EP3437535B1 - Vacuum cleaner - Google Patents
Vacuum cleaner Download PDFInfo
- Publication number
- EP3437535B1 EP3437535B1 EP18183898.8A EP18183898A EP3437535B1 EP 3437535 B1 EP3437535 B1 EP 3437535B1 EP 18183898 A EP18183898 A EP 18183898A EP 3437535 B1 EP3437535 B1 EP 3437535B1
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- EP
- European Patent Office
- Prior art keywords
- vacuum cleaner
- signal
- dirt
- basis
- floorspace
- 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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- 238000004140 cleaning Methods 0.000 claims description 26
- 238000000034 method Methods 0.000 claims description 26
- 230000000694 effects Effects 0.000 claims description 7
- 238000011109 contamination Methods 0.000 claims description 2
- 230000001419 dependent effect Effects 0.000 claims description 2
- 239000002245 particle Substances 0.000 description 7
- 239000000428 dust Substances 0.000 description 5
- 230000003287 optical effect Effects 0.000 description 5
- 230000006870 function Effects 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 239000012528 membrane Substances 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 230000001953 sensory effect Effects 0.000 description 1
- 230000002123 temporal effect Effects 0.000 description 1
- 238000010407 vacuum cleaning Methods 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
- 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
- A47L9/10—Filters; Dust separators; Dust removal; Automatic exchange of filters
- A47L9/19—Means for monitoring filtering operation
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
- A47L9/2821—Pressure, vacuum level or airflow
Definitions
- the invention relates to a vacuum cleaner.
- the invention relates to the determination of a parameter relevant to vacuum cleaning.
- a vacuum cleaner as it can be used as a domestic appliance within a household, for example, comprises a dirt filter through which air is moved by means of a fan. The air is sucked in in the area of a floor surface, where it carries away the dirt particles located there. The function of the filter is to hold back the dirt from the air and to release the air into an environment.
- the dirt filter can for example comprise a filter bag with a filter fleece. As the filling level of the filter bag increases, the area through which air can flow can decrease and the cleaning performance of the vacuum cleaner can decrease. To determine the degree of filling, a first prevailing pressure in the filter bag and a second prevailing pressure outside the filter bag can be determined. A pressure difference between the two pressures indicates how full the filter bag is. If a predetermined pressure difference has been reached, a signal for replacing the filter bag can be provided.
- DE 10 2007 036 170 A1 suggests to determine in an optical way a quantity of particles that are moved inside the vacuum cleaner in the direction of the dirt filter. A further control of the vacuum cleaner can then take place as a function of the specific amount of particles. However, this procedure can be complex and costly. A device for the optical determination of the particles can be impaired in its resolution or measuring ability by deposits.
- the DE 10 2009 035 717 A1 describes a vacuum cleaner with a differential pressure sensor which can determine a first pressure in the suction pipe socket and a second pressure in the dust chamber in order to calculate a differential pressure which corresponds to the pressure loss across the dust bag.
- the DE 10 2011 006 539 A1 shows a vacuum cleaner with means for determining the amount of dust entrained in the suction air flow, for example with an optical sensor system.
- the DE 10 2007 036 157 A1 deals with a method for determining the filling level of a dust collecting container on the basis of an optical sensor. From the DE 694 02 482 T2 a vacuum cleaner is previously known, which controls the motor of the blower with the help of a pressure sensor.
- the DE 11 2010 002 823 B4 addresses a cleaning robot with a dirt detection device. From the GB 1 396 398 A a vacuum cleaner handpiece is known with a membrane against which the dust particles collide during the suction process and thus cause a noise. the EP 3 120 744 A1 measures a suction power and a blower power and concludes that a filter unit has to be cleaned if the two deviate too much.
- One object of the present invention is to provide an improved technique for providing a signal which indicates a degree of soiling of a floor area.
- the invention solves the problem by means of the subjects of the independent claims.
- Dependent claims reproduce preferred embodiments.
- a vacuum cleaner comprises an intake tract; a fan for drawing in polluted air through the intake tract; a dirt filter for separating dirt from the polluted air; and an exhaust duct for discharging air from which the dirt has been separated from the dirt filter.
- a method for cleaning a floor surface by means of the vacuum cleaner comprises steps of determining a pressure difference between the intake tract and the exhaust tract; determining a change in the pressure differential over time; determining an amount of dirt sucked in per time based on the change; and providing a signal which is indicative of the amount of dirt sucked in per unit of time on the basis of the change.
- a conventional vacuum cleaner can already provide the sensory and / or processing requirements for carrying out the method.
- the method can thus be retrofitted to an existing vacuum cleaner inexpensively and with little effort.
- the signal can be used to control the cleaning of the floor area. For example, a signal indicating a large amount of dirt sucked in per unit of time can cause a person guiding the vacuum cleaner over the floor surface to intensify or lengthen the cleaning of a currently worked section of the floor surface. Particularly when cleaning a carpet or a carpeted floor, it is possible to better determine when to continue recommended for cleaning and when to continue the cleaning process at another point.
- the amount of dirt sucked in per time can in particular be expressed as a mass flow, as a volume flow or as the number of particles.
- a predetermined particle size can be assumed here.
- the process can be carried out using different types of vacuum cleaners.
- the dirt filter can comprise a filter bag or a filter bag or, in a second variant, a cyclone which separates the dirt from the air by means of centrifugal force.
- the signal is preferably determined on the basis of a moving average over determinations of a predetermined time range.
- the signal can pass through a low-pass filter before it is made available.
- the signal can be smoothed over time so that on the one hand measurement noise can be reduced and on the other hand a local or temporal resolution of the signal is maintained. The evaluability of the signal can thereby be increased.
- a manipulated variable of the vacuum cleaner can be controlled on the basis of the signal, the manipulated variable influencing a cleaning effect of the vacuum cleaner on the floor surface.
- the manipulated variable relates to an output of the fan.
- the manipulated variable relates to a speed of movement of an inlet opening into the intake tract over the floor area.
