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WO2024017469A1 - Système de nettoyage de sols et procédé de fonctionnement d'un tel système - Google Patents

Système de nettoyage de sols et procédé de fonctionnement d'un tel système Download PDF

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Publication number
WO2024017469A1
WO2024017469A1 PCT/EP2022/070366 EP2022070366W WO2024017469A1 WO 2024017469 A1 WO2024017469 A1 WO 2024017469A1 EP 2022070366 W EP2022070366 W EP 2022070366W WO 2024017469 A1 WO2024017469 A1 WO 2024017469A1
Authority
WO
WIPO (PCT)
Prior art keywords
floor cleaning
cleaning system
calibration
information
floor
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/EP2022/070366
Other languages
German (de)
English (en)
Inventor
Karl Engelbert Wenzel
Christine REEß
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.)
Alfred Kaercher SE and Co KG
Original Assignee
Alfred Kaercher SE and Co KG
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 Alfred Kaercher SE and Co KG filed Critical Alfred Kaercher SE and Co KG
Priority to CN202280098241.7A priority Critical patent/CN119486643A/zh
Priority to PCT/EP2022/070366 priority patent/WO2024017469A1/fr
Priority to EP22751729.9A priority patent/EP4558025A1/fr
Publication of WO2024017469A1 publication Critical patent/WO2024017469A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • 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
    • A47L9/2826—Parameters or conditions being sensed the condition of the floor
    • 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 present invention relates to a floor cleaning system, comprising a floor cleaning device with at least one cleaning tool, a control unit and at least one spectroscopic sensor device, wherein an examination object arranged in a detection area can be detected via the at least one sensor device during operation of the floor cleaning device and relevant examination information can be provided to the control unit the basis of which a material of the subject of examination can be determined by the control unit, in particular with regard to adapting the cleaning behavior of the floor cleaning device.
  • the present invention relates to a method for operating a floor cleaning system, in particular with a floor cleaning device of the type described above.
  • WO 2018/202301 A1 describes a floor cleaning device with a spectroscopic detection device with which a material of the floor and a type of contamination can be determined. Based on this, the cleaning behavior of the floor cleaning device can be adjusted.
  • intensities within the spectrum are compared, for example, with reference intensities that are stored in a storage unit of the floor cleaning device.
  • determination of materials is basically possible, but can cause difficulties, especially when the floor cleaning device is operated for a long time. It would therefore be desirable to improve the determination of materials.
  • the object of the present invention is to provide a floor cleaning system and a method for operating a floor cleaning system with which an improved determination of a material of an examination object is possible, in particular with regard to an improved cleaning performance of a floor cleaning device used.
  • a floor cleaning system comprising a floor cleaning device with at least one cleaning tool, a control unit and at least one spectroscopic sensor device and a storage unit, wherein:
  • an examination object arranged in a detection area can be detected via the at least one sensor device during operation of the floor cleaning device and relevant examination information can be provided to the control unit;
  • a material of the subject of the examination can be determined by the control unit based on the examination information, in particular with regard to adapting the cleaning behavior of the floor cleaning device;
  • a calibration element of the floor cleaning system can be detected by the at least one sensor device and a control calibration by the control unit information on which the determination of the material is based can be determined;
  • control unit takes at least one corrective measure in the event of a deviation of the control calibration information from the reference calibration information.
  • At least one, in particular optical, spectroscopic sensor device is provided.
  • the subject of the examination can be recorded and relevant examination information can be provided to the control unit.
  • a calibration element of the floor cleaning system can be detected by means of the at least one sensor device and relevant control calibration information can be determined by the control unit, since the nature of the calibration element is known to the control unit.
  • Based on the control calibration information there is in particular the possibility of using a comparison measurement for the measurement on the object under examination in order to determine its material more reliably than with a conventional measurement, which is only based on an intensity comparison to a reference intensity, as is known from the prior art is.
  • the invention incorporates the consideration that the nature of the sensor device could change, for example, during operation or the service life of the floor cleaning device, so that relying on intensities can lead to incorrect results.
  • any deterioration of the at least one sensor device can be identified, which can be taken into account by the control unit when determining the material of the object to be examined.
  • the comparison measurement can, for example, as will be discussed later, be carried out by absorbing an intensity of examination light on the object being examined.
  • the present invention provides that reference calibration information is stored in the storage unit. This reference calibration information was, for example, determined and stored at the factory during the manufacture of the floor cleaning device and is used for comparison with the control calibration information.
  • the reference calibration information therefore makes it possible to determine whether the control calibration information is valid enough to make a reliable determination of the material.
  • at least one control action can be taken by the control unit.
  • This preferably offers the possibility of eliminating any causes for insufficient control calibration information, which in turn has a positive effect on the determination of the material by the control unit. As a result, this allows the material to be determined more reliably.
  • the determination is preferably based on the adaptation of the cleaning behavior, a better cleaning result can be achieved.
  • a deviation between the calibration information is only viewed as such if differences between the calibration information exceed a predetermined or predeterminable threshold value.
