DE102011054706A1 - Automatic movable floor dust collection apparatus has disc that is arranged in cross-section of output beam path for deflecting beam reflected on region between disc and transmission and receiving units - Google Patents

Abstract

The apparatus (1) has a crushing device (H) that is provided with optical transmission and receiving units. A plane mirror is provided for deflecting the beam with respect to the transmission and receiving units. Transmission and receiving units are rotated about an angle of 180[deg] using a rotary unit. A disc (10) is arranged in cross-section of an output beam path for deflecting beam reflected on a region between the disc and the transmission and receiving units.

Description

The invention relates to an automatically movable device, in particular automatically movable soil dust collecting device, preferably with an electric motor driven traversing a device housing and preferably a dust collection container, the device is provided with an obstacle detection, which consists of optical transmitting and receiving units and preferably an element is provided for beam deflection, wherein at least a part of the transmitting and receiving unit rotatable by 180 ° or more and preferably on a driven rotary member is arranged for Rundum detection and wherein moreover the transmitting and receiving beams preferably a preferably transparent to the rays from or penetrate entry disc.

Devices of the type in question are known, so for example. In the form of automatically movable suction and / or cleaning equipment for cleaning of particular floors, in addition in a further embodiment, for example. In the form of an automatically movable transport device or further example. In the form of a Rasenmähgerätes. Such devices are preferably provided with distance sensors, so as to avoid, for example, a collision with stationary objects or the like. These sensors preferably operate without contact, so more preferably as light or ultrasonic sensors. For this purpose, it is further known to provide the device with means for all-around distance measurement, so on, for example, in the form of an optical triangulation system, which is arranged on a, preferably rotating about a vertical axis of the device rotary member. By means of such a system, distance measurements can be achieved according to reflections which distance measurements for spatial orientation, in particular in the course of the automatic work for obstacle detection and more preferably for creating a map of the space to be traveled and thus used accordingly to create a mapping. In this regard, for example, on the DE 10 2008 014 912 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 space limitations detected according to the distance measurement, possibly taking into account any obstacles in the rooms, are preferably stored in the form of a mapping of the environment, in particular the apartment consisting of several rooms, more preferably in a non-volatile memory of the device, so that in the course of a Cleaning or transport process can be used on this mapping for guidance. For all-round or approximately all-around obstacle detection, the rotating part having at least a part of the transmitting and receiving units is driven continuously in one direction or alternately preferably around a vertical axis. In particular, for the protection of the transmitting and receiving units, more particularly for the protection of the arranged on the driven turntable part of the transmitting and receiving units, it is further known to provide a protective hood. This overhangs the rotary part, is further preferably arranged non-rotatably relative to the rotary member, in particular connected to the device hood of the device. In particular, in the peripheral wall region of the protective cover this is designed to be transparent to the transmitting and receiving beams substantially in the form of a disc.

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

This problem is solved first and foremost by the subject matter of claim 1, wherein it is pointed out that the disk (exit or entry disk) extends in cross section to the beam path, in particular to the output beam path, that reflections occurring on the disk affect a region are deflected between the disc and the transmitting and receiving units. The exit or entry disc is preferably part of a protective hood, which covers the rotating rotary part, on which preferably a deflection mirror of the transmitting and receiving unit is arranged, in order, in particular, to turn the rotary part and the part of the transmitting and receiving units arranged thereon against external interference ( Shocks, ingress of dirt, intervention by the user). The protective hood is optically transparent at least in the region in which it is penetrated by the beam path of the transmitting and receiving beams (transmitting and receiving paths). In the remaining area, the protective cover can be non-transparent. The guard may further consist of several parts or be a single part. A fixed connection between the protective hood and the device housing is advantageous, so that the protective cover preferably does not rotate with the rotary part. The protective hood is further preferably formed rotationally symmetrical with a circular cross-section to the axis of rotation of the rotary member. The protective hood, in particular the transparent, substantially radiotranslucent region is also preferably also an optical element of the transceiver units. Next, the protective cover is preferably made of plastic by injection molding, with PC or PMMA preferably being used as plastics. Next, the guard can also consist of glass. To realize a filter function, the material of the protective hood, be colored in particular in the beam passage area, wherein a maximum transmission in the wavelength range of the measuring light used is given.

