DE3536974A1 - Bedienerlose, aussengesteuerte maschine mit einem fahrgestell, sowie verfahren zu deren aussensteuerung - Google Patents

Bedienerlose, aussengesteuerte maschine mit einem fahrgestell, sowie verfahren zu deren aussensteuerung

Info

Publication number
DE3536974A1
DE3536974A1 DE19853536974 DE3536974A DE3536974A1 DE 3536974 A1 DE3536974 A1 DE 3536974A1 DE 19853536974 DE19853536974 DE 19853536974 DE 3536974 A DE3536974 A DE 3536974A DE 3536974 A1 DE3536974 A1 DE 3536974A1
Authority
DE
Germany
Prior art keywords
machine
external control
sensors
control according
sensor
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.)
Granted
Application number
DE19853536974
Other languages
German (de)
English (en)
Other versions
DE3536974C2 (en, 2012
Inventor
Des Erfinders Auf Nennung Verzicht
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.)
KNEPPER HANS-REINHARD
Original Assignee
KNEPPER HANS-REINHARD
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
Application filed by KNEPPER HANS-REINHARD filed Critical KNEPPER HANS-REINHARD
Priority to DE19853536974 priority Critical patent/DE3536974A1/de
Publication of DE3536974A1 publication Critical patent/DE3536974A1/de
Application granted granted Critical
Publication of DE3536974C2 publication Critical patent/DE3536974C2/de
Granted legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4066—Propulsion of the whole machine
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
    • B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers
    • B62D1/283—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers for unmanned vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
    • G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Electromagnetism (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Optics & Photonics (AREA)
  • Acoustics & Sound (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
DE19853536974 1985-10-17 1985-10-17 Bedienerlose, aussengesteuerte maschine mit einem fahrgestell, sowie verfahren zu deren aussensteuerung Granted DE3536974A1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE19853536974 DE3536974A1 (de) 1985-10-17 1985-10-17 Bedienerlose, aussengesteuerte maschine mit einem fahrgestell, sowie verfahren zu deren aussensteuerung

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE19853536974 DE3536974A1 (de) 1985-10-17 1985-10-17 Bedienerlose, aussengesteuerte maschine mit einem fahrgestell, sowie verfahren zu deren aussensteuerung

Publications (2)

Publication Number Publication Date
DE3536974A1 true DE3536974A1 (de) 1987-04-23
DE3536974C2 DE3536974C2 (en, 2012) 1988-11-24

Family

ID=6283781

Family Applications (1)

Application Number Title Priority Date Filing Date
DE19853536974 Granted DE3536974A1 (de) 1985-10-17 1985-10-17 Bedienerlose, aussengesteuerte maschine mit einem fahrgestell, sowie verfahren zu deren aussensteuerung

Country Status (1)

Country Link
DE (1) DE3536974A1 (en, 2012)

