DE102006008415B3 - Obstacle detection device for e.g. robot vacuum cleaner, has impact unit mounted over several springs in several directions, and two sensors of controller perpendicularly arranged to each other, where sensors are used with light barrier - Google Patents
Obstacle detection device for e.g. robot vacuum cleaner, has impact unit mounted over several springs in several directions, and two sensors of controller perpendicularly arranged to each other, where sensors are used with light barrier Download PDFInfo
- Publication number
- DE102006008415B3 DE102006008415B3 DE102006008415A DE102006008415A DE102006008415B3 DE 102006008415 B3 DE102006008415 B3 DE 102006008415B3 DE 102006008415 A DE102006008415 A DE 102006008415A DE 102006008415 A DE102006008415 A DE 102006008415A DE 102006008415 B3 DE102006008415 B3 DE 102006008415B3
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- Germany
- Prior art keywords
- sensors
- obstacle
- controller
- obstacle detection
- switch panel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
- 230000004888 barrier function Effects 0.000 title claims abstract description 5
- 238000001514 detection method Methods 0.000 title claims description 15
- 230000035939 shock Effects 0.000 claims description 18
- 238000004140 cleaning Methods 0.000 claims description 4
- 230000003287 optical effect Effects 0.000 description 9
- 230000002238 attenuated effect Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
Die vorliegende Erfindung betrifft eine Vorrichtung zur Hinderniserkennung, insbesondere für selbstfahrende Bodenreinigungsgeräte, mit einem Gehäuse, an dem zumindest ein Stoßelement beweglich gelagert ist, wobei eine Bewegung des Stoßelementes über Sensoren einer Steuerung erfassbar ist.The The present invention relates to an obstacle detection apparatus, especially for self-driving Floor cleaning equipment, with a housing, on the at least one impact element is movably mounted, wherein a movement of the shock element via sensors a control is detected.
Selbstfahrende
Bodenreinigungsgeräte,
sogenannte Robotsauger, sind beispielsweise aus der
Selbstfahrende Geräte benötigen eine Vorrichtung zur Hinderniserkennung, um selbständig einen Bodenbereich abfahren und reinigen zu können. Dabei ist es erforderlich, dass Hindernisse erkannt und umfahren werden. Um Hindernisse zu erkennen, werden am Gehäuse von solchen Geräten Näherungsschalter eingesetzt, die bei Auftreffen auf ein Hindernis einen Schaltvorgang auslösen. Über das Gehäuse verteilt können mehrerer solcher Schalter vorgesehen sein. Nachteilig bei einer solchen Steuerung ist, dass der Aufwand durch die Vielzahl an Schaltern relativ hoch ist und zudem die Art des Hindernisses nicht gut erkannt werden kann. So können kleinere Bodenschwellen schon irrtümlich als Hindernis angesehen werden.Self-propelled equipment need a device for obstacle detection to independently one Starting and cleaning the floor area. It is necessary that obstacles are detected and bypassed. To overcome obstacles recognize, be on the case from such devices proximity switch used when switching to an obstacle, a switching operation trigger. Distributed over the housing can be provided a plurality of such switches. A disadvantage of a such control is that the effort by the large number of switches is relatively high and also the nature of the obstacle is not well recognized can be. So can smaller ones Thresholds already mistaken be regarded as an obstacle.
Es ist daher Aufgabe der vorliegenden Erfindung eine Vorrichtung zur Hinderniserkennung zu schaffen, die bei einfachem Aufbau eine möglichst genaue Aussage über die Art des Hindernisses treffen kann.It is therefore an object of the present invention, a device for Obstacle detection to create, with a simple structure as accurate as possible Statement about the type of obstacle can hit.
Diese Aufgabe wird mit einer Vorrichtung zur Hinderniserkennung mit den Merkmalen des Anspruches 1 gelöst.These Task is with a device for obstacle detection with the Characteristics of claim 1 solved.
Erfindungsgemäß ist das Stoßelement an dem Gehäuse in mehrere Richtungen federnd gelagert und über mindestens zwei Sensoren kann die Bewegungsrichtung des Stoßelementes erfasst werden. Dadurch kann neben der Information, dass ein Hindernis an dem Stoßelement anliegt zusätzlich noch eine Information über die Art des Hindernisses gewonnen werden, da das Hindernis maßgeblich für die Bewegungsrichtung des Stoßelementes ist. Dies lässt eine genauere automatische Erfassung der Raumgegebenheiten zu und die Steuerung des Gerätes entsprechend reagieren.This is according to the invention impact element on the housing resiliently supported in several directions and at least two sensors the direction of movement of the impact element can be detected. As a result, in addition to the information that an obstacle on the shock element additionally available an information about The type of obstacle to be gained as the obstacle prevails for the Direction of movement of the push element is. This leaves a more accurate automatic detection of room conditions to and the control of the device react accordingly.
