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WO2019048449A1 - Appareil de nettoyage de sol autotracté et autoguidé, système de nettoyage de sol et procédé de nettoyage d'une surface de sol - Google Patents

Appareil de nettoyage de sol autotracté et autoguidé, système de nettoyage de sol et procédé de nettoyage d'une surface de sol Download PDF

Info

Publication number
WO2019048449A1
WO2019048449A1 PCT/EP2018/073810 EP2018073810W WO2019048449A1 WO 2019048449 A1 WO2019048449 A1 WO 2019048449A1 EP 2018073810 W EP2018073810 W EP 2018073810W WO 2019048449 A1 WO2019048449 A1 WO 2019048449A1
Authority
WO
WIPO (PCT)
Prior art keywords
unit
cleaning
floor cleaning
floor
appliance
Prior art date
Application number
PCT/EP2018/073810
Other languages
German (de)
English (en)
Inventor
Karsten Eichstedt
Melanie MOSEBACH
Michael Schechterle
Juliane AUTH
Original Assignee
Alfred Kärcher SE & Co. KG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Alfred Kärcher SE & Co. KG filed Critical Alfred Kärcher SE & Co. KG
Publication of WO2019048449A1 publication Critical patent/WO2019048449A1/fr

Links

Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—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
    • A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
    • A47L11/4016—Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids
    • 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
    • A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
    • A47L11/292—Floor-scrubbing machines characterised by means for taking-up dirty liquid having rotary tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • 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
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4041—Roll shaped surface treating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • 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
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • A47L11/4083—Liquid supply reservoirs; Preparation of the agents, e.g. mixing devices
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Definitions

  • the invention relates to a self-propelled and self-steering floor cleaning device.
  • the invention relates to a floor cleaning system with such a floor cleaning device.
  • the invention relates to a method for cleaning a floor surface with a cleaning system.
  • the floor cleaning device can thereby move on the floor surface, with a cleaning unit remove dirt from this and transfer detached dirt in a dirt container.
  • the cleaning unit may comprise a bristling sweeping roller for sweeping up dirt from the bottom surface.
  • the cleaning unit may comprise a wiping roller for wet cleaning of the bottom surface, wherein the dirt is wetted with a cleaning liquid and the mixture of dirt and cleaning liquid (hereinafter dirty liquid) is transferred into the dirt container.
  • the prior art also describes possibilities of the floor cleaning appliance to orient itself in the environment to be cleaned.
  • a map of the environment is stored in the floor cleaning device.
  • the card may contain different rooms or areas of space that are randomly selected by the floor cleaning appliance or - - can be traversed and cleaned according to a predetermined or predefinable cleaning plan.
  • the floor cleaning device can determine its position relative to the environment and thereby also within the map.
  • the object of the present invention is to provide a floor cleaning apparatus, a floor cleaning system having a floor cleaning apparatus, and a method of cleaning a floor area having a higher versatility.
  • an inventive self-propelled and self-steering floor cleaning device comprising a control unit, a drive unit for moving the floor cleaning device on a floor surface to be cleaned, a cleaning unit with a drivable cleaning roller for wet cleaning of the bottom surface, a cleaning liquid keits practicer for cleaning liquid and a dirty liquid container for the soil cleaning device accommodates a first device unit and a second device unit, wherein the first device unit comprises the drive unit and the cleaning unit and is movable separately from the second device unit, the second device unit comprising the cleaning fluid container and / or the dirty fluid container, and wherein the floor cleaning device comprises a particular controllable by the control unit recording unit for Connecting the second device unit with the first device unit and releasing the device units from each other.
  • a first appliance unit is provided and a second appliance unit.
  • the first unit unit can be moved by means of the drive unit on the bottom surface and includes the cleaning unit with the cleaning roller.
  • the second device unit comprises at least one of the containers (cleaning liquid container, dirty liquid container), wherein the second unit unit of a preferred embodiment of the floor cleaning device comprises the cleaning liquid container and the dirty liquid container.
  • the second unit unit can be discontinued from the first unit if necessary, for example an empty cleaning fluid container and / or a filled dirt collection container.
  • This allows a versatile use of the floor cleaning device, in particular in this and a further second device unit having floor cleaning system, which will be discussed below. For example, a room or room area can be cleaned with the floor cleaning device. If further cleaning is required, the second unit can be discontinued, replaced by another second unit and the cleaning can be continued.
  • first appliance unit and the second appliance unit are connected to each other and the floor cleaning appliance occupies a position of use on a floor surface.
  • Position and orientation information such as “top”, “bottom” are to be considered based on a proper use of the floor cleaning appliance.
  • indications such as “front” or “rear” refer to a longitudinal or main direction of movement of the floor cleaning appliance.
  • the floor cleaning device has a sensor device.
  • the sensor device can preferably detect the amount of cleaning liquid in the cleaning container. Alternatively or additionally, the amount of dirty liquid in the dirty liquid container can be detected with the sensor device.
  • the sensor device is present Preferably coupled with the control unit, and depending on a signal of the sensor device, the control unit may decide whether the second unit should be replaced by a second device further unit.
