CN108201416A - The cleaning equipment that can advance automatically - Google Patents
The cleaning equipment that can advance automatically Download PDFInfo
- Publication number
- CN108201416A CN108201416A CN201711146643.7A CN201711146643A CN108201416A CN 108201416 A CN108201416 A CN 108201416A CN 201711146643 A CN201711146643 A CN 201711146643A CN 108201416 A CN108201416 A CN 108201416A
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- CN
- China
- Prior art keywords
- cleaning equipment
- base station
- local ambient
- face
- cleaning
- 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.)
- Granted
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Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—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
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
-
- 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
- A47L9/0009—Storing devices ; Supports, stands or holders
- A47L9/0054—Stands or the like for temporary interruption of work
-
- 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
- A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
-
- 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
- A47L2201/02—Docking stations; Docking operations
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Suction Cleaners (AREA)
- Electric Vacuum Cleaner (AREA)
- Cleaning In General (AREA)
Abstract
The present invention relates to a kind of cleaning equipments (1) that can advance automatically, carry apparatus casing (2) and at least one driving wheel (3).In order to especially economical space saving take care of cleaning equipment (1), it is recommended that the cleaning equipment (1) has at least one guide wheel (7) with reference to cleaning equipment (1) during advance in the region of the housing parts (5) of the forepart of common orientation, the wheel circumferential surface (8) of the guide wheel is for the casing surroundings face (12) of forepart for sticking on barrier (10) and/or base station (11) and protruding from apparatus casing (2) along direction of advance at least partly.
Description
Technical field
The present invention relates to a kind of cleaning equipments that can advance automatically, carry apparatus casing and at least one driving wheel.
The invention further relates to a kind of base station of cleaning equipment for that can advance automatically, wherein, the base station, which has, to be used for
The join domain being connected with cleaning equipment.
It is described to advance automatically the invention further relates to the external member that a kind of cleaning equipment by that can advance automatically and base station are formed
Cleaning equipment carries apparatus casing and at least one driving wheel, and the base station has the join domain for being connected with cleaning equipment.
The present invention also furthers relate to a kind of method of cleaning equipment that can advance automatically for operation.
Background technology
The cleaning equipment that can advance automatically and be known in the prior art for running the method for this cleaning equipment
's.The cleaning equipment for example can be dust-collecting robot and/or wipe across robot.
This cleaning equipment itself can automatically advance, and perform clean up task herein in environmental interior.In order to navigate
With it is self-positioning in the environment, which has barrier detecting apparatus, and barrier detecting apparatus offer is used for
The measurement data of build environment map and cleaning equipment advance during prevent and barrier bump against.
10 2,008 014 912 A1 of patent document DE 10 2,011 000 536 A1 and DE for example discloses this use
Clean robot in cleaning ground.
If equipment known in the prior art is not just used for clean up task, otherwise the equipment be still in by base station with
Just for example accumulator is recharged or is arbitrarily still in the inside of environment, with this based on by the equipment of the clean robot
The size on the local ground of housing covering and bigger placement position is needed for the clean robot.
Therefore, the cleaning equipment positioned at parked position especially in narrow space situation can bring inconvenience.
Invention content
Using the above-mentioned prior art as starting point, the technical problem to be solved in the present invention is, provides a kind of for the cleaning
The section space-efficient keeping scheme of equipment.
Suggest first to solve above-mentioned technical problem, the cleaning equipment is usually fixed during advancing with reference to cleaning equipment
To forepart housing parts region in there is at least one guide wheel, the wheel circumferential surface of the guide wheel in order to contact barrier and/
Or base station and the casing surroundings face of the forepart of apparatus casing is protruded from along direction of advance at least partly.
