DE10242257B4 - Automatically movable floor dust collecting device, and combination of such a collecting device and a base station - Google Patents

Abstract

Soil dust collecting device (1), preferably automatically movable soil dust collecting device (1) with an electric motor drive, a dust collector (14) and a cover (3), and a brush (9), the dust parts in a certain throwing direction due to their rotation in the dust collection container (14) transported, wherein associated with the brush (9) oriented towards the direction of throw ramp (32) is provided, characterized in that the ramp (32) is arranged evasive in throwing direction.

Description

The invention relates to a ground dust collecting device according to the features of the preamble of claim 1.

Devices of the type in question are known as autonomous vacuum robots and find particular application in the household sector. Consequently, low drive power is necessary, so that in the simplest way storage media, such as. Accumulator packages are sufficient to power the electric motor drive. For this purpose, the known devices usually two independently drivable wheels. The absorbed by the device, for example, sucked dust is collected in a device-side dust collector.

From the US 5,781,960 A a floor dust collecting device is known in which the ramp, which is arranged in the direction of throw associated with the brush, is rigid. At the subject of JP 5 095 867 A Such a ramp is provided pivotable about a rotation axis.

In the known embodiments, it sometimes makes itself disadvantageous that in the course of the method of the ground dust collecting device, a hooking with the ground or obstacles with respect to the ramp can take place. Due to the rigid coupling of the ramp to the ground dust collecting device, this can lead to a sudden stop, which can be disadvantageous both with regard to the obstacle and to the ground dust collecting device.

Based on the above-described prior art, the invention is concerned with the task of specifying a ground dust collecting device that can work as trouble-free as possible.

This object is achieved in the subject matter of claim 1, wherein it is pointed out that the ramp is arranged evasive in throwing direction. The ramp corresponding to a dustpan can rest on all known floors with different heights or different characteristics. Due to the evasive arrangement of the constant contact with the ground is ensured, with a low-interference overcoming obstacles is possible. Such an arrangement of the ramp is conceivable both in self-propelled ground dust collecting devices and in ground dust collecting devices such as sweepers, which are hand-guided, wherein the brush is further driven by friction or by electric motors. Thus, the inventive evasive arrangement of the ramp in a cleaning device according to the DE 44 14 683 A1 executable.

An automatically movable ground dust collecting device, in which the invention is implemented, may have a shape deviating from a circular shape. The floor plan can be composed of a circular shape portion and a shape section oriented on a rectangle, wherein the rectangular portion in the direction of travel is forward.

According to this embodiment, the cleaning area - the area in which the floor to be cleaned is swept or sucked off - can be enlarged in relation to a circular floor plan with the same radius as the circular section of the above plan configuration, which leads to an improved cleaning result. Furthermore, according to this outline configuration, the cleaning area can be arranged close to the leading edge in the direction of travel, so that cleaning can be achieved down to room corners.

The shaped portion oriented on a rectangle may be rounded or rounded at least in the corner areas, whereby an improvement of the mobility of the autonomously operating device is achieved. The brush rotatable about a horizontal axis is preferably arranged in the rectangular section of the floor plan. The brush can be driven by the electric motor. It is conceivable here to use the brush to form a pure sweeping device. In addition, however, it is also possible to integrate this electric motor-driven brush in a suction device, this in the arrangement of the brush in the suction mouth.

In order to achieve an improved edge and corner cleaning, it is further proposed that the device further comprises two, on a vertical axis rotating sweeping brushes. These are initially positioned so that their brush body is within the device plan, the bristles or bristle sections, however, protrude above the floor plan.

In this case, preferably soft bristles are used, which adapt to the wall or edge contour and do not interfere with the handling or reaction behavior of the device. It is further preferred that the sweeping brushes are arranged assigned to the front corner areas of the rectangular section of the floor plan and in this case are set in the direction of rotation, that the bristles in the middle of the dirt from the edge or from the corner - that is, with reference to the front edge of the device outside inwards - in the direction of the brush rotating around a horizontal axis. The latter then conveys the dust or dirt into the sump. By tilting the axis of rotation of a sweeping brush in Travel direction, the sweeping result is further improved. In order to protect the brush driving electric motor together with power transmission device from overuse or even destruction at a large load condition as possible of the Aufsammelgeräts, and to keep the power of the electric motor constant, it is proposed that the brush is mounted vertically adjustable on a rocker. According to this embodiment, a self-relief is achieved with increased friction. Thus, with increased resistance to the brush this is relieved against gravity. With less resistance on the brush, the discharge is correspondingly lower. Regarding this inventive concept of self-relief with increased friction is on the DE 29 46 731 directed.