  • the second device unit may comprise at least one wheel or a roller. Alternatively it can be provided that the second device unit is free of a wheel or a roller.
  • the second unit unit comprises the placesfiüsstechniksbeffleiter and the dirty liquid container, wherein the makesfiüsstechniksbeffleiter is disposed above the dirty liquid container.
  • the removal of cleaning liquid from the ussfiüsstechniksbeffleiter can be done in a simpler manner, for example, only under the influence of gravity, with a pump unit may alternatively be provided.
  • the cleaning roller and / or the bottom surface can be acted upon by the cleaning liquid.
  • the cleaning liquid may in particular be water to which a cleaning chemical may be added to increase the cleaning effect.
  • the cleaning roller preferably has a sponge-like or cloth-like cleaning stock.
  • the trim can be a textile trim, such as a microfiber textile material.
  • the second unit unit the Chinesesfiüsstechniksbenzoiter and - - Includes the dirty liquid container, wherein these are arranged side by side on the second device unit.
  • the dirty liquid container are arranged on one side facing the cleaning roller and the cleaning liquid container on a side facing away from the cleaning roller of the second unit.
  • the cleaning liquid container facing the cleaning roller has at least one container portion, taken over the cleaning liquid in a simpler manner and the cleaning unit can be supplied.
  • the first device unit comprises or forms a support element and if the second device unit rests on the support element.
  • the weight of the second unit can be better absorbed by the first unit in this way, with preferably leverage effects can be excluded.
  • the support element and the second cleaning unit can advantageously comprise corresponding form-fitting elements, whereby the relative position of the unit units is clearly defined.
  • the second unit unit can be raised by means of the receiving unit from the bottom surface and deductible on the first unit unit and vice versa.
  • the receiving unit For coupling the second device unit, it can be lifted and stored on the first device unit.
  • the second unit can be lifted for decoupling from the first unit and set down on the floor surface.
  • the receiving unit may accordingly be or comprise a lifting device.
  • the second device unit is suspended from the first device unit.
  • the second unit can be raised or lowered.
  • the first unit unit comprises the receiving unit, this facilitates the structural design of the floor cleaning device.
  • the control unit can be directly in operative connection with the receiving unit, without the need for forming electrical connections, as is the case with an arrangement of the receiving unit on the second appliance unit.
  • the receiving unit comprises at least one coupling element which can be coupled to the second device unit for receiving, and at least one drive element associated with the coupling element, for transferring it from a coupling position into a connecting position, wherein the coupling element is further spaced apart in the coupling position relative to the first device unit in the connection position.
  • the control unit can drive the drive element to transfer the at least one coupling element from the connection position to the coupling position, increasing the distance to the first unit unit.
  • the coupling element can couple with the corresponding coupling element of the second device unit. Subsequently, the coupling element can be transferred by means of the drive element in the connection position to receive the second unit unit.
  • the at least one coupling element is at least partially hook-shaped or comprises or forms a hook which can be brought into engagement with a corresponding coupling element of the second device unit for receiving.
  • a projection or a receptacle is provided, on which or can attack the coupling element. The second device unit can thereby be reliably absorbed by the first device unit in a technically simple manner.
  • the at least one coupling element by means of the at least one drive element pivotally mounted on the - - First unit is stored.
  • a free end of the coupling element can be approximated and brought into engagement with the corresponding coupling element of the second device unit when pivoting from the connecting position into the coupling position.
  • the receiving unit comprises two coupling elements which are spaced apart transversely to the longitudinal direction of the floor cleaning device, wherein the second unit unit is arranged between the coupling elements and the coupling elements are on opposite outer sides with the second unit unit engaged.
  • the coupling elements can thereby be in engagement with the second device unit on both outer sides. Coupling and uncoupling, for example, by raising or lowering, the second unit can be performed reliably in this way, since tilting can be avoided.
  • a coupling element is provided which is arranged transversely to the longitudinal direction of the floor cleaning appliance in the middle or substantially in the center of the floor cleaning appliance, the second appliance unit comprising a recess in which the coupling element engages.
  • the coupling element may be approximately centered on the second device unit and positioned in the recess when the second device unit is connected to the first device unit. It turns out that this also allows a reliable coupling and decoupling of the unit units can be performed.
  • the cleaning liquid container and / or the dirty liquid container is configured in a U-shaped plan view and comprises container sections arranged on both sides of the recess.
  • the container sections encompass, for example, the recess and the coupling element. Does the second unit of the unit the dirty liquid container, - Can its dirt inlet opening be interrupted, for example, in the region of the recess and the coupling element.
  • the receiving unit on the first appliance unit comprises at least one slide-on element which couples to a corresponding slide-on element of the second appliance unit for recording when the first appliance unit moves in the direction of the second appliance unit.
  • At least one slide-on element may for example comprise a slide-on surface or edge, so that the second device unit can be lifted by the approaching first device unit from the bottom surface.
  • the sliding surface or Aufgleitkante is particularly aligned obliquely with respect to a reference plane, which is defined by the floor cleaning device and coincides with the bottom surface.
