DE10262191A1 - Mobile tillage implement - Google Patents

Mobile tillage implement

Info

Publication number
DE10262191A1
DE10262191A1 DE10262191A DE10262191A DE10262191A1 DE 10262191 A1 DE10262191 A1 DE 10262191A1 DE 10262191 A DE10262191 A DE 10262191A DE 10262191 A DE10262191 A DE 10262191A DE 10262191 A1 DE10262191 A1 DE 10262191A1
Authority
DE
Germany
Prior art keywords
soil cultivation
characterized
sensor
processing
unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
DE10262191A
Other languages
German (de)
Inventor
Markus Dünne
Harald Mayer
Hendrik Dr. Rust
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Alfred Kaercher SE and Co KG
Original Assignee
Alfred Kaercher SE and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Family has litigation
Application filed by Alfred Kaercher SE and Co KG filed Critical Alfred Kaercher SE and Co KG
Priority to DE2002161787 priority Critical patent/DE10261787B3/en
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=29762190&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=DE10262191(A1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Publication of DE10262191A1 publication Critical patent/DE10262191A1/en
Application status is Withdrawn legal-status Critical

Links

Classifications

    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2852Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L5/00Structural features of suction cleaners
    • A47L5/12Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum
    • A47L5/22Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum with rotary fans
    • A47L5/28Suction cleaners with handles and nozzles fixed on the casings, e.g. wheeled suction cleaners with steering handle
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805Parameters or conditions being sensed
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04Automatic control of the travelling movement; Automatic obstacle detection
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Abstract

The invention relates to a mobile, self-propelled and self-steering tillage implement with a soil treatment unit, a drive unit and a coupled to the drive unit control unit, which is associated with a sensor device, by means of which the processing state of the bottom surface before the processing of the processing state after their processing is distinguishable. In order to further develop the cultivator so that the working time required to machine a floor surface can be reduced, it is proposed that the direction of travel of the cultivator be controllable by the control unit depending on the state of processing of the bottom surface detected by the sensor device, avoiding passing over already processed floor surface areas is.

Description

  • The The invention relates to a mobile tillage implement for processing a floor surface that self-propelled and self-steering is designed and a tillage unit, a drive unit and a control unit, wherein the control unit for controlling the direction of travel of the cultivator with the work unit is connected and the control unit is a sensor device is assigned by means of which the processing state of the bottom surface before their processing from the processing state after their processing is distinguishable.
  • With Help such tillage equipment can without the use of a Operator a floor space edited, in particular, to be cleaned. The tillage implement is hereby move along the ground surface to be worked. For this purpose can be provided, for example, that the control unit a direction of travel course can be predetermined, along which moves the harrow. Such a harrow is in the form of a mobile Floor cleaning appliance from US Pat. No. 5,613,261. This includes one optical sensor device with a light source, with the aid of which Light radiation is directed to the floor surface to be cleaned, and with the help a photosensitive sensor element may reflect from the bottom surface Receive light radiation and converted into an electrical signal. Because a cleaned floor area has a different reflection behavior than an unpurified bottom surface can based on the intensity the reflected radiation already cleaned ground surface area from an unprepared floor area be differentiated. This is from the US patent specification No. 5,613,261 known floor cleaning device the possibility of operation the tillage unit depending on the intensity of the reflected To control radiation, so that in In the case of a dirty floor surface, careful cleaning can be made while if there is little or no soiled floor surface, the soil tillage unit switched off or switched to an operating mode with lower cleaning quality can be. In case of a particularly dirty floor surface, there may also be a back and forth movement of the floor cleaning device causes become. This can be achieved that less dirty floor areas with less intensity are processed as heavily contaminated soil areas, so that in total the working time for the cleaning of the entire floor area can be reduced.
  • It However, it has been shown that too when using a floor cleaning device, as is known from the US patent No. 5,613,261, for the entire processing of a floor surface considerable time is required.
  • task The present invention is a mobile tillage implement of the aforementioned To develop such a way that the for processing a floor surface required working time can be reduced.
