DE10242257A1 - Automatically movable soil dust collector, as well as a combination of such a collector and a base station - Google Patents

Abstract

The invention first relates to an automatically movable floor dust collector (1) with an electric motor drive, a dust collector (14) and a cover (3), the device (1) having a floor plan deviating from a circular shape. In order to improve a floor dust collection device of the type in question, in particular the cleaning result to be achieved, it is proposed that the floor plan be composed of a circular shape section (4) and a shape section (5) oriented on a rectangle, the rectangle section (5 ) is at the front in the direction of travel (r).

Description

The invention initially relates to an automatically movable floor dust Pick-up device with an electric motor drive, one Dust collector and a cover, the device being one of a circular shape has a different floor plan.

Devices of the type in question are known as autonomous vacuum robots and are used in particular in the household sector. As a result low drive power necessary, so that storage media such as For example, battery packs for supplying the electromotive drive suffice. For this purpose, the known devices usually have two independently drivable wheels on each other. The recorded by the device, e.g. Vacuumed up dust is in a dust collector on the device side collected. It is also known the device parts, such as the dust collector and to overlay the drives by means of a cover to prevent them from to protect external forces, especially shocks.

In view of the prior art described above, a technical problem of the invention seen therein, a Soil dust collector of the type in question, in particular with regard to what can be achieved To improve cleaning results.

This problem is initially and essentially solved by the fact that the Floor plan made up of a circular section and one on a rectangle oriented shape section, with the rectangular section in Travel direction is front. As a result of this configuration, the Cleaning area - the area in which the floor to be cleaned is swept or is suctioned off - compared to a circular floor plan with the same radius like the circular section of the layout of the invention be enlarged, which leads to an improved cleaning result. Of According to this layout of the invention, the Cleaning area near the front edge in the direction of travel be arranged so that cleaning can be achieved up to the corners of the room. It it is preferred that the shape section oriented to a rectangle is rounded or at least rounded in the corner areas, with which one Improvement of the mobility of the autonomously working device is achieved. In a preferred embodiment of the subject matter of the invention it is provided that the device has a brush that can be rotated about a horizontal axis and that the Brush is arranged in the rectangular section of the floor plan. That brush can be driven by a separate electric motor. It is conceivable here that Use brush to form a pure sweeper. Furthermore However, there is also the possibility of this electric motor-driven brush in to integrate a suction device, this when arranging the brush in the area of Suction mouth. In order to achieve improved edge and corner cleaning, further suggested that the device continues two, oriented on a vertical Has rotating brushes on the axis. These are initially positioned that their brush bodies lie within the device's floor plan, the bristles or bristle sections, however, protrude beyond the floor plan. in this connection preference is given to using soft bristles that line the wall or Adjust the edge contour and not disturb the driving behavior or The reaction behavior of the device. It is further preferred that the sweeping brushes assigned front corner areas of the rectangular section of the floor plan are arranged and are set rotationally so that the Bristle the dirt from the edge or from the corner into the middle - that means with With respect to the front edge of the device from the outside in - in Transport direction onto the brush rotating around a horizontal axis. Latter then conveys the dust or dirt into the collection container. By This becomes the inclination of the axis of rotation of a sweeping brush in the direction of travel Sweeping result further improved.

The invention further relates to a floor dust collecting device, preferably Automatically movable floor dust collector with one electric motor drive, a dust collector and a cover, as well a brush that rotates the dust particles in a certain way Thrown in the dust collection container, being assigned to the Brush is provided a ramp oriented to the direction of throw. Improved by a soil dust collector of the type in question To design, it is proposed that the ramp in the direction of throw is arranged evasively. As a result of this configuration according to the invention the ramp, which resembles a dustpan, lies on all known floors different heights or different textures. At the same time, the design according to the invention ensures that the ramp is itself not caught on obstacles. Due to the avoidable arrangement ensures constant contact with the ground, while still a conflict-free Overcoming obstacles is made possible. Such an arrangement of Ramp is both for automatically movable floor dust collection devices as well as ground dust collection devices such as sweepers, which are hand-held are, further the brush by means of friction or by means of electric motors is driven, conceivable. So this is evasive according to the invention Arrangement of the ramp in a cleaning device according to DE 44 14 683 A1 conceivable.

The invention further relates to an automatically movable floor dust Pick-up device with an electric motor drive, one Dust collector and a cover. To a pickup device in question standing type in such a way that an improved Cleaning is achieved in edge and corner areas, it is suggested that the Device is designed as a sweeping unit with a horizontal axis rotatable brush, rotating by two, oriented on a vertical axis Sweeping brushes is supplied. In the known devices there is basically one Conflict between the mobility of the autonomously working device and the Ability to clean in corners and on edges. The solution according to the invention consists of an arrangement of three brushes, two on a vertical axis rotatable brushes orientate the dirt from edge and corner areas in Transport the direction onto the brush, which can be rotated around a horizontal axis.

The invention also relates to a dust collector according to the Features of the preamble of claim 6, wherein the cover to the other device parts is supported by means of decentrally arranged springs. This Hood suspension is used to intercept, from the outside initiated forces, e.g. shocks. Furthermore, these springs offer the possibility a lowering of the hood with approximately vertical loading. For example, lower the cover completely against the spring force to the floor and thus completely absorb external loads. The internal parts of the device remain intact. To improve the mounting of the cover on the To reach the device chassis, it is suggested that three springs act which are more preferred and based on the floor plan of the device Are equally distributed circumferentially. The arrangement of four springs is also conceivable. As a result of this configuration, there is also a horizontal displacement of the Cover is allowed in the event of impacts after contact with obstacles, with a sensor or Switch is triggered, which indicates the direction of impact. To be particularly advantageous also proves that the arrangement of the springs according to the invention a horizontal displacement of the cover regardless of the Action height of the force acting on the cover is made possible. In terms of The sensors can be band switches, microswitches, reed contacts or Hall sensors are also used. It is here through a flawless Obstacle detection reached. The determined direction of impact is evaluated, after which the autonomous device is corrected in its direction of travel. According to the The inventive design can have high obstacles Sensitivity can be recognized.

Furthermore, the invention relates to a soil dust collection device according to the Features of the preamble of claim 6. To a collection device of the in The type in question improved in particular with regard to dust absorption To design, is a brush running around a horizontal axis suggested that the collected dust in a device-fixed Dust collector throws. As a result of this configuration, the pick-up device is initially as Sweeper trained. However, the further arrangement of a the suction fan that supports cleaning. The brush is over one Electric motor drivable and protrudes with its bristle end sections over the Bottom bottom of the device downwards, creating a sweeping effect is reached on the floor to be maintained.

The invention further relates to a dust collector according to the Features of the preamble of claim 6, wherein here to achieve a improved cleaning result is proposed that in a Dust supply channel to the dust collector a dust flow control is provided. As a result of this configuration, the brush is off the floor recorded and accelerated by direct force / impulse Amount of dirt recorded. The determined value can be used, for example, to change the Lead the behavior strategy of the automatically movable pick-up device.

The invention also relates to a dust collector according to the Features of the preamble of claim 6, wherein an abyss and / or Obstacle detection is provided. To get an improved one here Specify soil dust collector of the type in question proposed that for abyss and / or obstacle detection Infrared light barrier is used.

The invention also relates to a dust collector according to the Features of the preamble of claim 6, with one that Soil dust collector together with the cover from the floor spacing undercarriage, the cover when reaching a predetermined load sits on the floor. To a floor dust collector of the type in question to improve that comparatively low height, the cover continues to be reached when it is reached a predetermined load can be placed on the floor proposed that the undercarriage be resiliently suspended relative to the cover is such that the spring in the sense of reducing the distance between the Cover to the floor responds when a threshold value is exceeded. The Cover is preferred over the chassis of the Pick-up device in the vertical direction not or only by one compared to the ground clearance lower amount relocatable. Lowering the cover to the floor is done by moving the chassis inwards into the chassis Exceeding a spring threshold.

