EP1136027A2 - Appareil d'entretien de sol ainsi que procede pour reconnaitre un etat du sol respectivement pour aligner le mouvement de conduite - Google Patents

Appareil d'entretien de sol ainsi que procede pour reconnaitre un etat du sol respectivement pour aligner le mouvement de conduite Download PDF

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Publication number
EP1136027A2
EP1136027A2 EP01106284A EP01106284A EP1136027A2 EP 1136027 A2 EP1136027 A2 EP 1136027A2 EP 01106284 A EP01106284 A EP 01106284A EP 01106284 A EP01106284 A EP 01106284A EP 1136027 A2 EP1136027 A2 EP 1136027A2
Authority
EP
European Patent Office
Prior art keywords
floor
care device
ultrasound
ultrasonic
particular according
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
EP01106284A
Other languages
German (de)
English (en)
Other versions
EP1136027B1 (fr
EP1136027A3 (fr
Inventor
Uwe Caldewey
Matthias KÖCHEL
Jörg Sommer
Patrick Schlischka
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.)
Vorwerk and Co Interholding GmbH
Original Assignee
Vorwerk and Co Interholding GmbH
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 Vorwerk and Co Interholding GmbH filed Critical Vorwerk and Co Interholding GmbH
Publication of EP1136027A2 publication Critical patent/EP1136027A2/fr
Publication of EP1136027A3 publication Critical patent/EP1136027A3/fr
Application granted granted Critical
Publication of EP1136027B1 publication Critical patent/EP1136027B1/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
    • A47L9/02—Nozzles
    • A47L9/04—Nozzles with driven brushes or agitators
    • A47L9/0405—Driving means for the brushes or agitators
    • A47L9/0411—Driving means for the brushes or agitators driven by electric motor
    • 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
    • A47L9/02—Nozzles
    • A47L9/06—Nozzles with fixed, e.g. adjustably fixed brushes or the like
    • 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
    • A47L9/02—Nozzles
    • A47L9/06—Nozzles with fixed, e.g. adjustably fixed brushes or the like
    • A47L9/0633—Nozzles with fixed, e.g. adjustably fixed brushes or the like with retractable brushes, combs, lips or pads
    • 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
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • A47L9/2826—Parameters or conditions being sensed the condition of the floor
    • 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
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation 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
    • A47L9/2842—Suction motors or blowers
    • 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
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation 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
    • A47L9/2847—Surface treating elements
    • 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
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation 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
    • A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
    • 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
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2857—User input or output elements for control, e.g. buttons, switches or displays
    • 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
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2894—Details related to signal transmission in suction cleaners

Definitions

  • the invention initially relates to a floor care device, such as in particular a vacuum cleaner, possibly with a motor-driven carpet brush, with one Ultrasonic soil detection, the soil detection Has ultrasonic transducers that act as ultrasonic transmitters or ultrasound receiver work.
  • the device for the type of floor to be maintained configured accordingly, for example by adapting the Suction power or hard floors by limiting the Suction mouth by extending bristle strips or the like.
  • this is one Care of such a hard floor deactivated.
  • This different configurations can be done manually the user can be set. It is known this Settings of the device depending on the surface structure of the soil to be maintained automatically, self-regulating.
  • the DE-T2 691 20 176 from which it is known the surface quality by means of ultrasonic transducers of the floor covering. For example, Carpets on a soft surface; Tiles and PVC coverings, on the other hand, can be classified as hard.
  • a floor care device such as in particular a vacuum cleaner of the type in question with regard to further develop soil detection in an advantageous manner.
  • the invention further relates to a floor care device, especially vacuum cleaners, possibly with a motor-driven carpet brush, with an ultrasonic floor detection, being the ground detection ultrasonic transducer has that as an ultrasonic transmitter or ultrasound receiver work.
  • a floor care device here of the type in question in particular in terms of soil detection in an advantageous manner it is provided that at least one Ultrasonic transducer with distance to an underbody the device is arranged and that between the sub-floor and the ultrasonic transducer a sound line channel is trained.
  • the ultrasonic transducer is preferred both as Transmitter and time-shifted used as a receiver.
  • the ultrasound transducer becomes pulsed excited so that a sound wave with its resonance frequency is produced.
  • This ringing time depends essentially on the bandwidth of the ultrasonic transducer and is, for example, one millisecond. Only after this time can the echo of the transmission signal by reflection on the floor or the surface of the treating the floor again the ultrasonic transducer to reach.
  • a guide through a sound conduction channel is preferred.
