Self-propelled device, in particular self-propelled dust collection device

p0001The invention firstly relates to a automatic traversing device, in particular automatically traversing floor dust collecting device, driven by an electric motor Verfahrrädern, an appliance housing, preferably a dust collecting receptacle, the apparatus is provided with an obstacle detection, which consists of optical transmitter and receiver units, and wherein elements for beam deflection are provided, to the all-round detection at least a part of the transmitting and receiver units by 180 ° or more is rotatably arranged.

p0002Devices of the type in question are known, eg. From the <patcit id="pcit0001" dnum="DE10242257A1"><text>DE 102 42 257 A1</text></patcit>, With regard to the operation and behavior strategy recognizing the obstacle of the content of this patent application is hereby incorporated in full in the disclosure of the present invention, also for the purpose to include features of this patent application in claims of the present invention.

p0003When driving on a room by means of an automatically movable device, particular soil dust-Aufsammelgeräts this objects and space limitations must recognize and respond through appropriate shunting and swerves. In this connection it is known to use optical distance sensors for detecting obstacles. Upon detection of the travel of the blocking object, the received signal of the optical sensor is processed by a microprocessor which causes the stopping of the driving wheels and triggers a corresponding behavioral strategy of the device. In order to offer a useful navigation within a room, it is further known to provide the unit with an obstacle detection system, which detects a large circumferential area of ​​the unit, providing an at least approximate round detection. For this purpose the transmitter unit and / or the receiver unit is rotatably disposed further rotatable about a vertical axis of the device, with which a scanning angle of 180 ° to 270 ° or more is reached.

p0004In view of the prior art described above, a technical problem of the invention is seen in regard to design of the obstacle detection further improved an automatic traversing device of the type in question.

p0005This problem is solved first and foremost by the subject matter of claim 1, wherein based on the fact that the transmitter and receiver units to one of the optical measuring method phase correlation, time of flight measurement or heterodyne based. Result of this optical measuring method are ranges of more than 20 cm, preferably more than 50 cm from device edge reach, thus correspondingly more distant obstacles or space constraints are detected, so that an early response of the device can be triggered. Continue in this way an improved orientation of the device within a room is possible. In a light transit time method, the transit time between the transmission of a short light pulse and the arrival of the reflected light at an obstacle at the optical receiver is measured. With a phase correlation method, a modulated light beam is emitted, which is rectangular or sinusoidal, further alternatively has a different periodic form. Meets the thus modulated light beam onto an obstruction, a portion of the light energy is reflected and is incident on the optical receiver, which reflected light is also modulated. Because the transit time between the emission of the light signal and the receiving of the reflected light, a phase shift is established, which depends on the distance to be measured. Thus, the phase shift can be determined electronically, from which a measure of the measured distance result. The modulation of the activation of the transmitter unit preferably occurs with a frequency which is adapted to the distance measuring range of the sensor. In order to obtain in an evaluation of the reflected signal through a phase discriminator unambiguous measurement values, preferably the largest distance to be measured less than or at most equal to a quarter of the wavelength of the modulated signal. Since the signal path from the transmitting unit to a detected object and from the latter back to the receiver unit performs identical or close to the to the transmitter unit, the signal under this condition is a maximum of half the wavelength of the modulated signal. This can further be present at any time, the periodic modulation signal; alternatively be activated in the sense of signal packets in certain time intervals. The heterodyne method based on the principle of interferometry. Here, a light beam having a defined frequency is preferably sinusoidally modulated. This frequency is varied continuously. The obstacle of a reflected light is detected by the receiver unit and compared with the transmitted signal. If constructive interference between transmitted and received signal, so the distance to the obstacle is an integer multiple of the wavelength of the current modulation frequency. By superimposing and continuous variation (sweeping) multiple modulation frequencies uniqueness of the measurement is reached.

p0006Further features of the invention are given below, in the description of the figures, often described in their preferred allocation to the subject matter of claim 1 or features of other claims. but you can also be an assignment to only individual features of claim 1 or the respective further claim or each independently of meaning.

p0007It is further provided an evaluation method in the form of a phase comparison between the modulation of the received signal and the transmitter-side modulation signal. For this purpose, a phase detector is eg. In the form of an integrated module or in fully discrete form. The phase difference between the two modulation signals is the desired measure of the distance of a reflecting object by the distance sensor (transmitter and receiver units). Intermediate optical receiver unit and the phase discriminator is more preferably a signal conditioning stage, which is given by an amplifier or comparator. These signal conditioning stage ensures a level matching between the optical receiving unit and phase discriminator. For this purpose, always generates the signal processing stage receiving from different amplitudes equal signal amplitudes, so that a distance measurement over a wide range of reflectance of a detected object is made possible.

p0008In a further embodiment, the signal conditioning stage is also equipped with devices for the elimination or reduction of interference due to electromagnetic interference or extraneous light. These devices consist eg. Of a band pass filter, a phase locked loop (PLL) or a combination of both. To eliminate the signal propagation times of the amplifier or comparator, PLL or bandpass filter identical modules can be connected additionally between the transmitter-side modulation signal and the phase discriminator. Both the signal conditioning stage and the phase detector are simple or multiple times in one embodiment, a multiple arrangement for evaluating a plurality of received signals from a plurality or array-shaped or line-type optical receiver units are used.

p0009In case of multiple received signals the signal conditioning stage or the phase detector can be easily provided preferably, said further through a multiplexer sequentially the various received signals are processed.

p0010Alternatively, for distance measurement by means of one or more phase detectors, the distance measurement is performed on a time measurement, which passes from the transmission timing of a modulation packet to the reception time of an incoming signal packet. In this case, the distance measuring area is independent of the wavelength of a modulated signal. If the distance measurement over a period measurement was made, preferably, the modulation signal in deviation or addition to the above waveforms alternatively as pulse or pulse packet.

