EP1706012A2 - Appareil pour le nettoyage des sols comportant des moyens pour detecter le sol - Google Patents

Appareil pour le nettoyage des sols comportant des moyens pour detecter le sol

Info

Publication number
EP1706012A2
EP1706012A2 EP04804760A EP04804760A EP1706012A2 EP 1706012 A2 EP1706012 A2 EP 1706012A2 EP 04804760 A EP04804760 A EP 04804760A EP 04804760 A EP04804760 A EP 04804760A EP 1706012 A2 EP1706012 A2 EP 1706012A2
Authority
EP
European Patent Office
Prior art keywords
cleaning device
floor cleaning
floor
brush
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.)
Granted
Application number
EP04804760A
Other languages
German (de)
English (en)
Other versions
EP1706012B1 (fr
Inventor
Patrick Schlischka
Günter POPPEN
Jörg Sommer
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.)
Vorwerk and Co Interholding GmbH
Original Assignee
Vorwerk and Co Interholding GmbH
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
Application filed by Vorwerk and Co Interholding GmbH filed Critical Vorwerk and Co Interholding GmbH
Priority to EP08102421A priority Critical patent/EP1935311A1/fr
Publication of EP1706012A2 publication Critical patent/EP1706012A2/fr
Application granted granted Critical
Publication of EP1706012B1 publication Critical patent/EP1706012B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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

