DE102010015923A1 - Method for guiding automatically displaceable device, particularly cleaning device, for cleaning base, as sucking or turning robot, involves providing light emitter and remote control in cleaning device - Google Patents

Abstract

The method involves providing a light emitter (9) and a remote control (5) in a cleaning device (1) and shifting the cleaning device by the remote control into a desired procedural direction (r). The cleaning device is acted in the procedural direction according to light on a base (3). An independent claim is also included for an automatically displaceable device, particularly a cleaning device, for cleaning a base.

Description

The invention initially relates to a method for the guidance of an automatically movable device, in particular a cleaning device for cleaning a floor, such as a suction and / or sweeping device, wherein the device has a light transmitter and further wherein the device is assigned a remote control.

Methods of the type in question are known. By means of this, a device, in particular a self-propelled floor cleaning device to a certain point or area within a room or apartment is directed to here, for example, perform a limited area cleaning of the soil. Furthermore, by means of such a method, the route guidance, for example, of an automatically movable transport device is also possible.

Autonomously operating devices, such as in particular cleaning or transport equipment in the household sector should preferably operate in (cleaning) operation without user intervention. Nevertheless, these are usually provided with facilities for route guidance, so that, for example, the user can drive the device in certain areas of the apartment, z. B. to perform spot cleaning there. Known in this context are remote controls (radio and optical base with infrared), in which the remote control, for example, buttons for different directions contain (separate buttons for driving directions, joystick, four-way switch, etc.). These buttons allow the user to control the device to the destination. The operation is similar to that of a remote-controlled car. From the field of toys also wired solutions are known in which the remote control is connected to the toy via a long cable (electrical connection, sometimes mechanically via Bowden cables). This known route guidance by remote control proves to be time consuming and getting used to the user. Thus, an accurate and at the same time fast control of the autonomous device is difficult. In particular, with four-way switches a defined cornering for the user is complicated to perform. The user must hereby relate steering directions (left-right) from the orientation on the remote control to the orientation of the autonomous device. In summary, in the known solutions in particular disadvantage that the user must act at the system level of the autonomous device. Further alternatively, the device can also be worn, which proves to be very unergonomic.

In view of the above-described prior art, a technical problem of the invention is seen in a method of the type in question, in particular with regard to the operation for the guidance of the device to further improve.

This problem is solved first and foremost by the subject matter of claim 1, wherein it is pointed out that the device is set in a desired direction of travel by means of the remote control and that the device throws light onto the ground in accordance with the direction of travel. According to the invention, the fact is advantageously used that automatically movable devices of the type in question have a preferred direction of travel, from which direction of travel the device possibly deviates in an obstacle detection, further possibly according to a programmed movement and behavior strategy. For destination guidance, the user prefers to turn the device over the remote control on the spot until the device points in the desired direction of travel. In this case, the user is preferably free to choose whether to turn the device left or right in the course of such an orientation. A misoperation for alignment is counteracted. This user-friendly solution is further supported by the fact that the device throws a light signal in the direction of travel to the ground. In this way, the user is given an optical aid, wherein in a preferred embodiment, a corresponding light signal is thrown on the ground in the desired direction of travel even before moving the device, further preferably in the course of Versetzens turning the device. Thus, according to the user, a visual indication is always given, in which direction the device - possibly nachentsprechender command triggering - will proceed. In a further alternative embodiment, the light signal thrown on the floor is only activated after completion of the movement of the device in the desired direction of travel. The light thrown by the device-side light emitter on the ground is used according to preferred the user as a guide for the set travel direction of the device.

Further features of the invention are explained below, also in the description of the figures, often in their preferred association with the subject matter of claim 1 or with features of further claims. But they can also be in an assignment to only individual features of claim 1 or the respective further claim or each independently of importance.

After a successful alignment of the device in the desired direction of travel and - possibly - triggered by the remote control method of the device in the selected direction - the light thrown by the device on the ground continues to be used to the device to be cleaned area (in particular for Spot cleaning). In this case, it is preferable for one to cleaning area transmitted by the light thrown on the floor by means of the remote control device to the detection. In this case, according to the light signal thrown on the ground in the direction of travel of the device is used, which falls in the course of the process of the device on the ground area to be cleaned. At this moment the coincidence of the floor area to be cleaned and the light reflection, the user transmits this agreement via the remote control, for example by pressing a button, so that the device proceeds in a targeted manner to the area to be cleaned and according to a deposited cleaning strategy cleans this floor area, for example spiraling down the floor area starting from the area of floor and light signal covered at the time of transmission. Is, as preferred in one embodiment, the light emitter designed so that it throws a light spot on the ground, so according to the structurally predetermined angular position of the light emitter, in particular its light exit surface to a ground-parallel plane, the horizontal distance of the thrown onto the ground light spot to one Fixed point of the device known, so that the device continues with appropriate transmission of the detection by this known distance further in the direction of travel, after which the device has reached the floor area to be cleaned.

