EP1239762B1 - Engin mobile, notamment machine de travail ou de nettoyage du sol - Google Patents

Engin mobile, notamment machine de travail ou de nettoyage du sol Download PDF

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Publication number
EP1239762B1
EP1239762B1 EP00990672A EP00990672A EP1239762B1 EP 1239762 B1 EP1239762 B1 EP 1239762B1 EP 00990672 A EP00990672 A EP 00990672A EP 00990672 A EP00990672 A EP 00990672A EP 1239762 B1 EP1239762 B1 EP 1239762B1
Authority
EP
European Patent Office
Prior art keywords
sensor device
carriage according
sensor
carriage
processing
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
Application number
EP00990672A
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German (de)
English (en)
Other versions
EP1239762A2 (fr
Inventor
Christian Hefter
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.)
Georg Hefter Maschinenbau
Original Assignee
Georg Hefter Maschinenbau
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 Georg Hefter Maschinenbau filed Critical Georg Hefter Maschinenbau
Publication of EP1239762A2 publication Critical patent/EP1239762A2/fr
Application granted granted Critical
Publication of EP1239762B1 publication Critical patent/EP1239762B1/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
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
    • A47L11/30—Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction
    • A47L11/302—Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction having rotary tools
    • A47L11/305—Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction having rotary tools the tools being disc brushes
    • 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 movable carriage, in particular Work or floor cleaning machine, according to the generic term of claim 1.
  • the actual, the floor cleaning serving facilities and components can be from one or for example two interacting, about a horizontal axis rotating bristle rollers, from a rotating brush belt or for example from one or more cooperating, rotating about at least approximately vertical axes Disc brushes or combinations of the above facilities or the like.
  • Sensor devices can, for example, optical Sensor devices using a laser beam for scanning (for example in the horizontal plane) and / or from ultrasonic sensors, radar sensors or the like.
  • ultrasonic sensors for example in the horizontal plane
  • radar sensors for example, ultrasonic sensors, radar sensors or the like.
  • sensors based on a camera a silicon chip for evaluation of the recorded image be used.
  • the object of the present invention is, therefore, a to provide an improved sensor system which is efficient and works effectively while being cost-effective is.
  • the preferably comparable with a robot, preferably automatic and thus automatically movable carriages, especially in the form of a working or cleaning machine is characterized by the fact that, at least in dependence cornering or pivoting one up provided for the vehicle actuation, work or Cleaning unit, preferably in the form of a working or cleaning head, the at least one sensor device pivoted at least relatively in the same direction becomes.
  • the pivoting process in direct coupling to the angle the direction of travel or the rotation of the Work or cleaning head done.
  • a sensor device for example a laser sensor in Close to the ground, especially at the level of the wheels or slightly above, for example, to about the height of a chassis or bottom of the working device or the cleaning machine intended.
  • This can be an in a horizontal angle range automatically working, the environment scanning, laser scanner act.
  • this sensor e.g. already in the form of a laser scanner
  • Driving straight ahead the environment in a wide angle range of left to right (usually symmetrical to the central longitudinal axis) scans offers the solution according to the invention considerable advantages.
  • the advantage of the invention shows especially when cornering or strong pivoting the working or cleaning head, since according to the invention here a Mitverschwenkung the sensor takes place. Thereby can from the outset the scanned sensor field comparatively small and even some side blind spots be provided, for example, when driving left then the monitored and scanned area with is pivoted left, so the otherwise when driving straight ahead covered dead zones are covered with.
  • At least according to the invention one or preferably a plurality of higher-lying sensor devices provided, for example, before the fairing of the automatically moving carriage or the Cleaning device is arranged. It can be this to act a tree or columnar structure with the steering or pivoting device of the steering mechanism and / or the pivotable working or cleaning head is coupled. When pivoting the working or cleaning head can also this sensor device, i.e. for example the sensor column with pivoted and each aligned in the direction of travel.
  • this can higher-lying sensor device but also below one Cladding of the automatically moving working or Cleaning device to be arranged, if at least parts the cover behind which the decision-making Sensor devices sit, for this sensor device quasi "transparent" or in appropriate places Window passage openings are provided. Important is only that in a sufficient angular range also below Such a disguise of the work or Cleaning device, the corresponding sensor devices mitverschwenkt can be.
  • the invention is especially in the case of a preferably self-propelled work or floor cleaning machine described.