Advantageously, it is provided that in a ground dust collecting device with two oriented on a vertical axis rotating sweeping brushes and these are arranged vertically adjustable on the rocker, which also applies in the field of corner sweeping brushes the concept of self-relief. It is thus preferred that both the sweeping brushes and the brush are mounted on a common rocker, wherein furthermore the axis of the electric motor driving the brush is arranged horizontally and coincides with an axis of rotation of the rocker. In this case, the electric motor preferably lies behind the brushes in the direction of travel of the collecting device.

It is further provided that brush sections of the sweeping brushes protrude beyond a predetermined by the cover edge contour of the device. Thus, an arrangement of the sweeping brushes in a Abdeckhauben-plan form, which differs from a circular shape, be arranged in the front, in the direction of travel corner areas. It is conceivable in this regard, however, a circular plan configuration of the cover. It is essential here that at least the brush body lies within the device contour and only the bristles or bristle sections protrude beyond this contour.

In a preferred arrangement of soft bristles, which protrude both laterally and forward over the floor plan of the device, maneuverability and mobility of the autonomous device are not adversely affected. The projecting beyond the device contour bristle sections detect the dirt outside the device contour and transport it in the middle in the direction of the rotatable about the horizontal axis brush, which latter preferably throws the ground dust in a device-fixed dust collector.

In this regard, it proves to be particularly advantageous that the brush and the sweeping brushes are driven jointly by means of an electric motor. Thus, a transmission can be provided for torque transmission. However, preferred is an embodiment in which the electric motor drives the brush and the sweeping brushes are driven by means of the brush driven transmission belt. As a result, synchronization of the sweeping brushes and the brush is achievable. Thus, it is further provided that the sweeping brushes rotate with a ratio to the brush of different speed. Preferably, in this regard, a gear ratio of brush on sweeping brushes from 3 to 15 to 1, wherein further the output is selected on the sweeping brushes so that they rotate in opposite directions about their axes of rotation, so - based on a front in the direction of travel edge of the device - the sweeping brushes working from the outside in to the middle. In order to further improve the sweeping result in corners or edges, for example along baseboards or the like, it is provided that the axis of rotation of a sweeping brush is inclined in the direction of travel.

In order to provide an adjustment of the brush in uneven floor coverings or in the transition from one floor covering to another floor covering, it is proposed that the brush is accommodated in a bottom part which is movable about a horizontal axis. As a result, a height adjustment of the brush can be achieved together with the associated bottom part. It is thus always achieved an optimal adjustment of the brush height to the conditions. In addition, the bottom part has a relative to the bottom part downwardly projecting ramp, which passes keeper plate-like the dropped by the brush dirt and dust particles in the dust collector. In this case, it proves to be particularly advantageous that the ramp to the brush out of the bottom part. An optimal adaptation and thus an improved cleaning result is further achieved in that the ramp is movable relative to the bottom part, so that this more or less out of the bottom part or shifted back depending on the circumstances.

The mentioned avoidable in throw direction arrangement of the ramp can be achieved in that the ramp formed in several parts telescopically or lamellar pushed together in the throwing direction or against the throwing direction, for example. Spring assisted, is pulled out. Proposed in this respect further that the ramp is pivotable about an axis of rotation, which proves to be particularly advantageous when the axis of rotation of the ramp coincides with a brush axis. The ramp is thus guided in the front region of the same on a defined path, whereby a collision with the brush is excluded. It is preferred in this regard further that the ramp is evasive against spring force. The spring of the ramp can in this case be arranged integrated in the ramp surface, wherein it is proposed with respect to a preferred embodiment that the ramp at least in their federbaren part is formed of a foil-like thin band member. The latter may be a foil-like thin metal element. However, it is preferred that the band member is a plastic film with flexible properties. This resilient band element presses the free blade edge in contact with the floor to be maintained in the manner of a prestressed spiral spring in the direction of the brush. In the front edge region, the band element is preferably attached laterally to sliding shoes, which in turn are rotatably mounted about the brush axis.

