EP2999388A1

EP2999388A1 - Self-propelled and self-steering floor cleaning appliance having a sensing part

Info

Publication number: EP2999388A1
Application number: EP13729274.4A
Authority: EP
Inventors: Jacob Janzen; Jochen Engele; Marc MEISENBACHER; Matthias Mack
Original assignee: Alfred Kaercher SE and Co KG
Current assignee: Alfred Kaercher SE and Co KG
Priority date: 2013-05-23
Filing date: 2013-05-23
Publication date: 2016-03-30
Also published as: US9801512B2; US20160073839A1; WO2014187498A1

Abstract

The invention relates to a self-propelled and self-steering floor cleaning appliance (10), comprising a drive unit (14) having a chassis (16), comprising a sensing part (42) for sensing obstructions, comprising at least one movable retaining part (64, 66) for retaining the sensing part (42) on the floor cleaning appliance (10), and comprising at least one detection element (96) for detecting a movement of the at least one retaining part (64, 66) and for providing a signal in this connection. In order that collisions can be reliably detected, the floor cleaning appliance (10) comprises at least one accommodating part (60, 62) on which the at least one retaining part (64, 66) is movably retained in a first (112) and in a second direction of movement (114, 116); and the at least one detection element (96) can be actuated by the at least one retaining part (64, 66) when the retaining part is moved in the first direction of movement (112) and in the second direction of movement (114, 116).

Description

SELF-PROPELLED AND STEERING FLOOR CLEANER WITH KEYBOARD

The invention relates to a self-propelled and self-steering floor cleaning device having at least one cleaning member for cleaning a bottom surface, comprising a drive unit having a running gear, a feeler for touching obstacles, at least one displaceable holding part for holding the feeler on the floor cleaning device and at least one detection element for detecting a Displacement of the at least one holding part and for providing a relevant signal.

Such a floor cleaning device allows the autonomous cleaning of a floor surface, for example by sweeping and / or by suction. For sensing obstacles on or on the bottom surface, the floor cleaning device on the Tastteil, which is connected to the sliding holding part and held on this on the floor cleaning device. For example, the holding part, as well as the chassis, held on a chassis of the floor cleaning device. If the feeler contacts an obstacle, the holding part can be displaced and the detection element actuated. A signal in this regard is provided for acting on the drive device, for example, transmitted to a control device of the floor cleaning device, which in turn is in operative connection with the drive device. Sensing the floor cleaning device an obstacle, the state of motion of the floor cleaning device can be changed, for example, the floor cleaning device can be stopped, or there is a change of direction.

EP 0 274 310 B1 describes a floor cleaning appliance, the holding part of which is displaced when a frontal obstacle is touched, actuates a detection element, whereupon the floor cleaning appliance is stopped. If a lateral, decentralized collision with an obstacle, the holding part is rotated about an axis of rotation aligned perpendicular to the direction of displacement. By additional displacement of the holding part, the detection element can be actuated. In particular, since the holding member has a considerable size and thus a large inertia, it may happen that the rotation follows no displacement of the holding part and the floor cleaning device retains its direction of travel despite collision with an obstacle, which can lead to its damage.

A floor cleaning device with a rotatable and displaceable probe part is also described in WO 02/071175 AI.

DE 24 48 156 describes another floor cleaning device with a pivotable sensing part.

Object of the present invention is to provide a generic floor cleaning device, can be detected with the collisions with obstacles in a reliable manner.

This object is achieved in a floor cleaning device of the type mentioned in the present invention, that the floor cleaning device comprises at least one receiving part, on which the at least one holding part is displaceably held in a first displacement direction and in a second displacement direction, which is aligned at an angle to the first displacement direction, and that the at least one detection element can be actuated by the at least one holding part during its displacement in the first displacement direction and in the second displacement direction.

The at least one holding part of the floor cleaning appliance according to the invention is held displaceably on at least one receiving part, in two angularly aligned displacement directions. This makes it possible to transfer collisions, which act along an axis of the first displacement direction or along an axis of the second displacement direction on the sensing part, in a displacement of the holding part. In particular, it is possible to collide with obstacles on different sides of the floor cleaning device, corresponding to the position of the first and the second displacement direction to reliably detect, because the at least one detection element is actuated by the holding part during displacement in the first and in the second direction of displacement. Also, collisions with obstacles that act on the probe part at an angle to the first and second displacement direction can be detected. This can lead to a displacement of the holding part in a displacement direction, which results from a superposition of the first and the second displacement direction, which can also be detected by means of an actuation of the at least one detection element.

The displacement of the at least one holding part in the first and the second displacement direction preferably takes place parallel to a contact plane of the floor cleaning appliance with the bottom surface and in particular horizontally.

Positioning and orientation information such as "front", "top", "bottom", "horizontal" or the like are presently considered to refer to an operating position of the floor cleaning device, in which it is positioned on a viewed as horizontally oriented bottom surface, and further in Referenced reference to a longitudinal or main direction of movement of the floor cleaning appliance related. When moving in the main movement direction, the floor cleaning device performs a straight ahead.

The possibility of displacing the at least one holding part along two directions of displacement aligned at an angle enables, in particular, a floating support of the holding part and thus of the feeler part on the floor cleaning appliance. The floating storage is preferably carried out in a horizontal plane.

