DE102008014912A1 - Automatically movable floor dust collecting device and object with a sensor arrangement - Google Patents

Abstract

The invention relates first of all to an automatically movable ground dust collecting device (1) with electric motor driven traversing wheels (3), a device housing, a dust collecting container and a device hood (6), wherein the ground dust collecting device (1) is provided with obstacle detection. Furthermore, the invention relates to an article with a horizontal and / or vertical extension, wherein a sensor arrangement (9) is provided. The obstacle detection or the sensor arrangement (9) is an optical triangulation system (T) having a light source (10, 10 ') and a receiver unit comprising an optical element in the form of a receiver lens (12) for the reflected light beams and a photosensitive element (11) (e). In order to improve an automatically movable ground dust collecting device or an object with a sensor arrangement of the type in question with respect to the distance measurement to an obstacle by means of an optical triangulation system so that even in the far range an exact distance measurement is achieved, it is proposed that the light beams in the receiver unit (E) are influenced so that, after bundling by the receiver lens (12) at least associated with larger real distances to the obstacle (13.13 '), larger distances of the incident light beams on the photosensitive element (11).

Description

The The invention initially relates to an automatically movable Floor dust collecting device with electric motor driven Verfahrrädern, a device housing, a Dust collector and a hood, where the ground dust collector with obstacle detection is provided, wherein the obstacle detection is an optical triangulation system is in shape with a light source and an optical element a receiver lens for the reflected light rays and a photosensitive member having a receiver unit.

Further the invention relates to an article with a horizontal and / or vertical extension, wherein on the object a sensor arrangement is provided for detecting an obstacle, wherein the sensor arrangement An optical triangulation system is equipped with a light source and one is an optical element in the form of a receiver lens for the reflected light rays and a photosensitive Element having receiver unit.

Floor dust collecting devices of the type in question are known, such as from the DE 102 42 257 A1 , With regard to the mode of operation and the behavioral strategy for obstacle detection, the content of this patent application is hereby incorporated in full in the disclosure of the present invention, also for the purpose of incorporating features of this patent application in claims of the present invention.

objects of the type in question, with a sensor arrangement for detecting an obstacle are also known. in this connection For example, they are objects that can be moved are, with the sensor arrangement an obstacle early recognize this, along with measures to prevent it a collision with the obstacle. Next, such items can also not be mobile items, in which case a sensor arrangement is suitable, for example, to the Object to recognize approximate obstacles. Next one can Such object also be, for example, a measuring arrangement for Position determination of the object in a room.

At the Driving a room by means of a self-moving Ground dust collection device needs this items and recognize space limitations and by appropriate shunting and Evasive movements react. In this context, it is known to use obstacle detection optical distance sensors. at Recognition of a path of the device blocking Object is the received signal of the optical sensor of a Processed microprocessor, stopping the drive wheels causes or a corresponding behavioral strategy of the device triggers.

About that In addition, triangulation systems are known in which a point of light from different distances through an optical element in shape a receiver lens at different locations of a photosensitive element is imaged. From the electrical Output of this element can be closed to the distance become. Such optical triangulation systems are particular designed for close range. For the long distance contrary, such triangulation systems prove less suitable, because with increasing distance of the obstacle to the object or for the ground dust collecting device, the characteristic for determination The distance is increasingly flat, which is the exact Determination of the obstacle distance difficult.

in the With regard to the above-described prior art, a technical Problem of the invention initially seen in it, an automatic moveable ground dust collecting device or an object with a sensor arrangement of the type in question in terms the distance measurement to an obstacle by means of an optical triangulation system to improve so that even in the far range an exact distance measurement is reached.

This problem is initially and essentially solved both in the subject matter of claim 1 and in the subject matter of claim 2, characterized in that the light beams are influenced in the receiver unit so that it after bundling by the receiver lens at least associated with larger real distances to the obstacle to larger distances of the incident light rays comes on the photosensitive element. According to the proposed solution is at least associated with the long range, that is associated with greater real distances to an obstacle over the solutions of the prior art steeper curve achieved that allows accurate distance measurement also to obstacles in the remote area. The correction takes place before the light beam strikes the photosensitive element, namely in the region of the receiver unit having the optical elements. Elaborate electronic devices for processing the light-sensitive element emitted by exposure to light signals is omitted, which proves to be particularly advantageous in a ground dust collecting device, since such a device usually has a limited space. According to the invention, a simple, moreover disturbance-insensitive and accurate evaluation of the distance signal is realized. Influencing the Light beams in the receiver unit is preferably limited to the far range, so that an adaptation of the characteristic curve in the long-range to the characteristic curve of the near range is achieved. Alternatively, the influence takes place over the entire measuring range, ie including the near and far range. Thus, an influence of the light beams in the receiver unit influencing the characteristic up to a proportional relationship of obstacle distance to Lichtstrahlpo sitionierung on the photosensitive element can be achieved. In an antiproportional context and thus adjusting curve of the characteristic curve according to the influence at least the curve is corrected so that expresses a real difference distance between two distant obstacles on the photosensitive element by a receiver side detectable without any further effort point of light. In addition, the signal of the photosensitive element can also provide information about the surface quality or the degree of reflection of the object in addition to determining the distance to an object, for which purpose resulting currents are determined as a function of light spot impinging on the photosensitive element.

Further Features of the invention are below, also in the figure description, often in their preferred association with the subject-matter of the claim 1 or claim 2 or to features of further claims explained. But you can also do it in an assignment to only individual features of claim 1 or claim 2 or the respective further claim or each independently of Meaning.

So is provided in a preferred embodiment of the article, that the larger distances of the impinging Light rays on the photosensitive element by an additional to the receiver lens provided correction lens are reached. Accordingly, the influence of the light beams in the receiver unit achieved only by optical means. The receiver lens captures the light rays reflected from the obstacle to be measured on and bundles these while in the radiation direction considers correction lens located behind the receiver lens The beam is deflected in a targeted way so that it becomes the desired one greater spacing of the incident light rays the photosensitive element comes. The characteristic of the bundled Light spot on the photosensitive element is modified so that Good readability of the distance measurement even in the far range results. The characteristic is due to the interposition of the correction lens steeper. In a further embodiment, in addition to the Receiver lens and the correction lens at least one more Lens be provided. So is provided in this regard, that the further lens in training the receiver lens as a converging lens for focusing the reflected light is trained. According to this embodiment, the collecting and Bundle the light beams split in two consecutively switched lenses. The other serving the bundling Lens is the correction lens downstream.

Around a particularly good illustration of the bundled and over the correction lens directed light spot on the photosensitive Achieving element is in a preferred embodiment of the subject associated with the receiver unit provided an optical aperture. In a further embodiment, several such optical aperture be provided in the receiver unit. An aperture can in this case in front of the first lens considered in the light radiation direction, So the receiver lens, further between two lenses, for example between the receiver lens and the correction lens or between the last lens, for example correction lens and the photosensitive Be positioned element.

Also proves to be an advantage if assigned to the receiver unit an optical filter element is provided. This filter element indicates the wavelengths of the for Measurement of light beam used maximum permeability on, while wavelengths that are not in the light beam are blocked by the filter element. By this measure are interfering with other light sources, For example, ambient light, reduced and performance of the photosensitive element increases. An optical filter element This can be done in front of the first lens, between two lenses or positioned between the last lens and the photosensitive element. In a further embodiment may in this context to the optical Filtration of the reflected light, the photosensitive element or an optical element, such as a lens or an aperture coated or colored, which coating or coloring the function of the filter element takes over.

