CN105593775B - 用于运行地板清洁机的方法以及地板清洁机 - Google Patents

用于运行地板清洁机的方法以及地板清洁机 Download PDF

Info

Publication number
CN105593775B
CN105593775B CN201380078808.5A CN201380078808A CN105593775B CN 105593775 B CN105593775 B CN 105593775B CN 201380078808 A CN201380078808 A CN 201380078808A CN 105593775 B CN105593775 B CN 105593775B
Authority
CN
China
Prior art keywords
space
cleaning machine
floor
cleaning
floor cleaning
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201380078808.5A
Other languages
English (en)
Chinese (zh)
Other versions
CN105593775A (zh
Inventor
马尔库斯·杜勒
米夏埃尔·沙帕尔
哈罗德·阿特斯
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Papst Licensing & CoKg GmbH
Original Assignee
Robart GmbH
Alfred Kaercher SE and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=48953382&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=CN105593775(B) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Robart GmbH, Alfred Kaercher SE and Co KG filed Critical Robart GmbH
Publication of CN105593775A publication Critical patent/CN105593775A/zh
Application granted granted Critical
Publication of CN105593775B publication Critical patent/CN105593775B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2894—Details related to signal transmission in suction cleaners
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Instructional Devices (AREA)
CN201380078808.5A 2013-08-06 2013-08-06 用于运行地板清洁机的方法以及地板清洁机 Active CN105593775B (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2013/066463 WO2015018437A1 (de) 2013-08-06 2013-08-06 Verfahren zum betreiben eines bodenreinigungsgerätes und bodenreinigungsgerät

Publications (2)

Publication Number Publication Date
CN105593775A CN105593775A (zh) 2016-05-18
CN105593775B true CN105593775B (zh) 2020-05-05

Family

ID=48953382

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201380078808.5A Active CN105593775B (zh) 2013-08-06 2013-08-06 用于运行地板清洁机的方法以及地板清洁机

Country Status (5)

Country Link
US (1) US10478037B2 (https=)
EP (2) EP3030943B1 (https=)
JP (1) JP6406680B2 (https=)
CN (1) CN105593775B (https=)
WO (1) WO2015018437A1 (https=)

