Self-propelled cleaning equipment and operating procedures for a self-propelled cleaning equipment

Abstract

Self-propelled cleaning device, in particular a robotic vacuum cleaner (1), for the automated cleaning of contaminated surfaces, comprising a device control system that controls the cleaning device along a travel path (14), as well as two side brushes (10) L , 10 R ), which are actively rotatable via the device control by a drive motor, characterized in that the device control is configured to set a rotational speed (ω L , ω R ) the side brushes (10 L , 10 R ) depending on the course of the travel path (14), wherein the rotational speeds (ω L , ω R ) the side brushes (10 L , 10 R ) depending on an upcoming driving situation according to the planned route (14).

Description

[0001] The invention relates to a self-propelled cleaning device for the automated cleaning of contaminated surfaces. The cleaning device comprises a device controller that guides the cleaning device along a travel path, as well as two side brushes that are actively rotatable by a drive motor controlled by the device controller. The present invention further relates to an operating method for such a self-propelled cleaning device.

[0002] Self-propelled cleaning devices are used for the automated cleaning of surfaces. They are designed, for example, as vacuum cleaners, which are then commonly referred to as robot vacuums. However, self-propelled cleaning devices for mopping smooth floor coverings are also known.

[0003] Such self-propelled cleaning devices often have rotating side brushes, also called edge brushes, arranged on the side, which are primarily used for cleaning edge areas, for example along a wall or near another obstacle. The side brushes are usually arranged in such a way that they also increase the effective cleaning width of the cleaning device, i.e. the width of the strip that is cleaned in one pass. In robot vacuum cleaners, for example, the side brushes rotate in opposite directions so that dirt particles are thrown towards the center of the robot vacuum, from where they are then sucked in by a suction unit. However, it does happen that dirt particles are thrown past a suction nozzle or suction mouth of the suction unit by the rotating edge brushes and are distributed around the room instead of being vacuumed up.

[0004] EP 2 738 637 A2 and US 2013 / 0096717 A1 disclose robot vacuum cleaners with a device controller that guides the cleaning device along a travel path, as well as two side brushes. The device controller is configured to adjust the rotational speed of the side brushes depending on the current driving situation. A disadvantage of this is the delay in controlling the side brushes due to the purely reactive control characteristics.

[0005] The object of the invention is therefore to provide a method for cleaning contaminated surfaces, in particular the edge areas of an obstacle and along edges and corners, by which the edge brushes are used particularly effectively and the risk of spreading dirt particles is minimized. A further object of the invention is to describe a self-propelled cleaning device, in particular a vacuum robot, in which the edge brushes contribute particularly effectively to cleaning.

[0006] According to the invention, this object is achieved by a self-propelled cleaning device and a method for cleaning contaminated surfaces having the features of the respective independent claim. Advantageous embodiments and further developments are specified in the respective dependent claims.

[0007] A self-propelled cleaning device according to the invention, in particular a vacuum robot, of the type mentioned above is characterized in that the device control is configured to adjust a rotational speed, or alternatively a rotational speed and a rotational direction, of the side brushes depending on the course of the travel path. By setting individual and different rotational speeds (rpms) and / or rotational directions of the side brushes, it is possible to prevent dirt particles from being thrown into areas of the surface to be cleaned that subsequently lie outside the planned travel path, for example, because they have already been cleaned.

[0008] In an advantageous embodiment of the cleaning device, the device control system is configured to operate the side brush located on the inside of the curve at a lower rotational speed than the other side brush located on the outside of the curve when cornering. For example, in a spiral or meandering cleaning path, this results in dirt particles being transported in the same direction as the cleaning device when cornering. This allows the dirt particles to be collected more reliably. Preferably, the smaller the radius of a curve, the greater the difference in rotational speed.

[0009] In an advantageous embodiment of the cleaning device, the device control is configured to operate the side brush closest to the wall at a higher rotational speed than the other side brush farther away from the wall during a section of the travel path that runs along a wall of a room. Preferably, the difference in rotational speeds increases as the cleaning device approaches a corner of the room. In this way, the edge area along the wall and also the corner area are "swept" by the side brush closest to the wall, while simultaneously preventing dirt particles from being thrown into the edge area.

[0010] A method according to the invention for cleaning contaminated surfaces with a self-propelled cleaning device having two actively rotatable side brushes comprises the following steps. A path of the cleaning device is defined and followed, and the side brushes are operated at rotational speeds and / or directions that depend on a driving situation on the path.

