Mobile self-propelled device

Abstract

A mobile, self-propelled device, in particular a floor cleaning device, such as a vacuuming, sweeping and / or mopping robot, is described, comprising a device body (7) and a dry cleaning unit arranged on the device body (7) with a suction nozzle (1) and at least one side brush (3) arranged adjacent to the suction nozzle (1), wherein the device body (7) comprises a spirally or helically shaped guide element (8) on which the side brush (3) can be moved from a horizontally oriented first position at least into a second position inclined to the horizontally oriented position, and vice versa.

Description

[0001] The invention relates to a mobile, self-driving device, in particular a floor cleaning device, such as a vacuuming, sweeping and / or mopping robot, which has a device body and a dry cleaning unit arranged on the device body with a suction mouth and at least one side brush arranged adjacent to the suction mouth.

[0002] Cleaning robots are designed to relieve users of the tedious task of removing dust and dirt from the floor. They autonomously cover as much of the floor surface as possible, cleaning areas near walls and around chair and table legs. However, conventional side brushes are only partially suitable for cleaning baseboards, as their predominantly horizontal rotation generally prevents the brush arms from rising above the floor. Another problem with side brushes is that they tend to wrap around hair lying on the floor and can become so dirty over time that manual cleaning by the user becomes necessary.

[0003] For manual cleaning of baseboards, hand brushes are known which predominantly have bristles oriented all around, with which the baseboards can be swept or cleaned from the sides and above above the floor level.

[0004] The object of the invention is to provide a mobile, self-driving device which, with its side brush, allows not only wall and corner cleaning but also effective cleaning of baseboards.

[0005] This problem is solved by a mobile, self-driving device with the features of claim 1. Advantageous embodiments and further developments are the subject of the dependent claims.

[0006] According to the invention, a mobile, self-propelled device, in particular a floor cleaning device, such as a vacuuming, sweeping and / or mopping robot, comprises a device body and a dry cleaning unit arranged on the device body with a suction nozzle and at least one side brush arranged adjacent to the suction nozzle, wherein the device body comprises a spirally or helically shaped guide element on which the side brush can be moved from a horizontally oriented first position at least to a second position inclined to the horizontally oriented position, and vice versa.

[0007] The side brush is positioned on the device body in such a way that it can be moved and tilted. This allows the device to effectively clean corners and walls when in its initial horizontal position, while also enabling the side brush to be tilted for thorough cleaning of baseboards. In the tilted position, the side brush is also protected from becoming entangled with hair.

[0008] The following advantages can be achieved as a result: Corner cleaning remains equally effective when the side brush is in the first position; baseboards can be cleaned more effectively in the second position, meaning they can be cleaned completely; the side brush's tilt along the guide element allows for different angles depending on its position; the smaller contact area of ​​the side brush with the floor in the second position results in less soiling of the side brush. Users need to clean the side brush manually less often; edge cleaning of chair legs can be facilitated when the side brush is in the second position.

[0009] A mobile, self-driving device is understood to be, in particular, a floor cleaning device that autonomously cleans floor surfaces, especially in the home. This includes combination devices, such as vacuuming and mopping robots. These devices operate (during cleaning mode) preferably with little or no user intervention. For example, the device automatically moves to a designated room to clean the floor according to a pre-programmed cleaning strategy.

[0010] The device has at least one dry cleaning unit comprising the suction nozzle (with brush roller), side brush, dust box (with filter), and blower. The side brush is positioned at the front of the device so that its bristles can clean edges when the device moves along them at a close distance (for example, from about 0.5 cm to about 2 cm). A wet cleaning unit may be located at the rear of the device, which damp-mops the previously vacuumed and swept floor.

[0011] A guide element is any element suitable for holding, guiding, and moving the side brush. In particular, the guide element allows the side brush to be moved, for example, pushed, from the first position to the second position. The guide element is typically spiral or helical in shape. This means that the guide element describes a curve or helix within or on the device body, radiating around an axis.

