EP1527356A1 - Dispositif de capteur et appareil de nettoyage de sol autonome avec un dispositif de capteur - Google Patents

Dispositif de capteur et appareil de nettoyage de sol autonome avec un dispositif de capteur

Info

Publication number
EP1527356A1
EP1527356A1 EP03735618A EP03735618A EP1527356A1 EP 1527356 A1 EP1527356 A1 EP 1527356A1 EP 03735618 A EP03735618 A EP 03735618A EP 03735618 A EP03735618 A EP 03735618A EP 1527356 A1 EP1527356 A1 EP 1527356A1
Authority
EP
European Patent Office
Prior art keywords
sensor device
unit
floor cleaning
cleaning device
receiving unit
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.)
Withdrawn
Application number
EP03735618A
Other languages
German (de)
English (en)
Inventor
Ralph Diehl
Gottfried Benzler
Joachim Keppler
Jacob Janzen
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.)
Alfred Kaercher SE and Co KG
Original Assignee
Alfred Kaercher SE and Co KG
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 Alfred Kaercher SE and Co KG filed Critical Alfred Kaercher SE and Co KG
Publication of EP1527356A1 publication Critical patent/EP1527356A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • G01S7/4813—Housing arrangements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
    • G01S17/875—Combinations of systems using electromagnetic waves other than radio waves for determining attitude
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/87—Combinations of systems using electromagnetic waves other than radio waves

