EP0572930A1 - Aspirateur propulsé - Google Patents

Aspirateur propulsé Download PDF

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Publication number
EP0572930A1
EP0572930A1 EP93108614A EP93108614A EP0572930A1 EP 0572930 A1 EP0572930 A1 EP 0572930A1 EP 93108614 A EP93108614 A EP 93108614A EP 93108614 A EP93108614 A EP 93108614A EP 0572930 A1 EP0572930 A1 EP 0572930A1
Authority
EP
European Patent Office
Prior art keywords
vacuum cleaner
sensors
cleaner according
user
semiconductor memory
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
EP93108614A
Other languages
German (de)
English (en)
Other versions
EP0572930B1 (fr
Inventor
Ira Dr. Leuthäusser
Ulrich Dr. Leuthäusser
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 EP0572930A1 publication Critical patent/EP0572930A1/fr
Application granted granted Critical
Publication of EP0572930B1 publication Critical patent/EP0572930B1/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

  • a mobile vacuum cleaner with a suction hose that can be connected to a suction opening in its housing, a nose wheel that is pivotably arranged on the underside of the housing towards the front of the housing, and with two bottom wheels that are arranged on the side of a housing toward the rear.
  • This vacuum cleaner follows with the help of attached to it Sensors that detect obstacles and an electric motor that drives the ground wheels, as well as a steering device for the nose wheel, a tension sensor on the suction hose and a control device that evaluates the signals from the sensors to the user.
  • the nose wheel is steered so that the vacuum cleaner drives past obstacles.
  • the object underlying the invention is to provide a vacuum cleaner with which one can also vacuum in narrow corridors and other confined spaces without lifting the vacuum cleaner or maneuvering it backward out of the confined space with the foot.
  • a particular advantage of the invented vacuum cleaner is that, compared to the prior art, only minor modifications, such as the attachment of a storage medium and the development of a program for the microprocessor, which evaluates the sensors, are required to achieve the effect according to the invention. It is particularly advantageous to drive the motors of the drive in reverse when the vacuum cleaner returns and to control the vacuum cleaner in reverse order with the same time dependency as when driving forward, since no additional sensors are required.
  • control means it is favorable to use a microprocessor in the vacuum cleaner according to the invention, since it can easily coordinate the various functions.
  • Ultrasound, light or laser sensors for obstacle detection have proven to be particularly favorable for use in the vacuum cleaner according to the invention, since known methods are used to detect and detect obstacles.
  • FIG. 1 an embodiment of a vacuum cleaner according to the invention is shown. 1 with 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. Towards the front of the vacuum cleaner housing 1, a nose wheel pivotable about a vertical axis 4 is arranged on the underside thereof. The vertical axis 4 is coupled to an adjustment drive 6.
  • This adjustment drive 6 is controlled by a control device with semiconductor memory 7.
  • the control device with semiconductor memory 7 receives the actual value signals required for the corresponding pivoting of the nose wheel 5.
  • sensors 10 for obstacle detection are arranged in the vacuum cleaner housing 1, which likewise emit actual value signals to the control device with semiconductor memory 7.
  • the control device with semiconductor memory 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 path.
  • the bottom wheels 3 are assigned a drive motor 11, which is also controlled via the control device with semiconductor memory 7 as a function of the actual value signals supplied by the sensor.
  • the user activates the device and pulls on the suction hose. This causes a train to be reported to the semiconductor memory with the control device 7 via the sensor 9, whereupon the drive motor 11 is activated.
  • the vacuum cleaner follows the user's turn. If an obstacle is detected by the sensors 10 in the path of the vacuum cleaner, it causes an adjustment of the nose wheel 5 via the control with semiconductor memory 7.
  • the vacuum cleaner evades the obstacle.
  • all control actions and drive actions are logged in the semiconductor memory, which are carried out by the control unit with semiconductor memory 7.
  • the sensor element 9 reports no tension on the hose. Sensor element 10 is still not reporting any obstacles.
  • the drive 11 is deactivated. The user will now want to go back and consequently approaches the vacuum cleaner housing.
  • the sensors 10 perceive a moving obstacle and report this to the control device with the semiconductor memory 7.
  • the condition for return is fulfilled.
  • the control device with semiconductor memory 7 causes the drive motor 11 to drive the drive wheels 3 in the opposite direction.
  • the control actions previously stored become the semiconductor memory taken in reverse order. That is, they are read out starting with the last control action carried out and fed to the servomotor 6 of the nose wheel 5.
  • the nose wheel is now adjusted in reverse order as it was when driving forward. This causes the vacuum cleaner to drive past the obstacles that were passed when driving forwards and in reverse.
  • the backward movement continues until either the user pulls on the hose 8 and the sensor 9 reports a train to the control device with semiconductor memory 7, or until the sensor 10 can no longer detect the user who initiated the backward travel and does so to the control device the semiconductor memory reports. Forward driving can then be resumed as previously described.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Electric Suction Cleaners (AREA)
  • Electric Vacuum Cleaner (AREA)
EP93108614A 1992-06-02 1993-05-27 Aspirateur propulsé Expired - Lifetime EP0572930B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE4218172A DE4218172C1 (de) 1992-06-02 1992-06-02 Angetriebener Staubsauger
DE4218172 1992-06-02

Publications (2)

Publication Number Publication Date
EP0572930A1 true EP0572930A1 (fr) 1993-12-08
EP0572930B1 EP0572930B1 (fr) 1996-11-06