- the inlet can, for example, be braked in relation to the floor area in order to increase it To effect dwell time on a current section of the floor area. A person who cleans the floor surface with the vacuum cleaner can be supported in this way.
- the vacuum cleaner is set up to drive over the floor area autonomously, the signal being assigned to a position of the vacuum cleaner and the manipulated variable relating to the frequency with which a position is passed as a function of the signal.
- a position that has been found to be heavily soiled can be driven over more slowly or more frequently.
- another position, at which only a small amount of soiling was found can be driven over less often or more quickly.
- An autonomously operating vacuum cleaner can thus finish the floor surface more quickly or achieve an improved cleaning result.
- information on the positions at which strong and at which weak soiling was last observed can influence the movement planning of the autonomously operating vacuum cleaner during a subsequent use. For example, an area that was heavily soiled in the end can be traversed first in order to clean it particularly thoroughly. An area that is less heavily soiled in the end, on the other hand, can only be cleaned later.
- the information collected can also be passed on to a person or to an external control device.
- information about the degree of soiling of the floor area can be provided at different sections.
- This indication can be presented to a person in the form of a false color card, for example.
- the person can then take appropriate measures to limit the pollution of particularly exposed areas.
- the map can point to a so-called walkway on which particularly heavy soiling usually collects.
- the walkway can be covered, for example, by means of a carpet runner.
- the vacuum cleaner described above can comprise a determination device which is configured to determine an amount of dirt sucked in per time on the basis of a change in a pressure difference between the intake tract and the outlet tract and to provide a signal indicating the amount.
- a determination device which is configured to determine an amount of dirt sucked in per time on the basis of a change in a pressure difference between the intake tract and the outlet tract and to provide a signal indicating the amount.
- Suitable pressure sensors as well as a device for determining the pressure difference can already be found on Vacuum cleaner must be installed in order to be able to deduce a degree of filling of the dirt filter from the absolute amount of the pressure difference.
- the determination device can in particular comprise a programmable microcomputer or microcontroller. This can be set up to partially or completely carry out the method described above.
- the method can be in the form of a computer program product with program code means. Additional features or advantages of the method can be related to the vacuum cleaner and vice versa.
- the vacuum cleaner can have a control device for the vacuum cleaner to autonomously drive down the floor surface, the control device being configured to control the movement on the basis of the signal.
- the cleaning performance of the vacuum cleaner is controlled on the basis of the signal.
- an auxiliary device for example a rotating brush, can be activated or its movement intensity can be controlled.
- FIG. 10 shows an exemplary robot vacuum cleaner 100 that includes a vacuum cleaner 105.
- the present invention can also be used on the vacuum cleaner 105 if the vacuum cleaner 105 is not set up for autonomous operation and is designed, for example, as a handheld device.
- the vacuum cleaner 105 is set up to clean a floor surface 110 of dirt 115.
- the vacuum cleaner 105 comprises a suction tract 120 with an inlet 125 in the area of the floor surface 110, a dirt filter 130, a fan 135, which can preferably be operated by means of a fan motor 140, and an outlet tract 145 Variant also differ.
- an air flow is sucked in through the intake tract 120 by means of the blower 135, passed through the dirt filter 130 and released to an environment through the outlet tract 145.
- the dirt filter 130 is set up to hold back dirt 115, which has been carried along by the air from the floor surface 110, from the air as far as possible before the air is released through the outlet duct 145.
- a device 150 can be provided which comprises a first pressure sensor 155 in the area of the intake tract 120, a second pressure sensor 160 in the area of the outlet tract 145 and a determination device 165.
- the pressure sensors 155 and 160 can in particular be implemented in a cost-saving manner as micromechanical sensors (MEMS: microelectromechanical systems).
- the determination device 165 can be constructed in a discrete manner or in the form of a programmable microcomputer.
- the determination device 165 is set up to determine a difference between the pressures determined by means of the pressure sensors 155 and 160, to determine a change in the determined pressure difference over time and preferably to filter the determined change as a moving average over a predetermined period of time. In this way, a signal can be determined that can be provided by means of an interface 170.
- the signal provided can be provided optically, acoustically or haptically, in particular if the vacuum cleaner 105 is intended to be controlled by a person.
- the signal can also be provided, for example, electrically or logically as data information.
- the illustrated robot vacuum cleaner 100 comprises, for example, a control device 175 in order to guide the robot vacuum cleaner 100 autonomously over the floor surface 110.
- the control device 175 can, for example, have one or more actuators 180 be connected, which allow a longitudinal and / or lateral control of the robot vacuum cleaner 100.
- the control device 175 can control the vacuum cleaner 105, for example by controlling the fan motor 140 in terms of its speed or power consumption.
- Another actuator for example a rotary brush 185 shown as an example in the area of the inlet 125, can likewise be controllable by means of the control device 175.
- a position determination 190 for example on the basis of an inertial system, can be provided. Further sensors, in particular for obstacle detection, can also be provided.
- a map memory can be supported in which map information about the floor area 110 and any obstacles located thereon can be stored.
- the robot vacuum cleaner 100 controls the autonomous cleaning of dirt 115 from the floor surface 110, inter alia on the basis of the signal provided by the device 150 by means of the interface 170. It should be noted that the determination device 165 can be comprised in whole or in part by the control device 175.
- FIG. 10 shows a flow diagram of an exemplary method 200 on a vacuum cleaner 105 such as that of FIG Figure 1 .
- a first pressure in the area of the intake tract 120 and in a step 210 a second pressure in the area of the outlet tract 145 is determined.
- a pressure difference can be determined from the two pressures.
- the change in the determined pressure difference over time is determined in order to obtain a parameter which indicates the change in the loading of the filter device 130 and thus a mass or volume flow of dirt 115 through the intake tract 120.
- This parameter can be representative of a degree of soiling of the floor surface 110 at the point just worked.
- the pressure difference signal can be derived from time.
- the signal provided is preferably filtered in a step 225 by means of a low pass.
- a moving average is formed from specific values of the signal over a predetermined, previous period of time. With a constant determination rate, a predetermined number of previous determinations can be used for the formation of an average.
