METHOD FOR IMPROVED CLEANING OF A SPATIALLY LIMITED AREA

Description

[0001] The present invention relates to a method for improved cleaning of a spatially limited area using a vacuum robot with a blower. The invention also relates to such a vacuum robot for carrying out this method.

[0002] Robot vacuum cleaners are generally designed to remove dust from a floor and, to do so, autonomously cover as much of the floor surface as possible. This includes reliably cleaning not only central and easily accessible areas, but also corners and areas close to walls, where, for example, an uncleaned edge area should be avoided. However, since robot vacuum cleaners typically have only limited suction power, they generally do not meet this requirement, or at least not satisfactorily.

[0003] Current robot vacuum cleaners generally employ two different concepts for improved corner cleaning: a D-shaped housing and rotating side brushes. Robot vacuum cleaners with a D-shaped housing offer the option of positioning the suction nozzle at the front and, more specifically, to one side. This ensures that when reaching a corner of a room, for example, the suction nozzle is as far into the corner as possible. Nevertheless, the suction power typically available is not sufficient for satisfactory edge and corner cleaning. Robot vacuum cleaners with a rotating side brush, on the other hand, are capable of sweeping dirt away from walls and corners. However, despite reaching critical corner areas and providing edge-to-edge cleaning, these side brushes ultimately fail to fully reach the corners, leaving visible residue, particularly on carpets.

[0004] For example, DE 10 2007 060 750 A1, EP 2 891 442 A2 and DE 10 2015 114 775 A1 disclose robot vacuum cleaners with side brushes, which, however, also do not enable reliable cleaning, in particular of corner areas, or do so only insufficiently.

[0005] From DE 10 2017 100 299 A1 a vacuum robot is also known which has a rotating brush for surface cleaning and a vertically aligned brush for cleaning a skirting board.

[0006] From DE 10 2017 100 301 A1 a vacuum robot is known with a rotating brush for cleaning the floor and an above-floor cleaning device with a nozzle, via which, for example, the top side of a skirting board can be cleaned.

[0007] From DE 10 139 213 A1 a vacuum robot with cleaning brushes subjected to negative pressure on the sides for cleaning skirting boards is known.

[0008] From DE 10 2016 110 817 A1, a vacuum robot with a lateral suction nozzle or cleaning brushes is known, by means of which corner areas are also to be cleaned more effectively.

[0009] DE 69 204 702 T2 discloses a vacuum cleaner comprising a main body, a floor nozzle, and a rotating brush driven by a brush motor. An electrical current detection device is additionally provided for detecting a motor current flowing through the brush motor. The device itself is configured to evaluate a time period of variation of the brush motor current based on the measured output signal of the electrical current detection device. A control device is configured to perform a predetermined arithmetic operation on the evaluated time period and to control the supply of electrical power to the electric fan based on the result of this operation. This should make it possible to automatically control an electric fan, at least in accordance with the usage conditions of a floor nozzle.

[0010] DE 10 2007 021 299 A1 discloses a method for controlling the speed of at least one electric motor of a rotating brush depending on the surface condition. In this method, a vacuum cleaner is moved over a surface area, and depending on the respective surface condition, corresponding detection signals are correlated with a movement of the vacuum cleaner in the respective surface area by means of current values of a current consumed by the at least one electric motor. A parameter is then evaluated based on at least one current setpoint corresponding to a specific surface condition, whereupon the electric motor is operated at a definable speed corresponding to an evaluation result between the respectively determined current value and the at least one current setpoint.

[0011] DE 10 2008 010 068 A1 discloses a device for automatically regulating the suction power of a vacuum cleaner. This device supplies only as much electrical power to a motor-blower unit as is required for optimal cleaning of the floor surface. This is intended to enable a consistent cleaning effect throughout the service life of the vacuum cleaner. EP 3 440 977 A1 discloses a method for cleaning using a cleaning robot, wherein the robot has different power modes.

[0012] A disadvantage of the vacuum robots or vacuum cleaners known from the state of the art is that they require either special side brushes or suction nozzles for the specific cleaning of a corner area and thus a special adaptation of the hardware, which means that the respective solutions are limited to the respective vacuum robot.