In a further embodiment, the light generates on the floor a series of consecutively appearing light points, which are preferably lined up linearly one behind the other in the direction of travel of the device. Each of these points of light appears for a predetermined period of time, for example for 1 to 2 seconds, so that the impression is created for the user that the point of light thrown on the ground jumps from position to position. Alternatively, the light can also represent a line of light directed on the ground in the direction of travel of the device, this being due to preferred migration of the light spot along a linear in the direction of travel and back. In the case of a transmission of the detection of the area to be cleaned at the time in which the light spot falls on the area to be cleaned, the distance, in particular the horizontal distance of the light spot is determined to the device over which determined way thereafter the device moves further in the direction of travel until it reaches the area to be cleaned. Here, the light emitter is preferably designed so that it projects a small light spot on the floor in front of the device. This is further preferred in plan view round or oval, this more preferably in a round outline with a diameter of about 5-15 mm, preferably 10 mm.

The device is provided with a device that allows the device to reciprocate the projected light spot in the direction of travel. This movement is preferably continuous, so that the light point describes a line in the direction of travel. However, it may also be designed, as is more preferable, such that the apparatus projects a series of spots of light discontinuously onto the ground, each dot lighting up for a few seconds, then extinguishing, and thereafter generating the next dot. Thus, it is preferably provided in this context that the row of light points according to different angular positions of the light emitter or one, the light emitted by the light emitter deflecting element, for example. A mirror, are generated relative to the ground plane. Thus, further, the different angular positions can be achieved by continuous pivoting of the light emitter or the deflecting element, in particular by continuous pivoting up and down of the light emitter or the element, which results in spaced correspondingly different from the device light points on the ground. Accordingly, the light spot thus generated moves according to the continuous pivoting of the light transmitter or the deflecting element in the manner of a pointing in the direction of travel light line. Alternatively, it is proposed in this regard that the different angular positions are achieved by stepwise pivoting of the light emitter or the deflecting element, so that for the user depending on the clock of the stepwise pivoting on the ground in the direction of travel quasi jumping point of light is displayed.

In a further preferred embodiment, the different angular positions of the light emitter or of the deflecting element are achieved in an angular range of 30 ° -75 °, preferably 45 ° -60 °, relative to a vertical. As a result, in particular with a stepwise pivoting of the light emitter or of the deflecting element in this angular range, alternating light spots or spots are produced on the ground, which light spots or spots as a function of the lighting time and the travel speed of the device in the direction of travel distances of 50 mm-1000 mm, preferably 100 mm-500 mm, take each other.

It is further suggested that the user can control the light beam projection. Thus, the user can individually switch to the ground projected light points, in particular by gradual pivoting of the light transmitter or the deflecting element, via the remote control or controls on the device manually between the individual points of light until a point of light on the destination, preferably on the cleansing floor area is located. In the case of a continuous displacement of the light spot in the sense of a line can continue, for example, the user the light point in front of the device in the direction of travel back and forth let it move until the point of light is on the destination. The distances between the discrete points of light are equidistant or following a rule, for example, as a result of the same angular velocity of the projection beam. Further, the distances in a preferred embodiment in the vicinity of the device, for example. In the range of up to 500 mm chosen smaller or larger than in the far range of preferably more than 500 mm. Thus, for example, a spacing of the light spots is provided to each other in the near range of 20 mm-80 mm.

In a further preferred embodiment, it is provided that a light emitter or a deflecting element pivots for alignment in different angular positions relative to the ground plane about a horizontal axis so as to throw the projection light beam at different angles, starting from the light emitter or starting from the light-deflecting element on the ground.

Alternatively, it is proposed that a plurality of light transmitters or deflecting elements arranged at different angular positions relative to the ground plane are provided, and that the plurality of light transmitters or deflecting elements rotate about a vertical axis. Thus, for example, when forming the deflecting element in the form of a mirror, it is provided that a plurality of mirrors is arranged rotatable about a vertical axis, each mirror being inclined at a different angle with respect to the beam axis, so that each mirror projects a point of light on the ground creates the device at a different distance and thus creates an alternating point series. In the case of the rotating arrangement of a plurality of deflecting elements, such as mirrors, preferably only one light source is provided which is fixedly arranged on the device and radiates in the direction of the plurality of light-deflecting elements. It is also possible to arrange a plurality of light transmitters arranged around a vertical axis, which light transmitters are set at different angles to a vertical. Also, in the case of deflecting elements, a single, continuously rotating in the direction of rotation deflecting element may be provided, which is arranged rotatably about a vertical axis.

