Cleaning device with doctor blade

Abstract

A cleaning device for a vertical surface (50) comprising a cleaning roller (110), first and second scrapers (121, 122) and a holding structure. The cleaning roller (110) is configured to rotate to pick up dirt from the surface (50). The first scraper (121) is configured to remove dirt in a first angular range (111) of the cleaning roller (110). The second scraper (122) is configured to remove dirt in a second angular range (112) of the cleaning roller (110). The holding structure (130) holds the first scraper (121) in the first angular range (111) and the second scraper (122) in the second angular range (112). A first angle (113) between the first angular range (111) and the surface (50) is between 90° and 180°, preferably between 125° and 145° or approximately 135°, and a second angle (114) between the second angular range (112) and the surface (50) is between 0° and 90°, preferably between 20° and 40° or approximately 30°. The first angle (113) and the second angle (114) are measured in the same coordinate system.

Description

Technical Field

[0001] This invention relates to a cleaning device and a method for manufacturing a cleaning device, 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 housing structure for the cleaning robot. Background Technology

[0002] Traditional cleaning devices, especially cleaning robots, include fixed scrapers for picking up dirt from cleaning rollers. Additionally, wastewater channels are provided for conveying wastewater into a tank. However, the scraping effect provided by fixed scrapers on the cleaning rollers is insufficient, especially when the dirt is wet. Therefore, alternative scrapers are needed to improve the efficiency of picking up (wet) dirt from the cleaning rollers.

[0003] Traditional cleaning devices may also have a cleaning unit fixedly mounted on the cleaning unit, or a suction unit floating on the cleaning unit. Traditional cleaning devices may also have a cleaning roller fixedly mounted on its housing, and may include a textile pad and a rotating pad for cleaning the surface. However, these arrangements also provide only insufficient cleaning results because there is no balanced pressure applied to the surface to be cleaned. Too high or too low pressure, or pressure applied only to one side, results in insufficient cleaning. Therefore, there is a further need for improved cleaning units that provide better cleaning results.

[0004] Traditional cleaning robots employ a dirty water channel system to convey wet dirt or wastewater from cleaning rollers into a tank. However, this system only provides acceptable results under specific conditions, such as on a horizontal surface. Specifically, traditional water channel systems are insufficient for cleaning robots that also need to clean vertical surfaces and navigate vertical surfaces. In conventional cleaning devices, wastewater is only conveyed to the tank in a specific direction, such as at the top of a horizontal surface. Therefore, there is a further need for cleaning devices capable of cleaning vertical surfaces while reliably and continuously conveying wastewater into the tank, achieving high cleaning efficiency—both on vertical surfaces and 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, making the cleaning units more expensive and prone to errors. Therefore, improvements in wastewater transport are also needed for these cleaning units; wastewater should be transported continuously and reliably on or below vertical or horizontal surfaces.

[0006] Other conventional cleaning robots have housings with high sidewalls for cleaning near surface frames. When conventional cleaning devices rely on suction systems, the high sidewalls hinder high suction efficiency. Therefore, conventional cleaning devices must balance two objectives: high suction efficiency and the ability to clean window or door frames or other obstructions. One conventional solution is to fully expose the cleaning rollers, which allows for cleaning close to the frame. However, these devices are still unsuitable for cleaning vertical surfaces when moving up and down, as wastewater transport is impossible or requires a suction system. An alternative conventional solution is to completely enclose the cleaning rollers within the housing; however, this prevents the cleaning device from cleaning nearby frames or other obstructions.

[0007] Therefore, a cleaning device is needed that provides sufficiently high cleaning efficiency while also being able to clean the area around the frame (e.g., windows). Summary of the Invention

[0008] The cleaning apparatus according to claim 1 and the method for manufacturing the cleaning apparatus according to claim 15 solve at least some of the aforementioned problems. The dependent claims relate to further advantageous embodiments of the subject matter of the independent claims.

[0009] This invention relates to a cleaning device for vertical surfaces. The cleaning device includes:

[0010] - A cleaning roller, which is configured to rotate to pick up dirt from the surface;

[0011] - The first scraper is configured to remove dirt within a first angular range of the cleaning roller;

[0012] - A second scraper is configured to remove dirt within a second angular range of the cleaning roller; and

[0013] - A retaining structure for holding the first scraper within a first angle range and the second scraper within a second angle range.

[0014] The first angle range includes a first angle of the surface, which is between 90° and 180°, preferably between 125° and 145°, or approximately 135°. The second angle range includes a second angle of the surface, which is between 0° and 90°, preferably between 20° and 40°, or approximately 30°. The first and second angles are measured in the same coordinate system.

[0015] According to the embodiment, these corner positions ensure that dirt can be effectively removed in any direction of movement. For example, when the cleaning device moves upward, the second scraper can remove dirt, while when the cleaning device moves downward, the first scraper can remove dirt. Therefore, the second scraper is arranged to transport dirt effectively during upward movement.

[0016] The definition of "cleaning apparatus for vertical surfaces" should be interpreted as a cleaning apparatus suitable for and designed to move up and down on a vertical surface, and not just along a horizontal surface. Therefore, the cleaning apparatus should be able to move upwards on a vertical surface while cleaning it. However, the cleaning apparatus can also clean horizontal surfaces from below or above, as well as typical floors. It should be understood that the cleaning apparatus can also clean inclined surfaces. Vertical direction should be understood as the direction of gravity.

[0017] "Surface" can be any surface on which the cleaning robot can move and can be made of a variety of materials, including glass, stone, tile, ceramic, carpet or rug, wood, etc.

[0018] Although the term "scraper" should be interpreted broadly, it should be distinguished from a sealing element, which does not scrape or remove dirt from the cleaning roller, but rather seals the contact between the cleaning roller and the seal. Sealing is achieved, for example, by removing moisture (that has not been removed) from the cleaning roller. The cleaning roller is driven by a motor and can rotate forward during cleaning; that is, it supports the forward movement of the cleaning device.

[0019] It should also be understood that the scraper removes dirt within a certain angle range, not just at a specific angle. The angle range can depend on the pressure applied to the cleaning roller and / or the stiffness of the cleaning roller, and can cover a range of 5°, 10°, or 20°.

[0020] The term "dirt" can refer to dry 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" refers to the axial direction (left-hand or right-hand side) of the cleaning roller with its axis of rotation. This axis defines the axial direction. Therefore, the "radial" direction can be defined relative to the radius of the cleaning roller.

[0021] Optionally, the retaining structure is configured to allow the first and / or second scraper to move toward the cleaning roller. This movement is at least one of the following: linear movement, pivotal movement, curved movement, or circular movement (e.g., along a circular cross-section). Therefore, the scraper can change its position and / or orientation relative to the cleaning roller. The path of movement can be at least partially radial.

[0022] Optionally, the cleaning device includes at least one biasing device to apply a biasing force (e.g., pressure applied by the scrapers) to the linear motion of one or two scrapers toward the cleaning roller.

[0023] Optionally, the bias force applied by at least one biasing device is in the range of 15N to 30N, or between 21N and 23N, or about 22N.

[0024] Optionally, the first and second scrapers comprise 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 and / or second scrapers may each include a scraper strip located at an edge to contact and remove picked-up dirt from the cleaning roller. This edge may be particularly advantageous for plate scrapers. Roller scrapers may include each roller, which may be configured to rotate in the opposite direction to the cleaning roller to remove dirt from the cleaning roller.

[0025] The first scraper and / or the second scraper and / or the retaining structure are adapted to provide at least one or all of the following:

[0026] - Mechanically move the scraper (e.g., relative to the cleaning roller),

[0027] -Motorically move the scraper (e.g., relative to the cleaning roller),

[0028] - When both the first and second scrapers include scraper strips, in order to ensure that only one (or two) of the scraper strips are in contact with the cleaning roller,

[0029] - Move one or two scrapers according to the direction of movement of the cleaning device.