p0011In a development of the subject invention a rotating 360 ° detection is provided, such that the transmitter and / or receiver unit continuously round detection rotates about a vertical axis of the device, further alternatively executes an alternating pivotal movement, said in a moving direction 360 ° -Rundumerfassung is reached.

p0012Concerning at least partly rotatable arrangement of the transmitter and / or receiver unit is provided in a preferred embodiment, the guide of a beam is performed so that the central beam of a beam between at least two optical elements, one of which is at least arranged for rotation in a rotary member , the axis of rotation of the rotary member intersects or coincides with it. Optical elements in this sense, the transmitter or receiver unit and beam-deflecting and beam-forming elements such as lenses and mirrors or the like. Intersects the central ray of a radiation beam the axis of rotation of the rotary member, the associated transmitter or receiver unit is preferably also arranged in the rotary member, further with respect to the rotation axis of the rotary member in which the light exit or light entry into or out of the rotary member opposite rotary member portion. on the other hand coincides the center beam with the rotational axis of the rotary part, so is made of or reaches a deflection of the central beam within the rotating member in the rotary member at a generally preferred nearly horizontal alignment of the center beam in the area of ​​the light exit or light entry, whereby further the transmission and / or receiver unit is preferably aligned without further beam deflecting elements coaxial with the rotating part rotation axis, can be hereby further disposed within the rotary member. Preferably is positioned in a collapse of the center beam with the rotational axis of the transmitting and receiving unit or in the rotatable relative to the rotary member stationary instrument housing. This provides an advantageous direct electrical contacting of the transmitter and / or receiver unit within the device.

p0013In a further preferred embodiment a lying in the beam direction of the transmitting unit last beam-deflecting element is arranged in the rotary member, rotating according to the all-round detection about a preferably vertical axis of the device, further wherein in the beam direction in front of this last beam-deflecting element, if necessary further provided beam-deflecting elements in the rotary member and / or are arranged in this respect to the stationary unit. The beam-deflecting element serving for deflecting the emitted light beam in a direction which is at an angle to the beam direction in impinging on the element beam. So this respect is in particular a deflecting a beam center of 75 ° to 105 °, preferably 90 °, is provided, further a deflection of a vertical jet direction in an at least approximately horizontal jet direction.

p0014Preferably further, that a planned prior to the final beam-deflecting member further optical element is stationary, correspondingly preferred in relation to the rotating part fixed device. In this optical element may be a beam-deflecting or beam shaping element, further, the transmission unit. According to the last beam deflecting element is in the rotating part that looked in the beam direction of the transmitting unit first optical element in the rotating part.

p0015It is further proposed that the transmitter unit is stationary and the rotating part a beam deflection by a mirror or reflector are. The transmitter unit is in this case preferably provided in the relation to the rotating part fixed unit, is directed to a jet direction that preferably by vertically upwards along the axis of rotation of the rotary member, further in towards the arranged in the rotating part mirror or reflector for beam deflection from the vertical a preferred horizontal.

p0016Another embodiment provides that a beam shaping element is arranged in the beam direction after the beam-deflecting element, so on for example. For focusing the light beam, again for example. For filtering. According to the above arrangement is arranged after the beam-deflecting element beam-shaping element at the same time provided in the rotary member, so that it rotates around the preferably vertically aligned axis of rotation for all-round coverage in operation. In alternative or combinative embodiment, the beam-shaping element in the beam path in front of the beam-deflecting element is arranged so that a beam shaping is achieved in the beam direction of the transmitting unit in front of diversion. The beam-shaping element in front of the beam-deflecting element may in relation to the rotating part fixed unit, downstream of the transmitter unit can be arranged, alternatively, within the rotary member, whereby a concentration of the beam-forming and beam-deflecting elements within the rotary member can be reached. the beam-forming elements with respect deflection are both in the beam direction before the final beam-deflecting element and a beam shaping element behind the last beam-deflecting element is provided, so be on their planes of extension in one adapted to the beam deflection angle, etc. in a preferred 90 ° vertically to each other.

p0017In a further preferred embodiment a lying in the beam direction of the receiver unit the first beam-deflecting element is arranged in the rotary member, rotating according to the all-round detection about a preferably vertical axis of the device, further wherein in the beam direction behind the first beam-deflecting element, if necessary further provided beam-deflecting elements in the rotary member and / or are arranged in this respect to the stationary unit. The beam-deflecting element serving for deflecting the reflected light beam in a direction which is at an angle to the incident beam in the direction of the beam element. So this respect is in particular a deflecting a beam center of 75 ° to 105 °, preferably 90 °, is provided, further a deflection from a horizontal beam direction in an at least approximately vertical beam direction.

p0018Preferably further, that a planned under the first beam-deflecting element further optical element is stationary, correspondingly preferred in relation to the rotating part fixed device. In this optical element may be a beam-deflecting or beam shaping element, further the receiver unit.

p0019It is further suggested that the receiver unit is stationary and takes place in the rotary member, a beam deflection by a mirror. The receiver unit is in this case preferably provided in the opposite the rotary member stationary device, with a beam receiving direction that is preferably directed along the axis of rotation of the rotary member, further starting from the arranged in the rotating part mirror for beam deflection from the horizontal in a preferred vertical.