The aforementioned solutions according to the invention are both on their own Individual solutions are essential, but can also be combined with one another. Also the other suggestions according to the invention listed below to improve a soil dust collector are each on their own essential as well as combinable with each other and also with everyone individual or several of the aforementioned inventions can be combined.

It is further proposed that when the threshold value is reached the Cover hood as a result of the spring immediately giving way to rest on the Floor is coming. In this regard, a spring with a corresponding Spring characteristics are used, which spring characteristics so is designed to abruptly exceed the predetermined threshold according to this, the undercarriage retracts the cover on the floor Edition is coming. Alternatively, the spring can also be a leaf spring, which is cut from a profiled - domed - metal or steel sheet and has a spherical bulge in cross section, which means a spring clip is formed, which at limit load, d. H. when exceeding one Threshold suddenly responds. As a result of the spherical curvature The spring characteristic is a hold-up effect. To at one the largest possible load condition range of the pick-up device Brush driving electric motor including power transmission device To protect overuse or even destruction, as well as the performance of the To keep the electric motor constant, it is suggested that the brush on one Height-adjustable rocker is mounted. As a result of this configuration is a Self-relief achieved with increased friction. So with increased Resistance on the brush relieves it against gravity. With less Resistance to the brush means the discharge is correspondingly lower. In terms of this inventive concept of self-relief with increased friction Reference is made to DE 29 46 731, the content of which is hereby fully incorporated into the Disclosure of the present invention is included, also to the Zwekke, features of this patent application in claims of the present invention to include. It is advantageously provided that at one Soil dust collector with two rotating ones oriented on a vertical axis Sweeping brushes are also arranged to be adjustable in height on the rocker, which also applies to the concept of the corner sweeping brushes Self-relief comes into play. So it is preferred that both the sweeping brushes and the brush are supported on a common seesaw, the axis of the Brush driving electric motor is arranged horizontally and with a Axis of rotation of the rocker coincides. The electric motor is preferably located here in the direction of travel of the collector behind the brushes.

It is also provided that brush sections of the sweeping brushes are passed through the cover hood protrudes the specified edge contour of the device. So can an arrangement of the sweeping brushes in a cover shape, which deviates from a circular shape, in the front, in the direction of travel Corner areas can be arranged. In this regard, however, a circular is also conceivable Layout of the cover hood. It is essential that at least the brush body lies within the device contour and only the bristles or bristle sections protrude beyond this contour. In a preferred one Arrangement of soft bristles, which are both laterally and forward Extending beyond the floor plan of the device are agility and Mobility of the autonomous device is not negatively affected. The over the Bristle sections protruding from the device capture the dirt outside the Device contour and transport it in the center towards the Horizontal axis rotating brush, the latter prefers the floor dust in throws a device-proof dust collector. As a special advantage proves in this regard that the brush and the sweeping brushes together are driven by an electric motor. So at the moment Transmission a transmission may be provided. However, one is preferred Design in which the electric motor drives the brush and the sweeping brushes by means of transmission belts driven by the brush become. As a result, the sweeping brushes and the brush are synchronized reachable. So it is further provided that the sweeping brushes with a Rotate in relation to the brush at different speeds. Prefers in this regard, a gear ratio from brush to sweeping brushes from 3 to 15 to 1, the downforce on the brushes being selected that they rotate in opposite directions around their axes of rotation, so that - related to a front edge of the device in the direction of travel - the sweeping brushes from work inside out in the middle. To the sweeping result in corners or To further improve edges, for example along baseboards or the like, it is provided that the axis of rotation of a sweeping brush is inclined in the direction of travel is.

To adjust the brush on uneven flooring or when Will provide transition from one floor covering to another suggested that the brush in one, around a horizontal axis movable bottom part is added. As a result, a height adjustment is the Brush together with the assigned base part accessible. So it is always one optimal adjustment of the brush height to the circumstances. moreover it is proposed that the bottom part be one opposite the bottom part protruding ramp below, which like the dustpan that through the brush discharged dirt and dust particles into the dust collector. It proves to be particularly advantageous that the ramp towards the brush grows out of the bottom part. An optimal adjustment and thus a improved cleaning result is further achieved by the ramp is movable relative to the bottom part, so that it varies depending on the circumstances moved more or less out of the bottom part or back. As An embodiment in which the ramp is found to be particularly advantageous is additionally or alternatively movable relative to the brush. It is also provided that the ramp is located behind the brush in the direction of travel, so that the particles thrown back against the direction of travel over get the ramp into the dust collector. The mentioned in Throwable direction of the ramp can be solved by the fact that the Multi-part ramp formed telescopically or lamellar in the direction of throw pushed together or against the throwing direction, e.g. spring-assisted, is pulled out. In this regard, it is further proposed that the ramp is pivotable about an axis of rotation, being particularly advantageous proves when the axis of rotation of the ramp coincides with a brush axis. The ramp is thus defined in the front area of the ramp Path guided, whereby a collision with the brush is excluded. In this regard, it is further preferred that the ramp against spring force is evasive. The spring of the ramp can be integrated into the ramp area be arranged, with respect to a preferred embodiment it is proposed that the ramp in any case in its resilient part from one film-like thin band element is formed. The latter can be a film be a thin metal element. However, it is preferred that the band element is a It is plastic film with flexible properties. This resilient band element presses the free bucket edge in contact with the soil to be maintained Kind of a pre-tensioned spiral spring towards the brush towards the front. in the the front edge area, the band element is preferably on the side of sliding shoes attached, which in turn are rotatably mounted about the brush axis. The free Ramp edge is preferably a wear-resistant metal or Plastic edge. When the band element is formed from plastic film these have a thickness of 0.5 to 1.5 mm. Runs the pick-up device in operation over a carpet or hard floor, so the plastic film presses Bucket edge of the ramp always with slight pressure due to the preload on the ground. With high carpets, the ramp plunges far, causing the Sliding shoes can be turned far back. The contact pressure is in this Maximum case. In the case of hard floors, the ramp plunges less far, with which the Sliding shoes are accordingly turned backwards little. The In this case, the contact pressure is lower. The ramp is designed so that it also goes up can immerse up to 4 mm in wells without getting caught in them. In A further development of the subject matter of the invention provides that the Dust flow control consists of an infrared light barrier. This is in Area of the dust supply duct leading to the dust collection container arranged and counts within a given time window from 0.5 to 2 seconds the dust particles passing the light barrier. The Measurement result can be used to change the behavioral strategy of the automatically movable Lead dust collector. It is intended that a determined high Dust throughput in the sense of a repeated shutdown of the increased Dust throughput generated route is evaluated. On increased dust throughput is with an increased degree of pollution in this Moment connected ground area connected. About the measurement evaluation the pick-up device is prompted to move this previously swept area to start again. To the electric motor of the brush, for example Blocking or protecting the brush from overloading is also provided, that the motor current of the electric motor driving the brush for Evaluation is used and that depending on the motor current a The movement routine of the soil dust collection device has been changed. In The easiest way is to exceed the motor current by monitoring the Detectable voltage. Overload operation of the electric motor can be caused by two states are triggered. For one, the brush completely blocks and on the other hand, it is subjected to high mechanical loads. The complete blockage can can be intercepted by increasing the motor current by one great value the brush is switched off after a predetermined - short - time. In the event of heavy mechanical stress, the brush is switched off, when the current is above an increased limit for a predetermined time lies. In both solutions, the overload of the electric motor is prevented. Since the inrush current of the electric motor is significantly above the limit values, monitoring is prevented when the electric motor is switched on. If the brush winds up fringes or a cable, for example, this condition becomes detected by the motor current, after which the soil dust collector responded appropriately to this situation to remove the blockage. this will solved, for example, that with an impermissibly increased motor current The soil dust collector is moved back. This is preferred also a rotation of the brush in the usual machining direction opposite direction of rotation, with which coiled fringes or cables again can be released. If this does not work and the brush with turns on coiled cable or fringes, this is done via the provided electronics quickly recognized, after which the force on the brush to be kept as low as possible to prevent further jamming. The inrush current of the motor is also monitored for this. For this The reason is that the monitoring is divided into two parts, the switching on and the Business. The inrush current is blocked in either situation - or is brush free - up to a certain point in time. So the first thing to do is Time to be determined. However, a single measured value is due to Fluctuations in the current are unsuitable as a basis for making a decision, which is why a summation over a period of time that is as short as is kept possible, is preferred. The result is monitoring the Starting current. So it is provided that the brush is first switched on and after this, it waits, for example, 45 milliseconds. According to this, for example 2 milliseconds the sum of the current with a given sampling frequency formed and the result compared with a limit value. The sum formation and the comparison takes about 6 milliseconds. So the whole lasts Monitoring approximately 31 milliseconds. Because a relay that switches the brush a switch-on delay of approx. 10 milliseconds and one Has a switch-off delay of approx. 5 milliseconds, the brush is during this Process switched on for about 20 milliseconds. Of which 10 milliseconds during of monitoring and 5 milliseconds due to the switch-off delay of the relay. In this regard, it is further suggested that starting with a time window is triggered by a threshold value of the detected motor current, within which a further increase in the motor current as a trigger event for retraction of the soil dust pick-up device is used.