The free ramp edge is preferably a wear-resistant metal or plastic edge. In an embodiment of the band element made of plastic film, this has a thickness of 0.5 to 1.5 mm. If the pick-up device travels over a carpet or hard floor during operation, the plastic film always presses the blade edge of the ramp with slight pressure due to the prestressing on the ground. With high carpets, the ramp dips far, causing the shoes to be turned far back. The contact pressure is maximum in this case. For hard floors, the ramp dips less far, so that the sliding shoes are turned back a little accordingly. The contact pressure is lower in this case. The ramp is designed so that it can also dip up to 4 mm in wells without getting stuck in it.

The invention with reference to the accompanying drawings, which illustrate only several embodiments, explained in more detail. It shows:

1 a perspective view of a Bodenstaub Aufsammelgerätes with sweeping brushes, a first embodiment concerning;

2 a perspective bottom view of this;

3 a partially broken, perspective view of the device;

4 a schematic detail of a sweeping brush, when viewed from the side;

5 a further schematic detail of a sweeping brush in plan view;

6 the top view of a Aufsammelgerät in a second embodiment;

7 a partially broken, perspective view of a Aufsammelgerätes in a third embodiment;

8th the top view of this;

9 a partially sectioned detailed representation of a Abfederungsbereiches a cover of the device;

10 one of the 9 corresponding representation, but with vertical loading of the cover;

11 another one 9 corresponding representation, but with lateral load of the cover;

12 a perspective view of a Aufsammelgerätes in another embodiment;

13 one of the 12 corresponding representation, but after removal of the cover;

14 a bottom perspective view of the Aufsammelgerätes according to the embodiment in 12 ;

15 a longitudinal section through the Aufsammelgerät;

16 a schematic representation of a base station for loading and unloading the Aufsammelgerätes (not the subject of the invention);

17 17 a schematic diagram for explaining the autonomous finding of the base station, by the latter emitted electromagnetic waves (not the subject of the invention);

18 one of the 14 corresponding perspective bottom view of the Aufsammelgeräts according to another embodiment;

19 a schematic longitudinal section through the Aufsammelgerät concerning a further embodiment;

20 the enlargement of the area XX in 19 ;

21 a schematic sectional view of the area of the chassis in a further embodiment;

22 one of the 21 corresponding representation, but with shifted out of normal operation suspension;

23 the enlarged section along the line XXIII-XXIII in 21 ;

24 a schematic representation of the behavioral strategy of the Aufsammelgerätes in Return to the base station (not the subject of the invention) and

25 one of the 24 corresponding representation, but the reversing behavior in obstacle detection concerning (not the subject of the invention).

Illustrated and described first with reference to the 1 to 3 a self-moving ground dust collector 1 with a chassis 2 and one the chassis 2 covering cover 3 ,

As in particular from the representations in the 1 and 2 to recognize, points the device 1 a plan deviating from a circular shape. Thus, the floor plan is made up of a semicircular circular section 4 and a subsequent, oriented on a rectangle molding section 5 together, the rectangle section 5 in travel direction r of the device 1 is formed at the front.

The rectangle section 5 is in plan especially in the corner areas 6 rounded. Also the contour of the corner areas viewed in the direction of travel r 6 connecting front edge surface 7 is convex. In addition, the lateral transition areas between the corner sections are also 6 and the circular shape section 4 rounded concave, so that there is a slight waist-like collection of the floor plan.

The plan layout described above relates both to the shape of the device floor 8th as well as on the outer contour of the chassis-side, the chassis 2 overlapping and the device floor 8th comprehensive cover 3 ,

The autonomous collecting device 1 is designed as a sweeper, including a rotatable about a horizontal axis x brush 9 is provided, which in the illustrated embodiment in the region of the rectangular section 5 is arranged. The drive of the brush 9 via an electric motor 10 which of one, in the rear circular section 4 arranged accumulator package 11 is fed.

In the area of the brush 9 is the device bottom 8th with a window-like cutout 12 provided by which the bristles 13 the brush 9 over the underside of the bottom of the device 8th for the sweeping cleaning of the floor to be cared protrude. The brush 9 has meandering rows of bristles, wherein the arrangement of these rows is further selected so that - with respect to the horizontal axis x - a sweeping from outside to inside and - in the direction of travel r viewed - done from front to back.

The by means of the brush 9 Collected ground dust is in a rearward, in the area of the circular shape section 4 fixed on the chassis 2 arranged dust collector 14 thrown. To empty this container 14 is device underside in the area of the soil 8th an openable flap 15 intended.

The pick-up device 1 also has two, partly the bottom of the device 8th traversing wheels 16 on, with each traversing wheel 16 via a separate electric motor 17 is driven, which in addition to the usual, straight-line method of the device 1 also a turning or turning the same is possible.