By the designing scheme, the cleaning equipment have guide wheel, the guide wheel cleaning equipment it is common use position
In can bump against barrier and/or base station.The guide wheel thus protrudes from apparatus casing along direction of advance.Based on driving wheel and/
Or guide wheel and/or the driving force of additional driving wheel that is additionally arranged, the cleaning equipment can be on barrier in other words base station
It travels upwardly and reaches the parked position at least one component vertically.It is described clear in the parked position
Clean equipment is no longer at relative to being generally oriented during clean run in substantially horizontal position.Instead
At least guide wheel is tilted from raked floor and cleaning equipment, to reduce the ground local area covered by the cleaning equipment.Institute
It states cleaning equipment and can be travelled upwardly on barrier in other words base station to reaching cleaning equipment and be similar to vertical direction so that
The apparatus casing of cleaning equipment is holded up to 90 ° relative to using position.It previously, is i.e. transported in cleaning in the casing surroundings face of apparatus casing
It is directed toward between the departure date substantially perpendicular to ground, the casing surroundings of apparatus casing are as the cleaning equipment in parked position
Park face.That the parked position can take up is suitable, the preferred environment place as defined in the user of cleaning equipment, still
Base station of the setting for this parked position can also be alternatively located at, the base station is simultaneously also for example with for cleaning equipment
Accumulator charging equipment and/or dress for for example aspirate to be shifted from from cleaning equipment to the collection vessel of base station
It puts.Guide wheel can be the wheel that the pure passive type of cleaning equipment is servo-actuated, wherein, driving wheel and/or additional additional driving wheel apply
The driving force of cleaning equipment, the driving force are necessary for being moved upwards on barrier in other words base station.Guide wheel is just only
For the guiding of the movement of cleaning equipment vertically, the parked position can be reached.Alternatively, however, guide wheel is in itself
Can drive and driving force can be applied on barrier in other words base station.In short, thus may be used by vertical parked position
To reduce the space requirement of cleaning equipment during quiescent phase.
According to the present invention, the cleaning equipment that can advance automatically substantially can be that any can perform the clear of clean up task
Clean equipment, especially dust-collecting robot wipe across robot or combined type dust suction-wipe across equipment.If cleaning equipment is for example configured to
With liquid tank when wiping across equipment and may be let the liquid out due to inclination, take preventive measures when necessary.
It is further recommended that the housing parts relative to the rear portion being generally oriented of cleaning equipment during clean run have band
The local ambient face of the beveling of overhang structure.The apparatus casing of cleaning equipment thus has relative to ground during position is used
Band is more than the local ambient face of the beveling at 90 ° of inclination angles so that the local ambient face of apparatus casing is not orthogonal to the plane on ground.Institute
The local ambient face for stating beveling is used for cleaning equipment as placed side during parked position, wherein, cleaning equipment passes through this
It tilts and is tilted with the direction of the housing parts of forepart along barrier base station in other words and at least one can be led by described herein
Wheel setting.The cleaning equipment because rather than accurately vertically stand (relative to horizontal ground), but towards barrier or
Person says that base station tilts, to realize particularly stable parked position.Meanwhile guide wheel remains in the inclined parked position
Relative to the contact of barrier base station in other words so that cleaning equipment can particularly conveniently be driven out to from parked position and again to first
Beginning uses position transition.
Especially suggest, the local ambient face of the beveling has the angle more than 75 ° and less than 90 ° relative to direction of advance
Degree.Angle from 80 ° to 87 ° is particularly preferably suitable.This angle is proved to be particularly conducive to realize that cleaning is set in practice
The standing place can be also kept for the standing place stablized or even by people and/or pet touching.Meanwhile pass through obliquity
Very small remaining horizontal component reduces the size of cleaning equipment in a horizontal plane strongly so that by parked position
The ground local area very little of cleaning equipment covering.
Additionally suggest that there is the local ambient that can shift with reference to the housing parts at the rear portion being generally oriented of cleaning equipment
Face, the local ambient face that can be shifted are shifted in which can resist spring restoring force due to the application of the gravity of cleaning equipment.It should
Designing scheme is equally applicable to beveling the or unchamfered local ambient face of apparatus casing, and the local ambient faces
Cleaning equipment in parked position is used as placed side.According to the designing scheme, the local ambient surface construction is so that the office
Around portion face due to deform, move at least partly or other shift movements and relative to other local ambients of apparatus casing
Face can shift so that the shape in the local ambient face can be changed, can realize the particularly stable park position of cleaning equipment
It puts.The displacement in the local ambient face acts on this since the local ambient face that can be shifted is applied in the gravity of cleaning equipment
Component on local ambient face and carry out, it is described partially due to inclination that cleaning equipment carries out and increase.If the weight of cleaning equipment
The component acted on the local ambient face of power overcomes spring restoring force, then the local ambient face displacement and apparatus casing
It is also thus deformed in the region in the local ambient face.Herein it is possible that being shaped on the casing surroundings face of apparatus casing
Special support component, plane etc., to ensure the stability of parked position.
Especially suggest, the local ambient surface construction for can spring formula deform and can never by stress, not
The form of deformation to by stress, deformation Morphological Transitions, and can from by stress, deformation form to not by stress,
Undeformed Morphological Transitions.For example, the local ambient face can be deformed and cancelled with flexible material, the material
Its initial form can be returned to after deformation again.The material of the spring preferably can be can have the form of deformation and indeformable
Form metal.As described above, the deformation is realized by the gravity when cleaning equipment is tilted to parked position.
