Base Station for Stationary Emptying of a Dirt Space of a Mobile Cleaning Apparatus, Cleaning System and Method

Abstract

The invention relates to a base station (10) for stationary emptying of a dirt space (41) of a mobile cleaning apparatus (40), comprising a dirt path (11) through which dirt can be transported out of the dirt space (41) of the cleaning apparatus (40), wherein a path input of the dirt path (11) is formed by a coupling element (12) which can be coupled to the cleaning apparatus (40) for emptying of the dirt space (41). Furthermore, the invention relates to a cleaning system (1) and a method (100) for stationary emptying of a dirt space (41) of a mobile cleaning apparatus (40).

Claims

1. A base station for stationary emptying of a dirt space of a mobile cleaning apparatus, comprising a dirt path through which dirt can be transported out of the dirt space of the cleaning apparatus, wherein a path input of the dirt path is formed by a coupling element which can be coupled to the cleaning apparatus for emptying the dirt space, wherein a drive unit is provided, by means of which the coupling element can be moved from a rest position, in which emptying of the dirt space via the coupling element is prevented, into a coupling position, in which the coupling element is arranged on the cleaning apparatus, so that emptying of the dirt space via the coupling element is enabled.

2. The base station according to claim 1, wherein the drive unit is designed to move the coupling element from the rest position until the coupling element is placed on the cleaning apparatus in the coupling position when the cleaning apparatus is positioned in a docking area.

3. The base station according to claim 1, wherein the drive unit comprises a detection device for recognizing the coupling position.

4. The base station according to claim 1, wherein a coupling lock is provided, by means of which the coupling element can be at least partially closed in the rest position.

5. The base station according to claim 1, wherein at least the drive unit comprises a holding element by means of which the movement of the coupling element can be limited if the coupling position remains unreached after a predetermined movement of the coupling element or the drive unit comprises a link guide through which the coupling element can be guided from the rest position to the coupling position.

6. The base station according to claim 1, wherein at least the drive unit comprises at least one linear drive for linearly moving the coupling element or at least one swiveling drive for carrying out a swiveling movement of the coupling element.

7. The base station according to claim 1, wherein at least the drive unit comprises a lever gear through which the coupling element can be guided from the rest position to the coupling position or a housing element is provided, through which a docking area is formed, in which the cleaning apparatus can be positioned in order to enable a coupling with the coupling element.

8. The base station according to claim 1, wherein at least the coupling element is arranged in such a way that, when the base station is used as intended, the coupling element is placed in the coupling position on an upper surface of the cleaning apparatus or the coupling element comprises a counter stop surface with which the coupling element can be placed in the coupling position on a stop surface of the cleaning apparatus.

9. The base station according to claim 1, wherein the drive unit is designed to move the coupling element from the rest position to the coupling position in a sequence of movement having at least two movement sections which differ at least partially in a direction of movement of the coupling element.

10. The base station according to claim 1, wherein the drive unit is designed to open an emptying interface of the cleaning apparatus in a first movement section of the coupling element and to move the coupling element in the direction of the emptying interface in a second movement section.

11. The base station according to claim 1, wherein the drive unit comprises a feedback element by means of which the coupling element is preloaded in the coupling position into at least the rest position or an intermediate position.

12. The base station according to claim 1, wherein the coupling element is rotatably mounted on a bearing element and comprises a circular arc-shaped sealing contour which enables the dust path to be sealed when the coupling element is rotated about the bearing element.

13. A cleaning system comprising a mobile cleaning apparatus with a dirt space for receiving dirt during a cleaning process of the cleaning apparatus, and a base station for stationary emptying of the dirt space of the cleaning apparatus, wherein the base station comprises a dirt path through which dirt can be transported out of the cleaning apparatus, wherein a path input of the dirt path is formed by a coupling element which can be coupled to the cleaning apparatus for emptying of the dirt space, wherein the base station comprises a drive unit, by means of which the coupling element can be moved from a rest position, in which emptying of the dirt space via the coupling element is prevented, to a coupling position, in which the coupling element is arranged on the cleaning apparatus, so that emptying of the dirt space via the coupling element is enabled.

14. The cleaning system according to claim 13, wherein the cleaning apparatus comprises an emptying interface with a stop surface in which an emptying opening is formed so that the coupling element of the base station can be placed on the stop surface.

15. The cleaning system according to claim 13, wherein the cleaning apparatus comprises a closing element for closing the emptying interface, wherein the closing element can be moved from a closing position in which the emptying interface is at least partially closed by the closing element, to an opening position, in which the coupling element can be brought into fluid communication connection with the dirt space of the cleaning apparatus.