In addition, the invention relates to a combination of an automatically movable Soil dust collector with an electromotive drive, one Dust collector and a cover, and a base station, which is coupled to the pick-up device according to the transmitter / receiver principle. To use a combination of the type in question advantageously improve, it is proposed that the base station one separately usable vacuum cleaner and that the pick-up device as a sweeper is trained. The base station thus has the usual function as Parking and charging station for the autonomously working Soil dust collector also has an emptying station, which is done by means of the at the base station provided vacuum cleaner the dust collector as a sweeper trained collecting device is sucked out. A solution is conceivable here in which the vacuum cleaner of the base station is in a stand-by mode lingers and the collecting device, which only does sweeping work, at Docking a contact to the base station for commissioning the Vacuum cleaner triggers. It proves to be particularly advantageous if the vacuum cleaner is a common household vacuum cleaner, which if necessary appropriately shaped adapter is coupled to the base station, so that this Vacuum cleaners also in the usual way for floor or overfloor cleaning can be used. The dust collector can alternatively or also in combination an interface for direct suction without Have base station. To ensure that the autonomously working Pick-up device safely reaches the base station, the latter serves as a landmark. In this regard, solutions are known in which a landmark sends a signal, which can be received and evaluated by the autonomous device sends.

In this regard, optical landmarks, which are with infrared light, laser or visible light work, and known ultrasound landmarks. Both Solutions have the disadvantage that the signal of the landmark of obstacles, such as Walls, objects, etc., is shaded. So the base station can only then be approached safely if there is direct, direct contact with the autonomous device exists. According to the invention, a landmark is provided which emits electromagnetic waves by means of a transmitter. With Waves generated by an oscillating circuit and transmitted by an antenna penetrate most obstacles and are therefore largely safe from Shadowing. Because the electromagnetic field lines that the autonomous device should be used for orientation, must not have a linear course the autonomous device aligns its behavior with the shape of the field. With the help of a combination of a powerful landmark and meaningful, however, simple behavior will enable the autonomous device to find the base station even if there are obstacles Block the way. The autonomous device has one or two for this Receiving antennas with the help of the alignment of the magnetic field lines can be determined. The autonomous device orientates itself when returning to Base station, which contains the transmitter, on the field lines in which the device either follows the field lines - drive in the direction of the strongest signal -, vertically drives to them or uses a mixed strategy. Meets the autonomous If an obstacle is encountered, a sensor-supported behavioral strategy takes effect Bypassing the obstacle allows. Then the path to Base station continued.

The invention further relates to a combination according to the features of Preamble of claim 40. To a combination of those in question Kind to improve in an advantageous manner, it is proposed that the Base station as a room air cleaning device with a docking coupling for the dust collector is designed. Such, with a Separately usable vacuum cleaner, detachable room air cleaning device is known from DE 44 14 871 A1. The content of this patent application is hereby incorporated in full in the disclosure of the present invention included, also for the purpose, features of the patent application in Include claims of the present invention. This is now according to the invention combined with a docking coupling for the Soil dust collection device such that the base station thus formed as Parking for the dust collector and beyond serves as an emptying station for this. As a result of this The base station can be configured at least when the base station is in operation Soil dust collector work as a room air purifier. Is conceivable also, the indoor air purification activity of the base station even during the Maintain loading of the soil dust collector. Further conceivable is also a combination in which the base station has a contact, which acts on the soil dust collector in its Parking position of the suction of the collected dirt by the separate Vacuum cleaner causes and when the contact is not applied Indoor air cleaning activated. In this regard, it can further be provided that the Base station further one or more docking couplings for further devices, for example in the sense of a charging station. As a result of this configuration the base station can also be used as a charging station for hand-held suction devices, for example.

The invention also relates to a method for operating an automatically movable floor dust collector according to the features of the generic term of claim 6. In order to use a procedure of the type in question indicate which is improved in terms of the cleaning result, it is proposed that an assigned to a respective travel distance Dust accumulation is evaluated and that depending on one predefined threshold value the travel distance assigned to an increased amount of dust is started again. This is preferably in the form of a an infrared light barrier designed dust flow control, which in a dust supply duct leading to the dust collection container is arranged, the passing dust particles counted. The Light barrier interrupted, d. H. the infrared light beam is shadowed so that when Receiver no light arrives and a signal is generated. The Individual signals are in a microprocessor over a predetermined time of for example 0.5 to 2 seconds, preferably 1 second; counted. The number determined the events are compared with a set limit and at An adjusted dirt behavior of the automatically movable is exceeded Soil dust collector controlled, so preferably by multiple Driving on the surface or driving off a fan or similar pattern in order clean the heavily soiled area satisfactorily. The goal is intensive cleaning of the area recognized as more dirty. The adjusted dirt behavior or the adjusted travel routine is aborted, as soon as no increased values are determined in the continuous measurement become.