The local ambient face can be structured as bistable spring element, wherein, two stable states particularly by
Convex and spill the shape performance in local ambient face.The local ambient face for parked position of apparatus casing has spring
The property of formula.During the clean run of cleaning equipment in substantially horizontal position, the local ambient face preferably constitutes
The corresponding part of shape of the apparatus casing convexly constructed, that is the part of the side of apparatus casing.To parked position
When holding up, the gravity of cleaning equipment increases ground and is acted on local ambient face.The material property and local ambient of the spring
The shape in face is just with clicker spring (German：Knackfeder form) causes local ambient facial disfigurement, then local ambient face
Deform to spill.Two broken lines are formed on relative to the boundary line of remaining apparatus casing for continuing convexly to deform with this, it is described
Two broken lines can be used for cleaning equipment in parked position as determining support portion.On the support portion, cleaning equipment
It is reliably held in parked position.If cleaning equipment leaves parked position again, effect of the gravity on local ambient face is again
Reduce, and form the shape of the initial convex in local ambient face again.
Alternatively it can be stated that spring element, especially helical spring or leaf spring is arranged for local ambient face.It designs herein
In scheme, local ambient face is preferably presented as other partial faces individually movable partial zones relative to apparatus casing
Domain.The local ambient face that can be shifted is during the normal use operation of cleaning equipment due to the spring restoring force of the spring element
And be maintained in the position for being not subject to gravity load, wherein, the local ambient face is usual and abuts against the local ambient face
On other partial faces form be closed and shape complementation shape.If cleaning equipment is moved into parked position, the office
Face is just compared with the cleaning equipment gravity of the spring-return power bigger in effect and towards the side of the inside of apparatus casing around portion
To the position for being pressed into displacement, the local ambient is towards return position until the cleaning equipment in parked position is substantially for example vertical
On the left side in the local ambient face and right side, the arris of partial face that cannot shift.When leaving parked position,
Once spring restoring force overcomes the cleaning equipment weight component of effect, spring element just again returns the local ambient face pressure that can be shifted
Home position, when this is usually happened at cleaning equipment and no longer stands on local ambient face the latest.
Also suggest that there is holding unit in the region of the fore housing parts of apparatus casing according to the present invention.It is described solid
It especially can be magnetic element, stopping element, hook, ring and/or protrusion to hold device.The holding unit is used to be stabilized in obstacle
The object parked position on base station in other words.When the apparatus casing of cleaning equipment does not have the local ambient face of beveling so that cleaning
When equipment is substantially perpendicularly stood on a horizontal ground, this holding unit is just especially advantageous.In order to especially this
Ensure the stability of parked position in situation, apply additional fixing power on barrier in other words base station by holding unit.
Advantageously, cleaning equipment has one or more holding units, the fixing of the holding unit and barrier base station in other words
Device corresponds to.For example, can have ring with reference to the cleaning equipment that corresponding base station uses, the hook of base station is embedded in the ring, on the contrary
It is as the same.Corresponding magnetic element can equally be arranged, wherein, or such as cleaning equipment is with magnet and base station is with energy magnetic
The regional area of change or opposite.In addition, cleaning equipment can also have one or more protrusion in a particularly simple way
Portion, the protrusion can be anchored on barrier and/or the surface texture of base station.Stop member can also be arranged in cleaning equipment
Part, the stopping element realize the particularly reliable fixing on barrier in other words base station, however are needed when necessary stop member
The device that part is released from stop again.
Other than the cleaning equipment of above-mentioned suggestion, the present invention also suggests a kind of for the cleaning equipment that can advance automatically
Base station, wherein, the base station has the join domain for being connected with the cleaning equipment, wherein, the join domain has
Connecting element and lifting device, the especially motor-driven lifting device for shifting connecting element, wherein, the lifting device is set
Put for connecting element from the position of the lower part relative to the common vertical orientation in base station to the displacement on top, and
Connecting element from the position on the top relative to the common vertical orientation in base station to the displacement of lower part.With suggestion
The base station of lifting device is configured to so that the parked position of cleaning equipment can be by cleaning equipment by external driving device
Raising is realized.The cleaning equipment for example can be linked into or be connected into the connecting element of lifting device, and then pass through lifting
The vertical displacement of the connecting element of device and increase, until reach parked position.The lifting device can for example have band
Rail system of linear motor or the like.Realize cleaning equipment from position is used to parked position spy by the designing scheme
Unreliable and accurate transition.In addition, the inclination of cleaning equipment is not only carried out, but simultaneously also by the connection of lifting device
Element carries out the insurance of parked position.The connecting element of lifting device can also also construct in different ways, such as magnetic member
Part, stopping element, hook, ring, protrusion or the like.Certainly, base station can also also perform common clothes in cleaning equipment
It is engaged in, such as the aspirate container of cleaning equipment is blown off to accumulator charging, by fan by power supply, is exhausted etc..
