Combined floor robot

Abstract

Floor robot (100) for cleaning a floor surface (105), wherein the floor robot (100) comprises the following: - a first cleaning device (125) designed to collect dirt from the floor surface (105) in a predetermined collection area; - a second cleaning device (130) in the form of a brush (435) rotatable about a vertical axis (135); - an actuator (140) for controlling the second cleaning device (130) into a first (145) or a second position (150) on the floor robot (100); - wherein the first position (145) is behind the second position (150) with respect to a direction of travel of the ground robot (100); - wherein the effective width (210) of the second cleaning device (130) for processing the floor surface (105) is less in the first position (145) than in the second position (150); and - wherein the vertical axis (135) of the second cleaning device (130) is located next to or behind the first cleaning device (125) with respect to a direction of travel in the first position (145); characterized in that - the vertical axis (135) of the second cleaning device (130) in the second position (150) is located in front of the first cleaning device (125) with respect to the direction of travel.

Description

[0001] The present invention relates to a combined floor robot. In particular, the invention relates to a floor robot with a suction device and a brush rotatable about a vertical axis, as well as a method for controlling such a floor robot.

[0002] A floor robot is designed to clean a floor surface, particularly in a household. To do so, the floor robot can move autonomously over the floor surface and process it using a cleaning device. The floor robot can be designed as a vacuum cleaning robot and comprise a suction mouth that is moved over the floor surface. An air flow is created through the suction mouth to remove dust or other dirt from the floor surface. A side brush that can rotate about a vertical axis of rotation can be located laterally offset from the suction mouth. The side brush can transport dirt lying on the floor surface in an area that is to the side of a boundary of the suction mouth towards the suction mouth. The side brush comprises flexible fibers or bristles that bend and deflect when they come into contact with another object, for example furniture or a wall.

[0003] EP 2 737 837 A2 proposes attaching a laterally adjustable side brush to a floor-cleaning robot to adapt the side brush's reach to the prevailing cleaning conditions. The effective width of the side brush is independent of this lateral adjustment; in particular, this effective width does not overlap with the effective width of a central brush of the floor-cleaning robot. Furthermore, the lateral adjustment of the side brush is a rotational adjustment.

[0004] US 10 130 233 B2 shows a floor-mounted robot with first and second cleaning devices. The second cleaning devices are chains equipped with a plurality of cleaning brushes, along which the cleaning brushes rotate around two pivot points. The front pivot point is always located in front of the first cleaning device in the direction of travel. The rear pivot point is adjustable transversely to the direction of travel.

[0005] JP S62 - 292 124 A shows a floor robot according to the preamble of claim 1.

[0006] Side brushes tend to get caught in stringy objects. For example, human or pet hair, rubber bands, cables, or carpet fringe can get caught and tangled in the side brush. The user must regularly remove such objects from the side brush.

[0007] One object underlying the present invention is to provide an improved technique for using a side brush on a floor-cleaning robot to simultaneously clean the floor surface and protect it from contamination. The invention achieves this object by means of the subject matter of the independent claims. Subclaims specify preferred embodiments.

[0008] According to a first aspect of the present invention, a floor robot for cleaning a floor surface comprises a first cleaning device configured to collect dirt from the floor surface in a predetermined receiving area; a second cleaning device in the form of a brush rotatable about a vertical axis; and an actuator for controlling the second cleaning device into a first or a second position on the floor robot. The first position is located behind the second position with respect to a direction of travel of the floor robot, and an effective width of the second cleaning device for processing the floor surface is smaller in the first position than in the second position.

[0009] In the first position, the vertical axis of the second cleaning device lies next to or behind the first cleaning device with respect to a direction of travel, but in the second position, in front of the first cleaning device with respect to the direction of travel.

[0010] As a result, the effective width of the second cleaning device in its second position is considerably increased, without there being a risk of leaving uncleaned stripes along a travel path of the floor robot when both cleaning devices interact, if the second cleaning device is moved further beyond the outline of the floor robot for the purpose of cleaning corners of the floor surface.

