DE102008014912B4 - Automatically movable floor dust collector - Google Patents

Abstract

Automatically movable floor dust collection device (1), namely a cleaning robot, with electric motor-driven travel wheels (3), a device housing, a dust collection container and a device hood (6), the floor dust collection device (1) being provided with an obstacle detection system, the obstacle detection system being optical triangulation system (T) is equipped with a light source (10, 10') and a receiver unit (E) having an optical element in the form of a receiver lens (12) for the reflected light beams and a light-sensitive element (11), the light beams in the receiver unit (E) are influenced in such a way that, after bundling by the receiver lens (12), at least associated with larger real distances to the obstacle (13, 13'), there are larger distances between the incident light beams on the light-sensitive element (11), characterized that the triangulation system (T) is movably suspended and/or gimballed t is

Description

The invention relates to a floor dust collection device that can be moved automatically, namely cleaning robots, with wheels driven by electric motors, a device housing, a dust collection container and a device hood, the floor dust collection device being provided with obstacle detection, the obstacle detection being an optical triangulation system with a light source and a an optical element in the form of a receiver lens for the reflected light beams and a receiver unit having a light-sensitive element, the light beams in the receiver unit being influenced in such a way that, after bundling by the receiver lens, they are at least assigned to larger real distances to the obstacle to larger distances between the impinging obstacles Light rays on the photosensitive element comes.

Soil dust collectors are known, for example from DE 102 42 257 A1 .

A mobile robot with a triangulation system also shows the DE 10145150 A1 .

When driving into a room using an automatically movable floor dust collection device, this device must recognize objects and room boundaries and react with appropriate maneuvering and evasive movements. In this context, it is known to use optical distance sensors to detect obstacles. When an object is detected that is blocking the travel path of the device, the received signal from the optical sensor is processed by a microprocessor, which causes the drive wheels to stop or triggers a corresponding behavior strategy of the device.

In addition, triangulation systems are known in which a point of light is imaged from different distances by an optical element in the form of a receiver lens onto different points of a light-sensitive element. The distance can be deduced from the electrical output signal of this element. Such optical triangulation systems are designed in particular for the close range. Such triangulation systems are less suitable for long-distance areas, since the distance between the obstacle and the object or the dust collector increases, so the characteristic curve for determining the distance becomes increasingly flat, which makes it difficult to determine the exact distance from the obstacle.

Furthermore, solutions with a correction lens are known for the long-distance range, which breaks the light reflected in the range far from the receiver the more strongly the further away the reflecting object is from the receiver. Such a detection device is disclosed, for example, by DE 102 20 037 A1 .

Furthermore, it is in the prior art, for example from DE 10 2004 001 556 A1 known to coat photosensitive elements or lenses for the purpose of optical filtering.

Laser scanners with a triangulation device arranged on a rotating plate are, for example, from DE 197 57 847 A1 known. the DE 3 821 892 C1 also shows a rotating laser range finder with power supply via sliding contacts. In addition, the publications also disclose DE 10114 362 A1 , DE 10 2007 004 609 A1 , DE 698 05 598 T2 and DE 10 2005 012 107 A1 laser scanner systems.

With regard to the state of the art described above, a technical problem of the invention is initially seen in improving an automatically movable floor dust collecting device or an object with a sensor arrangement of the type in question with regard to the distance measurement to an obstacle by means of an optical triangulation system in such a way that that optimal distance measurements are also possible when the device loses its horizontal orientation, for example when driving over an object.

To solve this problem, it is proposed that the triangulation system be movably suspended and/or have a cardanic suspension. As a result, this is always aligned horizontally, even if the device loses its horizontal orientation, for example when driving over an object such as a doorstep or the like. In a preferred embodiment, the suspension is equipped with its own sensors, for example inclination sensors, which use the inclination of the device as a manipulated variable passed on to actuators, for example electric motors, which always keep the rotary plate receiving the triangulation system or the triangulation system itself in the horizontal. Alternatively, a passive restoring system can also be provided, which does not require its own sensors or actuators, for example by weight or gyroscopic effect.

The light beams in the receiver unit are influenced in such a way that, after bundling by the receiver lens, larger distances between the light beams impinging on the light-sensitive element occur, at least associated with larger real distances to the obstacle. Assigned to the far area, ie associated with larger real distances to an obstacle, a steep characteristic curve is reached, which also allows an exact distance measurement to obstacles in the far range. The correction takes place before the light beam impinges on the light-sensitive element, namely in the area of the receiver unit having the optical elements. Expensive electronic devices for processing the signals emitted by the light-sensitive element when exposed to light are dispensed with, which proves to be advantageous in particular in the case of a floor dust collecting device, since such a device generally has a limited installation space. As a result, a simple evaluation of the distance signal that is also insensitive to interference and accurate is implemented. The influencing of the light beams in the receiver unit is preferably limited to the long-distance range, so that the characteristic curve in the long-distance range is adapted to the characteristic curve in the close-up range. Alternatively, the influence occurs over the entire measuring range, i.e. including the near and far range. In this way, an influencing of the light beams in the receiver unit, an influencing of the characteristic curve up to a proportional relationship between the obstacle distance and the light beam positioning on the light-sensitive element can be achieved. In the case of an anti-proportional relationship and a resulting curve of the characteristic curve, at least the curve is corrected as a result of the influencing in such a way that a real differential distance between two distant obstacles is expressed on the light-sensitive element by a light point distance that can be detected by the receiver without any further effort. In addition to determining the distance to an object, the signal from the light-sensitive element can also supply information about the surface quality or the degree of reflection of the object, for which purpose currents resulting from the point of light impinging on the light-sensitive element are determined.

Further features of the invention are explained below, also in the description of the figures, often in their preferred association with the subject matter of claim 1 or claim 2 or with features of other claims. However, they can also be of importance in an assignment to only individual features of claim 1 or claim 2 or of the respective further claim or in each case independently.

Thus, in a preferred embodiment of the object, it is provided that the larger distances between the light rays impinging on the light-sensitive element are achieved by means of a correction lens provided in addition to the receiver lens. Correspondingly, the influencing of the light beams in the receiver unit is achieved solely by optical means. The receiver lens catches the light rays reflected from the obstacle to be measured and bundles them, while the correction lens arranged behind the receiver lens, viewed in the direction of radiation, deflects the bundle of rays in a targeted manner in such a way that the desired greater spacing of the incident light rays on the light-sensitive element occurs. The characteristic curve of the bundled light spot on the light-sensitive element is modified in such a way that the distance measurement can also be evaluated well in the far range. The characteristic curve becomes steeper due to the interposition of the correction lens. In a further refinement, at least one further lens can be provided in addition to the receiver lens and the correction lens. In this respect, it is provided that the further lens is designed as a converging lens for bundling the reflected light when the receiver lens is formed.

As a result of this configuration, the collecting and bundling of the light beams is divided between two lenses connected in series. The correction lens is connected downstream of the additional lens used for bundling.

In order to achieve a particularly good image of the bundled light point directed via the correction lens on the light-sensitive element, in a preferred development of the object an optical diaphragm is provided associated with the receiver unit. In a further refinement, a number of such optical screens can also be provided in the receiver unit. A diaphragm can be positioned in front of the first lens viewed in the light radiation direction, ie the receiver lens, further between two lenses, for example between receiver lens and correction lens or also between the last lens, for example correction lens and the light-sensitive element.

