EP3482669A1 - Dispositif de nettoyage humide destiné à nettoyer une surface - Google Patents

Dispositif de nettoyage humide destiné à nettoyer une surface Download PDF

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Publication number
EP3482669A1
EP3482669A1 EP18204770.4A EP18204770A EP3482669A1 EP 3482669 A1 EP3482669 A1 EP 3482669A1 EP 18204770 A EP18204770 A EP 18204770A EP 3482669 A1 EP3482669 A1 EP 3482669A1
Authority
EP
European Patent Office
Prior art keywords
cleaning device
wet cleaning
displacement
wet
cleaning
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP18204770.4A
Other languages
German (de)
English (en)
Other versions
EP3482669B1 (fr
Inventor
Gerhard Isenberg
Roman Ortmann
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Vorwerk and Co Interholding GmbH
Original Assignee
Vorwerk and Co Interholding GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Vorwerk and Co Interholding GmbH filed Critical Vorwerk and Co Interholding GmbH
Publication of EP3482669A1 publication Critical patent/EP3482669A1/fr
Application granted granted Critical
Publication of EP3482669B1 publication Critical patent/EP3482669B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4052—Movement of the tools or the like perpendicular to the cleaning surface
    • A47L11/4055—Movement of the tools or the like perpendicular to the cleaning surface for lifting the tools to a non-working position
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A47L11/4005—Arrangements of batteries or cells; Electric power supply arrangements
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4066—Propulsion of the whole machine
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/022—Recharging of batteries
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Definitions

  • the invention relates to a wet cleaning device with a cleaning element for mechanical wet cleaning of a surface to be cleaned and the wet cleaning device relative to the surface supporting device part area, wherein the wet cleaning device has a displacement device which is set, depending on a FortschulsSullivan and / or a fault status of the wet cleaning automatically Displacement of the cleaning element relative to the device portion, or vice versa, to cause, so that the cleaning element is displaceable from a lowered to the surface position of use in a raised position from the surface distance position.
  • the invention relates to a set of a wet cleaning device of the aforementioned type and a base station for charging a battery of the wet cleaning device, the wet cleaning device is a self-propelled cleaning robot, wherein the wet cleaning device and the base station have corresponding electrical contacts.
  • wet cleaning devices of the aforementioned type are known in the prior art in a variety of different embodiments.
  • the wet cleaning devices may be, for example, wet cleaning devices whose cleaning element is a cleaning cloth acting on a surface.
  • the cleaning element can be arranged, for example, on a roller rotating about a substantially horizontal or vertical axis of rotation or of a carrier plate oriented substantially parallel to the surface to be cleaned.
  • the wet cleaning device can be designed as a wet cleaning device that can be handled by a user, or also as a self-propelled moisture cleaning device in the manner of an autonomous cleaning robot.
  • the cleaning task carried out by the wet cleaning device is a wet mop cleaning, in particular by applying a cleaning agent to the cleaning element or the surface to be cleaned.
  • polishing devices or similar devices which carry out a mechanical treatment of a surface under liquid supply can also be understood.
  • a disadvantage of the aforementioned wet cleaning devices that the cleaning element usually always maintains contact with the surface to be cleaned. If the cleaning is interrupted or terminated, it may cause damage to the surface due to too long exposure of the cleaning agent to the surface to be cleaned. In particular, it is possible for a wet cleaning element to lie on the surface to be cleaned for a longer period of time, thereby causing swelling of the surface. In particular, there is a risk of swelling when the area is a wooden floor.
  • the displacement device is associated with a detection device which is set up to distinguish a standstill of the wet cleaning device from a movement of the wet cleaning device, wherein the displacement device is arranged to cause a displacement of the cleaning element in the distance position at a detected standstill and / or that the detection device is set up to determine an amount of a current travel speed of the wet cleaning device relative to the surface and to compare the amount with a threshold value stored in a memory, wherein the displacement device is set up, a displacement of the cleaning element in the distance position when falling below of the threshold.