[0030] Therefore, the squeegee can be controlled independently (electrically or mechanically). For this purpose, actuators such as screw drives, electric motors, or other devices can be configured to change the position of the squeegee (e.g., relative to the scraper blade). Alternatively or additionally, the squeegee can be mechanically coupled to a retaining structure, and the retaining structure can be controlled such that, for example, depending on the direction of movement of the cleaning device, only one squeegee is in contact with the cleaning roller. Therefore, the position of the squeegee can differ during upward or downward, horizontal or vertical movement.

[0031] The term "plate-like" can be understood as essentially forming a planar element with two opposing surfaces, which can be flat or planar, or even curved. Plate-like scrapers can also be curved or arc-shaped, but they provide a certain rigidity to apply predetermined pressure to the cleaning roller. A roller scraper is a rotatable roller in contact with the cleaning roller. When compared to the cleaning roller, the roller scraper can rotate in the opposite direction of rotation to provide an effective dirt pickup effect. The roller scraper can also rotate faster than the cleaning roller to effectively clean the cleaning roller. Optionally, the rotation speed can be adjusted as needed.

[0032] According to embodiments, the cleaning device may also have different types of scrapers; for example, a scraper may be formed as a plate scraper, a scraper may be formed as a roller scraper, or a scraper may be formed as a V-shaped scraper or a pivoting scraper. Each scraper design has its own advantages. For example, a linearly moving scraper requires very little assembly space, while a roller scraper may require more space. On the other hand, the scraping effect of a roller scraper can be controlled by adjusting its rotational speed relative to the rotational speed of the cleaning roller. A V-shaped scraper can be very stable.

[0033] Optionally, the retaining structure includes respective sliding chambers for each of one or more plate-shaped scrapers to move back and forth within the respective sliding chamber. The sliding chambers can 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 chamber, but it can provide guidance or alignment, such as for the linear movement of the scrapers.

[0034] The cleaning roller can be reconfigured to pick up wet dirt from the surface, and the cleaning device may optionally include a first channel for removing (wet) dirt from a first scraper and a second channel for removing (wet) dirt from a second scraper. When both channels are provided, the first channel can be used when the cleaning device moves in a downward direction (e.g., a first direction), and the second channel can be used when the cleaning device moves in an upward direction (e.g., a second direction opposite to the first direction). Depending on the direction of the cleaning device, both channels can convey (wet) dirt simultaneously.

[0035] According to an embodiment, when the cleaning device moves upward, the second scraper guides wet waste (e.g., water) to the second channel (or suction port), while when the cleaning device moves downward, the first scraper guides wet waste (e.g., water) to the first channel (or corresponding suction port). Therefore, the second scraper is arranged to effectively transport wastewater when moving upward. This is ensured by the angular position of the scraper.

[0036] Optionally, the retaining structure extends partially around the cleaning roller to provide a wastewater collection space between the surface of the cleaning roller and the retaining structure. The first channel may be formed with a first U-shaped cross-section adjacent to the first (plate-shaped) scraper to guide wet waste into the first channel. Similarly, the second channel may be formed with a second U-shaped cross-section adjacent to the second (plate-shaped) scraper to guide wet waste into the second channel.

[0037] Optionally, each (plate-shaped) scraper defines a corresponding angle relative to the surface of the cleaning roller, wherein for multiple plate-shaped scrapers, the corresponding angles may be different or equal. These angles may be predetermined to provide the advantage of removing different types of dirt (e.g., moisture, solid dirt, surface dirt, deep dirt, etc.).

[0038] Optionally, the cleaning apparatus also includes a vacuum unit to generate a vacuum in a vacuum chamber. The vacuum and vacuum chamber may be adapted to hold the cleaning apparatus on a vertical surface and / or below a horizontal surface (in an upside-down position) during cleaning.

[0039] The cleaning device can be configured to move primarily in the forward direction during cleaning. Optionally, a vacuum unit is then arranged relative to the forward direction behind the cleaning roller.

[0040] Optionally, each of at least one biasing device includes a spring or elastic material as a biasing force source, which has elasticity to apply a biasing force when compressed. The spring can be a coil spring, leaf spring, or other spring. Possible elastic materials can be rubber, sponge, etc.

[0041] Optionally, the cleaning device may also include one or more of the following:

[0042] - A housing with a suction unit and a suction channel;

[0043] - Drive unit for mobile cleaning devices;

[0044] - A sensor unit that provides sensor data;

[0045] - Control unit, used to control the drive unit to move up and down on a vertical surface or down a horizontal surface based on sensor data.

[0046] Therefore, according to an embodiment, the cleaning device may be a cleaning robot configured to autonomously clean surfaces.

[0047] The cleaning device can then be configured to move primarily in the forward direction during the cleaning process. The cleaning device may then include a wetting system at at least one of the following locations:

[0048] Wet the cleaning roller at one or more circumferential locations around it.

[0049] - To wet the front surface of one or more housings relative to the forward direction.

[0050] - Moisten the surface beneath the cleaning device at the bottom of one or more housings.

[0051] Optional wetting systems may include one or more nozzles that can be activated or deactivated depending on the direction of movement. Similarly, the nozzles may optionally be controllable to adjust the water flow as needed.

[0052] A further embodiment relates to a surface cleaning apparatus having a pickup unit, a mounting member, and a vacuum unit. The pickup unit is configured to pick up wet dirt from the surface. The pickup unit may include a cleaning roller, a motor for the cleaning roller, at least one scraper, and a main tank for collecting the wet dirt as wastewater. The mounting member is configured to hold the pickup unit in place and is adapted to press the pickup unit onto the surface with a predetermined pressure. The vacuum unit is adapted to generate a vacuum in a vacuum chamber. The vacuum and / or the vacuum chamber is adapted to hold the cleaning apparatus against a vertical wall or below a horizontal wall.

[0053] Optionally, the vacuum unit is adapted to hold the cleaning device on the surface while the mounting element presses the pickup unit against the surface with a predetermined pressure.

[0054] Optionally, the mounting element is adapted to permanently press the pickup unit onto the surface with a predetermined pressure.

[0055] Optionally, the cleaning device is configured to move primarily in the forward direction during cleaning, and the vacuum unit is arranged behind the cleaning roller relative to the forward direction.

[0056] Optionally, the mounting element includes one or more springs or elastic elements to apply a predetermined pressure to the surface.

[0057] Optionally, the cleaning device also includes a housing that houses the vacuum unit. The housing may be adapted to retain the mounting and may provide sliding edges to guide the pickup unit. One or more springs on the mounting may provide the same linear spring force to press the pickup unit evenly against a surface away from the housing.

[0058] Optionally, one or more springs may include four springs, each arranged at a corresponding corner of the pickup unit.

[0059] Optionally, the housing includes a rear portion located behind the pickup unit (e.g., relative to the front direction). The rear portion includes one or more of the following:

[0060] -Sponge cleaning element,

[0061] - Textile mat

[0062] - Vibrating textile mat

[0063] - Rubber cleaning components,

[0064] - Flexible roller element.

[0065] Optionally, the pickup unit further includes an auxiliary 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 fluid connection between the main tank and the auxiliary tank. The valve (or pump) is configured to allow wastewater to flow only from the main tank to the auxiliary tank.

[0066] Further embodiments relate to a cleaning device for vertical surfaces, comprising:

[0067] - A cleaning roller is configured to rotate to pick up wet dirt from a vertical surface;

[0068] - At least one scraper, wherein each of the at least one scraper is configured to remove picked-up dirt from the cleaning roller during rotation of the cleaning roller;

[0069] -The first channel used to remove wet waste; and

[0070] - A second channel used to remove wet dirt.

[0071] The first channel and / or the second channel may form a suction port. Alternatively or additionally, the first channel and / or the second channel may be formed at an angle relative to a vertical surface.

[0072] Optionally, the cleaning device further includes a main tank disposed on the transverse side of the cleaning roller for collecting wet waste as wastewater. The main tank may include a first terminal opening connected to a first channel and / or a second terminal opening 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 tank to prevent wastewater backflow during rotation or up-and-down movement of the cleaning device on a vertical surface.

[0073] Optionally, the first terminal opening and / or the second terminal opening (both) are spaced apart from all the walls of the main tank by at least a minimum distance to provide sufficient space for wastewater to flow around the first terminal opening and around the second terminal opening during operation, or during turning on a vertical surface, and / or during the up-and-down movement of the cleaning device.