  • a difference smaller than the threshold value is considered to be within a tolerance range.
  • the object of examination can be contamination on or on the floor surface.
  • the examination object can be the floor surface or the floor material itself.
  • the adjustment of the cleaning behavior can include, for example, an adjustment of at least one of the following: changing a travel path of the floor cleaning device, changing a cleaning performance of the at least one cleaning tool (for example by changing a speed of a nes drive motor) and/or an adjustment of a dosage of a cleaning liquid or a cleaning chemical.
  • an operator is interactively instructed by the control unit to take one or more corrective measures by means of a note and/or using a workflow.
  • taking the corrective action can be or include requesting assistance from the operator, for example cleaning.
  • the floor cleaning system can, for example, include a notice unit that can be controlled by the control unit and on which notices are issued to the operator.
  • An application program can be executable by the control unit.
  • the application program can, for example, be stored in the storage unit.
  • the storage unit can be integrated into or included in the control unit.
  • the control unit includes, for example, a microcomputer or is designed as such.
  • the at least one corrective measure can include, for example, issuing a message to an operator to clean the sensor device. This takes into account the fact that dirt can settle on the sensor device, which could negatively influence the detection of the object under examination and/or the calibration element.
  • cleaning of the sensor device can in particular also be viewed as “cleaning a cover” of the sensor device, which covers the sensor device, for example as protection against dirt.
  • the at least one corrective measure can include, for example, issuing a message to the operator to clean the calibration element. This includes the consideration that the calibration element, for example if it is exposed, could be dirty, as could the sensor device. The control calibration information determined on this basis then deviates from the reference calibration information.
  • the at least one corrective measure can include, for example, issuing a message to the operator to replace the calibration element. A replacement is possible, for example, if cleaning the calibration element does not lead to the desired result.
  • At least two of the three corrective actions above may be achievable and feasible in the order described.
  • the notification unit can, for example, comprise a controllable display unit, in particular with an image display, and/or a loudspeaker. Information can therefore be issued visually and/or acoustically.
  • the floor cleaning system can, for example, include a particularly portable additional device that is or can be brought into communication with the floor cleaning device and that includes the notification unit.
  • the additional device is, for example, a smartphone, a smartwatch or a tablet computer.
  • the notice for cleaning the calibration element and/or the notice for replacing the calibration element is only provided after the notice for cleaning the at least one sensor device has been provided, a further detection of the calibration element has taken place and, in the case of a comparison, a further one Control calibration information with the reference calibration information whose deviation from one another has been determined.
  • the operator is first suggested to clean the at least one sensor device before, after the calibration element has been detected again and the calibration information has been compared, a message is sent to clean and/or replace the calibration element.
  • the notice for replacing the calibration element is only provided after the notice for cleaning the sensor device and/or the notice for cleaning the calibration element has been provided, and the calibration element is further detected and in a further comparison of further control calibration information with the reference calibration information, their deviation from one another has been determined.
  • the operator is first suggested to clean the sensor device and/or the calibration element. After checking again for discrepancies between the calibration information, the operator is suggested to replace the calibration element.
  • the floor cleaning system includes a cleaning tool for the at least one sensor device and if the corrective measure includes activation of the cleaning tool for cleaning the at least one sensor device.
  • This offers, for example, the possibility of automatic cleaning of the at least one sensor device triggered by the control unit. For example, brushing, wiping and/or blowing off the at least one sensor device is conceivable.
  • the cleaning tool can be used to clean the floor surface for cleaning the calibration element. Alternatively or additionally, a different type of cleaning tool can be used.
  • the floor cleaning system includes a cleaning tool for the calibration element and if the corrective action includes activation of the cleaning tool to clean the calibration element.
  • the control unit it is preferably also possible for the control unit to trigger automatic cleaning of the calibration element.
  • the cleaning tool can be the cleaning tool for cleaning the floor surface or another type of cleaning tool.
  • the floor cleaning system includes a replacement tool for the calibration element and that the corrective measure includes activation of the replacement tool for replacing the calibration element.
  • This offers the possibility of an automatic exchange of the calibration element, triggered by the control unit and without the operator having to do anything.
  • a further detection of the calibration element takes place and a further comparison of further control calibration information with the reference calibration information is carried out, with a determination being made in the event of a deviation of the calibration information from one another of the material of the subject of investigation is omitted during the operation of the floor cleaning device and/or is viewed as untrustworthy.
  • control unit can assume that the determination of the material of the test object cannot be carried out with the desired accuracy or even leads to an incorrect result. In this case, for example, provision is made for material determination to be omitted while the floor surface is being cleaned.
  • the detection of the calibration element and the comparison of the calibration information can preferably be carried out by the floor cleaning device automatically or alternatively or additionally, triggered by an operator, according to at least one of the following:
  • the floor cleaning system can include a notice unit that can be controlled by the control unit and on which a notice can be provided for the operator, to position the calibration element in the detection range of the sensor device and / or to transfer the floor cleaning device for detecting the calibration element into a docking position at a docking station that includes the calibration element.
