EP0319700A1 - Aspirateur de poussières mobile - Google Patents

Aspirateur de poussières mobile Download PDF

Info

Publication number
EP0319700A1
EP0319700A1 EP88118143A EP88118143A EP0319700A1 EP 0319700 A1 EP0319700 A1 EP 0319700A1 EP 88118143 A EP88118143 A EP 88118143A EP 88118143 A EP88118143 A EP 88118143A EP 0319700 A1 EP0319700 A1 EP 0319700A1
Authority
EP
European Patent Office
Prior art keywords
vacuum cleaner
housing
light
cleaner according
suction hose
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
EP88118143A
Other languages
German (de)
English (en)
Other versions
EP0319700B1 (fr
Inventor
Frieder Dr. Voigt
E. Prof. Von Puttkammer
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.)
BOSCH-SIEMENS HAUSGERAETE GMBH
Original Assignee
Siemens AG
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 Siemens AG filed Critical Siemens AG
Publication of EP0319700A1 publication Critical patent/EP0319700A1/fr
Application granted granted Critical
Publication of EP0319700B1 publication Critical patent/EP0319700B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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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
    • A47L9/00—Details 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
    • A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
    • 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

Definitions

  • the invention relates to a mobile vacuum cleaner according to the preamble of claim 1.
  • a vacuum cleaner is known from DE-PS 33 11 494.
  • the user of a mobile vacuum cleaner usually pulls it behind him during the suction work. This takes place both within a room and from room to room. With this pulling behind there is a risk that the vacuum cleaner will hit furniture edges, wall corners, door jambs or other obstacles. In order to avoid damage that can occur with such a bump, the user must always make sure that he maneuvers the vacuum cleaner past the relevant obstacles. This requires constant user attention.
  • the invention has for its object to design a vacuum cleaner according to the preamble of claim 1 so that the user no longer has to be guided around obstacles.
  • the active control of the nose wheel depending on the direction of the pulling force exerted by the suction hose ensures that the vacuum cleaner moves exactly in the direction of the pulling force.
  • the superimposed control by the sensors, which detect obstacles in the travel path of the vacuum cleaner, furthermore causes the nose wheel to be additionally pivoted in such a way that the vacuum cleaner bumps into such an obstacle is avoided. The user therefore no longer has to pay attention to avoiding such obstacles when moving the vacuum cleaner on.
  • the handling of the vacuum cleaner is further facilitated by the fact that a drive motor acting on the base wheels is provided, which can be controlled as a function of the pulling force exerted on the suction hose.
  • a drive motor acting on the base wheels is provided, which can be controlled as a function of the pulling force exerted on the suction hose.
  • the speed of the drive motor is controlled in proportion to the tensile force exerted on the suction hose. It is therefore possible to cover longer distances between different suction points within a room or when changing from one room to another.
  • the housing of a mobile vacuum cleaner is referred to, which contains a blower unit 2.
  • bottom wheels 3 are provided on the side.
  • the front of the vacuum cleaner housing 1 is arranged on the underside of a nose wheel 5 which is pivotable about a vertical axis 4.
  • the vertical axis 4 is coupled to an adjustment drive 6.
  • This adjustment drive 6 is controlled by a control device 7.
  • the control device 7 receives the actual value signals required for the corresponding pivoting of the nose wheel 5 via a measuring element 9 which detects the pulling force and the pulling direction of a suction hose 8 connected to the vacuum cleaner housing.
  • sensors 10 for obstacle detection are arranged in the vacuum cleaner housing 1, which likewise send actual value signals to the control device 7.
  • the control device 7 forms corresponding control signals for the adjustment drive 6 from the supplied actual value signals, by means of which the nose wheel 5 is pivoted in such a way that the vacuum cleaner housing 1 travels in the desired direction without hitting obstacles lying in its travel path.
  • the bottom wheels 3 can be assigned a drive motor 11, which is also controlled by the control device 7 as a function of the actual value signals supplied by the measuring element 9 and corresponding to the tensile force acting on the suction hose 8. If the vacuum cleaner is equipped with such a drive motor 11, then the energy for moving the vacuum cleaner is applied by this motor and the user of the vacuum cleaner is relieved. A slight pull on the suction hose 8 is sufficient to start the drive motor 11 via the control device 7.