p0020Another embodiment provides that a beam shaping element is arranged in the beam direction in front of the beam-deflecting element, so on for example. For focusing the light beam, again for example. For filtering. According to the above arrangement is arranged in front of the beam-deflecting element beam-shaping element at the same time provided in the rotary member, so that it rotates around the preferably vertically aligned axis of rotation for all-round coverage in operation. In alternative or combinative embodiment, the beam-shaping element is arranged in the beam path after the beam-deflecting element, so that a beam shaping is achieved in the beam direction of the receiver unit after a deflection. The beam-shaping element of the beam-deflecting element may upstream in relation to the rotating part fixed device be arranged to the receiver unit, but alternatively also within the rotary member, whereby a concentration of the beam-forming and beam-deflecting elements within the rotary member can be reached. the beam-forming elements with respect deflection are both in the beam direction beam-deflecting before the first element and a beam shaping element behind the first beam-deflecting element is provided, so be on their planes of extension in one adapted to the beam deflection angle, etc. in a preferred 90 ° vertically to each other.

p0021The beam-shaping element is in one embodiment, a lens, in particular double-concave lens, a double convex lens, a Konkavkonvexlinse, a plano-convex lens or beyond a plano-concave spherical, more preferably an aspherical lens shape. The lens may be beyond executed in the form of a Fresnel lens. An aspheric collimator lens is used here for beam focusing of the beam source.

p0022The stahlumlenkende element is more preferable for beam deflection, and possibly also for beam shaping a mirror, in particular a plane mirror. Alternatively, a curved mirror are used, so eg. In the form of a collecting mirror (concave mirror) or a dispersive mirror, spherical, elliptical or aspherical shapes are possible.

p0023Also, the beam-deflecting element is in a further embodiment of a prism or a light guide, which is embodied as a solid part, or alternatively as a hollow tube or as a fiber optic light guide.

p0024In addition, the optical elements provide optionally filter is so particular to filter wavelengths, such as. Colored plastic parts, or optical narrow-band filter (interference filter). Also, the filter may be a filter intensity in the form of a gray filter, moreover, a linear or circular polarizing filters. The filter can also be non-reflective by applying a corresponding layer eg. Magnesium fluoride. In addition, also an optical grating constituting the filter.

p0025Other optical elements are diaphragm as mechanical apertures in the form of slotted or perforated diaphragm if necessary. an LCD optics is provided Further alternatively as an optical element in the beam path by turning on LCD cell is dimmed. This also provides a solution for building dynamic aperture, which change depending on the situation.

p0026Optical elements may also be formed by one or more plane-parallel, transparent plates, for example. As a window to protect the transmitter and / or receiver units, which have the window above optical properties for beam deflection and / or beam shaping.

p0027The optical elements having or supporting rotary part is covered in a preferred embodiment of a protective hood, in order to protect the optical elements from external influences, in particular mechanical influences. The protective cover can be arranged here co-rotating on the rotating part itself. An alternative, more preferred embodiment provides for a relative to the rotating part fixed guard, so in particular by defining the protective hood on the appliance.

p0028The drive of the rotary member is more preferably achieved by a separate motor, in particular an electric motor which drives the rotary member when using the appliance directly or indirectly through intermediary transfer agent. Alternatively, the rotary drive portion is coupled to the drive of the device-side Verfahrräder, so that a rotary driving part in response to a movement of the device stands. In this connection, transmission means are provided for deriving the drive for the rotating member to Verfahrräder drive. Also, a coupling may be provided to the electric motor of the rotary brush.

p0029The drive of the rotary member is carried further through a Reibradkupplung further alternatively via a gear clutch or a traction with a toothed belt, flat belts, V-belts or round belts.

p0030In addition, it is provided that the protective cover is made of a cylindrical member, which is closed from above by a cover, wherein more especially the concentrically provided to the rotation axis cylinder part in the beam enforcement area transparent or in the wavelength of the penetrating radiation is designed optically transparent, wherein further this area may also have optical properties. So this transparent or optically transmissive protective cover area for example. Designed as a beam-reshaping element. In this case, the protective hood or its cylinder part acts as a cylindrical lens. In another embodiment of the cylindrical member is formed with a truncated cone in cross section parallel outer and inner surfaces of the at least partially transparent wall. The Zylinderteilwandung may be given in cross section by two arcs of a circle, preferably with the cross section looked in the inner radius is selected to be greater than the outer radius. Moreover, in an alternative embodiment the cross section of Zylinderteilwandung is aspheric in shape. It can also be configured as a Fresnel lens according to another embodiment of the wall section of the cylinder part, wherein the outer surface is designed to be smooth in order to counteract a dust adhesion on the outside. The inner surface, however, is considered to be segmented in the axial direction of the rotation axis, so, for example. Ausformend three axially successively arranged segments of the Fresnel lens thus constructed.

p0031The optical elements, in particular, consist strahlumformenden the elements in a preferred embodiment, optical plastics, such as polymethyl methacrylate (PMMA), polycarbonate or polystyrene, again for example. From the group consisting of cyclic olefin copolymer (COC). These are optically clear or tinted to implement a filter function or painted. Also may be employed or optically clear to implement a filter function inked or painted glasses. In addition, a combination of two or more optical materials is possible, for example, is utilized for exploiting the total reflection at the interface between two optically different media, as for example, in fiber optics.

p0032Next, it proves advantageous when functions of different optical elements are combined in a beam path (sender or receiver beam path). Thus, for example, a filter and a lens are combined into a single-side coated with a filter lens, furthermore, for example., A curved mirror and a prism in a prism having a curved side. Also, for example. A mirror and a filter are combined into a filter coated mirror. Fibre optic light guides and mirrors for example. Merged into one corresponding to the mirror angle bent fiber-optic light guide, which gives the desired beam deflection. This is further allows for light guides of a prismatic body in connection with a provided in the beam path mirrors, which are combined to form a prismatic light guide with beam deflection.

p0033The invention further relates to a automatic traversing device, in particular automatically traversing floor dust collecting device with electric motor driven Verfahrrädern, an appliance housing, preferably a dust collecting receptacle, the apparatus is provided with an obstacle detection, which consists of optical transmitter and receiver units, over the circumference distributed multiple sources are arranged in a fixed and / or more fixed radiation receiver.