[0074] Optionally, the positions of the main box and / or the first terminal opening and the second terminal opening are adapted to allow a volume of 10cm². 3 Up to 50cm 3 Within range or 20cm 3 Up to 30cm 3 Wastewater within the range flows around the first terminal opening and the second terminal opening, and is used to turn in any or at least one direction of the cleaning device.

[0075] Optionally, the cleaning device includes an auxiliary tank that is fluidly connected to the main tank and extends parallel to the cleaning roller. The cleaning device may also include a valve formed along the fluid connection between the main tank and the auxiliary tank. This valve can be configured to allow only wastewater to flow from the main tank into the auxiliary tank.

[0076] Optionally, the cleaning device includes a pump disposed between the main tank and the auxiliary tank to pump wastewater from the main tank to the auxiliary tank.

[0077] Optionally, the cleaning device is configured to move primarily in the forward direction during cleaning. An auxiliary housing may be arranged in front of the cleaning rollers relative to the forward direction. A fluid connection to a valve may be formed at the upper corner of the main housing. This valve may be a check valve. The upper side may be defined as the side opposite the surface to be cleaned.

[0078] Optionally, when the cleaning device includes a drive unit configured to move the cleaning device forward and backward and / or steer the cleaning device, the control unit can be configured to control the drive unit to preferentially steer to the lateral side where the main tank is arranged. This ensures that wastewater can be conveyed from the cleaning rollers or from the first channel and / or from the second channel into the main tank during each rotation. However, the cleaning device can also turn in another direction, but if turning in both directions is possible, the control unit can select the preferred turning direction. If the preferred steering is impossible or difficult or unsafe for some reason, the cleaning device can also steer in the opposite (non-preferred) direction.

[0079] Optionally, when the first channel is formed as a first U-shaped recess adjacent to the first scraper and the second channel is formed as a second U-shaped recess adjacent to the second scraper, the depth of the first U-shaped recess extends continuously along the axial direction of the cleaning roller, while the depth of the second U-shaped recess decreases continuously.

[0080] Optionally, the increased depth of the first and / or second channels is adapted to remove wet dirt by gravity during movement (vertical or horizontal) on the vertical surface.

[0081] A further embodiment relates to a cleaning device for cleaning a vertical surface while moving in a forward direction, wherein the cleaning device includes:

[0082] - A pickup unit having a cleaning roller for picking up dirt from a surface, a scraper for removing the picked-up dirt from the cleaning roller during rotation of the cleaning roller, and a channel for carrying away wet dirt; and

[0083] - A housing that provides enclosure for the cleaning device and supports the pickup unit, wherein the housing includes a first portion in the forward direction and a second portion in the opposite direction.

[0084] The pickup unit can be arranged between the first part and the second part (or the rear part). The first part is adapted to at least partially accommodate the scraper and the channel. The first part has a gap (void) at a predetermined height from the surface, which is larger than the radius of the cleaning roller.

[0085] Optionally, the clearance at the predetermined height is in the range of 10mm to 50mm, 20mm to 30mm, 20mm to 40mm, or approximately 25mm.

[0086] Optionally, the cleaning device includes a sensor unit suitable 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 the current consumed by the drive unit of the cleaning roller. The obstacle may be one of the following: a frame, a surface edge, a decorative element, a window handle, a door handle, a strip, or a surface edge.

[0087] Optionally, the cleaning device includes:

[0088] - A drive unit for mobile cleaning devices; and

[0089] - Control unit, used to control drive unit based on sensor data from sensor unit to clean vertical surfaces near obstacles.

[0090] Optionally, the cleaning roller is exposed at a predetermined height of gap to allow the roller to contact the obstacle.

[0091] Optionally, when the sensor unit includes a current sensor, the control unit can be configured to detect or confirm an obstacle based on the detection of a change in the magnitude of the current value or a comparison of the current value with one or more thresholds.

[0092] Optionally, when the sensor unit includes a mechanical sensor adapted to measure the pressure applied from the obstacle to the pickup unit, the control unit can be configured to detect or confirm the obstacle based on the pressure value received from the mechanical sensor.

[0093] Optionally, when the mechanical sensor or sensor unit includes a mechanical switch, the control unit can be configured to cause one or more of the following:

[0094] - Reverse cleaning device (e.g., when the cleaning roller loses contact with a vertical surface or encounters an obstacle),

[0095] -In order to perform the turning / rotation of the cleaning device

[0096] - Shut down the pickup unit (e.g., when an edge is detected as an obstacle, or when the cleaning roller loses contact with a vertical surface).

[0097] Optionally, the cleaning device includes: a mounting member for the pickup unit, adapted to press the pickup unit onto a surface with a predetermined pressure to enable the pickup unit to float. A first and second portion of the housing are adapted to provide guidance for the floating pickup unit (e.g., via a sliding edge).

[0098] Optionally, the housing provides a recess for the pickup unit between the first and second portions (e.g., when viewed from a lateral side). This recess may have an opening on one lateral side. The pickup unit may include a support frame mounted to the housing via a mounting member and providing support for the cleaning roller. The support frame may close the opening on the lateral side of the recess. The support frame may form a sliding edge with the housing to allow linear movement of the pickup unit.

[0099] Optionally, the cleaning device includes a main tank for wastewater disposed on the lateral side of the cleaning roller, allowing the pickup unit to pick up wet dirt from the surface and collect the wastewater. The open lateral side of the recess in the housing is opposite to the side on which the main tank is disposed.

[0100] Optionally, the cleaning device includes a second scraper, each of which is again configured to remove picked-up dirt from the cleaning roller during rotation of the cleaning roller. The cleaning device may again include a retaining structure for holding the scrapers. The retaining structure may be configured to allow each scraper to move toward the cleaning roller (e.g., linearly). The cleaning device may again include at least one biasing device to apply a biasing force to the movement of the scrapers toward the cleaning roller.

[0101] Optionally, the cleaning device again includes a vacuum unit to generate a vacuum in a vacuum chamber, wherein the vacuum and the vacuum chamber may be adapted to hold the cleaning device at a vertical wall and / or hold the cleaning device below a horizontal wall.

[0102] Optionally, the cleaning device again includes a suction unit and a suction channel. The control unit may be adapted to control the suction unit and drive unit based on sensor data to move up and down on a vertical wall or down a horizontal wall.

[0103] Further embodiments relate to cleaning devices that include all or most of the features of the cleaning apparatus as described above. Limitations may apply to various aspects of a cleaning apparatus. However, the invention should not be limited to the entire system, but rather to the aspects defined in the appended claims.

[0104] Although various embodiments define different combinations of features, it should be understood that a cleaning device may include various components only once, even if these components may have different functions in different embodiments (e.g., implemented by a control unit). For example, a cleaning device may include only one of the following components: a pickup unit, a cleaning roller, a sensor unit (which may have multiple sensors), a suction unit, a vacuum unit, a drive unit, a housing, a wetting system, etc.

[0105] The embodiments also relate to methods of manufacturing or operating the cleaning apparatus as described in this disclosure. The method of operating the cleaning apparatus, or at least a portion thereof, may also be implemented using software or a computer program product. Therefore, the embodiments also relate to a computer program or computer program product or machine-readable storage device having program code that, when executed on a processor, performs the method.

[0106] It should be understood that all functions (e.g., 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, thus defining the optional limitations of the control unit. Attached Figure Description

[0107] Various embodiments of the present invention will be described below by way of example only and with reference to the accompanying drawings, wherein:

[0108] Figure 1 An embodiment of a cleaning device with a scraper is described.

[0109] Figure 2 An embodiment of a cleaning device with a spring-loaded pickup unit is described.

[0110] Figure 3 A cross-sectional view of the cleaning apparatus according to an embodiment is depicted, showing further details.

[0111] Figure 4A , Figure 4B An embodiment of a cleaning device with an inclined channel is described.

[0112] Figure 5A , Figure 5B Depicting Figure 3 Rear view and sectional view of the cleaning device with inclined channel shown.