The peripheral disk forming the protective hood wall is preferably adjusted with respect to a vertical section through the protective hood such that in particular emitted beams are not mirrored directly in the direction of the receiving region of the receiver due to reflection at the disk. Especially with larger measurement distances and objects with low remission, such a mirrored interference signal can dominate the actual useful signal in such a way that meaningful measurement is no longer possible. When penetrating the transmission beams (output beams) through the disk part of the light energy (experience, 3% to 5%) at the optical boundary layers of the disc specular (specular) reflected. These reflected rays are due to the selected cross-sectional shape of the disc in an uncritical area inwards, d. H. deflected into the area covered by the protective hood, so for example. On the surface of the enforced by the rotary member device hood. At the same time, deflected entry beams are preferably deflected into the area covered by the protective hood via the same reflection at the optical interface, more preferably also deflected in the direction of an area between the pane and the transmitting and receiving units, for example according to the selected cross-sectional profile of the pane. towards the surface of the device hood. A false measurement reflected reflected light is thus counteracted in an advantageous manner, since reflections are directed into a non-critical area.

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.

The proposed and previously known from the prior art all-round sensor for distance measurement sends out a measuring beam. This determines the distance to the impact of the measuring beam on the next obstacle, for example, a wall or a piece of furniture. As a method of measurement here preferably a light transit time method (ToF, time of flight) is used. A phase correlation method (PKS) is also possible in this regard. More preferably, a triangulation method is considered. The measuring beam can be formed as a line (divergence angle of the steel very small, smaller than 50 mrad, which preferably leads typically to a beam diameter in the range of 1 to 22 mm) or as an extended beam. In this case, a beam with a divergence of 2 to 4 mrad is preferably used, which reaches a diameter of 20 to 30 mm at a distance of 3 m. The receiving region of the sensor is preferably designed as a divergent receiving lobe in the same way, with its divergence being greater (for example by a factor of 2) than that of the transmitting beam in order to compensate for tolerances.

The non-contact working sensor for measuring a distance to an object is equipped with at least one optical light source, which generates the measuring beam. The light source emits light in the visible or invisible wavelength range, eg. Red in the range of 650 nm or green in the range of 532 nm. Preferred is light in the infrared range with a wavelength of more than 700 nm, more preferably beam sources (laser diodes or LEDs) with wavelengths of for example 785 nm, 850 nm or 980 nm The light source may be a lamp or LED, but preferably laser diodes are provided.

Furthermore, the sensor is preferably equipped with at least one optical receiving element which is sensitive at least in the selected wavelength range of the transmitting element, more preferably embodied as at least one photodiode, photoresistor, CCD chip or CMOS chip. The optical receiver can be designed as a single receiving element for detecting a single incoming light signal or as a multicell array or as a multicell line for simultaneous or sequential detection of a plurality of incoming light signals. There are also known in this regard extensive sensors, such as linear or flat PSD elements.

Optionally, the light source and also the photosensitive element can be assigned optical elements (preferably for forming a transmission beam / transmission cone or reception beam / reception cone) without these being explicitly listed below. Optical elements may 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 sensor), prisms, mirrors (plan, concave, convex , Freeform), light guides or free-form elements. Under optical elements are also protective or cover discs understood in the optical path, which serve the mechanical protection of the optical device. Preferably associated with the light source and / or the photosensitive element optical filters are provided which are suitable for the intended optical Wavelength are as permeable as possible, but as little permeable to others as possible. Optical filters may be provided as separate elements or integrated with other optical elements (eg, lens coloring or coating, protective windows, etc.). Dyeing, coating, vapor deposition etc. are also possible. If mirrors are used, then surface mirrors are preferred since they have lower optical losses. In this case, it further makes sense to perform the mirror as a plastic injection molded part and to provide the actual mirror surface as a surface coating with a reflective layer. Here, the use of metallic layers, for example silver, gold or copper, more preferably aluminum. When using aluminum is further preferred as a further coating (passivation), a corrosion protection layer is provided.