Definitions

  • the invention relates to a sensor device for a self-propelled floor cleaning device for recognizing a falling level with a transmitter unit for transmitting and a receiver unit for receiving infrared radiation and with evaluation electronics for evaluating the intensity of the received radiation.
  • the invention relates to a self-propelled and self-steering floor cleaning device with a chassis, an electric drive unit with drive wheels mounted on the chassis and an electric control unit and with such a sensor device.
  • a floor surface can be cleaned without the use of an operator.
  • the floor cleaning device is moved along the floor surface to be cleaned. If it encounters an obstacle, it changes its direction of travel according to a predefinable control program.
  • the floor cleaning device is equipped with a sensor device which detects the floor area to be cleaned by means of infrared radiation and forms a distance sensor which provides an electrical control signal for the control electronics. If the detected distance exceeds a predetermined maximum permissible distance value, the floor cleaning device also changes the direction of travel.
  • the sensor device has a Transmitter unit that directs infrared radiation onto the floor surface. The infrared radiation reflected from the floor surface is received by the receiving unit, and the intensity of the reflected radiation is evaluated by the evaluation electronics.
  • the intensity of the reflected infrared radiation does not only depend on the distance that the sensor device occupies from the floor surface, but also depends on the direction of the radiation reflected from the floor surface. If the floor surface has areas with a reflection surface oriented obliquely to the sensor device, for example in the form of cables or bevelled edge areas of floor tiles, the emitted infrared radiation is reflected in a direction facing away from the receiving unit, so that only a low-intensity signal is received even at a relatively short distance.
  • the object of the present invention is to develop a sensor device and a floor cleaning device of the type mentioned at the outset in such a way that a falling step or a steep drop in the floor area is more reliably detected. can be known, the sensor device being inexpensive to produce.
  • a sensor device of the generic type in that the sensor device has a receiving unit and a first and a second transmitting unit, the second transmitting unit being arranged at a distance from a connecting straight line running through the receiving unit and the first transmitting unit.
  • two transmitter units are used, with the aid of which infrared radiation can be directed onto the floor surface to be cleaned, and the respectively reflected infrared radiation is received by the common receiving unit and converted into an electrical signal, which is fed to the evaluation electronics, which determines the intensity of the reflected infrared radiation evaluates.
  • the radiation emitted by the second transmitter unit and reflected by the floor surface strikes the receiver unit at a different angle than the radiation emitted by the first transmitter unit and reflected by the floor surface.
  • the second transmitter unit is arranged at a distance from a connecting straight line which is defined by the receiver unit and the first transmitter unit.
  • the receiving unit and the first and second transmitting unit are integrated in a housing of the sensor device.
  • the first and second transmitter units focus the infrared radiation emitted in each case into a common focal point. It has been shown that with such an orientation of the infrared radiation, a statement can be made particularly reliably as to whether the distance between the sensor device and the floor surface exceeds a predeterminable maximum value, so that the floor cleaning device is at risk of falling.
  • a preferred embodiment is characterized in that the second transmission unit is arranged in relation to the connecting straight line between the reception unit and the first transmission unit. This gives the sensor device a particularly compact design. It is particularly advantageous here if the distance between the receiving unit and the first transmitting unit is greater than the distance that the second transmitting unit takes from the straight line.
  • a particularly inexpensive embodiment of the sensor device according to the invention is characterized in that the first and the second transmitter unit each have an infrared radiation source and an optical element for guiding the beam, in particular for focusing the emitted radiation, the radiation sources being aligned parallel to one another.
  • Such an embodiment is characterized by a simple assembly of the sensor device.
  • the receiving unit comprises an element sensitive to infrared radiation, to which an optical element for beam guidance is assigned.
  • the beam guiding element can in this case be designed as a deflecting and / or focusing element which deflects the reflection radiation impinging on the beam guiding element in the direction of the radiation-sensitive element and focuses it on the element.
  • Optical elements for background suppression are preferably assigned to the receiving unit. This enables background beams to be masked out and thereby facilitates the evaluation of the received signal.
  • the elements for background suppression can be integrated into the elements for beam guidance.
  • the receiving unit and the first and second transmitting units are preferably arranged at a distance from one another, a radiation-opaque optical separating element being arranged between the receiving unit and the first transmitting unit and between the receiving unit and the second transmitting unit.
  • a radiation-opaque optical separating element being arranged between the receiving unit and the first transmitting unit and between the receiving unit and the second transmitting unit.
  • the invention also relates to a self-propelled and self-steering floor cleaning device with a chassis and with an electric drive unit, which comprises drive wheels mounted on the chassis and electrical control electronics.
  • the floor cleaning device comprises a sensor device of the aforementioned type which is coupled to the control electronics, the emitted infrared radiation being directed onto the floor surface to be cleaned.
  • the risk of a fall can be reliably detected by using the inexpensive sensor device, that is to say it can be checked by the evaluation electronics whether the distance the sensor device takes from the floor surface to be cleaned exceeds a reliable maximum value.
  • the floor cleaning device preferably comprises two drive wheels, a sensor device being arranged in front of and behind each drive wheel with respect to a main direction of movement of the floor cleaning device. So that can the risk of a fall can be reliably detected both when driving forward and when the floor cleaning device is driving backwards.
  • a particularly preferred embodiment of the floor cleaning device according to the invention provides that the respective a front and rear sensor devices associated with a drive wheel are aligned with their respective connecting straight lines.
  • front and rear sensor devices each assigned to a drive wheel are aligned with their respective connecting straight lines with the running surface of the drive wheel.
  • the floor cleaning device preferably comprises at least one support roller which is arranged between the front sensor devices and the drive wheels with respect to a main direction of movement of the floor cleaning device. It is particularly favorable here if the distance of the support rollers which they occupy to the front sensor devices in the main direction of movement corresponds to at least a quarter of the distance of the front sensor devices to the drive wheels. This can ensure that when the floor cleaning device approaches a sloping step, the floor cleaning device can be stopped in good time before the support roller positioned in front of the drive wheels in the direction of movement exceeds the edge of the step.
  • Figure 1 is a schematic bottom view of a floor cleaning device according to the invention.
  • Figure 2 is an enlarged view of area A of Figure 1 with a sensor device according to the invention.
  • FIG. 10 A bottom view of a self-propelled and self-steering floor cleaning device, which is generally designated by reference number 10, is shown schematically in FIG. It comprises a housing 12, which forms a chassis 14, on the top of which a housing cover, not shown in the drawing, can be placed.
