EP0319700B1 - Mobile suction cleaner - Google Patents

Mobile suction cleaner Download PDF

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Publication number
EP0319700B1
EP0319700B1 EP88118143A EP88118143A EP0319700B1 EP 0319700 B1 EP0319700 B1 EP 0319700B1 EP 88118143 A EP88118143 A EP 88118143A EP 88118143 A EP88118143 A EP 88118143A EP 0319700 B1 EP0319700 B1 EP 0319700B1
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EP
European Patent Office
Prior art keywords
vacuum cleaner
housing
light
cleaner according
receiving elements
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.)
Expired - Lifetime
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EP88118143A
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German (de)
French (fr)
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EP0319700A1 (en
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
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Siemens AG
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    • 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 lying 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 against such obstacles is avoided. The user therefore no longer has to pay attention to avoiding such obstacles when moving the vacuum cleaner.
  • 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 output 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 ultrasound 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 ultrasound 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 so 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.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Electric Suction Cleaners (AREA)

Description

Die Erfindung betrifft einen fahrbaren Staubsauger gemäß dem Oberbegriff des Anspruches 1. Ein solcher Staubsauger ist durch die DE-PS 33 11 494 bekannt.The invention relates to a mobile vacuum cleaner according to the preamble of claim 1. Such a vacuum cleaner is known from DE-PS 33 11 494.

Der Benutzer eines fahrbaren Staubsaugers zieht diesen während der Saugarbeiten üblicherweise hinter sich her. Dies erfolgt sowohl innerhalb eines Raumes als auch von Raum zu Raum. Bei diesem Hinterherziehen besteht die Gefahr, daß der Staubsauger an Möbelkanten, Wandecken, Türpfosten oder anderen Hindernissen anstößt. Zur Vermeidung von Schäden, die bei einem solchen Anstoßen auftreten können, muß der Benutzer stets darauf achten, daß er den Staubsauger an den entsprechenden Hindernissen vorbei manövriert. Dies erfordert eine stete Aufmerksamkeit des Benutzers.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.

Der Erfindung liegt die Aufgabe zugrunde, einen Staubsauger gemäß dem Gattungsbegriff des Anspruches 1 so auszubilden, daß dieser vom Benutzer nicht mehr gezielt um Hindernisse herumgeführt werden muß.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.

Die Lösung der gestellten Aufgabe gelingt durch die im Kennzeichen des Anspruches 1 angegebenen Merkmale.The problem is solved by the features specified in the characterizing part of claim 1.

Durch die aktive Steuerung des Bugrades in Abhängigkeit von der Richtung der über den Saugschlauch ausgeübten Zugkraft wird sichergestellt, daß sich der Staubsauger exakt in die Richtung der Zugkraft bewegt. Die überlagerte Steuerung durch die Sensoren, die im Fahrweg des Staubsaugers liegende Hindernisse erkennen, bewirkt ferner, daß das Bugrad zusätzlich so verschwenkt wird, daß ein Anstoßen des Staubsaugers an derartigen Hindernissen vermieden wird. Der Benutzer muß daher beim Weiterziehen des Staubsaugers nicht mehr gezielt auf ein Umfahren solcher Hindernisse achten.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 lying 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 against such obstacles is avoided. The user therefore no longer has to pay attention to avoiding such obstacles when moving the vacuum cleaner.

Die Handhabung des Staubsaugers wird weiterhin dadurch erleichtert, daß ein auf die Bodenräder wirkender Antriebsmotor vorgesehen ist, der in Abhängigkeit von der auf den Saugschlauch ausgeübten Zugkraft steuerbar ist. Somit braucht die Kraft für das Fortbewegen des Staubsaugers nicht mehr von dem Benutzer aufgebracht zu werden. Darüber hinaus ist es vorteilhaft, wenn die Drehzahl des Antriebsmotors proportional zu der auf dem Saugschlauch ausgeübten Zugkraft gesteuert ist. Somit besteht die Möglichkeit, längere Fahrwege zwischen verschiedenen abzusaugenden Stellen innerhalb eines Raumes oder beim Überwechseln von einem zu einem anderen Raum schneller zurückzulegen.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. Thus, the force for moving the vacuum cleaner no longer needs to be applied by the user. In addition, it is advantageous if 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.

Verschiedene Möglichkeiten der Erfassung von im Fahrweg des Staubsaugers liegenden Hindernissen sind in den übrigen Ansprüchen 4-9 beschrieben.Various possibilities for detecting obstacles lying in the travel path of the vacuum cleaner are described in the remaining claims 4-9.