The disc extends in a preferred embodiment in a cross section, further in particular in a vertical cross section at an angle of 60 ° to 85 ° to an exit beam path or to a horizontal. The disk can in this case take over their vertical height considered a uniform angle, correspondingly having an equal angle in both the Ausgangsstrahlen- as well as in the input beam area. Alternatively, the disk is provided in cross section over the vertical height with different angles of attack, in particular to the horizontal, so in particular with an angle of attack in the output beam range, which is steeper or flatter compared to the angle of attack in the input beam range of the disc. In addition, it is preferably provided in this regard that the disc is curved in cross-section, so further in a preferred embodiment along one or more successively lined circular line sections, more preferably here also the disc over the vertical height may have disc areas of different curvature. In particular, according to the preferred embodiment of the disc with disc areas of different angular orientations or different curvatures considered over the height, the output beams radiated from the transmitter unit and reflected at the disc strike an area between disc and transceiver units, which area is separate from that of Slice projected image field of the receiver. The two reflection areas are correspondingly spatially separated, whereby a crosstalk attenuation is achieved.

In this context, it proves to be further advantageous that the disc is less curved in the disc region of the exit radiation than in an underlying disc region, which underlying disc region is preferably the disc region through which the rays reflected at the obstacle in the sensor (formed by the Guard and preferably provided with a deflecting rotary member and the transmitting and receiving units) occur. According to this embodiment, the rays emanating from the transmitting unit strike a region of the disk which has a flatter slope than the region which is penetrated by the beams associated with the receiver unit. In a preferred embodiment, the rays emanating from the transmitting unit preferably impinge relatively far on the transmitting and receiving units on the top of the device covered by the protective hood, whereas the image field of the receiver is imaged relatively close to the transmitting and receiving units.

In a further development of the subject invention, an area on which to or from the disc in the device interior or reflected deflected from a main beam incident rays colored. Thus, in particular, the surfaces which are assigned to the two image areas (reflected light range and image field of the receiver) are further colored in a manner which has the lowest possible remission in the wavelength of the measurement light used. For this purpose, the darkest, more preferably black coloring is preferably provided. This can be achieved by coloring or painting. In addition, there is also the possibility of using a through-dyed material, for example. Using a colored plastic granules for the production of the component on which the two image areas are imaged, more preferably the device hood.

It is further preferred to make these surface regions as diffusely reflective as possible, so more preferably according to a specifically introduced surface roughness (eg by roughening, sandblasting or by using an injection molding tool with a defined roughened surface). Further alternatively or in combination, it is possible to generate a microstructure on the surface, for. B. by applying small pyramids, cones or calottes in the range of 0.001 to 0.5 mm. In addition, the surface may also consist wholly or partly of a foam (preferably porous), wherein the material of the foam may be colored dark in the above sense.

As an alternative, at least one of the surface regions, preferably all surface regions, is provided with a reflection-reducing cover layer, in a preferred embodiment in the form of a flock layer. Accordingly, the incident surface of the light beams is preferably flocked. In this case, a base material of the impact surface, which already colored in one embodiment and roughened, provided with fibers or flakes, for example by gluing. The thickness of this layer is preferably between a few 0.1 mm to a few mm, more preferably in the range of 0.5 mm to 1 mm. As a material for the flock short fibers of polyamide are preferred. The layer material is more preferably colored, so in one embodiment after this has been applied (for example by overcoating). More preferably, a dark as possible - in the sense of the operating wavelength used - layer material is used. The layer material is randomly oriented or provided with a defined orientation, this being preferred in the case of fiber material. Orientation is achieved in a possible embodiment preferably by applying an electric field during application or adhesion. As an alternative, it is preferred to apply the flocking to a film and to attach it to the impact surface, for example to adhere it, more preferably in the form of a self-adhesive film.

