Abstract
A cleaning robot with a housing and a flat cleaning element to be moved along a floor surface. A portion of the cleaning element projects from a periphery of the housing, and the cleaning element is flexible such that it can be vertically deformed when colliding with an obstacle. A pressing device for pressing a portion of the cleaning element located under the housing against the floor surface.
Claims
1-11. (canceled)
12. A cleaning robot comprising: a housing; a flat cleaning element being configured to be moved along a floor surface, and a section of the cleaning element protruding beyond a contour of the housing; the cleaning element being flexible and configured to be deformed vertically in the event of a collision with an obstacle; and a contact pressure facility for pressing a section of the cleaning element that is located below the housing against the floor surface.
13. The cleaning robot according to claim 12, further comprising a drive for moving the cleaning element relative to the housing.
14. The cleaning robot according to claim 12, wherein the contact pressure facility comprises a contact pressure plate.
15. The cleaning robot according to claim 14, wherein the contact pressure facility comprises at least one contact pressure element that is rotatable about a substantially horizontal axis of rotation.
16. The cleaning robot according to claim 15, wherein the cleaning element is configured to be rotated about a vertical axis of rotation relative to the housing, and the horizontal axis of rotation is substantially perpendicular to the vertical axis of rotation.
17. The cleaning robot according to claim 15, wherein a plurality of horizontal axes of rotation are provided, each of plurality of horizontal axes of rotation having at least one associated contact pressure element.
18. The cleaning robot according to claim 17, wherein a plurality of contact pressure elements is rotatably mounted about a horizontal axis of rotation.
19. The cleaning robot according to claim 18, wherein at least one contact pressure element has the shape of a truncated cone.
20. The cleaning robot according to claim 13, wherein the drive acts on the cleaning element via a contact pressure element.
21. The cleaning robot according to claim 15, wherein the contact pressure element is structured on a surface facing the cleaning element.
22. The cleaning robot according to claim 15, wherein the cleaning element is structured on a surface facing the contact pressure element.
Description
[0018] The invention will now be described in more detail with reference to the accompanying figures, in which:
[0019] FIGS. 1 and 2 show a cleaning robot having movable cleaning elements;
[0020] FIGS. 3 and 4 show a cleaning robot in collision with an obstacle;
[0021] FIGS. 5 to 11 show further embodiments of a cleaning robot; and
[0022] FIGS. 12 to 14 show embodiments of contact pressure elements.
[0023] FIGS. 1 and 2 show a cleaning robot 100 from different sides. FIG. 1 shows the cleaning robot 100 from above and FIG. 2 from below. The cleaning robot 100 is configured so as to move over the floor surface 105 and to clean it.
[0024] A contour of the cleaning robot 100 is defined by a housing 110. A sensor 115 for non-contact scanning of an environment for example a LIDAR sensor can be provided on an upper side of the housing 110. A conventional cleaning facility 120, which can comprise a suction unit and/or a brush roller, is optionally provided on an underside of the housing 110. In addition, a cleaning element 125 is provided, which can be moved relative to the housing 110 by means of a drive 130. A plurality of cleaning elements 125 can also be provided. In FIG. 1, two cleaning elements 125 are provided by way of example, which are attached to the housing 110 in such a way that they touch each other or slightly overlap. This results in a processing width 135 of the cleaning robot 100 on the floor surface 105, as indicated in FIG. 2. The processing width 135 can also exceed a width of the housing 110.
[0025] The cleaning element 125 lies on a first section 140 below the housing 110 and protrudes beyond the housing 110 on a second section 145. The sections 140, 145 are identified by different hatching in FIG. 2. The cleaning element 125 is preferably flat, for example disc-shaped, further preferably flexible, and can be made of silicone, polymer or textile, for example. A contact pressure apparatus 150 is provided in the region of the first section 140 in order to press the cleaning element 125 against the floor surface 105. The contact pressure apparatus 150 can act on the entire first section 140 or only on a part thereof.
[0026] A drive wheel 155 can be provided to move the cleaning robot 100 over the floor surface 105. In addition, one or more support wheels 160 can optionally be provided. The drive wheel 155 can be controlled by means of a control apparatus (not shown), which is set up to systematically guide the cleaning robot 100 over the floor surface depending on a scan by means of the sensor 115. At the same time, the control apparatus can control the cleaning facility 120 and/or a movement of the cleaning element 125. In addition, the control apparatus can control a moistening facility of a cleaning element 125 or of a section that is located in front of the cleaning robot 100.
[0027] FIGS. 3 and 4 show a cleaning robot 100 in a collision with an obstacle 165. The obstacle 165 can comprise, for example, a piece of furniture, another object in a household, a person or a wall. The first section 140 of the cleaning element 125 that is located below the housing 110 is protected from making contact with the obstacle 165. In the second section 145, the flexible cleaning element 125 can be deflected upwards and deformed to such an extent that it deflects upwards and places itself in a horizontal direction between the cleaning robot 100 and the obstacle 165. Since the cleaning element 125 is made of a flat, preferably thin material, the cleaning robot 100 can practically travel right up to the obstacle 165 despite the cleaning element 125 protruding beyond its contour. Damage to the obstacle 165 is preferably ruled out by the flexible or soft material of the cleaning element 125.
[0028] FIG. 5 shows a further embodiment of a cleaning robot 100. Here, the cleaning element 125 is not rotatable about a vertical axis, but is arranged to be displaceable relative to the housing 110 parallel to the floor surface 105. The drive 130 can, for example, be set up to move the cleaning element 125 in an oscillating manner in a longitudinal or transverse direction. Alternatively, the cleaning element 125 can also be guided on an ellipse or a circle, for example. As an example, the cleaning element 125 is essentially rectangular, but other shapes are also conceivable.