  • the cleaning element is dependent on the FortschulsSullivan and / or a fault status of the wet cleaning device Essentiallynverlagerbar, namely at least proportionally in a direction which is not oriented parallel to the surface of the surface. If, for example, the wet cleaning device stands still for a long time on the surface to be cleaned and / or has an error status, in particular in the case of a mobile robot, is stuck or stops due to complete discharge of the accumulator, the cleaning element automatically, in particular completely, of the surface lifted. Thus, damage to the surface is prevented by, for example, a wet and / or with a cleaning agent occupied cleaning element. For example, it can no longer occur that a floor covering of the surface swells due to a moist cleaning element.
  • the wet cleaning device can, for example, one of the displacement device associated control device which generates a control command, which actuates a mechanism for lifting the cleaning element from the surface.
  • the displacement of the cleaning element can be done for example by pivoting or moving the cleaning element relative to the device portion or by pivoting or moving the device portion relative to the cleaning element. Which element, ie the cleaning element or the device part region, is displaced from the displacement device to the other one is irrelevant to the desired effect. Essential is the relative movement of the elements to each other. Since the device subarea supporting itself on the surface defines a contact area to the surface, a displacement of the cleaning element relative to the device subarea means - at unchanged contact of the device subarea to the surface - simultaneously a displacement of the cleaning element relative to the surface.
  • the displacement of the cleaning element and / or the device sub-area is preferably carried out by motor means of an electric motor or by the released restoring force of the displacement device associated spring element or pneumatically, for example, by an air flow of a blower device of the wet cleaning device is used.
  • the wet cleaning device has a detection device, which is set up to distinguish a standstill of the wet cleaning device from a movement of the wet cleaning device, wherein the displacement device is arranged to cause a displacement of the cleaning element in the distance position at a detected standstill.
  • the displacement device there are at least two different locomotion states of the wet cleaning device, namely locomotion and non-locomotion. If the wet cleaning device has a travel speed of zero, ie, is stationary, the displacement device causes lifting of the cleaning element from the surface and / or prevents the cleaning element from being placed on the surface.
  • the cleaning element may remain in contact with the surface or be lowered onto the surface.
  • the cleaning element remains in its previous position of use, in which the cleaning element is lowered onto the surface to be cleaned.
  • the detection device may be configured to determine an amount of a current travel speed of the wet cleaning device relative to the surface and to compare the amount with a stored in a memory threshold value, wherein the displacement device is arranged, a displacement of the cleaning element in the distance position when falling below of the threshold.
  • the threshold value is zero, so that all detected travel speeds that are greater or less than 0 m / s are counted as a movement of the wet cleaning device relative to the surface and thus no lifting of the cleaning element from the surface he follows.
  • the threshold value for preventing too long an action of the cleaning element on the surface may also be defined as non-zero, so that even movements at speeds which are not equal to 0 m / s but are so low that the exposure time caused thereby could lead to damage to a portion of the area, also be considered as a standstill and thus pull a lifting of the cleaning element of the area after.
  • Such a threshold can for example, at a travel speed of 10 mm / s or less.
  • the detection device thus compares a measured actual speed amount with the threshold value, whereupon a control device of the wet cleaning device assigned to the displacement device generates or does not generate a control command for lifting the cleaning element.
  • the defined threshold value can be stored in a memory of the wet cleaning device, which can be accessed by the detection device.
  • a plurality of threshold values can also be defined, which can be used by the detection device as a function of, for example, different types of cleaning elements, types of cleaning, cleaning agents, soil types and / or degrees of moisture of the cleaning element for comparison.
  • the displacement device is associated with a means of locomotion of the wet cleaning device, which contacts the surface in a conventional position of use.
  • the means of locomotion may in particular be a wheel of the wet cleaning device.
  • the wheel may be a drive wheel of the wet cleaning device or even a mere guide or support wheel, which rotates with a movement of the wet cleaning device over a surface to be cleaned.
  • the means of locomotion may also be designed in the manner of a skid.