[0012] The first and second positions are positions on the guide element. Specifically, the first position represents a forward position of the side brush on the guide element, and the second position represents a rearward position of the side brush on the guide element. The forward and rearward positions refer to the direction of travel of the device during cleaning. In the first position, the side brush is primarily horizontally oriented, particularly with respect to the floor surface being cleaned. From this first position, the side brush can be rotated along the guide element on the device body to the second position. In this inclined or rotated position, the orientation of the side brush deviates from the horizontal orientation of the floor surface and is specifically tilted relative to it, meaning it is oriented at an angle to it.

[0013] In an advantageous embodiment, the guide element is a guide rail or cam track, which in particular includes a threaded rod for moving the side brush. The side brush is moved along the cam track or guide rail, which is inclined at an angle. The movement along the cam track or guide rail is achieved by the threaded rod.

[0014] In a further advantageous embodiment, the first position is provided for cleaning walls and corners, and the second position for cleaning baseboards and navigating around obstacles with small external dimensions. In a forward position (first position), the side brush for corner cleaning is pushed forward so far that the cleaning arms of the side brush extend beyond the device body towards the corner, thus enabling complete cleaning of the corner. In the rear position (second position), the side brush is shifted and tilted along the guide element, allowing, for example, baseboards to be cleaned over their entire surface.

[0015] In addition to reduced soiling of the side brush in the rear position and improved cleaning of baseboards, another advantage arises: when maneuvering around chair legs, for example, the device circles the leg on one axis of its drive wheels. The side brush, when pushed to the rear, effectively reaches the edges of the leg (depending on its size), whereas the side brush in the forward position would not be able to reach a chair leg.

[0016] The side brush preferably extends forward and laterally beyond the device body in the first position and laterally beyond the device body in the second position to achieve the intended cleaning of room features, obstacles or furniture.

[0017] In a further advantageous embodiment, the second position of the side brush is inclined by more than 45° and less than 90°, in particular by 50° to 70°, preferably by substantially 60°, relative to the horizontally oriented first position. The guide element thus gradually tilts the position of the side brush from the horizontal until, for example, it is inclined at most perpendicular to the horizontal orientation or to the floor plane. A rotation of the side brush by, for example, a maximum of 90° is therefore achieved by guiding the side brush along the guide element from front to back.

[0018] In a further advantageous embodiment, the side brush can be adjusted to different angles relative to the horizontal position between the first and second positions. In particular, angles of the side brush between 0° (front position of the side brush) and, for example, a maximum of 90° (rear position of the side brush) are possible. By moving the side brush between the front and rear positions, any desired angle of the side brush can be set, allowing the device to adapt to different baseboards. This angle enables baseboards or rounded wall moldings to be cleaned along their entire height. Furthermore, the smaller contact area of ​​the side brush with the floor reduces the accumulation of hair on the side brush.In addition to the front and back positions, other positions are preferably possible, which are located, for example, between the two positions or even beyond the back position (second position).

[0019] In a further advantageous embodiment, the guide element is arranged on the underside of the device body in a substantially perpendicular orientation to the suction nozzle. In particular, the guide element does not move parallel to the suction nozzle, but is oriented obliquely to it and leads from a front of the device body towards a rear (viewed in the direction of travel).

[0020] In another advantageous embodiment, the movement from the first position to the second position is performed manually by a user or automatically by the device. Manual movement requires user action. Therefore, automatic movement by the device is advantageous. This is software-based. In particular, the device learns the layout of the rooms and all their characteristics through its exploration run. Furthermore, the device knows its position in the room through localization. This allows the device to adjust the position of the side brush, and thus its tilt angle, according to the requirements of the side brush (depending on proximity to walls, obstacles, existing baseboards, baseboard angle, etc.).

[0021] The invention further relates to a method for moving a side brush of a mobile, self-driving device as described from a horizontally oriented first position at least into a second position inclined to the horizontally oriented position, and vice versa.