  • a notice unit that can be controlled by the control unit and on which a notice can be provided for the operator, to position the calibration element in the detection range of the sensor device and / or to transfer the floor cleaning device for detecting the calibration element into a docking position at a docking station that includes the calibration element.
  • the detection of the calibration element by the at least one sensor device leads to the determination of the control calibration information by the control unit.
  • the at least one sensor device preferably comprises a lighting element for illuminating the examination object and/or the calibration element with examination light.
  • Examination light can, for example, be in the visible spectrum, in the infrared (in the IR to far-IR) and/or in the UV range. The spectrum can be discrete or continuous.
  • the at least one sensor device can in particular comprise a diffractive or refractive optical element for the spectral decomposition of examination light.
  • the at least one sensor device preferably comprises at least one image sensor with a one-dimensional or two-dimensional array of pixels, which can be indicative of one or more wavelength(s) or an energy of the examination light.
  • a depression is preferably formed on the floor cleaning device, in which the at least one sensor device is arranged, the floor cleaning device comprising a cover element for the depression that is transparent to examination light. This prevents dirt from reaching the sensor device on an underside of the floor cleaning device, whereby the at least one sensor device can preferably be positioned directly above the object to be examined and/or the calibration element.
  • the at least one sensor device can be arranged, for example, at at least one of the following positions: - -on an underside of the floor cleaning device;
  • position and orientation information refers to the intended use of the floor cleaning device, which can stand on the floor surface and move along the main direction of movement in a straight line.
  • the reference calibration information can be factory calibration information that is stored in the memory unit at the factory.
  • the reference calibration information can be stored in a changeable manner in the storage unit.
  • the factory calibration information is replaced by the control calibration information, which represents the new reference.
  • the calibration element is included in the floor cleaning device. Alternatively, it can be provided that the calibration element is separate from the floor cleaning device.
  • the calibration element can in particular be or include a white standard.
  • a calibration arrangement can be provided with a plurality of calibration elements arranged in layers one above the other, with the calibration element arranged on the top being removable and the calibration element underneath being exposed.
  • the calibration elements are film-shaped and can be removed one after the other. A dirty or damaged calibration element can thus be removed in a user-friendly manner and the calibration element underneath can be exposed.
  • the calibration element can, for example, be designed in the shape of a plate.
  • the calibration element can be turned to remove a dirty or damaged side from the detection area and bring the clean side of the calibration element into the detection area.
  • the calibration element can be held movably on the floor cleaning device, for example via an adjusting device. It is conceivable that the calibration element can be moved manually and/or by means of a drive from a parking position to an operating position, in which the calibration element is arranged in the detection range of the at least one sensor device.
  • the adjusting device allows, for example, the calibration element to be pivoted and/or moved. The movement can be triggered by an operator or can be triggered by the control unit.
  • the presence of the calibration element in the detection area and/or the use of the above-mentioned adjustment device can preferably be recognized automatically, whereby the control calibration information can preferably be determined without any action on the part of the operator.
  • a cover element for the calibration element that is transparent to examination light from the at least one sensor device can be provided. This will preferably the entry of dirt onto the sensor device is avoided.
  • the cover element can be cleaned easily.
  • the floor cleaning system can include two or more sensor devices, with the control unit using examination information from at least two sensor devices to determine the material of the object to be examined. This enables a more reliable determination of the material, for example by checking for consistent results using the sensor devices or averaging their measurements.
  • the control unit can be designed to weight examination information from different types of sensor devices or the channels of a sensor device to different degrees. For example, one sensor device may be viewed as more “trustworthy” than another sensor device.
  • information relating to materials of examination objects is stored and/or can be stored in the storage unit, linked to relevant data from the at least one sensor device, which is formed by or based on the examination information.
  • “Material” in this case can be a single material, for example in the sense of a chemical element, a chemical group or a class of materials, such as "solid organic material", “aqueous material” or the like.
  • the floor cleaning device includes the storage unit and forms the floor cleaning system. In particular, for example, no external storage unit is provided.
  • the floor cleaning system comprises a storage unit arranged spatially distant from the floor cleaning device, in particular as a component or linked to a data processing device positioned spatially distantly.
  • the data processing device can be an individual Be a computer or a plurality of computers or servers, for example a cloud.
  • the storage unit can be integrated into the data processing device.
  • Communication units preferably enable an exchange of information between the data processing device and/or the storage unit and the floor cleaning device.
  • the floor cleaning system comprises a display unit and an input unit for a user, wherein an indication can be provided on the display unit to confirm a determined material for the object of examination via the input unit. For example, at least one suggestion for the material can be made to the operator. The confirmation is used, for example, to link the material with the data based on the investigation information.
  • an indication that a material could not be determined can be provided on the display unit, with the input unit designating the material by the operator and relevant information being able to be stored in the storage unit.
  • the operator can train the floor cleaning system and, to a certain extent, store additional “known” material in the storage unit.
