Self-propelled and self-steering floor cleaning device and floor cleaning system with such a floor cleaning device

Description

[0001] The present invention relates to a self-propelled and self-steering floor cleaning device comprising a housing, a chassis held on the housing for moving on a floor surface and at least one cleaning device for cleaning the floor surface, wherein the at least one cleaning device comprises a wiping device with a wiping tool.

[0002] Such a floor cleaning device can perform autonomous cleaning of the floor surface. For this purpose, the floor cleaning device comprises at least one cleaning device, which may, for example, comprise a sweeping device with a sweeping roller for sweeping the floor surface and / or a wiping device for wet and / or dry cleaning of the floor surface. Such a floor cleaning device is described, for example, in WO 2018 / 162092 A1.

[0003] To ensure good maneuverability of the floor cleaning device when negotiating obstacles on the floor surface, it may be advantageous to design the housing so that the envelope contour defined by the housing in plan view is curved, in order to improve movement characteristics in confined spaces. However, this desire conflicts with the goal of making the floor cleaning device as compact as possible while simultaneously maximizing the size of at least one cleaning device, such as a cleaning roller or a dirt collection container. Accordingly, a balance between these two requirements must be found in the design of the floor cleaning device.

[0004] Autonomous floor cleaning devices with puck-shaped housings are known, which have a circular envelope contour when viewed from above. Furthermore, for example, EP 2 574 264 B1, US 8,855,914 B1, and DE 102 42 257 B4 describe floor cleaning devices in which the envelope contour is D-shaped when viewed from above, with the housing being flattened at the front relative to the main direction of movement and rounded at the rear. However, the flattened front section of the housing, with its essentially angular transition areas to the housing sides, impairs maneuverability when negotiating obstacles.

[0005] US 10,149,589 B2 describes a floor cleaning device with an approximately Wankel-shaped casing contour in plan view, with the front section of the housing being flattened. In addition to the problem described above, the Wankel shape leads to a reduced utilization of the installation space within the housing behind the cleaning roller, with the result that the floor cleaning device as a whole must be relatively large.

[0006] EP 3 284 382 A2 describes a service device, in particular a base station, for performing a service operation on a wet cleaning device connectable to the service device. The base station comprises a device housing with a receiving area for receiving a wet cleaning device. The device housing comprises a drying device associated with the receiving area for drying at least a partial area of ​​a wet cleaning device arranged in the receiving area.

[0007] The object of the present invention is to provide a self-propelled and self-steering floor cleaning device and a floor cleaning system with good cleaning performance and a compact design.

[0008] This object is achieved by a self-propelled and self-steering floor cleaning device according to the invention, comprising: a housing with a front section and a rear section relative to a main direction of movement of the floor cleaning device, which, relative to a plan view of the floor cleaning device positioned on a floor surface, defines an envelope contour of the floor cleaning device; a chassis mounted on the housing for moving on the floor surface, which chassis comprises two drive elements arranged at a distance from one another along a drive axis; at least one cleaning device for cleaning the floor surface, which at least one cleaning device comprises a wiping device with a wiping tool; where: the floor cleaning device is rotatable about a rotation axis passing through a pivot point via the drive elements of the chassis; the front section of the housing is shaped such that a corresponding front section of the envelope contour runs at least partially within a circular contour whose center point lies on the drive axis and whose diameter is given by the width of the housing at the position of the drive axis; the rear section of the housing is shaped such that a corresponding rear section of the envelope contour runs at least partially outside the circular contour, wherein the rear section of the housing accommodates the wiping device.

[0009] In the floor cleaning device according to the invention, front and rear sections of the housing define corresponding front and rear sections of the envelope contour. A front section of the envelope contour runs, at least in sections, within a circular contour around a center point on the drive axis of the drive elements. When the floor cleaning device rotates about the axis of rotation running through the pivot point, wherein the pivot point can preferably coincide with the center point, good maneuverability of the floor cleaning device for turning at corners, edges, and / or obstacles can be achieved in this way. The rear section of the envelope contour, in contrast, protrudes beyond the circular contour at least in sections due to the shape of the rear section of the housing. Sufficient installation space is provided at the rear section to accommodate the wiping device.This promotes high cleaning performance, for example, by allowing the cleaning tool to extend far in a transverse direction perpendicular to the main direction of movement. Sufficient space is also available at the rear section for a storage container for cleaning fluid and / or a dirty fluid container for contaminated cleaning fluid, increasing cleaning performance. Positioning the wiping device behind the drive elements is advantageous for picking up any dirt remaining on the floor after the drive elements have passed through, thus improving the cleaning result.

[0010] In a preferred embodiment of the invention, the housing may preferably have a D-shape in plan view at the front portion and a rectangular shape or substantially a rectangular shape at the rear portion.

[0011] Statements regarding the envelope contour and the shape of the housing defining the envelope contour are, unless otherwise stated, to be understood as referring to a plan view of the floor cleaning device.

[0012] Position and orientation specifications such as "front," "rear," or similar, refer to the intended use of the floor cleaning device. In this case, the floor cleaning device is positioned as intended on the floor surface to be cleaned, which can be considered to be horizontally aligned.

[0013] The floor cleaning device has a main direction of movement, which coincides with its longitudinal direction. The floor cleaning device moves along the main direction of movement, particularly when moving forward in a straight line.

[0014] It is understood that the floor cleaning device may comprise a control device to control operation and, in particular, movement, particularly the drives of the chassis. A navigation device is preferably provided to enable the floor cleaning device to navigate autonomously within an environment. Reference is made to the specialist knowledge of the person skilled in the art in this regard.

[0015] In this context, "drive axle" can be understood, for example, to mean that the drive elements are rotatable independently of one another about a common drive axis, i.e., the respective drive axes of the drive elements coincide. "Drive axle" can, for example, be understood as a projection of individual drive axes of the drive elements onto the ground surface, for example, if the drive elements are provided as drive wheels with a camber, and the drive axles are accordingly inclined relative to the ground surface and therefore do not coincide.

[0016] The chassis is preferably controllable so that the pivot point is located on the drive axle. In particular, the pivot point can be located centrally between the drive elements.

