DE102014100164A1 - Method for cleaning contaminated surfaces with a self-propelled cleaning device and cleaning device therefor - Google Patents

Abstract

The invention relates to a self-propelled cleaning device for automated cleaning of contaminated surfaces having a flooring structure, wherein the self-propelled cleaning device comprises working means for cleaning the contaminated surface, and further comprising a sensor for detecting the flooring structure of the contaminated surface.

Description

The invention relates to a self-propelled cleaning device for the automated cleaning of contaminated surfaces having a floor covering structure, wherein the cleaning device comprises working means for cleaning the contaminated surface. The present invention further relates to a method for cleaning contaminated surfaces with the self-propelled cleaning device.

Such self-propelled cleaning devices are used for the automated cleaning of surfaces. They are for example designed as vacuum cleaners, which are then usually referred to as Robotsauger. But there are also self-propelled cleaning devices for wiping smooth floor coverings known.

Such Robotsauger do not always have an optimal cleaning performance on different floor coverings. For different floor coverings require different technical settings of Robotsaugers, such as different fan speed, brush speed and / or speed to achieve optimum cleaning results. In order to achieve optimum cleaning performance on different floor coverings, the technical settings of the robot vacuum cleaner must be adapted to the particular floor covering to be cleaned.

Although it is known to detect the contaminated surface with a camera and / or to measure the motor current of the drive motor of Robotsaugers during the cleaning drive. With a camera, however, heights and depths of the soil of the contaminated area can not be detected. A current measurement allows only a rough distinction, e.g. between a hard floor and a carpet floor.

So far Robotsauger also use fixed technical settings for a cleaning trip. Only when approaching an obstacle, the driving speed is reduced. Therefore, they may consume more energy for certain floor coverings than would be required for optimal technical settings.

The energy storage of Robotsauger is therefore burdened more than necessary so far. In addition, incorrect technical settings can also lead to damage to floor coverings, such as damage to a carpet runner at too high brush speed. Or the suction power of Robotsaugers is too low, for example, at high speed with low fan speed on a hard floor, so that the contaminated area is insufficiently cleaned.

The object of the invention is therefore to provide a self-propelled cleaning device, with which the disadvantages of the above-mentioned prior art are avoidable, and therefore, regardless of the floor covering of the contaminated surface optimum suction without damaging the flooring with low energy consumption allows. Another object of the invention is to provide a method for cleaning contaminated surfaces with the self-propelled cleaning device.

According to the invention, this object is achieved by a self-propelled cleaning device having the features of claim 1 and by a method having the features of claim 9. Advantageous embodiments can be found in the dependent claims.

The self-propelled cleaning device is provided for automated cleaning of a contaminated surface having a flooring structure. It has working means for cleaning the contaminated surface.

The cleaning device is characterized in that it comprises a sensor for detecting the floor covering structure of the contaminated surface.

The contaminated surface is preferably the surface of a carpet, a carpet, a tile floor, a stone floor, a laminate floor, a parquet floor and / or a PVC floor. However, the cleaning device is preferably also suitable for other floor coverings not mentioned in this list.

In order to detect the flooring structure of the contaminated area, or the floor coverings, the sensor is preferably designed as a scanning sensor. Such a scanning sensor is preferably designed to scan the contaminated surface to detect imperfections and / or undulations of the contaminated surface.

In a preferred embodiment, the sensor includes a piezo sensor which cooperates with a scanning probe and forms the scanning sensor. Such a scanning sensor may also be referred to as a finger sensor. In an alternative preferred embodiment, it is provided that the piezo sensor cooperates with a spring-mounted wheel and forms the scanning sensor. In both embodiments, the piezoelectric sensor is preferably arranged so that it detects a change in height of the wheel or the scanning probe.

Instead of the piezoelectric sensor, other sensors can be used as scanning sensors for detecting the flooring structure, possibly also in combination with a scanning sensor or the spring-mounted wheel. For example, capacitive, inductive or optical or acoustic sensors can be used.