  • the display unit and the input unit can be included in the floor cleaning device. Alternatively or additionally, it can be provided that a spatially distant display unit and/or input unit is provided, for example the data processing device and/or the external additional device.
  • An application program that can be executed by the control unit can advantageously be updated via a communication connection with an external data processing device.
  • a content of a storage unit of the floor cleaning device can advantageously be updated.
  • the content with Information regarding materials of examination objects can be updated via a communication connection with an external data processing device with additional and / or corrective information regarding materials of examination objects, which are stored in a spatially distant storage unit.
  • This offers, for example, the possibility of improving the control unit's ability to determine materials.
  • data is stored in the storage unit similar to a "library" in order to successively improve the floor cleaning system or several floor cleaning systems.
  • Information can be transmitted wirelessly and/or wired to the floor cleaning device.
  • information from the floor cleaning system can be provided to the external data processing device in order to expand the library with additional information.
  • the floor cleaning system is preferably designed to be self-learning, with newly learned materials being able to be stored in the storage unit.
  • the floor cleaning device can be designed to be self-propelled and self-steering in order to carry out autonomous cleaning of the floor surface.
  • the floor cleaning device is in particular a cleaning robot.
  • the floor cleaning device can be hand-held.
  • the at least one cleaning tool may be or include at least one or a combination of the following: a sweeping unit, a suction unit, a wiping unit or a scrubbing unit.
  • the floor cleaning system can comprise a docking station for the floor cleaning device, in particular for supplying a consumable component to the floor cleaning device and/or for removing a used component from the floor cleaning device when the floor cleaning device assumes a docking position at the docking station.
  • the docking station only serves to accommodate the floor cleaning device in a parking position.
  • the docking station can, for example, include the calibration element.
  • the docking station can comprise a setup element on which the floor cleaning device stands in a docking position, the calibration element being arranged in the setup element or surrounded by it and preferably positioned completely in the detection range of the sensor device. By positioning it on the installation element, a defined position to the floor cleaning device can be ensured when it is in the docking position.
  • the calibration element can be formed, for example, by coloring the installation element.
  • the calibration element can be formed separately from the setup element and connected to it.
  • the calibration element can, for example, protrude beyond the setup element in the direction of the sensor device.
  • the calibration element can advantageously be detachably connectable to the docking station, so that the calibration element can be exchanged.
  • a calibration arrangement with a plurality of calibration elements which is formed, for example, by stickers or plates lying one above the other, can be arranged, for example, on the setup element.
  • the stickers can be removed to reveal another calibration element and/or a plate can be turned over.
  • the docking station can, for example, comprise a movable cover element which covers the calibration element in a closed position, wherein the cover element can be moved into an open position to expose the calibration element when the floor cleaning device is transferred into the docking position.
  • the cover position is transferred to the open position, thereby exposing the calibration element.
  • the cover element assumes the closed position so that the calibration element is protected from dirt.
  • the floor cleaning system can preferably include a controllable opening unit for transferring the cover element into the opening position. For example, the docking of the floor cleaning device is detected and the opening unit is activated based on this.
  • the calibration element can be cleaned by means of the at least one cleaning tool when the floor cleaning device is transferred to the docking position. Any accumulated dirt is removed in this way, with no additional cleaning tools required.
  • a method according to the invention for operating a floor cleaning system comprises:
  • Figure 1 a perspective view of a floor cleaning system according to the invention in a preferred embodiment
  • Figure 2 a perspective view of a floor cleaning device of the floor cleaning system from Figure 1;
  • Figure 3 a further perspective view of the floor cleaning system from Figure 1;
  • Figure 4 a schematic block diagram of the floor cleaning system from Figure 1;
  • Figure 5 the floor cleaning system from Figure 1 in a detailed view, partially sectioned, in the direction of arrow “5” in Figure 1;
  • Figure 6 a schematic representation of a sensor device of the floor cleaning system according to the invention in an installation situation
  • Figure 7 a process sequence of a method for operating the floor cleaning system from Figure 1;
  • Figure 8 a process sequence that explains the operation of the floor cleaning system from Figure 1;
  • Figure 9 a perspective view of a further preferred embodiment of the floor cleaning system according to the invention.
  • Figure 10 a perspective view of a docking station of the floor cleaning system from Figure 9.
  • FIGS 1 to 5 relate to an advantageous embodiment of the floor cleaning system according to the invention, designated overall by reference number 100, with which a method according to the invention can be carried out.
  • the floor cleaning system 100 includes a floor cleaning device 102 and a docking station 104 for the floor cleaning device 102.
  • the floor cleaning device 102 is designed to be self-propelled and self-steering as a cleaning robot with which autonomous cleaning of a floor surface 106 can be carried out.
  • Examination objects 108 can be present on the floor surface 106, for example in the form of dirt 110. Alternatively or additionally, the soil forming the floor surface 106 can be the examination object 108.
  • Reference numeral 112 denotes a texture that is examined as an examination subject 108.
