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EP1136027B1 - Appareil d'entretien de sol ainsi que procede pour reconnaitre un etat du sol respectivement pour aligner le mouvement de conduite - Google Patents

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

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Publication number
EP1136027B1
EP1136027B1 EP01106284A EP01106284A EP1136027B1 EP 1136027 B1 EP1136027 B1 EP 1136027B1 EP 01106284 A EP01106284 A EP 01106284A EP 01106284 A EP01106284 A EP 01106284A EP 1136027 B1 EP1136027 B1 EP 1136027B1
Authority
EP
European Patent Office
Prior art keywords
floor
care device
ultrasonic
floor care
transducer
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP01106284A
Other languages
German (de)
English (en)
Other versions
EP1136027A2 (fr
EP1136027A3 (fr
Inventor
Uwe Caldewey
Matthias KÖCHEL
Jörg Sommer
Patrick Schlischka
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Vorwerk and Co Interholding GmbH
Original Assignee
Vorwerk and Co Interholding GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Vorwerk and Co Interholding GmbH filed Critical Vorwerk and Co Interholding GmbH
Publication of EP1136027A2 publication Critical patent/EP1136027A2/fr
Publication of EP1136027A3 publication Critical patent/EP1136027A3/fr
Application granted granted Critical
Publication of EP1136027B1 publication Critical patent/EP1136027B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02—Nozzles
    • A47L9/04—Nozzles with driven brushes or agitators
    • A47L9/0405—Driving means for the brushes or agitators
    • A47L9/0411—Driving means for the brushes or agitators driven by electric motor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02—Nozzles
    • A47L9/06—Nozzles with fixed, e.g. adjustably fixed brushes or the like
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02—Nozzles
    • A47L9/06—Nozzles with fixed, e.g. adjustably fixed brushes or the like
    • A47L9/0633—Nozzles with fixed, e.g. adjustably fixed brushes or the like with retractable brushes, combs, lips or pads
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • A47L9/2826—Parameters or conditions being sensed the condition of the floor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2842—Suction motors or blowers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2847—Surface treating elements
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2857—User input or output elements for control, e.g. buttons, switches or displays
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2894—Details related to signal transmission in suction cleaners

Definitions

  • the invention relates to a floor care appliance according to the features of the preamble of claim 1
  • the device For soil care, such as vacuuming, depending on the type of soil to be cared for the device is configured accordingly, for example by adjusting the suction or hard floors by limiting the suction mouth by extending bristle strips or the like. For devices that have a motor-driven carpet brush , this is disabled when maintaining such a hard floor.
  • These different configurations can be set manually by the user. It is known to adjust these settings of the device automatically, self-regulating, depending on the surface structure of the soil to be cared for.
  • carpets have a soft surface; Tiles and PVC coverings, however, are classified as hard.
  • JP 07313418 A is a floor care device with a pot-like down open known in which freely suspended an ultrasonic transmitter and an ultrasonic receiver are arranged.
  • the object of the invention is to specify a floor care appliance, in particular a vacuum cleaner, with an ultrasonic transducer arrangement which is advantageous with regard to floor detection.
  • the ultrasonic transducer is preferably used both as a transmitter and shifted in time as a receiver.
  • the ultrasonic transducer is excited in a pulse shape, so that a sound wave is generated at its resonance frequency. Since then the transducer reverberates, must pass a certain amount of time so that it can work as a receiver. This ringing time depends essentially on the bandwidth of the ultrasonic transducer and is for example one millisecond. Only after this time, the echo of the transmission signal by reflection on the ground or the surface of the soil to be treated again reach the ultrasonic transducer. The guidance through the sound conduit provides sufficient amplitudes.
  • the ultrasonic transducer is arranged at one end of this sound conduction channel.
  • the other, open end of this channel is placed at a distance of about 0.5 to 2.5 cm to the floor to be treated in the floor care device, more preferably with vertical alignment of this free sound channel.
  • the Sound conduit is designed as a hose.
  • the inner wall is homogeneous. This means that no edges at which the sound could be reflected, may be present.
  • a sound conduit is preferred which has a curved course. It is further proposed that the sound conduit has a length which, taking into account the speed of sound, corresponds at least to the ringing time of the ultrasonic transducer.
  • a correspondingly long, preferably curved sound conduit is used in the form of a hose whose Sound exit or sound inlet end in the area of the device floor is aligned perpendicular to the floor to be cared for.
  • the length of the sound conduction channel is shorter than corresponds to a path traveled by the sound during a decay time. Accordingly, sound channel lengths of 2 to 10 cm, preferably 3 to 5 cm can be realized. It proves to be advantageous in this case that the ultrasonic transducer is arranged in the sound conduit. It is also advantageous that the sound channel on the bottom ends at a distance of 0.5 to 1.5 cm to the floor to be maintained.