  • These Task is in a mobile harrow of the generic type according to the invention thereby solved, that the Direction of travel of the tillage implement depending on the processing state the detected by the sensor device bottom surface means the control unit is controllable, wherein the driving over already processed Floor space areas is avoidable. It has been found that in such an embodiment of the Cultivator The working time required to process a floor space can be significantly reduced. For this purpose, the control unit a control algorithm that ensures that already processed floor areas if possible run over a second time become. It can rather be a segmentation of the processed floor area be achieved, such that one after the other individual floor surface segments be cleaned and the tillage equipment if possible not already over processed floor areas procedure and an already processed floor area within as possible leaves a short time. So can For example, be provided that the control unit upon reaching an already processed floor area a control signal provides for activating a direction change by a predetermined angle, for example by 90 °.
  • From It is particularly advantageous if by means of the sensor device a Border area between an already processed ground area and a not yet processed floor area detectable and the soil tillage implement automatic along the border area is movable. So, for example be provided that the Harrow upon reaching a borderline between an already processed Floor area and a not yet worked floor area automatically parallel can be aligned to the border line and moved along the border.
  • In a particularly preferred embodiment it is provided that by means of the sensor device, the processing states of two transversely to a main movement direction of Bodenbearbei tungsgerätes mutually offset bottom surface areas are detected and that the direction of travel of the harrow is controlled in dependence on the processing conditions of the two detected areas of the bottom surface. Such an embodiment of the soil cultivation device allows in a structurally simple manner, a movement of the harrow along a boundary line between an already processed and a not yet processed bottom surface area.
  • Around by means of the sensor device two transverse to a main movement direction of the soil tillage implement mutually offset floor areas can be provided that the sensor device alternately the two floor areas detected and each recorded processing states related to each other. The sensor device can in this case a vast area Have sensor element, which is a location-dependent detection of the processing conditions of both floor surface areas allows.
  • The Sensor device may comprise a single sensor element, the preferably areally is extended and with the processing state of a floor area is detectable.
  • From It is an advantage if the sensor device has at least two sensor elements comprises each of the processing state of one of the two transverse to the main direction of movement of the soil tillage implement mutually offset floor areas capture and provide each a corresponding sensor signal and when the direction of travel of the harrow in dependence is controllable by the two sensor signals.
  • The Assembly and, if necessary, repair of the sensor device can be simplified by the fact that the two sensor elements independent are manageable. Here are the two sensor elements as independent components configured to each transmit a sensor signal to the control device, Based on which the control unit the processing state of the detected respective sensor element Floor space area can judge.
  • Preferably the tilling unit extends transversely to the main direction of movement of the Tillage equipment, and by means of the sensor device, the processing states of the both floor surface areas detectable each related to an end portion of the tillage unit on the extent transverse to the main direction of movement, adjacent are arranged. In such an embodiment of the soil cultivation device according to the invention extends the tillage unit between the two of the sensor device detected Floor surface areas, so that each a section of the floor area is processed, located between the two floor areas extends, which have a different state of processing.
  • Preferably comprises the tillage unit a cleaning unit and means the sensor device, the degree of contamination of the bottom surface is detected. This gives the opportunity a floor area clean within a short time, for example, to sweep, too suck or wipe.
  • It For example, it may be provided that the cleaning unit a extending transversely to the main direction of movement of the harrow Sweeping brush arrangement and that means of the sensor device of the pollution degree of each one End region of the sweeping brush arrangement cleaned or to be cleaned floor surface areas can be detected.
  • The Sweeping brush arrangement can in this case several, transversely offset to the main direction of movement of the harrow arranged sweeping brushes each of the sweeping brushes preferably has a degree of soiling of respective cleaned or to be cleaned Bodenflächenbereiches is associated with detecting sensor element.
  • at one cost producible embodiment is provided that the Sweeping brush arrangement a rotatable brush roller has, whose axis of rotation preferably transversely to the main direction of movement of the soil tillage implement is aligned.
  • at a preferred embodiment each one end region of the sweeping brush assembly is a separate, the degree of contamination of the bottom surface sensing sensor element assigned. The sensor element can in this case the respective end region the sweeping brush arrangement be arranged immediately adjacent.
  • From It is an advantage if the cleaning effect of the sweeping brush arrangement supported by a suction unit that is in the area of the sweeping brush arrangement generates a suction flow. For this purpose, it can be provided that the cleaning unit having a suction unit that over at least one suction channel with the sweeping brush assembly in flow communication stands, wherein the suction channel receives a dirt collector, and the sensor arrangement may be on a wall of the suction channel or of the dirt collector be arranged.