[0113] Figures 6A-6E Advantages of an embodiment for cleaning vertical surfaces are shown.

[0114] Figure 7A , Figure 7B Advantages of an embodiment for cleaning a horizontal surface are shown.

[0115] Figure 8 An embodiment of a cleaning device with an improved housing is described. Detailed Implementation

[0116] Various examples will now be described more fully with reference to the accompanying drawings, some of which are shown in the drawings.

[0117] Therefore, while the examples can have various modifications and alternatives, the illustrative examples in the accompanying drawings will be described in detail herein. However, it should be understood that the examples are not intended to be limited to the specific forms disclosed; rather, the examples will cover all modifications, equivalents, and alternatives falling within the scope of this disclosure. Throughout the description of the accompanying drawings, the same numerals refer to the same or similar elements.

[0118] It should be understood that when an element is described as "connected" or "coupled" to another element, it can be directly connected or coupled to the other element, or there may be intermediate elements. Conversely, when an element is described as "directly connected" or "directly coupled" to another element, there are no intermediate elements. Other terms used to describe the relationship between elements should be interpreted in a similar manner (e.g., "between" to "directly between," "adjacent" to "directly adjacent," etc.).

[0119] The terminology used herein is for descriptive and illustrative purposes only and is not intended to be limiting. As used herein, the singular forms “a,” “some,” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that the terms “comprising,” “including,” “having,” and / or “encompassing,” when used herein, specify the presence of the stated feature, step, operation, element, and / or component, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof.

[0120] Unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by a person of ordinary skill in the field to which the examples pertain. It should also be understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning consistent with their meaning in the context of the relevant field, and should not be interpreted in an idealized or overly formal sense unless explicitly defined herein.

[0121] Figure 1 A cross-sectional view of a cleaning device is shown, which is adapted and designed for cleaning vertical surfaces 50 or in an upside-down position, where vertical refers to the direction opposite to gravity. Surface 50 can be any surface made of materials such as glass, stone, tile, ceramic, carpet, wood, etc. It should be understood that the device can also clean horizontal surfaces (from below or above the floor) and similar sloping surfaces.

[0122] The cleaning device includes: a cleaning roller 110, two scrapers 120, and a retaining structure 130, and Figure 1The cross-section is chosen to be perpendicular to the axial direction of the cleaning roller 110. The cleaning roller 110 is configured to rotate to pick up dirt from the surface 50, wherein the motor 190 can drive the rotation. Two scrapers 120 are configured to remove the picked-up dirt from the cleaning roller 110 during rotation of the cleaning roller 110. A retaining structure 130 holds the two scrapers 120 such that each of the two scrapers 120 is in contact with the cleaning roller 110. The cleaning device also includes one or more collection boxes 180, 181 for collecting dirt. The dirt can be wet dirt, so the collected dirt can be wastewater ( Figure 1 (Not shown in the image).

[0123] 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 remove contaminants within a first angular range 111 of the cleaning roller 110, and the second scraper 122 is configured to remove contaminants 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 approximately 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 approximately 30°. The first angle 113 and the second angle 114 may be measured in the same coordinate system (in the same direction) and may differ from each other by at least 10°, 30°, or 60°.

[0124] According to an embodiment, the first scraper 121 and / or the second scraper 122 is at least one of the following: a plate-shaped scraper, a roller scraper (or a scraper roller), a rigid scraper, a curved scraper, a V-shaped scraper, etc. Figure 1 Only an exemplary plate-shaped scraper is shown, but the embodiments should not be limited to the scraper shown. The plate-shaped scrapers 121 and 122 may each include a scraper strip 125 at the edge to contact the cleaning roller 110. The scraper strip 125 is adapted to remove picked-up dirt from the cleaning roller 110, and the scraper strip 125 may be integrally formed with the scraper 121 and 122 (of the same material).

[0125] The cleaning device can move in the preferred forward direction R, and the cleaning roller 110 can rotate in the forward direction R. Figure 1 (Counterclockwise direction). 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 from it. Each of the at least one roller scraper may include a roller configured to rotate counterclockwise to the cleaning roller 110 to remove dirt from it, wherein the rotational speed of the roller scraper can be predetermined or adjustable as needed (e.g., the amount of dirt). For example, the rotational speed of the roller scraper can be faster than the speed of the cleaning device (forward sliding).

[0126] According to an embodiment, each of at least one plate-shaped scraper 120 defines a corresponding angle relative to the surface of the cleaning roller 110, wherein for the plurality of plate-shaped scrapers 120, the corresponding angles may be different from or equal to each other. These angles may be predetermined or may be different to provide the advantage of removing different types of dirt (e.g., moisture, solid dirt, surface dirt, deeper dirt, etc.).

[0127] According to an embodiment, the retaining structure 130 allows movement L of the first scraper 121 and / or the second scraper 122 toward the cleaning roller 110. Movement L can be at least one of the following: linear movement, pivoting movement, bending movement, or any other suitable movement.

[0128] The cleaning device may further include at least one biasing device 140 to apply a biasing force, thereby pressing the scraper 120 against the cleaning roller 110 along the movement L. For example, a biasing device 140 may be formed for each scraper, and the biasing force may act in a 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 an elastic material that acts as a source of biasing force, applying a biasing force when compressed. The spring 140 may be a coil spring, leaf spring, etc. The elastic material may be rubber, sponge, etc.

[0129] Therefore, the scraper 120 according to the embodiment should be distinguished from conventional sealing elements, which are designed to prevent air from flowing 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 towards the cleaning roller 110. Therefore, the scraper 120 may provide only insufficient sealing or no sealing at all. If sealing is required, additional sealing elements different from the scraper 120 can be formed.

[0130] According to embodiments, a combination of two different scrapers is also possible. For example, a rotary or roller scraper can be combined with a linear motion scraper. Different scrapers can offer different advantages. For example, when only limited installation space is available, using plate scrapers 121, 122 may be advantageous—especially when combined with linear motion L. On the other hand, roller scrapers can remove contaminants more effectively from the cleaning roller 110, for example, by adjusting its rotational speed accordingly.

[0131] like Figure 1As shown, according to an embodiment, the retaining structure 130 extends partially around the cleaning roller 110 to provide a collection space 115 for wastewater between the surface of the cleaning roller 110 and the retaining structure 130. The cleaning device may also include a first channel 161 for removing (wet) dirt 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 (variable) first channel depth C1 in an axial direction perpendicular to the plane of the drawing.

[0132] 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 recess of the collection space 115 adjacent (directly) to the second plate-shaped scraper 122 to guide wet dirt into the second channel 162. The U-shaped recess of the second channel 162 may include a (variable) second channel depth C2 in an axial direction perpendicular to the plane of the drawings.

[0133] Figure 2 An exploded view of one embodiment of a cleaning device is shown, comprising a spring-loaded (biased) pickup unit 100, a mounting member 150, a housing 300, and a vacuum unit 600. The housing 300 may include a cover portion 330 (shown at the top) and a base 340 (shown in the middle), which may be closed by the cover portion 330. The pickup unit 100 (shown at the bottom) may be mounted to the base 340 in a corresponding opening or recess.

[0134] Similarly, the cleaning device is capable of cleaning surface 50, especially vertically extending surfaces. Likewise, the pickup unit 100 is configured to pick up wet contaminants from surface 50, such as... Figure 1 As described in more detail below. The pickup unit 100 also includes a cleaning roller 110, a motor 190 for rotating the cleaning roller 110, 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 includes an additional auxiliary container 181.

[0135] According to an embodiment, the mounting member 150 secures the pickup unit 100 to the housing 300 in a spring-loaded manner, and includes a mounting element 151 and a spring 155. The mounting element 151 allows the relative movement between the housing 300 and the pickup unit 100 to reach a maximum interval, and the spring 155 presses the pickup unit 100 away from the surface 50 with a predetermined pressure. Figure 2The housing 300 (or its base 340, not shown) on the surface 50 applies (predetermined) pressure using the cleaning roller 110. According to an embodiment, the mounting member 150 includes four springs 155, each arranged at a corresponding corner of the pickup unit 100. Thus, the pickup unit 100 is suspended in a floating manner to provide balanced pressure.