  • the ultrasonic floor detection according to the invention is preferably used to the effect that, depending on the ultrasonic detection, the distance of a suction nozzle to the floor to be cared for is variable.
  • the floor of the floor care appliance such as, for example, a suction nozzle, preferably rests on the carpet when it is being maintained.
  • the bottom of the appliance should be spaced apart from it during the care of a hard floor in order to avoid scratching it. Thanks to the ultrasonic detection, the distance between the suction nozzle base and the floor to be cared for can be changed automatically.
  • the ultrasound is reflected and thus the output of the associated Schmitt trigger activated, which has a logical link lifting the suction nozzle or the Saugdüsenteils result.
  • the height change is achieved by retracting and extending a bristle strip.
  • the evaluated hard floor signal can be used to control a servo or the like, which in turn one, im Area of the nozzle mouth arranged bristle strip extends. About the latter, in this case the suction nozzle, for example. In the front area, slightly lifted from the soil to be cared for. The detection of a carpet causes the retraction of the bristle strip and, consequently, the lowering of the suction nozzle. The same applies when the device is lifted off the ground.
  • the drive for the carpet brush can be switched as a function of the ultrasonic signal.
  • the drive of the carpet brush is activated only when a carpet is detected.
  • the carpet brush is not activated to avoid damage to the floor and / or the brush.
  • an ultrasound of more than 40 kilohertz is used.
  • a piezoelectric element is preferably used as an ultrasonic transducer.
  • different groups of pads can be distinguished.
  • high frequencies are rather unfavorable because of the high attenuation of the sound signal in the air.
  • a frequency of 35 to 60 kilohertz is suitable.
  • B. long-pile coverings such as bath mats or the like.
  • the ultrasonic transducer is acted upon by a switch either by a pulse generator or coupled to a pulse amplifier.
  • the ultrasonic transducer is continuously switched between transmission and reception.
  • the embodiment can also be chosen such that the ultrasonic transducer can be interconnected both constantly with a pulse generator and with a pulse amplifier.
  • the sequence control is substantially simplified. It is dispensed with switching between transmitting and receiving operation by the receiving or pulse amplifier is continuously connected to the ultrasonic transducer, so even during the transmission pulse.
  • the receive amplifier is significantly overdriven by the transmit pulse, sufficient time remains for the amplifier during the runtime of the sound signal to get out of saturation and provide the required sensitivity.
  • the evaluation of the potential takes place with a Schmitt trigger or when divided into several groups (soft carpet, carpet, hard floor, etc.) with a corresponding number of them.
  • the invention further relates to a floor care appliance, in particular a vacuum cleaner with a suction duct having a suction mouth and possibly a motor-driven carpet brush, wherein a further focus of the device is in the traversing behind the suction mouth, with an ultrasonic floor detection means of ultrasound transmitter and converter ,
  • a floor care appliance in particular a vacuum cleaner with a suction duct having a suction mouth and possibly a motor-driven carpet brush, wherein a further focus of the device is in the traversing behind the suction mouth, with an ultrasonic floor detection means of ultrasound transmitter and converter ,
  • an ultrasonic floor detection means of ultrasound transmitter and converter In order to enable the detection of missing soil, for example.
  • an ultrasonic transmitter and / or transducer is arranged in the direction of travel before the center of gravity.
  • an autonomous floor care device can be realized by the inventive arrangement of the ultrasonic transmitter and / or converter.
  • the ultrasound transmitter and / or converter can be arranged in the direction of travel of the floor care device viewed in front of it in this regard.
  • an ultrasonic transmitter and / or converter is arranged on the edge side of the device. It is preferred here that two ultrasonic transmitters / transducers are provided on the edge sides of the device.
  • an ultrasonic transmitter and / or transducer in the direction of travel is arranged behind a front edge of the suction mouth but before the center of gravity.
  • an ultrasonic transmitter and / or converter is arranged opposite both edge edges of the suction mouth.
  • traversing wheels are provided and that the ultrasound transmitters and / or transducers are arranged in a distance corresponding to the distance of the traversing wheels, so that the risk that the step-facing traversing wheel is already traveling over the edge before the sensor detects the abyss has been counteracted.
  • the subject invention is provided for detecting a transition between two floor coverings that two ultrasonic transmitter and / or converter are arranged directly next to each other. According to this embodiment, transition edges between different floor coverings are recognized, after which the floor care device is enabled to move parallel to the edge or along the edge.
  • a particularly autonomous ground care device is thus able to efficiently clean even in such transition areas and to clean a surface depending on their changing surface structure.