Definitions

  • the invention initially relates to a floor cleaning device, in particular a cleaning robot, with an electric motor drive and with traversing wheels and / or a driven brush, with floor detection being carried out.
  • floor cleaning devices it is known to use a floor detection system to determine the floor to be cleaned. For example, different cleaning behavior can be selected depending on the floor covering determined.
  • floor detection can be used in a floor cleaning device, which is designed as a front attachment for a conventional, hand-held household vacuum cleaner, optionally for switching on / off an electric motor-driven brush roller, for raising or lowering curtain means limiting a suction space of the front attachment or for changing the output of the vacuum blower on the vacuum cleaner side be used.
  • cleaning robots which autonomously work large areas of floor coverings, such floor detections are used to change the cleaning behavior or to avoid certain areas.
  • the slip is determined by comparing the distance traveled and revolutions of a driven travel wheel and / or a driven brush.
  • the driving resistance is determined on the basis of the current consumption of the drive motor of the traveling wheel and / or the brush. This increases the current consumption of the traction wheel drive motor on carpets, due to the greater resistance. Even with an electric motor-driven brush that works on the floor to be cleaned, it enlarges the resistance on carpets, causing an increase in the current draw of the related
  • 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 related to the elapsed time since the last measurement, a statement can be made 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 different floor coverings are stored. In this way, target values for a reference floor, for example hard floor, carpet, are stored.
  • 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 travel wheels and / or a signal for setting the brushes and / or derives elements influencing the driving resistance.
  • a floor recognition according to the invention can be used to maneuver the floor coverings in a predetermined manner in order to avoid driving onto them.
  • the drive power of the brush can be adjusted, so that the determined floor covering is cleaned gently.
  • the brush position can also be changed depending on the determined floor covering.
  • the invention further relates to a floor cleaning device, in particular a cleaning robot, with a driven brush and a receptacle for dirt, the receptacle optionally having an discharge opening in addition to an entry opening and the entry opening and optionally the discharge opening having closure means, which in each case have the respective function when the device is switched off Close the opening.
  • Floor cleaning devices of the type in question are known, for example reference is made to DE 44 14683 A1, from which a carpet cleaning device, in particular a Keli machine, for example a carpet sweeper, is known, with a receptacle for swept dirt and a discharge opening in the receptacle, via which Discharge opening of the collected dirt can be sucked off with a vacuum cleaner after finishing the sweeping work.
  • This discharge opening of the receptacle can be closed, for example, by a blind.
  • the opening and closing of the holder corresponds to the operating status. There is thus a normal operating state in which the closure means are held in an open position because the floor cleaning device fender brush stands on the floor to be cleaned or is moved over it.
  • the locking means can also be actuated automatically as a function of an operating state of the device, so that they can be actively moved into the locking position or out of this into the opening position via locking mechanisms. According to the invention, it is actuated by lifting the device. As a result of this configuration according to the invention, any leakage of dirt collected in the receptacle is counteracted, for example when the floor cleaning device is being transported. It is also conceivable that an undercarriage which can be extended in the course of lifting causes the opening to be closed by a lever.
  • a counter torque of an electric drive motor can also be used to actuate the closing means, the counter torque of the drive motor of the brush and / or that of the driving movement preferably being used.
  • This can also be combined as a function of lifting the device, this lifting being recognized by abyss sensors known per se, according to which the drive motor stops, consequently the counter-torque ceases and a mechanism coupled to the motor shifts the locking means into the locking position.
  • the general stopping of the drive motor for the brush and / or for the travel movement also leads to the same reaction by closing the preferably spring-loaded or gravity-operated closure means.
  • a separate actuating means acts on the closure means, further preferably the separate actuating means being an electric motor or an actuator of a different design.
  • the receptacle is mounted so that it can move vertically in the device and, due to its own weight, is displaced vertically downwards when the device is lifted in the course of this shift, the opening moves relative to a closure means into the closed position.
  • the closure means is preferably a wall or the like on the device housing side, which pushes the receptacle in a closing manner in front of the opening when the device is lifted.
  • a separate fan be assigned to the receptacle, a path of movement of the fan blades coinciding with the opening and a fan blade closing the opening at a standstill.
  • Figure 1 is a perspective view of a floor cleaning device according to the invention in the form of a cleaning robot
  • Figure 2 shows the floor cleaning device in a perspective bottom view.
  • FIG. 3 shows a schematic side view of the floor cleaning device with an electric motor-driven brush and a travel wheel and means for floor detection;
  • Fig. 4 is a schematic partial representation of a floor cleaning device with a receptacle for dirt and one opposite.
  • Device housing sprung chassis, an open position of the recording;
  • FIG. 5 shows a representation corresponding to FIG. 4, but relating to the closed position of the receiving opening after the device has been raised;
  • 6 shows a further schematic partial representation of a floor cleaning device in a further embodiment with the receptacle open;
  • FIG. 7 shows a representation according to FIG. 6, but relating to the closed position of the receiving opening after lifting the device:
  • FIG. 8 shows a schematic partial representation of the floor cleaning device in a further embodiment, relating to the operating position when the receptacle is open;
  • FIG. 9 shows a representation corresponding to FIG. 8, however after switching off an electric drive for a brush and thus closing the receptacle;
  • FIG. 10 shows a schematic partial representation of a floor cleaning device in a further embodiment relating to the operating position
  • FIG. 11 shows a representation according to FIG. 10, but relating to the closed position of the receptacle
  • FIG. 12 shows, in a further embodiment, a schematic partial representation of the floor cleaning device in an open position of the receptacle
  • FIG. 13 shows a representation corresponding to FIG. 12, but with the receiving opening closed after the device has been lifted.
  • a floor cleaning device 1 in the form of a cleaning robot with a chassis 2, which on the underside, facing the floor 10 to be maintained, carries electromotively driven traversing wheels 3 and a brush 5, which also protrudes beyond the lower edge of the chassis bottom 4 and is also electromotively driven.
  • the chassis 2 is overlaid by a device hood 6, the floor cleaning device 1 having a circular outline.
  • the traversing wheels 3 are arranged in the usual traversing direction r of the floor cleaning device 1 of the brush 5, with the brush 5 also having a dustpan-like dirt ramp 7, via which the brushed dirt is thrown off into a container-like ahnie 8.
  • a support wheel in the form of a follower wheel 9 is positioned upstream of the brush 5 in the usual direction of travel r, according to which a three-point support of the floor cleaning device 1 is reached on the floor 10 to be maintained.
  • a floor detection is provided, which by detecting slip and / or driving resistance, in particular the traction wheels 3, but also alternatively or in combination of the brush 5.
  • the slip is determined here by comparing the distance traveled by the floor cleaning device 1 and the revolutions of the travel wheel 3 driven by the electric motor 11 and / or the brush 5 driven by the electric motor 12.