  • the material of the examination object 108 can preferably be determined using the floor cleaning system 100. This is done with a view to adapting the cleaning behavior of the floor cleaning device 102.
  • the adaptation can include, for example, adapting a travel path, the performance of a cleaning tool, the dosage of a cleaning liquid or a cleaning chemical.
  • the floor cleaning device 102 includes a housing 114 on which the chassis 116 is held for moving on the floor surface 106.
  • a control unit 118 controls and/or regulates the operation of the floor cleaning device 102 (FIG. 4).
  • At least one cleaning tool 120 is provided for cleaning the floor surface 106.
  • the floor cleaning device 100 includes a sweeping-suction unit 122, a mopping unit 124 and a side broom 126 as cleaning tools 120.
  • the floor cleaning device 102 includes a storage unit 128 and a sensor device 130.
  • a communication unit 132 is provided for communication with external devices. It is understood that units 118, 128, 130 and 132 could be wholly or partially integrated into or comprised of one another.
  • the sensor device 130 is designed as an optical spectroscopic sensor device. As is clear, for example, from Figures 3 and 5, the sensor device is arranged near a front side 134, relative to a main direction of movement 136, on the floor cleaning device 102.
  • the Sen- sensor device 130 is positioned on a recess 140 extending upwards from the underside 138 of the housing 114.
  • the depression is shaft-shaped, with the sensor device 130 being arranged offset upwards away from the underside 138.
  • the sensor device 130 comprises at least one lighting element 142, a diffractive or refractive optical element 144 and a detector 146, which comprises, for example, an array of pixels. Examination light emitted by the lighting element 142 propagates in a detection area 148 and is directed downward, i.e. H. during cleaning operation on the floor area 106.
  • Reflected and scattered examination light is detected by the optical element 144 and spectrally broken down.
  • the individual spectral components reach the detector 146.
  • the sensor device 130 provides the control unit 118 with examination information.
  • the control unit 118 can determine a material of the examination object 108. For this purpose, a variety of materials linked to data that are based on or formed by the examination information are preferably stored in the storage unit 128. This allows the control unit 118 to classify the examination subject 108 with regard to the material, as already explained above.
  • FIG. 6 shows a schematic representation of what a different construction of a sensor device 130 of a floor cleaning system 100 according to the invention could look like.
  • the construction shown there can be used, for example, in the floor cleaning device 102.
  • the sensor device 130 comprises one or more sensors 152 on an electrical circuit board 150, which act as detectors 146.
  • the sensor(s) 152 is/are, for example, spectrally selective and detects examination light in different wavelength ranges.
  • the sensor device is also arranged in a recess 140, which, for example, is formed in the housing 114. In the present case, the lighting element 142 is integrated into the sensor 152.
  • a cover element 154 which is transparent to examination light, covers the sensor device 130 downwards and prevents the entry of dirt into the recess 140 and thus contamination of the sensor device 130.
  • the cover element 154 can be easily used by an operator and/or a cleaning tool be cleaned in a manner.
  • Cleaning the cover element 154 is viewed as cleaning the sensor device 130.
  • the recess 140 is positioned laterally next to an electrical charging contact 156 of the floor cleaning device 102.
  • a further charging contact 156 is provided, which in the present case is positioned at a distance from the first-mentioned charging contact 156 in the transverse direction of the floor cleaning device 102. Electrical energy can be supplied to the floor cleaning device 102 via the charging contacts 156.
  • the sensor device 130 is arranged in front of a sweeping roller 158 of the sweeping-suction unit 122, based on the main direction of movement 136. In addition, the sensor device 130 is positioned outside an effective area of the side broom 126.
  • the object 108 to be examined is captured before it is passed over by the cleaning tools 120 or, in the case of the side broom 126, is captured by it.
  • the control unit 118 can set the best possible cleaning behavior.
  • the already mentioned docking station 104 is intended for the floor cleaning device 102 to be accommodated during operational interruptions.
  • the floor cleaning device 102 can assume a defined docking position shown in FIGS. 1 and 5 at the docking station 104. In the docking position, for example a consumable component is supplied or a used component is removed. Consumable components are required, for example, for the operation of the floor cleaning device 102.
  • the docking station 104 comprises a substantially plate-shaped setup element 160.
  • the setup element 160 has a recess 162 for receiving the cleaning tools 120.
  • Electrical charging contacts 164 are designed to couple to the charging contacts 156 when the floor cleaning device 102 assumes the docking position. Electrical energy for charging a battery 166 of the floor cleaning device 102 can be supplied via the charging contacts 164, 156 in the docking position.
  • the sensor device 130 is calibrated for a reliable determination of the material of the examination object 108.
  • An initial calibration is carried out in particular at the factory when the floor cleaning device 102 is manufactured.
  • Reference calibration information is stored in the memory unit 128 at the factory.
  • the state of the sensor device 130 can be checked with a view to an accurate determination of the material of the examination object 108 and, if necessary, corrective measures can be taken.