  • the slide-on elements are designed, for example, as a tongue-like projection on an appliance unit and corresponding recess on the other appliance unit.
  • the projection is arranged on the first device unit and the recess on the second unit unit.
  • an insertion opening tapering in the direction of entry is advantageously provided. The insertion opening serves as an alignment and in particular as a centering aid for the projection and facilitates in this way the connection of the second unit with the first unit unit.
  • two transverse to the longitudinal direction of the floor cleaning device spaced apart sliding elements are provided on the first unit and the second unit unit. These are, for example, on a device unit to two tongue-like projections that can engage in the corresponding recesses similar to the lifting fork of a forklift. - -
  • the receiving unit may comprise a connecting device for connecting the unit units with each other, for example by force and / or positive connection.
  • the connecting device can be controlled by the control unit to enter or release the connection.
  • the device unit comprises a wetting device for applying cleaning liquid to the cleaning roller.
  • the first device unit comprises a pump unit, by means of the cleaning liquid from the cleaning liquid container can be conveyed.
  • the second unit unit comprises the cleaning liquid container and that the first unit unit comprises a fluid line which engages in an opening of the cleaning liquid container.
  • cleaning liquid can be removed through the fluid line and preferably applied to the cleaning roller.
  • An advantageous embodiment of the floor cleaning device provides that the second unit unit comprises the cleaning liquid container and that arranged on the first and the second unit unit connection elements are in fluid communication, can be removed via the cleaning liquid from the cleaning liquid container.
  • a nipple-like projection and a corresponding receptacle are provided as connection elements which couple together in the connected state of the device units.
  • the projection is arranged, for example, on the first device unit.
  • the floor cleaning device is free of a suction unit for receiving the dirty liquid from the bottom surface.
  • this can be understood in particular to mean that the floor cleaning appliance has no suction unit for generating a suction air flow, with which dirty liquid can be sucked into the dirt container.
  • the floor cleaning device is in particular without suction unit. That way that can - -
  • Weight of the floor cleaning device can be reduced. It is not necessary to provide electrical energy for a suction unit. The operating time of the floor cleaning device is thereby increased.
  • the floor cleaning device comprises at least one preferably rechargeable battery for providing electrical energy.
  • the floor cleaning device comprises a sweeping threshold arranged at a dirt inlet opening of the dirty liquid container, over which dirt can be swept by the cleaning roller into the dirty liquid container. Beyond the sweeping threshold, in particular larger dirt particles which do not adhere to the cleaning roller can be swept into the dirty liquid container.
  • the floor cleaning device comprises a scraper element, which is arranged on a dirt entry opening of the dirty liquid container and which engages with the cleaning roller. Dirty liquid can be largely stripped off in this way from the cleaning roller and is not applied again to the bottom surface.
  • the sweeping threshold, the stripping element and / or the discharge element are arranged on the first unit unit. - -
  • the second unit unit comprises the dirty liquid container and the sweeping threshold, the stripping element and / or the discharge element.
  • the sweeping threshold, the stripping element and / or the discharge element can be arranged or fixed on the dirty liquid container.
  • the dirty liquid container is positioned in front of the cleaning roller in relation to a main direction of movement of the floor cleaning appliance. Bottom side, the cleaning roller rotates conveniently in the main direction of movement. A trimming or cleaning elements act on the floor surface in the main direction of movement.
  • a positioning of the dirty liquid container may be provided behind the cleaning roller, wherein the cleaning roller preferably rotates counter to the main direction of movement on the bottom side.
  • the floor cleaning device comprises a navigation unit in which a map of an environment to be cleaned is deposited, wherein the map includes information about the position of the second device unit, and if the first device unit for receiving the second device unit can approach the position , This has already been discussed earlier.
  • the first device unit can selectively approach the position to receive the second device unit.
  • the floor cleaning appliance can specifically approach a position at which the second appliance unit is to be set down.
  • a second device unit can be recognized by means of a sensor device of the floor cleaning device, for example when driving the floor cleaning device or the first device unit.
  • the position of the second device unit can be stored in the card, or an existing position entry can be verified and, if necessary, corrected.
  • the present invention also relates to a floor cleaning system.
  • An inventive, the above-mentioned task solving floor cleaning system comprises a floor cleaning device of the type described above and at least one further second unit, wherein a respective second unit with the first unit unit is selectively absorbable and deductible.
  • the floor cleaning system In the floor cleaning system according to the invention, at least two second units are provided, which can be selectively coupled to the first unit and separated from it.
  • the floor cleaning system thus has a high versatility. For example, a part of the environment may be cleaned using a first second device unit. If necessary, the second unit of equipment can be discontinued and another second unit of equipment can be picked up to continue the cleaning process. Intervention by the user is not required for this purpose. The change of the second units of equipment can be carried out autonomously by the floor cleaning device.
  • the second device units are designed identically.
  • the second unit units each comprise a cleaning liquid container, wherein the amount and / or the nature of the cleaning liquid of the second unit units differ from each other. - -
  • the second device units are assigned to different rooms or spatial regions of the environment which differ from one another with respect to the size and / or the nature of a respective floor surface.
