Cleaning device with flexible wipe support

Abstract

A cleaning device (100) is described, designed to be moved over a surface to be cleaned. The cleaning device (100) comprises at least one wiper cloth carrier (150) with a support element (152) configured to receive a wiper cloth on a surface of the support element (152) that faces the surface to be cleaned during operation of the cleaning device (100). The cleaning device (100) further comprises at least one drive (153) configured to rotate the support element (152) about an axis of rotation, so that during operation of the cleaning device (100), the surface of the support element (152) with the wiper cloth attached to it is moved rotatingly over the surface to be cleaned. The support element (152) is elastically deformable in the radial direction to the axis of rotation.

Description

[0001] The invention relates to a cleaning device, in particular a cleaning robot, with at least one wiping cloth carrier.

[0002] A cleaning device, in particular a cleaning robot, can have a suction nozzle with a suction opening through which contaminants or dirt, especially dirt particles, are sucked from a surface to be cleaned by means of an airflow. Alternatively or additionally, the cleaning device can have one or more wiping cloths, each attached to a wiping cloth carrier. The individual wiping cloth carriers can each be driven to rotate around their respective axis of rotation, so that the one or more wiping cloths are guided in a rotating motion over the surface to be cleaned, thereby providing a wet cleaning function for the cleaning device.

[0003] During operation, obstacles may be placed on the movement path of the cleaning device, which may impair the wet cleaning function of the cleaning device.

[0004] Document CN 113 425 201 A describes a cleaning device according to the preamble of independent claim 1.

[0005] This document addresses the technical challenge of providing a particularly reliable and thorough wet cleaning function for a cleaning device.

[0006] The problem is solved by the subject matter of the independent patent claim. Advantageous embodiments are defined in particular in the dependent patent claims, described in the following description, or illustrated in the accompanying drawing.

[0007] According to one aspect, a cleaning device is described that is designed to move across a surface to be cleaned (e.g., a floor). The measures described in this document are applicable to this cleaning device, either individually or in combination. The cleaning device may be a cleaning robot, in particular a vacuuming and mopping robot. The cleaning device may be designed to move autonomously across the surface to be cleaned. For this purpose, the cleaning device may have one or more traction motors designed to drive one or more drive wheels of the cleaning device. The cleaning device may be moved across the surface to be cleaned (by means of the one or more traction motors) with a driving force having a specific force value.

[0008] The cleaning device comprises at least one wiper carrier with a (optionally plate-shaped) support element designed to receive a wiper (also referred to as a wiper pad in this document) on the surface of the support element that faces the surface to be cleaned during operation of the cleaning device. For example, the wiper can be detachably attached to the surface of the support element by means of a hook-and-loop fastener. The support element and / or the wiper can each have a surface with a basic shape, in particular a circular basic shape. Furthermore, the support element, in particular its surface, can be bounded in the radial direction (along the axis of rotation of the support element) by an edge, in particular a circular edge.

[0009] The cleaning device comprises at least one drive (e.g., with an electric motor) configured to rotate the support element (e.g., indirectly via a drive shaft) about an axis of rotation, so that during operation of the cleaning device, the surface of the support element with the wiping cloth attached to it is moved (about the axis of rotation) over the surface to be cleaned. During operation of the cleaning device, the drive shaft and / or the axis of rotation can each be arranged substantially perpendicular to the surface to be cleaned and / or parallel to the vertical axis of the cleaning device.

[0010] The support element can be elastically deformable in the radial direction to the axis of rotation. The support element can be designed to accommodate the wiping cloth on its surface in such a way that the wiping cloth is deformed together with the support element in the radial direction.

[0011] During operation of the cleaning device, the support element, in particular the edge of the rotating support element, may collide with an obstacle. This can result in a force (with a specific force value) acting on the edge of the support element, the force of which depends on the driving force of the cleaning device. The support element is preferably designed such that it is deformed by an external force acting on it in a radial direction, which has a specific force value (dependent on the driving force of the cleaning device) or which depends on the specific force value, in particular by 5% or more or by 10% or more of the diameter of the support element.

[0012] The support element can be designed in particular to be elastically deformed in the radial direction from the basic shape by the application of a force (with a specific force value) acting on the edge from outside the support element in a radial direction (e.g. by 5% or more or by 10% or more of the diameter of the support element).

[0013] The elastic deformability of the support element can be achieved by using a material with a modulus of elasticity of preferably 1 GPa or less. Alternatively or additionally, the elastic deformability of the support element can be effected by one or more geometric structures or cavities in the material that support elastic deformability, such as a honeycomb structure.

[0014] This describes a cleaning device comprising a wiper blade carrier with a support element that is deformable in the radial direction (i.e., parallel to the surface to be cleaned) and deforms in response to a collision with an obstacle. This enables reliable wet cleaning even in the presence of obstacles.