The present invention also suggests a kind of cleaning equipment by that can advance automatically and the external member equipment that base station is formed, and the energy is automatic
The cleaning equipment of advance has apparatus casing and at least one driving wheel, and the base station has the company for being connected with cleaning equipment
Region is connect, wherein, the join domain has the connecting element being connected for holding unit corresponding with cleaning equipment,
In, base station has the lifting device for shifting connecting element, and the lifting device is set as connecting element and cleaning equipment
Position of the holding unit being attached thereto from the position of the lower part of the common vertical orientation relative to base station to top is moved
Position, and the holding unit being attached thereto of connecting element and cleaning equipment from the common vertical orientation relative to base station
The displacement that the position on top is set out to lower part.The advantages of proposed external member, which passes through, combines cleaning equipment according to the invention
It is obtained with the base station constructed according to the present invention.With reference to aforementioned in terms of the cleaning equipment in other words possible feature and advantage of base station
Designing scheme.The designing scheme is correspondingly also applied for external member equipment according to the invention.
The last present invention also suggests a kind of method of cleaning equipment that can advance automatically for operation, wherein, cleaning equipment
It is shifted from the substantially horizontal running position of cleaning equipment to the parked position being substantially vertically oriented, wherein, cleaning is set
It is standby to reach barrier and/or base station, and the driving force that is acted on by cleaning equipment to barrier and/or base station and/or by
The lifting device of base station is holded up to parked position.Cleaning equipment basically it is horizontal using transition from position to parked position because
And it can either be carried out by cleaning equipment driving force in itself or by external driving device.In a kind of situation below
In, for example, can by cleaning device by the lifting device of base station to the raised method of parked position, reach parked position.On
Text is corresponding in other designing schemes described in cleaning equipment, base station or the external member equipment aspect that is made of cleaning equipment and base station
The method that ground is also applied for operation cleaning equipment, when necessary in the case of the mating reaction of base station.
Description of the drawings
Below according to embodiment, the present invention is further explained.In attached drawing：
Fig. 1 shows the cleaning equipment of first embodiment according to the invention from external three-dimensional view,
Fig. 2 shows the cleaning equipment according to Fig. 1 in parked position,
Fig. 3 show according to second embodiment cleaning equipment in the position of use,
Fig. 4 shows the cleaning equipment according to Fig. 3 in parked position,
Fig. 5 show according to third embodiment cleaning equipment in the position of use,
Fig. 6 shows the cleaning equipment according to Fig. 5 in parked position,
Fig. 7 shows the cleaning equipment according to the 4th embodiment in parked position,
Fig. 8 show according to the 5th embodiment cleaning equipment in the position of use,
Fig. 9 shows the cleaning equipment according to Fig. 8 in parked position.
Specific embodiment
Fig. 1 shows cleaning equipment 1, is configured to dust-collecting robot herein.Cleaning equipment 1 has apparatus casing 2, equipment shell
It is directed toward while face to be cleaned is arranged essentially parallel to during position is used the bottom side of body 2, that is horizontally disposed in cleaning equipment 1
When be equally flatly directed toward.Apparatus casing 2 has casing surroundings face 12, with reference to during clean run cleaning equipment 1 it is logical
Normal forward travel, the front side including all lateral faces and including cleaning equipment 1 and rear side.Relative in clean run
The common forward movement of period cleaning equipment 1, the local ambient face 13 of the housing parts 6 at rear portion have relative to casing surroundings
The inclined orientation of other partial faces in face 12 so that apparatus casing 2 has overhang structure in this region, it is characterised in that equipment
The upside of housing 2 protrudes from the downside of apparatus casing 2.Between the bottom side of apparatus casing 2 and inclined local ambient face 13
This for example forms 85 ° of angle.The horizontal orientation of cleaning equipment 1 shown in Fig. 1 and the level with this namely apparatus casing 2
In orientation, inclined partial circle circumferential surface 13 thus also has the angle [alpha] relative to about 85 ° of ground.
