DE10357635A1 - Floor cleaning device - Google Patents
Floor cleaning device Download PDFInfo
- Publication number
- DE10357635A1 DE10357635A1 DE10357635A DE10357635A DE10357635A1 DE 10357635 A1 DE10357635 A1 DE 10357635A1 DE 10357635 A DE10357635 A DE 10357635A DE 10357635 A DE10357635 A DE 10357635A DE 10357635 A1 DE10357635 A1 DE 10357635A1
- Authority
- DE
- Germany
- Prior art keywords
- floor cleaning
- cleaning appliance
- brush
- floor
- particular according
- 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.)
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Classifications
-
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4072—Arrangement of castors or wheels
-
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/34—Machines for treating carpets in position by liquid, foam, or vapour, e.g. by steam
-
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
-
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
-
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
- A47L11/4041—Roll shaped surface treating tools
-
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4052—Movement of the tools or the like perpendicular to the cleaning surface
- A47L11/4058—Movement of the tools or the like perpendicular to the cleaning surface for adjusting the height of the tool
-
- 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
- A47L9/02—Nozzles
- A47L9/04—Nozzles with driven brushes or agitators
-
- 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
- A47L9/10—Filters; Dust separators; Dust removal; Automatic exchange of filters
- A47L9/14—Bags or the like; Rigid filtering receptacles; Attachment of, or closures for, bags or receptacles
- A47L9/1427—Means for mounting or attaching bags or filtering receptacles in suction cleaners; Adapters
- A47L9/1436—Connecting plates, e.g. collars, end closures
- A47L9/1445—Connecting plates, e.g. collars, end closures with closure means
- A47L9/1454—Self-sealing closures, e.g. valves
-
- 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
-
- 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)
- Mechanical Engineering (AREA)
- Electric Vacuum Cleaner (AREA)
- Electric Suction Cleaners (AREA)
- Nozzles For Electric Vacuum Cleaners (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Cleaning In General (AREA)
- Geophysics And Detection Of Objects (AREA)
- Cleaning Of Streets, Tracks, Or Beaches (AREA)
Abstract
Description
Die Erfindung betrifft zunächst ein Bodenreinigungsgerät, insbesondere Reinigungsroboter, mit einem elektromotorischen Antrieb und mit Verfahrrädern und/oder einer angetriebenen Bürste, wobei eine Bodenerkennung durchgeführt wird.The Invention relates first a floor cleaning device, in particular cleaning robot, with an electric motor drive and with tractors and / or a powered brush, wherein a ground detection is performed.
Bei Bodenreinigungsgeräten ist es bekannt, eine Bodenerkennung einzusetzen, zur Ermittlung des zu reinigenden Bodens. So sind bspw. in Abhängigkeit vom ermittelten Bodenbelag unterschiedliche Reinigungsverhalten wählbar. Eine solche Bodenerkennung kann bei einem Bodenreinigungsgerät, welches als Vorsatzgerät für einen üblichen, handgeführten Haushaltsstaubsauger ausgebildet ist, wahlweise zum Ein-/Ausschalten einer elektromotorisch angetriebenen Bürstenwalze, zum Anheben bzw. Absenken von einem Saugraum des Vorsatzgerätes begrenzenden Vorhangmitteln oder zur Leistungsänderung des staubsaugerseitigen Sauggebläses herangezogen werden. Bei Reinigungsrobotern, welche autonom arbeitend großflächig Bodenbeläge reinigen, werden solche Bodenerkennungen genutzt, um das Reinigungsverhalten zu ändern oder um bestimmte Bereiche zu meiden. Bekannt sind diesbezüglich Lösungen, bei welchen mit Hilfe von Ultraschall, der von einem Transceiver abgestrahlt und vom Boden reflektiert wird, eine Aussage über den Bodenbelag treffen. Dabei ist die Reflexion auf Hartböden größer als auf Teppichböden, die den Schall stärker dämpfen. Diese bekannte Lösung erweist sich dahingehend als problematisch, da verschiedene aufgrund der Reflexion ermittelte Böden nur schwer einzuordnen sind. So gibt es Hartböden wie bspw. Kork, die den Ultraschall sehr schwach reflektieren. Dadurch kann es zu eine Fehlauswertung durch die Schaltung kommen. Auch können stark dämpfende Teppiche eine Reflexion verhindern, so dass eine genaue Auswertung nicht möglich ist. Weitere bekannte Lösungen sehen eine Reflex-Lichtschranke vor, zur Detektierung von Höhenunterschieden