Families Citing this family (37)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10809071B2 (en) * 2017-10-17 2020-10-20 AI Incorporated Method for constructing a map while performing work
US11400595B2 (en) 2015-01-06 2022-08-02 Nexus Robotics Llc Robotic platform with area cleaning mode
US10518407B2 (en) * 2015-01-06 2019-12-31 Discovery Robotics Apparatus and methods for providing a reconfigurable robotic platform
CN107636548B (zh) * 2015-05-12 2021-08-13 三星电子株式会社 机器人及其控制方法
KR102393921B1 (ko) 2015-05-12 2022-05-04 삼성전자주식회사 로봇 및 그의 제어 방법
DE102015109775B3 (de) 2015-06-18 2016-09-22 RobArt GmbH Optischer Triangulationssensor zur Entfernungsmessung
DE102015114883A1 (de) * 2015-09-04 2017-03-09 RobArt GmbH Identifizierung und Lokalisierung einer Basisstation eines autonomen mobilen Roboters
DE102015119501A1 (de) 2015-11-11 2017-05-11 RobArt GmbH Unterteilung von Karten für die Roboternavigation
DE102015119865B4 (de) 2015-11-17 2023-12-21 RobArt GmbH Robotergestützte Bearbeitung einer Oberfläche mittels eines Roboters
DE102015121666B3 (de) 2015-12-11 2017-05-24 RobArt GmbH Fernsteuerung eines mobilen, autonomen Roboters
DE102016102644A1 (de) 2016-02-15 2017-08-17 RobArt GmbH Verfahren zur Steuerung eines autonomen mobilen Roboters
JP7058067B2 (ja) * 2016-02-16 2022-04-21 東芝ライフスタイル株式会社 自律走行体
DE102016108513A1 (de) * 2016-05-09 2017-11-09 Vorwerk & Co. Interholding Gmbh System und ein Verfahren zur Reinigung eines Fußbodens mit einem Reinigungsroboter
JP6757593B2 (ja) * 2016-05-11 2020-09-23 シャープ株式会社 自走式電子機器
WO2018024897A1 (de) * 2016-08-05 2018-02-08 RobArt GmbH Verfahren zur steuerung eines autonomen mobilen roboters
DE102016114593A1 (de) * 2016-08-05 2018-02-08 RobArt GmbH Verfahren zur Steuerung eines autonomen mobilen Roboters
KR20180082264A (ko) * 2017-01-10 2018-07-18 엘지전자 주식회사 이동 로봇 및 그 제어방법
JP2020509500A (ja) 2017-03-02 2020-03-26 ロブアート ゲーエムベーハーＲＯＢＡＲＴ ＧｍｂＨ 自律移動ロボットの制御方法
DE102017109219A1 (de) 2017-04-28 2018-10-31 RobArt GmbH Verfahren für die Roboternavigation
DE102017207341A1 (de) * 2017-05-02 2018-11-08 Henkel Ag & Co. Kgaa Verfahren zur Steuerung von Reinigungsgeräten
US20180344116A1 (en) 2017-06-02 2018-12-06 Irobot Corporation Scheduling and control system for autonomous robots
JP6945144B2 (ja) * 2017-12-14 2021-10-06 パナソニックＩｐマネジメント株式会社 掃除情報提供装置、および掃除機システム
CN108209745B (zh) * 2017-12-18 2021-06-25 深圳市奇虎智能科技有限公司 清洁设备的控制方法、装置、计算机设备和存储介质
JP6850970B2 (ja) * 2018-02-21 2021-03-31 パナソニックＩｐマネジメント株式会社 自律走行型掃除機
JP7025990B2 (ja) * 2018-05-14 2022-02-25 日立グローバルライフソリューションズ株式会社 移動体、および、移動体の地図共有方法
CN108614562B (zh) * 2018-06-05 2021-05-07 北京智行者科技有限公司 一种清扫路径优化方法
JP7123656B2 (ja) * 2018-06-22 2022-08-23 東芝ライフスタイル株式会社 自律型電気掃除機
US11157016B2 (en) * 2018-07-10 2021-10-26 Neato Robotics, Inc. Automatic recognition of multiple floorplans by cleaning robot
US10835096B2 (en) * 2018-08-30 2020-11-17 Irobot Corporation Map based training and interface for mobile robots
CN110936371A (zh) * 2018-09-25 2020-03-31 上海云绅智能科技有限公司 一种多楼层地图切换方法及机器人
DE102018131732A1 (de) * 2018-12-11 2020-06-18 Vorwerk & Co. Interholding Gmbh System aus mindestens einem Bodenbearbeitungsgerät und mindestens einer Signalsendeeinrichtung sowie Betriebsverfahren dafür
KR102715879B1 (ko) * 2019-03-07 2024-10-14 삼성전자주식회사 전자 장치 및 그 제어 방법
DE102019128927A1 (de) * 2019-10-25 2021-04-29 Vorwerk & Co. Interholding Gmbh Verfahren zur Erstellung einer Umgebungskarte für ein sich selbsttätig fortbewegendes Bodenbearbeitungsgerät, sowie System aus zwei sich selbsttätig fortbewegenden Bodenbearbeitungsgeräten
CN110840335B (zh) * 2019-11-07 2021-09-10 深圳市银星智能科技股份有限公司 机器人位置状态检测方法及其机器人
CN113100674A (zh) * 2020-04-28 2021-07-13 杨炳辉 一种地面清洗装置
JP7558718B2 (ja) * 2020-08-25 2024-10-01 日本信号株式会社 床掃除機
EP4579193A3 (en) * 2021-06-17 2025-07-30 The Toro Company Autonomous work vehicle using image-based localization

