DE102016010775A1 - Positioning assisted hand-held device - Google Patents

Abstract

The invention relates to a positioning-assisted hand-guided device, comprising an application module (1), a basic module (2), a position determination unit (3), a control and evaluation unit (4) and a drive unit (5), wherein position data is obtained by means of the position determination unit (3) the position data have data on an actual positional relationship between the application module (1) and the basic module (2), and wherein the position data can be transmitted in a transferable manner to the control and evaluation unit (4), wherein in the control and evaluation unit (4) Normativlage relationship data can be stored, which define a normative positional relationship between the application module (1) and base assembly (2), wherein the control and evaluation unit (4) receives position data of the position determination unit (3) and wherein from the position data and the normative relationship information control commands are calculated, the Control commands to the drive unit (5) are transferable available, wherein the drive unit (5) receives control commands of the control and evaluation unit (4), wherein by means of the drive unit (5) a travel movement of the base assembly (2) is feasible, wherein the travel movement by means of Control commands can be effected and wherein by means of the driving movement, the normative positional relationship between the application module (1) and the basic module (2) can be provided.

Description

The invention relates to a positioning assisted hand-held device, which can perform independent movements based on position data.

Hand-held devices are already known from the prior art in various basic designs. Among other things, devices with a two-part structure, consisting of a handpiece and a base part, known. As part of the use of such a device, it is always necessary to manually position and move both the handpiece and the base part. Depending on the type of hand-held device, the tracking of the base part can be accompanied by a considerable force and coordination effort or make an interruption of the work required.

Especially in the field of cleaning devices, however, there are various approaches to facilitate the operation.

This is from the publication DE 10 2009 017 120 A1 a suction attachment, a vacuum cleaner and a method of driving known. By means of an electric motor drive of the suction attachment, the user should be supported by reducing the thrust force to be expended. Accordingly, no independent driving movement can be achieved by including position data. In addition, an additional drive of the heavier base part is not provided, so that this must be tracked with increased effort.

In the publication DD 293 258 A5 an automatic vacuum cleaner is proposed, which is divided into a stationary unit and a mobile unit. According to the invention, the stationary unit has a fixed location during the cleaning process. The automatic vacuum cleaner must be installed by one person in a central location of the room before operation to ensure the greatest possible radius of action. If necessary, the vacuum cleaner must be repositioned at an insufficient operating radius at other locations. Thus, the sucker is only suitable for small spaces and requires a high manual operation.

Also for the automated execution of driving motions solution proposals are known in this context.

In this regard, presents the EP 1 240 562 B1 an autonomous multi-platform robot system, which has at least one mobile functional robot and at least one mobile navigation robot. With the help of the navigation robot, the tasks and movements of the function robot can be planned and controlled. For this purpose, the navigation robot has sensors and a transmitter for outputting control signals, the control signals being characteristic of the respective functional task. Thus, the navigation robot serves only as a control unit for the functional robot and therefore can not take over comparable to a base part of a hand-held device additional functions. Furthermore, according to the invention, the navigation robot can also be designed to be stationary only.

In the devices known from the prior art, an automatic positioning and thus the start of a desired position is only possible when a device follows a predetermined route from a starting point to a destination point. It is also known, moreover, to specify the destination point in the course of the route, so that based on this an adapted route profile is calculated and traversed.

It is the object of the invention, while avoiding the disadvantages of the prior art to provide a positioning assisted hand-held device, which allows easier operation even without predetermining working positions and at the same time is inexpensive to produce.

The object is solved by the features listed in claim 1. Preferred developments emerge from the subclaims.

An inventive positioning-assisted hand-guided device has an application module, a basic module, a position determination unit, a control and evaluation unit and a drive unit.

The application module is the assembly that the user manages manually and in particular carries out delivery or working movements. The application module is, for example, and the suction head of a vacuum cleaner, the spray lance of a high pressure cleaner or the spray gun of a compressed air spraying machine.