Finally, the invention relates to a method for reversing behavior of an automatically movable floor dust collecting device according to the features of the preamble of claim 6, wherein the floor dust collecting device has shock and / or distance sensors and the reversing behavior is based on a preprogrammed sequence, with the orientation also being used using an electromagnetic field established by a base station. The travel behavior of the automatically movable floor dust collector differs from the usual behavior strategy for moving a known area. Pseudo-random behavior is preferred for the latter. Here, for each of the preferably three impact and / or distance sensors in the front area, optimized rotation angles are calculated by means of simulation. These consist of a fixed portion of, for example, 60 ° and an angular range of, for example, +/- 10 ° around the fixed angle amount, from which a random angle is calculated during operation. In the case of the reversing behavior, on the other hand, it is preferred that the electromagnetic field is first evaluated by the soil dust collecting device, for example by rotating the soil dust collecting device by 360 °, and then oriented to the detected minimum values and aligned with one of the two minimum values predetermined route takes place, after which the above steps are repeated. For this purpose, for example, the antenna is arranged transversely on the soil dust collector and longitudinally at the base station, although other arrangements are also conceivable. The rotary movements can be continuous or stepwise. After measuring the maxima and minima by 360 ° rotation, the maximum values are saved. This is followed by a decision about a measuring range switch and an alignment at one of the two minima. After driving a distance of, for example, 20 to 60 cm, a new measurement is carried out by rotating through 360 ° and the recording of further maximum values. It is furthermore provided that in the case of a repeated measurement by a 360 ° rotation, a greater maximum field strength than in the previous measurement routine is determined, a rotation in the direction of the opposite minimum. If the maximum value determined first is greater than the second maximum value, the wrong direction is selected, which in turn results in the rotation opposite to the previously selected direction. If, however, the maximum value measured first is smaller than the second maximum value, the device has moved in the right direction. The journey continues. An impact or optical obstacle detection leads to the obstacle behavior mode. In this regard, it is proposed that in the event that the device encounters an obstacle, there is first a backward movement, then swiveling through a selected angle or a random angle in a specific direction of rotation, forward movement and repetition of the aforementioned steps until there is no contact with an obstacle there is more. Accordingly, after a short reset, there is a small turn away from the obstacle, the angles of rotation being stored and added up. The shock events are also counted. The device then moves forward over a predetermined distance of, for example, 20 to 60 cm or, if appropriate, up to a further obstacle contact. It is also provided that, depending on a predetermined number of obstacle contacts, a rotation by a random angle is carried out after the return. If the number of counted obstacle contacts (impacts) exceeds a limit value or if the total angle of rotation exceeds a limit value, the autonomously operating device breaks out of the adapted behavior in the event of an obstacle contact by rotating at a random angle. In this regard, it is further proposed that, depending on a predetermined number of obstacle contacts, a reorientation is carried out on the electromagnetic field after driving back. Furthermore, it is provided that after an obstacle has been successfully circumvented, a return rotation is carried out by the angular amount required to circumvent the obstacle. Accordingly, there is a rotation in the opposite direction according to the total angle of rotation, after which the counter for angle and shock events is set to zero. This is followed by fine adjustment to the electromagnetic field and continuation of the journey. The length of the route is adapted to the measuring range. It is thus provided that the travel distance undertaken becomes shorter as the approach to the base station increases. The closer the pick-up device approaches the base station, the stronger the signal, which is implemented in shorter driving distances. It also proves to be advantageous that, in any case with regard to minor changes in direction, alignment with the field strength is also carried out during the method. So it is also possible to change the direction of travel while driving at the same time. There is repeated alignment until the soil dust collector is immediately in front of the base station. After this, a rotation of 180 ° can take place, after which the docking with the base station is carried out by reversing. Here, a limit switch or contact to a charging plug is actuated to charge the pick-up device and, if necessary, to empty it. It is also conceivable that the collecting device 1 travels forward, ie in the usual direction of travel, to the base station.

The obstacle detection can be done via contact, infrared switch sensors, Ultrasonic sensors, etc. must be made. These sensors are preferred in Travel direction arranged in the front area of the device, one Distinction can be made to the front right and front left which affects movement management. It is also one Arrangement of the sensors in the rear area of the device possible. Basically applies to a collision that first drives back and the device is turned and after that this moves in a new direction. In the course of the return and of rotation are preferably the brushes driven by an electric motor Energy saving switched off. Furthermore, the autonomous device instructs Support wheel on, which is in the direction of travel in the rear area of the device can be arranged. However, solutions are also conceivable for this support wheel front area, if necessary between the sweeping brushes. at this configuration is an indefinite four-point edition counteracted, so the risk that a drive wheel loses contact with the ground. This also enables a slight ramp to be raised.

The following is the invention with reference to the accompanying drawings, which represent only several embodiments, explained in more detail. It shows:

Figure 1 is a perspective view of a dust collector with sweeping brushes, relating to a first embodiment.

Fig. 2 is a bottom perspective view thereof;

Figure 3 is a partially broken perspective view of the device.

Fig. 4 is a schematic detail view of a sweeper brush, in a side view;

Figure 5 is a further detailed schematic diagram of a sweeper brush in plan view.

Fig. 6 is a plan view of a collecting device in a second embodiment;

Figure 7 is a partially cutaway perspective view of a Aufsammelgerätes in a third embodiment.

Fig. 8 is a plan view thereof;

Fig. 9 is a partially sectioned detail view of a Abfederungsbereiches a housing of the panel;

FIG. 10 shows a representation corresponding to FIG. 9, but with the cover hood loaded vertically;

. Fig. 11 shows a further representation corresponding to FIG 9, but with side loading of the cover;

FIG. 12 is a perspective view of Aufsammelgerätes in a further embodiment;

FIG. 13 shows a representation corresponding to FIG. 12, but after removing the cover;

Fig. 14 is a bottom perspective view of the pickup device according to the embodiment in Fig. 12;

Figure 15 is a longitudinal section of the collecting device.

Fig. 16 is a schematic representation of a base station for loading and emptying the pick-up and

Figure 17 is a schematic diagram for explaining the self-finding of the base station, emitted from the latter by electromagnetic waves.

FIG. 18 shows a perspective bottom view corresponding to FIG. 14 of the collecting device according to a further embodiment;

Fig. 19 is a schematic longitudinal section through the collecting device, concerning a further embodiment;

Fig. 20, the enlargement of the region XX in Fig. 19;

Fig. 21 is a schematic sectional view showing the area of the landing gear in a further embodiment;

FIG. 22 is a representation corresponding to FIG 21, but with herausverlagertem from normal operation chassis.

23 shows the enlarged section along the line XXIII-XXIII in Fig. 21.;

Fig. 24 is a schematic representation of the behavior of the strategy during return Aufsammelgerätes driving to the base station;

Fig. 25 a of FIG. 24 corresponding representation, but the reversing behavior concerning recognizing the obstacle.

1 is shown and described first with reference to FIGS. 3 to an automatically moveable floor dust collecting device 1 having a chassis 2 and a chassis 2 overlapping cover 3.

As can be seen in particular from the representations in FIGS. 1 and 2, the device 1 has a floor plan deviating from a circular shape. Thus, the floor plan is composed of a semicircular circular shape section 4 and an adjoining shape section 5 oriented towards a rectangle, the rectangular section 5 being shaped at the front in the direction of travel r of the device 1 .

The rectangular section 5 is rounded in the floor plan, in particular in the corner regions 6 . The contour of the end edge surface 7 connecting the corner regions 6 , viewed in the direction of travel r, is also convex. In addition, the lateral transition areas between the corner sections 6 and the circular section 4 are concavely rounded, so that there is a slight waist-like retraction of the floor plan.

The above-described floor plan design relates both to the shape of the device base 8 and to the outer contour of the cover 3 covering the chassis, which extends over the chassis 2 and encompasses the device base 8 .

The autonomously operating pick-up device 1 is designed as a sweeping device, for which purpose a brush 9 is provided which can be rotated about a horizontal axis x and which, in the exemplary embodiment shown, is arranged in the region of the rectangular section 5 . The brush 9 is driven by an electric motor 10 , which is fed by a battery pack 11 arranged in the rear circular shape section 4 .

In the area of the brush 9 , the appliance base 8 is provided with a window-like cutout 12 , through which the bristles 13 of the brush 9 project beyond the underside of the appliance base 8 for the sweeping cleaning of the floor to be maintained. The brush 9 has rows of bristles arranged in a meandering manner, the arrangement of these rows being further selected so that - with respect to the horizontal axis x - there is a sweep from the outside inwards and - viewed in the direction of travel r - from the front to the rear.

The ground dust collected by means of the brush 9 is thrown into a rear dust collection container 14 which is arranged on the chassis 2 in the region of the circular shape section 4 and is fixed to the device. To empty this container 14 , an openable flap 15 is provided on the underside of the device in the region of the base 8 .