Furthermore, the invention relates to an automatically movable device, in particular cleaning device for cleaning a floor, such as a suction and / or sweeping robot, wherein the device has a light source. In order to further improve such a device, it is proposed that by means of the light source on the ground in the direction of travel of the device pointing and localized light spot can be formed and that a distance of the light effect reproducing floor area to the device can be determined. As a result of this embodiment, the user of such a device facilitates the route guidance thereof. This device preferably further directs the device by means of a remote control in a preferred direction of travel, further, for example, into a direction of travel pointing in the direction of a region to be cleaned. The pointing in the direction of travel of the device and localized light effect, for example, a light spot or a pattern of light, preferably in the course of the process of the device in the selected direction on the area to be cleaned, preferably at this moment, according to a user-executable command, Further, for example, according to confirmation via the remote control, the device determines the horizontal distance of the light effect on the ground to the device and further preferably proceeds over the determined distance value in the direction of travel to the target point. Serves the route guidance of a so-called. Spot cleaning, d. H. a floor cleaning in a predetermined radius around a central point, so the device, in particular cleaning device, changes in a corresponding traversing / cleaning mode, in which this example, the soil around the target point spirally cleans. The determination of the distance of the light effect to the device is preferably calculated via the angular position of the light source or of a light-deflecting element assigned to the light source, more preferably relative to a vertical.

Further features of the invention are explained below, also in the description of the figures, often in their preferred association with the subject matter of claim 6 or with features of further claims. But they can also be in an assignment to only individual features of claim 6 or the respective further claim or each independently of importance.

Thus, in a further preferred embodiment, it is provided that a plurality of light effects can be generated one after the other, which more preferably each point in the direction of travel and further preferably appear one behind the other in the direction of travel. These light effects each appear for a predetermined period of time, for example for 1 to 2 seconds, so that the impression is created for the user that the light effect thrown on the ground jumps from position to position. Alternatively, the light can also represent a line of light directed on the ground in the direction of travel of the device, according to the preferred migration of a light spot along a linear path in the direction of travel and back. In the case of a transmission of the detection of the area to be cleaned at the time in which the light spot falls on the area to be cleaned, the distance, in particular the horizontal distance of the light spot is determined to the device over which determined way thereafter the device moves further in the direction of travel until it reaches the area to be cleaned.

The device is provided with a device that allows the device to reciprocate the projected light spot in the direction of travel. This movement is preferably continuous, so that the light point describes a line in the direction of travel. However, it may also be designed, as is more preferable, such that the apparatus projects a series of spots of light discontinuously onto the ground, each dot lighting up for a few seconds, then extinguishing, and thereafter generating the next dot. Thus, it is preferably provided in this context that the light emitter or a light deflecting element which is deflected by the light emitter, for example a mirror, can be aligned in different angular positions relative to the ground plane. Thus, further, the different angular positions can be achieved by continuous pivoting of the light emitter or the deflecting element, in particular by continuous pivoting up and down of the light emitter or the element, which results in spaced correspondingly different from the device light points on the ground. Accordingly, the light spot thus generated moves according to the continuous pivoting of the light transmitter or the deflecting element in the manner of a pointing in the direction of travel light line. Alternatively, it is proposed in this regard that the different angular positions are achieved by stepwise pivoting of the light emitter or the deflecting element, so that for the user depending on the clock of the stepwise pivoting on the ground in the direction of travel quasi jumping point of light is displayed.

In a further preferred embodiment, the different angular positions of the light emitter or of the deflecting element are achieved in an angular range of 30 ° -75 °, preferably 45 ° -60 °, relative to a vertical. As a result, in particular with a stepwise pivoting of the light emitter or of the deflecting element in this angular range, alternating light spots or spots are produced on the ground, which light spots or spots as a function of the lighting time and the travel speed of the device in the direction of travel distances of 50 mm-1000 mm, preferably 100 mm-500 mm, take each other.

In a further preferred embodiment, it is provided that a light emitter or a deflecting element pivots for alignment in different angular positions relative to the ground plane about a horizontal axis so as to throw the projection light beam at different angles, starting from the light emitter or starting from the light-deflecting element on the ground.

Alternatively, it is proposed that a plurality of light transmitters or deflecting elements arranged at different angular positions relative to the ground plane are provided, and that the plurality of light transmitters or deflecting elements rotate about a vertical axis. Thus, for example, when forming the deflecting element in the form of a mirror, it is provided that a plurality of mirrors is arranged rotatable about a vertical axis, each mirror being inclined at a different angle with respect to the beam axis, so that each mirror projects a point of light onto the ground creates the device at a different distance and thus creates an alternating point series. In the case of the rotating arrangement of a plurality of deflecting elements, such as mirrors, preferably only one light source is provided which is fixedly arranged on the device and radiates in the direction of the plurality of light-deflecting elements. It is also possible to arrange a plurality of light transmitters arranged around a vertical axis, which light transmitters are set at different angles to a vertical. Also, in the case of deflecting elements, a single, continuously curved deflecting element may be provided, which is arranged to be rotatable about a vertical axis.