Cleaning equipment 1 also have there are two electric motor type driving (the only visible one of driving wheel in the view of driving wheel 3
3) and cleaning element 4, the cleaning element are configured to roller brush and itself are located at the lower section of apparatus casing 2 herein.Extraly,
There are two guide wheel 7, two guide wheels are arranged in the region of the housing parts 5 of the forepart of cleaning equipment 1 tool of cleaning equipment 1.Each lead
Wheel 7 at least with a part for the wheel circumferential surface 8 of guide wheel protrude from apparatus casing 2 casing surroundings face 12 and thus in cleaning equipment 1
Remaining regional area of cleaning equipment 1 is led over during common forward movement.The cloth on the housing parts 5 at opposite rear portion
Additional driving wheel 9 there are two putting, equally can only see one of them in the accompanying drawings.Additional driving wheel 9 is equally that electric motor type drives.
Cleaning equipment 1 also has barrier detecting apparatus 19, and barrier detecting apparatus is configured to detection in cleaning equipment 1
The barrier 10 of surrounding.Barrier detecting apparatus has detection zone, can detect existing barrier 10 in the detection area.Barrier
It is, for example, herein triangulation device to hinder article inspection device, can be measured in the environment relative to the distance of barrier 10.Obstacle
Article inspection device 19 specifically includes laser diode, and the light beam sent out is by transfer from the equipment of cleaning equipment 1
Housing 2 is exported and is centered around being rotated using pivot center vertical in position, especially measuring angles with 360 ° for cleaning equipment 1
Rotation.The circulating type range measurement around cleaning equipment 1 is realized with this.It can be preferred by barrier detecting apparatus 19
Measuring environment in horizontal plane, that is in the plane for being arranged essentially parallel to ground.Cleaning equipment 1 can be caused to exist with this
It avoids moving in the case of with the barrier 10 in environment bumping against.By barrier detecting apparatus 19 record measurement data by with
In the map of build environment.As addedly, the distance of driving wheel 3 and/or additional driving wheel 9 can be also used for generation map
Data, the data that the range data measures for verification by barrier detecting apparatus 19.Barrier detecting apparatus 19 is simultaneously
Meet two tasks, i.e., on the one hand the environment of scanning cleaning equipment 1 is to build map, on the other hand in the sense that avoiding collision
Detect barrier 10.
During common clean run, cleaning equipment 1 advances and performs clean up task herein in the environment, in this example
Such as aspirate is drawn from ground and clean ground by the cleaning element 4 for being configured to roller brush.It is after clean run and outstanding
It works as cleaning equipment 1 for a long time when not used, and cleaning equipment 1 is just laid in parked position, to treat that next time devotes oneself to work.
Fig. 2 shows this parked position of cleaning equipment 1, wherein, on the vertical housing parts 6 in portion behind of cleaning equipment 1
And barrier 10 is extraly rested on due to the inclined local ambient face 13 formed herein, on such as wall.It is described to stop
There is desired stability in position so that cleaning equipment 1 is not also fallen when for example being touched by the people in environment and/or animal.By
In the local ambient face 13 chamfer on the housing parts 6 at rear portion, cleaning equipment 1 is not erect vertically relative to ground, but
It is tilted towards barrier 10.Barrier 10 can substantially be replaced and base station 11 is used to be used for the cleaning equipment 1 in parked position
It reclines.
In order to reach parked position shown in Fig. 2 using position from shown in FIG. 1, cleaning equipment 1 to barrier 10 (or
Say base station 11) on move, wherein, the housing parts 5 of the forepart of cleaning equipment 1 are directed toward the direction of barrier 10.It is advantageous herein
It is that the housing parts 5 of forepart are arranged essentially parallel to the surface direction of barrier 10, with when cleaning equipment 1 faces barrier 10
Contact surface as big as possible is generated between cleaning equipment 1 and barrier 10.When cleaning equipment 1 continues movement to barrier 10,
The guide wheel 7 arranged on fore housing parts 5 is contacted with the formation of barrier 10.Since driving wheel 3 also has additional additional drive
The driving force of driving wheel 9, cleaning equipment 1 can be scrollled up on barrier 10 by guide wheel 7, hindered without there is apparatus casing 2
Hinder and significantly rub on object 10.Cleaning equipment 1 is travelled upwardly on barrier 10 and is significantly tilted, until the part of beveling
Surrounding face 13 reclines on the ground completely.In the parked position, cleaning equipment 1 is rested on guide wheel 7 on barrier 10, with reality
Existing particularly stable position.In parked position, pass through arrangement that is substantially vertical relative to ground, being herein 85 °, cleaning
Equipment 1 occupies the floor area more much smaller than in the position of use, especially economical space saving to place cleaning equipment 1.Now, it is
Go out to be sent back to the horizontal of cleaning equipment 1 from parked position and use position, driving wheel 3 and additional driving wheel 9 be along relative to it
Before move upwards opposite direction rotation so that cleaning equipment 1 is rolled down from barrier 10 again, and inclined local ambient face 13 is again
It stirs to return from raked floor and cleaning equipment 1 and substantially horizontal uses position.
