[go: up one dir, main page]

WO2009027400A1 - Dispositif mobile pour effectuer des travaux sur des surfaces de préférence planes - Google Patents

Dispositif mobile pour effectuer des travaux sur des surfaces de préférence planes Download PDF

Info

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
Authority
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.)
Ceased
Application number
PCT/EP2008/061152
Other languages
German (de)
English (en)
Inventor
Joachim Damrath
Martin Huettner
Gerhard Wetzl
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.)
BSH Hausgeraete GmbH
Original Assignee
BSH Bosch und Siemens Hausgeraete 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 BSH Bosch und Siemens Hausgeraete GmbH filed Critical BSH Bosch und Siemens Hausgeraete GmbH
Publication of WO2009027400A1 publication Critical patent/WO2009027400A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

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
    • A47L1/00—Cleaning windows
    • A47L1/02—Power-driven machines or devices
    • 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
    • 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
    • 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
    • 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
    • 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
    • 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
    • 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
    • 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

L'invention concerne un dispositif mobile servant à effectuer des travaux sur des surfaces de préférence planes, en particulier à nettoyer des fenêtres, et ayant la forme d'une unité autonome (2) pourvue d'une partie nettoyante. Le dispositif selon l'invention comprend un dispositif d'aspiration qui sert à générer une dépression entre le dispositif et la surface (1) et qui est alimenté par un accumulateur d'énergie porté par le dispositif. Le dispositif selon l'invention comprend également une unité de commande qui régule la puissance d'aspiration du dispositif d'aspiration en fonction de paramètres de commande résultant de l'état de fonctionnement ou de marche en cours du dispositif, de sorte que le dispositif est maintenu sur la surface (1) avec une dépense d'énergie minimale et une adhérence suffisante. Ce faisant, les paramètres de commande sont déduits de l'état de fonctionnement ou de marche en cours lui-même et/ou sont détectés ou déterminés par des capteurs.
PCT/EP2008/061152 2007-08-30 2008-08-26 Dispositif mobile pour effectuer des travaux sur des surfaces de préférence planes Ceased WO2009027400A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102007041068.0 2007-08-30
DE102007041068A DE102007041068A1 (de) 2007-08-30 2007-08-30 Verfahrbare Vorrichtung zum Durchführen von Arbeiten an vorzugsweise ebenen Flächen

Publications (1)

Publication Number Publication Date
WO2009027400A1 true WO2009027400A1 (fr) 2009-03-05

Family

ID=40092011

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2008/061152 Ceased WO2009027400A1 (fr) 2007-08-30 2008-08-26 Dispositif mobile pour effectuer des travaux sur des surfaces de préférence planes

Country Status (2)

Country Link
DE (1) DE102007041068A1 (fr)
WO (1) WO2009027400A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107205594A (zh) * 2015-11-10 2017-09-26 深圳市赛亿科技开发有限公司 一种擦玻璃机器人的吸附力动态调整方法
EP3440977A1 (fr) * 2017-08-10 2019-02-13 Vorwerk & Co. Interholding GmbH Robot de nettoyage avec système de gestion des accumulateurs d'energie

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102010011845A1 (de) * 2010-03-18 2011-09-22 Carl Freudenberg Kg Roboter zur Reinigung von glatten Flächen

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2001080703A1 (fr) * 2000-04-26 2001-11-01 BSH Bosch und Siemens Hausgeräte GmbH Dispositif permettant de traiter une surface
WO2004006034A2 (fr) * 2002-07-08 2004-01-15 Alfred Kärcher Gmbh & Co. Kg Systeme de traitement du sol
EP1237456B1 (fr) * 1999-12-07 2005-04-27 BSH Bosch und Siemens Hausgeräte GmbH Dispositif de securite destine a un appareil se depla ant sur une surface
US20050166355A1 (en) * 2004-01-30 2005-08-04 Funai Electric Co., Ltd. Autonomous mobile robot cleaner
US20060048800A1 (en) * 2004-09-09 2006-03-09 Rast Rodger H Automated building exterior cleaning apparatus
WO2006089307A2 (fr) * 2005-02-18 2006-08-24 Irobot Corporation Robot autonome pour nettoyage humide et sec
US20060190146A1 (en) * 2005-02-18 2006-08-24 Irobot Corporation Autonomous surface cleaning robot for dry cleaning

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03294189A (ja) * 1990-04-09 1991-12-25 Toshiba Corp 壁面走行ロボット
GB9211146D0 (en) * 1992-05-26 1992-07-08 O C S Group Limited Improvements in window cleaning
DE10322201B3 (de) * 2003-05-16 2004-08-26 Taurus Instruments Gmbh Vorrichtung zur automatischen Reinigung von Gebäudefassaden und ebenen Flächen
KR100478681B1 (ko) * 2003-07-29 2005-03-25 삼성광주전자 주식회사 바닥살균기능을 구비한 로봇청소기

