EP3100659B1 - Cleaning device for a self-propelled soil cultivation device - Google Patents
Cleaning device for a self-propelled soil cultivation device Download PDFInfo
- Publication number
- EP3100659B1 EP3100659B1 EP16168723.1A EP16168723A EP3100659B1 EP 3100659 B1 EP3100659 B1 EP 3100659B1 EP 16168723 A EP16168723 A EP 16168723A EP 3100659 B1 EP3100659 B1 EP 3100659B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- cleaning
- self
- cleaning device
- soil cultivation
- cleaned
- 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.)
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Links
- 238000004140 cleaning Methods 0.000 title claims description 175
- 239000002689 soil Substances 0.000 title description 85
- 239000004753 textile Substances 0.000 claims description 9
- 238000000034 method Methods 0.000 claims description 6
- 238000000465 moulding Methods 0.000 claims 1
- 239000000428 dust Substances 0.000 description 9
- 239000002245 particle Substances 0.000 description 9
- 238000003971 tillage Methods 0.000 description 6
- 239000000969 carrier Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 229920001410 Microfiber Polymers 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 239000012459 cleaning agent Substances 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000003658 microfiber Substances 0.000 description 1
Images
Classifications
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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
- 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
- A47L11/4036—Parts or details of the surface treating tools
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- 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
- A47L11/4052—Movement of the tools or the like perpendicular to the cleaning surface
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
-
- 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
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
Definitions
- the invention relates to a cleaning device for a self-propelled soil cultivation device, the cleaning device being suitable for cleaning wall sections close to the floor that adjoin a floor surface to be cleaned.
- Self-propelled soil cultivation devices in particular vacuum or mopping robots, are used for the autonomous cleaning and care of floor surfaces.
- the self-propelled soil cultivation devices available on the market achieve cleaning services that make manual subsequent cleaning of the floor surface largely superfluous.
- the problem here is that the cleaning activity of the known self-propelled soil cultivation devices has so far been limited to the areas of a floor surface that can be driven on by the self-propelled soil cultivation device.
- Wall sections close to the floor, such as B. plinths or strips that delimit a floor area to be cleaned are not cleaned or only cleaned to a very limited extent by self-propelled tillage equipment.
- dust and dirt particles accumulate precisely on such wall sections close to the floor, they must be continuously cleaned manually. This contradicts the concept of autonomous floor cleaning by self-propelled tillage devices.
- Self-propelled soil cultivation devices which have side brushes are known from the prior art. Using these side brushes, self-propelled soil cultivation devices are also able to free the edge areas of a floor surface to be cleaned of dust or dirt particles. However, because of their orientation towards the floor surface to be cleaned, these side brushes are not suitable for wall sections close to the floor, such as. B. base or strips to clean. In particular if the wall sections near the floor form exposed end faces, these are not reached and cleaned by the side brushes.
- the pamphlet US 8 239 992 B2 discloses a cleaning device for a self-propelled soil cultivation device which is suitable for cleaning wall sections close to the floor.
- the cleaning device has a fixing element for attachment to the soil cultivation device and a cleaning element.
- the cleaning element is arranged on a movable cleaning element carrier.
- the invention thus poses the problem of providing a cleaning device for self-propelled soil cultivation devices which enables wall sections close to the floor to be cleaned.
- this problem is solved by a cleaning device for a self-propelled soil cultivation device, a self-propelled soil cultivation device with a cleaning device and by a method for controlling a self-propelled soil cultivation device with a cleaning device.
- the cleaning device has a fixing element with which the cleaning device can be connected to a housing section of a self-propelled soil cultivation device, a cleaning element carrier having a cleaning element being arranged on the cleaning device.
- the cleaning device can be detachably connected to a housing section of a self-propelled soil cultivation device.
- the fixing element can be latched to the housing of the self-propelled soil cultivation device.
- An upper and a lower holding device are arranged on the fixing element, wherein the fixing element can be latched to a housing section of the self-propelled soil cultivation device via the holding devices.
- the fixing element is connected to the housing of the self-propelled soil cultivation device via an adhesive element.
- the arrangement of the cleaning device on a housing section of a self-propelled soil cultivation device enables the autonomous cleaning of wall sections close to the floor, such as, for example, plinths and strips.
- the self-propelled soil cultivation device is thereby enabled to autonomously remove dirt from wall areas close to the floor by the cleaning elements of the cleaning device.
- the detachable arrangement of the cleaning device via the fixing element enables existing self-propelled soil cultivation devices to be retrofitted with such cleaning devices.
- the cleaning device has a pivot element which is movably, in particular pivotably, connected to the fixing element.
- the cleaning element carrier is arranged on the swivel element of the cleaning device.
- the pivot element enables a movable mounting, in particular a pivotable mounting, of the cleaning element carrier with respect to the fixing element.
- the swivel element and thus also the cleaning element carrier can be swiveled with respect to the fixing element. Since the fixing element can be connected to a housing section of a self-propelled soil cultivation device, the swivel element thus enables a swiveling movement of the cleaning agent carrier in relation to a housing section of a self-propelled soil cultivation device.
- the cleaning device Since the cleaning device is arranged on the outside of a housing section of the self-propelled soil cultivation device, the cleaning device expands the outer one Geometry of the self-propelled tillage implement. This fundamentally increases the risk of the self-propelled soil cultivation device getting stuck on obstacles on the surface to be cleaned. The risk of the self-propelled soil cultivation device getting stuck is increased in particular by the fact that the cleaning device also projects above the self-propelled soil cultivation device in height. Thus, when the self-propelled soil cultivation device drives under obstacles, the cleaning device could be misunderstood at obstacles.
- the mobility of the pivot element and the cleaning element carrier in relation to the fixing element or the housing section of the self-propelled soil cultivation device largely prevents the cleaning device from getting misled or caught during an autonomous cleaning trip of the self-propelled soil cultivation device.
- the mobility of the pivoting element and the cleaning element carrier puts them in a position to avoid any obstacles that may occur and thus prevent the self-propelled soil cultivation device from getting stuck.
- the cleaning element carrier can be detachably connected to the pivot element.
- the cleaning element carrier which has a cleaning element, can be connected to the swivel element via a plug connection.
- the detachable arrangement of the cleaning element carrier on the swivel element enables the cleaning element carrier to be changed quickly and easily. This can thus be regularly replaced or cleaned by the user without great effort, without dismantling the entire cleaning device from the self-propelled soil cultivating device. In this way, the cleaning elements on the cleaning element carrier can be cleaned or replaced by the user.
- the pivot element has a spring element, in particular a spiral spring, the spring element exerting a spring force on the pivot element, the spring force counteracting a pivot movement of the pivot element.
- the spring element exerts a spring force on the swivel element in the direction of a first position in which the swivel element essentially assumes an upright position. In the first position, the pivoting element is aligned approximately perpendicular to the floor surface to be cleaned, when the cleaning device is arranged on the self-propelled floor cultivation device.
- the spring force is designed so that it can be overcome by the driving force of the self-propelled soil cultivation implement.
- the cleaning element carrier has textile elements as the cleaning element.
- the textile elements are arranged like a fan or a comb on the cleaning element carrier.