  • the floor cleaning system 100 includes a calibration element 168.
  • the calibration element 168 is preferably light and in particular designed as a white standard.
  • the calibration element 168 is advantageously dimensioned so that it can be completely captured by the detection area 148.
  • the calibration element 168 is plate-shaped and is detachably held on the docking station 104.
  • the calibration element 168 is positioned laterally next to one of the charging contacts 164.
  • the docking station 104 includes a base 170 projecting from the mounting element 160, on which the charging contact 164 is arranged and which accommodates the calibration element 168.
  • the calibration element 168 thereby protrudes from the mounting element 160 in the direction of the sensor device 130, so that the distance to the sensor device 130 is as small as possible and the influence of extraneous light can be largely or preferably completely suppressed.
  • the sensor device 130 is arranged directly above the calibration element 168.
  • the detection area 148 completely captures the calibration element 168.
  • the sensor device 130 provides the control unit 118 with information on the basis of which control calibration information is determined by the control unit.
  • the control calibration information is used for comparative measurement to determine the material of the examination object 108.
  • the control unit 118 in particular calculates the absorption of examination light by forming the negative logarithm of a ratio of the intensities measured on the examination object 108 and on the calibration element 168 (-log( I/Io)). For example, if the condition of the sensor device 130 deteriorates over time, this deterioration is included in the determination of the absorption both in the measurement on the examination object 108 and on the calibration element 168.
  • the material of the examination object 108 can be determined in this way independently of the state of the sensor device 130. This enables a more reliable determination than with conventional devices and methods in which only an intensity comparison is made with a reference intensity in the storage unit.
  • the reference calibration information in the storage unit 128 is used. In particular, it is possible to determine whether the comparison measurement is actually valid enough to be able to determine the material of the subject of investigation 108.
  • the calibration element 168 is detected by means of the sensor device 130 to check the calibration information at successive times, for example before the start of operation.
  • the control unit 118 creates the corresponding control calibration information and compares the control calibration information with the reference calibration information.
  • control unit 118 assumes that the condition of the calibration element 168 is good and the comparison measurement for determining the material of the examination object 108 is trustworthy. If the control unit 118 detects a deviation between the control calibration information and the reference calibration information, this is indicative of a deterioration in the condition of the calibration element 168 or the sensor device 130. In this case, the control unit 118 takes at least one corrective measure.
  • the corrective measures include, in particular, issuing instructions to an operator to clean the sensor device 130 or a cover element for it, to clean the calibration element 168 and, if necessary, to replace the calibration element 168.
  • the floor cleaning device 102 includes an optically and/or acoustically designed notification unit 172.
  • the notification unit includes, for example, a controllable display and a loudspeaker for visually and acoustically issuing notifications to the operator and is arranged on the housing 114 in the present example.
  • information from the control unit 118 can be provided, for example, on a notification unit 174 of an external additional device 176, which in the present case is designed as a smartphone 178.
  • the notification unit 174 includes, for example, the touch screen and a loudspeaker of the smartphone 178.
  • FIG. 7 describes a preferred process sequence for operating the floor cleaning system 100 according to the method according to the invention in a preferred embodiment, which in step S1 involves the production of the floor cleaning system 100, in step S2 the calibration at the manufacturer and the storage of the reference calibration information and in step S3 the delivery of the Floor cleaning system 100 is connected upstream of the operator.
  • Step S4 includes the calibration or creation of the control calibration information when the floor cleaning device 102 is in the docking position at the docking station 104.
  • the subsequent step S5 it is checked whether the control calibration information and the reference calibration information differ from one another. If this is not the case, within a predetermined or predeterminable tolerance, or any deviation is acceptable, a specific calibration for the sensor device 130 is calculated in the subsequent step S6. In a subsequent step S7, measurements are carried out on examination objects 108 during cleaning.
  • step S8 the floor cleaning device 102 returns to the docking station 104 in step S8.
  • calibration is carried out again in accordance with step S4.
  • step S5 If a deviation is detected in step S5, the control unit 118 takes a first corrective action.
  • step S9 the operator is prompted via a message to clean the sensor device 130 or the cover element.
  • a subsequent step S10 the floor cleaning device 102 is transferred to the docking position.
  • the floor cleaning device 102 can automatically move to the docking station 104 and assume the docking position.
  • the subsequent step Sil corresponds to step S4, with a calibration being carried out in the docking position.
  • the calibration element 168 is recorded again and the control calibration information is determined.
  • step S12 corresponds to step S5. In the case of a missing or acceptable deviation, the method continues with step S6.
  • step S13 The operator is prompted via a message to clean the calibration element 168.
  • step S14 and S15 correspond to the above-described steps S10 and Sil, respectively.
  • the calibration element 168 is detected again in step S15 to determine further control calibration information.
  • Step S16 corresponds to steps S5 and S16, and a new comparison of the calibration information is carried out. If there is no or acceptable deviation, the method continues with step S6.
  • step S17 the operator is prompted via a message to replace the calibration element 168.