Anhand eines in der Zeichnung dargestellten Ausführungsbeispiels wird die Erfindung nachfolgend näher erläutert. Es zeigen:

  • FIG 1 einen fahrbaren Staubsauger in schematischer Darstellung,
  • FIG 2 einen Staubsauger mit eingebauten Ultraschallsendern und -empfängern,
  • FIG 3 einen Staubsauger mit eingebautem Lichtsender und -empfänger,
  • FIG 4 einen Staubsauger mit eingebauten Leuchtdioden und Zeilenkameras,
  • FIG 5 einen Staubsauger mit eingebauten Leuchtdioden und Fotodioden als Empfänger.
Based on an embodiment shown in the drawing, the invention is explained in more detail below. Show it:
  • 1 shows a mobile vacuum cleaner in a schematic representation,
  • 2 shows a vacuum cleaner with built-in ultrasonic transmitters and receivers,
  • 3 shows a vacuum cleaner with built-in light transmitter and receiver,
  • 4 shows a vacuum cleaner with built-in light-emitting diodes and line cameras,
  • 5 shows a vacuum cleaner with built-in light-emitting diodes and photodiodes as receivers.

Mit 1 ist das Gehäuse eines fahrenbaren Staubsaugers bezeichnet, das ein Gebläseaggregat 2 enthält. Am hinteren Ende des Staubsaugergehäuses 1 sind seitlich Bodenräder 3 vorgesehen. Zur Vorderseite des Staubsaugergehäuses 1 hin ist an dessen Unterseite ein um eine senkrechte Achse 4 verschwenkbares Bugrad 5 angeordnet. Die senkrechte Achse 4 ist mit einem Verstellantrieb 6 gekoppelt. Dieser Verstellantrieb 6 wird durch eine Steuervorrichtung 7 gesteuert. Über ein die Zugkraft und die Zugrichtung eines an das Staubsaugergehäuse angeschlossenen Saugschlauches 8 erfassendes Meßglied 9 erhält die Steuervorrichtung 7 die zur entsprechenden Verschwenkung des Bugrades 5 erforderlichen Istwertsignale zugeführt. Ferner sind im Staubsaugergehäuse 1 Sensoren 10 zur Hinderniserkennung angeordnet, die ebenfalls Istwertsignale an die Steuervorrichtung 7 abgeben.With 1 the housing of a mobile vacuum cleaner is referred to, which contains a blower unit 2. At the rear end of the vacuum cleaner housing 1, bottom wheels 3 are provided on the side. To 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. Furthermore, sensors 10 for obstacle detection are arranged in the vacuum cleaner housing 1, which likewise output actual value signals to the control device 7.

Die Steuervorrichtung 7 bildet aus den zugeführten Istwertsignalen entsprechende Steuersignale für den Verstellantrieb 6, durch den das Bugrad 5 derart verschwenkt wird, daß das Staubsaugergehäuse 1 in die gewünschte Richtung fährt, ohne gegen in seinem Fahrweg liegende Hindernisse zu stoßen.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.

Wie in der FIG 1 ebenfalls angedeutet, kann den Bodenrädern 3 ein Antriebsmotor 11 zugeordnet werden, der ebenfalls von der Steuervorrichtung 7 in Abhängigkeit von den durch das Meßglied 9 gelieferten, der am Saugschlauch 8 wirkenden Zugkraft entsprechenden Istwertsignalen gesteuert wird. Ist der Staubsauger mit einem solchen Antriebsmotor 11 ausgerüstet, dann wird die Energie für das Fortbewegen des Staubsaugers von diesem Motor aufgebracht und der Benutzer des Staubsaugers ist entlastet. Es reicht ein geringfügiger Zug am Saugschlauch 8, um den Antriebsmotor 11 über die Steuervorrichtung 7 in Gang zu setzen. Die Steuerung kann so ausgelegt werden, daß beim Verschwinden der Zugkraft der Antriebsmotor 11 stillgesetzt wird, oder daß bei einem einmaligen Zug am Saugschlauch 8 der Antriebsmotor 11 für eine vorgegebene Zeit eingeschaltet und danach wieder abgeschaltet wird. Der Staubsauger wird dann entsprechend um eine bestimmte Wegstrecke fortbewegt.As also indicated in FIG. 1, 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.

Die Figuren 2 bis 5 zeigen verschiedene Ausführungsvarianten der Sensoren 10 für eine Erkennung von in Fahrtrichtung des Staubsaugers liegenden Hindernissen 12.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.