  • the amount and / or the type of cleaning liquid of a second unit unit are adapted to the size of a room and / or the nature of the bottom surface.
  • the floor cleaning device can clean this room using the second unit and then sell them.
  • the further second device unit may be adapted to a space with respect to the amount and / or the type of cleaning liquid, which differs from the aforementioned space in terms of the size and / or the nature of the floor surface.
  • the second room can be cleaned using the other unit. This proves to be advantageous, for example, if rooms of different sizes are provided and / or if the nature of the floor surfaces is so different that cleaning fluids of different types and / or compositions should be used for the needs-based cleaning of the respective floor space.
  • the second device units at least partially, collected after processing a cleaning order for the environment to be cleaned at a predetermined position deductible.
  • a settling position can be provided in the map of the environment, at which the second device units can each be discontinued after cleaning and are positioned there after completion of the cleaning. It is advantageous if the position is in a room with the possibility of drainage, such as a kitchen, a toilet or a bathroom.
  • a respective device unit is deposited in the room for the purpose of which it has been used.
  • the present invention also relates to a method.
  • An inventive, the above-mentioned object solving method is used to clean a floor surface with a cleaning system of the aforementioned type, wherein the first unit unit successively received a plurality of second units and the bottom surface is cleaned.
  • the second device units are assigned to respectively definable rooms or spatial areas, wherein the quantity and / or the nature of the cleaning liquids of the second device units are advantageously different from each other and preferably to the size and / or the nature of a respective floor surface of the room or room Room area are adapted.
  • the second unit units are positioned on or in the respective space or area to be cleaned prior to cleaning.
  • the paths to be traveled by the floor cleaning device when cleaning an environment with multiple rooms or areas of space can - - be reduced.
  • a respective second appliance unit is already positioned for its cleaning.
  • the second unit units are arranged in a collected position prior to cleaning, for example in a room whose bottom surface is insensitive to the cleaning liquid (eg kitchen, toilet, bathroom).
  • the first device unit may exchange a respective second device unit at the position for another second device unit.
  • the second unit units at least partially, collected collected after cleaning at a predetermined position, as already explained above.
  • the second device units it is conceivable to place the second device units spatially separated from one another in the room for the cleaning of which they were used.
  • FIG. 1 shows a schematic sectional view of a floor cleaning appliance according to the invention comprising a first appliance unit and a second appliance unit connected thereto;
  • FIG. 2 shows a simplified representation corresponding to FIG. 1 during settling or when receiving the second appliance unit
  • Figure 3 is a view corresponding to Figure 2, in which the second unit unit is deposited on a bottom surface; - -
  • Figure 4 is a simplified plan view of the floor cleaning device of Figure 1;
  • Figure 5 an environment to be cleaned with several rooms, wherein a bottom cleaning system according to the invention is shown schematically with a floor cleaning device and a plurality of second units, wherein the situation is shown prior to cleaning;
  • FIG. 6 shows a representation corresponding to FIG. 5 after the cleaning of the
  • FIG. 7 shows an illustration of a further preferred embodiment of a floor cleaning appliance according to the invention when the second appliance unit is set down;
  • FIG. 8 shows a representation corresponding to FIG. 4 in a further preferred embodiment of a floor cleaning appliance according to the invention.
  • Figure 9 is a schematic representation of another preferred embodiment of a floor cleaning device according to the invention before connecting the second unit with the first unit unit;
  • Figure 10 is a view corresponding to Figure 9, wherein the second device unit is connected to the first device unit;
  • Figure 11 is a plan view of the floor cleaning device in the illustration of Figure 9.
  • FIG. 12 shows a representation corresponding to FIG. 9 in a further preferred embodiment of a floor cleaning appliance according to the invention. - -
  • FIG. 1 shows, in a schematic representation, an advantageous embodiment of a floor cleaning appliance according to the invention, indicated overall by the reference numeral 10.
  • the ground cleaning device 10 is designed to be self-propelled and self-steering and is used for autonomous cleaning of a floor surface 12.
  • the floor cleaning device 10 comprises a chassis 16 arranged on a housing 14.
  • the landing gear 16 in the present case has two drive wheels spaced transversely to a longitudinal direction 18 20, which form a drive unit 22 with a drive, not shown.
  • the drive unit 22 can be controlled by a control unit 24 of the floor cleaning appliance 10.
  • the control unit 24 is in operative connection with a navigation unit 26.
  • a navigation unit 26 In the navigation unit 26 is, for example, will be discussed below, a map of an environment to be cleaned stored.
  • the navigation unit 26 allows the floor cleaning device 10 to determine its position within the environment and thus within the map. Positions of the environment and the map can be targeted in this way by the floor cleaning device 10.
  • the floor cleaning device 10 is supported by means of a cleaning roller 28 on the bottom surface 12.
  • the cleaning roller 28 is part of a cleaning unit 30 of the floor cleaning device 10.
  • the cleaning roller 28 defines an axis of rotation 32, which is aligned here transversely to the longitudinal direction 18.
  • a drive 34 By means of a drive 34, the cleaning roller 28 can be set in rotation about the axis of rotation 32.