auf dem Boden, womit Teppichkanten erkannt werden kön nen. Jedoch können mit Hilfe dieser Reflex-Lichtschranken nicht die Böden in ihrer Eigenschaft als Teppichboden oder Hartboden unterschieden werden.at Floor cleaning equipment it is known to use a ground detection, to determine the to be cleaned soil. For example, depending on the determined floor covering different cleaning behavior selectable. Such a ground detection can in a floor cleaning device, which is used as an attachment for a conventional, hand-held Household vacuum cleaner is designed, optionally to turn on / off an electric motor driven brush roller, for lifting or Lowering of a suction of the attachment limiting curtain means or to change the service the vacuum cleaner side suction fan be used. For cleaning robots working autonomously cleaning floor coverings over a large area, Such soil detections are used to control the cleaning behavior to change or to avoid certain areas. Solutions are known in this regard, in which with the help of ultrasound, by a transceiver radiated and reflected from the ground, a statement about the flooring to meet. The reflection on hard floors is greater than on carpets, the the sound stronger dampen. This known solution proves to be problematic because of different due of the reflection determined soils difficult to classify. So there are hard floors such as cork, the Reflect ultrasound very weakly. This can lead to incorrect evaluation the circuit will come. Also can strong steaming Carpets prevent a reflection, allowing an accurate evaluation not possible is. Other known solutions provide a reflex photoelectric sensor to detect height differences on the floor, with which edges of carpet can be detected. however can with the help of these reflex photoelectric sensors not the floors in their Property can be distinguished as carpet or hard floor.
Im Hinblick auf den zuvor beschriebenen Stand der Technik wird eine technische Problematik der Erfindung darin gesehen, ein Bodenreinigungsgerät der in Rede stehenden Art derart verbessert auszugestalten, dass bei einfachem Aufbau eine sichere Erkennung des Bodenbelags ermöglicht ist.in the With regard to the prior art described above, a technical problem of the invention seen in it, a floor cleaning device of Speech standing style improved to design that with a simple Construction a safe detection of the flooring is possible.
Diese Problematik ist zunächst und im Wesentlichen durch den Gegenstand des Anspruchs 1 gelöst, wobei darauf abgestellt ist, dass die Bodenerkennung mittels Erfassung eines Schlupfes und/oder eines Fahrwiderstands durchgeführt wird. Zufolge der Ausgestaltung ist eine sichere Erkennung des Bodenbelages erreicht, welche insbesondere bei Reinigungsrobotern aber darüber hinaus auch bei Vorsatzgeräten für übliche Haushaltsstaubsauger zum Einsatz kommen kann. Der Boden wird unabhängig von einem Reflexionsverhalten zuverlässig erkannt. Da der Fahrwiderstand der geräteseitigen Verfahrräder und der Schlupf gegenüber dem Boden auf Teppich größer sind als auf Hartboden, ist die Drehgeschwindigkeit der Verfahrräder des Bodenreinigungsgerätes auf Teppichböden geringer. Dies gilt auch für eine vorgesehene elektromotorisch angetriebene Bürste des Bodenreinigungsgeräts, deren Rotationsgeschwindigkeit auf Teppichböden gegenüber Hartböden verringert ist. Der Schlupf wird über einen Vergleich zwischen gefahrener Strecke und Umdrehungen eines angetriebenen Verfahrrads und/oder einer angetriebenen Bürste ermittelt. Zudem wird der Fahrwiderstand auf Basis der Stromaufnahme des Antriebsmotors des Verfahrrades und/oder der Bürste ermittelt. So steigt die Stromaufnahme des Verfahrrad-Antriebsmotors auf Teppichböden, dies bedingt durch den größeren Widerstand. Auch bei einer elektromotorisch angetriebenen Bürste, welche den zu reinigenden Boden bearbeitet, vergrößert sich der Widerstand auf Teppichböden, was zu einer Erhöhung der Stromaufnahme des diesbezüglichen Antriebsmotors führt. Zur Erfassung der gefahrenen Strecke weist das Bodenreinigungsgerät einen Sensor auf, welcher Sensor in einer beispielhaften Ausgestaltung ein Mitlaufrad ist. Wird die über den Sensor gemessene Strecke in Bezug zu der verstrichenen Zeit seit der letzten Messung gesetzt, kann eine Aussage über die Geschwindigkeit des Bodenreinigungsgeräts, insbesondere des Reinigungsroboters gemacht werden. Das Bodenreinigungsgerät weist einen elektronischen Speicher auf, in dem Vergleichswerte für Schlupf