EP4085806A1 - Carriage and method for loading and unloading cleaning robots into and out of a carriage - Google Patents
Carriage and method for loading and unloading cleaning robots into and out of a carriage Download PDFInfo
- Publication number
- EP4085806A1 EP4085806A1 EP22166486.5A EP22166486A EP4085806A1 EP 4085806 A1 EP4085806 A1 EP 4085806A1 EP 22166486 A EP22166486 A EP 22166486A EP 4085806 A1 EP4085806 A1 EP 4085806A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- cleaning
- trolley
- receiving element
- designed
- carriage
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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- 238000004140 cleaning Methods 0.000 title claims abstract description 219
- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000000903 blocking effect Effects 0.000 claims description 11
- 238000004891 communication Methods 0.000 description 3
- 238000004146 energy storage Methods 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000003213 activating effect Effects 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 239000000758 substrate 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
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/0009—Storing devices ; Supports, stands or holders
- A47L9/0063—External storing devices; Stands, casings or the like for the storage of 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
- A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- 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
- A47L9/2868—Arrangements for power supply of vacuum cleaners or the accessories thereof
- A47L9/2873—Docking units or charging stations
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/02—Docking stations; Docking operations
- A47L2201/022—Recharging of batteries
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/02—Docking stations; Docking operations
- A47L2201/024—Emptying dust or waste liquid containers
Definitions
- the invention relates to a trolley and a method for moving cleaning robots in and out of the trolley.
- the invention relates to a cart for storing cleaning robots and a method for loading and unloading cleaning robots into and out of the cart.
- a cleaning system In particular for cleaning larger commercial floor areas such as sales areas in fashion stores, a cleaning system is used that has a fleet of several autonomous or self-propelled cleaning robots and one or more base stations that are designed to empty and supply power to the cleaning robots.
- a cleaning station in the form of a robot for transporting self-propelled cleaning robots with a drive device for autonomous movement over a floor surface is known.
- the robot has a sensor device for detecting its surroundings, a storage device for the cleaning robot and a movement device for moving the cleaning robot, which is designed in such a way that it can pick up one of the cleaning robots from the floor surface and place it in the storage device of the robot.
- the disadvantage here is that the robot cannot simply be pushed manually to a place of use. In particular, it is not possible to transport this robot over several floors without an elevator. The flexibility and diversity of use of the robot is severely restricted as a result.
- the robot is very expensive and therefore not well suited for use in the cost-sensitive cleaning industry.
- the invention therefore faces the problem of providing a cleaning station that has a high degree of flexibility and variety of use with the simplest operation, is inexpensive, and whose cleaning robots are protected from external influences during inactivity.
- the cleaning robots are safely stowed in the car and protected from external influences by a door.
- the trolley is inexpensive because it can be moved manually using the handle. Electrical drive devices are not necessary to move the carriage.
- the trolley is inexpensive and can be easily and flexibly brought to the place of use by cleaning staff.
- the repositioning of the carriage does not require any multiport robot special operating skills.
- the car is less susceptible to errors such as software problems.
- Information on position and direction refers to an operational set-up or working position of the trolley.
- the following advantages are generated by the simple, manual mobility of the trolley by a user from one place of use to the next: Increased application flexibility and variety of the cleaning system, better transportability of the trolley because the cleaning system is light, compact and manoeuvrable.
- a reduction in the costs of the car is achieved since no complex navigation technology or software has to be installed and/or used in the car. Easier operation of the cart is provided so that no robotics knowledge is required to move the cart to the job site.
- the car is easy to understand and self-sufficient. Cleaning staff with little knowledge can handle the trolley.
- the trolley has good robustness, which reduces the trolley's susceptibility to external influences such as impacts.
- the car does not require any navigation elements that can be damaged.
- the door element forms a housing which, when the door element is closed, completely encloses the interior of the car.
- the cleaning robots stowed in the trolley, the storage compartments, the lift system and the extraction platform are then completely encased.
- the door element protects the individual cleaning robots from theft or damage from external influences during storage in the trolley.
- the trolley serves as a base station for a number of cleaning robots. Together with the cleaning robots, the trolley forms a cleaning system in the form of a mobile cleaning station. A fleet of multiple cleaning robots is stowed inside the mobile cart outside of the cleaning phase when the cleaning robots perform cleaning tasks.
- the trolley has a number of storage compartments corresponding to the number of cleaning robots, in which the cleaning robots are stored outside of the cleaning phase and which each have their own charging contact for supplying energy to the cleaning robot stored in it.
- the trolley has an energy supply unit which is designed to supply the trolley and the cleaning robots stowed in it with electrical energy.
- the energy supply unit is designed to supply electrical energy to all of the components of the trolley and also to the energy storage units of the cleaning robots.
- the trolley can have a mains connection for charging the energy supply unit.
- the mains connection can be easily disconnected from the mains if necessary the car is to be moved to an operation site.
- the energy supply unit is arranged in and/or on the carriage in the form of a rechargeable battery. The energy supply unit then enables a cleaning operation which is largely self-sufficient from existing connections of a building power supply network.
- an accumulator in the case of an accumulator, the omission of a mains connection cable, which would otherwise be required, increases the degree of mobility of the car.
- the use of an accumulator as an energy supply unit can be advantageous because commercial areas usually have a manageable number of sockets and the trolley can be positioned freely on the area to be cleaned and is not tied to sockets locally. In this way, the most sensible positioning on the surface to be cleaned can be selected with regard to efficient use of the cleaning robot fleet.
- the charging contact is preferably connected to a corresponding contact on the cleaning robot located in the storage compartment when the cleaning robot is arranged in the storage compartment.
- the energy storage unit of the cleaning robots is charged via the connected charging contacts when they are arranged in their respective storage compartment.
- the charging device can bring about contactless charging of the energy storage unit of the cleaning robot. Manually initiated loading of each individual cleaning robot is no longer necessary.
- the suction system is designed to remove dirt from the cleaning robots that result from their cleaning operation. This can be superficial dirt on the housing of the cleaning robot.
- the suction system can be designed to clean the sensors and cleaning elements of the cleaning robots from dirt. Such cleaning functions are preferably integrated into the foldable suction platform.
- the suction system is designed to empty dirt containers of the cleaning robots, in which the cleaning robots collect dirt picked up during the cleaning operation.
- the trolley preferably has a collecting dirt container in which the dirt sucked out of the cleaning robots is collected.
- the collecting dirt container is preferably detachably connected to the trolley, so that it can be removed from it if necessary. It is preferably provided with a handle for removal from the trolley.
- the suction system preferably contains a fan that is designed to generate an air flow when activated, by means of which the cleaning robots can be emptied.
- the suction system preferably has a suction opening that is integrated into the suction platform and a suction channel that connects the suction opening to the dirt collection container.
- one of the cleaning robots can be emptied by means of a suction flow generated by the fan when it is positioned on the suction platform.
- the cleaning robots that can be stowed and transported in the trolley according to the invention are preferably suction and/or wiping robots, more preferably suction robots that are autonomous and self-propelled.
- suction and/or wiping robots Preferably at least two, preferably at least 3 to 15, more preferably 4 to 10 cleaning robots can be stowed in the trolley, i.e. can be positioned in a respective storage compartment.
- the trolley can be easily moved using the transport wheels. In order to get to a place of use, it is sufficient for a user to push it there.
- the carriage also has a handle by means of which the carriage can be moved as a whole with the aid of the transport wheels. This further simplifies moving the cart to the job site.
- the foldable suction platform and the foldable receiving element preferably lie on a base on which the transport wheels stand, based on an operational set-up position of the trolley.
- the receiving element and the suction platform can preferably be folded by 90°. This can be made possible by appropriately attached hinges.
- the foldable suction platform and the foldable receiving element preferably lie flat on the ground when folded out.
- the foldable receiving element is preferably segmented and preferably has two receiving element segments.
- the suction platform is preferably arranged between two receiving element segments and separated from them.
- the two receiving element segments and the suction platform are preferably dimensioned in such a way that a cleaning robot moves over the two receiving element segments with its edges and its body extends above the suction platform between the two receiving element segments. It is thus possible for the receiving element to be moved vertically in order to transport the cleaning robot, which is arranged on its wheels on the receiving element segments, to one of the storage compartments without the suction platform also having to be moved.
- the storage compartments are stacked vertically one on top of the other. They are preferably mounted detachably from one another. This further saves space on a floor on which the carriage is placed.
- the foldable receiving element can be moved vertically in the unfolded state, relative to an operational set-up position Of the car.
- the lift system is designed to automatically move the receiving element vertically and has an electric motor, for example.
- the trolley preferably also has an operating panel which is designed in such a way that a user can operate the trolley interactively. For example, the user can use the control panel to start a cleaning mode in which the cleaning robots stored in it are removed from the trolley to carry out their cleaning tasks.
- the trolley preferably has a controller that is designed to start the cleaning mode immediately after activation. Alternatively or additionally, a timer can also be stored in the controller, which ensures that the cleaning mode can be started at a later point in time, if desired. After activating the cleaning mode, the user can leave the area to be cleaned, since the trolley and the cleaning robots now carry out the activated cleaning independently. No further work steps are necessary to start and end the cleaning, the cleaning system continues to work independently.
- the controller is preferably designed to automatically control the introduction and removal, suction and, if necessary, cleaning of the cleaning robots.