It also proves to be advantageous if an optical filter element is provided associated with the receiver unit. This filter element has maximum transparency for the wavelengths of the light beam used for the measurement, while wavelengths that are not contained in the light beam are blocked by the filter element. This measure reduces interference from other light sources, for example ambient light, and increases the performance of the light-sensitive element. An optical filter element can be positioned either in front of the first lens, between two lenses or between the last lens and the light-sensitive element. In a further embodiment, the light-sensitive element or an optical element, such as a lens, coated or colored, which coating or coloring assumes the function of the filter element.

Depending on the distance of the object to be measured or the obstacle to be detected and its surface properties (degree of reflection), so much light is reflected onto the light-sensitive element that it is photoelectrically saturated without further measures. In this state, meaningful signal evaluation is not possible, incorrect measurements occur. This problem particularly affects floor dust collectors of the type in question that are used in households, since there a wide range of materials (e.g. bright, well-reflecting wallpaper or dark, poorly-reflecting textile materials) and strongly changing lighting conditions (e.g example direct sunlight in summer, darkened rooms) that must not disturb the light-sensitive element. In order to counteract this problem, the invention provides that at least one of the lenses used in the receiver unit is modified. The modification consists in the fact that the surfaces of the modified lenses that are active for light transmission are optically deactivated. This means they don't let any light through. The problem of saturation occurs mainly in the close range, where, due to the structure of a triangulation system, more light can be collected by the receiver unit than in the far range. In a preferred embodiment, the optical deactivation is achieved by mechanically separating the lens area. Alternatively, optical deactivation can be achieved by coating with an optically attenuating or opaque layer. There is also the option of gradual coloring of the lens, so that the optically active surface is effectively darkened in the close-up range, but maximum light transmission occurs in the long-distance range. It makes sense to only optically deactivate those lens areas that are only optically active in the close-up range but do not transmit any light in the long-distance range. As a result, a high luminous intensity is achieved in the long-distance range, while saturation is avoided in the close-up range. Furthermore, it is possible in this respect not to completely deactivate the corresponding areas for the close range, but to modify them, for example by coating, in such a way that only part of the light energy is allowed to pass through. Ideally, there is a continuous brightness distribution from 100% in the far range to a defined intensity in the near range of, for example, 20 to 90%, further for example 50% on the light-sensitive element.

Instead of full lenses, as are known from optical applications, a Fresnel lens is used in an alternative development of the subject matter of the invention. Such a Fresnel lens is characterized by a significantly lower thickness compared to full lenses, has a lower weight and a smaller installation space compared to a full lens. As a further alternative, holographic lenses can also be used.

A further increase in the insensitivity of the light-sensitive element to disruptive external light influences, such as ambient light, is achieved in a further development of the subject matter of the invention in that a separate light sensor is provided associated with the light source of the triangulation system. When the light source is activated, the evaluation electronics connected downstream of the light-sensitive element receive a signal via the associated separate light sensor, as a result of which the signal curve of the light source can be synchronized with that of the light-sensitive element. In this context, the separate light sensor can be provided as a separate component assigned to the light source. Furthermore, the light source can be a laser diode with an integrated monitor diode.

In order to implement sensor-based navigation using an optical triangulation system for an automatically movable soil dust collector, but also for movable objects, which navigation is based on the use of only one sensor arrangement, including a triangulation system, it is proposed to avoid blind spots that the triangulation system is arranged to be rotatable about a vertical axis. As a result of this configuration, the entire area surrounding the device or the object can be checked for obstacles using only one triangulation system or only one sensor arrangement. A rotation of the triangulation system around the vertical axis of 360° and more is thus preferably provided. In a further development of the subject matter, the triangulation system is arranged on a plate which can be rotated about a vertical axis relative to the stationary device housing. This can be, for example, a cover of a hood covering the chassis of the device. Alternatively, the entire hood that extends over the chassis can also form the rotary plate. As an alternative to a continuously rotatable triangulation system, this or a rotary plate that accommodates it can perform an alternating pivoting movement and scan a defined angular range in the process. By designing the pivoting device appropriately, pivoting angles of more than 360° can also be realized. When using more than one triangulation system, swivel angles of less than 360° are sufficient.

In a preferred embodiment, the rotary plate is driven by a separate elec romotor, which is further arranged in the device or the object. This electric motor can act on the rotary plate via a toothed wheel or traction mechanism. An embodiment in which the drive for the rotary plate is coupled to the drive for the traversing wheels has proven to be advantageous. In this way, there is a direct connection between the movement of the device and the scanning of the surrounding area. The coupling can be implemented, for example, by means of a gearwheel or traction mechanism.

It is also provided that the rotating or alternating rotary plate and the triangulation system arranged on the rotary plate are covered by a hood. As a result of this configuration, the rotating parts are protected from direct access and external influences. In order to continue to ensure the correct functioning of the triangulation system, the cover or the hood is designed to be at least partially transparent. Corresponding areas are provided through which the light beams can be emitted and received again. The triangulation system or systems of the rotating plate are correspondingly assigned to the transparent hood area in terms of height. In a further advantageous manner, the transparent area of the hood is designed as an optical diaphragm and/or optical filter element, for example by appropriate coating of the transparent area. This treatment of the transparent areas of the hood results in better imaging of the point of light on the light-sensitive sensor and/or in reducing interference, for example from ambient light.

Several triangulation systems can be arranged on the rotary plate, preferably distributed evenly over the circumference. In addition to the triangulation systems, it is also possible to equip the turntable with other monitoring elements, such as ultrasonic sensors or camera systems for image processing.

If a rotating or alternating triangulation system is provided, it must be supplied with energy. Furthermore, the distance information to the device or object is to be transmitted. For this purpose, it is initially provided that a slip ring/sliding contact arrangement is provided on the rotating plate for the energy supply of the triangulation system. Thus, the rotary plate can have sliding contacts, while the device that is stationary opposite carries slip rings. The reverse arrangement is also possible in this respect. Another alternative is the possibility of energy supply via the relative movement between the rotary plate and the device housing. A generator is constructed in this way, with a fixed shaft of the device forming a stator, for example, being provided with permanent magnets or electromagnets in alternating polarity, and the rotary plate being provided as a rotor with individual coils. When the rotary plate rotates, current is induced in the coils, which can be used by the triangulation system. This type of energy generation corresponds to a synchronous generator in terms of its mode of operation. As a further alternative, other generator principles can also be used for the energy transmission, for example in the form of asynchronous generators.

For the transmission of information from the triangulation system to the device or to the object, an optical system can be provided not only exclusively when using a rotating plate, but also when using a fixed triangulation system, by means of which the signals received by the light-sensitive element are transmitted. For this purpose, for example, the rotary plate can have a light source which emits a digitally coded signal by being switched on and off alternately. In the device or in the object there is a receiving unit that hangs up the light signal and forwards it to the control of the device or to evaluation electronics. As an alternative to optical transmission, the distance information can also be transmitted via radio, for which purpose, for example, the turntable has a transmitting antenna and the device or the object has a receiving antenna. Alternatively, the signals of the light-sensitive element can also be transmitted inductively, in particular in connection with a rotary plate carrying the triangulation system, in that a coil is provided on the rotary plate and on the device housing fixed opposite it, which are separated by a narrow air gap. If the coil in the rotary plate is supplied with alternating current, this is reflected by induction in the receiver coil in the device, which enables signal transmission. In connection with an energy supply for the triangulation system arranged on a rotating plate via a slip ring/slip contact arrangement, this arrangement can also be used to transmit coded signals, for example by superimposing the energy supply with a high-frequency AC voltage.