[0015] The support element is preferably not deformable, or at least only minimally deformable, in the axial direction relative to the axis of rotation. The force required for elastic deformation of the support element in the axial direction is preferably, for the same deflection, ten times or more, and in particular 100 times or more, greater than the force required for elastic deformation in the radial direction. Alternatively or additionally, the stiffness of the support element in the axial direction is preferably ten times or more, and in particular 100 times or more, greater than its stiffness in the radial direction. By providing a support element that is essentially non-deformable in the axial direction, a particularly reliable wiping action can be achieved across the entire surface of the wiping cloth attached to the support element.

[0016] The support element can have an elastically deformable ring, in particular a wire ring, e.g. made of spring steel, at its outer edge. Furthermore, the wiper carrier can have a hub that is driven by the drive mechanism, in particular by the drive shaft. The axis of rotation of the hub and the drive shaft can be collinear.

[0017] The wiper blade carrier, in particular the carrier element, can comprise several spring elements, each connecting the hub to the (elastically deformable) ring, and each configured to exert a force on the ring in a radial direction away from the hub in order to hold the carrier element in its basic shape and / or to return the carrier element to its basic shape. The spring elements can be arranged around the hub in the circumferential direction of the carrier element, in particular uniformly distributed. The wiper blade carrier, in particular the carrier element, can, for example, comprise three or more, four or more, or in particular six or more, spring elements.

[0018] The spring elements can include at least one telescopic spring element arranged radially between the hub and the ring. In particular, the individual spring elements can each be designed as telescopic spring elements.

[0019] Alternatively or additionally, the spring elements can comprise at least one spring element designed as a coil spring or leaf spring, which is arranged radially to the hub at its first end facing the hub and tangentially to the ring at its second end facing the ring. In particular, the individual spring elements can each be designed as a coil spring or leaf spring.

[0020] By using a deformable ring connected to the hub of the wiper carrier via spring elements, a deformable carrier element can be provided in a particularly efficient and robust manner.

[0021] The support element can have a flexible structure that forms its surface. This flexible structure can be elastically deformable in the radial direction. However, the flexible structure is preferably not substantially deformable in the axial direction.

[0022] The flexible structure can have a multitude of honeycombs arranged radially side by side. The flexible structure can thus be a honeycomb structure. Alternatively or additionally, the flexible structure can have a multitude of waves, with each wave spreading in a ring shape from the hub (of the wiper carrier) to the edge of the carrier element.

[0023] By providing a flexible structure that forms the surface of the support element, a particularly robust wiper carrier can be provided that is selectively deformable in the radial direction (and not in the axial direction).

[0024] The cleaning device may have at least or exactly two directly adjacent wiper blade carriers. The axes of rotation of the support elements of the two wiper blade carriers are typically arranged essentially parallel to each other. Furthermore, the axes of rotation of the support elements of the two wiper blade carriers can be arranged so close to each other in the radial direction that the support elements touch at a point of contact and elastically deform each other at that point. This efficiently prevents a gap between the two wiper blade carriers, thereby further improving the quality of the wet cleaning function of the cleaning device.

[0025] As explained above, the drive can be configured to drive the carrier element via a drive shaft, causing the carrier element to rotate around its axis of rotation. This ensures that, during operation of the cleaning device, the surface of the carrier element, with the attached wiping cloth attached to it, rotates around the axis of rotation and moves across the surface to be cleaned. The axis of rotation can be displaceable radially (relative to the axis of rotation) relative to the drive shaft. For this purpose, the wiping cloth carrier and / or the cleaning device can be configured as described in this document.

[0026] This allows for a local displacement between the rotation axis of the support element and the drive shaft (e.g., in response to a collision with an obstacle). This enables the wiper blade carrier to flexibly avoid obstacles without affecting the movement of the cleaning device.

[0027] According to another aspect, a cleaning device is described that is designed to be moved across a surface to be cleaned. The measures described in this document are applicable to this cleaning device, either individually or in combination. The cleaning device can be a cleaning robot, in particular a vacuuming and mopping robot. The cleaning device can be designed to move autonomously across the surface to be cleaned. For this purpose, the cleaning device can have one or more traction motors designed to drive one or more drive wheels of the cleaning device. The cleaning device can be moved across the surface to be cleaned (by means of the one or more traction motors) with a driving force having a specific force value.

[0028] The cleaning device comprises at least one wiper carrier with a (optionally plate-shaped) support element designed to receive a wiper (also referred to as a wiper pad in this document) on the surface of the support element that faces the surface to be cleaned during operation of the cleaning device. For example, the wiper can be detachably attached to the surface of the support element by means of a hook-and-loop fastener. The support element and / or the wiper can each have a surface with a basic shape, in particular a circular basic shape. Furthermore, the support element, in particular its surface, can be bounded in the radial direction (along the axis of rotation of the support element) by an edge, in particular a circular edge.

