Method of automatically steering self-propelled floor-cleaning machines and floor-cleaning machine for practicing the method
First Claim
1. A method of automatically steering a self-propelled floor-cleaning machine along a predetermined path of motion on a limited area to be worked, comprising:
- retrieving a sequence of path segments stored in a data memory;
recognizing markings by at least one sensor on the machine;
converting said markings into course-correcting control commands steering the machine;
using linear structures present on or above the area to be worked as markings along the path of motion such that on first segments of its path the floor-cleaning machine is steered parallel to recognized structures by at least one laterally pointing telemeter, and that on second segments of its path the floor-cleaning machine travels freely without guidance by existing structures, from the end of a recognized structure to the beginning of the next structure which can be recognized.
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Abstract
The invention concerns a method of automatically steering a self-propelled floor-cleaning machine along a predetermined path of motion on a limited area to be worked, wherein a sequence of path segments stored in a data memory is retrieved, and the path segments travelled by the machine, and wherein markings are recognized by at least one sensor and converted into course-correcting control commands actuating and/or steering the machine. Linear structures present on or above the area to be worked are used as markings along the path of motion, such that, on first segments its path, the floor-cleaning machine is steered parallel to recognized structures by at least one laterally pointing telemeter such as an ultrasound or laser telemeter, and that on second segments of its path, the floor-cleaning machine travels freely, without guidance by existing structures, from the end of a recognized structure to the beginning of the next structure which can be recognized. Furthermore the invention concerns a floor-cleaning machine, comprising a chassis with independently driven left and right wheels and steering means, and a control unit controlling the drive wheels and steering means in dependence upon data stored in a data memory and upon data supplied by position-recognizing sensors. On both driven wheels are mounted angular-momentum transducers as first sensors, and on at least one of the long sides of the machine is provided at least one telemeter such as a ultrasound or laser range finder as a second sensor.
268 Citations
9 Claims
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1. A method of automatically steering a self-propelled floor-cleaning machine along a predetermined path of motion on a limited area to be worked, comprising:
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retrieving a sequence of path segments stored in a data memory; recognizing markings by at least one sensor on the machine; converting said markings into course-correcting control commands steering the machine; using linear structures present on or above the area to be worked as markings along the path of motion such that on first segments of its path the floor-cleaning machine is steered parallel to recognized structures by at least one laterally pointing telemeter, and that on second segments of its path the floor-cleaning machine travels freely without guidance by existing structures, from the end of a recognized structure to the beginning of the next structure which can be recognized. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A floor-cleaning machine having a right and left long side comprising:
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a chassis with driving and steering means; means for cleaning the floor area covered; a data memory for storing a retrievable sequence of path segments; one or more position-recognizing sensors; a control unit controlling the driving and steering means in dependence upon data stored in said data memory and upon data supplied by said position-recognizing sensors; two wheels adapted to be driven independently, one of said wheels being disposed on the left side and the other one on the right side of the machine; at least one non-driven freely pivotable aligning wheel; angular momentum transducers mounted at both said driven wheels as sensors connected with said control unit to measure the path traveled by each of said two independently driven wheels; and at least one of said position-recognizing sensors being connected to said control unit on at least one of the long sides of the machine. - View Dependent Claims (9)
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Specification