Cleaning device with spring-loaded pick-up unit

Abstract

A cleaning device for a surface (50) comprises a pickup unit (100), a mounting (150) for the pickup unit (100), and a vacuum unit (600). The pickup unit (100) is configured to pick up wet dirt from the surface (50). The pickup unit (100) comprises a cleaning roller (110), a motor (190) for the cleaning roller (110), at least one wiper (120), and a main tank (180) for collecting the wet dirt as dirty water. The mounting (150) is configured to press the pickup unit (100) against the surface (50) with a predetermined pressure. The vacuum unit (600) generates a vacuum in a vacuum chamber. The vacuum and the vacuum chamber are adapted to hold the cleaning device below a vertical or horizontal wall surface.

Description

Technical Field

[0001] The present invention relates to a cleaning device and a method for manufacturing the same, and more particularly to a cleaning robot, a spring-loaded scraper for the cleaning robot, a floating cleaning unit for the cleaning robot, a channel system for the cleaning robot, and a shell structure for the cleaning robot. Background Technology

[0002] Traditional cleaning devices, especially cleaning robots, include stationary scrapers for removing dirt from cleaning rollers. A wastewater channel is also provided to transport wastewater to the housing. However, stationary scrapers are ineffective at removing dirt from the cleaning rollers, especially when the dirt is wet. Therefore, there is a need for an alternative scraper that can improve the efficiency of removing (wet) dirt from the cleaning rollers.

[0003] Traditional cleaning devices may also be equipped with a cleaning unit fixedly mounted thereon, or have a suction unit floating on top of it. Traditional cleaning devices may also have a cleaning roller fixedly mounted to the housing, and may include a textile pad and a rotating pad for cleaning the surface. However, these arrangements also only provide insufficient cleaning results because they fail to apply even pressure to the surface to be cleaned. The pressure is either too high or too low, or applied only to one side, ultimately resulting in poor cleaning performance. Therefore, there is an urgent need for an improved cleaning unit that can provide better cleaning results.

[0004] Traditional cleaning robots are equipped with wastewater channel systems to transport wet dirt or wastewater from the cleaning rollers to the tank. However, this wastewater channel system performs adequately only under specific conditions (such as cleaning horizontal surfaces). In particular, for cleaning robots that need to clean vertical surfaces and turn on vertical surfaces, traditional water channel systems are significantly inadequate. In traditional cleaning devices, wastewater can only be transported to the wastewater tank in a specific orientation (such as at the top of a horizontal surface). Therefore, there is an urgent need for a cleaning device that can continuously and reliably transport wastewater to the tank while cleaning vertical surfaces, thereby achieving highly efficient cleaning results—even on vertical surfaces or below horizontal surfaces.

[0005] Other traditional cleaning robots rely solely on vacuum suction systems to transport wastewater from cleaning rollers to the tank. These robots require suction systems at the cleaning rollers, leading to higher costs and a greater susceptibility to malfunction. Therefore, the wastewater transport function of such cleaning devices needs improvement to achieve continuous and reliable transport—even when operating stably below vertical or horizontal surfaces.

[0006] Other conventional cleaning robots employ a shell with high sidewalls to clean areas near surface frames. When conventional cleaning devices rely on a suction system, these high sidewalls hinder efficient suction. Therefore, conventional cleaning devices must balance two effects: high suction efficiency and the ability to clean close to window / door frames or other obstacles. One common solution is to completely expose the cleaning rollers, which may allow for cleaning close to the edges. However, these devices are still unsuitable for moving up and down vertical surfaces because they cannot transport wastewater or still rely on a suction system. Another common solution is to completely enclose the cleaning rollers within the shell, but this prevents the cleaning device from cleaning areas near frames or other obstacles.

[0007] Therefore, there is a need for a cleaning device that can provide sufficiently high cleaning efficiency while also cleaning the area adjacent to the frame (such as window frame). Summary of the Invention

[0008] The cleaning apparatus and its manufacturing method of the present invention at least partially solve the aforementioned problems. The present invention relates to a cleaning apparatus for a surface to be cleaned, comprising a pickup unit, a mounting base, and a vacuum unit. The pickup unit is configured to pick up wet contaminants from the surface. The pickup unit may include a cleaning roller, a motor for driving the cleaning roller, at least one scraper, and a main chamber for collecting wet contaminants as wastewater. The mounting base is configured to fix the pickup unit and adapted to press the pickup unit against the surface with a predetermined pressure. The vacuum unit is adapted to generate a vacuum in a vacuum chamber. The vacuum and / or vacuum chamber is adapted to hold the cleaning apparatus below a vertical or horizontal wall.

[0009] The definition of "cleaning device for (vertical) surfaces" should be interpreted as meaning that the cleaning device is suitable for and designed to move up and down on a vertical surface, and not limited to movement along a horizontal surface. Therefore, the cleaning device should be able to move upwards along the vertical surface while cleaning it. However, the cleaning device can also clean horizontal surfaces from below or above, as well as conventional floors. It should be understood that the cleaning device can also clean inclined surfaces. Vertical direction should be understood as the direction of gravity.

[0010] "Surface" can be any surface on which a cleaning robot can move, and can be made of a variety of materials, including glass, stone, tile, ceramic, carpet or rug, wood, etc.

[0011] Although the term "scraper" should be interpreted broadly, it should be distinguished from a sealing element—the sealing element does not scrape or remove dirt from the cleaning roller, but rather serves to create a seal in contact with the cleaning roller. This seal is achieved by removing moisture (not removed) from the cleaning roller. The cleaning roller is motor-driven and rotates in the forward direction during cleaning, thus supporting the forward movement of the cleaning device.

[0012] Optionally, the vacuum unit is adapted to hold the cleaning device on the surface while the mounting base presses the pickup unit against the surface at a predetermined pressure.

[0013] Optionally, the mounting base is adapted to always press the pickup unit against the abutment surface at a predetermined pressure.

[0014] Optionally, the cleaning device is configured to move primarily along the forward direction during the cleaning process, and the vacuum unit is arranged behind the cleaning roller relative to the forward direction.

[0015] Optionally, the mounting bracket includes one or more springs or elastic elements to apply a predetermined pressure to the surface to be cleaned.

[0016] Optionally, the cleaning device also includes a housing that accommodates the vacuum unit. The housing may be configured to secure the mounting base and may provide sliding edges to guide the pickup unit. One or more springs on the mounting base may provide the same linear elastic force to uniformly press the pickup unit away from the housing and against the surface.

[0017] Optionally, the one or more springs may include four springs, each spring being disposed at a corresponding corner of the pickup unit.

[0018] Optionally, the housing includes a rear portion located behind the pickup unit (e.g., relative to the forward direction). This rear portion includes one or more of the following: Sponge cleaning components, Textile mat, Vibrating textile mat, Rubber cleaning components, Flexible roller element.

[0019] Optionally, the pickup unit further includes a replenishment tank that is fluidly connected to the main tank and extends parallel to the cleaning roller. The pickup unit may also include a valve or pump formed along the direction of fluid connection between the main tank and the replenishment tank. The valve (or pump) is configured to allow wastewater to flow only from the main tank to the replenishment tank.

[0020] According to an embodiment, the at least one scraper may be formed above the axis of rotation of the cleaning roller (along the direction of gravity during horizontal movement). Furthermore, two channels may be formed for conveying (wet) dirt from the at least one scraper to a housing, which may be located on the side of the cleaning roller. The at least one scraper may be formed between these two channels (e.g., in a central position).

[0021] Other embodiments relate to a cleaning apparatus for vertical surfaces. The cleaning apparatus includes: A cleaning roller, configured to pick up dirt from the surface by rotating; A first scraper is configured to scrape away dirt within a first angular range of the cleaning roller; A second scraper is configured to scrape away dirt within a second angular range of the cleaning roller; and A fixing structure is used to fix the first scraper within the first angle range and the second scraper within the second angle range.

[0022] The first angle range includes a first angle of 90° to 180° with respect to the surface, preferably 125° to 145° or about 135°. The second angle range includes a second angle of 0° to 90° with respect to the surface, preferably 20° to 40° or about 30°. The first angle and the second angle are measured in the same coordinate system.