  • Two drive wheels 16, 18 are rotatably held on the chassis 14, each of which has a running surface 17 or 19, with which the drive wheels 16, 18 contact a floor surface to be cleaned.
  • the drive wheels 16, 18 are each assigned an electric drive motor 21 or 23, which is fixed on the underside of the chassis 14.
  • the two drive motors 16, 18 are electrically connected to control electronics 25 positioned on the upper side of the undercarriage 14 and in each case to a rechargeable battery which is known per se and is therefore not shown in the drawing.
  • the undercarriage 14 carries on its upper side a suction unit which is known per se and therefore not shown in the drawing, which in the usual way has a suction channel with a dirt inlet arranged on a base plate 15. outlet opening 28 is in flow connection, a dirt collecting container (not shown) being arranged in a conventional manner between the dirt inlet opening 28 and the suction unit.
  • a brush roller 30 is rotatably held in the area of the dirt inlet opening 28.
  • the brush roller 30 comprises radially projecting sweeping brushes 32 which pass through the dirt inlet opening 28 and with the aid of which dirt can be picked up from a floor surface to be cleaned and can be flung through the dirt inlet opening 28 into the suction channel.
  • the axis of rotation 34 of the brush roller 30 is aligned perpendicular to a longitudinal axis 36 of the floor cleaning device 10 and is positioned at a distance in front of the drive wheels 16 and 18 in relation to a main direction of movement of the floor cleaning device symbolized by the arrow 38.
  • two support rollers 40, 42 are freely rotatably mounted on the base plate 15 mirror-symmetrically to the longitudinal axis 36, the axis of rotation of which is aligned parallel to the axis of rotation 34 of the brush roller 30 and parallel to the common axis of rotation 44 of the drive wheels 16 and 18.
  • the floor cleaning device 10 By means of the drive wheels 16 and 18 and the support rollers 40, 42, the floor cleaning device 10 can be moved forwards in the main direction of movement 38 and backwards against this direction 38.
  • dirt can be suctioned off the floor surface to be cleaned, the brush roller 30 being used in addition to the dirt absorption.
  • the floor cleaning device 10 By rotating one of the two drive motors 21 or 23 on one side, the floor cleaning device 10 can be rotated. If the floor cleaning device 10 approaches a descending step or another steep drop in the floor area to be cleaned, such a step or such a drop is recognized by the floor cleaning device 10, which then changes its direction of travel in order to prevent the floor cleaning device from falling.
  • a total of four sensor devices 50, 51, 52, 53 are held on the underside of the housing 12, the sensor devices 50 and 51 being assigned to the drive wheel 16 and the sensor device 50 in relation to the main direction of movement 38 in front of the drive wheel 16 and the sensor device 51 behind the Drive wheel 16 is arranged.
  • the sensor devices 52 and 53 are correspondingly assigned to the drive wheel 18, the sensor device 52 being positioned in front of the drive wheel 18 with respect to the main direction of movement 38 and the sensor device 53 being positioned behind the drive wheel 18.
  • the distance between the housing 12 and the floor surface to be cleaned can be detected without contact by means of the sensor devices 50 to 53. If the distance exceeds a predetermined maximum value, the floor cleaning device 10 stops in order to then continue its journey in the opposite direction.
  • the sensor devices 50 to 53 are configured identically. Therefore, only the sensor device 50, which is shown schematically in FIG. 2, is described in more detail below. It comprises a sensor housing 55 which surrounds a first transmitter unit 57 and a second transmitter unit 59, with the aid of which focused infrared radiation can be directed obliquely to the vertical onto the floor surface to be cleaned, and a common receiver unit 61 for receiving infrared radiation reflected from the floor surface and for Provision of an intensity-dependent electrical signal.
  • the respective receiving unit 61 is connected via a signal line 63 to an evaluation electronics 65 integrated in the control electronics 25, which evaluates the electrical signals provided in accordance with the intensity of the received infrared radiation in a conventional and therefore not explained here manner
  • Exceeding a maximum distance between the housing 12 and the floor surface to be cleaned of the control electronics 25 provides an alarm signal so that the travel of the floor cleaning device is stopped and then continued in the opposite direction of travel.
  • the receiving unit 61 defines a connecting line 67
  • the second transmitting unit 59 is arranged at a distance from the connecting line 67 and with respect to the connecting line 67 between the receiving unit 61 and the first transmitting unit 57.
  • the first transmission unit 57 and the second transmission unit 59 are configured identically and each comprise an infrared radiation source in the form of an infrared light-emitting diode 69 and an optical focusing element 71 for focusing the infrared radiation emitted by the light-emitting diode 69.
  • the radiation focused by the light-emitting diodes 69 of the two transmitter units 67 and 59 is concentrated in a common focal point.
  • the receiving unit 61 has an infrared light-sensitive element in the form of a phototransistor 73, which is likewise preceded by an optical focusing element 75 which deflects the infrared radiation impinging on the receiving unit 61 in the direction of the phototransistor 73 and bundles it onto the phototransistor 73.
  • a housing insert 77 made of an infrared radiation-opaque material is arranged between the receiving unit 61 and the first and second transmitting units 57 and 59.
  • the housing insert 77 forms a mechanical support for the transmitting and receiving units 57, 59 and 61 and comprises an integrally formed housing wall 78 against which the receiving unit 61 and the first transmitting unit 57 and the second transmitting unit 59 lie flat and which also ensures that infrared radiation emanating from the transmitter units 57 and 59 cannot reach the receiver unit 61 directly.
  • the second transmitter unit 59 Since the second transmitter unit 59 is arranged obliquely to the connecting line 67, the beams emitted by the transmitter units 57 and 59 and reflected by the base surface strike the receiver unit 61 at different angles. It has been shown that cables running on the base surface by such an alignment or inclined reflection surfaces, for example beveled edge areas of floor tiles, do not impair the test of a risk of falling.
  • the sensor devices 50, 51 or 52, 53 assigned to a drive wheel 16 or 18 are aligned with their connecting straight lines 67 in alignment with one another and in alignment with the respective running surface 17 or 19 of the assigned drive wheels 16 or 18.
  • the front sensor devices 50 and 52 with respect to the main direction of movement 38 are arranged with respect to the longitudinal axis 36 at the level of the rotational axis 34 of the brush roller 30, so that the support rollers 40 and 42 with respect to the longitudinal axis 36 between the front sensor devices 50 and 52 and the drive wheels 16 , 18 are positioned.
  • the distance of the support rollers 40, 42 from the front sensor devices 50, 52 with respect to the longitudinal axis 36 bears about a third of the distance that the common axis of rotation 44 of the drive wheels 16 and 18 is from the front sensor devices 50 and 52.
  • the front sensor devices 50 and 52 in combination with the evaluation electronics 65 detect when a falling step has been reached that a maximum distance between the housing 12 and the floor surface to be cleaned is exceeded. As a result, the travel of the floor cleaning device 10 is stopped even before the support rollers 40 and 42 reach the level recognized by the sensor devices 50 and 52. Then the direction of travel of the floor cleaning device 10 is reversed so that the floor cleaning device 10 moves away from the step again. If a step or a steep drop in the floor area is only recognized by one of the sensor devices 50, 51, 52, 53, the floor cleaning device 10 performs a rotary movement in the direction facing away from the step.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Electric Suction Cleaners (AREA)