16. A method for stationary emptying of a dirt space of a mobile cleaning apparatus comprising the following steps: Positioning of the cleaning apparatus at a base station, Moving a coupling element from a rest position, in which a fluid communication connection of the coupling element with the cleaning apparatus is prevented, into a coupling position, in which the coupling element is arranged on the cleaning apparatus, so that emptying of the dirt space via the coupling element is enabled, Removing dirt from the dirt space of the cleaning apparatus via the coupling element.

17. The method according to claim 16, wherein the cleaning apparatus is positioned in a docking area during positioning and the coupling element is moved until the coupling element is placed on the cleaning apparatus in the coupling position.

18. The method according to claim 16, wherein the moving of the coupling element from the rest position into the coupling position comprises a sequence of movement with at least two movement sections which differ at least partially in a direction of movement of the coupling element.

19. The method according to claim 16, wherein when the coupling element is moved in a first movement section of the coupling element, an emptying interface of the cleaning apparatus is opened and, in a second movement section, the coupling element is moved in the direction of the emptying interface.

20. The method according to claim 16, wherein at least the sequence of movement comprises at least one linear movement or at least one swiveling movement.

Description

[0039] Further advantages, features and details of the invention are given in the following description, in which, with reference to the figures, embodiments of the invention are described in detail. The features mentioned in the claims and in the description may be individually or in any combination substantially inventive. The figures show schematically:

[0040] FIGS. 1a to 1c a sequence of movement of a coupling element in a cleaning system according to the invention in a first embodiment,

[0041] FIGS. 2a to 2c a sequence of movement of a coupling element in a cleaning system according to the invention in a second embodiment,

[0042] FIGS. 3a to 3c a sequence of movement of a coupling element in a cleaning system according to the invention in a third embodiment,

[0043] FIGS. 4a to 4c a sequence of movement of a coupling element in a cleaning system according to the invention in a fourth embodiment,

[0044] FIG. 5 a reset element of the cleaning system of the fourth embodiment,

[0045] FIGS. 6a to 6c a cleaning apparatus of a cleaning system according to the invention,

[0046] FIG. 7 a method according to the invention in a schematic representation of the method steps in a further embodiment.

[0047] In the following description of some embodiments of the invention, identical reference signs are used for the same technical features even in different embodiments.

[0048] FIGS. 1a to 1c show a cleaning system 1 according to the invention in a first embodiment. Here, the cleaning system 1 comprises a mobile cleaning apparatus 40, which is positioned in a docking area 15 of a base station 10 of cleaning system 1 according to the invention for stationary emptying of a dirt space 41 of the cleaning apparatus 40. The cleaning apparatus 40 is preferably a cleaning robot, in particular in the form of a suction robot. The dirt space 41 can be designed to collect dirt during a mobile cleaning process of the cleaning apparatus 40. When the dirt space 41 is emptied, dirt is sucked off, in particular via a dust path 11 of the base station 10, and transported to a central collection space 17. Advantageously, the collection space 17 can have a larger volume than the dirt space 41. This means that the dirt space 41 can be emptied several times into the collection space 17 until a manual emptying of the collection space 17 by a user is necessary. This may improve user comfort and/or reduce the time required for maintenance of the cleaning system 1.

[0049] In order to enable the dirt space 41 to be emptied when the cleaning apparatus 40 is in the docking area 15, the base station 10 comprises a drive unit 20, through which a coupling element 12 can be moved from a rest position I to a coupling position III. The coupling element 12 thereby forms a path input of the dust path 11, so that a fluid communication connection of the dirt space 41 of the cleaning apparatus 40 with the collection space 17 of the base station 10 can be established via the coupling element 12 when the coupling element 12 is located in the coupling position III.

[0050] The rest position I is shown in FIG. 1a. In the rest position I, the emptying of the dirt space 41 via the coupling element 12 is prevented, especially since a fluid communication connection between the dust path 11 and the dirt space 41 is interrupted. The coupling element 12 is placed on a coupling lock 13, which is rigid and immovable. In the rest position I, the coupling lock 13 prevents dirt and/or smells from escaping from the collection space 17 via the coupling element 12. An emptying interface 43 of the cleaning apparatus 40 is further closed by a closing element 45, which is in a closing position V. This also prevents dirt and/or smells from escaping from the dirt space 41.

[0051] The drive unit 20 allows a sequence of movement 200 to be performed by the coupling element 12. In at least one first movement section 201 of the sequence of movement 200, the coupling element 12 is moved to an intermediate position II. The first movement section 201 comprises in particular a linear movement and a swiveling movement. During the movement of the first movement section 201, the coupling element 12 moves the closing element 45 of the cleaning apparatus 40 from the closing position V to an opening position O. For this purpose, the coupling element 12 can press against the closing element 45 and thus overcome a pretension of the closing element 45 in the closing position V. Preferably, the dust path 11 comprises a flexible line, in particular in the form of a hose, which is connected to the coupling element 12 and the collection space 17.