The pick-up device 1 also has two traversing wheels 16 , some of which penetrate the bottom 8 of the device, each traversing wheel 16 being driven by a separate electric motor 17 , which, in addition to the normal, straightforward method of the device 1, also enables the latter to be turned or turned.

The arrangement of the travel wheels 16 is further selected such that they are positioned near the edge of the device base 8 in the transition area from the rectangular section 5 to the circular section 4 .

In addition, a support roller 18 is provided in the center in the front area associated with the front edge 7 , whereby a three-point support of the device 1 on the floor 41 is achieved.

7 sensors 19 are provided in the region of the end edge surface for obstacle detection. In this case, three sensors 19 are preferably arranged in such a way that a central sensor 19 for the detection of frontal impacts and the two further sensors 19 in the corner regions 6 for the detection of impacts which act on the device 1 from the side. In this regard, mechanically effective contact switches, but also infrared switch sensors or ultrasonic sensors can be used. Microswitches are preferred.

The abutment against an obstacle causes a slight displacement of the covering hood 3 overlapping the chassis 2 , which displacement is detected by the assigned sensor 19 . One in a - only schematically indicated in the figures - Deposited logic unit 20 Motion Management caused at a obstacle detection retraction of the apparatus 1 and rotating the device 1 in a new direction. The return movement takes place only over a short distance, so that it is not necessary to check backwards, that is, contrary to the usual direction of travel r. The device 1 is rotated via the different actuation of the travel wheels 16 . It proves to be particularly advantageous here that the electric motor 10 for the brush 9 is switched off in order to save energy during the retraction and rotation.

For the detection of steps or the like, the pick-up device 1 is further provided with ultrasound sensors 21 , which in the exemplary embodiment shown are arranged to the side of the window-like cutout 12 of the device base 8 , directed downwards in the direction of the floor 41 . It is essential here that the ultrasound sensors 21 lie in the direction of travel r in front of a center of gravity of the device 1 . By means of these ultrasonic sensors 21 , the floor 41 is scanned in the course of the method. Regarding the arrangement and the procedure of the ultrasonic sensors 21 , reference is made to the unpublished German patent application with the file number 101 13 105.4. The content of this patent application is hereby incorporated in full into the disclosure of the present invention, also for the purpose of including features of this application in claims of the present invention.

In order to also be able to clean in corners or along baseboards etc., two sweeping brushes 22 , each assigned to a corner area 6 , are provided. These are each composed of a drivable brush body 23 with an essentially circular outline and three bristle tufts 24 arranged on the brush body 23 and distributed uniformly around the circumference.

The arrangement of the sweeping brushes 22 is chosen so that the brush bodies 23 lie within the plan of the pick-up device 1 , the bristle tufts 24 , on the other hand, protrude beyond the edge contour specified by the cover 3 and thus transport the floor dust in a sweeping manner along baseboards or in corner areas. As a result, dirt is also detected outside the device contour and, owing to the selected opposite direction of rotation (see arrows d in FIG. 2), is transported into the center of the device 1 in the direction of the brush 9 rotating about the horizontal axis x. Since soft bristles protrude beyond the device contour, the maneuverability and mobility of the device 1 are not adversely affected.

The sweeping brushes 22 which supply the horizontal brush 9 are oriented on a vertical axis y. In order to achieve an improved cleaning effect, the axis of rotation z of each sweeping brush 22 is inclined in the direction of travel r with respect to the vertical axis y, for example by an angle of 5 ° to 15 ° (cf. FIG. 4).

Because of the excess length of the bristle tufts 24 , based on the outer contour of the device, an adaptation to corners and edges can be achieved by bending and stretching the bristle tufts 24 (cf. FIGS. 4 and 5).

The sweeping brushes 22 are driven indirectly via the electric motor 10 . Thus, as mentioned, the latter drives the brush 9 rotating about the horizontal axis x. Via the latter, the sweeping brushes 22 are driven by means of transmission belts 25 , a transmission ratio of brush 9 to sweeping brushes 22 of, for example, 3 to 15 to 1 being selected.

As shown schematically in FIG. 6, the previously described embodiment with a brush 9 rotating about a horizontal axis x and two sweeping brushes 22 oriented on a vertical axis y can also be used with a collecting device 1 with an overall circular plan.

As mentioned, an obstacle is recognized by bumping and sensor detection resulting therefrom. For this purpose, a slight shift - inclination - of the cover 3 is desired. In order to reset the cover 3 in its initial resting position and to hold it there, a resilient mounting of the cover 3 on the chassis 2 is provided. According to the first embodiment described above, this cushioning of the cover 3 can be provided centrally in the upper region (central spring 42 ). Another solution according to the invention is shown in a further embodiment in FIGS. 7 to 11. It can be seen that here the cover 3 is supported on the chassis 2 by means of three decentrally arranged springs 26 , these three springs 26 being distributed circumferentially.

The cover 3 , assigned to each spring 26 , has on the inside wall a bearing block 27 receiving a spring end. The vertically extending spring 26 is supported with its other end on the upper side on the device base 8 . The cover 3 is therefore supported on the device base 8 via the springs 26 , a stop limitation of the cover 3 vertically upward being limited by a radial arm 28 of the cover 3 underpinning the device base 8 (see FIG. 9).

The height of the bearing blocks 27 is such that when the covering hood 3 is acted upon vertically, it drops against the spring force (arrow c) and is supported with its circumferential edge on the floor 41 , the underside of the bearing blocks 27 still being at a distance from the upper side of the Device floor 8 remain. Accordingly, vertical forces acting on the cover 3 are not introduced into the chassis 2 , but rather are guided via the cover 3 into the floor 41 (cf. FIG. 10).

The lateral pivoting (arrow c ') of the cover 3 in the event of a collision with an obstacle can also be achieved by the selected arrangement of the springs 26 . To prevent reverberation and thus multiple triggering of a sensor signal, a vibration damper 29 can be arranged between the cover 3 and the peripheral edge of the device base 8 .

The embodiment of a collecting device 1 shown in FIGS. 12 to 15 also has a circular floor plan. In order to ensure adaptation to different floor conditions, for example in the transition from hard floor to carpeted floor, a base part 30 , which supports the axle bearings of the brush 9 rotatable about the horizontal axis x, is pivotably arranged on the chassis 2 about a horizontally oriented axis v. The device base 8 has a recess 31 adapted to the contour of the base part 30 .

As a result of this configuration, an optimal height adjustment of the essential area, namely the brush area, can always be achieved. A return spring 40 , anchored to the chassis 2 at one end and connected to the movable base part 30 via a holder of the electric motor 10 at the other, serves to align the base part 30 in a basic position. Furthermore, as can be seen from the sectional view in FIG. 15, there is a ramp 32 is provided, which is arranged like a dustpan in the direction of travel r behind the brush 9 and is used for the targeted ejection of the swept-up floor dust into the dust collector 14 . This ramp 32 grows out of the base part 30 towards the brush 9 and slides in operation with its free end edge on the floor to be maintained.

The ramp 32 is given both to the bottom part 30 as well as to the brush 9 relative elevationally movable (arrow a), whereby independent height adjustment of the ramp 32, further wherein the ramp 32 terminates the dust collection container 14 to the front.

As can further be seen from the bottom view in FIG. 14, a support roller 18 is provided in the rear region in this embodiment.

The height-adjustable base part 30 and the ramp 32 can also be used in conjunction with sweeping brushes 22 arranged in the corner regions 6 .