  • the cleaning roller 28 is designed as a wiping roller for the wet cleaning of the bottom surface 12.
  • the cleaning roller 28 has a spongy or cloth-like stocking, which can be moistened with a cleaning liquid as explained below.
  • the trimming is or comprises, for example, a textile material, for example a microfibre - -
  • the floor cleaning appliance 10 comprises, as is apparent in particular from the simplified illustrations of FIGS. 2 and 3, a first appliance unit 36 and a second appliance unit 38.
  • the first unit unit 36 forms a kind of chassis or chassis for the second unit unit 38, which can be connected by means of a receiving unit 40 optionally with the first unit unit 36 and released from this, in the present case as coupling and uncoupling of the second unit unit 38 or as receiving and depositing the second device unit 38 denotes.
  • the first device unit 36 comprises, relative to the longitudinal direction 18, which may represent a main movement direction 18 of the floor cleaning device 10, a first side 42 and a second side 44.
  • the first side 42 corresponds to a front side and the second side 44 when moving in the main movement direction 18 a back of the first device unit 36.
  • the floor cleaning device 10 may alternatively be moved in the opposite direction.
  • the first side 42 is a back side and the second side is a front side.
  • the arrow 18 ' indicates the opposite main direction of movement.
  • the cleaning roller 28 is disposed near the second side 44. In the direction of the first side 42 connects to a receiving space 46 of the housing in which the cleaning roller 28 is arranged, a receptacle 48 on the housing 14 at.
  • the receptacle 48 is, it can be seen in particular from Figure 4, positioned between each laterally disposed portions of the housing 14 and on its cleaning roller 28 side facing by a wall 50 of - -
  • the receptacle 48 forms a support element 52, on which the second device unit 38 can rest in the state connected to the first device unit 36.
  • the receptacle 48 is opened.
  • the first unit unit 36 comprises the cleaning unit 30 with the cleaning roller 28, the drive unit 22 and the control unit 24.
  • the chassis unit forming a first unit 36 can be moved in this way independently on the bottom surface 12, regardless of whether the second unit unit 38 with the first unit unit 36 is connected or not.
  • the second device unit 38 comprises a cleaning fluid reservoir 54 and a dirty fluid reservoir 56.
  • the cleaning fluid reservoir 54 will be referred to below as a reservoir 54 and the dirty fluid reservoir 56 as a reservoir 56.
  • FIG. 1 shows a schematic dashed-line container interior 58 of the container 54 or 60 of the container 56.
  • the wall 50 has a passage opening 62 which can be aligned, for example, with a corresponding passage opening 64 of an end wall 65 of the container 54.
  • a fluid line 66 of the first device unit 36 can engage through the through-openings 62, 64 into the container interior 58.
  • cleaning liquid can be conveyed out of the container 54 through the fluid line 66 and fed to a wetting device 70.
  • the cleaning roller 28 is moistened with the cleaning liquid.
  • the container 56 has on the end wall 65 a dirt inlet opening 72, which faces the cleaning roller 28.
  • the dirt entry port 72 advantageously extends over the entire or substantially the entire length of the cleaning roller 28. If possible, substantially all of the cleaning roller 28 received thereby
  • the dirt inlet opening 72 may, for example, be aligned with a corresponding passage opening of the wall 50 of the receiving space 46, or the wall 50 does not extend downwards to the dirt inlet opening 72.
  • a sweeping threshold 74 is arranged, which extends for example from a lower edge of the dirt inlet opening 72 in the direction of the bottom surface 12 and is inclined.
  • larger and loose dirt particles can be swept into the container 56 with the cleaning roller 28 via the sweeping threshold 74.
  • the arrow 76 indicates the direction of rotation of the cleaning roller 28, in this case on the bottom side in the longitudinal or main movement direction 18.
  • the trimming of the cleaning roller 28 acts on the bottom surface 12 in the main movement direction 18, the friction acts in opposite directions.
  • the cleaning roller 28 cleans in combination with the sweeping threshold 74 on the "dustpan principle".
  • a stripping element 78 is further arranged.
  • the stripping element 78 engages in the trimming of the cleaning roller 28. Dirty liquid is thereby stripped with the stripping element 78 from the stocking of the cleaning roller 28.
  • the dirty liquid reaches a discharge - - element 80, which is arranged at the dirt inlet opening 72. About the discharge element 80, the dirty liquid is directed into the container interior 60.
  • the sweeping threshold 74, the stripping element 78 and / or the discharge element 80 extend over the entire or substantially entire width of the dirt entry opening 72.
  • the sweeping threshold 74, the stripping element 78 and the diverting element 80 are part of the second appliance unit 38 and, for example, fixed to the end wall 65 facing the receiving space 46.
  • the sweeping threshold 74, the stripping element 78 and the discharge element 80 are discontinued.
  • the floor cleaning device 10 is presently free of a suction unit for sucking dirt into the container interior 60th
  • the above-mentioned receiving unit 40 comprises two coupling elements 82 in the floor cleaning device 10.