[0017] For example, in the latter case, the floor cleaning device can be rotated on the spot around the axis of rotation passing through the centrally located pivot point by driving the drive elements with the same power to achieve the same speed, but in opposite directions (assuming, for example, the same dimensions).

[0018] With a different control method, the pivot point can be located on the drive axis, for example, but not centrally between the drive elements. This can be achieved, for example, by driving the drive elements with different power to achieve different speeds.

[0019] In a preferred embodiment of the invention, the center point is arranged centrally between the drive elements.

[0020] For example, the center point lies on a central longitudinal plane. The drive elements can be arranged symmetrically to each other with respect to the central longitudinal plane on the floor cleaning device. The housing can be designed, at least in terms of its shape, symmetrical or essentially symmetrical with respect to the central longitudinal plane.

[0021] The chassis can advantageously be controlled so that the pivot point is the center point. In particular, the pivot point and the center point are preferably located centrally between the drive elements, whereby the axis of rotation can be located in a central longitudinal plane of the floor cleaning device.

[0022] The front section of the housing extends, for example, from the drive axle to the front of the floor cleaning device.

[0023] The rear section of the housing extends, for example, from the back of the floor cleaning device to the drive axle.

[0024] It can be provided that the front section of the housing extends from a central transverse plane to a housing front of the floor cleaning device.

[0025] It can be provided that the rear section of the housing extends from a rear side of the floor cleaning device to a central transverse plane.

[0026] The front section of the housing can be shaped such that the corresponding front section of the envelope contour is arcuate at least in sections. Alternatively or additionally, the corresponding front section of the envelope contour can be designed to extend in a straight line at least in sections.

[0027] In a preferred embodiment of the invention, the front section of the housing can be shaped such that the corresponding front section of the envelope contour is completely arc-shaped up to the drive axis.

[0028] Alternatively, it can be provided that the front section of the housing is shaped in such a way that the corresponding front section of the envelope contour is polygonal up to the drive axis.

[0029] The front section of the housing is advantageously shaped such that the corresponding front section of the envelope contour extends entirely within the circular contour. This allows for the provision of a floor cleaning device with improved maneuverability.

[0030] It can be advantageous if the housing widens from the front of the housing, at least to the drive axis, counter to the main direction of movement. The housing can widen beyond the drive axis, for example, to a central transverse plane of the floor cleaning device or even beyond.

[0031] Preferably, the housing widens starting from the housing front opposite to the main direction of movement in such a way that the corresponding section of the envelope contour lies within a semicircular section of the circular contour.

[0032] The front section of the housing is advantageously shaped such that the curvature of the corresponding section of the envelope contour in the region of a housing front is less than in the transition regions adjoining the housing front to the housing sides. The housing has, in particular, a left housing side and a right housing side, spaced from one another in the transverse direction, transversely and in particular perpendicular to the main direction of movement. In the region of the housing front, the curvature of the envelope contour is less than in the transition regions towards the housing sides, so that the curvature is greater in the transition regions. In a sense, the housing can be viewed from above as being flattened (but preferably curved) at the housing front and more strongly curved at the transition to the housing sides.The sharper curvature in the transition areas improves maneuverability, especially for cleaning close to obstacles and / or in corners. The flattened front of the housing allows for the largest possible installation space for the floor cleaning device's components.

[0033] The wiping tool preferably extends in a transverse direction of the floor cleaning device, oriented perpendicular to the main direction of movement, up to the drive elements. The wiping tool can extend in the transverse direction beyond the drive elements, allowing any contaminants originating from the drive elements to be captured.

[0034] The rear portion of the housing is advantageously shaped such that the corresponding rear portion of the envelope contour extends in sections in a straight line along the main direction of movement or is substantially straight.

[0035] This can be understood, in particular, as meaning that, due to the shape of the housing, sections of the envelope contour are provided behind the rotation axis that extend in sections along or essentially along the main direction of movement. Such a shape offers, for example, the advantage of cleaning close to the edges, allowing the floor cleaning device to be moved parallel to a wall or obstacle.

[0036] The rear section of the envelope contour advantageously extends in a straight line or essentially in a straight line on housing sides that are opposite each other perpendicular to the main direction of movement relative to a transverse direction of the floor cleaning device. These are, for example, the left and right sides of the housing of the floor cleaning device.

[0037] In a preferred embodiment of the invention, the drive elements comprise two drive wheels rotatable on the housing about aligned drive axes. The drive axes are preferably aligned perpendicular to the main direction of movement.

[0038] It is advantageous if the rear section of the housing is shaped such that the corresponding rear section of the envelope contour is rectangular or substantially rectangular or can be inscribed within a rectangle. From the drive axis or a central transverse plane of the pivot point to the rear, the housing is, for example, rectangular or substantially rectangular and offers ample installation space for components. In particular, cleaning tools of the at least one cleaning device, for example, a sweeping roller and / or a wiping tool, can be designed to be long or large with a view to improving cleaning results.

[0039] It is advantageous if the rear section of the housing is shaped so that the corresponding rear section of the casing contour has rounded corners at the transitions to the housing sides. In simple terms, the housing can, for example, be rounded at the corners where the rear of the housing meets the housing sides.

[0040] It is advantageous if the rear section of the housing is shaped so that the corresponding rear section of the envelope contour extends backward beyond the circular contour. In practice, it has been shown that by extending the housing backward beyond the circular contour, especially with a rectangular or essentially rectangular shape of the housing or envelope contour, a considerable amount of installation space can be gained for the components of the floor cleaning device. This makes it possible to construct the floor cleaning device more compactly overall because the use of space is optimized.

[0041] Advantageously, the housing is shaped such that the corresponding rear portion of the envelope contour extends rearward beyond the circular contour by an amount, or essentially by an amount, by which a front of the housing lags behind the circular contour. Accordingly, it may be advantageous if the housing is lengthened at the rear by the amount, or essentially by the amount, by which it is shortened at the front relative to the circular contour.

