Cleaning apparatus and use

Abstract

The present invention relates to a cleaning device (1) comprising at least one cleaning tool (2) and at least one control unit (4), wherein the cleaning device is designed and configured to move autonomously within a cleaning environment (6) and to perform cleaning tasks. A cleaning device (1) with extended functionality, ensuring reliable navigation within the cleaning environment (6), is realized by designing and configuring the control unit (4) to generate at least one predefined pattern (9) on a surface (10) of the cleaning environment (6), at least using the cleaning tool.

Description

[0001] The invention relates to a cleaning device comprising at least one cleaning tool and at least one control unit. The cleaning device is designed and configured to move autonomously within a cleaning environment and to perform cleaning tasks.

[0002] Cleaning devices of this type are known in the prior art in a wide variety of configurations. Such cleaning devices are, for example, designed as robotic vacuum cleaners, robotic mops, or robotic vacuum and mops. Typically, such cleaning devices have at least one control unit, which includes a data processing unit and, together with a sensor unit, ensures navigation of the cleaning device in the work environment and controls the execution of tasks.

[0003] The application area of ​​known cleaning devices is focused on performing cleaning tasks. The present invention therefore aims to provide a cleaning device with an expanded range of functions that ensures reliable navigation within the cleaning environment.

[0004] The aforementioned problem is solved in a generic cleaning device with the feature content of the characterizing part of claim 1, namely in that the control unit is set up and designed to generate at least one predefined pattern on a substrate of the cleaning environment, at least using the cleaning tool.

[0005] The cleaning device comprises at least one cleaning tool and at least one control unit. The cleaning device is designed and configured to move autonomously within a cleaning environment and to perform cleaning tasks.

[0006] The cleaning device is advantageously a cleaning device with vacuuming and / or mopping functions, in particular a robotic vacuum cleaner, a robotic mop, or a robotic vacuum and mop. The cleaning device has at least one control unit that controls the autonomous movement and cleaning of a cleaning environment. The control unit preferably includes at least one data processing unit with at least one processor and at least one memory. Preferably, the cleaning device also includes at least one sensor unit for acquiring environmental data.

[0007] The cleaning device advantageously has at least one housing. A drive unit is, for example, arranged on the housing of the cleaning device. The drive unit has at least or exactly two drive wheels, each with at least one motor, in particular an electric motor. The two motors of the drive unit can be controlled independently of each other. Each motor drives at least one drive wheel, at least indirectly. It is also provided, for example, that a gearbox is arranged between the motor and the drive wheel.

[0008] Furthermore, the cleaning device has at least one energy storage device which is designed to supply power to the cleaning device, in particular to supply power to the control unit and preferably to at least one cleaning tool, and is electrically connected in the housing.

[0009] According to the invention, the control unit of the cleaning device is configured and designed to generate at least one predefined pattern on a surface within the cleaning environment, at least using the cleaning tool. The cleaning tool is, for example, a brush or a wiping cloth. The pattern on the surface is generated, for example, after and / or during a cleaning process. The control unit controls the cleaning device, in particular, to traverse the paths required to generate the pattern or to perform the necessary maneuvers.

[0010] For example, a pattern can be created using a brush as a cleaning tool by brushing the bristles of a carpet in different directions in a series of passes. The control unit directs the tool to move along these passes. A cleaning cloth can also be used to create a pattern of damp patches – at least temporarily – on the surface being cleaned.

[0011] The invention offers an advantage over the prior art in that the cleaning environment appears significantly tidier and more organized after the cleaning process using the cleaning device. Furthermore, messages or instructions can be left behind through the generated pattern.

[0012] Alternatively or additionally, the cleaning device is provided for with at least one marking agent. This marking agent is designed, for example, for applying water with or without color particles, or for spraying chalk. Furthermore, it is provided that particles visible only under UV light are added to the cleaning water of a wet cleaning device. This allows for the application of concealed markings or instructions, which can then be detected, particularly by authorized personnel, using UV light. Alternatively or additionally, it is provided that color particles or particles visible under UV light are contained in a separate, secondary water tank, the contents of which are used only when a marking is required.

