Method of automatically steering self-propelled floor-cleaning machines and floor-cleaning machine for practicing the method

• US 4,700,427 A
• Filed: 10/15/1986
• Issued: 10/20/1987
• Est. Priority Date: 10/17/1985
• Status: Expired due to Fees

• Current Assignee: Hans-Reinhard Knepper
• Original Assignee: Hans-Reinhard Knepper
• Inventors: Knepper, Hans-Reinhard
• Primary Examiner(s): MOORE, CHRISTOPHER K
• Application Number:
  US06/919,221
• Time in Patent Office: 370 Days
• Field of Search: 15/319, 15/320, 15/339, 15/340, 180/169, 318/587
• US Class Current: 15/319
• 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: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00

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.

Claims

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.

2. A method according to claim 1, comprising independently verifying, in the final portion of a structure recognized, the floor-cleaning machine'"'"'s positioning with respect to the recognized structure and, in the case of a deviation from parallel adjustment, correcting the adjustment through commands to the steering means.

3. A method according to claim 1, comprising effecting the adjustment of the floor-cleaning machine relative to the recognized structure in the final portion of the structure by comparing a plurality of successive range measurements while the floor-cleaning machine is moving.

4. A method according to claim 1, comprising effecting the adjustment of the floor-cleaning machine relative to the recognized structure by comparing range measurements made simultaneously by two telemeters mounted on one long side of the machine.

5. A method according to claim 1, comprising recognizing obstacles on the predetermined path of motion by appropriate sensors disposed on the front of the machine and, upon response of the sensors, activating a program stored in the data memory and designated for automatically initiating a detour around the obstacle and regaining the predetermined path.

6. A method according to claim 1, comprising generating by teach-in during a manually guided travel over the area to be worked, including storing the data in the data memory for the path segments to be travelled.

7. A method according to claim 1, comprising generating the data stored in the data memory for the path segments to be traveled by automatically travelling the area to be worked under the control of a program comprising steering rules for automatically finding the course and covering the area while simultaneously storing the path segments traveled, and, if required, subsequently optimizing the path by minimizing at least one of the total path length and the total working time, and generating corresponding path segment data.

8. A floor-cleaning machine having a right and left long side comprising:

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.

9. A floor-cleaning according to claim 8, comprising one or more sensors for recognizing obstacles and for triggering at least one of bypassing and emergency stop maneuvers.