Gemäss einer bevorzugten Ausgestaltung sind zwei Sensoren im Wesentlichen rechtwinklig zueinander angeordnet. Dadurch können besonders horizontale und vertikale Auslenkungen des Stoßelementes erfasst werden. Das Stoßelement kann dabei über mehrere Federn in alle Richtungen gelagert sein.According to one preferred embodiment, two sensors are substantially rectangular arranged to each other. Thereby can especially horizontal and vertical deflections of the shock element be recorded. The shock element can over it be stored several springs in all directions.
Für eine besonders schnelle und genaue Erfassung einer Bewegung des Stoßelementes können die Sensoren jeweils eine Lichtschranke und eine mit dem Stoßelement gekoppelte Schaltblende aufweisen. Die Schaltblende kann dabei einen ringförmigen Bereich zum zentralen Durchtritt für Lichtstrahlen umfassen, der unterschiedlich eingetrübt ist. Über das Maß an absorbiertem Licht kann erfasst werden, in welche Richtung die Blende ausgelenkt wurde. Dadurch kann an dem entsprechenden Sensor nicht nur eine Auslenkung in eine Richtung sondern in mehrere Richtungen erfasst werden, je nachdem wie fein der ringförmige Bereich an der Schaltblende unterteilt ist. An der Schaltblende können die einzelnen Trübungsbereiche dabei als Segmente ausgebildet sein.For a special fast and accurate detection of a movement of the shock element can they Sensors each have a light barrier and one with the shock element have coupled switching panel. The switch panel can be a annular area to the central passage for Include light rays that is differently clouded. About the Measure absorbed light can be detected, in which direction the aperture was deflected. This can not be done on the corresponding sensor only a deflection in one direction but in several directions be detected, depending on how fine the annular area on the control panel is divided. At the switch panel, the individual turbidity ranges while being formed as segments.
Vorzugsweise ist mit Hilfe der Sensoren die Art eines Hindernisses erfassbar und die Steuerung kann den Antrieb entsprechend betätigen. Dabei können die Sensoren sowohl ein Auftreffen auf ein Hindernis als auch einen Widerstand beim Lösen von einem Hindernis erfassen, beispielsweise wenn das Stoßelement auf einem Hindernis aufsitzt.Preferably the type of obstacle can be detected with the aid of the sensors and the controller can actuate the drive accordingly. The can Sensors both an impact on an obstacle and a Resistance when releasing from an obstacle, for example when the impact element sitting on an obstacle.
Die Erfindung wird nachfolgend anhand mehrerer Ausführungsbeispiele mit Bezug auf die beigefügten Zeichnungen näher erläutert. Es zeigen:The Invention will be described below with reference to several embodiments with reference to the attached Drawings closer explained. Show it:
Ein
Robotsauger
An
dem Gehäuse
Zur
Erfassung von Hindernissen sind zwischen dem beweglich gelagerten
Stoßelement
In
In
Wird
das Stoßelement
In
In
Wird
die Schalterblende
Wenn
die Schalterblende
Die
horizontalen Sensoren
In
In
In
In
In
In
In
Aufgrund
der Erfassung der unterschiedlichen Hindernisse kann die Steuerung
den Robotsauger
In
Die
Vorrichtung zur Hinderniserkennung kann statt der drei gezeigten
Sensoren
Claims (8)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102006008415A DE102006008415B3 (en) | 2006-02-21 | 2006-02-21 | Obstacle detection device for e.g. robot vacuum cleaner, has impact unit mounted over several springs in several directions, and two sensors of controller perpendicularly arranged to each other, where sensors are used with light barrier |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102006008415A DE102006008415B3 (en) | 2006-02-21 | 2006-02-21 | Obstacle detection device for e.g. robot vacuum cleaner, has impact unit mounted over several springs in several directions, and two sensors of controller perpendicularly arranged to each other, where sensors are used with light barrier |
Publications (1)