- microfiber textiles in particular are used as textile elements. Due to their inherent material properties, these are particularly suitable for absorbing and binding dust and dirt particles. This ensures particularly thorough cleaning of wall sections close to the floor.
- the cleaning element carrier has brush elements as the cleaning element. At least two brush clusters are arranged on the cleaning element carrier, each of which has a large number of bristle filaments. Brush elements are particularly suitable for removing dust and dirt particles from wall sections close to the floor. In addition, even coarser soiling scenarios for brush elements are adequately dealt with.
- a self-propelled soil cultivation device with a cleaning device wherein the cleaning device is essentially arranged on a housing section of the self-propelled soil cultivation device which is aligned largely perpendicular to a floor surface to be cleaned.
- the cleaning device is arranged essentially laterally next to a housing section of the self-propelled soil cultivation device.
- the cleaning device is thereby oriented essentially in the direction of a wall section close to the floor which is approximately perpendicular to a floor surface to be cleaned.
- the lateral arrangement of the cleaning device on a housing section of the self-propelled soil cultivation device extends its area of action to wall sections close to the ground. This now also enables the cleaning of areas which are arranged above the floor areas that the floor cultivation device can drive on.
- the swivel element is tilted in relation to the approximately vertical alignment of the lateral housing section of the self-propelled soil cultivation device in the direction of the wall sections close to the floor to be cleaned.
- the pivoting element is not arranged approximately vertically on the side wall of the self-propelled soil cultivation device like the fixing element, but is tilted by an angle in the direction of the wall sections close to the floor to be cleaned.
- the angle between the straight line and the swivel element leads to an improvement in the cleaning performance of the cleaning device.
- the tilting of the pivot element increases the dynamic bearing surface of the cleaning element.
- the angle increases the area of the cleaning element which is in engagement with the wall section close to the floor to be cleaned. This improves the cleaning performance of the cleaning device to a significant extent.
- the cleaning element carrier of the cleaning device protrudes from the housing of the self-propelled soil cultivation device in height.
- both the pivot element and the cleaning element carrier are designed such that when the cleaning device is arranged on the housing of the self-propelled soil cultivation device, the cleaning element carrier extends the height of the self-propelled soil cultivation device.
- the known self-propelled tillage devices have an overall height of approximately eight to ten centimeters. On the one hand, this ensures that there is sufficient installation space available within the housing for the required components of the self-propelled soil cultivation device. On the other hand, this enables the self-propelled soil cultivation device to be able to drive under obstacles such as furniture and thus also to clean the floor area underneath obstacles. Since some wall sections close to the floor, such as plinths or strips, are higher than ten centimeters, cleaning element carriers are required that protrude above the height of the housing of a self-propelled soil cultivation device. This also enables cleaning of such wall sections close to the ground that are higher than the housing of a self-propelled soil cultivation device.
- the cleaning device is arranged on a housing section of the self-propelled soil cultivation device, which is largely oriented at right angles to a main direction of travel of the self-propelled soil cultivation device.
- the cleaning device is arranged on a housing section of the self-propelled soil cultivation device in such a way that the cleaning device is aligned with wall sections close to the ground, which run essentially parallel to the main direction of travel of the self-propelled soil cultivation device. This enables wall sections close to the ground to be cleaned by a self-propelled soil cultivation device on the basis of its existing driving strategies, such as wall tracking.
- Edge areas of a surface to be cleaned are the areas of a surface that are in the immediate vicinity of an outer boundary, in particular a wall, of the floor surface.
- FIG. 1 shows the perspective view of a self-propelled soil cultivation device 12 with a cleaning device 10.
- the self-propelled soil cultivation device 12 has a housing 36 with which it moves over the floor surface to be cleaned.
- the housing 36 has a largely circular basic shape with a circumferential, approximately closed side wall 40.
- sensors 42 for navigation and obstacle detection are arranged in the front section of the side wall 40.
- the cleaning device 10 is arranged on a housing section 16 of the side wall 40, which is approximately at right angles to the main direction of travel 38 of the self-propelled soil cultivation device 12.
- the cleaning device 10 is arranged essentially laterally next to the side wall 40 of the self-propelled soil cultivation device 12.
- FIG. 2 shows a perspective illustration of a cleaning device 10, this having a fixing element 14 and a pivot element 22.
- the fixing element 14 has a clamp-like shape with an upper holding device 44 and a lower holding device 46. With its clamp-like shape, the fixing element 14 is suitable for grasping the side wall 40 of the self-propelled soil cultivation device 12 and for engaging the upper holding device 44 on the top and the lower holding device 46 on the underside of the self-propelled soil cultivation device 12.
- the upper and lower holding devices 44, 46 together effect a secure fixing of the cleaning device 10 on the housing 36 of the self-propelled soil cultivation device 12.
- the pivoting element 22 is movably arranged on the fixing element 14 approximately at the level of the lower holding device 46 of the fixing element 14.
- the pivot element 22 is rotatably connected to the fixing element 14 via an axis 48. Starting from the axis 48, the pivoting element 22 extends approximately parallel to the fixing element 14 over this upwards.
- a spiral spring 26 is arranged in the pivot element 22.
- the coil spring 26 exerts a spring force the pivot element 22 from.
- the spring force acts on the axis 48 between the fixing element 14 and the pivot element 22 in the form of a torque.
- the pivot element 22 is held by the spring force in a position in which the pivot element 22 is oriented approximately parallel to the fixing element 14.
- Figure 3 shows the perspective view of a cleaning device 10 with arranged cleaning element carrier 18.
- the cleaning element carrier 18 is detachably connected to the pivoting element 22 via a plug connection.
- Textile elements 28 are arranged as cleaning elements 20 on the cleaning element carrier 18.
- the textile elements 28 extend over the entire height of the cleaning element carrier 18 and have a fan-like structure.
- Figure 4 shows a side view of a cleaning device 10 with cleaning element carrier 18.
- Five brush elements 30 are arranged as cleaning elements 20 on cleaning element carrier 18.
- Each of the brush elements 30 has a plurality of bristle filaments.
- the brush elements 30 are arranged on the cleaning element carrier 18 in such a way that the bristle filaments at their exposed end form a largely closed active surface.
- FIG. 5 shows a front view of a self-propelled soil cultivation device 12 with a cleaning device 10.
- the cleaning device 10 is arranged above the fixing element 14 on the side of the housing 36 of the self-propelled soil cultivation device 12.
- the upper holding device 44 of the fixing element 14 is in engagement with the top of the housing 36 of the self-propelled soil cultivation device 12.
- the lower holding device 46 of the fixing element 14 is in engagement with the underside of the housing 36 of the self-propelled soil cultivation device 12
- the pivot element 22 of the cleaning device 10 is arranged on the side of the fixing element 14 which faces away from the self-propelled soil cultivation device 12, the pivot element 22 of the cleaning device 10 is arranged.
- a cleaning element carrier 18, which has a cleaning element 20, is arranged on the swivel element 22. The cleaning element carrier 18 projects above the housing 36 of the self-propelled soil cultivation device 12 in height.
- a straight line 32 runs parallel to the side wall 40 of the self-propelled soil cultivation device 12 and is oriented approximately perpendicularly to the floor surface to be cleaned.