[0013] The present invention therefore addresses the problem of providing a method by means of which, in particular, improved cleaning of a spatially limited area by means of a vacuum robot is independent of its external shape, brushes or other properties.

[0014] This problem is solved according to the invention by the subject matter of independent claim 1. Advantageous embodiments are the subject matter of the dependent claims.

[0015] The present invention is based on the general idea of increasing the individual suction power of a robot vacuum cleaner in areas that are particularly difficult to clean, for example corner areas, and thereby achieving improved cleaning results there without changing the hardware configuration. In a method according to the invention for improved cleaning of a spatially confined area, for example the corner of a room, using a robot vacuum cleaner with a fan, the robot vacuum cleaner first approaches the spatially confined area, for example the corner area, automatically and at a first fan speed, i.e. a first suction power. A sensor device detects when the robot vacuum cleaner approaches the spatially confined area and transmits this to a computer device of the robot vacuum cleaner.The computer monitors the start-up process and, before reaching the spatially limited area, increases the fan speed to a second, higher fan speed. This ensures that the fan has the second, higher fan speed and thus the increased suction power when the robot vacuum reaches the spatially limited area, for example, the corner area. The sensor device continues to monitor the robot vacuum's further travel into and out of the spatially limited area and transmits this information to the computer. After leaving the spatially limited area, the computer reduces the fan speed to the first fan speed and thus the second suction power to the first suction power. The fan speed represents the speed of a fan wheel.

[0016] It should be noted here that an increase in fan power, for example the fan speed, cannot occur suddenly, so that the robot vacuum cleaner can only provide the higher second fan speed and thus the higher second fan power after a certain start-up phase and a run-up time. For this reason, the computer device increases the fan speed a certain distance, for example a few centimeters, before reaching the spatially limited area, for example the corner, so that the increased second suction power is actually available in the corner of the room. After the robot vacuum cleaner has cleaned the spatially limited area, for example the corner, and left again, the fan speed can be reduced or will be reduced. The second, higher fan speed then slowly and steadily approaches the first fan speed again, while the robot vacuum cleaner continues its cleaning journey.Both a start-up and a run-down phase can each take several seconds, which is taken into account by the computer. For example, based on the current speed of the robot vacuum cleaner, a position can be calculated at which the fan speed must be increased in order to provide the higher fan power required for a corner of the room. The advantage of only temporarily and briefly increasing the fan power is also reduced noise pollution for the user, who is thus significantly less disturbed than by a continuously high fan power with a constantly loud fan noise.

[0017] The improvement of corner cleaning, for example, can be achieved by temporarily increasing the suction power (blower speed) without any further changes to the hardware of the vacuum robot being necessary. In particular, there is no intention to replace an existing blower on the vacuum robot with the existing suction power or existing blower speed with a higher power blower or to concentrate the existing suction power mechanically or using nozzles. Instead, the power of the blower or a blower speed set for a cleaning process is simply increased when the spatially limited area, e.g. the corner, is reached. This can be achieved by, for example, increasing a control voltage, a control current or a control frequency for the blower using control electronics, e.g. the computer device.

[0018] Just before the robot vacuum cleaner reaches the last few centimeters of a corner of a room, for example, and thus the spatially limited area, its fan speed is increased. This means that the robot vacuum cleaner has more suction power available for a limited period of time, which automatically improves corner cleaning. As soon as the robot vacuum cleaner moves out of the corner or the spatially limited area, the fan power or fan speed is reset. Of course, the spatially limited area can be not only a corner, but also a wall or a table or chair leg. The higher noise level caused by increasing the fan speed is only short-lived and therefore much less disturbing for the user than a constantly loud fan noise. Another positive side effect is that the user can...A user hears when the robot vacuum is cleaning a corner. Another particular advantage is that this process can also be implemented for common robot vacuums thanks to a pure software solution and can also be combined with any type of robot vacuum, for example, with a D-shape, a side brush, or an extendable suction arm.