  • the movement means associated with the displacement means may comprise a pivoting mechanism, a sliding mechanism or the like, in particular also an actuator, particularly preferably an electric motor or a spring element.
  • the displacement device may in particular be associated with a suspension for the means of locomotion, for example a suspension.
  • the suspension can for example have a telescopic linkage.
  • the displacement device may in particular have direct mechanical contact with the means of locomotion, wherein the displacement device preferably a displacement of one or more means of locomotion causes beyond a lower housing contour of the wet cleaning device in the direction of the surface. As a result, the wet cleaning device is lifted together with the cleaning element on the surface.
  • the displacement device can be assigned to a means of locomotion at arbitrary subregions of the damp-cleaning device, provided that it is ensured that, upon actuation of the displacing device, the cleaning element is lifted off the surface to be cleaned.
  • a previously proposed detection device for detecting a movement and / or speed of movement of the damp-cleaning device can be assigned to a means of locomotion of the damp-cleaning device.
  • the detection device may be, for example, a speed measuring device or an odometry measuring device which detects a rotation of a wheel of the wet cleaning device. If it is only possible to distinguish between a locomotion and a non-locomotion without ascertaining an amount of a speed, the damp-cleaning device can alternatively also have an acceleration sensor, by means of which it can be detected whether the damp-cleaning device is currently stationary or moving relative to the surroundings.
  • the detection device is suitable for measuring a parameter which allows a calculation of the current travel speed of the wet cleaning device. If the determined travel speed falls below a defined threshold value, the displacement device can cause a lifting of the cleaning element from a surface.
  • the displacement device is associated with a support element of the wet cleaning device, which does not contact the surface in a conventional position of use of the wet cleaning device.
  • the support member may be formed, for example, as an elongated stand, similar to a bicycle stand, which is not suitable for locomotion on the surface to be cleaned in contrast to a means of locomotion of the wet cleaning device, but only a support at standstill of the wet cleaning device allows.
  • Support member can be pivoted, moved or extended relative to the supported on the surface device part area.
  • the support element can be mounted pivotably about a pivot axis on the device part area.
  • the displacement of the support element causes an increase in the ground clearance of the wet cleaning device and thus an increase in the distance between the cleaning element and the surface to be cleaned.
  • the support element is arranged on a linear displacement device, for example, is mounted on a sliding link or rail.
  • the cleaning element is held by means of a displacement device displaceable on a fixed device part of the wet cleaning device.
  • the wet cleaning device maintains its distance from the surface and its height on the surface. Only the cleaning element arranged inside and / or underneath the housing of the moist cleaning device is displaced relative to the housing and / or another fixed part of the device, such as a chassis.
  • the displacement device may be associated with a spring element whose restoring force is directed in the direction of the lifted from the surface distance position of the cleaning element.
  • the spring element may for example be associated with the means of locomotion or the support element of the wet cleaning device, or else a mechanism which displaces the cleaning element relative to the fixed device part.
  • the spacing of the cleaning element is supported by the restoring force of the spring element.
  • a sprung suspension of a means of locomotion in particular a suspension, have an increased restoring force compared to the conventional one.
  • the restoring force of the spring element is preferably directed in a direction which points away from the surface to be cleaned, so that, for example, in case of malfunction of the power supply of the wet cleaning device, for example caused by a completely empty accumulator, to a displacement of the cleaning element of the surface comes off and there is no risk that the cleaning element unintentionally remains in contact with the surface.
  • the preferred position of the cleaning element or the displacement device is thus preferably the distance from the surface remote position. A lowering of the cleaning element on the surface must therefore be carried out preferably active.
  • the damp-cleaning device has a humidity sensor detecting a degree of humidity of the cleaning element, wherein the displacement device is set up to additionally control the displacement of the cleaning element as a function of the detected moisture level.
  • the displacement of the cleaning element is thus made dependent on the detection result of a humidity sensor, which determines the degree of moisture of the cleaning element and only then, for example, standstill or low speed of movement of the wet cleaning a displacement of the cleaning element of the Area away causes, if the cleaning element actually has a moisture level that exceeds a critical moisture threshold.