[0023] It should be further understood that these scrapers remove dirt within a range of angles, rather than being limited to a single specific angle. This range of angles may depend on the pressure applied to the cleaning roller and / or the stiffness of the cleaning roller, and may cover a range of 5°, 10°, or 20°.

[0024] The term "dirt" can refer to dry dirt and / or wet dirt that can be collected as wastewater. Therefore, "dirt" can include all types of dirt that a cleaning robot can pick up. The term "lateral" should refer to the axial direction (left or right) of the cleaning roller having a rotation axis. This axis defines the axial direction. Therefore, the "radial" direction can be defined relative to the radius of the cleaning roller.

[0025] Optionally, the fixing structure is configured to allow the first scraper and / or the second scraper to move toward the cleaning roller. This movement can be at least one of the following: linear motion, pivoting motion, curvilinear motion, or circular motion (e.g., motion along an arc segment). Thus, the scraper can change its position and / or orientation relative to the cleaning roller. The path of this movement can be at least partially radial.

[0026] Optionally, the cleaning device includes at least one biasing device for applying a biasing force (e.g., applying pressure through the scrapers) to the linear motion of one or both of the two scrapers toward the cleaning roller.

[0027] Optionally, the bias force applied by the at least one biasing device is in the range of 15 N to 30 N or about 22 N.

[0028] Optionally, the first and second scrapers include at least one of the following: a plate scraper, a roller scraper, a rigid scraper, a curved scraper, a V-shaped scraper, or any other shape suitable for removing (wet) dirt from the cleaning roller. The first scraper and / or the second scraper may each have scraper strips at their edges for contacting and scraping off dirt adhering to the cleaning roller. This edge may be particularly advantageous for plate scrapers. Each roller scraper may include a roller configured to rotate in the opposite direction to the rotation of the cleaning roller to scrape off dirt from the cleaning roller.

[0029] The term "plate-like" can be understood as a planar element generally consisting of two opposing surfaces, which can be flat or planar, but may also be curved. Plate-like scrapers can also be curved or arc-shaped, but must maintain a certain rigidity to apply a predetermined pressure to the cleaning roller. Roller-type scrapers are rotatable roller structures that remain in contact with the cleaning roller during operation. Roller-type scrapers can be set to rotate in the opposite direction to the cleaning roller for efficient dirt removal. Roller-type scrapers can also operate at a faster rotation speed than the cleaning roller for effective cleaning of the cleaning roller. Optionally, the rotation speeds of both can be adjusted according to actual needs.

[0030] According to embodiments, the cleaning device can be configured with different types of scrapers; for example, one scraper may be a plate scraper, another a roller scraper, a V-shaped scraper, or a pivoting scraper. Each scraper design has its unique advantages. For example, a linear motion scraper requires less assembly space, while a roller scraper may require more space. On the other hand, the scraping effect can be effectively controlled by adjusting the rotational speed of the roller scraper relative to the cleaning roller. A V-shaped scraper can possess extremely high structural stability.

[0031] Optionally, the fixed structure includes sliding chambers corresponding to one or more plate-shaped scrapers, each capable of reciprocating within its respective sliding chamber. The sliding chambers provide lateral support to hold each of the one or more plate-shaped scrapers in its angular position relative to the rotating cleaning roller. The sliding chamber need not be a closed cavity, but may provide guiding or positioning functions, such as for the linear movement of the scrapers.

[0032] The cleaning roller can be configured to pick up wet dirt from the surface to be cleaned, and the cleaning device optionally includes a first channel and a second channel. The first channel is used to remove (wet) dirt from the first scraper, and the second channel is used to remove (wet) dirt from the second scraper. When both channels are provided simultaneously, the first channel can be activated when the cleaning device moves in a first direction, and the second channel can be activated when the cleaning device moves in a second direction opposite to the first direction. Depending on the orientation of the cleaning device, the two channels can simultaneously transport (wet) dirt.

[0033] Optionally, the fixing structure extends partially around the cleaning roller to form a collection space for collecting wastewater between the surface of the cleaning roller and the fixing structure. The first channel may be configured as a first U-shaped groove in the collection space and adjacent to a first (plate-like) scraper for guiding wet waste into the first channel. Similarly, a second channel may be configured as a second U-shaped groove in the collection space and adjacent to a second (plate-like) scraper for guiding wet waste into the second channel.

[0034] Optionally, each (plate-shaped) scraper defines a corresponding angle with the surface of the cleaning roller. For multiple plate-shaped scrapers, the corresponding angles may be equal or unequal. These angles may be preset to facilitate the removal of different types of dirt (such as moisture, solid dirt, surface dirt, deep dirt, etc.).

[0035] Optionally, the cleaning device also includes a vacuum unit for generating a vacuum within a vacuum chamber. This vacuum and vacuum chamber can be adapted to adsorb the cleaning device onto a vertical surface during the cleaning process, and / or to adsorb the cleaning device upside down below a horizontal surface.

[0036] The cleaning device can be configured to move primarily along the forward direction during the cleaning process. Optionally, the vacuum unit is arranged behind the cleaning roller relative to the forward direction.

[0037] Optionally, each biasing device includes a spring or elastic material as a biasing force source, which applies a biasing force elastically when compressed. The spring can be a coil spring, leaf spring, or other spring type. Possible elastic materials may include rubber, sponge, etc.

[0038] Optionally, the cleaning device may also include one or more or all of the following: The outer casing has a suction unit and a suction channel; A drive unit for moving the cleaning device; The sensor unit is used to provide sensor data; The control unit controls the drive unit to move up and down along a vertical surface or down a horizontal surface based on the sensor data.

[0039] Therefore, according to an embodiment, the cleaning device may be a cleaning robot configured to automatically clean the surface.

[0040] The cleaning device can also be configured to move primarily along the forward direction during the cleaning process. In this case, the wetting system can be installed in at least one of the following locations: One or more circumferential locations around the cleaning roller are used to wet the cleaning roller; At one or more front positions of the housing relative to the direction of travel, for wetting the front surface; At one or more lower locations of the housing, a surface beneath the cleaning device is moistened.

[0041] An optional wetting system may include one or more nozzles that can be activated or deactivated depending on the direction of movement. Also optionally, these nozzles can be controlled to adjust the water volume as needed.

[0042] Other embodiments relate to a cleaning apparatus for vertical surfaces, the apparatus comprising: A cleaning roller configured to pick up wet dirt from a vertical surface by rotating; At least one scraper, wherein each scraper is configured to scrape off the picked-up dirt from the cleaning roller during rotation of the cleaning roller; The first channel for draining wet waste; and A second channel for draining wet waste.

[0043] The first channel and / or the second channel may constitute a suction port. Alternatively or additionally, the first channel and / or the second channel may be configured to be inclined relative to a vertical surface.

[0044] Optionally, the cleaning device further includes a main chamber disposed on the side of the cleaning roller for collecting wet waste as sewage. The main chamber may include a first terminal opening and / or a second terminal opening, the first terminal opening being connected to a first channel and the second terminal opening being connected to a second channel. The first terminal opening and / or the second terminal opening may be spaced apart from the outer wall of the main chamber to prevent sewage backflow when the cleaning device rotates or moves inverted on a vertical surface.

[0045] Optionally, the first terminal opening and / or the second terminal opening (both) maintain at least a minimum distance from all walls of the main tank to provide sufficient space for wastewater to flow around the first terminal opening and the second terminal opening during operation, during turning to a vertical surface, and / or during the inverted movement of the cleaning device.

[0046] Optionally, the positions of the main housing and / or the first terminal opening and the second terminal opening are configured such that when the cleaning device turns in any or at least one direction, a distance of 10 cm is allowed. 3 Up to 50 cm 3 or 20 cm 3 Up to 30 cm 3 The amount of sewage within the range flows around the first terminal opening and the second terminal opening.

[0047] Optionally, the cleaning device includes a replenishment tank that is in fluid communication with the main tank and extends parallel to the cleaning roller. The cleaning device may also include a valve formed along the fluid connection direction between the main tank and the replenishment tank. The valve may be configured to allow only wastewater to flow from the main tank into the replenishment tank.

[0048] Optionally, the cleaning device includes a pump disposed between the main tank and the replenishment tank for pumping wastewater from the main tank to the replenishment tank.