Bei dem in FIG 2 dargestellten Ausführungsbeispiel sind im Staubsaugergehäuse zwei seitlich voneinander beabstandete Ultraschallsender und -empfänger 13 und 14 angeordnet. Die von den Ultraschallsendern 13 ausgestrahlten Schallsignale werden an dem in Fahrtrichtung (Pfeil 15) vor dem Staubsaugergehäuse 1 liegenden Hindernis 12 reflektiert und von den beiden Ultraschallempfängern 14 wieder aufgenommen. Aufgrund der empfangenen Schallsignale geben die Ultraschallempfänger 14 entsprechende Istwertsignale an die Steuervorrichtung 7 ab. Die Steuervorrichtung 7 ist mit einer geeigneten Auswerteeinheit, z.B. einem Mikrocomputer, ausgerüstet, der aus den empfangenen Istwertsignalen die Lage des Hindernisses 12 ermitteln kann und daraufhin den Verstellantrieb 6 und damit das Bugrad 5 so steuert, daß das Hindernis 12 umfahren wird.In the exemplary embodiment shown in FIG. 2, 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 ultrasound 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 ultrasound receivers 14. On the basis of the sound signals received, 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 so that the obstacle 12 is bypassed.

In FIG 3 ist als Sender ein Laserscanner 16 in dem Staubsaugergehäuse 1 dargestellt. Ein von dem Laserscanner 16 ausgesandter Laserstrahl 17 wird an dem Hindernis 12 reflektiert. Der reflektierte Laserstrahl 17a trifft auf ein optisches Empfangsgerät 18, das ein entsprechendes Istwertsignal an eine Auswerteeinrichtung der Steuervorrichtung 7 abgibt. Da durch den Laserstrahl 17 des Laserscanners 16 nur ein Lichtpunkt auf dem Hindernis 12 erzeugt wird, ist zur Erfassung der gesamten Ausdehnung des Hindernisses 12 der Laserscanner 16 verschwenkbar angeordnet, wie durch Pfeile angedeutet. Auf diese Weise kann das Hindernis 12 in seiner Breitenausdehnung nacheinander abgefragt werden. Die Auswerteeinrichtung errechnet aus den zugeführten Einzelsignalen der Gesamtzahl der Abfragen den entsprechenden Kurs des Staubsaugers, durch den eine Kollision mit dem Hindernis 12 vermieden wird.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.

Die Ausführungsbeispiele nach den Figuren 4 und 5 zeigen als Lichtsender jeweils Leuchtdioden 19. Diese Leuchtdioden 19 senden gerichtete Lichtstrahlen 20 aus, die gegebenenfalls auf das Hindernis auftreffen und an diesem reflektiert werden. Die reflektierten Lichtstrahlen 20a werden von Zeilenkameras 21 registriert, die daraufhin entsprechende Istwertsignale an die Auswerteeinrichtung der Steuervorrichtung 7 abgeben. Bei dem Ausführungsbeispiel nach FIG 5 sind als Empfangselemente für die reflektierten Lichtstrahlen 20a Fotodioden 22 vorgesehen. Die Leuchtdioden 19 werden bei den beiden Ausführungsvarianten jeweils nacheinander angesteuert, so daß stets nur von einer Leuchtdiode 19 ein Lichtstrahl ausgesandt wird. Damit werden die reflektierten Lichtstrahlen 20a von den Zeilenkameras 21 unter verschiedenen Winkeln empfangen, so daß mit Hilfe der Auswerteeinrichtung die Lage und Entfernung des Hindernisses 12 bestimmt werden kann. Die Fotodioden 22 registrieren dagegegen die einzelnen reflektierten Lichtstrahlen mit unterschiedlicher Intensität. Unter Zuordnung der jeweils registrierten Lichtintensität zu der jeweils strahlenden Leuchtdiode 19 kann wiederum die Lage und Entfernung des Hindernisses 12 durch die Auswerteeinrichtung ermittelt werden.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. In contrast, 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.

Beim Arbeiten mit dem Staubsauger wird zum Fortbewegen desselben über den Saugschlauch 8 eine Zugkraft ausgeübt. Das Meßglied 9 erfaßt die Richtung der Zugkraft und gibt entsprechende Istwertsignale an die Steuervorrichtung 7. Diese steuert den Verstellantrieb 6 so, daß das Bugrad 5 in die Richtung der am Saugschlauch 8 wirkenden Zugkraft verschwenkt wird. Wird durch die Sensoren 10 ein Hindernis 12 in der Fahrtrichtung des Staubsaugergehäuses 1 festgestellt, so wird der Verstellantrieb 6 über die Steuervorrichtung 7 weiter aktiviert und damit das Bugrad 5 weiter verschwenkt, so daß das Staubsaugergehäuse 1 an dem Hindernis 12 vorbeigelenkt wird.When working with the vacuum cleaner, a pulling force is exerted on the suction hose 8 to move it. The measuring element 9 detects the direction of the tensile force and sends corresponding actual value signals to the control device 7. This 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.

