DE102007036220B4 - Apparatus for emitting light signals, and a base station containing such a device of a dust collecting robot system comprising these and at least one dust collecting robot - Google Patents
Apparatus for emitting light signals, and a base station containing such a device of a dust collecting robot system comprising these and at least one dust collecting robot Download PDFInfo
- Publication number
- DE102007036220B4 DE102007036220B4 DE102007036220A DE102007036220A DE102007036220B4 DE 102007036220 B4 DE102007036220 B4 DE 102007036220B4 DE 102007036220 A DE102007036220 A DE 102007036220A DE 102007036220 A DE102007036220 A DE 102007036220A DE 102007036220 B4 DE102007036220 B4 DE 102007036220B4
- Authority
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- Germany
- Prior art keywords
- base station
- light
- collecting robot
- dust collecting
- angular range
- 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.)
- Expired - Fee Related
Links
- 239000000428 dust Substances 0.000 title claims description 13
- 230000005540 biological transmission Effects 0.000 description 7
- 238000002604 ultrasonography Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 239000004020 conductor Substances 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
Images
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
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
- G01S1/70—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using electromagnetic waves other than radio waves
- G01S1/703—Details
- G01S1/7032—Transmitters
-
- 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
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
- A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
-
- 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
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2868—Arrangements for power supply of vacuum cleaners or the accessories thereof
- A47L9/2873—Docking units or charging stations
-
- 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
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2868—Arrangements for power supply of vacuum cleaners or the accessories thereof
- A47L9/2884—Details of arrangements of batteries or their installation
-
- 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
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2894—Details related to signal transmission in suction cleaners
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C21/00—Systems for transmitting the position of an object with respect to a predetermined reference system, e.g. tele-autographic system
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C23/00—Non-electrical signal transmission systems, e.g. optical systems
- G08C23/04—Non-electrical signal transmission systems, e.g. optical systems using light waves, e.g. infrared
Abstract
Vorrichtung zur Abstrahlung von Lichtsignalen, insbesondere im Infrarotlichtbereich mittels Lichtabgabeelementen in einer festgelegten Ebene und entweder vollständig über einen festgelegten Winkelbereich oder jeweils in einzelnen Winkelbereichsabschnitten des betreffenden festgelegten Winkelbereichs, insbesondere für eine Basisstation eines diese und zumindest einen autonom verfahrbaren und von der Basisstation abgegebene Lichtsignale zur Positionsbestimmung heranziehenden Staubsammelroboter umfassenden Staubsammelrobotersystems, dadurch gekennzeichnet, dass die Lichtabgabeelemente (TR) von in definierten Abständen voneinander über einen dem festgelegten Winkelbereich entsprechenden Bogenbereich vorgesehenen gesonderten Aufnahmeöffnungen (OF) eines Trägerteils (TT) aufgenommen sind.Device for emitting light signals, in particular in the infrared light range by means of light emitting elements in a defined plane and either completely over a defined angular range or in each case in individual angular range sections of the relevant defined angular range, in particular for a base station of one of these and at least one autonomously movable light signal which is emitted by the base station Dust-collecting robot using position determination, comprising a dust-collecting robot system, characterized in that the light-emitting elements (TR) are received by separate receiving openings (OF) of a carrier part (TT) provided at defined distances from one another over an arc region corresponding to the defined angular range.
Description
Die vorliegende Erfindung bezieht sich auf eine Vorrichtung zur Abstrahlung von Lichtsignalen, insbesondere im Infrarotlichtbereich mittels Lichtabgabeelementen in einer festgelegten Ebene und entweder vollständig über einen festgelegten Winkelbereich oder jeweils in einzelnen Winkelbereichsabschnitten des betreffenden festgelegten Winkelbereichs, insbesondere für eine Basisstation eines diese und zumindest einen autonom verfahrbaren und von der Basisstation abgegebene Lichtsignale zur Positionsbestimmung heranziehenden Staubsammelroboter umfassenden Staubsammelrobotersystems.The present invention relates to a device for emitting light signals, in particular in the infrared light range by means of light emission elements in a fixed plane and either completely over a specified angular range or in each individual angular range sections of the respective specified angular range, in particular for a base station of these and at least one autonomously movable and dust collection robots comprising dust collecting robots for determining the position outputted from the base station.