- An angle 34 spans between this straight line 32 and the side of the swivel element 22 or of the cleaning element carrier 18 which faces the self-propelled soil cultivation device 12. This angle 34 has an angular dimension of approximately 25 degrees. As a result, the pivoting element 22 and cleaning element carrier 18 are tilted by this angle 34 out of the straight line 32 in the horizontal direction.
- Figure 6 shows a front view of a self-propelled soil cultivation device 12 with a cleaning device 10.
- a cleaning device 10 is arranged on the side of the housing 36 of the self-propelled soil cultivation device 12.
- the cleaning element 20 of the cleaning device 10 is in engagement with a wall section 52 of a wall 54 close to the floor, which delimits a floor area to be cleaned.
- the wall section 52 close to the floor forms two surfaces.
- the first surface of the wall section 52 near the floor is approximately perpendicular to the surface to be cleaned and runs approximately parallel to the wall 54.
- the second surface of the wall section 52 near the floor runs approximately parallel to the surface to be cleaned and is perpendicular to the wall 54
- Wall section 52 forms a support surface for dust and dirt particles.
- the cleaning element 20 of the cleaning device 10 is in engagement with the first and second surface of the wall section 52 close to the floor.By tilting the cleaning element carrier 18 or the pivoting element 22 by an angle 34 from the straight line 32, the cleaning device 10 is particularly suitable for the to clean the second surface of the wall section 52 close to the floor from dust and dirt particles.
- Figure 7 shows a side view of a self-propelled soil cultivation device 12 with a cleaning device 10.
- An obstacle 56 is arranged on the surface to be cleaned and has a cavity on the underside. The height of the cavity is so pronounced that it could be driven under by the self-propelled soil cultivation device 12 without the cleaning device 10 being arranged. That is to say, the housing 36 of the self-propelled soil cultivation device is able to drive under the obstacle in the operating state without the cleaning device being arranged.
- the self-propelled soil cultivation device 12 with arranged cleaning device 10 is arranged below the obstacle 56 and passes under it in the main direction of travel 38.
- the cleaning element carrier 18 is in contact with the obstacle 56.
- the obstacle 56 exerts a force on the cleaning element carrier 18 and the pivot element 22, which causes a pivoting movement of both components from an upright position to an inclined position.
- the height of the self-propelled soil cultivation device 12 with the cleaning device 10 arranged is reduced, so that the self-propelled soil cultivation device 12 is enabled to drive under the obstacle 56.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Agricultural Machines (AREA)
- Nozzles For Electric Vacuum Cleaners (AREA)
- Electric Vacuum Cleaner (AREA)
- Cleaning In General (AREA)
Description
Die Erfindung betrifft eine Reinigungseinrichtung für ein selbstfahrendes Bodenbearbeitungsgerät, wobei die Reinigungseinrichtung dazu geeignet ist, bodennahe Wandabschnitte zu reinigen, die an eine zu reinigenden Bodenfläche angrenzen.The invention relates to a cleaning device for a self-propelled soil cultivation device, the cleaning device being suitable for cleaning wall sections close to the floor that adjoin a floor surface to be cleaned.
Selbstfahrende Bodenbearbeitungsgeräte, insbesondere Saug- oder Wischroboter, dienen der autonomen Reinigung und Pflege von Bodenflächen. Die am Markt befindlichen selbstfahrenden Bodenbearbeitungsgeräte erzielen dabei Reinigungsleistungen, die das manuelle Nachreinigen der Bodenfläche weitestgehend überflüssig machen. Problematisch hierbei ist aber, dass sich die Reinigungsaktivität der bekannten selbstfahrenden Bodenbearbeitungsgeräte bisher auf die Bereiche einer Bodenfläche beschränkt, die durch das selbstfahrende Bodenbearbeitungsgerät befahrbar sind. Bodennahe Wandabschnitte, wie z. B. Sockel oder Leisten, die eine zu reinigenden Bodenfläche begrenzen, werden durch selbstfahrende Bodenbearbeitungsgeräte nicht oder nur sehr eingeschränkt gereinigt. Da sich aber gerade auf solchen bodennahen Wandabschnitten Staub- und Schmutzpartikel ansammeln, müssen diese kontinuierlich manuell nachgereinigt werden. Dies widerspricht dem Konzept einer autonomen Bodenreinigung durch selbstfahrende Bodenbearbeitungs-geräte.Self-propelled soil cultivation devices, in particular vacuum or mopping robots, are used for the autonomous cleaning and care of floor surfaces. The self-propelled soil cultivation devices available on the market achieve cleaning services that make manual subsequent cleaning of the floor surface largely superfluous. The problem here, however, is that the cleaning activity of the known self-propelled soil cultivation devices has so far been limited to the areas of a floor surface that can be driven on by the self-propelled soil cultivation device. Wall sections close to the floor, such as B. plinths or strips that delimit a floor area to be cleaned are not cleaned or only cleaned to a very limited extent by self-propelled tillage equipment. However, since dust and dirt particles accumulate precisely on such wall sections close to the floor, they must be continuously cleaned manually. This contradicts the concept of autonomous floor cleaning by self-propelled tillage devices.
Aus dem Stand der Technik bekannt sind selbstfahrende Bodenbearbeitungsgeräte, die über seitliche Bürsten verfügen. Über diese seitlichen Bürsten sind selbstfahrende Bodenbearbeitungsgeräte in der Lage auch Randbereiche einer zu reinigenden Bodenfläche von Staub- oder Schmutzpartikel zu befreien. Diese seitlichen Bürsten sind aufgrund ihrer Ausrichtung auf die zu reinigenden Bodenfläche aber nicht dazu geeignet bodennahe Wandabschnitte, wie z. B. Sockel oder Leisten, zu reinigen. Insbesondere wenn die bodennahen Wandabschnitte freiliegende Stirnfläche ausbilden, werden diese durch die seitlichen Bürsten nicht erreicht und gereinigt.Self-propelled soil cultivation devices which have side brushes are known from the prior art. Using these side brushes, self-propelled soil cultivation devices are also able to free the edge areas of a floor surface to be cleaned of dust or dirt particles. However, because of their orientation towards the floor surface to be cleaned, these side brushes are not suitable for wall sections close to the floor, such as. B. base or strips to clean. In particular if the wall sections near the floor form exposed end faces, these are not reached and cleaned by the side brushes.
Die Druckschrift
Der Erfindung stellt sich somit das Problem, eine Reinigungseinrichtung für selbstfahrende Bodenbearbeitungsgeräte zur Verfügung zu stellen, die eine Reinigung von bodennahen Wandabschnitten ermöglicht.The invention thus poses the problem of providing a cleaning device for self-propelled soil cultivation devices which enables wall sections close to the floor to be cleaned.
Erfindungsgemäß wird dieses Problem durch eine Reinigungseinrichtung für ein selbstfahrendes Bodenbearbeitungsgerät, ein selbstfahrendes Bodenbearbeitungsgerät mit einer Reinigungseinrichtung und durch ein Verfahren zur Steuerung eines selbstfahrenden Bodenbearbeitungsgeräts mit einer Reinigungseinrichtung gelöst. Vorteilhafte Ausgestaltungen und Weiterbildungen der Erfindung ergeben sich aus den nachfolgenden Unteransprüchen.According to the invention, this problem is solved by a cleaning device for a self-propelled soil cultivation device, a self-propelled soil cultivation device with a cleaning device and by a method for controlling a self-propelled soil cultivation device with a cleaning device. Advantageous refinements and developments of the invention emerge from the following subclaims.
