Sensor apparatus and self-propelled floor cleaning appliance having a sensor apparatus

• US 7,225,500 B2
• Filed: 01/04/2005
• Issued: 06/05/2007
• Est. Priority Date: 07/08/2002
• Status: Expired due to Fees

• Current Assignee: Alfred Kã¤Rcher GmbH & Company KG
• Original Assignee: Alfred Kã¤Rcher GmbH & Company KG
• Inventors: Diehl, Ralph, Janzen, Jakob, Benzler, Gottfried, Keppler, Joachim
• Primary Examiner(s): Bottorff; Christopher
• Application Number:
  US11/030,012
• Publication Number:
  US 20050172445A1
• Time in Patent Office: 882 Days
• Field of Search: 180/169, 153/19, 700/258, 700/259, 701/23, 342/70, 343/717, 343/753, 398/153
• US Class Current: 15/319
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: G01S 17/87 Combinations of systems using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/875 for determining attitude
• CPC Class Codes: G01S 17/88 Lidar systems specially adapted for specific applications
• CPC Class Codes: G01S 7/4813 Housing arrangements

Abstract

The invention relates to a sensor apparatus for a self-propelled floor cleaning appliance for detecting a down step, having a transmission unit and a reception unit for infrared radiation and having evaluation electronics for evaluating the intensity of the radiation received. To develop the sensor apparatus in such a manner that a down step or a steep downslope of the floor surface can be determined more reliably, while the sensor apparatus can be produced at low cost, according to the invention it is proposed that the sensor apparatus has the reception unit and a first and a second transmission unit, the second transmission unit being disposed at a distance from a connecting straight line running through the reception unit and the first transmission unit. The invention also proposes a floor cleaning appliance having a sensor apparatus of this type.

Claims

1. Sensor apparatus for enabling a self-propelled floor cleaning appliance to detect a down step, comprising:

first and second transmission units and a reception unit for infrared radiation; and

evaluation electronics for evaluating an intensity of radiation received by the reception unit from the transmission units,

wherein;

the second transmission unit is disposed at a distance from a connecting straight line running through the reception unit and the first transmission unit, and

the first and second transmission units focus the infrared radiation into a common focal point.

2. Sensor apparatus according to claim 1, wherein the sensor apparatus has a housing which accommodates the reception unit and the first and second transmission units.

3. Sensor apparatus according to claim 1, wherein the second transmission unit is disposed between the reception unit and the first transmission unit, with respect to the connecting straight line.

4. Sensor apparatus according to claim 1, wherein the first and second transmission units each have an infrared radiation source and an optical element for guiding the beam of radiation emitted, the radiation sources being oriented parallel to one another.

5. Sensor apparatus according to claim 1, wherein the reception unit comprises an element which is sensitive to infrared radiation and has associated with it an optical element for beam guidance.

6. Sensor apparatus according to claim 1, wherein the reception unit and the first and second transmission units are disposed at a distance from one another, with an optical separating element which is opaque to radiation in each case being disposed between the reception unit and the first transmission unit and between the reception unit and the second transmission unit.

7. Sensor apparatus according to claim 6, wherein the separating elements form a single-piece partition made from a material which is opaque to infrared radiation.

9. Self-propelled and self-steering floor cleaning appliance having a chassis and an electrical drive unit with electrical control electronics and drive wheels mounted on the chassis, wherein:

the floor cleaning appliance comprises a sensor apparatus according to claim 1, which is coupled to the control electronics, and

infrared radiation which is emitted from the transmission units of the sensor apparatus is directed onto the a floor surface that is to be cleaned.

8. Sensor apparatus, for enabling a self-propelled floor cleaning appliance to detect a down step, comprising:

first and second transmission units and a reception unit for infrared radiation; and

evaluation electronics for evaluating an intensity of radiation received by the reception unit from the transmission units,

wherein;

the second transmission unit is disposed at a distance from a connecting straight line running through the reception unit and the first transmission unit, and

an optical element for blocking out background radiation is associated with the reception unit.

10. Self-propelled and self-steering floor cleaning appliance having a chassis and an electrical drive unit with electrical control electronics and two drive wheels mounted on the chassis, wherein the floor cleaning appliance comprises a sensor apparatus being disposed in front of and behind each drive wheel, based on a main direction of movement of the floor cleaning appliance, and coupled to the control electronics for enabling the appliance to detect a down step, the sensor apparatus comprising:

first and second transmission units and a reception unit for infrared radiation; and

evaluation electronics for evaluating an intensity of radiation received by the reception unit from the transmission units,

the second transmission unit being disposed at a distance from a connecting straight line running through the reception unit and the first transmission unit,

wherein infrared radiation which is emitted from the transmission units is directed onto a floor surface that is to be cleaned.

11. Floor cleaning appliance according to claim 10, wherein the front and rear sensor apparatuses which are respectively associated with a drive wheel are oriented with their respective connecting straight lines aligned with one another.

12. Floor cleaning appliance according to claim 10, wherein the front and rear sensor apparatuses which are respectively associated with a drive wheel are oriented aligned with the tread of the drive wheel.