The base assembly refers to the assembly of a hand-held device which receives the devices for providing the processing media such as pressurized or unterdruckbeaufschlagte air or pressurized water and which is not supported by the user, but preferably rollable charged on the ground. For example, it is the bottom part of a vacuum cleaner, the pump unit of a High-pressure cleaner or pump-compressed air tank unit of a compressed air spraying machine.

By means of the position determination unit, position data which have data for an actual positional relationship between the application module and the basic module can be determined. The position data can be present both as relative and as absolute position data. They are transferable to the control and evaluation unit. The actual positional relationship is thus determined by the respective instantaneous position of the application module and the basic module relative to one another. The actual positional relationship may be defined by various parameters such as a distance or an angle.

Normative position relationship data can be stored in the control and evaluation unit, which define a normative positional relationship between the application module and the basic module. The control and evaluation unit has a device for data storage for this purpose. The normative positional relationship is defined as a specific characteristic of the parameters such as distance or angle between the application module and the basic module. It is also possible to define the normative positional relationship as a permissible value range of the parameters mentioned.

From the position data obtained from the position determination unit, control commands can be calculated by the control and evaluation unit by comparison with the normative position relationship data. The comparison of the position data with the normative position relationship data shows to what extent the actual positional relationship between the application module and the basic module deviates from the normative positional relationship. If a definable deviation measure is exceeded, control commands are generated. These are transferable to the drive unit available.

The drive unit thus receives the control commands calculated by the control and evaluation unit. By means of the drive unit, a travel movement of the base assembly is executable, wherein the travel movement is effected on the basis of the control commands. For this purpose, the drive unit is preferably designed as a chassis. But also possible, for example, air cushion solutions. The movement movement effected on the one hand comprises a translational movement of the base assembly, in particular a forward or reverse travel and thus a shortening or increasing the distance of the base assembly and application assembly and preferably also a rotation of the base assembly and thus an adjustment of the angular position relative to the application module.

According to the invention, an actual positional relationship can be established by means of the travel movement, which corresponds to the normative positional relationship between the application module and the basic module. Accordingly, before the start of the travel movement, the actual positional relationship exists with impermissible deviation from the normative positional relationship, while after a travel movement the normative positional relationship or a permissible deviation from the normative positional relationship is achieved.

According to a development, the normative position relationship data or the deviation measure can be set during operation. Preferably, the adjustment via an input device such as a slider. As a result of the adjustment, the distance between the base module and the application module can thus be increased or reduced during operation.

The positioning-assisted handheld device according to the invention has in particular the following advantages.

A first advantage is that the operability over conventional hand-held devices is significantly improved. This is associated with a handling of the device with less effort required. This is achieved mainly due to the self-executable travel movements of the base assembly.

Furthermore, an advantage of the positioning-assisted handheld device is that an automatic positioning of the base assembly without prior detection of coordinates of the planned spatial application range is possible, since the motion specifications are made directly by the manual guidance of the application assembly by the user.

In addition, the automatic positioning is particularly advantageous even if the destination and the route to the destination are not specified.

Another advantage is the high application security. Since the application assembly and base assembly are within the visual perceptibility of the user, there is already a human assessment of the spatial situation and hazards. The movement specifications are made directly by the manual guidance of the application module by the user and already include the evaluation results of the spatial situation and the dangers.

According to an advantageous development of the invention, the position determination unit has a first and a second Position determination module, which are each designed as optical position determination modules. The first position determination module is assigned to the application module, while the second position determination module is assigned to the base module.

An optical position determination module in the sense of the present invention is understood in particular to mean an image camera which determines image information.

With the aid of the first position determination module, position intermediate data of the application module can be determined relative to a reference system. The intermediate position data of the base assembly relative to a reference frame can be determined by the second position determination module.

As a reference system, inter alia, a floor space can be used, but depending on the design of the hand-held device, other suitable reference systems can be used.

By means of the position determination unit, the position data can be determined from the position intermediate data obtained. These are in turn transferable to the control and evaluation unit ready to be deployed and processed there.