Dabei ist es bevorzugt, dass die Reinigungseinrichtung ein Fixierelement aufweist, mit dem die Reinigungseinrichtung mit einem Gehäuseabschnitt eines selbstfahrenden Bodenbearbeitungsgeräts verbindbar ist, wobei an der Reinigungseinrichtung ein Reinigungselementträger angeordnet ist, der ein Reinigungselement aufweist. Die Reinigungseinrichtung ist dabei lösbar mit einem Gehäuseabschnitt eines selbstfahrenden Bodenbearbeitungsgeräts verbindbar. In einer bevorzugten Ausführungsform ist das Fixierelement mit dem Gehäuse des selbstfahrenden Bodenbearbeitungsgeräts verrastbar. Am Fixierelement ist eine obere und eine untere Halteeinrichtung angeordnet, wobei das Fixierelement über die Halte-einrichtungen mit einem Gehäuseabschnitt des selbstfahrenden Bodenbearbeitungsgeräts verrastbar ist. In einer alternativen Ausführungsform ist das Fixierelement mit dem Gehäuse des selbstfahrenden Bodenbearbeitungsgeräts über ein Klebeelement verbunden.It is preferred that the cleaning device has a fixing element with which the cleaning device can be connected to a housing section of a self-propelled soil cultivation device, a cleaning element carrier having a cleaning element being arranged on the cleaning device. The cleaning device can be detachably connected to a housing section of a self-propelled soil cultivation device. In a preferred embodiment, the fixing element can be latched to the housing of the self-propelled soil cultivation device. An upper and a lower holding device are arranged on the fixing element, wherein the fixing element can be latched to a housing section of the self-propelled soil cultivation device via the holding devices. In an alternative embodiment, the fixing element is connected to the housing of the self-propelled soil cultivation device via an adhesive element.
Die Anordnung der Reinigungseinrichtung an einem Gehäuseabschnitt eines selbstfahrenden Bodenbearbeitungsgeräts ermöglicht die autonome Reinigung von bodennahen Wandabschnitten, wie zum Beispiel Sockel und Leisten. Das selbstfahrende Bodenbearbeitungsgerät wird dadurch in die Lage versetzt, Verschmutzungen bodennaher Wandbereiche durch die Reinigungselemente der Reinigungseinrichtung autonom zu entfernen. Zudem ermöglicht die lösbare Anordnung der Reinigungseinrichtung über das Fixierelement das Nachrüsten von bestehenden selbstfahrenden Bodenbearbeitungsgeräten mit solchen Reinigungseinrichtungen.The arrangement of the cleaning device on a housing section of a self-propelled soil cultivation device enables the autonomous cleaning of wall sections close to the floor, such as, for example, plinths and strips. The self-propelled soil cultivation device is thereby enabled to autonomously remove dirt from wall areas close to the floor by the cleaning elements of the cleaning device. In addition, the detachable arrangement of the cleaning device via the fixing element enables existing self-propelled soil cultivation devices to be retrofitted with such cleaning devices.
Bevorzugt ist, dass die Reinigungseinrichtung ein Schwenkelement aufweist, das beweglich, insbesondere schwenkbeweglich, mit dem Fixierelement verbunden ist. Der Reinigungselementträger ist am Schwenkelement der Reinigungseinrichtung angeordnet. Somit ermöglicht das Schwenkelement eine bewegliche Lagerung, insbesondere eine schwenkbewegliche Lagerung, des Reinigungselementträgers in Bezug auf das Fixierelement. Mit anderen Worten kann das Schwenkelement und somit auch der Reinigungselementträger in Bezug auf das Fixierelement verschwenkt werden. Da das Fixierelement mit einem Gehäuseabschnitt eines selbstfahrenden Bodenbearbeitungsgeräts verbunden werden kann, ermöglicht das Schwenkelement somit eine Schwenkbewegung des Reinigungsmittelträgers in Bezug auf einen Gehäuseabschnitt eines selbstfahrenden Bodenbearbeitungsgerätes.It is preferred that the cleaning device has a pivot element which is movably, in particular pivotably, connected to the fixing element. The cleaning element carrier is arranged on the swivel element of the cleaning device. Thus, the pivot element enables a movable mounting, in particular a pivotable mounting, of the cleaning element carrier with respect to the fixing element. In other words, the swivel element and thus also the cleaning element carrier can be swiveled with respect to the fixing element. Since the fixing element can be connected to a housing section of a self-propelled soil cultivation device, the swivel element thus enables a swiveling movement of the cleaning agent carrier in relation to a housing section of a self-propelled soil cultivation device.
Da die Reinigungseinrichtung außen an einem Gehäuseabschnitt des selbstfahrenden Bodenbearbeitungsgeräts angeordnet ist, erweitert die Reinigungseinrichtung die äußere Geometrie des selbstfahrenden Bodenbearbeitungsgeräts. Dies erhöht grundsätzlich das Risiko eines Festfahrens des selbstfahrenden Bodenbearbeitungsgeräts an Hindernissen auf der zu reinigenden Fläche. Das Risiko eines Festfahrens des selbstfahrenden Bodenbearbeitungsgeräts wird insbesondere dadurch erhöht, dass die Reinigungseinrichtung das selbstfahrende Bodenbearbeitungsgerät auch in der Höhe überragt. Somit könnte es beim Unterfahren von Hindernissen durch das selbstfahrenden Bodenbearbeitungsgerätes zu einem Verkannten der Reinigungseinrichtung an Hindernissen kommen. Die Beweglichkeit des Schwenkelements und des Reinigungselementträgers in Bezug auf das Fixierelement bzw. den Gehäuseabschnitt des selbstfahrenden Bodenbearbeitungsgerätes verhindert weitestgehend ein Verkannten oder Verhaken der Reinigungseinrichtung während einer autonomen Reinigungsfahrt des selbstfahrenden Bodenbearbeitungsgerätes. Mit anderen Worten versetzt die Beweglichkeit des Schwenkelements und des Reinigungselementträgers diese in die Lage eventuell auftretenden Hindernissen auszuweichen und so ein Festfahren des selbstfahrenden Bodenbearbeitungsgeräts zu verhindern.Since the cleaning device is arranged on the outside of a housing section of the self-propelled soil cultivation device, the cleaning device expands the outer one Geometry of the self-propelled tillage implement. This fundamentally increases the risk of the self-propelled soil cultivation device getting stuck on obstacles on the surface to be cleaned. The risk of the self-propelled soil cultivation device getting stuck is increased in particular by the fact that the cleaning device also projects above the self-propelled soil cultivation device in height. Thus, when the self-propelled soil cultivation device drives under obstacles, the cleaning device could be misunderstood at obstacles. The mobility of the pivot element and the cleaning element carrier in relation to the fixing element or the housing section of the self-propelled soil cultivation device largely prevents the cleaning device from getting misled or caught during an autonomous cleaning trip of the self-propelled soil cultivation device. In other words, the mobility of the pivoting element and the cleaning element carrier puts them in a position to avoid any obstacles that may occur and thus prevent the self-propelled soil cultivation device from getting stuck.
