleaner |
| US11937760B2 (en) | 2022-02-03 | 2024-03-26 | Black & Decker, Inc. | Vacuum cleaner and cleaning accessory for a vacuum cleaner |
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| DE19539586C2 (en) * | 1995-03-07 | 1997-04-10 | Juergen Rabe | Device for cleaning surfaces |
| DE19510340C1 (en) * | 1995-03-22 | 1996-04-11 | Nilfisk Schwamborn Gmbh | Suction hood for wet cleaning machine for floor |
| DE10110905A1 (en) * | 2001-03-07 | 2002-10-02 | Kaercher Gmbh & Co Alfred | Soil cultivation device, in particular floor cleaning device |
-
2012
- 2012-05-18 DE DE102012104326A patent/DE102012104326A1/en not_active Withdrawn
-
2013
- 2013-04-16 WO PCT/EP2013/057944 patent/WO2013171014A1/en active Application Filing
- 2013-04-16 EP EP13718160.8A patent/EP2849620B1/en not_active Not-in-force
- 2013-04-16 CN CN201380024730.9A patent/CN104271021B/en not_active Expired - Fee Related
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| DE2637588B1 (en) * | 1976-08-20 | 1977-09-08 | Martin Schydlo | Swimming pool cleaning machine - has control curve and pressure unit for wheel operated brush sideways movement |
| DE2637588C2 (en) * | 1976-08-20 | 1978-05-11 | Martin 4030 Ratingen Schydlo | Cleaning device for liquid pools |
| CN1923109A (en) * | 2001-09-14 | 2007-03-07 | 沃维克股份有限公司 | Automatically displaceable floor-type dust collector |
| DE102004013262A1 (en) * | 2004-03-18 | 2005-09-29 | Vorwerk & Co. Interholding Gmbh | Vacuum cleaning attachment for a vacuum cleaner |
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| CN114601389A (en) * | 2020-12-08 | 2022-06-10 | 苏州爱普电器有限公司 | Surface cleaning head |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104271021B (en) | 2016-09-14 |
| EP2849620B1 (en) | 2016-07-27 |
| WO2013171014A1 (en) | 2013-11-21 |
| DE102012104326A1 (en) | 2013-11-21 |
| EP2849620A1 (en) | 2015-03-25 |
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Address after: German Wen Nendeng Patentee after: ALFRED KARCHER GmbH & Co.KG Address before: German Wen Nendeng Patentee before: ALFRED KARCHER GmbH & Co.KG |
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