[0011] By reducing the effective width of the second cleaning device in the first position, the probability of dirt becoming caught in the brush while the floor robot is moving over the floor surface can be reduced. In addition, in the first position the brush can be positioned closer to a chassis of the floor robot, allowing the robot to move around an obstacle, such as a table or chair leg, in a small radius, whereby an area adjacent to the obstacle can be cleaned more effectively by means of the brush. In the second position, a processing area of ​​the second cleaning device can protrude forward beyond an outline of the floor robot. In the second position, the second cleaning device can be used to improve cleaning, in particular, a corner of a room that borders the floor surface.

[0012] The processing area of ​​a cleaning device can correspond to a section of the floor surface that is cleaned when the cleaning device is in operation. The processing area is defined with reference to the floor robot. The processing area of ​​the first cleaning device is typically substantially rectangular and extends transversely to a direction of travel of the floor robot, while the processing area of ​​the second cleaning device can correspond to a circular area.

[0013] The effective width of a cleaning device is preferably the width over which the cleaning device cleans the floor area in front of the other cleaning device when the floor robot is traveling. The maximum effective width of the first cleaning device corresponds to its dimension transverse to the direction of travel, and the maximum effective width of the second cleaning device corresponds to the diameter of its cleaning area. If one of the cleaning devices is partially in front of the other with regard to a direction of travel of the floor robot, it reduces its effective width. The effective width of the second cleaning device can be less than approximately 80%, more preferably less than approximately 60%, of its maximum effective width in the first position. In the second position, its effective width can be more than approximately 80% and up to 100%.

[0014] It is preferred that the first cleaning device comprises a suction unit with a suction nozzle guided over the floor surface. A brush roller, which is rotatable about a horizontal axis of rotation, can optionally be arranged in the area of ​​the suction nozzle. The suction nozzle is fixedly mounted on the floor robot.

[0015] It is further preferred that a processing area of ​​the second cleaning device protrudes laterally beyond the outline of the floor robot in both the first and second positions. Further preferably, the processing area protrudes laterally beyond the outline of the floor robot in all intended positions. Even more preferably, the processing area protrudes laterally beyond the outline of the floor robot even during adjustment between two positions. The second cleaning device can also be called a side brush.

[0016] In the first position, the vertical axis of the second cleaning device can be located next to or behind the first cleaning device. In the second position, the vertical axis of the second cleaning device can be located in front of the first cleaning device.

[0017] A horizontal axis of a rotatable device of the first cleaning device, for example, a horizontal brush roller, can serve as a reference point for the position of the first cleaning device. The vertical axis of the second cleaning device can be located behind the horizontal axis in the first position or in front of the horizontal axis in the second position.

[0018] Alternatively, a transverse center line of the first cleaning device can serve as the reference point. The center line can run between a front and a rear boundary of the first cleaning device. Further alternatively, the position of the vertical axis can be compared with a boundary of the first cleaning device along a direction of travel of the floor robot. In the first position, the vertical axis can lie between the boundaries or behind the rear boundary. In the second position, the vertical axis can lie in front of the front boundary. The boundaries are preferably only considered on an element of the first cleaning device that acts on the floor surface. If the first cleaning device comprises a dust extraction system, for example, a position of the second cleaning device can be considered with respect to a boundary of a suction mouth that is guided over the floor surface.

[0019] It is also preferred that the overlap of processing areas of the first and second cleaning devices is greater in the first position than in the second position. In one embodiment, the overlap is maximized in the first position. Due to the overlap, dirt can be removed from the brush of the second cleaning device and picked up in the first cleaning device. An object caught in the brush can be picked up by the first cleaning device before it becomes caught in the brush. The overlap of the processing areas of the cleaning devices can be smaller in the second position.

[0020] The actuator can comprise a linear actuator. An adjustment direction of the actuator preferably runs parallel to a usual direction of travel of the floor robot. This ensures, on the one hand, that the processing area of ​​the second cleaning device extends laterally beyond a boundary of the floor robot in all positions, and, on the other hand, that the described first and second positions can be advantageously assumed. The actuator can comprise, for example, a worm drive. Alternative solutions include, for example, a cable pull or a rack and pinion.