In a development of the subject matter of the invention, a sensor is provided to detect the angle of rotation of the triangulation system relative to the fixed device housing. Accordingly, the angle between the triangulation system and the longitudinal axis of the collection device or object is determined by an angle measuring device system detected. As a result, with a soil dust collection device of the type in question, it can continuously scan the environment with a rotating or alternating arrangement of the triangulation system and can compare the information thus obtained about the environment with the aid of an angle sensor with the respective orientation. This enables targeted navigation of the pick-up device. Various principles can be used to implement the angle sensor, for example by arranging optical sensors such as a forked light barrier with a knurled disk, potentiometers, reed relays, Hall sensors or contacts at one or more angular positions between the triangulation system or rotary plate and the fixed part of the device.

In a preferred embodiment, the light-sensitive element of the triangulation system is a one-dimensional element, further by means of a corresponding linear configuration of the same, along which light-sensitive line the light beam reflected by the obstacle and bundled by the optical elements and possibly corrected strikes, with one end of the linear, light-sensitive element defines a zero point.

From the distance between the point of light striking the linear, light-sensitive element and the zero point, the distance between the triangulation system and the obstacle can be determined using appropriate evaluation electronics, with the distance between the point of light and the zero point also increasing the distance between the device and the obstacle. In addition, it is preferred in a further development that the light-sensitive element is a two-dimensional element, correspondingly an element with a flat structure, the zero point being defined here by a peripheral edge or peripheral edge area of the two-dimensional element, which peripheral edge or peripheral edge area is transverse to the displacement direction of the impinging Point of light is aligned with different distance measurements.

The photosensitive element is a PSD (position sensitive device) element. Such a PSD element is available in a linear or alternatively in a flat design. The use of so-called camera chips (CCD or CMOS elements) can also be provided. Such optical sensors in the form of camera chips can also be in the form of linear or one-dimensional or flat or two-dimensional designs.

In one embodiment, the light source emits visible light. Alternatively, a light source can also be used which emits light in the spectral range that is not visible to humans, for example infrared light, in which case laser diodes or conventional light-emitting diodes (LEDs), for example, can also basically be used as light sources. Furthermore, in one embodiment of the subject matter of the invention, the light source emits light with exactly one wavelength, so-called monochromatic light. Alternatively, it is proposed that the light source emits light with a plurality of wavelengths or light in spectral ranges. This means that the distance to obstacles with different surface properties or colors can be reliably determined. When using monochromatic light, there is a risk that the distance from the pickup device to an obstacle should be measured, which obstacle reflects precisely this wavelength particularly poorly. In this case there is a risk of incorrect measurements. Such an erroneous measurement is counteracted by using light with more than one spectral component. This proves to be advantageous in particular in connection with an automatically movable floor dust collection device of the type in question, since this navigates in households where a large number of materials with different colors and surface properties are present.

In order to expand the measuring range, it is proposed that two or more light sources be provided. The two light sources are arranged in such a way that two shorter measuring ranges result, which add up to a longer total measuring range. This increases the performance of the triangulation system. Alternatively, it is proposed to provide two or more light-sensitive elements which are arranged at different distances from one or more light sources. If several light sources or light-sensitive elements are provided, it is important for the signal evaluation to know in which measuring range the object to be measured is located, since otherwise no clear measurement is possible. In this context, a preferred embodiment provides that the sensors or the light sources are synchronized with one another in such a way that a measurement only takes place or a light signal is only sent when the evaluation electronics clearly assign this to the corresponding light-sensitive element or the corresponding light source can.

If only one light-sensitive element is used, but more than one light source, then the problem of synchronization can also be advantageously solved in such a way that the light sources emit light with different wavelengths. If a photosensitive element is used that can detect wavelengths of the incident light, so this can be used for an unambiguous measurement.

In a further embodiment it is proposed that, in the case of a light source which emits light in the spectral range, a dispersing element is provided in addition to the optical elements. Such a dispersing element is an optical element which has a different refractive power depending on the light used, for example in the form of an optical prism. In this context, it is also found to be advantageous to use light with more than one wavelength for the distance measurement. The light is broken down by the dispersing element into its spectral components, which are then directed to different points on the light-sensitive element. It is also advantageous if the light-sensitive element is colored for dispersion, so that the distance to an obstacle can be measured by measuring the distance-dependent position of one or more wavelengths on the non-sensitive element, similar to conventional distance triangulation.

In the case of one-dimensional, so further line-shaped light-sensitive elements in particular, an exact alignment of the further used optical elements such as lenses and light-sensitive element is necessary in order to be able to carry out exact measurements. The entire optics of the triangulation system is adjusted so precisely that the light spot hits the light-sensitive element. In this context, it is known to use light beams with a circular cross-section, so that a round light spot is brought to coincide with a line-shaped light-sensitive element in the receiver. In order to avoid or minimize the adjustment effort required for this, it is further proposed that the light spot impinging on the light-sensitive element is expanded two-dimensionally, in particular in the vertical direction, ie transversely to the direction of extent of the one-dimensional light-sensitive element. As a result of this configuration, at least the adjustment effort in the vertical direction is reduced. The light spot is widened by appropriate shaping of the light at the light source and, for example, by a special attachment lens and/or in the reception area, for example by arranging special, so-called cylindrical lenses. A two-dimensional light-sensitive element can also be used instead of widening the light spot in the direction transverse to the line-shaped light-sensitive element. In this case, too, the adjustment is significantly simplified. Such an arrangement also proves to be advantageous during operation, in particular of an automatically movable floor dust collection device of the type in question. Vibrations, for example caused by driving over doorsteps or the like, do not lead to incorrect measurements, since vertical deflections of the incident light point in particular are absorbed.

The problem with the known optical triangulation systems for distance measurement is that a significantly higher amount of light falls on the light-sensitive element in the near range than in the far range. This can lead to saturation of the light-sensitive element at close range, making a meaningful measurement difficult. In order to counteract this problem, it is provided according to the invention that the light-sensitive element is arranged in such a way that less focussing is achieved in the element area assigned to the near area than in the element area assigned to the far area. This is achieved by targeted translational and/or rotational displacement of the light-sensitive element, so that sufficient focusing and thus a high energy input into the light-sensitive element is still achieved in the far range, but poorer focussing or poorer energy input is achieved in the close-up range. By tilting the light-sensitive element, a continuous transition of the signal weakening between near and far range is achieved.

In connection with a rotatable or alternating triangulation system with the aim of all-round navigation, a development of the subject matter of the invention provides that the light-sensitive element is fixed and the optical elements interacting with the light-sensitive element are rotatable. For example, the light source is permanently mounted in the collection device or object, while a rotatable plate has a rotatable device that rotates the light beam together with the other optical receiver elements such as a mirror or prism. This leads to a smaller installation space for the triangulation system, in particular for the receiver unit, which is particularly advantageous in the case of a floor dust collection device. This solution can also be applied to a triangulation system that does not rotate but continuously oscillates and thus scans a certain angular range.

In order to improve the performance characteristics of an optical triangulation system, in particular when used in a floor dust collector, it is provided that the triangulation system oscillates in the vertical direction. As a result, distance measurements are carried out at different vertical heights, which is particularly evident when navigating an area mobile pick-up device in a household proves to be advantageous, since this means that, for example, paragraphs, spaces below cupboards or similar obstacles can be detected. The entire triangulation system or just parts of it oscillate mechanically in the vertical direction and thus detect distances to obstacles at different heights. Alternatively, it is proposed in this connection that a linear laser is provided as the light source, which interacts with a flat, ie two-dimensional, light-sensitive element. Light sources can also be provided at different vertical heights, which interact with a two-dimensional light-sensitive element or with an oscillating light-sensitive element.