Weiterhin bevorzugt ist, dass der Reinigungselementträger lösbar mit dem Schwenkelement verbindbar ist. In einer bevorzugten Ausführungsform ist der Reinigungselementträger, der ein Reinigungselement aufweist, über eine Steckverbindung mit dem Schwenkelement verbindbar. Die lösbare Anordnung des Reinigungselementträgers auf dem Schwenkelement ermöglicht einen schnellen und einfachen Wechsel des Reinigungselementträgers. Dieser kann dadurch regelmäßig durch den Benutzer ohne großen Aufwand ausgetauscht oder gereinigt werden, ohne die gesamte Reinigungseinrichtung vom selbstfahrenden Boden-bearbeitungsgerät zu demontieren. Auf diese Weise können die Reinigungselemente auf den Reinigungselementträger durch den Benutzer gereinigt oder ausgetauscht werden. Zudem ist es möglich, Reinigungselementträger mit unterschiedlichen Reinigungselementen an der Reinigungseinrichtung anzuordnen, um optimal geeignete Reinigungselemente für die verschiedenen Reinigungsszenarien von bodennahen Wandabschnitten zur Verfügung zu stellen.It is also preferred that the cleaning element carrier can be detachably connected to the pivot element. In a preferred embodiment, the cleaning element carrier, which has a cleaning element, can be connected to the swivel element via a plug connection. The detachable arrangement of the cleaning element carrier on the swivel element enables the cleaning element carrier to be changed quickly and easily. This can thus be regularly replaced or cleaned by the user without great effort, without dismantling the entire cleaning device from the self-propelled soil cultivating device. In this way, the cleaning elements on the cleaning element carrier can be cleaned or replaced by the user. In addition, it is possible to arrange cleaning element carriers with different cleaning elements on the cleaning device in order to provide optimally suitable cleaning elements for the different cleaning scenarios of wall sections close to the floor.
In einer bevorzugten Ausführungsform weist das Schwenkelement ein Federelement, insbesondere eine Spiralfeder, auf, wobei das Federelement eine Federkraft auf das Schwenkelement ausübt, wobei die Federkraft einer Schwenkbewegung des Schwenkelementes entgegenwirkt. Das Federelement übt eine Federkraft auf das Schwenkelement in Richtung einer ersten Position aus, in der das Schwenkelement im Wesentlichen eine aufrechte Position einnimmt. In der ersten Position ist das Schwenkelement annähernd senkrecht zu der zu reinigenden Bodenfläche ausgerichtet, bei Anordnung der Reinigungs-einrichtung am selbstfahrenden Bodenbearbeitungsgerät. Die Federkraft ist dabei so aus-gelegt, dass sie von der Antriebskraft des selbstfahrenden Bodenbearbeitungsgerätes über-wunden werden kann. Dies gewährleistet, dass bei einem Verhaken des Schwenkelements an einem Hindernis auf der zu reinigenden Bodenfläche sich dieses entgegen der Federkraft des Federelements in eine annähernd waagerechte zweite Position verschwenken lässt. Ein Festfahren des selbstfahrenden Bodenbearbeitungsgerätes wird dadurch vermieden. Sobald das selbstfahrende Bodenbearbeitungsgerät das Hindernis passiert hat, bewirkt die Feder-kraft des Federelements ein Zurückschwenken des Schwenkelements aus der zweiten Position in die erste, annähernd aufrechte Position.In a preferred embodiment, the pivot element has a spring element, in particular a spiral spring, the spring element exerting a spring force on the pivot element, the spring force counteracting a pivot movement of the pivot element. The spring element exerts a spring force on the swivel element in the direction of a first position in which the swivel element essentially assumes an upright position. In the first position, the pivoting element is aligned approximately perpendicular to the floor surface to be cleaned, when the cleaning device is arranged on the self-propelled floor cultivation device. The spring force is designed so that it can be overcome by the driving force of the self-propelled soil cultivation implement. This ensures that if the pivot element catches on an obstacle the floor surface to be cleaned, this can be pivoted against the spring force of the spring element into an approximately horizontal second position. This prevents the self-propelled tillage implement from getting stuck. As soon as the self-propelled soil cultivation device has passed the obstacle, the spring force of the spring element causes the pivoting element to pivot back from the second position into the first, approximately upright position.
Es ist bevorzugt, dass der Reinigungselementträger als Reinigungselement Textilelemente aufweist. Die Textilelemente sind dabei fächer- oder kammartig am Reinigungselementträger angeordnet. In einer bevorzugten Ausführungsform werden als Textilelemente insbesondere Microfaser-Textilien eingesetzt. Diese eignen sich aufgrund ihrer immanenten Materialeigenschaften besonders zur Aufnahme und Bindung von Staub- und Schmutzpartikel. Dies gewährleistet eine besonders gründliche Reinigung von bodennahen Wandabschnitten.It is preferred that the cleaning element carrier has textile elements as the cleaning element. The textile elements are arranged like a fan or a comb on the cleaning element carrier. In a preferred embodiment, microfiber textiles in particular are used as textile elements. Due to their inherent material properties, these are particularly suitable for absorbing and binding dust and dirt particles. This ensures particularly thorough cleaning of wall sections close to the floor.
Zusätzlich ist es bevorzugt, dass der Reinigungselementträger als Reinigungselement Bürstenelemente aufweist. Dabei sind mindestens zwei Bürstenbüschel am Reinigungselementträger angeordnet, die jeweils eine Vielzahl an Borstenfilamenten aufweisen. Bürstenelemente eignen sich insbesondere zur Entfernung von Staub- und Schmutzpartikeln von bodennahen Wandabschnitten. Zudem werden auch gröbere Verschmutzungsszenarien von Bürstenelementen adäquat bewältigt.In addition, it is preferred that the cleaning element carrier has brush elements as the cleaning element. At least two brush clusters are arranged on the cleaning element carrier, each of which has a large number of bristle filaments. Brush elements are particularly suitable for removing dust and dirt particles from wall sections close to the floor. In addition, even coarser soiling scenarios for brush elements are adequately dealt with.
Ein selbstfahrendes Bodenbearbeitungsgerät mit einer Reinigungsvorrichtung gemäß einer der im Vorangegangenen angeführten Ausführungsformen, wobei die Reinigungseinrichtung im Wesentlichen an einem Gehäuseabschnitt des selbstfahrenden Bodenbearbeitungsgeräts angeordnet ist, der weitestgehend senkrecht zu einer zur reinigenden Bodenfläche ausgerichtet ist. Mit anderen Worten ist die Reinigungseinrichtung im Wesentlichen seitlich neben einem Gehäuseabschnitt des selbstfahrenden Bodenbearbeitungsgeräts angeordnet. Die Reinigungseinrichtung ist dadurch im Wesentlichen in Richtung eines bodennahen Wandabschnittes ausgerichtet, der annähernd senkrecht zu einer zu reinigenden Boden-fläche steht.A self-propelled soil cultivation device with a cleaning device according to one of the above-mentioned embodiments, wherein the cleaning device is essentially arranged on a housing section of the self-propelled soil cultivation device which is aligned largely perpendicular to a floor surface to be cleaned. In other words, the cleaning device is arranged essentially laterally next to a housing section of the self-propelled soil cultivation device. The cleaning device is thereby oriented essentially in the direction of a wall section close to the floor which is approximately perpendicular to a floor surface to be cleaned.