- a position of the vacuum cleaner 105 is preferably determined in a step 230 and assigned to the specific signal before the signal and position are provided to the outside in a step 235.
- the specific position ideally relates to the inlet 125 of the intake tract 120.
- the position of the vacuum cleaner 105 or the vacuum cleaner robot 100 can also be used.
- a map or a site plan can be created which represents at least part of the floor area 110 and shows certain degrees of soiling at different positions.
- the card can be issued iteratively, each time step 235 is run through, or collectively after many entries.
- step 230 can also be omitted and the signal in step 235 can be provided to a user or operator in particular by means of an optical, acoustic and / or haptic output device.
- the described steps 205 to 235 can run through in a loop and in particular can be carried out concurrently with a control of a vacuum cleaner robot 100.
- a cleaning performance of the vacuum cleaner 105 and / or in a step 245 a movement of the vacuum cleaner 105 can be controlled on the basis of the pure signal or the signal enriched with positions.
- the cleaning performance can in particular be carried out by influencing the fan motor 140, a rotary brush 185 or a similar actuator.
- the movement of the vacuum cleaner 105 can take place in the form of route planning for the vacuum cleaner robot 100.
- a rough plan can, for example, specify in the order in which predetermined areas of the floor area 110 are to be traversed.
- a detailed planning can relate, for example, to a cyclical or oscillating movement of the vacuum cleaner robot 100 over a region of the floor surface 110.
- a movement speed or direction can be controlled.
- the cleaning performance and / or movement of the vacuum cleaner 105 are preferably controlled in such a way that an area of the floor surface 110 in which heavy soiling was previously observed is processed earlier, more frequently, more slowly or for a longer time by means of the vacuum cleaner 105.
- An area in which, on the other hand, only slight contamination was observed can be covered later, less often, faster or for a shorter period of time.
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- Electric Vacuum Cleaner (AREA)
Description
Die Erfindung betrifft einen Staubsauger. Insbesondere betrifft die Erfindung die Bestimmung eines für das Staubsaugen relevanten Parameters.The invention relates to a vacuum cleaner. In particular, the invention relates to the determination of a parameter relevant to vacuum cleaning.
Ein Staubsauger, wie er beispielsweise als Hausgerät innerhalb eines Haushalts eingesetzt werden kann, umfasst einen Schmutzfilter, durch den mittels eines Gebläses Luft bewegt wird. Die Luft wird im Bereich einer Bodenfläche angesaugt, wo sie dort befindliche Schmutzpartikel mitreißt. Der Filter hat die Aufgabe, den Schmutz aus der Luft zurückzuhalten und die Luft an eine Umgebung zu entlassen. Der Schmutzfilter kann beispielsweise eine Filtertüte mit einem Filtervlies umfassen. Mit steigendem Füllgrad der Filtertüte kann deren von Luft durchströmbare Fläche absinken und eine Reinigungsleistung des Staubsaugers kann sinken. Zur Bestimmung des Füllgrads können ein erster herrschender Druck in der Filtertüte und ein zweiter herrschender Druck außerhalb der Filtertüte bestimmt werden. Eine Druckdifferenz zwischen den beiden Drücken weist darauf hin, wie voll die Filtertüte ist. Ist eine vorbestimmte Druckdifferenz erreicht, so kann ein Signal zum Auswechseln der Filtertüte bereitgestellt werden.A vacuum cleaner, as it can be used as a domestic appliance within a household, for example, comprises a dirt filter through which air is moved by means of a fan. The air is sucked in in the area of a floor surface, where it carries away the dirt particles located there. The function of the filter is to hold back the dirt from the air and to release the air into an environment. The dirt filter can for example comprise a filter bag with a filter fleece. As the filling level of the filter bag increases, the area through which air can flow can decrease and the cleaning performance of the vacuum cleaner can decrease. To determine the degree of filling, a first prevailing pressure in the filter bag and a second prevailing pressure outside the filter bag can be determined. A pressure difference between the two pressures indicates how full the filter bag is. If a predetermined pressure difference has been reached, a signal for replacing the filter bag can be provided.
Zur Steuerung des Reinigungsvorgangs ist dieses Signal jedoch wenig aussagekräftig.
Die
Eine der vorliegenden Erfindung zugrunde liegende Aufgabe besteht darin, eine verbesserte Technik zur Bereitstellung eines Signals anzugeben, das auf einen Verschmutzungsgrad einer Bodenfläche hinweist. Die Erfindung löst die Aufgabe mittels der Gegenstände der unabhängigen Ansprüche. Unteransprüche geben bevorzugte Ausführungsformen wieder.One object of the present invention is to provide an improved technique for providing a signal which indicates a degree of soiling of a floor area. The invention solves the problem by means of the subjects of the independent claims. Dependent claims reproduce preferred embodiments.
Ein erfindungsgemäßer Staubsauger umfasst einen Ansaugtrakt; ein Gebläse zum Ansaugen verschmutzter Luft durch den Ansaugtrakt; einen Schmutzfilter zum Abtrennen von Schmutz aus der verschmutzten Luft; und einen Auslasstrakt zum Ausstoßen von Luft, aus welcher der Schmutz abgetrennt wurde, aus dem Schmutzfilter. Ein Verfahren zum Reinigen einer Bodenfläche mittels des Staubsaugers umfasst Schritte des Bestimmens einer Druckdifferenz zwischen dem Ansaugtrakt und dem Auslasstrakt; des Bestimmens einer Änderung der Druckdifferenz über die Zeit; des Bestimmens einer Menge angesaugten Schmutzes pro Zeit auf der Basis der Änderung; und des Bereitstellens eines auf die Menge angesaugten Schmutzes pro Zeiteinheit hinweisenden Signals auf der Basis der Änderung.A vacuum cleaner according to the invention comprises an intake tract; a fan for drawing in polluted air through the intake tract; a dirt filter for separating dirt from the polluted air; and an exhaust duct for discharging air from which the dirt has been separated from the dirt filter. A method for cleaning a floor surface by means of the vacuum cleaner comprises steps of determining a pressure difference between the intake tract and the exhaust tract; determining a change in the pressure differential over time; determining an amount of dirt sucked in per time based on the change; and providing a signal which is indicative of the amount of dirt sucked in per unit of time on the basis of the change.