  • the ultrasound transducer is at one end of this Formwork line channel arranged. The other, open The end of this channel is at a distance of approx. 0.5 up to 2.5 cm to the floor to be treated in the floor care device arranged, this is more preferred with vertical Alignment of this free sound conduction channel.
  • the sound line channel be used as Hose is formed.
  • the inner wall is homogeneous. This means that no edges where the sound is reflected could be present.
  • the Sound conduction channel has a length that below Consideration of the speed of sound at least corresponds to the ringing time of the ultrasonic transducer. With a ringing time of around one millisecond results from considering the speed of sound a total distance of sound of about 34 cm and therefore a distance between the ultrasonic transducers and floor to be maintained of approx. 17 cm.
  • a correspondingly long, preferably curved sound conduction channel used in the form of a hose the End of sound exit or entry in the area of the device floor perpendicular to the floor to be maintained is aligned.
  • Sound conduction channel lengths 2 to 10 cm, preferably 3 up to 5cm realizable. It proves to be advantageous here that the ultrasonic transducer in the sound conduction channel is arranged.
  • the ultrasonic floor detection according to the invention is preferably used in such a way that depending the distance from the ultrasonic detection Suction nozzle to the floor to be maintained is changeable. So the floor of the floor care device is more preferred, such as a suction nozzle when caring for a Carpet on this one. On the other hand, the bottom of the device when maintaining a hard floor to avoid scratching it. The distance of the Suction nozzle floor to the floor to be maintained automatically to be changed.
  • Ultrasound is applied to hard floors reflected and thus the output of the assigned Schmitt triggers enabled what about a logical Linking the lifting of the suction nozzle or the suction nozzle base has the consequence. It is preferred that the Change in height by moving a bristle strip in and out is reached.
  • the evaluated Hard floor signal used to be a servo or to control the like, which in turn a Bristle strips arranged in the area of the nozzle mouth extends.
  • the suction nozzle For example, in the front area, from the floor to be maintained slightly lifted off. The detection of a carpet causes the bristle strip to retract and goes along with it lowering the suction nozzle. The same applies when lifting the device off the floor. Here too the bristle strip retracted.
  • the carpet brush is only driven when it is recognized a carpet is activated.
  • a Hard floor or when the device is at a standstill will the carpet brush to avoid damage the floor and / or the brush is not activated.
  • the suction power of the Vacuum cleaner depending on the ultrasonic signal regulate. For example, if a deep-pile is detected Carpet the maximum and at standstill detection a minimum suction power must be set.
  • an ultrasound used by more than 40 kilohertz This serves preferably a piezo element as an ultrasonic transducer. With appropriate selection of the frequency distinguish different groups of rubbers. Height However, frequencies are due to the high attenuation of the Sound signal in air rather unfavorable. For differentiation of three groups, namely soft carpet, carpet and Hard floor, a frequency of 35 to 60 kilohertz is suitable. Under soft carpet z. B. long-pile coverings like bath mats or the like. For the business of a single transducer system in which the same ultrasonic transducer both as an ultrasound transmitter as well as Ultrasound receiver works, is a sequence control required.
  • the ultrasonic transducer by means of a switch either acted on by a pulse generator or is coupled to a pulse amplifier.
  • the Ultrasonic transducer is continuously between Sending and receiving switched.
  • the design can also be chosen so that the Ultrasonic transducers both constantly with a pulse generator as interconnectable with a pulse amplifier is.
  • the sequence control is essentially simplified. There is a switch between transmission and reception mode is waived by the reception or Pulse amplifier continuously on the ultrasonic transducer is connected, i.e. also during the transmission pulse.
  • the receive amplifier is admittedly significantly overridden, but remains during the term of the sound signal is sufficient for the amplifier Time to get out of saturation and the required To deliver sensitivity. This is also done here Evaluation of the potential with a Schmitt trigger or when divided into several groups (soft carpet, Carpet, hard floor, etc.) with an appropriate number the same.
  • the invention further relates to a floor care device, especially a vacuum cleaner with a, a Suction port with suction port and possibly a motor powered carpet brush, being a Center of gravity of the device in the direction of travel behind the suction mouth, with an ultrasonic floor detection using ultrasonic transmitters and transducers.
  • a floor care device especially a vacuum cleaner with a, a Suction port with suction port and possibly a motor powered carpet brush, being a Center of gravity of the device in the direction of travel behind the suction mouth, with an ultrasonic floor detection using ultrasonic transmitters and transducers.
  • an ultrasonic transmitter and / or converter in the direction of travel is arranged.