Preferably, the pivoting or rotating of the light emitter or the deflecting element is motorized. For this purpose, an electric motor is preferably provided in the device, more preferably via an accumulator, which acts directly or indirectly, for example with the interposition of an actuator on the light emitter or the deflecting element, so as to different angular positions for generating at different distances to the device to reach the floor falling light effects. Also, the pivoting or rotating of the light emitter or the deflecting element can be derived in an automatically movable device from the movement, so for example, be coupled to the drive of the Verfahrräder.

In addition, it is preferred that an angle encoder is provided for detecting the angular position of the light source or of the deflecting element relative to the ground plane, the measured value of which is used to determine the distance of the ground area reproducing the light effect.

The remote control is preferably a conventional infrared remote control, but may also be designed as a radio remote control or wired remote control. In the case of a radio remote control, this can also be produced via WLAN or Bluetooth. Thus, furthermore, the remote control can be an accessory of a computer, PDA or mobile phone, further alternatively also integrated in such a device, more preferably with a corresponding graphical user interface. The Remote control preferably contains operating devices with which the user can turn the device on the spot, this preferably in both directions, more preferably according to offering two switches or buttons for a left and a right turn.

The device is equipped with an optical light source as a light transmitter. This emits light in the visible wavelength range, preferably red light in the range of 650 nm or green light in the range of 532 nm wavelength. The light source is preferably a lamp or LED. More preferably, laser diodes are provided.

Optionally, the light source can be assigned optical elements, preferably for shaping a transmission beam and / or transmitting cone, without these being explicitly listed below. Optical elements can here be lenses (converging lenses, diverging lenses, also designed as Fresnel lenses, aspherical or spherical) diaphragms (circular, slot-shaped, arbitrarily shaped, designed as separate parts or integrated in the housing of the device), prisms, mirrors (plan, concave, convex , Freeform), light guides or free-form elements. In addition, optical elements are also understood to mean protective or cover disks in the optical beam path which serve to mechanically protect the optical device. Preferably, optical filters are provided in the light source which are as permeable as possible for the intended optical wavelength, but are as permeable as possible to others. Optical filters may be provided as separate elements or integrated into other optical elements (eg, lens coloring or coating, protective windows, etc.). Paints, coatings, steams or the like are possible in this regard. If mirrors are used, surface mirrors are preferred in this regard since they have lower optical losses. In this case, it further lends itself to carry out the mirror as a plastic injection-molded part and to provide the actual mirror surface as a surface coating with a reflective layer. Here is the use of metallic layers, z. As silver, gold or copper, preferably aluminum, wherein further in the case of aluminum preferably a corrosion protection layer is provided as a further coating for passivation.

The light source is further preferably equipped so that it projects a small spot of light on the floor in front of the device in the direction of travel. The diameter of such a preferably round light spot is more preferably 5 mm-20 mm, in particular 10 mm. Other plan shapes of the light spot are conceivable in this regard, such as, for example, oval or cruciform light spots. In this connection, it proves to be advantageous if an optical element associated with the light source is used to form the light spot, for example a converging lens. This can be achieved similar to a collimation (beam shaping) of a laser beam through an aspherical collimator lens. In a preferred embodiment, a laser diode with a collimator lens is used in this regard, similar to a laser pointer. The device is equipped with a device that allows you to move the projected light point in the direction of travel back and forth. This movement is preferably continuous, so that the light point describes a line in the direction of travel. It is chosen in an alternative embodiment so that the device projects a series of points discontinuously on the ground, each point lighting up for a predetermined time, preferably a few seconds, more preferably 1-3 seconds, then extinguishing, after which the next point is generated becomes.

To measure the distance of the light effect reproducing bottom area to the device, the angular position of the light source or the deflecting element is detected, so as to correlate the angular position with the distance of the light spot to the robot. This can be achieved, for example, by using a stepper motor as a drive element or alternatively by using a rotary encoder, z. B. a potentiometer or a toothed disc in conjunction with a fork light barrier. To guide the movement of the light source or the deflecting element gear can be used (gear transmission, friction gear, traction mechanism) or a four-bar linkage.

The generation of an alternating discrete dot sequence can be further achieved by providing a light source with its optical elements for each of the discrete points. These light sources are then turned on and off sequentially, giving the user the impression that a light spot is jumping from position to position. During the alignment of the device by the user, alternatively, all the light points can be switched on at the same time, so as to facilitate the alignment by a line-like visual indication of the direction of travel through the light points.

The generation of the light track can be further achieved by providing a single light source with a mirror which can be pivoted and thus deflects the light beam to the floor in front of the device. Different swivel angles allow different distances to be set. Here, individual points can be generated by the mirror is gradually pivoted and the light beam is turned on in the rest positions. It can thereby be made a continuous line by the light beam is always turned on and the mirror continuously oscillates back and forth.