Depending on the distance of the object to be measured or the obstacle to be detected and its surface condition (degree of reflection), so much light is reflected onto the photosensitive element that it is photoelectrically saturated without further measures. In this state, a meaningful signal evaluation is not possible, it comes to incorrect measurements. This problem relates in particular to ground dust collectors of the type in question, which are used in households, since there a wide range of materials (for example, bright, well-reflective wallpaper or dark, poorly reflective textile materials) and strongly changing lighting conditions (for example, direct sunlight in the summer, darkened rooms) are present that must not disturb the photosensitive element. In order to counteract this problem, it is provided according to the invention that at least one of the lenses used in the receiver unit is modified. The modification consists in that the surfaces of the modified lenses which are active for the light transmission are optically deactivated. This means that they do not let light through. The problem of saturation occurs predominantly in the near field where, due to the structure of a triangulation system, more light can be collected by the receiver unit than in the far field. The optical deactivation is achieved in a preferred embodiment by mechanical separation of the lens area. Alternatively, the optical deactivation can be achieved by a coating with an optically damping or impermeable layer. Furthermore, there is the possibility of a gradual coloring of the lens, so that an effective darkening of the optically active surface is achieved in the near range, but in the far range a maximum light transmission is present. It makes sense to optically deactivate only those lens areas which are optically active only in the near field but do not transmit light in the long-range. As a result, a high light intensity is realized in the far range, while in the near range, a saturation is avoided. Furthermore, in this regard, it is possible not completely deactivate the corresponding areas for the close range, but rather to modify them, for example by coating, so that only a part of the light energy is transmitted. Ideally, a continuous brightness distribution of 100% in the far range to a specified intensity in the near range of for example 20 to 90%, further for example 50% results on the photosensitive element.

Instead of of solid lenses, as they are known from optical applications, is in an alternative development of the subject invention used a Fresnel lens. Such a Fresnel lens stands out by a compared to solid lenses much smaller thickness from, corresponding to a full lens opposite a lower one Weight and a smaller space on. Next alternative also holographic lenses usable.

A further increase the insensitivity of the photosensitive Elements against disturbing external light influences, such as ambient light, is in a further development of Subject of the invention achieved in that associated with the light source the triangulation system, a separate light sensor is provided. The evaluation circuit downstream of the photosensitive element receives upon activation of the light source via the associated separate Light sensor a signal, reducing the signal waveform of the light source can be synchronized with that of the photosensitive element. Of the separate light sensor can be considered as separate in this context Be provided assigned component of the light source. Alternatively exists also the possibility that the separate light sensor in the light source is integrated, so in a further preferred embodiment in the form that the light source is a laser diode with integrated Monitor diode is.

Around a sensor-based navigation by means of an optical triangulation system for a self-moving ground dust collecting device, but also for movable objects realize which navigation is based on using only one sensor array, involves a triangulation system that is based, avoidance from blind spots suggested that the triangulation system around a vertical axis is rotatably arranged. According to this embodiment can by means of only one triangulation system or only one sensor arrangement the entire environment of the device or the object be checked for obstacles. This is preferred a rotation of the triangulation system about the vertical axis of 360 ° and more provided. In a development of the subject the triangulation system is on one opposite the established one Device housing rotatable about a vertical axis Plate arranged. This can for example be a blanket of a Chassis of the device spanning hood. Alternatively, the entire, the chassis cross-cap form the turntable. Alternatively to a continuously rotating Triangulation system can use this or a rotary disk that absorbs this perform an alternating pivoting movement and thereby Scan a defined angle range. By appropriate design the pivoting device and swivel angle of more than 360 ° can be realized. When using more than one triangulation system suffice Swing angle of less than 360 °.

Of the Drive the rotary plate takes place in a preferred embodiment a separate electric motor that continues in the device or the article is arranged. This electric motor can over a Gear or traction mechanism acting on the rotary plate. Advantageous proves to be an embodiment in which the drive for the rotary plate coupled to the drive for the Verfahrräder is. So is a direct connection between the movement of the Device and scanning the surrounding area reached. The coupling can for example by means of gear or Zugmittelgetriebe be realized.

It is also provided that the rotating or alternating rotary plate and arranged on the rotary plate triangulation system of a Hood are covered. The rotating parts are protected according to this embodiment from direct access and external influences. In order to continue to ensure the proper functioning of the triangulation system, the cover or the hood is at least partially transparent. There are correspondingly provided areas through which the light beams can be emitted and received again. The triangulation system (s) of the rotary plate are correspondingly assigned to the transparent hood area in terms of height. In a further advantageous manner, the transparent region of the hood is designed as an optical diaphragm and / or optical filter element, such as, for example, by appropriate coating of the transparent region. This treatment of the transparent areas of the hood lead to a better imaging of the light spot on the photosensitive sensor and / or to reduce disturbing influences, for example due to ambient light.

On The rotary plate may be preferred to multiple triangulation systems evenly distributed over the circumference be arranged. In addition, there is also the possibility the turntable next to the triangulation systems with additional monitoring elements be provided, such as ultrasonic sensors or camera systems for image processing.

is a rotatable or alternating trangulation system is provided, so this is to provide energy. Next are the distance information to transmit to the device or the object. For this purpose, it is initially provided that the energy supply of the triangulation system on the rotary plate, a slip ring / sliding contact arrangement is provided. So the turntable can have sliding contacts, while that of this fixed device Slip rings carries. The reverse arrangement is in this regard possible. Next alternatively, there is the possibility the power supply via the relative movement between Turntable and device housing. This is how it is a generator constructed, for example, a fixed Shaft of the device forming a stator with permanent or Electromagnet is provided in alternating polarity and the rotary plate is provided as a rotor with individual coils. Upon rotation of the rotary plate Accordingly, current is induced in the coils by the triangulation system can be used. This type of energy production corresponds to their mode of action a synchronous generator. Next alternative can also other generator principles for energy transfer be used, such as in the form of asynchronous generators.

For the information transfer from triangulation system to Device or object can not only exclusively when using a rotary plate, but beyond even when using a fixed triangulation system be provided optical system, by means of which the photosensitive Element received signals are transmitted. For this purpose, for example the rotary plate having a light source, the changing Power on and off a digitally coded signal. In the device or in the object here is a receiving unit, the the light signal hangs and to the controller of the device or forwarded to an evaluation. Alternatively to optical transmission can the distance information also transmitted via radio be, including, for example, the rotary plate a transmitting antenna and the device or the object has a receiving antenna. Further alternatively, the transmission of the signals of the photosensitive element also be made inductively, this particular in connection with a triangulation system bearing rotary plate by on the turntable and on this fixed opposite Device housing are each provided with a coil, which are separated by a narrow air gap. Will the coil in the rotary plate is energized with alternating current, so this forms by induction in the receiver coil in the device from, whereby a signal transmission is possible. In connection with a power supply of on a rotary plate arranged triangulation system via a slip ring / sliding contact arrangement This arrangement can also coded for transmission Signals are used, so on, for example, by superposition the power supply of a high-frequency AC voltage.

In a development of the subject invention is provided that for detecting the angle of rotation of the triangulation system to the fixed one Device housing is provided a sensor. Corresponding becomes the angle between the triangulation system and the longitudinal axis of the Aufsammelgeräts or object by an angle measuring system detected. This is in a ground dust collector the type in question achieved that this environment rotatable or alternating arrangement of the triangulation system continuously can scan and the information so obtained the environment using an angle sensor with the respective orientation can match. So is a targeted navigation of the Aufmammelgeräts allows. To implement the angle sensor are different Principles applicable, such as by arrangement of optical Sensors such as forked light barrier with knurled disc, continue Potentiometers, reed relays, Hall sensors or contacts on one or several angular positions between triangulation system or Turning plate and fixed device part.