  • Ultrasound transmitter and / or transducer an autonomous Floor care device realizable.
  • the ultrasonic transmitter and / or transducer in the direction of travel of the floor care device viewed from the front be arranged.
  • an ultrasonic transmitter and / or transducer on the edge the device is arranged. It is preferred here that two ultrasonic transmitters / transducers on the edges of the device are provided.
  • an ultrasonic transmitter and / or transducer in the direction of travel behind a front edge of the suction mouth is placed in front of the focus.
  • an ultrasonic transmitter and / or converter is arranged opposite on both Edge of the suction mouth.
  • traversing wheels are provided and that the ultrasonic transmitters and / or transducers at a distance the distance between the traversing wheels are arranged so that there is a risk that the Traversing wheel already facing the step over the edge moves before the sensor detects the abyss, counteracted is.
  • the subject matter of the invention is used to detect a transition between Two floor coverings provided that two ultrasound transmitters and / or transducers arranged directly next to each other are. As a result of this configuration, transition edges become recognized between different floor coverings, after which the floor care device is enabled to drive parallel to the edge or along the edge.
  • the Known horizontal orientation of autonomous floor care devices at obstacles with this invention a vertical orientation to the nature of the soil added. Due to the arrangement of the ultrasonic transmitter described and / or converter becomes reliable and quickly, d. H. in a direct way, a classification of the Soil type on which the floor care device moves, performed. Thus, an adapted one can be made immediately Reaction of the cleaning unit take place.
  • the aforementioned Arrangements according to the invention can each be in the form an ultrasound transmitter and an associated one Ultrasound receiver be formed. As special A configuration according to has proven to be advantageous here Claim 1, in which the same ultrasonic transducer both as an ultrasound transmitter and as an ultrasound receiver is working.
  • the invention also relates to a method for detection a floor condition, such as hard floor, carpet or missing soil by means of ultrasound measurement in one Floor care equipment.
  • a floor condition such as hard floor, carpet or missing soil by means of ultrasound measurement in one Floor care equipment.
  • the amplitude of the reflected sound is Detection of the soil condition is evaluated. So leads the evaluation of the signal for corresponding reactions. For example, when recognizing a hard floor a possibly provided carpet brush switched off and also bristle strips to limit the Suction chamber extended. For this purpose, it is further provided that the amplitude of the reflected sound with predetermined Limits are compared.
  • the sound conduction channel can be adjusted by an adapted signal to a length of 2 to 10cm, preferred 3 to 5cm, can be shortened.
  • the procedure described above can be used with common floor care equipment in the form of vacuum cleaners as well in particular autonomous floor care devices.
  • the invention further relates to a method for Alignment of the movement of an automatic Floor care device such as a vacuum cleaner in particular along an edge of a particular flooring, such as For example, a carpet, a detection of the Flooring is made using ultrasound.
  • an automatic Floor care device such as a vacuum cleaner in particular along an edge of a particular flooring, such as For example, a carpet
  • a detection of the Flooring is made using ultrasound.
  • the respective soil type is ultrasonically the device detected, with a detected floor covering change an evaluation electronics, for example driven traversing wheels of the device accordingly a desired behavior, e.g. B. "Driving along the transition edge ".
  • the invention also relates to an alignment method the movement of an automatic floor care device like especially along a vacuum cleaner an edge of a certain floor covering, such as. a carpet, whereby a detection of the floor covering is carried out by means of ultrasound.
  • a detection of the floor covering is carried out by means of ultrasound.
  • the invention relates to a method for Alignment of the traversing movement of an automatic Floor care device such as a vacuum cleaner in particular along an edge of a particular flooring, such as For example, a carpet, a detection of the Flooring is made using ultrasound.
  • an automatic Floor care device such as a vacuum cleaner in particular along an edge of a particular flooring, such as For example, a carpet
  • a detection of the Flooring is made using ultrasound.
  • two juxtaposed Ultrasonic transmitters and / or transducers are provided.
  • separate ultrasound transmitters and Ultrasound receiver can be provided. Is preferred however an arrangement according to claim 1, wherein the same Ultrasound transducers as both ultrasound transmitters also works as an ultrasonic receiver. Is preferred in this case the amplitude value of those arranged next to one another Ultrasonic transducer detected.
  • an autonomous floor care device corrective movements the drive wheels this state of the moving device receive or adjust so that the device runs along the marginal edge moves.
  • Fig. 1 shows a floor care device 1 in the form of an attachment for a vacuum cleaner with an electric motor 2 powered carpet brushes 3. Push the latter through the bottom 4 of the care device 1 in the area of a Suction mouth 5 for mechanical support of the cleaning process when caring for carpets.