[0022] It is understood that, in addition to the method and the device, a computer program product comprising instructions that, upon execution of the program, cause a device to carry out the method according to the invention, is also part of the scope of this invention. Likewise, a computer-readable medium on which such a computer program product is stored is part of the scope of this invention.

[0023] Any features, designs, embodiments and advantages relating to the device also apply in connection with the method according to the invention, the computer program product and the computer-readable medium, and vice versa.

[0024] The invention is explained in more detail with reference to the following examples. These examples show: Figure 1A: a schematic top view of an embodiment of a mobile, self-propelled device according to the invention; Figures 1B, 1C: each a schematic bottom view of an embodiment of the mobile, self-propelled device according to the invention. Figur 1A Figures 2A and 2B: each a schematic view of an embodiment of a guide element of a mobile, self-propelled device according to the invention; Figure 3A: a schematic bottom view of an embodiment of a mobile, self-propelled device according to the invention while driving around a chair leg; and Figure 3B: a schematic cross view of the embodiment of the Figur 3A .

[0025] In Figur 1A is a mobile, self-driving device, specifically a robot 10 shown in overhead view. Figures 1B and 1C show the robot 10 of the Figur 1A Each is shown in a bottom view. The robot 10 includes a suction opening 1 in which a brush roller 2 is integrated. The robot 10 also has a side brush 3 with side brush arms on a front lateral section of its body, positioned so that its bristle tufts can clean edges when the robot 10 moves along them at a close distance (e.g., 0.5 to 2 cm). The side brush 3 is designed to transport dust and dirt, especially along walls and corners, to the suction opening 1 of the robot vacuum.

[0026] The robot 10 perceives its environment using various sensors, in particular a LiDAR sensor 4, which is used to create an environmental map with the contours of walls, objects, and obstacles. In addition, the robot 10 has a camera 5 that can detect objects in front of the robot 10 and is used, for example, for object recognition and object classification.

[0027] In addition to the suction nozzle 1 with the brush roller 2, the robot 10 has a suction blower. The robot 10 can also include a wet cleaning module 6, which damp-mops the previously vacuumed and swept floor. The side brush 3 is positioned at the front of the robot 10, on at least one side or front corner, with its cleaning arms extending beyond the contour of the robot body 7. Specifically, the side brush 3 is positioned next to the suction nozzle 1 on the underside of the robot 10 in such a way that when the side brush 3 rotates, the cleaning arms transport dust and dirt from the floor into the suction nozzle 1. In particular, the rotating side brush 3, or rather its cleaning arms (e.g., bristle tufts or rubber arms), sweeps dust from walls and corners in the front area of ​​the robot body 7 and transports it towards the suction nozzle 1.

[0028] The side brush 3 in the front area of ​​the device body 7 enables effective corner and edge cleaning of the rooms to be cleaned. To also reliably clean baseboards with the same side brush 3, the robot 10 has a guide element 8 on its underside, to which the side brush 3 is attached and, in particular, slidably mounted. The guide element 8 is arranged on the underside of the robot 10 such that it guides the side brush 3 from an initial position (first position) on the front underside, diagonally along the underside to one side of the device body 7, to an end position (second position) formed on the side. The initial position of the side brush 3, which achieves good corner and edge cleaning results, is located in Figur 1BThe final position of the side brush 3, which allows for a good result when cleaning the entire baseboard, is shown in Figur 1C The side brush is moved to tilt along the guide element 8, which is spirally or helically shaped. In the initial position, the side brush 3 is horizontally aligned and extends beyond the contour of the device body 7 at the front and sides. In the final position, the side brush 3 is inclined or tilted relative to the horizontal and extends laterally beyond the contour of the device body 7.

[0029] From its initial position to its final position, the side brush 3 is moved from its initial horizontal position to a position tilted at an angle of, for example, a maximum of 90° relative to the horizontal position. Tilting the side brush 3 not only ensures reliable cleaning of the baseboard but also protects it from becoming entangled with hair.