Ein üblicher Staubsauger kann bereits die sensorischen und/oder verarbeitungstechnischen Voraussetzungen zum Durchführen des Verfahrens bieten. Das Verfahren kann so kostengünstig und wenig aufwendig an einem bestehenden Staubsauger nachgerüstet werden. Das Signal kann dazu verwendet werden, das Reinigen der Bodenfläche zu steuern. Beispielsweise kann ein auf eine große Menge angesaugten Schmutzes pro Zeiteinheit hinweisendes Signal eine Person, die den Staubsauger über die Bodenfläche führt, veranlassen, die Reinigung eines gegenwärtig bearbeiteten Abschnitts der Bodenfläche zu intensivieren oder zu verlängern. Insbesondere bei der Reinigung eines Teppichs oder eines Teppichbodens kann so verbessert bestimmt werden, wann die Fortsetzung der Reinigung zu empfehlen ist, und wann der Reinigungsvorgang an einer anderen Stelle fortzusetzen ist.A conventional vacuum cleaner can already provide the sensory and / or processing requirements for carrying out the method. The method can thus be retrofitted to an existing vacuum cleaner inexpensively and with little effort. The signal can be used to control the cleaning of the floor area. For example, a signal indicating a large amount of dirt sucked in per unit of time can cause a person guiding the vacuum cleaner over the floor surface to intensify or lengthen the cleaning of a currently worked section of the floor surface. Particularly when cleaning a carpet or a carpeted floor, it is possible to better determine when to continue recommended for cleaning and when to continue the cleaning process at another point.
Die Menge des angesaugten Schmutzes pro Zeit kann insbesondere als Massenstrom, als Volumenstrom oder als Anzahl Partikel ausgedrückt werden. Dabei kann eine vorbestimmte Partikelgröße vorausgesetzt werden. Das Verfahren kann mittels Staubsaugern unterschiedlicher Bauarten durchgeführt werden. Beispielsweise kann der Schmutzfilter in einer ersten Variante einen Filterbeutel bzw. eine Filtertüte oder in einer zweiten Variante einen Zyklon umfassen, der den Schmutz mittels Zentrifugalkraft aus der Luft abtrennt.The amount of dirt sucked in per time can in particular be expressed as a mass flow, as a volume flow or as the number of particles. A predetermined particle size can be assumed here. The process can be carried out using different types of vacuum cleaners. For example, in a first variant the dirt filter can comprise a filter bag or a filter bag or, in a second variant, a cyclone which separates the dirt from the air by means of centrifugal force.
Bevorzugt wird das Signal auf der Basis eines gleitenden Durchschnitts über Bestimmungen eines vorbestimmten Zeitbereichs bestimmt. Anders ausgedrückt kann das Signal vor der Bereitstellung ein Tiefpassfilter durchlaufen. Durch passende Wahl des vorbestimmten Zeitbereichs bzw. einer korrespondierenden Zeitkonstante des Tiefpassfilters kann das Signal über die Zeit geglättet werden, sodass einerseits ein Messrauschen verringert werden kann und andererseits eine lokale oder zeitliche Auflösung des Signals erhalten bleibt. Die Auswertbarkeit des Signals kann dadurch gesteigert sein.The signal is preferably determined on the basis of a moving average over determinations of a predetermined time range. In other words, the signal can pass through a low-pass filter before it is made available. By suitable selection of the predetermined time range or a corresponding time constant of the low-pass filter, the signal can be smoothed over time so that on the one hand measurement noise can be reduced and on the other hand a local or temporal resolution of the signal is maintained. The evaluability of the signal can thereby be increased.
Auf der Basis des Signals kann eine Stellgröße des Staubsaugers gesteuert werden, wobei die Stellgröße einen Reinigungseffekt des Staubsaugers an der Bodenfläche beeinflusst. Je mehr Schmutz pro Zeit angesaugt wird, desto größer kann der gesteuerte Reinigungseffekt des Staubsaugers sein. Wird hingegen wenig Schmutz pro Zeit angesaugt, so können die Bemühungen weniger intensiv fortgeführt werden. Ein stärkerer Reinigungseffekt ist üblicherweise mit einer höheren Energieaufnahme oder einer verlängerten Reinigungszeit verbunden. In Bereichen, an denen nur eine geringe Verschmutzung an der Bodenfläche vorliegt, können entsprechende Aufwände eingespart werden.A manipulated variable of the vacuum cleaner can be controlled on the basis of the signal, the manipulated variable influencing a cleaning effect of the vacuum cleaner on the floor surface. The more dirt is sucked in per time, the greater the controlled cleaning effect of the vacuum cleaner can be. If, on the other hand, little dirt is sucked in per time, the efforts can be continued less intensively. A stronger cleaning effect is usually associated with a higher energy consumption or a longer cleaning time. In areas where the floor surface is only slightly soiled, corresponding efforts can be saved.
In einer Ausführungsform betrifft die Stellgröße eine Leistung des Gebläses. Je größer die Leistung des Gebläses ist, desto stärker kann der Reinigungseffekt des Staubsaugers an der Bodenfläche sein.In one embodiment, the manipulated variable relates to an output of the fan. The greater the power of the blower, the stronger the cleaning effect of the vacuum cleaner on the floor surface.
In einer anderen Ausführungsform betrifft die Stellgröße eine Fortbewegungsgeschwindigkeit eines in den Ansaugtrakt mündenden Einlasses über die Bodenfläche. Der Einlass kann beispielsweise gegenüber der Bodenfläche abgebremst werden, um eine größere Verweildauer an einem aktuellen Abschnitt der Bodenfläche zu bewirken. Eine Person, die mittels des Staubsaugers die Bodenfläche reinigt, kann so unterstützt werden.In another embodiment, the manipulated variable relates to a speed of movement of an inlet opening into the intake tract over the floor area. The inlet can, for example, be braked in relation to the floor area in order to increase it To effect dwell time on a current section of the floor area. A person who cleans the floor surface with the vacuum cleaner can be supported in this way.
