Floor robot with a rotating cleaning device

Abstract

A floor robot (100) for cleaning a floor surface (105) comprises a first cleaning device (110) with a first axis of rotation (215) extending in a vertical direction, such that when the first cleaning device (110) rotates about the first axis of rotation (215), it covers a first working area (230) on the floor surface (105); and a second cleaning device (115) with a second axis of rotation (235) extending in a vertical direction, such that when the second cleaning device (115) rotates about the second axis of rotation (235), it covers a second working area (250) on the floor surface (105). The first working area (230) overlaps the second (250) with respect to a direction of travel (140) of the floor robot (100).

Description

[0001] The invention relates to a floor robot for cleaning a floor surface. In particular, the invention relates to a floor robot with a rotatable cleaning device for collecting dirt from the floor surface, as well as a method for controlling such a floor robot.

[0002] A floor-cleaning robot is designed to clean a floor surface. A side brush can be provided for improved cleaning along an edge or a concave between the floor surface and a side boundary, such as a wall or piece of furniture. The side brush rotates around a vertical axis and is typically attached to the floor-cleaning robot so that it extends beyond its boundaries at the front and sides. The side brush includes cleaning arms that are moved across the floor surface as the side brush rotates, sweeping dirt from the edge.

[0003] If the robotic floor cleaner enters a corner where the floor and two side walls meet, the side brush should sweep away dirt there as well. The cleaning arms are long enough to reach as far into the corner as possible. However, before or after sweeping a corner, the cleaning arms are so long that they bend at the wall. The cleaning arms can flex when they come into contact with the wall. However, there is a risk that they will suddenly relax and catapult dirt uncontrollably across the floor when they clear the wall.

[0004] DE 10 2019 218 514 A1 shows a cleaning robot which has a single, first cleaning device at the front left.

[0005] US 2013 / 0 152 332 A1 shows a cleaning robot which has a single, first cleaning device on the right and left.

[0006] WO 2023 / 045 982 A1, CN 1 07 115 070 A, CN 1 07 581 978 A, and EP 2 875 768 A1 each show a floor-mounted robot having a front, first cleaning device and a rear, second cleaning device on the right and left sides. The first and second cleaning devices are so far apart that direct interaction between them is not possible.

[0007] US 2021 / 0 068 524 A1 shows a floor robot with a front, first cleaning device, the effective area of ​​which completely surrounds and encloses that of a rear, second cleaning device.

[0008] US 11 612 287 B2 shows a floor robot according to the preamble of claim 1.

[0009] One object underlying the present invention is to provide an improved technique for cleaning a floor surface using a floor robot. The invention achieves this object by means of the subject matter of the independent claims. Subclaims specify preferred embodiments.

[0010] A floor robot for cleaning a floor surface comprises a first cleaning device with a first axis of rotation that extends in a substantially vertical direction; such that the first cleaning device, when rotated about the first axis of rotation, sweeps over a first effective area on the floor surface; furthermore, a second cleaning device with a second axis of rotation that extends in a substantially vertical direction; such that the second cleaning device, when rotated about the second axis of rotation, sweeps over a second effective area on the floor surface; and a suction mouth for picking up dirt from the floor surface; wherein the suction mouth extends in the transverse direction of the floor robot and is laterally offset from the axes of rotation. The first effective area covers the second with respect to a direction of travel of the floor robot.Furthermore, the two axes of rotation are spaced apart by at least 50%, but less than 100%, of the sum of the radii of the effective areas. Furthermore, the first and second cleaning devices can be driven in different directions of rotation, so that the cleaning devices are guided across the floor surface in a region between the axes of rotation in the direction of the suction mouth.

[0011] According to the invention, it is provided that - that a centre line of the suction mouth, which divides the suction mouth into a front and a rear section, which have the same dimensions along a longitudinal axis, lies in the direction of travel between the axes of rotation of the cleaning devices and / or - that the first axis of rotation of the first cleaning device is located in front of and the second axis of rotation of the second cleaning device is located behind a transverse center line of the suction mouth.