[0029] The cleaning device comprises at least one drive configured to drive the support element via a drive shaft, causing the support element to rotate about its axis of rotation. During operation of the cleaning device, the surface of the support element, with the wiping cloth attached to it, rotates around the axis of rotation and moves across the surface to be cleaned. The drive shaft and / or the axis of rotation can each be arranged substantially perpendicular to the surface to be cleaned and / or parallel to the vertical axis of the cleaning device during operation.

[0030] The axis of rotation can be displaceable in the radial direction (relative to the axis of rotation) relative to the drive shaft. In particular, the axis of rotation can be displaceable in the radial direction relative to the drive shaft by applying an external force to the outer edge of the support element. Alternatively, the drive shaft can be fixed locally (relative to and / or on the cleaning device) and / or not displaceable in the radial direction, thus providing an efficient drive for the wiper carrier of the cleaning device.

[0031] The cleaning device can be designed such that the drive shaft and the axis of rotation are collinear in a neutral position (when no external force acts on the support element). Furthermore, the cleaning device can be designed such that the axis of rotation of the support element can be displaced radially from its neutral position by applying a force externally to the support element in a radial direction. This displacement can be limited to a maximum possible distance between the drive shaft and the axis of rotation. This maximum possible distance can, for example, be between 5% and 20% of the diameter of the support element.

[0032] The cleaning device can be designed in such a way that the axis of rotation is displaced in a radial direction relative to the drive shaft by the action of a force acting from the outside on the support element in a radial direction, which has a specific force value (which depends on the driving force of the traction motor of the cleaning device), in particular such that the axis of rotation and the drive shaft have the maximum possible distance from each other.

[0033] This describes a cleaning device comprising a wiper blade carrier with a support element whose axis of rotation is displaceable in the radial direction (i.e., parallel to the surface to be cleaned) (e.g., in response to the action of an obstacle on the support element). This allows for reliable wet cleaning even in the presence of obstacles.

[0034] As explained above, the drive shaft can be configured to drive the hub of the wiper carrier. The hub can be coupled to the edge of the carrier element via several, in particular three or more, spring elements. The first end of each spring element can be connected to the hub, and the second end of each spring element can be connected to the edge of the carrier element. Preferably, the hub is mechanically connected to the carrier element only via the spring elements, in particular only via the second ends of the spring elements at the edge of the carrier element. The spring elements can be arranged around the hub in the circumferential direction of the carrier element, in particular evenly distributed.

[0035] The spring elements can include at least one telescopic spring element arranged radially between the hub and the edge. In particular, the individual spring elements can each be designed as telescopic spring elements.

[0036] Alternatively or additionally, the spring elements can comprise at least one spring element designed as a coil spring or leaf spring, which is arranged radially to the hub at its first end facing the hub and tangentially to the edge at its second end facing the edge. In particular, the individual spring elements can each be designed as a coil spring or leaf spring.

[0037] By using spring elements between the driven hub and the (possibly fixed and / or non-deformable) edge of the support element, a particularly reliable and efficient displacement between the drive shaft and the axis of rotation can be achieved (in response to a collision with an obstacle).

[0038] As explained above, the wiper blade carrier can be designed such that the drive shaft and the axis of rotation can be at most the maximum possible distance apart in the radial direction. The spring elements, particularly when combined, can exert a restoring force to the neutral position of the carrier element that is greater than the centrifugal force acting on the carrier element with the wiper blade attached to it, when the drive shaft and the axis of rotation are at the maximum possible distance apart. Such a design of the spring elements allows for particularly robust displacement between the drive shaft and the axis of rotation.

[0039] The support element can comprise (or be designed as) a rigid, non-deformable support plate with the axis of rotation as its center point. This axis forms the surface of the support element facing the area to be cleaned and is designed to receive the wiping cloth. This allows for particularly robust movement between the drive shaft and the axis of rotation.

[0040] Alternatively, the support element can be elastically deformable in the radial direction to the axis of rotation. For this purpose, the wiper blade carrier and / or the support element can be designed as described in this document. By using a deformable support element, the wiper blade carrier can be enabled to deform elastically upon contact with obstacles without impairing the movement of the cleaning device.

[0041] The cleaning device may have at least or exactly two directly adjacent wiper blade carriers. The axes of rotation of the support elements of the two wiper blade carriers are typically arranged essentially parallel to each other. Furthermore, the axes of rotation of the support elements of the two wiper blade carriers may be arranged radially close to each other such that the support elements touch at a single point of contact, and that the axis of rotation of the support element of at least one wiper blade carrier is radially offset relative to the drive shaft for that wiper blade carrier. This efficiently avoids a gap between the two wiper blade carriers, thereby further improving the quality of the wet cleaning function of the cleaning device.