[0029] FIG. 6 shows a further embodiment of a cleaning robot 100 from its underside. A cleaning element 125 is removed so that the drive 130 is visible, which is configured so as to rotate the cleaning element 125 about an in particular vertical axis of rotation. Also visible is a contact pressure apparatus 150 that is designed as a contact pressure plate. If the cleaning element 125 is connected to the drive 130, it can be pressed against the floor surface 105 in the first section 140 by the contact pressure plate 150. A surface of the contact pressure plate 150 is preferably smooth in order to minimize frictional forces to the cleaning element 125.
[0030] FIG. 7 shows yet a further embodiment of a cleaning robot 100. The cleaning element 125 is rotatably mounted about a vertical axis of rotation 170. A horizontal axis of rotation 175, about which the contact pressure apparatus 150 can be rotated, runs perpendicular to this. The contact pressure apparatus 150 comprises a plurality of contact pressure elements 180 which is arranged axially offset on the horizontal axis of rotation 175. In the illustrated embodiment, all of the contact pressure elements 180, which are located on the same axis of rotation 175, have the same radius. The individual contact pressure elements 180 are not connected to each other in a rotationally fixed manner, so that a contact pressure element 180 that is lying radially inwards relative to the vertical axis of rotation 170 can rotate more slowly than a contact pressure element 180 that is lying radially further outwards when the cleaning element 125 is rotated about the vertical axis of rotation 170. In another embodiment, only one contact pressure element 180 can be provided, which can extend over a predetermined section of the radius of the cleaning element 125.
[0031] FIG. 8 shows the embodiment of a cleaning robot 100 according to FIG. 7 in a view from below and with the cleaning element 125 removed. It can be seen here that preferably a plurality of horizontal axes of rotation 175 is provided, on each of which one or more contact pressure elements 180 are arranged. Preferably, all horizontal axes of rotation 175 lie in one plane, which usually runs parallel to the floor surface 105, and are perpendicular to the vertical axis of rotation 170.
[0032] FIG. 9 shows yet a further embodiment of a cleaning robot 100. Here, a contact pressure element 180 is provided which has the shape of a truncated cone, so that its circumference about the essentially horizontal axis of rotation 175 decreases with decreasing distance from the vertical axis of rotation 170. In addition, the contact pressure element 180 is designed to be driven. For this purpose, a shaft is connected along the horizontal axis of rotation 175 to a first gearwheel 185, which is in engagement with a second gearwheel 190, which is rotatable about the vertical axis of rotation 170. In one embodiment, the drive 130 is configured so as to drive the second gearwheel 190. The cleaning element 125 can then be driven about the vertical axis of rotation 170 by the contact pressure element 180. In another embodiment, the drive 130 is configured so as to drive the cleaning element 125 about the vertical axis of rotation 170, wherein the second gearwheel 190 is fixedly connected to the cleaning element 125 so that it drives the first gearwheel 185 and thus the contact pressure element 180 about the essentially horizontal axis of rotation 175.
[0033] FIG. 10 shows a cleaning robot 100 according to FIG. 9 in a view from the underside and with the cleaning element 125 removed. In this embodiment, the second gearwheel 190 is also removed together with the cleaning element 125.
[0034] FIG. 11 shows yet a further embodiment of a cleaning robot 100. Purely by way of example, a constellation of the embodiment of FIG. 9 is assumed here which has a contact pressure element 180 in the shape of a truncated cone. The cleaning element 125 has a structuring 195 on an upper side that faces the contact pressure element 180. The contact pressure element 180 has a corresponding structuring 195, so that the contact pressure element 180 can engage in a positive-locking manner in the cleaning element 125. In other embodiments, only the cleaning element 125 or only the contact pressure element 180 can have a structured surface.
[0035] FIGS. 12 to 14 show different embodiments of a structuring 195 of a contact pressure element 180. FIG. 12 shows essentially axially extending webs corresponding to the embodiment shown in FIG. 11. The webs 195 are distributed at regular intervals around the horizontal axis of rotation 175 on the peripheral surface of the contact pressure element 180. Each web 195 can be raised or recessed.
[0036] FIG. 13 shows a structuring 195 in the form of pyramids regularly distributed on the peripheral surface and extending radially away from the horizontal axis of rotation 175. This structuring 195 can also alternatively be designed as a recess.
[0037] FIG. 14 shows a further variant of the structuring 195 in the form of flat spherical knobs which are regularly distributed on the peripheral surface. A negative embodiment is also possible.
[0038] If the cleaning element 125 is to engage in a positive-locking manner in the contact pressure element 180, the structuring 195 of the cleaning element 125 can be designed to correspond to the structuring 195 of the contact pressure element 180. If one element 125, 180 has a raised section, the other has a recessed section. In addition to the structuring 195 shown, any other structuring is also possible.
[0039] It should be noted that the features described herein with respect to a particular embodiment can also be used on another described embodiment. For example, structuring 195 is also possible on a cylindrical contact pressure element 180.
REFERENCE CHARACTERS
[0040] 100 Cleaning robot [0041] 105 Floor surface [0042] 110 Housing [0043] 115 Sensor [0044] 120 Cleaning facility [0045] 125 Cleaning element [0046] 130 Drive [0047] 135 Processing width [0048] 140 First section, below the housing [0049] 145 Second section, protrudes beyond the housing [0050] 150 Contact pressure apparatus [0051] 155 Drive wheel [0052] 160 Support wheel [0053] 165 Obstacle [0054] 170 Vertical axis of rotation [0055] 175 Horizontal axis of rotation [0056] 180 Contact pressure element [0057] 185 First gear wheel [0058] 190 Second gear wheel [0059] 195 Structuring