[0042] The pivot point is preferably located in front of a central transverse plane of the floor cleaning device, relative to the main direction of movement. The pivot point is preferably displaced forward relative to the central transverse plane by an amount, or substantially the amount, that the housing front remains behind the circular contour.

[0043] The pivot point is preferably positioned in front of the housing center relative to the main direction of movement. The forward offset of the pivot point preferably corresponds to the amount, or essentially the amount, by which the housing front lags behind the circular contour.

[0044] The housing center is defined, for example, by inscribing the housing in a rectangle in plan view, whereby the housing center is defined by the intersection point of the diagonals of the rectangle.

[0045] In a preferred embodiment of the invention, a ratio of a length of the housing in the main direction of movement to a width of the housing transversely and in particular perpendicularly to a main direction of movement is approximately 0.7 to 1.4, preferably approximately 0.8 to 1.2, more preferably approximately 0.9 to 1.1.

[0046] The drive elements can be or include drive wheels, for example.

[0047] The drive elements can, for example, be or include track elements. The undercarriage can accordingly be a crawler undercarriage.

[0048] In order to achieve a simple design and a compact construction, it may be advantageous if the chassis comprises only two drive elements.

[0049] The drive elements preferably have separate drive units and can be driven independently of each other. This allows for the implementation of an electronic differential.

[0050] According to the present invention, the at least one cleaning device comprises a sweeping device with a rotationally driven sweeping roller and a dirt collecting container for receiving the swept-up dirt.

[0051] The sweeping device may preferably comprise a suction unit for applying negative pressure to the dirt collection container in order to increase the cleaning performance.

[0052] Alternatively, it can be provided that the sweeping device is free of a suction unit.

[0053] The sweeping roller is preferably arranged between the drive elements and, in particular, the drive wheels, with an axis defined by the sweeping roller preferably aligned parallel to the drive axis. An inlet opening for dirt to be swept up is advantageously positioned between the drive elements.

[0054] Alternatively, it can be provided that the sweeping roller is positioned in front of the drive elements in the main direction of movement or behind the drive elements in the main direction of movement.

[0055] It is advantageous if the sweeping device, if present, is positioned upstream of the floor cleaning device relative to the main direction of movement of the wiping device. The sweeping device can first sweep dirt from the floor surface, and the floor surface can then be cleaned with the wiping device. This enables particularly good cleaning results.

[0056] The sweeping roller is advantageously driven in such a way that it moves on the floor side opposite to the main direction of movement. Swept-up dirt can, for example, be conveyed backwards or forwards over the sweeping roller. Alternatively, the sweeping roller can be driven in such a way that it moves on the floor side in the main direction of movement. Swept-up dirt can be conveyed forwards or backwards over the sweeping roller.

[0057] Preferably, the floor cleaning device rests only loosely on the floor surface with the sweeping roller.

[0058] The at least one cleaning device can advantageously comprise at least one side brush, which protrudes beyond the casing contour with cleaning elements. The at least one side brush is positioned, for example, in a front left corner and / or in a front right corner of the housing. The side brush can enable improved delivery of dirt to the sweeping device. The side brush can preferably be used to improve cleaning close to edges with the floor cleaning device.

[0059] In a preferred embodiment, the wiping device can be designed in particular for wet cleaning of the floor surface.

[0060] Alternatively or additionally, it is conceivable that a wiping device is provided for dry cleaning of the floor surface.

[0061] The wiping tool can be or include, for example, a wiping roller, a wiping cloth or at least one wiping pad.

[0062] If a wiping roller is provided, it preferably has a rotational axis oriented transversely and, in particular, perpendicularly to the main direction of movement. The wiping roller can be driven in such a way that it moves in the main direction of movement on the floor side. Although this may require increased drive power for the chassis, it results in particularly good cleaning results. Alternatively, the wiping roller can be moved on the floor side opposite to the main direction of movement, which can, for example, reduce driving resistance.

[0063] The wiping device preferably includes a dirty fluid container for collecting contaminated cleaning fluid. The wiping device can be used to perform wet cleaning of the floor surface. Advantageously, the wiping device is provided in addition to the sweeping device.

[0064] The wiping device preferably comprises a storage container for cleaning fluid that can be applied to the floor surface and / or to the wiping tool.

[0065] In a preferred embodiment of the invention, the wiping device is free of a suction unit for sucking up the cleaning fluid and includes a scraper element with which the cleaning fluid can be scraped off the wiping roller. The electrical power consumption of the wiping device can thus be kept low, extending the operating time of the floor cleaning device.

[0066] In another advantageous embodiment of the invention, it can be provided that the wiping device comprises a suction unit for sucking up the cleaning liquid.

[0067] Conveniently, the wiping device can be fully or partially removed from the housing. Preferably, the reservoir, the dirty liquid container, and the wiping roller can be removed from the housing. This offers the possibility of reducing the load on the floor cleaning device and extending its operating time, for example, if only dry cleaning of the floor area is required using the sweeping device.

[0068] The floor cleaning device preferably has a support device for supporting the floor surface, which comprises the drive elements of the chassis and the wiping tool. Preferably, no further support elements are provided if the floor cleaning device includes the wiping device, so that support is provided solely by the drive elements and the wiping tool.

[0069] The chassis can include a preferably steerable support roller for support on the floor surface. The support roller can be arranged, for example, in front of the drive elements or behind the drive elements with respect to the main direction of movement. In a preferred embodiment, the support roller is positioned behind the drive elements and between the sweeping roller and the wiping tool.

[0070] The floor cleaning device is preferably only supported on the floor surface via the support roller when the wiping tool is removed from the floor cleaning device. In this case, the floor cleaning device can be supported on the floor surface via the support roller in addition to the drive elements. However, to reduce driving resistance, support via the support roller is not required if the wiping tool is attached to the floor cleaning device and support is provided via the wiping tool in addition to the drive elements.

[0071] Supporting the floor cleaning device via the wiping tool also has the advantage that sufficient contact force can be achieved in the area of ​​the wiping tool to ensure good cleaning results.

[0072] In a preferred embodiment of the invention, the weight of the floor cleaning device can, for example, be approximately 70% to 90% on the drive elements and approximately 30% to 10% on the wiping tool.

