Self-propelled vacuum and / or sweeping device

Abstract

A self-propelled vacuum and / or sweeping device (1) with a housing made, for example, of a hard plastic and optionally an elastically deflectable front element (5), characterized in that a film-like covering (10) is provided on the front element (5) and / or on the housing, that the covering (10) is formed from a multi-layered technical textile, that the layers opposite each other in cross-section are configured as electrically conductive films, and that a plurality of small spacers are located between the two electrically conductive films, which ensure separation of the films, wherein, upon contact between the two electrically conductive films, an electrical contact is made and, due to the resistance of this contact, a different voltage is generated at each point, the change in voltage of which can be used to determine an x ​​and y component.

Description

[0001] The invention relates to an automatically movable suction and / or sweeping device according to the features of the preamble of claim 1.

[0002] Vacuum cleaners and / or sweepers of the type in question are known. These are used in particular in households for cleaning floors, for which purpose these devices work automatically, i.e. autonomously, over the area by moving over it. In order to prevent damage to the device, for example if it hits an obstacle (cupboard, furniture legs, or the like), and also to prevent damage to the obstacle itself, it is also known to provide the device with an elastically deflectable front element, for example in the form of a circumferential rubber or elastomer bead. To prevent the self-propelled device from getting stuck, for example in situations where obstacles only allow a narrow passage, the device is preferably designed with a circular footprint and accordingly preferably has no recesses or projections over its circumference.

[0003] DE 10 2006 006 465 A1 discloses a self-propelled vacuum and / or sweeping device in which the front element comprises an outer electrically conductive layer, a middle elastic layer, and electrodes located beneath the elastic layer on the housing side. A voltage change that occurs when the distance between the outer electrically conductive layer and the electrodes changes when the device is compressed is used for obstacle detection.

[0004] WO 2008 / 007 830 A1 discloses a self-propelled steam cleaning device with pushrod elements, each associated with a sensor. KR 10 2005 0 099 886 A discloses a self-propelled vacuum and / or sweeping device in which a horizontally extending tubular element made of elastic material is arranged on the outside of the housing, in which contact points are arranged distributed along the length and are electrically connected to one another. Furthermore, US 2005 / 0 156 562 A1 discloses a self-propelled vacuum and / or sweeping device with a conventional pushrod arrangement and corresponding sensors.

[0005] Based on the prior art, for example according to DE 10 2006 006 465 A1, the object of the invention is to provide an advantageous sensor design for detecting contact with obstacles.

[0006] This object is achieved in the subject matter of claim 1, wherein a film-like covering is provided on the front element and / or on the housing, wherein the covering is formed from a multi-layer technical textile, wherein the layers which are opposite one another in a cross-section are set as electrically conductive films, and wherein a plurality of small spacers are located between the two electrically conductive films, which ensure separation of the films, wherein when there is contact between the two electrically conductive films, an electrical contact is created and, due to the resistance of this contact, a different voltage is created at each point, the voltage change of which can be used to determine an x ​​and y component.

[0007] The front element can complement the housing to form a floor plan that deviates from a circular shape on the outside, wherein the front element further has a closed front element surface that adjoins a housing surface and extends over 1 / 3 or more of the total height of the device. As a result of this configuration, the floor plan of the housing, which continues to serve as the core and is further preferably made of a hard plastic, is circular in plan. The elastically deflectable front element complements this, in contrast to the rigid circular shape, to form a shape that deviates from the circular shape overall, thus achieving a floor plan of the entire device, i.e. including the front element, that has an area that projects beyond the circular shape. The strict circular shape is interrupted accordingly.The resulting constructive and design freedom does not have a negative impact on the safety of movement or the protection of objects when touched by the device due to the elastic design of the front element.

[0008] Due to the design of the front element from an elastically deflectable material, this does not interfere with the normal movement and cleaning operation of the device, particularly with regard to a possible release of the device from a trapped position, further restrained by its non-circular footprint. As the device moves, the front element, subject to lateral pressure, for example, from an obstacle, tends to deflect radially inward of the device, preferably to such an extent that, at least in the collision area, the inner shape, which is virtually circular in plan, is regained, which facilitates the release of the device. Accordingly, an external force acts against an elastic resistance.The front element preferably adjoins the housing surface by contact, and more preferably by at least one sheathing of the front element, so that, particularly when viewed over the circumference, a virtually gap-free transition from the front element to the rigid housing is achieved. The front element preferably contacts the housing over its entire extent in the circumferential direction of the rigid housing, and more preferably also over its entire height. The preferred full-surface contact is achieved, for example, by a form-fitting fastening of the front element to the housing. Furthermore, a virtually gap-free transition is achieved by gluing the front element to the housing, or alternatively, by penetration.