In general, the far range in a triangulation system of the type in question begins at the distance at which the sensor characteristic flattens out significantly. For example, with a distance sensor with a range of 300 cm, the far range starts at about 100 cm. In a rough classification, the lower third of the range of the sensor is referred to as the close range and the upper two thirds as the far range, with the definition of the near and far range in terms of signal weakening also depending on the used
photosensitive element. In practice, a gradual transition between the two areas can be assumed. In principle, the area of weakening begins in the close-up range as soon as it can be assumed that the light-sensitive element will be overdriven due to the light intensity being too high.

• 1 in perspektivischer Darstellung ein Bodenstaub-Aufsammelgerät;
• 2 eine perspektivische Unteransicht des Bodenstaub-Aufsammelgerä ts;
• 3 eine schematische Darstellung eines Triangulationssystems zur Anordnung an dem Bodenstaub-Aufsammelgerät, eine erste Ausführungsform betreffend;
• 4 eine Kennliniendarstellung der Messwerte eines lichtempfindlichen Elements des Triangulationssystems;
• 5 eine Teildarstellung eines Triangulationssystems in einer zweiten Ausführungsform;
• 6 den synchronisierten Signalverlauf einer Lichtquelle zu dem eines lichtempfindlichen Elements bei einem Triangulationssystem gemäß der Darstellung in 5;
• 7 das Bodenstaub-Aufsammelgerät in einer schematischen Draufsichtdarstellung, mit einem um eine vertikale Achse des Gerätes drehbaren Triangulationssystem und einem die Drehstellung erfassenden Sensor;
• 8 eine schematische Schnittdarstellung durch eine, das Triangulationssystem tragende Drehplatte und den Bereich ihrer Lagerung im Aufsammelgerät, eine weitere Ausführungsform betreffend;
• 9 eine schematische Schnittdarstellung gemäß der Darstellung in 8, jedoch eine alternative Ausführungsform betreffend;
• 10 das Triangultionssystem in schematischer Darstellung, eine weitere Ausführungsform betreffend;
• 11 in einer weiteren Ausführungsform das Triangulationssystem in schematischer Darstellung;
• 12 in schematischer Ansicht das lichtempfindliche Element des Triangulationssystems in eindimensionaler Ausführung bei Aufweitung des auftreffenden Lichtflecks in vertikaler Richtung;
• 13 eine weitere schematische Darstellung des lichtempfindlichen Elements in einer weiteren, zweidimensionalen Ausführungsform, mit einem auf das lichtempfindliche Element auftreffend kreisrunden Lichtfleck;
• 14 in einer weiteren Ausführungsform eine schematische Draufsicht auf das lichtempfindliche Element des Triangulationssystems;
• 15 in schematischer Darstellung das Bodenstaub-Aufsammelgerät in Seitenansicht mit einem eine feste Höhe erfassenden Triangulationssystem;
• 16 eine der 15 entsprechende Darstellung, jedoch mit einem unterschiedliche Höhen abtastenden Triangulationssystem;
• 17 eine schematische Ansicht des lichtempfindlichen Elements gemäß 12, betreffend eine Ausgestaltung zur zusätzlichen Ermittlung des Reflektionsgrades;
• 18 eine schematische Grundrissdarstellung eines Raumes mit in diesem verfahrbaren Bodenstaub-Aufsammelgerät;
• 19 der aus Empfängerlinse, Korrekturlinse und lichtempfindlichen Element bestehende Empfänger in einer Ausführungsform;
• 20 in einer weiteren Ausführungsform den Empfänger mit einer zwischengeschalteten Blende;
• 21 eine der 20 entsprechende Darstellung, jedoch bei Anordnung eines Filters;
• 22 in perspektivischer Schemadarstellung den Empfänger mit einer beschichteten Korrekturlinse;
• 23 eine der 22 entsprechende Darstellung, jedoch bei graduell eingefärbter Korrekturlinse;
• 24 eine weitere der 22 entsprechende Darstellung, jedoch bei optischer Deaktivierung eines Linsenbereiches durch mechanische Trennung;
• 25 eine weitere der 22 entsprechende Darstellung, jedoch bei Ausbildung der Korrekturlinse als Zylinderlinse;
• 26 in einer weiteren Ausgestaltung die Anordnung des Triangulationssystems in einer kardanischen Aufhängung;
• 27 eine weitere Ausführungsform der kardanischen Aufhängung für das Triangulationssystem.

The invention is explained in more detail below with reference to the attached drawing, which only shows exemplary embodiments. It shows:

• 1 a perspective view of a floor dust collector;
• 2 a bottom perspective view of the soil dust collection device;
• 3 a schematic representation of a triangulation system for arrangement on the floor dust collection device, relating to a first embodiment;
• 4 a characteristic curve representation of the measured values of a light-sensitive element of the triangulation system;
• 5 a partial representation of a triangulation system in a second embodiment;
• 6 the synchronized waveform of a light source to that of a light sensitive element in a triangulation system as shown in 5 ;
• 7 the floor dust collection device in a schematic plan view, with a triangulation system that can be rotated about a vertical axis of the device and a sensor that detects the rotational position;
• 8th a schematic sectional view through a rotating plate carrying the triangulation system and the region of its storage in the collecting device, relating to a further embodiment;
• 9 a schematic sectional view as shown in FIG 8th , but concerning an alternative embodiment;
• 10 the triangulation system in a schematic representation, relating to a further embodiment;
• 11 in another embodiment, the triangulation system in a schematic representation;
• 12 a schematic view of the light-sensitive element of the triangulation system in a one-dimensional design with the incident light spot widening in the vertical direction;
• 13 a further schematic representation of the light-sensitive element in a further, two-dimensional embodiment, with a circular light spot impinging on the light-sensitive element;
• 14 in a further embodiment, a schematic top view of the light-sensitive element of the triangulation system;
• 15 a schematic representation of the floor dust collector in side view with a triangulation system detecting a fixed height;
• 16 one of the 15 corresponding representation, but with a triangulation system scanning different heights;
• 17 a schematic view of the photosensitive element according to FIG 12 , relating to an embodiment for additionally determining the degree of reflection;
• 18 a schematic plan view of a room with movable in this floor dust collection device;
• 19 the receiver consisting of receiver lens, correction lens and photosensitive element in one embodiment;
• 20 in a further embodiment the receiver with an intermediate aperture;
• 21 one of the 20 Corresponding representation, but with the arrangement of a filter;
• 22 in a perspective schematic representation of the receiver with a coated correction lens;
• 23 one of the 22 Corresponding representation, but with a gradually colored corrective lens;
• 24 another of the 22 Corresponding representation, but with optical deactivation of a lens area by mechanical separation;
• 25 another of the 22 Corresponding representation, but with the correction lens designed as a cylindrical lens;
• 26 in a further embodiment, the arrangement of the triangulation system in a cardanic suspension;
• 27 another embodiment of the gimbal for the triangulation system.

Shown and described is a floor dust collection device 1 in the form of a cleaning robot with a chassis 2, which has electric motor-driven traversing wheels 3 on the underside, facing the floor to be cleaned, and a brush 5, also driven by an electric motor, which projects beyond the lower edge of the chassis floor 4. The chassis 2 is overlaid by a device hood 6, with the floor cleaning device 1 having a circular outline. However, the device 1 can also have an outline that deviates from a circular shape, in which case this can also be composed, for example, of a semicircular circular shape section and an adjoining shape section oriented on a rectangle.

The travel wheels 3 are arranged downstream of the brush 5 in the usual travel direction r of the floor dust collection device 1, with a dustpan-like dirt ramp 7 also being provided downstream of the brush 5, via which the brushed-off dirt is thrown into a container-like receptacle.

In the usual travel direction r, a support wheel in the form of a follower wheel 8 is positioned upstream of the brush 5, as a result of which a three-point support of the floor dust collection device 1 on the floor to be maintained is achieved.