  • From It is advantageous here if at least one sensor element of the sensor arrangement arranged on the inside of the wall of the suction channel or the dirt collecting container is. Such an arrangement of the at least one sensor element allows it, to act on the sensor element directly with the dirt particles, that of the respective associated end portion of the sweeping brush assembly from the floor surface to be cleaned superseded become. The degree of contamination can be easily determined by it be that the Quantity of the respective sensor element acting on dirt particles detected becomes.
  • alternative and / or in addition can be provided that at least a sensor element of the sensor arrangement on the outside of the wall of the suction channel or the dirt collector is arranged. The sensor element is there with an immediate Protected by dirt particles, so that the life of the sensor element elevated can be.
  • to Recording the processing status, in particular the degree of contamination the floor area can be provided that the Sensor device the bottom surface mechanically detected, for example by means of tactile sensors. Of particular advantage However, it is when the sensor device, the processing state the floor area contactless detected.
  • Preferably comprises the sensor device at least one optical sensor element, d. H. a sensor element with a radiation-sensitive, in particular spatially resolving Detector and a detector associated with the evaluation. the Detector may be upstream of an imaging optics, and means the evaluation electronics can be made an image evaluation. By means of a predetermined image evaluation algorithm, a can on the radiation-sensitive detector projected image of a section the floor area be evaluated to the effect that the processing state of floor area ascertainable is. For example, the degree of contamination of the floor surface can be contactless detected become. The optical detection of the soil working condition can for example by means of infrared radiation or by means of visible Light radiation done. The sensor element can be a radiation source, For example, be associated with a light source for illuminating the detected by the sensor element Floor space area. Cheap it is when based on the intensity of a from the bottom surface Reflected light radiation, the processing state of the bottom surface can be detected.
  • It is particularly favorable if the sensor device has at least one piezoelectric sensor element. Such sensor elements are for example from the European patent specification EP 0 759 157 B1 known. If such sensors are subjected to a mechanical force, they provide an electrical signal on their surface. The application of force can be effected by the fact that the sensor elements are acted upon directly by dirt particles which are detached from the floor surface to be cleaned. However, it can also be provided that the at least one piezoelectric sensor element cooperates with the wall of the suction channel or the dirt collecting container and absorbs the vibrations caused by the dirt particles of the wall and converts it into an electrical signal. Vibrations of the wall, which are caused by the movement of the cultivator, can be filtered out by means of an electrical filter unit arranged downstream of the sensor element.
  • at a particularly preferred embodiment of the soil cultivation device according to the invention by means of the cleaning unit from the bottom surface dirt particles removable and the amount of detached Dirt particles can be determined by means of the sensor device. As already mentioned, can from the crowd of detached ones Dirt particles on the degree of contamination of the floor surface closed become.
  • Preferably is by means of the sensor device not only the amount of detached dirt particles determinable, but it is additional their size can be determined. Such a size range does not allow just a statement about the absolute degree of contamination of the floor area, but also gives one Indication of what kind of pollution is present. This gives the possibility, depending on the type of contamination present on the floor surface matched cleaning mode to choose, for example, the Operating mode of the cleaning unit and / or the driving speed of the soil tillage implement be matched to the type of pollution.
  • As already explained, is it cheap if, by means of the sensor device, the mode of operation of the soil cultivation unit, for example, the cleaning unit, depending on the processing state the floor area, in particular the degree of contamination of the floor surface, is controllable. So can For example, be provided that at low pollution the cleaning unit switched off or in an operation with low energy consumption (stand-by operating mode) is transferred, while If the degree of contamination is high, it is a more energy-intensive operating mode the cleaning unit selected becomes.