  • the invention can equally for every movable vehicle can be applied, in particular also a self-propelled vehicle.
  • a self-propelled vehicle for example even lawnmowers fall, automatically movable Lawn sprinkler systems, agricultural machines, street cleaning or processing machines, snow plows etc.
  • a limitation to certain movable vehicles or work or cleaning machines is not given.
  • FIGS 1 to 4 embodiments of a Soil tillage or Bodentheses confuses shown which of its basic structure from that of the pre-published PCT International Application WO 98/43527 corresponds to known floor cleaning machine.
  • a thing constructed floor cleaning machine has a Actuation, working or cleaning unit 3, the hereinafter also referred to as a machining head 3, which is pivotable about a vertical axis, wherein the cleaning head also has a pivotable Roller 5 together about the vertical pivot axis is pivotable.
  • the vertical pivot axis is located offset by the vertical diameter through the with swivel caster.
  • one of the above publication known tillage equipment as automatic can design current machine, now a corresponding electrical and electronic provided be that the tillage equipment according to a predetermined course or railway area accordingly moves.
  • Such an automatic and automatically movable Tillage equipment is in practice but only then Useful when there are obstacles in the cleaning area can react independently. This requires First, the detection of such obstacles.
  • Obstacles can be caused, for example, in the cleaning area be given or by resident persons For example, items that have been repositioned to others Place were set up or moved etc.
  • a first lower sensor device 13 for example, from a laser scanner can exist.
  • This Field can be within a certain distance frame from the actual Sensor 13 off by evaluation of reflection light be recognized, whether there are obstacles in this area are located.
  • a second sensor device 17 is provided, in the embodiment shown above the first Sensor device 13 is arranged.
  • the second sensor device comprises a columnar structure with a Variety trained there and, for example, one above the other on the opposite side areas 19 and in the Front area 21 seated sensor devices 23, for example in the form of ultrasonic sensor devices 23.
  • the first sensor device preferably directly above the floor area, for example at the level of Impellers 5 and 7 or for example up to the height of Chassis 25 of the working or tillage machine is arranged lying, so is the so-called second sensor device 17 preferably above the chassis 25, so above the bottom surface, in the illustrated embodiment above the wheels 7, arranged and extends there when driving straight ahead in the median longitudinal plane of symmetry, the several on the front and on the opposite Pages 19 arranged sensors 13 more or less are arranged vertically one above the other in the vertical direction shown embodiment of a type of sensor column 27th
  • This sensor column 27 is connected to the processing or cleaning head also firmly connected with swiveling, in the embodiment shown directly on the mounted first sensor device 13, so that the first and second sensor device at corresponding Cornering or pivoting of the working or cleaning head 3 automatically in cleaning and driving direction be aligned.
  • the overall structure is such that by means of a below the chassis 25 arranged vertical pivot axis the working or tillage head 3 from the left is pivoted to the right, said pivoting head when driving straight ahead over the front boundary 29 ( Figure 2) and the aforementioned second sensor device 17 at this protruding sensor support portion 31 is held and mounted.
  • the arrangement including the front housing cover 33 of the soil cultivating device is such that even with 39verschwenkung this second sensor device 17, for example in the form the sensor column 27 does not collide with the housing cover 33 can.
  • Figure 5 corresponds to the page representation of Figure 4.
  • the sensor device 13, 17 in total as a tactile sensor element 41 acts.
  • the movable carriage drives for example in the form of the illustrated floor cleaning machine, to an object, for example, too above the ground protrudes towards the machine can either the upwardly projecting sensor tree in shape the second sensor device 17 or even the underlying first sensor device 13 in contact with the subject - as both units are common or separately formed as a tactile sensor means 41 are - trigger a corresponding signal to the to stop further forward travel and, if necessary, for example again a bit backwards and then sideways continue, especially if it is a self-propelled driving device is.
  • another Sensor device 141 in particular in the form of a tactile Sensor device 141 ', be provided, which in the shown Embodiment of Figure 5 from a forward and below projecting rod-shaped sensing device 45, the bottom with a roll or counter to one provided the direction of travel folded Tastabrough 45 ' is.
  • Travels the explained driving device for example in the form of a floor cleaning machine, on one on one Floor towards the downstairs stairs to, so would this ground sensor device 141, in particular in Shape of a tactile sensor device 141, recognize immediately that the bottom surface at a step or a precipice ends and the vehicle shut down or a reversal to the side or to the back or initiate a correspondingly superimposed movement as needed.
  • the vehicle before a crash for example. be protected at stairs or ramps.