  • the coupling elements 82 are spaced apart from one another transversely to the longitudinal direction 18 and are respectively arranged in the region of the sections of the housing 14 which receive the drive wheels 20 (FIG. 4).
  • a respective coupling element 82 is associated with a drive element 84 of the receiving unit 40.
  • the respective coupling element 82 can be pivoted relative to the first device unit 36 about a pivot axis 86 oriented in the transverse direction (FIGS. 1 to 3).
  • the coupling element 82 has a fixed end coupled to the drive element 84 and a free end. At the free end, the coupling element 82 is hook-shaped and forms a hook 88. Overall, the coupling element 82 may, for example, have an angled shape with a first leg 90 and a second leg 92, - - Wherein the first leg 90 is fixed to the drive member 84 and the second leg 92 forms the hook 88.
  • the coupling element 82 By pivoting about the pivot axis 86, the coupling element 82 can be transferred from a connection position to a coupling position and vice versa.
  • the hook 88 In the connecting position, the hook 88 is positioned closer to the first unit unit 36, and by transferring into the Ankoppel ein the hook 88 can be brought to a greater distance from the first unit unit 36.
  • the coupling elements 82 are associated with corresponding coupling elements 94 of the second device unit 38.
  • the coupling elements 94 are configured here as pin-shaped projections 96.
  • the projections 96 are arranged on outer sides 98 of the second device unit 38, which are remote from each other and face the housing sections of the housing 14, which receive the drive wheels 20.
  • the device unit 38 In the interconnected state of the device units, the device unit 38 rests on the device unit 36.
  • the coupling elements 82 occupy the connecting position with the hooks 88 engaged with the projections 96 ( Figure 1).
  • the device unit 38 is preferably arranged in a form-fitting manner in the receptacle 48.
  • the control unit 24 controls the receiving unit 40 to transfer the coupling elements 82 in the Ankoppelwolf (this is also a decoupling position).
  • the coupling elements 82 are pivoted about the pivot axis 86 and the hooks 88 placed at a greater distance from the first unit unit 36 ( Figure 2).
  • the device unit 38 is lifted by the support element 52.
  • the drive unit 22 can be controlled to move the first device unit 36 against or in the main movement direction (indicated by an arrow 100 in FIG. 2). - -
  • the second unit unit 38 comes to rest on the bottom surface 12 ( Figure 3).
  • the first device unit 36 can be moved away from the second device unit 38.
  • the second device unit 38 can be received by the fact that the first unit unit 36 is moved up to the second unit unit 38 until the hooks 88 come into engagement with the projections 96.
  • the coupling elements 82 are transferred by pivoting about the pivot axis 86 of the Ankoppelwolf in the connection position.
  • the second device unit 38 is raised by the bottom surface 12 (FIG. 2) and finally deposited on the support element 52 of the first device unit 36 (FIG. 1) and is connected thereto.
  • the floor cleaning system 110 comprises the floor cleaning device 10.
  • the first device unit 36 and the second device unit 38 are shown schematically.
  • the floor cleaning system 110 has a plurality of second device units 38, which may be configured identically or structurally, for example. In the present example, five second device units 38 are shown.
  • the floor cleaning system 110 will be explained using the example of cleaning an environment 112 comprising a plurality of rooms 114, 116, 118, 120, 122 and 124.
  • room 114 is a living room
  • rooms 116 and 118 are bedrooms
  • room 120 is a hallway
  • room 122 is a bathroom
  • room 124 is a kitchen.
  • the spaces 114 to 124 may differ from one another, in particular with respect to their size and / or the nature of the floor surface.
  • the room 114 has a parquet floor, the rooms 116 and 118 laminate floor, and the rooms 120 to 124 tile floor.
  • the spaces 114 to 124 in particular, there may also be a space which has a bottom surface which is insensitive to a cleaning liquid. These are, for example, tiles.
  • FIG. 5 illustrates the situation prior to cleaning.
  • the second device units 38 which are assigned to the rooms 114 to 124, are already distributed in the corresponding rooms 114 to 124. Due to the size, two second device units 38 are positioned in the space 114, in each of the spaces 116 and 118 there is a second device unit 38. A further second device unit 38 is assigned to the spaces 120, 122 and 124 and positioned, for example, in the space 124.
  • the amount of cleaning liquid and / or the type of cleaning liquid in the container 54 of a respective second device unit 38 is advantageously adapted to the size of the space 114 to 124 and the nature of the bottom surface 12 thereof.
  • the cleaning liquid in the device units 38 for cleaning the room 114 is rather less aggressive due to the wooden floor.
  • the cleaning fluid for cleaning the tiled floor rooms 120 to 124 may be more aggressive for more intensive cleaning.
  • the positions of the second device units 38 are known to the floor cleaning device 10 and stored in the map of the environment 112. A second device unit 38 is already received at the first device unit 36.
  • the floor cleaning device 10 or the first device unit 36 detects the second device units 38 by means of a sensor device 128. Positions of the second device units 38 can be stored in the map. Already stored positions can be corrected if necessary. - -
  • the floor cleaning device first cleans the room 114. If it is determined that the supply of cleaning liquid in the container 54 has been used up or the container 56 is filled, the floor cleaning appliance 10 exchanges the second appliance unit 38 for another second appliance unit 38.