[0049] Optionally, the cleaning device is configured to move primarily in the forward direction during cleaning. The replenishment tank may be located on the front side of the cleaning roller relative to the forward direction. A fluid connection with a valve may be formed at the upper corner of the main tank. The valve may be a one-way valve. The upper side may be defined as the side opposite the surface to be cleaned.

[0050] Optionally, when the cleaning device includes a drive unit for driving the cleaning device forward, backward, and / or turning, the control unit can be configured to prioritize controlling the drive unit to turn towards the side where the main tank is located. This ensures that during each turn, wastewater can be conveyed from the cleaning roller or from the first channel and / or from the second channel to the main tank. However, the cleaning device can also turn in another direction, but if both turning directions are feasible, the control unit can select the preferred turning direction. If the preferred turning direction is not feasible or is difficult or unsafe for some reason, the cleaning device can also turn in the opposite (non-preferred) direction.

[0051] Optionally, when the first channel is formed as a first U-shaped groove adjacent to the first scraper and the second channel is formed as a second U-shaped groove adjacent to the second scraper, the depth of the first U-shaped groove extends continuously and increases along the axial direction of the cleaning roller, while the depth of the second U-shaped groove extends continuously and decreases along the axial direction of the cleaning roller.

[0052] Optionally, the increasing depth of the first channel and / or the second channel is adapted to carry away wet dirt by gravity when moving on a vertical surface (vertical or horizontal).

[0053] Other embodiments relate to a cleaning apparatus for cleaning a vertical surface while moving in a forward direction, the cleaning apparatus comprising: The pickup unit includes a cleaning roller for picking up dirt from the surface, a scraper for scraping off the picked-up dirt during rotation of the cleaning roller, and a channel for conveying wet dirt; and The housing provides a closed structure for the cleaning device and supports the pickup unit, wherein the housing includes a first part located in the direction of travel and a second part located in the opposite direction of travel.

[0054] The pickup unit may be arranged between the first portion and the second portion (or the rear portion). The first portion may be configured to at least partially accommodate the scraper and the channel. A gap of a predetermined height is formed between the first portion and the surface, the gap being larger than the radius of the cleaning roller.

[0055] Optionally, the predetermined height gap may range from 10 mm to 50 mm, or 20 mm to 30 mm, or 20 mm to 40 mm, or approximately 25 mm.

[0056] Optionally, the cleaning device includes a sensor unit for detecting obstacles. The sensor unit may include at least one of the following sensors: an optical sensor, a mechanical sensor, a switch, a shutter, an ultrasonic sensor, or a current sensor for detecting the power consumption of the cleaning roller drive unit. The obstacle may be one of the following: a frame, an edge of the surface, a decorative element, a window handle, a door handle, a strip, or an edge of the surface.

[0057] Optionally, the cleaning device includes: A drive unit for moving the cleaning device; and The control unit controls the drive unit based on sensor data from the sensor unit to clean vertical surfaces near obstacles.

[0058] Optionally, the cleaning roller is exposed at a predetermined height in the gap so that it can contact the obstacle.

[0059] Optionally, when the sensor unit includes a current sensor, the control unit can be configured to detect or confirm obstacles based on changes in the magnitude of the detected current value or based on a comparison of the current value with one or more thresholds.

[0060] Optionally, when the sensor unit includes a mechanical sensor for measuring the pressure value exerted by an obstacle on the pickup unit, the control unit may be configured to detect or confirm an obstacle based on the pressure value received from the mechanical sensor.

[0061] Optionally, when the mechanical sensor or sensor unit includes a mechanical switch, the control unit may be configured to perform one or more of the following operations: This causes the cleaning device to move in the opposite direction (e.g., when the cleaning roller loses contact with a vertical surface or collides with an obstacle). The cleaning device was turned. The pickup unit is turned off (e.g., when an edge is detected as an obstacle, or when the cleaning roller loses contact with a vertical surface).

[0062] Optionally, the cleaning device includes: a mounting base for a pickup unit adapted to press the pickup unit against the surface with a predetermined pressure, thereby enabling a floating pickup unit. The first and second portions of the housing are adapted to provide guidance (e.g., via sliding edges) for the floating pickup unit.

[0063] Optionally, the housing forms a recess (e.g., when viewed from the side) between the first and second portions for receiving the pickup unit. The recess may be open on one side. The pickup unit may include a support frame secured to the housing by the mounting bracket, the support frame providing support for the cleaning roller. The support frame may close flush with the open side of the recess. The support frame may form a sliding edge with the housing to allow the pickup unit to move linearly.

[0064] Optionally, the cleaning device includes a main housing disposed on the side of the cleaning roller and used to hold wastewater, enabling the pickup unit to pick up wet dirt from the surface and collect the wastewater. The open side of the recess in the housing is arranged opposite to the side where the main housing is disposed.

[0065] Optionally, the cleaning apparatus includes second scrapers, each configured to scrape off dirt adhering to its surface as the cleaning roller rotates. The cleaning apparatus may also employ a fixed structure to mount the scrapers. This fixed structure may be configured to allow each scraper to move (linearly) toward the cleaning roller. The cleaning apparatus may also include at least one biasing device to apply a biasing force to the movement of the scrapers toward the cleaning roller.

[0066] Optionally, the cleaning device also includes a vacuum unit to generate a vacuum in a vacuum chamber, wherein the vacuum and the vacuum chamber are adapted to hold the cleaning device against a vertical wall and / or hold the cleaning device below a horizontal wall.

[0067] Optionally, the cleaning device also includes a suction unit and a suction channel. The control unit can be adapted to control the suction unit and the drive unit based on sensor data to move up and down along a vertical wall or adhere to the underside of a horizontal wall.

[0068] Other embodiments relate to cleaning devices, including all or most of the features of the aforementioned cleaning devices. The defined limitations may apply to multiple aspects of a single cleaning device. However, the invention should not be limited to the overall system, but rather to the respective aspects defined in the appended claims.

[0069] Although different combinations of features are defined in the various embodiments, it should be understood that the cleaning device may include each component only once, even if these components may have different functions in different embodiments (e.g., implemented by a control unit). For example, the cleaning device may include only one of the following components: a pickup unit, a cleaning roller, a sensor unit (which may include multiple sensors), a suction unit, a vacuum unit, a drive unit, a housing, a wetting system, etc.

[0070] The embodiments also relate to methods of manufacturing or operating the cleaning apparatus described in this disclosure. The method of operating the cleaning apparatus or at least a portion thereof can also be implemented by software or a computer program product. Therefore, the embodiments also relate to a computer program or computer program product, or a machine-readable storage device having program code for performing the method when the program code is executed on a processor.

[0071] It should be understood that all functions (such as those provided by the control unit) can be implemented through additional methodological steps. Similarly, all operating modes (functions) can be implemented in the control unit, thereby defining the optional limitations of the control unit. Attached Figure Description

[0072] Various embodiments of the present invention will be described below by way of example only and with reference to the accompanying drawings, wherein: Figure 1 An embodiment of a cleaning device with a scraper is described.

[0073] Figure 2 An embodiment of a cleaning device with a spring-loaded pickup unit is described.

[0074] Figure 3 A cross-sectional view of the cleaning apparatus according to an embodiment is depicted, showing more details.

[0075] Figure 4A and Figure 4B An embodiment of a cleaning device with an inclined channel is depicted.

[0076] Figure 5A and Figure 5B Depicting Figure 3 The rear view and cross-sectional view of the cleaning device with the inclined channel are shown.

[0077] Figures 6A-6E Advantages of embodiments for cleaning vertical surfaces are shown.

[0078] Figure 7A and Figure 7B Advantages of embodiments for cleaning horizontal surfaces are shown.

[0079] Figure 8An embodiment of a cleaning device with an improved housing is depicted. Detailed Implementation

[0080] Various exemplary embodiments will now be described more fully below with reference to the accompanying drawings, some of which are illustrated in the drawings.

[0081] Therefore, while embodiments can have various modifications and alternatives, the exemplary embodiments shown in the figures will be described in detail herein. However, it should be understood that the embodiments are not intended to be limited to the specific forms disclosed; rather, they are intended to cover all modifications, equivalents, and alternatives falling within the scope of this disclosure. Throughout the description of the figures, the same numbers refer to the same or similar elements.