The photosensitive element of the Triangu lationssystems is in a preferred embodiment, a one-dimensional element, so on by corresponding linear configuration of the same along which photosensitive line of the obstacle reflected and bundled by the optical elements and optionally corrected light beam strikes, further defines an end of the line-shaped photosensitive element a zero point. From the distance of the impinging on the linear, photosensitive element light spot to zero can be determined by means of a corresponding evaluation the distance between triangulation and obstacle, with increasing distance of the light spot to zero and the distance of the device increases to the obstacle. In addition, it is preferred in a development that the photosensitive element is a two-dimensional element, corresponding to an element in a planar design, wherein here the zero point is defined by a peripheral edge or edge region of the two-dimensional element, which edge edge or edge region transverse to the direction of displacement of the impinging Light point is aligned at different distance measurements.

The Photosensitive element is a PSD element (position sensitive device). Such a PSD element is in a linear shape or alternatively in areal construction. Also the use of so-called camera chips (CCD or CMOS elements) can be provided be. Even such optical sensors in the form of camera chips can as linear or one-dimensional or areal or two-dimensional versions are present.

The Light source transmits visible in one embodiment Light off. Alternatively, a light source can be used, which for humans light in the non-visible spectral range emits, such as infrared light, further basically as light sources, for example, laser diodes or conventional Light-emitting diodes (LEDs) can be used. Next sends the light source in an embodiment of the subject invention Light with exactly one wavelength, so-called monochromatic Light. Alternatively, it is suggested that the light source be light with several wavelengths or light in spectral ranges. This causes the distance to obstacles with different Surface properties or colors reliable can be determined. When using monochromatic light there is a risk that removal of the collection device to measure an obstacle, which obstacle exactly this wavelength reflects particularly bad. In this Case there is a risk of incorrect measurements. By use of light with more than one spectral component is one Countermeasure counteracted. This proves particularly in connection with a self-moving ground dust collector the kind in question, as it navigates in households and there a variety of materials with different colors and surface properties.

to Extension of the measuring range is suggested that two or more light sources are provided. The two light sources will be placed in an arrangement so that there are two shorter measurement ranges resulting in a longer overall measurement range add. This will increase the performance of the triangulation system elevated. Alternatively it is suggested to use two or more photosensitive Provide elements at different distances are arranged to one or more light sources. Are several It is provided light sources or photosensitive elements important that in the signal evaluation it is known in which measuring range there is the object to be measured, otherwise no unique Measurement is possible. In this context is in preferred Design provided that the sensors or the light sources are synchronized with each other so that a measurement only then takes place or a light signal is sent only when the transmitter this the corresponding photosensitive element or the corresponding light source clearly assign.

Becomes only one photosensitive element, but more than one light source used, so the problem of synchronization in more advantageous Be way solved so that the light sources light send out with different wavelengths. Becomes a photosensitive Element uses that wavelengths of incident light This can be for a clear measurement be used.

In a further embodiment, it is proposed that, in the case of a light source which emits light in the spectral range, a dispersing element be provided in addition to the optical elements. Such a dispersing element is an optical element which has a different refractive power depending on the light used, for example in the form of an optical prism. In this context, it is also advantageous to use light with more than one wavelength for the distance measurement. The light is decomposed by the dispersing element into its spectral components, which are thereby directed to different locations of the photosensitive element. Thus, it proves to be further advantageous if the light-sensitive element is colored for dispersion, so that by measuring the distance-dependent position of one or more wavelengths on the non-sensitive element similar to that conventional distance triangulation the distance to an obstacle can be measured.

Especially in one-dimensional, so forth line-shaped photosensitive Elements is an exact alignment of the further used optical Elements such as lenses and photosensitive element necessary, to perform exact measurements. The entire optics of the triangulation system is adjusted so precisely that the light spot is incident on the photosensitive element. So in this context is known light rays with a circular Cross-section, so that in the receiver a round Light spot with a line-shaped photosensitive Element is brought to de ckung. To the necessary To avoid or minimize the adjustment effort as far as possible it is further suggested that the photosensitive element incident light spot is widened two-dimensional, in particular in the vertical direction, that is transversely to the extension direction of the one-dimensional photosensitive element. Follow this Design reduces at least the adjustment effort in the vertical direction. The widening of the light spot is done by appropriate shaping the light at the light source and, for example, by a special intent optics and / or in the reception area, for example by arranging special, so-called cylindrical lenses. Instead of widening the light spot in the transverse direction to the line-shaped photosensitive element may also use a two-dimensional photosensitive element become. Also in this case, the adjustment is much easier. Also, such an arrangement proves during operation in particular a self-moving ground dust collecting device the type in question of advantage. shakes, for example, triggered by driving over Doors or the like do not lead to incorrect measurements because in particular vertical deflections of the incident light spot are caught.

at the known optical triangulation system for distance measurement there is the problem that at close range to the photosensitive Element a much higher amount of light falls as in the far field. This can lead to close range a saturation of the photosensitive element occurs whereby a meaningful measurement is made more difficult. To this problem to counter, the invention provides that the photosensitive element is arranged so that in the near area associated element area a less large focus is reached than in the elementary area assigned to the far-end area. This is achieved by targeted translational and / or rotational Displacement of the photosensitive element, leaving in the far field still a sufficient focus and thus a high energy input is achieved in the photosensitive element, but in the vicinity a worse focus or a worse energy input. The tilting of the photosensitive element becomes a continuous transition the signal attenuation between near and far reaches.

in the Related to a rotatable or alternating triangulation system with the goal of an all-around navigation is in a continuing education of the subject invention provided that the photosensitive Element fixed and cooperating with the photosensitive element optical elements are rotatably arranged. Such is for example the light source fixed in the collecting device or the object mounted while a rotatable plate has a rotatable device, the light beam together with the other optical Receiver elements such as mirrors or prism to rotate. This leads to a lower one Space of the triangulation system, in particular the receiver unit, especially in the case of a ground dust collecting device is beneficial. Correspondingly, this solution can also be applied to a triangulation system that does not rotate but continuously shuttles and so a certain range of angles scans.

Around in particular the performance characteristics of a ground dust collector but also an object of speech in question the standing of the species, it is proposed that the Triangulation system is movably suspended and a tilt sensor is provided. For example, a gimbal can be used be provided of the triangulation system. This is this always aligned horizontally, even when the device loses its horizontal orientation, for example when driving over an object such as a door sill or the like. The suspension is in a preferred embodiment with its own sensors, for example Tilt sensors equipped that the inclination of the device as a manipulated variable on actuators, for example electric motors pass the rotary plate receiving the triangulation system or always keep the triangulation system itself horizontal. Alternatively, a passive reset system may be provided, which does not require its own sensors or actuators, such as by weight or gyro action.