[0136] Alternatively or additionally, one or more springs 155 may be replaced by any kind of elastic element capable of applying a predetermined pressure to surface 50.

[0137] Therefore, according to the embodiments, uniform (or balanced) pressure can be applied equally to all sides or positions and can remain constant, even when cleaning the vertical surface 50 or in an upside-down position. For example, the spring 155 of the mounting 150 can provide the same linear spring force to press the pickup unit 100 evenly onto the surface 50. Similarly, the pickup unit 100 can even float on uneven surfaces. However, the embodiments should not limit the specific number of springs 155 or elastic elements, as long as the desired effect is achieved.

[0138] The housing 300 can in particular accommodate a vacuum unit 600 that generates a vacuum in a vacuum chamber connected to a vacuum holding pad 650. The vacuum unit 600 includes an exhaust port 610 connected to an opening in the housing 300 to expel air when a vacuum is generated. As described above, embodiments of the vacuum unit 600 hold the cleaning device on the (vertical) surface 50, or in an upside-down position even under pressure applied to the surface 50 by the cleaning roller 110. The vacuum holding pad 650 can firmly hold the rear portion of the housing 300 onto the surface 50. Therefore, the vacuum unit 600 can be arranged behind the cleaning roller 110, where the relative position (e.g., behind) can be defined relative to the primary forward movement direction R of the cleaning device.

[0139] The embodiment ensures retention on surface 50 by controlling the vacuum unit 600 to generate a stronger adhesive force than the pressure applied by the cleaning roller 110. In other words, the vacuum unit 600 is adapted to hold the cleaning device on surface 50 when the mounting member 150 presses the pickup unit 100 against surface 50.

[0140] According to an embodiment, the housing 300 includes a frame structure supporting all components of the cleaning device. For example, the cleaning device may include one or more of the following optional components:

[0141] - Suction unit 200 and suction channel 210

[0142] -Drive unit 400 for mobile cleaning devices

[0143] - Sensor unit 700 for detecting surrounding objects / obstacles and providing corresponding sensor data.

[0144] - Control unit 500 is used to control drive unit 400 to move up and down on a vertical surface or down a horizontal surface based on sensor data.

[0145] According to embodiments, components within the housing 300 (e.g., control unit 500, drive unit 400, sensor unit 700, suction unit 200) can be placed in different locations. The locations of components shown in the accompanying drawings of this disclosure are merely possible examples, and the embodiments should not be limited to... Figure 2 The locations shown in the other accompanying figures.

[0146] Optionally, the pickup unit 100 includes a support frame 170 that can be suspended from the housing 300 via a mounting member 150. The support frame 170 can guide relative movement between the housing 300 and the pickup unit 100 (e.g., via its edge 175). 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 fabric pad, a vibrating fabric pad, a rubber cleaning element, or a flexible roller element.

[0147] Figure 3 An exploded diagram is shown as follows Figure 2 The image shows a cross-sectional view of the assembled cleaning device. The cleaning device may again include a drive unit 400, a control unit 500, and a vacuum unit 600. Furthermore, the cleaning device includes a sensor unit 700 and a wetting system 800 as optional components. The cleaning device can move primarily in the forward direction R during the cleaning process. Under normal conditions, the cleaning process is likely most efficient in this direction of movement. Moreover, the cleaning device is again designed to clean particularly wet dirt, for which the wetting system 800 can be utilized.

[0148] The wetting system 800 may include one or more nozzle devices 801, 802, 803 to wet the surface 50 before and / or during cleaning. For example, a first nozzle device 801 may be arranged at one or more front portions of the housing 300 to wet the surface 50 in a forward direction R, i.e., before the cleaning device reaches that position. A second nozzle device 802 may be arranged at one or more lower portions of the housing 300 to wet the surface below the cleaning device, for example, just in front of the cleaning roller 110. The second nozzle device 802 may also partially wet the cleaning roller 110. The second nozzle device 802 may face the surface 50 to be cleaned. A third nozzle device 803 may be arranged at one or more circumferential positions around the cleaning roller 110 to wet the cleaning roller 110 from a position inside the wastewater collection space 115.

[0149] According to the embodiment, not all nozzle devices 801, 802, and 803 can be continuously activated. Similarly, not all nozzle devices 801, 802, and 803 can be present. Only some nozzle devices 801, 802, and 803 can be activated as needed and / or in the direction of movement. Likewise, the water volume of each nozzle device 801, 802, and 803 can be adjusted as needed (e.g., based on the degree and type of contamination).

[0150] Sensor unit 700 can detect the degree and / or type of obstacles and / or dirt. Sensor unit 700 can provide its own 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, current sensor for 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) surfaces 50 even close to obstacles, and based on needs (e.g., the degree and type of dirt).

[0151] The cleaning device also includes a vacuum unit 600 to generate a vacuum in a vacuum chamber, wherein the vacuum and the vacuum chamber are also adapted to hold the cleaning device in an upside-down position below a vertical surface and / or below a horizontal surface 50.

[0152] Therefore, according to the embodiment, the control unit 400 can control one or more or all of the following:

[0153] -Motor 190 for cleaning roller 110,

[0154] - Suction unit 200,

[0155] -Drive unit 400

[0156] -Vacuum unit 600,

[0157] -Wetting unit 800

[0158] - Other components of the cleaning device.

[0159] During the cleaning process, the control unit 400 may primarily or preferably move the cleaning device in the forward direction R to optimize the cleaning process. However, the control unit 400 may also move the cleaning device backward (e.g., if the forward direction R is blocked).

[0160] Relative to the forward direction R, the vacuum unit 600 can be positioned after the cleaning roller 110, where less dirt is expected, allowing the vacuum unit 600 to provide a stronger holding force. Similarly, the control unit 400 can control the vacuum unit 600 to generate sufficient vacuum to hold the cleaning device even at the vertical surface 50 during the cleaning process.

[0161] The functions provided by the control unit 500 can be implemented by software installed in the control unit 500. 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 as described in this disclosure.

[0162] Figure 4A and Figure 4B An 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, and... Figure 4A A 3D view of the side of the main box 180 is shown, in which the main box 180 is shown without a lateral side cover or lid to expose the interior of the main box 180. Figure 4B A side view of the main box 180 is shown.

[0163] The cleaning device again includes a cleaning roller 110 and at least one scraper 120 (see...) Figure 1 The cleaning roller 110 is configured to rotate to pick up wet dirt from the surface 50. During the rotation of the cleaning roller 110, the scraper 120 removes the picked-up wet dirt from the cleaning roller 110 again. The pickup unit 100 includes a first channel 161 for removing wet dirt and a second channel 162 for removing wet dirt.

[0164] The main tank 180 collects wet waste as sewage and is arranged on the lateral side of the cleaning roller 110, for example, on the right-hand side relative to the forward direction R. The main tank 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.

[0165] The first terminal opening 186 and the second terminal opening 187 release wastewater from the first and second channels 161, 162 into the main tank 180, and they are spaced apart from at least one wall of the main tank 180 by a minimum distance dmin (see...). Figure 4AThe minimum distance dmin is selected to prevent backflow of wastewater during turning on the exemplary vertical surface and / or during upside-down movement of the cleaning device. According to an embodiment, both the first terminal opening 186 and the second terminal opening 187 are spaced at least by the minimum distance dmin from all walls of the main tank 180 to provide sufficient space for wastewater to flow around the first terminal opening 186 and / or the second terminal opening 187 during various movements of the cleaning device, such as rotation and / or upside-down or horizontal movement on the vertical surface 50.

[0166] This also limits the dimensions (height, width, depth) of the main tank 180 to have sufficient space for collecting wastewater while preventing wastewater backflow into the first and second channels 161, 162. For example, the position of the main tank 180 and / or the first terminal opening 186 and the second terminal opening 187 can allow for 10cm. 3 Up to 50cm 3 Or 20cm 3 Up to 30cm 3 The volume of wastewater within the range flows around the first terminal opening 186 and the second terminal opening 187, so as to turn in any direction of the cleaning device.