It is further preferred that the self-propelled cleaning device comprises a device control, which is adapted to control the working means in response to the sensor signal of the sensor.

The working means of the cleaning device preferably comprise a main brush, a side brush, a peripheral brush, a drive motor, a wheel and gear unit, a blower and / or further control sensors. But there are also more or other work equipment preferred, especially if the cleaning device is alternatively or additionally suitable for wiping smooth floors.

By the device control of the cleaning device controls its working means in response to the sensor signal, the operation of the cleaning device is systematically changed in dependence on the detected with the sensor flooring structure.

Particularly preferably, the device control controls technical settings of the work equipment. In this case, the term work equipment such technical devices of the self-propelled cleaning device to understand that are relevant for the cleaning of the contaminated area. Preferably, the term working means therefore includes a main brush, a side brush, a peripheral brush, a drive motor, a wheel and gear unit, a fan and / or other control sensors of the cleaning device.

In a preferred embodiment, the device control controls the technical settings speed and / or direction of rotation of the main brush, the side brush, the edge brush, the drive motor and / or the wheel and Getriebeeinheit- and thus the driving speed of the cleaning device, and / or the suction at the blower, and / or the sensitivity of the further control sensors in dependence on the detected sensor signal of the sensor. If the self-propelled cleaning appliance is suitable for wiping smooth floors, it accordingly controls the technical settings of the other or further working means.

Since the device control controls the technical settings of his work equipment as a function of the detected floor covering structure, the self-propelled cleaning device achieves an approximately optimal cleaning result for each floor covering structure with as little energy consumption as possible for the respective floor covering. Compared to a conventional, working during a cleaning drive with the same technical settings of the work equipment, self-propelled cleaning device cleaning device according to the invention therefore allows a significantly improved utilization of its energy storage or batteries.

In order to detect the floor covering structure, it is preferred that the device control is additionally designed to detect the floor covering structure by means of a comparison process of the measured sensor signal with reference signals. For the comparison process, it is preferable for the reference signals to show the floor covering structures for a specific driving speed of the self-propelled cleaning device. The comparison process of the measured sensor signal with the reference signals first preferably comprises a conversion of the measured sensor signal into a converted sensor signal which is calculated as if the self-propelled cleaning device had been operated at the constant defined travel speed. As a result, differences in the driving speed are taken into account. Subsequently, the comparison process comprises the comparison of the converted sensor signal with the reference signals.

Further preferably, the self-propelled cleaning device has a read-only memory for storing conversion algorithms for converting the measured sensor signal into the converted sensor signal, as well as the reference signals.

• • ein Sensorsignal mit einem Sensor gemessen wird;
• • eine Bodenbelagsstruktur einer verunreinigten Fläche durch einen Vergleichsprozess des Sensorsignals mit Referenzsignalen erfasst wird; und
• • technische Einstellungen mindestens eines Arbeitsmittels des selbstfahrenden Reinigungsgerätes in Abhängigkeit von der erfassten Bodenbelagsstruktur verändert werden.

The object is likewise achieved with a method for cleaning contaminated surfaces with a self-propelled cleaning device according to the invention, in particular with a robot vacuum cleaner, in which

• • a sensor signal is measured with a sensor;
• A floor covering structure of a contaminated area is detected by a comparison process of the sensor signal with reference signals; and
• • technical settings of at least one working means of the self-propelled cleaning device are changed depending on the detected flooring structure.

The sensed sensor signal allows the detection of a variety of different floor coverings and their structure by comparison with the reference signals, such as sensitive, normal or insensitive carpets, hard floors, stone or tile floors, laminate or PVC floors, parquet floors. Sensitive carpets are for example high-pile carpets, insensitive carpets are, for example, close-meshed carpets such. B. Wilton carpets. Delicate stone or tiled floors are, for example, marble floors or high-gloss floors.

In this case, the comparison process comprises a conversion of the measured sensor signal into a converted sensor signal, which reproduces the measured sensor signal for a defined constant driving speed, and a comparison of the converted sensor signal with the reference signals.