  • step S18 and S19 correspond to the steps S10/S14 and S11/S15 described above, respectively.
  • step S19 the calibration element 168 is detected again and control calibration information is determined.
  • step S20 corresponds to steps S5, S12 and S16.
  • the calibration information is compared with each other. If there is no deviation or if a deviation is acceptable, the method continues with step S6.
  • step S21 the control unit 118 subsequently determines in step S21 that investigations into the material of the examination subject 108 are no longer considered trustworthy and are therefore no longer carried out.
  • a message can be sent to the operator to request a service for the floor cleaning system 100.
  • step S22 corresponds to steps S1, S15 and S18. Cleaning trips in future cleaning processes according to step S23 are carried out without measurements by the sensor device 130.
  • step S5 the method can be continued with step S13 or step S17.
  • the floor cleaning device 102 can preferably communicate with a spatially distant data processing device, which is shown schematically in FIG. 4 and is assigned the reference number 180.
  • the data processing device 180 is coupled to a storage unit 182, which can be used together with or instead of the storage unit 128.
  • the data processing device 180 can include a plurality of computers or servers and can be designed as a cloud, for example.
  • a floor cleaning system 184 includes the data processing device 180 and the storage unit 182 as well as the floor cleaning device 102 and the docking station 104.
  • the additional device 176 can be part of both floor cleaning systems 100 or 184.
  • a variety of materials are stored in the storage unit 182 associated with examination information or data based thereon, which are organized, for example, in the manner of a “library”. There is the possibility for the control unit 118 to query the storage unit 182 if a material is not found in the storage unit 128.
  • the content of the storage unit 128 can be updated with information stored in the storage unit 182. This offers the opportunity to provide information about new materials to the floor cleaning transmission device 102, which are stored in the storage unit 182 by other users, for example.
  • the floor cleaning device 102 may transmit information about new materials to the storage unit 182.
  • the floor cleaning device 102 can optionally ask the operator for assistance.
  • an indication is provided on a display unit of the indication unit(s) 172 and/or 174 to confirm a determined material for the object of investigation 108 via an input unit 186 or 188.
  • the operator can be presented with a number of suggestions for the material.
  • a note can be provided that a material could not be determined.
  • the operator can specify the material via the input unit 186 or 188 and relevant information can be stored in the storage unit 128 or 182.
  • a measurement is carried out on the object to be examined.
  • sensor devices 130 are preferably also used to carry out measurements on the object to be examined in optional steps Sl' and Sl" and in an optional step S2 a data vector is compiled from the measurements and, if necessary, data post-processing is carried out in a step S3.
  • a step S4 designates the detection of the calibration element 168 for the comparison measurement and provides a calibration value.
  • a step S5 preferably includes the formation of a reference value for the calibration value, for example by averaging.
  • the control unit can calculate the absorption in the spectroscopic measurement data in a subsequent step S6.
  • step S7 further data post-processing can take place in a subsequent step S7.
  • an optional step S7′ can be provided, which includes a different weighting of the measurement data from the different sensor devices or a different weighting of the measurement data from channels of a sensor device. This weighting can be included in step S7, for example.
  • the control unit can subsequently carry out a classification of the material of the examination object 108 in a step S8. Based on this, for example in step S9, the floor cleaning device can be controlled and the cleaning behavior can be adjusted.
  • control calibration information is preferably checked for deviation from the reference calibration information in a step S1, which follows step S5, as has already been described above. It can then be decided, in particular in a step S12, whether the libraries of materials in the storage units 128 and/or 182 are applicable, which is assumed if there is no deviation.
  • the subsequent steps S13 and S14 can each be carried out individually or together.
  • step S15 which flows into the classification of the material in step S8.
  • step S16 an addition to the library made by the user in a step S16, for example a confirmation of a suggested material or the specification of the material, is included in step S15 and is subsequently used additionally for the classification in a subsequent step S8 ("supervised learning " of the floor cleaning system 100).
  • Figure 9 shows a perspective schematic representation of a preferred embodiment of the floor cleaning system according to the invention, assigned the reference number 190.
  • Features and components of the floor cleaning systems 100, 184 and 190 that are the same or have the same effect are assigned identical reference numbers.
  • the advantages described above can also be achieved with the floor cleaning system 190. Only the essential differences are discussed.
  • the floor cleaning system 190 includes a hand-held floor cleaning device 192 and a docking station 194 for this.
  • the floor cleaning device 192 includes a handle element 196 for guidance by the operator, which is arranged, for example, on a handle 198.
  • a battery-operated wiping unit 124 for example, is provided as the cleaning tool 120, which in the present case comprises two cleaning rollers 200 that are segmented, whereby the number of cleaning rollers 200 could also be different.
  • the docking station 194 includes the setup element 160, on which the floor cleaning device 192 can be positioned during breaks in operation.
  • the calibration element 168 is provided on the setting element, for example designed as a plate-shaped body that can be detachably connected to the docking station 194. Alternatively, for example, coloring the installation element 160 can be used.
