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` Patent Application
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` DE 198 49 978 A 1
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`Inter. Cl.
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` A 47 L 11/00
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`Federal Republic
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` German
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`Patent and
`Trademark Office
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` File No. 198 49 978.7
` Date of filing: October 29, 1998
` Date of Publication: May 11, 2000
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`Applicant:
`Prassler, Erwin, Dr., 80335 Munich, DE;
`Strobel, Engineer, 89079 Ulm, DE
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`Representative:
`Graf Lambsdorf M.,
`Patent Attorney, 80798 Munich
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`Inventor(s):
`Prassler, Erwin, Dr. 80335 Munich, DE
`Strobel, Matthias, Engineer, 89079 Ulm, DE
`
`Cited Prior Art:
` DE 43 40 771 A1
` DE – OS 20 04 746
` DE – GM 71 35 880
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`The following information was taken from the Applicant’s submitted documentation
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`
`Request for Examination has been submitted in accordance with § PatG.
`Cleaning unit for the automatic wet cleaning on non-textile floor coverings and autonomously
`moving cleaning device for housing the cleaning unit
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`The invention relates to a cleaning unit
`(10) for automatic or manual wet cleaning of
`non-textile floor coverings with at least one
`rotating cleaning cloth (1) laid around numerous
`rollers (3 – 9), in particular guide and drive
`rollers, the cleaning cloth forming an outwardly
`facing surface (1a) and with at
`least one
`cleaning container (13) containing a cleaning
`fluid, through which the cleaning cloth may be
`led by means of the transport and drive rollers.
`The cleaning unit can be mounted on a mobile,
`in particular an autonomously moving cleaning
`device
`(20). The autonomously moveable
`cleaning device can, by means of the cleaning
`unit
`and
`its
`own
`navigation
`system,
`systematically and over a long period of time,
`clean a dirty non-textile floor surface without the
`intervention or support of an operator.
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`Silver Star Exhibit 1011
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`

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`
`1
`Description
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`DE 198 49 978 A1
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`The invention relates to a cleaning unit for automatic wet
`cleaning of non-textile floor coverings with a rotating
`cleaning cloth and a cleaning container for the periodic
`moistening and cleaning of the cleaning cloth during each
`cycle.
`In addition,
`the
`invention
`relates
`to an
`autonomously moving cleaning vehicle which serves as a
`carrier vehicle for such cleaning unit and independently
`moves over the dirty area, thereby automatically cleaning
`it.
`On smooth, as well as lightly structured floors, such as
`wooden, parquet or tile floors, visible deposits of dirt and
`dust quickly form which, although they do not constitute a
`severe soiling, nevertheless lead to a relatively severe
`deterioration of the floor’s optical appearance. This is true
`both of the floor coverings in households, as well as of
`those found in public buildings. In particular the large floor
`surfaces in the entrance halls of heavily frequented
`buildings such as department stores, museums or banks
`become rapidly dirty under rainy or wintery weather
`conditions. According to the present state of the art, the
`cleaning of such non-textile floor coverings is carried out
`using mechanically or electrically driven mobile cleaning
`devices which, although they do produce a satisfying
`result, can nevertheless generally only be operated
`manually.
`In accordance with the current state of the art, most
`known automatic or autonomously moving cleaning
`devices comprise electrically driven rotational cleaning
`brushes. As one example of this, reference is made to the
`German Patent Application DE-A-195 44 99, which relates
`to an autonomously moving cleaning apparatus for floor
`coverings. This apparatus allows the automatic cleaning of
`floor coverings, in particular along the area of a wall. It
`comprises an electrically driven disk-shaped brush by
`means of which, when in operation, dust and dirt particles
`are swept into and collected in a dust receptacle. This kind
`of cleaning is, in contrast to wet cleaning, by nature
`insufficient, as
`the dirt
`is
`inadequately bound. The
`additional suggestion to wet the bristles with alcohol does
`not constitute a significant improvement in binding the dirt.
`Cleaning devices having continuous or rotating cleaning
`belts have also been proposed. In WO 91/1134 a mobile
`cleaning device is described which comprises a first roller,
`around which a portion of a cleaning belt is wound and a
`second electrically driven roller onto which the used
`cleaning belt is wound up when the device is in operation.