p0034To solve the problem posed at the beginning is proposed that the transmitter and receiver units to one of the optical measuring method phase correlation, time of flight measurement or heterodyne based.

p0035This problem is solved first and foremost by the subject matter of claim 24, wherein based on the fact that the transmitter and receiver units to one of the optical measuring method phase correlation, time of flight measurement or heterodyne based. Result of this optical measuring method are ranges of more than 40 cm, preferably more than 50 cm from device edge reach, thus correspondingly more distant obstacles or space constraints are detected, so that an early response of the device can be triggered. Continue in this way an improved orientation of the device within a room is possible. In a light transit time method, the transit time between the transmission of a short light pulse and the arrival of the reflected light at an obstacle at the optical receiver is measured. With a phase correlation method, a modulated light beam is emitted, which is rectangular or sinusoidal, further alternatively has a different periodic form. Meets the thus modulated light beam onto an obstruction, a portion of the light energy is reflected and is incident on the optical receiver, which reflected light is also modulated. Because the transit time between the emission of the light signal and the receiving of the reflected light, a phase shift is established, which depends on the distance to be measured. Thus, the phase shift can be determined electronically, from which a measure of the measured distance result. The modulation of the activation of the transmitter unit preferably occurs with a frequency which is adapted to the distance measuring range of the sensor. In order to obtain in an evaluation of the reflected signal through a phase discriminator unambiguous measurement values, preferably the largest distance to be measured less than or at most equal to a quarter of the wavelength of the modulated signal. Since the signal path from the transmitting unit to a detected object and from the latter back to the receiver unit performs identical or close to the to the transmitter unit, the signal under this condition is a maximum of half the wavelength of the modulated signal. This can further be present at any time, the periodic modulation signal; alternatively be activated in the sense of signal packets in certain time intervals. The heterodyne method based on the principle of interferometry. Here, a light beam having a defined frequency is preferably sinusoidally modulated. This frequency is varied continuously. The obstacle of a reflected light is detected by the receiver unit and compared with the transmitted signal. If constructive interference between transmitted and received signal, so the distance to the obstacle is an integer multiple of the wavelength of the current modulation frequency. By superimposing and continuous variation (sweeping) multiple modulation frequencies uniqueness of the measurement is reached.

p0036Further features of the invention are given below, in the description of the figures, often described in their preferred allocation to the subject matter of claim 24 or features of other claims. but you can also be an assignment to only individual features of claim 24 or the respective further claim or each independently of meaning.

p0037It is further provided an evaluation method in the form of a phase comparison between the modulation of the received signal and the transmitter-side modulation signal. For this purpose, a phase detector is eg. In the form of an integrated module or in fully discrete form. The phase difference between the two modulation signals is the desired measure of the distance of a reflecting object by the distance sensor (transmitter and receiver units). Intermediate optical receiver unit and the phase discriminator is more preferably a signal conditioning stage, which is given by an amplifier or comparator. These signal conditioning stage ensures a level matching between the optical receiving unit and phase discriminator. For this purpose, always generates the signal processing stage receiving from different amplitudes equal signal amplitudes, so that a distance measurement over a wide range of reflectance of a detected object is made possible.

p0038In a further embodiment, the signal conditioning stage is also equipped with devices for the elimination or reduction of interference due to electromagnetic interference or extraneous light. These devices consist eg. Of a band pass filter, a phase locked loop (PLL) or a combination of both. To eliminate the signal propagation times of the amplifier or comparator, PLL or bandpass filter identical modules can be connected additionally between the transmitter-side modulation signal and the phase discriminator. Both the signal conditioning stage and the phase detector are simple or multiple times in one embodiment, a multiple arrangement for evaluating a plurality of received signals from a plurality or array-shaped or line-type optical receiver units are used.

p0039In case of multiple received signals the signal conditioning stage or the phase detector can be easily provided preferably, said further through a multiplexer sequentially the various received signals are processed.

p0040Alternatively, for distance measurement by means of one or more phase detectors, the distance measurement is performed on a time measurement, which passes from the transmission timing of a modulation packet to the reception time of an incoming signal packet. In this case, the distance measuring area is independent of the wavelength of a modulated signal. If the distance measurement over a period measurement was made, preferably, the modulation signal in deviation or addition to the above waveforms alternatively as pulse or pulse packet.

p0041In a further preferred embodiment, the multiple are en sources realized by a central source of radiation, which are surrounded by a plurality of beams having outputs aperture. It requires only a correspondingly to activating radiation source, via which a plurality of light beams, preferably uniformly over the circumference of the unit distributed to be emitted radially outward. The radiation outputs having aperture here can be a central source of radiation covering hood, which beams outputs are formed in the form of openings in the circumferential wall. In an advantageous embodiment, each beam output (collimator) is an optical element, in particular in the form of a converging lens is provided which combines the respective light beam stronger.

p0042The distributed around the circumference fixedly arranged radiation sources or caused by the aperture several rays taken after an appropriate reflection of obstacles to either a corresponding number of receiver units of the device or more preferably to a about a vertical axis of the device 360 ​​° rotatable receiver unit according the embodiment described with respect. of claims 1 to 23.

p0043To prevent stray light, the remaining outside the areas targeted transparent held inside surfaces with a special coloring or coating are in the intended aperture, further even with a possibly provided, a rotary member covering guard provided that all wavelengths up to the light beam to measure absorbed.