[0009] The front element has a closed surface, which on the one hand offers hygienic advantages, but on the other hand also prevents, for example, snagging on protruding obstacles. With respect to a vertical extent of the device, the front element extends over ⅓ or more of the total height of the device, more preferably over ¼, ½, ¾ of the total height, more preferably up to the entire height of the device. Furthermore, the device preferably has a closed surface around its periphery, which is formed solely by the front element, or alternatively by a combination of the front element and the housing wall. A virtually gap-free, peripheral device wall is preferably achieved, particularly when the front element is not under load.

[0010] According to a preferred embodiment, the front element consists of an elastic foam. A soft foam or soft elastomer construction is further preferred, which further preferably has a closed-cell structure. With such a configuration, the front element is further preferably attached to the device, which forms a core and is further preferably circular in plan view, in such a way that no relative displacement in the circumferential direction and / or in the vertical direction of the device occurs between the front element and the device, particularly with regard to the direct contact zones between the device and the front element. With increasing radial distance between front element regions, such a relative displacement is certainly possible due to the elastic properties.Regarding the flexible foam material, polyurethane flexible foam (optionally open-cell), polyethylene flexible foam, ethyl vinyl acetate foam (also known as sponge rubber), or polyvinyl chloride flexible foam are preferred. These foams exhibit sufficient elasticity and, in addition, sufficient resilience to return to their original position after deformation, for example, due to impact with an obstacle or the like, once the corresponding load is removed.

[0011] The front element is further preferably provided partially with respect to the circumference of the device, so that further preferably, viewed over the circumference, outer wall regions of the device, which is preferably circular in plan, are exposed between regions of the front elements. In this case, only one front element can be provided, which extends only over a partial region of the device circumference. Further preferably, a plurality of separate front elements are provided, evenly or alternatively unevenly distributed over the circumference of the housing, which several front elements can be designed identically with regard to their respective floor plan design and / or with regard to their spatial extent, but alternatively also differently. This further preferably results in an overall floor plan which, for example,can be designed polygonally, for example triangular, quadrangular, pentagonal or even twelve-sided, wherein furthermore at least three corners are provided in such a polygonal design. The additional floor plan design by the projection element is further preferably symmetrical. Alternatively, an asymmetrical design of the floor plan is also provided, for example by an irregularly polygonal design. Furthermore, it is preferred that the outer contour of the floor plan is formed by circular sections running tangentially into one another, wherein here too a regular or alternatively an irregular contour can be achieved. The floor plan thus achieved as a whole is also preferably designed in the manner of a free-form surface, wherein further preferably, independently of the previously described floor plan designs, one or more projections and recesses can be formed over the circumference of the projection element.Furthermore, in this context, it is preferred that the front element be formed circumferentially on the device, correspondingly covering the entire circumference of the device. In a further preferred embodiment, the circumferential front element partially breaks up the circular outline, which, conversely, means that the front element in some areas has circular sections whose outer contours relate to the vertical axis of the device, interrupted by front element sections that deviate from this circular shape.

[0012] To increase the robustness of the front element, particularly when constructed from an elastic foam, it is further provided that the latter has a film-like covering. This primarily serves as a protective layer for the front element covered thereby. Particularly when constructed from a foam, the foam can be damaged under unfavorable circumstances, for example, in the event of a collision with protruding objects. The covering consists of a textile material in the form of a technical textile, more preferably made from synthetic fibers, such as aramid fibers, PVC fibers, polyacrylic fibers, polypropylene fibers, polyamide fibers, or polyester fibers.

[0013] In addition to the technical advantage (increasing the robustness of the covered porch element), the proposed covering also offers design solutions, so that the porch element can be variably adjusted in terms of colour, appearance and external structure, preferably solely through the foil-like covering.