In einer weiteren Ausführungsform ist der Staubsauger dazu eingerichtet, die Bodenfläche autonom abzufahren, wobei das Signal einer Position des Staubsaugers zugeordnet wird und wobei die Stellgröße die Häufigkeit des Überfahrens einer Position in Abhängigkeit des Signals betrifft. Eine Position, an der eine starke Verschmutzung festgestellt wurde, kann langsamer oder häufiger überfahren werden. Eine andere Position, an der nur eine geringe Verschmutzung festgestellt wurde, kann hingegen seltener oder schneller überfahren werden. Ein autonom operierender Staubsauger kann dadurch die Bodenfläche schneller fertig bearbeiten oder ein verbessertes Reinigungsergebnis erzielen.In a further embodiment, the vacuum cleaner is set up to drive over the floor area autonomously, the signal being assigned to a position of the vacuum cleaner and the manipulated variable relating to the frequency with which a position is passed as a function of the signal. A position that has been found to be heavily soiled can be driven over more slowly or more frequently. On the other hand, another position, at which only a small amount of soiling was found, can be driven over less often or more quickly. An autonomously operating vacuum cleaner can thus finish the floor surface more quickly or achieve an improved cleaning result.
In einer weiteren Ausführungsform können Informationen, an welchen Positionen zuletzt starke und an welchen schwache Verschmutzungen beobachtet wurden, die Bewegungsplanung des autonom operierenden Staubsaugers bei einem folgenden Einsatz beeinflussen. Beispielsweise kann ein zuletzt stark verschmutzter Bereich zuerst abgefahren werden, um diesen besonders gründlich zu reinigen. Ein zuletzt weniger stark verschmutzter Bereich kann hingegen erst später gereinigt werden.In a further embodiment, information on the positions at which strong and at which weak soiling was last observed can influence the movement planning of the autonomously operating vacuum cleaner during a subsequent use. For example, an area that was heavily soiled in the end can be traversed first in order to clean it particularly thoroughly. An area that is less heavily soiled in the end, on the other hand, can only be cleaned later.
Die gesammelten Informationen können auch einer Person oder einer externen Steuervorrichtung weitergegeben werden. Insbesondere kann ein Hinweis über Verschmutzungsgrade der Bodenfläche an verschiedenen Abschnitten bereitgestellt werden. Dieser Hinweis kann beispielsweise in Form einer Falschfarben-Karte einer Person dargeboten werden. Die Person kann dann geeignete Maßnahmen ergreifen, um die Verschmutzung besonders exponierter Bereiche in Grenzen zu halten. Beispielsweise kann die Karte auf eine sogenannte Laufstraße hinweisen, an der sich üblicherweise besonders starke Verschmutzung sammelt. Die Laufstraße kann beispielsweise mittels eines Teppichläufers abgedeckt werden.The information collected can also be passed on to a person or to an external control device. In particular, information about the degree of soiling of the floor area can be provided at different sections. This indication can be presented to a person in the form of a false color card, for example. The person can then take appropriate measures to limit the pollution of particularly exposed areas. For example, the map can point to a so-called walkway on which particularly heavy soiling usually collects. The walkway can be covered, for example, by means of a carpet runner.
Der oben beschriebene Staubsauger kann eine Bestimmungsvorrichtung umfassen, die dazu eingerichtet ist, eine Menge angesaugten Schmutzes pro Zeit auf der Basis einer Änderung einer Druckdifferenz zwischen dem Ansaugtrakt und dem Auslasstrakt zu bestimmen und ein auf die Menge hinweisendes Signal bereitzustellen. Passende Drucksensoren sowie eine Vorrichtung zur Bestimmung der Druckdifferenz können bereits am Staubsauger verbaut sein, um aus dem absoluten Betrag der Druckdifferenz auf einen Füllgrad des Schmutzfilters schließen zu können.The vacuum cleaner described above can comprise a determination device which is configured to determine an amount of dirt sucked in per time on the basis of a change in a pressure difference between the intake tract and the outlet tract and to provide a signal indicating the amount. Suitable pressure sensors as well as a device for determining the pressure difference can already be found on Vacuum cleaner must be installed in order to be able to deduce a degree of filling of the dirt filter from the absolute amount of the pressure difference.
Die Bestimmungsvorrichtung kann insbesondere einen programmierbaren Mikrocomputer oder Mikrocontroller umfassen. Dieser kann dazu eingerichtet sein, das oben beschriebene Verfahren teilweise oder vollständig auszuführen. Das Verfahren kann hierzu in Form eines Computerprogrammprodukts mit Programmcodemitteln vorliegen. Merkmale oder Vorteile des Verfahrens können auf den Staubsauger bezogen werden und umgekehrt.The determination device can in particular comprise a programmable microcomputer or microcontroller. This can be set up to partially or completely carry out the method described above. For this purpose, the method can be in the form of a computer program product with program code means. Features or advantages of the method can be related to the vacuum cleaner and vice versa.
Der Staubsauger kann eine Steuervorrichtung zum autonomen Abfahren der Bodenfläche durch den Staubsauger aufweisen, wobei die Steuervorrichtung dazu eingerichtet ist, das Abfahren auf der Basis des Signals zu steuern. In einer weiteren Ausführungsform wird auf der Basis des Signals die Reinigungsleistung des Staubsaugers gesteuert. Dazu kann eine Hilfseinrichtung, beispielsweise eine rotierende Bürste, aktiviert oder in ihrer Bewegungsintensität gesteuert werden. Andere mögliche Stellgrößen zur Beeinflussung des Reinigungseffekts des Staubsaugers sind oben mit Bezug auf das Verfahren genauer beschrieben.The vacuum cleaner can have a control device for the vacuum cleaner to autonomously drive down the floor surface, the control device being configured to control the movement on the basis of the signal. In a further embodiment, the cleaning performance of the vacuum cleaner is controlled on the basis of the signal. For this purpose, an auxiliary device, for example a rotating brush, can be activated or its movement intensity can be controlled. Other possible manipulated variables for influencing the cleaning effect of the vacuum cleaner are described in more detail above with reference to the method.