Es sind bereits ein Verfahren und ein System zum Bestimmen der Position und gegebenenfalls daraus abgeleitet zum Festlegen eines Fahrweges zumindest eines mobilen Gerätes, insbesondere eines selbstfahrenden akkumulatorbetriebenen Staubsammelroboters, zu einem stationären Gerät, insbesondere einem Akkumulator-Ladegerät, unter Heranziehung von Sendesignalen, die von dem stationären Gerät mit einer zumindest einmal rotierenden Sendecharakteristik übertragen werden, und unter Heranziehung eines von dem stationären Gerät abgegebenen Referenzsignals, in Bezug auf das die Lage der genannten Sendesignale festliegt, vorgeschlagen worden (zeitgleiche
Der Erfindung liegt daher die Aufgabe zu Grunde, einen Weg zu zeigen, wie in einer Vorrichtung der eingangs genannten Art die Lichtabgabeelemente auf besonders einfache und eine einfache Montage ermöglichende Weise unterzubringen sind.The invention is therefore based on the object to show a way how to accommodate the light emitting elements in a device of the type mentioned in a particularly simple and a simple assembly enabling manner.
Gelöst wird die vorstehend aufgezeigte Aufgabe bei einer Vorrichtung der eingangs genannten Art sowie bei einer diese Vorrichtung enthaltenden Basisstation eines diese und zumindest einen autonom fahrbaren Staubsammelroboter umfassenden Staubsammelrobotersystems erfindungsgemäß dadurch, dass die Lichtabgabeelemente von in definierten Abständen voneinander über einen dem festgelegten Winkelbereich entsprechenden Bogenbereich vorgesehenen gesonderten Aufnahmeöffnungen eines Trägerteils aufgenommen sind.The object indicated above is achieved in a device of the type mentioned above and in a base station comprising a device of this and at least one autonomous mobile dust collection robot dust collecting robot system according to the invention, characterized in that the light emitting elements provided at defined intervals from each other over a predetermined angle range corresponding arc area separate Receiving openings of a carrier part are added.
Hierdurch ergibt sich der Vorteil einer besonders einfachen und montagefreundlichen Unterbringung der Lichtabgabeelemente in der eingangs genannten Vorrichtung.This results in the advantage of a particularly simple and easy to install housing the light emitting elements in the aforementioned device.
Zweckmäßigerweise ist das Trägerteil mit Rastelementen versehen, mit denen es von diesen entsprechenden Aufnahmeöffnungen einer Trageinrichtung aufnehmbar ist. Alternativ hierzu ist das Trägerteil mit Aufnahmeöffnungen versehen, mit denen es von Rastelementen einer Trageinrichtung aufnehmbar ist. In jedem Falle ergibt sich der Vorteil einer besonders einfachen Festlegung der Lichtabgabeelemente in der Vorrichtung.Conveniently, the support member is provided with locking elements, with which it is receivable by these corresponding receiving openings of a support device. Alternatively, the support member is provided with receiving openings with which it can be received by latching elements of a support device. In any case, there is the advantage of a particularly simple determination of the light emitting elements in the device.
Vorzugsweise ist das Trägerteil durch eine Schaltungsplatine gebildet, von der die Lichtabgabeelemente aufgenommen sind. Dies bringt den Vorteil eines besonders geringen Aufwands für die Aufnahme und den schaltungsmäßigen Anschluss der Lichtabgabeelemente mit sich.Preferably, the carrier part is formed by a circuit board, from which the light-emitting elements are accommodated. This has the advantage of a particularly low cost for the recording and the circuit connection of the light emitting elements with it.