[0013] According to a further embodiment, it has proven particularly advantageous if the control unit is designed and configured to activate and deactivate, and / or lower and raise, at least the cleaning tool used to create the pattern. For example, a cleaning brush of the cleaning device is temporarily switched on or off to create the pattern, depending on the type of pattern to be produced. Alternatively or additionally, the cleaning tool, for example, a brush or a wiper cloth, is raised or lowered to create the pattern. It is possible for the cleaning tool to operate continuously during raising or lowering, or for the cleaning tool to be activated or deactivated during raising or lowering.In particular, it is intended that the pattern is generated by activating a side brush while a main brush is switched off, or vice versa.

[0014] Another embodiment of the cleaning device provides that the control unit is designed and configured to use at least one cleaning tool to create the pattern, at least temporarily, in a manner different from its use during a cleaning process. For example, in the case of a cleaning tool designed as a brush, it is provided that the cleaning tool rotates in the opposite direction to that used during a cleaning process. This allows for the creation of different fiber orientations in carpets, particularly with the cleaning device moving in the same direction.

[0015] Another embodiment of the cleaning device stipulates that the pattern includes parallel lines or paths and / or checks and / or text and / or geometric shapes and / or at least one symbol and / or at least one logo. The predefined pattern may also be a combination of the aforementioned features. In all cases, the pattern is predefined and preferably exhibits regularity. This distinguishes the predefined pattern from arbitrary patterns that might be generated during a cleaning process, for example, on a carpet.

[0016] For example, the control unit is designed and configured to convert a pattern provided as an image file so that it can be applied to the surface by the cleaning device using a cleaning tool. This might involve, for example, simplifying an image, symbol, or logo and / or modifying its radii to make it suitable for application to a surface with a cleaning tool.

[0017] This design has the advantage that texts, such as greetings, visual markers, names, or smileys, can be applied to the surface. In open-plan offices, location information can be indicated with arrows (e.g., WC →) or the names of individuals can be displayed.

[0018] Depending on the type of pattern, the cleaning device may need to generate certain guide or approach lines that disrupt the final pattern. Therefore, a further embodiment of the cleaning device provides that the control unit is configured and designed to cause the cleaning device to remove any disruptive patterns that arise during pattern creation, preferably during or after the pattern is completed. For example, this removal is achieved by re-passing over the areas where the disruptive patterns are to be removed. For instance, when removing the disruptive pattern, the fibers of a carpet are brushed again in the same direction as in the areas where the pattern should not be present.

[0019] Particularly when the substrate is at least partially carpeted, a further embodiment has proven advantageous if the control unit instructs the cleaning device to trace circular, oval, and / or meandering paths on the substrate to create the pattern. By selecting these paths, predetermined patterns, such as straight lines, can be generated on a carpet. This is especially true when the oval or meandering paths include straight sections. The use of these paths is particularly suitable for localized carpets that only form the substrate in certain areas and are otherwise surrounded by, for example, a hard floor. Specifically, it is intended that only the straight sections run on the carpet, while the other sections run alongside it.This allows a straight line pattern to be created on a flat carpet.

[0020] To ensure that the generated pattern is visually appealing, a further embodiment provides that the control unit is configured and designed to instruct the cleaning device to align at least part of the pattern with an edge of the surface, in particular, for example, with the edge of a carpet, especially a local one. Preferably, the pattern is aligned parallel to the edge. The cleaning device includes, for example, a sensor device that can detect relevant edges of the surface, such as steps, ledges, or carpet edges, and use them to align the pattern.

[0021] In a further embodiment, it is particularly preferred that the pattern orientation is determined using a room contour and / or a room center point and / or the position of at least one window and / or the position of at least one door. The cleaning device has at least one sensor unit to detect at least some of the aforementioned features of a room within the cleaning environment and to align the pattern accordingly. In particular, the pattern is aligned, for example, so that it is advantageously recognizable when entering through a door. The sensor unit preferably has at least one sensor capable of detecting two-dimensional and / or three-dimensional environmental data of the cleaning environment, preferably a room.