The autonomously operating collecting device 1 is coupled to the transmitter / receiver principle with a base station 33, the latter both as a parking and loading station for the device 1 as well as serves as a discharge station. For this purpose, the base station 33 has a separately usable vacuum cleaner 34 (cf. FIG. 16). This is a conventional household vacuum cleaner, which is connected to the base station 33 via an adapter ( 35 ). The base station 33 outreach collecting device 1 dissolves in the parking position from a contact, after which the example. By operating stand-persisting vacuum cleaner 34 sucks the information stored in the dust collection container 14 in a dust. At the same time, the energy carrier is charged, which is designed, for example, in the form of a battery pack 11 . In this regard, fuel cells are also conceivable.

To automatically find the base station 33 , the pick-up device 1 has one or two receiver antennas 36 , with the aid of which the alignment of the field lines of an electromagnetic field generated by a transmitter arranged in the base station 33 is determined. The waves 38 generated with the aid of an oscillating circuit and transmitted by a transmitter antenna 37 penetrate most obstacles and are therefore largely protected from shadowing.

The principle of operation is shown schematically in FIG. 17. The pick-up device 1 orients itself when returning to the base station 33 on the field lines by either following the field lines and driving in the direction of the strongest signal or driving perpendicular to the field lines (arrows b). In addition, a mixed strategy for locating the base station 33 can also be used. If the pick-up device 1 encounters an obstacle, a sensor-supported behavioral strategy engages, which enables the obstacle to be avoided, after which the path to the base station 33 is continued.

As shown in Fig. 18, wherein a circular ground plan of the front region Aufsammelgeräts 1, the support roller 18 under consideration in traversing be arranged, while the Verfahrräder 16 are allocated to the rear part of the Aufsammelgeräts 1. The brush 9 extends approximately in the middle of the device base 8 transversely to the direction of travel.

In this embodiment, abyss recognition is implemented, for example, by infrared sensors 50 , an arrangement of which in the direction of travel in front of the brush 9 is selected. The sensors 19 used for obstacle detection are also infrared sensors in the exemplary embodiment shown.

An obstacle identified in this way leads to an evaluation of the pick-up device 1 being braked, which reduces the force at the impact or, in addition, prevents the impact. The evaluated result can be used to a microprocessor that a high speed of Aufsammelgeräts 1 is selected at a low speed and a obstacle detection in the absence of an obstacle.

FIG. 19 shows a schematic section through a pick-up device 1 in a further embodiment with a support roller displacement wheel arrangement according to the embodiment in FIG. 18. The brush 9 is mounted on a rocker 51 such that it can be adjusted in height, for which purpose the rocker 51 in the chassis 2 an axis of rotation w is tiltable. This rocker axis of rotation w coincides with the horizontally arranged axis u of the electric motor 10 driving the brush 9 , the electric motor 10 being arranged behind the brush 9 in the direction of travel r.

Furthermore, in the exemplary embodiment shown, the rocker 51 also carries a sweeping brush 22 , which is only shown schematically here.

As a result of this configuration, self-relief is achieved with increased friction. If there is an increased resistance on the brush 9 , this and any sweeping brushes 22 , if present, are raised against the force of gravity. Thus, the electric motor 10 including the power transmission device is protected against destruction in all load states of the device. In addition, the power of the electric motor 10 is kept constant.

As indicated schematically in the representations of FIGS. 21 and 22, there is also the possibility of using the motor current of the electric motor driving the brush 9 for evaluation. A transmitter 52 of the motor current, a retraction of the Aufsammelgeräts 1 is achieved in dependence of a change of the floor dust Verfahrroutine Aufsammelgeräts-1, so for example. Case of excessively high motor current. Such an impermissibly increased motor current can be present, for example, when fringes or a cable is drawn into the brush 9 . In addition, the evaluation electronics 52, starting with a threshold value of the detected motor current, trigger a time window within which a further increase in the motor current is used as a triggering event for the pickup device 1 to be retracted.

As can also be seen in FIG. 19, a dust throughput control 54 in the form of an infrared light barrier is arranged in the dust supply duct 53 leading to the dust collecting container 14 , in order to determine the amount of dust thrown off by the brush 9 in the direction of the dust collecting container 14 within a predetermined time window. On the basis of the dust throughput determined, the travel strategy of the pick-up device 1 may be adapted. In this way, when the dust throughput is ascertained, the route covered by the increased dust throughput is repeated.

The lamp 32, which is oriented to the throwing direction, is arranged so as to be deflectable in the throwing direction, the ramp being pivotable about the brush axis x. The ramp 32 can be deflected against spring force, for which purpose the ramp 32 is designed as a plastic film, the latter forming a band element 55 . In the front area, ie the area assigned to the brush 9 , the band element 55 is laterally fastened to sliding shoes 56 which are rotatably mounted about the brush shaft x. The film-like band element 55 is thus guided along a defined path in the front area of the ramp 32 , as a result of which a collision with the brush 9 is excluded. The front free edge 57 lying on the floor to be cleaned is shaped to be wear-resistant in the form of a metal or synthetic edge.

By means of the prestressing force, the ramp 32 always presses the edge 57 against the floor to be cleaned. If the ramp 32 encounters an obstacle, it dodges by rotating upwards about the brush axis x, the band element 55 deflecting due to the end fastening of the band element 55 to a wall of the dust collection container 17 . The point of attachment of the band element in the region of the collecting space 14 is provided with the reference number 58 .

The ramp 32 adapts to different floor heights, the spring force of the ramp 32 being selected such that the pick-up device 1 cannot get stuck.

In order not to introduce vertical forces acting on the cover 3 into the chassis 2 , but rather to guide it via the cover 3 into the floor 41 , in a further embodiment according to FIGS. 21 and 22 there is a resilient suspension of the travel wheels 16 and the associated electric motors 17 containing chassis 59 is provided. For this purpose, the traversing wheels 16 and the electric motor 17 are arranged on a chassis mounting plate 60 separate from the device base 8 , which mounting plate 60 is in an unloaded basic position according to FIG. 21 in a window-like cutout 61 of the device base 8 in which is adapted to the layout of the mounting plate 60 the level of the device floor 8 extends.

The mounting plate 60 carrying the chassis 59 is resiliently suspended relative to the chassis 2 and the cover 3 . This resilient suspension is realized by the mounting plate 60 , which connects the device base 8 to the spring straps 62 , which, as shown in FIG. 23, have a spherical bulge in cross section. Accordingly, the spring bands 62 are shaped as click springs, each spring band 62 preferably being cut from a profiled - domed - metal or steel sheet.

In this exemplary embodiment, the covering hood 3 is rigidly connected to the chassis 2 at least in the vertical direction. A vertical action on the cover 3 causes the spring bands 62 to yield when a threshold value is exceeded via the chassis 2 and the device base 8, which results in a reduction in the distance between the cover 3 and the base 41 . The click spring design results in an abrupt buckling of the undercarriage 59 when the threshold value is exceeded, after which the cover 3 is supported on the floor 41 for the introduction of the vertically acting forces (cf. FIG. 22).

If the threshold value of the vertically introduced forces is undershot, the undercarriage 59 assumes the original position according to FIG. 21 due to the spring preload of the spring straps 62 , while simultaneously lifting the cover 3 and the chassis 2 .

Instead of the spring bands 62 , compression springs acting between the mounting plate 60 and the device base 8 can also be arranged, the spring characteristics of which are designed such that they only respond when a threshold value is exceeded.

The behavioral strategy for driving on an unknown surface is based on the principle of pseudo-random behavior. An optimized angle of rotation is thus calculated for each of the preferably three obstacle sensors 19 in the front area. This consists of a fixed rotation angle component and a rotation angle range around the fixed rotation angle, from which a random angle is calculated during operation. The return to the base station 33 takes place by means of an electromagnetic field, the receiver antenna 36 being arranged transversely on the collector 1 and the transmitter antenna 37 being arranged lengthwise on the base station 33 in the exemplary embodiment shown.