`On its way from the first to the second roller, the cleaning
`belt runs over the peripheral segment of an endless belt,
`thus bringing the underside of the cleaning belt into
`contact with the floor surface intended to be cleaned. By
`supplying water from a tank, a wet cleaning of the floor
`surface can also be carried out. The disadvantage of this
`device, however, consists in the need for the cleaning belt
`to be wound up by a second roller after use. This
`functional principle does not allow the sufficient and
`efficient wet cleaning of larger floor surfaces. A speedy
`unwinding and winding up of the cleaning cloth would lead
`to an improvement of the cleaning results, but would be
`uneconomical, as the cleaning belt would constantly have
`to be replaced.
` In EP-A-0 615 719 A1 a machine for washing tiled floor
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`2
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`surfaces is described in which a cleaning belt is arranged
`on the peripheral surface of a roller which rolls on the floor
`surface to be cleaned and which contacts a rotating fluid
`transport belt which is immersed into a cleaning fluid
`contained in a container and which then transfers this
`cleaning fluid onto the cleaning belt at the point at which
`they come into contact. As the cleaning belt is only wrung
`out but is not subject to any additional cleaning, this
`apparatus is also not designed for the cleaning of larger
`floor surfaces. Beyond this, the employment of two
`rotating belts is space consuming, inconvenient and
`uneconomical.
` As opposed to this, the present invention is based on the
`objective of providing a compact cleaning unit which
`allows the wet cleaning of a non-textile floor covering and
`which can be mounted in an autonomously moving
`cleaning device.
` This objective is achieved by means of the designated
`features of patent claim 1. In accordance with this, the
`invention relates to a cleaning unit for the automatic or
`manual cleaning of non-textile floor coverings comprising
`at least one rotating cleaning cloth laid around numerous
`rollers, in particular guide and drive rollers, and which
`forms, on one side of the cleaning unit, an outwardly
`facing cleaning surface, and further comprising at least
`one cleaning container which contains a cleaning fluid
`through which the cleaning cloth can be conveyed by
`means of the transport and drive rollers. The cleaning
`cloth can be brought into contact on the outwardly facing
`cleaning surface with the floor surface intended to be
`cleaned, thus collecting and binding the dirt located on this
`surface. The cleaning cloth is periodically rinsed out as it
`runs through the cleaning container.
` Preferably, the cleaning unit comprises a drive motor, by
`means of which a drive roller, around which the cleaning
`cloth is laid, is driven. The characteristics of the drive
`roller’s surface are such that they allow the cleaning cloth
`to be entrained by the roller.
` It is also advantageous to arrange a squeezing roller in
`close proximity to the drive roller, so that the cleaning
`cloth may be conveyed in between the two rollers and
`thus wrung out.
` The cleaning unit in accordance with the invention
`presents a compact construction unit which may be
`mounted on an autonomously moving cleaning device. A
`central controlling and navigation system that steers the
`electrically driven vehicle makes it possible for the
`cleaning device to move autonomously over the soiled
`floor surface, thereby cleaning it.
` In the following, the example embodiments of the
`cleaning unit
`in accordance with
`the
`invention are
`described in detail with the aid of the attached figures.
`These show:
` Figs. 1A to D show various representations of the
`individual structural components of one embodiment of a
`cleaning unit (A – C) in accordance with the invention, and
`in their entirety without the cleaning cloth (D);
` Fig. 2 shows the cleaning unit of Fig. 1D with a spanned
`cleaning cloth;
`Figs. 3A, 3B show a perspective view and a bottom view
`of a mobile, in particular of an autonomously moving
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`Silver Star Exhibit 1011 - 2
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`cleaning device;
` Fig. 4 shows the circuitry arrangement for a controlling
`and navigation system of an autonomously moving
`cleaning device;
` Figs. 5A to C show examples of possible trajectories of
`an autonomously moving cleaning device.
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` In Figs. 1A – D and 2, example embodiments of a
`cleaning unit 10 in accordance with the invention are
`shown. It mainly comprises a cleaning container 13 which
`is filled with a cleaning fluid, in the simplest case water, as
`well as numerous rollers 3 to 9. The rollers comprise a
`drive roller 3 which is driven by a drive motor 2 and made
`to rotate (Fig. 1C). The drive roller 3 has a surface with a
`specific roughness or with suitable entrainers, allowing the
`entrainment of an endless cleaning cloth 1 laid around the
`drive roller. The first guide rollers 4 to 6 serve to lead the
`cleaning cloth 1 around the outside of the cleaning
`container 13. In operation, the lower guide rollers 5 and 6
`span the damp cleaning cloth 1 out to a flat cleaning
`surface 1a in the lower segment of the cleaning unit
`which, when in operation, is in contact with a floor surface
`intended to be cleaned and cleans the surface by means
`of a rotating movement. The rotational direction of the
`cleaning cloth is indicated with an arrow in Fig. 2. The
`guide rollers 4 and 6 are preferably mounted on the
`cleaning container 13.