The arrangement of the traversing wheels 16 is further chosen so that these close to the edge of the device bottom 8th in the transition area of the rectangular section 5 to circle shape section 4 are positioned.

In addition, in the front, the end edge 7 assigned area in the middle of a supporting role 18 provided, bringing a three-point support of the device 1 on the floor 41 is reached.

For obstacle detection are in the area of the front edge surface 7 sensors 19 intended. Preferably, this will be three sensors 19 arranged so that a central sensor 19 for detection of frontal impact and the two other sensors 19 in the corner areas 6 For detecting shocks from the front of the device 1 to act. In this regard, mechanically effective contact switches but also infrared switching sensors or ultrasonic sensors can be used. Preferably, micro switches are used.

The bumping against an obstacle causes a slight displacement of the chassis 2 covering cover 3 which displacement by the associated sensor 19 is detected. An in a - in the representations only schematically indicated - logic unit 20 Defined motion management initiates the return of the device in the event of an obstacle detection 1 and turning the device 1 in a new direction. The return travel takes place here only over a short way, so that a check to the rear, that is contrary to the usual direction of travel r, is not necessary. Turning the device 1 takes place via the different control of the Verfahrräder 16 , In this case, it proves to be particularly advantageous that during the retraction and rotation of the electric motor 10 for the brush 9 is switched off to save energy.

For detection of steps or the like is the Aufsammelgerät 1 furthermore with ultrasonic sensors 21 provided, which in the illustrated embodiment, the side of the window-like cutout 12 of the device floor 8th , down towards the floor 41 are arranged directed. Essential here is that the ultrasonic sensors 21 in travel direction r in front of a center of gravity of the device 1 lie. By means of these ultrasonic sensors 21 becomes in the course of the procedure the floor 41 sampled. Regarding the arrangement and the procedure of the ultrasonic sensors 21 will be on the non-pre-published German patent application with the file number 101 13 105.4 directed. The content of this patent application is hereby incorporated in full into the disclosure of the present invention, also for the purpose of including features of this application in claims of the present invention.

In order to be able to clean in corners or along baseboards, etc., there are two, one corner each 6 associated sweeping brushes 22 intended. These are each composed of a drivable brush body 23 with a substantially circular plan and three circumferentially evenly distributed on the brush body 23 arranged bristle tufts 24 ,

The arrangement of sweeping brushes 22 is chosen so that the brush body 23 within the outline of the collector 1 lie, the bristle tufts 24 on the other hand, through the cover 3 protrude predetermined edge contour and thus transporting sweeping along baseboards or in corner areas the ground dust. As a result, dirt outside the device contour is detected and due to the selected, opposite direction of rotation (see arrows d in 2 ) in the middle of the device 1 towards the brush rotating about the horizontal axis x 9 transported. Since soft bristles protrude beyond the device contour, maneuverability and mobility of the device 1 not negatively affected.

The, the horizontal brush 9 supplying sweeping brushes 22 are oriented on a vertical axis y. In order to achieve an improved cleaning effect, the axis of rotation z of each sweeping brush 22 relative to the vertical axis y inclined in the travel direction r, so for example. At an angle of 5 ° to 15 ° (see. 4 ).

Due to the excess length of the bristle tufts selected with reference to the outer contour of the device 24 is an adaptation to corners and edges by bending and stretching the bristle tufts 24 reachable (cf. 4 and 5 ).

The drive of sweeping brushes 22 takes place indirectly via the electric motor 10 , Thus, the latter drives, as mentioned, the brush rotating about the horizontal axis x 9 at. About the latter are by means of transmission belts 25 the sweeping brushes 22 driven, with a gear ratio of brush 9 to sweeping brushes 22 from, for example, 3 to 15 to 1 is selected.

As in 6 schematically illustrated, the embodiment described above with a about a horizontal axis x rotating brush 9 and two sweeping brushes oriented on a vertical axis y 22 even with a Aufsammelgerät 1 apply with a total circular floor plan application.

As mentioned, an obstacle is detected by abutment and resulting sensor detection. This is a slight shift - tilt - the cover 3 he wishes. To the cover 3 to reset in their Ausgangsruhelage and to hold there is a resilient mounting of the cover 3 on the chassis 2 intended. According to the first embodiment described above, this cushioning of the cover 3 be provided centrally in the upper area (central spring 42 ). Another solution is in a further embodiment in the 7 to 11 shown. It can be seen that in this case the cover 3 over three decentralized springs 26 on the chassis 2 is supported, these three springs 26 are distributed equally.