[0021] The floor robot further preferably comprises a processing device which is configured to move the second cleaning device into an assigned position depending on a given cleaning situation. In particular, the processing device can be configured to move the second cleaning device into the second position only when there is a vertical boundary of the floor surface to the side and in front of the floor robot. In other words, the second cleaning device can, if possible, only be moved into the second position when the floor robot is cleaning a corner of the floor surface. For all other cleaning situations, the second cleaning device can be removed from the second position. In most cleaning situations, the second cleaning device is preferably moved into the first position.

[0022] In a further embodiment, the floor robot comprises a comb for cleaning the brush of the second cleaning device; wherein the actuator is configured to control the second cleaning device into a third position in which the brush of the second cleaning device moves through the comb.

[0023] The third position may be between the first and second positions or beyond the first and second positions, respectively. The comb may include a knife-like sharpened prong to cut through stringy dirt caught in the brush. The processing device may be configured to control cleaning of the brush while the floor surface is not being treated.

[0024] According to a further aspect of the present invention, a method for controlling a floor robot is provided. The floor robot comprises a first and a second cleaning device, wherein the first cleaning device is configured to collect dirt from the floor surface in a predetermined receiving area. The second cleaning device comprises a brush rotatable about its vertical axis.The method comprises steps of determining that a vertical boundary of a floor area to be treated is located laterally in the region of the second cleaning device and in front of the floor robot; and moving the second cleaning device on the floor robot from a first to a second position, wherein the first position is behind the second position with respect to a direction of travel of the floor robot; and wherein an effective width of the second cleaning device for treating the floor area is smaller in the first position than in the second position.

[0025] The method can be carried out by means of a ground robot described herein, and in particular by means of a processing device comprised therein. For this purpose, the processing device can be implemented electronically and, for example, comprise a programmable microcomputer or microcontroller. The method can be in the form of a computer program product with program code means. The computer program product can be stored on a computer-readable data carrier. Features or advantages of the method can be transferred to the ground robot, or vice versa.

[0026] In a further embodiment, the direction of rotation and / or the speed of rotation of the brush can be varied while the second cleaning device is in the second position. This can, in particular, assist in cleaning a corner of the floor area. The floor robot can be stationary or moving slowly.

[0027] The invention will now be described in more detail with reference to the accompanying figures, in which: Fig. 1 a floor robot with an adjustable side brush; Fig. 2 views of a floor robot from below; Fig. 3 views of a floor robot from above Fig. 4 an actuator for controlling a position of a side brush; and Fig. 5 shows a flowchart of a method for controlling a floor robot.

[0028] Fig. 1 shows a floor robot 100 configured to clean a predetermined floor area 105. The floor robot 100 is shown in perspective from below and has a base whose shape resembles the letter D. In another embodiment, the outline may also have a different shape, for example, circular.

[0029] The floor robot 100 includes at least one drive wheel 110 and optionally a support wheel 115. Using the wheels 110, 115, the floor robot 100 can control its movement across the floor surface 105. A control device 120 can control these and other functions of the floor robot 100.

[0030] The floor robot 100 comprises a first cleaning device 125, which includes a suction mouth connected to a suction unit or a blower. While traveling across the floor surface 105, the suction mouth is located a short distance above the floor surface 105. An air stream entering the suction mouth entrains dirt or other particles, which can be removed from the air stream by a separator of the floor robot 100. Optionally, a bristle roller, which can be driven about a horizontal axis of rotation, can be arranged in the region of the suction mouth of the first cleaning device 125. The floor robot 100 further comprises a second cleaning device 130, which includes a brush that is rotatable about a vertical axis 135. A corresponding drive motor can be provided for rotating the side brush 130. As shown, the brush can include several brush-like bristles that protrude in a radial direction.The bristles are mounted so that they sweep over the floor surface 105 when the floor robot 100 moves over the floor surface.

[0031] It is proposed that the second cleaning device 130 can be brought into at least two predetermined positions on the floor robot 100 by means of an actuator 140. In this case, an adjustment preferably takes place linearly on a path that runs parallel to a usual direction of travel of the floor robot 100. A first position 145 is located further back with respect to the direction of travel than a second position 150, in which the second cleaning device 130 is located in the illustration of Fig.1 by way of example. Optionally, a third position 155 can also be provided, which in the present case is located behind the first and second positions 145, 150 by way of example. The third position 155 is preferably selected such that bristles of the second cleaning device 130 come into contact with a scraper or comb 160 when the brush is rotated about the vertical axis 135. The comb 160 can comprise one or more prongs and / or one or more knife blades. Hair, threads, and other objects that may become caught in the bristles of the second cleaning device 130 can be cut or scraped off by means of the comb 160. The bristles can thus be cleaned in the third position 155.