In an advantageous embodiment of the floor cleaning device according to the invention, the first displacement direction and the second displacement direction are aligned transversely to each other. It is advantageous if the first displacement direction is opposite to a main movement direction of the floor cleaning appliance and / or if the second displacement direction is oriented transversely to the main movement direction. The first displacement direction can be aligned longitudinally from front to back of the floor cleaning appliance and the second displacement in the transverse direction of the floor cleaning appliance, preferably from the outside thereof in the direction of a central longitudinal plane of the floor cleaning appliance.

It proves to be advantageous if the at least one holding part on the at least one receiving part against the second displacement direction is displaceable. In particular, the holding part can be moved in the transverse direction of the floor cleaning device viewed from the central longitudinal plane to an outer side. The displacement against the second displacement direction proves to be advantageous if, as will be discussed, the feeler part is preferably held by means of two holding parts and two receiving parts on the floor cleaning device, wherein the second displacement directions of the two holding parts are opposite to each other. If a holding part is displaced in "its", ie the second displacement direction assigned to it, the second holding part can be displaced counter to "its" second displacement direction assigned to it. Starting from a basic position, which the holding parts can assume in the absence of a collision with an obstacle, they can be displaced in a respective and opposite to a respective second displacement direction. This proves to be advantageous for a floating and tilt-free mounting of the holding parts and thus of the probe.

It is favorable if a displacement of the at least one holding part on the at least one receiving part in the second displacement direction and counter to the second displacement direction is equal or substantially equal, starting from a basic position in which the at least one holding part under the action of at least one spring element is held. This proves to be particularly favorable when using two holding and two receiving parts, as explained above. The one holding part can counter the second displacement direction assigned to it are displaced as far as the other holding part is displaced in the second displacement direction assigned to it.

It is advantageous if the floor cleaning device comprises two holding parts connected to the sensing part and two receiving parts each assigned to a holding part. The first displacement directions of the holding parts are preferably aligned parallel to one another and / or the second displacement directions of the holding parts are preferably opposite to each other and directed to the respective other holding part. The use of two holding parts allows a reliable mounting of the probe on the floor cleaning device. The holding parts and the receiving parts receiving them may be spaced apart, in particular in the transverse direction of the floor cleaning device. If a collision occurs along the first direction of displacement, both holding parts can be moved. In a collision along the second direction of displacement, a holding part in the second displacement direction and the respective other holding part can be displaced counter to its second displacement direction.

The sensing part preferably connects the holding parts rigidly to one another, so that a movement of a holding part also results in a movement of the respective other holding part.

Each holding part is preferably associated with a detection element which can be actuated upon displacement of the respective holding part in the first and the second displacement direction. As a result, in particular the possibility exists that in a collision which leads to the displacement of a holding part in its second displacement direction, only the said holding part associated detection element is actuated. The floor cleaning device can thereby determine on which side of the probe a collision occurs.

In practice, it proves to be advantageous if the holding parts and the receiving parts are arranged on a front left corner region and a front right corner region of the floor cleaning device, based on the Longitudinal or main direction of movement. The detection elements can also be arranged on the front left or right corner region.

For a compact design of the floor cleaning device, it is advantageous if between the holding parts and the receiving parts, for example in the transverse direction of the floor cleaning device, a drive motor and / or a battery of the floor cleaning device is arranged. The drive motor may be a drive motor for a cleaning member, such as a cleaning brush, or a drive motor for the chassis.

Preferably, a receiving space is formed below the holding parts and the receiving parts on the floor cleaning device, in which a cleaning member, in particular a cleaning brush, is arranged. This can also be achieved a compact design of the floor cleaning device. The arrangement of the receiving parts and holding parts above the receiving space receiving and holding parts can be saved laterally next to the cleaning brush. This allows the cleaning brush to be so long that it extends across the entire width or nearly the entire width of the floor cleaning appliance. This makes it possible to perform with the floor cleaning device near the edge or close to the wall cleaning.

The feeler part is arranged in particular on a front side of the floor cleaning appliance. For example, the sensing part extends in the transverse direction of the floor cleaning device over its entire front.

It is advantageous if the floor cleaning appliance comprises a housing and the probe part forms a housing section arranged on its front side, with respect to a longitudinal or main movement direction of the floor cleaning appliance.

It can further be provided that the housing section extends along the entire front side of the floor cleaning appliance and / or a housing section at the top of the floor cleaning appliance and / or forms housing sections on sides of the floor cleaning device. This may in particular be understood to mean that the housing section formed by the feeler part is arranged partially on the upper side of the floor cleaning appliance, for example near the front or near the left and right sides of the floor cleaning appliance. The housing section can also form a part of the housing on the left and / or right side of the floor cleaning device. This makes it possible to detect collisions head-on, diagonally from the front and / or from the side.

The at least one holding part may be integrally connected to the sensing part. It is also conceivable a connection via force and / or positive connection, such as jamming or locking. A screw connection or bonding is conceivable.

In an advantageous embodiment, it is favorable if the feeler part comprises a lower part and an upper part covering it, wherein the lower part is connected to the at least one holding part and to the upper part and the upper part contacts the obstacles, electrical contact elements being arranged on the lower part which is the bottom cleaning device energy supplied, and / or sensor elements for contactless detection of obstacles. "Lower part" and "upper part" in this embodiment refers to the fact that the upper part can be indirectly connected to the at least one holding part via the lower part. Obstacles can be contacted via the upper part and lead over the lower part to a displacement of the holding part. At the lower part of the contact elements and / or sensor elements may be arranged, for example, an optical sensor or an ultrasonic sensor. It can be provided that the upper part has a passage opening or aperture through which the sensor elements can emit and receive signals and the electrical contact elements can be achieved.