As an alternative to flocking, a textile cover layer is provided, which is preferably likewise dyed as dark as possible. Such a textile cover layer is, for example, a woven, knitted fabric, knitted fabric, scrim, thread (felt) or, for example, darker - in the sense of working wavelength - velvet. The textile layer is attached to the impact surface, for example glued. Another solution is injection molding in plastic injection molding. The textile cover layer can also be colored after application. To prefer is the application of an already colored layer. Also in this regard, an application of the textile cover layer by means of a self-adhesive film is preferred.

In a further embodiment, it is preferred that the rays reflected or deflected into the interior of the device are directed towards a reflection wall extending in cross-section at an acute angle to the horizontal or to the main beam path. If the image areas on the upper surface of the device (surface of the device hood) are shown substantially in a horizontal plane, they are imaged according to the above-described alternative solution on a wall inclined to the horizontal. This offers, in particular, a compact construction of the entire sensor, in particular a diameter configuration of the protective hood in the region of the pane which is reduced compared with a possible imaging of the image areas on the upper side of the device. In a preferably rotatably provided beam deflection, formed by the one part of the transmitting and receiving unit, which is arranged on the driven rotary member, the reflection wall is further preferably formed mitdrehend, further preferably forming a support for the part, in particular for the deflection mirror. In this case, the two image areas rotate upon rotation of the beam deflecting part about a common geometric center, preferably on the base of the mirror holder.

More preferably, an optical interface is formed between an area where reflected rays impinge and a region from which deflected rays impinge. This optical separation surface further preferably extends perpendicular to a region surface. Thus, in particular when the two image areas are imaged, an element for channel separation is provided on a reflection wall extending at an acute angle to the horizontal in the geometric center around which the two areas rotate. This is preferably achieved by an increase between the two image areas. This increase prevents light from passing directly from one to the other image area. This element forming the optical interface is further preferred as described above in an advantageous embodiment designed so that its surface remits little measuring light and has as diffuse a reflection as possible. A use of an element for channel separation from a foam in the sense described above is also possible in this regard in the context of the invention.

The features described above are important both in connection with a self-describing device described and independently of such device alone for scanning the environment in general.

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

1 an automatically movable device in the form of a ground dust collecting device in perspective, with a captured by a protective cover rotating part;

2 in a schematic vertical sectional view of the area of the hood covered by the protective area of the rotating part and provided transmitter and receiver units, a first embodiment concerning;

3 the vertical section through a Asked by the guard wall exit or entry disc, in a second embodiment;

4 one of the 3 corresponding representation concerning a further embodiment;

5 one of the 2 corresponding sectional view concerning a further embodiment;

6 the area VI in 5 , concerning an alternative embodiment.

Shown and described is first with reference to 1 a self-moving device 1 in the form of a self-propelled ground dust collecting device, with a chassis, which on the underside, facing the floor to be cared, carries electric motor driven Verfahrräder and beyond the lower edge of the chassis floor, also driven by electric motor brush. The chassis is covered by a device hood 2 , where the device 1 the illustrated embodiment has a circular floor plan.

Next, the device can 1 additionally or alternatively to the brush 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 of the Verfahrräder, for the electric drive of the brush, possibly for the suction fan and beyond for the further provided electronics in the device 1 to control the same is achieved via a non-illustrated, rechargeable battery.

There is a need for such devices 1 Detecting obstacles to a jamming of the device 1 to prevent. For this purpose, a sensory obstacle detection H is provided. This is also preferably used to create a map of the environment by means of distance measurements to objects and room boundaries.