  • the well-known horizontal orientation of autonomous ground care equipment on obstacles is complemented by this invention by a vertical orientation on the ground condition. Due to the described arrangement of the ultrasonic transmitter and / or transducer is reliably and quickly, ie directly, a classification of the soil on which moves the floor care device made. Thus, an adapted reaction of the purification unit can take place immediately.
  • the aforementioned arrangements according to the invention may take the form of each an ultrasound transmitter and an associated ultrasound receiver. Particularly advantageous here is an embodiment according to claim 1, in which the same ultrasonic transducer operates both as an ultrasonic transmitter as well as an ultrasonic receiver.
  • the invention also relates to a method for detecting a soil condition, such as hard floor, carpet or missing floor by means of ultrasonic measurement in a floor care device.
  • a soil condition such as hard floor, carpet or missing floor
  • the amplitude of the reflected sound is evaluated for detecting the soil condition.
  • the evaluation of the signal leads to corresponding reactions.
  • an optionally provided carpet brush is switched off and, in addition, bristle strips are extended to limit the suction space.
  • the amplitude of the reflected sound is compared with predetermined limit values.
  • an assignment is provided in which, when an upper limit value of the sound intensity is exceeded, hard floor and, for a measured value, between an upper and a lower limit value, carpet is recognized. If, on the other hand, the measured value is smaller than the lower limit value, then missing ground is detected, for example in the case of downward leading steps or after a lifting of the ground care device.
  • the measured value is smaller than the lower limit value, then missing ground is detected, for example in the case of downward leading steps or after a lifting of the ground care device.
  • a hysteresis is provided in the evaluation of the echo amplitude. Is for example. Carpet has already been recognized, the amplitude must exceed several times a higher threshold to detect hard floor.
  • a standstill of the device can be detected by this signal evaluation, since in this case a small range of successive, measured sound amplitudes is present, resulting in an advantageous manner to a shutdown or shutdown in a minimum performance of the ground care device.
  • an averaging is performed from a plurality of measured values before an evaluation.
  • the echo signal for example, of hard floor and carpet.
  • the echo amplitude for hard floors is higher on average than for carpets, averaging the hard floors results in a higher amplitude than in carpets.
  • the information about a standstill of the soil care appliance can also be obtained from the reflected signal.
  • the evaluation of the ultrasound signal is started before the decay time of the transmitted signal has elapsed. Accordingly, can be shortened to a length of 2 to 10 cm, preferably 3 to 5 cm, by an adapted signal evaluation of the sound conduction channel.
  • the method described above is applicable both to conventional floor care appliances in the form of vacuum cleaners and, in particular, to autonomous floor care appliances.
  • the invention relates to a method for aligning the movement of an automatic floor care device such as in particular a vacuum cleaner along an edge of a specific floor covering, such as. A carpet, wherein a detection of the floor covering is made by means of ultrasound.
  • an automatic floor care device such as in particular a vacuum cleaner along an edge of a specific floor covering, such as. A carpet
  • a detection of the floor covering is made by means of ultrasound.
  • a change of direction with respect to the travel direction of the appliance be made depending on a detection of the change of the floor covering.
  • Electromotive driven Verfahr render the device according to a desired behavior, eg. B. "driving along the transition edge" drives.
  • the traversing direction of the device is brought to the course of a peripheral edge between two different floor coverings, this example. Under zigzag approach of the direction of travel to the edge of the covering edge.
  • the time to capture a further change of the floor covering additionally detected so hereinafter, for example, a angularly smaller change in direction required.
  • These measurements and changes in direction can lead to the extent that after a short pass, an approximation to a straight-ahead travel direction is achieved.
  • the extent of the first change in direction is more than 90 °.
  • the invention also relates to a method for aligning the movement of an automatic floor care device such as in particular a vacuum cleaner along an edge of a particular floor covering, such as. A carpet, wherein a detection of the floor covering is carried out by means of ultrasound.
  • an automatic floor care device such as in particular a vacuum cleaner along an edge of a particular floor covering, such as. A carpet
  • a detection of the floor covering is carried out by means of ultrasound.
  • the invention relates to a method for aligning the movement of a self-floor care device such as in particular a vacuum cleaner along an edge of a particular floor covering, such as. A carpet, wherein a detection of the floor covering is made by means of ultrasound.
  • a self-floor care device such as in particular a vacuum cleaner along an edge of a particular floor covering, such as. A carpet
  • a detection of the floor covering is made by means of ultrasound.
  • two juxtaposed ultrasonic transmitter and / or converter are provided.
  • separate ultrasonic transmitters and ultrasonic receivers may be provided.
  • the amplitude value of the ultrasound transducers arranged next to each other is preferably detected.
  • the floor care device is located on two different coverings.
