WO2009027400A1 - Displaceable device for working on preferably flat surfaces - Google Patents
Displaceable device for working on preferably flat surfaces Download PDFInfo
- Publication number
- WO2009027400A1 WO2009027400A1 PCT/EP2008/061152 EP2008061152W WO2009027400A1 WO 2009027400 A1 WO2009027400 A1 WO 2009027400A1 EP 2008061152 W EP2008061152 W EP 2008061152W WO 2009027400 A1 WO2009027400 A1 WO 2009027400A1
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- WO
- WIPO (PCT)
- Prior art keywords
- control parameter
- suction
- serves
- cleaning
- control
- 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.)
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Classifications
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- 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
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
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- 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
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
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- 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
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
- A47L9/2821—Pressure, vacuum level or airflow
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- 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
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
- A47L9/2842—Suction motors or blowers
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- 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
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
- A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
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- 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
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2868—Arrangements for power supply of vacuum cleaners or the accessories thereof
- A47L9/2884—Details of arrangements of batteries or their installation
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- 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
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- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B40/00—Technologies aiming at improving the efficiency of home appliances, e.g. induction cooking or efficient technologies for refrigerators, freezers or dish washers
Definitions
- the invention relates to a movable device for performing work on preferably flat surfaces, in particular for cleaning windows in the form of an autonomous unit provided with a cleaning part, with a suction device for generating a negative pressure between the device and the surface, wherein the suction device of one of the device entrained energy storage is fed.
- Such devices are known for example from EP 1237456 B1, which generate by the vacuum built up an attraction force to the applied surface and can move in this way along oblique or even vertical surfaces. Such devices are used in particular for performing work on hard to reach areas, so for example when cleaning the outer surfaces of large buildings.
- the invention has the object, in a device of the type mentioned by appropriate adjustment of the operation to achieve an extension of the maximum achievable running time.
- a device that solves this object is characterized by a control unit which regulates the suction power of the suction device as a function of control parameters resulting from the current operating or driving state of the device in such a way that the device is held on the surface with minimal energy expenditure with sufficient adhesive force, wherein the control parameters derived from the current operating or driving state itself and / or detected or determined by sensors.
- the advantage achieved by the invention consists essentially in the fact that the current required for the operation of the suction device according to the current operating or Driving condition is adapted, especially since the suction device is that electrical load of the device, which - measured in terms of total energy requirements - the percentage of the largest share.
- the invention makes use of the fact that the device can assume different, depending on different factors operating and driving conditions, there are operating conditions in the overall operating sequence, in which even a reduced power of the suction device provides a sufficiently high holding force up to a certain limit with which the device can still move properly on the surface.
- the device is provided on its surface facing the bottom with a cleaning module that requires a certain contact pressure to the surface for optimum cleaning effect, lowering the contact pressure may indeed lead to a poorer cleaning result; However, if the degree of contamination of the surface is low, then a reduced contact pressure for a high-quality cleaning result can be sufficient.
- control unit depending on the field of application of the device, very different operating states and operating conditions can be used to derive therefrom control parameters for the control unit.
- the differential pressure achieved by the suction device serves as a control parameter.
- This differential pressure can be determined directly by measurement and can immediately conclusions on the given contact pressure of the device to the surface.
- a variety of the holding force influencing boundary conditions are detected, such as the nature and extent of the sealing of the device against the surface.
- the spatial orientation or orientation of the device can serve as further important control parameters, which takes into account whether the device moves on an inclined plane and in this case contributes to an increase of the required contact pressure due to its own weight force, or if the device works on a vertical surface or under an area in the "overhang".
- an integrated sensor system can be provided in the device.
- the degree of contamination of the surface can be used, since at a lower contamination, a lower contact pressure is sufficient to achieve a sufficiently high cleaning result.
- control parameter and the residual charge of the energy storage can be used, for example, to allow a return of the device to its basic position, without taking the risk of detachment from the surface.
- the driving speed of the device can also serve as a control parameter since the required holding force is also dependent on the driving speed.
- an energy storage is usually a rechargeable battery used; In principle, however, other devices are suitable for this, such as a fuel cell.
- the device shown in the drawing is used to perform work on preferably flat surfaces 1, in particular for cleaning windows.
- the device is designed to be movable by an only indicated drive unit 8 as an autonomous unit 2 and provided with a cleaning part 6 and with a suction device, not shown, which serves to generate a negative pressure between the device and the surface 1. By this negative pressure, a holding force is generated, which holds the device to the surface.