  • A especially low working time for processing, especially cleaning a floor surface can be achieved that the Control unit a position-dependent Reference value of the machining condition, e.g. Pollution degree, the floor area can be provided after optimal processing and that the current Processing state is comparable to the reference value, wherein the Direction of travel and / or the driving speed of the tillage implement and / or the mode of operation of the tillage unit depending on from the deviation of the current processing state from the reference value are controllable. In such an embodiment of the soil cultivation device according to the invention can before his actual assignment or during a first assignment a learning trip at a defined tillage status, for example at optimally cleaned floor area, be performed. While the learning trip, the processing state, for. B. the degree of pollution, the floor area stored in a memory member of the control unit as a reference value become. These reference values with optimally processed ground surface can then for comparison with the respective current processing state be used. It is determined that the current processing state worse than the while the learning run of the tillage implement, the reference value, Thus, an operating mode of the tillage unit is activated and a treatment of the floor area performed. However, it is found that in a particular floor surface segment No editing is required as only a relatively small Deviation of the current processing state from the specified Reference value is present, so the tillage unit can be switched off or in a standby mode of operation, and this floor surface segment can with higher Drive over driving speed be and / or a change of direction can be carried out, to within as possible a short time a floor area segment to achieve a processing, such as a cleaning, requirement.
  • at a particularly preferred embodiment the soil cultivation device according to the invention the time of the last processing of the floor area of the Control unit specifiable and the direction of travel and / or the driving speed of the soil tillage implement and / or the operation of the tillage unit are dependent controllable by the time elapsed since the last processing is. The specification of the time of the last processing can be position-dependent, so that individual Soil surface segments with different frequency can be edited. For example, in the case of a floor surface cleaning be provided that corridor areas or areas of the floor area, which are exposed to a strong public traffic, already after shorter Time span by means of the soil cultivator of an intensive cleaning be subjected as floor surface segments, which are used only little.
  • Cheap is in this case, when the control unit is coupled to a memory element Timer comprises to the automatic Save the time of the current tillage. A manual specification of the time of tillage can thereby omitted. The timer may include a date, so that means of the mobile tillage implement date-dependent different modes of operation of the soil treatment unit and / or different directions of travel used to control the tillage implement can be. Thus, in the case of a mobile floor cleaning device, for example, provided be that on Working days with public traffic made a comprehensive cleaning of the entire floor space will, while on weekdays without public transport only a partial cleaning the floor area and on Sundays and public holidays a cleaning of the floor area Completely eliminated.
  • Especially Cheap it is, if by means of the control unit an automatic, time-dependent navigation planning feasible is such that the control unit On the basis of the particular degree of contamination of Bodenflä surface automatically an optimization the respectively required operating parameters of the cleaning unit and / or the frequency of Perform cleaning cycles with the goal of having a floor space within as possible a short time with as possible low energy consumption.
  • From It is advantageous if the control unit is assigned a distance sensor is to determine a lateral distance between the harrow and a Obstacle, and if the direction of travel and / or the driving speed of the soil tillage implement and / or the operation of the cleaning unit depending controllable by the distance of the soil cultivation device to the obstacle are. Such a configuration makes it possible for the tillage implement along automatically an obstacle to proceed, for example along a wall or a step.
  • The The following description of a preferred embodiment of the invention serves in conjunction with the drawings for further explanation. Show it
  • 1 : a schematic side view ei nes tillage device according to the invention;
  • 2 a schematic bottom view of the tillage implement;
  • three a longitudinal sectional view of the tillage implement;
  • 4 : a functional diagram of a program sequence for controlling the direction of travel of the soil tillage implement; and
  • 5 : An illustration of the direction of travel course of the floor cleaning device when cleaning a floor surface.
  • In the 1 to three schematically is an inventive tillage device in the form of a total with the reference numeral 10 occupied Bodenreinigungsgerätes shown. It comprises a bottom plate 12 on which a lid 13 is attached and attached to a chassis 14 is fixed. On the chassis 14 are about a common axis of rotation 15 rotatably two drive wheels 16 . 17 stored, each with a drive motor 18 respectively. 19 assigned. The drive motors 18 . 19 are on the chassis 14 held and are not shown in the drawing connecting lines with a on a cover plate 21 arranged control unit 20 as well as with known, not shown in the drawing electric batteries in electrical connection.
  • The bottom plate 12 has a dirt inlet opening 22 on, at the one transverse to the main movement direction 24 the floor cleaning device aligned brush roller 26 is arranged. The brush roller 26 is rotatable in the area of the dirt inlet opening 22 held and has a plurality of radially aligned brushes 27 on, on a wave 28 are fixed and with their free ends down over the dirt inlet 22 survive. The bottom plate 12 and the cover plate 21 define a suction channel between them 30 that with the dirt inlet 22 is in flow communication and at its the dirt inlet opening 22 facing away, rear end of an intake 32 carries, on which a suction turbine 34 is held. The suction turbine 34 is from an electric drive motor 36 rotatably drivable and stands over the intake manifold 32 and the suction channel 30 with the dirt inlet 22 in fluid communication.