The at least one detection element may preferably comprise or form a switching element, and the at least one holding part may detect the detection element. onselement for its operation or contact the detection element contacting triggering element for actuating the detection element. The switching element can be actuated by the holding part directly or indirectly with the interposition of the triggering element.

The switching element may in particular be a microswitch. The triggering element is, for example, a switching plunger, which is displaced by a displacement of the at least one holding part and acts on the switching element. For example, the triggering element is moved in the second direction of displacement, whereby a shift in the first direction of displacement or obliquely is conceivable.

It is advantageous if the at least one holding part has a contact member for contacting the switching element or the triggering element. The contact member preferably has a bevel relative to the first displacement direction and relative to the second direction of displacement. For example, it can be provided that the holding part can be displaced along the first displacement direction and the tripping element can be displaced at an angle thereto, in particular in the second displacement direction, in order to actuate the switching element. On the other hand, if the holding part is displaced in the second displacement direction, this can also lead to displacement of the triggering element in the second displacement direction.

In another advantageous embodiment, the at least one detection element is a sensor element, in particular a magnetically acting sensor element, from which an electrical signal can be provided when the at least one holding part is displaced. For example, the sensor element is a Hall sensor with which a signal can be provided depending on the relative position or relative movement of the holding part and sensor element.

In a structurally simple embodiment, it is favorable if the at least one receiving part comprises a receptacle for the at least one detection element and / or a triggering element contacting this or forms, in which the detection element and / or the trigger element is arranged. The receptacle is, for example, concave, wherein the receiving part may comprise a cup-shaped form.

For reliable operation of the floor cleaning device, it is advantageous if the at least one receiving part defines a guide for the at least one holding part when moving along the first displacement direction and along the second displacement direction.

It proves to be advantageous if a shaft-shaped receiving space is formed on at least one receiving part, in which the at least one holding part engages in the first displacement direction or the second displacement direction and is displaceable and in which the at least one holding part is displaceable in the respective other displacement direction, wherein at least one wall of the receiving space forms a guide for the at least one holding part. The shaft-shaped receiving space is formed in particular in at least one receiving part. In a plane which is spanned by the first and the second displacement direction, the holding part can move in the receiving space. A wall of the receiving space, which is arranged in a direction transverse to the first and to the second displacement direction, may define the guide, wherein the holding part may abut against the wall for guiding.

It is advantageous if the at least one holding part is arranged transversely to the first and second displacement direction without play or substantially free of play in the receiving space between these bounding walls. The walls can thereby guide the holding part on opposite sides. This proves to be particularly advantageous for a floating mounting of the holding part on the receiving part. Along the direction, which is aligned transversely to the first and to the second displacement direction, no or no substantial movement of the holding part can take place. For a structurally simple embodiment, it is advantageous if the at least one receiving part comprises a lower part which forms a support for the at least one holding part, and an upper part which is placed on the lower part and covers the at least one holding part. The lower part forms, for example, the above-mentioned receptacle for the detection element and / or the triggering element. The upper part can be connected, for example by jamming or locking with the lower part. Between the upper part and the lower part, the holding part, such as in the above-mentioned receiving space, arranged resting on the lower part.

As low proves it in practice, when the lower part and the upper half shells.

It also proves to be favorable if the at least one detection element can be actuated after displacement of the at least one holding part along one of the two displacement directions of approximately 1 mm to 2 mm. To actuate the detection element, a minimum displacement of the holding part is required. As a result, it can be avoided, for example, that the detection element is already actuated when the feeler part merely brushes against an obstacle or comes into contact with a non-rigid obstacle such as, for example, curtains or curtains. Such obstacles can be passed by the floor cleaning device without changing the driving condition.

It is advantageous if, when the at least one detection element is actuated, the at least one holding part is displaceable further in the first displacement direction and / or in the second displacement direction by an additional displacement path. As a result, there is the possibility that the feeler part still moves slightly relative to the floor cleaning appliance after actuation of the detection element. If the signal of the detection element causes a drive for the landing gear to be switched off, the floor cleaning device can brake under the additional movement of the sensing part. In practice it turns out that errors of wheel encoders, which detect the revolutions of wheels (of the chassis), can thereby be reduced. The additional displacement along the first displacement direction may be, for example, about 5 mm to 10 mm and about 2 mm to 4 mm along the second direction of displacement. In particular, the additional displacement is greater than the Mindestverstellweg, because the holding part must perform to actuate the detection element.

Advantageously, the floor cleaning device comprises stops for limiting the movement of the at least one holding part relative to the at least one receiving part, preferably the at least one holding part and the at least one receiving part can comprise or form the stops.

In a structurally simple embodiment, it is advantageous if the at least one holding part has at least one peg-shaped projection which engages in at least one recess on at least one receiving part whose edges form stops for the projection. The recess on the receiving part can form a backdrop within which the projection can move. If the projection strikes against an edge of the gate, this limits the movement of the retaining part relative to the receiving part. The recess is in an advantageous embodiment, an opening, for example a window-shaped opening in the receiving part, and it may have a rectangular shape. It can be provided that the holding part on opposite sides has projections which engage in a respective recess on the receiving part. The recesses may be arranged, for example, on a lower part and an upper part of the receiving part.

It is advantageous if the displacement of the at least one holding part against the restoring force of at least one spring element takes place. This allows the holding part and thus the feeler part to assume a basic position in the absence of contact with an obstacle. Preferably, the at least one spring element is arranged in the plane of the first displacement direction and the second displacement direction and effective to ensure reliable operation.