  • a completely dry cleaning element can remain on or be lowered onto the surface, even if the wet cleaning device is at a standstill.
  • the invention also proposes a set of a wet cleaning device of the aforementioned type and a base station for charging a rechargeable battery of the wet cleaning device, wherein the wet cleaning device is a self-propelled cleaning robot, and wherein the wet cleaning device and the base station have corresponding electrical contacts.
  • the wet cleaning device and / or the base station has at least three electrical contacts, wherein a control device of the wet cleaning device and / or a control device of the base station is set up for charging the battery at least two of the electrical contacts of the wet cleaning device or the base station in Depend on a distance of the electrical contacts to the surface variably umupupolen.
  • the electrical contacts of the wet cleaning device and / or the electrical contacts the base station are arranged displaceably at the wet cleaning device and / or the base station, wherein a control device of the wet cleaning device and / or a control device of the base station is adapted to relocate the electrical contacts for charging the battery as a function of a distance of the electrical contacts to the surface.
  • the charging capacity of the accumulator of the wet cleaning device is ensured by the fact that at least one additional, third charging contact is kept ready in a relation to two other electrical contacts elevated position on the wet cleaning device.
  • the additional third charging contact may also be formed on the base station.
  • the positions, in particular heights, of the electrical contacts correspond to the known positions of the housing of the wet cleaning device during a lowered position of use and during a lifted from the surface distance position of the cleaning element.
  • the control device is set up to switch the electrical contacts in accordance with this way, namely to change over from one another such that identical polarities lie on the same height level and thus can be connected to one another.
  • the electrical contacts can for example Also be associated with a detection device which detects the polarity of the electrical contacts of the wet cleaning device or the base station and the corresponding electrical contacts of the base station and the wet cleaning device accordingly reversed.
  • both the base station and the wet cleaning device in the usual way only have two electrical contacts, in which case, however, at least the electrical contacts of the wet cleaning device or the electrical contacts of the base station in relation to their height position are displaced.
  • the electrical contacts of the base station can be adjusted to a changed height position of the electrical contacts of the wet cleaning device.
  • FIG. 1 shows an exemplary embodiment of a dampening device according to the invention 1.
  • the wet cleaning device 1 is designed here as a self-propelled wiping robot for cleaning a surface 3.
  • the wet cleaning device comprises a housing fixed part 9 forming a housing, a cleaning element 2 and a plurality of means of transport 7 (of which in FIG. 1 only one is visible).
  • the cleaning element 2 is usually mounted via a carrier or a holding device directly or indirectly on a stationary device 9, such as the housing or a chassis.
  • the cleaning element 2 may be a wipe, in particular a microfiber cloth, which is releasably attached to a support plate.
  • the support plate can in turn be arranged on a swing plate, which moves particularly preferably in circular oscillatory movements over the surface 3 to be cleaned.
  • the cleaning element 2 could also be arranged on a rotating roller, which rotates about a preferably horizontal axis.
  • FIG. 1 a common use position of the cleaning element 2 is shown, in which the cleaning element 2 rests on the surface 3 in order to be able to mechanically clean them.
  • a cleaning liquid is used, for example water.
  • the cleaning liquid may also contain an additional cleaning agent containing a detergency-enhancing surfactant or the like.
  • the cleaning liquid can either be applied directly to the surface 3 to be cleaned and / or to the cleaning element 2.
  • the moistening is preferably effected by means of an automatic moistening device of the moist cleaning device 1.
  • the wet cleaning device 1 can move autonomously on the surface 3.
  • the means of transport 7 are preferably motor-driven wheels.
  • the term means of transport 7 should also fall here, however, means that not are actively driven, but serve the movement of the wet cleaning device 1. These include, for example, training wheels, skids and the like.
  • the autonomous locomotion of the wet cleaning device 1 is here supported by a navigation and self-locating device of the wet cleaning device 1, to which a detection device 6 is part, which is designed here as a distance measuring device.