Merkmale, die mit Bezug auf eine Anspruchskategorie offenbart wurden, sind analog auf alle anderen Anspruchskategorien anwendbar.Features that have been disclosed with reference to one claim category can be applied analogously to all other claim categories.
Die Erfindung wird nun unter Bezug auf die beiliegenden Figuren genauer beschrieben, in denen:
- Fig. 1
- einen Staubsauger in einer beispielhaften Ausführungsform; und
- Fig. 2
- ein Ablaufdiagramm eines exemplarischen Verfahrens an einem Staubsauger darstellt.
- Fig. 1
- a vacuum cleaner in an exemplary embodiment; and
- Fig. 2
- Figure 3 illustrates a flow diagram of an exemplary method on a vacuum cleaner.
Der Staubsauger 105 umfasst einen Ansaugtrakt 120 mit einem Einlass 125 im Bereich der Bodenfläche 110, einen Schmutzfilter 130, ein Gebläse 135, das bevorzugt mittels eines Gebläsemotors 140 betrieben werden kann, sowie einen Auslasstrakt 145. Der konkrete Aufbau des Staubsaugers 105 kann von der dargestellten Variante auch abweichen. Allgemein wird mittels des Gebläses 135 ein Luftstrom durch den Ansaugtrakt 120 eingesogen, durch den Schmutzfilter 130 geleitet und durch den Auslasstrakt 145 an eine Umgebung abgegeben. Dabei ist der Schmutzfilter 130 dazu eingerichtet, Schmutz 115, der durch die Luft von der Bodenfläche 110 mitgerissen wurde, aus der Luft möglichst zurückzuhalten, bevor die Luft durch den Auslasstrakt 145 entlassen wird.The
Es wird vorgeschlagen, eine Bestimmung durchzuführen, wie viel Schmutz 115 pro Zeit durch den Ansaugtrakt 120 angesaugt wird. Dazu kann eine Vorrichtung 150 vorgesehen sein, die einen ersten Drucksensor 155 im Bereich des Ansaugtrakts 120, einen zweiten Drucksensor 160 im Bereich des Auslasstrakts 145 sowie eine Bestimmungsvorrichtung 165 umfasst. Die Drucksensoren 155 und 160 können insbesondere kostensparend als mikromechanische Sensoren (MEMS: microelectromechanical systems) realisiert sein. Die Bestimmungsvorrichtung 165 kann diskret oder in Form eines programmierbaren Mikrocomputers aufgebaut sein. Die Bestimmungsvorrichtung 165 ist dazu eingerichtet, eine Differenz der mittels der Drucksensoren 155 und 160 bestimmten Drücke zu bestimmen, eine Änderung der bestimmten Druckdifferenz nach der Zeit zu bestimmen sowie bevorzugt die bestimmte Änderung als gleitenden Durchschnitt über eine vorbestimmte Zeitspanne zu filtern. Auf diese Weise kann ein Signal bestimmt werden, das mittels einer Schnittstelle 170 bereitgestellt werden kann.It is proposed to carry out a determination of how
Das bereitgestellte Signal kann, insbesondere wenn der Staubsauger 105 zur Steuerung durch eine Person vorgesehen ist, optisch, akustisch oder haptisch bereitgestellt werden. In einer anderen Variante, wenn das Signal zur Weiterverarbeitung beispielsweise durch den Staubsaugerroboter 100 vorgesehen ist, kann das Signal auch beispielsweise elektrisch oder logisch als Dateninformation bereitgestellt werden.The signal provided can be provided optically, acoustically or haptically, in particular if the
Der dargestellte Staubsaugerroboter 100 umfasst exemplarisch eine Steuervorrichtung 175, um den Staubsaugerroboter 100 autonom über die Bodenfläche 110 zu führen. Dazu kann die Steuervorrichtung 175 beispielsweise mit einem oder mehreren Aktuatoren 180 verbunden sein, die eine Längs- und/oder Quersteuerung des Staubsaugerroboters 100 erlauben. Außerdem kann die Steuervorrichtung 175 den Staubsauger 105 steuern, beispielsweise indem sie den Gebläsemotor 140 in seiner Drehzahl oder Leistungsaufnahme steuert. Ein weiterer Aktuator, beispielsweise eine exemplarisch dargestellte Rotationsbürste 185 im Bereich des Einlasses 125, kann ebenfalls mittels der Steuervorrichtung 175 steuerbar sein. Zur Bestimmung der Position des Staubsaugerroboters 100 kann eine Positionsbestimmung 190, beispielsweise auf Basis eines Inertialsystems, vorgesehen sein. Weitere Sensoren, insbesondere zur Hinderniserkennung, können ebenfalls vorgesehen sein. Außerdem kann ein Kartenspeicher unterstützt werden, in welchem Karteninformationen über die Bodenfläche 110 sowie gegebenenfalls darauf befindliche Hindernisse abgelegt werden können.The illustrated
Es ist bevorzugt, dass der Staubsaugerroboter 100 das autonome Reinigen der Bodenfläche 110 von Schmutz 115 unter anderem auf der Basis des mittels der Schnittstelle 170 durch die Vorrichtung 150 bereitgestellten Signals steuert. Es ist zu beachten, dass die Bestimmungsvorrichtung 165 ganz oder teilweise von der Steuervorrichtung 175 umfasst sein kann.It is preferred that the
In einem Schritt 205 wird ein erster Druck im Bereich des Ansaugtrakts 120 und in einem Schritt 210 ein zweiter Druck im Bereich des Auslasstrakts 145 bestimmt. Nachfolgend kann in einem Schritt 215 eine Druckdifferenz aus den beiden Drücken bestimmt werden. In einem Schritt 220 wird die Änderung der bestimmten Druckdifferenz über die Zeit bestimmt, um eine Kenngröße zu erhalten, die auf die Änderung der Beladung der Filtereinrichtung 130 und damit auf einen Massen- oder Volumenstrom von Schmutz 115 durch den Ansaugtrakt 120 hinweist. Diese Kenngröße kann repräsentativ für einen Verschmutzungsgrad der Bodenfläche 110 an der gerade bearbeiteten Stelle sein. Zur Bestimmung der Kenngröße kann das Druckdifferenz-Signal nach der Zeit abgeleitet werden. Angesichts einer üblichen Bewegungsgeschwindigkeit des Einlasses 125 des Staubsaugers 105 über die Bodenfläche 110 erscheint es sinnvoll, die Bestimmung der Änderung der Druckdifferenz über die Zeit mit einer Frequenz von wenigstens ca. 10 Hz durchzuführen. Das Abtasten der Drücke in den Schritten 205 und 210 wird bevorzugt mit wenigstens der gleichen Frequenz durchgeführt. Höhere Mess- oder Verarbeitungsfrequenzen sind ebenfalls möglich und können eine verbesserte Messgenauigkeit erbringen.In a step 205 a first pressure in the area of the
