Abstract
A device (1) for automatically performing an activity, in particular for cleaning dirty surfaces, having at least one sensor (3) and at least one drive element (4). The drive element (4) divides the device (1) into a rear region (11) and a front region (12), on the basis of the intended direction of movement (B). The sensor (3) is a mechanical sensor which is arranged in the front region (12) of the device (1) and is used to determine, by contact with the floor, a change in the height of the floor.
Claims
1. A device for automatically performing an activity comprising: at least one sensor for preventing a fall and at least one drive element, wherein the drive element defines a rear region and a front region of the device with respect to an intended direction of movement, and the sensor is a mechanical sensor and is designed to detect a change in the level of a floor through contact with the floor, and is arranged in the front region.
2. The device according to claim 1, wherein the sensor is designed to measure by means of pressure, extension or force.
3. The device according to claim 1, wherein the sensor is embodied integrated into a carrier of a wheel.
4. The device according to claim 1, wherein the sensor is spatially arranged in a region of brushes.
5. The device according to claim 2, wherein the sensor is embodied integrated into foldable casters.
6. A device for automatically cleaning dirty surfaces comprising at least one cleaning apparatus, wherein the device comprises an emptying apparatus comprising a dirt receptacle space for receiving the collected dirt, the emptying apparatus can move automatically between an operating position, in which dirt can be received from the cleaning apparatus, and an emptying position, in which dirt can be emptied.
7. The device according to claim 6, wherein the dirt receptacle space has a closure element which is movable arranged on the device.
8. The device according to claim 6, wherein the emptying apparatus comprises a filling level sensor for determining a residual volume.
9. A device for automatically cleaning dirty surfaces comprising: at least one cleaning apparatus wherein the device comprises a blowing apparatus for generating an airstream, and a filter arrangement for filtering particles from the air, as well as an optical detection system, an air guide of the blower apparatus and an exhaust air guide of the filter arrangement is arranged in such a way that air can be guided past the optical detection system.
10. The device according to claim 1, wherein the cleaning apparatus comprises a sweeping apparatus.
11-18. (canceled)
Description
[0082] The invention will be explained in more detail below with reference to exemplary embodiments in figures. In the drawings:
[0083] FIG. 1 shows a side view of a device in a first embodiment,
[0084] FIG. 2 shows a perspective illustration of the embodiment of the device shown in FIG. 1,
[0085] FIG. 3 shows a view from below of the embodiment of the device shown in FIG. 1,
[0086] FIG. 4a shows a side view of the embodiment of the device shown in FIG. 1, in an operating position when the level of the floor changes,
[0087] FIG. 4b shows a diagram of a folding apparatus of the device when the level of the floor changes,
[0088] FIG. 5 shows a side view of the embodiment of the device shown in FIG. 1, in an emptying position,
[0089] FIG. 6 shows a side view of the embodiment of the device shown in FIG. 1, in an operating position with a pulled-out handle,
[0090] FIG. 7 shows a side view of the embodiment of the device shown in FIG. 1, in the operating position with a pulled-out handle and without a dirt receptacle space,
[0091] FIG. 8 shows a side view of the embodiment of the device shown in FIG. 1, in a transportation position with a pulled-out handle,
[0092] FIG. 9 shows an illustration of an exhaust air guide arranged on an optical detection system,
[0093] FIG. 10 shows a schematic illustration of the control of the device,
[0094] FIG. 11 shows a schematic illustration of the location determining system of the device, and
[0095] FIG. 12 shows a perspective illustration of a further embodiment of the device.
[0096] A device 1 which is illustrated in FIG. 1 serves for automatically carrying out cleaning in an industrial environment with dirt emissions. The device 1 contains a housing 10 which, when viewed in the direction of movement B, is divided into a front area 12 and a rear area 11 by two drive wheels 4. In the front area 12 there is a cleaning apparatus 2, partially concealed by the housing 10. The cleaning apparatus 2 contains two rotating brushes 20 lying one next to the other (see FIG. 3). Arranged behind a front edge of the rotating brushes 20 there is in each case a sensor 3 in the form of a folding device in the front region 12 in the direction of movement B (see FIGS. 3/4). In addition, in the front area 12 there is an optical detection system 6. The rear area 11 comprises an emptying apparatus 5 and a dirt receptacle space 51 (see FIG. 5). In FIG. 1, the emptying apparatus 5 is shown in an operating position P1.
