Self-propelled surface treating device

• US 10,514,701 B2
• Filed: 09/29/2017
• Issued: 12/24/2019
• Est. Priority Date: 09/30/2016
• Status: Active Grant

• Current Assignee: Vorwerk & Company Interholding Gesellschaft Mit Beschrã¤Nkter Haftung (Vorwerk & Company KG)
• Original Assignee: Vorwerk & Company Interholding Gesellschaft Mit Beschrã¤Nkter Haftung (Vorwerk & Company KG)
• Inventors: Windorfer, Harald
• Primary Examiner(s): Mawari, Redhwan K
• Application Number:
  US15/720,118
• Publication Number:
  US 20180095472A1
• Time in Patent Office: 816 Days
• CPC Class Codes: A01D 34/008 for automated or remotely controlled operation
• CPC Class Codes: A47L 11/4008 Arrangements of switches, indicators or the like
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: A47L 9/2805 Parameters or conditions being sensed
• CPC Class Codes: G05D 1/0077 using redundant signals or controls
• CPC Class Codes: G05D 1/0227 using mechanical sensing means, e.g. for sensing treated area
• CPC Class Codes: G05D 1/0234 using optical markers or beacons optical beacons per se G01S1/70

Abstract

A self-propelled surface treating device, in particular a cleaning robot, with a device housing and a collision detection device for detecting a collision between the surface treating device and an obstacle, wherein the collision detection device has at least one touch-sensitive contact sensor. In order to protect the surface treating device against impacts in the vertical direction, it is proposed that the touch-sensitive contact sensor be a vertical contact sensor, which is arranged on the device housing in such a way that its detection area is vertically aligned during a movement with the surface treating device conventionally oriented, so that the vertical contact sensor is configured to detect a force acting vertically on the surface treating device.

Claims

1. A self-propelled surface treating device (1), in particular a cleaning robot, with a device housing (2) and a collision detection device (4) for detecting a collision between the surface treating device (1) and an obstacle, wherein the collision detection device (4) has at least one touch-sensitive vertical contact sensor (6), which is arranged on the device housing (2) in such a way that its detection area is vertically aligned during a movement with the surface treating device (1) conventionally oriented, so that the vertical contact sensor (6) is configured to detect a force acting vertically on the surface treating device (1),

wherein the collision detection device (4) has two housing parts (8, 9) that can move relative to each other, wherein at least one of the housing parts (8, 9) is designed to extend annularly within a horizontal plane, wherein a distance measuring device (3) designed to emit an optical signal and to measure distances to obstacles is arranged inside of the annular shape as viewed in a vertical direction, and wherein the distance measuring device (3) is arranged below the annular housing part (8, 9) relative to the vertical direction.

2. The surface treating device (1) according to claim 1, wherein a first one of the housing parts (8) can be displaced relative to a second one of the housing parts (9) owing to a collision with an obstacle, wherein one of the housing parts (8, 9) has the vertical contact sensor (6), and the other housing part (9, 8) has an actuating device (10) for actuating the vertical contact sensor (6).

3. The surface treating device (1) according to claim 2, wherein the actuating device (10) has a button (11), a contact surface (20) and/or a stop (12).

4. The surface treating device (1) according to claim 2, wherein the first housing part (8) has the actuating device (10), and wherein the second housing part (9) has the vertical contact sensor (6), wherein the first housing part (8) is located above the second housing part (9) during a movement relative to a conventional orientation of the surface treating device (1).

5. The surface treating device (1) according to claim 1, wherein the vertical contact sensor (6) is located at the front on the housing part (8, 9) relative to a conventional orientation of the surface treating device (1) during a movement in the forward direction.

6. The surface treating device (1) according to claim 1, wherein the collision detection device (4) has at least one horizontal contact sensor (7), which is arranged on the device housing (2) in such a way that its detection area is aligned parallel to a direction of movement during a movement given a conventionally oriented surface treating device (1), so that the horizontal contact sensor (7) is designed to detect a force acting horizontally on the surface treating device (1).

7. The surface treating device (1) according to claim 6, comprising at least two vertical contact sensors (6) and at least two horizontal contact sensors (7), which are annularly arranged on the device housing (2) in such a way as to envelop the distance measuring device (3) as viewed in a vertical direction.

8. The surface treating device (1) according to claim 1, wherein the vertical contact sensor (6) has an electronic switch (13), an inductive or capacitive position sensor, a piezo element, a strain gauge, a conductive foam and/or a light barrier.

9. The surface treating device (1) according to claim 2, wherein a spring element (14) is arranged between the actuating device (10) and vertical contact sensor (6), so that the actuating device (10) can act on the vertical contact sensor (6) by way of the spring element (14).