- the suction device and other units of the device are made of one of the Device entrained energy storage fed, which means that the duration of use of the device is limited depending on the capacity of the energy storage.
- a control unit which regulates the suction power of the suction device in dependence on the current operating or driving state of the device.
- the suction device is the one electrical consumer who has the largest percentage of the total energy requirement.
- control parameters are used which are derived from the operating or driving state itself or alternatively detected or determined by sensors.
- the differential pressure achieved by the suction device is suitable, as this results directly from the holding force with which the device is held on the surface.
- suitable sensors are available which provide corresponding measurement signals for further evaluation.
- the contact force of the cleaning part against the cleaning surface can also be used directly as a control parameter since suitable sensors are also available for this purpose.
- Another important for the suction control parameters may be the current position of the device on the surface 1, this information can be provided in the form of polar or Cartesian coordinates.
- the spatial orientation or orientation of the device is important for the regulation of the suction power, since the device on a horizontally extending or inclined plane due to its own weight applying an additional contact pressure, while this on a vertical or even overhanging surface 1 is not the Case is so that there is a higher suction power is needed.
- This spatial orientation can be determined by a suitable integrated sensors in the device and then taken into account.
- the degree of contamination of the surface 1 serve as a control parameter for the control unit controlling the suction device.
- the residual charge of the energy store must also be taken into account in order to ensure, in particular, that the device can be returned to its resting or starting position at the same time.
- the current driving speed influences the level of the required suction power, so that the driving speed can also be used as control parameter for regulation.
- an energy storage is usually an accumulator provided, but for this purpose, more modern sources of energy, especially fuel cells can be used.
- the energy storage as well as the control unit can be accommodated in a cavity 4 of the autonomous unit 2.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Cleaning In General (AREA)
- Electric Vacuum Cleaner (AREA)
- Manipulator (AREA)
Abstract
Description
Verfahrbare Vorrichtung zum Durchführen von Arbeiten an vorzugsweise ebenen Flächen Movable device for performing work on preferably flat surfaces
Die Erfindung betrifft eine verfahrbare Vorrichtung zur Durchführung von Arbeiten an vorzugsweise ebenen Flächen, insbesondere zur Reinigung von Fenstern in Form einer mit einem Reinigungsteil versehenen autonomen Einheit, mit einer Saugeinrichtung zur Erzeugung eines Unterdrucks zwischen der Vorrichtung und der Fläche, wobei die Saugeinrichtung aus einem von der Vorrichtung mitgeführten Energiespeicher gespeist wird.The invention relates to a movable device for performing work on preferably flat surfaces, in particular for cleaning windows in the form of an autonomous unit provided with a cleaning part, with a suction device for generating a negative pressure between the device and the surface, wherein the suction device of one of the device entrained energy storage is fed.
Derartige Vorrichtungen sind beispielsweise aus der EP 1237456 B1 bekannt, die durch den aufgebauten Unterdruck eine Anziehungskraft zu der ihnen anliegenden Fläche erzeugen und sich auf diese Weise entlang von schräg verlaufenden oder auch senkrecht stehenden Flächen bewegen können. Solche Vorrichtungen dienen insbesondere zum Durchführen von Arbeiten an schwer zugänglichen Flächen, also beispielsweise beim Reinigen der Außenflächen von großen Gebäuden.Such devices are known for example from EP 1237456 B1, which generate by the vacuum built up an attraction force to the applied surface and can move in this way along oblique or even vertical surfaces. Such devices are used in particular for performing work on hard to reach areas, so for example when cleaning the outer surfaces of large buildings.
Entscheidend hierbei ist, dass diese Vorrichtungen in der Regel den für Ihren Betrieb erforderlichen Energiespeicher mit sich führen, dessen Kapazität naturgemäß begrenzt ist, so dass es - insbesondere im Hinblick auf eine effektive Nutzung der Vorrichtung - entscheidend ist, die zur Verfügung stehende Energie optimal auszunutzen. Zu berücksichtigen ist dabei jedoch, dass stets ein ausreichender Unterdruck aufrechterhalten werden muss, um einen sicheren Betrieb der Vorrichtung zu gewährleisten.The decisive factor here is that these devices usually carry the energy storage required for their operation, whose capacity is naturally limited, so that it - especially with regard to an effective use of the device - is crucial to make optimal use of the available energy , It should be noted, however, that always sufficient negative pressure must be maintained in order to ensure safe operation of the device.