Fig. 24 schematically illustrates the behavior of the reversing Aufsammelgeräts. 1 First, at point A, the field is oriented by measuring the maxima and minima by rotating the pickup device 1 by 360 °. The detected maxima are saved, after which a decision is made about a change in the measuring range. The pick-up device 1 then aligns itself with one of the two minima and moves forward a predetermined distance of, for example, 40 cm to point A ', where a new measurement is carried out by rotating through 360 °.

If the maximum values determined at point A 'are smaller than the maximum values measured at point A before the method, then the correct direction has been taken, after which the journey is continued. However, if the maximum values determined at point A 'using the first method are greater than the maximum values at point of origin A, the wrong direction was selected. In response to this, the pick-up device 1 rotates counter to the previously selected direction. This situation is shown in Fig. 24.

The collecting device 1 always drives straight in the direction of the minimum, the length of the route corresponding to the measuring range. This means that the closer the pick-up device 1 is to the base station 33 and thus the signal becomes stronger, the shorter the route between two alignment points B.

After each journey, the pick-up device 1 is finely aligned at the minimum by turning the pick-up device 1 to the left and right of the direction of travel, this also possibly with simultaneous forward travel. The further direction of travel is determined by determining the minimum. If a measured value exceeds a limit value, the measuring range is switched. This fine alignment (see points B, B 'and B "in Fig. 24) is repeated until the pick-up device 1 is immediately in front of the base station 33 , after which the pick-up device 1 makes a rotation through 180 ° and for docking at the base station 33 backwards drives until a limit switch or a contact to a charging plug is actuated. In the park position then reached, the pick-up device 1 is charged and, if necessary, emptied by a vacuum cleaner 34 .

The base station 33 can also be designed as a room air cleaning device with a docking coupling for the collecting device 1 . There is also the possibility that the base station 33 has further docking couplings for further devices, such as, for example, a handheld battery vacuum cleaner, in the sense of a charging station.

Fig. 25 shows the behavior of the matched Aufsammelgeräts 1 in the course of return to the base station 33 when an obstacle contact. An impact or an optical obstacle detection via the sensors 19 leads to the mode of obstacle behavior (see points C, C 'and C "in FIG. 25). If the pick-up device 1 encounters an obstacle 63 , there is first a backward movement against the original direction of travel, whereupon pivoting about a selected small angle is carried away from the obstacle 63, wherein the selected angle may be a random angle. Subsequently, a forward movement and repetition is again the above steps until no obstacle contact longer present. the completed rotation angle to around the obstacle 63 are stored and summed up, this while counting the shock events.

After overcoming the obstacle 63 , the pick-up device 1 moves in the normal mode over a predetermined distance of, for example, 40 cm or until a new contact with the obstacle. If the number of impacts counted exceeds a limit value or the total angle of rotation exceeds a limit value, the pick-up device 1 breaks out of the adapted behavior in the event of contact with an obstacle by rotating through a random angle and begins to reorient the field. This reaction is shown in Fig. 25. The number of bumps or the total angle of rotation at points C and C 'in the area of a corner of the room exceeds a limit value, so that C' breaks out of the adapted behavior in the event of obstacle contact and a reorientation takes place at point A "in the field.

At point C ", on the other hand, the obstacle 63 is successfully bypassed, after which the pick-up device 1 first travels a predetermined distance to point B '. Here, the pick-up device 1 rotates back by the angular amount required to bypass the obstacle 63 , after which the counter for the angles of rotation and the shock events are set to 0. From point B ', the method to base station 33 in the exemplary embodiment shown is free of obstacles and accordingly in accordance with the embodiment with respect to the representation in FIG .

All of the features disclosed are (in themselves) essential to the invention. In the The disclosure content of the application is hereby also disclosed associated / attached priority documents (copy of the pre-registration) fully included, also for the purpose of describing the characteristics of these documents To include claims of the present application.

Claims (51)