[0011] In a preferred embodiment of the method, the ratio of the rotational speeds of a left and right side brush depends on a driving situation on the route. The rotational speeds of the side brushes can be adjusted depending on a current and / or upcoming driving situation according to the planned route.

[0012] In a further preferred embodiment of the method, the ratio of the rotational speeds of the left and right side brushes depends on the curve radius of a curve in the travel path. Likewise, the rotational speed of a side brush near the wall is preferably greater than the rotational speed of a side brush far from the wall.

[0013] The process results in the advantages previously mentioned in connection with the self-propelled cleaning device.

[0014] The invention is explained in more detail below with reference to the figures. The figures show: Fig. 1 a schematic side view of a vacuum robot; Fig. 2 a plan view of the Fig. 1 shown vacuum robot during a straight-ahead drive; and Fig. 3, Fig. 4 each shows a representation of a cleaning run of the vacuum robot of the Fig. 1 and Fig. 2 in one room.

[0015] In the Fig. 1 shows a vacuum robot 1 as an example of a self-propelled cleaning device, schematically shown in a partially sectioned side view. The vacuum robot 1 has a drive system 3 arranged on or in a housing 2, which acts on two drive wheels 4, one on each side of the vacuum robot 1. The drive wheels 4 can be driven independently of one another via drive motors not shown individually here. Furthermore, a support wheel 5 is provided, which is either pivotable or designed as a ball that can rotate in all directions. With independent control of the direction of rotation and rotational speed of the drive wheels 4, the vacuum robot 1 can move at independently adjustable rotational and translational speeds on a surface to be cleaned.

[0016] In the central area of ​​the robot vacuum cleaner 1, a suction area 6, also called a suction mouth, is located, which is connected in a known manner to a dust cassette 7 and a suction fan 8. A filter system, for example, with a vacuum cleaner bag, is arranged in the area of ​​the dust cassette. In the illustrated embodiment, a rotating main brush 9 is arranged in the suction area 6 to support this function.

[0017] The vacuum robot 1 is controlled by a device controller (not shown here), which comprises one or more microcontrollers. The device controller controls the individual components of the vacuum robot 1, such as the drive system 3, the suction fan 8, and the main brush 9. The device controller also has a navigation system that plans a path for the vacuum robot 1 and causes it to follow this path. For navigation purposes and to avoid collisions with obstacles, long- and / or short-range sensors are also present, which are evaluated by the device controller or the navigation system. These sensors can operate optically or acoustically, for example.

[0018] Furthermore, in a front area of ​​the vacuum robot 1, in the Fig. 1 shown on the left, two side brushes 10 L , 10 Rwhich can be rotated independently of the movement of the vacuum robot 1. For this purpose, each of the side brushes 10 L , 10 R coupled with a drive motor. The side brushes 10 L , 10 R can be arranged fixedly in an edge area to the left and right of a central axis of the vacuum robot 1 or on laterally pivoting arms, which are also pivotably fixed on the left and right side of the vacuum robot 1 in its front area.

[0019] Fig. Figure 2 shows the vacuum robot 1 in a top view. As can be seen from this figure, the vacuum robot 1 in this embodiment has a substantially circular shape, which simplifies the rotational movement of the vacuum robot 1 even in the area of ​​walls or other obstacles. However, the operating method for a vacuum robot described in this application is also possible for a vacuum robot with a different basic shape, for example, a more square, rectangular, or semicircular shape. Fig. Figure 2 shows an operating state of the robot vacuum cleaner 1, which is also known from the prior art. In this state, the robot vacuum cleaner 1 moves along a straight path through an area to be cleaned, in which dirt particles 16 lie on the floor. The two side brushes 10 L , 10 R are operated with different directions of rotation, so that the dirt particles 16 from the left side brush 10L to the right and from the right side brush 10 R to the left. The side brushes 10 L , 10 R The dirt particles 16 are thus swept into a central area relative to the direction of travel of the vacuum robot 1, where they are captured by the main brush 9 and the suction area 6 of the vacuum robot 1. The side brushes 10 L , 10 R The effective cleaning width of the vacuum robot 1 increases beyond the width of the Fig. 2 indicated suction area 6. In this operating state, as is also known from the prior art, the side brushes 10 L , 10 R with different directions of rotation but the same rotational speed ω L or ω R operated.