According to the present development of the invention, the hand-held device also has a connection between the application and base module, which allows the exchange of position data. Thus, there is no need to separately process the position data determined locally in the application unit and the basic module. All position data can be used together in a central control and evaluation unit.

According to a further advantageous embodiment, the position determination unit has at least one acceleration sensor.

With the aid of the acceleration sensor, an increase or decrease in speed and thus the movement of the application module can be measured, if this is assigned to the application module, and an increase or decrease in speed and thus the movement of the base assembly are measured, if it is assigned to the basic module. This allows the position of the application module and the basic module to be updated. The position intermediate data thus obtained make it possible to determine the position data which can be transmitted in a transferable manner to the control and evaluation unit. An advantage of using acceleration sensors is that a physical reference system such as a floor surface is not required.

According to the development, however, a combination is also possible in such a way that, for example, the application module has an acceleration sensor and the base assembly has an optical sensor.

According to another preferred development, the connection between the application and basic module is designed as a wired network connection. The wired network connection can be particularly advantageously integrated into an existing, physical connection element such as a hose or pipe. In addition, due to the decoupling of other, especially wireless networks, a secure and fast communication between the application and basic module is ensured.

The connection can also be designed as a wireless network connection in another advantageous variant. This is particularly advantageous for hand-held devices where there is no need for physical coupling of the application and base board or where the nature of the physical coupling makes integration of a wired network connection difficult.

A next preferred embodiment includes that the position determination device comprises a reflection-based distance determination device or is supplemented by a reflection-based distance determination device.

The determination of the position data is thus based on the generation and registration of mechanical or electromagnetic waves by the position determination device. It can be determined in particular on the basis of a time measurement until the arrival of the reflected waves a parameter such as the distance. As a reflection-based distance determination device, in particular an ultrasound device, a radar, a laser range finder or an infrared range finder are to be regarded.

By means of the reflection-based distance determination device, preferably a relative movement with respect to fixed reference points and thus the change in position is determined. The actual positional relationship can then be determined from the position changes of the application module and the basic module. Alternatively, by means of the reflection-based distance determination submission, the distance can also be determined directly between the application module and the basic module.

According to a further advantageous development, the position determination unit has at least one angular acceleration sensor. Insofar as the position determination unit has optical position determination modules with camera sensors which operate on the principle of optical flow and determine x and y movements, depending on the technology used, the problem arises that the camera sensors do not rotate about their vertical axis itself is detected. Therefore, the x and y parts of a subsequent move would not be processed correctly. By means of the angular acceleration sensor, a rotational movement can be detected and offset by means of the acceleration, so that the optically detected x and y movements are correctly taken into account for the calculation of the position change. However, the angular acceleration sensor according to the development can also be used independently of the use of camera sensors to support the position determination.

In addition, according to a further, preferred embodiment, the position determination device may have a GPS device, so that the determination of the position data is based on the communication of the handheld device with navigation satellites.

According to an advantageous development, the basic module additionally has a collision avoidance unit. Thus, surrounding obstacles can be detected and collisions avoided. As a result, the positioning-assist hand-held device is protected from damage and also prevents a blocking of the driving movement. Furthermore, objects and possibly persons in the environment are also protected from collisions.

Preferably, the collision avoidance unit comprises an optical detection device as well as possibilities for processing the collected collision avoidance data, so that they can be transmitted to the control and evaluation unit in a transferable manner.

When generating the control commands for executing the travel movement, the collision avoidance data can thus additionally be taken into account.

According to one embodiment of the invention, the hand-held device is present as a vacuum cleaner, so that the application assembly is designed as a suction attachment and the base assembly as a ground unit of a vacuum cleaner.

In addition, the vacuum cleaner has a suction hose connecting the suction attachment and the bottom unit, to which the connection is associated. The connection is therefore preferably introduced as a flexible data line in the suction hose.