  • the detection device 6 measures distances to objects within the environment of the wet cleaning device 1 and based on it can create an environment map, with which the moisture cleaning device 1 can orient itself during autonomous movement through spaces in order to avoid a collision with obstacles, to reach a specific destination and like.
  • FIGS. 2a and 2b show first a first embodiment in which the cleaning element 2 is displaceable relative to the device fixed part 9 and relative to the locomotion means 7.
  • the locomotion means 7 are in each case a device subregion 4, which always maintains the contact with the surface 3 and supports the moist cleaning device 1 with respect to the surface 3.
  • the wet cleaning device 1 has two formed as drive wheels means of transport 7 and two pairs of support wheels, which rotate only passively in a locomotion of the wet cleaning device 1.
  • the cleaning element 2 is relative to by means of a displacement device 5 the on the surface 3 supported locomotion means 7 and thus also relative to the surface 3 displaced, that is liftable from the surface 3 in a distance position or placed on the surface 3 for the use position.
  • the displacement device 5 here has a sliding mechanism 18 driven by an electric motor 17, which can move the cleaning element 2 up and down relative to the surface 3.
  • the sliding mechanism 18 is associated with a spring element 10, the restoring force acts in the direction of the lifted from the surface 3 distance position of the cleaning element 2, so that it automatically at a fault status of the wet cleaning device 1 due to, for example, complete failure of the power supply of the wet cleaning device 1 to a movement of the cleaning element. 2 from the area 3 comes away.
  • the displacement device 5 further comprises a control device (not shown), which issues a control command for the electric motor 17, which in turn actuates the sliding mechanism 18.
  • the displacement device 5, namely its control device, is now set up such that the displacement of the cleaning element 2 takes place as a function of a travel state and / or a fault status of the wet cleaning device 1.
  • Under progress state is to be understood whether the wet cleaning device 1 is currently moving relative to the surface 3 or resting on this, and / or at what speed of movement, the wet cleaning device 1 moves over the surface 3.
  • An error status can be, for example, a state of the wet cleaning device 1 that is locked to or under an obstacle, a completely discharged battery, so that no more energy is available for the electric motor of the locomotion means 7 and the like.
  • an error status manifests itself as a "standstill" progress status.
  • an error status may be an error which does not concern the locomotion of the wet cleaning device 1 but, for example, the proper functioning of a cleaning drive which moves the cleaning element 2 over a surface 3 to be cleaned.
  • the wet cleaning device 1 For the detection of a progress state and / or error state of the wet cleaning device 1, the wet cleaning device 1 here has the detection device 6, which on the basis of detection during a movement of the wet cleaning device 1 changing distances to obstacles information about a possible standstill of the wet cleaning device 1 attained. Depending on the recognized locomotion state and / or error status, the displacement device 5 can then cause a displacement of the cleaning element 2.
  • the electric motor 17 is sufficient for displacing the cleaning element 2, so that the spring element 10, following the restoring force, actuates the sliding mechanism 18 and raises the cleaning element 2.
  • the detection device 6 and / or the displacement device 5 is associated with an evaluation device, which calculates, for example, a current speed of the locomotion device 1 from the temporally successive recorded distance measurement data of the detection device 6 and compares the amount of speed with a stored threshold value. If the calculated speed is less than the threshold value, or even zero, causes the displacement device This is done here, for example, by switching off the electric motor 17.
  • the threshold value may be specified by the user or manufacturer.
  • the cleaning element 2 may be assigned a moisture sensor.
  • FIG. 2b shows the wet cleaning device 1 with displaced in a distance position cleaning element 2.
  • the cleaning element 2 is completely lifted from the surface 3 and has no contact with this on.
  • the absolute height of the wet cleaning device 1 does not change on the surface 3, only the cleaning element 2 is displaced relative to the wet cleaning device 1, namely, for example, the device fixed part 9 and the locomotion means 7. Since the cleaning element 2 is covered here by the device fixed part 9, it does not protrude even in the distance position via an upper device contour, which is given here by the detection device 6 out. Thus it is prevented that it can come to a stalling of the cleaning element 2 relative to the surface 3 to a stalling of the wet cleaning device 1 under obstacles, because the absolute height of the wet cleaning device 1 changes suddenly.
