Self-propelled cleaning device

Abstract

A self-propelled cleaning device has a surface cleaning system for cleaning a surface to be cleaned. In order to also be able to clean an above-floor surface, the cleaning device also has an above-floor cleaning element for mechanically cleaning an above-floor surface offset in terms of height relative to the surface. The above-floor cleaning element can be rotated and/or pivoted around a rotational axis, and at least one partial cleaning area of the above-floor cleaning element has a difference in height of roughly 3 cm or more relative to a lowermost standing surface of the cleaning device by comparison to a usual orientation of the cleaning device for a cleaning operation.

Claims

1. A self-propelled cleaning device comprising: a housing, a surface cleaning system for cleaning a surface to be cleaned, an above-floor cleaning element for mechanically cleaning an above-floor surface vertically offset relative to the surface to be cleaned, wherein the above-floor cleaning element is configured to be rotated or pivoted around a rotational axis, and at least one partial cleaning area of the above-floor cleaning element has a difference in height of at least 3 cm relative to a lowermost standing surface of the cleaning device when the cleaning device is conducting a cleaning operation, and a regeneration element in the form of a wiping lip, a brush or a comb arranged on the housing in such a way that the above-floor cleaning element brushes against the regeneration element while shifting relative to the housing.

2. The cleaning device according to claim 1, wherein the above-floor cleaning element has at least one of a brush, a roller and a comb.

3. The cleaning device according to claim 1, wherein the rotational axis is arranged essentially perpendicular to the standing surface of the cleaning device.

4. The cleaning device according to claim 1, wherein the above-floor cleaning element has bristles or filaments that each have a free end area pointing downwardly from their fastening location on the rotational axis in relation to a usual orientation of the cleaning device for a cleaning operation.

5. The cleaning device according to claim 1, wherein the above-floor cleaning element can be shifted toward the housing, into the housing, and/or out of the housing.

6. The cleaning device according to claim 1, wherein the above-floor cleaning element can be shifted relative to the housing while changing the height difference.

7. The cleaning device according to claim 1, further comprising a spring element allocated to the rotational axis, said spring element being arranged on the cleaning device and being designed in such a way that a restoring force of the spring element acts in a direction directed away from a housing of the cleaning device, or wherein the spring element is configured to be locked in a tensioned position through exposure to a force opposite the restoring force.

8. The cleaning device according to claim 1, further comprising a control system that controls a shifting and/or rotation of the above-floor cleaning element relative to the housing of the cleaning device as a function of a detection signal of a detection system, wherein the detection system is set up to detect an above-floor surface.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) Other objects and features of the invention will become apparent from the following detailed description considered in connection with the accompanying drawings. It is to be understood, however, that the drawings are designed as an illustration only and not as a definition of the limits of the invention.

(2) In the drawings,

(3) FIG. 1 is a perspective view of first embodiment of a cleaning device according to the invention;

(4) FIG. 2 is a top view of the cleaning device according to FIG. 1;

(5) FIG. 3 is a side view of the cleaning device according to FIGS. 1 and 2;

(6) FIG. 4 is a side view of a second embodiment of a cleaning device;

(7) FIG. 5 is a top view of the cleaning device according to FIG. 4;

(8) FIG. 6 is a side view of a third embodiment of a cleaning device;

(9) FIG. 7 is a top view of the cleaning device according to FIG. 6 with an extended above-floor cleaning element;

(10) FIG. 8 is the cleaning device according to FIG. 7 with a retracted above-floor cleaning element;

(11) FIG. 9 is a top view of an alternative cleaning element with the above-floor cleaning element inserted into the cleaning device;

(12) FIG. 10 is a side view of another embodiment of a cleaning device;

(13) FIG. 11 is a top view of the cleaning device according to FIG. 10.

DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

(14) FIGS. 1 to 3 show a cleaning device 1 according to a first embodiment. For example, the cleaning device 1 is here designed as an autonomous robotic vacuum. The cleaning device 1 has a housing 15, a surface cleaning device 2 and traversing wheels, which provide a standing surface 7 that contacts a partial area of a surface 3. The surface cleaning system 2 has a bristle roller and a motor-fan unit (not shown). An above-floor cleaning element 4 is laterally arranged on the housing 15 relative to a usual forward traveling direction of the cleaning device 1, and serves to clean an above-floor surface 5. For example, the above-floor surface 5 is here a plateau of a baseboard. The baseboard further has a lateral surface 23, which rises perpendicularly from the surface 3.

(15) The above-floor cleaning element 4 is here designed as a cylindrical roller 9, which has a plurality of bristles 11 that point radially outward. The above-floor cleaning element 4 is mounted on a rotational axis 6 and can rotate around the latter. The rotational axis 6 of the roller 9 stands perpendicular to the surface 3, and thus also perpendicular to the standing surfaces 7 of the cleaning device 1. The above-floor cleaning element 4 is arranged on the housing 15 of the cleaning device 1 in such a way that at least a portion of the bristles 11 of the roller 9 is located above the above-floor surface 5, i.e., has a height difference relative to the lowermost standing surface 7 of the cleaning device 1 that is equal to or greater than the distance between the standing surface 7 and above-floor surface 5. For example, the height of the above-floor surface 5 relative to the surface 3 here measures 5 cm. Given the depicted orientation of the cleaning device 1 relative to the surface 3, the above-floor cleaning element 4 is located in a height range of between roughly 3 cm and 6 cm relative to the bristles 11 that initiate the above-floor cleaning operation, thus making it possible to clean the lateral surface 23 on the one hand and the above-floor surface 5 on the other.