[0012] The axes of rotation more preferably run parallel to one another and can enclose a substantially right angle with the floor surface. Relative to the direction of travel, the first effective area can be located in front of the second. The first effective area can be wider than the second, so that the second effective area does not extend beyond the lateral boundaries of the first effective area to the right or left. In other words, the second effective area can be completely obscured by the first effective area when viewed from the front. If the floor robot travels straight ahead on the floor surface, the second cleaning device can always clean a section of the floor surface that was previously cleaned by the first cleaning device.

[0013] Both cleaning devices can be designed in the manner of horizontally guided side brushes or side brooms. The first cleaning device can correspond to a conventional cleaning device that is attached to a front lateral area of ​​the floor robot. The first cleaning device can be configured to clean the floor surface in the area of ​​a corner formed by two vertical boundaries of the floor surface that enclose an angle with each other. One boundary can be located to the side and the other in front of the floor robot. The second cleaning device can support or reinforce the cleaning effect of the first, in particular when the floor robot moves along a lateral boundary, for example before or after cleaning a corner.

[0014] At least one of the cleaning devices can comprise one or more cleaning arms extending radially from the respective rotation axis. A cleaning arm can comprise, for example, a fiber bundle or a flexible arm, such as a plastic or rubber arm. Bristles, rubber blades, or fibers can be attached to the arm to loosen or pick up dirt from the floor surface. If both cleaning devices are designed as side brushes, the cleaning arms of different side brushes can have different designs.

[0015] One of the cleaning devices can also comprise a wiping device for wet cleaning the floor surface. In particular, the second cleaning device can be designed as a wiping device. The wiping device can comprise, for example, a pad, a sponge, or a textile that can be rotated about the second rotation axis. The pad can be moistened to wet clean the floor surface. Moisture from the floor surface can dry there or be absorbed by the suction nozzle.

[0016] It is further preferred that both effective areas extend beyond a lateral boundary of the floor robot. In particular, the effective areas can extend unequally beyond the same lateral boundary. The floor robot can be controlled such that it moves along the lateral boundary such that ends of the second cleaning device are not deflected or are only deflected insignificantly by the lateral boundary. A boundary of the first effective area can lie further out than a boundary of the second effective area. Accordingly, in the described situation, the first cleaning device can be deflected at the lateral boundary. The deflection can occur in the plane of rotation, in particular upwards or parallel to the floor surface. A section of the floor surface that lies between the lateral boundary and the floor robot can be processed successively by both cleaning devices.If the floor robot then drives into a corner, the first cleaning device can dive deep into the corner and clean the floor surface in this area.

[0017] It is preferred that the first effective area extends beyond a front boundary of the floor robot. This allows for thorough and comprehensive cleaning, particularly when cleaning a corner of the floor. The second effective area is located behind the first and thus preferably does not extend beyond the front boundary of the floor robot.

[0018] The effective areas can have different widths and / or lateral positions relative to the direction of travel. By dimensioning and positioning the cleaning devices, it is possible to determine which area of ​​the floor surface is best cleaned twice by the cleaning devices when the floor robot moves forward.

[0019] The floor robot can comprise a suction mouth for picking up dirt from the floor surface. The suction mouth can be connected to a fan configured to generate an airflow that is sucked from the floor surface through the suction mouth and carries along dirt particles entrained in the airflow. It is preferred that the suction mouth partially covers the first active region. This applies in particular when the first cleaning device is designed as a side brush with one or more cleaning arms. The cleaning arm can transport dirt from the floor surface toward the suction mouth. Furthermore, the cleaning arm can be cleaned by the airflow as it passes under the suction mouth. Similarly, the suction mouth can partially cover the second active region, more preferably both active regions.

[0020] A first drive can be provided for the first cleaning device and a second drive for the second cleaning device. The drives can be controlled to rotate the cleaning devices at the same or different speeds. The directions of rotation of the cleaning devices can be the same or opposite to each other. The drive(s) can be controlled depending on the cleaning situation in which the floor robot is located. A common drive can also be used to drive both cleaning devices. The relationship between the directions of rotation and / or speeds can be determined by means of a gear.