- the carriage preferably also has adjustable blocking elements which are designed to block the transport wheels in a blocked state and to release the transport wheels in an unblocked state.
- the carriage can be fixed on a cleaning surface so that accidental bumping and/or displacement of the carriage during cleaning operation is prevented.
- the adjustable blocking elements are preferably fitted with mechanical blocking elements.
- the blocking elements are preferably designed in such a way that they can be fixed or released by the user's foot. This makes it easier to handle.
- the trolley also has a lock which is designed to secure the door element. This further protects the cleaning robots against theft or damage from external influences. Unauthorized opening of the trolley and stealing of the cleaning robots by unauthorized persons is still prevented.
- the door element is preferably designed in such a way that it can be opened and closed manually.
- the door element is preferably designed as a sliding door which can be slid into an intermediate space between an outer wall and an interior of the car.
- the cart may have guide rails between the interior and the exterior walls to assist in sliding the sliding doors. As a result, the open car takes up less space than if it had hinged doors.
- the door element preferably has one or more handles, with the aid of which the front of the trolley in the form of the door element can be opened in the form of two sliding doors which can be slid outwards.
- the door element can be opened and closed automatically.
- the door element can be opened automatically by operation via the control panel.
- the door element can continue to be automatically lockable via the control panel.
- the door element is automatically closed by means of the control of the carriage after all cleaning robots have been introduced into the carriage at the end of the cleaning phase.
- the carriage has one or more electric motors which are designed to automatically open and close the door element.
- the suction platform and/or the receiving element can be folded out and in automatically. This is preferably also implemented via one or more electric motors.
- the carriage preferably has electronic components such as an infrared interface IR, which are designed to support a cleaning robot arranged on the suction platform or the receiving element in positioning itself correctly on it for suction.
- electronic components such as an infrared interface IR, which are designed to support a cleaning robot arranged on the suction platform or the receiving element in positioning itself correctly on it for suction.
- the trolley preferably has a communication system for data exchange with the cleaning robots.
- the communication system of the car is designed for wireless data transmission, for example as a WLAN or Bluetooth module.
- the communication system can be designed to exchange data with an external electrical device that is used to control and/or monitor the car.
- an external device can be, for example, a personal computer, a smartphone, a smartwatch or a tablet.
- the carriage is preferably of modular design. That is, it has a modular architecture. As a result, it does not always have to be transported and used as a whole, but a needs-based, modular adjustment of the number of cleaning robots used and thus a reduction and/or increase in capacity is possible. This increases again the versatility of the car.
- the carriage preferably has extension modules, which can each be placed on the storage compartment that is located at the highest vertical height and can be fixed there with the aid of connecting elements.
- the expansion modules each have a storage compartment including charging contact and connecting elements, with the lift system on the car being adaptable to the new situation by expanding its end position.
- the trolley can thus be expanded to accommodate n cleaning robots to n+x cleaning robots with x expansion modules if the size or requirements of the floor area to be cleaned should change or if the trolley is used on different areas with different requirements. Furthermore, the transport of the trolley is simplified, since the total volume and weight can be reduced through the targeted removal of expansion modules. This is particularly advantageous when transporting the system across different floors without an elevator.
- the carriage may have a LiDar reflector or a beacon such as an IR beacon.
- a LiDar reflector or a beacon such as an IR beacon.
- the trolley starts to deploy the individual cleaning robots onto the surface to be cleaned.
- the robots are automatically brought out of the storage compartments onto the surface to be cleaned with the help of the mobile lift system. While the cleaning tasks are being carried out, the individual cleaning robots on the trolley can be sucked off, cleaned and/or temporarily charged.
- the cleaning robot in question drives onto the suction platform, positions itself there and is sucked off via the suction system of the trolley, with the suction flow for emptying the cleaning robot being generated by the fan.
- additional cleaning functions can be performed on the cleaning robot by the suction platform. These include, for example, functions such as cleaning brush rollers, sensors or similar devices of the cleaning robot.
- the cleaning robot in question is placed in a free storage compartment with the help of the movable lift system. Opportunity charging takes place in the storage compartment via the existing charging contact. After charging is complete, the cleaning robot is brought back to the surface to be cleaned via the lift system in order to continue its cleaning task.
- a quick-charging module is arranged on the suction platform, which is set up to quickly charge a cleaning robot during emptying and/or cleaning.
- the cleaning robot has to find the cart: If the cleaning robot had an existing map at its disposal at the start of the cleaning, the current position of the cart was defined as the starting point on this map, so that the cleaning robot can find the cart itself in order to be brought in. If no map was available when the cleaning started, the position of the cart should be set as the zero point of a map newly constructed by the cleaning robot.
- the trolley can emit the guide beam such as the IR guide beam, which enables the cleaning robots to locate and approach the trolley exactly.
- the cleaning robots are brought into the trolley using the moveable lift system.
- the cleaning robot is preferred over the Introduction subjected to a suction and, if necessary, cleaning process, so that the cleaning robot is stowed empty and clean in one of the storage compartments of the car.
- the user can remove it from the area to be cleaned. To do this, the user folds in the foldable receiving element of the lift system and the foldable suction platform again and closes the door element, which he can preferably lock.
- the collection dirt container of the suction system can be removed and emptied using the handle, for example.
- the receiving element is moved in order to transport the cleaning robot arranged on it to one of the storage compartments.
- Figures 1 to 8 show a sequence of a part of a method according to the invention, in which one of the cleaning robots stowed in the carriage is deployed at the beginning of a cleaning phase in which the cleaning robots carry out cleaning tasks, in partial side/partial cross-sectional view, partial top/partial cross-sectional view and cross-sectional view of a carriage according to the invention.
- the Figures 1 to 8 represent the removal of one of the cleaning robots R from the trolley 1, comprising a step of opening the door element 7 so that the receiving element 12 and the suction platform 13 are exposed, a step of folding out the receiving element 12 and the suction platform 13 so that they are on a surface U rest on which the trolley 1 is in an operational set-up position, and moving the receiving element (12) by means of the lift system LI to one of the storage compartments 2 in order to enable a cleaning robot R arranged in this storage compartment 2 to be arranged on the receiving element 12 and moving of the receiving element 12 after receiving this cleaning robot R, so that it rests on the ground U and the cleaning robot R is enabled to leave the car 1 independently to the cleaning robot R from to deploy the car 1.
- the step of moving the receiving element 12 is repeated until a predetermined number of the cleaning robots R have been removed from the carriage.
- the cleaning robots are brought back into the car by repeatedly moving the receiving element after one of the cleaning robots has been placed on it to one of the storage compartments, so that the storage compartment can be accessed by the cleaning robot, which is not shown here. Then the suction platform and the receiving element are folded in manually or automatically and the door element is closed, which is not shown here.
- the cleaning phase is ended in the reverse order to that in Figures 1 to 8 shown deployment of the cleaning robots R from the car 1.
- FIG. 12 shows a partial side/partial cross-sectional view of a cart according to the invention before a deployment of one of the cleaning robots stored in the cart begins.
- the carriage 1 has outer walls 10 between which a plurality of storage compartments 2 stacked vertically one above the other are accommodated, in each of which one of the cleaning robots R is stowed.
- the carriage 1 also has transport wheels 4, which are designed to move the carriage 1 in the operational set-up position over a subsurface U, with the carriage 1 also having adjustable blocking elements 5, which are designed to block the transport wheels 4 in a blocked state and the Release transport wheels 4 in an unlocking state. Thereby, the carriage 1 is fixed in the locked state and movable in the unlocked state.
- the carriage 1 has a handle 3 for better mobility or displaceability.
- the trolley 1 also has a suction system A, which has a foldable suction platform 13 and is designed to empty one of the cleaning robots R when it is arranged on the suction platform 13, which is not shown here.
- the trolley 1 In order to move the cleaning robots R in and out, the trolley 1 also has a lift system LI with a foldable receiving element (not shown).
- the lift system LI is designed to bring the cleaning robots R individually into the storage compartments 2 and remove them from the storage compartments 2 by means of the receiving element in its unfolded state, which is not shown here.
- the carriage 1 has at least one door element 7 which can be arranged in such a way that it closes or exposes the outer walls 10 by being arranged in front of the folded-in receiving element 12 . In 1 closes the door element 7, the foldable receiving element 12 and the suction platform 13, so that the interior of the car is closed by means of the outer walls 10 and the door element 7.
- the suction platform 13 is by means a hinge 14 foldable.
- the door element 7 is designed as two sliding doors, each of which is provided with a handle 6 and can be slid on guide rails 8 .
- the trolley 1 has an operating panel 15 via which a user (not shown) can control the trolley 1 and, for example, the insertion and removal of the cleaning robots R in and out of the trolley 1 .
- the carriage 1 also has a handle 16 . By pulling on the handle 16, a collecting dirt container (not shown) of the suction system (not shown) can be removed from the carriage 1 for emptying dirt collected in it.
- the door element 7 is designed as the two sliding doors, which are slidable into an intermediate space 9 between an outer wall 10 and an interior 11 of the carriage 1 by means of the guide rail (not shown), as indicated by arrows.
- the carriage 1 has an infrared interface IR, which is designed to support a cleaning robot R arranged on the suction platform 13 in positioning itself correctly on it for suction.