The cover 3 points assigned to each spring 26 , internally one, a spring end receiving bearing block 27 on. The vertically extending spring 26 supports with its other end on the top of the device floor 8th from.

The cover 3 is based on the springs 26 on the device floor 8th from, with a stop limit of the cover 3 vertically up through one, the bottom of the device 8th intercepting radial arm 28 the cover 3 stop-limited (cf. 9 ).

The bearing blocks 27 are arranged in height so that when vertical loading of the cover 3 this is lowered against the spring force (arrow c) and with its peripheral edge on the floor 41 supports, with the underside of the bearing blocks 27 still at a distance from the top of the device floor 8th remain. Accordingly, be on the cover 3 vertical forces not acting in the chassis 2 but rather on the cover 3 in the floor 41 directed (cf. 10 ).

Also the lateral pivoting (arrow c ') of the cover 3 in a collision with an obstacle is due to the chosen arrangement of the springs 26 reachable. To prevent a ringing and thus a multiple triggering of a sensor signal can between the cover 3 and the peripheral edge of the device floor 8th a vibration damper 29 be arranged.

Also in the 12 to 15 illustrated embodiment of a Aufsammelgerätes 1 has a circular floor plan. In order to ensure an adaptation to different floor conditions, so for example. In the transition from hard floor to carpet, is one, the axle bearings of the horizontal axis x rotatable brush 9 carrying bottom part 30 about a horizontally oriented axis v pivotally mounted on the chassis 2 arranged. The device bottom 8th has one of the contour of the bottom part 30 adapted recess 31 on.

According to this embodiment, an optimal height adjustment of the essential area, namely the brush area is always achievable. One, with the chassis at one end 2 anchored and the other end via a holder of the electric motor 10 with the movable bottom part 30 connected return spring 40 serves to align the bottom part 30 in a basic position

Furthermore, as shown in the sectional view in FIG 15 to recognize a ramp 32 provided, which keyless in the direction of travel r behind the brush 9 is arranged and the targeted ejection of swept ground dust in the dust collector 14 serves. This ramp 32 grows to the brush 9 out of the bottom part 30 and glides in operation with its free end edge on the floor to be cared for.

The ramp 32 is both to the bottom part 30 as well as to the brush 9 relatively height-adjustable (arrows a), allowing an independent height adjustment of the ramp 32 is given, taking further the ramp 32 the dust collector 14 closes to the front.

As further from the bottom view in 14 to recognize, in this embodiment, a support role 18 provided in the rear area.

The height-displaceable bottom part 30 as well as the ramp 32 are also in conjunction with in the corner areas 6 arranged sweeping brushes 22 usable.

The autonomous collecting device 1 is based on the transmitter / receiver principle with a base station 33 coupled, the latter both as a parking space and charging station for the device 1 as well as a drainage station. For this purpose, the base station 33 a separately usable vacuum cleaner 34 on (cf. 16 ). This is a conventional household vacuum cleaner, which via an adapter ( 35 ) with the base station 33 connected is. That's the base station 33 outreaching pick-up device 1 triggers in the parking position a contact, after which the example. In a stand-by operation persistent vacuum cleaner 34 in the dust collector 14 vacuumed dust. At the same time there is a charging of the energy carrier, which, for example. In the form of an accumulator package 11 is trained. In this regard, fuel cells are also conceivable.

For automatically finding the base station 33 has the pick-up device 1 one or two receiver antennas 36 with the aid of which the alignment of the field lines of one by one in the base station 33 arranged transmitter generated electromagnetic field can be determined. The generated by means of a resonant circuit and by a transmitter antenna 37 sent waves 38 penetrate most obstacles and are thus largely safe from shading.

The operating principle is schematic in 17 shown. The pick-up device 1 orientates itself when returning to the base station 33 on the field lines, either following the field lines and moving in the direction of the strongest signal or moving perpendicular to the field lines (arrows b). In addition, there is also a mixed strategy for locating the base station 33 used. Meets the pick-up device 1 on an obstacle, picks up a sensor-assisted behavioral strategy that allows the obstacle to pass, following the path to the base station 33 will continue.

As in 18 can be represented by a round outline of the picking up device 1 the support roller 18 be arranged in the viewed in the direction of travel front area while the Verfahrräder 16 the rear part of the pick-up device 1 assigned. The brush 9 extends approximately in the middle of the device floor 8th transverse to the travel direction.