Depending on the floor coverings structure, the technical settings of the robotic vacuum equipment are adjusted.

The technical settings changed in dependence on the detected floor covering structure are preferably a rotational speed and / or a direction of rotation of the main brush, a side brush, a peripheral brush, a drive motor and / or a wheel and gear unit of the self-propelled cleaning device, a suction power of a blower of the self-propelled cleaning device, and / or a sensitivity of further control sensors of the self-propelled cleaning device.

The sensor signal also makes it possible to detect a direction of extension of carpet edges and / or joints between joined tiles. It is preferred that the direction of travel of the self-propelled cleaning device is adjusted as a function of the extension direction, so that the direction of travel of the cleaning device is arranged at an angle to the joint direction. As a result, the brushes engage better in the joints and along the edges, and the cleaning result is improved.

In a preferred embodiment, the speed of the main brush is lowered for delicate carpets, particularly high pile carpets, so as not to rupture or tear the carpet threads.

In a further preferred embodiment, the speed of the side brushes is lowered in hard floors, not to slam away lying on them dirt.

In a further preferred embodiment, the rotational speed of the wheel and gear unit is lowered in high-pile carpets and tiles, so that the driving speed of the robotic vacuum cleaner is lowered.

In a further preferred embodiment, the sensitivity of other control sensors is increased in sensitive floor coverings and / or lowered in insensitive floor coverings.

In a preferred embodiment, the measured sensor signal or the converted sensor signal is filtered before the comparison in order to filter out interference signals, for example due to contamination of the contaminated surface or vibrations of the cleaning device due to its operation.

By detecting the flooring structure, it is possible to adapt the technical settings of technical facilities of the robotic vacuum cleaner, in particular its working equipment. This not only improves the cleaning result but also optimizes energy consumption and therefore battery performance. Overall, the cleaner therefore works cleaner and cheaper than conventional cleaning equipment. In addition, the flooring structure can be included in the navigation strategy.

Embodiments of the invention are shown purely schematically in the following drawings and will be described in more detail below. It shows:

1 shows in (a) and (b) respectively a section of a self-propelled cleaning device with a sensor for detecting the flooring structure, wherein the sensor is a piezoelectric sensor, in (c) the cleaning device of (b) on the ground, and in (d) the cleaning device from (b) lifted off the ground;

2 schematically shows a room on the bottom of the course of a cleaning trip of a self-propelled cleaning device is shown;

3 shows in (a) - (c) schematically another room, on the bottom of the courses of cleaning trips of the self-propelled cleaning device are shown, in (d) a sensor signal of a course of a (a) - (c) cleaning trip shown, and in ( e) - (h) reference signals of various flooring structures; and

4 shows a further course of a cleaning trip through the room 3 , The self-propelled cleaning device of 1 is a robotic vacuum cleaner 1 , which is intended for cleaning, in particular for suction, of carpets and smooth floors. However, the invention is not based on such Robotsauger 1 limited, but also applicable to self-propelled cleaning equipment, which are additionally or alternatively provided for wiping smooth floors. The following are the terms self-propelled cleaning device and Robotsauger 1 used synonymously.

The robotic vacuum cleaner 1 has a drive system, which comprises a drive motor, a gear unit and one or more, optionally independently drivable, drive wheels. From the drive system shows the 1 but here only schematically a wheel and gear unit 16 of the drive system.

In addition, the drive system of Robotsaugers 1 a support wheel 14 on, which is either pivotable or designed as a rotatable ball in all directions. In mutually independent control of the directions of rotation and rotational speeds of the drive wheels of Robotsauger 1 any movements on a surface to be cleaned 20 To run.

As a surface to be cleaned 20 is in 1 (a) a smooth floor, and in the 1 (b) - (d) a carpet is shown.

The robotic vacuum cleaner 1 points in a suction area 10 a rotating main brush 17 and rotating side brushes 18 on, which are provided to support suction nozzles, not shown. The suction nozzles impurities, such as dust and dirt particles, in a known manner with a filter system, such as a vacuum cleaner bag, in a dust cassette 19 is arranged, collected. The suction nozzles act with a blower motor 15 together.