Der Benutzer des Staubsaugers muß somit beim Fortbewegen desselben nicht mehr auf einen kollisionsfreien Kurs achten. Bis her mußte aus Gründen des kollisionsfreien Fortbewegens des Staubsaugergehäuses der Saugschlauch relativ kurz (1,5 bis 2 m) gehalten werden. Da dieser Grund bei dem beschriebenen Staubsauger nunmehr entfällt, kann ein wesentlich längerer Saugschlauch verwendet werden, so daß der Aktionsradius beim Saugen dementsprechend erweitert ist.The user of the vacuum cleaner therefore no longer has to pay attention to a collision-free course when moving it. To ago had to be kept relatively short (1.5 to 2 m) for reasons of collision-free movement of the vacuum cleaner housing. Since this reason no longer applies to the vacuum cleaner described, a much longer suction hose can be used, so that the range of action during suction is correspondingly expanded.

Die Kombination der Steuerung des Bugrades 5 durch den Verstellantrieb 6 mit einem Antrieb der Bodenräder 3 durch den Antriebsmotor 11 hat den Vorteil, daß die Zugkraft an dem Saugschlauch 8 während der Fahrt des Staubsaugergehäuses 1 gleich Null oder zumindest sehr klein ist. Damit wird eine Fehllenkung des Staubsaugergehäuses infolge einer zu hohen Zugkraft am Saugschlauch ausgeschaltet.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.

Claims (9)

1. Movable vacuum cleaner having a suction tube which can be connected to a suction opening of its housing, a nose wheel which is arranged towards the front side of the housing such that it can be swung on the lower side of the housing and having two base wheels which are arranged laterally on the housing towards the rear side thereof, characterised in that there is associated with the nose wheel (5) an adjusting drive (6) which effects the swing of said wheel and which is controlled as a function of the direction of the tractive force exerted by way of the suction tube (8) in its movement of swing, in that, furthermore, there are arranged in the housing (1) sensors (10) by means of which obstacles (12) lying opposite the housing (1) at least in the front area of the latter can be recognized and in that the output signals supplied by these sensors (10) are superimposed on the control of the adjusting drive (6).
2. Vacuum cleaner according to claim 1, characterised in that a drive motor (11) is provided, which motor acts on the base wheels (3) and can be controlled as a function of the tractive force exerted on the suction tube (8).
3. Vacuum cleaner according to claim 2, characterised in that the rotational speed of the drive motor (11) is controlled in a manner proportional to the tractive force exerted on the suction tube (8).
4. Vacuum cleaner according to claim 1, 2 or 3, characterised in that ultrasonic transmitters and receivers (13 and 14) are provided as sensors (10) for the recognition of obstacles (12).
5. Vacuum cleaner according to claim 1, 2 or 3, characterised in that there is provided on the vacuum cleaner housing (1) a light source (16), which emits a concentrated light beam (17), and at a lateral distance therefrom a lens, the image plane of which is arranged a sensor element (18) which detects the light spot produced by the light beam (17) on an obstacle (12) lying opposite the vacuum cleaner housing (1), in that, furthermore, the light beam (17) can be swung in a plane by means of a rotating prismatic mirror.
6. Vacuum cleaner according to claim 1, 2 or 3, characterised in that there are arranged in the vacuum cleaner housing (1), on the front side thereof, at least two light receiving elements (21 or 22) at a lateral distance from each other and there are associated with these light-receiving elements (21 and 22) several light sources (19) which emit a concentrated light beam (20) and can be switched on one after the other.
7. Vacuum cleaner according to claim 6, characterised in that two line cameras (21) are provided as light-receiving elements and the light sources (19) are arranged in the space between the two line cameras (21).
8. Vacuum cleaner according to claim 7, characterised in that a wide-angle optical system is associated with each line camera (21).
9. Vacuum cleaner according to claim 6, characterised in that several photodiodes (22) with wide directional characteristic as light-receiving elements and several light-emitting diodes (19) with narrow directional characteristic as light source are arranged distributed over the front width of the vacuum cleaner housing (1).
EP88118143A 1987-11-11 1988-10-31 Mobile suction cleaner Expired - Lifetime EP0319700B1 (en)

Applications Claiming Priority (2)

