Cleaning robot

Abstract

A cleaning robot (100) has a housing (110); a flat cleaning element (125) designed to be moved along a floor surface (105); a portion (145) of the cleaning element (125) projecting from a periphery of the housing (110); the cleaning element (125) being flexible such that it can be vertically deformed when colliding with an obstacle (165); and a pressing device (150) for pressing a portion of the cleaning element (125) located under the housing (110) against the floor surface.

Description

[0001] The invention relates to a cleaning robot. In particular, the invention relates to a cleaning robot with a cleaning element for cleaning a floor surface.

[0002] A typical cleaning robot is designed to autonomously navigate a floor surface in a home, cleaning it as it goes. In one type of robotic vacuum cleaner, a suction mechanism is used to pneumatically clean the floor. Optionally, a rotating brush or brush roller may also be included for cleaning. Another type of cleaning robot uses a movable cleaning element, such as a pad or disc, that moves across the floor to pick up dirt. Cleaning often involves the use of a cleaning fluid.

[0003] The larger the cleaning element is relative to the cleaning robot, the more efficiently the floor area can be cleaned, as fewer movements of the robot are required to cover a predetermined area. Furthermore, a larger cleaning element allows the cleaning fluid more opportunity to act on the floor. However, a large cleaning element typically extends beyond the robot's footprint and can easily collide with obstacles such as furniture or walls. Therefore, the robot's control system must be adapted to accommodate the protruding cleaning element. This adaptation can be particularly complex for robots whose floor-moving cleaning element is only optionally attached.If the cleaning element is attached to the cleaning robot, maneuverability or the ability to clean small corners or angles may be limited.

[0004] Document DE 10 2012 003073 A1 describes a cleaning robot with a flexible cleaning element according to the preamble of independent claim 1.

[0005] One of the problems underlying the present invention is to provide an improved cleaning robot with a cleaning element guided over a floor surface. The invention solves this problem by means of the subject matter of the independent claim. Dependent claims describe preferred embodiments.

[0006] According to the present invention, a cleaning robot comprises a housing, a flat cleaning element, and a pressing device. The cleaning element is configured to move along a floor surface, with a section of the cleaning element projecting beyond the outline of the housing and being flexible enough to deform vertically upon collision with an obstacle. The pressing device is configured to press a section of the cleaning element located below the housing against the floor surface.

[0007] The cleaning robot according to the invention can use a relatively large cleaning element, allowing for a wide cleaning path. A predetermined floor area can therefore be completely cleaned with relatively few movements of the cleaning robot. Furthermore, the large cleaning element enables improved cleaning of the floor area. Since the cleaning element is flexible, a section extending beyond the outline of the housing can be vertically deformed and folded out of the way upon collision with an obstacle. Neither the cleaning element nor the obstacle is damaged in the process. A control device for the cleaning robot does not need to be adapted to the section of the cleaning element extending beyond the outline of the housing. The control of the cleaning robot can remain unchanged whether it is used with or without the cleaning element.The cleaning robot can clean the floor surface more effectively, even in small corners and angles. Thanks to its pressure mechanism, vertical pressure is maintained on the cleaning element, ensuring effective cleaning of the floor surface.

[0008] The cleaning robot preferably includes a drive for moving the cleaning element relative to the housing. The drive can be configured to propel the cleaning element, for example, in a cyclical, oscillating, or linear motion. This allows the cleaning element to move across the floor surface faster than the cleaning robot itself, potentially enhancing the cleaning effect.

[0009] In a simple embodiment, the pressure device comprises a pressure plate. The pressure plate is located above the cleaning element and is supported against the housing of the cleaning robot. The pressure plate can be rigid or flexible. It can cover the entire section of the cleaning element below the housing or only a portion of it. A surface of the pressure plate can have a low coefficient of friction with the cleaning element.

[0010] To further reduce frictional forces between the pressure device and the cleaning element, the pressure device comprises one or more pressure elements, each rotatable about a substantially horizontal axis of rotation. A pressure element can be flexible and, for example, made of polyurethane foam. Alternatively, the pressure element can also be elastic and, for example, made of rubber or a polymer. The reduced friction can decrease the drive's energy consumption.