und/oder Fahrwiderstand verschiedener Bodenbeläge abgelegt sind. So sind Sollwerte für einen Referenzboden, zum Beispiel Hartboden, Teppichboden, hinterlegt. Zur prozessorunterstützten Erkennung des befahrenen Bodens weist das Bodenreinigungsgerät eine Rechnereinheit auf, die die gemessenen Werte mit den abgelegten Werten im Vergleich setzt und hieraus ein Signal für die Navigation und/oder Antriebsleistung der Bürste bzw. Verfahrräder und/oder ein Signal zur Einstellung der Bürsten und/oder den Fahrwiderstand beeinflussender, geräteseitiger Elemente ableitet. So kann beispielsweise bei einem Reinigungsroboter eine erfindungsgemäße Bodenerkennung dazu genutzt werden, diesen zur Vermeidung des Befahrens vorgegebender Bodenbeläge entsprechend zu manövrieren. Auch kann bei einem derartigen Reinigungsroboter, aber auch bei einem Bodenreinigungsgerät in Form eines Staubsauger-Vorsatzgerätes, die Antriebsleistung der Bürste angepasst werden, so zur schonenden Bürstbearbeitung des ermittelten Bodenbelages. Neben der Änderung der Bürstendrehzahl kann auch die Vorstandslage der Bürsten in Abhängigkeit vom ermittelten Bodenbelag geändert werden. Eine weitere bodenbelagsabhängige Maßnahme besteht beispielsweise in einem Anheben oder Absenken von, einen Saugraum begrenzenden Vorhangmitteln, beispielsweise in Form von Bürstenleisten.This problem is initially and essentially solved by the subject matter of claim 1, wherein it is aimed at that the ground detection is performed by detecting a slip and / or a driving resistance. According to the embodiment, a reliable detection of the floor covering is achieved, which can be used in particular in cleaning robots but also in attachments for conventional household vacuum cleaner. The soil is reliably detected independently of reflection behavior. Since the driving resistance of the device-side traversing wheels and the slippage relative to the floor on carpet are greater than on hard floor, the rotational speed of the traversing wheels of the floor cleaning device on carpets is lower. This also applies to a proposed electric motor driven brush of the floor cleaning device, whose rotational speed is reduced on carpets compared to hard floors. The slip is determined by a comparison between the distance traveled and revolutions of a driven traversing wheel and / or a driven brush. In addition, the driving resistance is determined on the basis of the current consumption of the drive motor of the traversing wheel and / or the brush. Thus, the power consumption of the Verfahrrad drive motor increases on carpets, due to the greater resistance. Even with an electric motor-driven brush, which processes the floor to be cleaned, the resistance increases to carpets, which leads to an increase in power consumption of the relevant drive motor. To detect the distance traveled, the floor cleaning device has a sensor, which sensor is an idler wheel in an exemplary embodiment. If the distance measured via the sensor is set in relation to the elapsed time since the last measurement, it is possible to make a statement about the speed of the floor cleaning device, in particular of the cleaning robot. The floor cleaning device has an electronic memory in which comparison values for slip and / or driving resistance of various floor coverings are stored. Thus, target values for a reference floor, for example hard floor, carpet, are deposited. For processor-assisted detection of the traversed floor, the floor cleaning device has a computer unit which compares the measured values with the stored values and from this a signal for the navigation and / or drive power of the brush or traction wheels and / or a signal for adjusting the brushes and / or the driving resistance influencing, device-side elements derived. Thus, for example, in the case of a cleaning robot, a ground detection according to the invention can be used to maneuver it accordingly to avoid the occurrence of ground coverings. Also, in such a cleaning robot, but also in a floor cleaning device in the form of a vacuum cleaner attachment, the An Drilling performance of the brush to be adjusted, so for gentle brushing of the determined floor covering. In addition to the change in the brush speed and the board position of the brushes can be changed depending on the determined flooring. Another flooring-dependent measure consists for example in a raising or lowering of a suction space limiting curtain means, for example in the form of brush strips.