The invention will be described as an embodiment with reference to

1 Schematic representation of the positioning assisted hand-held device according to the invention,

2 Schematic representation of the positioning assisted hand-held device according to the invention in an expanded embodiment

3 Block diagram explained in more detail.

1 shows a schematic diagram of the positioning assisted hand-held device, which is formed in the present embodiment as a vacuum cleaner. Accordingly, the application module is located 1 as a suction attachment and the basic assembly 2 as a ground unit of the cylinder vacuum cleaner.

The position determination unit 3 has a first position determination module 6 , which is the application module 1 is assigned, as well as a second position determination module 7 , which is the basic module 2 is assigned to. The two position determination modules 6 and 7 each serve to determine position intermediate data and are designed for this purpose as optical position determination modules.

In addition to an image camera, the two optical position determination modules also include a sensor chip for utilization of the image information obtained. The position intermediate data becomes relative to a reference system 8th , in this case the floor area, determined by that of the reference system 8th reflected image is recorded. Based on a comparison with the previous images, in particular a speed and a direction of movement can be determined.

By means of the position determination unit 3 the obtained position intermediate data can be transferred into position data and to the control and evaluation unit 4 transferable ready. The connection 9 also allows the transmission of position data between the two position determination modules 6 and 7 and thus communication between the application module 1 and basic module 2 , Present is the connection 9 formed as a wired network connection and in the suction hose, which connects suction and bottom unit of the vacuum cleaner, integrated.

In the control and evaluation unit 5 Normativlage relationship data can be stored. These contain information on a normative positional relationship of the application module 1 and basic module 2 , In the present case, in particular, the desired distance and the desired angular position between the two modules count 1 and 2 to the deposited information. The normative positional relationship may include an exact value for distance and angular position as well as a value range in this regard. In addition, in the embodiment, the normal position relationship data is changeable during operation. For this purpose, a setting of the desired distance can be made via a simple slider on a handle on the suction attachment. For example, in confined spaces, the distance can be reduced and the distance can be increased in large rooms.

In conjunction with the received position data are from the control and evaluation unit 4 Control commands calculable and to the drive unit 5 transferable ready.

With the help of the drive unit 5 is a travel movement of the base assembly based on the obtained control commands 2 executable. To implement the driving movement, the anti-cancer unit 5 in this case a plurality of roles.

The execution of the travel motion is the normative positional relationship between the application and basic module 1 and 2 produced. Since the normative positional relationship preferably has a defined value range for distance and angular position and thus a tolerance range, it is ensured that the base assembly 2 not to every movement of the application module 1 reacts and therefore an optimized with regard to the distance to be traveled driving movement is executed.

The driving movement can be considered a rotation of the basic module 2 , as a forward motion or as a backward motion. As a result, there is a shortening or an increase in the distance of the basic module 2 to application module 1 brought about.

Thus, the base assembly 2 the application module 1 not only follow exclusively, but also in an opposite direction of movement of the application module 1 maintain the distance or the application board 1 dodge. This allows the user by moving the application module 1 the basic module 2 also lead in front of him.

In 2 a modified embodiment of the positioning assisted handheld device is shown. In addition to the structure described above have application module 1 and basic module 2 in each case an acceleration sensor 10 on. Thus, in addition to the optically determined instantaneous speed and the present increase in speed or speed decrease can be determined. The driving movements to be carried out can therefore be better anticipated.

Furthermore, it is attached to the basic module 2 a collision avoidance unit 11 arranged. This uses a camera to capture obstacles, causing damage to the base assembly 2 or blocking the route can be avoided. The collision avoidance data is sent to the control and evaluation unit 4 transferable available, so that they are included in the sequence in the calculation of the control commands and thus in the executed travel movement.

3 shows the interaction of position determination unit 3 , Control and evaluation unit 4 and drive unit 5 in the aforementioned embodiments. As 3 by representation of the first position determination module 6 and the second position determination module 7 clarifies, steepens the position determination unit 3 a functional unit, which may also be arranged physically distributed.