[0019] In a further advantageous embodiment of the method according to the invention, the vacuum robot has a rotating brush and approaches the spatially limited area at a first brush speed. The computer device monitors the start-up process and increases the brush speed to a second, higher brush speed before reaching the spatially limited area, so that the brush has the second, higher brush speed when the vacuum robot reaches the spatially limited area, e.g. the corner. The sensor device then detects further travel by the vacuum robot in or out of the area and transmits this to the computer device. After leaving the spatially limited area, the computer device reduces the brush speed from the second, higher brush speed to the first, lower brush speed.In addition to the increased suction power in the spatially limited area, a greater mechanical cleaning effect can also be easily achieved. This also typically requires only a software adjustment and no hardware adaptation of the robot vacuum cleaner.

[0020] In a further advantageous embodiment of the method according to the invention, the vacuum robot has a blower motor and a brush drive motor, wherein the vacuum robot approaches the area with a first electrical power of the blower motor and / or the brush drive motor, and wherein the computer device monitors the start-up process and increases the first electrical power to a second, higher electrical power before reaching the area, so that the blower motor and / or the brush drive motor has / has the second, higher electrical power when the vacuum robot reaches the area. The sensor device also detects further travel of the vacuum robot into and out of the area and transmits this to the computer device, wherein the computer device reduces the second electrical power to the first electrical power after leaving the area.The increased second electrical power can of course be accompanied by a higher second brush speed and / or a higher second fan speed.

[0021] The second, higher electrical power of the blower motor and / or the brush drive motor can exceed the recommended or maximum permissible continuous power of the blower motor or the brush drive motor. A short-term increase in the electrical power of the blower motor or the brush drive motor above the recommended or maximum permissible continuous power of the blower motor or the brush drive motor can be achieved without risk and at the same time with the advantage of improved corner cleaning.

[0022] The sensor device expediently detects the movement of the vacuum robot via at least one distance sensor and / or one impact sensor. A impact sensor can detect, for example, contact of the vacuum robot with a baseboard of a wall, while a distance sensor can detect a distance to the spatially limited area, for example, to a wall, and thus transmit this information to the computer device.

[0023] The vacuum robot can expediently be operated in a so-called silent mode, in which the first fan speed is 50% of the maximum permissible continuous fan speed and the second, higher fan speed is 100% of the maximum permissible continuous fan speed. Additionally or alternatively, in silent mode, if the vacuum robot has a rotating brush, the first brush speed can be 50% of the maximum permissible continuous brush speed and the second, higher brush speed can be 100% of the maximum permissible continuous brush speed. In so-called silent mode, it is therefore usually possible to clean a floor with little noise, whereby for the thorough cleaning of, for example, corner areas, the fan speed and / or the brush speed is increased there and only there. As soon as the area which requires special cleaning is left, the computer device reduces the fan speed orThe brush speed, which allows the robot vacuum to continue operating in its quiet Silent Mode. The blower speed refers to the speed of a fan, for example, while the brush speed refers to the speed of a specific brush.

[0024] In an advantageous development of the method according to the invention, the robot vacuum cleaner can be operated in an eco mode, in which the first fan speed is 80% of a maximum permissible continuous fan speed and the second fan speed is 140% of the maximum permissible continuous fan speed. Additionally or alternatively, if the robot vacuum cleaner has a rotating brush, the first, lower brush speed can be 80% of a maximum permissible continuous brush speed and the second brush speed, which is higher than the first brush speed, can be 140% of the maximum permissible continuous brush speed. Such an eco mode can be set, for example, if the robot vacuum cleaner is to be operated in an energy-saving manner, but the degree of soiling of the floor, and in particular of the corners or spatially limited areas, requires a higher cleaning performance than the silent mode.

[0025] The robot vacuum cleaner can also be operated in a so-called power mode, in which the first fan speed is 100% of the maximum permissible continuous fan speed and the second fan speed is 200% of the maximum permissible continuous fan speed. Additionally or alternatively, if a rotating brush is also provided, the first brush speed can be 100% of the maximum permissible continuous brush speed and the second brush speed can be 200% of the maximum permissible continuous brush speed. This type of power mode is particularly useful if the floor to be cleaned is very dirty and the user does not find the higher noise level in power mode disturbing. As a rule, electronic and mechanical components, such as a fan and upstream electronics, are designed for a continuous power output that is not exceeded during normal operation. A fan power orA fan speed of 100% typically corresponds to this continuous power, although both a rotating brush and its drive, as well as a fan, are designed to withstand higher loads, at least for a short time. For example, for a short-term corner cleaning, the robot vacuum cleaner can therefore also operate its fan at a higher power level without causing damage.