In an advantageous embodiment, a spring element engages on at least one holding part and on at least one receiving part. Preferably, the spring element acts on the at least one holding part with a force oriented obliquely to the first displacement direction and obliquely to the second displacement direction. As a result, a force can be aligned with the holding part along the first and along the second displacement direction. In particular, a force in the opposite direction of the first displacement direction is exerted on the holding part.

The force of at least one spring element preferably has a component in the second direction of displacement of the at least one holding part. This is preferably the spring element of the last-mentioned advantageous embodiment. The component in the second direction of displacement of the holding part can serve to move in the presence of two holding parts, the respective other holding part against its second direction of displacement. The force component therefore preferably has opposite to the second direction of displacement of the respective other holding part.

The spring elements of the two advantageous embodiments mentioned above are for example tension springs and configured in particular as coil springs.

It is advantageous if a spring element is arranged on the at least one detection element, which acts on the at least one holding part or a triggering element with a restoring force directed counter to the second displacement direction. The spring element, in particular a compression spring and preferably designed as a helical spring, can move the holding part or the triggering element against its second displacement direction. The Spring element is arranged, for example, in the same receptacle as the trigger element on which it can act.

The following description of a preferred embodiment of the invention serves in conjunction with the drawings, the detailed explanation of the invention. Show it :

Figure 1: a perspective view of a floor cleaning device according to the invention;

Figure 2 is a perspective view of a front portion of the floor cleaning device of Figure 1, partially in exploded view;

FIG. 3 shows a perspective view of a receiving part and a holding part of the floor cleaning appliance of FIG. 1 held displaceably thereon, wherein a detection element and a triggering element are also arranged in the receiving part;

FIG. 4 shows an exploded view according to FIG. 3;

Figure 5 is a plan view of the components according to Figure 3, wherein an upper part of the receiving part is not shown and the holding part assumes a basic position;

Figure 6 is a view corresponding to Figure 5, after the holding part has been moved in a first direction of displacement;

Figure 7 is a view corresponding to Figure 5, in which the holding part has been moved in a second direction of displacement;

FIG. 8: a representation corresponding to FIG. 5, wherein furthermore a second one

Receiving part, a second holding part, a second trigger element and a second switching element and the contour of a sensing part of the floor cleaning device of Figure 1 are shown.

FIG. 1 shows a perspective view of an advantageous embodiment of a floor cleaning appliance according to the invention, designated overall by the reference numeral 10. The floor cleaning device 10 is designed to be self-propelled and self-steering and allows the autonomous cleaning of a floor surface 12. For operation on the floor surface 12, the floor cleaning device 10 has a drive device 14 with a chassis 16 and a drive motor (not shown). The floor cleaning device 10 is normally moved in straight ahead along a main movement direction 18, which corresponds to a longitudinal direction of the floor cleaning device 10. Transverse to the longitudinal direction 18, the floor cleaning device 10 has a transverse direction 20.

Position and orientation data refer in the present case to an operating position of the floor cleaning appliance 10 in which this is to be regarded as positioned on the floor surface 12, which is considered horizontal. About the longitudinal or main movement direction 10, a front side 22, a left side 24, a right side 26, a top 28 and a bottom 30 of the floor cleaning device 10 is defined.

The chassis 16 is held on a chassis 32 of the floor cleaning device 10 on the underside 30, wherein the chassis 32 forms part of a housing 34 of the floor cleaning device 10. On the underside 30, near the front side 22, the chassis 32 forms a receiving space 35 for a cleaning member, present in the form of a cleaning brush 351. The cleaning brush 351 is rotatable about a transverse axis 20 extending rotational axis drivable to sweep dirt from the bottom surface 12 , Another cleaning member is provided in the form of a suction unit (not shown) to suck the dirt in a dirt collecting 36. A drive motor 38 for the cleaning brush 351 is held on the chassis 32, above the receiving space 35. Laterally adjacent to the drive motor 38 is on the chassis 34 arranged in a battery receptacle at least one rechargeable battery 40 to provide the drive motor 38 and / or the drive means 14 electrical energy.

The housing 34 has a housing section which serves for the detection of obstacles on or on the bottom surface 12 and is therefore referred to as a feeler part 42. The sensing member 42 extends in the transverse direction 20 on the front side 22 over the entire width of the floor cleaning device 10 and from the bottom 30 to the top 28. The feeler 42 further forms a portion of the housing 34 on the top 28, approximately over a quarter of the length Furthermore, the feeler part 42 forms portions of the housing 34 on the sides 24 and 26 of approximately the same length. These housing sections go into the housing sections on the upper side 28 and the front side 22, which are likewise formed by the feeler part 42.

The feeler part 42 comprises an upper part 44 facing away from the chassis 32, which forms the above-mentioned sections of the housing 34, and a lower part 46, which faces the chassis 32 and is connected to the upper part 44, for example by latching and / or jamming. The contour of the upper part 44 on the front side 22 and the sides 24, 26 is shown schematically in FIG.

The upper part 44 has an opening 48 on the front side 22. Through the aperture 48 can be accessed on arranged on the lower part 46 electrical contact elements, so that the battery 40 can be charged. On the lower part 46 also non-touch sensor elements 52 (only one shown) may be maintained. By means of the sensor elements 52, obstacles can be detected contactlessly and the environment of the floor cleaning device 10 can be explored, and a control device 54 can be supplied with a signal in this regard. For holding the probe 42 on the chassis 32, the floor cleaning device comprises at a front right corner portion 56 and a front left corner portion 58 receiving parts 60, 62 and cooperating with these holding parts 64, 66. The receiving parts 60, 62 are above the receiving space 35 for the cleaning brush 351st arranged on the chassis 32, wherein the drive motor 38 and the battery 40 are positioned in the transverse direction 20 between them.

