DEVICE FOR CLEANING DIRTY SURFACES

Description

[0001] The invention relates to a device and a method for the automatic execution of an activity, in particular for cleaning soiled surfaces, according to the preamble of the independent claims.

[0002] Various devices for the autonomous execution of tasks are known from the prior art, particularly those used for cleaning soiled surfaces. The purpose of these devices is to facilitate the task for humans. To achieve this, the devices must be able to navigate autonomously, detect obstacles, and perform the task independently. A particular challenge is preventing falls over edges.

[0003] From DE 102012108008 a vacuum cleaner is known which uses an infrared sensor to prevent the device from falling.

[0004] A disadvantage of the current state of the art is that the device cannot be used in an environment with dust emissions, as the infrared sensor is susceptible to malfunction due to dust emissions.

[0005] US patent 6580246 discloses an automatic sweeper that detects obstacles when the body of the device is displaced. The displacement of the body is measured using magnetic sensors.

[0006] The disadvantage here is that a crash of the device cannot be reliably prevented.

[0007] From US 2016 / 278593 A1, a cleaning device is known which maintains a certain distance from a user or which can control a cleaned exhaust airflow depending on the user.

[0008] From KR 2007 0021764 A, a robotic vacuum cleaner is known that includes a UV lamp for sterilizing the exhaust air. The purified exhaust air is used to remove foreign objects from the surface to be cleaned, thereby improving cleaning performance.

[0009] In US 2018 / 299899 A1, a cleaning robot is disclosed which has a camera for object recognition and a lidar turret which emits a laser beam to determine the distance to objects and the location of the cleaning robot.

[0010] The disadvantage is that the optical recognition system can become dirty, thus compromising reliable function.

[0011] The object of the present invention is to create a device for the automatic execution of an activity which avoids the disadvantages of the prior art and in particular to create a device and a method for the automatic execution of an activity such that an optical recognition system is protected in particular from dirt emissions.

[0012] This task is solved by a device and a method for automatically performing an activity, in particular for cleaning soiled surfaces, according to the independent claims.

[0013] According to the invention, the device for automatically performing an activity, in particular for cleaning soiled surfaces, comprises, according to a first aspect of the invention, at least one sensor and at least one drive element, wherein the drive element can be a wheel or a track. The drive element divides the device, with respect to a intended direction of movement, into a rear section and a front section. According to the invention, the sensor is a mechanical sensor that, by contact with the ground, serves to detect a change in the ground level and is arranged in the front section of the device. This allows, in particular, edges to be detected, so that the sensor serves as a fall protection device.

[0014] In this context, "mechanical" means that the change in level is detected by a movable sensor element. Electrical or optical methods, for example, are used to detect movement of the sensor element. A two-part magnetic safety switch is preferably used.

[0015] Alternatively, inductive sensors, capacitive sensors, accelerometers, ultrasonic sensors or RFID sensors can also be used to detect movement of the mechanical sensor element.

[0016] Thanks to a device with a mechanical sensor that detects changes in floor level, the unit can also be used in environments with dirt emissions. Positioning the sensor at the front of the unit has the advantage that triggering the sensor immediately stops the unit, preventing falls.

[0017] Preferably, the mechanical sensor is designed as a pressure, strain or force sensor.

[0018] By using a mechanical sensor whose measurement is carried out using pressure, strain or force, measurement errors can be reduced compared to sensors that are susceptible to dirt emissions.

[0019] Preferably, the sensor is integrated into a wheel carrier, particularly a swivel caster. However, it can, in principle, be integrated into any type of wheel in the front area, e.g., an omnidirectional wheel or a Mecanum wheel.

[0020] This allows for a simple sensor design. Since the wheel is already in contact with the ground, an additional mechanism for establishing ground contact of the sensor when needed is unnecessary.

[0021] Preferably, the sensor is arranged in the center of rotating brushes.

[0022] Preferably, the sensor is arranged in such a way that the dirt has already been removed when the sensor comes into contact with the ground.