[0097] FIG. 2 shows, in the front area 12 above the cleaning apparatus 2, a camera 60 of the optical detection system 6 which serves to determine the position of the device 1 and/or to detect obstacles. The camera 60 has a lens 61. The optical detection system 6 determines the location of e.g. an image which is located in space (see also FIG. 11). When the image is detected, a relative position of the device 1 can be determined by means of a measurement of two distances d1, d2 with respect to the image, on in each case one edge of the image (see FIG. 11). In addition, the image is assigned a code which, when detected by the optical detection system 6, brings about the execution of an action, determined by the code, of the device 1. Instead of the image it is possible to arrange markings, e.g. two signal strips or two signal dots, in the space. After the determination of the relative position, the device 1 moves automatically to a position which is determined relative to the location of the code. Alternatively or additionally, an action is performed on the basis of the determined data.
[0098] Examples of the position of an image or of the markings can be a charging station 91 or a dirt receptacle station 55 for emptying the dirt receptacle space 51 (see FIG. 10).
[0099] A computer unit 90 of the device can comprise one or more setpoint criteria (see FIG. 10). As long as a setpoint value does not correspond to the setpoint criterion, the cleaning process of the device 1 is continued. On the other hand, if the setpoint value corresponds to the setpoint criterion, the device 1 performs the action which is provided for it. This may be, for example, starting up of the charging station 91 in order to charge the battery, or starting up of the dirt receptacle station 55 in order to empty the dirt receptacle space 51.
[0100] FIGS. 3, 4a and 4b show the cleaning apparatus 2 and the two folding devices 3 in the lower view and side view of the device 1. The cleaning apparatus 2 comprises two rotating circular brushes 20, each with a brush disk 21. One or more further brushes, e.g. for picking up fine dust, typically a brushes rotating about a horizontal axis (see horizontal brush 22 in FIG. 3), are also conceivable. Both circular brushes 20 are arranged one next to the other, in the front area 12 of the device 1. The two folding devices 3 are arranged within the periphery of the brushes 20, preferably eccentrically with respect to the brush disks 21, and can each pivot about an axis (see FIG. 4b). The folding device 3 which is illustrated schematically in FIG. 4b comprises in each case an axis 30, a contact point 31 and a caster with a carrier 32 and a wheel 33. The carrier 32 with the wheel 33 is pivotably arranged on the axis 30. As long as the carrier 32 is located in a normal position, the contact point 31 with a contact which is arranged on the carrier 32 is closed. If there is no change in the level of the floor, the cleaning process is continued by the device 1. When the level of the floor changes, the carrier 32 pivots downward, and the electrical contact point 31 is opened. The device 1 stops and preferably transmits a signal and/or changes its direction of movement, in order to avoid the change in the level of the floor. FIG. 4a shows the device 1 in a stop position P3 at which there is a change in the level of the floor and the folding device 3 is folded downward.
[0101] The two folding devices 3 can be triggered independently of one another. Depending on the angle at which the device 1 is at with respect to the change in the level of the floor, one or both folding devices 3 can be folded downward.
[0102] FIG. 5 shows the emptying apparatus 5 of the device 1. The emptying apparatus 5 comprises the dirt receptacle space 51, a closure element 52, a filling level sensor 54 (see FIG. 10) and an internal drive 53 (see FIG. 10). The closure element 52 can be moved automatically by means of the drive 53, for example by pivoting. The closure element 52 can assume two positions, either an opened position or a closed position.
[0103] FIG. 5 shows the device 1 in an emptying position P2, when the closure element 52 is in the opened position. Emptying is carried out using a controller 9 (see FIG. 10). The controller 9 comprises the computer unit 9 and the filling level sensor 54. The filling level sensor 54 determines the residual volume of the dirt receptacle space 51. The computer unit 90 compares the residual volume determined by the filling level sensor 54 with a specified setpoint value. The filling level sensor 54 is, for example, an ultrasonic sensor which is contactless and insensitive to dirt. However, a tactile sensor is alternatively conceivable. It is also conceivable to determine the filling level via the weight or on the basis of the driving behavior of the device 1 by measuring the acceleration. If the residual volume corresponds to the specified setpoint value, the computer unit 90 activates the drive element 4 of the device 1. The device 1 then moves into an adjacent position to a dirt collection area of the dirt receptacle station 55. The reaching of the adjacent position by the dirt collection area is detected by the optical detection system 6 (see FIG. 2) using the camera 60. This in turn activates, via the computer unit 90, the drive 53, which automatically opens the closure element 52. The dirt receptacle space 51 which is filled with dirt is emptied into the dirt collection area of the dirt receptacle station 55. The dirt collection area can be a dedicated container or else simply be a hole in the floor.