Furthermore, although not shown, the floor dust collection device 1 can have a suction mouth opening in addition to or as an alternative to the brush 5 . In this case, the device 1 also has a suction fan motor which is electrically operated.

The electrical supply of the individual electrical components of the device 1 such as for the electric motor for the traversing wheels 3, for the electric drive for the brush 5, if necessary for the suction fan and also for the electronics provided further in the device 1 for controlling the same takes place via a not shown, rechargeable accumulator.

There is a need to identify obstacles in such floor dust collection devices 1 that prevent the device 1 from moving. A sensor arrangement 9 is provided for this purpose. In the present invention, this consists of a triangulation system T.

The elements of the triangulation system T are in the illustrated first embodiment (see 1 ) arranged on the ceiling side of the device hood 6, which allows a compact design. A separate arrangement of the transmitter S and receiver E of the triangulation system T is also possible, although not shown, for example an arrangement of the transmitter S in the wall area of the device hood 6 and an arrangement of the receiver E, for example on the ceiling side of the device hood 6.

The triangulation system T is an optical system that 3 is shown schematically in a first embodiment. In the simplest embodiment, the transmitter S is a light source 10 in the form of an LED or a laser diode, which light source 10 emits monochromatic light, such as visible light, but possibly also light that is not visible to humans, for example infrared light.

The receiver E initially has a light-sensitive element 11 . This is, for example, a PSD element or a CCD or CMOS element in a linear, i.e. one-dimensional design, as is the case, for example, in 12 is shown. Also part of the receiver E is a receiver lens 12 which is connected in front of the light-sensitive element 11 . The receiver lens 12 is used to collect and focus the light beams emitted by the light source 10 and reflected by the obstacles 13, 13'.

The functioning of the optical triangulation system T is as follows: Depending on the distance x of the detected obstacle 13 or 13' the light beam falls bundled via the receiver lens 12 onto the position y of the light-sensitive electronic element 11, with the position y on the light-sensitive element 11 moving away from a zero position L at the edge of the light-sensitive element 11 as the distance x from the obstacle 13 or 13' increases.

From the position y on the light-sensitive element 11, the distance x of the obstacle 13, 13' can be determined unequivocally.

In addition, the receiver E is provided with a correction lens 14 . This deflects the light beam bundled by the receiver lens 12 in a targeted manner in such a way that a sharp image is produced on the light-sensitive element 11 . The corrective lens 14 is in accordance with FIG 3 a biconvex lens with outwardly curved surfaces such that it has a positive radius of curvature on the incident surface and a negative radius of curvature on the exit surface. In the exemplary embodiment shown, the receiver lens 12, which is connected upstream in the direction of the light beam, has a plano-convex shape, with a plane projecting surface.

As a result of this arrangement, in particular due to the arrangement of the correction lens 14, the distance measurement can also be evaluated well in the far range, ie when detecting obstacles 13' that are further away, by evaluation electronics connected downstream of the light-sensitive element 11. 4 shows a corresponding characteristic curve of a triangulation system T, which represents the dependency of the measuring section x on the position y on the light-sensitive element 11. Compared to systems T without a correction lens 14, the characteristic curve is steeper, which allows the distance signal to be evaluated more simply, less sensitive to interference and therefore more accurately. For comparison, the characteristic of a system without correction lens 14 is shown in 4 shown in dotted lines.

Next, in the triangulation system T as shown in 3 an optical aperture 15 is provided on the receiver side. In the exemplary embodiment shown, this is positioned between the receiver lens 12 and the correction lens 14 . A particularly good imaging of the light point P, which is reflected by the obstacle 13, 13' to be detected, on the light-sensitive element 11 is achieved via this optical diaphragm 15.

An optical filter element 16 is also provided in the receiver E. This filter element 16 has maximum transparency for the wavelengths of the light beam used for the measurement. Wavelengths that are not contained in the light beam are blocked by the filter, so that interference from other light sources, such as ambient light, is reduced, which increases the performance of the light-sensitive element 11 . In the exemplary embodiment shown, the filter element 16 is positioned in front of the receiver lens 12 .

Alternatively, instead of the separately provided filter element 16, at least one of the optical surfaces of the lenses (receiver lens 12 or corrective lens 14) or the light-sensitive element 11 can be provided with a coating that takes on the function of the filter element.

In a further, alternative configuration as shown in 5 the light signal of the light source 10 is recorded via a separate light sensor 17, which light source 10 is modulated by the evaluation electronics A. As soon as the light source 10 is switched on, the evaluation electronics A receive a signal from the light sensor 17. The signal curve of the light source 10 is thus synchronized with that of the light-sensitive element 11, which means that the insensitivity of the triangulation system T to disruptive external influences such as ambient light is significantly increased. 6 shows the synchronization by the light sensor 17 based on the signal curve of the light-sensitive element (characteristic 18) depending on the signal curve of the light source 10 (characteristic 19).

A light-sensitive element that is already integrated in the light source 10 can also be used as a separate light sensor 17, for example a laser diode with an integrated monitor diode.

In order to implement sensor-based navigation that is based on the use of a single triangulation system T and has no blind spots, according to the further embodiment in 7 a triangulation system T arranged on a rotating plate 20. In an exemplary embodiment, this rotary plate 20 is the top of the device hood 6.

The rotary plate 20 is rotatable about a vertical axis z.

The triangulation system T covers a fixed angular range α. By rotating the rotary plate 20 and thus the triangulation system T about the axis z, a complete scanning of the area surrounding the collection device 1 is achieved. Alternatively, the rotary plate 20 with the triangulation system T can also carry out an alternating pivoting movement and scan a defined angle range in the process. Further alternatively, several triangulation systems T can also be provided on the rotary plate 20, so that in particular with an alternating pivoting movement, smaller pivoting angles are sufficient for the complete detection of the surrounding area, which also results in a higher scanning speed of the sensor system.

The rotary plate 20 provided with the triangulation system T is driven by a separate electric motor (not shown) and an interposed gear. Alternatively, the drive takes place by coupling to the traversing wheels 3 or to the electric motor acting on the traversing wheels 3 .

How further in particular from the 8th and 9 As can be seen, in a further embodiment, the rotary plate 20 and the triangulation system T arranged on it are covered by a cover 21, which is more preferably fixed, so that no rotating parts are exposed further to the outside.

This cover 21 is transparent all the way round at the level of the triangulation system T in the area of its wall. The transparent area is provided with reference number 22 .

Parts of the optical system, in particular optical elements of the receiver E, can be integrated in this transparent area 22, for example by appropriate coating or coloring of the transparent area 22, with which filters or screens are realized.

The signals received from the triangulation system are evaluated by the evaluation electronics A. Depending on this evaluation, a pre-programmed behavioral strategy of the collection device 1 is retrieved in order, for example, to drive around the detected obstacle. In the case of a rotating triangulation system T, in particular in the case of a triangulation system T arranged on a rotating plate 20, the distance information is preferably transmitted without contact. According to the embodiment in FIG 8th optical signal transmission is provided, for which purpose a light source 23 is provided centrally in the rotating plate 20, for example in the form of an LED. Controlled by the receiver E of the triangulation system T, this sends out digitally encoded light signals, in the simplest way by switching the light source 23 on and off ) a receiving unit 25 is provided, which catches the light signal and forwards it to the controller of the collection device. The receiving unit 25 is a photoelectric element, for example.

Alternatively, the signal transmission of the distance information as shown in 9 also be done via radio. For this purpose, a transmitting antenna 26 is provided centrally in the rotating plate 20 and communicates with a receiving antenna 27 in the part of the device which is stationary relative to the rotating plate 20 .