[0023] The sensor's position protects it from soil dirt and the resulting measurement errors. It also prevents loose objects on the ground from triggering the sensor.

[0024] Alternatively, at least one contact plate can be used, preferably two. The contact plate(s) are arranged in the front area, behind one or more steering wheels. The contact plate(s) do not make contact with the ground as long as the steering wheels are in contact with the ground. If the ground level changes abruptly, the steering wheels lose contact with the ground, and contact is established between one or both contact plates and the ground. This generates a signal and thus prevents a fall.

[0025] According to another aspect, a device for automatically cleaning soiled surfaces comprises at least one cleaning device. The cleaning device includes a discharge device that incorporates a dirt collection chamber for receiving the collected dirt. The discharge device is automatically movable between an operating position, in which it receives dirt from the cleaning device, and a discharge position, in which it empties dirt from the dirt collection chamber. The discharge device can be moved automatically by an internal or an external drive.

[0026] For operation with an external drive, the device can be equipped with a coupling to which the external drive can be attached.

[0027] Alternatively, it is also conceivable to connect the emptying device to an external retaining device. By deliberately moving the device while the emptying device is retained, the emptying device can be moved from the operating position to the emptying position.

[0028] This allows the device to empty the collected dirt automatically and without manual intervention, making room for further dirt collection. Long downtimes are avoided, ensuring efficient and rapid cleaning. Furthermore, the automatic emptying of the device allows for greater autonomy and eliminates the need for personnel. It is conceivable that the dirt container could also be emptied manually if required.

[0029] Preferably, the device comprises a dirt collection chamber and a locking element movably arranged on the device. The locking element can be tiltable, hinged, and / or extendable.

[0030] The movable locking element allows the dirt collection chamber to open automatically and without manual assistance.

[0031] Preferably, the emptying device includes a level sensor for determining a residual volume.

[0032] This allows for a simple determination of the remaining dirt-holding volume of the dirt-holding chamber.

[0033] According to another aspect, a device for automatically cleaning soiled surfaces comprises at least one cleaning device and a blowing device for generating an airflow. The blowing device can be formed by an extraction device for drawing off air. In this case, the extraction device preferably has a filter arrangement for filtering particles from the extracted air. The device also includes an optical detection system, preferably an image recognition system, e.g., for detecting obstacles. An air duct for the blowing device, and in particular an exhaust air duct for the filter arrangement, is arranged such that air, and preferably filtered exhaust air, is guided past a detection unit of the optical detection system. The detection unit is typically a camera, but can also be a laser distance measuring unit or an IR sensor.

[0034] This removes dirt from the area in front of the optical recognition unit, protecting the dirt-sensitive image recognition system from dirt emissions and reducing the resulting susceptibility to errors.

[0035] Preferably, the aforementioned cleaning device comprises a sweeping device in all aspects.

[0036] This allows a sweeping device to be navigated for cleaning soiled surfaces in an environment with dirt emissions using an image recognition system.

[0037] According to another aspect, the device for the autonomous execution of a task comprises at least a cleaning device and an activatable transport aid. The transport aid may have an extendable handle attached to one end of the device. At least one wheel is arranged at the opposite end. This may be a transport wheel that only makes contact with the ground during transport, or a drive wheel that can be disengaged or has no self-locking mechanism. When the device is moved into a transport position, the wheel is already in contact with the ground or makes contact with the ground. The described principle is similar to that of a standard two-wheeled suitcase trolley. In the transport position, both wheels are in contact with the ground, enabling simplified and easy manual movement of the device, similar to a suitcase trolley.

[0038] This allows the device to be moved manually.

[0039] Alternatively, the transport aid is provided by a retractable tether attached to the housing. The device then has at least three wheels in contact with the ground, which are either disengageable or non-locking. The wheels are preferably arranged such that at least one wheel is at one end of the device and at least two wheels are at the opposite end, both in contact with the ground.