  • Within the suction channel 30 is a dirt filter 38 arranged, and the area of the suction channel 32 between the dirt filter 38 and the dirt inlet 22 forms a dirt collector 40 whose level is from a level sensor 42 is monitored with the control unit 20 is in electrical connection. For cleaning a floor surface 44 gets in from the suction turbine three through arrows 46 illustrated suction flow generated by means of which dirt particles due to the mechanical action of the brush roller 26 from the floor surface to be cleaned 44 were replaced by the dirt inlet opening 22 through into the dirt collector 40 can be transferred.
  • The drive wheels 16 . 17 form in combination with the drive motors 18 and 19 a drive unit for moving the floor cleaning device 10 along the floor surface 44 , and the brush roller 26 forms a cleaning unit for cleaning the floor surface 44 , wherein the means of the brush roller 26 achievable dirt absorption by the suction turbine 34 induced suction flow 46 is supported.
  • The brush roller 26 is perpendicular to the main movement direction 24 aligned, and each one end portion of the brush roller 26 are assigned to a the dirt inlet opening 22 Back limiting threshold 48 two dirt sensors 50 . 51 the brush roller 26 arranged facing. They each have a signal line 54 with the control unit 20 in electrical connection and are of the dirt particles by means of the respective end portions of the brush roller 26 from the bottom surface 44 be replaced immediately. They are configured in the illustrated embodiment in the form of piezoelectric sensors which, depending on the number and the mass of the impinging on them dirt particles a corresponding sensor signal on the signal lines 54 to the control unit 20 transfer. By means of the two dirt sensors 50 and 51 can thus be detected, the degree of contamination of the bottom surface area, in height of the respective end portion of the brush roller 26 is arranged. The two dirt sensors 50 and 51 are hereby arranged at a distance from each other and perpendicular to the main movement direction 24 , ie parallel to the common axis of rotation 15 the two drive wheels 16 and 17 positioned offset to each other. In their entirety, the two dirt sensors form 50 and 51 a sensor device of the floor cleaning device 10 , wherein with the help of the sensor device, the degree of contamination of the bottom surface 44 can be detected simultaneously in two different areas. Be the two dirt sensors 50 and 51 only acted upon by a relatively small number of dirt particles, this is done by the control unit 20 interpreted to mean that of the two dirt sensors 50 and 51 detected floor areas have already been cleaned. If instead there is a high accumulation of dirt particles, this is done by the control unit 20 interpreted to mean that of the two dirt sensors 50 and 51 an unpurified Area of the floor area is detected.
  • The difference between the two dirt sensors 50 and 51 the control unit 20 provided sensor signals from each other, so this is from the control unit 20 interpreted to the effect that one of the two dirt sensors detects an already cleaned bottom surface area and the other dirt sensor an unpurified bottom surface area, that is, that the floor cleaning device 10 currently moved along a boundary line between an already cleaned bottom surface area and a still unpurified bottom surface area. Different sensor signals from the two dirt sensors 50 and 51 allow the control unit 20 , the drive motors 18 and 19 the drive wheels 16 respectively. 17 to control such that the floor cleaning device 10 such a borderline follows. A resulting course of travel in the cleaning of a floor surface will be described below with reference to 4 and 5 described in more detail.
  • First, it should be noted, however, that the positioning of the two dirt sensors 50 and 51 not necessarily in the area of the Kehrschwelle 48 has to be done. For the illustrated embodiment is only relevant that the two dirt sensors 50 and 51 transverse to the main direction of movement 24 offset from each other are arranged and that the detected by the dirt sensors number of occurring dirt particles gives an indication of the respective degree of contamination, based on the main movement direction 24 present in the field of dirt sensors. In particular, it can be provided that the dirt sensors 50 and 51 outside the suction channel 30 are arranged on the wall. Such posi tioning is in three the example of a reference numeral 56 occupied piezoelectric dirt sensor shown. From the dirt sensor 56 The mechanical shocks can be detected by the dirt particles on impact with the wall of the suction channel 30 be caused.
  • As already explained, can by means of the two dirt sensors 50 and 51 the processing status of the floor area 44 , namely their degree of soiling, arranged at two spaced apart, transversely to the main direction of movement 24 offset soil surface areas are detected. This gives the possibility of the floor area 44 completely overrun within a short time, whereby already cleaned ground areas are not run over a second time if possible. On the contrary, such a second passing over of cleaned floor surface areas is only necessary if either only an unsatisfactory cleaning result was achieved during the first cleaning or if an already cleaned floor surface area is to be left again.
  • The control of the direction of travel by means of the control unit 20 depending on the degree of contamination of the two dirt sensors 50 and 51 is detected, allows a segmentation of the floor area 44 , wherein successively individual segments of the bottom surface are cleaned. This comes with the floor cleaning device 10 for the control unit 20 a control algorithm as used in the 4 and 5 is illustrated. After a start of the floor cleaning device 10 this is done by means of the control unit 20 is moved in a straight line and simultaneously using the suction turbine 34 and the brush roller 26 cleaned the run over floor surface. By means of per se known and therefore not shown in the drawing collision detectors with the control unit 20 Can be in communication, a collision of the floor cleaning device 10 be detected with an obstacle. If a collision occurs, for example, with a room wall 63 so leads the floor cleaner 10 a change of direction by the control unit 20 generates a control command for rotating the floor cleaning device 10 to the left at a fixed angle, for example, 90 °, or at a random angle to the floor cleaning device 10 parallel to the obstacle, ie in the illustrated embodiment, parallel to the room wall 63 to align. The ride of the floor cleaning device 10 is then continued in the then assumed direction of travel until either a new collision occurs and a corresponding direction change is made, or up to the dirt sensors 50 and 51 an already cleaned bottom surface area, that is, a dirt edge is detected. At the in 5 illustrated direction of travel is the first time reaching a dirt edge through the floor area 65 illustrated. If such a dirt edge detected, so is the control unit 20 generates a command to change direction, with the floor cleaning device 10 Aligns parallel to the dirt edge. Subsequently, the drive of the floor cleaning device is continued in a straight line until either a new dirt edge is detected or an obstacle emerges to subsequently make a renewed direction change and orientation of the floor cleaning device parallel to the obstacle or parallel to the dirt edge. The ride is then continued until no unpurified bottom surface area can be achieved without crossing a dirt edge. At the in 5 illustrated heading this is in place 67 the floor area 44 the case. Since in such a positioning, the tillage device without exceeding a dirt edge can not clean an unpurified bottom surface area more, is from the STEU ereinheit 20 generated a command to drive over an already cleaned floor area, so that the floor cleaning device 10 moves out of the cleaned floor surface segment. For this purpose, the control unit 20 a certain direction command are given, alternatively it can be provided that the control unit 20 a rotation of the floor cleaning device 10 caused by a random angle.
  • The drive over the just cleaned bottom surface area is then continued in a straight line until a renewed collision with an obstacle, for example, with the in 5 shown room wall 69 occurs, and then the floor cleaning device 10 proceed again in accordance with the above-explained manner, wherein the floor cleaning device 10 is aligned parallel to a wall or parallel to a dirt edge, until a new segment of the floor surface 44 is completely cleaned.
  • The substantially spiral or meandering movement is continued until no unpurified bottom surface segment is more detectable. At the in 5 the course of travel shown this is at the point 71 the floor area 44 the case. The cleaning trip of the floor cleaning device 10 is then terminated.
  • To drive the floor cleaning device 10 to simplify along an obstacle, has the floor cleaning device 10 on the top of the lid 13 arranged, side-facing distance sensors 73 on, which can be configured for example as infrared or ultrasonic sensors and the skilled person are known per se. By means of the distance sensors 73 a ride with a constant distance to an obstacle can be achieved.
  • It will be apparent from the foregoing that by means of the floor cleaning device according to the invention 10 a floor surface to be cleaned 44 can be completely cleaned within a short time, with possibly cleaned areas are not run over a second time. This allows working time to clean the floor area 44 be significantly reduced.
  • To clean the floor surface 44 to be able to accelerate additionally includes the control unit 20 of the floor cleaning device 10 a memory member 75 as well as a timer 77 , In the memory element are after a performed optimal cleaning of the bottom surface 10 on the occasion of a learning journey, depending on the position, the degree of contamination that occurs, as is the case with the two dirt sensors 50 and 51 be recorded as reference values storable.
  • During a cleaning trip of the floor cleaning device 10 as they are in 5 is illustrated, the stored, position-dependent reference values with the current pollution levels of the ground surface 44 compared. Represents the control unit 20 finds that there is only a slight deviation between the current levels of pollution and the reference values, it increases the driving speed of the floor cleaning device 10 and controls both the suction turbine 34 as well as one for the rotary drive of the brush roller 26 used for use electric motor such that they go into an energy-saving stand-by mode of operation. Represents the control unit 20 On the other hand, it is clear that the instantaneous levels of contamination have a deviation from the stored reference values which exceed a predetermined tolerance value, so the suction turbine becomes 34 and the electric motor of the brush roller 26 activated to full power, and at the same time, the driving speed of the floor cleaning device 10 reduced. Soil areas that require no cleaning can be overrun at excessive speed and at the same time, the energy consumption of the floor cleaning device 10 be significantly reduced.
  • The time of each cleaning of the floor area 44 is in the memory element 75 stored, and in a subsequent, renewed cleaning of the bottom surface 44 is the time elapsed since the last cleaning by the control unit 20 determined. Depending on the length of the time span, the cleaning drive is then carried out at an increased or reduced driving speed. In addition, it can be provided that after a predetermined period of time, the control unit 20 automatically without external start signal, the cleaning drive of the floor cleaning device 10 activated.

Claims (22)

  1. Mobile tillage implement for processing a bottom surface that is designed self-propelled and self-steering and a tillage unit, a drive unit and a control unit, wherein the control unit for controlling the direction of travel of the harrow is connected to the drive unit and the control unit is associated with a sensor device, by means of which the processing state the floor surface is distinguishable from the processing state after its processing before processing, characterized in that the direction of travel of the soil cultivation device ( 10 ) depending on the processing state of the sensor device ( 50 . 51 ) detected ground surface by means of the control unit ( 20 ) is controllable, the crossing already machined floor areas is avoidable.
  2. Soil cultivation device according to claim 1, characterized in that by means of the sensor device ( 50 . 51 ) the processing states of two transverse to a main direction of movement ( 24 ) of the tillage implement ( 10 ) offset to each other ground surface areas are detectable and that the direction of travel of the soil cultivation device ( 10 ) is controllable in dependence on the processing states of the two detected floor surface areas.
  3. Soil cultivation device according to claim 1 or 2, characterized in that the soil cultivation device ( 10 ) is automatically movable along a boundary between a machined bottom surface area and an unprocessed bottom surface area.
  4. Soil cultivation device according to claim 1 or 2, characterized in that the sensor device comprises two sensor elements ( 50 . 51 ), each of which the state of processing of one of the two transverse to the main direction of movement ( 24 ) of the tillage implement ( 10 ) detect mutually offset bottom surface areas and each provide a corresponding sensor signal and that the direction of travel in dependence on the two sensor signals is controllable.
  5. Soil cultivation device according to claim 3, characterized in that the two sensor elements ( 50 . 51 ) are independently manageable.
  6. Soil cultivation device according to one of the preceding claims, characterized in that the soil cultivation unit ( 26 ) transverse to the main direction of movement ( 24 ) of the tillage implement ( 10 ) and that by means of the sensor device ( 50 . 51 ) the processing states of the two bottom surface areas can be detected, each one end region of the soil cultivation unit ( 26 ), based on its extent transverse to the main direction of movement ( 24 ), are arranged adjacent.
  7. Soil cultivation appliance according to one of the preceding claims, characterized in that the soil treatment unit has a cleaning unit ( 26 ) and that by means of the sensor device ( 50 . 51 ) the degree of soil contamination ( 44 ) is detectable.
  8. Soil cultivation device according to claim 6, characterized in that the cleaning unit extends transversely to the main direction of movement ( 24 ) of the tillage implement ( 10 ) extending sweeping brush assembly ( 26 ) and that by means of the sensor device ( 50 . 51 ) the degree of contamination of each of an end portion of the sweeping brush assembly ( 26 ) cleaned or to be cleaned floor surface areas can be detected.