  • correction movements of the drive wheels can obtain or adjust this state of the moving device so that the device moves along the peripheral edge.
  • a floor care device 1 in the form of an attachment for a vacuum cleaner with powered by an electric motor 2 carpet brushes 3.
  • the latter enforce the bottom 4 of the care device 1 in the region of a suction mouth 5 for mechanical support of the cleaning process in the care of carpets.
  • the care device 1 For the treatment of hard floors, such as tile floors, the care device 1 has in a known manner the suction mouth 5 upstream of a bristle strip 6, which is retracted in a care of carpets or the like, so that the suction mouth 5 rests on the carpet to be treated. In the case of hard floors, the bristle strip 6 is extended, so that the suction mouth 5 of the suction nozzle or the care appliance 1 stands out from the floor to be treated-here hard floor.
  • the required depending on the nature of the soil to be maintained 7 switching on and off the carpet brush drive and the retraction and extension of the bristle strip 6 is controlled according to the invention via a care device electronics.
  • an ultrasonic soil detection is used to determine the surface condition of the soil 7 to be maintained.
  • Floor coverings differ in their surface structure. While carpets have a soft surface, z. As tiles and PVC coverings classified as hard. According to the invention, an ultrasonic wave is directed to the soil 7 to be maintained. The different structures of the floor coverings have a corresponding effect on the acting sound waves.
  • an ultrasonic transducer 8 is provided at a distance from the floor to be cared, which operates both as an ultrasonic transmitter 9 and as an ultrasonic receiver 10.
  • This ultrasonic transducer is inventively a piezoelectric element (piezoelectric crystal).
  • For ground detection an ultrasound of more than 30 kilohertz is used.
  • the ultrasonic ground detection works with a continuous transmission signal.
  • the system according to the invention operates with a single ultrasonic transducer 8. This is made possible by the fact that the ultrasonic transducer according to the embodiment in FIG Fig. 3 a very short transmit pulse is given and thereafter switched to receive mode.
  • the ultrasonic transducer 8 is continuously switched in this system. This is done by means of a sequence control 11. First, a short pulse is given to the ultrasonic transducer 8 via a pulse generator 12. Subsequently, a switch 13 is switched via the sequence controller 11 such that the signal from the ultrasonic transducer 8 reaches a pulse amplifier 14. After the amplification of the received signal, this is then rectified.
  • the rectifier carries in Fig. 3 the reference numeral 15. Since the output signal due to the constant movement of the care device 1 on the floor to be maintained 7 has no constant level, an averaging is required, which is achieved with a filter 16.
  • Fig. 4 the operation of the Schmitt trigger 17 is shown with hysteresis. It can be seen that when a voltage level A is exceeded, a signal C results on the output side of the Schmitt trigger 17. Accordingly, the, this Schmitt trigger 17 assignable flooring was detected.
  • the output signal C of the Schmitt trigger 17 is evaluated in a logical link 18 for determining the floor covering.
  • a corresponding number of Schmitt triggers 17 are to be arranged in parallel.
  • the output signal D of the logical link 18 can be used in an advantageous manner to turn on or off depending on the detected flooring, the carpet brushes 3 or the bristle strips 6 on or extend.
  • the suction power of the care device can be controlled electronically.
  • an ultrasonic transducer 8 is also used at the same time as an ultrasonic transmitter 9 and as an ultrasonic receiver 10.
  • the ultrasonic transducer is excited in a pulse shape, so that a sound wave is generated at its resonance frequency.
  • the ultrasonic transducer 8 resonates, must pass a certain amount of time until it can work as a receiver.
  • This reverberation time depends essentially on the Bandwidth of the converter 8 and is in the inventive system about one millisecond. Only after this time, the echo of the transmission signal by reflection at the bottom 7 and the surface again reach the transducer 8. Taking into account the speed of sound results in this case, a total distance of sound of 34 cm and thus a distance of the ultrasonic transducer 8 to be cared for soil of about 17 cm.
  • a guidance of the sound through a trained as a hose sound channel 20 is made.
  • the ultrasound transducer 8 is inserted and attached at one end 21 into the tube or sound conduit 20.
  • the other, free end 22 of the sound channel 20 is arranged perpendicular to the floor to be maintained 7 in the device base 4, so that the open exit surface of the sound channel 20 is aligned substantially parallel to the bottom to be detected. 7
  • the arrangement is chosen so that the free end 22 of the sound channel 20 ends on the bottom side with a distance of 0.5 to 1.5 cm to be cared for floor 7.
  • the hose or the sound conduit 20 can be performed by the care device 1 curved. It is only necessary to ensure that the inner wall of the sound channel 20 is homogeneous, ie there may be no edges at which the sound could be reflected.