[0073] The housing is preferably designed to be splash-proof.

[0074] The floor cleaning device preferably comprises a sensor device with at least one tactile sensor element. In a preferred embodiment, the sensor element can extend along the entire circumference of the housing. In this way, collisions of the floor cleaning device with an obstacle can preferably be detected at any position using just one tactile sensor element.

[0075] Alternatively, several tactile sensor elements can be provided.

[0076] It is advantageous if the floor cleaning device comprises a sensor device with at least one sensor element capable of detecting the condition of the floor surface, as well as a control device, wherein the control device controls the chassis depending on a signal from the sensor device to select a cleaning path. In this way, the floor surface can be cleaned as needed. Alternatively or additionally, damage to the floor surface caused by improper cleaning can be avoided.

[0077] The sensor device is preferably optically designed and enables the condition of the floor surface to be determined, for example, using spectroscopic methods.

[0078] Preferably, a textile floor covering, in particular a carpet or rug, can be detected by the sensor device, and sections of the floor surface with textile floor coverings are conveniently avoided when the wiping tool is arranged in the floor cleaning device. If a textile floor covering is detected, for example, wet cleaning using the wiping device is avoided. For this purpose, the corresponding section of the floor surface can be avoided.

[0079] Instead of the optical sensor device, a tactile sensor element can be provided, for example, which is mounted sufficiently low on the housing. In this way, a threshold created by a carpet, for example, can be detected tactilely.

[0080] As mentioned at the beginning, the present invention also relates to a floor cleaning system.

[0081] A floor cleaning system according to the invention comprises a floor cleaning device of the type described above and a charging station for the floor cleaning device, which comprises electrical contact elements for contact-based or contactless coupling with corresponding electrical contact elements of the floor cleaning device when the floor cleaning device assumes a charging position at the charging station.

[0082] The advantages mentioned in connection with the explanation of the floor cleaning device according to the invention can also be achieved with the floor cleaning system according to the invention. Reference can be made to the above explanations in this regard. Advantageous embodiments of the floor cleaning system result from advantageous embodiments of the floor cleaning device.

[0083] For example, a rechargeable battery of the floor cleaning device can be charged via the corresponding contact elements.

[0084] The contact elements can each be designed for physical contact. Alternatively, a contactless coupling can be used, particularly through electromagnetic induction. In this way, for example, the battery of the floor cleaning device can be charged contactlessly.

[0085] The charging station preferably comprises a plate-shaped support element for setting up the floor cleaning device, which can be positioned completely above the support element.

[0086] The support element advantageously comprises or forms a trough-shaped recess and support elements for a wiping roller of the floor cleaning device projecting upwards from this recess, so that a gap exists between the wiping tool and the base of the recess. Resting on the support elements allows a damp wiping tool to dry more effectively. Any residual liquid that drips off can be collected in the recess. The support elements are designed, for example, as strips or ribs.

[0087] The contact elements are preferably arranged on projections extending from the bottom of the recess. This prevents the contact elements from becoming wetted in the event of any liquid in the recess, thus increasing the electrical operational reliability of the floor cleaning system.

[0088] The following description of preferred embodiments of the invention, taken in conjunction with the drawings, serves to explain the invention in more detail. They show: Figure 1: a perspective view of a preferred embodiment of the floor cleaning device according to the invention; Figure 2: a plan view of the floor cleaning device from Figure 1 ; Figure 3: a view of the floor cleaning device from Figure 1 from below; Figure 4: a floor cleaning system according to the invention in a preferred embodiment in a side view, comprising the floor cleaning device from Figure 1 and a charging station; and Figure 5: a perspective view of the charging station from Figure 4 .

[0089] The drawing shows a preferred embodiment of a floor cleaning device according to the invention, designated overall by the reference numeral 10. The floor cleaning device 10 is a component of a preferred embodiment of the floor cleaning system 12 according to the invention, which is shown in Figure 4 shown and in addition to the floor cleaning device 10 a Figures 4 and 5 illustrated charging station 14.

[0090] The floor cleaning device 10 enables autonomous cleaning of a floor surface 16. For this purpose, the floor cleaning device 10 is designed to be self-propelled and self-steering and, in particular, forms a cleaning robot with which, as explained below, both dry cleaning and wet cleaning of the floor surface 16 can be performed, whereby wet cleaning may be optional.

[0091] The floor cleaning device 10 comprises a housing 18 for accommodating the components. Relative to a main movement direction 20, the housing 18 has a housing front 22 and a housing rear 24, with the housing front 22 being arranged at the front of the housing 18 and the housing rear 24 being arranged at the rear of the housing 18. The main movement direction 20 runs along a longitudinal direction 26 of the floor cleaning device 10. A transverse direction 28 is oriented transversely and in particular perpendicularly to the main movement direction 20 and the longitudinal direction 26.

[0092] The housing front 22 is part of a front section 30 of the housing 18, and the housing rear 24 is part of a rear section 32 of the housing 18.

[0093] In the present example, the front section 30 extends from the housing front 22 to the drive axle 70 of the drive wheels 66 (which will be discussed further below). The rear section 32 extends from the drive axle 70 to the housing rear 24.

[0094] The housing 18 comprises a left housing side 34 and a right housing side 36. The housing sides 34, 36 are spaced apart from one another in the transverse direction 28.

[0095] As can be seen in particular from the Figures 2 and 3 As can be seen, the housing 18 has transition areas 38 on the front section 30, which adjoin the housing front 22 at the front left and front right. At the transition areas 38, the housing 18 transitions into the housing sides 34, 36.

[0096] At the rear section 32, the housing rear 24 merges via corner areas 40 into the housing sides 34, 36.

[0097] In a top view ( Figure 2) onto the floor cleaning device 10 positioned as intended on the floor surface 16, the housing 18 defines an envelope contour 42. The envelope contour 42 runs along the outer circumference of the housing 18 and is in Figure 2 For clarity, it is drawn with a thicker line. References to the envelope contour 42 and the shape of the housing 18 are to be understood as referring to the top view of the floor cleaning device 10.

[0098] The envelope contour 42 comprises a front portion 44 defined by the front portion 30 of the housing 18 and a rear portion 46 defined by the rear portion 32 of the housing 18.

[0099] As can be seen from the Figures 2 and 3As can be seen, the envelope contour 42 can be inscribed as a whole in the floor cleaning device 10 in a rectangle 48. The ratio of a length 50 of the housing 18 in the main direction of movement 20 and thus the longitudinal direction 26 to a width 52 of the housing 18 in the transverse direction 28 is approximately 0.95 to 1.0 in the present embodiment.

[0100] The housing 18 is designed symmetrically with respect to a central longitudinal plane 54 of the floor cleaning device 10.

[0101] The floor cleaning device 10, in particular the housing 18, has a center point 56. The center point 56 is determined by the intersection of two imaginary diagonals 58 of the rectangle 48.

[0102] The floor cleaning device 10 has a central transverse plane 60 which is aligned perpendicular to the central longitudinal plane 54 and includes the center point 56.

[0103] For moving on the floor surface 16, the floor cleaning device 10 comprises a chassis 62. In the present case, the chassis 62 comprises two drive elements 64, designed as drive wheels 66.

[0104] Instead of the drive wheels 66, crawler elements on the chassis 62 can be provided as drive elements.

[0105] The drive wheels 66 are positioned spaced apart from one another in the transverse direction 28 and are preferably arranged symmetrically relative to one another with respect to the central longitudinal plane 54.

[0106] A respective drive wheel 66 can be driven in rotation about a respective drive axis by means of an independent drive unit 68, so that the floor cleaning device 10 can be moved and steered. In the present embodiment, the drive axes of the drive wheels 66 are aligned with one another, ie, the drive wheels 66 can each be driven in rotation about a common drive axis 70. The drive axis 70 extends in the transverse direction 28 ( Figure 2 ).

[0107] The chassis 62 further comprises a non-driven support roller 72. The support roller 72 is passively steerable and is arranged behind the drive wheels 66 in the main direction of movement 20. The support roller 72 is positioned between a sweeping device 74 and a wiping device 76 of the floor cleaning device 10, which will be discussed below ( Figure 3 ).

[0108] Depending on how the drive wheels 66 are driven, the floor cleaning device 10 is rotated about a pivot point 78. In this case, the drive wheels 66 are of the same size.

[0109] If the drive wheels 66 are rotated in opposite directions at the same speed, the pivot point 78 on the drive axle 70 is located centrally between the drive wheels 66. In this case, the floor cleaning device 10 rotates on the spot.

[0110] If, on the other hand, one drive wheel 66 is rotated faster than the other drive wheel 66, the pivot point 78 is off-center, but on the drive axle 70.

[0111] For the following description, it is assumed, for the present invention, that the pivot point 78 is as shown in the Figures 2 and 3 shown centrally between the drive wheels 66 on the axis of rotation 70.

[0112] A rotation axis 80 extends through the pivot point 78. The rotation axis 80 is oriented transversely and in particular perpendicularly to a contact plane of a support device 82 of the floor cleaning device 10, wherein the contact plane coincides with a plane defined by the floor surface 16. In the present example, the support device 82 comprises the drive wheels 66 and, if present, a wiping tool 83 of the wiping device 76.

[0113] In the Figures 2 and 3A circular contour 86 is shown. The center point 87 of the circular contour 86 is located on the drive axle 70 and is arranged centrally between the drive wheels 66. As explained, the chassis 62 can be controlled such that the pivot point 78 is also positioned centrally between the drive wheels 66. In the example explained here, the center point 87 is accordingly the pivot point 78. The diameter of the circular contour 86 corresponds to the housing width of the housing 18 at the position of the drive axle 70, relative to the main direction of movement 20.

[0114] As can be seen from the Figures 2 and 3 As can be seen further, the front section 30 is shaped such that the front section 44 of the envelope contour 42 extends at least partially within the circular contour 86 and is preferably at least partially arc-shaped.

[0115] In particular, the section 30 is shaped in this case such that the section 44 is completely arc-shaped and runs completely within the circular contour 86.

[0116] The housing 18 is particularly convex in shape at the front section 30. In particular, the housing 18 widens from the housing front 22 in the opposite direction of movement 20, preferably at least up to the drive axis 70.

[0117] In the present embodiment, the housing widens even further against the main direction of movement 20, beyond the central transverse plane 60, to approximately three-quarters of the length 50.

[0118] As can be seen from the Figures 2 and 3As can be seen further, the front section 30 is shaped such that the curvature of the envelope contour 42 in the region of the housing front 22 is less than in the transition regions 38. In the region of the housing front 22, the housing 18 is flattened as a result of this shape, in relation to the corner regions 40.

[0119] In practice, it has been shown that the front section 44 extends at least partially within the circular contour 86 and preferably its at least partially curved shape allows for high maneuverability of the floor cleaning device 10. At the same time, sufficient space is provided within the housing for components of the floor cleaning device 10, so that the floor cleaning device 10 can be constructed compactly overall.

[0120] As can be seen from the Figures 2 and 3As further shown, the rear portion 32 of the housing 18 is shaped such that the rear portion 46 of the envelope contour 42 extends partially outside the circular contour 86. In this way, sufficient space can be provided at the rear of the floor cleaning device 10 to accommodate its components. In particular, the wiping device 76 is accommodated in the rear portion 30 of the housing 18.

[0121] A particularly large amount of installation space is available in this case, particularly because the rear section 32 is shaped such that the rear section 46 of the envelope contour 42 is essentially rectangular. The corner areas 40, however, are rounded. These rounded edges can increase the maneuverability of the floor cleaning device 10, for example, when reversing.

[0122] The rear section 30 is shaped, particularly on the housing sides 34, 36, such that the rear section 46 extends in sections in a straight line or substantially in a straight line. The extension runs in the main direction of movement 20 ( Figures 2 and 3 ). This shape proves to be advantageous for cleaning close to the edge, in which the floor cleaning device 10 can be moved parallel to a boundary of the floor surface 16 or to an obstacle.