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1237456B1 (fr) * 1999-12-07 2005-04-27 BSH Bosch und Siemens Hausgeräte GmbH Dispositif de securite destine a un appareil se depla ant sur une surface
WO2001080703A1 (fr) * 2000-04-26 2001-11-01 BSH Bosch und Siemens Hausgeräte GmbH Dispositif permettant de traiter une surface
WO2004006034A2 (fr) * 2002-07-08 2004-01-15 Alfred Kärcher Gmbh & Co. Kg Systeme de traitement du sol
US20050166355A1 (en) * 2004-01-30 2005-08-04 Funai Electric Co., Ltd. Autonomous mobile robot cleaner
US20060048800A1 (en) * 2004-09-09 2006-03-09 Rast Rodger H Automated building exterior cleaning apparatus
WO2006089307A2 (fr) * 2005-02-18 2006-08-24 Irobot Corporation Robot autonome pour nettoyage humide et sec
US20060190146A1 (en) * 2005-02-18 2006-08-24 Irobot Corporation Autonomous surface cleaning robot for dry cleaning

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107205594A (zh) * 2015-11-10 2017-09-26 深圳市赛亿科技开发有限公司 一种擦玻璃机器人的吸附力动态调整方法
EP3440977A1 (fr) * 2017-08-10 2019-02-13 Vorwerk & Co. Interholding GmbH Robot de nettoyage avec système de gestion des accumulateurs d'energie
CN109381123A (zh) * 2017-08-10 2019-02-26 德国福维克控股公司 具有蓄电器的地面处理设备
CN109381123B (zh) * 2017-08-10 2021-10-15 德国福维克控股公司 具有蓄电器的地面处理设备

Also Published As

Publication number Publication date
DE102007041068A1 (de) 2009-03-05

Similar Documents

Publication Publication Date Title
DE102016003387B4 (de) Verfahren zur Bodenverdichtung mit einem Anbauverdichter, Anbauverdichter sowie Bagger mit einem Anbauverdichter
EP3440977B1 (fr) Robot de nettoyage avec système de gestion des accumulateurs d'energie.
DE102018201691B4 (de) Mobile Notladevorrichtung und Notladeverfahren für eine Batterie eines Kraftfahrzeugs
DE112007001092T5 (de) Hebesystem
DE102012010390A1 (de) Niveauregelung für Fahrzeuge mit mindestens einer Luftfeder
DE102010016188A1 (de) Verfahren zum Betreiben eines Elektrofahrzeuges
DE2719301A1 (de) Einrichtung zum feststellen des ladezustandes einer batterie bzw. zelle
EP3313770B1 (fr) Grue et procédé de commande de ladite grue
DE102015117030A1 (de) System und Verfahren für Steuerung des Bremspedal-Gefühls
DE102011102766A1 (de) Hybridfahrzeug sowie Verfahren zum Betreiben einer Einrichtung zum Aufladen einer Batterie in einem Hybridfahrzeug
WO2012079109A1 (fr) Dispositif de commande et de régulation pour une presse de pliage
DE112015001297T5 (de) Fahrzeug und Verfahren einer Steuerung des Fahrzeugs
DE102017200996B4 (de) Verfahren zum Bestimmen eines Alterungszustandes eines Energiespeichers für ein Elektrofahrzeug sowie ein Elektrofahrzeug
DE102020210997A1 (de) Verfahren zum Betreiben eines Antriebsstrangs einer Arbeitsmaschine, Antriebsstrang für eine Arbeitsmaschine und Arbeitsmaschine
WO2009027400A1 (fr) Dispositif mobile pour effectuer des travaux sur des surfaces de préférence planes
WO2014095240A1 (fr) Dispositif de levage hydraulique pour chariot de manutention fonctionnant sur batterie
DE102008000789A1 (de) Verfahren zum regenerativen Bremsen eines Fahrzeugs
DE102016011768A1 (de) Batteriesystem mit bidirektionaler drahtloser Kommunikation
EP2502302A1 (fr) Dispositif de production de batteries
DE102018208461A1 (de) Löschfahrzeug und Verfahren zum Betrieb eines Löschfahrzeugs
DE102012008254B4 (de) Verfahren zum Betreiben einer Antriebseinrichtung eines Kraftfahrzeugs sowie entsprechende Antriebseinrichtung
WO2016020123A1 (fr) Élément de commande d'installation d'ascenseur autoalimenté et installation d'ascenseur comportant un tel élément de commande
DE10139049A1 (de) Verfahren und Vorrichtung zur Bestimmung des Ladezustands einer Fahrzeugbatterie
DE102013002653A1 (de) Verfahren zur Aktivierung der Klimatisierung eines Fahrzeugs und Klimaanlage zur Durchführung des Verfahrens
DE102018210644A1 (de) Verfahren zum Laden einer Hochvoltbatterie in einem Traktionsnetz und Traktionsnetz

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 08803221

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 08803221

Country of ref document: EP

Kind code of ref document: A1