p0044The invention with reference to the accompanying drawing, which illustrates only several embodiments is explained in more detail. It shows:<dl id="dl0001"><dt>Fig. 1</dt><dd>in perspective a ground dust collecting device;</dd><dt>FIG. 2</dt><dd>a bottom perspective view of the floor dust-Aufsammelgeräts;</dd><dt>Fig. 3</dt><dd>the floor dust collecting device in the course of tillage when scanning an obstacle; </dd><dt>Fig. 4</dt><dd>a schematic representation of a rotating part of the device as a transmitting unit with in the rotary member integrated light source and a strahlumformenden element;</dd><dt>Fig. 5</dt><dd>one of the <figref idrefs="f0003">Fig. 4</figref> corresponding schematic view but showing an alternative embodiment concerning;</dd><dt>Fig. 6</dt><dd>a further alternative embodiment for forming a transmitting unit;</dd><dt>Fig. 7</dt><dd>the transmitter unit according to a schematic representation of <figref idrefs="f0003">Fig. 4</figref>, Another embodiment concerning;</dd><dt>Fig. 8</dt><dd>a schematic representation of the rotary member as the receiver unit in this built-receiving sensor and a strahlum-forming element;</dd><dt>Fig. 9</dt><dd>one of the <figref idrefs="f0005">Fig. 8</figref> appropriate representation, an alternative embodiment concerning;</dd><dt>Fig. 10</dt><dd>according to a further embodiment, a schematic representation of <figref idrefs="f0005">Fig. 8</figref>;</dd><dt>Fig. 11</dt><dd>the rotary member with an associated receiver unit in a further embodiment;</dd><dt>Fig. 12</dt><dd>a schematic representation of the device associated rotary part with a transmitting unit and an associated receiver unit;</dd></dl><dl id="dl0002"><dt>Fig. 13</dt><dd>one of the <figref idrefs="f0006">Fig. 12</figref> appropriate representation, with in the rotary member integrated transmitter and receiver units and a beam-shaping element;</dd><dt>Fig. 14</dt><dd>one of the <figref idrefs="f0007">Fig. 13</figref> appropriate representation, another embodiment concerning;</dd><dt>Fig. 15</dt><dd>the device in a partially sectioned side view, a further, schematically illustrated embodiment concerning;</dd><dt>Fig. 16</dt><dd>the enlarged region in XVI <figref idrefs="f0008">Fig. 15</figref>;</dd><dt>Fig. 17</dt><dd>the enlarged region in XVII <figref idrefs="f0009">Fig. 16</figref>;</dd><dt>Fig. 18</dt><dd>one of the <figref idrefs="f0009">Fig. 17</figref> appropriate representation, an alternative embodiment concerning;</dd><dt>Fig. 19</dt><dd>another one of the <figref idrefs="f0009">Fig. 17</figref> corresponding representation in a further embodiment;</dd><dt>Fig. 20</dt><dd>a schematic horizontal section through a fixed transmission unit in an alternative embodiment.</dd></dl>

p0045Shown and described in first instance with reference to the illustrations in <figref idrefs="f0001">Figures 1 and 2</figref> A floor dust collecting device 1 in the form of a robot cleaner with a chassis 2 which bears the lower side, the face-to-maintain ground electric motor driven Verfahrräder 3 and a over the lower edge of the chassis base 4 projecting, likewise driven by electric motor brush fifth The chassis 2 is overlaid by a unit cover 6, said floor cleaning device 1 of the illustrated embodiment has a circular floor plan.

p0046The Verfahrräder 3 are 5 downstream in the usual direction of travel r the floor dust-Aufsammelgeräts 1 of the brush, the brush 5 further downstream a transport sheet-like protective pad 7 is provided through which the brushed-off dirt is thrown off in a non-illustrated container-like recording.

p0047In conventional traverse r the brush is 5 upstream support wheels in the form of a Mitlaufrades 8 positioned according to the reached a three-point support of the floor dust-Aufsammelgeräts 1 on the to-maintain floor.

p0048Further, although not shown, the ground dust collecting device 1, in addition or alternative to the brush 5 have a Saugmundöffnung. In this case, a Sauggebläsemotor is in the device 1 is further arranged, which is electrically operated.

p0049The electrical supply of the individual electrical components of the device 1 as for the electric motor of the Verfahrräder 3, for the electric drive, the brush 5, if necessary for the suction fan and above for further provided for electronics in the device 1 for controlling the same via a not shown, rechargeable Accumulator.

p0050There is a need to recognize in such soil dust-Aufsammelgeräten 1 obstacles 9, to prevent sticking of the unit 1. For this purpose, a sensory obstacle detection 10 is provided. This consists of an optical transmitter 11 and an optical receiver unit 12. At least one of these units 11 and 12 is the ceiling side of the unit cover 6 and arranged to rotate about a vertical axis x of Aufsammelgerätes 1 (arrow c).

p0051Transmitter unit 11 and receiver unit 12 is based on an optical measuring method, in particular to a phase correlation method, light travel time measurement or a heterodyne method, in which further at least one of the units 11 and 12 by 360 ° x the Aufsammelgerätes 1 rotates around the rotation axis so as to an all-round obstacle detection to realize. If only one of the units 11 and 12 rotatably disposed in such a way, there is a different unit from fixedly connected to the collecting device 1 sensor parts which are arranged uniformly over the circumference of the Aufsammelgerätes first

p0052When transmitting unit 11 is a laser diode, or alternatively an LED or OLED, further alternatively one at the base of the electroluminescent light source. Preference is given to a laser diode with red visible light having a wavelength of 650 nm, green visible light in the range of 532 nm or visible light in the infrared region from 780 to 1100 nm. In addition, light in the ultraviolet range is possible.

p0053As a receiver unit 12, an optical receiver is used which is sensitive at least in the selected wavelength range of the transmission unit. The receiver unit 12 is configured as at least one photo transistor, a photodiode, photoresistor, a CCD chip or CMOS chip, wherein the optical receiver simultaneous as a single receiving element for detecting a single incoming light signal, or as a multi-cell array or as multicellular line to is or sequential capture more incoming light signals formed.