  • the open end 22 of the sound duct 20 is arranged in the usual machining direction r in front of the bristle strip 6 and optionally in front of the carpet brushes 3.
  • three groups so for example.
  • Soft carpet, carpet and hard floor are detected, for which purpose a frequency of 35 to 60 kilohertz is used.
  • the transmitter causes switching of the optional carpet brushes 3 and the bristle strip. 6
  • the bristle strip 6 is retracted at a recognized carpet, including a non-illustrated servo 23 via the electronics in response to the output signal D of the logic link 18 is driven.
  • the device base 4 and thus the suction mouth 5 of the care device 1 rests on the surface of the floor 7 to be maintained (cf. Fig. 7 ).
  • Fig. 10 to 13 show schematic bottom views against floor care equipment 1, in particular autonomous floor care equipment 1 with optionally driven by electric motor traverses 26 and in the direction of travel r in front of these arranged suction mouth 5, in the area also a carpet brush 3 is arranged.
  • ground care devices 1 have an exemplary circular cross-section, wherein a center of gravity Sp of the device 1 in the direction of travel r behind the suction mouth 5 and therefore also behind the carpet brush 3 is located centrally between the traversing wheels 26.
  • Fig. 10 an embodiment is shown with an ultrasonic transducer 8, which is arranged in the direction of travel r frontally of the device 1 in the region of the device base 4 and thus in the direction of travel r in front of the center of gravity Sp.
  • This is preferably an ultrasonic transducer 8 according to the embodiments described above. This therefore works both as an ultrasonic transmitter 9 as well as an ultrasonic receiver 10th
  • This ultrasonic transducer 8 is used according to the embodiments described above for detecting the soil condition. So hard floor or carpet is detected by means of this transducer 8, for example. In addition, in particular in an autonomous use of the soil care device 1 of advantage that by means of the transducer 8 also missing ground is detected, so for example. A descending step. As a result, the evaluated signal of the ultrasonic transducer 8 can serve not only for switching the type of cleaning - hard floor cleaning on carpet cleaning and vice versa - but also for course correction by controlling the Verfahrmanner 26.
  • ultrasonic transducers 8 may be arranged on the edge of the care appliance 1. These are preferably provided opposite in the region of the two narrow edge edges of the suction mouth 5, wherein a distance between these in addition to the frontally arranged transducer 8 provided transducers 8 is adapted to the distance of the Verfahrmann 26 to each other.
  • the transducer 8 and a downwardly leading step 28 is detected under approaching an acute angle before one of the Verfahr imparted to the step edge.
  • The, the missing floor investigating evaluation causes hereafter a course correction by controlling the electric motor driven Verfahrcken 26th
  • the ultrasonic transducer 8 associated with the suction mouth 5 are more preferably, but not shown in detail, behind a front edge 27 of the suction mouth 5.
  • a missing floor can be determined even when lifting the care device 1 from the soil to be cared for, which leads in particular in conventional hand vacuum cleaners to shut down the possibly provided carpet brushes 3 and to a reduction in suction power.
  • the ultrasound transducers 8 provided on the edge side of the suction mouth 5 can also be used to align the traversing movement r of an autonomous ground care appliance 1 along an edge of a specific floor covering.
  • the edge of a carpet can be determined by means of ultrasound.
  • the floor care appliance 1 is guided, for example, in a zigzag shape along a peripheral edge of a carpet or the like, wherein the changes in direction are performed rapidly and continually weaker, in order finally to provide a nearly straight running of the floor care appliance 1 along the lining edge.
  • FIG. 12 An alternative embodiment for detecting a Bodenbelanot is in Fig. 12 shown.
  • two ultrasound transducers 8 are arranged side by side opposite one another at the two marginal edges of the suction orifice 5, wherein an arrangement may also be selected here in which these ultrasound transducers 8 are positioned behind a front edge 27 of the suction orifice 5 in the travel direction r.
  • Fig. 13 shows a preferred combination of the solutions of the FIGS. 10 and 12 .
  • the ultrasound transducers 8 provided serve to detect the soil condition (eg hard floor, carpet floor or missing floor), to detect the transition between two floor coverings 7, 7 'and, moreover, also to detect the stoppage of the floor care appliance 1, with a corresponding the standstill determining amplitude value causes, for example, the care device 1 to save energy and to avoid damage to the care floor 7 shuts off or shut down to minimum power.
  • the soil condition eg hard floor, carpet floor or missing floor
  • the individual program parts P1 to P10 are based on the FIGS. 15 to 25 explained in more detail.
  • the output of the known operating conditions of the floor care device takes place only at the end of each program cycle. This has the condition that the respectively recognized states, such. Hard floor, carpet or missing floor should first be stored in a state variable. At the end the query of the variables and the corresponding output on the outputs of a microcontroller takes place.