  • the floor cleaning device 10 has a sensor device 126.
  • the amount of cleaning liquid in the container 54 can be detected with the sensor device.
  • the amount of dirty liquid in the container 56 can be detected with the sensor device.
  • the sensor device is coupled to the control unit 24, and depending on the signal of the sensor device, the control unit 24 can decide whether the second device unit 38 should be replaced with another second device unit 38.
  • the floor cleaning appliance 10 cleans the rooms 116 to 124 with repeated replacement of the second appliance units 38.
  • the corresponding second appliance unit 38 is used, which is assigned to the respective room.
  • FIG. 6 shows the situation after completion of the cleaning.
  • the second device units 38 are selectively parked at a position.
  • the parking position can be specified.
  • the second device units 38 are parked together at the same position, here within the space 124.
  • a parking position in particular a space is used, which has a relation to the cleaning liquid insensitive bottom surface.
  • the second device units 38 are arranged in a collected position prior to cleaning, for example in a room, such as the space 124.
  • the second units 38 could be discontinued after cleaning in the room they were used to clean.
  • an operator 172 transmits the floor cleaning appliance 10 a cleaning order for at least one room, for example on an operating unit 174 of the floor cleaning appliance 10 or on a portable auxiliary appliance 176, for example a smartphone, which is in data communication with the floor cleaning appliance 10.
  • the first device unit 36 can receive and execute a second device unit 38 for processing the cleaning job.
  • the second device unit 38 is fetched from the position at which the second device units 38 are collected.
  • FIGS. 7 to 12 in which the floor cleaning appliances are shown in simplified form.
  • the achievable with the floor cleaning device 10 advantages can also be achieved with these floor cleaning devices.
  • the floor cleaning device 130 according to FIG. 7 is largely identical to the floor cleaning device 10. Notwithstanding this, the sweeping threshold 74, the stripping element 78 and the diverting element 80 are encompassed by the first unit unit 36 and fixed, for example, to the wall 50. When connecting the second device unit 38, the discharge element 80 can be introduced through the dirt inlet opening 72 into the container interior 60 (not shown).
  • the bottom cleaning device 132 shown schematically in plan view in plan view is also largely identical to the floor cleaning device.
  • the floor cleaning device 132 instead of the two coupling elements 82, only one coupling element 134 of the receiving unit 40 is provided, as well as a corresponding coupling element 136 on the second device unit 38.
  • the coupling element 134 can be acted on by a drive element 84, and the coupling element 136 is likewise a projection, for example 96 designed.
  • the coupling element 134 is arranged approximately centrally in the transverse direction of the floor cleaning device 132.
  • the second device unit 38 has for this purpose a recess 138, in which the coupling element 134 engages.
  • the containers 54, 56 are in plan view, as indicated by a dashed contour, preferably approximately U-shaped, in order to make the best possible use of the space on both sides of the coupling element 134 and the recess 138.
  • the dirt inlet opening 72 may be interrupted in the region of the recess 138.
  • Figures 9 to 11 show an occupied by the reference numeral 140 advantageous embodiment of a floor cleaning device according to the invention.
  • the receiving unit 40 comprises corresponding slide-on elements 142 on the first appliance unit 36 and 144 on the second appliance unit 38. - -
  • two projections 146 are provided, which are spaced apart in the transverse direction and are arranged, for example, between the drive wheels 20 (FIG. 11).
  • the sliding elements 142 are presently formed as recesses 148 on an underside of the second device unit 38. Openings of the recesses 148 are designed to taper in the insertion direction, whereby the coupling of the second device unit 38 is simplified by the resulting centering action of the projections 146 on the recesses 138.
  • the first device unit 36 moves in the direction of the second device unit 38 until the projections 146 abut with sliding surfaces 150 on upper sides of the recesses 148.
  • the second unit unit 38 is raised as a result.
  • a support element 152 on the side of the second device unit 38 facing away from the first device unit 36 can be provided, for example, via which the second device unit 38 can be supported, for example on a wall.
  • the first device unit 36 moves on, the second device unit 38 enters the receptacle 48. Subsequently, the floor cleaning device can start cleaning (FIG. 10).
  • a connecting device 154 of the receiving unit 40 for non-positive and / or positive connection of the device units 36, 38 may be provided when the second device unit 38 reaches its desired position.
  • the connecting device 154 can be controlled in particular by the control unit 24.
  • the existing connection of the device units 36, 38 under control by the control unit 24 for settling the second device unit 38 can be solved.
  • FIG. 9 shows by way of example that the containers 54, 56 are also arranged one above the other in the floor cleaning appliance 140.
  • FIG. 1 An alternative arrangement is shown schematically in FIG.
  • the container 56 for dirty liquid on a cleaning roller 28 facing side of the second device unit 38 is arranged.
  • the container 54 for cleaning fluid is arranged on a side facing away from the cleaning roller 28 of the second device unit 38.
  • a container portion 160 of the container 54 is provided which extends to the first unit unit facing end wall 65 to facilitate the removal of cleaning liquid from the container 54.