Die seitliche Anordnung der Reinigungseinrichtung an einem Gehäuseabschnitt des selbstfahrenden Bodenbearbeitungsgerätes erweitert dessen Wirkungsbereich auf bodennahe Wandabschnitte. Dies ermöglicht nun auch die Reinigung von Bereichen, die oberhalb der für das Bodenbearbeitungsgerät befahrbaren Bodenbereiche angeordnet sind.The lateral arrangement of the cleaning device on a housing section of the self-propelled soil cultivation device extends its area of action to wall sections close to the ground. This now also enables the cleaning of areas which are arranged above the floor areas that the floor cultivation device can drive on.
Es ist zudem bevorzugt, dass sich zwischen dem Schwenkelement und einer Geraden ein Winkel aufspannt, wobei die Gerade annähernd senkrecht zu der zu reinigenden Bodenfläche steht, wobei der Winkel in einer bevorzugten Ausführungsform ein Winkelmaß zwischen 10 und 90 Grad aufweist und in einer besonders bevorzugten Ausführungsform ein Winkelmaß zwischen 25 und 80 Grad aufweist. Mit anderen Worten ist das Schwenkelement in Bezug auf die annähernd senkrechte Ausrichtung des seitlichen Gehäuseabschnittes des selbstfahrenden Bodenbearbeitungsgerätes in Richtung der zu reinigenden bodennahen Wandabschnitte gekippt. Das heißt, dass Schwenkelement ist nicht wie das Fixierelement annähernd senkrecht an der Seitenwand des selbstfahrenden Bodenbearbeitungsgerätes angeordnet, sondern um einen Winkel in Richtung der zu reinigenden bodennahen Wandabschnitte gekippt. In einer alternativen Ausführungsform ist es aber auch denkbar, das Schwenkelement ohne einen Winkel, das heißt weitestgehend senkrecht, am seitlichen Gehäuseabschnitt des selbstfahrenden Bodenbearbeitungsgerätes anzuordnen.It is also preferred that an angle spans between the swivel element and a straight line, the straight line being approximately perpendicular to the floor surface to be cleaned, the angle in a preferred embodiment having an angle of between 10 and 90 degrees and in a particularly preferred embodiment a square measure between 25 and 80 degrees. In other words, the swivel element is tilted in relation to the approximately vertical alignment of the lateral housing section of the self-propelled soil cultivation device in the direction of the wall sections close to the floor to be cleaned. This means that the pivoting element is not arranged approximately vertically on the side wall of the self-propelled soil cultivation device like the fixing element, but is tilted by an angle in the direction of the wall sections close to the floor to be cleaned. In an alternative embodiment, however, it is also conceivable to arrange the swivel element without an angle, that is to say largely perpendicularly, on the lateral housing section of the self-propelled soil cultivation device.
Der Winkel zwischen der Geraden und dem Schwenkelement führt zu einer Verbesserung der Reinigungsleistung der Reinigungseinrichtung. Insbesondere wenn bodennahe Wandabschnitte horizontale Auflagefläche ausbilden, auf denen sich Staub- und Schmutzpartikel ablegen, vergrößert die Verkippung des Schwenkelements die dynamische Auflagefläche des Reinigungselementes. Mit anderen Worten vergrößert der Winkel die Fläche des Reinigungselementes, die sich im Eingriff mit dem zu reinigenden bodennahen Wandabschnitt befindet. Dies verbessert die Reinigungsleistung der Reinigungseinrichtung im signifikanten Umfang.The angle between the straight line and the swivel element leads to an improvement in the cleaning performance of the cleaning device. In particular when wall sections close to the floor form horizontal bearing surfaces on which dust and dirt particles are deposited, the tilting of the pivot element increases the dynamic bearing surface of the cleaning element. In other words, the angle increases the area of the cleaning element which is in engagement with the wall section close to the floor to be cleaned. This improves the cleaning performance of the cleaning device to a significant extent.
Weiterhin bevorzugt ist, dass der Reinigungselementträger der Reinigungseinrichtung das Gehäuse des selbstfahrenden Bodenbearbeitungsgeräts in der Höhe überragt. Dazu ist sowohl das Schwenkelement als auch der Reinigungselementträger so ausgebildet, dass wenn die Reinigungseinrichtung am Gehäuse des selbstfahrenden Bodenbearbeitungsgeräts angeordnet ist, der Reinigungselementträger das selbstfahrende Bodenbearbeitungsgerät in der Höhe erweitert. In einer alternativen Ausführungsform ist es aber auch denkbar, eine Reinigungseinrichtung vorzusehen, deren Reinigungselementträger das Gehäuse des selbstfahrenden Bodenbearbeitungsgeräts in der Höhe nicht überragt. Dies ist insbesondere dann vorteilhaft, wenn das selbstfahrenden Bodenbearbeitungsgerät selbst eine Höhe von 10 Zentimetern überschreitet.It is also preferred that the cleaning element carrier of the cleaning device protrudes from the housing of the self-propelled soil cultivation device in height. For this purpose, both the pivot element and the cleaning element carrier are designed such that when the cleaning device is arranged on the housing of the self-propelled soil cultivation device, the cleaning element carrier extends the height of the self-propelled soil cultivation device. In an alternative embodiment, however, it is also conceivable to provide a cleaning device, the cleaning element carrier of which does not project beyond the height of the housing of the self-propelled soil cultivation device. This is particularly advantageous when the self-propelled soil cultivation device itself exceeds a height of 10 centimeters.
Die bekannten selbstfahrenden Bodenbearbeitungsgeräte weisen eine Bauhöhe von circa acht bis zehn Zentimetern auf. Dies gewährleistet zum einem, dass für die erforderlichen Komponenten des selbstfahrenden Bodenbearbeitungsgerätes genügend Bauraum innerhalb des Gehäuses zur Verfügung steht. Zum anderen wird dadurch ermöglicht, dass das selbstfahrende Bodenbearbeitungsgerät in der Lage ist, Hindernisse wie Möbel zu unterfahren und so auch die Bodenfläche unterhalb von Hindernissen zu reinigen. Da manche bodennahe Wandabschnitte, wie Sockel oder Leisten aber höher als zehn Zentimeter sind, bedarf es Reinigungselementträger, welche das Gehäuse eines selbst-fahrenden Bodenbearbeitungsgerätes in der Höhe überragen. Dies ermöglicht die Reinigung auch von solchen bodennahen Wandabschnitten, die höher als das Gehäuse eines selbstfahrenden Bodenbearbeitungsgerätes sind.The known self-propelled tillage devices have an overall height of approximately eight to ten centimeters. On the one hand, this ensures that there is sufficient installation space available within the housing for the required components of the self-propelled soil cultivation device. On the other hand, this enables the self-propelled soil cultivation device to be able to drive under obstacles such as furniture and thus also to clean the floor area underneath obstacles. Since some wall sections close to the floor, such as plinths or strips, are higher than ten centimeters, cleaning element carriers are required that protrude above the height of the housing of a self-propelled soil cultivation device. This also enables cleaning of such wall sections close to the ground that are higher than the housing of a self-propelled soil cultivation device.