[0026] The present invention is further based on the general idea of providing a vacuum robot with a sensor device, a blower and a computer device for carrying out the method described in the previous paragraphs, wherein such a vacuum robot can be designed almost arbitrarily with regard to its configuration, its dimensions or its individual brushes, since the method according to the invention is possible by a pure software adaptation.

[0027] The sensor device of the vacuum robot expediently comprises at least one distance sensor and / or one impact sensor. Using such a distance sensor or impact sensor, the exact position of the vacuum robot can be detected, thus reliably implementing the method according to the invention.

[0028] Further important features and advantages of the invention emerge from the subclaims, from the drawings and from the associated description of the figures based on the drawings.

[0029] It is understood that the features mentioned above and those to be explained below can be used not only in the combination specified in each case, but also in other combinations or on their own, without departing from the scope of the present invention.

[0030] Preferred embodiments of the invention are illustrated in the drawings and are explained in more detail in the following description, wherein the same reference numerals refer to the same or similar or functionally identical components.

[0031] They show, schematically, Fig. 1 a plan view of a vacuum robot according to the invention when carrying out a method according to the invention for improved cleaning of a spatially limited area, here a corner area, Fig. 2 a representation of different operating modes of the vacuum robot according to the invention.

[0032] According to the Fig. 1A vacuum robot 1 according to the invention approaches a spatially limited area 2, here a corner area 3, with its fan having a first fan speed. The fan speed correlates with a fan power. A sensor device 4 detects the approach of the vacuum robot 1 to the area 2, which is simultaneously transmitted to a computer device 5 of the vacuum robot 1. The computer device 5 monitors the approach process and increases the speed before reaching the area 2, which according to the Fig. 1 shown with a dashed line, the first fan speed is switched to a second, higher fan speed, so that the fan has the second, higher fan speed and thus also a second, higher suction power when the robot vacuum cleaner 1 reaches or enters area 2. Due to the increased suction power in area 2, for example in the corner area 3, improved cleaning can be achieved there.

[0033] The sensor device 4 also continues to detect the further travel of the vacuum robot 1 in the area 2 and out of this area and transmits this to the computer device 5. According to the Fig. 1 The vacuum robot 1 rotates 90° counterclockwise in area 2, i.e., in the corner area 3, and exits it to the left. After leaving the spatially limited area 2, the computer device 5 reduces the second, higher fan speed back to the first, lower fan speed, so that the second, higher fan speed is available exclusively in the corner area 3 requiring this increased fan power. This has a beneficial effect on the service life of a battery and on noise pollution from the vacuum robot 1.

[0034] In addition, the vacuum robot 1 can also have a rotating brush (not designated in more detail), in which case the vacuum robot 1 approaches area 2 at a first brush speed. The computer device 5 monitors the start-up process and increases the first brush speed to a second, higher brush speed before reaching the spatially limited area 2, so that the brush already has the second, higher brush speed when the vacuum robot 1 enters area 2. Since increasing the suction power or brush power takes a few seconds, the sensor device 4, which has, for example, a distance sensor or an impact sensor, can be used to estimate when area 2 has been reached, using, for example, a travel speed of the vacuum robot 1, and the fan speed or brush speed can be increased in good time beforehand so that the increased second fan speed or brush speed is achieved.The increased second brush speed is already available upon entering area 2. The sensor device 4 also detects the continued movement of the vacuum robot 1 into area 2 or out of this area 2 and transmits this to the computer device 5. After leaving area 2, the computer device 5 reduces the second, higher brush speed to the first, lower brush speed, which can also take a few seconds. The vacuum robot 1 then continues to move at the first fan speed and, if applicable, at the first brush speed, and cleans a floor 6 in an energy-saving manner.