The obstacle detection H essentially consists of an optical transmission unit 3 and an optical receiver unit 4 , Both units are based on an optical measuring method, such as in particular on a phase correlation method, time of flight measurement or a heterodyne method.

As transmitting unit 3 serves a laser diode or alternatively an LED or OLED, further alternatively a working based on the electroluminescent light source. Preference is given to a laser diode with red visible light having a wavelength of 650 nm, green visible light in the range of 532 nm or invisible light in the infrared range between 780 nm and 1100 nm. In addition, light in the ultraviolet range is also possible.

As a receiver unit 4 an optical receiver is used which, at least in the selected wavelength range of the transmitting unit 3 is sensitive. The receiver unit 4 is embodied as at least one phototransistor, a photodiode, photoresistor, CCD chip or CMOS chip, wherein the optical receiver as a single receiving element for detecting a single incoming light signal or as a multicell array or as a multi-cell row for simultaneous or sequential detection is formed of several incoming light signals.

The transmitting unit 3 and the receiver unit 4 is summarized in the illustrated embodiment in a modular manner, for example, arranged on a circuit board. The module summarized in this way is still an element 6 assigned to the beam deflection, preferably in the form of a plane mirror. The transmitting unit 3 and the receiver unit 4 are aligned so that the emitted light beam or the light beam to be received vertically, preferably parallel to a device 1 is aligned centrally enforcing body axis. The element 6 (Plane mirror) is positioned in the light beam, that a deflection by 90 ° in the horizontal or a deflection from the horizontal to vertical bottom is achieved. Accordingly, that is the element 6 forming plane mirror aligned at an angle of 45 ° to the horizontal.

The beam deflecting element 6 is about the central vertical axis x of the device 1 rotatable by 360 °, so as to realize an all-around obstacle detection. The transmitting unit 3 and the receiver unit 4 are opposite to the beam deflecting element 6 fixedly arranged, wherein further, for example, are aligned on the board such that a preferably parallel to the vertical axis x directed light beam can be emitted or received.

The obstacle detection H is further carried out so that a single measuring or light beam is used to perform a number of measurements (typically 60 to 360 measurements, preferably 180 measurements, in a 360 ° revolution) on the circumference. This is achieved in that the beam deflecting element 6 rotated about the vertical axis x and clocked at intervals Measurements can be performed.

The guiding of the light beam takes place in such a way that a central ray of a ray bundle in the region between the beam deflecting element and the transmitting and receiving units 3 . 4 the rotation and vertical axis x intersects or coincides with it.

The beam deflecting element 6 is on a turned part 7 arranged rotationally fixed. This turned part 7 leaves central, coaxial with the axis of rotation x a passage 8th for the light beam or the beam. Next, the rotary part extends 8th into the Device interior, preferably the same electromotive drive.

The beam deflecting element 6 as well as the transceiver units 3 . 4 are from a protective hood 5 covered. This is on the top side of the device hood 2 set, corresponding to the rotatable element 6 arranged rotationally fixed. The protective hood 5 has a preferably opaque hood ceiling 8th and a circumferential, in the beam path transparent hood wall in the form of an exit or entry disc 10 on.

In 2 are the transmission cone S of the transmitting unit 3 and the receiving cone E of the receiver unit 4 represented simplified as a cone, which are characterized by a respective main beam (output beam AG and input beam EG) in the energetic center of the cones and secondary beams (output secondary beams AG 'and input secondary beams EG').

When penetrating the transmitted beams through the exit or entry disc 10 becomes a part of the light energy of about 4% at the optical boundary layers of the disk 10 specular (specular) reflected. In the pictures is the disc 10 represented by a single optical boundary layer. In fact, however, it has two boundary layers, one on the inside and one on the outside, so that the reflection effect described in detail below occurs twice.