[0123] As can be seen from the Figures 2 and 3 As can be seen further, the rear section 32 is shaped such that the rear section 46 projects rearward, opposite the main direction of movement 20, beyond the circular contour 86. In this way, installation space can be provided in the rear region of the housing 18 for components of the floor cleaning device 10. A compact design for the floor cleaning device 10 can be achieved in this way, while simultaneously maintaining high maneuverability.

[0124] In the present example, the housing end 24 essentially protrudes rearward beyond the circular contour 86 by an amount 88, by which the housing front 22 remains behind the circular contour 86. The "shortening" or "compression" of the housing 18 at the front relative to the circular contour 86 corresponds to the "extension" of the housing 18 at the rear relative to the circular contour 86.

[0125] Relative to the center point 56, the pivot point 78 (and center point 87 of the circular contour 86) is shifted forward by the amount 88 in the main direction of movement 20. The pivot point 78 is accordingly located in front of the central transverse plane 60 ( Figure 2 ).

[0126] To control operation, the floor cleaning device 10 includes a control device 90, which, among other things, can be used to control the chassis 62. The control device 90 is arranged in a front region of the housing 18 and below a navigation device 92. The navigation device 92 is a sensor device and includes at least one sensor element coupled to the control device 90. For example, an optical sensor, a radar sensor, an IR sensor, and / or an ultrasonic sensor is provided.

[0127] Furthermore, a sensor device with a tactile sensor element 94 is provided ( Figure 1), which is coupled to the control device 90. In this case, the sensor element 94 is formed by a touch-sensitive element extending along the entire outer circumference of the housing 18. The sensor element 94 is accordingly a so-called impact body or "bumper," with which collisions of the floor cleaning device 10 with obstacles on all sides can be tactilely detected. It is advantageous that the sensor element 94 extends along the entire outer circumference.

[0128] Alternatively, several sensor elements 94 can be provided, which can be connected to one another.

[0129] To provide electrical energy, the floor cleaning device 10 comprises a rechargeable battery 96, which is positioned in the front area of ​​the housing 18, for example, below the control device 90 ( Figure 3 ).

[0130] The floor cleaning device 10 comprises electrical contact elements 98, which are arranged in the front area of ​​the housing 18 at the bottom. The battery 96 can be supplied with electrical energy via the contact elements 98.

[0131] The floor cleaning device 10 comprises at least one cleaning device 100 for cleaning the floor surface 16. In the present case, a total of three cleaning devices 100 are provided.

[0132] A first cleaning device is the sweeping device 74 already mentioned. The sweeping device 74 comprises a sweeping roller 106 that can be driven to rotate about a rotation axis 104 by means of a drive unit 102. The sweeping roller 106 is a brush roller.

[0133] The sweeping roller 106 is positioned between the drive wheels 66, with a sweeping opening 108 also arranged between the drive wheels 66. The sweeping roller 106 runs parallel to the drive axles 70.

[0134] By means of the sweeping roller 106, dirt can be swept from the floor surface 16 and swept into a dirt collection container 110 (shown schematically in Figure 4).

[0135] The direction of rotation of the sweeping roller 106 is selected in this case such that it is moved on the ground side opposite to the main direction of movement 20 and the dirt is transported overhead forward into the dirt collection container 110.

[0136] The sweeping device 74 comprises a suction unit 112 for applying negative pressure to the dirt collection container 110, whereby the cleaning performance can be increased.

[0137] As a further cleaning device 100, the floor cleaning device 10 comprises a side brush 114. The side brush 114 is arranged in the front area of ​​the housing 18 and protrudes beyond the casing contour 42 with brush-shaped cleaning elements 116.

[0138] By means of the side brush 114, advantageous cleaning close to the edges can be carried out with the floor cleaning device 10. Dirt can be swept in the sweeping device 74.

[0139] A further cleaning device 100 is formed by the wiping device 76. The wiping device 76 comprises the wiping tool 83. In this case, the wiping tool 83 is a wiping roller 84, which can be driven to rotate about a rotation axis 120 by means of a drive unit 118.

[0140] The rotation axis 120 extends in the transverse direction 28. The rotation direction of the wiping roller 84 is selected so that it rotates on the bottom side in the main direction of movement 20. This improves the cleaning performance.

[0141] With respect to the main direction of movement 20, the wiping device 76 is arranged behind the sweeping device 74.

[0142] The wiping device 76 is configured here for wet cleaning the floor surface 16. In this way, a dry cleaning can be performed first, followed by a wet cleaning of the floor surface 16. Alternatively, a wiping device can be provided for dry cleaning of the floor surface 16, for example.

[0143] The wiping roller 84 extends in the transverse direction 28 over a large part of the width of the floor cleaning device 10. In particular, an area which in the transverse direction 28 corresponds to the distance between the drive wheels 66 is covered by the wiping roller 84 ( Figure 3 ). In this way, a high surface cleaning performance can be achieved with the floor cleaning device 10.

[0144] The wiping device 76 comprises a dirty fluid container 122 for collecting contaminated cleaning fluid. In the present case, a scraper element 124 is arranged on the dirty fluid container 122, with which contaminated cleaning fluid can be scraped off the cover of the wiping roller 84.

[0145] The wiping device 76 further comprises a reservoir 126 for uncontaminated cleaning fluid, particularly water. A cleaning chemical can be added to enhance cleaning performance. The uncontaminated cleaning fluid can be used to moisten the wiping roller 84 and / or apply it to the floor surface 16.

[0146] The support device 82 comprises the drive wheels 66 and the wiping roller 84. This allows a sufficient contact force for the wiping roller 84 to achieve good cleaning performance.

[0147] The wiping device 76 can be removed from the floor cleaning device 10 if only dry cleaning of the floor surface 16 via the sweeping device 74 is desired. In this case, the floor cleaning device 10 rests on the floor surface 16 only via the drive wheels 66 and the support roller 72.

[0148] The floor cleaning device 10 comprises a sensor device with a sensor element 128, which is coupled to the control device 90. The sensor element 128 serves to detect the condition of the floor surface 16 and, in this case, is arranged at the bottom in the front area of ​​the housing 18.