[0022] In particular, to make the pattern configurable by a user, a further embodiment of the cleaning device provides that the control unit is designed and configured to receive at least one position of the pattern in the cleaning environment and / or at least one type of pattern and / or at least one piece of pattern content from a user-operated input interface. For example, the creation and transmission of the pattern, as well as its positioning in the cleaning environment, is carried out via a smartphone app. It is also envisaged that a user designs a pattern in a smartphone app and then transfers it to the cleaning device. The relevant data is then transmitted to the cleaning device via a data interface. Furthermore, it is also envisaged that the cleaning device is equipped to receive corresponding data on patterns or...a position of a pattern is formed from a server via the Internet or via an input display on the cleaning device.

[0023] The possibilities for applying a pattern to the surface of a cleaning environment can be advantageously improved by the cleaning device according to a further embodiment by the fact that the control unit is equipped and configured using at least one sensor unit for detecting the type and / or orientation and / or local deviation of the surface covering. In particular, it is provided that the control unit is configured using the sensor unit to detect at least one carpet, one wooden floor, or tiles. Furthermore, for example, floor mats or local rugs in the cleaning environment can also be detected. If the surface of the cleaning environment is at least partially carpeted, or...If a local carpet is present, the pattern is preferably created in the carpet by aligning the carpet material, in particular the fibers, in different directions using at least one cleaning tool. For example, the carpet is traversed in parallel lanes in different directions, so that the carpet has a line or checkerboard pattern, similar to a properly mowed football field.

[0024] Another embodiment of the cleaning device provides that the control unit is configured and designed to generate the pattern independently of a cleaning process, particularly after the completion of a cleaning process. Alternatively or additionally, it is provided that the pattern is generated, at least partially, even during a cleaning process. For example, the generation of the pattern during the cleaning process is at least partially prepared, or at least part of the pattern is generated during the cleaning process, and the pattern is completed after the cleaning process is finished by additional passes of the cleaning device. These additional passes preferably occur without cleaning.

[0025] To advantageously leave markings in the cleaning environment for the user, for example, at locations where the cleaning device stopped due to a malfunction or where other problems occurred, a further embodiment of the cleaning device provides that the control unit is configured and designed to generate the pattern using the cleaning tool at at least one location in the cleaning environment where the cleaning device detected a problem or malfunction during the cleaning process. This can advantageously provide the user with guidance on resolving the problem or indications of problematic areas in the cleaning environment. In particular, the pattern is a warning and / or a warning symbol. Preferably, water mixed with a UV dye is used for this purpose, as described above.

[0026] Furthermore, the cleaning robot can also place a visual marker for the customer, such as "clean here", "tidy up here", "I couldn't get through here" or similar, so that the customer can, for example, clean again with the hand-held robot vacuum cleaner or react manually.

[0027] The aforementioned problem is further solved by using a cleaning device with at least one cleaning tool, wherein the cleaning device is designed and configured for autonomous movement and for performing cleaning tasks in a cleaning environment, for generating at least one predefined pattern on a substrate in the cleaning environment using the cleaning tool. The cleaning device is, for example, designed according to the features of at least one of the described embodiments.

[0028] Further advantageous embodiments of the invention will become apparent from the following description of the figures and the dependent subclaims.

[0029] They show: Fig. 1 is an embodiment of a cleaning device in perspective view, Fig. 2 is an embodiment of a cleaning environment in top view, Fig. 3 is another embodiment of a cleaning environment in top view, Fig. 4 is another embodiment of a cleaning environment in top view, and Fig. 5 is a schematic representation of an embodiment of a data processing unit of a control unit.

[0030] In the various figures of the drawing, identical parts are always labelled with the same reference symbols.

[0031] The following description claims that the invention is not limited to the exemplary embodiments and not to all or several features of the described combinations of features; rather, each individual partial feature of the exemplary embodiment(s) is also significant for the subject matter of the invention, independent of all other partial features described in connection therewith, both on its own and in combination with any features of another exemplary embodiment.

[0032] Fig. 1Figure 1 shows an embodiment of a cleaning device 1 in a perspective view. In this embodiment, the cleaning device 1 is designed as a robotic vacuum cleaner. The cleaning device 1 has a suction unit (not shown) and a cleaning tool 2 in the form of a cleaning brush, which is arranged on the underside of a housing 3. The cleaning device 1 also has a control unit 4 and an energy storage device 5, which are arranged inside the housing 3. The cleaning device 1 is designed and configured to move autonomously, in particular by driving, within a cleaning environment 6 and to perform cleaning tasks. The cleaning device 1 has two drive wheels 7, which can be controlled separately. The cleaning device 1 also has a sensor unit 8 to ensure autonomous movement within the cleaning environment 6. In particular, the sensor unit 8 can acquire three-dimensional environmental data.

[0033] The control unit 4 is designed and configured to execute at least one predefined pattern 9 when the cleaning device 1 is moved in the interior environment 6, at least when using the cleaning tool 2 - see e.g. Fig. 2 , 3 and 4 - to generate on a surface 10 of the cleaning environment 6. The control unit 4 controls the cleaning device 1, in particular to travel the paths 11 required to generate the pattern 9 or to perform the necessary driving maneuvers.

[0034] The control unit 4 is further designed and configured to activate or deactivate the cleaning tool 2 for generating pattern 9, and, if necessary, to lower and raise it. In addition, the control unit 4 is designed and configured to use the cleaning tool 2 for generating pattern 9, at least temporarily, in a manner different from its use during a cleaning process. For example, the cleaning tool 2, designed as a cleaning brush, is rotated in the opposite direction during a cleaning process to generate pattern 9.

[0035] Fig. 2Figure 1 shows an embodiment of a cleaning environment 6 with a substrate 10, which is partially designed as a local carpet 10a. The control unit 4 causes the cleaning device 1 to move along oval paths 11 across the carpet 10a to create the pattern 9. The control unit 4 causes the cleaning device 1 to follow the oval paths 11 on the substrate 10 in such a way that straight sections 11a of the oval paths 11 are located on the carpet 10a. This creates a uniform pattern 9 in the form of parallel paths on the carpet 10a. To create the pattern 9, the cleaning device 1 begins at the starting point S and ends its movement along the paths 11 at the endpoint E. In this embodiment, the cleaning device 1 always moves in the same direction on the carpet 10a to create the pattern 9, according to Figure 1. Fig. 2 from left to right. The reverse driving movements are carried out according to Fig. 2The cleaning process was carried out exclusively outside the carpet 10a, thus creating a uniform pattern 9. The control unit 4 further instructed the cleaning device 1 to execute the pattern 9 according to the instructions. Fig. 2 to align parallel to the edges 10b of the carpet 10a, so that the straight sections 11a run parallel to the side edges 10b of the carpet 10a.

[0036] Fig. 3 Figure 1 shows an alternative embodiment of a cleaning environment 6 with a substrate 10, which is also designed as a local carpet 10a. In this embodiment as well, the control unit 4 causes the cleaning device 1 to perform a driving maneuver in the form of meandering paths 11 with straight sections 11a parallel to the side edges 10b of the carpet 10a. In contrast to the embodiment of Fig. 2In this embodiment, the cleaning device 1 moves in different paths in opposite directions on the carpet 10a, so that a changing pattern 9 in the form of parallel paths is created on the carpet 10a.

[0037] Fig. 4 Figure 1 shows another embodiment of a cleaning environment 6, also with a substrate 10 in the form of a local carpet 10a. In this embodiment, the pattern 9 is applied in the form of letters, i.e., lettering. The control unit 4 instructs the cleaning device 1 to follow the corresponding paths 11 on the carpet 10a and to form the letters of the lettering. The pattern 9 is generated in the form of lettering according to... Fig. 4Interference patterns 12 are created when the cleaning device 1 moves across the carpet 10a; these are areas that disrupt the visibility of the pattern 9. The control unit 4 is preferably designed and configured to cause the cleaning device 1 to remove the resulting interference patterns 12 after the completion of the pattern 9 by moving over it again along additional oval paths 13. During this process, the fibers of the carpet 10a are brushed again in a direction that lies outside the pattern 9. The movement to remove the interference patterns 12 begins at the starting point S and ends at the endpoint E.

[0038] For example, a user can specify the position of the pattern 9 in the cleaning environment 6 and / or the type or content of the pattern 9, preferably by means of a user-operated input interface 14 according to Fig. 1input. For example, the input interface 14 is a display and input screen 14a arranged on the cleaning device 1 or a mobile data processing unit 14b, here a smartphone, of the user, which communicates with the cleaning device 1 or the control unit 4 via a data interface 15.

[0039] Fig. 5 Figure 1 shows a schematic representation of a data processing unit 4a for a control unit 4 of the described embodiments. It is intended that individual elements of the data processing unit 4a are present multiple times, particularly if the data processing unit 4a is implemented partly in a cleaning device 1 and partly in a spatially remote computer. Fig. 5Figure 1 shows a schematic representation of an embodiment of a data processing unit 4a, which can perform some or all of the steps of the functions of the control unit 4 or its steps as described in the various embodiments.

[0040] The data processing unit 4a is represented by hardware elements that are electrically coupled via a bus 505 or may communicate with each other in another way. The hardware elements may include one or more processors 510, including, but not limited to, one or more general-purpose processors and / or one or more special-purpose processors, one or more input devices 515, and one or more output devices 520. The data processing unit 4a also includes and / or communicates with one or more memories 525.

[0041] The data processing unit 4a may further comprise a communication subsystem 530. In some embodiments, the data processing unit 4a also includes a main memory 535. The data processing unit 4a may also contain software elements that reside in the main memory 535, as illustrated by example. These may include an operating system 540, device drivers, executable libraries, and / or other code, for example, one or more application programs 545.

[0042] By way of example only, one or more steps described in relation to the functions of Control Unit 4 can be implemented as code and / or instructions executable by a computer and / or a processor within a computer; in one aspect, such code and / or instructions can then be used to configure and / or adapt a general-purpose computer or other device to perform one or more steps according to the described functions of Control Unit 4.

[0043] Some of these instructions and / or the code can be stored on a computer-readable storage medium, such as the memory(s) 525 described above. As mentioned above, in one aspect, some embodiments can use a computer system, such as the data processing unit 4a, to perform the functions of the control unit 4. According to one embodiment, some or all of the functions of the control unit 4 are performed by the data processing unit 4a in response to the execution of one or more sequences of one or more instructions by the processor 510, which may be integrated into the operating system 540 and / or other code, such as an application program 545, contained in the main memory 535. Such instructions can be read into the main memory 535 from another computer-readable medium, such as one or more of the memory(s) 525.As just one example, the execution of the instruction sequences contained in the main memory 535 could cause the processor(s) 510 to perform one or more steps of the described control unit 4 or functions of the cleaning device 1.

[0044] The terms "machine-readable medium" and "computer-readable medium," as used herein, refer to any medium involved in providing data that causes a data processing unit to operate in a particular way. In an embodiment implemented using the data processing unit 4a, various computer-readable media may be involved in providing instructions / code to the processor(s) 510 for execution and / or be used to store and / or transmit such instructions / code. In many implementations, a computer-readable medium is a physical and / or tangible storage medium. Such a medium may be in the form of a non-volatile medium or a volatile medium. Non-volatile media include, for example, optical and / or magnetic disks, such as the storage device 525.Volatile media include, among others, dynamic storage devices such as 535 RAM.

[0045] The communication subsystem 530 and / or its components typically receive signals, and the bus 505 can then transport the signals and / or the data, instructions, etc., carried by the signals to the main memory 535, from which the processor(s) 510 retrieve and execute the instructions. The instructions received from the main memory 535 can optionally be stored on memory 525 before or after execution by the processor(s) 510.

[0046] The invention is not limited to the embodiments illustrated and described, but also encompasses all embodiments that have the same effect within the meaning of the invention. It is expressly emphasized that the embodiments are not limited to all features in combination; rather, each individual feature can also have inventive significance independently of all other features. Furthermore, the invention is not yet limited to the combination of features defined in claim 1, but can also be defined by any other combination of specific features from all disclosed individual features. This means that, in principle, virtually any individual feature of claim 1 can be omitted or replaced by at least one individual feature disclosed elsewhere in the application. Reference symbol list