` Further, two tensioning and guide rollers 7 and 8 are
`provided that serve to convey the cleaning cloth into the
`interior of the cleaning container 13. The rollers 7 and 8
`are attached to an appropriate holder 12 which is fixedly
`or removably mounted on a container cover 11 (Figs. 1A,
`B). As can be seen in Fig. 2, the cleaning cloth runs along
`the inside of the rollers 7 and 8 and as such is forcibly
`inserted into the inside of the cleaning container 13. In this
`way, the cleaning cloth can be rinsed out by the fluid
`contained in the cleaning container 13.
`Afterwards the cleaning cloth moves upward again. In
`the upper segment, in close proximity to the drive roller 3,
`a squeezing roller 9 is arranged. The cleaning cloth runs
`between the squeezing roller 9 and the drive roller 3, is
`pressed against the driver roller by the squeezing roller 9
`and is thus wrung out. The squeezing roller 9 is mounted
`on the container cover 11 (Fig. 1A, B). The squeezing
`pressure that is achieved by means of the interaction
`between the squeezing roller 9 and the adjacent drive
`roller 3 can be adjusted by selecting the distance between
`the rollers, i.e. by varying their position in respect to each
`other. By varying the squeezing pressure, the moisture
`content of the cleaning cloth can be adjusted.
`The cleaning cloth
`is preferably made of an
`exchangeable tensile fabric, for example of a knit or
`nonwoven
`fiber
`fleece. Additionally, at appropriate
`locations sensors may be arranged which detect the
`degree of dirtiness of the cleaning cloth or the cleaning
`fluid and which emit, when necessary, a warning signal to
`notify of the need to replace the cleaning cloth or the
`cleaning fluid. The cleaning unit may further have an
`exchangeable drying cloth attached to a rotating roller for
`the subsequent cleaning and drying of the floor surface,
`arranged at the back end of the cleaning unit. At the front
`end of the cleaning unit, a dirt rake may be arranged to
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`DE 198 49 978 A1
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`4
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`collect larger dirt particles.
`One significant advantage of the cleaning unit is that it is
`easy to handle and that it can be removed from and
`replaced in the mobile cleaning device described below in
`a few easy steps. The cleaning fleece, too, can be
`replaced in a few quick steps and the cleaning fluid can
`also be easily exchanged.
`In the Figs. 3A, B the perspective and bottom views of
`one embodiment of a mobile cleaning device are shown.
`The cleaning device has a multi-wheeled, preferably a
`two-wheeled, as shown, basic vehicle in which the
`cleaning unit in accordance with the invention is installed.
`The cleaning device is preferably the approximate size of
`a vacuum cleaner and moves autonomously with the aid
`of an electric drive.
`When the cleaning unit 10 is installed, the cleaning
`surface 1a of the cleaning cloth lies on the floor surface
`intended to be cleaned. The cleaning cloth 1 is preferably
`pressed in the region of the cleaning surface 1a against
`the floor surface intended to be cleaned by the rollers 5
`and 6. The pressure applied to the surface to be cleaned
`is generated by the screwing and clamping device with
`which the cleaning unit is attached in the carrier vehicle.
`By means of this device, the height of the cleaning unit in
`relation to the wheels of the vehicle and to the floor
`surface can be varied and thus the applied pressure
`adjusted. When the cleaning device is in motion, the drive
`motor of the cleaning unit is switched on, so that the
`cleaning cloth, as described, rotates, thus automatically
`and autonomously cleaning the floor surface. The rotation
`speed of the cleaning cloth may either be preset or
`adjustable. The direction of rotation runs preferably
`against the rotational direction of the wheels and thus
`against the direction in which the vehicle moves.
`The embodiment shown in Figs. 3A, B shows a cleaning
`device with two wheels 21 and 22. Preferably, the
`cleaning device has an individual drive motor for each of
`the wheels in order to allow for the steering of the cleaning
`device by means of the relative drive forces supplied to
`the wheels. Numerous distance sensors are arranged at
`the height of the widest dimension of the vehicle which
`measure the distance of the vehicle from surrounding
`obstacles. Upon approaching an obstacle, these supply
`corresponding signals to a central control unit. In its
`simplest version, four quarter-circle contact sensors 23a-d
`are arranged on the perimeter of the lower part of the
`housing. Depending on which of the four contact sensors
`emits a signal,
`the central control unit
`initiates a
`movement to avoid the obstacle. As an alternative to
`contact sensors, other sensors that detect distance, such
`as ultrasonic or infrared sensors may also be used.