[0030] The guide element 8 and the side brush 3, which can be moved along the guide rail 8, are described in detail in the Figure 2A , 2B depicted. Figur 2A shows the side brush 3 in its initial position, especially in a horizontally oriented first position (for cleaning corners and walls). Figur 2B The side brush 3 is shown in its final position, in particular in a second position inclined to the horizontally oriented position (for cleaning baseboards).

[0031] The side brush 3 is moved along the guide element 8, which is designed as a guide rail or guide track and is inclined at an angle. The movement along the guide element 8 takes place in the Figure 2A , 2B by a threaded rod 9. In the initial position ( Figur 2A) The side brush 3 for corner cleaning is pushed forward so far that the cleaning arms of the side brush 3 extend beyond the device body 7 of the robot 10 towards the corner, thus enabling complete cleaning of the corner. In the end position ( Figur 2B The side brush 3 is moved along the guide element 8 and tilted by, for example, 60° or more (maximum 90°), allowing for the complete cleaning of baseboards. By moving the side brush 3 between its starting and ending positions, any desired tilt can be set, enabling the robot 10 to adapt to different baseboards. This tilt allows baseboards or rounded wall moldings to be cleaned along their entire height. Furthermore, the smaller contact area of ​​the side brush 3 with the floor reduces the accumulation of debris such as hair on the side brush 3.

[0032] In addition to the starting position and the end position, further positions of the side brush 3 are possible if required, for example between the two positions or beyond the end position.

[0033] In addition to reduced soiling of side brush 3 in its end position and improved surface cleaning of baseboards, the tilted side brush 3 also allows for improved cleaning of objects and obstacles with small external dimensions, such as chair and table legs. This is particularly useful in the Figures 3A, 3B As shown. When maneuvering around chair legs 11, the robot 10 circles the chair leg 11 on the axis of its drive wheels 12. The second position of the side brush 3 (end position), pushed backwards, reaches the edges of the chair leg – depending on its size – whereas the side brush 3 in its first position (starting position) would not reach a chair leg.

Claims

1. Mobile, self-propelled device, in particular floor cleaning device, such as a vacuuming, sweeping and / or mopping robot, comprising a device body (7) and a dry cleaning unit arranged on the device body (7) with a suction nozzle (1) and at least one side brush (3) arranged adjacent to the suction nozzle (1), wherein the device body (7) comprises a spirally or helically shaped guide element (8) on which the side brush (3) can be moved from a horizontally oriented first position at least to a second position inclined to the horizontally oriented position, and vice versa.

2. Device according to claim 1, wherein the guide element (8) is a guide rail or cam guide, which in particular comprises a threaded rod (9) for carrying out the movement of the side brush (3).

3. Device according to one of the preceding claims, wherein the first position is provided for cleaning walls and corners and the second position is provided for cleaning baseboards and / or when navigating around obstacles with small external dimensions.

4. Device according to one of the preceding claims, wherein the side brush (3) extends forward and laterally beyond the device body (7) in the first position and laterally beyond the device body (7) in the second position.

5. Device according to one of the preceding claims, wherein the second position of the side brush is inclined by more than 45° and less than 90°, in particular by 50° to 70°, preferably by substantially 60°, relative to the horizontally oriented first position.

6. Device according to one of the preceding claims, wherein differently inclined positions of the side brush (3) relative to the horizontally oriented position can be set between the first position and the second position.

7. Device according to one of the preceding claims, wherein the guide element (8) is arranged in a substantially perpendicular orientation to the suction mouth (1) on an underside of the device body (7).

8. Device according to any of the preceding claims, wherein the movement from first position to second position is performed manually by a user or automatically by the device.

9. Method for moving a side brush (3) of a mobile, self-propelled device according to one of the preceding claims from a horizontally oriented first position at least into a second position inclined to the horizontally oriented position, and vice versa.

10. Computer program product comprising commands which, when the program is executed by the device according to any one of claims 1 to 8, cause the device to execute the method according to claim 9.

11. Computer-readable data carrier on which the computer program product according to claim 10 is stored.

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