Abstract

La présente invention concerne un dispositif de détection pour un appareil de nettoyage du sol automoteur, conçu pour détecter une pente et comprenant une unité d'émission et une unité de réception pour rayonnement infrarouge et un système électronique d'analyse conçu pour analyser l'intensité du rayonnement reçu. L'objectif de la présente invention est de développer un tel dispositif de détection de façon à pouvoir détecter de manière plus fiable une pente ou une descente raide de la surface du sol et de façon à pouvoir produire ce dispositif de manière économique. A cette fin, le dispositif de détection présente l'unité de réception et une première unité d'émission et une seconde unité d'émission. La seconde unité d'émission est montée à distance d'une ligne droite de connexion traversant l'unité de réception et la première unité d'émission. La présente invention concerne également un appareil de nettoyage du sol équipé d'un tel dispositif de détection.
EP03735618A 2002-07-08 2003-06-13 Dispositif de capteur et appareil de nettoyage de sol autonome avec un dispositif de capteur Withdrawn EP1527356A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE10231386 2002-07-08
DE10231386A DE10231386B4 (de) 2002-07-08 2002-07-08 Sensorvorrichtung sowie selbstfahrendes Bodenreinigungsgerät mit einer Sensorvorrichtung
PCT/EP2003/006223 WO2004005956A1 (fr) 2002-07-08 2003-06-13 Dispositif de detection et appareil de nettoyage du sol automoteur comprenant un tel dispositif de detection

Publications (1)

Publication Number Publication Date
EP1527356A1 true EP1527356A1 (fr) 2005-05-04

Family

ID=30009908

Family Applications (1)

Application Number Title Priority Date Filing Date
EP03735618A Withdrawn EP1527356A1 (fr) 2002-07-08 2003-06-13 Dispositif de capteur et appareil de nettoyage de sol autonome avec un dispositif de capteur

Country Status (6)

Country Link
US (1) US7225500B2 (fr)
EP (1) EP1527356A1 (fr)
CN (1) CN1666114A (fr)
AU (1) AU2003237937A1 (fr)
DE (1) DE10231386B4 (fr)
WO (1) WO2004005956A1 (fr)

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DE10231386B4 (de) 2004-05-06
CN1666114A (zh) 2005-09-07
US7225500B2 (en) 2007-06-05
WO2004005956A1 (fr) 2004-01-15
DE10231386A1 (de) 2004-02-12
AU2003237937A1 (en) 2004-01-23

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