[0014] In a further alternative or combined embodiment, a front element consists of a rigid part that can be elastically pushed back into the housing. The latter is preferably made of the same or a similar material as the housing of the device defining the central circular shape. In its initial, unloaded position, the rigid part protrudes beyond the central circular contour of the device, resulting in an overall non-circular shape on the outside.The rigid part can be elastically pushed back, for example in the event of a collision, more particularly as a result of a force acting on the rigid part from the outside, more preferably in the direction of the device interior. For this purpose, for example, an elastomer element, such as a resilient plastic, more for example a foam, or more for example a compression spring, acts on the rear of the rigid element in such a way that the latter is loaded outwards beyond the circular outline of the device housing. The outward and / or inward mobility of the rigid part is more preferably limited in each case by stops, wherein a linear displacement of the front element is more preferably achieved as a result of the load.

[0015] Preferably, one rigid element is provided over the circumference of the device housing, more preferably several evenly or alternatively unevenly distributed over the circumference of the device housing. Furthermore, an arrangement is preferred in which, with respect to the housing circumference, a circular section of the device housing remains between two rigid parts adjacent in the circumferential direction. When subjected to external stress, the rigid part can be pressed back with its outer contour, preferably with respect to a floor plan, at least into the circular contour of the device housing, so that in the area of ​​the rigid part, an overall circular or circular segment-shaped contour is established in the floor plan.

[0016] In a further alternative embodiment, provision is also made for a partially elastic front element and partially an elastically retractable rigid part to be provided as the front element over the circumference. These are further preferably provided alternately over the circumference of the device, so that, viewed in the circumferential direction, a retractable rigid part is followed by an elastic front element. Alternatively, two or more retractable rigid parts can also be provided in juxtaposition over the circumference, which group of rigid parts is flanked on both sides by generally elastic front elements, viewed in the circumferential direction.

[0017] If the front element is designed as an elastically retractable rigid part, this can incorporate additional functions of the device that further improve the cleaning result. For example, the rigid part can have separate brushes for edge cleaning (e.g., along a baseboard or the like), which, in accordance with the previously described design, are automatically retracted upon application of appropriate external force in the event of a collision, for example, during an automatic rescue operation from confined spaces. This can be achieved, in particular, by completely retracting into the circular device housing.

[0018] Particularly when the front element is constructed from an elastic foam or the like, it is provided with the aforementioned foil-like covering. This covering has corresponding touch sensors, by means of which the strength of the force acting due to the collision and / or the direction from which the contact occurs can be determined. From these detected signals, the automatically operating device can, based on appropriate signal analysis, create or retrieve a strategy for avoiding the obstacle that triggered the collision. These are preferably capacitive or inductive touch sensors.

[0019] The casing itself interprets the function of a touch sensor. Combined with electronics, it forms a sensor similar to a touchscreen. The front element, which preferably also serves as a shock absorber for the device housing, is designed in such a way that the position of the collision can be detected, allowing a logical escape strategy to be initiated based on the evaluated signals.

[0020] The conductive properties of the films can be achieved, for example, by forming them as indium tin oxide (ITO) layers. Indium tin oxide is a transparent, semiconducting material that is preferably controlled with a constant DC voltage.

[0021] The small, almost invisible spacers that ensure separation of the two film layers are also called spacer dots.

[0022] In a so-called four-wire system, the touchscreen thus formed has four lines to a controller, two for each axis (horizontal and vertical), with each film layer preferably serving to evaluate one of these axes. Furthermore, the touchscreen-like design achieves two-dimensional (x and y directions) impact detection, allowing the impact position to be detected not only in the direction of rotation of the device, but also vertically, without the cumbersome provision of several separate sensor zones stacked one above the other.

[0023] If the touchscreen enclosure designed in this way is touched at a specific point, for example, due to a collision, the two electrically conductive film layers also touch there, creating an electrical contact. The resistance of this contact creates a different voltage at each point, with the voltage change being used to determine the x and y coordinates.

[0024] A further preferred controller board (an electronic component containing the touchscreen controller, usually with a USB or RS232 interface) regulates communication between the device's computer and the touchscreen enclosure. The exact position of the touch is determined using a customized software driver. An analog touchscreen designed in this way operates very precisely and offers high resolution. This configuration also proves advantageous with regard to the touchscreen's service life. In this regard, at least more than three million touches and corresponding loads on the touchscreen enclosure formed in this way are possible.