Hiervon ausgehend liegt der Erfindung die Aufgabe zugrunde, bei einer Vorrichtung der eingangs genannten Art durch entsprechende Anpassung der Betriebsweise eine Verlängerung der maximal erreichbaren Laufzeit zu erzielen.On this basis, the invention has the object, in a device of the type mentioned by appropriate adjustment of the operation to achieve an extension of the maximum achievable running time.
Eine diese Aufgabe lösende Vorrichtung ist gekennzeichnet durch eine Steuereinheit, die die Saugleistung der Saugeinrichtung in Abhängigkeit von sich aus dem aktuellen Betriebs- bzw. Fahrzustand der Vorrichtung ergebenen Steuerparametern derart regelt, dass die Vorrichtung mit minimalem Energieaufwand bei ausreichender Haftkraft an der Fläche gehalten wird, wobei die Steuerparameter aus dem aktuellen Betriebs- bzw. Fahrtzustand selbst abgeleitet und/oder durch Sensoren erfasst bzw. ermittelt werden.A device that solves this object is characterized by a control unit which regulates the suction power of the suction device as a function of control parameters resulting from the current operating or driving state of the device in such a way that the device is held on the surface with minimal energy expenditure with sufficient adhesive force, wherein the control parameters derived from the current operating or driving state itself and / or detected or determined by sensors.
Der durch die Erfindung erreichte Vorteil besteht im wesentlichen darin, dass der für den Betrieb der Saugeinrichtung benötigte Strom entsprechend dem aktuellen Betriebs- bzw. Fahrzustand angepasst wird, zumal die Saugeinrichtung derjenige elektrische Verbraucher der Vorrichtung ist, der - gemessen am Gesamtenergiebedarf - den prozentual größten Anteil daran hat. Die Erfindung nutzt dabei die Tatsache aus, dass die Vorrichtung verschiedene, von unterschiedlichen Faktoren abhängige Betriebs- und Fahrzustände einnehmen kann, wobei es im Gesamtbetriebsablauf Betriebszustände gibt, bei denen auch eine reduzierte Leistung der Saugeinrichtung bis zu einem gewissen Grenzwert eine genügend hohe Haltekraft liefert, mit welcher sich die Vorrichtung noch ordnungsgemäß an der Fläche fortbewegen kann.The advantage achieved by the invention consists essentially in the fact that the current required for the operation of the suction device according to the current operating or Driving condition is adapted, especially since the suction device is that electrical load of the device, which - measured in terms of total energy requirements - the percentage of the largest share. The invention makes use of the fact that the device can assume different, depending on different factors operating and driving conditions, there are operating conditions in the overall operating sequence, in which even a reduced power of the suction device provides a sufficiently high holding force up to a certain limit with which the device can still move properly on the surface.
Soweit die Vorrichtung an ihrer zur Fläche gewandten Unterseite mit einem Reinigungsmodul versehen ist, das für einen optimalen Reinigungseffekt einen gewissen Anpressdruck an die Fläche benötigt, kann ein Absenken des Anpressdrucks zwar zu einem schlechteren Reinigungsergebnis führen; ist der Verschmutzungsgrad der Fläche jedoch gering, so kann auch ein reduzierter Anpressdruck für ein qualitativ hochwertiges Reinigungsergebnis ausreichen.As far as the device is provided on its surface facing the bottom with a cleaning module that requires a certain contact pressure to the surface for optimum cleaning effect, lowering the contact pressure may indeed lead to a poorer cleaning result; However, if the degree of contamination of the surface is low, then a reduced contact pressure for a high-quality cleaning result can be sufficient.
Im Einzelnen können - je nach Einsatzbereich der Vorrichtung - sehr unterschiedliche Betriebszustände und Betriebsbedingungen herangezogen werden, um hieraus Steuerparameter für die Steuereinheit abzuleiten.Specifically, depending on the field of application of the device, very different operating states and operating conditions can be used to derive therefrom control parameters for the control unit.