Fig. 3 and Fig. 4 show second embodiment of the present invention, wherein, cleaning equipment 1 is in the shell at the rear portion of apparatus casing 2
On body portion 6 there is local ambient face 13, be rendered as spring element 14.The spring element 4 is according to bistable spring element
14 form construction, can have there are two the state stablized, i.e., on the one hand be state shown in figure 3, wherein the part
Surrounding face 13 convexly shapes, and is on the other hand state shown in Fig. 4, wherein 13 spill of local ambient face into
Shape.In the use state of cleaning equipment 1 shown in Fig. 3, it is configured to 13 shape of local ambient face of spring element 14 accordingly
In the remaining shape of embedded equipment housing 2.If cleaning equipment 1 is shifted from this to parked position, cleaning equipment 1 is borrowed again
The assistant director of a film or play takes turns 7 and is travelled upwardly on barrier 10 by the driving force of its driving wheel 3 and additional driving wheel 9, with this so that clear
The gravity of clean equipment 1 significantly shifts on the local ambient face 13.Once act on the weight on the local ambient face 13
Power is more than the restoring force of spring element 14, and spring element 14 is just squeezed from convex shape to the shape of spill, to form part week
13 shape shown in Fig. 4 of envelope surface.The local ambient face 13 in this spill shapes so that in local ambient face 13 and adjacent
Apparatus casing 2 rest part between transitional region in generate substantially two support components, support component and stop shown
Stablize cleaning equipment 1 in position.The cleaning equipment 1 also for example, at least supports herein from side by barrier 10, driving wheel
3rd, additional driving wheel 9, cleaning element 4 and/or guide wheel 7 can be sticked on the side.Local ambient face 13 is configured to spring when necessary
The scheme of element 14 can also be supplemented by the beveling in local ambient face 13, for example shown in Fig. 2 inclined additionally to obtain
Parked position.
Fig. 5 and Fig. 6 shows the third embodiment of cleaning equipment 1 according to the invention, wherein, the housing parts 6 at rear portion
Local ambient face 13 be equipped with independent spring element 14.The spring element 14 is helical spring herein, the helical spring
Restoring force act on the local ambient face 13 that can be shifted relative to remaining regional area of apparatus casing 2.Work as spring element
14 when not in by the state of stress, and 13 shape of local ambient face is accordingly embedded in the equipment shell of the housing parts 6 at rear portion
Body 2.When cleaning equipment 1 from it is shown in fig. 5 shifted using position to shown parked position in figure 6 when, by barrier
Raising on 10 is so that the share constantly to become larger of the gravity of cleaning equipment 1 continues to shift on local ambient face 13, until this is heavy
The corresponding share of power finally overcomes the restoring force of spring element 14.In figure 6 in shown parked position, local ambient face 13 to
2 internal shift of apparatus casing, obtains the supporting surface of substantially three parts formula, is on the one hand the part area in the local ambient face 13 of convex
On the other hand domain is two adjacent subregions of apparatus casing 2.
Fig. 7 shows the 4th embodiment of cleaning equipment 1 according to the invention.Here, cleaning equipment 1 has holding unit
15, form is the magnet being integrated in guide wheel 7, and the magnetic construction of the magnet and at least one regional area of base station 11 is established
Effectively connection.The magnetic regional area of base station 11 for example can be the regional area with iron and/or nickel.Due to being filled from fixing
Put the 15 fixing power acted on to cleaning device 1, thus driving wheel 3 in other words additional driving wheel 9 to apply the driving force of bigger with
Just cleaning device 1 is sailed back from shown parked position substantially horizontal using position.Can also alternatively, however it suggest, Gu
Device 15 is held with electromagnet, the electromagnet is for cleaning equipment 1 from position is used to be converted to parked position or from park
Position to use position convert and can be switched on and off.As holding unit 15 it is also conceivable to stopping element, hook, ring, protrusion
Portion etc..The holding unit 15 is preferably arranged on the housing parts 5 of the forepart of apparatus casing 2 so that cleaning equipment 1 exists
It is held on the highest position of cleaning equipment 1 in parked position.It ensure that parked position stability improves.