[0032] Fig.Figure 2 shows bottom views of an exemplary floor robot 100. In the upper view, the second cleaning device 130 is in the first position 145, while in the lower view, it is in the second position 150.

[0033] Referring to the upper illustration, a first effective width 205 of the first cleaning device 125 and a second effective width 210 of the second cleaning device 130 are shown. An effective width refers to the width over which the respective cleaning device 125, 130 processes the floor surface 105 in front of the respective other cleaning device 125, 130 when the floor robot 100 travels. In the illustration of Fig. 2, the direction of travel of the floor robot 100 runs from left to right. A processing area of ​​the first cleaning device 125 is located in front of the vertical axis 135 of the second cleaning device 130.

[0034] A maximum effective width of the second cleaning device 130, which corresponds to its diameter, is partially shaded by the first cleaning device 125 with respect to the direction of movement, so that its effective width is reduced. This reduces the probability that an object lying on the floor surface 105 will become caught in the bristles of the second cleaning device 130. The second cleaning device 130 is thus relatively well protected in the first position 145 from objects that could become caught in its bristles. At the same time, an overlap region 215 is created between the processing areas of the first and second cleaning devices 125, 130. Dirt that adheres to or is caught on a bristle of the second cleaning device 130 can be sucked into the suction mouth of the first cleaning device 125 while the bristle is in the overlap region 215.The larger the overlap area 215, the longer the opportunity exists for the dirt to be transferred from the second cleaning device 130 to the first cleaning device 125.

[0035] Referring to the illustration below of Fig. 2, the vertical axis 135 of the second cleaning device 130 lies in front of the first cleaning device 125 with respect to the direction of travel, so that the second effective width 210 is at its maximum. At the same time, the first effective width 205 of the first cleaning device 125 is reduced because the processing area of ​​the second cleaning device 130 lies partially in front of the processing area of ​​the first cleaning device 125 with respect to the direction of travel of the floor robot 100.

[0036] The increased second effective width 210 increases the likelihood of dirt becoming entangled in the bristles of the second cleaning device 130. The overlap area 215 can be reduced in size, so that entangled dirt is less easily transferred to the first cleaning device 125. At the same time, however, the processing area of ​​the second cleaning device 130 protrudes forward beyond a boundary of the floor robot 100. This allows, in particular, a corner of the room in the area of ​​the second cleaning device 130 to be cleaned more effectively. It should be noted that the processing area of ​​the second cleaning device 130 preferably protrudes beyond a lateral boundary of the floor robot 100 in both positions 145, 150.

[0037] Fig.Figure 3 shows oblique views of a floor robot 100 from above. In an upper view, the second cleaning device 130 is in the first position 145, and in a lower view, it is in the second position 150. It can be seen that the processing area of ​​the second cleaning device 130 extends laterally beyond the boundary of the floor robot 100, regardless of its assumed position 145, 150. However, the processing area only extends forward beyond the boundary of the floor robot 100 when the second cleaning device 130 is in the second position 150.

[0038] Fig. 4 shows an exemplary actuator 140 for a floor robot 100. The actuator 140 is configured to move the second cleaning device 130 between the first position 145 and the second position 150. Optionally, a third position 155 can also be controlled. In an upper illustration in Fig.4, the second cleaning device 130 is exemplary in the first position 145 and in a lower illustration in the second position 150.

[0039] In this case, the actuator 140 comprises a guide rail 405 on which the second cleaning device 130 is slidably guided. A spindle 410 extends parallel to the guide rail 405, into which a receptacle 415 on the second cleaning device 130 engages. The spindle 410 can be rotated about its longitudinal axis by means of an electric motor 420, so that the receptacle 415 is moved along the spindle 410. Accordingly, the second cleaning device 130 is displaced on the guide rail 405 between the first position 145 and the second position 150.