  • the control can be designed so that the drive motor 11 is stopped when the pulling force disappears, or that the drive motor 11 is switched on for a predetermined time and then switched off again when the suction hose 8 is pulled once. The vacuum cleaner is then moved accordingly by a certain distance.
  • FIGS. 2 to 5 show different variants of the sensors 10 for detecting obstacles 12 lying in the direction of travel of the vacuum cleaner.
  • two ultrasonic transmitters and receivers 13 and 14 which are laterally spaced apart are arranged in the vacuum cleaner housing.
  • the sound signals emitted by the ultrasonic transmitters 13 are reflected on the obstacle 12 in front of the vacuum cleaner housing 1 in the direction of travel (arrow 15) and are picked up again by the two ultrasonic receivers 14.
  • the ultrasound receivers 14 emit corresponding actual value signals to the control device 7.
  • the control device 7 is equipped with a suitable evaluation unit, e.g. a microcomputer, which can determine the position of the obstacle 12 from the received actual value signals and then controls the adjustment drive 6 and thus the nose wheel 5 such that the obstacle 12 is bypassed.
  • FIG. 3 shows a laser scanner 16 in the vacuum cleaner housing 1 as a transmitter.
  • a laser beam 17 emitted by the laser scanner 16 is reflected on the obstacle 12.
  • the reflected laser beam 17a strikes an optical receiving device 18, which emits a corresponding actual value signal to an evaluation device of the control device 7. Since only one light spot is generated on the obstacle 12 by the laser beam 17 of the laser scanner 16, the laser scanner 16 is pivotably arranged to detect the entire extent of the obstacle 12, as indicated by arrows. In this way, the width of the obstacle 12 can be queried one after the other.
  • the evaluation device calculates the corresponding course of the vacuum cleaner from the supplied individual signals of the total number of queries, by means of which a collision with the obstacle 12 is avoided.
  • the exemplary embodiments according to FIGS. 4 and 5 each show light-emitting diodes 19 as light transmitters. These light-emitting diodes 19 emit directed light beams 20, which may strike the obstacle and be reflected on it. The reflected light beams 20a are registered by line cameras 21, which then emit corresponding actual value signals to the evaluation device of the control device 7. 5, photodiodes 22 are provided as receiving elements for the reflected light beams 20a. The light-emitting diodes 19 are activated one after the other in the two design variants, so that only one light-emitting diode 19 always emits a light beam.
  • the reflected light beams 20a are thus received by the line scan cameras 21 at different angles, so that the position and distance of the obstacle 12 can be determined with the aid of the evaluation device.
  • the photodiodes 22 register the individual reflected light beams with different intensities. By assigning the respectively registered light intensity to the respectively emitting light-emitting diode 19, the position and distance of the obstacle 12 can in turn be determined by the evaluation device.
  • the control device 7 controls the adjusting drive 6 so that the nose wheel 5 is pivoted in the direction of the tensile force acting on the suction hose 8. If an obstacle 12 is detected by the sensors 10 in the direction of travel of the vacuum cleaner housing 1, the adjustment drive 6 is activated further via the control device 7 and thus the nose wheel 5 is pivoted further, so that the vacuum cleaner housing 1 is directed past the obstacle 12.
  • the combination of the control of the nose wheel 5 by the adjustment drive 6 with a drive of the bottom wheels 3 by the drive motor 11 has the advantage that the tensile force on the suction hose 8 while the vacuum cleaner housing 1 is moving is zero or at least very small. This eliminates incorrect steering of the vacuum cleaner housing due to excessive pulling force on the suction hose.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Electric Suction Cleaners (AREA)
  • Electric Vacuum Cleaner (AREA)
EP88118143A 1987-11-11 1988-10-31 Aspirateur de poussières mobile Expired - Lifetime EP0319700B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3738346 1987-11-11
DE3738346 1987-11-11

Publications (2)

Publication Number Publication Date
EP0319700A1 true EP0319700A1 (fr) 1989-06-14
EP0319700B1 EP0319700B1 (fr) 1991-06-12

Family

ID=6340291

Family Applications (1)

Application Number Title Priority Date Filing Date
EP88118143A Expired - Lifetime EP0319700B1 (fr) 1987-11-11 1988-10-31 Aspirateur de poussières mobile

Country Status (2)

Country Link
EP (1) EP0319700B1 (fr)
DE (1) DE3863282D1 (fr)