(16) As evident from FIGS. 2 and 3, the cleaning device 1 also has a lateral brush 22, which serves in particular to clean transitional areas between the horizontal and vertical surfaces, for example between the surface 3 and lateral surface 23.

(17) The cleaning device 1 further has a detection system 17, which here has a triangulation measuring system, among other things. The triangulation measuring system usually serves to measure distances to objects so as to generate a map of an environment of the cleaning device 1, and thereupon enable a navigation and self-localization of the cleaning device 1 within the environment. The triangulation measuring system measures distances within a surface-shaped detection area 21, which here lies above the plane of the above-floor surface 5. As a consequence, the triangulation measuring system in the case depicted here cannot measure the distance from the baseboard, but can do so for a wall lying behind the latter, for example.

(18) As evident from FIG. 3, the cleaning device 1 further has several distance sensors 18, 19, which are arranged vertically one above the other relative to the depicted orientation of the cleaning device 1. For example, these distance sensors 18, 19 are here ultrasound sensors, which can also measure a distance from objects. Each distance sensor 18, 19 also has a detection range 20 lying under the respective detection range 21 of the triangulation measuring system. Located here are the detection ranges 20 of all distance sensors 18, 19 at a height level under the plane of the above-floor surface 5.

(19) A procedure for the depicted cleaning device 1 can now be carried out in such a way that the cleaning device 1 initially cleans the surface 3 by means of the surface cleaning system 2. The surface cleaning system 2 here acts on the cleaning surface 3, and vacuums suction material from the surface 3 into a dust chamber of the cleaning device 1. While moving over the surface 3, the detection system 17 of the cleaning device 1 continuously measures distances from obstacles within the environment, to include among other things from the lateral surface 23 and, for example, a wall arranged behind it (not shown). Since the triangulation measuring system of the detection system 17 measures within a detection range 21 arranged above the detection ranges 20 of the distance sensors 18, 19 designed as ultrasound sensors in relation to a height relative to the surface 3, the resultant values for distance from the next obstacle vary. The triangulation measuring system here measures a distance from the wall above the above-floor surface 5, while the distance sensors 18, 19 in relation to the same measuring direction measure a distance from the lateral surface 23 of the baseboard that intersects the detection ranges 20 of the distance sensors 18, 19. The measured distance values of the detection system 17 are relayed to an evaluation and control system of the cleaning device 1, which makes it possible to infer the existence of an above-floor surface 5 between the detection range 20 of the vertically uppermost distance sensor 18 and the detection range 21 of the triangulation measuring system based on the present distance difference and knowledge about the heights of the detection ranges 20, 21.

(20) In order to now clean the above-floor surface 5, the cleaning device 1 travels toward the baseboard and orients itself relative thereto in such a way that the side of the housing 15 of the cleaning device 1 having the above-floor cleaning element 4 points to the lateral surface 23 of the baseboard. If the bristles 11 of the above-floor cleaning element 4 are not yet at a height suitable for cleaning the above-floor surface 5, the evaluation and control system of the above-floor cleaning element 4 or the rotational axis 6 can still shift accordingly, so that at least a partial cleaning area of the above-floor cleaning element 4 is arranged above the above-floor surface 5. In addition, the above-floor cleaning element 4 can be moved relative the housing 15 of the cleaning device 1 toward the lateral surface 23 or above-floor surface 5. This can take place automatically or be done manually by a user of the cleaning device 1. For example, the above-floor cleaning element 4 is shifted by relieving a spring element tensioned opposite its restoring force with a keystroke, so that the above-floor cleaning element 4 is resultantly shifted. The above-floor cleaning element 4 is applied to the lateral surface 23 in such a way that at least a portion of the bristles 11 protrudes over the above-floor surface 5. In order to clean the above-floor surface 5 as well as the lateral surface 23, the above-floor cleaning element 4 is rotated around the rotational axis 6. This is done by means of a motor of the cleaning device 1. The rotation brushes down dust and dirt from the above-floor surface 5 on the one hand, and from the lateral surface 23 on the other, so that gravity causes the latter to drop onto the surface 3, on which the cleaning device 1 is standing or travels along the lateral surface 23. This dust and/or dirt can then be transferred into a dust chamber of the cleaning device 1 by means of the surface cleaning system 2 of the cleaning device.

(21) For example, after the above-floor surface 5 and lateral surface 23 have been cleaned, the cleaning device 1 can travel to a base station (not shown) and there press the above-floor cleaning element 4 against a surface provided for this purpose, whereupon the spring element of the above-floor cleaning element 4 is again shifted against its restoring force into a resting position and locked into it.