The suction area 10 , the rotating brushes 17 . 18 , the drive system and the filter system with the blower motor 15 represent those for cleaning the contaminated area 20 relevant work equipment of Robotsaugers 1 , Further for the operation of Robotsaugers 1 existing technical facilities, such as a rechargeable battery for power, charging ports for the battery or a removal option for the vacuum cleaner bag are in the 1 not shown for reasons of clarity.

The robotic vacuum cleaner 1 has a device control 11 on that with the work equipment 15 - 18 is connected to their control. A control sensor and / or a device camera, with or with the Robotsauger 1 continuously recorded his environment, for example, to control the direction of travel and / or the speed of travel in a known manner, are also not shown here for reasons of clarity.

The robotic vacuum cleaner 1 This embodiment has a sensor 12 on, which is designed as a pressure sensor. For this, it comprises a piezoelectric sensor, which detects the floor covering structure of the floor 2 is provided, its area 20 to clean. The following are the terms sensor 12 and piezoelectric sensor used synonymously. The piezoelectric sensor 12 acts via a spring 13 with the support wheel 14 robotic vacuum cleaner 1 together, so that a scanning sensor is formed. At a compression of the support wheel 14 becomes the sensor 12 over the spring 13 pressed together. This change leads to a change in one of the piezoelectric sensor 12 built-up voltage U (s. 3 (d) ) acting as an electrical sensor signal 70 (S. 3 (d) ) is detected. The sensor signal 70 is therefore a measure of the waviness of the floor covering.

In the embodiment of 1 (b) acts on the piezoelectric sensor 12 instead of the spring 13 and the jockey wheel 14 with a scanning sensor designed as a rod 12 ' together, the contaminated area 20 passes over and the piezoelectric sensor 12 compresses upon occurrence of a ripple, so that the above the piezoelectric sensor 12 decreasing voltage U changes and as a sensor signal 70 is detectable.

In the 1 (c) and (d) is the sensor 12 of the 1 (b) via a swivel mechanism 101 . 102 with the wheel and gear unit 16 connected. When not on the ground 2 attached Robotsauger 1 is the sensor 12 with the scanning finger 12 ' raised so that it comes from a housing 100 robotic vacuum cleaner 1 surrounded and therefore protected. Only when discontinuing the Robotsaugers 1 on the ground 2 becomes the sensor 12 with the scanning finger 12 ' extended, leaving the contaminated area 20 sweeps.

In 2 is a space schematically 3 pictured in which a first round rug 41 and a second square carpet 42 are arranged. A robotic vacuum cleaner (not shown here) travels over an exemplary driving route during a cleaning trip 5 , The flooring structure changes as the carpets are run over 41 . 42 , so that the measured sensor signal 70 changed. In a first driving range 51 corresponds to the measured sensor signal 70 that of the flooring 8th without one of the carpets 41 . 42 in a second driving range 52 It matches that of the first or second carpet 41 . 42 , and in a third driving range 53 it corresponds to a transition from Flooring 8th without one of the carpets 41 . 42 to the first or second carpet 41 . 42 So an edge.

Unless the texture of the carpets 41 . 42 differs from those of the sensor 12 detected sensor signals 70 when crossing the first and second carpet 41 . 42 from each other, and optionally from the sensor 12 detected sensor signals 70 when crossing the transition from the floor covering 8th without one of the carpets 41 . 42 to the first carpet 41 and from the flooring 8th without one of the carpets 41 . 42 to the second carpet 42 from each other.

The 3 (a) shows another room 3 with several furniture 6 , Exemplary are possible routes 5 a robotic vacuum cleaner 1 shown during a first cleaning trip. In the 3 (b) are also the space points 50 shown at which the sensor 12 Voltage peaks U _{MAX has} detected. The sensor signal 70 of the sensor 12 is in the 3 (d) for a defined route 28 , in the 3 (c) is shown, exemplified. The illustration shows the course of the above the piezoelectric sensor 12 decreasing voltage U as a function of time t.