  • first program part P1 is initially carried out after a start P11 an initialization P12 and a presetting of the constants and variables P13.
  • the program cycle begins, whereby in the program part P2 (FIG. Fig. 16 ), first a pulse output P21 takes place. After the output of, for example, four pulses, a certain time elapses until the arrival of the echo signal. The query after expiration of the time is realized by a loop P22, which is only left when an overflow of a timer has taken place.
  • the analog-to-digital converter is configured (P33) and thereafter the signal of the ultrasonic transducer applied to the analogue / digital input is read in.
  • program part P4 (FIG. Fig. 18 ) a detection of the echo signal.
  • the read transducer signal is first examined to see whether an echo signal is present. This is the decay behavior of the ultrasonic transducer stored as a table in the program memory. As soon as the read-in value is greater than the value stored in the table, an echo signal is present. If the floor care device 1 is lifted or the ultrasonic transducer missing ground, for example. Detected a step down stairs and thus measures the ultrasonic transducer against the free space, no echo signal is present.
  • the transducer signal is compared to the table value. If the transducer signal is smaller than the table value, it is first checked under P45 whether the maximum number of passes has been reached. If this is not the case, the counter is continued under P44 and the loop is repeated.
  • the maximum amplitude is relevant (see description of the first embodiment).
  • the determination of the maximum amplitude in the echo signal is done according to the program part P5 in FIG. 19 , Here, under P51, a maximum variable is first set to zero and thereafter under P52 a table value is compared with the previously determined maximum value. If the table value is the larger value, the maximum value is stored in a maximum variable (P53). If, on the other hand, it has been determined under P52 that the table value is smaller than the previous maximum, there is no storage under P53.
  • P54 checks whether the end of the table has been reached. If this is not the case, a further pass is effected via a loop counter P55.
  • P61 a check is first made as to whether a first pass is being made. Only if this is the case, is P62 set a loop counter average to one and a sum variable to zero. After adding up the echo maximum under P63, P64 checks whether the overflow has been reached. If this is the case, there is an increment at P65.
  • P66 checks whether 32 values have been added up. If the query is negative, the program flow jumps into the program part P10 ( Fig. 25 ), whose method will be described later.
  • the averaging of the echo maximum is necessary for the desired standstill detection. Furthermore, there are advantages in the differentiation between hard floor and carpet, as in a moving floor care device 1, the echo signals of hard floor and carpet overlap at least partially. However, since the echo amplitude for hard floors is higher on average than for carpets, averaging the hard floors results in a higher amplitude than in carpets.
  • the mean value can be from the reflected signal in addition to the information about the soil or whether the floor care device 1 is lifted or, for example. Has reached a downward level, also gain the information about a stoppage of the ground care device.
  • the ground care device 1 If the reflected echo signal remains constant in its amplitude over a certain period of time, it can be concluded that the ground care device 1 is not being moved.
  • the read echo signal of a moving ground care device 1 shows the Fig. 22 . From this it can be seen that the echo signal fluctuates more strongly on hard floor H1 and H2 than on carpet floor T1 and T2. Therefore, in the standstill detection on carpet a lower tolerance than to set on hard floor, otherwise a stoppage would be detected on carpet with the large tolerance limit of the hard floor, although the floor care device is moved.
  • Fig. 21 shows a related program subset P7, first on the input side at P71 it is determined whether previously hard floor was detected. After that, a large tolerance limit is set for hard ground detection in P72. If, on the other hand, no hard floor is determined, a small tolerance limit is set at P72 '.
  • the echo amplitude varies greatly in a moving floor care device 1.
  • the echo amplitude of hard floor is even lower than that of carpet (see T1), so that carpet flooring could be recognized instead of hard floor.
  • this is avoided according to the invention.
  • Fig. 22 how out Fig. 22 however, as will be seen, this overlap occurs only in places, and moreover only for a very short time. Therefore, a hysteresis is programmed in the evaluation of the echo amplitude. If carpet has already been detected, the echo amplitude must repeatedly exceed a higher threshold to detect hard floor. On the other hand, if hard floor has already been detected, the echo amplitude must repeatedly fall below a lower threshold in order to detect carpet.
  • the program sequence for the differentiation of the soil condition is in Fig. 23 represented by the program sub-part P8.
  • a threshold value is loaded, so in hard ground detection a lower threshold (P82) and in case of non-recognition an upper threshold (P82 ').
  • P82 hard ground detection
  • P82 ' upper threshold
  • P84 a pass counter for the carpet is incremented.