In order to improve the performance characteristics of an optical triangulation system, especially when used in a ground dust collecting device, it is provided that the triangulation system oscillates in the vertical direction. As a result, distance measurements are carried out at different vertical heights, which is especially in the navigation of an automatic mobile Aufsammelgeräts proves beneficial in a household, as this example he paragraphs, spaces below cabinets or similar obstacles can be detected. The entire triangulation system or only parts of it oscillate mechanically in the vertical direction and thus detects distances to obstacles at different heights. Alternatively, it is proposed in this connection that a line-shaped laser is provided as the light source, which cooperates with a planar, that is two-dimensional photosensitive element. Also, light sources may be provided at different vertical heights which cooperate with a two-dimensional photosensitive element or with an oscillating photosensitive element.

in the Generally, the far-range begins in a triangulation system the type in question in the distance in which the sensor characteristic clearly flattens. For example, the far range begins at a distance sensor with a reach of 300 cm from about 100 cm. In a rough way Division is the bottom third of the range of the sensor as Short range and the upper two thirds referred to as the long range, further defining the definition of near and far with respect to on signal attenuation depends on the used photosensitive Element. In practice is of a gradual transition between the two areas. In principle, the Range of attenuation at close range, once with an overdrive of the photosensitive element due to excessive light intensity is to go out.

below the invention with reference to the accompanying drawings, which merely exemplary embodiments represents, closer explained. It shows:

1 in perspective view a ground dust collecting device;

2 a bottom perspective view of the ground dust collecting device;

3 a schematic representation of a triangulation system for arrangement on the ground dust collecting device, relating to a first embodiment;

4 a characteristic plot of the measured values of a photosensitive element of the triangulation system;

5 a partial view of a triangulation system in a second embodiment;

6 the synchronized waveform of a light source to that of a photosensitive element in a triangulation system as shown in FIG 5 ;

7 the ground dust collecting device in a schematic plan view, with a about a vertical axis of the device rotatable triangulation system and a rotational position detecting sensor;

8th a schematic sectional view through a, the triangulation system bearing rotary plate and the area of their storage in Aufsammelgerät concerning a further embodiment;

9 a schematic sectional view as shown in FIG 8th but relating to an alternative embodiment;

10 the Triangultionssystem in schematic representation, concerning a further embodiment;

11 in a further embodiment, the triangulation system in a schematic representation;

12 in a schematic view of the photosensitive element of the triangulation system in one-dimensional design with expansion of the incident light spot in the vertical direction;

13 a further schematic representation of the photosensitive member in a further, two-dimensional embodiment, with a light spot incident on the photosensitive element circularly;

14 in a further embodiment, a schematic plan view of the photosensitive element of the triangulation system;

15 a schematic side view of the ground dust collecting device in side view with a fixed height detecting triangulation system;

16 one of the 15 corresponding representation, but with a different heights scanning triangulation system;

17 a schematic view of the photosensitive element according to 12 relating to an embodiment for additionally determining the degree of reflection;

18 a schematic plan view of a room with movable in this ground dust collecting device;

19 the receiver lens, correction lens and photosensitive element existing receiver in one embodiment;

20 in another embodiment, the receiver with an intermediate shutter;

21 one of the 20 corresponding representation, but with a filter arrangement;

22 in perspective schematic representation of the receiver with a coated correction lens;

23 one of the 22 corresponding representation, but with gradually colored correction lens;

24 another one 22 corresponding representation, but with optical deactivation of a lens area by mechanical separation;

25 another one 22 corresponding representation, but with formation of the correction lens as a cylindrical lens;

26 in a further embodiment, the arrangement of the triangulation system in a gimbal mounting;

27 Another embodiment of the gimbal for the triangulation system.

Shown and described is a ground dust collecting device 1 in the form of a cleaning robot with a chassis 2 , which on the underside, facing the floor to be maintained, electric motor driven Verfahrräder 3 and one above the bottom edge of the chassis floor 4 protruding, also electric motor driven brush 5 wearing. The chassis 2 is covered by a device hood 6 , where the floor cleaning device 1 has a circular floor plan. The device 1 However, it may also have a deviating from a circular shape floor plan, which further may for example consist of a semicircular circular section and a subsequent, oriented on a rectangle molding section.

The wheels 3 are in the usual travel direction r of the ground dust collecting device 1 the brush 5 downstream, further the brush 5 downstream of a sweeping plate-like dirt ramp 7 is provided, via which the brushed dirt is dropped into a container-like receptacle.

In the usual direction of travel r is the brush 5 upstream of a support wheel in the form of a follower wheel 8th according to which a three-point support of the ground dust collecting device 1 reached on the floor to be cared for.

Further, although not shown, the ground dust collector 1 additionally or alternatively to the brush 5 have a suction mouth. In this case is in the device 1 further arranged a suction fan motor, which is electrically operated.

The electrical supply of the individual electrical components of the device 1 as for the electric motor for the Verfahrräder 3 , for the electric drive for the brush 5 , optionally for the suction fan and beyond for the further provided electronics in the device 1 for controlling the same via a not shown, rechargeable battery.

There is a need in such ground dust collectors 1 To detect obstacles that a method of the device 1 prevent. For this purpose, a sensor arrangement 9 intended. This consists in the present invention of a triangulation system T.

The elements of the triangulation system T are in the illustrated first embodiment (see 1 ) on the ceiling side of the device cover 6 arranged, which allows a compact design. Possible, although not shown, is also a separate arrangement of transmitter S and receiver E of Triangula tion system T, such as an arrangement of the transmitter S in the wall region of the device hood 6 and an arrangement of the receiver E, for example, on the ceiling side of the device hood 6 ,

The triangulation system T is an optical system which is in 3 is shown schematically in a first embodiment. The transmitter S is a light source in the simplest version 10 in the form of an LED or a laser diode, which light source 10 monochromatic light emits so far visible light, but possibly also for people not visible light, such as infrared light.

The receiver E initially has a photosensitive element 11 on. This is, for example, a PSD element or even a CCD or CMOS element in a linear, that is, a one-dimensional construction, such as in 12 is shown. Next part of the receiver E is a receiver lens 12 that is the photosensitive element 11 upstream. The receiver lens 12 is used to catch and bundle the light source 10 sent out and from the obstacle 13 . 13 ' reflected light rays, wherein in the representations by the reference numeral 13 Obstacles in the vicinity and with the reference numeral 13 ' Obstacles in the far area are designated.

The operation of the optical triangulation system T is as follows: depending on the distance x of the detected obstacle 13 respectively. 13 ' The light beam falls bundled over the receiver lens 12 to the position y of the photosensitive electronic element 11 , wherein the position y on the photosensitive element 11 with increasing distance x of the obstacle 13 respectively. 13 ' from a peripheral zero position L of the photosensitive element 11 spaced.

From the position y on the photosensitive element 11 can be the distance x of the obstacle 13 . 13 ' be clearly determined.

In addition, the receiver E is with a correction lens 14 Mistake. This directs the from the receiver lens 12 bundled light beam targeted so that it gives a sharp image on the photosensitive element 11 comes. At the correction lens 14 is in the illustrated embodiment according to 3 around a bi-convex lens with outwardly curved surfaces such that it has a positive radius of curvature on the incident and a negative radius of curvature on the emergent surface. The receiver lens upstream in the direction of the light beam 12 is formed plano-convex in the illustrated embodiment, with a plane falling out surface.

According to this arrangement, in particular by arranging the correction lens 14 is also in the long-range, that is, when more distant obstacles 13 ' a good readability of the distance measurement by a photosensitive element 11 Downstream evaluation given. 4 shows a corresponding characteristic of a triangulation system T, the dependence of the measuring section x to the position y on the photosensitive element 11 represents. The characteristic runs with respect to systems T without correction lens 14 steeper, which allows a simpler, störunempfindlichere and thus more accurate evaluation of the distance signal can be achieved. The characteristic of a system without a correction lens 14 is for comparison in 4 shown in phantom.