[0042] It should be noted that any aspect of the cleaning devices described in this document can be combined with one another in a variety of ways and / or in any way. In particular, the features of the patent claims can be combined with one another in a variety of ways and / or in any way.

[0043] The invention will now be described in more detail with reference to exemplary embodiments illustrated in the accompanying drawing. These show: Figures 1a and 1b show an exemplary cleaning robot as an example of a cleaning device in different perspective views; Figure 1c shows exemplary components of a cleaning device; Figure 1e shows an exemplary sectional view through a cleaning robot; Figure 1e shows an exemplary drive of a wiper carrier; Figures 2a and 2b show exemplary flexible wiper carriers; Figure 2c shows an exemplary deformation of the wiper carrier due to an obstacle; Figure 3a shows a wiper carrier with a flexible honeycomb structure; Figure 3b shows a wiper carrier with a flexible wave structure; Figure 3c shows a cross-section through the wave structure of the wiper carrier made of Fig. 3b ; and Figures 4a and 4-legged wiper carrier with an eccentrically deflectable axis of rotation.

[0044] As stated at the outset, this document addresses how to provide a reliable and high-quality wet cleaning function for a cleaning device, even in the presence of obstacles. In this context, we demonstrate Fig. 1a the top 121 and Fig. 1b The underside 122 of a cleaning robot 100, in particular a vacuuming and mopping robot, serves as an example of a cleaning device. The aspects described specifically for a cleaning robot apply generally to a cleaning device.

[0045] The underside 122 of the cleaning robot 100 faces the floor or area to be cleaned, such as a room, during vacuuming operation. The underside 122 of the cleaning robot 100 typically has one or more drive units 101 (with one or more drive wheels) that enable the cleaning robot 100 to move independently to clean different areas of a floor. Furthermore, the cleaning robot 100 may have one or more guide and / or support elements 104 (e.g., non-driven wheels) that allow the cleaning robot 100 to move stably across the floor to be cleaned. In addition, a cleaning robot 100 typically includes one or more suction units 106 (in particular, suction nozzles) designed to clean the floor beneath the cleaning robot 100.

[0046] A suction unit 106 (in particular a suction nozzle) can have a brush roller 102 designed to rotate about an axis of rotation, the axis of rotation typically being arranged parallel to the underside 122 of the cleaning robot 100. The brush roller 102 can be used to mechanically loosen dust and / or contaminants from the floor to be cleaned, so that the dust and / or contaminants can be sucked into the suction opening 107 of the suction unit 106 with increased reliability.

[0047] A user interface can be arranged on the top surface 121 of the cleaning robot 100, allowing a user of the cleaning robot 100 to make control inputs. Furthermore, the cleaning robot 100 can include a bumper 105 on a side wall 123 (e.g., on a side wall 123 in the front area of ​​the cleaning robot 100). A collision sensor can be arranged on the bumper 105, configured to acquire sensor data indicating whether the cleaning robot 100 has collided with an obstacle in its direction of movement 120. Triggering the collision sensor (due to the deflection of the bumper 105) by an obstacle can, for example, cause the cleaning robot 100 to rotate about its vertical axis, which is perpendicular to the floor, thereby changing its direction of movement 120 to avoid the obstacle.

[0048] Furthermore, a cleaning robot 100 typically has one or more environmental sensors 110 (see Fig. 1c ), which are configured to acquire environmental data (i.e., sensor data) relating to the environment of the cleaning robot 100. The one or more environmental sensors 110 may include: one or more cameras, one or more ultrasonic sensors, one or more tactile and / or optical distance sensors, one or more acoustic sensors, one or more temperature sensors, one or more lidar and / or radar sensors, etc. A control unit 130 of the cleaning robot 100 may be configured to determine digital map information relating to the cleaning area based on the environmental data and, if necessary, to store it on a storage unit 111 of the cleaning robot 100. The cleaning robot 100 can use the digital map information to orient itself autonomously within the cleaning area (e.g., within a room) and / or to determine a route for cleaning the cleaning area.

[0049] Fig. 1c Figure 1 shows a Cartesian coordinate system with a longitudinal axis (i.e., an x-axis), a transverse axis (i.e., a y-axis), and a vertical axis (i.e., a z-axis). The direction of movement 120 of the cleaning device 100 typically corresponds to the longitudinal axis. The axis of rotation of the brush roller 102 typically runs along the transverse axis. The vertical axis is typically perpendicular to the surface to be cleaned. Fig. 1d shows a sectional view of the cleaning device 100 within a plane spanned by the longitudinal axis and the vertical axis.