  9. Soil cultivation device according to claim 7, characterized in that the sweeping brush arrangement comprises a rotatable brush roller ( 26 ) having.
  10. Soil cultivation device according to claim 7 or 8, characterized in that in each case one end region of the sweeping brush arrangement ( 26 ) a separate, the degree of contamination of the bottom surface sensing sensor element ( 50 . 51 ) assigned.
  11. Soil cultivation device according to claim 7, 8 or 9, characterized in that the cleaning unit is a suction unit ( 34 ), which via at least one suction channel ( 30 ) with the sweeping brush arrangement ( 26 ) is in flow communication, wherein the suction channel ( 30 ) a dirt collecting container ( 40 ), and that the sensor arrangement ( 50 . 51 ) on a wall ( 48 ) of the suction channel ( 30 ) or the dirt collection container ( 40 ) is arranged.
  12. Soil cultivation device according to claim 10, characterized in that at least one sensor element ( 50 . 51 ) of the sensor arrangement on the inside of the wall ( 48 ) of the suction channel ( 30 ) or the dirt collection container ( 40 ) is arranged.
  13. Soil cultivation device according to claim 10, characterized in that at least one sensor element ( 56 ) of the sensor arrangement on the outside of the wall of the suction channel ( 30 ) or the dirt collection container ( 40 ) is arranged.
  14. Soil cultivation appliance according to one of the preceding claims, characterized in that the sensor device ( 50 . 51 ) the processing state of the floor surface ( 44 ) detected without contact.
  15. Soil cultivation device according to one of the preceding claims, characterized in that the sensor device comprises at least one piezoelectric sensor element ( 50 . 51 ) having.
  16. Soil cultivation device according to one of claims 6 to 14, characterized in that by means of the cleaning unit ( 26 ) from the bottom surface ( 44 ) Removable dirt particles and the amount of detached dirt particles by means of the sensor device ( 50 . 51 ) is determinable.
  17. Soil cultivation device according to claim 15, characterized in that by means of the sensor device ( 50 . 51 ) the size of the detached dirt particles can be determined.
  18. Soil cultivation device according to one of vo according to the appended claims, characterized in that by means of the control unit ( 20 ) the operation of the tillage unit ( 26 ) depending on the processing state of the floor surface ( 44 ) is controllable.
  19. Soil cultivation appliance according to one of the preceding claims, characterized in that the control unit ( 20 ) position-dependent reference values of the processing state of the ground surface ( 44 ) can be provided after optimal processing and that the current position-dependent processing state is comparable to the reference values, the direction of travel and / or the travel speed of the soil cultivation device ( 10 ) and / or the operation of the tillage unit ( 26 ) is controllable in dependence on the deviation of the current tillage condition from the reference value.
  20. Soil cultivation appliance according to one of the preceding claims, characterized in that the control unit ( 20 ) the time of the last processing of the floor surface ( 44 ) and that the direction of travel and / or the travel speed of the soil cultivation device ( 10 ) and / or the operation of the tillage unit ( 26 ) is controllable depending on the time elapsed since the last processing.
  21. Soil cultivation device according to claim 19, characterized in that the control unit ( 20 ) comprises a timer coupled to a memory member for automatically storing the time of the current tillage.
  22. Soil cultivation appliance according to one of the preceding claims, characterized in that the control unit ( 20 ) a distance sensor ( 73 ) is assigned to determine a lateral distance between the soil cultivating device and an obstacle ( 63 . 69 ), and that the direction of travel and / or the travel speed of the soil tillage implement ( 10 ) and / or the operation of the tillage unit ( 26 ) depending on the distance of the tillage implement ( 10 ) to the obstacle ( 63 . 69 ) are controllable.
DE10262191A 2002-12-23 2002-12-23 Mobile tillage implement Withdrawn DE10262191A1 (en)

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DE2002161787 DE10261787B3 (en) 2002-12-23 2002-12-23 Mobile harrow

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DE2002161787 Revoked DE10261787B3 (en) 2002-12-23 2002-12-23 Mobile harrow

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AU2003298144A1 (en) 2004-07-22
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