  • the ground care device 1 is either lifted off or, for example, moved over a downward leading step. After a set number of passes, the program sets the appropriate bit. So in program subsection P9 ( Fig. 24 ) first the run counter "missing floor” is incremented, after which also a query of the maximum runs for the state "missing floor” is performed (P92).
  • the output of the extracted useful signals from the echo signal is effected by querying the corresponding bits in the status byte and setting or deleting the corresponding output.
  • a corresponding program sequence P10 is in Fig. 25 shown. According to a query in P100 whether hard floor is set or not, the output "hard floor” is set at P101 or the output "hard floor” is deleted at P101 '. Accordingly, in the case of a subsequent inquiry at P102, in which it is checked whether "carpet floor” is set, the output "carpet floor” is set either at P103 or this output is deleted at P103 '.
  • the embodiment according to the invention specifies a method which, based on the pulse-echo method, detects and evaluates the intensity of the ultrasonic signals reflected on floor coverings. By evaluation, a differentiation between hard floors, carpets or missing floors takes place. Also can be obtained from the echo signal additional information about a stoppage of the ground care device and whether this is lifted from the soil to be cared for.
  • a further improvement can be achieved by increasing the radiated sound energy, so that on such floors, the proportion of the reflected sound energy also increases and so an evaluable echo signal can be achieved.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Nozzles For Electric Vacuum Cleaners (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Cultivation Receptacles Or Flower-Pots, Or Pots For Seedlings (AREA)
  • Soil Working Implements (AREA)
  • Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)

Claims (23)

  1. Appareil d'entretien du sol (1), comme notamment un aspirateur, éventuellement pourvu d'une brosse à tapis (3) entraînée par un moteur, comprenant une détection du sol ultrasonore, l'appareil comprenant une base (4) et des transducteurs ultrasonores (8) étant prévus pour la détection du sol, qui fonctionnent comme émetteur d'ultrasons (9) et/ou récepteur d'ultrasons (10), caractérisé en ce qu'au moins un transducteur ultrasonore (8) est disposé à distance d'une base (4) de l'appareil (1) et en ce qu'un canal conducteur de son (20) dont l'extrémité libre est disposée dans la base (4) est prévu entre la base (4) et le transducteur ultrasonore (8).
  2. Appareil d'entretien du sol selon la revendication 1, caractérisé en ce que le même transducteur ultrasonore (8) fonctionne aussi bien comme émetteur d'ultrasons (9) que comme récepteur d'ultrasons (10).
  3. Appareil d'entretien du sol selon l'une quelconque des revendications 1 ou 2, caractérisé en ce que le canal conducteur de son (20) est conçu comme un tuyau.
  4. Appareil d'entretien du sol selon l'une quelconque des revendications 1 à 3, caractérisé en ce que le canal conducteur de son (20) présente un tracé courbé.
  5. Appareil d'entretien du sol selon l'une quelconque des revendications 1 à 4, caractérisé en ce que le canal conducteur de son (20) présente une longueur qui correspond au moins à la durée de réverbération du transducteur ultrasonore (8) en prenant en compte la vitesse du son.
  6. Appareil d'entretien du sol selon l'une quelconque des revendications 1 à 5, caractérisé en ce que la longueur du canal conducteur de son est plus courte qu'un trajet parcouru par le son pendant une durée de réponse.
  7. Appareil d'entretien du sol selon l'une quelconque des revendications 1 à 6, caractérisé en ce que la longueur du canal conducteur de son correspond à 2 à 10 cm.
  8. Appareil d'entretien du sol selon l'une quelconque des revendications 1 à 7, caractérisé en ce que le transducteur ultrasonore (8) est disposé dans le canal conducteur de son (20).
  9. Appareil d'entretien du sol selon l'une quelconque des revendications 1 à 8, caractérisé en ce que le canal conducteur de son (20) termine côté base en étant éloigné de 0,5 à 1,5 cm du sol à entretenir (7).
  10. Appareil d'entretien du sol selon l'une quelconque des revendications 1 à 9, caractérisé en ce que la distance entre une buse d'aspiration et le sol à entretenir (7) peut être modifiée en fonction de la détection ultrasonore.
  11. Appareil d'entretien du sol selon la revendication 10, caractérisé en ce que la modification de la hauteur est obtenue en rentrant et sortant une bande de soie (6).
  12. Appareil d'entretien du sol selon l'une quelconque des revendications 1 à 11, caractérisé en ce que la taille d'une embouchure de la buse d'aspiration peut être modifiée en fonction du signal ultrasonore.
  13. Appareil d'entretien du sol selon l'une quelconque des revendications 1 à 12, caractérisé en ce que l'entraînement pour une brosse à tapis (3) peut être commuté en fonction du signal ultrasonore.