(22) Since the above-floor surface 5 can basically lie even higher than an overall height of the cleaning device 1, the above-floor cleaning element 4 can basically be shifted in such a way as to be placed higher than the overall height of the cleaning device 1, so that the above-floor cleaning element 4 would resultantly also project into the detection ranges 20, 21 of the detection system 17. In this case, information could be sent to the control system of the cleaning device 1 during an above-floor cleaning operation in such a way as to mask out or not consider a corresponding angular range for navigating the cleaning device 1.

(23) FIGS. 4 and 5 show a second embodiment of a cleaning device 1, in which the above-floor cleaning element 4 is a body that can also rotate around a vertical rotational axis 6. This above-floor cleaning element 4 is designed as a brush 8 with a plurality of textile filaments 12, which each are anchored on a fastening location 13 in the brush 8, and the force of gravity causes their opposing free end areas 14 to hang down.

(24) The brush 8 rotates while an above-floor surface 5 is being cleaned, so that the filaments 12 are lifted in response to the centrifugal force, and brush over the above-floor surface 5. In addition, a wetting system (not shown) can be allocated to the above-floor cleaning element 4, and ensures that the filaments 12 are wetted. Alternatively, the filaments 12 can also be manually wetted by a user.

(25) Otherwise, the procedure for this cleaning device 1 can take place analogously to the exemplary embodiment described above, i.e., the above-floor cleaning element 4 can also be shifted relative to the housing 15 of the cleaning device 1, and the above-floor surface 5 can be detected by means of the detection system 17.

(26) FIGS. 6 to 8 show a third embodiment of the invention, in which the above-floor cleaning element 4 has a comb 10 with bristles 11 arranged vertically one over the other. The comb 10 can be pivoted relative to the housing 15 around a rotational axis 6. The comb 10 can here be shifted from a resting position pivoted into the housing 15 into an above-floor cleaning position pivoted out of the housing 15. Shifting preferably takes place automatically upon detection of an above-floor surface 5. FIG. 8 shows the above-floor cleaning element 4 in a state pivoted positively into the housing 15.

(27) FIG. 9 presents an alternative embodiment thereto, in which the above-floor cleaning element 4 can be shifted proceeding from the described resting position linearly out of the housing 15, so as to perform an above-floor cleaning operation. For example, the above-floor cleaning element 4 designed as a comb 10 can be pivoted around the rotational axis 6 while cleaning an above-floor surface 5, for example in a back-and-forth movement over an angular range of 90 degrees, wherein the free end areas 14 of the bristles 11 brush over a lateral surface 23 and an above-floor surface 5.

(28) Finally, FIGS. 10 and 11 show two of many additional embodiments of a cleaning device 1 according to the invention, in which the above-floor cleaning element 4 designed as a comb 10 (FIG. 10) or as a roller 9 (FIG. 11) has allocated to it a regeneration element 16, which serves as a wiper for the bristles 11 of the above-floor cleaning element 4. In this embodiment, the above-floor cleaning element 4, which collected dust and dirt from the above-floor surface 5 and potentially also from a lateral surface 23 during an above-floor cleaning operation, can perform a regeneration, whether by the user at any point in time, or also automatically at prescribed points in time or time intervals. The above-floor cleaning element 4 is here shifted relative to the regeneration element 16, so that a mechanical interaction takes place between the above-floor cleaning element 4 and the regeneration element 16. The dust and dirt deposited on the bristles 11 of the above-floor cleaning element 4 is here wiped off on the regeneration element 16, and falls onto a surface 3, for example, which subsequently can again be cleaned by means of a surface cleaning system 2 of the cleaning device 1. Alternatively, it can also be provided that the dust and/or dirt fall directly into a corresponding collecting vessel or the like. It can preferably be provided that the above-floor cleaning element 4 come to engage directly with the regeneration element 16 while shifting back into the housing 15 of the cleaning device 1, so that a regeneration takes place after each use of the above-floor cleaning element 4.

(29) The embodiments of the cleaning device 1 shown here are not conclusive, with subcombinations of the depicted embodiments also being conceivable.

(30) The procedure described in particular relative to FIGS. 1 to 3 also applies accordingly for the other embodiments.

(31) Although only a few embodiments of the present invention have been shown and described, it is to be understood that many changes and modifications may be made thereunto without departing from the spirit and scope of the invention.

LIST OF REFERENCES

(32) 1 Cleaning device

(33) 2 Surface cleaning system

(34) 3 Surface

(35) 4 Above-floor cleaning element

(36) 5 Above-floor surface

(37) 6 Rotational axis

(38) 7 Standing surface

(39) 8 Brush

(40) 9 Roller

(41) 10 Comb

(42) 11 Bristle

(43) 12 Filament

(44) 13 Fastening location

(45) 14 Free end area

(46) 15 Housing

(47) 16 Regeneration element

(48) 17 Detection system

(49) 18 Distance sensor

(50) 19 Distance sensor

(51) 20 Detection range

(52) 21 Detection range

(53) 22 Lateral brush

(54) 23 Lateral surface