- FIG. 3 shows a part top/part cross section view of the in 1 shown car in a partially open condition.
- the door element 7 is located in the space 9 between the outer wall 10 and the interior 11.
- the receiving element 12 and the suction platform 13 are exposed. They can now be opened automatically by means of an electric motor (not shown) or manually by a user (not shown) by means of the hinge 14, whereby they 3 are partially opened.
- the receiving element 12 is segmented.
- the suction platform 13 is arranged between two receiving element segments of the receiving element 12 .
- FIG. 4 shows a partial side cross-sectional view of the in 3 shown car in the partially open condition.
- the suction platform 13 and the receiving element 12 are partially unfolded in the direction of the arrows.
- the blocking elements 5 are shown in an unblocking state, in which the transport wheels 4 do not block. However, they can also be in a blocked state in which they block the transport wheels 4 .
- Both the suction platform 13 and the receiving element 12 are each provided with a hinge 14 .
- FIG. 5 shows a cross-sectional view of the in 1 shown car in an open condition.
- the suction platform 13 rests on the base U, while the receiving element 12 is moved vertically by means of the lift element LI to one of the storage compartments 2, in which a cleaning robot R to be deployed is stowed, which moves in the direction of the arrow from the storage compartment 2 onto the receiving element 12.
- the blocking elements 5 are in the blocking state, as indicated by arrows, around the carriage 1 in position to fix.
- the suction system A has a collecting dirt container SB for collecting dirt extracted from cleaning robots R by means of the suction system A and a suction channel which connects the collecting dirt container to the suction platform 13 and opens into an opening (not shown) formed in the suction platform 13 .
- the suction system also has a fan (not shown) which, when activated, generates an air flow so that dirt is sucked out of a cleaning robot R arranged on the suction platform 13 via the suction channel 19 into the collection dirt container SB.
- Each storage compartment 2 has a charging contact L, which is designed to be contacted with a cleaning robot R arranged in the corresponding storage compartment 2 in order to supply the cleaning robot R with energy using a power supply unit (not shown) of the trolley (1).
- FIG. 6 shows another cross-sectional view of the in figure 5 shown car in the open condition.
- the carriage 1 has a controller S which is designed to control the bringing in and bringing out of the cleaning robots R and their suction process.
- FIG. 7 shows another cross-sectional view of the in 6 shown car in a further open state.
- the receiving element 12 is moved vertically in the direction of the substrate U with the cleaning robot R arranged on it, as indicated by an arrow.
- FIG 8 shows another cross-sectional view of the in 7 shown car in a still further opened condition.
- the receiving element (not shown) now rests on the base U, so that the cleaning robot R can leave the carriage 1 by moving in the direction of the arrow.
- FIG. 9 Figure 12 shows a cross-sectional view of another trolley according to the invention.
- the inside 9 shown car corresponds to the in 8 Car shown with the difference that it still has expansion modules 17.
- Each extension module 17 has connecting elements 18 for connecting the extension module 17 to the trolley 1, a storage compartment 2 including charging contact L and an extension of the lift system LI, which are arranged in parts of the outer walls 10 so that the extension module 17 can be attached to the top storage compartment 2 of the Car 1 can be placed and connected by means of connecting elements 18.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Electric Suction Cleaners (AREA)
- Electric Vacuum Cleaner (AREA)
- Handcart (AREA)
Abstract
Die Erfindung betrifft einen Wagen (1) zur Verstauung, Entleerung und Energieversorgung von Reinigungsrobotern (R), aufweisend- eine Energieversorgungseinheit, die ausgebildet ist, mit einem Stromnetz verbunden zu werden,- Staufächer (2) zum Verstauen der Reinigungsroboter (R), wobei jedes Staufach (2) einen Ladekontakt (L) aufweist, der ausgebildet ist, mit einem in dem entsprechenden Staufach (2) angeordneten Reinigungsroboter (R) kontaktiert zu werden, um den Reinigungsroboter (R) mittels der Energieversorgungseinheit mit Energie zu versorgen,- Transporträder (4), die ausgebildet sind, den Wagen (1) über einen Untergrund (U) zu bewegen,- ein Absaugsystem (A), das eine klappbare Absaugplattform (13) aufweist und ausgebildet ist, einen der Reinigungsroboter (R) zu entleeren, wenn er auf der Absaugplattform (13) angeordnet ist,- ein Liftsystem (LI) mit einem klappbaren Aufnahmeelement (12), wobei das Liftsystem (LI) ausgebildet ist, die Reinigungsroboter (R) einzeln mittels des Aufnahmeelementes (12) in seinem ausgeklappten Zustand zu den Staufächern (2) und von den Staufächer (2) weg zu transportieren, und- mindestens ein Türelement (7), das derart anordbar ist, dass es das klappbare Aufnahmeelement (12) und die klappbare Absaugplattform (13) verschließt oder freilegt.Ferner betrifft die Erfindung ein entsprechendes Verfahren zum Ein- und Ausbringen von Reinigungsrobotern (R) in und aus einem Wagen (1).The invention relates to a trolley (1) for stowing, emptying and supplying power to cleaning robots (R), comprising- a power supply unit which is designed to be connected to a power supply,- storage compartments (2) for stowing the cleaning robot (R), wherein each storage compartment (2) has a charging contact (L) which is designed to be contacted with a cleaning robot (R) arranged in the corresponding storage compartment (2) in order to supply the cleaning robot (R) with energy using the energy supply unit, - transport wheels (4), which are designed to move the carriage (1) over an underground (U), - a suction system (A) which has a foldable suction platform (13) and is designed to empty one of the cleaning robots (R), when it is arranged on the suction platform (13), - a lift system (LI) with a foldable receiving element (12), the lift system (LI) being designed to hold the cleaning robots (R) individually by means of the receptacle eelements (12) in its unfolded state to the storage compartments (2) and away from the storage compartments (2), and at least one door element (7) which can be arranged in such a way that the foldable receiving element (12) and the foldable The suction platform (13) is closed or exposed. The invention also relates to a corresponding method for moving cleaning robots (R) in and out of a trolley (1).
Description
Die Erfindung betrifft einen Wagen und ein Verfahren zum Ein- und Ausbringen von Reinigungsrobotern in den und aus dem Wagen. Insbesondere betrifft die Erfindung einen Wagen zum Verstauen bzw. Lagern von Reinigungsrobotern und ein Verfahren zum Ein- und Ausbringen von Reinigungsrobotern in den und aus dem Wagen.The invention relates to a trolley and a method for moving cleaning robots in and out of the trolley. In particular, the invention relates to a cart for storing cleaning robots and a method for loading and unloading cleaning robots into and out of the cart.
Insbesondere zur Reinigung größerer gewerblicher Bodenflächen wie bspw. Verkaufsflächen in Modehäusern wird ein Reinigungssystem eingesetzt, das eine Flotte mehrerer autonomer bzw. selbstfahrender Reinigungsroboter und eine oder mehrere Basisstationen aufweist, die zur Entleerung und Energieversorgung der Reinigungsroboter ausgebildet ist oder sind. Hierbei ergeben sich folgende Probleme: In der nicht aktiven Reinigungszeit, in der die Reinigungsroboter keine Reinigungsaufgaben durchführen, nimmt eine Flotte bzw. nehmen die einzelnen Reinigungsroboter der Flotte samt ihrer Basisstation(en) viel Platz in Anspruch. Im gewerblichen Anwendungskontext ist dieser hohe Platzanspruch des Reinigungssystems problematisch. So stellt insbesondere auf Verkaufsflächen jeder belegte Quadratmeter einen direkten Eingriff in die Wirtschaftlichkeit des betreffenden Geschäfts dar. Zudem kann das Warenbild durch die umherstehenden Roboter negativ beeinträchtigt werden. Weiterhin besteht die Gefahr, dass außerhalb der aktiven Reinigungszeit Roboter gestohlen oder beschädigt werden.In particular for cleaning larger commercial floor areas such as sales areas in fashion stores, a cleaning system is used that has a fleet of several autonomous or self-propelled cleaning robots and one or more base stations that are designed to empty and supply power to the cleaning robots. The following problems arise here: During the non-active cleaning time, in which the cleaning robots do not carry out any cleaning tasks, a fleet or the individual cleaning robots of the fleet together with their base station(s) take up a lot of space. In the commercial application context, this high space requirement of the cleaning system is problematic. In particular, every occupied square meter in sales areas represents a direct intervention in the profitability of the business in question. In addition, the appearance of the goods can be adversely affected by the robots standing around. There is also a risk that robots will be stolen or damaged outside of the active cleaning time.
Aus der
Der Erfindung stellt sich somit das Problem, einen eine Reinigungsstation bereitzustellen, die eine hohe Einsatzflexibilität und -vielfalt bei einfachster Bedienung aufweist, kostengünstig ist, und deren Reinigungsroboter vor äußeren Einflüssen bei Inaktivität geschützt sind.The invention therefore faces the problem of providing a cleaning station that has a high degree of flexibility and variety of use with the simplest operation, is inexpensive, and whose cleaning robots are protected from external influences during inactivity.