[0167] According to one embodiment, the auxiliary tank 181 is fluidly connected to the main tank 180 and extends parallel to the cleaning roller 110. Optionally, a valve 183 is formed along the fluid connection between the main tank 180 and the auxiliary tank 181. The valve 183 allows wastewater to flow only from the main tank 180 to the auxiliary tank 181. Alternatively or additionally, the cleaning apparatus includes a pump disposed between the main tank 180 and the auxiliary tank 181 to pump wastewater from the main tank 180 to the auxiliary tank 181.

[0168] According to an embodiment, the auxiliary housing 181 is arranged in front of the cleaning roller 110 relative to the forward direction R. Therefore, a fluid connection to the valve 183 or the pump can be formed at the upper corner of the main housing 180, where the upper side can be the side opposite to the surface 50 to be cleaned. The valve can be a check valve. The pump can be controlled by a control unit 500.

[0169] According to an embodiment, the drive unit 400 of the cleaning device can be controlled (see...). Figure 3 It can move forward, backward, and turn. Advantageously, the control unit 500 (see...) Figure 3 The control drive unit 400 is preferentially positioned in the forward direction R, with the main housing 180 on its lateral side. Figure 3 In the diagram, 4A should be a right turn. If both turns are possible under given circumstances, the control unit 500 can select the preferred turning direction when controlling the drive unit 400. On the other hand, if the preferred turn is impossible or difficult or unsafe for some reason, the cleaning device can also turn in the opposite (non-preferred) direction.

[0170] Due to the relative arrangement of the main tank 180 and the auxiliary tank 181, the "steering strategy" of this embodiment will alternately trigger the flow of sewage from the main tank 180 into the auxiliary tank 181, as 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 auxiliary tank 181. Therefore, the main tank 180 will not overflow. When the pump is installed between the main tank 180 and the auxiliary tank 181, the control unit 500 can control the pump accordingly to ensure that the maximum sewage volume in the main tank 180 is not exceeded. For example, the pump can be started when the cleaning device is positioned such that the fluid connection with the auxiliary tank 181 is "below the sewage".

[0171] Figure 5A and Figure 5B The pickup unit 100 is shown in rear view form, so that the forward direction R enters the attached plane. Figure 5A An overview view is shown. Figure 5B A cross-sectional view (parallel to surface 50) is shown again through the motor 190 and the second channel 162 having the second terminal port 187 (reference). Figure 4A ).

[0172] According to an embodiment, the second terminal opening 187 is spaced apart from all walls of the main housing 180. It has a first distance d1 to the lower wall, a second distance d2 to the side wall, a third distance d3 to the upper wall, and a fourth distance d4 to the inner wall (towards the cleaning roller 110). The main housing 180 and the second terminal opening 187 are configured such that each of the first to fourth distances d1, d2, d3, d4 is greater than a minimum distance dmin. This also applies to... Figure 5B The first terminal opening 186 is not shown in the figure.

[0173] According to an embodiment, this minimum distance ensures that a sufficient amount of wastewater, as previously described, 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.

[0174] According to an embodiment, the first channel 161 and / or the second channel 162 may be formed as a suction port (not shown) or a U-shaped recess defining an inclined channel. Figure 1 As shown in detail, the first scraper 121 can remove wet dirt from the cleaning roller 110 at one location, and the second scraper 122 can remove wet dirt from the cleaning roller 110 at another location. The first channel 161 and the second channel 162 are formed as U-shaped recesses adjacent to the corresponding first scraper 121 and second scraper 122. Extending along the axial direction of the cleaning roller 110, the first channel depth C1 of the first U-shaped recess can continuously increase, while the second channel depth C2 of the second U-shaped recess can continuously decrease. Therefore, the two channels 161, 162 are inclined relative to each other.

[0175] Alternatively or additionally, the first channel 161 and / or the second channel 162 may be formed as channels inclined relative to surface 50 (see...). Figure 5B This tilt ensures that wastewater flows towards the main tank 180° due to gravity. For example, in Figure 5B In the configuration shown, the cleaning device can move in an upside-down direction along the forward direction R below surface 50. Wastewater collected by the second channel 162 will flow to the main tank 180 due to gravity.

[0176] 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 convey gravity-driven wastewater. Therefore, when the cleaning device moves in a first direction (e.g., on the horizontal surface), the first channel 161 can remove wet waste from the first scraper 121. Similarly, when the cleaning device moves in a second direction (e.g., below the horizontal surface), the second channel 162 can remove wet waste from the second scraper 122.

[0177] According to an embodiment, the first channel 161 and / or the second channel 162 are formed or oriented to allow gravity-driven flow for any movement in space. For this purpose, when viewed from all directions (front, rear, top, bottom), the embodiment is oriented with U-shaped recesses that increase / decrease depth in an inclined manner. Therefore, the inclination can differ from the embodiment shown in the figures. Thus, when the cleaning device moves in the first direction, the first channel 161 can remove wet dirt, and when the cleaning device moves in the second direction, the second channel 162 can remove wet dirt from the second scraper 122.

[0178] Optionally or additionally, the flow of sewage can be driven by a suction device, thus eliminating the need for tilting (tilt orientation) to ensure sewage transport.

[0179] According to a further embodiment, a retaining structure 130 (see [reference]) is used to retain the first scraper 121 and the second scraper 122. Figure 1 It can form part of the first channel 161 and / or the second channel 162.

[0180] Figures 6A to 6E The advantages of the cleaning device with an inclined channel implemented in the embodiment are shown when the cleaning device moves on a vertical surface.

[0181] first, Figure 6AA cleaning device moving along a leftward direction (forward direction R) on a surface 50 is shown in a side view. The cleaning robot includes a pickup unit 100 having a cleaning roller 110 and a first scraper 121 and a second scraper 122 configured to remove picked-up dirt from the cleaning roller 110. The cleaning roller 110 is formed between the first scraper 121 and the second scraper 122. The rear portion 320 (second part) of the cleaning device may include, in particular, a drive unit 400 and a vacuum unit 600 to move and hold the cleaning device on the exemplary vertical surface 50 to be cleaned. The cleaning device is shown in a horizontal orientation, with the surface 50 below the cleaning device (in the direction of gravity). When viewed in the depicted side view, the cleaning roller 110 rotates in a counterclockwise rotation direction D, which supports the forward movement R on the surface 50.

[0182] Figure 6B The orientation of the first channel 161 and the second channel 162 is shown in the top view of the cleaning device, wherein the cleaning roller 110 is arranged between the first channel 161 and the second channel 162, and the second channel 162 may be formed as a suction port or a U-shaped recess. The depth of the U-shaped recess defining the first channel 161 and the second channel 162 may again be continuously increased or decreased to carry away wet dirt from the cleaning roller 110 toward the main box 180 by gravity.

[0183] As will be described in more detail below, the recesses in the pickup unit 100 are oriented or arranged to allow gravity-driven transport of wastewater, even movement on a vertical surface. Specifically, when the cleaning device moves in a first direction, the first channel 161 can remove wet waste from the first scraper 121, and when the cleaning device moves in a second direction opposite to the first direction, the second channel 162 can remove wet waste from the second scraper 122.

[0184] Figure 6C An exemplary vertical motion in the upward direction is shown, where the direction of gravity G is opposite to the forward direction R (see...). Figure 6C (See the right figure in the diagram). During this movement, the second channel 162 tilts towards the main tank 180, allowing wastewater to flow into the main tank 180 by itself (through gravity). No pump is required. The first channel 161 can tilt in the opposite direction.

[0185] On the left side, Figure 6CA top view (along the direction of gravity) and a bottom view (opposite to the direction of gravity) of the mobile cleaning device are shown. Thus, the main housing 180 is located on the left side in the top view and on the right side 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 already explained, the first channel 161 and the second channel 162 can be tilted in all viewing directions. In other words, they are tilted in all spatial directions. This means that the first channel 161 and the second channel 162 can also be tilted in an outward / inward direction. Therefore, the first tilt angle 163 and the second tilt angle 164 are measured to be slightly off-center from the plane of the drawing.