  • the rotation determination can preferably be carried out take place directly on the travel wheel 3 or on the brush 5 or alternatively on the travel wheel 3 and on the brush 5.
  • the ground detection can also be carried out by determining the driving resistance, for which purpose with a slip-free translation, for example via a toothed belt between the drive motor and the output means, the current consumption of the electric motor 11 of the traversing wheel 3 and / or the current consumption of the motor 12 Brush 5 is detected.
  • the idler wheel 9 arranged at the end serves to record the distance traveled and has a sensor 13, the values of which are recorded by a processor 14 integrated in the floor cleaning device 1.
  • the determined number of revolutions of the travel wheel 3 and / or the brush 5 and, alternatively or also in combination, the values of the current consumption of the travel wheel electric motor 11 and / or the brush electric motor 12 are also transmitted to the latter.
  • An electronic memory 15 is also assigned to the processor 14, in which comparison values for slip and / or driving resistance of different floor coverings are stored.
  • the processor sets the measured values such as slip and / or driving resistance of the travel wheel 3 or the travel wheel electric motor 11 and / or the brush 5 or the brush electric motor 12 with the values stored in the memory 15. same and derives a signal for controlling the floor cleaning device 1.
  • the distance traveled is recorded by the Mitiaufrad 9, which distance measured in relation to the elapsed time since the last measurement. From this, a clear statement about the speed of the floor cleaning device 1 can be achieved. Since the driving resistance and the slip with respect to the floor 10 is greater on carpet than on hard floor, the speed of the floor cleaning device 1 on carpet is lower. In addition, due to the greater resistance, the current of the electric motor 11 of the travel wheel 3 increases. This also applies to the brush 5 of the floor cleaning device 1, the mechanical resistance of which increases on carpets, which has an increase in the current consumption. The speed of rotation of the brush 5 also decreases.
  • the values recorded by the processor 14 are compared with the stored target values for a reference floor.
  • the signal derived from this can be used, for example, to navigate the floor cleaning device 1, in particular in the case of floor cleaning devices 1, in particular cleaning robots, which should not be used on certain floor coverings.
  • the drive power of the brush 5 or the travel wheels 3 can also be adapted in accordance with the determined floor covering.
  • a signal for setting the brushes 5, in particular the board position of the brush 5, can also be derived via the chassis floor 4, so that the brush 5 is raised, for example, for more gentle brushing of carpets by means of a rocker arrangement known per se.
  • the receptacle 8 shown schematically in one embodiment in FIGS. 4 and 5 can be closed depending on an operating state of the floor cleaning device 1. It is provided that the receptacle 8 is closed when the floor cleaning device 1 is lifted from the floor 10 to be maintained and / or when the floor cleaning device 1 is switched off, in particular when the electric motors 11 and / or 12 of the traversing wheels 3 and / or the brush 5 are switched off , so that already in the recording 8 Collected dust or dirt cannot escape uncontrollably.
  • the receptacle 8 can have an activatable closure means 16 in the form of a closure flap 17, which in any case closes an entry opening 18 of the receptacle 8 due to the operating state.
  • closure flap 17 is articulated on the top side of an entry opening 18.
  • the free end of the closure flap 17 is connected via a lever 19 extending to the side of the receptacle 8 to an axis of a travel wheel 3, which is part of an extendable undercarriage 20.
  • the chassis 2 of the floor cleaning device 1 which is not shown in more detail here, is supported on the chassis 19, for example in the region of an axle 21, by means of a shell-like support surface 20, for example.
  • the latter is loaded via a tension spring 22 in the direction of the support shell 20.
  • the dirt ramp 7 already mentioned at the beginning is articulated in the region of the lower edge of the entry opening 18, ie. H. articulated in the area opposite the articulation area of the closure flap 17.
  • a lifting of the floor cleaning device 1 by abyss sensors 24 can also be detected, with a corresponding logic deriving a signal for closing the entry opening 18.
  • an actuator furthermore, for example, a servo motor, can move the closure flap 17 into the closed position.
  • Such an actuator can also be used to achieve the closed position when the floor cleaning device 1 has come to a standstill.
  • FIGS. 6 and 7 show a further alternative embodiment for automatically closing the receiving entry opening 18.
  • the receiving device is floatingly supported in the floor cleaning device 1 or in the chassis 2, so that the floor cleaning device 1 can be moved relatively to the receiving device 8 in the vertical direction is.
  • the chassis 2 In the usual operating position (shown in FIG. 6), the chassis 2 is supported on the receptacle 8, for which the chassis 2 further has a pocket-like cavity
  • the receptacle 8 for collecting the swept up or sucked-up dirt is dragged along, which receptacle 8 slides over the floor 10 on skid-like spacers 33.
  • Chassis 2 enters a chassis wall 26, which forms the closure means 16, in front of the entry opening 18 of the receptacle 8, which closes the latter.
  • a chassis wall 26 which forms the closure means 16, in front of the entry opening 18 of the receptacle 8, which closes the latter.
  • the relative vertical displacement of the floor cleaning device 1 or the chassis 2 is limited in relation to the receptacle 8, so that a further lifting from the position shown in FIG. 7 causes the receptacle 8 to be carried along.
  • the closure of the receiving entry opening 18 can also be coupled to the operating state of the brush 5 driven by the electric motor 12 and / or of the traversing wheels driven by the electric motor 11.
  • a mechanical closing of the entry opening 18 can thus be achieved by switching off these electric motors 11, 12 by the user or, as already indicated, by a sensor system for abyss detection when the floor cleaning device 1 is raised. 8 and 9 show an embodiment of this.
  • the closure means 16 is designed as a closure flap 17 articulated in the upper edge region of the entry opening 18.
  • this closure flap 17 is coupled to the motor - in the illustrations the electric motor 12 for the brush 5 - via a toggle lever mechanism 27, a tension spring 29 fixed on the chassis side in the area of the knee joint 28 moving the mechanism 27 into a closed position of the closure flap 17 biases.
  • a ventilator which supports the air flow to convey the dirt into the receptacle 8, can also be used to close the receptacle 8
  • the fan 30 When the device is switched off by the user or when the floor cleaning device 1 is lifted by abyss sensors 24, the fan 30 is brought into the closed position by an electric motor and switched off after reaching this position, the reaching of the closed position being monitored, for example, by a light barrier can be.
  • a closure flap 17 which is articulated on the receptacle 8 can be coupled via a lever 23 to a floating or pivotable cleaning unit 32, the latter essentially consisting of the electric motor 12 and the one driven by it Brush 5, which is on a common, Swivel arm, not shown, are pivotally mounted about a horizontal axis.
  • this cleaning unit 32 rests in a known manner on the floor 10 to be cleaned with the brush 5 depending on the force of gravity.
  • Lifting the floor cleaning device 1 off the floor 10 causes the cleaning unit 32 to pivot downward about its swivel axis, which, due to the articulated lever 23, has caused the closure flap 17 to be displaced into the entry opening-closed position.
  • the pivoting of the cleaning unit 32 is limited by the stop.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Electric Suction Cleaners (AREA)
  • Nozzles For Electric Vacuum Cleaners (AREA)
  • Cleaning Of Streets, Tracks, Or Beaches (AREA)
  • Geophysics And Detection Of Objects (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Cleaning In General (AREA)
EP04804760A 2003-12-10 2004-12-10 Appareil pour le nettoyage des sols comportant des moyens pour detecter le sol Active EP1706012B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP08102421A EP1935311A1 (fr) 2003-12-10 2004-12-10 Appareil de nettoyage de sol