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002085305A (ja) * 2000-09-12 2002-03-26 Toshiba Tec Corp ロボットクリーナ及びロボットクリーナシステム
CN1381340A (zh) * 2001-04-18 2002-11-27 三星光州电子株式会社 机器人清洁机,机器人清洁系统以及控制它们的方法
US20050022273A1 (en) * 2003-07-23 2005-01-27 Hitachi, Ltd. Location aware automata
WO2004082899A3 (en) * 2003-03-14 2005-05-12 Sharper Image Corp Robot vacuum
JP2005216021A (ja) * 2004-01-30 2005-08-11 Funai Electric Co Ltd 自律走行ロボットクリーナー
CN102083352A (zh) * 2008-04-24 2011-06-01 进展机器人有限公司 用于机器人使能的移动产品的定位、位置控制和导航系统的应用
CN102541059A (zh) * 2010-08-23 2012-07-04 德国福维克控股公司 可自动移动的设备

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IL124413A (en) * 1998-05-11 2001-05-20 Friendly Robotics Ltd System and method for area coverage with an autonomous robot
US6667592B2 (en) 2001-08-13 2003-12-23 Intellibot, L.L.C. Mapped robot system
KR100478653B1 (ko) * 2002-06-25 2005-03-24 삼성광주전자 주식회사 로봇 청소기의 작업 영역 인식방법
KR100538934B1 (ko) * 2003-07-24 2005-12-27 삼성광주전자 주식회사 청소시스템 및 이의 제어방법
JP2005211359A (ja) * 2004-01-30 2005-08-11 Funai Electric Co Ltd 自律走行ロボットクリーナーシステム
US8972052B2 (en) * 2004-07-07 2015-03-03 Irobot Corporation Celestial navigation system for an autonomous vehicle
JP2006106816A (ja) * 2004-09-30 2006-04-20 Toshiba Tec Corp 電気掃除機
ATE442617T1 (de) 2005-12-02 2009-09-15 Irobot Corp Roboternavigationssystem mit autonomer abdeckung
ES2706729T3 (es) * 2005-12-02 2019-04-01 Irobot Corp Sistema de robot
KR100730311B1 (ko) * 2005-12-29 2007-06-19 에이스로봇 주식회사 위치 인식 로봇 청소기 및 로봇 청소기에서 위치 인식 방법
EP2433541B1 (en) * 2009-06-30 2017-04-12 LG Electronics Inc. Robot cleaner
DE102009041362A1 (de) 2009-09-11 2011-03-24 Vorwerk & Co. Interholding Gmbh Verfahren zum Betreiben eines Reinigungsroboters
KR20120044768A (ko) * 2010-10-28 2012-05-08 엘지전자 주식회사 로봇 청소기 및 이의 제어 방법
DE102012201870A1 (de) 2012-02-08 2013-08-08 RobArt GmbH Verfahren zum automatischen Auslösen einer Selbstlokalisierung
DE102012109004A1 (de) 2012-09-24 2014-03-27 RobArt GmbH Roboter und Verfahren zur autonomen Inspektion oder Bearbeitung von Bodenflächen

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002085305A (ja) * 2000-09-12 2002-03-26 Toshiba Tec Corp ロボットクリーナ及びロボットクリーナシステム
CN1381340A (zh) * 2001-04-18 2002-11-27 三星光州电子株式会社 机器人清洁机,机器人清洁系统以及控制它们的方法
WO2004082899A3 (en) * 2003-03-14 2005-05-12 Sharper Image Corp Robot vacuum
US20050022273A1 (en) * 2003-07-23 2005-01-27 Hitachi, Ltd. Location aware automata
JP2005216021A (ja) * 2004-01-30 2005-08-11 Funai Electric Co Ltd 自律走行ロボットクリーナー
CN102083352A (zh) * 2008-04-24 2011-06-01 进展机器人有限公司 用于机器人使能的移动产品的定位、位置控制和导航系统的应用
CN102541059A (zh) * 2010-08-23 2012-07-04 德国福维克控股公司 可自动移动的设备