Die
Erfindung betrifft des Weiteren ein Bodenreinigungsgerät, insbesondere
Reinigungsroboter, mit einer angetriebenen Bürste und einer Aufnahme für Schmutz,
wobei die Aufnahme neben einer Eintragsöffnung gegebenenfalls zu sätzlich einer Austragsöffnung aufweist
und die Eintragsöffnung und
gegebenenfalls die Austragsöffnung
Verschlussmittel aufweisen, die jedenfalls bei ausgeschaltetem Gerät die jeweilige Öffnung verschließen. Bodenreinigungsgeräte der in
Rede stehenden Art sind bekannt, so wird beispielsweise auf die
Die Erfindung ist nachstehend anhand der beigefügten Zeichnungen, welche lediglich mehrere Ausführungsbeispiele darstellen, näher erläutert. Es zeigt:The Invention is hereinafter with reference to the accompanying drawings, which only several embodiments represent, closer explained. It shows:
Dargestellt
und beschrieben ist ein Bodenreinigungsgerät
Die
Verfahrräder
In üblicher
Verfahrrichtung r ist der Bürste
Es
besteht das Bedürfnis,
insbesondere bei einem Reinigungsroboter, dessen Verhalten auf die Beschaffenheit
des gefahrenen Bodens
Der
Schlupf wird hierbei über
einen Vergleich zwischen gefahrener Strecke des Bodenreinigungsgerätes
Alternativ
oder auch kombinativ zur Bodenerkennung mittels Schlupferfassungen
kann die Bodenerkennung auch durch Ermittlung des Fahrwiderstandes
durchgeführt
werden, wozu bei einer schlupffreien Übersetzung bspw. über einen
Zahnriemen zwischen Antriebsmotor und Abtriebsmittel die Stromaufnahme
des Elektromotors
Das
stirnseitig angeordnete Mitlaufrad
Dem
Prozessor
Erfindungsgemäß wird demnach
die gefahrene Strecke durch das Mitlaufrad
Die
von dem Prozessor
Die
in den
Hierzu
kann die Aufnahme
In
der Ausführungsform
gemäß den Darstellungen
in den
In
der üblichen
Betriebsstellung gemäß der Darstellung
in
Die
bereits eingangs erwähnte
Schmutzrampe
Ein
wie in
Alternativ
zu diesem mit dem Fahrwerk
Eine
weitere alternative Ausgestaltung zum selbsttätigen Verschließen der
Aufnahme-Eintragsöffnungs
In
der üblichen
Betriebsstellung (dargestellten
Wird
das Bodenreinigungsgerät
Nicht
dargestellt, jedoch handhabungstechnisch vorteilhaft ist eine Ausgestaltung,
bei welcher die relative Vertikalverlagerbarkeit des Bodenreinigungsgerätes
Auch
kann der Verschluss der Aufnahme-Eintragsöffnung
Die
Bei
einer Zusammenwirkung des Kniehebelmechanismus
Auch
kann zum Verschluss der Aufnahme
Bei
einem Ausschalten des Geräts
durch den Benutzer oder aber auch bei einem durch Abgrundsensoren
Auch
kann gemäß den Darstellungen
in den
Alle offenbarten Merkmale sind (für sich) erfindungswesentlich. In die Offenbarung der Anmeldung wird hiermit auch der Offenbarungsinhalt der zugehörigen/beigefügten Prioritätsunterlagen (Abschrift der Voranmeldung) vollinhaltlich mit einbezogen, auch zu dem Zweck, Merkmale dieser Unterlagen in Ansprüche vorliegender Anmeldung mit aufzunehmen.All disclosed features are essential to the invention. The disclosure of the associated / attached priority documents (copy of the prior application) is hereby also incorporated in full in the disclosure of the application, also for the purpose of disclosing features of these documents in claims of the present application to take.