  • the care device 1 For processing hard floors, such as tile floors, the care device 1 has the suction mouth in a known manner 5 upstream a bristle strip 6, which at caring for carpets or the like is so that the suction mouth 5 on the to be treated Carpeting.
  • the bristle strip is on hard floors 6 extended so that the suction mouth 5 of the suction nozzle or the care device 1 from the person to be treated Soil - here hard floor - lifts off.
  • Floor coverings differ in their surface structure. While carpets have a soft surface, are z. B. Tiles and PVC coverings can be classified as hard. According to the care to be taken Bottom 7 directed an ultrasonic wave. The different Structures of the floor coverings have corresponding ones Effects on the impacting sound waves.
  • an ultrasonic transducer 8 which both as an ultrasonic transmitter 9 and as an ultrasonic receiver 10 works.
  • This ultrasound transducer is, according to the invention, a piezo element (piezo crystal).
  • An ultrasound of more is used for soil detection used as 30 kilohertz.
  • the ultrasonic floor detection works with a continuous Broadcast signal.
  • the system according to the invention works with a single one Ultrasonic transducer 8. This is made possible by that to the ultrasonic transducer according to the embodiment 2 and 3, a very short transmit pulse is given and then switched to reception mode becomes.
  • the mode of operation is based on the block diagram in FIG. 3 the ultrasonic soil detection explained in more detail.
  • the ultrasound transducer 8 is used in this system switched continuously. This is done using a sequence control 11. First, a Pulse generator 12 sends a short pulse to the ultrasound transducer 8 given. Then a switch 13 switched via the sequencer 11 such that the Signal from the ultrasonic transducer 8 to a pulse amplifier 14 arrives. After amplifying the received signal it is then rectified.
  • the Rectifier has the reference number 15 in FIG. 3 the output signal due to the constant movement of the Care device 1 on the floor 7 to be maintained constant level is averaging required, which is achieved with a filter 16. After that, you can use a simple comparator between different floor coverings can be distinguished.
  • the output signal C of the Schmitt trigger 17 is in a logical link 18 for determining the floor covering evaluated.
  • the output signal D of the logic operation 18 can be advantageous Can be used depending on the recognized flooring the carpet brushes 3 on or turn off or the bristle strips 6 retract or extend.
  • another can Differentiation of different types of carpets (low and deep pile floors) the suction power of the Care device can be controlled electronically.
  • the soil detection system is also an ultrasonic transducer 8 at the same time Ultrasonic transmitter 9 and as an ultrasonic receiver 10 used.
  • the ultrasonic transducer pulsed so that a sound wave with his Resonance frequency is generated.
  • the ultrasonic transducer 8 resonates, needs a certain amount of time lapse until the recipient can work.
  • This ringing time essentially depends on the Bandwidth of the converter 8 and is in the inventive System about a millisecond. Only after During this time, the echo of the transmission signal may be reflected at the bottom 7 or the surface again the transducer Reach 8. Taking into account the speed of sound In this case there is a total distance the sound of 34 cm and thus a distance between the ultrasonic transducers 8 to the floor to be maintained of approx. 17 cm.
  • the Ultrasonic transducer 8 is in this case at one end 21 in introduced the hose or sound conduction channel 20 and attached.
  • the other, free end 22 of the sound conduction channel 20 is perpendicular to the floor 7 to be maintained in Device floor 4 arranged so that the open exit surface of the sound conduction channel 20 essentially is aligned parallel to the floor 7 to be detected.
  • the arrangement is chosen so that the free End 22 of the sound conduction channel 20 on the underbody side at a distance of 0.5 to 1.5 cm from the one to be cared for Floor 7 ends.
  • the hose or the sound conduction channel 20 can certainly be curved through the care device 1. This results in a space-saving arrangement of the Detection system in the care device 1.
  • the inner wall of the Sound conduction channel 20 is homogeneous, d. H. it may there are no edges where the sound reflects could be.
  • the open end 22 of the sound conduction channel is advantageously 20 in the usual machining direction r the bristle strip 6 and possibly in front of the carpet brushes 3 arranged.
  • three Groups such as soft carpets, carpets and hard floors recognized, for which a frequency of 35 to 60 kilohertz is used.
  • Long pile for example, are covered by soft carpets Coverings such as bath mats or the like.
  • Solution according to the second embodiment is based on a switchover between transmit and receive operation dispenses with the fact that the pulse amplifier 14 (receiving amplifier) continuously on the ultrasonic transducer 8 accordingly, also during the transmission pulse.
  • amplifier 14 is significantly overdriven this transmission pulse, however, remains during the runtime of the broadcast signal x enough time for amplifier 14 to turn off of saturation and the required sensitivity to deliver.
  • the filter 16 and the rectifier 15 becomes the influence of the received pulse y converted into a constant DC voltage and only the variable portion of the reflected signal y leads to a shift in the potential U at the output of the Rectifier 15 or filter 16. The evaluation this potential occurs in the manner described one or more Schmitt triggers 17.
  • the evaluation electronics Switching the carpet brushes, if any 3 and the bristle strip 6.
  • FIGS. 10 to 13 show schematic bottom views against floor care devices 1, in particular autonomous floor care devices 1 with electric motor driven if necessary Traversing wheels 26 and in the direction of travel r in front of these arranged suction mouth 5, in the area of which a Carpet brush 3 is arranged.
  • These alternative floor care devices 1 have one exemplary circular cross-section, where a Center of gravity Sp of device 1 in the direction of travel r behind the suction mouth 5 and therefore also behind the carpet brush 3 lies in the middle between the travel wheels 26.
  • Fig. 10 is an embodiment with an ultrasonic transducer 8, which is shown in the direction of travel r on the front of the device 1 in the area of the device base 4 and thus in the direction of travel r before the focus Sp is arranged.
  • These are preferably an ultrasonic transducer 8 according to those previously described Embodiments. This works accordingly both as an ultrasonic transmitter 9 and as an ultrasonic receiver 10th
  • This ultrasonic transducer 8 is used according to the previously described embodiments for the detection of Soil condition.
  • this converter 8 Hard floor or carpet recognized. Beyond that especially when the floor care device is used autonomously 1 advantageous that by means of the converter 8 also missing soil is recognized, for example a downward leading Step. As a result, the evaluated Signal of the ultrasonic transducer 8 not only for Switching the cleaning type - hard floor cleaning to Carpet cleaning and vice versa - but also for Course correction by controlling the travel wheels 26 serve.
  • the converter 8 also has a downward step 28 recognized by approaching an acute angle before one of the traversing wheels 26 travels over the step edge.
  • the evaluation electronics that determine the missing floor then causes a course correction by control the traction wheels 26 driven by an electric motor.
  • the ultrasonic transducers assigned to the suction mouth 5 8 are further preferred, but not shown in detail, behind a front edge 27 of the suction mouth 5 arranged.
  • a missing floor can also be found in one Lifting the maintenance device 1 off the floor to be maintained can be determined, which is particularly the case with conventional handheld vacuum cleaners to switch off the possibly provided Carpet brushes 3 and to reduce the suction power leads.
  • the edge of the suction mouth 5 can also be provided Ultrasonic transducer 8 for aligning the movement r along an autonomous floor care device 1 of an edge of a certain floor covering. So can, for example, by means of ultrasound the edge of a Carpet can be determined.
  • a change in direction with respect to the direction of travel r made of floor care device 1 initially the measure of a first change of direction preferably more than 90 °.
  • the floor care device 1 zigzag along an edge of a carpet or the like led, the changes of direction quickly and to be carried out continuously to conclude an almost straight-line driving of the floor care device 1 along the edge of the covering.
  • Another solution, not shown, for determining the edge of the covering edge suggests that between the amplitude value the recognized first floor covering and the amplitude value an average of the detected second floor covering is formed, the one edge between the corresponds to both floor coverings 7 and 7 '. After that will the floor care device 1 in terms of its orientation the direction of travel r is controlled as long and as often, until the mean value formed is the detected amplitude value corresponds in the course of the traversing movement.
  • FIG. An alternative training for the detection of a floor covering edge is shown in FIG.
  • two ultrasonic transducers 8 are arranged side by side, an arrangement can also be selected here can, in which this ultrasonic transducer 8 in Direction of travel r behind a front edge 27 of the suction mouth 5 are positioned.
  • This parallel arrangement of the ultrasonic transducers 8 are adjacent floor coverings 7, 7 'and thus the edge 25 of a floor covering can be detected.
  • Here are arranged in parallel by means of the two Ultrasonic transducer 8 different sound amplitudes detected.
  • By correcting the travel wheels 26 can this state of the moving floor care device 1 received or settled.
  • the floor care device 1 then moves along the edge 25.
