Self-propelled and self-steering floor cleaner and method for cleaning a floor surface

• US 10,362,918 B2
• Filed: 11/03/2016
• Issued: 07/30/2019
• Est. Priority Date: 05/08/2014
• Status: Active Grant

• Current Assignee: Alfred Kärcher SE & Co. KG, Robart GmbH
• Original Assignee: Alfred Kaercher GmbH & Company KG
• Inventors: Hofner, Christian, Wurm, Christian, Hoennige, Heiko, Pfister, Barbara, Duenne, Markus, Kohler, Norman, Blumhardt, Heiko, Schahpar, Michael, Artes, Harold
• Primary Examiner(s): Tran, Dalena
• Application Number:
  US15/342,684
• Publication Number:
  US 20170071436A1
• Time in Patent Office: 999 Days
• Field of Search: 700245, 700253, 700250, 700258, 901 1, 901 46, 134 18, 134 21, 134 42, 153401, 31856812
• CPC Class Codes: A47L 11/24 Floor-sweeping machines, motor-driven
• CPC Class Codes: A47L 11/30 by suction
• CPC Class Codes: A47L 11/4011 Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
• CPC Class Codes: A47L 11/4036 Parts or details of the surface treating tools
• CPC Class Codes: A47L 11/4038 Disk shaped surface treating tools
• CPC Class Codes: A47L 11/4041 Roll shaped surface treating tools
• CPC Class Codes: A47L 11/4044 Vacuuming or pick-up tools; Squeegees
• CPC Class Codes: A47L 11/4052 Movement of the tools or the like perpendicular to the cleaning surface
• CPC Class Codes: A47L 11/4061 Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: A47L 2201/06 Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
• CPC Class Codes: B25J 11/0085 Cleaning
• CPC Class Codes: B25J 19/022 using lasers
• CPC Class Codes: B25J 19/023 including video camera means
• CPC Class Codes: B25J 9/1666 Avoiding collision or forbidden zones
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G05D 1/0214 in accordance with safety or protection criteria, e.g. avoiding hazardous areas monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13
• CPC Class Codes: G05D 1/0219 ensuring the processing of the whole working surface
• CPC Class Codes: G05D 1/0238 using obstacle or wall sensors G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: Y10S 901/01 : Mobile robot

Abstract

A self-propelled, self-steering floor cleaner is provided, including a cleaning device with at least one cleaning unit for cleaning a floor surface of a room having at least a section of an obstacle therein that is not in contact with the floor surface, a transmission unit for emitting radiation directed at the obstacle and the floor surface, a detection unit for detecting reflected radiation and providing a detection signal, a control unit coupled to the detection unit, and a chassis for movement on the floor surface including a drive unit coupled to the control unit, it being determinable from the detection signal whether a space and a cleanable floor surface section are present underneath the obstacle, the drive unit being actuatable to move the floor cleaner for cleaning the floor surface section, with at least one cleaning unit. The invention also relates to a method for cleaning a floor surface.

Claims

1. A self-propelled and self-steering floor cleaner comprising a cleaning device with at least one cleaning unit for cleaning a floor surface of a room, at least a section or sections of an obstacle located inside the room not being in contact with the floor surface, the obstacle being of such low height that the floor cleaner cannot move under the obstacle, the floor cleaner further comprising a transmission unit for emitting radiation directed at the obstacle and the floor surface, in order to spatially scan these, a detection unit for detecting reflected radiation and providing a detection signal relating thereto, a control unit coupled to the detection unit, and a chassis for movement on the floor surface comprising a drive unit coupled to the control unit, it being determinable by the control unit from the detection signal whether a space is present between the obstacle and the floor surface, if so, a floor surface section located underneath the obstacle being regarded as cleanable, and the drive unit being actuatable to move the floor cleaner for cleaning the floor surface section, with at least one cleaning unit reaching into the space,

wherein the drive unit is actuatable to move the floor cleaner during cleaning of the floor surface section at a predetermined or predeterminable distance from the obstacle.

2. The floor cleaner in accordance with claim 1, wherein the relative position of the floor cleaner and the floor surface section is determinable by the control unit.

3. The floor cleaner in accordance with claim 1, wherein the floor cleaner comprises a storage unit in which a map of the room is storable, and a localization unit for localizing the position of the floor cleaner on the floor surface, and wherein the position of the floor surface section on the floor surface is determinable, and the floor surface section is designatable in the map as cleanable.

4. The floor cleaner in accordance with claim 3, wherein the floor surface section is designatable in the map as positioned underneath the obstacle.

5. The floor cleaner in accordance with claim 1, wherein the height of the space is determinable by the control unit, and wherein the floor surface section is only cleaned if the height exceeds a minimum height.