[0025] It is also possible to design the enclosure in the form of a capacitive touchscreen. Glass substrates coated with transparent metal oxide are preferred. A voltage applied to the corners of the coating generates a precise, uniform electric field. This creates a small charge transport, which is measured during the discharge cycle as a current at the corners. The resulting currents from the corners are directly proportional to the touch position. The controller processes this information.

[0026] In a further preferred embodiment, such a capacitively operating touchscreen or such a designed casing is integrated with an actuation function. Certain areas of the touchscreen casing preferably serve as function keys, for example for activating the device and / or for entering commands to trigger certain cleaning functions and / or travel directions. If the casing is designed as a capacitive touchscreen, then if function keys are provided, it can be touched directly with a finger, whereupon the touch point or touch zone is detected. In analog systems, command input is also possible, for example, by touching a functional surface, even with gloves or, more preferably, with a stylus.

[0027] For this purpose, it is further preferred that the surface of the casing is printed, for example with key symbols.

[0028] Alternatively, or in combination with such printing, a lighting element can also be provided in the front element, which shines onto the back of the casing, wherein the casing is designed to be translucent. Accordingly, the casing is designed so that the rear lighting on the surface of the casing is visible to the user. The lighting elements are more preferably always activated when the device is in operation, alternatively only when required, for example to display a currently active function of the device, more preferably activated depending on functions to be activated in the current function of the device. For this purpose, the casing is set to be transparent, for example when designed from a film or from two films lying one above the other, this is more preferably fully transparent or semi-transparent, wherein the light appears diffused towards the outside.In a further embodiment, the covering consists of a technical textile, whereby the mesh size, i.e. the distances between the weft and warp threads of the textile, is selected so that the light can pass through.

[0029] The preferred arrangement of the casing on the outside of the front element not only protects the front element, particularly when constructed from an elastic foam or the like, but also provides highly sensitive sensors, particularly for detecting contact points. Furthermore, this arrangement allows the casing to be designed as a touchscreen-like surface, which, in a further advantageous configuration, offers the possibility of forming function keys. At the same time, the further preferred backlighting of the casing allows for the generation of outwardly visible information (realized as light points) for the user.

[0030] The casing initially offers protection, if necessary with regard to the surrounding housing wall in the manner of a shock bandage, further if necessary with the inclusion of an elastically deflectable front element. Furthermore, touchscreen operation of the device is possible through the film-like casing. Due to the preferred touchscreen-like design of the casing, contact points are recognizable, whereupon the device can retrieve and execute a corresponding behavior strategy. If the casing is provided on the vertically upward-facing surface of the device in addition to the preferred circumferential arrangement, function keys are preferably provided, more preferably alternatively or in combination with this, backlighting by means of lighting elements in the area of ​​this upward-facing surface is provided, which makes operation of the device easier for the user.With regard to supplementary or alternative features in connection with the design of such a device with a film-like covering, the same applies to their classification as above with regard to the suction and / or sweeping device with a front element which supplements the housing to form a floor plan which deviates from a circular shape on the outside.

[0031] The invention is explained in more detail below with reference to the accompanying drawings, which merely represent exemplary embodiments. They show: Fig. 1 shows a perspective view of a suction and / or sweeping device in a first embodiment; Fig. 2 the top view according to arrow II in Fig. 1; Fig. 3 a representation of the device according to Fig. 2, but concerning an alternative design; Fig. 4 the side view according to arrow IV in Fig. 1; Fig. 5 the top view according to Fig. 2, but in a collision position; Fig. 6 the schematic section along the line VI - VI in Fig. 2; Fig. 7 a sectional view according to Fig. 6, concerning an alternative design; Fig. 8 another of the Fig. 6 corresponding sectional view, in a further embodiment; Fig. 9 shows a schematic representation of the arrangement of two film sections to form a casing for the device, forming a touchscreen-like configuration; Fig. 10 shows a perspective view of the device in a further embodiment; Fig. 11 one of the Fig. 10 corresponding representation concerning an alternative design of the device; Fig. 12 the top view according to arrow XII in Fig. 11; Fig. 13 the side view according to arrow XIII in Fig. 11 and Fig. 14 one of the Fig. 12 corresponding top view of the device, but concerning a collision position.