[0052] From the intermediate position II, the drive unit 20 enables a second movement section 202 of the sequence of movement 200 of the coupling element 12, in which the coupling element 12 can be moved into the coupling position Ill. In doing so, the coupling element 12 is placed vertically from above onto the cleaning apparatus 40 when the base station 10 is used as intended, as shown. The coupling position III, in which the coupling element 12 is arranged on the cleaning apparatus 40, is shown in FIG. 1c. In the coupling position Ill, this allows the emptying of the dirt space 41 via the coupling element 12 is enabled by establishing a fluid communication connection between the dirt space 41 and the dirt path 11 and/or the collection space 17 of the base station 10 via the coupling element 12. During the second movement section 202 from the intermediate position II to the coupling position III, the coupling position III is reached in particular when the coupling element 12 is placed on the cleaning apparatus 40.

[0053] To enable the sequence of movement 200, the drive unit 20 as shown in FIG. 1b comprises two linear drives 24 and a swiveling drive 25. The linear drives 24 and the swiveling drive 25 can each comprise an electric motor or be controlled pneumatically. Alternatively, the swiveling drive 25, for example, can also be implemented using a lever gear 26. In order to recognize the coupling position Ill, the base station 10 also comprises a control unit 30 which has a detection device 31 in the form of an electronic detection module. In addition or alternatively, the detection device 31 may comprise a force and/or current sensor to recognize the coupling position Ill. In particular, the electronic detection module can evaluate a current consumption of the linear drive 24 for the execution of the second movement section 202. An increase and/or an exceeding of a predetermined current limit can refer to the coupling position Ill being reached by placing the coupling element 12 on the cleaning apparatus 40.

[0054] FIGS. 2a to 2c show a cleaning system 1 according to the invention in a second embodiment. The cleaning system 1 of the second embodiment essentially corresponds to the cleaning system 1 of the first embodiment. A coupling element 12 of an inventive base station 10 of the cleaning system 1 can be moved from a rest position I shown in FIG. 2a to an intermediate position II and a coupling position Ill shown in FIGS. 2b and 2c, A drive unit 20 is provided to enable the first and second movement sections 201, 202 for moving the coupling element 12 to the coupling position III. In the second embodiment, however, the drive unit 20 has only one linear drive 24, through which a hinged guide element 23.1 connected to coupling element 12 can be moved. Furthermore, the guide element 23.1 is hingedly mounted in a link guide 23 of the drive unit 20, through which the coupling element 12 can be guided to carry out the movements of the first and second movement sections 201, 202. In particular, it may be provided that the first movement section 201 merges smoothly into the second movement section 202, so that the intermediate position II is only passed through without the coupling element 12 stopping. The link guide 23 can also be used to enable a closing element 45 of the cleaning apparatus 40 to be moved.

[0055] In FIGS. 3a to 3c, an inventive base station 10 of an inventive cleaning system 1 is shown in a third embodiment, the cleaning system 1 being substantially the same as the cleaning system 1 of the first embodiment. For a better overview, a mobile cleaning apparatus 40 of the cleaning system 1 is only shown in FIG. 3c, in which a coupling element 12 of a base station 10 of the cleaning system 1 is located in the coupling position III. FIG. 3a shows the coupling element 12 in a rest position I, in which the coupling element 12 is placed on a coupling lock 13 and is thus closed. FIG. 3b shows an intermediate position II which is passed through by the coupling element 12 when the coupling element 12 is moved from the rest position I to the coupling position III. The coupling element 12 is moved by a drive unit 20 in a combined linear and swiveling movement. The combined linear and swiveling movement is guided by a lever gear 26 of the drive unit 20. For this purpose, the lever gear 26 has several lever elements 26.1, which are hinged to each other and directly or indirectly connected to the coupling element 12. When the coupling element 12 is moved, a closing element 45 of the cleaning apparatus 40 can be transferred to an opening position.

[0056] FIGS. 4a to 4c also show a cleaning system 1 according to the invention in a fourth embodiment, which essentially corresponds to the cleaning system 1 of the first embodiment. In the fourth embodiment, a drive unit 20 of a base station 10 comprises a linear drive 24 by which a coupling element 12 can be moved from a rest position I to a coupling position III. For this purpose, the linear drive 24 is operatively connected to the coupling element 12. Furthermore, the coupling element 12 has a bearing element 12.2 which is rotatably mounted in a U-shaped slot 27.1 of a feedback element 27. The bearing of the coupling element 12 with the feedback element 27 is shown in more detail in FIG. 5. When the linear drive 24 is moved, the coupling element 12 thus rotates in the U-shaped slot 27.1 up to the intermediate position II. In order to continue to enable sealing of the dust path 11, the coupling element 12 has a circular arc-shaped sealing contour 12.1, which is sealingly guided on a rigid section of the dust path 11. In the intermediate position II, the bearing element 12.2 is at least partially lifted out of its seat in the U-shaped slot 27.1 in a second movement section 202 so that a linear movement in the direction of the coupling position III takes place until the cleaning apparatus 40 is reached and the coupling element 12 is placed on the cleaning apparatus 40. A spring element 27.2 counteracts the lifting out of the bearing element 12.2 so that the coupling element 12 is moved out of the coupling position III in case of a malfunction of the drive unit 20. FIGS. 4a to 4c also show a docking area 15 for positioning the cleaning apparatus 40, which is formed by a housing element 14 of the base station 10. Thus the docking area 15 can be structurally predetermined by the housing element 14, so that the cleaning apparatus 40 can more easily navigate or be guided into a tolerance range for the coupling position III.