Finally, Fig. 8 and Fig. 9 shows illustrative 5th embodiment of cleaning equipment 1, and external member is formed with reference to base station 11
Equipment.The base station 11 has join domain 16, and cleaning equipment 1 can be coupled on the join domain.The join domain 16 has
There is connecting element 17, connecting element is configured to hook herein.The connecting element 17 is used for and the corresponding fixing of cleaning equipment 1 fills
It puts 15 to be connected, corresponding holding unit 15 is configured to ring herein.The connecting element 17 of base station 11 by lifting device 18 can from
The position of lower part shown in fig. 8 is to the displacement on top shown in fig.9.For this purpose, connecting element 17 and lifting
The railway guidance of device 18 is in effect connection.The connecting element 17 can be shifted by motor along railway guidance.According to this
Embodiment, cleaning equipment 1 is to approaching at the join domain 16 of base station 11 so that the holding unit 15 of cleaning equipment 1 form with
The contact of the connecting element 17 of lifting device 18.In order to which cleaning equipment 1 is shifted to parked position, the user of cleaning equipment 1
Such as it can manually control the operation of lifting device 18.Alternatively, the operation of lifting device 18 can be automatically by cleaning
Equipment 1 and the join domain 16 of base station 11, especially holding unit 15 and the contact start of connecting element 17.Due to lifting device 18
Connecting element 17 vertical displacement, cleaning equipment 1 increases on base station 11, with this so that cleaning device is to shown in Fig. 9
Parked position displacement.Here, the parked position of cleaning equipment 1 passes through the connection between holding unit 15 and connecting element 17
And keep reliable.Cleaning equipment 1 passes back through lifting device 18 in opposite direction to shown in fig. 8 using position
Operation is realized so that cleaning equipment 1 rolls down on base station 11 again.
Reference numerals list
1 cleaning equipment
2 apparatus casings
3 driving wheels
4 cleaning elements
The housing parts of 5 foreparts
The housing parts at 6 rear portions
7 guide wheels
8 wheel circumferential surfaces
9 additional driving wheels
10 barriers
11 base stations
12 casing surroundings faces
13 local ambient faces
14 spring elements
15 holding units
16 join domains
17 connecting elements
18 lifting devices
19 barrier detecting apparatus
Claims (12)
1. a kind of cleaning equipment (1) that can advance automatically, with apparatus casing (2) and at least one driving wheel (3), feature
It is, the cleaning equipment (1) is in the housing parts (5) with reference to cleaning equipment (1) forepart of common orientation during advance
Region in there is at least one guide wheel (7), the wheel circumferential surface (8) of the guide wheel in order to barrier (10) and/or base station (11)
Contact and protruded from least partly along direction of advance the casing surroundings face (12) of the forepart of apparatus casing (2).
2. cleaning equipment (1) described in accordance with the claim 1, which is characterized in that with reference to after being generally oriented of cleaning equipment (1)
The housing parts (6) in portion have the local ambient face (13) of the beveling with overhang structure.
3. cleaning equipment (1) described in accordance with the claim 2, which is characterized in that the local ambient face (13) of the beveling is opposite
There is the angle (α) more than 75 ° and less than 90 ° in direction of advance.
4. according to the cleaning equipment (1) described in one of claims 1 to 3, which is characterized in that with reference to the usual of cleaning equipment (1)
The housing parts (6) at the rear portion of orientation have the local ambient face (13) that can be shifted, and the local ambient face (13) is due to cleaning
The application of the gravity of equipment (1) and shift while spring restoring force can be resisted.
5. according to the cleaning equipment (1) described in claim 4, which is characterized in that the local ambient face (13) is designed to
Deform to spring formula and can never by stress, undeformed form to by stress, deformation Morphological Transitions, and
Can from by stress, deformation form to not by stress, undeformed Morphological Transitions.
6. according to the cleaning equipment (1) described in claim 4, which is characterized in that the local ambient face (13) is configured to bistable
The spring element (14) of state, wherein, two stable states particularly by local ambient face (13) convex and spill shape
Shape shows.
7. according to the cleaning equipment (1) described in claim 5, which is characterized in that the local ambient face (13) is configured to bistable
The spring element (14) of state, wherein, two stable states particularly by local ambient face (13) convex and spill shape
Shape shows.
