Autonomous traveling ground processing device with multiple
A technology of processing equipment and sensors, applied in the direction of automatic control of traveling motion, cleaning equipment, registering/instructing the operation of vehicles, etc., can solve problems such as danger, ground processing equipment falling on steep slopes, and ground processing equipment cannot be detected.
Pending Publication Date: 2022-06-24
VORWERK & CO INTERHOLDING GMBH
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Problems solved by technology
[0005] Although fall sensors are known in the state of the art, there is in principle a risk that the fall sensor fails and ground handling equipment approaches a steep slope without being able to detect it
In this case, it can happen that the ground handling device falls down the steep slope and in this case causes damage or even poses a danger to persons
Method used
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[0027] figure 1By way of example, a floor treatment device 1 according to the invention is shown, which is designed here as an autonomously traveling cleaning robot. The ground treatment equipment 1 has an equipment housing 2 and a drive device 3 for driving a plurality of wheels 23 arranged on the bottom side 7 of the equipment housing 2. The ground treatment plant 1 has an accumulator, not shown, which is used to supply the drive 3 and other consumers of the ground treatment plant 1 with energy. The drive 3 here has, for example, an electric motor (not shown). Furthermore, a cleaning element 22 is mounted on the device housing 2 so as to be movable, which is designed here as a rotatable brush roller. Furthermore, the ground treatment plant 1 may have a fan (not shown) for, for example, diverting the aspirate into the aspirate collector. However, the floor treatment device 1 can also be designed as any other autonomously traveling floor treatment device 1, such as a scrubb...
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The invention relates to an autonomously traveling ground treatment device having a device housing, a drive device, a fall sensor and a computing device. In order to be able to advantageously check the functionality of the fall sensors, it is proposed that a plurality of fall sensors are arranged on the underside of the device housing in the direction of the outer contour of the underside in succession, the detection results of the fall sensors are compared with reference results, and if the detection results do not coincide with the reference results, it is determined that the preceding fall sensor is malfunctioning, and if the detection results do not coincide with the reference results, it is possible to check the functionality of the fall sensors. The distances detected by the same fall sensor in time succession are compared with each other and, if these distances are the same, it is determined that the fall sensor is malfunctioning and / or that the fall sensor is malfunctioning. The detection result of one fall sensor is compared with the detection result of another fall sensor following the fall sensor in the direction of travel, and if the following fall sensor detects a steep slope and the preceding fall sensor does not detect the steep slope, it is determined that the preceding fall sensor has failed.
Description
technical field [0001] The invention relates to an autonomously traveling ground treatment device having a device housing, a drive for moving the ground treatment device within the environment, and at least one dropper which is arranged on a ground-facing underside of the device housing. a sensor, the at least one fall sensor is arranged to detect the distance from the ground handling equipment to the ground, and the ground handling equipment further has computing means arranged to compare the distance detected by the fall sensor with a defined steep slope and if the detected distance is greater than the defined extremum, it is determined as a result of the detection that a steep slope is present and a control command is transmitted to the drive for changing the travel of the ground handling equipment. Background technique [0002] Autonomously traveling ground handling equipment is known in the prior art in various embodiments. [0003] Floor treatment equipment is, for ex...
Claims
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IPC IPC(8): G05D1/02
CPCG05D1/0236G05D1/024G05D1/0242G05D1/0255G05D1/0257G05D1/0225G05D1/0214G05D1/0276G05D1/0238A01D34/008A47L2201/04A47L9/2826A47L9/2889G07C5/0808G05D1/617G05D1/628
Inventor A.莫塞巴赫H.海恩
Owner VORWERK & CO INTERHOLDING GMBH