[0082] It should be understood that when referring to one element as "connected" or "coupled" to another element, it may be directly connected or coupled to that other element, or there may be an intermediate element. Conversely, when referring to one element as "directly connected" or "directly coupled" to another element, there is no intermediate element. Other terms used to describe the relationship between elements should be interpreted similarly (e.g., "between" and "directly between", "adjacent" and "directly adjacent", etc.).

[0083] The terminology used herein is for the purpose of describing exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “the” used herein are intended to include the plural forms as well. It should also be understood that the terms “comprising,” “including,” and / or “containing” as used herein specify the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0084] Unless otherwise defined, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which the embodiments pertain. It should also be understood that terms (e.g., those defined in common dictionaries) shall be interpreted as having meanings consistent with their meanings in the relevant technical context and shall not be interpreted in an idealized or overly formal sense, unless expressly defined herein.

[0085] Figure 1 A cross-sectional view of a cleaning device is depicted, which is adapted and designed for cleaning vertical surfaces 50 or for cleaning when inverted, wherein the vertical direction refers to the direction opposite to gravity. Surface 50 can be any surface made of materials such as glass, stone, tile, ceramic, carpet or rug, wood, etc. It should be understood that the device can also clean horizontal surfaces (from below or above or on the floor) and similarly clean inclined surfaces.

[0086] The cleaning device includes: a cleaning roller 110, two scrapers 120, and a fixing structure 130, and Figure 1 The cross-section is selected perpendicular to the axial direction of the cleaning roller 110. The cleaning roller 110 is configured to pick up dirt from the surface 50 by rotation, wherein the rotation is driven by the motor 190. Two scrapers 120 are configured to scrape the picked-up dirt off the cleaning roller 110 during rotation. The fixing structure 130 fixes the two scrapers 120 such that each scraper 120 is in contact with the cleaning roller 110. The cleaning device also includes one or more housings 180, 181 for collecting dirt. The dirt may be wet dirt, such that the collected dirt may be wastewater (not in... Figure 1 (As shown in the image).

[0087] According to an embodiment, the two scrapers 120 include a first scraper 121 and a second scraper 122. The first scraper 121 is configured to scrape away dirt within a first angular range 111 of the cleaning roller 110, and the second scraper 122 is configured to scrape away dirt within a second angular range 112 of the cleaning roller 110. The first angular range 111 may include a first angle 113 measured relative to the surface 50, which is between 90° and 180°, preferably between 125° and 145° or about 135°. The second angular range 112 may include a second angle 114 measured relative to the surface 50, which is between 0° and 90°, preferably between 20° and 40° or about 30°. The first angle 113 and the second angle 114 may be measured in the same coordinate system (along the same direction), and the difference between them is at least 10°, 30°, or 60°.

[0088] According to the embodiments, the first scraper 121 and / or the second scraper 122 is at least one of the following: a plate scraper, a roller scraper (or scraper roller), a rigid scraper, an arc-shaped scraper, a V-shaped scraper, etc. Figure 1 The plate-shaped scraper is shown only by way of example, but the embodiments are not limited to the type of scraper shown. The plate-shaped scrapers 121 and 122 may each have a scraper strip 125 at the edge of the cleaning roller 110, which is suitable for scraping off dirt adhering to the cleaning roller 110 and may be integrally formed (of the same material) with the scrapers 121 and 122.

[0089] The cleaning device can move along the preferred forward direction R, and the cleaning roller 110 can rotate along the forward direction R. Figure 1(The direction is counterclockwise). Depending on the rotation direction D, the scraper 125 can be formed in a plate or V-shape to receive the upper surface of the cleaning roller 110, thereby removing dirt thereon. Each of the at least one roller scraper may include a roller configured to rotate in the opposite direction to the cleaning roller 110 to scrape dirt off the cleaning roller 110, wherein the rotational speed of the roller scraper can be preset or adjusted according to needs (e.g., the amount of dirt).

[0090] According to an embodiment, each of at least one plate-shaped scraper 120 forms a specific angle with the surface of the cleaning roller 110. When multiple plate-shaped scrapers 120 are present, the angles of each scraper may be different or equal. These angles may be preset or may vary to provide the advantage of scraping off different types of dirt (e.g., moisture, solid dirt, surface dirt, deep dirt, etc.).

[0091] According to an embodiment, the fixing structure 130 allows the first scraper 121 and / or the second scraper 122 to move L toward the cleaning roller 110. The movement L can be at least one of the following: linear motion, pivoting motion, curvilinear motion, or any other suitable motion.

[0092] The cleaning device may further include at least one biasing device 140 for applying a biasing force to press the scraper 120 against the cleaning roller 110 along the movement L. For example, one biasing device 140 may be provided for each scraper, and the biasing force may act in the radial direction (towards the cleaning roller 110). The biasing force applied by the biasing device 140 may be in the range of 15N to 30N or about 22N. According to an embodiment, each biasing device 140 includes a spring or elastic material as a source of biasing force, which applies the biasing force elastically when compressed. The spring 140 may be a coil spring, leaf spring, etc., and the elastic material may be rubber, sponge, etc.

[0093] Therefore, the scraper 120 according to the embodiment should be distinguished from conventional sealing elements designed to prevent airflow along the surface of the cleaning roller 110. Due to the pressure applied by the biasing device 140, the cleaning roller 110 may be deformed by the scraper 120, resulting in insufficient sealing of the cleaning roller 110. Therefore, the scraper 120 may provide only insufficient sealing or no sealing at all. If sealing is required, an additional sealing element different from the scraper 120 can be provided.

[0094] According to the embodiments, a combination of two different scrapers can also be used. For example, a rotary or roller scraper can be used in combination with a linear motion scraper. Different scrapers may have their own advantages. For example, when installation space is limited (especially when used with linear motion L), plate scrapers 121 and 122 may be more advantageous; while roller scrapers can more effectively remove dirt from the cleaning roller 110 by adjusting the rotation speed accordingly.

[0095] like Figure 1 As depicted, according to an embodiment, a retaining structure 130 extends around a cleaning roller 110 to form a collection space 115 for collecting wastewater between the surface of the cleaning roller 110 and the retaining structure 130. The cleaning apparatus may also include a first channel 161 for guiding (wet) dirt away from the first scraper 121. The first channel 161 may be formed such that a first U-shaped recess of the collection space 115 (directly) adjacent to the first plate-shaped scraper 121 to guide wet dirt into the first channel 161. The U-shaped recess of the first channel 161 may include a first channel depth C1 (variable) in an axial direction perpendicular to the drawing plane.

[0096] The cleaning device may also include a second channel 162 for removing (wet) dirt from the second scraper 122. The second channel 162 may also be formed as a second U-shaped groove of the collection space 115 (directly) adjacent to the second plate-shaped scraper 122 to guide wet dirt into the second channel 162. The U-shaped groove of the second channel 162 may include a second channel depth C2 (variable) in an axial direction perpendicular to the drawing plane.

[0097] Figure 2 An exploded view of one embodiment of the cleaning apparatus is depicted, including a spring-loaded (biased) pickup unit 100, a mounting base 150, a housing 300, and a vacuum unit 600. The housing 300 may include a cover 330 (shown at the top) and a base 340 (shown at the middle), the cover 330 being able to close the base 340. The pickup unit 100 (shown at the bottom) may be mounted to the base 340 through a corresponding opening or recess.

[0098] This cleaning device is also capable of cleaning (particularly vertically extending) surface 50. As previously mentioned, the pickup unit 100 is configured to pick up wet dirt from surface 50, and its detailed operating principle has been described in [the previous section]. Figure 1 As described in the text. The pickup unit 100 also includes a cleaning roller 110, a motor 190 that drives the cleaning roller 110 to rotate, and at least one scraper. Figure 2 (Not visible in the image) and a main container 180 for collecting wet waste as sewage. Optionally, the pickup unit 100 also includes an additional auxiliary container 181.

[0099] According to an embodiment, the mounting base 150 spring-loadedly secures the pickup unit 100 to the housing 300 and includes a mounting element 151 and a spring 155. The mounting element 151 allows relative movement between the housing 300 and the pickup unit 100 until maximum separation, and the spring 155 presses the pickup unit 100 away from the housing 300 (or its base 340) with a predetermined pressure (not in...). Figure 2As shown in the figure, the cleaning roller 110 applies (predetermined) pressure to the surface 50. According to an embodiment, the mounting base 150 includes four springs 155, respectively disposed at each corner of the pickup unit 100. Therefore, the pickup unit 100 is suspended in a floating manner, thereby providing balanced pressure.