[0040] In the illustrated embodiment, the second cleaning device 130 comprises a drive motor 425, which is coupled by means of a gear 430 to the brush 435, which is rotatable about the vertical axis 135. The brush 435 here comprises three fiber bundles 440, each of which protrudes radially from the vertical axis 135 at an offset of approximately 120°. The directions of extension of the fiber bundles 440 preferably form an acute angle with the vertical axis 135, so that the ends of the fiber bundles 440 are inclined toward the floor surface 105.

[0041] Fig. 5 shows a flowchart of a method 500 for controlling a floor robot 100. The method 500 can be carried out in particular by means of a floor robot 100 described herein.

[0042] In a step 505, a cleaning situation can be detected. The cleaning situation can indicate the nature or boundaries of the floor surface 105, or which cleaning activity is to be performed by the floor robot 100. The cleaning situation can also include self-cleaning, in particular, freeing the second cleaning device 130 of dirt that may be caught in the brush 435.

[0043] In a step 510, it can be determined that normal cleaning is to be performed. Normal cleaning can be performed in many cleaning situations where no other specific cleaning type is provided. This can include, for example, systematically driving over an area or maneuvering around an obstacle. In a step 515, the second cleaning device 130 can be controlled into the first position 145. The floor robot 100 can then be maneuvered or moved on the floor surface 105, wherein a direction of rotation or speed of the second cleaning device 130 can be varied in a predetermined manner.

[0044] Alternatively, in a step 520, it can be determined that corner cleaning should be controlled. For this purpose, the floor robot 100 is located in the region of a corner of the floor surface 105, which is then typically vertically delimited on two converging sides. The second cleaning device 130 is facing the corner. To clean the corner, the second cleaning device 130 can be moved to the second position 150 in a step 525. During corner cleaning, the floor robot 100 can be stationary or moved slowly. The speed of the second cleaning device 130 can be adjusted to suit the surface.

[0045] Alternatively, it can be determined in a step 530 that the brush 435 needs to be cleaned. For this purpose, the second cleaning device 130 can be moved to the third position 155 in a step 535. The second cleaning device 130 can be controlled to rotate the brush 435 about the vertical axis 135 so that the fiber bundles 440 pass through the comb 160. The rotational movement can be controlled with an increased torque to overcome the resistance of the comb 160.

[0046] In another embodiment, the brush 435 can also be moved to the third position 155 if the floor robot 100 is to be maneuvered in a small space. The brush 435 can continue to run or be turned off.

[0047] In step 540, it may be determined whether a particular cleaning situation has ended. If so, method 500 may return to step 505 and repeat.

[0048] The following table lists preferred control settings for the first position 145, the second position 150, and the third position 155. Please note that not all settings listed here need to be implemented in one of the positions 145 - 155. First position Second position Third position Purpose of use Standard cleaning in "open" space; Edge cleaning along walls; Less soiling of the side brush Corner cleaning Side brush cleaning Robots in motion? Yes, standard driving speed Yes, and lower driving speed possible in corners not necessarily, floor robot can also stand on the spot Speed, direction of rotation approx. 250 - 300 rpm, "inward sweeping" approx. 100 - 150 rpm, optionally faster or slower phase. approx. 30 - 100 rpm, changing direction of rotation possible Predominantly "inward-looking". Speed ​​change possibly depending on the subsoil possible possible, possibly also short cuts with standstill of the side brush Change of direction of rotation no possible yes, alternating; also change of rotation direction of the main brush roller possible Effective width of the side brush 60 - 80 % 100 % approx. 90 - 95%, but not used for cleaning Coverage of the side brush approximately 10 - 13% of the working area; approximately 75° of the side brush radius approximately 5 - 8% of the working area; approximately 30° of the side brush radius 15 - 20% of the ground contact area; approx. 90° of the side brush radius