Cited By (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0366350A3 (en) * 1988-10-25 1991-05-22 Tennant Company Guiding an unmanned vehicle by reference to overhead features
DE4013950A1 (de) * 1990-04-30 1991-11-07 Fraunhofer Ges Forschung Vorrichtung zum markieren von grundflaechen
US5086535A (en) * 1990-10-22 1992-02-11 Racine Industries, Inc. Machine and method using graphic data for treating a surface
US5109566A (en) * 1990-06-28 1992-05-05 Matsushita Electric Industrial Co., Ltd. Self-running cleaning apparatus
EP0420447A3 (en) * 1989-09-28 1992-06-03 Tennant Company Ofsetting the course of a laser guided vehicle
US5155684A (en) * 1988-10-25 1992-10-13 Tennant Company Guiding an unmanned vehicle by reference to overhead features
WO1993024874A1 (de) * 1992-05-22 1993-12-09 Siemens Aktiengesellschaft Selbstbewegliche vorrichtung und verfahren zur erkundung eines raumes durch die vorrichtung
DE19534851A1 (de) * 1995-09-20 1997-03-27 A Yuecel Dipl Ing Cetin Vorrichtung und Verfahren "lasergestütztes Fahrzeugleitsystem"
WO2000004430A1 (en) * 1998-07-20 2000-01-27 The Procter & Gamble Company Robotic system
GB2344900A (en) * 1998-12-18 2000-06-21 Notetry Ltd Robotic floor cleaning device with obstacle detection
WO2001006905A1 (en) * 1999-07-24 2001-02-01 The Procter & Gamble Company Robotic system
US6459955B1 (en) 1999-11-18 2002-10-01 The Procter & Gamble Company Home cleaning robot
US6481515B1 (en) 2000-05-30 2002-11-19 The Procter & Gamble Company Autonomous mobile surface treating apparatus
WO2002097198A1 (de) * 2001-05-31 2002-12-05 Siemens Aktiengesellschaft Selbstfahrende eisenaufbereitungsmaschine mit navigationssystem
DE10148976A1 (de) * 2001-10-04 2003-04-30 Overmeyer Ludger Transpondergestütztes Fahrzeug- und Transportleitsystem
US6591216B1 (en) 1998-07-09 2003-07-08 Siemens Aktiengesellschaft Device and method for determining a spatial position of an object
US6941199B1 (en) 1998-07-20 2005-09-06 The Procter & Gamble Company Robotic system
WO2006083340A1 (en) * 2004-11-12 2006-08-10 The Boeing Company Optical laser guidance system apparatus and method
FR2898926A1 (fr) * 2006-03-24 2007-09-28 Map Sarl Sarl Procede et dispositif de guidage des elements d'un abri de piscine telescopique
DE102007035823A1 (de) * 2007-07-31 2009-02-05 Robert Bosch Gmbh Ansteuersystem sowie Ansteuerverfahren für ein Roboterfahrzeug
US7510247B2 (en) 2003-03-17 2009-03-31 Kalannin Kaspek Oy Ice resurfacing machine as well as system and method for ice maintenance
WO2017031364A1 (en) * 2015-08-18 2017-02-23 Nilfisk, Inc. Water trailing detection system
US11687092B2 (en) 2018-04-23 2023-06-27 Sharkninja Operating Llc Techniques for bounding cleaning operations of a robotic surface cleaning device within a region of interest
US12376722B2 (en) 2021-08-13 2025-08-05 Sharkninja Operating Llc Robotic cleaner

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3827273A1 (de) * 1988-08-11 1990-02-15 Alois Assfalg Verfahren und vorrichtung zum steuern eines vorganges nach einer konfiguration eines flaechigen oder raeumlichen gebildes nahe dem erdboden
DE4025737A1 (de) * 1990-08-14 1992-02-20 Kolb Norbert Verfahren und vorrichtung zum spurgetreuen fuehren wenigsten eines an einem schlepper rueckwaerts angebauten oder angehaengten werkzeuges fuer die landwirtschaft, insbes. fuer feldfruechte
CN110924345A (zh) * 2019-12-05 2020-03-27 武汉理工大学 一种纯电动无人驾驶环卫洗扫车智能作业系统

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2448156A1 (de) * 1973-10-05 1975-04-10 Dixon & Co Ltd R D Vorrichtung zum behandeln von fussboeden oder dergleichen
DE2600907A1 (de) * 1975-01-10 1976-07-15 Dixon & Co Ltd R D Fussbodenbearbeitungsmaschine
DE3139906A1 (de) * 1980-10-08 1982-05-27 Toshihiro Osaka Tsumura "kursvorgabeeinrichtung fuer fahrzeuge"

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2448156A1 (de) * 1973-10-05 1975-04-10 Dixon & Co Ltd R D Vorrichtung zum behandeln von fussboeden oder dergleichen
DE2600907A1 (de) * 1975-01-10 1976-07-15 Dixon & Co Ltd R D Fussbodenbearbeitungsmaschine
DE3139906A1 (de) * 1980-10-08 1982-05-27 Toshihiro Osaka Tsumura "kursvorgabeeinrichtung fuer fahrzeuge"