[0021] According to the invention, the axes of rotation of the cleaning devices are spaced apart by a distance of at least 50% of the sum of the radii of the effective areas. In a further preferred embodiment, the axes of rotation can be spaced apart by at least 70% of the sum of the radii. This prevents excessive mutual interference between the cleaning devices. If a cleaning device includes a side brush, the radius of the associated effective area can correspond to the radial length of a cleaning arm.

[0022] A method for controlling a floor robot described herein with a suction mouth for picking up dirt from the floor surface, wherein the suction mouth is laterally offset from the axes of rotation of the cleaning devices, comprises driving the cleaning devices in different directions of rotation such that the cleaning devices are guided over the floor surface in a region between the axes of rotation in the direction of the suction mouth. By driving the cleaning devices to the side of the suction mouth in opposite directions, dirt can be transported more effectively to the suction mouth and picked up there. A center line of the suction mouth can lie between the axes of rotation in the direction of travel. The suction mouth preferably extends transversely of the floor robot, and the center line divides the suction mouth into a front and a rear section, which have the same extents along the longitudinal axis.In other words, the first axis of rotation can be in front of and the second behind a transverse center line of the suction mouth.

[0023] The invention will now be described in more detail with reference to the accompanying figures, in which: Fig. 1 a floor robot with two cleaning devices; Fig. 2 two cleaning devices on a floor robot in a first embodiment; Fig. 3 two cleaning devices on a floor robot in a second embodiment; Fig. 4 two cleaning devices on a floor robot in a third embodiment; Fig. 5 shows two cleaning devices on a floor robot in a fourth embodiment.

[0024] Fig. 1 shows an exemplary floor robot 100 configured to clean a floor surface 105. The upper portion of the floor robot 100 is shown in a top view, and the lower portion shows a bottom view.

[0025] A first cleaning device 110 and a second cleaning device 115 are formed on the floor robot 100. Two lateral drive wheels 120 and a rear support wheel 125 are provided for driving the floor robot 100. On the underside of the floor robot 100 is a suction port 130, in which a brush roller 135 is optionally mounted. The brush roller 135 is rotatable about a rotation axis that runs horizontally and transversely to a usual direction of travel 140 of the floor robot 100. Fig. 1 not shown is a fan which is designed to suck in an air stream through the suction mouth 130 in order to pick up dirt from the floor surface 105.

[0026] Further preferably, the ground robot 100 comprises at least one sensor 145 for scanning an environment. Exemplary sensors 145 include a camera, a radar sensor, an ultrasonic sensor, or a LiDAR sensor. A control device 150 is configured to control the ground robot 100.

[0027] Fig. Figure 2 shows two cleaning devices 110, 115 on a floor robot 100 in a first embodiment. The floor robot 100 is shown from its floor side (see Figure 1). Fig. 1 below), so that the cleaning devices 110, 115 are located in a front right area of ​​the floor robot 100 with respect to the direction of travel 140, as viewed from above. Right in Fig. 2 shows a front boundary 205 of the floor robot 100, and above a lateral boundary 210, which in a plan view and with respect to the direction of travel 140 is located on the right side of the floor robot 100.

[0028] The first cleaning device 110 is rotatably mounted about a first axis of rotation 215 and, in the present case, is embodied as a side brush, by way of example. The first axis of rotation 215 extends in a substantially vertical direction relative to the floor surface 105, preferably perpendicular thereto. The first cleaning device 110 comprises a plurality of first cleaning arms 220, which can protrude radially from the first axis of rotation 215 and are preferably evenly distributed around a circumference around the first axis of rotation 215. A first electric motor 225 can be provided to drive the first cleaning device 110 about the axis of rotation 215. If the first cleaning device 110 is rotated about the first axis of rotation 215, it sweeps over a circular first effective area 230, which extends radially to the first axis of rotation 215.

[0029] The second cleaning device 115 is also designed, for example, as a side brush. The second cleaning device 115 is rotatable about a second axis of rotation 235. The second axis of rotation 235 extends essentially in a vertical direction relative to the floor surface 105, preferably perpendicular to the latter. The second cleaning device 115 comprises a plurality of second cleaning arms 240, which can protrude radially from the second axis of rotation 235 and are preferably evenly distributed around a circumference about the second axis of rotation 235. A second electric motor 245 can be provided for drive. If the second cleaning device 115 is rotated about the second axis of rotation 235, it covers a second effective area 250 on the floor surface 105.

[0030] A cleaning arm 220, 240 typically comprises a number of fibers that are gathered at one end and attached to the drive-driven central body of the cleaning device 110, 115. The fibers can, for example, comprise natural hair or natural bristles, or be made of a plastic (synthetic) or rubber. Natural or rubber fibers are typically somewhat thicker and somewhat more resistant to permanent deformation than synthetic fibers. Furthermore, a rubber fiber can exhibit reduced abrasion and thus have an extended service life.

[0031] The electric motors 225, 245 can be controlled independently of each other in terms of rotation direction and / or rotation speed. Thus, the cleaning devices 110, 115 can assume the same or different rotation directions and the same or different rotation speeds. In another embodiment, only one electric motor 225, 245 is provided to drive both cleaning devices 110, 115. Different rotation directions or rotation speeds can be achieved by appropriate mechanical implementation.

[0032] The axes of rotation 215, 235 are arranged offset from one another along the direction of travel 140. The first effective area 230 has a radius that is at least as large as the radius of the second effective area 250. In other words, a diameter of the second effective area 250 is equal to or smaller than a diameter of the first effective area 230. The effective areas 230, 250 are arranged such that the first effective area 230 completely covers the second effective area 250 with respect to the direction of travel 140. The axes of rotation 215, 235 can be located directly behind one another or, as in the illustrated embodiment, slightly offset from one another. If the floor robot 100 travels in the direction of travel 140 while the cleaning devices 110, 115 are driven about their respective rotation axes 215, 235, the first cleaning device 110 processes the floor surface 105 in a first path 255 and the second cleaning device 115 in a second path 260.Transverse to the direction of travel 140, the second lane 260 preferably lies completely within the first lane 255.

[0033] The suction mouth 130 extends transversely to the direction of travel 140 along a center line 265. In the illustrated embodiment, the first rotation axis 215 is located in front of the center line 265, and the second rotation axis 235 is located behind the center line 265. The distances of the rotation axes 215 and 235 from the center line 265 in the longitudinal direction of the floor robot 100 can vary. The effective areas 230, 250 partially cover the suction mouth 130.

[0034] Fig. Figure 3 shows two cleaning devices 110, 115 on a floor robot 100 in a second embodiment. In contrast to the Fig. 2, the diameter of the second effective area 250 is reduced. Furthermore, the second rotation axis 235 is arranged further forward. An overlap area between the effective areas 230 and 250 can be smaller and differently shaped in this embodiment than that of the embodiment according to Fig. 2. In addition, the second rotation axis 235 can be offset further inward laterally, so that the second effective area 250 protrudes less beyond the lateral boundary 210. The ends of the cleaning arms 220, 240 just reach the suction inlet 130, so that the effective areas 230 and 250 each partially cover the suction inlet 130.

[0035] Fig. 4 shows a further embodiment of a floor robot 100 with two cleaning devices 110, 115. The illustrated embodiment essentially corresponds to that of Fig. 2, with the difference that the second cleaning device 115 does not comprise three, but five second cleaning arms 240 distributed regularly on a circumference around the second axis of rotation 235.

