Self-guided mobile unit and cleaning apparatus such as a vacuum cleaner comprising such a unit

• US 5,012,886 A
• Filed: 04/14/1989
• Issued: 05/07/1991
• Est. Priority Date: 12/11/1986
• Status: Expired due to Fees

• Current Assignee: Azurtec Incorporated
• Original Assignee: Azurtec Incorporated
• Inventors: Jonas, Bernard, Jonas, Andre
• Primary Examiner(s): Marmor, Charles A.
• Assistant Examiner(s): Johnson, Brian L.
• Application Number:
  US07/338,558
• Time in Patent Office: 753 Days
• Field of Search: 180/2.1, 180/6.2, 180/79, 180/131, 180/167, 180/168, 180/274, 180/279, 180/280, 280/776, 15/319, 15/340.1, 901/1, 293/2, 293/4, 318/587, 104/119, 104/242, 104/247
• US Class Current: 180/279
• CPC Class Codes: A47L 11/4011 Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
• CPC Class Codes: A47L 11/4061 Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: A47L 9/0009 Storing devices winding devices for electric cables A47L9/26; Supports, stands or holders
• CPC Class Codes: A47L 9/26 Incorporation of winding devices for electric cables devices specially adapted for repeatedly paying-out or re-storing cables B65H75/34; arrangements of electrical cables or lines between relatively-movable parts H02G11/00
• CPC Class Codes: B60L 15/2036 Electric differentials, e.g. for supporting steering vehicles
• CPC Class Codes: B60L 2200/26 Rail vehicles
• CPC Class Codes: B60L 2200/40 Working vehicles
• CPC Class Codes: B60L 2260/32 Auto pilot mode
• CPC Class Codes: B60L 9/00 Electric propulsion with power supply external to the vehicle electric propulsion for monorail vehicles, suspension vehicles or rack railways B60L13/00; in combination with batteries or fuel cells within the vehicle B60L50/53
• CPC Class Codes: B60L 9/24 fed from ac supply lines
• CPC Class Codes: B65H 2701/33 Hollow or hose-like material
• CPC Class Codes: B65H 2701/34 electric cords or electric power cables
• CPC Class Codes: B65H 75/42 attached to, or forming part of, mobile tools, machines or vehicles
• CPC Class Codes: B65H 75/4402 Guiding arrangements to control paying-out and re-storing of the material guides per se B65H57/00
• CPC Class Codes: Y02T 10/64 Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/72 Electric energy management in electromobility

Abstract

A mobile cleaning apparatus device automatically follows guides such as walls or other obstacles, by engaging the guides with a detector element and controlling the steering of the apparatus in response to the level of forces sensed by the detector.

Claims

1. A mobile unit adapted to follow guides, comprising:

a chassis,

means for supporting the chassis on a floor,

a steering and advance element,

means for driving the steering and advance element in a predetermined direction so as to advance the mobile unit,

orientation means for pivoting the steering and advance element with respect to the chassis, around an approximately vertical axis.

detection means mounted for translational movement, in an approximately horizontal plane, with respect to the chassis, said detection means being adapted to bear against said guides, and

means for controlling said orientation means so as to cause the steering and advance element to pivot in a first direction when the bearing force between the detection means and the guide is lower than a predetermined first threshold force, and in a second direction opposite the first when the bearing force is greater than said first threshold,

wherein said orientation means comprises an electric motor, and said control means comprises a first switch for controlling rotation of said motor in said first direction, and a second switch for controlling the rotation of the motor in said second direction, and means for transmitting a bearing force acting on said detection means to an element for actuating said switches,

said transmitting means comprises a maneuvering element horizontally connected to said detection means, mounted for sliding movement forward and rearward with respect to the chassis in relation to the direction of advance of the unit, from a front position in which the transmitting means activates said first switch to a rear position in which it activates said second switch, and resilient means for biasing said maneuvering element toward said front position,

said maneuvering element comprising a rigid triangular structure having an apex directed toward the back of the unit and a base directed toward the front thereof and approximately perpendicular to the general direction of advance of the unit, said base having two ends, the ends having their movement limited toward the front, and at least partially free toward the back and toward the side, the apex being able to move forward and rearward, and means for supporting the triangular structure for pivoting movement around said apex.

2. The invention of claim 1, further comprising three rods, each being relatively flexible and approximately vertical, each having a first end mounted on the chassis, and a second end mounted at a respective corner of the triangular structure.

3. The invention of claim 2, wherein each of the rods is engaged in a respective structural tube mounted on the chassis, said tubes having inside dimensions considerably greater than the diameter of the rods and at least one of said tubes supporting said switches.

4. A mobile unit adapted to follow guides, comprising

a chassis,

means for supporting the chassis on a floor,

a steering and advance element,

means for driving the steering and advance element in a predetermined direction so as to advance the mobile unit,

orientation means for pivoting the steering and advance element with respect to the chassis, around an approximately vertical axis,

detection means mounted for translational movement, in an approximately horizontal plane, with respect to the chassis, said detection means being adapted to bear against said guides, and

means for controlling said orientation means so as to cause the steering and advance element to pivot in a first direction when the bearing force between the detection means and the guide is lower than a predetermined first threshold force, and in a second direction opposite the first when the bearing force is greater than said first threshold,

wherein said detection means comprises a cylindrical hood having a vertical axis about which the hood may rotate with respect to the chassis.

5. The invention of claim 4, and wherein said hood is mounted to pivot upon a maneuvering element.