So besteht im Rahmen der Erfindung die Möglichkeit, dass als Steuerparameter der durch die Saugeinrichtung erzielte Differenzdruck dient. Dieser Differenzdruck kann unmittelbar messtechnisch ermittelt werden und lässt unmittelbar Rückschlüsse auf die gegebene Anpresskraft der Vorrichtung an die Fläche zu. Durch die Messung des Differenzdruckes werden zugleich eine Vielzahl die Haltekraft beeinflussender Randbedingungen mit erfasst, wie zum Beispiel Art und Umfang der Abdichtung der Vorrichtung gegen die Fläche.Thus, within the scope of the invention, the possibility exists that the differential pressure achieved by the suction device serves as a control parameter. This differential pressure can be determined directly by measurement and can immediately conclusions on the given contact pressure of the device to the surface. By measuring the differential pressure at the same time a variety of the holding force influencing boundary conditions are detected, such as the nature and extent of the sealing of the device against the surface.
Es besteht jedoch ebenso auch die Möglichkeit, dass als Steuerparameter die Anpresskraft des Reinigungsteils gegen die Reinigungsfläche dient, was beispielsweise durch übliche Kraftaufnehmer erfolgen kann.However, there is also the possibility that serves as a control parameter, the contact pressure of the cleaning part against the cleaning surface, which can be done for example by conventional force transducer.
Ferner kann im Rahmen der Erfindung als Steuerparameter die momentane Position der Vorrichtung auf der Fläche in Polar- oder Kartesischen Koordinaten dienen, wobei darüber hinaus nach erfolgreicher Beendigung einer "Reinigungsfahrt" die Vorrichtung in einen speziellen "Stand-by-modus" übergehen kann, da dann nur noch die erforderliche Haltekraft an der Fläche im Stillstand aufzubringen ist, nachdem dann keine überlagerte Fortbewegung, für die ein höhere Haltekraft erforderlich ist, zu berücksichtigen ist. Als weitere wesentliche Steuerparameter kann im Rahmen der Erfindung die räumliche Orientierung bzw. Ausrichtung der Vorrichtung dienen, womit berücksichtigt wird, ob sich die Vorrichtung auf einer schiefen Ebene bewegt und hierbei aufgrund der eigenen Gewichtskraft zu einer Erhöhung des erforderlichen Anpressdruckes beiträgt, oder ob die Vorrichtung an einer senkrechten Fläche bzw. unter einer Fläche im "Überhang" arbeitet. Für die Erfassung dieser räumlichen Orientierung bzw. Ausrichtung kann in der Vorrichtung eine integrierte Sensorik vorgesehen sein.Furthermore, in the context of the invention can serve as a control parameter, the current position of the device on the surface in polar or Cartesian coordinates, moreover, after successful completion of a "cleaning trip" the device can go into a special "stand-by mode" then only the required holding force on the surface at standstill is applied, after then no superimposed locomotion, for which a higher holding force is required to take into account. In the context of the invention, the spatial orientation or orientation of the device can serve as further important control parameters, which takes into account whether the device moves on an inclined plane and in this case contributes to an increase of the required contact pressure due to its own weight force, or if the device works on a vertical surface or under an area in the "overhang". For the detection of this spatial orientation or orientation, an integrated sensor system can be provided in the device.
Als weiterer Steuerparameter im Rahmen der Erfindung kann der Verschmutzungsgrad der Fläche dienen, da bei einer geringeren Verschmutzung ein geringerer Anpressdruck ausreichend ist, um ein qualitativ ausreichendes Reinigungsergebnis zu erreichen.As a further control parameter in the context of the invention, the degree of contamination of the surface can be used, since at a lower contamination, a lower contact pressure is sufficient to achieve a sufficiently high cleaning result.
Als weiterer Steuerparameter kann auch die Restladung des Energiespeichers herangezogen werden, um beispielsweise eine Rückkehr der Vorrichtung in ihre Grundposition zu ermöglichen, ohne das Risiko eines Ablösens von der Fläche einzugehen.As a further control parameter and the residual charge of the energy storage can be used, for example, to allow a return of the device to its basic position, without taking the risk of detachment from the surface.
Schließlich kann auch die Fahrgeschwindigkeit der Vorrichtung als Steuerparameter dienen, da die benötigte Haltekraft auch in einer Abhängigkeit von der Fahrgeschwindigkeit steht.Finally, the driving speed of the device can also serve as a control parameter since the required holding force is also dependent on the driving speed.
Als Energiespeicher wird in der Regel ein Akkumulator zum Einsatz kommen; grundsätzlich sind hierfür jedoch auch andere Einrichtungen geeignet, wie beispielsweise eine Brennstoffzelle.As an energy storage is usually a rechargeable battery used; In principle, however, other devices are suitable for this, such as a fuel cell.