[0032] It is presented and described first with reference to Fig. 1 a vacuum and / or sweeping device 1 in the form of a cleaning robot with a chassis that carries, on the underside facing the floor to be cleaned, electric-motor-driven travel wheels 2 and a brush 3 that protrudes beyond the lower edge of the chassis floor and is also electric-motor-driven. The chassis is covered by a device hood 4, which is rigid in itself, more preferably made of a hard plastic.

[0033] The device or the device hood 4 forms a core of the entire device, which core is circular in plan due to the design of the device hood 4.

[0034] The travel wheels 2 are arranged downstream of the brush 3 in the usual travel direction r of the suction and / or sweeping device 1.

[0035] Furthermore, although not shown, the vacuum and / or sweeping device 1 may have a suction mouth opening in addition to or as an alternative to the brush 3. In this case, an electrically operated suction fan motor is also arranged in the device 1.

[0036] The electrical supply to the individual electrical components of the device 1, such as the electric motor for the travel wheels 2, the electric drive for the brush 3, if applicable for the suction fan and, in addition, for the further electronics provided in the device 1 for controlling the same, is provided via a rechargeable battery (not shown).

[0037] In the illustrated embodiment, the device 1 or the device hood 4 is completely surrounded by a front element 5. In a further preferred embodiment, the front element 5 is only partially provided distributed over the circumference.

[0038] The front element 5 extends over a vertical height h, which in the illustrated embodiment corresponds to approximately 0.5 times the total device height h' between the underside of the chassis base and the vertically upwardly pointing device ceiling 13 of the device hood 4.

[0039] The front element 5 is arranged circumferentially in the region of the peripheral wall 6, which is vertically oriented with respect to a vertical section. For this purpose, the wall is provided with a recess 7 that is recessed relative to the outer surface of the wall and, in the illustrated embodiment, approximately corresponds to the material thickness of the device cover 4. The sleeve-like, circumferential front element 5 is inserted into this recess and is more preferably firmly connected, for example, glued, to the peripheral wall 6 in the region of the recess 7.

[0040] The thickness of the front element 5 viewed transversely to the vertical extension is selected to be different over the circumference of the device hood 4, and is preferably at least 2 to 3 times the material thickness of the peripheral wall 6 and at most approximately 10 to 20 times.

[0041] According to the previously described positioning of the front element 5 in the area of ​​the hood-side peripheral wall 6, the front element 5 is located in the impact-intensive area of ​​the device 1 and, accordingly, strikes against it in the event of an impact, for example, when driving against an obstacle standing on the floor to be cleaned. To protect the device 1, in particular its device hood 4 and the device parts accommodated in the device 1, from impact, the front element 5 is formed in the manner of a shock bandage, preferably made of an elastic foam.

[0042] The front element 5, which comprises the peripheral wall 6, has a ground plan on the outside that deviates from the circular ground plan of the device 1. Thus, in the embodiment according to the Fig. 1 and Fig. 2, a front element 5 is provided which has a substantially square outer contour, wherein the corner areas are strongly rounded, furthermore with a rounding radius which corresponds to a fraction of the floor plan circle radius of the device hood 4, more preferably approximately 0.5 times.

[0043] The circular plan shape of the device 1 expands into a substantially quadrangular, preferably square, shape. In the illustrated embodiment, this results in side surfaces 8 extending between two corner regions within a plane, with two opposite side surfaces 8 running parallel with respect to a vertical axis x of the device.

[0044] The circular shape of the device 1 offers the advantage that it can be easily navigated, particularly in narrow, winding areas, without running the risk of getting stuck on obstacles, for example, due to reaching behind outward-projecting parts of the device. The minimum clearance area between two spaced-apart obstacles is defined by the diameter of such a circular device 1. In order to continue to utilize this advantage when arranging a projection element 5 with the layout described, the projection element 5 is designed to be elastically deflectable due to the selected material, so that in the event of a collision (cf. Fig. 5) the front element 5 is reset or compressed in such a way that, at least in the collision area, the circular outline shape of the device 1 forming the core is established. Accordingly, there are no undercut areas where the device 1 could, for example, get caught on an obstacle 20.