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10357635A DE10357635B4 (de) 2003-12-10 2003-12-10 Bodenreinigungsgerät
PCT/EP2004/053387 WO2005055796A2 (fr) 2003-12-10 2004-12-10 Appareil de nettoyage pour sols

Related Child Applications (2)

Application Number Title Priority Date Filing Date
EP08102421A Division EP1935311A1 (fr) 2003-12-10 2004-12-10 Appareil de nettoyage de sol
EP08102421.8 Division-Into 2008-03-10

Publications (2)

Publication Number Publication Date
EP1706012A2 true EP1706012A2 (fr) 2006-10-04
EP1706012B1 EP1706012B1 (fr) 2011-03-02

Family

ID=34638565

Family Applications (2)

Application Number Title Priority Date Filing Date
EP08102421A Withdrawn EP1935311A1 (fr) 2003-12-10 2004-12-10 Appareil de nettoyage de sol
EP04804760A Active EP1706012B1 (fr) 2003-12-10 2004-12-10 Appareil pour le nettoyage des sols comportant des moyens pour detecter le sol

Family Applications Before (1)

Application Number Title Priority Date Filing Date
EP08102421A Withdrawn EP1935311A1 (fr) 2003-12-10 2004-12-10 Appareil de nettoyage de sol

Country Status (7)

Country Link
EP (2) EP1935311A1 (fr)
JP (1) JP4680204B2 (fr)
CN (1) CN1889882A (fr)
AT (1) ATE499869T1 (fr)
DE (2) DE10357635B4 (fr)
RU (1) RU2006124526A (fr)
WO (1) WO2005055796A2 (fr)

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US7620476B2 (en) 2005-02-18 2009-11-17 Irobot Corporation Autonomous surface cleaning robot for dry cleaning
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DE10357635A1 (de) 2005-07-07
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DE502004012276D1 (de) 2011-04-14
EP1706012B1 (fr) 2011-03-02
RU2006124526A (ru) 2008-01-20
WO2005055796A2 (fr) 2005-06-23
EP1935311A1 (fr) 2008-06-25
ATE499869T1 (de) 2011-03-15
JP4680204B2 (ja) 2011-05-11
DE10357635B4 (de) 2013-10-31
WO2005055796A3 (fr) 2005-11-10

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