  • the sensor device 130 is preferably arranged directly above the calibration element 168, which is positioned completely within the detection area 148.
  • the floor cleaning device 192 includes a tank device 202 for storing a cleaning liquid, in particular water.
  • a cleaning chemical to increase the cleaning performance can be provided.
  • Figure 9 shows a container of the cleaning chemical; the floor cleaning device 192 may include a container for the cleaning chemical.
  • An adjustment of the cleaning behavior depending on the determined material of the examination object 108 can, for example, include the dosage of the cleaning liquid and/or the cleaning chemical 204 and/or the adjustment of a speed of a drive 206 for the cleaning rollers 200.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Electric Vacuum Cleaner (AREA)

Abstract

L'invention concerne un procédé de fonctionnement d'un système de nettoyage de sols (100 ; 184 ; 190) comprenant : un appareil de nettoyage de sols (102 ; 192) doté d'au moins un outil de nettoyage (120), d'une unité de commande (118) et d'au moins un dispositif de capteur spectroscopique (130) ; et une unité de mémoire (128, 182). Selon ce procédé, pendant le fonctionnement de l'appareil de nettoyage de sols (102 ; 192), un objet (108) à contrôler situé dans une zone de détection (148) peut être détecté au moyen d'au moins un dispositif de capteur (130) et les informations de contrôle s'y rapportant peuvent être mises à la disposition de l'unité de commande (118) ; un matériau de l'objet (108) à contrôler peut être déterminé par l'unité de commande (118) sur la base des informations de contrôle, notamment en vue d'adapter le comportement de nettoyage de l'appareil de nettoyage de sols (102 ; 192) ; un élément d'étalonnage (168) du système de nettoyage de sols (100 ; 184 ; 190) peut être détecté par au moins un dispositif de capteur (130) et l'information d'étalonnage de contrôle, qui peut être utilisée comme base pour déterminer le matériau, peut être vérifiée par l'unité de commande (118) ; l'information d'étalonnage de référence pour au moins un dispositif de capteur (130) est stockée dans l'unité de mémoire (128, 182) et l'unité de commande (118) compare l'information d'étalonnage de référence avec l'information d'étalonnage de contrôle ; et l'unité de commande (118) applique au moins une mesure corrective en cas d'écart de l'information d'étalonnage de contrôle par rapport à l'information d'étalonnage de référence.
PCT/EP2022/070366 2022-07-20 2022-07-20 Système de nettoyage de sols et procédé de fonctionnement d'un tel système Ceased WO2024017469A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN202280098241.7A CN119486643A (zh) 2022-07-20 2022-07-20 地面清洁系统和用于运行地面清洁系统的方法
PCT/EP2022/070366 WO2024017469A1 (fr) 2022-07-20 2022-07-20 Système de nettoyage de sols et procédé de fonctionnement d'un tel système
EP22751729.9A EP4558025A1 (fr) 2022-07-20 2022-07-20 Système de nettoyage de sols et procédé de fonctionnement d'un tel système

Applications Claiming Priority (1)

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PCT/EP2022/070366 WO2024017469A1 (fr) 2022-07-20 2022-07-20 Système de nettoyage de sols et procédé de fonctionnement d'un tel système

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1677099A1 (fr) 2004-12-30 2006-07-05 Danmarks Tekniske Universitet Procédé et appareil pour la classification des surfaces
DE102014106975A1 (de) 2014-05-16 2015-11-19 Vorwerk & Co. Interholding Gmbh Selbsttätig verfahrbares Reinigungsgerät
WO2018202301A1 (fr) 2017-05-04 2018-11-08 Alfred Kärcher SE & Co. KG Appareil de nettoyage des sols et procédé pour nettoyer la surface d'un sol
DE102018200719A1 (de) 2018-01-17 2019-07-18 BSH Hausgeräte GmbH Automatische Bodenreinigung
WO2021156416A1 (fr) * 2020-02-06 2021-08-12 Trinamix Gmbh Dispositif robotique et procédé de fonctionnement associé

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1677099A1 (fr) 2004-12-30 2006-07-05 Danmarks Tekniske Universitet Procédé et appareil pour la classification des surfaces
DE102014106975A1 (de) 2014-05-16 2015-11-19 Vorwerk & Co. Interholding Gmbh Selbsttätig verfahrbares Reinigungsgerät
WO2018202301A1 (fr) 2017-05-04 2018-11-08 Alfred Kärcher SE & Co. KG Appareil de nettoyage des sols et procédé pour nettoyer la surface d'un sol
US20200069133A1 (en) * 2017-05-04 2020-03-05 Alfred Kärcher SE & Co. KG Floor cleaning appliance and method for cleaning a floor surface
DE102018200719A1 (de) 2018-01-17 2019-07-18 BSH Hausgeräte GmbH Automatische Bodenreinigung
WO2021156416A1 (fr) * 2020-02-06 2021-08-12 Trinamix Gmbh Dispositif robotique et procédé de fonctionnement associé

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