Publication Number | Publication Date |
---|---|
DE102006008415B3 true DE102006008415B3 (en) | 2007-06-21 |
Family
ID=38089716
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE102006008415A Active DE102006008415B3 (en) | 2006-02-21 | 2006-02-21 | Obstacle detection device for e.g. robot vacuum cleaner, has impact unit mounted over several springs in several directions, and two sensors of controller perpendicularly arranged to each other, where sensors are used with light barrier |
Country Status (1)
Country | Link |
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DE (1) | DE102006008415B3 (en) |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2159659A2 (en) * | 2008-08-22 | 2010-03-03 | Murata Machinery, Ltd. | Autonomous moving apparatus |
DE102012108008A1 (en) | 2012-08-30 | 2014-03-06 | Miele & Cie. Kg | Self-propelled suction device for automated cleaning of surface, has sensor for detecting characteristics of environment of suction device, where sensor is arranged to detect liquid located on surface to be cleaned |
DE102012109970A1 (en) | 2012-10-19 | 2014-05-22 | Miele & Cie. Kg | Self-propelled bottom cleaning device i.e. robotic vacuum cleaner, for cleaning dust in e.g. corner of floor, has sensor detecting angle of nozzles, where signals from sensor are transmitted to control device to control movement of device |
CN107907289A (en) * | 2017-09-27 | 2018-04-13 | 芜湖凯尔电气科技有限公司 | The striking experiment device of floor-mopping robot |
CN109091075A (en) * | 2018-08-17 | 2018-12-28 | 天佑电器(苏州)有限公司 | Self-moving device and its traveling control method |
CN111685651A (en) * | 2019-03-11 | 2020-09-22 | 江苏美的清洁电器股份有限公司 | Cleaning device and control method thereof |
WO2021068908A1 (en) * | 2019-10-12 | 2021-04-15 | 苏州宝时得电动工具有限公司 | Cleaning robot |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10231386B4 (en) * | 2002-07-08 | 2004-05-06 | Alfred Kärcher Gmbh & Co. Kg | Sensor device and self-propelled floor cleaning device with a sensor device |
-
2006
- 2006-02-21 DE DE102006008415A patent/DE102006008415B3/en active Active
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10231386B4 (en) * | 2002-07-08 | 2004-05-06 | Alfred Kärcher Gmbh & Co. Kg | Sensor device and self-propelled floor cleaning device with a sensor device |
Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2159659A2 (en) * | 2008-08-22 | 2010-03-03 | Murata Machinery, Ltd. | Autonomous moving apparatus |
EP2159659A3 (en) * | 2008-08-22 | 2014-12-17 | Murata Machinery, Ltd. | Autonomous moving apparatus |
DE102012108008A1 (en) | 2012-08-30 | 2014-03-06 | Miele & Cie. Kg | Self-propelled suction device for automated cleaning of surface, has sensor for detecting characteristics of environment of suction device, where sensor is arranged to detect liquid located on surface to be cleaned |
DE102012109970A1 (en) | 2012-10-19 | 2014-05-22 | Miele & Cie. Kg | Self-propelled bottom cleaning device i.e. robotic vacuum cleaner, for cleaning dust in e.g. corner of floor, has sensor detecting angle of nozzles, where signals from sensor are transmitted to control device to control movement of device |
CN107907289A (en) * | 2017-09-27 | 2018-04-13 | 芜湖凯尔电气科技有限公司 | The striking experiment device of floor-mopping robot |
CN109091075A (en) * | 2018-08-17 | 2018-12-28 | 天佑电器(苏州)有限公司 | Self-moving device and its traveling control method |
CN109091075B (en) * | 2018-08-17 | 2024-03-08 | 天佑电器(苏州)有限公司 | Self-moving device and traveling control method thereof |
CN111685651A (en) * | 2019-03-11 | 2020-09-22 | 江苏美的清洁电器股份有限公司 | Cleaning device and control method thereof |
CN111685651B (en) * | 2019-03-11 | 2022-03-15 | 美智纵横科技有限责任公司 | Cleaning device and control method thereof |
WO2021068908A1 (en) * | 2019-10-12 | 2021-04-15 | 苏州宝时得电动工具有限公司 | Cleaning robot |
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8100 | Publication of patent without earlier publication of application | ||
8364 | No opposition during term of opposition | ||
8320 | Willingness to grant licences declared (paragraph 23) |