The power supply to the electronic elements on the rotating plate 20, in particular the triangulation system T, can be changed as shown in FIG 8th be released using mechanical slip rings. These slip rings 28 are arranged on the underside of the rotary plate 20 in the illustrated embodiment. The sliding contacts 29 that interact with this are provided on the device side and are connected to the device-side accumulator.

According to the illustration in 9 form the rotating rotary plate 20 and this opposite fixed device a generator, including the fixed shaft 24 is provided forming a stator with permanent or electromagnet 30 with alternating polarity. The rotary plate 20 is provided with individual coils 31 to form a rotor. As the rotary plate 20 rotates, current is induced in the coils 31, which the triangulation system T can use. This type of energy generation corresponds to its mode of operation according to a synchronous generator.

The slip ring sliding contact solution for the power supply of the triangulation system T arranged on the rotary plate 20 can also be used in a further embodiment to transmit information about the distance values, for which purpose the electrical energy transmitted from the device to the rotary plate 20 via the slip rings 28 and sliding contacts 29 is superimposed by a high-frequency AC voltage is, via which the triangulation system T sends the distance information encoded accordingly to the evaluation electronics A in the device.

In order to further enable targeted navigation of the collection device 1, as in 7 shown schematically, a detection of the angle of rotation of the rotary plate 20 or the triangulation system T to the usual direction of travel r can be detected. A position indicator 32 is provided for this purpose. This can, for example, be an optical sensor in the form of a forked light barrier with a knurled disk. Furthermore, several such position sensors 22 can also be provided over the circumference of the rotary plate 20, for example in the form of contacts at one or more angular positions.

In order to further increase the performance of the photosensitive element 11, according to the in 10 illustrated further embodiment in an optical triangulation system T, the arrangement of two light sources 10, 10 'provided, with a light source 10 for detecting obstacles 13 in the near range N and a light source 10' for detecting obstacles 13 'in the far range F is designed.

The two light sources 10 and 10' are placed in such a way that two shorter measuring ranges result, namely the measuring range for the near range N and the measuring range for the far range F, which add up to a longer overall measuring range. In this case, the signal evaluation system knows in which measuring range (N or F) the obstacle 13, 13' to be measured is located. The receiver E and the light sources 10, 10' are synchronized with one another in such a way that a measurement only takes place or a light signal is only sent when the evaluation electronics can clearly assign this to the corresponding receiver E or the corresponding light source 10,10' .

This is solved in the present exemplary embodiment in that the light sources 10 and 10' emit light with different wavelengths. The receiver E or the light-sensitive element 11 can detect wavelengths of the incident light, so that this can be used for an unambiguous measurement.

11 12 shows an embodiment of a triangulation system T, in which a dispersing element 33 in the form of an optical primate is provided in addition to the optical elements, such as lenses or diaphragms, which are not shown here. In this case, light with a plurality of wavelengths for the distance measurement is preferably emitted via the light source 10 . The light reflected by the obstacle 13 is broken down by the dispersing element 33 into its spectral components, which are thereby directed to different points of the light-sensitive element 11 . In a preferred embodiment, the latter is a color-sensitive optical sensor, so that the distance to an obstacle 13 can be measured by measuring the distance-dependent position of one or more wavelengths on the light-sensitive element 11 .

In order to avoid a complex adjustment of the point of light P cast by the reflected light beam onto the light-sensitive element 11, in a further embodiment according to the illustration in 12 provided that the point of light P is expanded two-dimensionally. This continues transversely to the longitudinal extent of the linear, i.e. one-dimensional, sensor area 11' of the light-sensitive element 11. This two-dimensional widening of the light point P can be achieved, for example, by arranging special attachment optics in the area of light source 10 or by arranging special, so-called cylindrical lenses on the receiver side being. As a result of this configuration, there is sufficient tolerance in the vertical direction or transversely to the orientation of the sensor area 11'.

Alternatively, with a punctiform design of the point of light P, the sensor area 11' of the light-sensitive element 11 can be two-dimensionally widened. A flat sensor element is provided accordingly. The widening of the sensor area 11' transversely to the measuring direction corresponds to a multiple of the diameter of the point of light P, for example two to five times the diameter (cf. 13 ).

In order to counter another problem of optical triangulation sensors for distance measurement, in which a significantly higher amount of light falls on the light-sensitive element 11 in the close range than in the far range, according to the embodiment in 14 a tilting of the light-sensitive element 11 from an arrangement directed transversely to the incident light beams in plan view is provided, such as a tilting to a transversely directed orientation of, for example, 15°. The usual arrangement of a light-sensitive element 11, aligned transversely to the incident light beams, is shown in FIG 14 represented schematically by the dot-dash line.

As a result of this tilting of the light-sensitive element 11, there is still sufficient focusing and thus a high energy input in the far range, but reduced focussing or energy input in the near range, with the result that overall a continuous transition of the signal weakening between the near and far range is achieved.

According to the illustration in 15 an obstacle 13 is detected at a constant height h by means of the triangulation system T. In order to detect obstacles at different heights, such as ledges 13", rooms below cupboards or similar obstacles, measurement at different heights h, h', h'' is provided. This is achieved by oscillating the triangulation system T in the vertical direction, with the entire triangulation system T or just parts of it oscillating mechanically in the vertical direction and measuring distances at different heights (cf. 16 ).

Alternatively, the triangulation system T can also have light sources at different heights, whose reflected light beams are on one areal, that is, two-dimensional light-sensitive element 11 meet.

17 shows a light-sensitive element 11 as a PSD (position sensitive device) element, as is used according to the present invention in a triangulation system T for distance measurement. Through the optics of the triangulation system T, that of the object O (cf. 18 ), whose distance is to be determined, reflected light focused on the photosensitive element 11. The point of light P generates two photocurrents i ₁ and i ₂ on the linear sensor area 11'. These are picked off and measured by a suitable measuring device at the ends of the sensor area 11'.

The position of the point of light P on the sensor area 11' is a measure of the distance to the object according to the principle of optical triangulation. This measure is determined from the ratio of the two currents i ₁ and i ₂ . The sum of the two currents i ₁ and i ₂ depends on the distance to the object and its surface properties, ie on the degree of reflection. By determining the distance, further information about the surface condition can be determined, which information can be used for navigating the floor dust collection device 1 in space R.

In 18 a floor dust collector 1 in a room R is shown. The contour of the room R is recorded using the triangulation system T. As a result of the evaluation of the geometry information, the floor dust collection device 1 can orientate itself within the space R. Furthermore, with the aid of the triangulation system T, the device 1 is able to determine the reflection properties of the surroundings using the method described, so that the device can also use this information for orientation and navigation. Device 1 can continue as in 18 shown schematically, identify areas with different reflection properties, with the illustration in 18 Objects O with different reflection properties are shown schematically by dashed and solid lines.

The signal strength for determining the degree of reflection can also be used in triangulation systems T which have, for example, photochips such as CCD or CMOS chips as the light-sensitive element 11 .

In 19 an embodiment of the receiver E is shown, in which both the receiver lens 12 and the correction lens 14 are designed as bi-convex lenses. A particularly effective influencing of the beam path is achieved in that at least one of the two lens surfaces is designed as an aspherical surface. In this case, this lens surface has a shape that deviates from a sphere. in the in 19 In the arrangement shown, the correction lens 14 is provided with two aspherical surfaces. The receiver lens 12 also has an aspheric surface, namely the surface facing the light beam.

Both lenses are more preferably provided with cylindrical mounts in order to be able to accommodate them in a mount with cylindrical bores. The cylindrical mount in the area of the correction lens 14 bears the reference number 34.