Landscapes

  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Electric Suction Cleaners (AREA)
  • Detergent Compositions (AREA)

Claims (15)

  1. Chariot mobile, en particulier machine de travail ou de nettoyage du sol, comportant au moins une roue de roulement (5) pivotante et/ou une unité d'actionnement, de travail ou de nettoyage (3) pivotante, ainsi qu'au moins un dispositif à capteurs, caractérisé en ce que ledit au moins dispositif à capteurs (13, 17, 141, 141') est agencé de telle sorte que celui-ci peut pivoter au moins relativement conjointement avec ladite au moins une roue de roulement (5) dirigeable et avec l'unité d'actionnement, de travail ou de nettoyage (3) pivotante, dans la même direction de pivotement.
  2. Chariot selon la revendication 1, caractérisé en ce que ledit au moins un dispositif à capteurs (13, 17, 141, 141') peut pivoter conjointement de manière correspondante selon l'angle de braquage de la roue de roulement (7) dirigeable et/ou selon l'angle de braquage de l'unité d'actionnement, de travail ou de nettoyage (3) pivotante.
  3. Chariot selon l'une ou l'autre des revendications 1 et 2, caractérisé en ce que le dispositif à capteur (13) est agencé à la hauteur des roues de roulement (5), de préférence approximativement jusqu'à la hauteur d'un châssis (25) du chariot mobile, en particulier sous forme d'un appareil de traitement ou de nettoyage du sol.
  4. Chariot selon l'une des revendications 1 à 3, caractérisé en ce qu'un dispositif à capteur (17) est agencé au-dessus des roues de roulement (5) et/ou au-dessus d'un châssis (25).
  5. Chariot selon la revendication 4, caractérisé en ce qu'un dispositif à capteur (17) comprend plusieurs dispositifs à capteurs (23), de préférence sous forme de capteurs individuels qui sont agencés les uns au-dessus des autres et latéralement les uns par rapport aux autres.
  6. Chariot selon l'une ou l'autre des revendications 4 et 5, caractérisé en ce qu'en cas de marche en ligne droite ou au cas où l'unité d'actionnement, de travail ou de nettoyage (3) n'est pas pivotée, les plusieurs dispositifs à capteurs (23) sont agencés approximativement symétriquement à l'axe longitudinal médian vertical de l'unité d'actionnement, de travail ou de nettoyage (3).
  7. Chariot selon l'une des revendications 4 à 6, caractérisé en ce que les plusieurs dispositifs à capteurs (23) sont agencés sur un élément porteur s'étendant sensiblement avec une composante verticale et situé en avant en direction de marche, et qui est de préférence un élément porteur en forme de colonne.
  8. Dispositif selon l'une des revendications 1 à 7, caractérisé en ce que les dispositifs à capteurs (23) agencés en direction d'avancement et à orientation latérale à gauche ainsi qu'à droite et les uns au-dessus des autres sont constitués par des capteurs à ultrasons.
  9. Chariot selon l'une des revendications 1 à 8, caractérisé en ce que le dispositif à capteur (13) situé en bas est constitué de préférence par un capteur à laser ou à radar agissant dans une région angulaire latérale déterminée.
  10. Chariot selon l'une des revendications 1 à 9, caractérisé en ce qu'il est prévu au moins un dispositif à capteur (141, 141') qui et constitué par un dispositif à capteur tactile.
  11. Chariot selon la revendication 10, caractérisé en ce que le dispositif à capteur tactile (141, 141') est prévu avec le dispositif à capteur (13) à la hauteur des roues de roulement (5) et/ou avec le dispositif à capteur (17) au-dessus des roues de roulement (5) et/ou au-dessus d'un châssis (25) et/ou est accouplé à ce dispositif à capteur (13, 17).
  12. Chariot selon l'une des revendications 1 à 11, caractérisé en ce qu'il prévu un dispositif à capteur (141, 141') spécial pour surveiller la surface du sol afin de reconnaítre un renfoncement d'un gradin, une rampe ou similaires.
  13. Chariot selon la revendication 12, caractérisé en ce que le dispositif à capteur (141, 141') pour surveiller la surface du sol est constitué par un dispositif à capteur tactile (141, 141').
  14. Chariot selon l'une des revendications 10 à 13, caractérisé en ce que le dispositif à capteurs pour surveiller la surface du sol, est réalisé et/ou est agit en particulier sous forme d'un dispositif à capteur tactile (141, 141'), sur le chariot dans sa zone antérieure, au moins devant sa roue de roulement (5) la plus en avant.
  15. Chariot selon la revendication 14, caractérisé en ce que le dispositif à capteur tactile (141, 141') est en contact avec la surface du sol par un rouleau ou par un tronçon de palpage (45').
EP00990672A 1999-12-09 2000-12-07 Engin mobile, notamment machine de travail ou de nettoyage du sol Expired - Lifetime EP1239762B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE19959440 1999-12-09
DE19959440A DE19959440C2 (de) 1999-12-09 1999-12-09 Verfahrbarer Wagen, insbesondere Arbeits- oder Bodenreinigungsmaschine
PCT/EP2000/012353 WO2001041621A2 (fr) 1999-12-09 2000-12-07 Engin mobile, notamment machine de travail ou de nettoyage du sol