Im Folgenden wird die Erfindung an einem in der Zeichnung dargestellten Ausführungsbeispiel näher erläutert; die einzige Figur zeigt eine Vorrichtung nach der Erfindung in schematischer Darstellung.In the following the invention will be explained in more detail in an embodiment shown in the drawing; the single figure shows a device according to the invention in a schematic representation.
Die in der Zeichnung dargestellte Vorrichtung dient zum Durchführen von Arbeiten an vorzugsweise ebenen Flächen 1 , insbesondere zur Reinigung von Fenstern. Dazu ist die Vorrichtung durch eine nur angedeutete Antriebseinheit 8 verfahrbar als autonome Einheit 2 ausgeführt und mit einem Reinigungsteil 6 sowie mit einer nicht dargestellten Saugeinrichtung versehen, die der Erzeugung eines Unterdrucks zwischen der Vorrichtung und der Fläche 1 dient. Durch diesen Unterdruck wird eine Haltekraft erzeugt, die die Vorrichtung an der Fläche hält.The device shown in the drawing is used to perform work on preferably flat surfaces 1, in particular for cleaning windows. For this purpose, the device is designed to be movable by an only indicated drive unit 8 as an autonomous unit 2 and provided with a cleaning part 6 and with a suction device, not shown, which serves to generate a negative pressure between the device and the surface 1. By this negative pressure, a holding force is generated, which holds the device to the surface.
Die Saugeinrichtung sowie weitere Einheiten der Vorrichtung werden aus einem von der Vorrichtung mitgeführten Energiespeicher gespeist, was bedeutet, dass die Einsatzdauer der Vorrichtung in Abhängigkeit von der Kapazität des Energiespeichers begrenzt ist.The suction device and other units of the device are made of one of the Device entrained energy storage fed, which means that the duration of use of the device is limited depending on the capacity of the energy storage.
Um eine Verlängerung der Laufzeit der Vorrichtung zu erreichen, ist darüber hinaus eine Steuereinheit vorgesehen, die die Saugleistung der Saugeinrichtung in Abhängigkeit von dem aktuellen Betriebs- bzw. Fahrzustand der Vorrichtung regelt. Dabei wird insbesondere der Tatsache Rechnung getragen, dass die Saugeinrichtung derjenige elektrische Verbraucher ist, der den prozentual größten Anteil am Gesamtenergiebedarf hat.In order to achieve an extension of the running time of the device, moreover, a control unit is provided, which regulates the suction power of the suction device in dependence on the current operating or driving state of the device. In particular, the fact is taken into account that the suction device is the one electrical consumer who has the largest percentage of the total energy requirement.
Die Regelung erfolgt dabei in dem Sinne, dass die Vorrichtung mit minimalem Energieaufwand bei ausreichender Haftkraft an der Fläche 1 gehalten wird. Hierfür werden Steuerparameter herangezogen, die aus dem Betriebs- bzw. Fahrzustand selbst abgeleitet oder aber alternativ bzw. ergänzend durch Sensoren erfasst bzw. ermittelt werden.The regulation is carried out in the sense that the device is held with minimal energy consumption with sufficient adhesive force on the surface 1. For this purpose, control parameters are used which are derived from the operating or driving state itself or alternatively detected or determined by sensors.
Als Steuerparameter bietet sich insbesondere der durch die Saugeinrichtung erzielte Differenzdruck an, da sich aus diesem unmittelbar die Haltekraft ergibt, mit der die Vorrichtung an der Fläche gehalten wird. Zur Ermittlung eines solchen Differenzdruckes stehen geeignete Sensoren zur Verfügung, die entsprechende Messsignale zur weiteren Auswertung bereitstellen.As a control parameter, in particular, the differential pressure achieved by the suction device is suitable, as this results directly from the holding force with which the device is held on the surface. To determine such a differential pressure, suitable sensors are available which provide corresponding measurement signals for further evaluation.
Als Steuerparameter kann jedoch auch unmittelbar die Anpresskraft des Reinigungsteils gegen die Reinigungsfläche dienen, da auch hierfür geeignete Messaufnehmer zur Verfügung stehen.However, the contact force of the cleaning part against the cleaning surface can also be used directly as a control parameter since suitable sensors are also available for this purpose.