[0040] The problem is further solved by a method for the automatic cleaning of soiled surfaces using a device. The method comprises the following steps: Measuring a predetermined target value of residual volume in a dirt collection chamber; when the target value is reached, moving the device to a position adjacent to a dirt collection area; automatically opening the movable dirt collection chamber; emptying the dirt from the dirt collection chamber into the dirt collection area.

[0041] The target value can be, for example, a predetermined fill level, a fill weight and / or a time.

[0042] The advantage of this method is autonomous operation and the automatic, efficient and rapid detection of when the device should move to the dirt collection area.

[0043] The problem is further solved by a method for the automatic cleaning of soiled surfaces using a device. The method comprises the following steps: Detection of a change in level in an area of ​​the floor located in the direction of movement in front of a drive element by contact of a sensor with the floor; if no change in the level of the floor is detected, continuation of a cleaning process; if a change in the level of the floor is detected, cessation of the movement of the device and optional transmission of a signal and / or execution of a change of direction.

[0044] The advantage of this method is the automatic, efficient, and rapid detection of changes in floor level, thus preventing falls and / or damage to the device. A signal can be sent via a visual signal, an audible signal, or a wireless error message, via radio, email, or SMS.

[0045] The problem is further solved by a method for the automatic cleaning of soiled surfaces using a device. The method comprises the following steps: Localization of an image spatially assigned to a station using an image recognition system; determination of the relative position of the device in relation to the station using a 3D camera in real time, by measuring at least one distance to the localized image; movement of the device to the station based on the determined relative position.

[0046] The procedure preferably includes the following steps: Determine a code given by the image. Execute an action associated with the code.

[0047] Alternatively, the camera can be designed to capture and evaluate a 3D code.

[0048] Advantages of this method include the accurate determination of the device's actual position and the execution of an action upon recognition of a code.

[0049] Preferably, the method for automatically cleaning soiled surfaces using a device comprises the following steps: If a setpoint does not correspond to a target criterion, the cleaning process continues; the device moves when the setpoint corresponds to the target criterion, in particular to a charging station or to a dirt collection station in the dirt collection area; when the station is reached, a command is executed, in particular docking and charging until the maximum charging capacity is reached or emptying the dirt collection area.

[0050] A target criterion can be a charge level, a fill level or a fill weight of the dirt collection container.

[0051] The advantage of this method is the automatic movement to a station upon reaching a predetermined target criterion. A station could be, for example, a charging station or a dirt collection area.

[0052] The problem is further solved by a method for the automatic cleaning of soiled surfaces using a device. The method comprises the following steps: Generating an airflow, in particular by extracting air through an extraction device; optionally, filtering an exhaust airflow from the extraction device through a filter arrangement; removing dirt from an area adjacent to an optical detection system, in particular a camera, by passing the airflow, in particular the filtered exhaust airflow.

[0053] As an alternative to an extraction device, an air blower or a compressed air source can be used.

[0054] This method allows optical sensors that are sensitive to dirt emissions to be used in environments with dirt emissions. Dirt is transported away from the area adjacent to the optical detection system before it can, for example, deposit on a lens, or existing dirt deposits can also be removed if necessary.

[0055] The invention is further explained below with reference to exemplary embodiments shown in the figures. These figures show: Figure 1: Side view of a device in a first embodiment, Figure 2: Perspective view of the in Figure 1 embodiment of the device shown, Figure 3: bottom view of the Figure 1 embodiment of the device shown, Figure 4a: side view of the Figure 1 The embodiment of the device shown is in its operating position when the ground level changes. Figure 4b shows a schematic diagram of a folding mechanism of the device when the ground level changes. Figure 5 shows a side view of the device shown in Figure 4b. Figure 1 The embodiment of the device shown is in the emptying position, Figure 6: side view of the device shown in Figure 6. Figure 1 The embodiment of the device shown is in its operating position with the handle extended. Figure 7: Side view of the device shown in Figure 7. Figure 1The embodiment of the device shown is in its operating position with the handle extended and without the dirt collection chamber, Figure 8: Side view of the device shown in Figure 8. Figure 1 The illustrated embodiment of the device is shown in transport position with the handle extended. Figure 9 shows an exhaust air duct arranged on an optical detection system. Figure 10 shows a schematic representation of the device's control system. Figure 11 shows a schematic representation of the device's localization system.