[0020] Within the scope of the application, an equal rotational speed ω L = ω Ra rotational speed that is not necessarily the same in the mathematical sense. During operation of the vacuum robot 1, even with the same control of the drive motors of the side brushes 10 L , 10 R small differences in the rotational speed ω L , ω R For example, the side brushes 10 L , 10 R are located on different floor coverings, whereby the rotation speeds differ from each other despite nominally the same specifications by the device control of the vacuum robot 1. Differences can also occur between the drive motors and / or other components of the side brushes 10 L , 10 R , for example a bearing, due to component tolerances, small speed differences may occur even with nominally identical control of the drive motors.

[0021] According to the invention, the side brushes 10 L , 10 Rnot always with the same rotational speed ω L = ω R operated, but depending on different driving situations of the vacuum robot 1, possibly with different rotation speeds ω L , ω R for the two side brushes 10 L , 10 R This is explained below in connection with the Fig. 3 and Fig. 4 explained using examples.

[0022] Fig. 3 shows the vacuum robot 1 of the Fig. 1 or 2 during a cleaning run through a room 11. In the Fig. Figure 3 shows a section of room 11, which is bounded to the right and above by a wall 12. The walls 12 meet at a corner 13.

[0023] Within the illustrated area of ​​the room 11, the vacuum robot 1 travels along a path 14, whereby in the Fig. 3 the vacuum robot is shown at various positions 15a to 15d along this travel path 14. In the illustrated embodiment, the travel path is meandering, whereby this travel path does not result from a random movement of the robot, but is the result of a pre-planned travel strategy of the vacuum robot 1. Various methods are known from the prior art for planning such travel paths 14, wherein information from one or more of the aforementioned sensors, for example short-range obstacle sensors and / or long-range optical sensors such as cameras or laser measurement systems, is used to optimally plan the travel path 14 for the room 11. With the meandering travel path 14 shown, for example, the most effective travel through the room 11 is achieved without areas being traveled over multiple times. A first path of the travel path 14 is traveled as parallel as possible and at the smallest possible distance from a wall 12.

[0024] At position 15a, the vacuum robot 1 is located on such a section of the travel path 14, which runs parallel and at a short distance from one of the walls 12. On such a travel section, the invention provides that the side brushes 10 L , 10 R which is adjacent to the wall 12 or at least positioned closer to the wall 12 than the other of the side brushes 10 L , 10 R at a higher rotational speed. In the situation shown at position 15a, this is the side brush 10 R , which accordingly have a higher rotational speed ω R > ω L is operated as the left side brush 10 LThe advantage of these different rotation speeds is that dirt particles 16 are more effectively brushed out from the edge area along the wall 12 and the probability that a dirt particle is brushed out by the side brush 10 L is thrown into the edge area is minimized. The fact that the higher rotational speed ω R the right side brush 10 R Dirt particles 16 possibly on the left side brush 10 L are thrown past into an area to the left of the vacuum robot 1, does not further hinder the cleaning process, since the vacuum robot 1 will continue to travel over this area as it continues along its travel path 14 and can then pick up the dirt particles 16 thrown there. However, the edge area on the wall 12 will no longer be crossed by the vacuum robot 1 as it continues along its travel path 14, so that dirt particles 16 thrown into this area can be avoided.

[0025] At position 15b, the robot vacuum cleaner 1 is located near corner 13. At this point, a bend in the path 14 is planned. At this point, the robot vacuum cleaner 1 makes a very tight turn or performs a turn on the spot. In this situation, the right side brush 10, which is closest to the wall or corner, is also used. R operated at a higher rotation speed than the left side brush 10 L . In this situation, however, the speed differences are even more pronounced than they are at position 15a.

[0026] Since the vacuum robot 1 already has knowledge of the travel path 14 in advance, it can be provided that the rotational speed ω R the right side brush 10 R to increase and the left side brush 10 L to reduce. The Fig. 3 specified operating conditions and rotational speeds ω L , ω R for the side brushes 10L , 10 R can therefore be taken in advance.

[0027] Another situation is shown at position 15c. Here, the robot vacuum cleaner 1 is also located in a bending area of ​​the travel path 14, but while driving towards one of the walls 12 without being in a corner 13. In this case, too, the right side brush 10 R , which, with regard to the rotational movement performed or to be performed by the vacuum robot 1, is located on the outside of the curve with a higher rotational speed ω R > ω L rotates as the left side brush 10 located on the inside of the curve L . Here, too, it is prevented that dirt particles 16 are thrown into an area that will subsequently no longer be driven over by the vacuum robot 1 according to the planned travel path 14.

[0028] Finally, at position 15d, the vacuum robot 1 is shown driving straight ahead in free space 11. As already described in connection with Fig. 2, the side brushes 10 L , 10 R with the same rotational speed ω L = ω R operated.

[0029] Fig. 4 shows in a similar way to Fig. 3 shows the vacuum robot 1 in a different cleaning situation. This provides a spiral path 14, in which the vacuum robot 1 moves spirally outward from a position 15e at the center of the spiral, with an additional position 15f shown as an example on an outer section of the spiral. The spiral path results in a tighter curve radius in the inner area of ​​the spiral, for example at position 15e, than in the outer area of ​​the spiral, for example at position 15f.

[0030] Even with the Fig.4, the outside side brush, here again the side brush 10 R , with a higher rotational speed ω R > ω L than the inside curve side brush 10 L operated. The rotational speed difference can be selected to be greater the tighter the curve radius. Accordingly, the difference in rotational speed is greater at position 15e than at position 15f in the outer area of ​​the spiral-shaped guideway 14. This again has the advantage of minimizing the possibility of dirt particles 16 being thrown into previously traveled areas of the guideway 14. List of reference symbols 1 robot vacuum cleaner 2 housings 3 Drive system 4 drive wheel 5 support wheel 6 Suction area 7 Dirt cassette 8 fans 9 Main brush 10 L , 10 RSide brush ω R , ω L rotation speed 11 Room 12 Wall 13 Corner 14 Driveway 15a-f Position 16 dirt particles

Claims

[1] Self-propelled cleaning device, in particular a vacuum robot (1), for the automated cleaning of contaminated surfaces, comprising a device control which controls the cleaning device along a travel path (14), and two side brushes (10 L , 10 R ), which are actively rotatable by a drive motor controlled by the device control, characterized by that the device control is set up to determine a rotational speed (ω L , ω R ) of the side brushes (10 L , 10 R ) depending on a course of the travel path (14), wherein the rotational speeds (ω L , ω R ) of the side brushes (10 L , 10 R ) depending on an upcoming driving situation according to the planned route (14). [2] Cleaning device according to claim 1, in which the device control is designed to move the side brush (10) located on the inside of the curve when cornering.L , 10 R ) with a smaller rotational speed (ω L , ω R ) than the other side brush (10) located on the outside of the curve R , 10 L ). [3] Cleaning device (1) according to claim 2, wherein a difference in the rotational speeds (ω L , ω R ) is greater the smaller the radius of a curve is. [4] Cleaning device according to one of claims 1 to 3, in which the device control is designed to, in a section of the travel path (14) which runs along a wall (12) of a room (11), the side brush (10) which is closer to the wall L , 10 R ) with a higher rotational speed (ω L , ω R ) than the other side brush (10) located further away from the wall (12) R , 10 L ). [5] Cleaning device (1) according to claim 4, wherein a difference in the rotational speeds (ω L , ωR ) becomes larger when the cleaning device (1) approaches a corner (13) of the room (11). [6] Method for cleaning contaminated surfaces with a self-propelled cleaning device, in particular a vacuum robot (1), comprising two side brushes (10 L , 10 R ), which are actively rotatable, in which - a travel path (14) of the cleaning device is determined and followed and - the side brushes (10 L , 10 R ) with rotational speeds (ω L , ω R ) which are dependent on a driving situation on the track (14), the rotational speeds (ω L , ω R ) of the side brushes (10 L , 10 R ) depending on an upcoming driving situation according to the planned route (14). [7] Method according to claim 6, wherein a ratio of the rotational speeds (ω L , ω R) a left and a right side brush (10 L , 10 R ) depends on a driving situation on the track (14). [8] Method according to claim 7, wherein the ratio of the rotational speeds (ω L , ω R ) of the left and right side brushes (10 L , 10 R ) depends on a curve radius of a curve of the track (14). [9] Method according to claim 7, wherein the rotational speed (ω L , ω R ) a wall-mounted side brush (10 L , 10 R ) is greater than the rotational speed (ω L , ω R ) a side brush away from the wall (10 L , 10 R ).

Images