Zweckmäßigerweise sind die Lichtabgabeelemente durch Leuchtdioden gebildet. Dadurch lassen sich durch sichtbares Licht gegebenenfalls auftretende Störeffekte im Betrieb vermeiden.Conveniently, the light emitting elements are formed by light emitting diodes. This can be avoided by visible light possibly occurring interference effects during operation.
Anhand einer Zeichnung wird die vorliegende Erfindung nachstehend an einem Ausführungsbeispiel näher erläutert.With reference to a drawing, the present invention will be explained below using an exemplary embodiment.
In der Zeichnung ist in nicht maßstäblicher Größe ein Gehäuse GE in einer ausschnittweisen Schnittansicht dargestellt, von dem eine Vorrichtung gemäß einer Ausführungsform der vorliegenden Erfindung aufgenommen ist. Dieses Gehäuse GE gehört zu einer Feststation eines insbesondere durch ein Staubsammelrobotersystem gebildeten Robotersystems, welches zusätzlich wenigstens ein (hier nicht dargestelltes) mobiles, vorzugsweise durch einen Akkumulator angetriebenes Fahrgerät umfasst. Das Gehäuse GE enthält drei Gehäuseteilebenen, nämlich eine untere Gehäuseteilebene, eine mittlere Gehäuseteilebene und eine obere Gehäuseteilebene. Die untere Gehäuseteilebene bildet ein Gehäuseunterteil UT; die mittlere Gehäuseteilebene bildet ein aus zwei Teilen bzw. Aufnahmekörperteilen AK1 und AK2 bestehendes Gehäusezwischenteil, und die obere Gehäuseteilebene bildet ein Gehäuseoberteil mit zwei Oberteilen OT1 und OT2. In the drawing, not shown to scale a housing GE in a fragmentary sectional view, of which a device according to an embodiment of the present invention is incorporated. This housing GE belongs to a fixed station of a robot system formed in particular by a dust collection robot system, which additionally comprises at least one (not shown here) mobile, preferably driven by an accumulator driving device. The housing GE includes three housing part levels, namely a lower housing part level, a middle housing part level and an upper housing part level. The lower housing part plane forms a lower housing part UT; the middle housing part plane forms an intermediate housing part consisting of two parts or receiving body parts AK1 and AK2, and the upper housing part plane forms an upper housing part with two upper parts OT1 and OT2.
Das aus den beiden Aufnahmekörperteilen AK1 und AK2 bestehende Gehäusezwischenteil dient zur Aufnahme wenigstens eines Sensors SE, und zwar insbesondere eines Ultraschallsensors, und gegebenenfalls zur Führung eines Betätigungsgliedes für einen elektrischen Schalter SW, durch dessen Betätigung zumindest der jeweilige Sensor SE aktivierbar ist. In
Die erwähnte Feststation mit dem in
In dem in
Der zuvor erwähnte Kanal KA ist im Innern der beiden miteinander verbundenen Aufnahmekörperteile AK1, AK2 zylinderförmig ausgebildet; er ist etwa ab der Mitte seiner Gesamtlänge zur Aufnahmekörperaußenseite hin trichter- oder trompetenförmig erweitert. Durch diese Erweiterung wird eine besonders gute Bündelung der vom jeweiligen Ultraschallsensor SE aufzunehmenden Ultraschallsignale bzw. -wellen im jeweiligen Kanal KA erreicht. Während die erwähnte trichterförmige Erweiterung des genannten Kanals geradlinig verläuft, zeigt eine trompetenförmige Erweiterung einen nichtlinearen Kurvenverlauf.The aforementioned channel KA is cylindrical in the interior of the two interconnected receiving body parts AK1, AK2; he is about the middle of its total length to the receiving body outside expanded funnel or trumpet-shaped. This extension achieves particularly good bundling of the ultrasonic signals or waves to be received by the respective ultrasound sensor SE in the respective channel KA. While the aforementioned funnel-shaped extension of said channel is rectilinear, a trumpet-shaped extension shows a non-linear curve.