Bevorzugt wird das bereitgestellte Signal in einem Schritt 225 mittels eines Tiefpasses gefiltert. Anders ausgedrückt wird ein gleitender Durchschnitt von bestimmten Werten des Signals über einen vorbestimmten, zurückliegenden Zeitraum gebildet. Bei einer konstanten Bestimmungsrate kann eine vorbestimmte Anzahl zurückliegender Bestimmungen für die Bildung eines Durchschnitts verwendet werden.The signal provided is preferably filtered in a
Insbesondere dann, wenn der Staubsauger 105 Teil eines Staubsaugroboters 100 ist, wird bevorzugt in einem Schritt 230 eine Position des Staubsaugers 105 bestimmt und dem bestimmten Signal zugeordnet, bevor Signal und Position in einem Schritt 235 nach außen bereitgestellt werden. Die bestimmte Position betrifft idealerweise den Einlass 125 des Ansaugtrakts 120. Hilfsweise kann auch die Position des Staubsaugers 105 bzw. des Staubsaugerroboters 100 verwendet werden. Auf der Basis von Signalwerten und zugeordneten Positionen kann eine Karte oder ein Lageplan angelegt werden, die zumindest einen Teil der Bodenfläche 110 repräsentiert und bestimmte Verschmutzungsgrade an unterschiedlichen Positionen darstellt. Die Karte kann iterativ, jeweils bei Durchlaufen des Schritts 235, oder gesammelt nach vielen Eintragungen ausgegeben werden.In particular, if the
Ist die Vorrichtung 150 an einem üblichen Staubsauger 105 ohne autarke Steuerung vorgesehen, so kann der Schritt 230 auch entfallen und das Signal im Schritt 235 insbesondere mittels einer optischen, akustischen und/oder haptischen Ausgabevorrichtung an einen Benutzer oder eine Bedienperson bereitgestellt werden. Die beschriebenen Schritte 205 bis 235 können in einer Schleife durchlaufen und insbesondere nebenläufig zu einer Steuerung eines Staubsaugerroboters 100 durchgeführt werden.If the
Ist der Staubsaugerroboter 100 vorgesehen, so können auf der Basis des reinen oder des mit Positionen angereicherten Signals in einem Schritt 240 eine Reinigungsleistung des Staubsaugers 105 und/oder in einem Schritt 245 ein Bewegen des Staubsaugers 105 gesteuert werden. Die Reinigungsleistung kann insbesondere durch Beeinflussen des Gebläsemotors 140, einer Rotationsbürste 185 oder eines ähnlichen Aktuators durchgeführt werden. Das Bewegen des Staubsaugers 105 kann in Form einer Wegeplanung des Staubsaugerroboters 100 erfolgen. Eine Grobplanung kann beispielsweise angeben, in welcher Reihenfolge vorbestimmte Bereiche der Bodenfläche 110 abgefahren werden sollen. Eine Feinplanung kann eine beispielsweise zyklische oder oszillierende Bewegung des Staubsaugerroboters 100 über einen Bereich der Bodenfläche 110 betreffen. Außerdem können eine Bewegungsgeschwindigkeit oder Bewegungsrichtung gesteuert werden.If the vacuum
Die Reinigungsleistung und/oder Bewegung des Staubsaugers 105 werden bevorzugt so gesteuert, dass ein Bereich der Bodenfläche 110, in welchem zuvor eine starke Verschmutzung beobachtet wurde, früher, häufiger, langsamer oder länger mittels des Staubsaugers 105 bearbeitet wird. Ein Bereich, in dem hingegen eine nur geringe Verschmutzung beobachtet wurde, kann später, seltener, schneller oder weniger lang abgefahren werden.The cleaning performance and / or movement of the
- 100100
- StaubsaugroboterRobot vacuum cleaners
- 105105
- Staubsaugervacuum cleaner
- 110110
- BodenflächeFloor area
- 115115
- Schmutzdirt
- 120120
- AnsaugtraktIntake tract
- 125125
- Einlassinlet
- 130130
- SchmutzfilterDirt filter
- 135135
- Gebläsefan
- 140140
- GebläsemotorBlower motor
- 145145
- AuslasstraktOutlet tract
- 150150
- Vorrichtungcontraption
- 155155
- erster Drucksensorfirst pressure sensor
- 160160
- zweiter Drucksensorsecond pressure sensor
- 165165
- BestimmungsvorrichtungDetermination device
- 170170
- Schnittstelleinterface
- 175175
- SteuervorrichtungControl device
- 180180
- AktuatorActuator
- 185185
- RotationsbürstenRotary brushes
- 190190
- PositionsbestimmungPositioning
- 200200
- Verfahrenprocedure
- 205205
- Bestimmen erster DruckDetermine first pressure
- 210210
- Bestimmen zweiter DruckDetermine second pressure
- 215215
- Bestimmen DruckdifferenzDetermine pressure difference
- 220220
- Bestimmen Änderung über die ZeitDetermine change over time
- 225225
- Tiefpass-FilternLow pass filters
- 230230
- Bestimmen PositionDetermine position
- 235235
- Karte anlegenCreate card
- 240240
- Steuern ReinigungsleistungControl cleaning performance
- 245245
- Bewegen StaubsaugerMove vacuum cleaner
Claims (11)
- Method (200) for cleaning a floorspace (110) by means of a vacuum cleaner (105), with:- a suction passage (120);- a fan (135) for suctioning contaminated air through the suction passage (120);- a dirt filter (130) for separating dirt (115) from the contaminated air; and- an outlet passage (145) for expelling air, from which dirt (115) has been separated, from the dirt filter (130),wherein the method (200) comprises the following steps:- determining (215) a pressure difference between the suction passage (120) and the outlet passage (145);- determining (220) a change in the pressure difference over time;- determining (220) an amount of suctioned dirt (115) per unit time on the basis of the change; and- providing (235) a signal, which indicates the amount of suctioned dirt per unit time, on the basis of the change.