LIST OF REFERENCE NUMBERS

1

application module

2

basic module

3

Position Determination Entity

4

Control and evaluation unit

5

drive unit

6

First position determination module

7

Second position determination module

8th

reference system

9

connection

10

accelerometer

11

Collision avoidance unit

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 102009017120 A1 [0004]
• DD 293258 A5 [0005]
• EP 1240562 B1 [0007]

Claims (10)

Positioning assisted hand-held device, comprising an application assembly ( 1 ), a basic assembly ( 2 ), a position determination unit ( 3 ), a control and evaluation unit ( 5 ) and a drive unit ( 5 ), whereby by means of the position determination unit ( 3 ) Position data can be determined, wherein the position data data for an actual positional relationship of application module ( 1 ) and basic module ( 2 ) and wherein the position data to the control and evaluation unit ( 4 ) are transferable, wherein in the control and evaluation unit ( 4 ) Normativlage relationship data can be stored, which a normative positional relationship between the application module ( 1 ) and basic module ( 2 ), wherein the control and evaluation unit ( 4 ) Position data of the position determination unit ( 3 ) and wherein control commands can be calculated from the position data and the normative position relationship data, wherein the control commands to the drive unit ( 5 ) are transferable, wherein the drive unit ( 5 ) Control commands of the control and evaluation unit ( 4 ), wherein by means of the drive unit ( 5 ) a driving movement of the basic assembly ( 2 ) is feasible, wherein the driving movement is effected by means of the control commands and wherein by means of the driving movement, the normative positional relationship between the application module ( 1 ) and basic module ( 2 ) is available. Positioning assisted handheld device according to claim 1, wherein the position determining unit ( 3 ) a first position determination module ( 6 ) as well as a second position determination module ( 7 ), wherein the first position determination module ( 6 ) of the application board ( 1 ) and the second position determination module ( 7 ) of the basic module ( 2 ), the two position determination modules ( 6 ; 7 ) are formed as optical position determination modules, wherein by means of the first position determination module ( 6 ) Position intermediate data of the application module ( 1 ) relative to a reference system ( 8th ) and wherein by means of the second position determination module ( 7 ) Position intermediate data of the basic module ( 2 ) relative to a reference system ( 8th ) are determinable, wherein by means of the position determination unit ( 3 ) the position data can be determined from the position intermediate data, wherein the positioning-assisted, hand-guided device establishes a connection ( 9 ) between application module ( 1 ) and basic module ( 2 ) and wherein the compound ( 9 ) the exchange of position data between application module ( 1 ) and basic module ( 2 ). Positioning assisted handheld device according to claim 2, wherein the position determining unit ( 3 ) at least one acceleration sensor ( 10 ) having. Positioning assisted handheld device according to claim 2 or 3, wherein the connection ( 9 ) is designed as a wired network connection. Positioning assisted handheld device according to claim 2 or 3, wherein the connection ( 9 ) is designed as a wireless network connection. Positioning assisted handheld device according to one of the preceding claims, wherein the position determination unit ( 3 ) comprises a reflection-based distance determination device. Positioning assisted handheld device according to one of the preceding claims, wherein the position determination unit ( 3 ) has at least one angular acceleration sensor. Positioning assisted handheld device according to claim 1, wherein the position determining unit ( 3 ) has a GPS device. Positioning assisted handheld device according to one of the preceding claims, wherein the base assembly ( 3 ) a collision avoidance unit ( 11 ) having. Positioning assisted hand-held device according to one of claims 2 to 4 and 6 to 9, wherein the positioning-assisted hand-held device as a canister vacuum cleaner, the application assembly ( 1 ) as a suction attachment and the base assembly ( 2 ) is formed as a bottom unit of the vacuum cleaner and wherein the vacuum cleaner has a suction hose and wherein the suction hose connects the suction attachment and the bottom unit and wherein the compound ( 9 ) is associated with the suction hose.

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