The Abgrunderkennung is exemplary in this embodiment by infrared sensors 50 realized, with an arrangement thereof in the direction of travel in front of the brush 9 is selected. The sensors for obstacle detection 19 are also infrared sensors in the illustrated embodiment. An obstacle detected via this leads via an evaluation to a deceleration of the Aufsammelgeräts 1 , which reduces the impact force on impact or, moreover, avoids the impact. The evaluated result can be used via a microprocessor in such a way that, with obstacle detection, a low speed and, in the absence of an obstacle, a high speed of the collecting device 1 is selected.

19 shows a schematic section through a Aufsammelgerät 1 in a further embodiment with a support roller-Verfahrräder arrangement according to the embodiment in 18 , The brush 9 is on a seesaw 51 mounted vertically adjustable, including the rocker 51 in the chassis 2 can be tilted about a rotation axis w. This rocker rotation axis w coincides with the horizontally arranged axis u of the brush 9 driving electric motor 10 , where the electric motor 10 in the direction of travel r behind the brush 9 is arranged.

Next carries the rocker 51 in the illustrated embodiment, a - here only schematically illustrated - sweeping brush 22 ,

According to this embodiment, a self-relief is achieved with increased friction. Is there an increased resistance on the brush 9 before, so this and possibly also existing sweeping brushes 22 raised against gravity. Thus, in all load conditions of the device, the electric motor 10 velvet power transmission protected from destruction. In addition, the power of the electric motor 10 kept constant.

As in the representations of 21 and 22 indicated schematically, there is the possibility of the motor current of the brush 9 driving electric motor for evaluation use. About a transmitter 52 Depending on the motor current, a change in the travel routine of the ground dust collecting device 1 achieved, so for example. With inadmissibly increased motor current, a return of the Aufsammelgeräts 1 , Such an inadmissibly increased motor current can, for example, when pulling fringes or a cable into the brush 9 available. In addition, the transmitter causes 52 starting with a threshold value of the detected motor current, the triggering of a time window, within which a further increase of the motor current as a trigger event for a return of the Aufmammelgeräts 1 is used.

As in further 19 to recognize is in the to the dust collector 14 leading dust supply channel 53 a dust flow control 54 arranged in the form of an infrared light barrier, for determining the of the brush 9 towards the dust collector 14 discarded amount of dust within a predetermined time window. On the basis of the determined dust throughput, if necessary, the movement strategy of the Aufsammelgeräts 1 customized. Thus, in the case of a determined high dust throughput, a repeated shutdown of the route provided for the increased dust throughput is effected.

The ramp oriented in the direction of the throw 32 is arranged evasive in throwing direction, wherein the ramp about the brush axis x is pivotable. The ramp 32 is evasive against spring force, including the ramp 32 is formed as a plastic film, which latter is a band element 55 ausformt. In the front, ie the brush 9 assigned area is the band element 55 on the side of sliding shoes 56 fastened, which are rotatably mounted around the brush shaft x. The foil-like band element 55 is thus in the front area of the ramp 32 guided along a defined path, causing a collision with the brush 9 is excluded. The front free, resting on the ground to be cleaned edge 57 is designed wear-resistant in the form of a metal or artificial edge.

By the biasing force pushes the ramp 32 the marginal edge 57 always to the floor to be cleaned. Hits the ramp 32 on an obstacle, so this differs by it turns around the brush axis x upwards, the band element 55 due to the end-side attachment of the band element 55 on a wall of the dust collector 17 compressed. The attachment point of the band element in the region of the collecting space 14 is with the reference numeral 58 Mistake.

The ramp 32 Adapts to different ground heights, with the spring force of the ramp 32 is chosen so that the Aufsammelgerät 1 can not get stuck.

To the cover 3 vertical forces not acting in the chassis 2 but rather on the cover 3 in the floor 41 to guide is in a further embodiment according to the 21 and 22 a resilient suspension of the Verfahrräder 16 and the associated electric motors 17 containing landing gear 59 intended. These are the Verfahrräder 16 and the electric motor 17 on one of the device floor 8th separate chassis mounting plate 60 arranged which mounting plate 60 in an unloaded basic position according to 21 in one to the floor plan of the mounting plate 60 adapted window-like outbreak 61 of the device floor 8th in the plane of the device floor 8th extends.