An example solution with an optical stop between the optical lenses (receiver lens 12 and correction lens 14) is in 20 shown. The optical stop 15 is made of an optically opaque material such as opaque plastic or metal and further has a central opening 35 through which the optical path of the receiver optics passes. Alternatively, the optical diaphragm 15 can also be positioned in front of the receiver lens 12 or between the correction lens 14 and the light-sensitive element 11 . In addition, the arrangement of more than one optical diaphragm 15 is also possible.

An example solution with an optical filter element is in 21 shown. This optical filter element 16 consists of a transparent material which is colored in such a way that it predominantly transmits the wavelength of the light used, but absorbs light with other wavelengths. For example, a plastic material can be used for the filter element 16 which, despite its low weight, has a very high breaking strength and a high degree of dimensional stability even at extreme temperatures.

As an alternative to a colored filter element 16, a transparent element can also be coated with an interference filter.

It is also possible to color or coat one of the lenses used. In 22 an embodiment is shown in which the correction lens 14 is coated with a uniform filter layer 36 on its front side facing the light beam.

The optical deactivation of at least one of the lenses can be achieved by gradually coloring the lens. Such a solution is in 23 shown, in which case the correction lens 14 is gradually colored at least on the side facing the light beam.

The lens is colored dark (area 37) in the area through which light primarily shines when an object is detected in the close-up area. The coloring becomes increasingly weaker towards the area of the lens through which light shines when an object is detected in the far area, so that the lens, here the correction lens 14, is finally completely transparent (area 38).

Optical deactivation of at least one lens can also be achieved by mechanically trimming the lens. 24 shows such a solution in connection with the correction lens 14, which faces the area through which light primarily shines when an object is detected in the close-up area, lens areas separated by approximately secant-shaped incisions. The cropping areas are in 24 marked with the reference number 39.

The linear widening of the point of light P can also be achieved with a cylindrical lens 40, for example. 25 shows a corresponding arrangement, with the cylindrical lens 14 also fulfilling the function of the correction lens 40 at the same time.

In a development of the subject matter of the invention, the triangulation system T is gimballed so that it is always aligned in the horizontal direction. 26 shows a first embodiment of this gimbal. The triangulation system T is mounted on a platform 41 . This is, for example, part of the housing of the triangulation system T. The platform 41 is mounted in a frame 42 about a horizontal axis of rotation b, which frame 42 is in turn mounted in two supports 43 so as to be rotatable about an axis of rotation a. The axes of rotation a and b cross each other, including a right angle to each other.

The supports 43 are firmly connected to the device hood 6 of the floor dust collecting device 1 . A counterweight 44 with a mass which is considerably greater than the mass of the triangulation system is located below the common plane formed by the two mutually perpendicular axes of rotation a and b. As a result of this arrangement, it is ensured that the weight of the counterweight 44 of the triangulation system T always keeps it in the horizontal position, even if the floor dust collection device 1 is tilted out of the horizontal, for example when driving over a door sill.

As an alternative to passive compensation of the interface position of the triangulation system T, active compensation by means of two servomotors 45, 45 is also possible. this is in 27 presented as an example solution.

The triangulation system T is as in the related to 26 described solution via two axes of rotation a and b mounted on a frame 42 in two supports 43, which supports are firmly connected to the hood 6 of the device 1. In addition, an inclination sensor 47 is provided, which detects the angle that the device forms to the horizontal. This angle of inclination is converted into an angle of rotation of the triangulation system about the axes of rotation a and b via the geometric dimensions of the cardanic suspension. These angles of rotation can be specified as correcting variables via a corresponding position control of the servomotors 45 and 46, which then compensate for the inclination of the triangulation system T with respect to the horizontal.

In principle, all wavelengths that can be detected by the light-sensitive element 11 can be used. Standard light colors are preferred. Furthermore, structurally small and light laser diodes or the like are preferably provided as the light source 10, for example laser diodes with red light. As a rule, these have wavelengths in the range from 635 nm to 658 nm. In addition, there is also the possibility of arranging laser diodes with green light, in which the wavelength range is around 500 nm. In addition, light sources in the infrared range are also possible, with a wavelength of 900 nm. In this context, LEDs are preferably used. In addition, infrared laser diodes can also be provided as light source 10 .

All disclosed features are (per se) essential to the invention. The disclosure of the application also includes the disclosure content of the associated/attached priority documents (copy of the previous application) in full, also for the purpose of including features of these documents in claims of the present application.

Reference List

1

floor dust collector

2

chassis

3

traversing wheels

4

chassis floor

5

brush

6

device hood

7

dirt ramp

8th

idler wheel

9

sensor arrangement

10

light source

10'

light source

11

photosensitive element

11'

sensor area

12

receiver lens

13

obstacle

13'

obstacle

13"

obstacle

14

correction lens

15

optical aperture

16

optical filter element

17

light sensor

18

curve

19

curve

20

turntable

21

cover

22

transparent area

23

light source

24

Wave

25

receiving unit

26

transmitting antenna

27

receiver antenna

28

slip rings

29

sliding contacts

30

magnets

31

Wash

32

locator

33

dispersing element

34

version

35

opening

36

filter layer

37

area

38

area

39

crop area

40

cylindrical lens

41

platform

42

frame

43

Support

44

counterweight

45

actuator

46

actuator

47

tilt sensor

A

evaluation electronics

E

recipient

f

far range

L

zero position

N

close range

P

point of light

S

Channel

T

triangulation system

O

object

R

Space

H

Height

H'

Height

H''

Height

right

travel direction

x

Distance

y

position

e.g

vertical axis

a

detection angle

i 1

photostream

i2

photostream

a

axis of rotation

b

axis of rotation

Claims (56)