`In Fig. 4 an example embodiment of a circuit
`arrangement of a control and navigation system for an
`autonomously moving cleaning device is shown. The
`central unit of the circuit arrangement is a control
`processor 30. The latter supplies, on the one hand,
`signals to the power electronics 33 in order to control the
`drive motors 31, 32 of the wheels 21, 22, as well as the
`drive motor 2 of the cleaning unit 10. On the other hand,
`the control processor 30 also receives signals from the
`rotary encoders 31a, 31b of the drive motors 31, 32, which
`allow the control processor to calculate the movement
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`Silver Star Exhibit 1011 - 3
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`actually carried out by the cleaning device.
`Movement along a straight line or along an otherwise
`formed trajectory is achieved by stipulating corresponding
`speeds and velocity ratios to the drive motors. The
`physical implementation of the speeds and velocity ratios
`is carried out by the power electronics by generating
`corresponding voltage values and voltage ratios and
`supplying these to the drive motors. The current and
`voltage supply is provided, for example, by a set of
`rechargeable 12 V batteries.
`By varying the velocity ratios and the corresponding
`voltage ratios for the drive motors, any desired trajectory
`can be followed. The control of the velocity ratios and of
`the actual movement is carried out by the rotary encoders
`of the drive motors by means of measuring the distance
`travelled over a specific period of time. If the target speed
`and/or position differ from the actual speed and/or
`position, the control processor calculates corresponding
`compensation values.
`The memory unit of the control processor allows, in
`particular, velocity patters for specific trajectory patterns to
`be calculated and stored in advance. In Figs. 5A to C,
`numerous possible trajectories are shown. Accordingly,
`the cleaning device can move along a spiral formed (5A),
`a meandering (5B) or a serpentine formed (5C) cleaning
`trajectory. The selection is carried out by the operator by
`adjusting a switch. The parameterization of such
`programmed trajectory types, for example of their width,
`may optionally be selected by the operator by means of a
`switch, or it may be hardcoded. Spiral formed (5A) and
`meandering trajectories are generally followed beginning
`from the inside and moving outwards.
`Numerous movement strategies exist for carrying out an
`all encompassing cleaning using the cleaning device that
`can be employed combined or individually. The movement
`can be carried out, for example, on a randomly chosen
`basis. In this case, the direction of movement and, where
`appropriate, the distance is (are) selected by the control
`processor according to a uniform distribution. Movement
`in a direction randomly chosen in this manner ensures that
`the floor surface intended to be cleaned will be almost
`entirely covered in the midterm.
`As an alternative to a movement chosen on a random
`basis,
`the progression may
`follow a previously
`programmed trajectory (for example, 5A, 5B, or 5C). The
`movement to be followed in this case varies in accordance
`with the selected trajectory pattern. After completing a
`corresponding trajectory, thereby carrying out the cleaning
`of a correspondingly large area, the device moves on in a
`randomly chosen direction and, after having travelled a
`predetermined distance, once again starts to carry out a
`trajectory.
`In the event that the cleaning device, while moving
`straight ahead or along a previously programmed
`trajectory, is in danger of colliding with an obstacle, this
`will be reported to the control processor by the distance
`sensor system 34. The control processor briefly halts the
`vehicle, selects at random a new direction of movement
`away from the obstacle and then resumes the vehicle’s
`progression. The vehicle moves a specified distance in the
`new direction and then begins movement along the
`chosen trajectory.
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`DE 198 49 978 A1
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`By virtue of the combined means of the straight line
`movement, movement along preset cleaning trajectories
`and the obstacle avoidance strategies described above, it
`can be ensured that nearly the entire surface of the floor
`intended to be cleaned will be covered in the midterm.
`Alternatively to the two movement strategies outlined
`above that allow the combination of random and targeted
`progression, it is also possible to calculate the cleaning
`trajectory of a surface to be cleaned entirely, or to a great
`extent, before carrying it out. For this purpose the vehicle
`control must be provided with a preferably complete floor
`plan (outline) of the surface to be cleaned. With the aid of
`this plan, an all encompassing
`trajectory can be
`calculated. In order to ensure that the cleaning trajectory
`is precisely followed, the vehicle must further be capable
`of determining its exact position within the cleaning area
`and of supplementing the floor plan when unidentified
`objects are detected by its distance sensors. When
`objects not previously known from the floor plan are
`detected, the previously calculated cleaning trajectory
`must be modified to allow the obstacle to be avoided. This
`can be achieved, for example, by following along the
`periphery of the obstacle until the original trajectory is
`once again reached.