[0149] If the sensor element 128 detects a textile floor covering, for example a carpet or a rug, this section of the floor surface 16 is bypassed by the floor cleaning device 10, since wet cleaning of the textile floor covering is to be avoided.

[0150] The charging station 14 mentioned above comprises a plate-shaped support element 130 that can be positioned on the floor surface 16 and serves to support the floor cleaning device 10. The support element 130 is dimensioned such that the floor cleaning device 10 is positioned completely above the support element 130.

[0151] The support element 130 has a recess 132. Wheel recesses 134 are arranged in the area of ​​the recess 132. By positioning the drive wheels 66 in the wheel recesses 134, a reliable, clearly defined position of the floor cleaning device 10 at the charging station 14 can be ensured.

[0152] This ensures in particular that contact elements 136 of the charging station 14 can couple with the contact elements 98 of the floor cleaning device 10 so that the battery 96 can be charged.

[0153] The contact elements 136 are arranged on projections 138 extending from a bottom 140 of the recess 132. In the event that any cleaning fluid collects in the recess 132 (e.g., discharged from the wiping roller 84), the contact elements 136 are protected from the cleaning fluid. The electrical safety of the floor cleaning system 12 is thereby increased.

[0154] In the floor cleaning system 12, the contact elements 98, 136 are coupled to each other in a contact-like manner. Within the scope of the invention, it can be provided that corresponding electrical contact elements of the charging station 14 and the floor cleaning device 10 can be coupled to each other without contact. For example, a contactless inductive energy transfer from the charging station 14 to the floor cleaning device 10 can be provided.

[0155] Support elements 142 also protrude from the bottom 140 of the recess 132. In this case, the support elements 142 are strip-shaped.

[0156] The support elements 142 serve to support the wiping roller 84, so that a gap 144 is formed between the wiping roller 84 and the floor 140. This allows the wiping roller 84 to dry more effectively. List of reference symbols:

[0157] 10Floor cleaning device 12Floor cleaning system 14Charging station 16Floor surface 18Housing 20Main direction of movement 22Housing front 24Housing rear 26Longitudinal direction 28Transverse direction 30Front section of housing 32Rear section of housing 34Left side of housing 36Right side of housing 38Transition area 40Corner area 42Envelope contour 44Front section of envelope contour 46Rear section of envelope contour 48Rectangle 50Length 52Width 54Center longitudinal plane 56Center point 58Diagonal 60Center transverse plane 62Chassis 64Drive element 66Drive wheel 68Drive unit 70Drive axle 72Support roller 74Sweeping device 76Wiping device 78Pivot point 80Pivot axis 82Support device 83Wiping tool 84Wiping roller 86Circular contour 87Center point 88Amount 90Control device 92Navigation device 94Sensor element 96Battery 98Contact element 100Cleaning device 102Drive unit 104Rotational axis 106Sweeping roller 108Sweeping opening 110Dirt collection container 112Suction unit 114Side brush 116Cleaning element 118Drive unit 120Rotational axis122 Dirty fluid container 124 Wiper element 126 Storage container 128 Sensor element 130 Support element 132 Recess 134 Wheel recess 136 Contact element 138 Projection 140 Floor 142 Support element 144 Space

Claims

1. Self-propelled and self-steering floor cleaning apparatus, comprising: - a housing (18) having a front portion (30) and a rear portion (32) relative to a main movement direction (20) of the floor cleaning apparatus (10), which housing defines an enveloping contour (42) of the floor cleaning apparatus (10) relative to a plan view of the floor cleaning apparatus (10) positioned on a floor surface (16); - a chassis (62) for traveling on the floor surface (16), which chassis is held on the housing (18) and comprises two drive elements (64) arranged at a distance from one another along a drive axis (70); - at least one cleaning device (100) for cleaning the floor surface (16), which at least one cleaning device (100) comprises a wiping device (76) having a wiping tool; wherein: - the floor cleaning apparatus (10) is rotatable about a rotation axis (80) extending through a pivot point (78) by means of the drive elements (64) of the chassis (62); - the front portion (30) of the housing (18) is shaped such that a corresponding front portion (44) of the enveloping contour (42) extends, at least in portions, within a circular contour (86), the center (87) of which lies on the drive axis (70) and the diameter of which is given by the width of the housing (18) at the position of the drive axis (70); - the rear portion (32) of the housing (18) is shaped such that a corresponding rear portion (46) of the enveloping contour (42) extends, at least in portions, outside the circular contour (86), wherein the rear portion (32) of the housing (18) accommodates the wiping device (76); characterized in that the at least one cleaning device (100) comprises a sweeping device (74) having a rotationally drivable sweeping roller (106), and a dirt collecting container (110) for receiving the swept-up dirt.

2. Floor cleaning apparatus in accordance with claim 1, characterized in that at least one of the following applies: - the chassis (62) is controllable such that the pivot point (78) lies on the drive axis (70) and is arranged in particular centrally between the drive elements (64); - the center point (87) is arranged centrally between the drive elements (64); - the chassis (62) is controllable such that the pivot point (78) is the center point (87).

3. Floor cleaning apparatus in accordance with any one of the preceding claims, characterized in that at least one of the following applies: - the front portion (30) of the housing (18) extends from the drive axis (70) to a housing front (22) of the floor cleaning apparatus (10), and / or the rear portion (32) of the housing (18) extends from a housing rear side (24) of the floor cleaning apparatus to the drive axis (70); - the front portion (30) of the housing (18) is shaped such that the corresponding front portion (44) of the enveloping contour is curved, at least in portions, and / or linear, at least in portions; - the front portion (30) of the housing (18) is shaped such that the corresponding front portion (44) of the enveloping contour (42) is completely curved or polygonal as far as the drive axis (70).

4. Floor cleaning apparatus in accordance with any one of the preceding claims, characterized in that at least one of the following applies: - the front portion (30) of the housing (18) is shaped such that the corresponding front portion (44) of the enveloping contour (42) extends completely within the circular contour (86); - the housing (18) widens counter to the main movement direction (20), from a housing front (22) of the housing (18) at least to the drive axis (70); - the front portion (30) of the housing (18) is shaped such that a curvature of the corresponding portion of the enveloping contour (42) in the region of a housing front (22) is less than in transition regions (38) to the housing sides (34, 36), which adjoin the housing front (22).