[0050] The in Fig. 1b The cleaning device 100 shown has two wiper cloth holders 150 on its underside 122, to each of which a wiper cloth can be attached. In the Fig. 1b In the illustrated example, each wiper cloth carrier 150 has a circular and / or disc-shaped support element (in particular a support plate) 152 to which a circular wiper cloth can be attached (e.g., by means of a hook-and-loop fastener). A wiper cloth carrier 150 can have an axis of rotation, which is located in particular at the center of the circular support element 152 and which typically runs along the vertical axis. By causing the support element 152 of the wiper cloth carrier 150 to rotate about the axis of rotation, the wiper cloth attached to the support element 152 can be moved in a rotating motion over the surface to be cleaned, thereby wiping the surface. As shown in the Figuren 1d and 1eAs shown, the rotational movement of the support element 152 can be effected by a drive 153 (with an electric motor) of the cleaning device 100. The drive 153 can be coupled to a drive shaft 151, the drive shaft 151 causing the rotational movement of the support element 152 about the axis of rotation. The support element 152 can optionally be attached to the drive shaft 151 via a coupling element 155 (removable).

[0051] As explained at the outset, the cleaning device 100 may collide with and / or pass obstacles during operation. In particular, the rotating support element 152 of the wiper carrier 150 may collide with an obstacle. This can lead to a change in the direction of movement 120 of the cleaning device 100, so that a portion of the surface to be cleaned may not be cleaned. The cleaning device 100, especially its housing, may have a specific basic shape, e.g., a round or D-shaped base. The one or more wiper carriers 150 may extend beyond this basic shape.This document describes different wiper carriers 150 for a cleaning device 100, each designed to avoid obstacles in order to enable robust navigation of the cleaning device 100 and thus to ensure reliable cleaning of the entire area of ​​a surface to be cleaned.

[0052] Fig. 2a Figure 1 shows an exemplary wiper carrier 150 with a deformable support element 152. The support element 152 has an outer ring 202, which is circular in the basic state of the support element 152. The outer ring 202 is deformable. In the Fig. 2a In the illustrated example, the outer ring 202 is coupled to a hub 251 for driving the support element 152 via several spring elements 201. The hub 251 can be coupled to the drive shaft 151. In particular, the drive shaft 151 can be configured to drive the hub 251. The individual spring elements 201 are each configured to push the outer ring 202 away from the hub 251 and thereby hold it in its resting state. Furthermore, the individual spring elements 151 are configured to compress against the spring force in response to the action of an external force on the outer ring 202. For example, an obstacle can exert an external force on the outer ring 202, causing one or more spring elements 201 to compress, thereby deforming the outer ring 202 at the point of contact with the obstacle.

[0053] The support element 202 can thus have a flexible support structure with a deformable outer ring 202 (e.g., with a wire) which is connected to the driven hub 251 via spring elements 201. A support material 203 can optionally be attached to the flexible support structure, to which a wiping cloth can in turn be detachably attached. The support material 203 is designed to be deformable. An example of a support material 203 is silicone.

[0054] Fig. 2b Figure 1 shows a wiper carrier 150, which has spiral spring elements 201 via which the outer ring 202 is connected to the driven hub 251. As in Fig. 2c As illustrated, an obstacle 210 acting on the outer ring 202 at a contact point deforms one or more spring elements 201 in the area of ​​the contact point, leading to a deformation of the support element 152.

[0055] The wiper cloth carrier 150 is preferably designed such that the carrier element 152 is deformable within the cleaning plane, which is arranged perpendicular to the drive shaft 151 and / or perpendicular to the vertical axis, and that the carrier element 152 is essentially non-deformable perpendicular to the cleaning plane (i.e., along the vertical axis). This ensures that the wiper cloth is pressed against the surface to be cleaned by the carrier element 152, thereby guaranteeing a reliable cleaning effect.

[0056] A wiper blade carrier 150 with an outer deformable shape is thus described, wherein the wiper blade carrier 150 is connected to the driven hub 251 via flexible spring elements 201. The deformation of the outer shape, with a fixed position of the axis of rotation relative to the wiper blade, allows the wiper blade to deflect away from obstacles 210 by deformation in a radial direction.

[0057] The wiper carrier 150 can have integrated spring elements 201. These enable the wiper carrier 150 to flexibly avoid an obstacle 210, to deform elastically during contact with the obstacle 210 and subsequently to regain its original basic shape.