[0186] By comparing the top view and the bottom view, the first channel 161 is tilted in the opposite direction relative to the second channel 162 (see also...). Figure 6B This will ensure that even in upside-down motion (below the horizontal plane), one of the two channels 161 and 162 will always allow gravity-driven flow of sewage (e.g., the second channel 162 is...). Figure 6C (as shown in the example).

[0187] Figure 6D Vertical motion in the downward direction is shown, where the forward direction R is the direction of gravity G. The right-hand side again shows a view on surface 50, while the left-hand side shows a top view (in the direction of gravity) and a bottom view (opposite to the direction of gravity). Therefore, with... Figure 6C compared to, Figure 6D The situation is exactly the opposite. Although the first and second channels 161, 162 are still inclined in 3D space, for the downward movement shown, the first channel 161 can always allow the gravity-driven flow of sewage because it is inclined towards the main tank 180 at a first inclination angle 163.

[0188] However, since the main tank 180 is exemplarily located only on one side, there is a preferred turning direction to ensure that wastewater is delivered to the main tank 180, rather than the other way around. Therefore, the drive unit will preferentially turn to the lateral side of the main tank 180 arranged in the forward direction R. In the illustrated embodiment, the preferred turning direction is a right turn.

[0189] Figure 6E The lateral movement along the vertical surface is shown. Similarly, gravity acts in such a way that wastewater from the cleaning roller 110 flows into the main tank 180 under the influence of gravity. Figure 6E A preferred direction of rotation is also shown, which ensures that both channels 161 and 162 will be emptied during the rotation, since the main box 180 is located below the cleaning roller 110 and the two channels 161 and 162.

[0190] Figure 7A and Figure 7B The horizontal movement is shown. Similarly, as the cleaning roller 110 rotates in direction D, the cleaning device moves in the forward direction R.

[0191] Figure 7A An example of movement on surface 50 is shown. The top view shows the side view of the cleaning device, the middle view shows the front view, and the bottom view shows the rear view. The forward direction R is perpendicular to the direction of gravity G. The inclined channels 161, 162 still ensure that sewage will flow into the main tank 180, wherein, in the case shown, the first channel 161 has an inclination angle 163 that allows sewage to flow into the main tank 180. The second channel 162 is inclined in the opposite direction 164, allowing sewage to flow in an upside-down manner.

[0192] Figure 7B The upside-down movement is shown, with the cleaning device moving below surface 50. Similarly, the top view shows a side view of the cleaning device, followed by front and rear views. The forward direction R is again perpendicular to the direction of gravity G. The inclined channels 161, 162 again ensure wastewater flows into the main tank 180, where, in the illustrated case, the second channel 162 now has an inclination angle 164 (see rear view) allowing wastewater to flow into the main tank 180. The first channel 161 is now inclined in the opposite direction 163.

[0193] Figure 8 An embodiment of a cleaning device with an improved housing 300 is depicted. Furthermore, when moving in the forward direction R, the cleaning device is adapted to clean a vertical surface 50. However, the surface 50 may include objects or obstacles 55, such as frames, edges of surfaces, decorative elements, window handles, door handles, strips, or others. The cleaning device may also include a pickup unit 100 with a cleaning roller 110 for picking up dirt from the surface 50, a (first) scraper 121 for removing the picked-up dirt from the cleaning roller 110 during rotation of the cleaning roller 110, and a channel 161 for carrying away wet dirt (see [link to documentation]). Figure 1 Alternatively, a second scraper 122 may be present to clean another corner area of ​​the cleaning roller 110.

[0194] According to an embodiment, the housing 300 provides enclosure for the cleaning device and support for the pickup unit 100, and includes a first portion 310 along a forward direction R and a second portion 320 opposite to the forward direction R. The pickup unit 100 is arranged 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 to leave a gap (or void) of predetermined height H on 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 1In the middle, the gap is the blank space before the cleaning roller 110 (obstacles are not shown).

[0195] According to an embodiment, the predetermined height H of the gap is in the range of 10 mm to 50 mm, or between 20 mm and 30 mm, or approximately 25 mm. The predetermined height H can be freely chosen, and it should be greater than the gap behind the cleaning roller 110.

[0196] According to an embodiment, the cleaning device again includes one or more sensor units 700 adapted to detect obstacles 55 and provide corresponding sensor data to the control unit 500 (see...). 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 the current consumed by the drive unit of the cleaning roller 110, a radar sensor, a lidar sensor, an ultrasonic sensor, or other obstacle detection sensors (suitable for detecting obstacles).

[0197] According to an embodiment, the cleaning device again includes a drive unit 400 for moving the cleaning device, and the control unit 500 can again 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 can be exposed at a gap of a predetermined height H to allow the cleaning roller 110 to contact the obstacle 55 (e.g., partially clean the obstacle 55).

[0198] According to an embodiment, when the sensor unit 700 includes an (electrical) current 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 be related to an increase in the current consumption of the motor 190 driving the cleaning roller 110. The current sensor can detect this increase and can thereby infer that the cleaning roller 110 has encountered an obstacle.

[0199] Because surface 50 may be contaminated to varying degrees, rolling resistance will always fluctuate within an acceptable range. Therefore, an obstacle is only likely to be encountered when the current value exceeds a minimum threshold. Other thresholds may be associated with different types of obstacles, which could lead to varying increases in rolling resistance. Variations in rolling resistance may also be indicative of different surface materials (e.g., glass versus metal, or wood versus carpet, or different types of carpet). The embodiments will also take these variations into account and may change the cleaning process.

[0200] 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 the obstacle 55 based on the triggering of the mechanical sensor. For example, a mechanical switch can be activated when the obstacle 55 moves below the first portion 310 of the housing 300. The mechanical sensor can be arranged at the front of the housing 300 to detect the obstacle in time before the obstacle 55 impacts the cleaning roller 110.

[0201] According to an embodiment, when the cleaning roller 110 has lost 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-engage with the surface 55.

[0202] According to an embodiment, the sensor unit 700 may include an optical shutter, which can provide the same function as a mechanical switch. Similarly, the optical shutter may be arranged at the front of the housing 300. For example, the transmitter of the optical shutter may be arranged on one lateral side of the cleaning device, while the receiver may be arranged on the opposite lateral side of the cleaning device.

[0203] According to an embodiment, the housing 300 can also provide guidance for the pickup unit 100 along a sliding edge 175. Again, the pickup unit 100 can be suspended by a spring-loaded mount 150 that applies pressure from the cleaning roller 110 to the surface 50. For this movable mount 150, the housing 300 and support frame 170 provide a sliding edge 175 along which the mold pickup unit 100 can move linearly while applying pressure to the surface 50.

[0204] It should be understood that the control unit 500 may include one or more controllers disposed in or at different locations within the cleaning device. Each controller may be dedicated to one or more functions. Optionally or additionally, all functions may be implemented in a central control unit.

[0205] According to embodiments, all the operational functions described in this disclosure can be implemented in a method for controlling a cleaning apparatus. Similarly, all functions can be implemented by software installed in one or more controllers, which are thus configured to provide the corresponding functions.

[0206] These methods can be implemented using software or computer program products. Therefore, embodiments also relate to computer program products or machine-readable storage devices having program code for performing the methods when the computer program is executed on a processor. Those skilled in the art will readily recognize that the steps of the various actions described above can be performed by a programmed computer. Embodiments are also intended to cover program storage devices, such as digital data storage media, that are machine- or computer-readable and encoded with a machine-executable or computer-executable instruction program, wherein, when executed on a computer or processor, the instructions perform some or all of the actions of the methods described above.

[0207] The specification and accompanying drawings merely illustrate the principles of this disclosure. Therefore, it should be understood that those skilled in the art will be able to design various arrangements that, while not expressly described or shown herein, embody the principles of this disclosure and are included within its scope.

[0208] Furthermore, while each embodiment can be considered an independent example, it should be noted that in other embodiments, the defined features may be combined differently; that is, a particular feature described in one embodiment may also be implemented in other embodiments. Such combinations are covered by the disclosure herein unless it is stated that a particular combination is not intended to be used.