  • FIGS. 3a and 3b show a second exemplary embodiment of the invention, in which the displacement device 5 in response to a detected standstill of the wet cleaning device 1, a relation to a threshold too low travel speed or a fault, a shift of the wet cleaning device 1 relative to the surface 3 supporting device part area 4, namely here as a training wheels trained means of transport 7 causes.
  • the detection of the locomotion state and / or error status may, as previously with respect to FIGS. 2a and 2b explained.
  • the displacement device 5 has a support mechanism associated with the sliding mechanism 18, which is driven by an electric motor 17 and the support wheels on a lowermost contour of the device fixed part 9 of the wet cleaning device 1 further pushes out of the housing of the wet cleaning device 1, so that the ground clearance the wet cleaning device 1 is increased.
  • the cleaning element 2 is removed from the surface 3, and designed as drive wheels 7.
  • FIGS. 4a and 4b show a further embodiment, which the embodiment according to the FIGS. 3a and 3b similar.
  • a displacement device 5 is also assigned to the drive wheels here.
  • FIGS. 5a and 5b show a humidifying device 1 with a designed as a support member 8 device part area 4.
  • the support member 8 is pivotally mounted about a pivot axis 19. Die Schwenkachse 19 ist in der Fig. 2 concerns.
  • the pivot axis 19 is associated with an electric motor 17 for pivoting the support element 8.
  • the support member 8 is formed in the manner of an elongate stand, which can be placed on the surface 3. As soon as the support element 8 reaches the surface 3, it comes with a continued pivoting to a oblique jacking up of the wet cleaning device 1, in which the wet cleaning device 1 is skewed and is supported on the surface 3 via a friction element 20 lying opposite the support element 8.
  • the friction element 20 may be, for example, a rubber coating on the housing of the wet cleaning device 1, which ensures that the friction between housing and surface 3 in the inclined position of the wet cleaning device is so great that it does not move on the surface 3.
  • the Figures 6a and 6b show a particular embodiment of a wet cleaning device 1.
  • the wet cleaning device 1 is shown as a set in combination with a base station 11, which (not shown) of the humidifying device 1 is used to charge a rechargeable battery.
  • the base station 11 can also be embodied for carrying out other service tasks, for example for storing cleaning fluid and / or for applying cleaning fluid to the cleaning element 2.
  • the base station 11 has a total of three electrical contacts 14, 15, 16 for charging the accumulator of the moist cleaning device 1 on.
  • the electrical contacts 14, 15, 16 here have alternately positive and negative potential.
  • the wet cleaning device 1 is here by way of example similar to the embodiment according to the FIGS. 3a and 3b educated.
  • the wet cleaning device 1 has two electrical contacts 12, 13, which are connected via a charging circuit to the accumulator.
  • the charging circuit is designed to recognize which potential is applied to the electrical contacts 14, 15, 16 of the base station 11.
  • a control device of the charging circuit is set up to switch over the polarity of the electrical contacts 12, 13 of the wet cleaning device 1 as a function of the detected polarity of the electrical contacts 14, 15, 16 of the base station 11 lying at the same height.
  • the height of the electrical contacts 12, 13 of the wet cleaning device 1 is dependent on the displacement state of the cleaning element 2, since the height of the wet cleaning device 1 for the purpose of lifting the cleaning element 2 from the surface 3 changes.
  • the height position of the electrical contacts 12, 13 also changes, with the result that the electrical contacts 12, 13, 14, 15, 16 of the base station 11 and the wet cleaning device 1 that are opposite each other at the same height no longer have the same potential.
  • the wet cleaning device 1 as in FIG. 6b is shown jacked and thus has a greater height on the surface 3, the electrical contacts 12, 13, the wet cleaning device 1 are no longer the electrical contacts 14, 15 of the base station opposite, but the electrical contacts 15, 16.