[0057] FIGS. 6a to 6c show a top view of an upper side of a cleaning apparatus 40 with an emptying interface 43, to which a coupling element 12 can be coupled in a coupling position III for stationary emptying of a dirt space 41 of the cleaning apparatus 40. In particular, the cleaning apparatus 40 of the preceding embodiments may be designed in accordance with the embodiment of FIGS. 6a to 6c. In this case a closing element 45 as shown in FIG. 6a is in a closing position V in which an emptying opening 44 of the emptying interface 43 is closed by the closing element 45 to prevent the escape of dirt and/or smells. In FIGS. 6b and 6c the closing element 45 is in an opening position O, in which an emptying opening 44 is released by the closing element 45, This allows a coupling element 12 to be placed in fluid communication connection with the emptying opening 44, for example to allow the dirt space 41 to be sucked out. A stop surface 42 is formed around the emptying opening 44, onto which a counter stop surface 16 of the coupling element 12 can be placed. The stop surface 42 forms a tolerance range in which the counter stop surface 16 of the coupling element 12 can be placed offset to the emptying opening 44, so that a sealing effect between the stop surface 42 and the counter stop surface 16 is possible. Preferably, the coupling element 12 has a larger diameter than the emptying opening 44. Furthermore, the coupling element 12 can have a flexible material at least at the counter stop face 16 and/or the cleaning apparatus 40 at the stop face 42 in order to increase the sealing effect. When placing the counter stop surface 16 on the stop surface 42, a detection device 31 can in particular recognize that the coupling element 12 has reached the coupling position III.

[0058] FIG. 7 also shows a method 100 according to the invention for the stationary emptying of a dirt space 41 of a mobile cleaning apparatus 40 in a schematic representation of method steps. Preferably, the method 100 can be carried out by a cleaning system 1, in particular a control unit of the cleaning system 1, according to one of the preceding embodiments. The method 100 comprises a positioning 101 of the cleaning apparatus 40 at a base station 10. For this purpose the cleaning apparatus 40 can preferably be moved automatically into a docking area 15. Furthermore, a moving 102 of a coupling element 12 of a base station 10 from a rest position I, in which a fluid communication connection of the coupling element 12 with the cleaning apparatus 40 is prevented, to a coupling position Ill, in which the coupling element 12 is arranged on the cleaning apparatus 40, is provided, so that an emptying of the dirt space 41 via the coupling element 12 in the coupling position Ill is enabled. In coupling position Ill, dirt is then transported 103 from the dirt space 41 of the cleaning apparatus 40 via the coupling element 12, in particular wherein the dirt is sucked out of the dirt space 41.

[0059] The above explanation of the embodiments describes the present invention exclusively in the context of examples. Of course, individual features of the embodiments can be freely combined with each other, if technically reasonable, without leaving the scope of the present invention.

LIST OF REFERENCE SIGNS

[0060] 1 cleaning system [0061] 10 base station [0062] 11 dirt path [0063] 12 coupling element [0064] 12.1 sealing contour [0065] 12.2 bearing element [0066] 13 coupling lock [0067] 11 housing element [0068] 15 docking area [0069] 16 counter stop surface [0070] 17 collection space (for dirt) [0071] 20 drive unit [0072] 21 detection device [0073] 22 holding element [0074] 23 link guide [0075] 23.1 guide element [0076] 24 linear drive [0077] 25 swiveling drive [0078] 26 lever gear [0079] 26.1 lever element [0080] 27 feedback element [0081] 27.1 u-shaped slot [0082] 27.2 spring element [0083] 30 control unit [0084] 31 detection device [0085] 40 cleaning apparatus [0086] 41 dirt space (from 40) [0087] 42 stop surface [0088] 43 emptying interface [0089] 44 emptying opening [0090] 45 closing element [0091] 100 method [0092] 101 positioning from 40 [0093] 102 moving from 12 [0094] 103 removing of dirt [0095] 200 sequence of movement [0096] 201 first movement section [0097] 202 second movement section [0098] I rest position [0099] II intermediate position [0100] III coupling position [0101] V closing position [0102] O opening position