p0054The embodiments described in detail below are designed so that a single measurement or light beam is used to make a number of measurements (typically 60-360 measurements, preferably 180 measurements at a 360 ° -Umlauf) to perform on the circumference. This is achieved in that at least the transmitting unit 11 or parts thereof to rotate around the vertical axis and are carried out at certain intervals clocked measurements.

p0055With a correspondingly rotatable embodiment of the transmitter and / or receiver unit 12, the guidance of the light beam is such that the central ray M a radiation beam S between two optical elements E, one of which is at least arranged for rotation in a rotary member 13, the axis of rotation x of the rotating member 13 cuts or falls with her, which continued the 11 located in the beam direction of the transmitting unit last or the 12 located in the beam direction of the receiver unit first beam deflecting element 14 is disposed in the rotary member 13, beam-deflecting element 14 may be a mirror or the like.

p0056The <figref idrefs="f0003 f0004">Figures 4-7</figref> show embodiments related. a rotatable configuration of the transmission unit 11. This can interact with a simultaneously rotating receiver unit 12, alternatively with more firmly in the opposite the rotary member 13 stationary device 1 uniformly over the circumference are arranged distributed receiver units 12.

p0057<figref idrefs="f0003">Fig. 4</figref> schematically shows a rotating member 13 which x lighthouse manner on the collecting device 1 is arranged rotatable around the rotational axis. With a radial spacing to the rotational axis x of an LED is in the rotary member 13, the transmitting unit 11, for example. In the form provided. With respect to the rotation axis x of the transmission unit opposite to an optical element E is positioned in the rotary member 13, optical element E is a beam shaping element 15 in the form of a biconvex lens here. The midstream M of light emanating from the transmitting unit 11 beam S intersects the axis of rotation x and passes through the beam-shaping element 15 in the center and passes through a wall 16 of a protection hood-side cylinder portion 17 with respect to the rotation axis x radially outward, which wall 16 is made transparent at least in the light-translated region ,

p0058The drive of the rotating member 13 takes place further described in more detail below via a separate electric motor, as described with reference to another embodiment.

p0059A result of this arrangement is located 11 incl. Transmitter part and optical element E in the rotary member 13 Complete transmitter unit. The power of the light source is, for example. Achieved by provided between rotary member 13 and the device hood ceiling sliding contacts.

p0060A further embodiment is shown in <figref idrefs="f0003">Fig. 5</figref> shown. Here, as in the other embodiments in accordance with the<figref idrefs="f0004">Figures 6 and 7</figref>, The light source 18 arranged in the opposite the rotary member 13 fixed collection apparatus 1, such that the light emitted by the light source 18 midstream M of the beam S coincides with the axis of rotation x together. Correspondingly, represented though unspecified, both the ceiling of the appliance hood 6 and the facing bottom of the rotary member 13 in the ray penetrated area provided with an opening.

p0061As shown in <figref idrefs="f0003">Fig. 5</figref> is the 18 viewed in the beam direction of the light source final beam-deflecting optical element 14 is thus arranged to rotate in the form of a mirror and other subsequent optical elements E in the rotary member 13 and, while optical elements E disposed in front of the last beam-deflecting element 14, fixed to or . in the device 1 remain. The last beam-deflecting element 14 is in<figref idrefs="f0003">Fig. 5</figref> a plane mirror provided. This is in the beam direction downstream of a beam shaping element 15 in the form of a converging lens (biconvex).

p0062In <figref idrefs="f0004">Fig. 6</figref> is preceded by a beam shaping element 15 a converging lens the beam-deflecting element 14 (plane mirror). Since these (mirror here) is prior to the last beam-deflecting element 14, it does not rotate, but remains stationary in the device. 1

p0063<figref idrefs="f0004">Fig. 7</figref> shows an embodiment in which in the rotary member 13 in the form of a curved mirror of a concave mirror is provided. This is used according to its design both as beam-deflecting element 14 as well as a beam shaping element 15. Since this element is the 18 viewed in the beam direction of the light source final beam-deflecting element 14, this is arranged in the rotary member 13 and around the rotary axis x rotation.

p0064Possible alternatives construction of the receiver unit 12 are in the illustrations of <figref idrefs="f0005 f0006">Figures 8 to 11</figref> shown. These are equivalent to the transmission unit embodiments according to<figref idrefs="f0003 f0004">Figures 4-7</figref>, So shows<figref idrefs="f0005">Fig. 8</figref> a possible embodiment in which both the receiving element 19 are arranged in the form of a photodiode as well as a beam shaping element 15 in the form of an optical lens in the rotary member 13, wherein the beam-shaping element 15, the incident beam S to the concentrated impingement on the receiving element 19 bundles. The rotary member 13 is driven here by a separate electric motor, an electrical contact of the receiving element 19 between the rotating rotary part 13 and the stationary unit 1 by means of not shown sliding contacts between the rotary part 13 and the device hood is reached. 6

p0065In <figref idrefs="f0005">Fig. 9</figref> An embodiment is shown in which the viewed in the beam direction to the receiving element 19 first beam-deflecting optical element 14 rotate in the form of a mirror, and an optical front of this lying element E, while further optical elements E fixed to the first beam-deflecting element 14 in the device 1 are arranged. First beam-deflecting element is a plane mirror is selected. The receiver unit 12 is assigned as a converging lens beam shaping element 15, which rotates in the arrangement in the rotary member 13, since these lens viewed in the beam direction is arranged before the first beam-deflecting element fourteenth

p0066<figref idrefs="f0005">Fig. 10</figref> shows a solution is in which as in the embodiment described above, the lying in the beam direction of the receiver unit first beam deflecting element 14 designed as a plane mirror and disposed in the rotary member. 13 A converging lens as a beam shaping element 15 is arranged in the beam direction behind the beam-deflecting element 14, and thus fixedly positioned in the device 1, as well as the receiving element 19th