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`
`Claims
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`
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`1. Cleaning unit (10) for automatic or manual cleaning
`of non-textile floor coverings, with at least one
`rotating cleaning cloth (1) laid around a plurality of
`rollers (3-9), in particular guide and drive rollers (3-8),
`and which forms, on one side of the cleaning unit, an
`(1a),
`further
`outwardly
`facing cleaning surface
`characterized by having at least one cleaning
`container (13), containing a cleaning fluid, through
`which the cleaning cloth (1) can be conveyed with the
`aid of the transport and drive rollers (3-8).
`2. Cleaning unit
`in accordance with claim 1,
`characterized by having at least one drive roller (3)
`driven by a motor (2), in particular an electric motor,
`the surface texture of which allows the entrainment of
`the cleaning cloth (1).
`3. Cleaning unit
`in accordance with claim 1,
`characterized in having a squeezing roller (9) by
`means of which, when in operation, the cleaning cloth
`(1) is pressed against one of the other rollers (3-8), in
`particular the drive roller (3), after being conveyed
`through the cleaning fluid.
`4. Cleaning unit
`in accordance with claim 3,
`characterized in that the squeezing pressure is
`adjustable by means of selecting
`the distance
`between the rollers, i.e. by varying their position
`relative to each other.
`5. Cleaning unit
`in accordance with claim 1,
`characterized by having first guide rollers (4-6), by
`means of which the cleaning belt (1) is led around the
`cleaning container (13), wherein the cleaning surface
`(1a) is formed by the segment of the cleaning cloth
`(1) spanned between the guide rollers (5, 6).
`6. Cleaning unit
`in accordance with claim 1,
`characterized by having second guide rollers (7, 8) by
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`Silver Star Exhibit 1011 - 4
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`means of which the cleaning belt (1) is forcibly
`conveyed
`through
`the cleaning container,
`thus
`undergoing a constant cleaning.
`7. Cleaning unit
`in accordance with claim 1,
`characterized by having a pressing apparatus, by
`means of which the cleaning surface (1a) of the
`cleaning cloth (1) can be pressed against the surface
`intended to be cleaned.
`9. Cleaning unit
`in accordance with claim 1,
`characterized by having an exchangeable drying
`cloth for the subsequent cleaning and drying of the
`underlying surface attached
`to a rotating roller
`arranged at the end of the cleaning unit.
`10. Mobile cleaning device containing a cleaning unit
`(10) in accordance with one or more of the preceding
`claims containing at least two wheels (21, 22).
`11. Cleaning device in accordance with claim 10,
`characterized
`in
`that
`it
`is designed as an
`(20) capable of
`autonomously moving vehicle
`systematically cleaning a soiled non-textile floor
`surface over a long period of time without the
`intervention or support of an operator.
`12. Cleaning device in accordance with claim 11,
`characterized in that it comprises at least two drive
`motors (31, 32) that include power electronics for
`driving the wheels (21, 22).
`13. Cleaning device in accordance with claim 10,
`characterized in that it comprises a navigation system
`consisting of a control processor (30) for controlling
`the movement of the cleaning device (20), rotary
`encoders (31a, 31b) for measuring the distance
`travelled and for determining the position of the
`cleaning device, and sensors (23a-d;
` 34) for
`detecting obstacles.
`14. Cleaning device in accordance with claim 10,
`characterized in that it comprises a navigation system
`offering numerous movement strategies that allow a
`systematic, all encompassing covering of the floor
`surface intended to be cleaned.
`15. Cleaning device in accordance with claim 10,
`characterized in that it comprises a navigation system
`which, by means of distance sensors (213a-d; 34),
`recognizes that an obstacle is being approached and
`halts the device.
`16. Cleaning device in accordance with claim 10,
`characterized in that it comprises a navigation device
`that, after approaching an obstacle and halting the
`vehicle, initiates a movement allowing the obstacle to
`be avoided.
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`Attached are 6 pages of figures
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`Silver Star Exhibit 1011 - 5
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`DE 198 49 978 A1
`DE 198 49 978 A1
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`Silver Star Exhibit 1011 - 6
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`Silver Star Exhibit 1011 - 6
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