1. Automatically movable floor dust collecting device ( 1 ) with an electric motor drive, a dust collecting container ( 14 ) and a cover ( 3 ), the device ( 1 ) having a floor plan deviating from a circular shape, characterized in that the floor plan is composed of a Circular shape section ( 4 ) and a shape section ( 5 ) oriented on a rectangle, the rectangle section ( 5 ) being in the direction of travel (r) at the front. 2. Soil dust collecting device according to claim 1 or in particular according thereto, characterized in that the device ( 1 ) has a brush ( 9 ) rotatable about a horizontal axis (x) and that the brush ( 9 ) is arranged in the rectangular section ( 5 ) of the floor plan is. 3. Soil dust collecting device according to one or more of the preceding claims or in particular according thereto, characterized in that the device ( 1 ) further comprises two brushes ( 22 ) rotating around a vertical axis (y). 4. Soil dust collecting device according to one or more of the preceding claims or in particular according thereto, characterized in that the sweeping brushes ( 22 ) are arranged assigned to front corner regions ( 6 ) of the rectangular section ( 5 ) of the floor plan. 5. Soil dust collecting device ( 1 ), preferably automatically movable soil dust collecting device ( 1 ) with an electric motor drive, a dust collecting container ( 14 ) and a cover ( 3 ), and a brush ( 9 ) which, due to their rotation, remove the dust parts in one is conveyed to the dust collection container ( 14 ) in a specific throwing direction, a ramp ( 32 ) oriented to the throwing direction being assigned to the brush ( 9 ), characterized in that the ramp ( 32 ) is arranged to be evasive in the throwing direction. 6. Automatically movable soil dust collector ( 1 ) with an electric motor drive, a dust collector ( 14 ) and a cover ( 3 ), characterized in that the device ( 1 ) is designed as a sweeping unit with a brush rotatable about a horizontal axis (x) ( 9 ), which is supplied by two, oriented, on a vertical axis (y) rotating brushes ( 22 ). 7. Soil dust collecting device according to the features of the preamble of claim 6, wherein the cover ( 3 ) is supported on the other device parts by means of decentrally arranged springs ( 26 ), characterized in that three springs ( 26 ) are provided. 8. Soil dust collecting device according to the features of the preamble of claim 6, characterized by a, around a horizontal axis (x) running brush ( 9 ) which throws the collected dust into a device-fixed dust container ( 14 ). 9. Soil dust collector according to the features of the preamble of claim 6, characterized in that a dust throughput control ( 54 ) is provided in a dust supply channel ( 53 ) to the dust collector ( 14 ). 10. Soil dust collector according to the features of the preamble of Claim 6, characterized in that for the abyss and / or Obstacle detection is used by an infrared light barrier. 11. Soil dust collecting device according to the features of the preamble of - claim 6, with one, the floor dust collecting device ( 1 ) together with the cover ( 3 ) from the floor ( 41 ) spacing chassis ( 59 ), wherein the cover ( 3 ) Reaching a predetermined load rests on the floor ( 41 ), characterized in that the undercarriage ( 59 ) is resiliently suspended relative to the cover ( 3 ) in such a way that the spring in the sense of reducing the distance between the cover ( 3 ) and the floor ( 41 ) responds when a threshold value is exceeded. 12. Soil dust collector according to one or more of the preceding claims or in particular according thereto, characterized in that when the threshold value is reached, the cover ( 3 ) comes to rest on the floor ( 41 ) as a result of the spring immediately giving in. 13. Soil dust collector according to one or more of the preceding claims or in particular according thereto, characterized in that the brush ( 9 ) on a rocker ( 51 ) is mounted such that it can be adjusted in height. 14. Soil dust collecting device according to one or more of the preceding claims or in particular according thereto, characterized in that the sweeping brushes ( 22 ) are arranged in a height-adjustable manner on the rocker ( 51 ). 15. Soil dust collecting device according to one or more of the preceding claims or in particular according thereto, characterized in that the axis (u) of the brush ( 9 ) driving the electric motor ( 10 ) is arranged horizontally and with an axis of rotation (w) of the rocker ( 51 ) coincides. 16. Soil dust collecting device according to one or more of the preceding claims or in particular according thereto, characterized in that brush sections of the sweeping brushes ( 22 ) project beyond an edge contour of the device ( 1 ) predetermined by the cover ( 3 ). 17. Soil dust collection device according to one or more of the preceding claims or in particular according thereto, characterized in that the brush ( 9 ) throws the soil dust into a dust collection container ( 14 ) which is fixed to the device. 18. Soil dust collector according to one or more of the preceding claims or in particular according thereto, characterized in that the brush ( 9 ) and the sweeping brushes ( 22 ) are driven together by means of an electric motor ( 10 ). 19. Soil dust collector according to one or more of the preceding claims or in particular according thereto, characterized in that the electric motor ( 10 ) drives the brush ( 9 ) and that the sweeping brushes ( 22 ) by means of the brush ( 9 ) driven transmission belt ( 25 ) are driven. 20. Soil dust collector according to one or more of the preceding claims or in particular according thereto, characterized in that the sweeping brushes ( 22 ) rotate at a ratio to the brush ( 9 ) of different speeds. 21. Soil dust collector according to one or more of the preceding claims or in particular according thereto, characterized in that the axis of rotation (z) of a sweeping brush ( 22 ) is inclined in the direction of travel (r). 22. Soil dust collector according to one or more of the preceding claims or in particular according thereto, characterized in that the three springs ( 26 ) are distributed circumferentially evenly. 23. Soil dust collecting device according to one or more of the preceding claims or in particular according thereto, characterized in that the brush ( 9 ) is received in a base part ( 30 ) movable about a horizontal axis (v). 24. Soil dust collecting device according to one or more of the preceding claims or in particular according thereto, characterized in that the bottom part ( 30 ) has a ramp ( 32 ) projecting downwards relative to the bottom part ( 30 ). 25. Soil dust collecting device according to one or more of the preceding claims or in particular according thereto, characterized in that the ramp ( 32 ) to the brush ( 9 ) grows out of the bottom part ( 30 ). 26. Soil dust collecting device according to one or more of the preceding claims or in particular according thereto, characterized in that the ramp ( 32 ) is movable relative to the bottom part ( 30 ). 27. Soil dust collector according to one or more of the preceding claims or in particular according thereto, characterized in that the ramp ( 32 ) is movable relative to the brush ( 9 ). 28. Soil dust collector according to one or more of the preceding claims or in particular according thereto, characterized in that the ramp ( 32 ) is arranged in the direction of travel (r) behind the brush ( 9 ). 29. Soil dust collecting device according to one or more of the preceding claims or in particular according thereto, characterized in that the ramp ( 32 ) is pivotable about an axis of rotation. 30. Soil dust collector according to one or more of the preceding claims or in particular according thereto, characterized in that the axis of rotation of the ramp ( 32 ) coincides with a brush axis (x). 31. Soil dust collector according to one or more of the preceding claims or in particular according thereto, characterized in that the ramp ( 32 ) can be deflected against spring force. 32. Soil dust collecting device according to one or more of the preceding claims or in particular according thereto, characterized in that the spring of the ramp ( 32 ) is arranged integrated in the ramp surface. 33. Soil dust collecting device according to one or more of the preceding claims or in particular according thereto, characterized in that the ramp ( 32 ) is formed in any case in its resilient part from a film-like thin band element ( 55 ). 34. Soil dust collecting device according to one or more of the preceding claims or in particular according thereto, characterized in that the band element ( 55 ) is a plastic film. 35. Soil dust collector according to one or more of the preceding claims or in particular according thereto, characterized in that the dust flow control ( 54 ) consists of an infrared light barrier. 36. Soil dust collector according to one or more of the preceding claims or in particular according thereto, characterized in that a determined high dust throughput in the sense of a repeated shutdown of the evaluated the increased dust throughput route becomes. 37. Soil dust collecting device according to one or more of the preceding claims or in particular according thereto, characterized in that the motor current of the electric motor ( 10 ) driving the brush ( 9 ) is used for evaluation and that, depending on the motor current, a change in the travel routine of the soil dust Pickup device ( 1 ) takes place. 38. Soil dust collecting device according to one or more of the preceding claims or in particular according thereto, characterized in that when the motor current is inadmissibly increased, the soil dust collecting device ( 1 ) is retracted. 39. Soil dust collecting device according to one or more of the preceding claims or in particular according thereto, characterized in that starting with a threshold value of the detected motor current, a time window is triggered, within which a further increase in the motor current as a triggering event for a retraction of the soil dust collecting device ( 1 ) is used. 40. Combination of an automatically movable floor dust collector ( 1 ) with an electric motor drive, a dust collector ( 14 ) and a cover ( 3 ), and a base station ( 33 ), which is connected to the collector ( 1 ) after the transmitter / receiver Principle is coupled, characterized in that the base station ( 33 ) has a separately usable vacuum cleaner ( 34 ) and that the pick-up device ( 1 ) is designed as a sweeper. 41. Combination according to the features of the preamble of claim 40, characterized in that the base station ( 33 ) is designed as a room air cleaning device with a docking coupling for the soil dust collecting device ( 1 ). 42. Combination according to claims 40 to 41 or in particular according thereto, characterized in that the base station ( 33 ) further has one or more docking couplings for further devices, for example in the sense of a charging station. 43. Method for operating an automatically movable floor dust collecting device ( 1 ) according to the features of the preamble of claim 6, characterized in that a dust accumulation associated with a respective travel distance is evaluated and that the travel distance associated with an increased dust accumulation is still dependent on a predetermined threshold value is driven once. 44. Method for reversing the behavior of an automatically movable floor dust collecting device ( 1 ) according to the features of the preamble of claim 6, wherein the floor dust collecting device ( 1 ) has shock and / or distance sensors ( 19 ) and the reversing behavior is based on a preprogrammed sequence The orientation is also based on an electromagnetic field set up by a base station ( 33 ), characterized in that first an evaluation of the electromagnetic field by the soil dust collecting device ( 1 ), for example by a 360 ° rotation of the soil dust collecting device ( 1 ) is carried out and then based on the detected minimum values and aligned with one of the two minimum values, a method is carried out over a predetermined distance, after which the aforementioned steps are repeated. 45. The method according to claim 44 or in particular according thereto, thereby characterized that in the case of repeated measurement by a 360 ° rotation a greater maximum field strength than in the previous measurement routine a rotation in the direction of the opposite minimum is determined he follows. 46. The method according to one or more of claims 44 to 45 or in particular according thereto, characterized in that in the event that the device ( 1 ) encounters an obstacle, there is first a backward movement, followed by pivoting by a selected angle or a random angle in a certain direction of rotation, driving forward again and repeating the aforementioned steps takes place until there is no longer any obstacle contact. 47. The method according to one or more of claims 44 to 46 or especially afterwards, characterized in that depending on one predetermined number of obstacle contacts after returning one Rotation is made at a random angle. 48. The method according to one or more of claims 44 to 47 or especially afterwards, characterized in that depending on one predetermined number of obstacle contacts after returning one Reorientation to the electromagnetic field is made. 49. The method according to one or more of claims 44 to 48 or especially afterwards, characterized in that after successful Bypass an obstacle by turning back to avoid the obstacle Obstacle required angular amount is performed. 50. The method according to one or more of claims 44 to 49 or in particular according thereto, characterized in that the travel distance undertaken is set shorter as the approach to the base station ( 33 ) increases. 51. The method according to one or more of claims 44 to 50 or especially afterwards, characterized in that in any case with regard to minor changes in direction also during the procedure Alignment to the field strength is made.