Cited By (31)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0366350A3 (en) * 1988-10-25 1991-05-22 Tennant Company Guiding an unmanned vehicle by reference to overhead features
US5155684A (en) * 1988-10-25 1992-10-13 Tennant Company Guiding an unmanned vehicle by reference to overhead features
EP0420447A3 (en) * 1989-09-28 1992-06-03 Tennant Company Ofsetting the course of a laser guided vehicle
DE4013950A1 (de) * 1990-04-30 1991-11-07 Fraunhofer Ges Forschung Vorrichtung zum markieren von grundflaechen
US5109566A (en) * 1990-06-28 1992-05-05 Matsushita Electric Industrial Co., Ltd. Self-running cleaning apparatus
US5284522A (en) * 1990-06-28 1994-02-08 Matsushita Electric Industrial Co., Ltd. Self-running cleaning control method
US5086535A (en) * 1990-10-22 1992-02-11 Racine Industries, Inc. Machine and method using graphic data for treating a surface
WO1993024874A1 (de) * 1992-05-22 1993-12-09 Siemens Aktiengesellschaft Selbstbewegliche vorrichtung und verfahren zur erkundung eines raumes durch die vorrichtung
DE19534851A1 (de) * 1995-09-20 1997-03-27 A Yuecel Dipl Ing Cetin Vorrichtung und Verfahren "lasergestütztes Fahrzeugleitsystem"
US6591216B1 (en) 1998-07-09 2003-07-08 Siemens Aktiengesellschaft Device and method for determining a spatial position of an object
WO2000004430A1 (en) * 1998-07-20 2000-01-27 The Procter & Gamble Company Robotic system
US6941199B1 (en) 1998-07-20 2005-09-06 The Procter & Gamble Company Robotic system
GB2344900A (en) * 1998-12-18 2000-06-21 Notetry Ltd Robotic floor cleaning device with obstacle detection
WO2001006905A1 (en) * 1999-07-24 2001-02-01 The Procter & Gamble Company Robotic system
US6459955B1 (en) 1999-11-18 2002-10-01 The Procter & Gamble Company Home cleaning robot
US6481515B1 (en) 2000-05-30 2002-11-19 The Procter & Gamble Company Autonomous mobile surface treating apparatus
WO2002097198A1 (de) * 2001-05-31 2002-12-05 Siemens Aktiengesellschaft Selbstfahrende eisenaufbereitungsmaschine mit navigationssystem
DE10148976A1 (de) * 2001-10-04 2003-04-30 Overmeyer Ludger Transpondergestütztes Fahrzeug- und Transportleitsystem
US7510247B2 (en) 2003-03-17 2009-03-31 Kalannin Kaspek Oy Ice resurfacing machine as well as system and method for ice maintenance
US7899618B2 (en) 2004-11-12 2011-03-01 The Boeing Company Optical laser guidance system and method
JP2008520046A (ja) * 2004-11-12 2008-06-12 ザ・ボーイング・カンパニー 光レーザ誘導システム装置及び方法
WO2006083340A1 (en) * 2004-11-12 2006-08-10 The Boeing Company Optical laser guidance system apparatus and method
JP4864005B2 (ja) * 2004-11-12 2012-01-25 ザ・ボーイング・カンパニー 光レーザ誘導システム装置及び方法
KR101146468B1 (ko) * 2004-11-12 2012-05-24 더 보잉 컴파니 광학 레이저 안내 시스템 장치 및 방법
FR2898926A1 (fr) * 2006-03-24 2007-09-28 Map Sarl Sarl Procede et dispositif de guidage des elements d'un abri de piscine telescopique
DE102007035823A1 (de) * 2007-07-31 2009-02-05 Robert Bosch Gmbh Ansteuersystem sowie Ansteuerverfahren für ein Roboterfahrzeug
WO2017031364A1 (en) * 2015-08-18 2017-02-23 Nilfisk, Inc. Water trailing detection system
US10010231B2 (en) 2015-08-18 2018-07-03 Nilfisk A/S Water trailing detection system
US11083357B2 (en) 2015-08-18 2021-08-10 Nilfisk A/S Water trailing detection system
US11687092B2 (en) 2018-04-23 2023-06-27 Sharkninja Operating Llc Techniques for bounding cleaning operations of a robotic surface cleaning device within a region of interest
US12376722B2 (en) 2021-08-13 2025-08-05 Sharkninja Operating Llc Robotic cleaner

Also Published As

Publication number Publication date
DE3536974C2 (en, 2012) 1988-11-24

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OP8 Request for examination as to paragraph 44 patent law
D2 Grant after examination
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee