Cleaning device and method for wet cleaning a surface, control device for a cleaning device

Description

[0001] The invention relates to a cleaning device for wet cleaning a surface, comprising a housing, a drive means having a drive shaft, and a support element, wherein the drive means is configured to move the support element relative to the housing. The invention further relates to a method for wet cleaning a surface and a control device for a cleaning device for wet cleaning a surface.

[0002] Various devices are known for wet cleaning a surface. These include, for example, attachments with a connection piece intended for mounting on a base unit with a main unit, e.g., for an upright vacuum cleaner, and robot mops that move autonomously across a floor surface. In both embodiments, a support element in the form of an oscillating plate is generally provided, to which a holding element for a cleaning element can be attached. The holding element can serve as a structural mount for a removable, possibly washable, cleaning element made of textile or fleece, and the cleaning element is preferably designed for moistening with a cleaning fluid. For moistening, a fluid source, e.g., a water tank, is generally provided on the cleaning device. Alternatively, the cleaning element can be moistened manually.Generally, the moistened cleaning element is rubbed against the surface to be cleaned by moving the oscillating plate, thus wiping the surface. This configuration can be used for both attachments and robot mops.

[0003] A drive means is provided to move the support element or the oscillating plate, which often has at least one eccentric element. The forces generated by driving the support element can, for a cleaning device designed as an attachment, act against a direction of travel manually specified by a user on the base device. In particular, if the movement of the support element is an oscillating movement, this can lead to a relatively strong, undesirable deflection from the specified direction of travel. Even if the cleaning device is designed as a robot mop, the drive of the support element can lead to undesirable deflections from the actual direction of travel. The cleaning device can alternatively be a module that can be coupled to a cleaning robot or to an attachment for a vacuum cleaner.

[0004] JP 2009 189534 A discloses a floor cleaning device with a pivoting base plate. In addition, DE 10 2012 108 285 A1 and EP 3 200 666 A1 each disclose a floor mop with a cleaning body that can be pivoted parallel to the floor surface.

[0005] Against this background, the present invention is based on the object of improving known cleaning devices and in particular of increasing the user-friendliness and the quality of the cleaning result during wet cleaning.

[0006] This object is achieved with a cleaning device for wet cleaning a surface with a housing, with a drive means having a drive axis and with a carrier element, wherein the drive means is designed to move the carrier element relative to the housing, in that the drive axis can be displaced from a first angular position defined with respect to the housing into a further angular position inclined by an angle relative to the first angular position.

[0007] It was found that the mechanical force state of the cleaning device can be influenced by adjusting the angular position of the drive axle. In particular, disruptive forces acting against a given direction of travel can be compensated for, thus increasing the user-friendliness of a cleaning device designed as an attachment. On the other hand, by adjusting the inclination of the drive axle, the direction of travel for an autonomously driving cleaning device can be adjusted.

[0008] Any type of drive suitable for causing the carrier element to move relative to a surface to be cleaned can be used as the drive means. The drive means can comprise an electric motor. Preferably, the drive axis corresponds to the main extension direction of a connecting element between a motor of the drive means and the carrier element. More preferably, the drive means comprises an eccentric element connected to the carrier element via a connecting element, wherein the connecting element corresponds to the drive axis.

[0009] The carrier element is preferably provided for a detachable connection to a holding element, wherein the holding element is designed to receive a cleaning element intended for wet cleaning, for example in the form of a microfiber cloth or a mop. Thus, a movement of the carrier element causes a movement of the holding element and the cleaning element. In an operating position of the cleaning device, the carrier element is preferably arranged between the housing of the cleaning device and a surface to be cleaned. In this case, the carrier element, viewed in plan view, can be covered by the housing and / or at least partially displaced laterally relative to the housing.

[0010] Furthermore, the support element can be provided as a plate that is moved, in particular swung, relative to the housing of the cleaning device by means of the drive means. Preferably, the movement of the support element is essentially parallel to the surface to be cleaned. This allows the surface to be cleaned to be wiped evenly.

[0011] By displacing the drive axis from the first angular position to the further angular position, the drive axis is tilted. The tilting is all the more pronounced the greater the angular difference between the first angular position and the further angular position. The first angular position is defined in relation to the housing. Preferably, the first angular position and the further angular position of the drive axis are defined by values ​​in a coordinate system that is fixed relative to the housing during a cleaning process. Furthermore, displacing the drive axis from the first angular position to the further angular position is preferably brought about by rotating the drive axis about a rotation axis oriented perpendicular to the main direction of extension of the drive axis.

[0012] According to a first embodiment of the cleaning device, at least one weight element is provided for compensating forces which are caused by a movement of the support element relative to the housing and which act on the housing, and the at least one weight element is designed such that the displacement of the drive axis from the first angular position to the further angular position causes a displacement of the at least one weight element by a corresponding angle.

[0013] By tilting weight elements according to the shifting or tilting of the drive axle, an increased effect on the direction of travel of the cleaning device can be achieved.

[0014] The at least one weight element is preferably arranged in the housing. Furthermore, the at least one weight element can be electronically and / or mechanically connected to the drive means in order to coordinate its displacement with the displacement of the drive axle.

[0015] According to a further embodiment of the cleaning device, at least one bearing element is arranged between the carrier element and the housing and the at least one bearing element can be displaced from a first angular position defined with respect to the housing into a further angular position inclined by an angle relative to the first angular position.

[0016] By actively displacing at least one bearing element, the drive axis can be displaced or tilted, thus influencing the movement of the cleaning device.

[0017] Preferably, the angle between the first angular position and the further angular position of the at least one bearing element corresponds to the angle between the first angular position and the further angular position of the drive axle.

[0018] Furthermore, the at least one bearing element is preferably designed to connect the carrier element relative to the housing and at the same time to allow a movement caused by the drive means or not to counteract such a movement.

[0019] According to a further embodiment of the cleaning device, a control device is provided and the control device is configured to cause a displacement of the drive shaft and / or the at least one bearing element from the respective first angular position to the respective further angular position, wherein the angle is dependent on a direction of travel in which the cleaning device is to be steered.

[0020] This allows the cleaning device's movement to be specifically influenced based on information derived by the control system, for example, from a preset schedule or from a detection of the cleaning device's surroundings. In addition, a direction of travel specified by a user can be automatically assisted, for example, in the manner of power steering.

[0021] According to a further embodiment of the cleaning device, the carrier element is mounted with the drive axis in such a way that when the drive axis is displaced by an angle during a wet cleaning process, the carrier element remains substantially parallel to a surface to be cleaned.

[0022] This allows an optimal, homogeneous cleaning result to be achieved across the surface to be cleaned.

[0023] The drive means can, in particular, comprise an electric motor and at least one eccentric, wherein the eccentric is designed for connection to the support element via a connecting element designed as a bolt with a ball head. The support element can have a receptacle for a ball connection to the bolt. Thus, an oscillating movement of the support element can be achieved even when the drive axle is tilted.

[0024] Preferably, the at least one eccentric can be rotated in a position inclined relative to the surface to be cleaned and / or relative to the housing of the cleaning device, thereby generating a force that drives the cleaning device across the surface to be cleaned or influences its movement. Thus, during a cleaning process, the support element can remain substantially parallel to the surface to be cleaned despite tilting or inclining the drive axis, and the surface can be cleaned evenly.

[0025] Furthermore, the drive shaft is preferably pivotally mounted with the support element. Furthermore, the drive shaft can be extendable along its main extension direction, for example, telescopically. This allows for compensation of an increase in the distance between the drive means and the support plate, which would cause the drive shaft to tilt.

[0026] According to a further embodiment of the cleaning device, a connection piece for connection to a basic device is provided on the housing.

[0027] Thus, the cleaning device can be designed as an attachment with increased user comfort. In particular, such a cleaning device can automatically compensate for disruptive forces resulting from a swinging movement of the support element and, if necessary, automatically assist movement in a direction manually specified on the base unit.

[0028] According to a further embodiment of the cleaning device, the drive means is designed as the main drive means for autonomous driving of the cleaning device.

[0029] Thus, so-called drift, or the forces acting on the housing due to tilting of the drive axle, can be used to propel the cleaning device designed as a cleaning robot. In particular, an additional drive system, such as an electric motor coupled to wheels, can be dispensed with. Furthermore, the cleaning device according to this embodiment can be designed without wheels or other aids for moving across a surface to be cleaned. Overall, such an autonomously driving cleaning device can avoid ruts.

[0030] Alternatively or additionally, the cleaning device can have at least two support elements, each driven by a drive means with a tiltable or pivotable drive axle. By synchronizing or adjusting the inclination of the respective drive axles, the direction of travel of the cleaning device can be controlled more easily than with a single support element / drive element system.

[0031] The above-mentioned object is also achieved according to the invention by a method for wet cleaning a surface, in which a cleaning device for wet cleaning is provided with a housing, with a drive means having a drive axis and with a carrier element, in particular a cleaning device for autonomous wet cleaning according to one of the previous embodiments, in which the carrier element is driven by the drive means, in which a movement of the cleaning device is influenced by displacing the drive axis from a first angular position defined in relation to the housing into a further angular position inclined by an angle with respect to the first angular position.

[0032] This method has the same advantages as the cleaning device according to the invention. In particular, this method can achieve improved cleaning results and avoid lanes or heterogeneous cleaning zones.

[0033] According to a first embodiment of the method, the displacement of the drive axis from the first angular position to the further angular position is brought about by actively displacing at least one bearing element arranged between the carrier element and the housing.

[0034] Thus, the drive axle can be pivotably mounted, and its displacement or tilting can be achieved by tilting the bearing elements. Thus, the drive axle or drive means can be designed relatively simply.

[0035] According to a further embodiment of the method, a direction of travel in which the cleaning device is to be moved is set by displacing the drive axle and / or the at least one bearing element.

[0036] This embodiment is particularly advantageous for designing the cleaning device as a cleaning robot, because the cleaning device can then be driven as a whole only with the aid of the drive means already present for moving the at least one carrier element.

[0037] Preferably, the direction of travel is a preset direction or a direction determined by a control device in which the cleaning device is to travel. The direction of travel can be in the form of a direction in a coordinate system relative to the housing of the cleaning device or relative to the environment of the cleaning device.

[0038] According to a further embodiment of the method, when the drive axis is displaced, the carrier element remains substantially parallel to the surface to be cleaned.

[0039] This allows the most homogeneous cleaning result possible to be achieved.

[0040] According to a further embodiment of the method, a movement of the cleaning device in a direction of travel specified by a user is supported by moving the carrier element and displacing the drive axis and / or the at least one bearing element.

[0041] This allows unwanted drift to be compensated for in a cleaning device designed as an attachment, thus increasing user comfort.

[0042] According to a further embodiment of the method, the cleaning device is driven autonomously by moving the carrier element and displacing the drive axis and / or the at least one bearing element.

[0043] Thus, a cleaning robot can essentially be driven by means of the drive system provided for moving the carrier element and at the same time a homogeneous cleaning result can be achieved.

[0044] The above-mentioned object is also achieved with a control device for a cleaning device for wet cleaning a surface, with a computer unit, with a database and with at least one interface for a connection to at least one component of the cleaning device, in particular with a drive means of the cleaning device and / or with a bearing element of the cleaning device, in that a program code is provided, the execution of which on the computer unit effects implementation of the method according to one of the above embodiments.

[0045] The control device also offers the same advantages as the cleaning device and the method. Furthermore, the control device according to the invention can be used to convert an existing cleaning device.

[0046] The embodiments of the cleaning device, the method and the control device can be combined and interchanged as desired.

[0047] The invention will be explained in more detail below using exemplary embodiments, with reference to the accompanying drawings. Fig. 1a a sectional view of a first embodiment of a cleaning device, wherein the drive axis is arranged in a first angular position, Fig. 1b a sectional view of the cleaning device according to Fig. 1a , wherein the drive axis is arranged in a further angular position, Fig. 2a a sectional view of a second embodiment for a cleaning device, wherein the drive axis is arranged in a first angular position, Fig. 2b a sectional view of the cleaning device according to Fig. 2a , wherein the drive axis is arranged in a further angular position, Fig. 3a a sectional view of a third embodiment for a cleaning device, wherein the drive axis is arranged in a first angular position, Fig. 3b a sectional view of the cleaning device according to Fig. 3a , wherein the drive axis is arranged in a further angular position, Fig. 4a a sectional view of a fourth embodiment for a cleaning device, wherein the drive axis is arranged in a first angular position, and Fig. 4b a sectional view of the cleaning device according to Fig. 4a , wherein the drive axis is arranged in a further angular position.

[0048] Fig. 1a shows a cleaning device 2 for wet cleaning a surface 4, which is designed as an attachment with a housing 6 and with a connection piece 8 provided on the housing 6 for connection to a base unit (not shown). A drive means 10 with an electric motor 12, with an eccentric element 14, and with a drive shaft 16 is arranged in the housing 6. Also provided in the housing 6 are two weight elements 18, 20 beyond the drive means 10. A carrier element 22, which is detachably connectable to a holding element 24 and a cleaning element 26 designed as a mop, is arranged between the surface 4 to be cleaned and the housing 6.

[0049] The drive axle 16 is pivotally mounted with the support element 22 and with the eccentric element 14.

[0050] At the Fig. 1a the drive axis 16 is shown in a first angular position, wherein its longitudinal extension 28 is arranged substantially perpendicular to the main extension plane 30 of the housing 6.

[0051] At Fig. 1b the drive axle 16 is in a further angular position compared to the first one from the Fig. 1a arranged in an angular position inclined by an angle α. The weight elements 18, 20 are pivoted along with the drive shaft 16 and lie in a plane 32 inclined by an angle α relative to the main extension plane 30 of the housing 6.

[0052] Fig. 2a shows a further embodiment of a cleaning device 40 designed as an attachment with a connecting piece 38. This cleaning device 40 also has a housing 42, a drive means 44 with an electric motor 46, with an eccentric element 48 and with a drive shaft 50, counterweights 52, 54 and a carrier element 56. In contrast to the cleaning device from the Fig. 1a und 1b Bearing elements 58, 60 are provided between the support element 56 and the housing 42. Each bearing element 58, 60 is pivotally mounted to the housing 42, here by three length-adjustable grub screws 62, 64, 66.

[0053] At the Fig. 2a The drive shaft 50 is arranged in a first angular position, with its longitudinal extension 68 being substantially perpendicular to the main extension plane 70 of the housing 42. The counterweights 52, 54, which are arranged in the housing 42, are substantially parallel to the main extension plane 70 of the housing 42.

[0054] At the Fig. 2b The grub screws 62, 64, 66 are adjusted to different lengths, and the bearing elements 58, 60 are inclined by an angle α relative to the main extension plane 70 of the housing 42. This inclination of the bearing elements 58, 60 causes the drive axle 50 and the counterweights 52, 54 to be displaced by an angle α.

[0055] Fig. 3a shows a cleaning device 80 designed as a mopping robot, which has a housing 82 and a support element 84. Provided in the housing 82 is a drive means 86 for the support element 84, which has an electric motor 88, an eccentric element 90, and a drive shaft 92. Furthermore, a control device 94, which is communicatively connected to the electric motor 88, and weight elements 96, 98 are arranged in the housing 82. The support element 84 is detachably connected to a cleaning element 102 via a holding element 100.

[0056] At Fig. 3a The drive shaft 92 is arranged in a first angular position, with its longitudinal extension 104 being substantially perpendicular to the main extension plane 106 of the housing 82. The counterweights 96, 98, which are arranged in the housing 82, are substantially parallel to the main extension plane 106 of the housing 82.

[0057] At Fig. 3b the drive shaft 92 is in a further angular position compared to the first one from the Fig. 1a arranged in an angular position inclined by an angle α. The weight elements 96, 98 were pivoted along with the drive axis 92 and lie in a plane 108 inclined by the angle α relative to the main extension plane 106 of the housing 82.

[0058] Fig. 4a also shows a cleaning device 120 designed as a wiping robot with a housing 122, with a control device 124, with a drive means 126, with counterweights 128, 130 and with a carrier element 132. In contrast to the cleaning device from the Fig. 3a und 3b Bearing elements 134, 136 are provided between the support element 132 and the housing 122. Each bearing element 134, 136 is pivotally mounted to the housing 122, here by three length-adjustable grub screws 138, 140, 142.

[0059] At the Fig. 4a The drive shaft 144 is arranged in a first angular position, with its longitudinal extension 146 being substantially perpendicular to the main extension plane 148 of the housing. The counterweights 128, 130, which are arranged in the housing 122, are substantially parallel to the main extension plane 148 of the housing 122.

[0060] At the Fig. 4b The grub screws 138, 140, 142 are adjusted to different lengths, and the bearing elements 134, 136 are inclined by an angle α relative to the main extension plane 148 of the housing 122. This inclination of the bearing elements 134, 136 causes the drive shaft 144 and the counterweights 128, 130 to be displaced by the angle α.

Claims

1. Cleaning apparatus (2, 40, 80, 120) for wet cleaning a surface (4), - with a housing (6, 42, 82, 122), - with a drive means (10, 44, 86,126) having a drive axle (16, 50, 92, 144) and - with a carrier element (22, 56, 84, 132), - wherein the drive means (10, 44, 86, 126) is arranged to move the carrier element (22, 56, 84, 132) relative to the housing (6, 42, 82, 122), characterised - in that the drive axle (16, 50, 92, 144) can be displaced from a first angular position defined in relation to the housing (6, 42, 82, 122) into a further angular position inclined by an angle relative to the first angular position.

2. Cleaning apparatus (2, 40, 80, 120) according to claim 1, characterised - in that at least one weight element (18, 2052, 54, 96, 98, 128, 130) is provided for balancing forces which are caused by a movement of the carrier element (22, 56, 84, 132) relative to the housing (6, 42, 82, 122) and which act on the housing (6, 42, 82, 122), and - that the at least one weight element (18, 2052, 54, 96, 98, 128, 130) is designed such that the displacement of the drive axle (16, 50, 92, 144) from the first angular position into the further angular position causes the at least one weight element (18, 2052, 54, 96, 98, 128, 130) to be displaced by a corresponding angle.

3. Cleaning apparatus (2, 40, 80, 120) according to claim 1 or 2, characterised - in that a bearing element (58, 60, 134, 136) is arranged between the carrier element (22, 56, 84, 132) and the housing (6, 42, 82, 122), and - in that the at least one bearing element (58, 60, 134, 136) can be displaced from a first angular position defined in relation to the housing (6, 42, 82, 122) into a further angular position inclined by an angle relative to the first angular position.

4. Cleaning apparatus (2, 40, 80, 120) according to any one of claims 1 to 3, characterised - in that a control apparatus (94, 124) is provided, - in that the control apparatus (94, 124) is configured for causing the drive axle (16, 50, 92, 144) and / or the at least one bearing element (58, 60, 134, 136) to be displaced from the respective first angular position to the respective further angular position, - wherein the angle depends on the direction in which the cleaning apparatus (2, 40, 80, 120) is to be steered.

5. Cleaning apparatus (2, 40, 80, 120) according to any one of claims 1 to 4, characterised in that the carrier element (22, 56, 84, 132) is mounted with the drive axle (16, 50, 92, 144) in such a way that when the drive axle (16, 50, 92, 144) is displaced by an angle during a wet cleaning process, the carrier element (22, 56, 84, 132) remains essentially parallel to a surface (4) to be cleaned.

6. Cleaning apparatus (2, 40, 80, 120) according to any one of claims 1 to 5, characterised in that a connection piece (8, 38) is provided on the housing (6, 42, 82, 122) for connection to a basic apparatus.

7. Cleaning apparatus (2, 40, 80, 120) according to any one of claims 1 to 5, characterised in that the drive means (10, 44, 86, 126) is designed as the main drive means for autonomous driving of the cleaning apparatus (2, 40, 80, 120).

8. Method for wet cleaning a surface (4), - wherein a cleaning apparatus for wet cleaning with a housing (6, 42, 82, 122), with a drive means (10, 44, 86, 126) having a drive axle (16, 50, 92, 144) and with a carrier element (22, 56, 84, 132), in particular a cleaning apparatus (2, 40, 80, 120) for autonomous wet cleaning according to one of claims 1 to 7, is provided, - wherein the carrier element (22, 56, 84, 132) is driven by the drive means (10, 44, 86, 126), - wherein a movement of the cleaning apparatus (2, 40, 80, 120) is influenced by displacement of the drive axle (16, 50, 92, 144) from a first angular position defined in relation to the housing (6, 42, 82, 122) into a further angular position inclined by an angle relative to the first angular position.

9. Method according to claim 8, wherein the displacement of the drive axle (16, 50, 92, 144) from the first angular position into the further angular position is brought about by active displacement of at least one bearing element (58, 60, 134, 136), which is arranged between the carrier element (22, 56, 84, 132) and the housing (6, 42, 82, 122).

10. Method according to claim 8 or 9, wherein a direction of travel in which the cleaning apparatus (2, 40, 80, 120) is to be moved is set by displacing the drive axle (16, 50, 92, 144) and / or the at least one bearing element (58, 60, 134, 136).

11. Method according to any one of claims 8 to 10, wherein the carrier element (22, 56, 84, 132) remains essentially parallel to the surface (4) to be cleaned when the drive axle (16, 50, 92, 144) is displaced.

12. Method according to any one of claims 8 to 11, wherein a movement of the cleaning apparatus (2, 40, 80, 120) in a direction of travel predetermined by a user is supported by moving the carrier element (22, 56, 84, 132) and displacing the drive axle (16, 50, 92, 144) and / or displacing the at least one bearing element (58, 60, 134, 136).

13. Method according to any one of claims 8 to 11, wherein the cleaning apparatus (2, 40, 80, 120) is moved autonomously by moving the carrier element (22, 56, 84, 132) and displacing the drive axle (16, 50, 92, 144) and / or displacing the at least one bearing element (58, 60, 134, 136).

14. Control apparatus (94, 124) for a cleaning apparatus (2, 40, 80, 120) for wet cleaning a surface (4), - with a computer unit, - with a database and - with at least one interface for a connection with at least one component of the cleaning apparatus (2, 40, 80, 120), in particular with a drive means (10, 44, 86, 126) of the cleaning apparatus (2, 40, 80, 120) and / or with a bearing element (58, 60, 134, 136) of the cleaning apparatus (2, 40, 80, 120), characterised - in that a programme code is provided, the execution of which on the computer unit causes the method according to one of claims 8 to 13 to be carried out.