[0047] 1 Cleaning device 2 Cleaning tool 3 Housing 4 Control unit 4a Data processing unit 5 Energy storage 6 Cleaning environment 7 Drive wheel 8 Sensor unit 9 Pattern 10 Substrate 10a Carpet 10b Edge 11 Path 11a Straight section 12 Interference pattern 13 Additional path 14 Input interface 14a Display 14b Data processing unit 15 Data interface 505 Bus 510 Processor 515 Input device 520 Output device 525 Memory 530 Communication subsystem 535 RAM 540 Operating system 545 Application program Endpoint Startpoint

Claims

1. Cleaning device (1) comprising at least one cleaning tool (2) and at least one control unit (4), wherein the cleaning device (1) is designed and configured to move autonomously in a cleaning environment (6) and to perform cleaning tasks, characterized by the fact that the control unit (4) is designed and configured to generate at least one predefined pattern (9) on a substrate (10) of the cleaning environment (6), at least using the cleaning tool (2).

2. Cleaning device (1) according to claim 1, characterized by the fact that the control unit (4) is designed and configured to at least activate and deactivate and / or lower and raise the cleaning tool (2) for generating the pattern (9).

3. Cleaning device (1) according to claim 1 or 2, characterized by the fact thatthe control unit (4) is designed and configured to use the cleaning tool (2) to produce the pattern (9) at least temporarily in a manner different from its use in a cleaning process, for example rotating in the opposite direction to that used during a cleaning process.

4. Cleaning device (1) according to one of claims 1 to 3, characterized by the fact that the pattern (9) includes parallel lines and / or squares and / or text and / or at least one symbol and / or at least one logo.

5. Cleaning device (1) according to one of claims 1 to 4, characterized by the fact that the control unit (4) is designed and configured to cause the cleaning device (1) to remove any interfering patterns (12) that arise during the production of the pattern (9), preferably after the pattern (9) has been completed, in particular by passing over it again.

6. Cleaning device (1) according to one of claims 1 to 5, characterized by the fact thatthe control unit (4) causes the cleaning device (1) to produce the pattern (9) by tracing circular, oval or meandering paths (11) on the substrate (10), in particular that the oval or meandering paths (11) have straight sections (11a).

7. Cleaning device (1) according to one of claims 1 to 6, characterized by the fact that the control unit (4) is designed and configured to cause the cleaning device (1) to align at least part of the pattern (9) with an edge (10b) of the substrate (10), in particular with an edge (10b) of a carpet (10a).

8. Cleaning device (1) according to one of claims 1 to 7, characterized by the fact that the control unit (4) is designed and configured to determine an orientation of the pattern (9) using a room contour and / or a center point of the room and / or a position of at least one window and / or a position of at least one door.

9. Cleaning device (1) according to one of claims 1 to 8, characterized by the fact that the control unit (4) is designed and configured to receive at least one position of the pattern (9) in the cleaning environment (6) and / or at least one type of pattern (9) and / or at least one content of the pattern (9) from a user-operated input interface (14,14a,14b).

10. Cleaning device (1) according to one of claims 1 to 9, characterized by the fact that the control unit (4) is designed and configured using at least one sensor unit (8) to detect the type and / or orientation and / or local deviation of the covering of the substrate (10), in particular that the control unit (4) is configured using the sensor unit (8) to detect at least one carpet (10a) or at least one floor mat.

11. Cleaning device (1) according to one of claims 1 to 10, characterized by the fact thatthe pattern (9) can be applied to a substrate (10) designed as a carpet (10a) by aligning the carpet material (10a) in different directions using the cleaning tool (1).

12. Cleaning device (1) according to one of claims 1 to 11, characterized by the fact that the control unit (4) is designed and configured to produce the pattern (9) independently of a cleaning process, in particular after completion of a cleaning process or during a cleaning process.

13. Cleaning device (1) according to one of claims 1 to 12, characterized by the fact that the control unit (4) is designed and configured to produce the pattern (9) using the cleaning tool (2) at at least one location in the cleaning environment (6) where the cleaning device (1) has detected a problem and / or fault during a cleaning operation.

14. Use of a cleaning device (1) with at least one cleaning tool (2), wherein the cleaning device (1) is designed and configured for autonomous movement and for performing cleaning tasks in a cleaning environment (6), in particular according to one of claims 1 to 13, for producing at least one predefined pattern (9) on a substrate (10) in the cleaning environment (6) using the cleaning tool (2).

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