Publications (2)

Publication Number Publication Date
EP1239762A2 EP1239762A2 (fr) 2002-09-18
EP1239762B1 true EP1239762B1 (fr) 2005-11-23

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ID=7932041

Family Applications (1)

Application Number Title Priority Date Filing Date
EP00990672A Expired - Lifetime EP1239762B1 (fr) 1999-12-09 2000-12-07 Engin mobile, notamment machine de travail ou de nettoyage du sol

Country Status (6)

Country Link
US (1) US6904989B2 (fr)
EP (1) EP1239762B1 (fr)
JP (1) JP2003515414A (fr)
AT (1) ATE310439T1 (fr)
DE (2) DE19959440C2 (fr)
WO (1) WO2001041621A2 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012167836A1 (fr) 2011-06-10 2012-12-13 Alfred Kärcher Gmbh & Co. Kg Machine de nettoyage de sol autoportée et procédé d'utilisation d'une machine de nettoyage de sol autoportée
WO2013064179A1 (fr) 2011-11-02 2013-05-10 Alfred Kärcher Gmbh & Co. Kg Machine de nettoyage des sols guidée à la main
WO2013064182A1 (fr) 2011-11-02 2013-05-10 Alfred Kärcher Gmbh & Co. Kg Machine de nettoyage des sols guidée à la main
WO2019162355A1 (fr) 2018-02-21 2019-08-29 Hefter Cleantech Gmbh Engin de traitement du sol, en particulier engin de nettoyage du sol

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012167836A1 (fr) 2011-06-10 2012-12-13 Alfred Kärcher Gmbh & Co. Kg Machine de nettoyage de sol autoportée et procédé d'utilisation d'une machine de nettoyage de sol autoportée
WO2013064179A1 (fr) 2011-11-02 2013-05-10 Alfred Kärcher Gmbh & Co. Kg Machine de nettoyage des sols guidée à la main
WO2013064182A1 (fr) 2011-11-02 2013-05-10 Alfred Kärcher Gmbh & Co. Kg Machine de nettoyage des sols guidée à la main
WO2019162355A1 (fr) 2018-02-21 2019-08-29 Hefter Cleantech Gmbh Engin de traitement du sol, en particulier engin de nettoyage du sol

Also Published As

Publication number Publication date
EP1239762A2 (fr) 2002-09-18
DE19959440A1 (de) 2001-06-28
US20020183908A1 (en) 2002-12-05
DE50011715D1 (de) 2005-12-29
US6904989B2 (en) 2005-06-14
JP2003515414A (ja) 2003-05-07
DE19959440C2 (de) 2001-12-13
WO2001041621A2 (fr) 2001-06-14
WO2001041621A3 (fr) 2002-02-28
ATE310439T1 (de) 2005-12-15

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