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
User-Centered Approach to Path Planning of Cleaning Robots: Analyzing User’s Cleaning Behavior;Hyunjin Kim,et al.;《Proceedings of the ACM/IEEE international conference on Human-robot interaction》;20071231;全文 *

Also Published As

Publication number Publication date
EP3822730B1 (de) 2022-12-07
EP3030943A1 (de) 2016-06-15
JP2016527977A (ja) 2016-09-15
JP6406680B2 (ja) 2018-10-17
WO2015018437A1 (de) 2015-02-12
US10478037B2 (en) 2019-11-19
US20160150933A1 (en) 2016-06-02
EP3822730A1 (de) 2021-05-19
CN105593775A (zh) 2016-05-18
EP3030943B1 (de) 2020-10-07

Similar Documents

Publication Publication Date Title
CN105593775B (zh) 用于运行地板清洁机的方法以及地板清洁机
CN108968805B (zh) 自主地板清洁系统
ES2902488T3 (es) Sistema que consiste de un dispositivo de tratamiento de suelos guiado puramente de forma manual y de un dispositivo de tratamiento de suelos operado automáticamente y un método para operar un sistema de este tipo
CN113631334B (zh) 移动机器人和控制多个移动机器人的方法
JP6054425B2 (ja) 自己位置推定を自動的に実行する方法
US20180263449A1 (en) Floor cleaning system and method for cleaning a floor surface
JP6086733B2 (ja) 自走式装置並びにこのような装置の運転方法
US20170235312A1 (en) Autonomous mobile object and autonomous mobile object system
JP2019034136A (ja) 自律移動する掃除機の動作方法
KR101697557B1 (ko) 자율 청소 로봇 시스템
CN113966187B (zh) 移动机器人和移动机器人的控制方法
CN111459156A (zh) 具有第一和第二地面处理设备的系统和运行系统的方法
US11119216B1 (en) Efficient coverage planning of mobile robotic devices
CN113100661B (zh) 用于运行包括两个自动行走的地面处理设备的系统的方法
KR102818492B1 (ko) 흡입 제한물을 회피할 수 있는 이동로봇 및 이동로봇의 흡입 제한물 회피 방법
KR102795181B1 (ko) 인공 지능 청소기 및 그의 동작 방법
KR102774726B1 (ko) 로봇 청소기 및 이의 제어 방법
JP7295657B2 (ja) 自律走行体装置
KR20250167943A (ko) 청소 로봇 및 이의 청소 방법
CN108784543A (zh) 清洁电器的定位方法、系统、设备和可存储介质

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
CB02 Change of applicant information
CB02 Change of applicant information

Address after: German Wen Nendeng

Applicant after: ALFRED KARCHER GmbH & Co.KG

Applicant after: ROBART GmbH

Address before: German Wen Nendeng

Applicant before: ALFRED KARCHER GmbH & Co.KG

Applicant before: ROBART GMBH

GR01 Patent grant
GR01 Patent grant
TR01 Transfer of patent right
TR01 Transfer of patent right

Effective date of registration: 20200511

Address after: Linz, Austria

Patentee after: ROBART GmbH

Address before: German Wen Nendeng

Co-patentee before: ROBART GmbH

Patentee before: ALFRED KARCHER GmbH & Co.KG

TR01 Transfer of patent right
TR01 Transfer of patent right

Effective date of registration: 20250205

Address after: Leontin, Austria

Patentee after: Rotrad Asset Management Co.,Ltd.

Country or region after: Austria

Address before: Linz, Austria

Patentee before: ROBART GmbH

Country or region before: Austria

TR01 Transfer of patent right
TR01 Transfer of patent right

Effective date of registration: 20250605

Address after: St. Georgen, Germany

Patentee after: Papst Licensing GmbH & Co.KG

Country or region after: Germany

Address before: Leontin, Austria

Patentee before: Rotrad Asset Management Co.,Ltd.

Country or region before: Austria