[0036] Fig. 5 shows yet another embodiment of a floor robot 100 with a first cleaning device 110 and a second cleaning device 115. In this embodiment, the second cleaning arms 240 on the second cleaning device 115 are designed as fiber bundles 505. For example, three fiber bundles 505 are regularly distributed on a circumference around the second rotation axis 235. The fibers of the fiber bundle 505 can be thinner and more numerous than in the embodiment of Fig. 2. The fibers can be made of a synthetic material and preferably have a high degree of flexibility. A diameter of the second cleaning device 115 is somewhat smaller in the illustrated embodiment than in the Fig. 2. Relative positions of the rotation axes 215 and 235 are compared to the embodiment of Fig. 2 unchanged. Reference symbol 100 ground robots 105 floor area 110 first cleaning device 115 second cleaning device 120 drive wheel 125 support wheel 130 Suction mouth 135 Bristle roller 140 direction of travel 145 Sensor 150 control device 205 front limit 210 lateral boundary 215 first axis of rotation 220 first cleaning arm 225 first electric motor 230 first effective range 235 second axis of rotation 240 second cleaning arm 245 second electric motor 250 second effective range 255 first track 260 second lane 265 Center line 505 fiber bundles

Claims

[1] Floor robot (100) for cleaning a floor surface (105); the floor robot (100) comprising: - a first cleaning device (110) having a first axis of rotation (215) extending in a vertical direction; such that the first cleaning device (110) sweeps over a first effective area (230) on the floor surface (105) when rotating about the first axis of rotation (215); - a second cleaning device (115) with a second axis of rotation (235) extending in a vertical direction; such that the second cleaning device (115) sweeps over a second effective area (250) on the floor surface (105) when rotating about the second axis of rotation (235); - a suction mouth (130) for collecting dirt from the floor surface (105); wherein the suction mouth (130) extends in the transverse direction of the floor robot (100) and is laterally offset from the rotation axes (215, 235); - wherein the first effective area (230) covers the second effective area (250) with respect to a direction of travel (140) of the floor robot (100); - wherein the axes of rotation (215, 235) are spaced apart from each other by at least 50%, but less than 100% of the sum of the radii of the effective areas (230, 250); and - wherein the first (110) and the second cleaning device (115) can be driven in different directions of rotation, so that the cleaning devices (110, 115) are guided over the floor surface (105) in a region between the axes of rotation (215, 235) in the direction of the suction mouth (130); characterized by , - that a center line of the suction mouth (130), which divides the suction mouth (130) into a front and a rear section, which have the same dimensions along a longitudinal axis, lies in the direction of travel between the axes of rotation (215, 235) of the cleaning devices (110, 115) and / or - that the first axis of rotation (215) of the first cleaning device (110) lies in front of and the second axis of rotation (235) of the second cleaning device (115) lies behind a transverse center line of the suction mouth. [2] Floor robot (100) according to claim 1, wherein one of the cleaning devices (110, 115) comprises a side brush with at least one radially projecting cleaning arm (220, 240). [3] Floor robot (100) according to claim 1 or 2; wherein one of the cleaning devices (110, 115) comprises a wiping device for wet cleaning the floor surface (105). [4] Floor robot (100) according to one of the preceding claims, wherein both effective areas (230, 250) protrude beyond a lateral boundary (210) of the floor robot (100). [5] Floor robot (100) according to one of the preceding claims, wherein the first effective area (230) projects beyond a front boundary (205) of the floor robot (100). [6] Ground robot (100) according to one of the preceding claims, wherein the effective areas (230, 250) have different widths with respect to the direction of travel (140). [7] Floor robot (100) according to one of the preceding claims, wherein the suction mouth (130) partially covers the first effective area (230). [8] Floor robot (100) according to one of the preceding claims, wherein the suction mouth (130) partially covers the second effective area (250). [9] Floor robot (100) according to one of the preceding claims, further comprising a first drive (225) for the first cleaning device (110) and a second drive (245) for the second cleaning device (115); wherein the drives (225, 245) can be controlled to rotate the cleaning devices (110, 115) at different speeds. [10] Method for controlling a floor robot (100) according to one of the preceding claims; wherein the method comprises driving the cleaning devices (110, 115) in different directions of rotation, so that the cleaning devices (110, 115) are guided over the floor surface (105) in a region between the axes of rotation (215, 235) in the direction of the suction mouth (130).

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