[0011] In a particularly preferred embodiment, the cleaning element is configured to rotate about a substantially vertical axis of rotation relative to the housing. The horizontal axis of rotation of a pressure element is substantially perpendicular to the vertical axis of rotation of the cleaning element. The cleaning element preferably has the shape of a circular area or sweeps out a circular area when rotated about the vertical axis of rotation. In various embodiments, one or more horizontal axes of rotation can be provided, each with one or more pressure elements. Pressure elements adjacent to a horizontal axis of rotation can accommodate the different circumferential speeds of the cleaning element rotating about the vertical axis. The width of a pressure element can range from approximately 0.5 to 2 cm.In another embodiment, a pressure element can also be wider and, in extreme cases, extend over the entire radius of the cleaning element. In this case, the pressure element can be cylindrical.

[0012] In another embodiment, the pressure element has the shape of a truncated cone. One end of the truncated cone faces the vertical axis of rotation of the cleaning element, and the other end faces away from it. The circumference of the pressure element at the first end can be smaller than at the second. The circumferences are preferably selected such that the pressure element can engage the cleaning element rotating around the vertical axis of rotation without slippage at both ends. The pressure element does not need to cover the entire radius of the cleaning element. If several pressure elements are provided on different horizontal axes of rotation, they can cover different sections of the cleaning element's radius. The axis of rotation of the pressure element is usually not exactly horizontal, but rather forms a small angle with the surface due to its conicity.The angle between the axis of rotation of the pressure element and the axis of rotation of the cleaning element can therefore deviate slightly from a right angle.

[0013] The drive and a pressure element can be coupled in their movements. In a first embodiment, the drive acts on the cleaning element via a pressure element. This allows a force to be applied to the cleaning element over a relatively large area to move it. In a second embodiment, the drive acts on the cleaning element, with the cleaning element driving the pressure element. In both embodiments, it is possible to better prevent the flexible cleaning element from being deformed or lifted from the floor surface under the influence of a drive force. The engagement between the pressure element and the cleaning element can be frictional or positive-locking.

[0014] The contact element can have a structured surface facing the cleaning element. For example, the surface can be roughened or have regular or irregular features extending towards the cleaning element. This can improve the engagement between the contact element and the cleaning element. Depending on the shape, size, and distribution of the features, the contact force of the contact element on the cleaning element can also be modulated.

[0015] In yet another embodiment, the cleaning element has a structured surface corresponding to the pressure element. This achieves a similar effect to the last-mentioned embodiment. The embodiments can also be combined so that the cleaning element and the pressure element have corresponding structured surfaces. These surfaces can interlock to improve the transmission of force between them.

[0016] The invention will now be described in more detail with reference to the accompanying figures, in which: Figures 1 and 2 show a cleaning robot with movable cleaning elements; Figures 3 and 4 show a cleaning robot in a collision with an obstacle; Figures 5 to 11 show further embodiments of a cleaning robot; and Figures 12 to 14 show embodiments of pressure elements. represent.

[0017] Figures 1 and 2They show a cleaning robot 100 from different angles. Figure 1 shows the cleaning robot 100 from above and Figure 2 from below. The cleaning robot 100 is designed to drive over a floor area 105 and clean it.

[0018] The outline of the cleaning robot 100 is defined by a housing 110. A sensor 115, for example a LiDAR sensor, can be provided on the top of the housing 110 for non-contact scanning of the environment. A conventional cleaning device 120, which may include a suction unit and / or a brush roller, is optionally provided on the underside of the housing 110. A cleaning element 125 is also provided, which can be moved relative to the housing 110 by means of a drive 130. Several cleaning elements 125 can also be provided. Figure 1Two cleaning elements 125 are provided as an example, which are attached to the housing 110 in such a way that they touch or slightly overlap each other. This results in a Figure 2 The indicated working width of 135 of the cleaning robot 100 on the floor surface 105. The working width of 135 can also exceed the width of the housing 110.

[0019] The cleaning element 125 lies on a first section 140 below the housing 110 and projects beyond the housing 110 on a second section 145. The sections 140 and 145 are in Figure 2The cleaning element 125 is preferably flat, for example, plate-shaped, and more preferably flexible, and can be made of, for example, silicone, polymer, or textile. A pressure device 150 is provided in the area of ​​the first section 140 to press the cleaning element 125 against the base surface 105. The pressure device 150 can act on the entire first section 140 or only on a part of it.