The exit or entry disc 10 runs so to the beam path, in particular to the output beam AG, that on the disc 10 occurring reflections, in particular resulting from the output beam AG (in addition to the entire transmission cone S) to a region A between the exit or entry disc 10 and the element 6 (Deflection mirror) or the transmitting and receiving units 3 . 4 are distracted. At the in 2 illustrated curved course of the disc 10 this reflected portion is inside the protective hood 5 on the surface 10 the device hood 2 reflected. At the same time, the same reflection at the optical interface of the in 2 projected area B (image field receiver). In order to achieve a spatial separation of regions of the reflection region A and the area "image field receiver" B and thereby achieve a crosstalk attenuation, the disc is 10 viewed over the vertical height with disc areas 12 . 13 provided different curvatures, wherein in the illustrated angular position of the element 6 (Deflection mirror) that of the transmitting unit 3 outgoing rays on a disc area 12 with one opposite the one below, from the receiver unit 4 assigned beams interspersed disk area 13 flattening slope. So concludes in the illustrated embodiment according to 2 the output beam AG with a through the reflection point of the output beam AG at the disc 10 extending tangent at an acute angle α of about 65 °, while the input beam EG at a point of intersection with the disc 10 extending tangent on the other hand a steeper acute angle β of about 85 ° includes.

According to the above-described different curvatures or angle alignments, those from the transmitting unit meet 3 outgoing and a disc 10 reflected rays with a greater radial distance to the element 6 or to the transmitting and receiving units 3 . 4 on the surface 11 the device hood 2 (Reflection area A) as the image field of the receiver (Area B). The two areas A and B are also on each other on the surface 11 spaced, so that there is a clear separation. Due to this spatial separation, light from the reflection area A can not enter the light area of the transmitting unit 3 reach.

The 3 and 4 show further examples of curved over the vertical height extending exit or entrance disc 10 , whereby also here over the vertical height regarded disk areas 12 and 13 are provided with different curvatures or slopes relative to the main beam paths.

Another alternative embodiment shows 5 , The device hood 2 facing foot area of the rotary part 7 is shaped in a conically widening manner vertically downwards, the outer conical surface forming a reflection wall 14 offering. This includes in the illustrated embodiment, the unit of transmitter and receiver, these virtually shading.

With reference to a vertical section according to 5 the reflection wall extends 14 at an acute angle to a horizontal or to the surface 11 the device hood 2 of about 60 °.

The mean radial distance of the entry or entrance disc 10 to the rotation axis x of the rotating part 7 is in this embodiment opposite to in 2 shown embodiment, which, while maintaining the advantages described above, projection of the areas A and B on the reflection wall 14 is possible.

The areas A and B respectively corresponding to the reflection wall rotating about the vertical axis x 14 for lying. Correspondingly, the two areas A and B rotate as the element rotates 6 or of the deflection mirror about the vertical axis x about a common geometric center.

Also in this embodiment are the interspersed by the output beam AG and the input beam EG ground areas 12 and 13 chosen differently curved running, further having in particular different gradients, and accordingly also in this embodiment, the areas A and B on the reflection wall 14 spatially separated.

In order to further avoid that light passes directly from one area A into the other area B, in a development according to the illustration in FIG 6 between areas A and B an optical interface 15 provided, which extends perpendicular to the area surfaces. This optical interface 15 is formed in the form of an elevation, which is further preferably formed in the geometric center of the regions A and B. As a result, a clear channel separation is achieved.

That's the dividing surface 15 having surface element is preferably formed in such a way that little measuring light is remitted and so a possible diffuse reflection is achieved. The element of the interface 15 may in this case, for example, consist of a foam, in particular of an open-cell foam, which is more preferably colored dark to black.