By holding the probe 42 on the chassis 32 above the receiving space 35 and the cleaning brush 351 brackets can be saved laterally next to the cleaning brush 351. This can be so long that it extends in the transverse direction 20 almost over the entire width of the floor cleaning device 10.

The receiving part 60 and the holding part 64 on the one hand and the receiving part 62 and the holding part 66 on the other hand are relatively symmetrical relative to each other with respect to a central longitudinal plane 68 of the floor cleaning device 10 (Figure 8). With regard to their operation, the receiving part 60 and the holding part 64 on the one hand and the receiving part 62 and the holding part 66 on the other hand largely identical, but due to the arrangement right or left of the central longitudinal plane 68 differences arise. In the following, therefore, essentially the receiving part 60 and the holding part 64 will be discussed. If there are differences in structure and function for the receiving part 62 and the holding part 66, they will be explained. For the same and equivalent features of the receiving parts 60, 62 and the holding parts 64, 66, the same reference numerals are used.

The holding part 64 is presently designed bar or rod-shaped and has an approximately L-shaped configuration with respect to a vertical sectional plane. It comprises a holding section 70 on the front side 22 and a bearing section 72 in the longitudinal direction behind it. The holding portion 70 can engage in a recess 74 on the sensing part 42, especially on the lower part 46. In the recess 74, the holding portion 70 is fixed, in the present case by screwing. About the sensing part 42, the holding portions 70 are fixed and in particular rigidly connected. In collision with an obstacle, which leads to a movement of the sensing part 42, therefore, both holding parts 64 and 66 can move.

The receiving part 60 is mounted on the chassis 32, for example non-positively and / or positively, in this case by screwing. As can be seen in particular from FIGS. 3 and 4, the receiving part 60 has a lower part 76, in the present case shell-shaped, and an upper part 78 mounted on the lower part 76. The lower part 76 and the upper part 78 are connected to each other by latching and designed as half shells. Between the lower part 76 and the upper part 78, a shaft-shaped receiving space 80 is formed, which is bounded on the lower side by a wall 82 of the lower part 76 and on the upper side by a wall 84 of the upper part 78. Laterally adjacent to the receiving space 80, in the direction of the central longitudinal plane 68, in the lower part 76, a receptacle 86 and then a further receptacle 88 is formed.

The walls 82 and 84 have recesses in the form of openings 90 and 92. The openings 90, 92 have in plan view of the receiving part 60 has a rectangular contour with rounded corners and are bordered by edges on the walls 82, 84th

The holding part 64 engages with the bearing portion 72 along the longitudinal direction 18 in the receiving space 80 and protrudes in the longitudinal direction 18 front and rear beyond the receiving space 80 out. The wall 82 forms a support for the bearing portion 72, and the wall 84 covers the bearing portion 72. Transverse to the longitudinal direction 18 and transverse to the transverse direction 20, the holding part 64 with the bearing portion 72 is thus arranged substantially free of play in the receiving space 80. The receiving part 60 thereby forms a guide for the holding part 64, which as described below relative to the receiving part 60 can be moved. In the present case, the support for the holding part 64 is aligned parallel to a contact plane of the floor cleaning device 10 for the bottom surface 12 and thus horizontally aligned with a horizontal bottom surface 12.

The bearing part has the lower part 76 and the upper part 78 facing projections, of which only one projection 94 facing the upper part 78 is shown. The projection 94 is pin-shaped and engages in the opening 92 a. The same applies to the projection and the opening 90, not shown. The openings 90, 92 and the projections 94 form cooperating stops in order to limit the movement of the holding part 64 relative to the receiving part 60. The openings 90, 92 can be regarded as a kind of backdrop, within which the projections 94 can be moved when the holding member 64 is moved relative to the receiving part 60.

In the receptacle 88, a detection element 96 is arranged, configured here as a switching element, in particular as a microswitch 98. The microswitch 98 has a switching path of approximately one millimeter to two millimeters. Between the bearing portion 72 and the microswitch 98, a trigger element 100 is arranged in the receptacle 86, in the present case configured as a switch plunger 102. The switch plunger 102 contacts the microswitch 98 and can be contacted by the bearing portion 72. For this purpose, a contact member 104 is disposed on the switching tappet 102 facing side of the bearing portion 72. The contact member 104 has a chamfer 106, which is aligned obliquely with respect to the longitudinal direction 18 and the transverse direction 20.

The switch plunger 102 is biased by a spring element 108 in the direction of the holding part 64. The spring element 108, in the present case a helical spring, is supported on the lower part 76 and on the switching tappet 102.

The microswitch 98 is in electrical communication with the controller 54. If the floor cleaning appliance 10 makes contact via the feeler part 42 dernis, its movement and the associated movement of the holding member 64 may lead to actuation of the microswitch 98. A related signal may be provided to the controller 54. Then, the drive device 14 can be controlled to change the state of motion of the floor cleaning device 10, in particular to stop this or make a direction change.