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

Publications (2)

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EP0319700A1 EP0319700A1 (en) 1989-06-14
EP0319700B1 true EP0319700B1 (en) 1991-06-12

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EP88118143A Expired - Lifetime EP0319700B1 (en) 1987-11-11 1988-10-31 Mobile suction cleaner

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EP (1) EP0319700B1 (en)
DE (1) DE3863282D1 (en)

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DE19653618B4 (en) * 1996-12-20 2006-10-05 BSH Bosch und Siemens Hausgeräte GmbH Mobile vacuum cleaner
KR20180048523A (en) * 2018-04-27 2018-05-10 엘지전자 주식회사 Vacuum cleaner
US10314448B2 (en) 2016-02-29 2019-06-11 Lg Electronics Inc. Vacuum cleaner
US10314455B2 (en) 2016-02-29 2019-06-11 Lg Electronics Inc. Vacuum cleaner
US10321796B2 (en) 2016-02-29 2019-06-18 Lg Electronics Inc. Vacuum cleaner

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US4967862A (en) * 1989-03-13 1990-11-06 Transitions Research Corporation Tether-guided vehicle and method of controlling same
DE4218172C1 (en) * 1992-06-02 1993-11-25 Siemens Ag Powered vacuum cleaner
KR970032722A (en) * 1995-12-19 1997-07-22 최진호 Cordless cleaner
US6226830B1 (en) 1997-08-20 2001-05-08 Philips Electronics North America Corp. Vacuum cleaner with obstacle avoidance
DE10357636B4 (en) * 2003-12-10 2013-05-08 Vorwerk & Co. Interholding Gmbh Automatically movable floor dust collecting device
JP4782684B2 (en) * 2005-03-25 2011-09-28 株式会社東芝 Vacuum cleaner
DE102012101589A1 (en) * 2012-02-28 2013-08-29 Miele & Cie. Kg Bottom cleaning device i.e. floor vacuum cleaner, has contactless activatable proximity sensor and steerable wheel arranged at side of housing, where steerable wheel is formed in front case of housing
DE202017000984U1 (en) 2016-02-29 2017-05-29 Lg Electronics Inc. vacuum cleaner
GB2564049B (en) * 2016-02-29 2021-05-26 Lg Electronics Inc Vacuum cleaner
WO2017150874A1 (en) 2016-02-29 2017-09-08 엘지전자 주식회사 Vacuum cleaner
TWI641353B (en) * 2016-02-29 2018-11-21 Ｌｇ電子股份有限公司 Vacuum cleaner
DE202017000985U1 (en) 2016-02-29 2017-05-29 Lg Electronics Inc. vacuum cleaner
WO2017150862A1 (en) 2016-02-29 2017-09-08 엘지전자 주식회사 Vacuum cleaner
TWI653962B (en) * 2016-02-29 2019-03-21 Ｌｇ電子股份有限公司 Vacuum cleaner
TWI636758B (en) * 2016-02-29 2018-10-01 Ｌｇ電子股份有限公司 Vacuum cleaner
AU2017227412B2 (en) 2016-02-29 2020-01-23 Lg Electronics Inc. Vacuum cleaner
TWI664943B (en) * 2016-02-29 2019-07-11 Ｌｇ電子股份有限公司 Vacuum cleaner
TWI664944B (en) 2016-02-29 2019-07-11 Ｌｇ電子股份有限公司 Vacuum cleaner
TWI643597B (en) * 2016-02-29 2018-12-11 Ｌｇ電子股份有限公司 Vacuum cleaner
DE202017002619U1 (en) 2016-05-20 2017-08-04 Lg Electronics Inc. vacuum cleaner
US11141863B2 (en) * 2018-10-11 2021-10-12 Pixart Imaging Inc. Cleaning robot capable of detecting 2D depth information and operating method thereof

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DE19653618B4 (en) * 1996-12-20 2006-10-05 BSH Bosch und Siemens Hausgeräte GmbH Mobile vacuum cleaner
US10314448B2 (en) 2016-02-29 2019-06-11 Lg Electronics Inc. Vacuum cleaner
US10314455B2 (en) 2016-02-29 2019-06-11 Lg Electronics Inc. Vacuum cleaner
US10321796B2 (en) 2016-02-29 2019-06-18 Lg Electronics Inc. Vacuum cleaner
KR20180048523A (en) * 2018-04-27 2018-05-10 엘지전자 주식회사 Vacuum cleaner

Also Published As

Publication number Publication date
DE3863282D1 (en) 1991-07-18
EP0319700A1 (en) 1989-06-14

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