Cited By (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0389459A2 (fr) * 1989-03-13 1990-09-26 Transitions Research Corporation Enceinte motorisée avec système de commande et procédé pour commander ladite enceinte
DE4218172C1 (de) * 1992-06-02 1993-11-25 Siemens Ag Angetriebener Staubsauger
DE19653161A1 (de) * 1995-12-19 1997-06-26 Kwang Ju Electronics Co Ltd Fernsteuerbarer automatisch verfahrbarer Staubsauger
WO1999008584A1 (fr) * 1997-08-20 1999-02-25 Koninklijke Philips Electronics N.V. Aspirateur evitant les obstacles
EP1870010A1 (fr) * 2005-03-25 2007-12-26 Toshiba Tec Kabushiki Kaisha Systeme de nettoyage electrique
CN101342065B (zh) * 2003-12-10 2010-09-22 沃维克股份有限公司 可自动移动的地面集尘装置
DE102012101589A1 (de) * 2012-02-28 2013-08-29 Miele & Cie. Kg Bodenreinigungsgerät, insbesondere Bodenstaubsauger
US20170245719A1 (en) * 2016-02-29 2017-08-31 Lg Electronics Inc. Vacuum cleaner
US20170245713A1 (en) * 2016-02-29 2017-08-31 Lg Electronics Inc. Vacuum cleaner
KR20180048523A (ko) * 2018-04-27 2018-05-10 엘지전자 주식회사 진공 청소기
US10362915B2 (en) 2016-02-29 2019-07-30 Lg Electronics Inc. Vacuum cleaner
US10426303B2 (en) 2016-02-29 2019-10-01 Lg Electronics Inc. Vacuum cleaner
US10426310B2 (en) * 2016-02-29 2019-10-01 Lg Electronics Inc. Vacuum cleaner
AU2017227411B2 (en) * 2016-02-29 2019-11-14 Lg Electronics Inc. Vacuum cleaner
US10506905B2 (en) * 2016-02-29 2019-12-17 Lg Electronics Inc. Vacuum cleaner
US10512378B2 (en) 2016-02-29 2019-12-24 Lg Electronics Inc. Vacuum cleaner
US10517451B2 (en) 2016-05-20 2019-12-31 Lg Electronics Inc. Vacuum cleaner
US10575690B2 (en) 2016-02-29 2020-03-03 Lg Electronics Inc. Vacuum cleaner
US10582822B2 (en) * 2016-02-29 2020-03-10 Lg Electronics Inc. Vacuum cleaner
US10682029B2 (en) * 2016-02-29 2020-06-16 Lg Electronics Inc. Vacuum cleaner
US10945570B2 (en) 2016-02-29 2021-03-16 Lg Electronics Inc. Vacuum cleaner
CN115399679A (zh) * 2018-10-11 2022-11-29 原相科技股份有限公司 可侦测二维深度信息的清洁机器人

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19653618B4 (de) * 1996-12-20 2006-10-05 BSH Bosch und Siemens Hausgeräte GmbH Fahrbarer Staubsauger
TWI643596B (zh) 2016-02-29 2018-12-11 Ｌｇ電子股份有限公司 真空吸塵器
TWI637718B (zh) 2016-02-29 2018-10-11 Ｌｇ電子股份有限公司 真空吸塵器
WO2017150816A1 (fr) 2016-02-29 2017-09-08 엘지전자 주식회사 Aspirateur

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2279145A1 (fr) * 1974-07-16 1976-02-13 Lear Siegler Inc Dispositif de guidage d'un vehicule
DE2600907A1 (de) * 1975-01-10 1976-07-15 Dixon & Co Ltd R D Fussbodenbearbeitungsmaschine
EP0221423A1 (fr) * 1985-10-17 1987-05-13 Hans-Reinhard Knepper Procédé de conduite automatique de véhicules de nettoyage du sol autoguidés ainsi que machine de nettoyage du sol pour la mise en oeuvre du procédé

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2279145A1 (fr) * 1974-07-16 1976-02-13 Lear Siegler Inc Dispositif de guidage d'un vehicule
DE2600907A1 (de) * 1975-01-10 1976-07-15 Dixon & Co Ltd R D Fussbodenbearbeitungsmaschine
EP0221423A1 (fr) * 1985-10-17 1987-05-13 Hans-Reinhard Knepper Procédé de conduite automatique de véhicules de nettoyage du sol autoguidés ainsi que machine de nettoyage du sol pour la mise en oeuvre du procédé