Further, in the triangulation system T, as shown in FIG 3 Receiver side, an optical aperture 15 intended. This is in the illustrated embodiment between the receiver lens 12 and correction lens 14 positioned. About this optical aperture 15 is a particularly good representation of the point of light P, that of the obstacle to be detected 13 . 13 ' is reflected on the photosensitive element 11 reached.

Further, in the receiver E is an optical filter element 16 intended. This filter element 16 has a maximum transmission for the wavelengths of the light beam used for the measurement. Wavelengths that are not included in the light beam are blocked by the filter, so that interference from other light sources, such as ambient light, are reduced, which reduces the performance of the photosensitive element 11 elevated. The filter element 16 is in the illustrated embodiment in front of the receiver lens 12 positioned.

Alternatively, instead of the separately provided filter element 16 also at least one of the optical surfaces of the lenses (receiver lens 12 or correction lens 14 ) or the photosensitive element 11 be provided with a coating which takes over the function of the filter element.

In a further, alternative embodiment according to the representation in 5 becomes the light signal of the light source 10 via a separate light sensor 17 recorded, which light source 10 is modulated by the transmitter A. Once the light source 10 is switched on, the evaluation electronics A receives a signal from the light sensor 17 , This is the waveform of the light source 10 with that of the photosensitive element 11 synchronized, whereby the insensitivity of the triangulation system T is significantly increased by disturbing external influences such as ambient light. 6 shows the synchronization by the light sensor 17 on the basis of the signal curve of the photosensitive element (characteristic curve 18 ) depending on the waveform of the light source 10 (Curve 19 ).

As a separate light sensor 17 may also be an already integrated photosensitive element in the light source 10 be used, such as a laser diode with integrated monitor diode.

In order to realize a sensor-based navigation based on the use of a single triangulation system T and having no blind spots, according to the further embodiment, in FIG 7 a triangulation system T on a rotary plate 20 arranged. This turntable 20 is in exemplary embodiment, the ceiling of the device hood 6 ,

The turntable 20 is rotatably arranged about a vertical axis z.

The triangulation system T detects a fixed angle range α. Turn the turntable 20 and thus of the triangulation system T about the axis z is a complete scanning of the surrounding area of the pick-up device 1 reached. Alternatively, the rotary plate 20 With the triangulation system T also perform an alternating pivotal movement while scanning a defined angular range. Next alternatively, on the rotary plate 20 Also, a plurality of triangulation systems T be provided, so that, in particular with an alternating pivoting movement, smaller pivoting angles are sufficient for complete detection of the surrounding area, which furthermore results in a higher scanning speed of the sensor system.

The drive of the rotary plate provided with the triangulation system T. 20 via a separate, not shown electric motor and an intermediate gear. Alternatively, the drive is done by coupling with the traversing wheels 3 or with the the traversing wheels 3 acting on electric motor.

As further in particular from the 8th and 9 to recognize is in another embodiment, the rotary plate 20 and the triangulation system T arranged thereon by a cover 21 covered, which is more preferably fixed, so that further outward no rotating parts are exposed.

This cover 21 is executed circumferentially at the level of the triangulation system T in the region of its wall transparent. The transparent area is denoted by the reference numeral 22 Mistake.

In this transparent area 22 Parts of the optical system, in particular optical elements of the receiver E can be integrated, so on, for example by appropriate coating or coloring of the transparent area 22 , with which filters or diaphragms are realized.

The received signals of the triangulation system are evaluated by the evaluation electronics A. Depending on this evaluation, a pre-programmed behavioral strategy of the Aufsammelgerätes 1 For example, to avoid the detected obstacle. The transmission of the distance information in a rotatable triangulation system T, in particular in one on a rotary plate 20 arranged triangulation T preferably takes place without contact. Thus, according to the embodiment in 8th provided an optical signal transmission, including in the rotary plate 20 centrally a light source 23 is provided for example in the form of an LED. This transmits, controlled by the receiver E of the triangulation T digitally encoded light signals, this in the simplest way by turning on and off the light source 23 , In the opposite of the rotary plate 20 stationary part of the collecting device 1 (represented in the diagram by the fixed shaft 24 ) is a receiving unit 25 provided that captures the light signal and forwards to the control of the Aufsammelgerätes. At the receiving unit 25 it is, for example, a photoelectric element.

Alternatively, the signal transmission of the distance information as shown in FIG 9 also via radio. This is in the turntable 20 centrally a transmitting antenna 26 provided with a receiver antenna 27 in the opposite of the rotary plate 20 stationary part of the device.

The power supply of the electronic elements on the rotary plate 20 , in particular of the triangulation system T can, as shown in 8th be solved by mechanical slip rings. These slip rings 28 are in the illustrated embodiment, the bottom side of the rotary plate 20 arranged. The cooperating sliding contacts 29 are provided on the device side and connected to the device-side accumulator.

As shown in 9 make up the rotating turntable 20 and the device fixed to this opposite a generator, including the fixed shaft 24 forming a stator with permanent or electromagnets 30 provided with alternating polarity. The turntable 20 is to form a rotor with individual coils 31 Mistake. Turning the turntable 20 , is in the coils 31 Induces current that can be used by the triangulation system T. This type of energy production corresponds to their mode of action according to a synchronous generator.

The slip ring sliding contact solution for powering the on the rotary plate 20 arranged triangulation system T can be used in a further embodiment, also for information transmission of the distance values, including the device from the rotary plate 20 over the slip rings 28 and sliding contacts 29 transmitted electrical energy is superimposed by a high-frequency alternating voltage, via which the triangulation system T codes the distance information corresponding to the transmitter A in the device.

For a targeted navigation of the Aufsammelgeräts 1 to allow further is, as in 7 schematically illustrated, a detection of the rotation angle of the rotary plate 20 or of the triangulation system T for the usual travel direction r detectable. This is a position sensor 32 intended. This can for example be an optical sensor in the form of a forked light barrier with knurled disk be. Next can also about the scope of the rotary plate 20 several such positioners 22 be provided, for example in the form of contacts at one or more angular positions.

To the performance of the photosensitive element 11 is to increase further, according to the in 10 shown further embodiment of an optical triangulation system T, the arrangement of two light sources 10 . 10 ' provided, wherein a light source 10 for detecting obstacles 13 at close range N and a light source 10 ' for detecting obstacles 13 ' in the far range F is designed.

The two light sources 10 and 10 ' are placed so that correspondingly two shorter measuring ranges, namely the measuring range for the near range N and the measuring range for the far range F, result, which add up to a longer overall measuring range. Here, the signal evaluation is known, in which measuring range (N or F) is the obstacle to be measured 13 . 13 ' located. So are the receiver E and the light sources 10 . 10 ' synchronized with each other so that a measurement only takes place or a light signal is only sent when the transmitter this the corresponding receiver E or the corresponding light source 10 . 10 ' clearly assign.

This is achieved in the present embodiment in that the light sources 10 and 10 ' Send out light with different wavelengths. The receiver E or the photosensitive element 11 can detect wavelengths of incident light, so that this can be used for a clear measurement.

11 shows an embodiment of a triangulation system T, in which, in addition to the optical elements not shown here, such as lenses or diaphragms, a dispersing element 33 is provided in the form of an optical primate. In this case, preference is given to the light source 10 Emitted light with multiple wavelengths for the distance measurement. That from the obstacle 13 reflected light is transmitted through the dispersing element 33 decomposed into its spectral constituents, which thereby to different locations of the photosensitive element 11 be steered. The latter is in a preferred embodiment, a color-sensitive optical sensor, so that on the measurement of the distance-dependent position of one or more wavelengths on the photosensitive element 11 the distance to an obstacle 13 can be measured.

To a complex adjustment of the reflected light beam to the photosensitive element 11 Thrown light spot P is to be avoided in a further embodiment as shown in FIG 12 provided that the light spot P is widened in two dimensions. So further transversely directed to the longitudinal extent of the here linear, that is one-dimensional sensor area 11 ' the photosensitive element 11 , This two-dimensional widening of the light spot P can optionally be achieved, for example, by arranging a special optical attachment in the region of the light source 10 or on the receiver side be achieved by arranging special, so-called cylindrical lenses. As a result of this embodiment, there is sufficient tolerance in the vertical direction or transversely to the orientation of the sensor region 11 ' given.

Alternatively, in punctiform configuration of the light spot P of the sensor area 11 ' the photosensitive element 11 be widened in two dimensions. It is provided according to a flat sensor element. The widening of the sensor area 11 ' transverse to the measuring direction corresponds to a multiple of the diameter of the light spot P, so on, for example, two to five times the diameter (see. 13 ).

To address another problem of optical triangulation sensors for distance measurement, in which at close range to the photosensitive element 11 a much higher amount of light than in the far field, is according to the embodiment in 14 a tilt of the photosensitive element 11 from a plan view directed transversely to the incident light rays out, such as a tilt to a transverse orientation of for example 15 °. The usual, transversely directed to the incident light rays arrangement of a photosensitive element 11 is for comparison in 14 Shown schematically by the dotted line.

As a result of this tilting of the photosensitive element 11 is in the far range sufficient focusing and thus a high energy input continues to exist in the near field, however, a reduced focus or energy input, which overall a continuous transition of the signal attenuation between near and far range is achieved.

As shown in 15 becomes an obstacle 13 detected at a constant height h by means of the triangulation system T. To detect obstacles at different heights, such as heels 13 '' , Rooms below cabinets or similar obstacles, a measurement at different heights h, h ', h''is provided. This is achieved by a Oszillie tion of the triangulation system T in the vertical direction, the entire triangulation system T or even parts thereof mechanically oscillate in a vertical direction and measure distances at different heights (cf. 16 ).

Alternatively, the triangulation system T can also have light sources at different heights, whose reflected light beams onto a flat, that is two-dimensional photosensitive element 11 to meet.

17 shows a photosensitive element 11 as a PSD (position sensitive device) element, as it comes according to the present invention in a triangulation system T for distance measurement used. Due to the optics of the triangulation system T, the object O (cf. 18 ) whose distance is to be determined reflected light on the photosensitive element 11 focused. The light spot P generated on the linear sensor area 11 ' two photocurrents i ₁ and i ₂ . These are provided by a suitable measuring device at the ends of the sensor area 11 ' tapped and measured.

The position of the light spot P on the sensor area 11 ' is according to the principle of optical triangulation a measure of the distance to the object. This measure is determined from the ratio of the two currents i ₁ and i ₂ . The sum of the two currents i ₁ and i ₂ depends on the distance of the object and its surface condition, ie on the degree of reflection. By determining the distance, further information about the surface condition can be determined, which information for the navigation of the ground dust collecting device 1 can be used in room R.

In 18 is a ground dust collector 1 shown in a room R. The contour of the space R is detected by means of the triangulation system T. As a result of the evaluation of the geometry information, the ground dust collector can 1 within the room R. Next is the device 1 with the help of the triangulation system T able to determine the reflection properties of the environment with the described method, so that the device can use this information in addition to orientation and navigation. That's how the device works 1 continue, as in 18 schematically illustrated, identify areas with different reflection properties, wherein in the illustration in 18 Objects O are shown schematically with different reflection properties by dashed and solid lines.

The signal strength for determining the degree of reflection is also applicable to triangulation systems T, which serve as a photosensitive element 11 For example, photochips such as CCD or CMOS chips have.

In 19 an embodiment of the receiver E is shown in which both the receiver lens 12 as well as the correction lens 14 are designed as bi-convex lenses. In this case, a particularly effective influencing of the beam path is achieved in that at least one of the two lens surfaces is designed as an aspherical surface. This lens surface in this case has a shape deviating from a sphere. In the in 19 The arrangement shown is the correction lens 14 provided with two aspherical surfaces. Also the receiver lens 12 has an aspherical surface, namely the surface facing the light beam.

Both lenses are more preferably provided with cylindrical sockets to accommodate them in a holder with cylindrical holes can. The cylindrical socket in the area of the correction lens 14 bears the reference number 34 ,

A sample solution with an optical aperture between the optical lenses (receiver lens 12 and correction lens 14 ) is in 20 shown. The optical aperture 15 consists of an optically opaque material such as opaque plastic or metal and further has a central opening 35 through which the beam path of the receiver optics passes. The optical aperture 15 can alternatively also in front of the receiver lens 12 or between the correction lens 14 and the light-sensitive element 11 be positioned. In addition, the arrangement of more than one optical aperture is also 15 possible.

A sample solution with an optical filter element is shown in FIG 21 shown. This optical filter element 16 consists of a transparent material, which is colored in such a way that it predominantly transmits the wavelength of the light used, but absorbs light with other wavelengths. For example, for the filter element 16 find a plastic material use, which has a very high breaking strength at low weight and a high degree of dimensional stability even at extreme temperatures.

Alternatively to a colored filter element 16 can also be a transparent element coated with an interference filter.

In addition, it is also possible to color or coat one of the lenses used. In 22 an embodiment is shown in which the correction lens 14 on its front beam with a uniform filter layer 36 is coated.

The optical deactivation of at least one of the lenses can be achieved by gradually coloring the lens. Such a solution is in 23 shown here, in which case the correction lens 14 is colored gradually at least on the side facing the light beam.

In the area, which is primarily illuminated by light when an object is detected in the near zone, the lens is darkened (area 37 ). To the area of the lens which is irradiated by light when an object is detected in the far field, the coloring becomes progressively weaker, so that the lens, here the correction lens 14 , finally, completely transparent (area 38 ).

An optical deactivation of at least one lens can also be achieved by mechanical trimming of the lens. 24 shows such a solution in connection with the correction lens 14 , which faces the area, which is mainly irradiated by light when an object is detected in the vicinity, are separated by approximately secant cut line lens areas. The clipping areas are in 24 with the reference number 39 characterized.

The linear widening of the light spot P is further, for example, with a cylindrical lens 40 reachable. 25 shows a corresponding arrangement, wherein the cylindrical lens 14 at the same time the function of the correction lens 40 Fulfills.

The triangulation system T is gimbaled in a development of the subject invention, so that it is always aligned in the horizontal direction. 26 shows a first embodiment of this gimbal suspension. The triangulation system T is on a platform 41 assembled. This is for example part of the housing of the triangulation system T. The platform 41 is about a horizontal axis of rotation b in a frame 42 stored, which frame 42 in turn rotatable about a rotation axis a in two supports 43 is stored. The axes of rotation a and b are crossing each other, enclosing a right angle to each other.

The pillars 43 are fixed to the device hood 6 of the ground dust collecting device 1 connected. Below the common plane, which form the two mutually perpendicular axes of rotation a and b together, there is a counterweight 44 , with a mass which is considerably larger than the mass of the triangulation system. According to this arrangement, it is ensured that the weight of the counterweight 44 of the triangulation system T always keeps in the horizontal position, even if the ground dust collecting device 1 is bent out of the horizontal when driving over a threshold.

Alternatively to a passive compensation of the cutting position of the triangulation system T is also an active compensation by means of two servo motors 45 . 45 possible. This is in 27 presented as an example solution.

The triangulation system T is as in the reference to 26 described solution via two axes of rotation a and b over a frame 42 in two columns 43 stored, which supports fixed to the device hood 6 of the device 1 are connected. In addition, there is a tilt sensor 47 provided that detects the angle that forms the device to the horizontal. Using the geometric dimensions of the gimbal, this angle of inclination is converted into a rotation angle of the triangulation system about the axes of rotation a and b. These angles of rotation can be adjusted via a corresponding position control of the servomotors 45 and 46 be given as manipulated variables, which then compensate for the inclination of the triangulation system T relative to the horizontal.

In principle, all wavelengths emitted by the photosensitive element 11 can be used. Preference is given to standard light colors. Next are preferred as a light source 10 structurally small and light laser diodes or the like provided, so on, for example, laser diodes with red light. These usually have wavelengths in the range of 635 nm to 658 nm. In addition, there is also the possibility of arranging laser diodes with green light, in which the wavelength range is approximately at 500 nm. In addition, light sources in the infrared range are possible, with a wavelength of 900 nm. In this context, LEDs are preferably used. In addition, infrared laser diodes are also used as the light source 10 be provided.

All disclosed features are essential to the invention (in itself). In the disclosure of the application is hereby also the disclosure content the associated / attached priority documents (Copy of the advance notice) fully included, too for the purpose, features of these documents in claims present Registration with.

1

Floor dust collecting device

2

chassis

3

Verfahrräder

4

chassis ground

5

brush

6

device hood

7

dirt ramp

8th

idler

9

sensor arrangement

10

light source

10 '

light source

11

photosensitive element

11 '

sensor range

12

receiver lens

13

obstacle

13 '

obstacle

13 ''

obstacle

14

correcting lens

15

optical cover

16

optical filter element

17

light sensor

18

curve

19

curve

20

turntable

21

cover

22

transparent Area

23

light source

24

wave

25

receiver unit

26

transmitting antenna

27

receiver antenna

28

slip rings

29

sliding contacts

30

magnets

31

Do the washing up

32

locator

33

dispersing element

34

version

35

opening

36

filter layer

37

Area

38

Area

39

crop area

40

cylindrical lens

41

platform

42

frame

43

Support

44

counterweight

45

servomotor

46

servomotor

47

tilt sensor

A

evaluation

e

receiver

F

remote area

L

zero position

N

close range

P

light spot

S

transmitter

T

triangulation

O

object

R

room

H

height

H'

height

H''

height

r

traversing

x

distance

y

position

z

vertical axis

α

angle of coverage

i ₁

photocurrent

i ₂

photocurrent

a

axis of rotation

b

axis of rotation

QUOTES INCLUDE IN THE DESCRIPTION

This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Cited patent literature

• - DE 10242257 A1 [0003]

Claims (59)