8. according to the cleaning equipment (1) described in claim 4, which is characterized in that the local ambient face (13) is equipped with spring
Element (14).
9. cleaning equipment (1) described in accordance with the claim 1, which is characterized in that the fore housing section of the apparatus casing (2)
Dividing has holding unit (15) in the region of (5).
10. a kind of for the base station (11) for the cleaning equipment (1) that can advance automatically, wherein, the base station (11) have for
The connected join domain (16) of the cleaning equipment (1), which is characterized in that the join domain (16) has connecting element (17)
With the lifting device (18) for shifting the connecting element (17), lifting device setting for connecting element from relative to
The position of the lower part of base station (11) common vertical orientation is to the displacement on top, and vice versa.
11. the external member equipment that a kind of cleaning equipment (1) and base station (11) by that can advance automatically is formed, the cleaning equipment carry
Apparatus casing (2) and at least one driving wheel (3), base station (11) band are useful for the company being connected with the cleaning equipment (1)
Connect region (16), which is characterized in that the join domain (16) has the corresponding holding unit being used for cleaning equipment (1)
(15) connected connecting element (17), wherein, base station (11) have the lifting device (18) that connecting element (17) is shifted, described
Lifting device (18) is set as the holding unit being connected with connecting element (17) of a connecting element (17) and cleaning equipment (1)
(15) from the position of the lower part of the common vertical orientation relative to base station (11) to the displacement on top, and it is on the contrary
It is as the same.
It is 12. a kind of for running the method for cleaning equipment (1) that can advance automatically, which is characterized in that the cleaning equipment (1) from
Cleaning equipment (1) substantially horizontal running position is shifted to the parked position being substantially vertically oriented, wherein, cleaning is set
Standby (1) reaches barrier (10) and/or base station (11), and act on barrier (10) and/or base station by cleaning equipment (1)
(11) it driving force on and/or is holded up by the lifting device (18) of base station (11) to parked position.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102016124674.3 | 2016-12-16 | ||
| DE102016124674.3A DE102016124674A1 (en) | 2016-12-16 | 2016-12-16 | Self-propelled cleaning device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108201416A true CN108201416A (en) | 2018-06-26 |
| CN108201416B CN108201416B (en) | 2021-06-15 |
Family
ID=60661857
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711146643.7A Active CN108201416B (en) | 2016-12-16 | 2017-11-17 | Cleaning equipment capable of automatically advancing |
Country Status (6)
| Country | Link |
|---|---|
| EP (1) | EP3335606B1 (en) |
| JP (1) | JP2018094390A (en) |
| CN (1) | CN108201416B (en) |
| DE (1) | DE102016124674A1 (en) |
| ES (1) | ES2858587T3 (en) |
| TW (1) | TW201822694A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109567695A (en) * | 2019-02-20 | 2019-04-05 | 高歆怡 | A kind of mop of automatic water jetting |
| CN111671362A (en) * | 2020-06-18 | 2020-09-18 | 深圳市银星智能科技股份有限公司 | Cleaning robot and cleaning robot system |
| CN112770658A (en) * | 2018-10-22 | 2021-05-07 | 千叶工业大学 | Storage device |
| CN113243853A (en) * | 2020-02-11 | 2021-08-13 | 鸿富锦精密工业(武汉)有限公司 | Supporting device and movable equipment |
| CN114504275A (en) * | 2022-01-28 | 2022-05-17 | 安克创新科技股份有限公司 | Dust collection station and cleaning system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109340335B (en) * | 2018-09-11 | 2021-08-24 | 安克创新科技股份有限公司 | Intelligent self-moving equipment and speed reduction device thereof |
| CN112702940B (en) * | 2018-10-22 | 2021-10-26 | 千叶工业大学 | Electric moving body |
| JP2020065745A (en) * | 2018-10-25 | 2020-04-30 | パナソニック株式会社 | Mobile object holding device |
| CN114652239A (en) * | 2022-03-02 | 2022-06-24 | 深圳市杉川机器人有限公司 | Base station of cleaning system and cleaning system |
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Also Published As
| Publication number | Publication date |
|---|---|
| EP3335606B1 (en) | 2021-01-27 |
| JP2018094390A (en) | 2018-06-21 |
| TW201822694A (en) | 2018-07-01 |
| EP3335606A2 (en) | 2018-06-20 |
| EP3335606A3 (en) | 2018-11-07 |
| DE102016124674A1 (en) | 2018-06-21 |
| CN108201416B (en) | 2021-06-15 |
| ES2858587T3 (en) | 2021-09-30 |
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