[0056] A in Figure 1 The device 1 shown is used for automatic cleaning in an industrial environment with dirt emissions. The device 1 includes a housing 10, which, viewed in the direction of movement B, is divided by two drive wheels 4 into a front section 12 and a rear section 11. A cleaning device 2 is located in the front section 12, covered by the housing 10. The cleaning device 2 contains two adjacent rotating brushes 20 (see figure). Fig.3Behind a front edge of the rotating brushes 20, a sensor 3 in the form of a folding device is arranged in the front area 12 in the direction of movement B (see Fig.3 / 4 ). In addition, an optical detection system 6 is located in the front area 12. The rear area 11 comprises a draining device 5 and a dirt collection chamber 51 (see Fig.5 ). In Figure 1 The emptying device 5 is shown in an operating position P1.

[0057] Figure 2 Figure 12 shows a camera 60 of the optical recognition system 6 in the front area 12 above the cleaning device 2. This camera 60 is used to determine the position of the device 1. The camera 60 has a lens 61. The optical recognition system 6 locates, for example, an image in space (see also Figure 1). Fig.11Upon image detection, the relative position of device 1 can be determined by measuring two distances d1, d2 to the image at each edge of the image (see Fig. 11 Additionally, a code is assigned to the image. When recognized by the optical recognition system 6, this code triggers the execution of an action by the device 1 as defined by the code. After determining its relative position, the device 1 automatically moves to a position relative to the location of the code. Alternatively or additionally, an action is executed based on the determined data.

[0058] Examples of the position of an image could be a charging station 91 or a dirt collection station 55 for emptying the dirt collection chamber 51 (see Fig. 10 ).

[0059] A computer unit 90 of the device can (see Fig.10) comprise one or more target criteria. As long as a target value does not correspond to the target criterion, the cleaning process of device 1 continues. If, however, the target value corresponds to the target criterion, device 1 performs the corresponding action. This could, for example, be moving to charging station 91 to recharge the battery or moving to dirt collection station 55 to empty the dirt collection chamber 51.

[0060] Figure 3 , 4a and 4bFigures 1 and 2 show the cleaning device 2 and the two folding devices 3 in bottom and side views of the device 1. The cleaning device 2 comprises two rotating round brushes 20, each with a brush plate 21. Both round brushes 20 are arranged side by side in the front area 12 of the device 1. The two folding devices 3 are arranged within the periphery of the brushes 20, preferably eccentrically to the brush plates 21, and are each pivotable about an axis (see Figure 1). Fig. 4b ). The in Fig. 4bThe schematically depicted folding device 3 comprises an axle 30, a contact point 31, and a swivel caster with a support 32 and a wheel 33. The support 32 with the wheel 33 is pivotably mounted on the axle 30. As long as the support 32 is in a normal position, the contact point 31 is closed by a contact located on the support 32. If there is no change in the floor level, the cleaning process continues with the device 1. If the floor level changes, the support 32 pivots downwards and the electrical contact point 31 opens. The device 1 stops and preferably sends a signal and / or changes its direction of travel to avoid the change in floor level. Figure 4a The device 1 is shown in a stop position P3, where there is a change in the level of the ground and the folding device 3 is folded down.

[0061] The two folding devices 3 can be triggered independently of each other. Depending on the angle at which the device 1 is positioned to change the floor level, one or both folding devices 3 can be folded downwards.

[0062] Figure 5 Figure 1 shows the emptying device 5 of the device 1. The emptying device 5 comprises the dirt collection chamber 51, a sealing element 52, and a fill level sensor 54 (see Figure 1). Fig.10 ) and an internal drive 53 (see Fig.10 The locking element 52 can be moved automatically by the drive 53, for example by pivoting. The locking element 52 can assume two positions, either an open or a closed position.