Cited By (32)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0389459A2 (fr) * 1989-03-13 1990-09-26 Transitions Research Corporation Enceinte motorisée avec système de commande et procédé pour commander ladite enceinte
US4967862A (en) * 1989-03-13 1990-11-06 Transitions Research Corporation Tether-guided vehicle and method of controlling same
EP0389459A3 (fr) * 1989-03-13 1991-10-23 Transitions Research Corporation Enceinte motorisée avec système de commande et procédé pour commander ladite enceinte
DE4218172C1 (de) * 1992-06-02 1993-11-25 Siemens Ag Angetriebener Staubsauger
DE19653161A1 (de) * 1995-12-19 1997-06-26 Kwang Ju Electronics Co Ltd Fernsteuerbarer automatisch verfahrbarer Staubsauger
DE19653161C2 (de) * 1995-12-19 2001-06-13 Samsung Kwangju Electronics Co Fernsteuerbarer, automatisch verfahrbarer Staubsauger
WO1999008584A1 (fr) * 1997-08-20 1999-02-25 Koninklijke Philips Electronics N.V. Aspirateur evitant les obstacles
US6226830B1 (en) 1997-08-20 2001-05-08 Philips Electronics North America Corp. Vacuum cleaner with obstacle avoidance
CN101342065B (zh) * 2003-12-10 2010-09-22 沃维克股份有限公司 可自动移动的地面集尘装置
EP1870010A1 (fr) * 2005-03-25 2007-12-26 Toshiba Tec Kabushiki Kaisha Systeme de nettoyage electrique
EP1870010A4 (fr) * 2005-03-25 2008-07-23 Toshiba Tec Kk Systeme de nettoyage electrique
DE102012101589A1 (de) * 2012-02-28 2013-08-29 Miele & Cie. Kg Bodenreinigungsgerät, insbesondere Bodenstaubsauger
US10362915B2 (en) 2016-02-29 2019-07-30 Lg Electronics Inc. Vacuum cleaner
US10506905B2 (en) * 2016-02-29 2019-12-17 Lg Electronics Inc. Vacuum cleaner
DE112017000532B4 (de) 2016-02-29 2023-11-09 Lg Electronics Inc. Staubsauger
US10357135B2 (en) 2016-02-29 2019-07-23 Lg Electronics Inc. Vacuum cleaner
US20170245719A1 (en) * 2016-02-29 2017-08-31 Lg Electronics Inc. Vacuum cleaner
US10426303B2 (en) 2016-02-29 2019-10-01 Lg Electronics Inc. Vacuum cleaner
US10426310B2 (en) * 2016-02-29 2019-10-01 Lg Electronics Inc. Vacuum cleaner
US10433693B2 (en) * 2016-02-29 2019-10-08 Lg Electronics Inc. Vacuum cleaner
AU2017227411B2 (en) * 2016-02-29 2019-11-14 Lg Electronics Inc. Vacuum cleaner
US20170245713A1 (en) * 2016-02-29 2017-08-31 Lg Electronics Inc. Vacuum cleaner
US10512378B2 (en) 2016-02-29 2019-12-24 Lg Electronics Inc. Vacuum cleaner
US11039724B2 (en) 2016-02-29 2021-06-22 Lg Electronics Inc. Vacuum cleaner
US10575690B2 (en) 2016-02-29 2020-03-03 Lg Electronics Inc. Vacuum cleaner
US10582822B2 (en) * 2016-02-29 2020-03-10 Lg Electronics Inc. Vacuum cleaner
US10682029B2 (en) * 2016-02-29 2020-06-16 Lg Electronics Inc. Vacuum cleaner
US10945570B2 (en) 2016-02-29 2021-03-16 Lg Electronics Inc. Vacuum cleaner
US10517451B2 (en) 2016-05-20 2019-12-31 Lg Electronics Inc. Vacuum cleaner
KR20180048523A (ko) * 2018-04-27 2018-05-10 엘지전자 주식회사 진공 청소기
CN115399679A (zh) * 2018-10-11 2022-11-29 原相科技股份有限公司 可侦测二维深度信息的清洁机器人
CN115399679B (zh) * 2018-10-11 2023-09-15 原相科技股份有限公司 可侦测二维深度信息的清洁机器人

Also Published As

Publication number Publication date
DE3863282D1 (de) 1991-07-18
EP0319700B1 (fr) 1991-06-12

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