Automatically movable floor dust collecting device ( 1 ) with electric motor driven traversing wheels ( 3 ), a device housing, a dust collection container and a device hood ( 6 ), wherein the ground dust collecting device ( 1 ) is provided with an obstacle detection, wherein the obstacle detection is an optical triangulation system (T) with a light source ( 10 . 10 ' ) and an optical element in the form of a receiver lens ( 12 ) for the reflected light rays and a photosensitive element ( 11 receiver unit (E), characterized in that the light beams in the receiver unit (E) are influenced in such a way that, after bundling by the receiver lens (FIG. 12 ) at least associated with greater real distances to the obstacle ( 13 . 13 ' ) to greater distances of the incident light rays on the photosensitive element ( 11 ) comes. An article having a horizontal and / or vertical extent, the device comprising a sensor arrangement ( 9 ) is designed to detect an obstacle ( 13 . 13 ' ), wherein the sensor arrangement ( 9 ) an optical triangulation system (T) is equipped with a light source ( 10 ) and an optical element in the form of a receiver lens ( 12 ) for the reflected light rays and a photosensitive element ( 11 receiver unit (E), characterized in that the light beams in the receiver unit (E) are influenced in such a way that, after bundling by the receiver lens (FIG. 12 ) at least associated with greater real distances to the obstacle ( 13 . 13 ' ) to greater distances of the incident light rays on the photosensitive element ( 11 ) comes. A ground dust collecting device or article according to one or more of the preceding claims or in particular according thereto, characterized in that the larger distances of the impinging light rays on the photosensitive element ( 11 ) by an addition to the receiver lens ( 12 ) provided correction lens ( 14 ) is reached. A ground dust collecting device or article according to one or more of the preceding claims or in particular according thereto, characterized in that in addition to the receiver lens ( 12 ) and the correction lens ( 14 ) is provided at least one further lens. A ground dust collecting device or article according to one or more of the preceding claims or in particular according thereto, characterized in that the further lens in forming the receiver lens ( 12 ) is formed as a converging lens for focusing the reflected light. A ground dust collecting device or article according to one or more of the preceding claims or in particular according thereto, characterized in that assigned to the receiver unit (E) is an optical shutter ( 15 ) is provided. A ground dust collecting device or article according to one or more of the preceding claims or in particular according thereto, characterized in that assigned to the receiver unit (E) is an optical filter element ( 16 ) is provided. A ground dust collecting device or article according to one or more of the preceding claims or in particular according thereto, characterized in that for the optical filtration of the reflected light the photosensitive element ( 11 ) is coated or colored. A ground dust collecting device or article according to one or more of the preceding claims or in particular according thereto, characterized in that, for the optical filtration of the reflected light, an optical element, such as a lens ( 12 . 14 ) or an aperture ( 15 ) is coated or colored. A ground dust collecting device or article according to one or more of the preceding claims or in particular according thereto, characterized in that a partial region of a lens ( 12 . 14 ) is optically deactivated. Floor dust collector or object according to one or more of the preceding claims or in particular according thereto, characterized in that the optical deactivation by mechanical separation of the lens area is achieved. Floor dust collector or object according to one or more of the preceding claims or in particular according thereto, characterized in that the optical deactivation by a coating with an optically dampening or impermeable Layer is reached. Ground dust collecting device or article according to one or more of the preceding claims or in particular according thereto, characterized in that the optical deactivation by a gradual coloring of the lens ( 12 . 14 ) is reached. A ground dust collecting device or article according to one or more of the preceding claims or in particular according thereto, characterized in that the optical deactivation in the area assigned to the near zone (N) Lens ( 12 . 14 ) is made. Floor dust collecting device or article according to one or more of the preceding claims or in particular according thereto, characterized in that associated with the light source ( 10 . 10 ' ) a separate light sensor ( 17 ) is provided. Floor dust collecting device or article according to one or more of the preceding claims or in particular according thereto, characterized in that the separate light sensor ( 17 ) in the light source ( 10 . 10 ' ) is integrated. A ground dust collecting device or article according to one or more of the preceding claims or in particular according thereto, characterized in that the light source ( 10 . 10 ' ) is a laser diode with integrated monitor diode. Floor dust collector or object according to one or more of the preceding claims or in particular according thereto, characterized in that the triangulation system (T) is arranged rotatably about a vertical axis (z). A floor dust collecting device or article according to one or more of the preceding claims or in particular according thereto, characterized in that the triangulation system (T) is mounted on a rotary plate (FIG. 2) rotatable relative to the stationary device housing about a vertical axis (z). 20 ) is arranged. Floor dust collecting device or article according to one or more of the preceding claims or in particular according thereto, characterized in that the rotary plate ( 20 ) rotates alternately about the vertical axis (z). Floor dust collecting device or article according to one or more of the preceding claims or in particular according thereto, characterized in that the rotary plate ( 20 ) is driven by a separate electric motor. Floor dust collecting device or article according to one or more of the preceding claims or in particular according thereto, characterized in that the drive for the rotary plate ( 20 ) to the drive for the Verfahrräder ( 3 ) is coupled. Floor dust collecting device or article according to one or more of the preceding claims or in particular according thereto, characterized in that the rotary plate ( 20 ) and on the turntable ( 20 ) arranged triangulation system (T) of a cover ( 21 ) are covered. Floor dust collecting device or article according to one or more of the preceding claims or in particular according thereto, characterized in that the cover ( 21 ) is partially transparent. A ground dust collecting device or article according to one or more of the preceding claims or in particular according thereto, characterized in that the transparent region ( 22 ) of the cover ( 21 ) is formed as an optical aperture and / or optical filter element. A ground dust collecting device or article according to one or more of the preceding claims or in particular according thereto, characterized in that the transparent region of the cover ( 21 ) is coated to form an optical aperture and / or an optical filter element. A floor dust collecting device or article according to one or more of the preceding claims or in particular according thereto, characterized in that a plurality of triangulation systems (T) are mounted on the rotary plate ( 20 ) are arranged. Ground dust collecting device or article according to one or more of the preceding claims or in particular according thereto, characterized in that in addition to the triangulation system (T) further monitoring elements, such as ultrasonic sensors or cameras on the rotary plate ( 20 ) are arranged. Floor dust collecting device or article according to one or more of the preceding claims or in particular according thereto, characterized in that for supplying energy to the triangulation system (T) on the rotary plate ( 20 ) a slip ring / sliding contact arrangement is provided. Floor dust collecting device or article according to one or more of the preceding claims or in particular according thereto, characterized in that for supplying energy to the triangulation system (T) on the rotary plate ( 20 ) the relative movement of the rotary plate ( 20 ) is used to the device housing. A ground dust collecting device or article according to one or more of the preceding claims or in particular according thereto, characterized in that an optical transmission of the light-sensitive element ( 11 ) received signals is provided. Soil dust collecting device or object according to one or more of the preceding the claims or in particular according thereto, characterized in that the transmission of the signals of the photosensitive element ( 11 ) by radio. A ground dust collecting device or article according to one or more of the preceding claims or in particular according thereto, characterized in that the transmission of the signals of the photosensitive element ( 11 ) inductively. A ground dust collecting device or article according to one or more of the preceding claims or in particular according thereto, characterized in that the transmission of the signals of the photosensitive element ( 11 ) at a power supply of the rotary plate ( 20 ) via a slip ring / sliding contact arrangement via the slip ring / sliding contact arrangement by means of coded signals. Floor dust collector or object according to one or more of the preceding claims or in particular according thereto, characterized in that for the detection the angle of rotation of the triangulation system (T) to the fixed one Device housing is provided a sensor. A ground dust collecting device or article according to one or more of the preceding claims or in particular according thereto, characterized in that the photosensitive element ( 11 ) is a one-dimensional element. A ground dust collecting device or article according to one or more of the preceding claims or in particular according thereto, characterized in that the photosensitive element ( 11 ) is a two-dimensional element. A ground dust collecting device or article according to one or more of the preceding claims or in particular according thereto, characterized in that the photosensitive element ( 11 ) is a PSD element. A ground dust collecting device or article according to one or more of the preceding claims or in particular according thereto, characterized in that the photosensitive element ( 11 ) is a CCD element. A ground dust collecting device or article according to one or more of the preceding claims or in particular according thereto, characterized in that the photosensitive element ( 11 ) is a CMOS element. A ground dust collecting device or article according to one or more of the preceding claims or in particular according thereto, characterized in that the light source ( 10 . 10 ' ) emits visible light. A ground dust collecting device or article according to one or more of the preceding claims or in particular according thereto, characterized in that the light source ( 10 . 10 ' ) emits invisible light. A ground dust collecting device or article according to one or more of the preceding claims or in particular according thereto, characterized in that the light source ( 10 . 10 ' ) Emits light with one wavelength. A ground dust collecting device or article according to one or more of the preceding claims or in particular according thereto, characterized in that the light source ( 10 . 10 ' ) Emits light with multiple wavelengths. A floor dust collecting device or article according to one or more of the preceding claims or in particular according thereto, characterized in that two or more light sources ( 10 . 10 ' ) are provided. A ground dust collecting device or article according to one or more of the preceding claims or in particular according thereto, characterized in that two or more photosensitive elements ( 11 ) are provided. A floor dust collecting device or article according to one or more of the preceding claims or in particular according thereto, characterized in that in the case of two or more light sources ( 10 . 10 ' ) and / or photosensitive elements ( 11 ) the light sources ( 10 . 10 ' ) and elements ( 11 ) are synchronized. A ground dust collecting device or article according to one or more of the preceding claims or in particular according thereto, characterized in that in the case of a plurality of light sources ( 10 . 10 ' ) the light sources ( 10 . 10 ' ) are designed to emit light of different wavelengths and that the photosensitive receivers ( 10 ) are designed so that they detect predetermined wavelengths. A ground dust collecting device or article according to one or more of the preceding claims or in particular according thereto, characterized in that in the case of a light source ( 10 . 10 ' ), which emits light in the spectral range, in addition to the optical elements, a dispersing element ( 33 ) is provided. A soil dust collecting device or article according to one or more of the preceding claims or in particular according thereto, characterized in that for the dispersion the photosensitive element ( 11 ) is colored. A ground-dust collecting device or article according to one or more of the preceding claims or in particular according thereto, characterized in that the light-sensitive element ( 11 ) incident light point (P) is widened two-dimensionally. Ground dust collecting device or article according to one or more of the preceding claims or in particular according thereto, characterized in that the widening of the light spot (P) by shaping the light at the light source ( 10 . 10 ' ) and / or reached in the reception area. A ground dust collecting device or article according to one or more of the preceding claims or in particular according thereto, characterized in that the photosensitive element ( 11 ) is arranged so that in the said area of the area (N) associated with the element area less focussing is achieved than in the remote area (F) associated element area. A ground dust collecting device or article according to one or more of the preceding claims or in particular according thereto, characterized in that the photosensitive element ( 11 ) and the optical elements cooperating with the photosensitive element are rotatably arranged. Floor dust collector or object according to one or more of the preceding claims or in particular according thereto, characterized in that the triangulation system (T) is movably suspended and a tilt sensor provided is. Floor dust collector or object according to one or more of the preceding claims or in particular according thereto, characterized in that the triangulation system (T) is gimballed Floor dust collector or object according to one or more of the preceding claims or in particular according thereto, characterized in that the triangulation system (T) oscillates in the vertical direction. Ground dust collecting device or article according to one or more of the preceding claims or in particular according thereto, characterized in that as light source ( 10 . 10 ' ) a line-shaped laser is provided. A ground dust collecting device or article according to one or more of the preceding claims or in particular according thereto, characterized in that light sources ( 10 . 10 ' ) are provided at different vertical heights.