A comparable function can be achieved by providing a light source with a plurality of mirrors, which are optionally coupled into the beam path. Each of these mirrors is tilted at a different angle to the beam axis, so that each mirror generates a spot of light on the ground in front of the device at a different distance, thus creating an alternate series of dots. Thus, it is further provided in this regard that a plurality of mirrors are arranged on the edge of a disk or the like, which rotates relative to the device, wherein the axis of rotation is perpendicular to the device. The light source itself is fixedly arranged on the device in this embodiment and does not rotate. In a further embodiment, the individual mirrors, which are each pivoted into the beam path, replaced by a single, continuously curved mirror, so that not only a series of discrete points can be generated, but due to the continuous change in the angle of attack of the curved in the circumferential direction Mirror receiving turntable or the like also a line on the floor in front of the unit can be displayed.

The invention with reference to the accompanying drawings, which only illustrates several embodiments, explained in more detail. It shows:

1 a schematic plan view of a room with a movable on the floor of the room device, further with a marked in the representation, to be cleaned floor area and a remote control associated with the device;

2 one of the 1 corresponding representation, in the course of an alignment of the device in a direction pointing to the area to be cleaned traversing a command activation via the remote control;

3 a follow-up presentation to 2 , with schematically indicated, emitted by the device and in the direction of travel in a line one behind the other at a distance on the ground generated light effects;

4 a follow-up presentation to 3 , after a procedure of the device in the selected direction of travel over a determined route according to a command activation via the remote control;

5 in a schematic side view of the movable on the ground device with a light for generating different from the device spaced points of light about a horizontal axis pivotable light emitter;

6a a schematic representation of the light effect generated on the ground in the form of a continuously extendable in the direction of travel light line;

6b one of the 6a corresponding representation, but the formation of successively generated, spaced-apart light points concerning;

7 one of the 5 corresponding representation, however, an alternative embodiment concerning with a fixed light transmitter and a pivotable about a horizontal axis, the light-deflecting element;

8th in a perspective view of the device in a further embodiment;

9 an enlarged detail of the embodiment according to 8th , partially broken, with a plurality of selectively deflectable in the beam path of the light element, light-deflecting elements;

10 in a single representation of a turntable with the arranged thereon, employed at different angles, light-deflecting elements;

11 one of the 10 corresponding representation, however, an alternative embodiment with a continuously curved, light-deflecting element;

12 in a schematic vertical sectional view according to the line XII-XII in 9 the device according to 8th ;

13 the horizontal section through the light-emitting unit in a first position of the light-deflecting elements supporting turntable;

14 one of the 13 corresponding representation, but after a gradual rotation of the turntable for offering a next, light-deflecting element;

15 another sequel to the 14 ,

First presented and described is a device 1 in the form of a suction and / or sweeping device, further in the form of a movable household floor cleaning device. This has a chassis, which is the floor to be cared for 3 facing, electric motor driven Verfahrräder 2 and a projecting beyond the lower edge of the chassis floor, also driven by an electric motor brush. The chassis is covered by one device hood 4 , where the device 1 has a circular floor plan. Next, the device can 1 Alternatively, or in combination with the electric motor driven brush having a suction device, with a fan and a connected via a suction duct to the fan, in the direction of the soil to be cared for 3 attentive suction mouth. The electric supply of the driving wheels driving the electric motor and further of the brushing motor and possibly the suction fan and moreover preferably a control of the device 1 is achieved via one in the device 1 recorded, rechargeable accumulator. Regarding the design of the device 1 as a suction and / or sweeper is on the DE 102 42 257 A1 directed. The content of this patent application is hereby incorporated in full into the disclosure of the present invention, also for the purpose of including features of this patent application in claims of the present invention.

The device 1 is a remote control 5 assigned by which the user the device 1 Can send commands. This is preferably an infrared or ultrasound-based remote control 5 , The device 1 accordingly has an adapted receiver unit.

The remote control 5 contains operating devices in the form of buttons 6 - 8th with which the user the device 1 can conduct.

The device 1 has a light source 9 , which preferably emits light in the visible wavelength range. This light transmitter 9 Optionally, further optical elements may be associated, so in particular a front lens, further in particular a converging lens.

The light source of the light transmitter 9 is equipped so that these on the ground 3 in front of the device 1 , continue in the usual travel direction r of the device 1 pointing a light effect L generated. This is initially a preferred round point of light 10 with a preferred diameter of 10 mm on the bottom surface.

The device 1 is equipped with a device - described in more detail below - that allows the projected light spot 10 move in the direction of travel r along an imaginary line back and forth.

With the help of the remote control 5 is a route guidance of the device 1 to a certain point or area of the ground 3 in a simple manner feasible. The area of the ground to be reached 3 is in the 1 - 4 labeled B.