Es ist zudem bevorzugt, dass die Reinigungseinrichtung an einem Gehäuseabschnitt des selbstfahrenden Bodenbearbeitungsgeräts angeordnet ist, der weitestgehend rechtwinklig zu einer Hauptfahrrichtung des selbstfahrenden Bodenbearbeitungsgeräts ausgerichtet ist. Die Reinigungseinrichtung ist dabei so an einem Gehäuseabschnitte des selbstfahrenden Bodenbearbeitungsgeräts angeordnet, dass die Reinigungseinrichtung auf bodennahe Wandabschnitte ausgerichtet ist, die im Wesentlichen parallel zur Hauptfahrrichtung des selbstfahrenden Bodenbearbeitungsgeräts verlaufen. Dies ermöglicht die Reinigung von bodennahen Wandabschnitten durch ein selbstfahrendes Bodenbearbeitungsgerät auf Basis dessen bereits vorhandener Fahrstrategien, wie beispielsweise die Wandverfolgung.It is also preferred that the cleaning device is arranged on a housing section of the self-propelled soil cultivation device, which is largely oriented at right angles to a main direction of travel of the self-propelled soil cultivation device. The cleaning device is arranged on a housing section of the self-propelled soil cultivation device in such a way that the cleaning device is aligned with wall sections close to the ground, which run essentially parallel to the main direction of travel of the self-propelled soil cultivation device. This enables wall sections close to the ground to be cleaned by a self-propelled soil cultivation device on the basis of its existing driving strategies, such as wall tracking.
Ein Verfahren zur Steuerung eines selbstfahrenden Bodenbearbeitungsgeräts mit einer Reinigungseinrichtung gemäß einer der im Vorangegangenen angeführten Ausführungsformen, weist folgende Schritte auf:
- Erkennen der Randbereiche einer zu reinigenden Fläche; und
- Abfahren der Randbereiche einer zu reinigenden Fläche, wobei das Reinigungselement der Reinigungseinrichtung in Kontakt mit den bodennahen Wandbereichen, insbesondere Leisten und Sockel, der zu reinigenden Fläche steht; und
- Erneutes Abfahren der Randbereiche einer zu reinigenden Fläche.
- Recognition of the edge areas of a surface to be cleaned; and
- Moving along the edge areas of a surface to be cleaned, the cleaning element of the cleaning device being in contact with the wall areas close to the floor, in particular strips and plinths, of the surface to be cleaned; and
- Renewed driving over the edge areas of a surface to be cleaned.
Ein solches Verfahren gewährleistet, dass sämtliche bodennahen Wandabschnitte einer zu reinigenden Fläche von Staub- und Schmutzpartikeln befreit werden. Der Verfahrensschritt eines erneuten Abfahrens der Randbereiche stellt dabei sicher, dass auch die Staub- oder Schmutzpartikel aufgenommen werden, die beim ersten Abfahren der Randbereiche durch die Reinigungseinrichtung von den bodennahen Wandabschnitten auf die zu reinigenden Fläche verschoben wurden. Randbereiche einer zu reinigenden Fläche sind dabei die Bereiche einer Fläche, die sich in unmittelbare Nähe zu einer äußeren Begrenzung, insbesondere einer Wand, der Bodenfläche befinden.Such a method ensures that all wall sections close to the floor of a surface to be cleaned are freed from dust and dirt particles. The process step of moving along the edge areas again ensures that the dust or dirt particles are also picked up which were moved from the wall sections close to the floor to the surface to be cleaned when the cleaning device first moved over the edge areas. Edge areas of a surface to be cleaned are the areas of a surface that are in the immediate vicinity of an outer boundary, in particular a wall, of the floor surface.
Ein Ausführungsbeispiel der Erfindung ist in den Zeichnungen rein schematisch dargestellt und wird nachfolgend näher beschrieben. Es zeigen:
- Figur 1
- Perspektivische Darstellung eines selbstfahrenden Bodenbearbeitungsgerätes mit einer Reinigungseinrichtung;
Figur 2- perspektivische Darstellung einer Reinigungseinrichtung ohne Reinigungselementträger;
- Figur 3
- Perspektivische Darstellung einer Reinigungseinrichtung mit Reinigungselementträger mit Textilelement;
- Figur 4
- Seitenansicht einer Reinigungseinrichtung mit Reinigungselementträger mit Bürstenelementen;
- Figur 5
- Frontansicht eines selbstfahrenden Bodenbearbeitungsgerätes mit einer Reinigungseinrichtung;
- Figur 6
- Frontansicht eines selbstfahrenden Bodenbearbeitungsgerätes mit einer Reinigungseinrichtung;
- Figur 7
- Seitenansicht eines selbstfahrenden Bodenbearbeitungsgerätes mit einer Reinigungseinrichtung.
- Figure 1
- Perspective view of a self-propelled soil cultivation device with a cleaning device;
- Figure 2
- perspective view of a cleaning device without a cleaning element carrier;
- Figure 3
- Perspective view of a cleaning device with cleaning element carrier with textile element;
- Figure 4
- Side view of a cleaning device with cleaning element carrier with brush elements;
- Figure 5
- Front view of a self-propelled soil cultivation device with a cleaning device;
- Figure 6
- Front view of a self-propelled soil cultivation device with a cleaning device;
- Figure 7
- Side view of a self-propelled soil cultivation device with a cleaning device.