Another spring element 110 (FIGS. 3, 4 and 8) engages the holding part 64 and the receiving part 60. The spring element 110 engages the bearing portion 72 at its rear beyond the receiving space 80 projecting end and the lower part 76 at its rear edge. The spring element 110 is in the present case a helical spring and in particular a tension spring. The spring element 110 is aligned obliquely with respect to the longitudinal direction 18 and the transverse direction 20. As a result, the spring element 110 can act on the holding part 64 with a force component directed toward the front and in the direction of the central longitudinal plane 68. The force component in the direction of the central longitudinal plane 68 is further directed to the holding part 66 and extends in the transverse direction 20th

The holding part 64 is dimensioned so that it is narrower in the transverse direction 20 than the receiving space 80 is wide. As a result, the holding part 64 can be displaced along the transverse direction 20 relative to the receiving part 60 (see below).

In a basic position of the holding part relative to the receiving space 60, in which basic position no displacement force acts on the holding part 64 via the feeler part 42, the projections 94 strike edges of the openings 90, 92 in the direction of the front side 22. The projections 94 are located centrally between lateral edges of the apertures 90, 92 (Figure 5, in which the contour of the aperture 92 is shown by dashed lines). The basic position assumes the holding part 64 under the action of the spring elements 108 and 110, due to the rigid coupling of the holding parts 64 and 66 and also under the action of the spring elements 108, 110 on the other holding part 66 and other receiving part 62. In the basic position of the holding part 64th the switch plunger 102 contacts the bearing portion 72 at the chamfer 106. The holding part 64 is displaceable relative to the receiving part 60 in a first displacement direction 112 and thereby guided by the receiving part 60 (Figures 5 and 6). The first displacement direction 112 is opposite to the main movement direction 18 (straight-ahead movement). Upon displacement of the holding part 64, the chamfer 106 slides along the switch plunger 102. Due to the chamfer 106 of the switching plunger 102 is moved in a second direction of displacement 114. The second displacement direction 114 is oriented transversely to the first displacement direction 112 and extends in the transverse direction 20, in the direction of the central longitudinal plane 68th

The displacement of the switch plunger 102 leads to an actuation of the microswitch 98. If a frontal collision of the floor cleaning device 10 with an obstacle, which leads to a displacement of the holding part 64 in the first displacement direction 112, thereby, as explained above, the driving condition of Floor cleaning device 10 are changed. The micro-switch 98 responds only when the holding part 64 has been displaced approximately two millimeters along the first displacement direction 112. This can be avoided that the driving condition of the floor cleaning device 20 is changed when the probe member 42 an obstacle only slightly contacted, this example strikes.

If the microswitch 98 is actuated, the holding part 64 is still displaceable relative to the receiving part 60 until the projections 94 abut against the rear edges of the openings 90, 92. The additional displacement in the first displacement direction 112 is approximately five to ten millimeters. Upon actuation of the microswitch 98 as a result of a collision, the floor cleaning appliance 10 is thereby provided with time to decelerate, for example approximately thirty milliseconds to 50 milliseconds. This avoids that wheels of the chassis 16 spin and the data of Radencodern that detect the number of revolutions of the wheels are faulty. In a corresponding manner, the holding part 66 is displaceable relative to the receiving part 62 along the first displacement direction 112 against the main movement direction 18 (driving straight ahead) and thereby guided by the receiving part 62. The holding parts 64, 66 can be transferred under the action of the spring elements 110 back to the normal position. In this case, the tensile force of both spring elements 110 acts on both holding parts, namely directly the tensile force of each spring element 110 arranged on them and indirectly due to the rigid coupling via the feeler part 42 and the force of the spring element 110 on the other receiving part 60, 62.

The holding part 64 can also be displaced relative to the receiving part 60 in the second displacement direction 114, in the direction of the central longitudinal plane 68 (FIGS. 5 and 7). A force in the second displacement direction 114 on the feeler part 42, which is exerted for example by collision with an obstacle on the right side 26, moves the holding part 64 in the receiving space 80 and thus the switch plunger 102 also in the second direction of displacement 114. Die Verstellweg bis for actuating the microswitch 98 is approximately one millimeter to two millimeters. Upon actuation, the retaining member 64 is further displaceable approximately two to three millimeters until the projections 94 abut the lateral edges 90, 92. This also provides time for the floor cleaning implement 10, about ten to twenty milliseconds, to decelerate.

The holding part 66 and its associated switch plunger 102 on the receiving part 62 are in turn displaceable along a second displacement direction 116 on the receiving part 62. The direction of displacement 116 also runs in the transverse direction 20 and is opposite to the displacement direction 114, it therefore points in the direction of the central longitudinal plane 68 and on the other holding part 64. A collision of the sensing part 42 with an obstacle, for example, on the left side 64 can thereby the holding part 66 and move the switch plunger 102 in the second shift direction 116 and actuate the microswitch 98 on the second receiving part. The holding parts 64, 66 can be transferred under the action of the spring elements 108, 110 back to the basic position. This takes place under the pressure effect of the spring element 108 on the receiving part 60 or 62, on which the respective holding part 64 or 66 is arranged. Furthermore, this is done under the pulling action of the spring element 110, which is arranged on the respective other holding part 64 or 66 and receiving part 60 or 62, and under the rigid coupling of the holding parts 64, 66 due to the sensing part 42nd

The bearing portion 72, as mentioned, is narrower than the receiving space 80 in the transverse direction 20 is wide. If, therefore, one of the holding parts 64, 66 is displaced in "its" associated second shifting direction 114 or 116, a shift of the respective other holding part 66 or 64 takes place due to the rigid coupling via the feeler part 42. The respective other holding part 66 or 64 becomes displaced against "its" associated second displacement direction 116 or 114, ie the holding part 66 against the displacement direction 116 and in the displacement direction 114, and the holding part 64 against the displacement direction 114 and in the direction of displacement 116th