[0063] Fig. 5 The device 1 is shown in an emptying position P2, with the closing element 52 in the open position. Emptying is carried out by means of a control 9 (see Fig. 10The control unit 9 comprises the computer unit 90 and the level sensor 54. The level sensor 54 determines the remaining volume of the dirt collection chamber 51. The computer unit 90 compares the remaining volume determined by the level sensor 54 with a predefined setpoint. The level sensor 54 is, for example, an ultrasonic sensor, which is non-contact and insensitive to dirt. Alternatively, a touch sensor is also conceivable. It is also conceivable to determine the fill level via weight or based on the movement of the device 1 by measuring acceleration. If the remaining volume corresponds to the predefined setpoint, the computer unit 90 activates the drive element 4 of the device 1. The device 1 then moves to a position adjacent to a dirt collection area of ​​the dirt collection station 55. The optical detection system 6 (see Fig.2The camera 60 detects the presence of dirt. This, in turn, activates the drive 53 via the computer unit 90, which automatically opens the locking element 52. The dirt-filled dirt collection chamber 51 is emptied into the dirt collection area of ​​the dirt collection station 55.

[0064] The dirt collection area can be a dedicated container or simply a hole in the floor.

[0065] The Figure 6-8 demonstrate how to manually transport device 1.

[0066] Figure 6 Figure 1 shows a transport device 7 for the device 1. The device 1 is shown in an operating position P1 with a handle 70 extended. The handle 70 is located at one end 13 of the device 1. At least one wheel 71 is located at the opposite end 14, which is not in contact with the ground in operating position P1. To transport the device, it is moved into a transport position (see Figure 1). Fig. 8 ).

[0067] In Figure 7 Is the device 1 without the dirt collection chamber 51 (see Fig.5 ) shown in operating position P1 with the handle 70 extended. The dirt collection chamber 51 or parts thereof are removed so that the device can be moved into the transport position (see Fig. 8 ) can be brought.

[0068] A cover for the dirt collection chamber or the entire dirt collection chamber 51 can be attached to the handle 70 or the housing 10 by means of a retaining device (e.g. by a locking mechanism or by a magnet) (see Fig.1 ) are attached (not shown).

[0069] In Figure 8 The figure shows how, in the absence of the dirt collection chamber 51 and by lifting the handle 7, the wheel 71 is brought into contact with the ground. Manual transport of the device 1 is possible.

[0070] Figure 9Figure 8 shows an exhaust air duct 8 for removing dirt from the area adjacent to the lens 61 of the detection unit 60. This is typically a camera of the optical detection system 6.

[0071] Air guided through the exhaust duct 8 is passed through an extraction device 82 (see Fig.7 ) is generated. This is equipped with a filter assembly 80. The extraction device 82 and the filter assembly 80 are arranged in the rear area 11 of the device 1. The optical detection system 6 is arranged in the front area of ​​the device 1.

[0072] The exhaust air duct 8 is arranged such that exhaust air 81, which is generated by the extraction device 82, is directed to the optical detection system 6 in the front area 12 of the device 1 and flows over the surface of the lens 61 of the camera 60 (see arrows in Fig.9 ).

[0073] Figure 10Figure 1 shows the diagram of the essential components of the control unit 9 of device 1. The control unit 9 comprises the computer unit 90, the level sensor 54 or the camera 60, and the drive element 4 or the internal or external drive 53. The control unit is used to move the device to the dirt collection station 55 or the charging station 91 and to execute actions upon reaching these stations. The level sensor 54 or the camera 60 detects a target criterion. This is compared with a predefined target value by the computer unit 90. If the target criterion and the target value match, the drive element 4 or the internal or external drive 53 is activated, and the device 1 moves to the dirt collection station 55 or the charging station 91. When the device 1 reaches the dirt collection station 55 or the charging station 91, the respective action, e.g., loading or emptying, is carried out.