Annähernd auf Höhe der unteren Halteeinrichtung 46 des Fixierelements 14 ist das Schwenkelement 22 beweglich am Fixierelement 14 angeordnet. Das Schwenkelement 22 ist dabei über eine Achse 48 drehbeweglich mit dem Fixierelement 14 verbunden. Dabei erstreckt sich das Schwenkelement 22 ausgehend von der Achse 48 annähernd parallel zum Fixierelement 14 über dieses nach oben hinaus. Im Bereich der Achse 48 ist im Schwenkelement 22 eine Spiralfeder 26 angeordnet. Die Spiralfeder 26 übt eine Federkraft auf das Schwenkelement 22 aus. Die Federkraft wirkt in Form eines Drehmomentes an der Achse 48 zwischen Fixierelement 14 und Schwenkelement 22 auf dieses ein. Das Schwenkelement 22 wird durch die Federkraft in einer Position gehalten, in der das Schwenkelement 22 annähernd parallel zum Fixierelement 14 ausgerichtet ist.The pivoting
Parallel zur Seitenwand 40 des selbstfahrenden Bodenbearbeitungsgeräts 12 verläuft eine Gerade 32, die annähernd senkrecht zu der zu reinigenden Bodenfläche ausgerichtet ist. Zwischen dieser Geraden 32 und der Seite des Schwenkelementes 22 bzw. des Reinigungselementträgers 18, die dem selbstfahrenden Bodenbearbeitungsgerät 12 zugewandt ist, spannt sich ein Winkel 34 auf. Dieser Winkel 34 weist ein Winkelmaß von annähernd 25 Grad auf. In der Folge sind Schwenkelement 22 und Reinigungselementträger 18 um diesen Winkel 34 aus der Geraden 32 in horizontale Richtung verkippt.A
- 1010
- ReinigungseinrichtungCleaning facility
- 1212
- selbstfahrendes Bodenbearbeitungsgerätself-propelled tillage implement
- 1414th
- FixierelementFixing element
- 1616
- GehäuseabschnittHousing section
- 1818th
- ReinigungselementträgerCleaning element carrier
- 2020th
- ReinigungselementCleaning element
- 2222nd
- SchwenkelementSwivel element
- 2424
- FederelementSpring element
- 2626th
- SpiralfederCoil spring
- 2828
- TextilelementeTextile elements
- 3030th
- BürstenelementeBrush elements
- 3232
- GeradeStraight
- 3434
- Winkelangle
- 3636
- Gehäusecasing
- 3838
- HauptfahrrichtungMain direction of travel
- 4040
- SeitenwandSide wall
- 4242
- SensorenSensors
- 4444
- obere Halteeinrichtungupper holding device
- 4646
- untere Halteinrichtunglower holding device
- 4848
- Achseaxis
- 5252
- bodennaher Wandabschnittwall section close to the floor
- 5454
- Wandwall
- 5656
- Hindernisobstacle
Claims (11)
- Cleaning device (10) for a self-propelled floor treatment appliance (12), the cleaning device (10) being suitable for cleaning wall portions (52) which are close to the floor and adjoin a floor surface to be cleaned, characterised in that the cleaning device (10) has a fastening element (14), by means of which the cleaning device (10) can be detachably connected to a housing portion (16) of a self-propelled floor treatment appliance (12), a cleaning element carrier (18) having a cleaning element (20) being arranged on the cleaning device (10).
- Cleaning device (10) according to claim 1, characterised in that the cleaning device (10) has a pivot element (22) which is movably, in particular pivotably, connected to the fastening element (14).
- Cleaning device (10) according to either of the preceding claims, characterised in that the cleaning element carrier (18) can be detachably connected to the pivot element (22).
- Cleaning device (10) according to any of the preceding claims, characterised in that the pivot element (22) has a spring element (24), in particular a spiral spring (26), the spring element (24) exerting a spring force on the pivot element (22), and the spring force counteracting a pivoting movement of the pivot element (22).
- Cleaning device (10) according to any of the preceding claims, characterised in that the cleaning element carrier (18) has textile elements (28) as the cleaning element (20).
- Cleaning device (10) according to any of the preceding claims, characterised in that the cleaning element carrier (18) has brush elements (30) as the cleaning element (20).
- Self-propelled floor treatment appliance (12) having a cleaning device (10) according to any of the preceding claims, characterised in that the cleaning device (10) is arranged substantially on a housing portion (16) of the self-propelled floor treatment appliance (12) that is oriented as perpendicularly as possible with respect to a floor surface to be cleaned.
- Self-propelled floor treatment appliance (12) having a cleaning device (10) according to any of the preceding claims, characterised in that an angle (34) is defined between the pivot element (22) and a straight line (32), the straight line (32) being approximately perpendicular to the floor surface to be cleaned, the angle (34), in a preferred embodiment, having an angular dimension of between 10 and 90 degrees and, in a particularly preferred embodiment, having an angular dimension of between 25 and 80 degrees.
- Self-propelled floor treatment appliance (12) having a cleaning device (10) according to any of the preceding claims, characterised in that the cleaning element carrier (18) of the cleaning device (10) projects above the housing (36) of the self-propelled floor treatment appliance (12).
- Self-propelled floor treatment appliance (12) having a cleaning device (10) according to any of the preceding claims, characterised in that the cleaning device (10) is preferably arranged on a housing portion (16) of the self-propelled floor treatment appliance (12) that is oriented as far as possible at right angles with respect to a main direction of travel of the self-propelled floor treatment appliance.
- Method for controlling a self-propelled floor treatment appliance (12) having a cleaning device (10) according to any of the preceding claims, wherein the method comprises the following steps:detecting the edge regions of a surface to be cleaned; andmoving along the edge regions of a surface to be cleaned, wherein the cleaning element (20) of the cleaning device (10) is in contact with the wall portions (52) of the surface to be cleaned that are close to the floor, in particular mouldings and skirting boards; andagain, moving along the edge regions of a surface to be cleaned.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102015108823.1A DE102015108823A1 (en) | 2015-06-03 | 2015-06-03 | Cleaning device for a self-propelled soil cultivation device |
Publications (2)
Publication Number | Publication Date |
---|---|
EP3100659A1 EP3100659A1 (en) | 2016-12-07 |
EP3100659B1 true EP3100659B1 (en) | 2020-11-25 |
Family
ID=55919747
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP16168723.1A Active EP3100659B1 (en) | 2015-06-03 | 2016-05-09 | Cleaning device for a self-propelled soil cultivation device |
Country Status (3)
Country | Link |
---|---|
US (1) | US10357137B2 (en) |
EP (1) | EP3100659B1 (en) |
DE (1) | DE102015108823A1 (en) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102017100301A1 (en) * | 2017-01-09 | 2018-07-12 | Vorwerk & Co. Interholding Gmbh | Self-propelled cleaning device |
DE102017100299A1 (en) * | 2017-01-09 | 2018-07-12 | Vorwerk & Co. Interholding Gmbh | Self-propelled cleaning device |
CN107981782B (en) * | 2017-12-27 | 2022-09-23 | 美智纵横科技有限责任公司 | Floor sweeping robot |
CN109199242B (en) * | 2018-09-13 | 2024-06-18 | 深圳市无限动力发展有限公司 | Signal assembly and robot sweeps floor |
CN214906411U (en) | 2019-08-08 | 2021-11-30 | 尚科宁家运营有限公司 | Robot cleaner |
CN110680253A (en) * | 2019-09-25 | 2020-01-14 | 深圳乐动机器人有限公司 | Robot edge cleaning method and robot |
CN112545376B (en) * | 2020-11-11 | 2022-04-08 | 重庆工程职业技术学院 | Cleaning robot |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20070113373A1 (en) * | 2005-11-21 | 2007-05-24 | Sharp Kabushiki Kaisha | Vacuum cleaner |
WO2008141186A2 (en) * | 2007-05-09 | 2008-11-20 | Irobot Corporation | Autonomous coverage robot |
KR101907161B1 (en) * | 2011-10-06 | 2018-10-15 | 삼성전자주식회사 | Robot cleaner |
JP2013233305A (en) * | 2012-05-09 | 2013-11-21 | Mitsubishi Electric Corp | Self-propelled vacuum cleaner |
-
2015
- 2015-06-03 DE DE102015108823.1A patent/DE102015108823A1/en not_active Withdrawn
-
2016
- 2016-05-09 EP EP16168723.1A patent/EP3100659B1/en active Active
- 2016-06-02 US US15/170,995 patent/US10357137B2/en active Active
Non-Patent Citations (1)
Title |
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None * |
Also Published As
Publication number | Publication date |
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DE102015108823A1 (en) | 2016-12-08 |
US20160353955A1 (en) | 2016-12-08 |
EP3100659A1 (en) | 2016-12-07 |
US10357137B2 (en) | 2019-07-23 |
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