Family

ID=6460225

Family Applications (1)

Application Number Title Priority Date Filing Date
EP93108614A Expired - Lifetime EP0572930B1 (fr) 1992-06-02 1993-05-27 Aspirateur propulsé

Country Status (2)

Country Link
EP (1) EP0572930B1 (fr)
DE (2) DE4218172C1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2833826A1 (fr) * 2001-12-24 2003-06-27 Denis Deleval Aspirateur a roue(s)arriere orientable(s)
WO2007096048A1 (fr) * 2006-02-22 2007-08-30 Miele & Cie. Kg Aspirateur
EP1870010A4 (fr) * 2005-03-25 2008-07-23 Toshiba Tec Kk Systeme de nettoyage electrique
WO2008136575A1 (fr) 2007-05-07 2008-11-13 Lg Electronics Inc. Aspirateur
EP2420171A1 (fr) * 2010-08-20 2012-02-22 LG Electronics, Inc. Appareil de nettoyage

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102008009615B4 (de) * 2008-02-18 2017-12-21 Vorwerk & Co. Interholding Gmbh Selbsttätig verfahrbares Bodenstaub-Aufsammelgerät sowie Sensoranordnung

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS53110257A (en) * 1977-03-08 1978-09-26 Matsushita Electric Ind Co Ltd Automatic vacuum cleaner
JPS6215610A (ja) * 1985-07-15 1987-01-24 Hitachi Ltd 自律走行ロボツトの走行制御方法
JPH01308521A (ja) * 1988-06-07 1989-12-13 Matsushita Electric Ind Co Ltd 自走式掃除機
JPH027930A (ja) * 1988-06-28 1990-01-11 Matsushita Electric Ind Co Ltd 電気掃除機の自走制御装置
GB2225221A (en) * 1988-11-16 1990-05-30 Unilever Plc Nozzle arrangement on robot vacuum cleaning machine
EP0389459A2 (fr) * 1989-03-13 1990-09-26 Transitions Research Corporation Enceinte motorisée avec système de commande et procédé pour commander ladite enceinte
US4986378A (en) * 1989-03-06 1991-01-22 Tennant Company Machine configuration and method for steering a vehicle away from a wall
US5109566A (en) * 1990-06-28 1992-05-05 Matsushita Electric Industrial Co., Ltd. Self-running cleaning apparatus

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1473109A (fr) * 1973-10-05 1977-05-11
EP0319700B1 (fr) * 1987-11-11 1991-06-12 Siemens Aktiengesellschaft Aspirateur de poussières mobile

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS53110257A (en) * 1977-03-08 1978-09-26 Matsushita Electric Ind Co Ltd Automatic vacuum cleaner
JPS6215610A (ja) * 1985-07-15 1987-01-24 Hitachi Ltd 自律走行ロボツトの走行制御方法
JPH01308521A (ja) * 1988-06-07 1989-12-13 Matsushita Electric Ind Co Ltd 自走式掃除機
JPH027930A (ja) * 1988-06-28 1990-01-11 Matsushita Electric Ind Co Ltd 電気掃除機の自走制御装置
GB2225221A (en) * 1988-11-16 1990-05-30 Unilever Plc Nozzle arrangement on robot vacuum cleaning machine
US4986378A (en) * 1989-03-06 1991-01-22 Tennant Company Machine configuration and method for steering a vehicle away from a wall
EP0389459A2 (fr) * 1989-03-13 1990-09-26 Transitions Research Corporation Enceinte motorisée avec système de commande et procédé pour commander ladite enceinte
US5109566A (en) * 1990-06-28 1992-05-05 Matsushita Electric Industrial Co., Ltd. Self-running cleaning apparatus

Non-Patent Citations (4)

* Cited by examiner, † Cited by third party
Title
PATENT ABSTRACTS OF JAPAN vol. 002, no. 142 (M - 041) *
PATENT ABSTRACTS OF JAPAN vol. 011, no. 189 (P - 587) *
PATENT ABSTRACTS OF JAPAN vol. 014, no. 100 (C - 693) *
PATENT ABSTRACTS OF JAPAN vol. 014, no. 134 (C - 701) 14 March 1990 (1990-03-14) *

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2833826A1 (fr) * 2001-12-24 2003-06-27 Denis Deleval Aspirateur a roue(s)arriere orientable(s)
WO2003055370A1 (fr) * 2001-12-24 2003-07-10 Denis Deleval Aspirateur a roue(s) arriere orientable(s).
EP1870010A4 (fr) * 2005-03-25 2008-07-23 Toshiba Tec Kk Systeme de nettoyage electrique
WO2007096048A1 (fr) * 2006-02-22 2007-08-30 Miele & Cie. Kg Aspirateur
WO2008136575A1 (fr) 2007-05-07 2008-11-13 Lg Electronics Inc. Aspirateur
EP2152136A1 (fr) * 2007-05-07 2010-02-17 Lg Electronics Inc. Aspirateur
EP2152136A4 (fr) * 2007-05-07 2011-09-07 Lg Electronics Inc Aspirateur
EP2420171A1 (fr) * 2010-08-20 2012-02-22 LG Electronics, Inc. Appareil de nettoyage

Also Published As

Publication number Publication date
DE59304390D1 (de) 1996-12-12
DE4218172C1 (de) 1993-11-25
EP0572930B1 (fr) 1996-11-06

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