Starting from 1 It is assumed that the user is the device 1 want to lead to the area B. For this purpose, the user uses the remote control 5 the device 1 so that the area to be reached B is in its direction of travel r. For this purpose, the direction keys 6 and 7 the remote control 5 used, by means of which the device 1 can rotate on the spot, this preferred according to opposite direction of rotation of the two Verfahrräder 2 , Once the device 1 At least approximately aligned with respect to its direction of travel r in the direction of the area B, according to a confirmation by the user turning the device 1 stopped. This is done in a preferred embodiment, according to actuation of the other button 8th on the remote 5 , An exact alignment of the device 1 , ie an exact alignment of the same with respect to the traversing direction r to be determined hereafter, is not absolutely necessary since in the present case the design of the device 1 as a floor cleaning device the device 1 at the target point, ie in the area B, the floor surface cleaned over a large area, this further according to one in the device 1 pre-programmed cleaning strategy, especially spot cleaning strategy. For example, a deviation of the travel direction r from 1 ° to 10 ° to the direct driving line to the region B is permissible.

After the device 1 the confirmation of the orientation via the remote control 5 has received, the device switches the light transmitter 9 at. At the same time become points of light 10 in the direction of travel r with different horizontal distances a to the device 1 on the ground 3 generated, with each further only one point of light 10 is visible. In the example shown, individual light points 10 generated, wherein a series of successively generated points of light 10 on the ground 3 in front of the device 1 be projected. The projection of the points of light 10 on the ground is further preferably in the course of an already used traversing movement of the device 1 in travel direction r. Alternatively, the points of light become 10 at standstill of the device 1 displayed.

Since the area to be approached B in the direction of travel r of the device 1 is located, this area B in the course of successively at different distances to the device 1 hit points of light. At the time in which a point of light 10 the area B, the user transmits by means of the remote control 5 the device 1 the detection of the area B, for example, according to pressing a button, further example, by repeated pressing the button B. The device can the currently projected light point 10 uniquely assign a distance. Therefore, the device knows 1 its current distance to the area B and moves specifically in the direction of travel r up to the area B, after which preferably the cleaning process is carried out automatically.

The movement of the light spot 10 on the ground 3 takes place in one embodiment continuously, so that the light point 10 a continuously extending and shortening line 11 in travel direction r (cf. 6a ). Alternatively it is envisaged that the device leash series of light spots 10 discontinuous on the ground 3 projected, each point for a few seconds, preferably two seconds lit up, then extinguished and thereafter the next point is generated (see. 6b ).

The 5 shows a device 1 with a light transmitter 9 , whose light beam via an adjusting device 12 is either continuously pivoted about a horizontal axis x, so that a light line according to 6a is generated in the direction of travel r or the discontinuous individual points of light 10 in travel direction r in front of the device 1 projected. About a drive, not shown, which on the axis of rotation of the light transmitter 9 is acting, the light transmitter 9 pivoted so that at a variable distance in front of the device 1 a point of light 10 on the ground 3 is projected. Will be due to pivoting of the light transmitter 9 discontinuous single points of light 10 on the ground 3 projected, so have the alternating points of light 10 preferably a distance b of 100 to 500 mm in the direction of travel r to each other, wherein this distance is further dependent on the lighting time of the light emitter 9 and, if necessary, the travel speed of the device 1 ,

To the device 1 to empower the angular position of the light transmitter 9 with the distance a of the light spot 10 to the device 1 to correlate is the angular position of the light emitter 9 detectable. This is preferably done by using a stepper motor as the drive element for pivoting the light emitter 9 or alternatively by using a rotary encoder, e.g. B. a potentiometer or a toothed disc in conjunction with a fork light barrier. To guide the movement of the light transmitter 9 can continue between the drive motor and the light transmitter 9 or whose pivot axis a transmission be interposed.

The light transmitter 9 is continuously active with a continuous pivoting up and down about the horizontal axis x, this more preferably in a pivoting angle range of 15 ° -75 °, more preferably 30 ° -60 °, with respect to a vertical, to produce a continuously extending and after reaching a maximum distance to the device 1 uniformly decreasing light line 11 , In a discontinuous pivoting to produce points of light 10 becomes the light transmitter 9 in every angular position of the light transmitter 9 switched on for a predetermined period of preferably two seconds and turned off before further pivoting, so that the user gets the impression that a light spot 10 jumps from position to position.

While aligning the device 1 According to this, turning the same on the spot, alternatively, the light emitter 9 to represent a light spot 10 , preferably for displaying a light line 11 , so as to be aligned by an optical indication of the travel direction r through the light spots 10 or the light line 11 to facilitate.