The the suspension 59 supporting mounting plate 60 is relative to the chassis 2 and the cover 3 suspended resiliently. This springy suspension is through the mounting plate 60 to the device floor 8th tie-down spring bands 62 realized, which according to the representation in 23 have a spherical bulge in cross-section. As a result, the spring bands 62 shaped as pop-springs, with each spring band 62 is preferably cut from a profiled - cambered - metal or steel sheet.

The cover 3 is in this embodiment, at least in the vertical direction rigid with the chassis 2 connected. A vertical loading of the cover 3 causes a threshold above the chassis 2 and the bottom of the device 8th the yielding of the spring bands 62 What a reduction in the distance of the cover 3 to the ground 41 entails. Due to the formation of snap spring, a sudden buckling of the chassis results when the threshold value is exceeded 59 , after which the cover 3 to initiate the vertically acting forces on the floor 41 supported (see. 22 ).

If the threshold value of the vertically introduced forces is exceeded, the chassis decreases 59 due to the spring bias of the spring bands 62 the original position according to 21 on, with simultaneous lifting of the cover 3 and the chassis 2 ,

Instead of the spring bands 62 can also be between the mounting plate 60 and the bottom of the device 8th be arranged acting compression springs whose spring characteristic is designed so that they respond only when a threshold value is exceeded.

The behavior strategy for driving on an unknown surface is based on the principle of pseudo-random behavior. So for each of the preferred three obstacle sensors 19 calculated in the front area an optimized angle of rotation. This consists of a fixed angle of rotation and a rotation angle range around the fixed angle of rotation, from which a random angle is calculated during operation. The return to the base station 33 takes place by means of an electromagnetic field, wherein in the illustrated embodiment, the receiver antenna 36 on the pick-up device 1 across and the transmitter antenna 37 at the base station 33 is arranged longitudinally.

24 schematically shows the reversing behavior of the Aufsammelgeräts 1 , First, at point A, an orientation on the field by means of measuring the maxima and minima by 360 ° rotation of the Aufsammelgeräts 1 , The detected maxima are stored, after which a decision is made about a measuring range switchover. Subsequently, the collecting device is directed 1 at one of the two minima and moves forward a predetermined distance of, for example. 40 cm to the point A ', where a new measurement is performed by 360 ° rotation.

If the maximum values determined at point A 'are smaller than the maximum values measured at point A before the method, then the correct direction is taken, after which the travel is continued. However, if the maximum values determined at point A 'after the first method are greater than the maximum values at origin A, the wrong direction has been selected. In response, a rotation of the Aufsammelgeräts 1 contrary to the previously selected direction. This situation is in 24 shown.

The pick-up device 1 always drives straight ahead in the direction of the minimum, with the length of the route corresponding to the measuring range. This means that the closer the pick-up device 1 at the base station 33 and thus the signal becomes stronger, the shorter the route between two alignment points B.

After each journey a fine alignment of the Aufsammelgeräts 1 at the minimum by turning the collecting device 1 left and right of the direction of travel, this also possibly with simultaneous forward drive. By determining the minimum, the further direction of travel is determined. If a limit value is exceeded by a measured value, the measuring range is switched over. This fine alignment (see points B, B 'and B''in 24 ) is repeated until the collection device 1 immediately in front of the base station 33 after which the collecting device 1 a turn of 180 ° and docking at the base station 33 moves backwards until a limit switch or a contact to a charging plug is actuated. In the then reached park position is the Aufsammelgerät 1 charged and optionally through a vacuum cleaner 34 emptied.

The base station 33 In addition, it can also be used as a room air purifier with a docking coupling for the collector 1 be educated. Next there is also the possibility that the base station 33 further docking couplings for other devices, such as. Hand battery vacuum cleaner, in the sense of a charging station has.

The 25 shows the custom behavior of the pickup device 1 in the course of the return to the base station 33 with obstacle contact. An abutment or an optical obstacle detection via the sensors 19 leads to the obstacle behavior mode (see points C, C 'and C''in 25 ). Meets the pick-up device 1 on an obstacle 63 Initially, a backward process takes place counter to the original direction of travel, whereupon pivoting about a selected small angle away from the obstacle 63 takes place, this selected angle can also be a random angle. This is followed by a forward movement and repetition of the aforementioned steps until there is no more obstacle contact. The completed rotation angle for avoiding the obstacle 63 are stored and summed, simultaneously counting the impact events.