Erfindungsgemäß wird dieses Problem durch einen Wagen mit den Merkmalen des Patentanspruchs 1 und ein Verfahren mit den Merkmalen des Patentanspruchs 11 gelöst. Vorteilhafte Ausgestaltungen und Weiterbildungen der Erfindung ergeben sich aus den nachfolgenden Unteransprüchen.According to the invention, this problem is solved by a carriage having the features of
Die mit der Erfindung erreichbaren Vorteile bestehen darin, dass die Reinigungsroboter in dem Wagen sicher verstaut und mittels einer Tür vor äußeren Einflüssen geschützt sind. Zudem ist der Wagen kostengünstig, weil er sich manuell mittels des Handgriffs bewegen lässt. Elektrische Antriebsvorrichtungen sind zur Bewegung des Wagens nicht notwendig. Dadurch ist der Wagen kostengünstig und kann leicht und flexibel von Reinigungspersonal an Einsatzorte gebracht werden. Das Umpositionieren des Wagens erfordert keine Multiportroboters spezielle Bedien-Fähigkeiten. Zudem ist der Wagen weniger anfällig gegenüber Fehlern wie beispielsweise Softwareproblemen. Positions- und Richtungsangaben beziehen sich auf eine betriebsgemäße Aufstell- bzw. Arbeitsposition des Wagens.The advantages that can be achieved with the invention are that the cleaning robots are safely stowed in the car and protected from external influences by a door. In addition, the trolley is inexpensive because it can be moved manually using the handle. Electrical drive devices are not necessary to move the carriage. As a result, the trolley is inexpensive and can be easily and flexibly brought to the place of use by cleaning staff. The repositioning of the carriage does not require any multiport robot special operating skills. In addition, the car is less susceptible to errors such as software problems. Information on position and direction refers to an operational set-up or working position of the trolley.
Die Erfindung betrifft einen Wagen zur Verstauung, Entleerung, Reinigung und Energieversorgung von Reinigungsrobotern, aufweisend
- eine Energieversorgungseinheit, die ausgebildet ist, mit einem Stromnetz verbunden zu werden,
- Staufächer zum Verstauen der Reinigungsroboter, wobei jedes Staufach einen Ladekontakt aufweist, der ausgebildet ist, mit einem in dem entsprechenden Staufach angeordneten Reinigungsroboter kontaktiert zu werden, um den Reinigungsroboter mittels der Energieversorgungseinheit mit Energie zu versorgen,
- Transporträder, die ausgebildet sind, den Wagen über einen Untergrund zu bewegen,
- ein Absaugsystem, das eine klappbare Absaugplattform aufweist und ausgebildet ist, einen der Reinigungsroboter zu entleeren, wenn er auf der Absaugplattform angeordnet ist,
- ein Liftsystem mit einem klappbaren Aufnahmeelement, wobei das Liftsystem ausgebildet ist, die Reinigungsroboter einzeln mittels des Aufnahmeelementes in seinem ausgeklappten Zustand zu den Staufächern und von den Staufächer weg zu transportieren, und
- mindestens ein Türelement, das derart anordbar ist, dass es das klappbare Aufnahmeelement und die klappbare Absaugplattform verschließt oder freilegt.
- an energy supply unit that is designed to be connected to a power grid,
- Storage compartments for storing the cleaning robots, each storage compartment having a charging contact which is designed to be contacted with a cleaning robot arranged in the corresponding storage compartment in order to supply the cleaning robot with energy using the energy supply unit,
- Transport wheels designed to move the carriage over a surface,
- a suction system that has a foldable suction platform and is designed to empty one of the cleaning robots when it is arranged on the suction platform,
- a lift system with a foldable receiving element, wherein the lift system is designed to transport the cleaning robots individually by means of the receiving element in its unfolded state to the storage compartments and away from the storage compartments, and
- at least one door element that can be arranged in such a way that it closes or exposes the foldable receiving element and the foldable suction platform.
Durch die einfache, manuelle Verfahrbarkeit des Wagens mittels eines Nutzers von Einsatzort zu Einsatzort werden folgende Vorteile generiert: Erhöhte Einsatzflexibilität und - vielfältigkeit des Reinigungssystems, bessere Transportierbarkeit des Wagens, da das Reinigungssystem leicht, kompakt und wendig aufgebaut ist. Zudem wird eine Reduzierung der Kosten des Wagens erreicht, da keine aufwendige Navigationstechnologie sowie Software in dem Wagen verbaut und/oder eingesetzt werden muss. Eine einfachere Bedienung des Wagens wird bereitgestellt, so dass keine Robotikkenntnisse zum Bewegen des Wagens zum Einsatzort notwendig ist. Der Wagen ist einfach verständlich und autark aufgebaut. Reinigungspersonal mit wenigen Kenntnissen kann mit dem Wagen umgehen. Zudem erfolgt eine Reduzierung der Fehleranfälligkeit des Reinigungssystems insbesondere des Wagens durch beispielsweise Softwareprobleme, da wenig hochkomplexe Technik und/ oder Software eingesetzt wird. Der Wagen weist eine gute Robustheit auf, was eine Anfälligkeit des Wagens gegenüber äußeren Einflüssen wie beispielsweise Stößen reduziert. Zudem benötigt der Wagen keine Navigationselemente, die beschädigt werden können.The following advantages are generated by the simple, manual mobility of the trolley by a user from one place of use to the next: Increased application flexibility and variety of the cleaning system, better transportability of the trolley because the cleaning system is light, compact and manoeuvrable. In addition, a reduction in the costs of the car is achieved since no complex navigation technology or software has to be installed and/or used in the car. Easier operation of the cart is provided so that no robotics knowledge is required to move the cart to the job site. The car is easy to understand and self-sufficient. Cleaning staff with little knowledge can handle the trolley. In addition, there is a reduction in the susceptibility to errors of the cleaning system, in particular of the carriage, due to software problems, for example, since little highly complex technology and/or software is used. The trolley has good robustness, which reduces the trolley's susceptibility to external influences such as impacts. In addition, the car does not require any navigation elements that can be damaged.
Das Türelement bildet zusammen mit Außenwänden des Wagens ein Gehäuse, das wenn das Türelement geschlossen ist, das Wageninnere vollständig ummantelt. Die im Wagen verstauten Reinigungsroboter, die Staufächer, das Liftsystem und die Absaugplattform sind dann komplett ummantelt. Durch das Türelement sind die einzelnen Reinigungsroboter während der Lagerung im Wagen vor Diebstahl oder Beschädigung durch äußere Einflüsse geschützt.Together with the outer walls of the car, the door element forms a housing which, when the door element is closed, completely encloses the interior of the car. The cleaning robots stowed in the trolley, the storage compartments, the lift system and the extraction platform are then completely encased. The door element protects the individual cleaning robots from theft or damage from external influences during storage in the trolley.
Der Wagen dient als Basisstation für eine Mehrzahl von Reinigungsrobotern. Zusammen mit den Reinigungsrobotern bildet der Wagen ein Reinigungssystem in Form einer mobilen Reinigungsstation. Eine Flotte von mehreren Reinigungsrobotern ist außerhalb der Reinigungsphase, in der die Reinigungsroboter Reinigungsaufgaben ausführen, im Inneren des mobilen Wagens verstaut. Der Wagen verfügt über eine der Anzahl der Reinigungsrobotern entsprechende Anzahl an Staufächern, in denen die Reinigungsroboter außerhalb der Reinigungsphase gelagert werden und die jeweils über einen eigenen Ladekontakt zur Energieversorgung des in ihm gelagerten Reinigungsroboters verfügen.The trolley serves as a base station for a number of cleaning robots. Together with the cleaning robots, the trolley forms a cleaning system in the form of a mobile cleaning station. A fleet of multiple cleaning robots is stowed inside the mobile cart outside of the cleaning phase when the cleaning robots perform cleaning tasks. The trolley has a number of storage compartments corresponding to the number of cleaning robots, in which the cleaning robots are stored outside of the cleaning phase and which each have their own charging contact for supplying energy to the cleaning robot stored in it.
Der Wagen weist eine Energieversorgungseinheit auf, die ausgebildet ist, den Wagen und in ihm verstaute Reinigungsroboter mit elektrischer Energie zu versorgen. D. h., die Energieversorgungseinheit ist dazu ausgelegt, sämtliche Komponenten des Wagens als auch die Energiespeichereinheiten der Reinigungsroboter mit elektrischer Energie zu versorgen. Zum Aufladen der Energieversorgungseinheit kann der Wagen über einen Netzanschluss verfügen. Der Netzanschluss kann bei Bedarf leicht vom Stromnetz getrennt werden, wenn der Wagen zu einem Einsatzort bewegt werden soll. Alternativ oder zusätzlich ist die Energieversorgungseinheit in Form eines Akkumulators entnehmbar in und/oder an dem Wagen angeordnet. Die Energieversorgungseinheit ermöglicht dann einen Reinigungsbetrieb, welcher weitestgehend autark von bestehenden Anschlüssen eines Gebäude-Stromversorgungsnetzes ist. Darüber hinaus erhöht im Falle eines Akkumulators der Wegfall eines sonst erforderlichen Netzanschlusskabels den Mobilitätsgrad des Wagens. Zudem kann die Verwendung eines Akkumulators als Energieversorgungseinheit vorteilhaft sein, weil Gewerbeflächen üblicherweise eine überschaubare Anzahl an Steckdosen aufweisen, und die Positionierung des Wagens auf der zu reinigenden Fläche frei erfolgen kann und nicht örtlich an Steckdosen gebunden ist. Somit kann die hinsichtlich eines effizienten Einsatzes der Reinigungsroboterflotte sinnvollste Positionierung auf der zu reinigenden Fläche gewählt werden.The trolley has an energy supply unit which is designed to supply the trolley and the cleaning robots stowed in it with electrical energy. In other words, the energy supply unit is designed to supply electrical energy to all of the components of the trolley and also to the energy storage units of the cleaning robots. The trolley can have a mains connection for charging the energy supply unit. The mains connection can be easily disconnected from the mains if necessary the car is to be moved to an operation site. Alternatively or additionally, the energy supply unit is arranged in and/or on the carriage in the form of a rechargeable battery. The energy supply unit then enables a cleaning operation which is largely self-sufficient from existing connections of a building power supply network. In addition, in the case of an accumulator, the omission of a mains connection cable, which would otherwise be required, increases the degree of mobility of the car. In addition, the use of an accumulator as an energy supply unit can be advantageous because commercial areas usually have a manageable number of sockets and the trolley can be positioned freely on the area to be cleaned and is not tied to sockets locally. In this way, the most sensible positioning on the surface to be cleaned can be selected with regard to efficient use of the cleaning robot fleet.