[0209] Although the invention has been described and illustrated in detail with reference to preferred embodiments, the invention is not limited to the disclosed examples, and those skilled in the art can derive other variations from these examples without departing from the scope of the invention. Therefore, it is apparent that a variety of possible variations exist. It is also clear that the embodiments set forth by way of example are merely true examples and should not be construed as limiting the scope, applicability, or configuration of the invention in any way. In fact, the foregoing description and the accompanying drawings enable those skilled in the art to implement the exemplary embodiments in specific ways, wherein, with knowledge of the disclosed inventive concepts, those skilled in the art can make various changes, such as with regard to the function or arrangement of the various elements set forth in the exemplary embodiments, without departing from the scope of the invention as defined by the claims and their legal equivalents, such as the further explanations in the specification.

[0210] List of reference numerals

[0211] 50. Surfaces and walls (such as vertical ones);

[0212] 55 Obstacles (such as window frames);

[0213] 100 pickup units;

[0214] 110 cleaning roller;

[0215] Angle range of 111, 112;

[0216] Angles 113 and 114;

[0217] 115 Wastewater collection space;

[0218] 120, 121, 122 scrapers;

[0219] 125 scraper;

[0220] 130. Maintain the structure;

[0221] 135 Sliding chamber (for the scraper);

[0222] 140 biasing device (such as a spring);

[0223] 150 mounting components (for pickup units);

[0224] 155 Springs for mounting components;

[0225] 161, 162 Wastewater transport units (such as channels or suction ports);

[0226] Tilt angles of channels 163 and 164;

[0227] 170 Support frame for the pickup unit;

[0228] 180 main box;

[0229] 181 Auxiliary Box;

[0230] 183 Valve;

[0231] 186. The first terminal opens;

[0232] 187. Second terminal opening;

[0233] 190 Motor for cleaning rollers;

[0234] 200 suction units;

[0235] 210 Suction Channel;

[0236] 300 housing (e.g., a rectangle in a top view);

[0237] 310 Part One (Front);

[0238] 320 Part Two (Rear);

[0239] 330 Cover section;

[0240] 340 base;

[0241] 400 drive units;

[0242] 500 control unit;

[0243] 600 vacuum unit (used to maintain the cleanliness of the unit);

[0244] 650 Vacuum Holding Pad;

[0245] 700 sensor;

[0246] 800 Wetting System (Water Distribution Unit);

[0247] Nozzle devices 801, 802, and 803;

[0248] R forward direction;

[0249] D. The direction of rotation of the cleaning roller;

[0250] G is the direction of gravity;

[0251] H represents the shell height;

[0252] L represents linear motion;

[0253] C1, C2 channel depths;

[0254] dmin minimum distance;

[0255] d1, d2, ... distance (gap).

Claims

1. A cleaning device for a vertical surface (50), comprising: A cleaning roller (110) is configured to rotate to pick up dirt from the surface (50); A first scraper (121) is configured to remove dirt within a first angular range (111) of the cleaning roller (110); A second scraper (122) is configured to remove dirt within a second angular range (112) of the cleaning roller (110); as well as A retaining structure (130) is provided for holding the first scraper (121) within the first angle range (111) and the second scraper (122) within the second angle range (112). Wherein, the first angle (113) between the first angle range (111) and the surface (50) is between 90° and 180°, preferably between 125° and 145° or about 135°, and the second angle (114) between the second angle range (112) and the surface (50) is between 0° and 90°, preferably between 20° and 40° or about 30°, and the first angle (113) and the second angle (114) are measured in the same coordinate system.

2. The cleaning apparatus according to claim 1, wherein the retaining structure (130) is configured to allow movement (L) of the first scraper (121) and / or the second scraper (122) toward the cleaning roller (110), wherein the movement is at least one of the following: linear movement, pivoting movement, bending movement, and circular movement.

3. The cleaning apparatus according to claim 2 further includes at least one biasing device (140) for applying biasing force to the linear motion (L) of one or two scrapers (120; 121, 122) toward the cleaning roller (110).

4. The cleaning device according to claim 3, wherein the bias force applied by the biasing device (140) is in the range of 15N to 30N, or in the range of 21N to 23N, or about 22N.

5. The cleaning device according to claim 3 or 4, wherein each of at least one biasing device (140) includes a spring or elastic material as a biasing force source, the spring or elastic material applying biasing force with its elasticity when compressed.

6. The cleaning apparatus according to any one of claims 1 to 5, wherein the cleaning roller (110) is configured to pick up wet dirt from the surface (50), 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 downward; and The second channel (162) is used to remove wet dirt from the second scraper (122) as the cleaning device moves upward.

7. The cleaning apparatus according to any one of claims 1 to 6, The first scraper (121) and the second scraper (122) include at least one of the following: a plate-shaped scraper, a roller scraper, a rigid scraper, a curved scraper, a V-shaped scraper, or a pivotable scraper. The first scraper (121) and / or the second scraper (122) include scraper strips (125) at their edges to contact the cleaning roller (110) and remove picked-up dirt from the cleaning roller (110). At least one roller scraper includes a roller configured to rotate in the opposite direction to the cleaning roller (110) to remove dirt from the cleaning roller (110).

8. The cleaning apparatus according to claim 7, wherein at least one of the first scraper (121) and the second scraper (122) and the retaining structure (130) is adapted to provide at least one of the following: -The mechanically controlled scraper (125) moves relative to the cleaning roller (110). -The electrically controlled scraper (125) is moved relative to the cleaning roller (110). - When the first scraper (121) and the second scraper (122) each include a scraper strip (125), such that only one scraper strip (125) contacts the cleaning roller. - Move one or two scraper blades (125) according to the direction of movement of the cleaning device.

9. The cleaning apparatus according to claim 7 or claim 8, wherein the retaining structure (130) includes a corresponding sliding chamber (135) in which each plate-shaped scraper (120; 121, 122) moves back and forth, the sliding chamber (135) providing lateral support to maintain the angular position of the plate-shaped scraper (120; 121, 122) relative to the cleaning roller (110).

10. The cleaning apparatus according to claim 9, retroactively referring to claim 6, The retaining structure (130) extends partially around the cleaning roller (110) to provide a collection space (115) for wastewater between the surface of the cleaning roller (110) and the retaining structure (130). The first channel (161) is formed with a first U-shaped cross-section adjacent to the first plate-shaped scraper (121) to guide wet dirt into the first channel (161), and / or the second channel (162) is formed with a second U-shaped cross-section adjacent to the second plate-shaped scraper (122) to guide wet dirt into the second channel (162).

11. The cleaning apparatus according to any one of claims 7 to 10, wherein each of the plate-shaped scrapers (120; 121, 122) defines a corresponding angle relative to the surface of the cleaning roller (110), wherein the angles of the plurality of plate-shaped scrapers (120; 121, 122) are different or equal.

12. The cleaning device according to any one of claims 1 to 11, further comprising at least one of the following: - A housing (300) having a suction unit (200) and a suction channel (210); - A drive unit (400) for moving the cleaning device; - A vacuum unit (600) for generating a vacuum in a vacuum chamber, the vacuum and the vacuum chamber being adapted to hold the cleaning device below the vertical surface and / or the cleaning device below the horizontal surface; - Sensor unit (700) for providing sensor data; - Control unit (500) for controlling the drive unit (400) to move up and down on the vertical surface or down the horizontal surface based on sensor data.

13. The cleaning device according to claim 12, wherein the cleaning device is configured to move primarily in the forward direction (R) during cleaning. The vacuum unit (600) is arranged behind the cleaning roller (110) relative to the forward direction (R).

14. The cleaning device according to any one of claims 1 to 13, wherein the cleaning device is configured to move primarily in the forward direction (R) during cleaning, and the cleaning device further comprises a wetting system (800) located at at least one of the following locations: -Wet the cleaning roller (110) at one or more circumferential locations around the cleaning roller (110). - At one or more front portions of the housing (300) of claim 13, a surface is wetted relative to the forward direction. - At one or more lower portions of the housing (300) of claim 13, to wet the surface beneath the cleaning device.

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

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