[0045] In Fig. Figure 3 shows an alternative layout of the front element 5 for the same device 1. Here, the front element 5 forms a nearly irregular contour when viewed across its circumference. A total of four corner regions 9 are formed, evenly distributed around the circumference of the wall 6, which project radially beyond the regions of the front element 5 connecting the corner regions 9. These corner regions 9 in particular are also designed, due to the appropriate choice of material, so that they can be compressed to such an extent that, when encountering a corresponding obstacle, an outer contour of the entire device 1 is formed that is circular in shape, at least in the obstacle area.

[0046] The front element 5 is covered by a foil-like covering 10 with regard to the surface exposed to the outside, particularly when it is made of a soft foam.

[0047] According to the presentation in Fig. 8, the enclosure 10 is formed in the form of two superimposed foils 11, 12. These are preferably two superimposed, conductive indium tin oxide foils 11 and 12, which are controlled with a constant DC voltage. Although not shown, spacers, so-called spacer dots, are located between the foils 11 and 12, evenly spaced over the circumference of the front element as well as evenly over the vertical height thereof, which ensure a separation of the two foils 11 and 12 from each other. According to this embodiment, the enclosure 10 represents a touchscreen-like surface, which enclosure 10 corresponds to the embodiment according to Fig. 7 may refer solely to the surface of the front element 5, but preferably, as in Fig. 8, is also arranged covering the freely upwardly directed device ceiling 13.

[0048] The touchscreen-like enclosure 10 designed in this way serves, particularly in the peripheral area, for shock detection. If the enclosure 10 is touched at a specific point, the foils 11 and 12 come into contact in this area, whereby a charge equalization takes place at the contact points. This results in resistance values ​​measured from this point to the respective edges of the foils 11 and 12, the interpretation of which is used to determine the x-coordinates (circumferential direction) and y-coordinates (vertical direction). The constant voltage applied to the foil generates measurable voltage drops via the resistance network resulting from contact. These values, analogous to the coordinates of the contact point, allow conclusions to be drawn about the contact location (voltage divider principle). A corresponding schematic diagram is shown in Fig. 9 shown.

[0049] A controller board integrated in device 1 controls the communication between the device's internal evaluation electronics and the touchscreen.

[0050] Depending on the determined direction of impact, the evaluation electronics triggers a corresponding behavior and movement strategy of the device, by means of which it can free itself from the collision position.

[0051] Furthermore, according to this proposed design of the casing 10 in the form of a touchscreen, operating elements 14 can also be selected. These are in an embodiment according to Fig. 10 is positioned on top of the device cover 13 in the casing 10, whereby the pressing of the operating element 14 is also registered here by corresponding pressure on the area of ​​the merely optically provided operating elements 14 and corresponding evaluation of the resulting impact load. The evaluation electronics converts this signal into the command stored for the pressed operating element 14. The operating elements 14 are accordingly preferably only in the form of preferably printed symbols as shown in Fig. 10 is available. Alternatively, as in Fig. 10 schematically shown, the covering 10 formed from a textile material, in particular from a two-layer textile material, which two textile layers in combination with an electronics according to the previously described design interact in a touchscreen-like manner.

[0052] As can be seen from the sectional view in Fig. As can be seen in Figure 8, in a further embodiment, a lighting element 15 is provided in the front element 5, further in this case in the flexible foam. This lighting element is further assigned to the outer surface of the front element 5, viewed in cross-section, with a radiation direction radially outward. In the illustrated embodiment, four such lighting elements 15 are provided at equal spacing from one another across the vertical height of the front element 5. In one embodiment, LEDs are used as the lighting elements 15.

[0053] Furthermore, the lighting elements 15 are covered on the outside by the casing 10, so that when activated the lighting elements 15 radiate towards the back of the casing 10 facing the front element 5.

[0054] When the covering 10 is constructed from two films, these are designed to be translucent, thus further transparent, or more preferably semi-transparent, so that the illumination of a lighting element 15 is visible to the user from the outside, possibly with a diffuse appearance. The weave density of the technical textile is adjusted so that the light shines through accordingly.

[0055] By means of the lighting elements 15, optical information can be transmitted to the user, for example about the operating status, about faults or the like.

[0056] The Fig. Figures 11 to 14 show a further embodiment of the vacuum and / or sweeping device. Here, the front element 5 is formed as a rigid part 16, furthermore, in particular with regard to an outwardly facing wall 17, made of the same material as the device hood 4, more preferably of a hard plastic. The rigid part 16 is furthermore preferably designed as a hollow body.