[0020] A drive wheel 155 can be provided to move the cleaning robot 100 across the floor surface 105. Optionally, one or more support wheels 160 can also be provided. The drive wheel 155 can be controlled by a control device (not shown) which is configured to systematically guide the cleaning robot 100 across the floor surface 105 based on a scan by the sensor 115. Simultaneously, the control device can control the cleaning unit 120 and / or the movement of the cleaning element 125. Additionally, the control device can control a moistening device for a cleaning element 125 or for a section located in front of the cleaning robot 100.

[0021] Figures 3 and 4Figure 1 shows a cleaning robot 100 colliding with an obstacle 165. The obstacle 165 can be, for example, a piece of furniture, another household object, a person, or a wall. The first section 140 of the cleaning element 125, located below the housing 110, is protected from contact with the obstacle 165. In the second section 145, the flexible cleaning element 125 can be deflected upwards and deformed to such an extent that it moves upwards and positions itself horizontally between the cleaning robot 100 and the obstacle 165. Since the cleaning element 125 is made of a flat, preferably thin, material, the cleaning robot 100 can travel practically right up to the obstacle 165 despite the cleaning element 125 protruding beyond its outline. Damage to the obstacle 165 is preferably prevented by the flexible or soft material of the cleaning element 125.

[0022] Figure 5Figure 1 shows another embodiment of a cleaning robot 100. Here, the cleaning element 125 is not rotatable about a vertical axis, but is arranged to be displaceable relative to the housing 110 parallel to the base surface 105. The drive 130 can, for example, be configured to move the cleaning element 125 in an oscillating motion in a longitudinal or transverse direction. Alternatively, the cleaning element 125 can also be guided, for example, on an ellipse or a circle. By way of example, the cleaning element 125 is essentially rectangular, but other shapes are also conceivable.

[0023] Figure 6Figure 1 shows another embodiment of a cleaning robot 100 from its underside. A cleaning element 125 has been removed, revealing the drive 130, which is configured to rotate the cleaning element 125 about a rotation axis, preferably a vertical one. A pressure plate 150 is also visible. When the cleaning element 125 is connected to the drive 130, it can be pressed against the base surface 105 in the first section 140 by the pressure plate 150. The surface of the pressure plate 150 is preferably smooth to minimize frictional forces with the cleaning element 125.

[0024] Figure 7Figure 1 shows another embodiment of a cleaning robot 100. The cleaning element 125 is rotatably mounted about a vertical axis of rotation 170. Perpendicular to this is a horizontal axis of rotation 175, about which the pressure device 150 is rotatable. The pressure device 150 comprises several pressure elements 180, which are arranged axially offset on the horizontal axis of rotation 175. In the illustrated embodiment, all pressure elements 180 lying on the same axis of rotation 175 have the same radius. The individual pressure elements 180 are not rotationally fixed to one another, so that a pressure element 180 located radially inside the vertical axis of rotation 170 can rotate more slowly than a pressure element 180 located radially outside when the cleaning element 125 is rotated about the vertical axis of rotation 170.In another embodiment, only one pressure element 180 may be provided, which may extend over a predetermined section of the radius of the cleaning element 125.

[0025] Figure 8 shows the embodiment of a cleaning robot 100 according to Figure 7 In a view from below and with the cleaning element 125 removed, it can be seen that preferably several horizontal axes of rotation 175 are provided, on each of which one or more pressure elements 180 are arranged. Preferably, all horizontal axes of rotation 175 lie in a plane that usually runs parallel to the base surface 105 and are perpendicular to the vertical axis of rotation 170.

[0026] Figure 9Figure 1 shows another embodiment of a cleaning robot 100. Here, a pressure element 180 is provided, which has the shape of a truncated cone, such that its circumference decreases around the essentially horizontal axis of rotation 175 with decreasing distance from the vertical axis of rotation 170. Furthermore, the pressure element 180 is designed to be driven. For this purpose, a shaft along the horizontal axis of rotation 175 is connected to a first gear 185, which engages with a second gear 190 that is rotatable about the vertical axis of rotation 170. In one embodiment, the drive 130 is configured to drive the second gear 190. The cleaning element 125 can then be driven about the vertical axis of rotation 170 by the pressure element 180.In another embodiment, the drive 130 is configured to drive the cleaning element 125 about the vertical axis of rotation 170, wherein the second gear 190 is fixedly connected to the cleaning element 125, so that it drives the first gear 185 and thus the pressure element 180 about the substantially horizontal axis of rotation 175.