Ein weiterer für die Saugleistung wichtiger Steuerparameter kann die momentane Position der Vorrichtung auf der Fläche 1 sein, wobei diese Informationen in Form von Polar- oder Kartesischen Koordinaten bereitgestellt werden können. Auch die räumliche Orientierung bzw. Ausrichtung der Vorrichtung ist für die Regelung der Saugleistung von Bedeutung, da das Gerät auf einer horizontal verlaufendenen oder aber schiefen Ebene aufgrund der eigenen Gewichtskraft einen zusätzlichen Anpressdruck aufbringt, während dies an einer senkrechten oder gar überhängenden Fläche 1 nicht der Fall ist, so dass dort eine höhere Saugleistung benötigt wird. Diese räumliche Orientierung kann durch eine geeignete integrierte Sensorik im Gerät ermittelt und dann berücksichtigt werden.Another important for the suction control parameters may be the current position of the device on the surface 1, this information can be provided in the form of polar or Cartesian coordinates. The spatial orientation or orientation of the device is important for the regulation of the suction power, since the device on a horizontally extending or inclined plane due to its own weight applying an additional contact pressure, while this on a vertical or even overhanging surface 1 is not the Case is so that there is a higher suction power is needed. This spatial orientation can be determined by a suitable integrated sensors in the device and then taken into account.
Um ein qualitativ hochwertiges Reinigungsergebnis zu erreichen, muss bei einer starken Verschmutzung der Fläche 1 ein höherer Anpressdruck des Reinigungsteils 6 gegen die Reinigungsfläche 1 aufgebracht werden als bei einer geringeren Verschmutzung. Daher kann auch der Verschmutzungsgrad der Fläche 1 als Steuerparameter für die die Saugeinrichtung regelnde Steuereinheit dienen.In order to achieve a high-quality cleaning result, a higher contact pressure of the cleaning part 6 must be applied against the cleaning surface 1 at a heavy contamination of the surface 1 than at a lower pollution. Therefore, can Also, the degree of contamination of the surface 1 serve as a control parameter for the control unit controlling the suction device.
Weiter ist in der Regel auch die Restladung des Energiespeichers zu berücksichtigen, um insbesondere sicherzustellen, dass die Vorrichtung beizeiten in Ihre Ruhe- bzw. Ausgangsposition zurückgeführt werden kann.In addition, as a rule, the residual charge of the energy store must also be taken into account in order to ensure, in particular, that the device can be returned to its resting or starting position at the same time.
Schließlich beeinflusst die aktuelle Fahrgeschwindigkeit die Höhe der erforderlichen Saugleistung, so dass auch die Fahrgeschwindigkeit als Steuerparameter zur Regelung herangezogen werden kann.Finally, the current driving speed influences the level of the required suction power, so that the driving speed can also be used as control parameter for regulation.
Als Energiespeicher ist üblicherweise ein Akkumulator vorgesehen, wobei hierfür jedoch auch modernere Energieträger, insbesondere auch Brennstoffzellen zur Anwendung kommen können. Der Energiespeicher wie auch die Steuereinheit können in einem Hohlraum 4 der autonomen Einheit 2 untergebracht sein. As an energy storage is usually an accumulator provided, but for this purpose, more modern sources of energy, especially fuel cells can be used. The energy storage as well as the control unit can be accommodated in a cavity 4 of the autonomous unit 2.
Claims
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102007041068.0 | 2007-08-30 | ||
| DE102007041068A DE102007041068A1 (en) | 2007-08-30 | 2007-08-30 | Movable device for performing work on preferably flat surfaces |
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| Publication Number | Publication Date |
|---|---|
| WO2009027400A1 true WO2009027400A1 (en) | 2009-03-05 |
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ID=40092011
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/EP2008/061152 Ceased WO2009027400A1 (en) | 2007-08-30 | 2008-08-26 | Displaceable device for working on preferably flat surfaces |
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| Country | Link |
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| DE (1) | DE102007041068A1 (en) |
| WO (1) | WO2009027400A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107205594A (en) * | 2015-11-10 | 2017-09-26 | 深圳市赛亿科技开发有限公司 | A method for dynamic adjustment of adsorption force of glass-wiping robot |
| EP3440977A1 (en) * | 2017-08-10 | 2019-02-13 | Vorwerk & Co. Interholding GmbH | Mobile robot cleaning device with energy storage management system |
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| DE102010011845A1 (en) * | 2010-03-18 | 2011-09-22 | Carl Freudenberg Kg | Robot for cleaning smooth surfaces |
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| Publication number | Publication date |
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| DE102007041068A1 (en) | 2009-03-05 |
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