[0104] FIGS. 6-8 show how manual transport of the device 1 is carried out.
[0105] FIG. 6 shows a transportation device 7 of the device 1. The device 1 is illustrated in an operating position P1 with a pulled-out handle 70. The handle 70 is arranged at one end 13 of the device 1. At an opposite end 14, at least one wheel 71 is arranged, which wheel 71 is not in contact with the floor in the operating position P1. In order to transport the device, it is moved into a transportation position (see FIG. 8).
[0106] In FIG. 7, the device 1 is illustrated in the operating position P1 with the pulled-out handle 70 without the dirt receptacle space 51 (see FIG. 5). The dirt receptacle space 51 or parts thereof are removed so that the device can be moved into the transportation position (see FIG. 8).
[0107] A cover of the dirt receptacle space or the entire dirt receptacle space 51 can be attached (not shown) to the handle 70 or to the housing 10 (see FIG. 1) using a securing device (e.g. by means of a latching mechanism or by means of a magnet).
[0108] FIG. 8 shows how the wheel 71 is moved into contact with the floor in the absence of the dirt receptacle space 51 and by lifting up the handle 7. Manual transportation of the device 1 is possible.
[0109] FIG. 9 shows an exhaust air guide 8 for removing dirt from the area adjacent to the lens 61 of the detection unit 60. This is typically a camera of the optical detection system 6.
[0110] Air which is guided through the exhaust air guide 8 is generated by a suction apparatus 82 (see FIG. 7). The latter is provided with a filter arrangement 80. The suction apparatus 82 and the filter arrangement 80 are arranged in the rear area 11 of the device 1. The optical detection system 7 is arranged in the front region of the device 1.
[0111] The exhaust air guide 8 is arranged in such a way that exhaust air 81 which is generated by the suction apparatus 82 is directed to the optical detection system 6 into the front area 12 of the device 1 and flows over the surface of the lens 61 of the camera 60 (see arrows in FIG. 9).
[0112] FIG. 10 shows a diagram of the essential components of the controller 9 of the device 1. The controller 9 comprises the computer unit 90, the filling level sensor 54 or the camera 60, the drive element 4 or the internal or external drive 53. The controller serves to start up the dirt receptacle station 55 or the charging station 91 and to perform actions when these stations are reached. The filling level sensor 54 or the camera 60 detect a setpoint criterion. The latter is compared with a specified setpoint value using the computer unit 90. If the setpoint criterion and the setpoint value correspond, the drive element 4 or the internal or external drive 53 is activated, and the device 1 moves to the dirt receptacle station 55 or the charging station 91. If the device 1 reaches the dirt receptacle station 55 or the charging station 91, the respective action, e.g. charging, emptying, is carried out.
[0113] FIG. 11 shows a system for determining the location of the device 1. The location determining system comprises a signal board 62, the optical detection system 6 and the computer unit 90 (see FIG. 10). The system serves in particular to determine the location of the device with respect to the dirt receptacle station 55 or the charging station 91. The optical detection system 6 detects the signal board 62 which can contain, for example, an image and/or a code. The computer unit 90 determines on the basis of the distances d1, d2 from the signal board edges 62 in order to determine the relative position with respect to the signal board 62. The device 1 actuates the dirt receptacle station 55 or the charging station 91 on the basis of the relative position and performs an action which is defined by the image or the code. Instead of an image it is also possible to provide individual markings.
[0114] FIG. 12 shows, in the front area 12 above the cleaning apparatus 2, a LIDAR sensor 63 of the optical detection system 6 which serves to determine the position of the device 1 and/or to detect obstacles. Furthermore, the embodiment in FIG. 12 corresponds essentially to the embodiment system according to FIG. 11.