  • the provided ultrasound transducers 8 are used according to the invention the detection of the soil condition (e.g. Hard floor, carpeting or lack of floor) Detection of the transition between two floor coverings 7, 7 'and also for the detection of the standstill of the floor care device 1, a corresponding the amplitude value determining the standstill leads to that, for example, the care device 1 for saving energy and to avoid damage to the nursing floor 7 switches off or is brought down to minimum performance.
  • the soil condition e.g. Hard floor, carpeting or lack of floor
  • the mode of operation is based on the block diagram in FIG the ultrasonic control explained in more detail.
  • the Individual program parts P1 to P10 are shown in FIGS. 15 to 25 explained in more detail.
  • the edition of the known Operating conditions of the floor care device only take place on End of each program cycle. This has the condition that the respectively recognized states, such as. B. Hard floor, carpet or missing floor initially be saved in a state variable. At the end the variables are then queried and the corresponding one Output to the outputs of a microcontroller.
  • the program cycle then begins, in the program section P2 (FIG. 16) there is first a pulse output P21. After the output of four pulses, for example, passes a certain time until the echo signal arrives. The query after the time has elapsed is indicated by a Loop P22 implemented, which is only exited when timer overflow occurred.
  • this is the start address of the table a loop counter is stored for the echo signal one set and then the counter value under P42 corresponding value from the stored decay table read out.
  • the converter signal is compared with the Table value compared. Here is the converter signal smaller than the table value, so is first under P45 checked whether the maximum number of passes was achieved. If this is not the case, then under P44 the counter continued and the loop again run through.
  • the maximum amplitude is used to evaluate the echo signal relevant (see description of the first embodiment).
  • the determination of the maximum amplitude in the echo signal happens according to the program sub-part P5 in Fig. 19. First a maximum variable is shown under P51 set to zero and then a table value under P52 compared with the previously determined maximum value. If the table value is the larger value, then the maximum value is stored in a maximum variable (P53). However, it has been determined under P52 that the table value is less than the previous maximum, so there is no storage under P53.
  • the averaging of the echo maximum is for the Desired standstill detection necessary. Furthermore there are advantages in differentiating between Hard floor and carpeting, since one moves Floor care device 1 the echo signals from hard floor and at least partially overlap carpeting. There however, the echo amplitude on hard floors is higher on average lies than with carpets, results from the averaging a higher amplitude for hard floors than with carpets.
  • the reflected signal in addition to the information about the Soil type or whether the floor care device 1 is lifted off or, for example, has reached a downward step, also the information about a standstill of the floor care device win.
  • the read-in echo signal from a moving floor care device 1 shows FIG. 22. From this it can be seen that the echo signal is stronger on hard floors H1 and H2 fluctuates as on carpeting T1 and T2. Therefore at standstill detection on carpeting is less Tolerance limit to be set as on hard floor, otherwise on carpeting with the large tolerance limit of Hartgeber would see a standstill, though the floor care device is moved.
  • 21 shows a related sub-section P7, initially being determined on the input side at P71 is whether hard floor was previously recognized. After that will a large tolerance limit for hard floor detection with P72 set. However, if no hard floor has been determined, so at P72 'there is a low tolerance limit set.
  • the echo amplitude fluctuates with a moving floor care device 1 very much strong.
  • the echo amplitude of Hartêt is partly (see H2) even under that of carpeting (see T1), so that instead of hard floor carpeting recognized could be.
  • this is according to the invention avoided.
  • the mean previously determined is then with the loaded threshold at P83 compared. If the mean is greater than the threshold, this is how P84 becomes a flow counter for the hard floor incremented. On the other hand, P84 'turns on Flow counter incremented for the carpet.
  • the output of the extracted useful signals from the echo signal is done by querying the corresponding bits in the Status byte and setting or deleting the corresponding one Output.
  • a corresponding program sequence P10 is shown in Fig. 25. According to a query with P100, whether hard floor is set or not, with P101 the output "hard floor” is set or at P101 'the “Hard floor” exit deleted. Correspondingly, too in a subsequent query at P102, in which it is checked whether "carpet” is set, either with P103 the output "carpet” is set or at P103 'this output deleted.
  • the embodiment according to the invention is a method indicated which on the pulse-echo method based on the intensity of the reflected on floor coverings Ultrasound signals recorded and evaluated. By Evaluation finds a differentiation between hard floors, Carpets or missing floors instead. Likewise can get additional information from the echo signal about a standstill of the floor care device and whether this is lifted off the soil to be maintained become.