[0049] The speed of the brush 435 can also be increased significantly in the second position 150 in order to effectively clean a corner, for example to over 1000 rpm or a maximum controllable speed. This can create air vortices that can drive loose dust or dirt out of the corner. It is also conceivable for the speed to be reduced significantly so that the rotating fiber bundles 440 have sufficient time to relax in the corner and reach deep into the corner for cleaning. In one embodiment, the brush 435 can be temporarily or pulse-controlled to a greatly increased or greatly reduced speed when cleaning corners. In between, the speed can be approximately 100 - 150 rpm, as stated. Reference symbol 100 ground robots 105 floor area 110 drive wheel 115 support wheel 120 Control device 125 first cleaning facility 130 second cleaning device 135 vertical axis 140 Actuator 145 first position 150 second position 155 third position 160 comb 205 first effective width 210 second effective width 215 Overlap area 405 guide rail 410 spindle 415 recording 420 electric motor 425 drive motor 430 gearbox 435 Brush 440 fiber bundles 500 procedures 505 Record cleaning situation 510 Normal cleaning 515 second cleaning device in first position 520 Corner cleaning 525 second cleaning device in second position 530 Brush cleaning 535 second cleaning device in third position 540 Cleaning situation finished?

Claims

[1] Floor robot (100) for cleaning a floor surface (105), the floor robot (100) comprising: - a first cleaning device (125) which is designed to collect dirt from the floor surface (105) in a predetermined receiving area; - a second cleaning device (130) in the form of a brush (435) rotatable about a vertical axis (135); - an actuator (140) for controlling the second cleaning device (130) into a first (145) or a second position (150) on the floor robot (100); - wherein the first position (145) is located behind the second position (150) with respect to a direction of travel of the floor robot (100); - wherein an effective width (210) of the second cleaning device (130) for processing the floor surface (105) is smaller in the first position (145) than in the second position (150); and - wherein the vertical axis (135) of the second cleaning device (130) in the first position (145) lies next to or behind the first cleaning device (125) with respect to a direction of travel; characterized by , that - the vertical axis (135) of the second cleaning device (130) lies in the second position (150) in front of the first cleaning device (125) with respect to the direction of travel. [2] Floor robot (100) according to claim 1, wherein the effective width (205, 210) of one cleaning device (125, 130) is the width over which the cleaning device (125, 130) processes the floor surface (105) in front of the other cleaning device (125, 130) when the floor robot (100) is traveling. [3] Floor robot (100) according to claim 1 or 2, wherein the first cleaning device (125) comprises a suction unit with a suction mouth guided over the floor surface (105). [4] Floor robot (100) according to one of the preceding claims, wherein a processing area of ​​the second cleaning device (130) projects laterally beyond an outline of the floor robot (100) in all positions (145, 150, 155). [5] Floor robot (100) according to one of the preceding claims, wherein an overlap (215) of processing areas of the first and second cleaning devices (130) is greater in the first position (145) than in the second position (150). [6] Floor robot (100) according to one of the preceding claims, wherein the actuator (140) comprises a linear actuator. [7] Floor robot (100) according to one of the preceding claims, further comprising a processing device (120) which is adapted to move the second cleaning device (130) into the second position (150) only when a vertical boundary of the floor surface (105) is located laterally and in front of the floor robot (100). [8] Floor robot (100) according to one of the preceding claims; further comprising a scraper or comb (160) for cleaning the brush (435) of the second cleaning device (130); wherein the actuator (140) is configured to control the second cleaning device (130) into a third position (155) in which the brush (435) of the second cleaning device (130) passes through the scraper or comb. [9] Floor robot (100) according to claim 8, wherein the scraper or comb (160) - one or more prongs and / or - comprises one or more knife blades. [10] Method (500) for controlling a floor robot (100) comprising a first and a second cleaning device (130), wherein the first cleaning device (125) is configured to collect dirt from the floor surface (105) in a predetermined receiving area; and the second cleaning device (130) comprises a brush (435) rotatable about a vertical axis (135); wherein the method (500) comprises the following steps: - determining (520) that a vertical boundary of a floor area (105) to be cleaned is located laterally in the area of ​​the second cleaning device (130) and in front of the floor robot (100); and - moving (525) the second cleaning device (130) on the floor robot (100) from a first (145) to a second position (150), - wherein the first position (145) is located behind the second position (150) with respect to a direction of travel of the floor robot (100); - wherein an effective width (210) of the second cleaning device (130) for processing the floor surface (105) is smaller in the first position (145) than in the second position (150). [11] Method (500) according to claim 10, wherein a direction of rotation and / or rotational speed of the brush (435) is varied while the second cleaning device (130) is in the second position (150).

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