7 shows an embodiment in which a fixed in the device 1 positioned light emitter 9 a redirecting element 13 is assigned in the form of a mirror. Shown is a solution in which the light emitter 9 vertically upwards over the surface of the housing 4 radiates out, with the deflecting element 13 arranged in the light beam at a distance from the surface of the housing 4 is positioned. The redirecting element 13 or the mirror is supported so that it is pivotable about a horizontal axis x, further such that the light beam of the light emitter 9 on the ground 3 in front of the device 1 is distracted. Different pivot angles relative to a vertical allow different distances a of the light spots 10 on the ground 3 be set. Here, as in the embodiment described above, individual points of light 10 be generated by the deflecting element 13 is gradually pivoted and the light beam in the Schwenkrestestellungen the deflecting element 13 is turned on. Alternatively, a continuous line of light 11 be generated by the light beam of the light emitter 9 is constantly on and the redirecting element 13 continuously within a predetermined pivoting range of, for example, 15 ° -75 °, preferably 30 ° -60 °, to a vertical back and forth.

In a preferred embodiment acts on the deflecting element 11 or on a pivot axis of the same a pivot drive. This is preferably formed by an electric motor, further example. By a stepper motor or alternatively by a solenoid. To guide the movement of the deflecting element 13 can be further interposed, for example, a transmission.

Next alternatively, the light emitter 9 interact with several deflecting elements 13 in the form of mirrors, optionally in the beam path of the light emitter 9 be coupled. Every single deflecting element 13 is inclined at a different angle to the beam axis, so that each deflecting element 13 a point of light 10 on the ground 3 in front of the robot 1 at a different distance a to the robot 1 generated and thus an alternating point series can arise. The 8th - 15 show such an embodiment. So is a light-emitting unit 14 provided, which upper side of the housing 4 is arranged. In this unit is a swashplate 15 arranged at the edge along a peripheral portion a plurality of deflecting elements 13 are positioned in the form of mirrors. The deflecting elements 13 assume different angles to a vertical, wherein in the illustrated embodiment in the circumferential direction of the swash plate 15 considers the angle of attack of the deflecting elements 13 gradually decreases to a vertical, so that a first deflecting element 13 an angle of about 80 ° to a vertical and a circumferentially considered last deflecting element 13 about an angle of 15 ° to a vertical einninnmt. The starting angle increases in the circumferential direction of the swash plate 15 step by step from element to element, for example in 5 °, 10 ° or 15 ° steps.

Scope are the deflecting elements 13 on the swashplate 15 provided only over a portion, preferably about more than a quarter of the circumferential length of the swash plate 15 , As a result, the swivel angle range of the swash plate 15 defined, wherein a pivoting about a vertical axis y is performed.

The swivel disk is driven 15 and the deflecting elements arranged thereon 13 over a vertically oriented, the ceiling of the housing 4 penetrating wave 16 , the device side of an electric motor, possibly with the interposition of a gearbox, is driven.

The swivel disk 15 with their elements 13 is in a housing 17 the light-emitting unit 14 recorded, which housing 17 rotatably on the device 1 is arranged.

In the device 1 is still the light transmitter 9 Fixed stationary, this radiates vertically above, the swash plate 15 in the area of one of the bases of the deflecting elements 13 adjacent slot opening 18 by putting. This slot opening 18 is in its orientation and longitudinal extent in order circumferential direction of the swash plate 15 considered adapted to the Schwenkverlagerungsweg the swash plate 15 ,

With radial distance to the edge of the swash plate 15 , further in particular with radial distance to the deflecting elements 13 is the top side of the swash plate 15 continue a solid mirror 19 inside the case 17 provided, which further in the beam path of the vertically upwardly directed light emitter 9 lies so that the light beam emanating from the light emitter 9 over the mirror 19 in the direction of a deflected in the light beam, deflecting element 13 is directed.

Depending on the pivot position of the swash plate 15 and thus in the light path deflecting element 13 is the distance a of the ground 3 generated light spot 10 to the device 1 enlargeable or reducible, each pivoting position of the swash plate 15 is preferably maintained for one to two seconds, so as to give the user time to the device 1 upon impact of the light spot 10 to transmit a corresponding signal to the area B to be reached.

The respective angular position of the swash plate 15 with a corresponding confirmation of the impingement of the light spot 10 on the area to be reached B is used to determine the distance a. For this purpose, in the illustrated embodiment against rotation of the shaft 16 an angle encoder disk 20 provided with a non-rotatable forked light barrier 21 interacts.

Alternatively, the swash plate 15 be driven with a stepper motor, wherein further independent of the selected type of drive, if necessary, a transmission is interposed.

In a further advantageous embodiment, as shown in FIG 11 the individual deflecting elements 13 , which are respectively pivoted into the beam path, by a single, continuously curved element 13 replaced in the form of a curved mirror. This configuration is not just a consequence of discrete points of light 10 but can also be due to the continuous change in the angle of attack in the tangential direction of the swash plate 15 curved element 13 also a light line 11 on the ground 3 in front of the device 1 be generated.

All disclosed features are essential to the invention. The disclosure of the associated / attached priority documents (copy of the prior application) is hereby also incorporated in full in the disclosure of the application, also for the purpose of including features of these documents in claims of the present application. The subclaims characterize in their optional sibling version independent inventive development of the prior art, in particular to make on the basis of these claims divisional applications.