Due to the rectilinear voltage curve of the sensor signal 70 between the measured voltage peaks U _MAX can be closed on a smooth floor. Due to the presence of voltage peaks U _MAX can be applied to joints 81 getting closed. The uniform distribution of the voltage peaks U _MAX , that is, the uniform time interval A (s. 3 (d) ) of their occurrence of each other, allows a conclusion on a joint direction 91 . 92 in which are the joints crossed 8th extend, relative to a direction of travel 9 robotic vacuum cleaner 1 to. And that is the direction of travel 9 at constant speed, even tiles 8th and equally distributed voltage peaks U _MAX transverse to a joint direction 91 . 92 arranged. And based on the duration of the voltage peaks U _MAX and / or their amount, laminate, stone and tiled floors can be distinguished from each other.

The 3 (e) - (h) show reference signals 71 - 76 for different floor coverings. Shown is the one with the sensor 12 detected voltage U in [V] (volts) over time t in [s] (seconds). The reference signals 71 - 76 correspond to fictitious sensor signals, which when driving over the floor coverings with a constant defined driving speed of Robotsaugers 1 would be recorded.

In 3 (e) is a first reference signal 71 shown for a laminate floor. The voltage peaks U _{MAX show} the presence of a ripple, here a joint 8th between two laminate tiles 8th or -lists (s. 3 (c) ). A constant voltage curve indicates a flat bottom. Since the distance A between the stress peaks U _MAX is equal here, the laminate floor is in a straight line transverse to the joint direction 91 . 92 (S. 3 (c) ) run over. When driving over the laminate floor at an angle to the joint direction 91 . 92 has the waveform voltage peaks U _MAX at different distances (not shown), the distance to the joints 81 point out and from which at a known speed on the dimensions of the laminate tiles or bars can be concluded. From the height of the voltage peaks U _MAX can also be closed to the depth of the joints.

The 3 (f) shows a second reference signal 72 for a tiled floor. Again, the voltage peaks U _{MAX show} the presence of ripple, namely a joint 81 between two tiles, on. Again, the distance A between the voltage spikes U _{MAX is the} same, which is a straight over the joints 81 transverse to the joint direction 91 . 92 displays. The stress peaks U _MAX take longer in comparison to those in the laminate floor, which at the same speed and the same angle of travel 9 to the joint direction 91 . 92 on a wider fugue 81 indicates and allows the conclusion on stone or tiled floor compared to laminate floor.

The 3 (g) shows one after the other an earlier third reference signal 73 for a close-meshed carpet such as a Wilton floor, and a later fourth reference signal 74 for a high pile carpet floor. Since carpets have an uneven waviness, the waveform of these reference signals varies 73 . 74 here unevenly, and in fact larger amounts, the higher the pile of the carpet is.

The 3 (h) shows an earlier fifth reference signal 75 for a smooth floor, for example for a PVC floor, and a later sixth reference signal 76 for a smooth floor with a structure, for example for a pimped PVC floor.

The sensor signal 70 of the sensor 12 is over a defined route 28 recorded and converted in a comparison process, first to the constant defined travel speed in a converted sensor signal. The floor covering is then compared with the reference signals 71 - 76 identifiable. By comparing the in the 3 (d) represented sensor signal 70 for example, for the room 3 of the 3 (a) - (c) on a laminate floor of laminate tiles 8th getting closed.

Not only are carpets of hard floors clearly distinguishable, but also the flooring structure, such as smooth, studded, deep pile or close-meshed, is recognizable. In addition, the joint direction 91 . 92 , in the boards, moldings and / or tiles 8th a floor 2 are laid and / or are the dimensions of the boards and / or tiles 8th , with the help of the joints 81 indicative voltage peaks U _MAX detectable. This information is also for the calculation of an optimized route 5 available.