Claims (18)
Priority Applications (9)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10357635A DE10357635B4 (en) | 2003-12-10 | 2003-12-10 | Floor cleaning device |
PCT/EP2004/053387 WO2005055796A2 (en) | 2003-12-10 | 2004-12-10 | Floor cleaning device with means for detecting the floor |
RU2006124526/12A RU2006124526A (en) | 2003-12-10 | 2004-12-10 | FLOOR CLEANING DEVICE |
AT04804760T ATE499869T1 (en) | 2003-12-10 | 2004-12-10 | FLOOR CLEANING DEVICE WITH SOIL DETECTION MEANS |
DE502004012276T DE502004012276D1 (en) | 2003-12-10 | 2004-12-10 | BOTTOM CLEANING DEVICE WITH MEANS FOR GROUND DETECTION |
JP2006543550A JP4680204B2 (en) | 2003-12-10 | 2004-12-10 | Floor vacuum cleaner |
EP08102421A EP1935311A1 (en) | 2003-12-10 | 2004-12-10 | Floor cleaning device |
CN200480036904.4A CN1889882A (en) | 2003-12-10 | 2004-12-10 | Floor cleaning device with means for detecting the floor |
EP04804760A EP1706012B1 (en) | 2003-12-10 | 2004-12-10 | Floor cleaning device with means for detecting the floor |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10357635A DE10357635B4 (en) | 2003-12-10 | 2003-12-10 | Floor cleaning device |
Publications (2)
Publication Number | Publication Date |
---|---|
DE10357635A1 true DE10357635A1 (en) | 2005-07-07 |
DE10357635B4 DE10357635B4 (en) | 2013-10-31 |
Family
ID=34638565
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE10357635A Expired - Fee Related DE10357635B4 (en) | 2003-12-10 | 2003-12-10 | Floor cleaning device |
DE502004012276T Active DE502004012276D1 (en) | 2003-12-10 | 2004-12-10 | BOTTOM CLEANING DEVICE WITH MEANS FOR GROUND DETECTION |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE502004012276T Active DE502004012276D1 (en) | 2003-12-10 | 2004-12-10 | BOTTOM CLEANING DEVICE WITH MEANS FOR GROUND DETECTION |
Country Status (7)
Country | Link |
---|---|
EP (2) | EP1706012B1 (en) |
JP (1) | JP4680204B2 (en) |
CN (1) | CN1889882A (en) |
AT (1) | ATE499869T1 (en) |
DE (2) | DE10357635B4 (en) |
RU (1) | RU2006124526A (en) |
WO (1) | WO2005055796A2 (en) |
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE202010005573U1 (en) | 2010-06-07 | 2010-08-19 | Vorwerk & Co. Interholding Gmbh | Automatically movable device |
DE102009024990A1 (en) | 2009-06-16 | 2010-12-23 | Vorwerk & Co. Interholding Gmbh | Electronic device has holder for remote control, where remote control is detachable, and electronic device is controllable by remote control integrated in holder and by unconnected remote control |
DE102009052629A1 (en) | 2009-11-10 | 2011-05-12 | Vorwerk & Co. Interholding Gmbh | Method for controlling a robot |
DE102010016208A1 (en) | 2010-03-30 | 2011-10-06 | Vorwerk & Co. Interholding Gmbh | Method for finding object by automatically movable device such as suction device or scavenging device, involves transporting or arranging object independent of device |
EP3357395A1 (en) * | 2017-02-01 | 2018-08-08 | Vorwerk & Co. Interholding GmbH | Automatic travelling cleaner |
DE102012107765B4 (en) * | 2012-08-23 | 2020-02-13 | Miele & Cie. Kg | Robotic vacuum and method for operating a robotic vacuum |
EP3944801A1 (en) * | 2020-07-30 | 2022-02-02 | Miele & Cie. KG | Self-propelled floor cleaning device |
DE102022203701A1 (en) | 2022-04-12 | 2023-10-12 | Volkswagen Aktiengesellschaft | Cleaning robot for cleaning a surface |
DE102022207500B3 (en) | 2022-07-21 | 2023-11-02 | BSH Hausgeräte GmbH | Method for operating a mobile, self-propelled device |
Families Citing this family (57)
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- 2004-12-10 DE DE502004012276T patent/DE502004012276D1/en active Active
- 2004-12-10 AT AT04804760T patent/ATE499869T1/en active
- 2004-12-10 WO PCT/EP2004/053387 patent/WO2005055796A2/en active Application Filing
- 2004-12-10 JP JP2006543550A patent/JP4680204B2/en not_active Expired - Fee Related
- 2004-12-10 CN CN200480036904.4A patent/CN1889882A/en active Pending
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WO2005055796A3 (en) | 2005-11-10 |
CN1889882A (en) | 2007-01-03 |
RU2006124526A (en) | 2008-01-20 |
JP2007513660A (en) | 2007-05-31 |
ATE499869T1 (en) | 2011-03-15 |
DE10357635B4 (en) | 2013-10-31 |
JP4680204B2 (en) | 2011-05-11 |
EP1935311A1 (en) | 2008-06-25 |
EP1706012A2 (en) | 2006-10-04 |
DE502004012276D1 (en) | 2011-04-14 |
EP1706012B1 (en) | 2011-03-02 |
WO2005055796A2 (en) | 2005-06-23 |
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