p0067Also, according to the illustration in <figref idrefs="f0006">Fig. 11</figref> the receiving unit 12, a curved mirror may be arranged in the rotary member 13, which serves at the same time the beam deflection and beam shaping. Since this element is viewed in the beam direction first beam deflecting element 14, each additional optical element E is this opposite arranged stationary, as in the illustrated embodiment, the receiving element 19th

p0068The embodiments according to the <figref idrefs="f0003 f0004">Figures 5 to 7</figref> respect. the transmitting unit 11 and the embodiments of the <figref idrefs="f0005 f0006">Fig. 9-11</figref> respect. the receiver unit 12 are distinguished in that the interface between the rotating rotary member 13 and the this is compared to the fixed unit 1 only penetrated by the beam S. An electrical contact between the rotary member 13 and the device 1 is not necessary.

p0069<figref idrefs="f0006">Fig. 12</figref> shows a combined embodiment of transmitter unit 11 and receiver unit 12. Here, a prismatic light guide 20 is provided as an optical element E in the rotary member thirteenth This includes first two in a 90 ° position aligned conductor leg, wherein a vertically oriented conductor leg central axis of rotation x receives.

p0070A 45 ° to the axis of rotation x relief surface 21 in the bend region of the light guide 20 serves for beam deflection of the reflected by the obstacle 9 light beam vertically downward toward the in the device 1 and thus fixed relative to the rotating member 13 arranged receiving element 19th

p0071The obliquely surface 21 is interrupted by a separate input face 22 which is oriented parallel to a cross sectional area of ​​the 18 considered in the beam direction of the light source light guide last leg. This coupling surface 22 is used for low loss coupling of the transmitter beam whose center beam M passes through the light guide limb center.

p0072The rays reflected by the obstacle are separated by the According to the input face 22 running, obliquely set surfaces in an axially parallel direction deflected downwards.

p0073shows another embodiment of a combined transmitter and receiver unit <figref idrefs="f0007">Fig. 13</figref>, The reception element 19 associated collecting lens (beam shaping element 15) is located in this embodiment at the same time in the beam path of the light source 18. The receiving element 19 is disposed concentrically about the light source 18, eg. In the form of a ring-shaped photodiode. The light emitted from the light source 18 light penetrates the beam-shaping element 15 in a machined region in which the beam-shaping element 15 is designed as a plane-parallel thin window. To this end, facing the light source 18, the convex lens here is provided with a central, aligned to the beam hole 23 having a depth that leaves the plane-parallel window on the opposite side of the lens. Since the light source 18 is remote, lying in registration with the bore 23 surface has a slight curvature, it acts in the manner of a plane-parallel surface to the hole bottom, so this lens portion does not affect beam transformative. Rather, as remaining window protects both the light source 18 and the receiving member 19 from dirt or damage.

p0074The emitted measuring light beam passes through the corresponding beam-shaping element 15 without further deflection and is thrown back after being reflected by an obstacle 9 via the element 15 in the direction of the concentrically to the light source 18 arranged receiving element 19th

p0075<figref idrefs="f0007">Fig. 14</figref> shows an embodiment in which the receiving element 19 in the rotating part 13 is assigned as a beam-deflecting element 14 is an aspherical concave mirror. This is used both for beam deflection and beam forming.

p0076The light source 18 is further a plane mirror 24 allocated for beam deflection, said plane mirror 24 is integrated in the concave mirror, for which the area that is illuminated by the light guide 20, is designed as a plane mirror in the sense of a facet in the concave mirror.

p0077The <figref idrefs="f0008">figures 15</figref> and <figref idrefs="f0009">16</figref> show a possible configuration for driving the rotary member. 13

p0078It is driven by a arranged in the device 1 separate electric motor 25, with a Reibradübertragung 26 between the electric motor 25 and the rotary member 13. In this case, the rotary member 13 is configured as a cylinder part 27, which is initially designed basically opaque and covered by a ceiling portion 28 is , In the rotary member 13 is a beam-deflecting element 14 is in the form of a centrally of the axis of rotation x interspersed and arranged in a related to the rotation axis x extending in a plane at 45 ° employed plane mirror. In radially outwardly directed beam path, the wall of the cylindrical portion 27 is provided with a radiolucent window 29th

p0079The rotary member 13 and the cylinder portion 27 passes through a cover-side opening of the device hood 6, below which the ceiling is done Reibradübertragung 26th

p0080The execution of the transmitting unit 11 corresponds to the embodiment of <figref idrefs="f0004">Fig. 6</figref>That the receiver unit 12 of the execution of <figref idrefs="f0006">Fig. 11</figref>Wherein the beam-deflecting element 14 is embodied here as a plane mirror.

p0081The only part of the transmitter and receiver units, the rotary member 13 rotates with the covered cylinder part 27, which includes the beam-member 14th The other optical elements E, as a vertically downward einragender the beam-deflecting element 14 in the unit 1 light guide 20, the receiving element 19, the light source 18 and on a one beam shaping element 15 forming the collimator lens 30 are stationary in the device 1 arranged.

p0082A further provided in the robot 1 electronics 31 controls the outputs of the light source 18 and is further processing of the collected on the receiving element 19 light signals, for customized control of the device 1, in particular as regards the Verfahrverhaltens.

p0083The rotary member 13 is further covered in the illustrated embodiment of a protective hood 32nd This initially consists of a cylindrical part 33, which is closed from above by a cover 34th In an alternative embodiment, the protective cap 32 is integrally formed, which can also deviate from the illustrated cylindricity, provided this does not involve any adverse effect of the beam path to be. The cap 32 is rotatably disposed on the device hood. 6

p0084The transparent cylinder held part 33 protects the inner rotating mechanism, so in particular, the rotary member 13 with the beam-deflecting element 14. The cylindrical part 33 lets the light beam and the reflected light for distance measurement to pass unhindered. The cover 34 includes the system from the top. This consists of an opaque material.