LIST OF REFERENCE NUMBERS

1

Robot vacuum cleaners

10

suction area

100

casing

101

Swivel mechanism

102

Swivel mechanism

11

device control

12

(piezoelectric) sensor

12 '

scanning probe

13

feather

14

Wheel, support wheel

15

fan

16

Wheel and gear unit

17

main brush

18

side brush

19

suction tank

2

ground

20

Contaminated area

28

Defined driving distance

3

room

41

First carpet

42

Second carpet

5

cleaning section

50

space point

51, 52, 53

first - third cleaning area

6

Furniture

70

sensor signal

71-76

reference signals

8th

Flooring, tile, laminate

81

groove

9

direction of travel

91, 92

joint direction

U

Voltage, measured in volts [V]

U _MAX

Transient

t

Time, measured in seconds [s]

Claims (12)

Self-propelled cleaning device ( 1 ) for the automated cleaning of a contaminated area ( 20 ), which has a floor covering structure, wherein the self-propelled cleaning device ( 1 ) Work equipment ( 15 - 18 ) for cleaning the contaminated surface ( 20 ), characterized in that it comprises a sensor ( 12 ) for detecting the flooring structure of the contaminated area ( 20 ). Cleaning device ( 1 ) according to claim 1, characterized in that it comprises a device control ( 11 ), which is adapted to store the work equipment ( 15 - 18 ) in response to a sensor signal ( 70 ) of the sensor ( 12 ) to control. Cleaning device ( 1 ) according to claim 1 or 2, characterized in that the working means ( 15 - 18 ) a main brush ( 17 ), a side brush ( 18 ), a peripheral brush, a drive motor, a wheel and gear unit ( 16 ), a blower ( 15 ) and / or other control sensors. Cleaning device ( 1 ) according to claim 2 or 3, characterized in that the device control ( 11 ) technical settings of the equipment ( 15 - 18 ), in particular speed and / or direction of rotation of the main brush ( 17 ), Side brush ( 18 ), Edge brush, the drive motor and / or the wheel and gear unit ( 16 ), Suction power of the blower ( 15 ) and / or sensitivity of the other control sensors. Cleaning device ( 1 ) according to one of claims 1 to 4, characterized in that the sensor ( 12 ) is designed as a scanning sensor. Cleaning device ( 1 ) according to one of claims 1 to 5, characterized in that the sensor ( 12 ) comprises a piezoelectric sensor which is connected to a wheel ( 14 ) of the self-propelled cleaning device ( 1 ) or a scanning probe ( 12 ' ) works together. Cleaning device ( 1 ) according to one of claims 1 to 6, characterized in that the device control ( 11 ) is adapted to the floor covering structure by a comparison process of the measured sensor signal ( 70 ) with reference signals ( 71 - 76 ) capture. Cleaning device ( 1 ) according to claim 7, characterized in that it comprises a read-only memory for storing the reference signals ( 71 - 76 ). Method for cleaning contaminated surfaces ( 20 ) with a self-propelled cleaning device ( 1 ), in particular according to one of the preceding claims, in particular with a robotic vacuum cleaner, in which - a sensor signal ( 70 ) with a sensor ( 12 ) is measured; - a flooring structure of the contaminated area ( 20 ) by a comparison process of the sensor signal ( 70 ) with reference signals ( 71 - 76 ) is detected; and - technical settings of at least one working equipment ( 15 - 18 ) of the self-propelled cleaning device ( 1 ) are changed depending on the detected flooring structure. A method according to claim 9, characterized in that the comparison process is a conversion of the measured sensor signal ( 70 ) in a converted sensor signal for a defined constant driving speed, and a comparison of the converted sensor signal with the reference signals ( 71 - 76 ). A method according to claim 9 or 10, characterized in that a rotational speed and / or a direction of rotation of a main brush ( 17 ), a side brush ( 18 ), a border brush, one Drive motor and / or a wheel and gear unit ( 16 ), a suction power of a blower ( 15 ) and / or a sensitivity of further control sensors depending on the detected flooring structure are controlled. Method according to one of claims 9 to 11, characterized in that the measured sensor signal ( 70 ) or the converted sensor signal before comparison with the reference signals ( 71 - 76 ) is filtered.

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