[0074] Figure 11Figure 1 shows a system for locating device 1. The locating system comprises a signal panel 62, the optical detection system 6 and the computer unit 90 (see Figure 1). Fig.10 The system serves in particular to locate the device in relation to the dirt collection station 55 or the charging station 91. The optical recognition system 6 detects the signal panel 62, which may contain, for example, an image and / or a code. Based on the distances d1, d2, the computer unit 90 determines a distance to the signal panel 62 in order to establish the relative position to the signal panel 62. Based on this relative position, the device 1 navigates to the dirt collection station 55 or the charging station 91 and performs an action defined by the image or code.

Claims

1. Device (1) for automatically cleaning dirty surfaces, comprising at least one sweeping apparatus (2), wherein the device (1) comprises a blowing apparatus for generating an airstream, as well as an optical detection system (6), preferably an image detection system, particularly preferably a LIDAR sensor for detecting obstacles, characterized in that an air guide of the blower apparatus is arranged in such a way that air (81) can be guided past the optical detection system (6).

2. Device (1) according to claim 1, wherein the blowing apparatus is formed by a suction apparatus (82) for suctioning air, wherein the suction apparatus (82) has a filter arrangement (80) for filtering particles from the suctioned air, and wherein the air guide is an exhaust air guide (8) of the filter arrangement.

3. Method for automatically cleaning dirty surfaces by means of a device (1), comprising the steps: - generating an air flow, - removing the dust from an area adjacent to an optical detection system (6) of the device by guiding the air flow past.

4. Method according to claim 3, wherein the air flow may be an exhaust air flow (81), wherein the exhaust air flow (81) is generated by exhausting air through a suction apparatus (82), and wherein the exhaust air flow (81) is filtered through a filter arrangement (80).

5. Device (1) according to claim 1, characterized in that the device (1) has a emptying apparatus (5) comprising a dirt receptacle space (51) for receiving the collected dirt, wherein the emptying apparatus (5) can move automatically between an operating position (P1) in which dirt can be received from the cleaning apparatus (2), and an emptying position (P2) in which dirt can be emptied.

6. Device according to claim 5, characterized in that the dirt receptacle space (51) has a closure element (52) which is movable arranged on the device (1).

7. Device according to one of claims 5 or 6, characterized in that the emptying apparatus (5) comprises a filling level sensor (54) for determining a residual volume.

8. Device according to one of claims 1 to 7, characterized in that the cleaning apparatus (2) comprises a sweeping apparatus.

9. Method according to claim 3, comprising the steps: - determining the location of an image (62) which is assigned spatially to a station (55; 91), by means of a LIDAR sensor or an image detection system, - determining the relative position of the device (1) with respect to the image (62) by means of LIDAR sensor or a 3D camera in real time, by measuring at least one distance from the image (62) whose location has been determined, and - moving the device (1) to the station on the basis of the determined relative position preferably containing the further steps: - determining a code provided by the image (62), and - performing an action which is assigned to the code.

10. Method according to one of claim 9, comprising the steps: - if a setpoint value does not correspond to a setpoint criterion, continuing a cleaning process, - moving the device (1) if the setpoint value corresponds to the setpoint criterion, in particular of the charging station (91) or of the dirt collection area, and - if the station is reached, executing a command, in particular docking and charging until the maximum charging capacity is reached or emptying the dirt receptacle space (51).

11. Device (1) according to one of claims 1 or 5 to 8, comprising at least one sensor (3) for preventing a fall and at least one drive element (4), wherein the drive element (4) is defined by a rear region (11) and a front region (12) of the device (1) defined with respect to a direction of movement (B) intended for the device, characterized in that the sensor (3) is a mechanical sensor and is designed to detect a change in the level (N) of the floor through contact with the ground and is arranged in the front region (12).

12. Device according to claim 11, characterized in that the sensor (3) is designed to measure by means of pressure, extension, or force.

13. Device according to one of the preceding claims 11 or 12, characterized in that the sensor (3) is integrated into a carrier of a wheel, in particular into a caster (32, 33).

14. Device according to one of the preceding claims 11 to 13, characterized in that the sensor (3) is spatially arranged in the region of brushes.

15. Device according to one of the preceding claims 13 or 14, characterized in that the sensor (3) is integrated into foldable casters (32, 33).