More preferably, the surfaces that are assigned to the two image areas A and B, colored, such that the lowest possible remission is given in the wavelength of the measuring light used. In this regard, a dark as possible to black color is preferred. In a further development, the surface areas assigned to regions A and B are designed to be diffusely reflecting, for example by a specifically introduced surface roughness or by forming at least the surface of a foam, preferably open-pore foam. To reduce the reflection, the image areas A and B may also be provided with a cover layer, so on in one embodiment by a layer with flocking material, for example short fibers of polyamide. The layer material formed thereby is preferably darkened in the sense of the operating wavelength used. As an alternative to flocking, a textile cover layer is provided, which is preferably likewise dyed as dark as possible in the sense of the working wavelength. The reflection-reducing cover layer is attached to the impact surface in the image area A and B, preferably adhesively bonded.

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

device hood

3

transmission unit

4

receiver unit

5

guard

6

element

7

turned part

8th

passage

9

cover roof

10

Exit or entry disc

11

surface

12

disk area

13

disk area

14

reflection wall

15

interface

A

reflection region

B

Field receiver

e

receiver cone

H

obstacle detection

S

Emission cone

AG

Output beam path

AG '

Output sub-beams

EC

Input beam path

EC '

Input sub-beams

α

 angle

β

 angle

x

 axis of rotation

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 102008014912 A1 [0002]

Claims (13)

Automatically movable device ( 1 ), in particular automatically movable floor dust collecting device, with preferably electric motor driven traversing wheels, a device housing and preferably a dust collecting container, wherein the device ( 1 ) is provided with obstacle detection (H) consisting of optical transceiver units ( 3 . 4 ) and preferably one element ( 6 ) is provided for beam deflection, wherein at least a part of the transmitting and receiving unit ( 3 . 4 ) rotatable by 180 ° or more and preferably on a driven rotary member ( 7 In addition, and wherein the transmitting and receiving beams, preferably a preferably transparent to the rays exit or entrance disc ( 10 ) enforce, characterized in that the disc ( 10 ) in cross-section so the beam path (AG, EC) in particular to the output beam path (AG) runs that on the disc ( 10 ) occurring reflections on a region (A) between disc ( 10 ) and the transceiver units ( 3 . 4 ) are distracted. Device according to claim 1 or in particular according thereto, characterized in that the disc ( 10 ) extends in a cross section at an angle of 60 ° to 85 ° to an exit beam path (AG) or to a horizontal. Device according to one or more of the preceding claims or in particular according thereto, characterized in that the disc ( 10 ) is curved in cross-section. Device according to one or more of the preceding claims or in particular according thereto, characterized in that the disc ( 10 ) over the height slice areas ( 12 . 13 ) has different angular orientations or different curvature. Device according to one or more of the preceding claims or in particular according thereto, characterized in that the disc ( 10 ) in the disk area ( 12 ) of the exit radiation is less curved than in an underlying disc area ( 13 ). Apparatus according to one or more of the preceding claims or in particular according thereto, characterized in that a region (A, B) impinges on the rays reflected or deflected from a main beam path onto or from the pane into the interior of the appliance. Device according to one or more of the preceding claims or in particular according thereto, characterized in that the region (A, B) is roughened. Device according to one or more of the preceding claims or in particular according thereto, characterized in that the region (A, B) is provided with a reflection-reducing cover layer. Device according to one or more of the preceding claims or in particular according thereto, characterized in that the cover layer is a flock layer. Device according to one or more of the preceding claims or in particular according thereto, characterized in that the cover layer is a textile covering layer. Device according to one or more of the preceding claims or in particular according thereto, characterized in that the rays reflected or deflected into the interior of the device act on a reflection wall (in cross-section at an acute angle to the horizontal) ( 14 ) are directed. Apparatus according to one or more of the preceding claims or in particular according thereto, characterized in that, in the case of a rotatably provided beam deflection, the reflection wall ( 14 ) is formed co-rotating. Device according to one or more of the preceding claims or in particular according thereto, characterized in that between an area (A), on which reflected rays impinge, and a region (B), on which deflected rays impinge, an optical separating surface ( 15 ) is formed and / or preferred that the optical interface ( 15 ) extends perpendicular to a region surface.

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