- Method (200) according to claim 1, wherein the signal is determined (225) on the basis of a moving average via determinations of a predetermined time range.
- Method (200) according to claim 1 or 2, wherein a manipulated variable of the vacuum cleaner (105) is controlled (240, 245) on the basis of the signal, wherein the manipulated variable influences a cleaning effect of the vacuum cleaner (105) on the floorspace (110).
- Method (200) according to claim 3, wherein the manipulated variable relates to a performance of the fan (135).
- Method (200) according to claim 3 or 4, wherein the manipulated variable relates to a travel speed of an inlet, which opens into the suction passage (120), over the floorspace (110).
- Method (200) according to one of claims 3 to 5, wherein the vacuum cleaner (105) is configured to set off on the floorspace (110) autonomously, wherein the signal is assigned to a position of the vacuum cleaner (105) and wherein the manipulated variable relates to the frequency of travelling over a position depending upon the signal.
- Method (200) according to one of the preceding claims, wherein the vacuum cleaner (105) is configured to set off on the floorspace (110) autonomously, wherein the signal is assigned (235) to a position of the vacuum cleaner (105) and wherein, when setting off a following time, the order of travelling over different regions is dependent upon the signal assigned in each case.
- Method (200) according to one of the preceding claims, wherein the signal is assigned to a position of the vacuum cleaner (105) and an indication of degrees of contamination of the floorspace (110) is provided at various sections.
- Vacuum cleaner (105), in particular robotic vacuum cleaner, with:- a suction passage (120);- a fan (135) for suctioning contaminated air through the suction passage (120);- a dirt filter (130) for separating dirt (115) from the contaminated air; and- an outlet passage (145) for expelling air, from which dirt (115) has been separated, from the dirt filter (130); characterised in that the vacuum cleaner (105) has a determination apparatus (165), which is configured to determine an amount of suctioned dirt (115) per unit time on the basis of a change in a pressure difference between the suction passage (120) and the outlet passage (145);and to provide a signal, which indicates the amount of suctioned dirt per unit time, on the basis of the change.
- Vacuum cleaner (105) according to claim 9, further comprising a control apparatus (175) for autonomously setting off on the floorspace (110) by way of the vacuum cleaner (105), wherein the control apparatus (175) is configured to control the setting off on the basis of the signal.
- Vacuum cleaner (105) according to claim 9 or 10, further comprising a control apparatus (175) for controlling a cleaning performance of the vacuum cleaner (105), wherein the control apparatus (175) is configured to control the cleaning performance on the basis of the signal.
Applications Claiming Priority (1)
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DE102017213431.3A DE102017213431B4 (en) | 2017-08-02 | 2017-08-02 | vacuum cleaner |
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Publication Number | Publication Date |
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EP3437535A1 EP3437535A1 (en) | 2019-02-06 |
EP3437535B1 true EP3437535B1 (en) | 2021-11-17 |
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Application Number | Title | Priority Date | Filing Date |
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EP18183898.8A Active EP3437535B1 (en) | 2017-08-02 | 2018-07-17 | Vacuum cleaner |
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DE (1) | DE102017213431B4 (en) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
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US10918252B2 (en) * | 2017-07-27 | 2021-02-16 | Neato Robotics, Inc. | Dirt detection layer and laser backscatter dirt detection |
CN114052556A (en) * | 2020-08-03 | 2022-02-18 | 天佑电器(苏州)有限公司 | Dust amount prompting method and system, dust collector and readable storage medium |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
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DE2232519C2 (en) * | 1972-05-10 | 1986-05-07 | Robert J. Minneapolis Minn. De brey | Device for the acoustic indication of the presence of particles in a flowing fluid, in particular in the case of a vacuum cleaner |
FR2708188A1 (en) * | 1993-07-28 | 1995-02-03 | Philips Laboratoire Electroniq | Vacuum cleaner with means of soil detection and adjustment of the engine power according to the detected soil. |
DE102007036157B4 (en) * | 2007-08-02 | 2011-11-24 | BSH Bosch und Siemens Hausgeräte GmbH | Method and device for determining the degree of filling of a dust collecting container of a dust collecting device, in particular a dust collecting robot, and dust collecting device with such a device |
DE102007036170B4 (en) | 2007-08-02 | 2012-01-26 | BSH Bosch und Siemens Hausgeräte GmbH | Method and device for determining the amount of dust particles, in particular in a dust-collecting robot, and dust-collecting device with such a device |
CN101941012B (en) * | 2009-07-03 | 2012-04-25 | 泰怡凯电器(苏州)有限公司 | Cleaning robot, dirt identification device thereof and cleaning method of robot |
DE102009035717A1 (en) * | 2009-07-31 | 2011-02-10 | Miele & Cie. Kg | Method for indicating a degree of filling of a dust bag and control device for carrying out the method |
DE102011006539B4 (en) * | 2011-03-31 | 2019-11-14 | BSH Hausgeräte GmbH | Vacuum cleaner and method for operation-dependent operation of a vacuum cleaner |
-
2017
- 2017-08-02 DE DE102017213431.3A patent/DE102017213431B4/en not_active Expired - Fee Related
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