Automatically movable floor dust collection device (1), namely a cleaning robot, with electric motor-driven travel wheels (3), a device housing, a dust collection container and a device hood (6), the floor dust collection device (1) being provided with an obstacle detection system, the obstacle detection being a optical triangulation system (T) is equipped with a light source (10, 10') and a receiver unit (E) having an optical element in the form of a receiver lens (12) for the reflected light beams and a light-sensitive element (11), the light beams in the receiver unit (E) are influenced in such a way that, after bundling by the receiver lens (12), at least associated with greater real distances to the obstacle (13, 13'), there are greater distances between the incident light beams on the light-sensitive element (11), characterized in that that the trian gulation system (T) is movably suspended and/or gimballed. Automatically movable floor dust collection device (1), namely a cleaning robot claim 1 , characterized by a tilt sensor. Floor dust collecting device, namely cleaning robot, according to one of the preceding claims, characterized in that the larger distances between the incident light beams on the light-sensitive element (11) are achieved by a correction lens (14) provided in addition to the receiver lens (12). Floor dust collection device, namely cleaning robots claim 3 , characterized in that in addition to the receiver lens (12) and the correction lens (14) at least one further lens is provided. Floor dust collection device, namely cleaning robots claim 4 , characterized in that the further lens is designed as a converging lens for bundling the reflected light when the receiver lens (12) is formed. Floor dust collecting device, namely cleaning robot, according to one of the preceding claims, characterized in that an optical diaphragm (15) is provided associated with the receiver unit (E). Floor dust collecting device, namely cleaning robot, according to one of the preceding claims, characterized in that an optical filter element (16) is provided associated with the receiver unit (E). Floor dust collecting device, namely cleaning robot, according to one of the preceding claims, characterized in that the light-sensitive element (11) is coated or colored for the optical filtration of the reflected light. Floor dust collecting device, namely cleaning robot, according to one of the preceding claims, characterized in that an optical element such as a lens (12, 14) is coated or colored for the optical filtration of the reflected light. Floor dust collecting device, namely cleaning robot, according to one of the preceding claims, characterized in that a partial area of a lens (12, 14) is optically deactivated. Floor dust collection device, namely cleaning robots claim 10 , characterized in that the optical deactivation is achieved by mechanical separation of the lens area. Floor dust collection device, namely cleaning robots claim 10 or 11 , characterized in that the optical deactivation is achieved by a coating with an optically attenuating or opaque layer. Floor dust collection device, namely cleaning robot, according to one of Claims 10 until 12 , characterized in that the optical deactivation is achieved by a gradual coloring of the lens (12, 14). Floor dust collection device, namely cleaning robot, according to one of Claims 10 until 13 , characterized in that the optical deactivation is carried out in the area of the lens (12, 14) assigned to the close-up area (N). Floor dust collecting device, namely cleaning robot, according to one of the preceding claims, characterized in that a separate light sensor (17) is provided associated with the light source (10, 10'). Floor dust collecting device, namely cleaning robot, according to one of the preceding claims, characterized in that the light source (10, 10') is a laser diode with an integrated monitor diode. Floor dust collecting device, namely cleaning robot, according to one of the preceding claims, characterized in that the triangulation system (T) is arranged to be rotatable about a vertical axis (z). Floor dust collecting device, namely cleaning robot, according to one of the preceding claims, characterized in that the triangulation system (T) is arranged on a rotary plate (20) which can be rotated about a vertical axis (z) relative to the stationary device housing. Floor dust collection device, namely cleaning robots Claim 18 , characterized in that the rotary plate (20) rotates alternately about the vertical axis (z). Floor dust collection device, namely cleaning robots Claim 18 or 19 , characterized in that the rotary plate (20) is driven by a separate electric motor. Floor dust collection device, namely cleaning robot, according to one of claims 18 until 20 , characterized in that the drive for the rotary plate (20) is coupled to the drive for the traveling wheels (3). Floor dust collection device, namely cleaning robot, according to one of claims 18 until 21 , characterized in that the rotary plate (20) and the triangulation system (T) arranged on the rotary plate (20) are covered by a cover (21). Floor dust collection device, namely cleaning robots Claim 22 , characterized in that the cover (21) is partially transparent. Floor dust collection device, namely cleaning robots Claim 23 , characterized in that the transparent area (22) of the cover (21) is designed as an optical diaphragm and/or optical filter element. Floor dust collection device, namely cleaning robots Claim 23 or 24 , characterized in that the transparent area of the cover (21) is coated to form an optical diaphragm and/or an optical filter element. Floor dust collection device, namely cleaning robot, according to one of claims 18 until 25 , characterized in that several triangulation systems (T) are arranged on the rotating plate (20). Floor dust collecting device, namely cleaning robot, according to one of Claims 18 to 26, characterized in that in addition to the triangulation system (T), further monitoring elements such as ultrasonic sensors or cameras are arranged on the rotating plate (20). Floor dust collecting device, namely cleaning robot, according to one of Claims 18 to 27, characterized in that a slip ring/slipping contact arrangement is provided on the rotary plate (20) for the power supply of the triangulation system (T). Floor dust collecting device, namely cleaning robot, according to one of Claims 18 to 28, characterized in that the movement of the rotating plate (20) relative to the device housing is used to supply energy to the triangulation system (T) on the rotating plate (20). Floor dust collecting device, namely cleaning robot, according to one of the preceding claims, characterized in that optical transmission of the signals received from the light-sensitive element (11) is provided. Floor dust collecting device, namely cleaning robot, according to one of the preceding claims, characterized in that the signals of the light-sensitive element (11) are transmitted by radio. Floor dust collecting device, namely cleaning robot, according to one of the preceding claims, characterized in that the transmission of the signals of the light-sensitive element (11) takes place inductively. Floor dust collection device, namely cleaning robot, according to one of claims 18 until 32 , characterized in that the signals of the light-sensitive element (11) are transmitted when the rotary plate (20) is supplied with energy via a slip ring/sliding contact arrangement via the slip ring/sliding contact arrangement by means of coded signals. Floor dust collection device, namely cleaning robot, according to one of claims 18 until 33 , characterized in that a sensor is provided for detecting the angle of rotation of the triangulation system (T) relative to the fixed device housing. Floor dust collecting device, namely cleaning robot, according to one of the preceding claims, characterized in that the light-sensitive element (11) is a one-dimensional element. Floor dust collecting device, namely cleaning robot, according to one of the preceding claims, characterized in that the light-sensitive element (11) is a two-dimensional element. Floor dust collecting device, namely cleaning robot, according to one of the preceding claims, characterized in that the light-sensitive element (11) is a PSD element. Floor dust collecting device, namely cleaning robot, according to one of the preceding claims, characterized in that the light-sensitive element (11) is a CCD element. Floor dust collecting device, namely cleaning robot, according to one of the preceding claims, characterized in that the light-sensitive element (11) is a CMOS element. Floor dust collecting device, namely cleaning robot, according to one of the preceding claims, characterized in that the light source (10, 10') emits visible light. Floor dust collecting device, namely cleaning robot, according to one of the preceding claims, characterized in that the light source (10, 10') emits non-visible light. Floor dust collecting device, namely cleaning robot, according to one of the preceding claims, characterized in that the light source (10, 10') emits light with one wavelength. Floor dust collecting device, namely cleaning robot, according to one of the preceding claims, characterized in that the light source (10, 10') emits light with several wavelengths. Floor dust collecting device, namely cleaning robot, according to one of the preceding claims, characterized in that two or more light sources (10, 10') are provided. Floor dust collecting device, namely cleaning robot, according to one of the preceding claims, characterized in that two or more light-sensitive elements (11) are provided. Floor dust collection device, namely cleaning robots Claim 44 or 45 , characterized in that when there are two or more light sources (10, 10') and/or light-sensitive elements (11), the light sources (10, 10') and elements (11) are synchronized. Floor dust collection device, namely cleaning robot, according to one of Claims 44 until 46 , characterized in that if there are several light sources (10, 10'), the light sources (10, 10') are designed to emit light with different wavelengths and that the light-sensitive receivers (10) are designed in such a way that they detect predetermined wavelengths. Floor dust collecting device, namely cleaning robot, according to one of the preceding claims, characterized in that in relation to a light source (10, 10') which emits light in the spectral range, a dispersing element (33) is provided in addition to the optical elements. Floor dust collecting device, namely cleaning robot, according to one of the preceding claims, characterized in that the light-sensitive element (11) is colored for dispersion. Floor dust collecting device, namely cleaning robot, according to one of the preceding claims, characterized in that the point of light (P) impinging on the light-sensitive element (11) is two-dimensionally expanded. Floor dust collection device, namely cleaning robots Claim 50 , characterized in that the widening of the point of light (P) is achieved by shaping the light at the light source (10, 10') and/or in the reception area. Floor dust collecting device, namely cleaning robot, according to one of the preceding claims, characterized in that the light-sensitive element (11) is arranged in such a way that in the element area assigned to the close-up area (N) less focussing is achieved than in the far-area (F ) associated element range. Floor dust collecting device, namely cleaning robot, according to one of the preceding claims, characterized in that the light-sensitive element (11) is fixed and the optical elements cooperating with the light-sensitive element are rotatable. Floor dust collecting device, namely cleaning robot, according to one of the preceding claims, characterized in that the triangulation system (T) oscillates in the vertical direction. Floor dust collecting device, namely cleaning robot, according to one of the preceding claims, characterized in that a linear laser is provided as the light source (10, 10'). Floor dust collecting device, namely cleaning robot, according to one of the preceding claims, characterized in that light sources (10, 10') are provided at different vertical heights.

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