  • the use proves to be advantageous here of a sound channel, which is both the task of sound bundling as well as that of impedance matching. Due to the sound bundling inside the duct, a Blast into the half space on the one in front of the channel Half space between duct end and floor covering limited. Thus the required transmission power and the Reinforcement effort minimized. Through an expansion of the sound channel towards the end are both channel end reflections diminished by jumps in impedance as well an improved directional characteristic for sound radiation achieved.
  • a further improvement can be achieved by increasing the radiated sound energy can be achieved so that the proportion of reflected sound energy on such floors also increases and so an evaluable echo signal can be achieved.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Nozzles For Electric Vacuum Cleaners (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Cultivation Receptacles Or Flower-Pots, Or Pots For Seedlings (AREA)
  • Soil Working Implements (AREA)
  • Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
EP01106284A 2000-03-17 2001-03-15 Appareil d'entretien de sol ainsi que procede pour reconnaitre un etat du sol respectivement pour aligner le mouvement de conduite Expired - Lifetime EP1136027B1 (fr)

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DE10013183 2000-03-17
DE10013183 2000-03-17

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EP1136027A2 true EP1136027A2 (fr) 2001-09-26
EP1136027A3 EP1136027A3 (fr) 2003-03-05
EP1136027B1 EP1136027B1 (fr) 2008-07-09

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EP (1) EP1136027B1 (fr)
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Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2405576A (en) * 2003-09-03 2005-03-09 Richards Morphy N I Ltd Apparatus for floor cleaning with alternative cleaning devices
EP1639934A2 (fr) * 2004-09-08 2006-03-29 Samsung Electronics Co., Ltd. Aspirateur
WO2007025906A1 (fr) * 2005-09-02 2007-03-08 BSH Bosch und Siemens Hausgeräte GmbH Suceur a tapis et sols durs pourvu d'une brosse allongee reglable, pour un aspirateur
EP1642522A3 (fr) * 2004-10-01 2007-11-28 Vorwerk & Co. Interholding GmbH Méthode pour le traitement et/ou le nettoyage d'un revêtement de sol ainsi qu'un revêtement de sol et/ou un appareil pour apliquer cette méthode
DE102007061146A1 (de) 2007-12-17 2009-06-18 Miele & Cie. Kg Verfahren zur Auswertung eines Partikelsignals und Saugdüse für einen Staubsauger
EP1997412A3 (fr) * 2007-05-30 2010-01-20 MIELE & CIE. KG Procédé de fonctionnement d'un aspirateur et aspirateur pour l'exécution d'un tel procédé
EP2759242A3 (fr) * 2013-01-29 2015-09-23 Samsung Electronics Co., Ltd Nettoyeur de robot et son procédé de commande
EP2893861A3 (fr) * 2014-01-09 2015-12-09 Miele & Cie. KG Procédé de nettoyage de surfaces souillées à l'aide d'un appareil de nettoyage auto-tracté et appareil de nettoyage associé
DE102015100353A1 (de) 2015-01-12 2016-07-14 Vorwerk & Co. Interholding Gmbh Verfahren zur Steuerung eines Staubsaugers, Steuereinrichtung für einen Staubsauger und Staubsauger
DE102015100483A1 (de) 2015-01-14 2016-07-28 Vorwerk & Co. Interholding Gmbh Saugeinheit für einen Staubsauger
CN106037582A (zh) * 2015-04-07 2016-10-26 沃维克股份有限公司 用于具有抽吸鼓风机的清洁设备的装置
DE202016107207U1 (de) 2016-01-12 2017-01-13 Vorwerk & Co. Interholding Gmbh Vorrichtung für ein Haushaltsreinigungsgerät
DE102015117552A1 (de) 2015-10-15 2017-04-20 Vorwerk & Co. Interholding Gmbh Vorsatzgerät für ein Haushaltsreinigungsgerät und Haushaltsreinigungsgerät
CN112704437A (zh) * 2020-12-23 2021-04-27 炬星科技（深圳）有限公司 扫地机器人控制方法、设备及存储介质