Der Ladekontakt ist bevorzugt mit einem korrespondierenden Kontakt an dem sich im Staufach befindenden Reinigungsroboter in Verbindung gebracht, wenn der Reinigungsroboter in dem Staufach angeordnet ist. Über die in Verbindung stehenden Ladekontakte wird eine Aufladung der Energiespeichereinheit der Reinigungsroboter bewirkt, wenn diese in ihren jeweiligen Staufach angeordnet sind. Die Ladevorrichtung kann eine berührungslose Aufladung der Energiespeichereinheit der Reinigungsroboter bewirken. Es entfällt ein manuell initiiertes Laden jedes einzelnen Reinigungsroboters.The charging contact is preferably connected to a corresponding contact on the cleaning robot located in the storage compartment when the cleaning robot is arranged in the storage compartment. The energy storage unit of the cleaning robots is charged via the connected charging contacts when they are arranged in their respective storage compartment. The charging device can bring about contactless charging of the energy storage unit of the cleaning robot. Manually initiated loading of each individual cleaning robot is no longer necessary.
Das Absaugsystem ist ausgebildet, die Reinigungsroboter von Verschmutzungen zu befreien, die aus deren Reinigungsbetrieb resultieren. Dabei kann es sich um oberflächliche Verschmutzungen der Gehäuse der Reinigungsroboter handeln. Zudem kann das Absaugsystem dazu ausgelegt sein, die Sensorik und Reinigungselemente der Reinigungsroboter von Verschmutzungen zu reinigen. Bevorzugt sind derartige Reinigungsfunktionen in die klappbare Absaugplattform integriert. Weiterhin ist das Absaugsystem ausgebildet, Schmutzbehälter der Reinigungsroboter zu entleeren, in denen die Reinigungsroboter beim Reinigungsbetrieb aufgenommenen Schmutz sammeln.The suction system is designed to remove dirt from the cleaning robots that result from their cleaning operation. This can be superficial dirt on the housing of the cleaning robot. In addition, the suction system can be designed to clean the sensors and cleaning elements of the cleaning robots from dirt. Such cleaning functions are preferably integrated into the foldable suction platform. Furthermore, the suction system is designed to empty dirt containers of the cleaning robots, in which the cleaning robots collect dirt picked up during the cleaning operation.
Bevorzugt weist der Wagen einen Sammel-Schmutzbehälter auf, in dem der aus den Reinigungsrobotern abgesaugte Schmutz gesammelt wird. Bevorzugt ist der Sammel-Schmutzbehälter mit dem Wagen lösbar verbunden, so dass er von ihm bei Bedarf entnehmbar ist. Bevorzugt ist er mit einem Griff zur Entnahme vom Wagen versehen. Bevorzugt enthält das Absaugsystem ein Gebläse, das ausgebildet ist, bei Aktivierung einen Luftstrom zu erzeugen, mittels dem die Reinigungsroboter entleert werden können. Bevorzugt weist das Absaugsystem eine Absaugöffnung, die in die Absaugplattform integriert ist, und einen Absaugkanal auf, der die Absaugöffnung mit dem Sammel-Schmutzbehälter verbindet.The trolley preferably has a collecting dirt container in which the dirt sucked out of the cleaning robots is collected. The collecting dirt container is preferably detachably connected to the trolley, so that it can be removed from it if necessary. It is preferably provided with a handle for removal from the trolley. The suction system preferably contains a fan that is designed to generate an air flow when activated, by means of which the cleaning robots can be emptied. The suction system preferably has a suction opening that is integrated into the suction platform and a suction channel that connects the suction opening to the dirt collection container.
Dadurch kann einer der Reinigungsroboter mittels eines durch das Gebläse erzeugten Saugstroms entleert werden, wenn er auf der Absaugplattform positioniert ist.As a result, one of the cleaning robots can be emptied by means of a suction flow generated by the fan when it is positioned on the suction platform.
Bei den Reinigungsrobotern, welche in dem erfindungsgemäßen Wagen verstaut und transportiert werden können, handelt es sich bevorzugt um Saug- und/oder Wischroboter, bevorzugter um Saugroboter, die autonom und selbstfahrend sind. In den Wagen sind bevorzugt mindestens zwei, bevorzugt mindestens 3 bis 15, bevorzugter 4 bis 10 Reinigungsroboter verstaubar, d.h. in einem jeweiligen Staufach positionierbar.The cleaning robots that can be stowed and transported in the trolley according to the invention are preferably suction and/or wiping robots, more preferably suction robots that are autonomous and self-propelled. Preferably at least two, preferably at least 3 to 15, more preferably 4 to 10 cleaning robots can be stowed in the trolley, i.e. can be positioned in a respective storage compartment.
Mittels der Transporträder ist der Wagen leicht bewegbar. Um zu einem Einsatzort zu gelangen genügt es, dass ein Nutzer ihn dort hinschiebt. In einer bevorzugten Ausführungsform weist der Wagen weiterhin einen Handgriff auf, mittels dem der Wagen als Ganzes mit Hilfe der Transporträder beweglich ist. Dadurch wird das Bewegen des Wagens zu dem Einsatzort weiterhin vereinfacht.The trolley can be easily moved using the transport wheels. In order to get to a place of use, it is sufficient for a user to push it there. In a preferred embodiment, the carriage also has a handle by means of which the carriage can be moved as a whole with the aid of the transport wheels. This further simplifies moving the cart to the job site.
Bevorzugt liegen die klappbare Absaugplattform und das klappbare Aufnahmeelement in einem ausgeklappten Zustand auf einem Untergrund auf, auf dem die Transporträder stehen, bezogen auf eine betriebsgemäße Aufstellposition des Wagens. Bevorzugt sind das Aufnahmeelement und die Absaugplattform um 90° klappbar. Ermöglicht werden kann das durch entsprechend angebrachte Scharniere. Bevorzugt liegen die klappbare Absaugplattform und das klappbare Aufnahmeelement im ausgeklappten Zustand flach auf dem Untergrund auf. Bevorzugt ist das klappbare Aufnahmeelement segmentiert und weist bevorzugt zwei Aufnahmeelement-Segmente auf.In a folded-out state, the foldable suction platform and the foldable receiving element preferably lie on a base on which the transport wheels stand, based on an operational set-up position of the trolley. The receiving element and the suction platform can preferably be folded by 90°. This can be made possible by appropriately attached hinges. The foldable suction platform and the foldable receiving element preferably lie flat on the ground when folded out. The foldable receiving element is preferably segmented and preferably has two receiving element segments.
Bevorzugt ist die Absaugplattform zwischen zwei Aufnahmeelement-Segmenten angeordnet und von diesen separiert. Die zwei Aufnahmeelement-Segmente und die Absaugplattform sind bevorzugt derart dimensioniert, dass ein Reinigungsroboter mit seinen Rändern die zwei Aufnahmeelement-Segmente befährt, und sein Körper sich oberhalb der Absaugplattform zwischen den zwei Aufnahmeelement-Segmenten erstreckt. Somit ist es möglich, dass das Aufnahmeelement vertikal verfahren werden kann, um den auf den Aufnahmeelement-Segmenten auf seinen Rädern angeordneten Reinigungsroboter zu einem der Staufächer zu transportieren, ohne dass die Absaugplattform mit verfahren werden muss.The suction platform is preferably arranged between two receiving element segments and separated from them. The two receiving element segments and the suction platform are preferably dimensioned in such a way that a cleaning robot moves over the two receiving element segments with its edges and its body extends above the suction platform between the two receiving element segments. It is thus possible for the receiving element to be moved vertically in order to transport the cleaning robot, which is arranged on its wheels on the receiving element segments, to one of the storage compartments without the suction platform also having to be moved.
In einer bevorzugten Ausführungsform sind mehrere der oder alle Staufächer vertikal übereinander gestapelt angeordnet. Bevorzugt sind sie voneinander lösbar montiert. Dadurch wird weiterhin Platz auf einem Untergrund eingespart, auf dem der Wagen angeordnet ist.In a preferred embodiment, several or all of the storage compartments are stacked vertically one on top of the other. They are preferably mounted detachably from one another. This further saves space on a floor on which the carriage is placed.
In einer bevorzugten Ausführungsform ist das klappbare Aufnahmeelement in dem aufgeklappten Zustand vertikal verfahrbar, bezogen auf eine betriebsgemäße Aufstellposition des Wagens. Das Liftsystem ist ausgebildet, das Aufnahmeelement automatisch vertikal zu verfahren und weist beispielsweise einen Elektromotor auf.In a preferred embodiment, the foldable receiving element can be moved vertically in the unfolded state, relative to an operational set-up position Of the car. The lift system is designed to automatically move the receiving element vertically and has an electric motor, for example.
Bevorzugt weist der Wagen weiterhin ein Bedienpaneel auf, das derart ausgebildet ist, dass ein Nutzer den Wagen interaktiv bedienen kann. Über das Bedienpanel kann der Nutzer beispielsweise einen Reinigungsmodus starten, in dem die in ihm verstauten Reinigungsroboter aus dem Wagen ausgebracht werden, um ihre Reinigungsaufgaben zu erfüllen. Der Wagen weist bevorzugt eine Steuerung auf, die ausgebildet ist, den Reinigungsmodus nach Aktivierung sofort beginnen zu lassen. Alternativ oder zusätzlich kann in der Steuerung auch ein Timer hinterlegt sein, der einen Start des Reinigungsmodus zu einem späteren Zeitpunkt gewährleistet, wenn gewünscht. Der Nutzer kann nach Aktivierung des Reinigungsmodus die zu reinigende Fläche verlassen, da der Wagen und die Reinigungsroboter die aktivierte Reinigung nun selbständig ausführen. Es sind keine weiteren Arbeitsschritte zum Beginnen und Beenden der Reinigung mehr nötig, das Reinigungssystem arbeitet autark weiter.The trolley preferably also has an operating panel which is designed in such a way that a user can operate the trolley interactively. For example, the user can use the control panel to start a cleaning mode in which the cleaning robots stored in it are removed from the trolley to carry out their cleaning tasks. The trolley preferably has a controller that is designed to start the cleaning mode immediately after activation. Alternatively or additionally, a timer can also be stored in the controller, which ensures that the cleaning mode can be started at a later point in time, if desired. After activating the cleaning mode, the user can leave the area to be cleaned, since the trolley and the cleaning robots now carry out the activated cleaning independently. No further work steps are necessary to start and end the cleaning, the cleaning system continues to work independently.
Die Steuerung ist bevorzugt ausgelegt, das Ein- und Ausbringen, Absaugen und ggf. Reinigen der Reinigungsroboter automatisch zu steuern.The controller is preferably designed to automatically control the introduction and removal, suction and, if necessary, cleaning of the cleaning robots.
Bevorzugt weist der Wagen weiterhin verstellbare Blockierelemente auf, die ausgebildet sind, die Transporträder in einem Blockierzustand zu blockieren und die Transporträder in einem Deblockierzustand freizugeben. Dadurch kann der Wagen auf einer Reinigungsfläche fixiert werden, so dass ein versehentliches Anstoßen und/oder Verschieben des Wagens im Reinigungsbetrieb verhindert wird. Durch die Blockierung der Transporträder des Wagens insbesondere während der Reinigungsphase ist der Wagen gegen ungewollte Positionsveränderungen gesichert. Dadurch kann nicht gestört und/ oder verhindert werden, dass die Reinigungsroboter nach Beenden ihrer Reinigungsaufgaben den Wagen wiederfinden. Vielmehr ist gewährleistet, dass die Reinigungsroboter zurück zum Ausgangspunkt bzw. zurück in den Wagen finden. Bei Bedarf können die Transporträder des Wagens durch den Nutzer blockiert oder deblockiert werden. Bevorzugt die verstellbaren Blockierelemente mechanische Blockierelemente angebracht. Bevorzugt sind die Blockierelemente derart ausgebildet, dass sie per Fuß des Nutzers fixiert bzw. gelöst werden können. Das erleichtert die Handhabbarkeit.The carriage preferably also has adjustable blocking elements which are designed to block the transport wheels in a blocked state and to release the transport wheels in an unblocked state. As a result, the carriage can be fixed on a cleaning surface so that accidental bumping and/or displacement of the carriage during cleaning operation is prevented. By blocking the transport wheels of the trolley, especially during the cleaning phase, the trolley is secured against unwanted changes in position. As a result, it cannot be disturbed and/or prevented that the cleaning robots find the trolley again after completing their cleaning tasks. Rather, it is guaranteed that the cleaning robots find their way back to the starting point or back into the car. If necessary, the trolley's transport wheels can be blocked or unblocked by the user. The adjustable blocking elements are preferably fitted with mechanical blocking elements. The blocking elements are preferably designed in such a way that they can be fixed or released by the user's foot. This makes it easier to handle.
In einer bevorzugten Ausführungsform weist der Wagen weiterhin ein Schloss auf, das ausgebildet ist, das Türelement zu sichern. Dadurch werden die Reinigungsroboter weiterhin gegen Diebstahl oder Beschädigung durch äußere Einflüsse geschützt. Ein unerlaubtes Öffnen des Wagens und ein Entwenden der Reinigungsroboter durch Unbefugte wird weiterhin verhindert.In a preferred embodiment, the trolley also has a lock which is designed to secure the door element. This further protects the cleaning robots against theft or damage from external influences. Unauthorized opening of the trolley and stealing of the cleaning robots by unauthorized persons is still prevented.
Bevorzugt ist das Türelement derart ausgebildet, dass es manuell öffen- und schließbar ist. Bevorzugt ist das Türelement als Schiebetür ausgebildet, die in einen Zwischenraum zwischen einer Außenwand und einem Innenraum des Wagens verschiebbar ist. Der Wagen kann Führungsschienen zwischen dem Innenraum und den Außenwänden aufweisen, um das Schieben der Schiebetüren zu unterstützen. Dadurch benötigt der geöffneten Wagen weniger Platz, als wenn er aufklappbare Türen hätte. Bevorzugt weisen das Türelement einen oder mehrere Griffe auf, mithilfe von denen die Front des Wagens in Form des Türelements in Form von zwei Schiebetüren öffenbar ist, die nach außen aufgeschoben werden können.The door element is preferably designed in such a way that it can be opened and closed manually. The door element is preferably designed as a sliding door which can be slid into an intermediate space between an outer wall and an interior of the car. The cart may have guide rails between the interior and the exterior walls to assist in sliding the sliding doors. As a result, the open car takes up less space than if it had hinged doors. The door element preferably has one or more handles, with the aid of which the front of the trolley in the form of the door element can be opened in the form of two sliding doors which can be slid outwards.
In einer weiteren Ausführungsform ist das Türelement automatisch öffen- und verschließbar. Beispielsweise kann das Türelement per Bedienung über das Bedienpaneel automatisch öffenbar sein. Das Türelement kann über das Bedienpaneel weiterhin automatisch verschließbar sein. In einer weiteren Ausführungsform wird das Türelement mittels der Steuerung des Wagens automatisch verschlossen, nachdem alle Reinigungsroboter am Ende der Reinigungsphase in den Wagen eingebracht sind. In einer bevorzugten Ausführungsform weist der Wagen einen oder mehrere Elektromotoren auf, der oder die ausgebildet sind, das Türelement automatisch zu öffnen und verschließen.In a further embodiment, the door element can be opened and closed automatically. For example, the door element can be opened automatically by operation via the control panel. The door element can continue to be automatically lockable via the control panel. In a further embodiment, the door element is automatically closed by means of the control of the carriage after all cleaning robots have been introduced into the carriage at the end of the cleaning phase. In a preferred embodiment, the carriage has one or more electric motors which are designed to automatically open and close the door element.
Bevorzugt sind die Absaugplattform und/oder das Aufnahmeelement automatisch aus- und einklappbar. Bevorzugt wird dies weiterhin über einen oder mehrere Elektromotoren realisiert.Preferably, the suction platform and/or the receiving element can be folded out and in automatically. This is preferably also implemented via one or more electric motors.
Bevorzugt weist der Wagen elektronische Komponenten wie eine Infrarot-Schnittstelle IR auf, die ausgebildet sind, einen auf der Absaugplattform bzw. dem Aufnahmeelement angeordneten Reinigungsroboter zu unterstützen, sich zum Absaugen korrekt auf ihr zu positionieren.The carriage preferably has electronic components such as an infrared interface IR, which are designed to support a cleaning robot arranged on the suction platform or the receiving element in positioning itself correctly on it for suction.
Bevorzugt weist der Wagen ein Kommunikationssystem zum Datenaustausch mit den Reinigungsrobotern auf. Das Kommunikationssystem des Wagens ist in einer bevorzugten Ausführungsform zur kabellosen Datenübertragung wie beispielsweise als ein WLAN- oder Bluetooth-Modul ausgebildet. In einer weiteren Ausführungsform kann das Kommunikationssystem dazu ausgeführt sein, Daten mit einem externen elektrischen Gerät auszutauschen, welches zur Steuerung und/oder Überwachung des Wagens eingesetzt wird. Bei einem solchen externen Gerät kann es sich beispielweise um einen Personal Computer, ein Smartphone, eine Smartwatch oder ein Tablet handeln.The trolley preferably has a communication system for data exchange with the cleaning robots. In a preferred embodiment, the communication system of the car is designed for wireless data transmission, for example as a WLAN or Bluetooth module. In a further embodiment, the communication system can be designed to exchange data with an external electrical device that is used to control and/or monitor the car. Such an external device can be, for example, a personal computer, a smartphone, a smartwatch or a tablet.
Bevorzugt ist der Wagen modular aufgebaut. D.h., er verfügt über eine modulare Architektur. Dadurch muss er nicht stets im Ganzen transportiert und eingesetzt werden, sondern eine bedarfsgerechte, modulare Anpassung der Anzahl der eingesetzten Reinigungsroboter und damit eine Reduzierung und/oder eine Aufstockung der Kapazität ist möglich. Dies erhöht nochmals die Einsatzflexibilität des Wagens. Der Wagen weist bevorzugt Erweiterungsmodule auf, die jeweils auf das in der vertikalen Höhe am höchsten gelegene Staufach aufgesetzt und dort mit Hilfe von Verbindungselementen fixiert werden können. Die Erweiterungsmodule weisen jeweils ein Staufach samt Ladekontakt und Verbindungselemente auf, wobei das an dem Wagen befindliche Liftsystem durch Erweiterung seiner Endlage an die neue Situation anpassbar ist. Der Wagen kann somit für die Aufnahme von n Reinigungsrobotern auf n+x Reinigungsroboter bei x Erweiterungsmodulen erweitert werden, falls sich die Größe oder Anforderungen der zu reinigenden Bodenfläche ändern sollten oder falls der Wagen auf verschiedenen Flächen mit unterschiedlichen Anforderungen eingesetzt wird. Weiterhin wird der Transport des Wagens vereinfacht, da das Gesamtvolumen und -gewicht durch die gezielte Entnahme von Erweiterungsmodulen reduziert werden kann. Dies ist insbesondere beim Transport des Systems über verschiedene Etagen hinweg ohne Fahrstuhl sehr vorteilhaft.The carriage is preferably of modular design. That is, it has a modular architecture. As a result, it does not always have to be transported and used as a whole, but a needs-based, modular adjustment of the number of cleaning robots used and thus a reduction and/or increase in capacity is possible. This increases again the versatility of the car. The carriage preferably has extension modules, which can each be placed on the storage compartment that is located at the highest vertical height and can be fixed there with the aid of connecting elements. The expansion modules each have a storage compartment including charging contact and connecting elements, with the lift system on the car being adaptable to the new situation by expanding its end position. The trolley can thus be expanded to accommodate n cleaning robots to n+x cleaning robots with x expansion modules if the size or requirements of the floor area to be cleaned should change or if the trolley is used on different areas with different requirements. Furthermore, the transport of the trolley is simplified, since the total volume and weight can be reduced through the targeted removal of expansion modules. This is particularly advantageous when transporting the system across different floors without an elevator.
Der Wagen kann einen LiDar-Reflektor oder einen Leitstrahl-Sender wie einen IR-Leitstrahl-Sender aufweisen. Dadurch ermöglicht der Wagen den Reinigungsrobotern auf einfache Weise, ihn wiederzufinden.The carriage may have a LiDar reflector or a beacon such as an IR beacon. As a result, the trolley makes it easy for the cleaning robots to find it again.
Ferner betrifft die Erfindung ein Verfahren zum Ein- und Ausbringen von Reinigungsrobotern in und aus einem Wagen mit Staufächern zum Verstauen der Reinigungsroboter, einem Liftsystem mit einem klappbaren Aufnahmeelement zum Aufnehmen eines der Reinigungsroboter und Verfahren des aufgenommenen Reinigungsroboters und einem das Aufnahmeelement verschließendes oder freilegendes Türelement, wobei das Verfahren folgende Schritte aufweist:
- Öffnen des Türelements, so dass das Aufnahmeelement freiliegt,
- Ausklappen des Aufnahmeelementes, so dass es auf einem Untergrund aufliegt, auf dem der Wagen in einer betriebsgemäßen Aufstellposition steht, und
- Verfahren des Aufnahmeelementes nach Anordnung eines Reinigungsroboters auf ihm zu einem der Staufächer, so dass das Staufach für den Reinigungsroboter befahrbar ist, um einen der Reinigungsroboter in den Wagen einzubringen, oder
- Verfahren des Aufnahmeelementes mittels des Liftsystems zu einem der Staufächer, um einen in diesem Staufach angeordneten Reinigungsroboter zu ermöglichen, sich auf dem Aufnahmeelement anzuordnen und Verfahren des Aufnahmeelementes nach Aufnahme dieses Reinigungsroboters, so dass es auf den Untergrund aufliegt und dem Reinigungsroboter ermöglicht wird, den Wagen selbständig zu verlassen, um den Reinigungsroboter aus dem Wagen auszubringen,
- Wiederholen der Schritte des Verfahrens des Aufnahmeelementes bis eine vorbestimmte Anzahl der Reinigungsroboter in den bzw. aus dem Wagen ein- oder ausgebracht ist.
- opening the door element so that the receiving element is exposed,
- Unfolding the receiving element so that it rests on a surface on which the trolley is standing in an operational set-up position, and
- Method of the receiving element after arranging a cleaning robot on it to one of the storage compartments, so that the storage compartment for the cleaning robot is accessible to introduce one of the cleaning robots in the car, or
- Moving the receiving element by means of the lift system to one of the storage compartments in order to enable a cleaning robot arranged in this storage compartment to be arranged on the receiving element and moving the receiving element after this cleaning robot has been picked up, so that it lies on the ground and the cleaning robot is enabled to move the carriage to leave independently in order to remove the cleaning robot from the car,
- Repeating the steps of the movement of the pick-up member until a predetermined number of the cleaning robots are loaded or unloaded from the carriage.
Zu dem Wagen beschriebene Ausführungsformen und Vorteile gelten für das Verfahren entsprechend und umgekehrt.The embodiments and advantages described for the carriage apply correspondingly to the method and vice versa.
Außerhalb der Reinigungsphase, d.h., wenn die Reinigungsroboter keine Reinigungsaufgabe ausführen, sind sie in dem Wagen verstaut bzw. gelagert. Bei Beginn der Reinigungsphase startet der Wagen mit der Ausbringung der einzelnen Reinigungsroboter auf die zu reinigende Fläche. Hierzu werden die Roboter automatisch hintereinander mit Hilfe des verfahrbaren Liftsystems aus den Staufächern heraus auf den zu reinigenden Untergrund gebracht. Während der Durchführung der Reinigungsaufgaben können die einzelnen Reinigungsroboter am Wagen abgesaugt, gereinigt und/oder zwischengeladen werden.Outside the cleaning phase, i.e. when the cleaning robots are not performing a cleaning task, they are stowed or stored in the trolley. At the start of the cleaning phase, the trolley starts to deploy the individual cleaning robots onto the surface to be cleaned. For this purpose, the robots are automatically brought out of the storage compartments onto the surface to be cleaned with the help of the mobile lift system. While the cleaning tasks are being carried out, the individual cleaning robots on the trolley can be sucked off, cleaned and/or temporarily charged.
Zur Absaugung und ggf. Reinigung fährt der betreffende Reinigungsroboter auf die Absaugplattform, positioniert sich dort und wird über das Absaugsystem des Wagens abgesaugt, wobei der Saugstrom zum Entleeren des Reinigungsroboters durch das Gebläse erzeugt wird. Gleichzeitig können an dem Reinigungsroboter durch die Absaugplattform ergänzende Reinigungsfunktionen durchgeführt werden. Hierzu zählen bspw. Funktionen wie eine Reinigung von Borstwalzen, Sensoren oder ähnlichen Einrichtungen des Reinigungsroboters. Zur Zwischenladung wird der betreffende Reinigungsroboter mithilfe des verfahrbaren Liftsystems in ein freies Staufach eingebracht. In dem Staufach erfolgt die Zwischenladung über den vorhandenen Ladekontakt. Nach abgeschlossener Ladung wird der Reinigungsroboter über das Liftsystem wieder auf den zu reinigenden Untergrund gebracht, um seine Reinigungsaufgabe fortzusetzen. In einer alternativen Ausführungsform weist ist an der Absaugplattform ein Schnelllademodul angeordnet, welche dazu eingerichtet einen Reinigungsroboter während des Entleerens und/oder Reinigens schnellzuladen.For suction and, if necessary, cleaning, the cleaning robot in question drives onto the suction platform, positions itself there and is sucked off via the suction system of the trolley, with the suction flow for emptying the cleaning robot being generated by the fan. At the same time, additional cleaning functions can be performed on the cleaning robot by the suction platform. These include, for example, functions such as cleaning brush rollers, sensors or similar devices of the cleaning robot. For opportunity charging, the cleaning robot in question is placed in a free storage compartment with the help of the movable lift system. Opportunity charging takes place in the storage compartment via the existing charging contact. After charging is complete, the cleaning robot is brought back to the surface to be cleaned via the lift system in order to continue its cleaning task. In an alternative embodiment, a quick-charging module is arranged on the suction platform, which is set up to quickly charge a cleaning robot during emptying and/or cleaning.
Beendet ein Reinigungsroboter seine Reinigungsaufgabe, begibt er sich zurück zum Wagen. Dazu muss der Reinigungsroboter den Wagen auffinden: Stand dem Reinigungsroboter zum Reinigungsbeginn eine bereits vorhandene Karte zur Verfügung, wurde die aktuelle Position des Wagens als Startpunkt in dieser Karte definiert, so dass der Reinigungsroboter den Wagen selbst wiederfinden kann, um eingebracht zu werden. War zu Beginn der Reinigung keine Karte vorhanden, sollte die Position des Wagens als Nullpunkt einer vom Reinigungsroboter neu aufgebauten Karte festgelegt werden. Zudem kann der Wagen den Leitstrahl wie den IR Leitstrahl aussenden, der den Reinigungsrobotern das exakte Auffinden und Anfahren des Wagens ermöglicht. Das Einbringen der Reinigungsroboter in den Wagen erfolgt durch das verfahrbare Liftsystem. Bevorzugt wird der Reinigungsroboter vor der Einbringung einem Absaug- und ggf. Reinigungsvorgang unterzogen, so dass der Reinigungsroboter leer und sauber in eines der Staufächer des Wagens verstaut wird.When a cleaning robot finishes its cleaning task, it goes back to the trolley. To do this, the cleaning robot has to find the cart: If the cleaning robot had an existing map at its disposal at the start of the cleaning, the current position of the cart was defined as the starting point on this map, so that the cleaning robot can find the cart itself in order to be brought in. If no map was available when the cleaning started, the position of the cart should be set as the zero point of a map newly constructed by the cleaning robot. In addition, the trolley can emit the guide beam such as the IR guide beam, which enables the cleaning robots to locate and approach the trolley exactly. The cleaning robots are brought into the trolley using the moveable lift system. The cleaning robot is preferred over the Introduction subjected to a suction and, if necessary, cleaning process, so that the cleaning robot is stowed empty and clean in one of the storage compartments of the car.
Sind alle Reinigungsroboter nach Beendigung ihrer Reinigungsaufgaben im Wagen verstaut, kann dieser durch den Nutzer wieder von der zu reinigenden Fläche geschafft werden. Hierzu klappt der Anwender das klappbare Aufnahmeelement des Liftsystems sowie die klappbare Absaugplattform wieder ein und verschließt das Türelement, das er bevorzugt abschließen kann.Once all cleaning robots have been stowed in the trolley after completing their cleaning tasks, the user can remove it from the area to be cleaned. To do this, the user folds in the foldable receiving element of the lift system and the foldable suction platform again and closes the door element, which he can preferably lock.
Bei Bedarf kann am Ende der Reinigungsphase beispielsweise über den Griff der Sammel-Schmutzbehälter des Absaugsystems entnommen und entleert werden.If necessary, at the end of the cleaning phase, the collection dirt container of the suction system can be removed and emptied using the handle, for example.
Bevorzugt wird nach Empfang eines jeweiligen Signals der Reinigungsroboter, das ihre jeweilige Reinigungsaufgabe ausgeführt ist, und nach dessen erfolgter Anordnung auf dem Aufnahmeelement das Aufnahmeelement verfahren, um den auf ihm angeordneten Reinigungsroboter zu einem der Staufächer zu transportieren.Preferably, after receiving a respective signal from the cleaning robot that its respective cleaning task has been carried out and after it has been arranged on the receiving element, the receiving element is moved in order to transport the cleaning robot arranged on it to one of the storage compartments.
Ein Ausführungsbeispiel der Erfindung ist in den Zeichnungen rein schematisch dargestellt und wird nachfolgend näher beschrieben. Es zeigt schematisch und nicht maßstabsgerecht
- Fig. 1
bis 8 - einen Ablauf eines Teils eines erfindungsgemäßen Verfahrens in Teil-Seiten-/Teil-Querschnittsansicht, Teil-Drauf-/Teil-Querschnittsansicht bzw. Querschnittsansicht eines erfindungsgemäßen Wagens; und
- Fig. 9
- eine Querschnittsansicht eines weiteren erfindungsgemäßen Wagens.
- Figures 1 to 8
- a sequence of a part of a method according to the invention in partial side/partial cross-sectional view, partial top/partial cross-sectional view and cross-sectional view of a carriage according to the invention; and
- 9
- a cross-sectional view of another trolley according to the invention.
Die
Wenn die Reinigungsphase beendet ist, werden die Reinigungsroboter wieder in den Wagen eingebracht durch wiederholtes Verfahren des Aufnahmeelementes nach Anordnung eines der Reinigungsroboter auf ihm zu einem der Staufächer, so dass das Staufach für den Reinigungsroboter befahrbar ist, was hier nicht gezeigt ist. Dann werden manuell oder automatisch die Absaugplattform und das Aufnahmeelement eingeklappt und das Türelement verschlossen, was hier nicht gezeigt ist. Im Wesentlich erfolgt das Beenden der Reinigungsphase in umgekehrter Reihenfolge zu dem in
Zum Ein- und Ausbringen der Reinigungsroboter R weist der Wagen 1 ferner ein Liftsystem LI mit einem klappbaren Aufnahmeelement (nicht gezeigt) auf. Das Liftsystem LI ist ausgebildet , die Reinigungsroboter R einzeln mittels des Aufnahmeelementes in seinem ausgeklappten Zustand, der hier nicht gezeigt ist, in die Staufächer 2 einzubringen und aus den Staufächern 2 auszubringen. Der Wagen 1 weist mindestens ein Türelement 7 auf, das derart anordbar ist, dass es die Außenwände 10 mittels Anordnung vor dem eingeklappten Aufnahmeelement 12 verschließt oder freilegt. In
- AA
- Absaugsystemsuction system
- IRIR
- Infrarot-Schnittstelleinfrared interface
- LL
- Ladekontaktcharging contact
- LILI
- Liftelementlift element
- RR
- Reinigungsrobotercleaning robot
- SBSB
- Schmutzbehälterdirt container
- Uu
- Untergrundunderground
- 11
- WagenCar
- 22
- Staufachstorage compartment
- 33
- Handgriffhandle
- 44
- Transportradtransport wheel
- 55
- Blockierelementblocking element
- 66
- GriffHandle
- 77
- Türelementdoor panel
- 88th
- Führungsschieneguide rail
- 99
- Zwischenraumspace
- 1010
- Außenwandouter wall
- 1111
- Innenrauminner space
- 1212
- Aufnahmeelementreceiving element
- 1313
- Absaugplattformsuction platform
- 1414
- Scharnierhinge
- 1515
- Bedienpaneelcontrol panel
- 1616
- weiterer Griffanother grip
- 1717
- Erweiterungsmodulexpansion module
- 1818
- Verbindungselementfastener
- 1919
- Absaugkanalsuction channel
Claims (13)
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US20200214518A1 (en) * | 2017-06-22 | 2020-07-09 | The Perfect Little Company Limited | Trolley for robots |
DE102019110539A1 (en) | 2019-04-24 | 2020-10-29 | Miele & Cie. Kg | Robots for transporting self-propelled cleaning robots |
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US5899469A (en) * | 1997-02-06 | 1999-05-04 | Pinto; David Alexander | Vehicle with lockable casters |
US20030221796A1 (en) * | 2002-05-30 | 2003-12-04 | Schaller Richard J. | Medical filing cabinet shelf enclosure system |
KR101483541B1 (en) * | 2010-07-15 | 2015-01-19 | 삼성전자주식회사 | Autonomous cleaning device, maintenance station and cleaning system having them |
GB2509991B (en) * | 2013-01-22 | 2015-03-11 | Dyson Technology Ltd | Docking station for a mobile robot |
CN107811578B (en) * | 2014-12-24 | 2020-12-04 | 美国iRobot公司 | Emptying station |
DE102015121972A1 (en) * | 2015-12-16 | 2017-06-22 | Vorwerk & Co. Interholding Gmbh | System and method for working a floor with a mobile robot unit |
CN109431394B (en) * | 2018-11-19 | 2020-10-27 | 浙江津海机械科技有限公司 | Intelligent household integrated cleaning robot |
DE102019101116A1 (en) * | 2019-01-17 | 2020-07-23 | Miele & Cie. Kg | Stationing device for a cleaning device and method for stationing the cleaning device |
ES2956793T3 (en) * | 2019-04-18 | 2023-12-28 | Vorwerk Co Interholding | Operating procedure of a cleaning system, base station and filtration device |
CN211796228U (en) * | 2019-12-18 | 2020-10-30 | 深圳市银星智能科技股份有限公司 | Clean system of over-and-under type intelligence |
CN110934544A (en) * | 2019-12-18 | 2020-03-31 | 深圳市银星智能科技股份有限公司 | Intelligent cleaning system |
CN112006609A (en) * | 2020-08-04 | 2020-12-01 | 郑国强 | Multifunctional automatic cleaning robot |
CN114343484B (en) * | 2020-10-13 | 2023-04-18 | 广东美的白色家电技术创新中心有限公司 | Management library of sweeping robot and sweeping robot system |
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- 2021-05-03 BE BE20215350A patent/BE1029361B1/en active IP Right Grant
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Publication number | Priority date | Publication date | Assignee | Title |
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US20200214518A1 (en) * | 2017-06-22 | 2020-07-09 | The Perfect Little Company Limited | Trolley for robots |
DE102019110539A1 (en) | 2019-04-24 | 2020-10-29 | Miele & Cie. Kg | Robots for transporting self-propelled cleaning robots |
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