[0100] Alternatively or additionally, one or more springs 155 may be replaced by any type of elastic element capable of applying a predetermined pressure to surface 50.

[0101] Therefore, according to the embodiment, uniform (or balanced) pressure can be applied equally to all sides or positions, and will not change even when cleaning the vertical surface 50 or in an inverted state. For example, the spring 155 of the mounting base 150 can provide the same linear elastic force, causing the pickup unit 100 to press uniformly against the surface 50. Similarly, the pickup unit 100 can even remain floating on uneven surfaces. However, the embodiment should not be limited to a specific number of springs 155 or elastic elements, as long as the desired effect is achieved.

[0102] The housing 300 can accommodate a vacuum unit 600, which generates a vacuum within a vacuum chamber connected to a vacuum suction cup 650. The vacuum unit 600 includes an exhaust port 610 connected to an opening on the housing 300 to expel air when a vacuum is generated. As previously described, embodiments of the vacuum unit 600 can hold the cleaning device in a (vertical) or inverted position on the surface 50 even when the cleaning roller 110 applies pressure to the surface 50. The vacuum suction cup 650 can tightly adhere the rear portion of the housing 300 to the surface 50. Therefore, the vacuum unit 600 can be positioned behind the cleaning roller 110, wherein the relative position (e.g., rear) can be defined according to the primary forward direction R used by the cleaning device.

[0103] The embodiment ensures retention of the cleaning device on the surface 50 by controlling the vacuum unit 600 to generate an adsorption force stronger than the pressure applied by the cleaning roller 110. In other words, the vacuum unit 600 is adapted to hold the cleaning device on the surface 50 when the mounting base 150 presses the pickup unit 100 against the surface 50.

[0104] According to an embodiment, the housing 300 includes a frame structure for supporting all components of the cleaning device. For example, the cleaning device may include one or more of the following optional components: The suction unit 200 and the suction channel 210, Drive unit 400 for mobile cleaning device Sensor unit 700 for detecting surrounding objects / obstacles and providing corresponding sensor data. The control unit 500 controls the drive unit 400 to move up and down along a vertical surface or down a horizontal surface based on sensor data.

[0105] According to embodiments, components within the housing 300 (e.g., control unit 500, drive unit 400, sensor unit 700, and suction unit 200) may be arranged in different locations. The component locations shown in the accompanying drawings of this disclosure are merely possible examples, and the embodiments should not be limited to... Figure 2 And the locations shown in the other attached figures.

[0106] Optionally, the pickup unit 100 includes a support frame 170 that can be suspended from the housing 300 via a mounting base 150. The support frame 170 may (e.g., via its edge 175) guide relative movement between the housing 300 and the pickup unit 100. The base 340 of the pickup unit 100 or the housing 300 may include one or more of the following optional components: a sponge cleaning element, a textile pad, a vibrating textile pad, a rubber cleaning element, or a flexible roller element.

[0107] Figure 3 Describing as Figure 2 The exploded view depicts a cross-sectional view of the cleaning device after assembly. The cleaning device may also include a drive unit 400, a control unit 500, and a vacuum unit 600. Furthermore, the cleaning device includes optional components such as a sensor unit 700 and a wetting system 800. During the cleaning process, the cleaning device can move primarily along the forward direction R. Cleaning efficiency is highest under normal circumstances in this direction of movement. In addition, the cleaning device is also designed particularly well for cleaning wet contaminants, for which the wetting system 800 is utilized.

[0108] The wetting system 800 may include one or more nozzle devices 801, 802, 803 for wetting the surface 50 before and / or during cleaning. For example, a first nozzle device 801 may be located at one or more front positions of the housing 300 to wet the surface 50 in the forward direction R, i.e., before the cleaning device reaches that position. A second nozzle device 802 may be located at one or more lower positions of the housing 300 for wetting the surface below the cleaning device, such as the area immediately in front of the cleaning roller 110. The second nozzle device 802 may also partially wet the cleaning roller 110 in a similar manner. The second nozzle device 802 may be directed toward the surface 50 to be cleaned. A third nozzle device 803 may be located at one or more circumferential positions around the cleaning roller 110 for wetting the cleaning roller 110 from a position inside the wastewater collection space 115.

[0109] According to the embodiment, not all nozzle devices 801, 802, and 803 need to be constantly active. Similarly, not all nozzle devices 801, 802, and 803 may be provided. Depending on demand and / or direction of movement, only some nozzle devices 801, 802, and 803 may be activated. Likewise, the water supply of each nozzle device 801, 802, and 803 may be adjusted according to demand (e.g., degree and type of contamination).

[0110] Sensor unit 700 can detect obstacles and / or the degree and type of dirt. Sensor unit 700 can provide corresponding sensor data to control unit 500. For this purpose, sensor unit 700 includes at least one of the following sensors: optical sensor, mechanical sensor, switch, shutter, ultrasonic sensor, and current sensor for detecting the current consumed by drive unit 400 of cleaning roller 110. Obstacles can be one of the following: frames, edges of surfaces, decorative elements, window handles, door handles, strips. Control unit 500 can control drive unit 400 based on sensor data received from sensor unit 700 to clean (vertical) surface 50 based on needs (e.g., degree and type of dirt), and can even clean close to obstacles.

[0111] The cleaning device also includes a vacuum unit 600 for generating a vacuum in a vacuum chamber, wherein the vacuum and the vacuum chamber are adapted to adsorb the cleaning device onto a vertical surface and / or adsorb the cleaning device in an inverted state below a horizontal surface 50.

[0112] Therefore, according to the embodiment, the control unit 400 can control one or more or all of the following: Motor 190 for cleaning roller 110, 200 suction unit Drive unit 400, Vacuum unit 600, Wetting unit 800, Other components of the cleaning device.

[0113] The control unit 400 can move the cleaning device primarily or preferably along the forward direction R during the cleaning process to optimize the cleaning process. However, the control unit 400 can also move the cleaning device backward (e.g., when the forward direction R is blocked).

[0114] The vacuum unit 600 can be positioned behind the cleaning roller 110 relative to the forward direction R, where less dirt is expected, thus providing stronger suction. Similarly, the control unit 400 can control the vacuum unit 600 to generate sufficient vacuum to maintain the suction of the cleaning device even on the vertical surface 50 during cleaning.

[0115] The functions provided by the control unit 500 can be implemented by software installed therein. The control unit 500 may include a storage device for storing instructions (as software), and a processor configured to read instructions from the storage device to provide the functions described in this disclosure.

[0116] Figure 4A and Figure 4BAn embodiment of a pickup unit 100 for a cleaning device for a vertical surface 50 is depicted. The cleaning device includes a main housing 180. Figure 4A A three-dimensional side view of the main housing 180 is shown, with the main housing 180 without side covers to expose its internal structure. Figure 4B A side view of the main box 180° is shown.

[0117] Similarly, the cleaning device includes a cleaning roller 110 configured to pick up wet dirt from surface 50 by rotation and at least one scraper 120 (see Figure 1 During the rotation of the cleaning roller 110, the scraper 120 also scrapes the picked-up wet dirt off the cleaning roller 110. The pickup unit 100 includes a first channel 161 for removing wet dirt and a second channel 162 for removing wet dirt.

[0118] The main container 180 is used to collect wet waste as sewage and is arranged on the side of the cleaning roller 110, for example, on the right side relative to the forward direction R. The main container 180 includes a first terminal opening 186 connected to a first channel 161 and a second terminal opening 187 connected to a second channel 162.

[0119] The first terminal opening 186 and the second terminal opening 187 discharge wastewater from the first channel 161 and the second channel 162 into the main tank 180, and they are separated from at least one wall of the main tank 180 by a minimum distance dmin (see...). Figure 4A The minimum distance dmin is selected to prevent backflow of sewage during turning and / or inverted movement of the cleaning device on the example vertical surface. According to an embodiment, both the first terminal opening 186 and the second terminal opening 187 are spaced at least a minimum distance dmin from all walls of the main tank 180 to provide sufficient space for sewage to flow around the first terminal opening 186 and / or the second terminal opening 187 during various movements of the cleaning device (e.g., turning and / or inverting or moving horizontally on the vertical surface 50).