p0085In the illustrated embodiment, the lid 34 is provided with a radially protruding bead 35th This begins in clashes of the device with obstacles in the field of sensor technology shocks and protects the transparent portion of the cylindrical portion 33 from damage, especially scratches.

p0086All sectors except for the annular exit window, which is formed by the cylinder member 33, may be at least wandungsinnenseitig painted or coated to block such scattered light. In addition, the transparent region of the cylinder part may be provided with a special coloring or coating that absorbs all wavelengths except for that of the light beam for measurement.

p0087In particular from the enlarged detail representation in <figref idrefs="f0009">Fig. 17</figref> to realize the transparent shaped cylinder part 33 is designed strictly cylindrical, the axis of rotation x aligned with corresponding coaxial outer and inner surfaces. In an alternative embodiment, these parallel surfaces may extend to an offset alignments also at an acute angle, the tapered configuration of the cylinder portion 33rd

p0088Another embodiment according to <figref idrefs="f0010">Fig. 18</figref> provides that in a cross section, the wall of the cylinder member 33 by two arcs is designed, wherein preferably the radially internal, the inner surface of performing circular arc R_I is selected greater than the outer surface constituting a circular arc R_A, Whereby the transparent part of the cylinder part 33, a beam-forming property is also assigned.

p0089Also, the cylindrical part 33 may, as shown in <figref idrefs="f0010">Fig. 19</figref> be formed in the manner of a Fresnel lens. In this case, there is the cylinder part 33 in the embodiment shown of three axially series-connected individual segments 36, which are mutually joined by gluing or welding. Here, the outer surface formed is smooth designed to counteract such a dust adhesion in any gaps. The inner surface, however, is segmented, staggered to form a fresnellinsenartigen wall.

p0090If only one according to the above-described configurations rotatable receiver unit 12 is provided, as can about the periphery of the apparatus 1 distributes a plurality of light sources 18 may be arranged as the transmitting units 11, which adapted to the rotational speed of the receiver unit 12 clocked pulse-like rays of light emit the captured by the rotating receiving element 19 will.

p0091As an alternative to an array of a plurality of individual light sources 18 is according to the schematic representation in <figref idrefs="f0011">Fig. 20</figref> a central radiation source 37 is provided. This is covered by a hood 38, the ausformt a stop 40 with its circumferential wall. 39 For this purpose, six openings 41 are provided as radiation outputs in the wall 39 distributed uniformly over the circumference.

p0092The wall 39 and the ceiling of the hood 38 are designed opaque so that a radiation source 37 more, the openings created 41 passing through the measurement beam, the radiation source 37 radiates over a circumferential angle of 360 °.

p0093In an advantageous embodiment each opening 41 is provided with a beam-shaping element 15 in the form of a converging lens, which focuses the respective emergent light beams stronger.

p0094All disclosed features are essential to the invention (for themselves). In the disclosure of the application of the disclosure content of the associated / attached priority documents is hereby (copy of prior application) included in full, including for the purpose of incorporating features of these documents in claims of the present application. The dependent claims characterize in their optional sibling version independent inventive development of the prior art, in particular, to make on the basis of these claims divisional applications.

LIST OF REFERENCE NUMBERS

p0095<dl id="dl0003" compact="compact"><dt>1</dt><dd>Soil dust collecting device</dd><dt>2</dt><dd>chassis</dd><dt>3</dt><dd>Verfahrräder</dd><dt>4</dt><dd>chassis ground</dd><dt>5</dt><dd>brush</dd><dt>6</dt><dd>equipment hood</dd><dt>7</dt><dd>dirt ramp</dd><dt>8th</dt><dd>idler</dd><dt>9</dt><dd>obstacle</dd><dt>10</dt><dd>obstacle detection</dd><dt>11</dt><dd>transmitting unit</dd><dt>12</dt><dd>receiver unit</dd><dt>13</dt><dd>Drehteil</dd><dt>14</dt><dd>beam-deflecting element</dd><dt>15</dt><dd>beam shaping element</dd><dt>16</dt><dd>wall</dd><dt>17</dt><dd>cylinder part</dd><dt>18</dt><dd>light source</dd><dt>19</dt><dd>receiving element</dd><dt>20</dt><dd>optical fiber</dd><dt>21</dt><dd>area</dd><dt>22</dt><dd>input face</dd><dt>23</dt><dd>drilling</dd><dt>24</dt><dd>plane mirror</dd><dt>25</dt><dd>electric motor</dd><dt>26</dt><dd>Reibradübertragung</dd><dt>27</dt><dd>cylinder part</dd><dt>28</dt><dd>ceiling section</dd></dl><dl id="dl0004" compact="compact"><dt>29</dt><dd>window</dd><dt>30</dt><dd>collimator</dd><dt>31</dt><dd>electronics</dd><dt>32</dt><dd>guard</dd><dt>33</dt><dd>cylinder part</dd><dt>34</dt><dd>cover</dd><dt>35</dt><dd>bead</dd><dt>36</dt><dd>segments</dd><dt>37</dt><dd>ray source</dd><dt>38</dt><dd>Hood</dd><dt>39</dt><dd>wall</dd><dt>40</dt><dd>aperture</dd><dt>41</dt><dd>breakthroughs</dd><dt>c</dt><dd>direction of rotation</dd><dt>r</dt><dd>traversing</dd><dt>e</dt><dd>optical elements</dd><dt>M</dt><dd>midstream</dd><dt>S</dt><dd>ray beam</dd><dt>x</dt><dd>axis of rotation</dd></dl>