[0057] In the illustrated embodiment, four such front elements 5 are provided, which are evenly spaced from one another around the circumference of the device 1 and each have a footprint that almost completes the essentially circular footprint of the device 1, forming a square. Accordingly, the front elements 5 are arranged to fill almost all corners, with strongly rounded tip areas.

[0058] Furthermore, the front-mounted elements 5 are in their ground plan design and in their extension, furthermore in terms of their basic position according to Fig. 12 is selected and arranged such that, viewed in the circumferential direction of the device 1, a circular segment-shaped wall region of the device hood 4 remains between two circumferentially adjacent front elements 5, which wall region projects freely outwards.

[0059] The front elements 5 formed as rigid parts 16 are held displaceably on the chassis of the device 1, wherein a displaceability of the rigid parts 16 with respect to the vertical axis x of the device 1 is selected in the radial direction.

[0060] Furthermore, the rigid parts 16 are radially outwardly in a basic position according to Fig. 12. For this purpose, in the illustrated embodiment, a compression spring 18, supported at one end on the chassis, acts on the rigid part 16. The radially outward release path of the rigid part 16 is limited by a stop, for which purpose it has a stop shoulder 19, preferably cooperating with the device cover 4, for example, directed vertically upwards.

[0061] Each front element 5 can be displaced radially inward against the restoring force of the compression spring 18 to such an extent that it is suitable for retracting completely into the circular outer contour of the device hood 4.

[0062] In Fig. 14 shows a collision position. The rigid part 16, which pushes against the obstacle 20, is forced radially inward due to the corresponding pressure application against the restoring force of the compression spring 18, thus creating an elastically deflectable front element 5.

[0063] Additional functional units can be positioned in the front element(s) 5, which, due to their exposed positions, further improve the cleaning result. For example, brushes for corner and / or edge brushing can be provided in one or more front elements 5 designed as rigid parts 16. These brushes, together with the associated rigid part 16, are pushed back into the circular contour of the device 1 in the event of a collision or when passing through narrower areas.

Claims

[1] Self-propelled suction and / or sweeping device (1) with a housing made, for example, of a hard plastic and, if appropriate, an elastically deflectable front element (5), characterized by that a film-like covering (10) is provided on the front element (5) and / or on the housing, that the covering (10) is formed from a multi-layer technical textile, that the layers lying opposite one another in a cross-section are set as electrically conductive films, and that a plurality of small spacers are located between the two electrically conductive films, which ensure that the films are separated, wherein when the two electrically conductive films come into contact, an electrical contact is created and, due to the resistance of this contact, a different voltage is created at each point, the voltage change of which can be used to determine an x ​​and y component. [2] Automatically movable suction and / or sweeping device (1) according to claim 1, characterized by that the front element (5), which comes into contact with obstacles (20) when the device (1) is moved, at least partially surrounds the housing, that a floor plan of the housing is circular, and that the front element (5) supplements the housing to form a floor plan which deviates from a circular shape on the outside, wherein the front element (5) further has a closed front element surface adjoining a housing surface and extends over 1 / 3 or more of the total height (h') of the device (1). [3] Suction and / or sweeping device according to one of the preceding claims, characterized by that the front element (5) consists of an elastic foam. [4] Suction and / or sweeping device according to one or more of the preceding claims, characterized by that the front element (5) is formed circumferentially on the device (1). [5] Suction and / or sweeping device according to one of claims 3 or 4, characterized by that the foam has the foil-like covering (10). [6] Suction and / or sweeping device according to claim 1, characterized by that the front element (5) consists of a rigid part (16) which can be elastically pushed back into the housing. [7] Suction and / or sweeping device according to one of claims 1 to 5, characterized by that over the circumference a partially elastic front element (5) and partially an elastically retractable rigid part (16) is provided as the front element (5). [8] Suction and / or sweeping device according to one of the preceding claims, characterized by that an actuating function is integrated in the casing (10). [9] Suction and / or sweeping device according to one of the preceding claims, characterized bythat a lighting element (15) is provided in the front element (5), which shines onto a back side of the casing (10), wherein the casing (10) is translucent.

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