[0120] This also limits the dimensions (height, width, depth) of the main tank 180 to ensure sufficient available space for wastewater collection while preventing backflow into the first channel 161 and the second channel 162. For example, the positioning of the main tank 180 and / or the first terminal opening 186 and the second terminal opening 187 can allow a volume of 10 cm². 3 Up to 50 cm 3 Within range or 20 cm 3 Up to 30cm 3 Wastewater within the range flows around the first terminal opening 186 and the second terminal opening 187 during the turning process of the cleaning device in any orientation.

[0121] According to one embodiment, the replenishment tank 181 is fluidly connected to the main tank 180 and extends parallel to the cleaning roller 110. Optionally, a valve 183 is provided at the fluid connection between the main tank 180 and the replenishment tank 181. The valve 183 may allow only wastewater to flow from the main tank 180 to the replenishment tank 181. Alternatively or additionally, the cleaning apparatus includes a pump disposed between the main tank 180 and the replenishment tank 181 for pumping wastewater from the main tank 180 to the replenishment tank 181.

[0122] According to an embodiment, the replenishment tank 181 is arranged in front of the cleaning roller 110 relative to the forward direction R. Therefore, a fluid connection with a valve 183 or a pump can be formed at the upper corner of the main tank 180, wherein this upper corner may be the side facing away from surface 50. The valve may be a one-way valve. The pump may be controlled by a control unit 500.

[0123] According to an embodiment, the drive unit 400 of the cleaning device (see...) Figure 3 It can be controlled to perform forward, backward, and turning actions. Advantageously, the control unit 500 (see...) Figure 3 The control drive unit 400 preferentially steers towards the side (where the main box 180 is located) in the forward direction R. Figure 4A In this case, this corresponds to a right turn. If both steering options are feasible under certain circumstances, the control unit 500 can select the preferred steering direction when controlling the drive unit 400. On the other hand, if the preferred steering direction is not feasible or is difficult or unsafe for some reason, the cleaning device can also steer in the opposite (non-preferred) direction.

[0124] Due to the arrangement of the main tank 180 and the replenishment tank 181, the "turning strategy" of this embodiment will trigger the flow of sewage from the main tank 180 to the replenishment tank 181 during turning, because the sewage will eventually come into contact with valve 183, and the water pressure in the main tank 180 will force the sewage into the replenishment tank 181. Therefore, the main tank 180 will not overflow. When a pump is installed between the main tank 180 and the replenishment tank 181, the control unit 500 can control the pump accordingly to ensure that the amount of sewage in the main tank 180 does not exceed the maximum value. For example, the pump can be activated when the orientation of the cleaning device is such that the fluid connection with the replenishment tank 181 is "below the sewage".

[0125] Figure 5A and Figure 5B The rear view depicts the picking unit 100, with the forward direction R perpendicular to the drawing plane. Figure 5A It shows an overall view, while Figure 5B Similarly, a cross-sectional view (parallel to surface 50) is shown through the motor 190 and the second channel 162 with the second terminal opening 187 (see also...). Figure 4A ).

[0126] According to an embodiment, the second terminal opening 187 is spaced apart from all walls of the main housing 180. It maintains a first distance d1 with the lower wall, a second distance d2 with the side walls, a third distance d3 with the upper wall, and a fourth distance d4 with the inner wall (facing the cleaning roller 110). The main housing 180 and the second terminal opening 187 are configured such that the first to fourth distances d1, d2, d3, and d4 are all greater than a minimum distance dmin. This principle also applies to areas not in... Figure 5B The first terminal opening 186 is shown in the figure.

[0127] According to an embodiment, this minimum distance ensures that sufficient wastewater can flow around the first terminal opening 186 and the second terminal opening 187 without entering the first channel 161 or the second channel 162.

[0128] According to an embodiment, the first channel 161 and / or the second channel 162 may be configured as a suction port (not shown) or a U-shaped groove defining an inclined channel. Figure 1 As shown in detail, the first scraper 121 can scrape away wet dirt from the cleaning roller 110 at one position, while the second scraper 122 can scrape away wet dirt from the cleaning roller 110 at another position. The first channel 161 and the second channel 162 are configured as U-shaped grooves adjacent to the first scraper 121 and the second scraper 122, respectively. The first channel depth C1 of the first U-shaped groove can continuously increase along the axial direction of the cleaning roller 110, while the second channel depth C2 of the second U-shaped groove can continuously decrease along the axial direction of the cleaning roller 110. Therefore, the two channels 161 and 162 are inclined relative to each other.

[0129] Alternatively or additionally, the first channel 161 and / or the second channel 162 may be configured as inclined channels relative to surface 50 (see...). Figure 5B This tilt ensures that wastewater flows towards the main tank 180° under the influence of gravity. For example, in Figure 5B In the depicted scenario, the cleaning device, when inverted, can move along the forward direction R below surface 50. At this time, the wastewater collected in the second channel 162 will flow towards the main tank 180 under the influence of gravity.

[0130] The first channel 161 can be tilted in the opposite direction, meaning that when the cleaning device cleans the horizontal surface 50 from the top, the first channel 161 can transport wastewater by gravity. Therefore, when the cleaning device moves in a first posture (e.g., on the horizontal surface), the first channel 161 can remove wet dirt from the first scraper 121. Similarly, when the cleaning device moves in a second posture (e.g., below the horizontal surface), the second channel 162 can remove wet dirt from the second scraper 122.

[0131] According to an embodiment, the first channel 161 and / or the second channel 162 are configured or oriented to allow gravity-driven flow of wastewater in any spatial movement. To this end, the embodiment designs the U-shaped grooves such that their depth increases / decreases at an angle when viewed from all directions (front, back, top, bottom). Therefore, the angle of inclination may differ from the embodiment shown in the figures. Thus, when the cleaning device moves along the first direction, the first channel 161 can remove wet waste; when the cleaning device moves along the second direction, the second channel 162 can remove wet waste from the second scraper 122.

[0132] Alternatively or additionally, the sewage flow can be driven by a suction device, thus potentially eliminating the need for tilting (angled arrangement) to ensure sewage transport.

[0133] According to other embodiments, a fixing structure 130 for fixing the first scraper 121 and the second scraper 122 (see...) Figure 1 () may form part of the first channel 161 and / or the second channel 162.

[0134] Figures 6A to 6E The advantages of a cleaning device employing an inclined channel in the embodiments are demonstrated when moving the cleaning device on a vertical surface.

[0135] first, Figure 6A A cleaning device is schematically shown in a side view, moving to the left (forward direction R) on surface 50. The cleaning robot includes a pickup unit 100 with a cleaning roller 110, and a first scraper 121 and a second scraper 122 configured to scrape the picked-up dirt from the cleaning roller 110. The cleaning roller 110 is disposed between the first scraper 121 and the second scraper 122. The rear portion 320 (second part) of the cleaning device may include components such as a drive unit 400 and a vacuum unit 600 for moving and holding the cleaning device on the exemplary vertical surface 50 to be cleaned. The cleaning device is horizontally oriented, with surface 50 located below the cleaning device (in the direction of gravity). As seen in the illustrated side view, the cleaning roller 110 rotates in a counterclockwise direction of rotation D, which facilitates forward movement R on surface 50.

[0136] Figure 6B The orientation of the first channel 161 and the second channel 162 on the cleaning device is shown in a top view, wherein the cleaning roller 110 is disposed between the first channel 161 and the second channel 162, and these channels can be configured as suction ports or U-shaped recesses. The depth of the U-shaped recesses defining the first channel 161 and the second channel 162 can also be continuously increased or decreased to convey wet dirt from the cleaning roller 110 to the main container 180 by gravity.

[0137] As will be explained in detail below, the orientation or arrangement of the grooves in the pickup unit 100 allows for gravity-driven transport of wastewater even when moving on a vertical surface. Specifically, when the cleaning device moves in a first direction, the first channel 161 can remove wet dirt from the first scraper 121; when the cleaning device moves in a second direction opposite to the first direction, the second channel 162 can remove wet dirt from the second scraper 122.

[0138] Figure 6C An exemplary vertical motion in the upward direction is shown, where the direction of gravity G is opposite to the direction of movement R (see [reference]). Figure 6C (See diagram on the right). During this movement, the second channel 162 tilts towards the main tank 180, allowing wastewater to flow into the main tank 180 by gravity. No pump is required. The first channel 161 can tilt in the opposite direction.