6. The floor cleaner in accordance with claim 1, wherein the extent of the floor surface section underneath the obstacle is determinable in the direction of propagation of the radiation by the control unit.

7. The floor cleaner in accordance with claim 6, wherein as a function of the determined extent, the floor cleaner is movable relative to the obstacle such that the at least one cleaning unit reaches to a different extent into the space and/or wherein as a function of the determined extent, at least one cleaning unit is transferable relative to the floor cleaner to a different distance so that the at least one cleaning unit reaches to a different extent into the space.

8. The floor cleaner in accordance with claim 1, wherein the floor cleaner comprises a combined transmission and detection unit for emitting and detecting the radiation.

9. The floor cleaner in accordance with claim 1, wherein the transmission unit is an ultrasonic transmission unit with which ultrasonic radiation is emittable, and wherein the detection unit is an ultrasonic detection unit.

10. The floor cleaner in accordance with claim 1, wherein the transmission unit is an optical transmission unit with which optical and, in particular, infrared radiation and/or visible radiation is emittable, and wherein the detection unit is an optical detection unit.

11. The floor cleaner in accordance with claim 1, wherein the transmission unit comprises a laser light source.

12. The floor cleaner in accordance with claim 1, wherein the detection unit is a digital camera or comprises a digital camera, with which it is possible to take pictures of the obstacle and the floor surface, a component originating from the reflected radiation being determinable in the pictures.

13. The floor cleaner in accordance with claim 1, wherein the transmission unit is configured to emit the radiation linearly.

14. The floor cleaner in accordance with claim 1, wherein the transmission unit is configured to emit the radiation in the shape of a fan.

15. The floor cleaner in accordance with claim 1, wherein the transmission unit is configured to emit the radiation in at least one plane.

16. The floor cleaner in accordance with claim 15, wherein the transmission unit is configured to emit the radiation in at least one of a vertical plane and a plane inclined relative to the horizontal in the direction towards the floor surface, a line of intersection of the plane of the emission with the horizontal being aligned transversely to a longitudinal direction of the floor cleaner.

17. The floor cleaner in accordance with claim 15, wherein the transmission unit is configured to emit the radiation in a plane aligned at an incline and transversely to a longitudinal direction of the floor cleaner and/or wherein during straight-ahead travel of the floor cleaner, the radiation is directed at an area located in front of the floor cleaner.

18. The floor cleaner in accordance with claim 1, wherein the transmission unit and the detection unit emit radiation and detect reflected radiation, respectively, using light-section technology.

19. The floor cleaner in accordance with claim 1, wherein the drive unit is actuatable to move the floor cleaner during the cleaning of the floor surface section parallel to the obstacle.

20. The floor cleaner in accordance with claim 1, wherein during a movement of the floor cleaner cleaning the floor surface, radiation is emittable and detectable and the presence of the space is determinable.

21. The floor cleaner in accordance with claim 1, wherein at least one of a dirt pick-up device and at least one circular broom with cleaning bristles is provided as the at least one cleaning unit, said dirt pick-up device and said cleaning bristles, respectively, protruding at least partially over an outer contour of the floor cleaner in order to reach into the space.

22. The floor cleaner in accordance with claim 1, wherein at least one cleaning unit is held so as to be movable on the floor cleaner and is able to be moved out relative to a housing of the floor cleaner in order to reach into the space.

23. The floor cleaner in accordance with claim 22, wherein the at least one cleaning unit is mounted on the floor cleaner for moving out in at least one of a displaceable and pivotable manner.

24. The floor cleaner in accordance with claim 1, wherein the floor cleaner comprises a drive unit coupled to the control unit for moving out the at least one cleaning unit relative to the floor cleaner.

25. The floor cleaner in accordance with claim 1, wherein the floor cleaner is a scrubbing-suction machine, a sweeping-suction machine, a sweeping-scrubbing-suction machine or a suction machine.

26. A method for cleaning a floor surface of a room with a self-propelled and self-steering floor cleaner, at least a section or sections of an obstacle located inside the room not being in contact with the floor surface, the obstacle being of such low height that the floor cleaner cannot move under the obstacle, wherein radiation is emitted in the direction of the obstacle and the floor surface in order to spatially scan these, reflected radiation is detected and a detection signal relating thereto is provided, and it is determined whether a space is present between the obstacle and the floor surface and, if so, a floor surface section located underneath the obstacle is regarded as cleanable and is cleaned, with at least one cleaning unit of the floor cleaner reaching into the space,

wherein the floor cleaner is moved at a predetermined or predeterminable distance from the obstacle during cleaning of the floor surface section.