[0035] The vacuum robot 1 has a blower motor to drive the fan and a brush drive motor to drive the brush, wherein the vacuum robot approaches area 2 with a first electrical power of the blower motor and / or the brush drive motor, and wherein the computer device 5 monitors the start-up process. Before reaching area 2, the computer device 5 increases the first electrical power to a second, higher electrical power, so that the blower motor and / or the brush drive motor has / has the second, higher electrical power when the vacuum robot 1 reaches area 2. The sensor device 4 also detects further travel of the vacuum robot 1 into and out of area 2 and transmits this to the computer device 5. After leaving area 2, the second electrical power is reduced to the first electrical power.The second electrical power of the blower motor and / or the brush drive motor can exceed the recommended or maximum permissible continuous power of the blower motor or the brush drive motor. A short-term increase in the electrical power of the blower motor or the brush drive motor above the recommended or maximum permissible continuous power of the blower motor or the brush drive motor can be achieved without risk and at the same time with the advantage of improved corner cleaning.

[0036] According to the Fig. 2 Some operating modes of the vacuum robot 1 are shown, for example a silent mode, an eco mode and a power mode.

[0037] In Silent Mode, the floor 6 is to be cleaned quietly by the vacuum robot 1, so that in this case the first fan speed corresponds to approximately 50% of a maximum permissible continuous fan speed and the second fan speed corresponds to 100% of the maximum permissible continuous fan speed. The fan power correlates with the suction power of the vacuum robot 1. So, if the vacuum robot 1 reaches the spatially limited area 2, for example a corner of a room or a corner area 3, the fan power or fan speed is doubled. After leaving the corner area 3 or generally the spatially limited area 2 and after cleaning it, the vacuum robot 1 reduces its second, higher fan speed by half, so that when it continues driving it is again only 50% of the maximum permissible continuous fan power or fan speed. The same can apply to the brush speed or brush power.

[0038] In Eco Mode, the first fan speed is 80% of the maximum permissible continuous fan speed, while the second fan speed is 140% of the maximum permissible continuous fan speed. This results in an increase of a factor of 0.75 between the first fan speed and the second fan speed. This allows corner area 3 to be cleaned particularly effectively and thoroughly. As soon as the robot vacuum cleaner 1 leaves corner area 3 or area 2 in general, the fan speed is reduced again to 80% of the maximum permissible continuous fan speed.

[0039] In power mode, the vacuum robot 1 cleans particularly thoroughly and therefore also when driving normally on the floor 6 outside of area 2 at 100% of the maximum permissible fan speed or continuous fan power. The first fan speed or the first number of brushes is therefore 100% of the maximum permissible fan speed or continuous brush speed. Shortly before the vacuum robot 1 reaches area 2, the first fan speed is increased to twice the second fan speed, so that the vacuum robot 1 cleans in area 2 at 200% of the maximum permissible fan speed or suction power or continuous brush speed. After leaving area 2, the computer device reduces the fan speed orIf brushes are present, the brush speed is set to 100% of the maximum permissible continuous speed, so that the robot vacuum cleaner 1 then continues cleaning at the first fan speed, which in this case corresponds to the maximum permissible continuous fan speed. A brief increase in the fan speed or the brush speed itself to 200% of the maximum permissible continuous fan speed or brush speed is not a problem in the long term.

[0040] With the method according to the invention and the vacuum robot 1 according to the invention, areas 2 that were previously difficult or not sufficiently easy to clean, for example corner areas 3, but also areas around pieces of furniture, perimeters, obstacles such as table or chair legs, can be cleaned particularly effectively, advantageously without requiring any modification or adaptation of the hardware of the vacuum robot 1. Only an adaptation of the software is required for this, which is advantageously not only cost-effective, but can also be transferred to all common vacuum robots 1. In particular, the method according to the invention can advantageously be transferred to vacuum robots 1 with a D-shape, with side brushes or extendable suction arms, etc. By keeping the hardware the same, a cost-effective yet highly effective method can be created. List of reference symbols

[0041] 1Cleaning robot 2Area 3Corner area 4Sensor device 5Computer device 6Floor

Claims

1. Method for improved cleaning of a spatially delimited region (2) by means of a robot vacuum cleaner (1) with a fan, in which - the robot vacuum cleaner (1) approaches the region (2) with a first fan rotation speed, - a sensor facility (4) detects an approach of the robot vacuum cleaner (1) to the region (2) and conveys this information to a computer facility (5), - the computer facility (5) monitors the approach process and, before the region (2) is reached, increases the fan rotation speed to a second, higher fan rotation speed, so that the fan has the second, higher fan rotation speed when the robot vacuum cleaner (1) reaches the region (2), - the sensor facility (4) detects an onwards movement of the robot vacuum cleaner (1) into and out of the region (2) and conveys this information to the computer facility (5), - the computer facility (5), after leaving the region (2), reduces the second fan rotation speed to the first fan rotation speed.