[0027] Figure 10 shows a cleaning robot 100 after Figure 9 in a view from the underside and with the cleaning element 125 removed. In this embodiment, the second gear 190 is also removed along with the cleaning element 125.

[0028] Figure 11 This shows another embodiment of a cleaning robot 100. This is purely an example of a configuration of the embodiment of Figure 9The cleaning element 125 is provided with a pressure element 180 having the shape of a truncated cone. The cleaning element 125 has a structure 195 on its upper surface facing the pressure element 180. The pressure element 180 has a corresponding structure 195, allowing it to engage positively with the cleaning element 125. In other embodiments, only the cleaning element 125 or only the pressure element 180 may have a structured surface.

[0029] Figures 12 to 14 showed different embodiments of a structuring 195 of a pressure element 180. Figure 12 essentially shows axially extending webs corresponding to the one in Figure 11 In the illustrated embodiment, the webs 195 are distributed at regular intervals around the horizontal axis of rotation 175 on the lateral surface of the pressure element 180. Each web 195 can be raised or recessed.

[0030] Figure 13The structure 195 shows a pattern in the form of pyramids regularly distributed on the lateral surface and extending radially away from the horizontal axis of rotation 175. This pattern 195 can also alternatively be designed as a depression.

[0031] Figure 14 Figure 195 shows another variant of the structuring in the form of flat spherical bumps that are regularly distributed on the surface. A negative embodiment is also possible.

[0032] If the cleaning element 125 is to engage positively with the pressure element 180, the structure 195 of the cleaning element 125 can correspond to the structure 195 of the pressure element 180. If one element 125, 180 has a raised area, the other has a recess. In addition to the structures 195 shown, any other structure 195 is possible.

[0033] It should be noted that features described herein with respect to a particular embodiment can also be used in another described embodiment. For example, a structuring 195 is also possible on a cylindrical pressure element 180. Reference sign

[0034] 100 Cleaning robot 105 Floor area 110 Housing 115 Sensor 120 Cleaning device 125 Cleaning element 130 Drive 135 Working width 140 First section, under the housing 145 Second section, protruding beyond the housing 150 Pressure device 155 Drive wheel 160 Support wheel 165 Obstacle 170 Vertical axis of rotation 175 Horizontal axis of rotation 180 Pressure element 185 First gear 190 Second gear 195 Structuring

Claims

1. Cleaning robot (100) comprising: - a housing (110); - a flat cleaning element (125) that is configured so as to be moved along a floor surface (105); - wherein a section (145) of the cleaning element (125) protrudes beyond a contour of the housing (110); - wherein the cleaning element (125) is flexible in order to be deformed vertically in the event of a collision with an obstacle (165); and - a contact pressure facility (150) for pressing a section of the cleaning element (125) that is located below the housing (110) against the floor surface, characterised in that the contact pressure facility (150) comprises at least one contact pressure element (180) that is rotatable about an essentially horizontal axis of rotation (175).

2. Cleaning robot (100) according to claim 1, further comprising a drive (130) for moving the cleaning element (125) relative to the housing (110).

3. Cleaning robot (100) according to claim 1 or 2, wherein the contact pressure facility (150) comprises a contact pressure plate.

4. Cleaning robot (100) according to one of the preceding claims, wherein the cleaning element (125) is configured so as to be rotated about a vertical axis of rotation (170) relative to the housing (110); and the horizontal axis of rotation (175) is essentially perpendicular to the vertical axis of rotation (175).

5. Cleaning robot (100) according to one of the preceding claims, wherein a plurality of horizontal axes of rotation (175) is provided, each with at least one associated contact pressure element (180).

6. Cleaning robot (100) according to one of the preceding claims, wherein a plurality of contact pressure elements (180) is rotatably mounted about a horizontal axis of rotation (175).

7. Cleaning robot (100) according to one of the preceding claims, wherein a contact pressure element (180) has the shape of a truncated cone.

8. Cleaning robot (100) according to one of the preceding claims, wherein the drive (130) acts on the cleaning element (125) via a contact pressure element (180).

9. Cleaning robot (100) according to one of the preceding claims, wherein the contact pressure element (180) is structured (195) on a surface facing the cleaning element (125).

10. Cleaning robot (100) according to one of the preceding claims, wherein the cleaning element (125) is structured (195) on a surface facing the contact pressure element (180).

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