[0139] exist Figure 6C On the left, a top view (along the direction of gravity) and a bottom view (against gravity) of the moving cleaning device are shown. Therefore, the main housing 180 is located on the left in the top view and on the right in the bottom view. According to the embodiment, the first channel 161 and the second channel 162 are inclined in both views. The first channel 161 has a first tilt angle 163 relative to the axial axis of the cleaning roller 110, and the second channel 162 has a second tilt angle 164. As previously mentioned, the first channel 161 and the second channel 162 can be tilted in all viewing directions. In other words, they are arranged obliquely in all spatial directions. This means that the first channel 161 and the second channel 162 can also be tilted in a direction perpendicular to the plane of the drawing. Therefore, the first tilt angle 163 and the second tilt angle 164 are measured in directions slightly deviating from the plane of the drawing.

[0140] By comparing the top view and the bottom view, it can be seen that the tilt direction of the first channel 161 is opposite to that of the second channel 162 (see also...). Figure 6B This will ensure that even during inverted movement (below the horizontal surface), one of the two channels 161 and 162 will always allow gravity-driven flow of sewage (e.g., Figure 6C The second channel 162 in the illustrated scenario.

[0141] Figure 6D This illustrates vertical downward motion along the direction of gravity G, where the direction of movement R is aligned with the direction of gravity. The right side still shows a view of surface 50, while the left side shows a top view (in the direction of gravity) and a bottom view (against gravity). Therefore, compared to... Figure 6C compared to, Figure 6DThe situation shown is completely opposite. Although the first channel 161 and the second channel 162 remain tilted in three-dimensional space, during the downward movement shown in the figure, the first channel 161 is always able to allow the sewage to flow by gravity because it is tilted toward the main tank 180 by the first tilt angle 163.

[0142] However, since the main tank 180 is exemplarily located on only one side, there is a preferred turning direction to ensure that sewage always flows towards the main tank 180 and not in the opposite direction. Accordingly, the drive unit will preferentially turn towards the side where the main tank 180 is located in the forward direction R. In this embodiment, the preferred turning direction is a right turn.

[0143] Figure 6E The lateral movement along the vertical surface is demonstrated. Gravity also causes the wastewater from the cleaning roller 110 to flow towards the main tank 180. Figure 6E The preferred turning direction is also described, which ensures that both channels 161 and 162 can be emptied during this turning process, since the main box 180 is located below the cleaning roller 110 and the two channels 161 and 162.

[0144] Figure 7A and Figure 7B The horizontal movement is demonstrated. The cleaning device also moves in the forward direction R, while the cleaning roller 110 rotates in the direction D.

[0145] Figure 7A An example of movement above surface 50 is shown. The top view shows a side view of the cleaning device, the middle section is a front view, and the bottom is a rear view. The direction of movement R is perpendicular to the direction of gravity G. The inclined channels 161 and 162 still ensure that sewage flows into the main tank 180, wherein, in the illustrated condition, the first channel 161 has an inclination angle of 163, allowing sewage to flow into the main tank 180. The second channel 162 is inclined in the opposite direction 164, so that the cleaning device can maintain sewage flow even in the inverted state.

[0146] Figure 7B The diagram illustrates the cleaning device moving inverted below surface 50. The top view also shows a side view of the cleaning device, with the front and rear views below. The direction of travel R remains perpendicular to the direction of gravity G. The tilting channels 161 and 162 also ensure wastewater flows into the main tank 180. In this illustrated configuration, the second channel 162 has a tilt angle 164, allowing wastewater to flow into the main tank 180 (see rear view). At this time, the first channel 161 tilts in the opposite direction 163.

[0147] Figure 8An embodiment of a cleaning device with an improved housing 300 is depicted. This cleaning device is also suitable for cleaning a vertical surface 50 along a forward direction R, but the surface 50 may include objects or obstacles 55, such as frames, surface edges, decorative elements, window handles, door handles, strips, etc. The cleaning device may also include a pickup unit 100, a (first) scraper 121, and a channel 161. The pickup unit 100 is equipped with a cleaning roller 110 to pick up dirt from the surface 50, the (first) scraper 121 scrapes away the picked-up dirt during rotation of the cleaning roller 110, and the channel 161 is used to drain wet dirt (see [link]). Figure 1 Alternatively, a second scraper 122 may be provided to clean another angular area of ​​the cleaning roller 110.

[0148] According to an embodiment, the housing 300 is used to enclose the cleaning device and support the pickup unit 100. The housing 300 includes a first portion 310 along the forward direction R and a second portion 320 opposite to the forward direction R. The pickup unit 100 is disposed between the first portion 310 and the second portion 320. Furthermore, the first portion 310 is adapted to at least partially accommodate the scraper 121 and the channel 161, and forms a gap (or void) of predetermined height H with the surface 50, which is larger than the radius of the cleaning roller 110. Figure 8 In the middle, the gap is "filled" by obstacle 55, while Figure 1 In the middle, the gap is the empty space in front of the cleaning roller 110 (no obstruction is shown).

[0149] According to an embodiment, the predetermined height H of the gap ranges from 10 mm to 50 mm, or between 20 mm and 30 mm, or approximately 25 mm. The predetermined height H can be freely chosen, but should be greater than the gap behind the cleaning roller 110.

[0150] According to an embodiment, the cleaning device also includes one or more sensor units 700 configured to detect obstacles 55 and provide corresponding sensor data to the control unit 500 (see [link]). Figure 3 The sensor unit 700 may include at least one of the following sensors: an optical sensor, a shutter, a mechanical sensor, an ultrasonic sensor, a current sensor for detecting the power consumption of the cleaning roller 110 drive unit, a radar sensor, a lidar sensor, an ultrasonic sensor, and other obstacle detection sensors (suitable for detecting obstacles).

[0151] According to an embodiment, the cleaning device also includes a drive unit 400 for moving the cleaning device, and the control unit 500 can also control the drive unit 400. For example, based on sensor data from the sensor unit 700, the control unit 500 controls the drive unit 400 to clean the vertical surface 50 near the obstacle 55. For example, the cleaning roller 110 may be exposed at a gap of a predetermined height H to allow the cleaning roller 110 to contact the obstacle 55 (e.g., to partially clean the obstacle 55).

[0152] According to an embodiment, when the sensor unit 700 includes a current sensor (an electrical sensor), the control unit 500 can detect or confirm an obstacle 55 based on a detected change in current value or based on a comparison of the current value with one or more thresholds. For example, when the cleaning roller 110 contacts an exemplary window frame, the rolling resistance of the cleaning roller 110 may increase, which may in turn lead to an increase in the current consumption of the motor 190 driving the cleaning roller 110. The current sensor can detect this increase in current consumption and infer from this that the cleaning roller 110 has encountered an obstacle.

[0153] Because surface 50 may be contaminated to varying degrees, rolling resistance will always fluctuate within an acceptable range. Therefore, an obstacle may only be considered encountered when the current value exceeds a minimum threshold. Other thresholds may be associated with different types of obstacles that may cause varying increases in rolling resistance. Variations in rolling resistance may also indicate differences in surface materials (e.g., glass versus metal, wood versus carpet, or different carpet installations). The embodiments will also take these variations into account and may adjust the cleaning method accordingly.

[0154] According to an embodiment, when the sensor unit 700 includes a mechanical sensor (e.g., a switch or pressure sensor), the control unit 500 can detect or confirm an obstacle 55 based on the triggering of the mechanical sensor. For example, a mechanical switch might be triggered when the obstacle 55 moves below the first portion 310 of the housing 300. The mechanical sensor may be located in the front region of the housing 300 to detect the obstacle 55 in time before it impacts the cleaning roller 110.

[0155] According to an embodiment, when the cleaning roller 110 loses contact with the vertical surface 50 (e.g., beyond the edge), a mechanical switch can shut off the pickup unit 100, and / or the control unit 500 can move the cleaning device backward to re-contact the surface 50.

[0156] According to an embodiment, the sensor unit 700 may include a light shutter, which provides the same function as a mechanical switch. Similarly, the light shutter may be located in the front region of the housing 300. For example, the transmitter of the light shutter may be located on one side of the cleaning device, while the receiver is located on the opposite side.