The displaceability of the two holding parts 64, 66 in two transversely aligned directions of movement allows a floating mounting of the holding parts 64, 66 and thus of the probe 42. In a collision of the probe 42, the holding parts 64, 66 are moved so that at least one of the microswitch 98th can be operated and obstacles can be reliably felt. The displacement takes place in the plane of the support of the holding parts 64, 66 and under the guidance of the receiving parts 60, 62. In particular, it is possible to move the holding parts 64, 66 in directions which are defined by superpositions of the displacement direction 112 and 114 and 112, respectively and 116. The movement of the probe 42 is made by the floating bearing free from pivoting about a fixed axis of rotation. If a collision of the floor cleaning device with a frontally arranged obstacle, the sensing part 42 and both holding parts along the first displacement direction 112 is moved and both microswitch 98 are actuated. If this is done simultaneously or within a predetermined or predefinable time interval, the floor cleaning device 10 can determine that a frontally or substantially frontally arranged obstacle is present. In a collision of the left side 24 or the right side 26, a displacement takes place only in the transverse direction 20 (in the direction of displacement 116 or 114), and it is only the respective side 24, 26 nearest microswitch 98 is actuated. The floor cleaning device 10 can thereby determine the presence of a lateral obstacle.

In an oblique collision with an obstacle displacement of the sensing part 42 and the holding parts 64, 66 in a direction that results from overlapping the displacement directions 112 and 114 or 112 and 116. Both microswitch 98 can thereby be actuated sequentially. Based on the time interval between the operations, the floor cleaning device 10 can determine at which position the obstacle is approximately. If, for example, the microswitch 98 on the receiving part 60 is actuated in front of the microswitch 98 on the receiving part 62, the obstacle is arranged on the right at the front side 22 or near the right corner region 56. If first the microswitch 98 on the receiving part 62 and then the microswitch 98 on the receiving part 60 are actuated, the obstacle is on the left at the front 22 or near the left corner 58.

Claims

1. Self-propelled and self-steering floor cleaning device with at least one cleaning member for cleaning a bottom surface (12), comprising a chassis (16) having drive means (14), a sensing part (42) for touching obstacles, at least one displaceable holding part (64, 66) for holding the feeler part (42) on the floor cleaning appliance (10) and at least one detection element (96) for detecting a displacement of the at least one holding part (64, 66) and for providing a relevant signal, that the floor cleaning appliance ( 10) comprises at least one receiving part (60, 62) on which the at least one holding part (64, 66) in a first displacement direction (112) and in a second displacement direction (114, 116) is displaceably held at an angle to the first direction of displacement (112) is aligned, and that the at least one detection element (96) from the at least one holding part (64, 66) in its Verschi be operated in the first direction of displacement (112) and in the second displacement direction (114, 116).

2. Floor cleaning appliance according to claim 1, characterized in that the first displacement direction (112) and the second displacement direction (114, 116) are aligned transversely to each other.

3. Floor cleaning appliance according to claim 1 or 2, characterized in that the first displacement direction (112) of a main movement direction (18) of the floor cleaning device (10) is directed opposite and / or that the second displacement direction (114, 116) aligned transversely to the main movement direction (18) is.

4. Floor cleaning appliance according to one of the preceding claims, characterized in that the at least one holding part (64, 66) on at least one receiving part (60, 62) against the second displacement direction (114, 116) is displaceable.

5. Floor cleaning device according to claim 4, characterized in that a displacement of the at least one holding part (64, 66) on at least one receiving part (60, 62) in the second displacement direction (114, 116) and against the second displacement direction (114, 116) is the same size or substantially the same size, starting from a basic position in which the at least one holding part (64, 66) under the action of at least one spring element (108, 110) is held.

6. Floor cleaning appliance according to one of the preceding claims,

characterized in that the floor cleaning device (10) comprises two holding parts (64, 66) connected to the feeler part (42) and two receiving parts (60, 62) each assigned to a holding part (64, 66), and in that the first displacement directions (112 ) of the holding parts (64, 66) aligned parallel to each other and / or the second displacement directions (114, 116) of the holding parts (64, 66) opposite to each other and to the respective other holding part (64, 66) are directed.

7. Floor cleaning appliance according to claim 6, characterized in that the feeler part (42) rigidly connects the holding parts (64, 66) with each other.

8. Floor cleaning device according to claim 6 or 7, characterized in that the holding parts (64, 66) and the receiving parts (60, 62) at a front left corner region (58) and a front right corner region (56) of the floor cleaning device (10) are, based on its longitudinal or main direction of movement (18).

9. Floor cleaning device according to one of claims 6 to 8, characterized in that between the holding parts (64, 66) and the receiving parts (60, 62) a drive motor (38) and / or a battery (40) of the floor cleaning device (10) is.

10. Floor cleaning appliance according to one of claims 6 to 9, characterized in that below the holding parts (64, 66) and the receiving parts (60, 62) on the floor cleaning device (10) is formed a receiving space in which a cleaning member, in particular a cleaning brush, is arranged.

11. Floor cleaning appliance according to one of the preceding claims,

characterized in that the floor cleaning appliance (10) comprises a housing (34) and the feeler part (42) forms a housing section arranged on the front side (22) of a longitudinal or main movement direction (18) of the floor cleaning appliance.