5. Floor cleaning apparatus in accordance with any one of the preceding claims, characterized in that at least one of the following applies: - the wiping tool extends as far as the drive elements (64) in a transverse direction (28) of the floor cleaning apparatus (10), which wiping tool is aligned perpendicular to the main movement direction (20); - the corresponding rear portion (32) of the housing (18) is shaped such that the rear portion (46) of the enveloping contour (42) extends in portions in a straight line or extends substantially in a straight line along the main movement direction (20), wherein the rear portion (46) of the enveloping contour (42) preferably extends in a straight line or substantially in a straight line on housing sides (34, 36) which are opposite one another with respect to a transverse direction (28) of the floor cleaning apparatus (10) perpendicular to the main movement direction (20).

6. Floor cleaning apparatus in accordance with any one of the preceding claims, characterized in that the rear portion (32) of the housing (18) is shaped such that the corresponding rear portion (46) of the enveloping contour (42) is rectangular or substantially rectangular or is able to be inscribed in a rectangle, and / or in that the rear portion (32) of the housing (18) is shaped such that the corresponding rear portion (46) of the enveloping contour (42) has rounded corner regions (40) at the transitions to the housing sides (34, 36).

7. Floor cleaning apparatus in accordance with claim 6, characterized in that the rear portion (32) of the housing (18) is shaped such that the corresponding rear portion (46) of the enveloping contour (42) projects to the rear beyond the circular contour (86), wherein the housing (18) is preferably shaped such that the corresponding rear portion (32) of the enveloping contour (42) projects to the rear beyond the circular contour (86) by an amount (88) or substantially by an amount (88) by which a housing front (22) of the housing (18) remains behind the circular contour (86) at the front.

8. Floor cleaning apparatus in accordance with any one of the preceding claims, characterized in that the pivot point (78) is arranged in front of a central transverse plane (60) of the floor cleaning apparatus (10), relative to the main movement direction (20), and / or in that a ratio of a length (50) of the housing (18) in the main movement direction (20) to a width (52) of the housing (18) transverse and in particular perpendicular to a main movement direction (20) is approximately 0.7 to 1.4, preferably approximately 0.8 to 1.2, more preferably 0.9 to 1.1.

9. Floor cleaning apparatus in accordance with any one of the preceding claims, characterized in that the drive elements (64) are or comprise drive wheels (66) or crawler elements and / or in that the chassis (62) comprises only two drive elements (64).

10. Floor cleaning apparatus in accordance with any one of the preceding claims, characterized in that at least one of the following applies: - the sweeping device (74) comprises a suction unit (112) for applying negative pressure to the dirt collecting container (110); - the sweeping roller (106) is arranged between the drive elements (64), in particular an axis (104) defined by the sweeping roller (106) is aligned in parallel with the drive axis (70); wherein the sweeping device (74) is in particular arranged in front of the wiping device (76) on the floor cleaning apparatus (10), with respect to the main movement direction (20).

11. Floor cleaning apparatus in accordance with any one of the preceding claims, characterized in that the at least one cleaning device (100) comprises at least one side brush (114) which projects beyond the enveloping contour (42) with cleaning elements (116) thereof, and / or in that the wiping tool is or comprises a wiping roller, a wiping cloth or at least one wiping pad.

12. Floor cleaning apparatus in accordance with any one of the preceding claims, characterized in that at least one of the following applies: - the wiping device (76) comprises a dirty liquid container (122) for receiving dirty cleaning liquid; - the wiping device (76) comprises a storage container (126) for cleaning liquid that is appliable to the floor surface (16) and / or the wiping tool (84).

13. Floor cleaning apparatus in accordance with any one of the preceding claims, characterized in that the wiping device (76) is free of a suction unit for suctioning the cleaning liquid and comprises a scraping element (124) with which the cleaning liquid is scrapable from the wiping tool, and / or in that the wiping device (76) is completely or partially removable from the housing (18).

14. Floor cleaning apparatus in accordance with any one of the preceding claims, characterized in that the floor cleaning apparatus (10) has a support device (82) for support on the floor surface (16), which support device comprises the drive elements (64) of the chassis (62) and the wiping tool, and / or in that the chassis (62) comprises a preferably steerable support roller (72) for support on the floor surface (16), wherein the floor cleaning apparatus (10) is preferably only supported on the floor surface (16) via the support roller (72) if the wiping tool is removed from the floor cleaning apparatus (10).

15. Floor cleaning apparatus in accordance with any one of the preceding claims, characterized in that the floor cleaning apparatus (10) comprises a sensor device having at least one sensor element (128) with which the condition of the floor surface (16) is detectable, and a control device (90), wherein the control device (90) controls the chassis (62), depending on a signal from the sensor device, to select a cleaning path, wherein a textile floor covering, in particular a rug or carpet, preferably recognizable by means of the sensor device, and in that portions of the floor surface (16) having a textile floor covering are avoided when the wiping tool is arranged in the floor cleaning apparatus (10).

16. Floor cleaning system comprising a floor cleaning apparatus (10) in accordance with any one of the preceding claims, and a charging station for the floor cleaning apparatus (10), which comprises electrical contact elements (136) for contact-based or contactless coupling with corresponding electrical contact elements (98) of the floor cleaning apparatus (10) when the floor cleaning apparatus (10) assumes a charging position at the charging station (12), wherein the charging station (12) preferably comprises a plate-shaped placement element (130) for placement of the floor cleaning apparatus (10), which is positionable completely above the placement element (130).

17. Floor cleaning system in accordance with claim 16, characterized in that the placement element (130) comprises or forms a trough-shaped depression (132) and support elements (142) for a wiping roller (84) of the floor cleaning apparatus (10), which support elements project upward from the depression, so that a gap (144) is present between the wiping tool (83) and a floor (140) of the depression, wherein the contact elements (136) are preferably arranged on projections (138) from a floor (140) of the depression (132).