[0157] According to an embodiment, the housing 300 can also guide the movement of the pickup unit 100 along the sliding edge 175. Similarly, the pickup unit 100 can be suspended by a spring-loaded mount 150, which provides pressure on the surface 50 from the cleaning roller 110. For this movable mount 150, the housing 300 and the support frame 170 together form the sliding edge 175 along which the pickup unit 100 can move linearly while applying pressure to the surface 50.

[0158] It should be understood that the control unit 500 may include one or more controllers arranged at different locations inside the cleaning device or on its surface. Each controller may be dedicated to one or more functions. Alternatively or additionally, all functions may be integrated into a central control unit for implementation.

[0159] According to embodiments, all operational functions described in this disclosure can be implemented in a method of controlling the cleaning apparatus. Similarly, all functions can be implemented by software installed in one or more controllers, which are thereby configured to provide the corresponding functions.

[0160] These methods can be implemented by software or computer program products. Therefore, embodiments also relate to a computer program product or machine-readable storage device that includes program code that performs the methods when the computer program is run on a processor. Those skilled in the art will readily recognize that the steps of the various methods described above can be performed by a programmed computer. Embodiments are also intended to cover program storage devices, such as machine-readable or computer-readable digital data storage media, which are encoded with machine-executable or computer-executable instructions that, when executed on a computer or processor, perform some or all of the operations of the methods described above.

[0161] The specification and accompanying drawings illustrate only the principles of this disclosure. Therefore, it should be understood that those skilled in the art can design various arrangements that, while not expressly described or shown herein, embody the principles of this disclosure and are included within its scope.

[0162] Furthermore, while each embodiment may exist as an independent example, it should be noted that in other embodiments, the defined features can be combined in different ways; that is, a specific feature described in one embodiment may also be implemented in other embodiments. Such combinations are all covered by the disclosure herein unless explicitly stated otherwise.

[0163] Although the invention has been described in detail with reference to preferred embodiments, it is not limited to the disclosed examples, and those skilled in the art can deduce other variations therefrom without departing from the scope of the invention. Therefore, many possible variations are evident. It should also be understood that the embodiments illustrated by way of example are merely illustrative examples and should not be considered as limiting the scope, application possibilities, or configuration of the invention in any way. In fact, the foregoing description and accompanying drawings enable those skilled in the art to embodied exemplary embodiments, wherein, based on the disclosed inventive concept, those skilled in the art can make various changes without departing from the scope of the invention as defined by the claims and their legal equivalents (e.g., further set forth in the specification), such as relating to the function or arrangement of the elements described in the exemplary embodiments.

[0164] List of reference numerals 50. Surfaces, walls (e.g., vertical). 55 Obstacles (e.g., window frames) 100 pickup units 110 cleaning roller 111, 112 angle range 113, 114 angles 115 Wastewater Collection Space 120, 121, 122 scrapers 125 scraper 130 fixed structure 135 (scraper) sliding cavity 140 biasing device (such as a spring) 150 (pickup unit) mounting bracket 155 mounting spring 161, 162 Wastewater transport units (such as channels or suction ports) 163, 164 channel tilt angle Support frame for 170 pickup unit 180 main box 181 Replenishment Box 183 valve 186 First terminal opening 187 Second terminal opening 190 cleaning roller motor 200 vacuum units 210 suction channel 300 casing (e.g., rectangular when viewed from above) 310 Part One (Preface) 320 Part Two (Rear) 330 cover part 340 base 400 drive unit 500 control unit 600 vacuum unit (for maintaining the cleanliness of the unit) 650 Vacuum Suction Cup 700 sensor 800 Wetting System (Water Spray Unit) Nozzle devices 801, 802, 803 R is the direction of travel. D Cleaning roller rotation direction G gravity direction H casing height L-linear motion C1, C2 channel depth minimum distance dmin d1, d2,… Distance (gap)

Claims

1. A cleaning device for a surface (50), comprising: A pickup unit (100) is configured to pick up wet dirt from the surface (50). The pickup unit (100) includes a cleaning roller (110), a motor (190) for the cleaning roller (110), at least one scraper (120), and a main container (180) for collecting the wet dirt as wastewater. A mounting base (150) for the pickup unit (100), the mounting base (150) being configured to press the pickup unit (100) against the surface (50) with a predetermined pressure; and A vacuum unit (600) is used to generate a vacuum in a vacuum chamber, the vacuum and the vacuum chamber being configured to hold the cleaning device below a vertical or horizontal wall.

2. The cleaning device according to claim 1, wherein the vacuum unit (600) is adapted to hold the cleaning device on the surface (50) when the mounting base (150) presses the pickup unit (100) against the surface (50).

3. The cleaning device according to claim 1 or 2, wherein the mounting base (150) is adapted to continuously press the pickup unit (100) against the surface (50) with the predetermined pressure.

4. The cleaning apparatus according to claim 1 or 2, wherein the cleaning apparatus is configured to move primarily along the forward direction (R) during the cleaning process. in, The vacuum unit (600) is arranged behind the cleaning roller (110) in the forward direction.

5. The cleaning device according to claim 1 or 2, wherein the mounting base (150) includes one or more springs (155) or elastic elements for applying the predetermined pressure to the surface (50).

6. The cleaning apparatus according to claim 5, further comprising: A housing (300) that houses the vacuum unit (600) and is configured to hold the mounting base (150), and includes a sliding edge (175) for guiding the pickup unit (100). Furthermore, the one or more springs (155) of the mounting base (150) provide the same linear elastic force to press the pickup unit (100) uniformly toward the surface (50) in a direction away from the housing (300).

7. The cleaning device according to claim 5, wherein the one or more springs (155) comprises four springs, each spring being disposed at a corresponding corner of the pickup unit (100).

8. The cleaning device according to claim 6, wherein the housing (300) includes a rear portion (320) positioned behind the pickup unit (100), the rear portion (320) comprising one or more of the following: Sponge cleaning components, Textile mat, Vibrating textile mat, Rubber cleaning components, Flexible roller element.

9. The cleaning apparatus according to claim 1 or 2, wherein the pickup unit (100) further comprises: A replenishment box (181), which is in fluid communication with the main box (180) and extends parallel to the cleaning roller (110); and A valve (183) or pump is formed along the fluid connection between the main tank (180) and the replenishment tank (181) and configured to allow only wastewater to flow from the main tank (180) to the replenishment tank (181).

10. The cleaning apparatus according to claim 1 or 2, wherein the at least one scraper (120) comprises a first scraper (121) and a second scraper (122), both the first scraper (121) and the second scraper (122) being used to scrape off wet dirt from the cleaning roller (110), the cleaning apparatus further comprising: A first channel (161) is used to remove wet dirt from the first scraper (121) as the cleaning device moves in a first direction; as well as The second channel (162) is used to remove wet dirt from the second scraper (122) when the cleaning device moves in a second direction opposite to the first direction.

11. The cleaning apparatus according to claim 1 or 2, wherein the at least one scraper (120) is rotatable, or pivotable, or linearly movable, or is a scraping roller.

12. The cleaning apparatus according to claim 1 or 2, further comprising at least one biasing device (140) for applying a biasing force to move the at least one scraper (120; 121, 122) radially (L) toward the axis of rotation of the cleaning roller (110).

13. The cleaning apparatus according to claim 1 or 2, further comprising at least one of the following: A suction unit (200) is used to provide suction force for removing wet dirt; The suction channel (310) fluidly connects the suction unit (200) to the pickup unit (100) to remove the picked-up wet dirt; A drive unit (400) is used to move the cleaning device; Sensor unit (700) is used to determine sensor data; A control unit (500) is configured to control the suction unit (200) based on the sensor data to move the drive unit (400) up and down along a vertical wall or below a horizontal wall.

14. The cleaning apparatus of claim 6, wherein the cleaning apparatus is configured to move primarily in the forward direction (R) during cleaning, and the cleaning apparatus further comprises a wetting system (800) disposed at at least one of the following locations: One or more circumferential positions are disposed around the cleaning roller (110) to wet the cleaning roller (110); One or more frontal locations of the housing (300) are provided to wet the surface relative to the direction of travel; One or more lower locations of the housing (300) are provided to wet the surface below the cleaning device.

15. A method for manufacturing a cleaning device according to any one of claims 1 to 14.

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