LIST OF REFERENCE NUMBERS

1

device

2

Verfahrrad

3

ground

4

casing

5

remote control

6

button

7

button

8th

button

9

light source

10

light spot

11

light line

12

adjustment

13

deflecting element

14

Light-emitting unit

15

swash plate

16

wave

17

casing

18

slot opening

19

mirror

20

Angle encoder disk

21

Light barrier

a

distance

b

distance

r

traversing

x

Horizontal axis

y

vertical axis

B

Area

L

light effect

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 10242257 A1 [0048]

Claims (10)

Method for the guidance of a self-moving device ( 1 ), in particular a cleaning device, for cleaning a floor ( 3 ), such as a suction and / or sweeping robot, wherein the device ( 1 ) a light transmitter ( 9 ) and further wherein the device ( 1 ) a remote control ( 5 ), characterized in that the device ( 1 ) by means of the remote control ( 5 ) is moved in a desired direction of travel (r) and that the device ( 1 ) in the direction of travel (r) according to light on the ground ( 3 ) throws. Method according to claim 1 or in particular according thereto, characterized in that upon detection of a region (B) to be cleaned by the light by means of the remote control ( 5 ) the device ( 1 ) the detection is transmitted. Method according to one or more of the preceding claims or in particular according thereto, characterized in that the light on the ground ( 3 ) a series of light points ( 10 ) produced one after the other, which are lined up linearly one behind the other in the direction of travel (r) of the device ( 1 ) and that in the case of a transmission of the detection of the area to be cleaned (B) the distance (a) of a light spot ( 10 ) to the device ( 1 ) is determined. Method according to one or more of the preceding claims or in particular according thereto, characterized in that the row of light points ( 10 ) according to different angular positions of the light emitter ( 9 ) or one of the light emitters ( 9 ) emitted light deflecting element ( 13 ) are generated relative to the ground plane and / or preferred that the different angular positions by continuously pivoting the light emitter ( 9 ) or the deflecting element ( 13 ) are achieved and / or preferred that the different angular positions by stepwise pivoting of the light emitter ( 9 ) or the deflecting element ( 13 ) and / or that the different angular positions of the light emitter ( 9 ) or the deflecting element ( 13 ) can be achieved in an angular range of 30 ° to 75 ° relative to a vertical. Method according to one or more of the preceding claims or in particular according thereto, characterized in that a light transmitter ( 9 ) or a deflecting element ( 13 ) for alignment in different angular positions relative to the ground plane about a horizontal axis (x) pivots and / or preferred that a plurality of arranged in different angular positions relative to the ground plane light emitters ( 9 ) or redirecting elements ( 13 ) are provided and that the plurality of light emitters ( 9 ) or redirecting elements ( 13 ) about a vertical axis (y) rotate and / or preferred that in a stepwise pivoting points of light ( 10 ) with a distance (b) of 50 mm to 1,000 mm to each other on the ground ( 3 ) be generated. Automatically movable device ( 1 ), in particular cleaning device for cleaning a floor ( 3 ), such as a suction and / or sweeping robot, wherein the device ( 1 ) has a light source, characterized in that by means of the light source on the ground ( 3 ) in the direction of travel (r) of the device ( 1 ) and localized light effect (L) can be formed and that a distance (a) of the light effect (L) reproducing the floor area to the device ( 1 ) is determinable. Apparatus according to claim 6 or in particular according thereto, characterized in that a plurality of light effects (L) can be generated one after the other and / or that the plurality of light effects (L) respectively point in the direction of travel (r) and / or that the plurality of light effects ( L) appear one behind the other in the direction of travel (r). Device according to one or more of claims 6 to 7 or in particular according thereto, characterized in that the light emitter ( 9 ) or in front of the light transmitter ( 9 ) emitted light deflecting element ( 13 ) is alignable in different angular positions relative to the ground plane, for generating a series of light spots ( 10 ) on the ground ( 3 ) and / or preferred that the different angular position by pivoting the light emitter ( 9 ) or the deflecting element ( 13 ) is achievable and / or preferred that the light emitter ( 9 ) or the deflecting element ( 13 ) is arranged pivotable about a horizontal axis (x) and / or preferred that a plurality of light emitters extending in different angular positions ( 9 ) or redirecting elements ( 13 ) is arranged rotatably about a vertical axis (y). Device according to one or more of claims 6 to 8 or in particular according thereto, characterized in that the pivoting or rotating of the light emitter ( 9 ) or the deflecting element ( 13 ) takes place electromotive. Device according to one or more of claims 6 to 9 or in particular according thereto, characterized in that for detecting the angular position of the light source ( 9 ) or the deflecting element ( 13 ) is provided relative to the ground plane an angle encoder.

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