12. Floor cleaning appliance according to claim 11, characterized in that the housing section extends along the entire front side (22) of the floor cleaning appliance (10) and / or a housing section on the upper side (28) of the floor cleaning appliance (10) and / or housing sections on sides ( 24, 26) of the floor cleaning device (10) forms.

13. Floor cleaning appliance according to one of the preceding claims,

characterized in that the feeler part (42) comprises a lower part (46) and an upper part (44) covering it, the lower part (46) being connected to the at least one holding part (64, 66) and to the upper part (44) and the upper part (44) contacts the obstacles, wherein electrical contact elements (50) are arranged on the lower part (46), via which electric power can be supplied to the floor cleaning device (10), and / or sensor elements (52) for contactless detection of obstacles.

14. Floor cleaning appliance according to one of the preceding claims, characterized in that the at least one detection element (96) comprises or forms a switching element (98), and that the at least one holding part (64, 66) the detection element (96) for actuating or a detection element (96) contacting triggering element (100) contacted.

15. Floor cleaning appliance according to claim 14, characterized in that the at least one holding part (64, 66) has a contact member (104) with a bevel (106) relative to the first displacement direction (112) and relative to the second displacement direction (114, 116) for contacting the switching element (96) or the trigger element (100).

16. Floor cleaning appliance according to one of claims 1 to 13, characterized in that the at least one detection element is a sensor element, in particular a magnetically acting sensor element, from which upon displacement of the at least one holding part, an electrical signal can be provided.

17. Floor cleaning appliance according to one of the preceding claims,

characterized in that the at least one receiving part (60, 62) comprises or forms a receptacle (86, 88) for the at least one detection element (96) and / or a triggering element (100) contacting the latter, in which the detection element (96) and / or the trigger element (100) is arranged.

18. Floor cleaning appliance according to one of the preceding claims,

characterized in that the at least one receiving part (60, 62) defines a guide for the at least one holding part (64, 66) during displacement along the first displacement direction (112) and along the second displacement direction (114, 116).

19. Floor cleaning appliance according to one of the preceding claims, characterized in that at least one receiving part (60, 62) a shaft-shaped receiving space (80) is formed, in which the at least one holding part (64, 66) in the first displacement direction (112) or the second displacement direction (114, 116) engages and is displaceable and in which the at least one holding part (64, 66) in the respective other displacement direction (112, 114, 116) is displaceable, wherein at least one wall (82, 84) of the receiving space (80) forms a guide for the at least one holding part (64, 66).

20. Floor cleaning device according to claim 19, characterized in that the at least one holding part (64, 66) transversely to the first and second displacement direction (112, 114, 116) backlash-free or substantially free of play in the receiving space (80) between these bounding walls (82, 84) is arranged.

21. Floor cleaning appliance according to one of the preceding claims,

characterized in that the at least one receiving part (60, 62) comprises a lower part (76), which forms a support for the at least one holding part (64, 66), and one on the lower part (76) and the at least one holding part ( 64, 66) overlapping upper part (78).

22. Floor cleaning appliance according to claim 21, characterized in that the lower part (76) and the upper part (78) are half-shells.

23. Floor cleaning appliance according to one of the preceding claims,

characterized in that the at least one detection element (96) after a displacement of the at least one holding part (64, 66) of about 1 mm to 2 mm is actuated.

24. Floor cleaning appliance according to one of the preceding claims,

characterized in that the at least one holding part (64, 66) on actuation of the at least one detection element (96) further in the first displacement direction (112) and / or in the second displacement direction (114, 116) is displaceable by an additional displacement.

25, floor cleaning device according to claim 24, characterized in that the additional displacement along the first displacement direction (112) is about 5 mm to 10 mm, along the second displacement direction (114, 116) about 2 mm to 4 mm.

26. Floor cleaning appliance according to one of the preceding claims,

characterized in that the floor cleaning appliance (10) comprises stops for limiting the movement of the at least one holding part (64, 66) relative to the at least one receiving part (60, 62), preferably that the at least one holding part (64, 66) and the at least one Receiving part (60, 62) include or form the attacks.

27. Floor cleaning device according to claim 26, characterized in that the at least one holding part (64, 66) has at least one peg-shaped projection (94) which engages in at least one recess (90, 92) on at least one receiving part (60, 62), the edges of which form stops for the projection (94).

28. Floor cleaning appliance according to one of the preceding claims,

characterized in that the displacement of the at least one holding part (64, 66) counter to the restoring force of at least one spring element (108, 110).

29. Floor cleaning appliance according to claim 28, characterized in that the at least one spring element (108, 110) in the plane of the first displacement direction (112) and the second displacement direction (114, 116) is arranged and effective.

30. Floor cleaning device according to claim 28 or 29, characterized in that a spring element (110) on at least one holding part (64, 66) and acts on at least one receiving part (60, 62) and acts on the at least one holding part (64, 66) with an obliquely to the first displacement direction (112) and obliquely to the second displacement direction (114, 116) aligned force.

31. Floor cleaning appliance according to one of claims 28 to 30, characterized in that the force of a spring element (110) has a component in the second displacement direction (114, 116) of the at least one holding part (64, 66).

32. Floor cleaning device according to one of the preceding claims,

characterized in that at least one detection element (96), a spring element (108) is arranged, which acts on the at least one holding part (64, 66) or a triggering element (100) with a second displacement direction (114, 116) oppositely directed restoring force.