Wie aus
Ferner ist, wie dies aus
Aus
In zumindest einem Bereich, und zwar im mittleren Bereich des Kappenteiles KT ist dieses für eine Lichtabgabe zur Außenseite von wenigstens einem in dem erwähnten Oberteil OT2 vorgesehenen Lichtabgabeelement LI lichtleitend ausgebildet, und zwar gemäß
In der ausschnittweisen Schnittansicht gemäß
In
Das Trägerteil TT ist auf seiner in
BezugszeichenlisteLIST OF REFERENCE NUMBERS
- AK1AK1
- oberes AufnahmekörperteilUpper receiving body part
- AK2AK2
- unteres Aufnahmekörperteillower intake body part
- BTBT
- Betätigungsgliedactuator
- DRDR
- Druckteilpressure part
- FIFI
- Fixierteilfixing
- FUFU
- Führungsteilguide part
- GEGE
- Gehäusecasing
- LELE
- Lichtleitelementlight guide
- KAKA
- Kanalchannel
- KTKT
- Kappenteilcap part
- KWKW
- KabelaufwickelungsstützeKabelaufwickelungsstütze
- OT1,OT1,
- OT2 OberteileOT2 shells
- PL1PL1
- Kommunikationsschaltungs- und VersorgungsspannungsplatineCommunication circuit and supply voltage board
- PL2PL2
- KommunikationsschaltungsplatineCommunication circuit board
- SESE
- Sensor, UltraschallsensorSensor, ultrasonic sensor
- SLSL
- schlitzförmige Öffnungenslotted openings
- SWSW
- elektrischer Schalterelectrical switch
- TRTR
- Sendeelementetransmitting elements
- UTUT
- GehäuseunterteilHousing bottom
Claims (8)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102007036220A DE102007036220B4 (en) | 2007-08-02 | 2007-08-02 | Apparatus for emitting light signals, and a base station containing such a device of a dust collecting robot system comprising these and at least one dust collecting robot |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102007036220A DE102007036220B4 (en) | 2007-08-02 | 2007-08-02 | Apparatus for emitting light signals, and a base station containing such a device of a dust collecting robot system comprising these and at least one dust collecting robot |
Publications (2)
Publication Number | Publication Date |
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DE102007036220A1 DE102007036220A1 (en) | 2009-02-05 |
DE102007036220B4 true DE102007036220B4 (en) | 2012-01-19 |
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DE102007036220A Expired - Fee Related DE102007036220B4 (en) | 2007-08-02 | 2007-08-02 | Apparatus for emitting light signals, and a base station containing such a device of a dust collecting robot system comprising these and at least one dust collecting robot |
Country Status (1)
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DE (1) | DE102007036220B4 (en) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
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EP2498099A1 (en) * | 2011-03-08 | 2012-09-12 | Höft & Wessell Aktiengesellschaft | Method and assembly for creating a direction-dependent modulated signal and method and assembly for determining the angle of such a direction-dependent modulated signal and optical location system working with same |
JP6635850B2 (en) * | 2016-03-31 | 2020-01-29 | 本田技研工業株式会社 | Sign device for lawn mower |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102007036230A1 (en) * | 2007-08-02 | 2009-02-12 | BSH Bosch und Siemens Hausgeräte GmbH | A method and system for determining the position of a mobile device with respect to a stationary device, in particular an accumulator-powered dust collection robot with respect to a rechargeable battery charger |
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2007
- 2007-08-02 DE DE102007036220A patent/DE102007036220B4/en not_active Expired - Fee Related
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102007036230A1 (en) * | 2007-08-02 | 2009-02-12 | BSH Bosch und Siemens Hausgeräte GmbH | A method and system for determining the position of a mobile device with respect to a stationary device, in particular an accumulator-powered dust collection robot with respect to a rechargeable battery charger |
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Owner name: BSH HAUSGERAETE GMBH, DE Free format text: FORMER OWNER: BSH BOSCH UND SIEMENS HAUSGERAETE GMBH, 81739 MUENCHEN, DE Effective date: 20150407 |
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