[0058] Telescopic springs can be used as spring elements 201 (as exemplified in Fig. 2a (as shown). Here, the circular support element 152, which has a circular outer ring 202 made of a flexible material, e.g., spring steel, is connected to the static mounting (i.e., the hub) 251 of the support element 152 via telescopic spring elements 201. Upon contact with an obstacle 210, the wiping cloth, together with the support element 152, can deform (in the radial direction) and thus avoid the obstacle 210. With the aid of the telescopic spring elements 201 in conjunction with the resilient outer ring 202 of the support element 152, the wiping cloth can return to its original shape after passing the obstacle 210. The telescopic spring elements 201 are preferably designed such that they can absorb the tangential and / or radial forces occurring upon contact with an obstacle 210.

[0059] Another possibility is the use of coil or leaf springs, which are used as spring elements 201 (as exemplified in Fig. 2b (as shown). Here, the wiper carrier 150 comprises a fixed receptacle (i.e. hub) 251 in the center, a circular support element 152 which is bounded on the outside by a resilient ring 202, and spiral spring elements 201 which resiliently connect the receptacle 251 and the outer ring 202.

[0060] By means of the spiral spring elements 201, which are aligned, for example, tangentially to the outer ring 202 and orthogonally to the receptacle 251 in the plane of the support element 152, and which are each connected at one end to the outer ring 202 and at the other end to the receptacle 251, the entire support element 152 can deform upon contact with an obstacle 210 (selectively in the radial direction) and thus avoid the obstacle 210 (as exemplified in Fig. 2c (shown). Due to its structure, the support element 152 can return to its original basic shape after passing the obstacle 210. Tangential and / or radial forces can be absorbed particularly reliably by means of spiral or leaf springs, thus providing a particularly robust wiper carrier 150.

[0061] Alternatively or additionally, the support element 152 can have an integrated structure that is flexible in the radial direction (radial to the axis of rotation) and stiff in the axial direction, so that a uniform ground pressure can be achieved over the entire surface of the support element 152. Fig. 3a shows a support element 152 with a honeycomb structure 301. Fig. 3b shows a support element 152 with a wave structure 311. Fig. 3c shows a cross-section through the support element 152 made of Fig. 3b .

[0062] By using a flexible structure 301, 311, the support element 152 can flexibly avoid an obstacle by elastically deforming the flexible structure 301, 311 during contact with an obstacle 210 and then returning to its original basic shape.

[0063] A honeycomb structure 301 in the support element 152 serves as a radially flexible and resilient element 201, while simultaneously representing an axially rigid structure. The support element 152, which may have a circular outer ring 202, is connected to the hub 251 of the wiper carrier 150 via the honeycomb structure 301. Upon contact with an obstacle 210, the wiper and the support element 152 can deform and thus avoid the obstacle 210. With the aid of the radially flexible and resilient structural elements of the support element 152, the wiper can return to its original shape after passing the obstacle 210.

[0064] A wave-like structure 311 implemented in the carrier element 152 serves analogously as a flexible and spring-like mechanism 201, which yields to the obstacle 210 when the wiping cloth and the carrier element 152 come into contact with the obstacle 210, whereby the waves in the area of ​​contact with the obstacle 210 become compressed and thus the wave spring is tensioned, which leads to the return to the basic shape after the end of contact with the obstacle 210.

[0065] Alternatively or additionally to a radial deformation of the support element 152, the wiper carrier 150 described in this document can be designed such that the axis of rotation of the support element 152 is displaceable relative to the drive shaft 151 (which is typically rigidly coupled to the hub 251 of the support element 152). An obstacle 210 acting on the edge of the support element 152 can then cause the axis of rotation of the support element 152 to be displaced (while the drive shaft 151 remains in the same position), so that the support element 152 avoids the obstacle 210. This is illustrated by example in the Figuren 4a and 4b depicted.

[0066] Fig. 4a Figure 1 shows a support element 152 with a support plate 403, which may not be deformable (in the radial direction). Furthermore, the support element 152 comprises spring elements 201, each connecting the (driven) hub 251 to the edge 402 of the support element 152, in particular the support plate 403. In the illustrated example, the spring elements 201 are designed as coil springs or leaf springs. The end facing the hub 251 extends radially to the hub 251 (and is connected to the hub 251), and the end facing the edge 402 extends tangentially to the edge 402 (and is connected to the edge 402).

[0067] The hub 251 is not connected to the center point of the support plate 403, the center point typically corresponding to the axis of rotation 451 of the support plate 403 or the support element 152. As shown in Fig. 4b As shown, this leads to the support element 152, in particular the support plate 403, being displaced parallel to the surface to be cleaned by the action of an obstacle 210 on the edge 402 of the support element 152, thus avoiding the obstacle 210. As a consequence, the axis of rotation 451 is displaced relative to the drive shaft 151 driving the hub 251. This displacement is caused by the deformation of the spring elements 201.

[0068] A wiper cloth carrier 150 with an outer fixed and / or rigid ring 402 can thus be provided, which is connected to the receptacle 251 of the drive shaft (i.e., to the hub) via elastic elements 201. In this way, the wiper cloth arranged on the carrier element 152 can deflect around obstacles 210 in the horizontal plane while maintaining its external shape. In contrast to the neutral or home position, the axis of rotation 451 of the wiper cloth or the carrier element 152 is no longer collinear and / or concentric with the drive shaft 151. The elastic elements 201 each possess a restoring force to the neutral position, so that the axis of rotation 451 of the wiper cloth or the carrier element 152 and the drive shaft 151 are again concentric and / or collinear when no obstacle 210 is in contact with the wiper cloth carrier 150.

[0069] A cloth carrier (i.e., a carrier element) 152 with integrated spring elements as elastic elements 201 can be used. These enable the carrier 152 with the wiping cloth to flexibly avoid an obstacle 210 by displacing the axis of rotation 451 of the wiping cloth or the carrier 152 radially relative to the drive shaft 151. The base plate 403 of the carrier 152 is preferably rigid. The restoring force of the spring elements 201 is preferably greater than the centrifugal force of the wiping cloth and the carrier base plate 403 caused by imbalance during deflection.

[0070] Different types of spring elements 201 can be used. In the Figuren 4a and 4bIn the illustrated example, leaf springs are used as spring elements 201. The wiper carrier 150 preferably has spiral and / or curved spring elements 201 (e.g., at least three spring elements 201) that couple the carrier 152, in particular the carrier plate 403, to the drive shaft 151. When an obstacle 210 acts on the wiper or the carrier base plate 403 by contact, the force resulting from this contact causes a displacement of the carrier plate 403 within the horizontal plane, which is arranged perpendicular to the axis of rotation 451. This leads to a displacement between the axis of rotation 451 of the wiper and the drive shaft 151. After passing the obstacle 210, the spring elements 201 cause the wiper to return to its original position, so that its axis of rotation 451 and the drive shaft 151 are again concentric and / or collinear.The spring elements 201 also transmit the torque necessary to rotate the wiping cloth from the drive shaft 151 (via the hub 251) to the carrier base plate 403.

[0071] By using a flexible and compliant design for the wiper carrier 150 and / or by shifting the axis of rotation 451 of the carrier element 152, negative influences on the navigation of a cleaning device 100 can be avoided or at least reduced. Furthermore, the size (especially the diameter) of the rotating wiper cloth can be increased, even significantly beyond the basic shape of the housing of the cleaning device 100, thus increasing the overall wiping width. In particular, a wiper cloth that extends beyond the edge of the cleaning device 100 can be used. This improves corner and edge cleaning.

[0072] Furthermore, the coverage of the area between two directly adjacent, rotating wipers can be improved. The flexible wipers and / or the radially displaceable wipers can touch each other in the center, thus preventing a residual dirt strip between the rotating wipers. In particular, two directly adjacent wiper carriers 150 can be arranged so close to each other that the support elements 152 of the two wiper carriers 150 are always in contact and may deform at the point of contact. Any basic shape can be used for the support elements 152. In particular, circular support elements 152 can be used so that (unlike when using polygonal wipers) no synchronization of the drives 153 of the two wiper carriers 150 is required.

[0073] The present invention is not limited to the embodiments shown. In particular, it should be noted that the description and the figures are intended only to illustrate the principle of the cleaning devices described in this document. Reference symbol list

[0074] 100 Cleaning device (cleaning robot) 101 Drive unit 102 Brush roller 104 Guide and / or support element 105 Bumper 106 Suction unit / Suction nozzle 107 Suction mouth 110 Environmental sensor 111 Storage unit 120 Direction of movement / Longitudinal direction 121 Top 122 Bottom 123 Side wall 130 Control unit 150 Wipe carrier 151 Drive shaft (wipe carrier) 152 Support element 153 Drive (wipe carrier) 155 Coupling element 201 Spring element 202 Frame / Ring 203 Support material 210 Obstacle 251 Hub (wipe carrier) 301 Honeycomb structure 311 Wave structure 402 Edge (support element) 403 Support plate 451 Rotation axis (support element)

Claims

1. Cleaning apparatus (100), which is embodied to be moved over an area to be cleaned; wherein - the cleaning apparatus (100) comprises at least one wipe support (150) with a carrier element (152), which is embodied to receive a wipe on a surface of the carrier element (152) which is facing the area to be cleaned during operation of the cleaning apparatus (100); - the cleaning apparatus (100) comprises at least one drive (153), which is embodied to rotate the carrier element (152) about an axis of rotation, so that during operation of the cleaning apparatus (100) the surface of the carrier element (152) moves with the wipe arranged thereon in a rotating fashion over the area to be cleaned, characterised in that the carrier element (152) can be deformed elastically in the radial direction with respect to the axis of rotation.

2. Cleaning apparatus (100) according to claim 1, wherein the carrier element (152) is embodied to receive the wipe on the surface of the carrier element (152) such that the wipe, together with the carrier element (152), is deformed in the radial direction.

3. Cleaning apparatus (100) according to one of the preceding claims, wherein - the carrier element (152) has a surface with a basic shape, in particular with a circular basic shape; - the carrier element (100), in particular the surface of the carrier element (152), is delimited in the radial direction by an edge, in particular by a circular edge; and - the carrier element (152) is embodied, by effecting a force acting on the edge in the radial direction from outside of the carrier element (152), to be deformed elastically in the radial direction starting from the basic shape.

4. Cleaning apparatus (100) according to claim 3, wherein the carrier element (152) has an elastically deformable ring (202), in particular a wire ring, on the edge.

5. Cleaning apparatus (100) according to claim 4, wherein - the wipe (150) has a hub (251), which is driven by the drive (153); and - the carrier element (152) comprises a number of spring elements (201), which each connect the hub (251) to the ring (202), and which are each embodied to exert a force acting away from the hub (251) in the radial direction on the ring (202) in order to keep the carrier element (152) in the basic form and / or to move it back into the basic form.

6. Cleaning apparatus (100) according to claim 5, wherein the spring elements (201) are arranged around the hub (251) distributed in the peripheral direction of the carrier element (152), in particular uniformly distributed.

7. Cleaning apparatus (100) according to one of claims 5 to 6, wherein - the spring elements (201) comprise at least one telescopic spring element, which is arranged in the radial direction between the hub (251) and the ring (202); and / or - the spring elements (201) comprise at least one spring element embodied as a spiral spring or flat spring which is arranged in particular on the end facing the hub (251) radially with respect to the hub (251), and which is arranged in particular on the end facing the ring (202) tangentially with respect to the ring (202).

8. Cleaning apparatus (100) according to one of claims 5 to 7, wherein the carrier element (152) comprises three or more, in particular six or more, spring elements (201).

9. Cleaning apparatus (100) according to one of the preceding claims, wherein - the carrier element (152) has a flexible structure (301, 311) by means of which the surface of the carrier element (152) is formed; - the flexible structure (301, 311) can be elastically deformed in the radial direction; and - in particular the flexible structure (301, 311) can substantially not be deformed in the axial direction.

10. Cleaning apparatus (100) according to claim 9, wherein - the flexible structure (301) has a plurality of honeycombs which are arranged adjacent to one another in the radial direction; and / or - the flexible structure (311) has a plurality of corrugations, wherein the corrugations spread in each case in a ring-shaped manner from a hub (251) as far as an edge of the carrier element (152).

11. Cleaning apparatus (100) according to one of the preceding claims, wherein - the carrier element (152) cannot be deformed or at least can be deformed only insignificantly in the axial direction with respect to the axis of rotation; and / or - the carrier element (152) has a rigidity in the axial direction, which is greater than a rigidity in the radial direction by a factor 10 or more, in particular by a factor 100 or more.

12. Cleaning apparatus (100) according to one of the preceding claims, wherein the carrier element (152) has a material with a modulus of elasticity of 1 GPa or less, in particular in the radial direction.

13. Cleaning apparatus (100) according to one of the preceding claims, wherein - the drive (153) is embodied to drive the carrier element (152) by way of a drive shaft (151) so as to cause the carrier element (152) to be rotated about the axis of rotation (451), so that during operation of the cleaning apparatus (100) the surface of the carrier element (152) with the wipe arranged thereon is moved in a rotating fashion about the axis of rotation (451) over the area to be cleaned; and - the axis of rotation (451) can be moved in the radial direction with respect to the axis of rotation (451) with respect to the drive shaft (151).

14. Cleaning apparatus (100) according to one of the preceding claims, wherein - the cleaning apparatus (100) has at least two wipe supports (150) directly adjacent to one another; and - the axes of rotation of the carrier elements (152) of the two wipe supports (150) are arranged substantially parallel to one another and are arranged close to one another in the radial direction such that the carrier elements (152) touch one another at a contact point and mutually deform elastically at the contact point.

15. Cleaning apparatus (100) according to one of the preceding claims, wherein - the cleaning apparatus (100) is embodied to be moved over the area to be cleaned with a drive force which has a specific force value; and - the cleaning apparatus (100) is embodied such that the carrier element (152) is deformed by effecting a force acting from outside on the carrier element (152) in the radial direction, said force being dependent on the specific force value, in particular by 5% or more of the diameter of the carrier element (152).

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