  • connection element 162 is a nipple-shaped projection on the first device unit 36, which engages in a recess formed by the connection element 164 on the second device unit 38, to form a fluid connection from the container 54 to the wetting device 70 not shown in FIGS. 9 to 12 ,
  • the floor cleaning device 170 according to FIG. 12 is configured similarly to the floor cleaning device 140. Deviating from this, a wedge-shaped slide-on element 156 of the first device unit 36 is provided and a corresponding slide-on element 158 on the second device unit 38.
  • the slide-on element 156 is a projection, and the slide-on element 158 a Recess.
  • the variants of the arrangement of the containers 54, 56 may also be provided in the other floor cleaning devices described here.
  • these floor cleaning devices can have connection elements 162, 164.
  • the sweeping threshold 74, the stripping element 78 and the diverting element 80 may be provided in all floor cleaning devices, either on the first device unit 36 or on the second device unit 38.

Landscapes

  • Electric Vacuum Cleaner (AREA)

Abstract

La présente invention concerne un appareil de nettoyage de sol (10 ; 130 ; 132 ; 140 ; 170) autotracté et autoguidé, comprenant une unité de commande (24), une unité d'entraînement (22) pour faire fonctionner l'appareil de nettoyage de sol (10 ; 130 ; 132 ; 140 ; 170) sur une surface de sol à nettoyer (12), une unité de nettoyage (30) munie d'un rouleau de nettoyage entraînable (28) pour le nettoyage humide de la surface de sol (12), un récipient pour le liquide de nettoyage (54) et un récipient pour le liquide souillé (56) recueilli sur la surface de sol (12), l'appareil de nettoyage de sol (10 ; 130 ; 132 ; 140 ; 170) comprenant une première unité d'appareil (36) et une seconde unité d'appareil (38), la première unité d'appareil (36) comprenant l'unité d'entraînement (22) et l'unité de nettoyage (30) et, pouvant se déplacer à part de la seconde unité d'appareil (38), la seconde unité d'appareil (38) comprenant le récipient pour le liquide de nettoyage (54) et/ou le récipient pour le liquide souillé (56), et l'appareil de nettoyage de sol (10 ; 130 ; 132 ; 140 ; 170) comprenant une unité de réception (40) pilotable en particulier par l'unité de commande (24) afin de raccorder la seconde unité d'appareil (38) à la première unité d'appareil (36) et de désolidariser mutuellement les unités d'appareil (36, 38). Système de nettoyage de sol et procédé de nettoyage d'une surface de sol.
PCT/EP2018/073810 2017-09-08 2018-09-05 Appareil de nettoyage de sol autotracté et autoguidé, système de nettoyage de sol et procédé de nettoyage d'une surface de sol WO2019048449A1 (fr)

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DE102017120759.7 2017-09-08
DE102017120759.7A DE102017120759A1 (de) 2017-09-08 2017-09-08 Selbstfahrendes und selbstlenkendes Bodenreinigungsgerät, Bodenreinigungssystem und Verfahren zum Reinigen einer Bodenfläche

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CN110897560A (zh) * 2019-11-26 2020-03-24 西安和光明宸科技有限公司 一种电动洗地机
CN111000500A (zh) * 2019-11-26 2020-04-14 西安和光明宸科技有限公司 一种电动擦地机
CN111387890A (zh) * 2020-04-30 2020-07-10 深圳市银星智能科技股份有限公司 收纳箱和清洁机器人
WO2020207557A1 (fr) * 2019-04-08 2020-10-15 Alfred Kärcher SE & Co. KG Machine de nettoyage de surfaces à réservoir pour fluide sale
RU2793729C1 (ru) * 2019-04-08 2023-04-05 Альфред Керхер Се Унд Ко. Кг Машина для чистки поверхностей с накопительным устройством для грязной жидкости
CN117883010A (zh) * 2023-09-08 2024-04-16 九阳股份有限公司 一种可剥离缠绕物的表面清洁装置

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WO2020207557A1 (fr) * 2019-04-08 2020-10-15 Alfred Kärcher SE & Co. KG Machine de nettoyage de surfaces à réservoir pour fluide sale
CN113645888A (zh) * 2019-04-08 2021-11-12 阿尔弗雷德·卡赫欧洲两合公司 具有脏污流体罐装置的面清洁机
RU2793729C1 (ru) * 2019-04-08 2023-04-05 Альфред Керхер Се Унд Ко. Кг Машина для чистки поверхностей с накопительным устройством для грязной жидкости
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CN111000500A (zh) * 2019-11-26 2020-04-14 西安和光明宸科技有限公司 一种电动擦地机
CN111387890A (zh) * 2020-04-30 2020-07-10 深圳市银星智能科技股份有限公司 收纳箱和清洁机器人
CN111387890B (zh) * 2020-04-30 2024-04-12 深圳银星智能集团股份有限公司 收纳箱和清洁机器人
CN117883010A (zh) * 2023-09-08 2024-04-16 九阳股份有限公司 一种可剥离缠绕物的表面清洁装置

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