After overcoming the obstacle 63 drives the pick-up device 1 in normal mode over a given distance of, for example, 40 cm or until a new obstacle contact. If the number of strokes counted exceeds a limit or the total rotation angle exceeds a limit, the collector will break 1 by turning over a random angle from the adjusted behavior on obstacle contact and starting with the reorientation on the field. This reaction is in 25 shown. The number of impacts or the total angle of rotation at the points C and C 'in the area of a room corner exceeds a limit, so that out of C' out of the adapted behavior in obstacle contact and at point A '' reorientation takes place on the field.

At point C '', on the other hand, the obstacle becomes 63 successfully bypassed, after which the Aufsammelgerät 1 first a predetermined distance to the point B 'drives. This is where the pickup device turns 1 around the obstacle 63 required angle value, after which the counter for the rotation angle and the impact events are set to zero. From point B 'the procedure is to the base station 33 obstacle-free in the illustrated embodiment and accordingly according to the embodiment with respect to the representation in 24 ,

Claims (20)

Floor dust collecting device ( 1 ), preferably automatically movable floor dust collecting device ( 1 ) with an electric motor drive, a dust collector ( 14 ) and a cover ( 3 ), as well as a brush ( 9 ), which due to their rotation, the dust particles in a certain throwing direction in the dust collecting container ( 14 ) associated with the brush ( 9 ) a ramp orientated to the direction of throwing ( 32 ), characterized in that the ramp ( 32 ) is arranged evasive in throwing direction. A ground dust collecting device according to claim 1, characterized in that the ramp ( 32 ) in the direction of travel (r) behind the brush ( 9 ) is arranged. Floor dust collecting device according to one of the preceding claims, characterized in that the ramp ( 32 ) is pivotable about an axis of rotation. Floor dust collecting device according to claim 3, characterized in that the axis of rotation of the ramp ( 32 ) coincides with a brush axis (x). Floor dust collecting device according to one of the preceding claims, characterized in that the ramp ( 32 ) is deflected against spring force. Floor dust collecting device according to claim 5, characterized in that the spring of the ramp ( 32 ) is arranged integrated in the ramp surface. Floor dust collecting device according to claims 5 or 6, characterized in that the ramp ( 32 ) In any case, in their federbare part of a foil-like thin band element ( 55 ) is formed. Floor dust collecting device according to claim 7, characterized in that the band element ( 55 ) is a plastic film. Floor dust collecting device ( 1 ) according to one of the preceding claims, characterized in that the ground plan consists of a circular section ( 4 ) and a, on a rectangle oriented molding section ( 5 ), wherein the rectangular section ( 5 ) in the direction of travel (r) is front. Floor dust collecting device according to claim 9, characterized in that the brush ( 9 ) in the rectangular section ( 5 ) of the floor plan is arranged. Floor dust collecting device according to one of the preceding claims, characterized by two sweeping brushes revolving on a vertical axis (y) ( 22 ) are provided. Floor dust collecting device according to claim 11, characterized in that the sweeping brushes ( 22 ) front corner areas ( 6 ) of the rectangular section ( 5 ) of the floor plan are arranged. Floor dust collecting device according to one of the preceding claims, characterized in that the brush ( 9 ) the collected dust in a device-fixed dust collector ( 14 ) throws. Floor dust collecting device according to one of the preceding claims, characterized in that the brush ( 9 ) on a rocker ( 51 ) is mounted vertically adjustable. Floor dust collecting device according to claim 14, characterized in that on the rocker ( 51 ) also the sweeping brushes ( 22 ) are arranged vertically adjustable. Floor dust collecting device according to one of claims 14 or 15, characterized in that the axis (u) of the brush ( 9 ) driving electric motor ( 10 ) is arranged horizontally and with a rotation axis (w) of the rocker ( 51 ) coincides. Floor dust collecting device according to one of claims 11 to 16, characterized in that brush sections of the sweeping brushes ( 22 ) via a through the cover ( 3 ) predetermined edge contour of the device ( 1 ) protrude. Floor dust collecting device according to one of claims 11 to 17, characterized in that the sweeping brushes ( 22 ) with a relationship to the brush ( 9 ) rotate at different speeds. Ground dust collecting device according to one of claims 11 to 18, characterized in that the axis of rotation (z) of a sweeping brush (z) 22 ) is inclined in the direction of travel (r). Floor dust collecting device according to one of the preceding claims, characterized in that the brush ( 9 ) in a about a horizontal axis (v) movable bottom part ( 30 ) is recorded.

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