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DE10242257C5 (de) * 2001-09-14 2017-05-11 Vorwerk & Co. Interholding Gmbh Selbsttätig verfahrbares Bodenstaub-Aufsammelgerät, sowie Kombination eines derartigen Aufsammelgerätes und einer Basisstation
DE10231386B4 (de) * 2002-07-08 2004-05-06 Alfred Kärcher Gmbh & Co. Kg Sensorvorrichtung sowie selbstfahrendes Bodenreinigungsgerät mit einer Sensorvorrichtung
DE10357635B4 (de) * 2003-12-10 2013-10-31 Vorwerk & Co. Interholding Gmbh Bodenreinigungsgerät
DE102010000573B4 (de) 2010-02-26 2022-06-23 Vorwerk & Co. Interholding Gmbh Verfahren zur Leistungssteuerung eines Saug-/Kehrgeräts
US9798328B2 (en) * 2014-10-10 2017-10-24 Irobot Corporation Mobile robot area cleaning
DE102015105061B4 (de) * 2015-04-01 2022-03-24 Vorwerk & Co. Interholding Gmbh Reinigungsgerät

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Cited By (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2405576A (en) * 2003-09-03 2005-03-09 Richards Morphy N I Ltd Apparatus for floor cleaning with alternative cleaning devices
EP1639934A2 (fr) * 2004-09-08 2006-03-29 Samsung Electronics Co., Ltd. Aspirateur
EP1639934A3 (fr) * 2004-09-08 2007-11-07 Samsung Electronics Co., Ltd. Aspirateur
EP1642522A3 (fr) * 2004-10-01 2007-11-28 Vorwerk & Co. Interholding GmbH Méthode pour le traitement et/ou le nettoyage d'un revêtement de sol ainsi qu'un revêtement de sol et/ou un appareil pour apliquer cette méthode
WO2007025906A1 (fr) * 2005-09-02 2007-03-08 BSH Bosch und Siemens Hausgeräte GmbH Suceur a tapis et sols durs pourvu d'une brosse allongee reglable, pour un aspirateur
EP1997412A3 (fr) * 2007-05-30 2010-01-20 MIELE & CIE. KG Procédé de fonctionnement d'un aspirateur et aspirateur pour l'exécution d'un tel procédé
DE102007061146A1 (de) 2007-12-17 2009-06-18 Miele & Cie. Kg Verfahren zur Auswertung eines Partikelsignals und Saugdüse für einen Staubsauger
US9399284B2 (en) 2013-01-29 2016-07-26 Samsung Electronics Co., Ltd. Robot cleaner and control method thereof
EP2759242A3 (fr) * 2013-01-29 2015-09-23 Samsung Electronics Co., Ltd Nettoyeur de robot et son procédé de commande
EP2893861A3 (fr) * 2014-01-09 2015-12-09 Miele & Cie. KG Procédé de nettoyage de surfaces souillées à l'aide d'un appareil de nettoyage auto-tracté et appareil de nettoyage associé
DE102015100353A1 (de) 2015-01-12 2016-07-14 Vorwerk & Co. Interholding Gmbh Verfahren zur Steuerung eines Staubsaugers, Steuereinrichtung für einen Staubsauger und Staubsauger
DE102015100483A1 (de) 2015-01-14 2016-07-28 Vorwerk & Co. Interholding Gmbh Saugeinheit für einen Staubsauger
DE102015100483B4 (de) 2015-01-14 2024-04-18 Vorwerk & Co. Interholding Gmbh Saugeinheit für einen Staubsauger
CN106037582B (zh) * 2015-04-07 2018-05-29 沃维克股份有限公司 用于具有抽吸鼓风机的清洁设备的装置
CN106037582A (zh) * 2015-04-07 2016-10-26 沃维克股份有限公司 用于具有抽吸鼓风机的清洁设备的装置
DE102015117552A1 (de) 2015-10-15 2017-04-20 Vorwerk & Co. Interholding Gmbh Vorsatzgerät für ein Haushaltsreinigungsgerät und Haushaltsreinigungsgerät
DE102015117552B4 (de) 2015-10-15 2024-04-18 Vorwerk & Co. Interholding Gmbh Vorsatzgerät für ein Haushaltsreinigungsgerät und Haushaltsreinigungsgerät
DE102016100429A1 (de) 2016-01-12 2017-07-13 Vorwerk & Co. Interholding Gmbh Vorrichtung für ein Haushaltsreinigungsgerät
DE202016107207U1 (de) 2016-01-12 2017-01-13 Vorwerk & Co. Interholding Gmbh Vorrichtung für ein Haushaltsreinigungsgerät
CN112704437A (zh) * 2020-12-23 2021-04-27 炬星科技（深圳）有限公司 扫地机器人控制方法、设备及存储介质
CN112704437B (zh) * 2020-12-23 2021-11-12 炬星科技（深圳）有限公司 扫地机器人控制方法、设备及存储介质

Also Published As

Publication number Publication date
ATE400213T1 (de) 2008-07-15
EP1136027B1 (fr) 2008-07-09
DE50114082D1 (de) 2008-08-21
EP1136027A3 (fr) 2003-03-05
DE10113105A1 (de) 2001-10-04

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