  • the electrical contact 13 of the wet cleaning device 1 with a negative potential is then opposite the electrical contact 16 of the base station 11 with a positive potential.
  • the control device switches the polarity of the electrical contacts 12, 13 of the wet cleaning device 1, so that the electric contact 12 as in FIG. 6b then shows negative potential and the electrical contact 13 has positive potential. Then, the accumulator can be charged via the charging circuit.
  • the potential testing of the electrical contacts 12, 13, 14, 15, 16 takes place again.
  • the number of electrical contacts 14, 15, 16 of the base station 11 may be more than three. Furthermore, it is also possible for the base station 11 to have only two electrical contacts 14, 15 and for the wet cleaning device 1 to have more than two electrical contacts 12, 13. Furthermore, both the base station 11 and the wet cleaning device 1 can each have more than two electrical contacts 12, 13, 14, 15, 16. According to an alternative Embodiment, the base station 11 umpolbare electrical contacts 14, 15, 16 have.
  • a further, not shown embodiment of the wet cleaning device 1 could further relative to the fixed device 9 Likewisenverlagerbare electrical contacts 12, 13 provide, which are shifted in response to a changing height position of the electrical contacts 12, 13 so that they always electrical contacts 14, 15, 16 the base station 11 with the same potential opposite.
  • the base station 11 could also have such displaceable electrical contacts 14, 15, 16.

Landscapes

  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Cleaning By Liquid Or Steam (AREA)
  • Electric Suction Cleaners (AREA)
  • Electric Vacuum Cleaner (AREA)
EP18204770.4A 2017-11-10 2018-11-07 Dispositif de nettoyage humide destiné à nettoyer une surface Active EP3482669B1 (fr)

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DE102017126414.0A DE102017126414A1 (de) 2017-11-10 2017-11-10 Feuchtreinigungseinrichtung zur Reinigung einer Fläche

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EP3482669B1 EP3482669B1 (fr) 2022-09-21

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EP (1) EP3482669B1 (fr)
JP (1) JP2019088779A (fr)
CN (1) CN109758050B (fr)
DE (1) DE102017126414A1 (fr)
ES (1) ES2928710T3 (fr)
TW (1) TW201929762A (fr)

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WO2021104689A1 (fr) 2019-11-28 2021-06-03 Carl Freudenberg Kg Robot de nettoyage et système de nettoyage
CN114098543A (zh) * 2020-08-26 2022-03-01 宝时得科技（中国）有限公司 拖地机器人及其控制方法、控制装置和存储介质
EP4062817A1 (fr) * 2021-03-25 2022-09-28 Yunjing Intelligence Technology (Dongguan) Co., Ltd. Ensemble de nettoyage et robot de nettoyage
EP4212077A1 (fr) * 2022-01-13 2023-07-19 BSH Hausgeräte GmbH Procédé de commande d'un appareil de nettoyage de sols se déplaçant de manière autonome, produit programme informatique et appareil de nettoyage de sols pour la mise en oeuvre du procédé
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CN115087383A (zh) * 2021-05-08 2022-09-20 深圳甲壳虫智能有限公司 清扫设备控制方法及清扫设备
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EP4212077A1 (fr) * 2022-01-13 2023-07-19 BSH Hausgeräte GmbH Procédé de commande d'un appareil de nettoyage de sols se déplaçant de manière autonome, produit programme informatique et appareil de nettoyage de sols pour la mise en oeuvre du procédé
EP4643737A1 (fr) 2024-04-29 2025-11-05 BSH Hausgeräte GmbH Robot nettoyeur et son procédé de commande

Also Published As

Publication number Publication date
TW201929762A (zh) 2019-08-01
JP2019088779A (ja) 2019-06-13
US20190142237A1 (en) 2019-05-16
ES2928710T3 (es) 2022-11-22
CN109758050A (zh) 2019-05-17
DE102017126414A1 (de) 2019-05-16
CN109758050B (zh) 2021-12-14
US10716446B2 (en) 2020-07-21
EP3482669B1 (fr) 2022-09-21

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