  14. Appareil d'entretien du sol selon l'une quelconque des revendications 1 à 13, caractérisé en ce que la puissance d'aspiration est réglable en fonction du signal ultrasonore.
  15. Appareil d'entretien du sol selon l'une quelconque des revendications 1 à 14, caractérisé en ce qu'un piézo-élément sert de transducteur ultrasonore (8).
  16. Appareil d'entretien du sol selon l'une quelconque des revendications 1 à 15, caractérisé en ce que le transducteur ultrasonore (8) est sollicité au moyen d'un commutateur (13) soit par un générateur d'impulsion (12) ou est couplé à un amplificateur d'impulsion (14).
  17. Appareil d'entretien du sol selon la revendication 16, caractérisé en ce que le transducteur ultrasonore (8) peut être interconnecté aussi bien constamment à un générateur d'impulsions (12) qu'à un amplificateur d'impulsions (14).
  18. Appareil d'entretien du sol selon l'une quelconque des revendications 1 à 17, caractérisé en ce que le transducteur ultrasonore (8) est disposé dans le sens de marche (R) devant le centre de gravité (Sp).
  19. Appareil d'entretien du sol selon l'une quelconque des revendications 1 à 18, caractérisé en ce que l'émetteur et/ou le transducteur (8) d'ultrasons (9) est disposé côté bord de l'appareil (1).
  20. Appareil d'entretien du sol selon l'une quelconque des revendications 18 ou 19, caractérisé en ce que l'émetteur (9) et/ou le transducteur d'ultrasons (8) est disposé dans le sens de marche (r) derrière une arête avant (27) de l'embouchure d'aspiration (5) mais devant le centre de gravité (Sp).
  21. Appareil d'entretien du sol selon l'une quelconque des revendications 19 ou 20, caractérisé en ce qu'un émetteur (9) et/ou un transducteur d'ultrasons (8) est disposé de manière opposée sur les deux arêtes de bord de l'embouchure d'aspiration (5).
  22. Appareil d'entretien du sol selon la revendication 21, caractérisé en ce que des roues de déplacement (26) sont prévues et en ce que les émetteurs et/ou les transducteurs (8) d'ultrasons (9) sont disposés suivant une distance correspondant à la distance entre les roues de déplacement (26).
  23. Appareil d'entretien du sol selon l'une quelconque des revendications 1 à 22, caractérisé en ce que deux émetteurs et/ou transducteurs (8) d'ultrason (9) sont disposés directement les uns à côté des autres.
EP01106284A 2000-03-17 2001-03-15 Appareil d'entretien de sol ainsi que procede pour reconnaitre un etat du sol respectivement pour aligner le mouvement de conduite Expired - Lifetime EP1136027B1 (fr)

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DE10231386B4 (de) 2002-07-08 2004-05-06 Alfred Kärcher Gmbh & Co. Kg Sensorvorrichtung sowie selbstfahrendes Bodenreinigungsgerät mit einer Sensorvorrichtung
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DE10357635B4 (de) * 2003-12-10 2013-10-31 Vorwerk & Co. Interholding Gmbh Bodenreinigungsgerät
KR20060023068A (ko) * 2004-09-08 2006-03-13 삼성전자주식회사 청소기 및 이를 이용한 청소방법
DE102005044617A1 (de) * 2004-10-01 2006-04-13 Vorwerk & Co. Interholding Gmbh Verfahren zum Pflegen und/oder Reinigen eines Bodenbelages sowie Bodenbelag und Bodenpflege- und oder Reinigungsgerät hierzu
DE102005041801A1 (de) * 2005-09-02 2007-03-08 BSH Bosch und Siemens Hausgeräte GmbH Staubsaugerbodendüse mit Borstenleiste
DE102007025389A1 (de) * 2007-05-30 2008-12-04 Miele & Cie. Kg Verfahren zum Betreiben eines Staubsaugers und Staubsauger zur Durchführung eines solchen Verfahrens
DE102007061146A1 (de) 2007-12-17 2009-06-18 Miele & Cie. Kg Verfahren zur Auswertung eines Partikelsignals und Saugdüse für einen Staubsauger
DE102010000573B4 (de) 2010-02-26 2022-06-23 Vorwerk & Co. Interholding Gmbh Verfahren zur Leistungssteuerung eines Saug-/Kehrgeräts
KR102015325B1 (ko) * 2013-01-29 2019-08-28 삼성전자주식회사 청소 로봇 및 그 제어 방법
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EP1136027A2 (fr) 2001-09-26
ATE400213T1 (de) 2008-07-15
DE10113105A1 (de) 2001-10-04
DE50114082D1 (de) 2008-08-21
EP1136027A3 (fr) 2003-03-05

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