2. Method according to claim 1, characterised in that the robot vacuum cleaner (1) has a rotating brush, wherein - the robot vacuum cleaner (1) approaches the region (2) with a first brush speed, - the computer facility (5) monitors the approach process and, before the region (2) is reached, increases the brush speed to a second, higher brush speed, so that the brush has the second, higher brush speed when the robot vacuum cleaner (1) reaches the region (2), - the sensor facility (4) detects an onwards movement of the robot vacuum cleaner (1) into and out of the region (2) and conveys this information to the computer facility (5), - the computer facility (5), after leaving the region (2), reduces the second brush speed to the first brush speed.

3. Method according to claim 2, characterised in that the robot vacuum cleaner (1) has a fan motor and a brush drive motor, wherein - the robot vacuum cleaner (1) approaches the region (2) with a first electrical power of the fan motor and / or of the brush drive motor, - the computer facility (5) monitors the approach process and, before the region (2) is reached, increases the first electrical power to a second, higher electrical power, so that the fan motor and / or the brush drive motor have / has the second, higher electrical power when the robot vacuum cleaner (1) reaches the region (2), - the sensor facility (4) detects an onwards movement of the robot vacuum cleaner (1) into and out of the region (2) and conveys this information to the computer facility (5), - the computer facility (5) after leaving the region (2), reduces the second electrical power to the first electrical power.

4. Method according to claim 3, characterised in that the second, higher electrical power of the fan motor and / or of the brush drive motor lies above a recommended or maximum permitted continuous power of the fan motor or of the brush drive motor.

5. Method according to one of the preceding claims, characterised in that the sensor facility (4) detects a movement of the robot vacuum cleaner (1) via at least one distance sensor and / or a collision sensor.

6. Method according to one of claims 2 to 5, characterised in that the robot vacuum cleaner (1) is able to be operated in a Silent mode, in which - the first fan rotation speed amounts to 50% of a maximum permitted continuous fan rotation speed and the second fan rotation speed to 100% of the maximum permitted continuous fan rotation speed, and / or - the first brush speed amounts to 50% of a maximum permitted continuous brush rotation speed and the second brush speed to 100% of the maximum permitted continuous brush rotation speed.

7. Method according to one of claims 2 to 6, characterised in that the robot vacuum cleaner (1) is able to be operated in an Eco mode, in which - the first fan rotation speed amounts to 80% of a maximum permitted continuous fan rotation speed and the second fan rotation speed to 140% of the maximum permitted continuous fan rotation speed, and / or - the first brush speed amounts to 80% of a maximum permitted continuous brush rotation speed and the second brush speed to 140% of the maximum permitted continuous brush rotation speed.

8. Method according to one of claims 2 to 7, characterised in that the robot vacuum cleaner (1) is able to be operated in a Power mode, in which - the first fan rotation speed amounts to 100% of a maximum permitted continuous fan rotation speed and the second fan rotation speed to 200% of the maximum permitted continuous fan rotation speed, and / or - the first brush speed amounts to 100% of a maximum permitted continuous brush rotation speed and the second brush speed to 200% of the maximum permitted continuous brush rotation speed.

9. Method according to one of the preceding claims, characterised in that the region (2) is a corner region (3), a wall or furniture edge and / or a furniture, chair or table leg.

10. Robot vacuum cleaner (1) with a sensor facility (4), a fan and a computer facility (5) for carrying out the method according to one of the preceding claims.

11. Robot vacuum cleaner according to claim 10, characterised in that the sensor facility (4) has at least one distance sensor and / or a collision sensor.