EP1706012B1 - 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 Download PDF

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Publication number
EP1706012B1
EP1706012B1 EP04804760A EP04804760A EP1706012B1 EP 1706012 B1 EP1706012 B1 EP 1706012B1 EP 04804760 A EP04804760 A EP 04804760A EP 04804760 A EP04804760 A EP 04804760A EP 1706012 B1 EP1706012 B1 EP 1706012B1
Authority
EP
European Patent Office
Prior art keywords
floor
floor cleaning
brush
cleaning appliance
displacement
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
EP04804760A
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German (de)
English (en)
Other versions
EP1706012A2 (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

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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

Definitions

  • the invention relates to a floor cleaning device according to the features of the preamble of claim 1.
  • a soil detection In floor cleaning devices, it is known to use a soil detection, to determine the soil to be cleaned. For example, depending on the determined floor covering different cleaning behavior can be selected.
  • a floor detection can be used in a floor cleaning device, which is designed as an attachment for a conventional, hand-held household vacuum cleaner, optionally for switching on / off an electric motor driven brush roller, for raising or lowering of a suction chamber of the attachment limiting curtain means or change in performance of the vacuum cleaner side suction fan become.
  • cleaning robots which autonomously clean floor coverings over a large area, such floor detections are used to change the cleaning behavior or to avoid certain areas.
  • solutions are known in which, with the aid of ultrasound, which is emitted by a transceiver and reflected by the ground, make a statement about the floor covering.
  • the reflection on hard floors is greater than on carpets, which dampen the sound stronger.
  • This known solution proves to be problematic in that various determined due to the reflection soils are difficult to classify. So there are hard floors such as cork, which reflect the ultrasound very weak. This can lead to a faulty evaluation by the circuit. Also strongly dampened carpets can prevent a reflection, so that a precise evaluation is not possible.
  • Other known solutions provide a reflex light barrier, for detecting height differences on the ground, so that carpet edges can be detected. However, with the help of these reflex light barriers The floors are not distinguished in their property as carpet or hard floor.
  • the object of the invention is to provide a floor cleaning device of the type in question, which allows a simple detection of a reliable detection of the floor covering.
  • the ground detection by means of detecting a slip is feasible, the slip is determined by a comparison between the distance traveled and revolutions of a driven Verfahrrads and / or a driven brush.
  • 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 detected reliably regardless of a reflection behavior. Since the slippage compared to the floor on carpet is greater than on hard floor, the speed of rotation of the traversing wheels of the floor cleaning device is lower on carpets. 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.
  • the driving resistance be determined based on the current consumption of the drive motor of the traversing wheel and / or the brush.
  • 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.
  • 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.
  • a ground detection according to the invention can be used to maneuver it accordingly to avoid the occurrence of ground coverings.
  • the drive power of the brush can be adjusted, so for gentle brushing of the determined floor covering.
  • 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.
  • a floor cleaning device 1 in the form of a cleaning robot with a chassis 2, which the underside, the floor to be cared 10, driven by electric motor Verfahrer 3 and beyond the lower edge of the chassis bottom 4 protruding, also driven by electric motor brush 5 carries.
  • the chassis 2 is covered by a device hood 6, wherein the floor cleaning device 1 has a circular plan.
  • the Verfahrer 3 are downstream of the brush 5 in the usual direction of travel r of the floor cleaning device 1, wherein further the brush 5 downstream a keying plate-like dirt ramp 7 is provided, via which the brushed dirt is dropped into a container-like receptacle 8.
  • a ground detection is provided, which by means of detecting a slip and / or a driving resistance, in particular the Verfahrer 3 but also alternatively or in combination of the brush. 5
  • the slip is in this case determined by a comparison between the traveled distance of the floor cleaning appliance 1 and the revolutions of the driven wheel 3 driven via the electric motor 11 and / or the brush 5 driven by the electric motor 12.
  • the rotation determination can be preferred take place directly on the traversing wheel 3 or on the brush 5 or alternatively on the traversing wheel 3 and on the brush 5.
  • the ground detection can also be carried out by determining the driving resistance, including at a slip-free translation, for example. Via a toothed belt between the drive motor and driven means, the current consumption of the electric motor 11 of the Verfahrrads 3 and / or the current consumption of the motor 12 of Brush 5 is detected.
  • the front wheel 9 is arranged to detect the distance traveled and has a sensor 13, the values of which are detected by a processor 14 integrated in the floor cleaning device 1.
  • the determined rotational speeds of the traversing wheel 3 and / or the brush 5 as well as alternatively or also collectively the values of the power consumption of the traversing electric motor 11 and / or the brush electric motor 12 are transmitted to the latter.
  • an electronic memory 15 is furthermore provided, in which comparison values for slip and / or driving resistance of various floor coverings are stored.
  • the processor compares and passes the measured values such as slip and / or travel 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 a signal for controlling the floor cleaning device 1 from.
  • the distance traveled is taken up by the follower wheel 9, which measured distance in relation to the elapsed time has been set since the last measurement. From this, a clear statement about the speed of the floor cleaning device 1 can be achieved. Since the running resistance and the slippage relative to the floor 10 on carpet is greater than on hard floor, the speed of the floor cleaning appliance 1 is lower on carpet. In addition, due to the greater resistance, the current of the electric motor 11 of the traversing wheel 3 increases. This also applies to the brush 5 of the floor cleaning device 1, the mechanical resistance increases to carpets, which has an increase in power consumption. Likewise, the rotational speed of the brush 5 also decreases.
  • the values detected by the processor 14 are compared with the stored reference values for a reference bottom.
  • the signal derived therefrom can serve, for example, for the navigation of the floor cleaning appliance 1, in particular for floor cleaning appliances 1, in particular cleaning robots, which should not drive on certain floor coverings.
  • the drive power of the brush 5 and the Verfahrmann 3 can be adjusted according to the determined flooring.
  • a signal for adjusting the brushes 5, in particular the board position of the brush 5 can be derived via the chassis bottom 4, so that, for example, for more gentle brushing of carpets, the brush 5 is raised via a known rocker arrangement.
  • the in the 4 and 5 in one embodiment schematically illustrated receptacle 8 is in function of an operating state of the Bo dencuris sers 1 closed. It is thus provided that the receptacle 8 is closed when the floor cleaning appliance 1 is raised from the floor 10 to be maintained and / or when the floor cleaning appliance 1 is switched off, in particular switching off the electric motors 11 and / or 12 of the traveling wheels 3 and / or the brush 5 so that already in the recording 8 Collected dust or dirt can not escape from this uncontrolled.
  • 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 upper side of an entry opening 18.
  • the free end of the closure flap 17 is connected via a side of the receptacle 8 extending lever 19 with an axis of a Verfahrrades 3, which is part of an extendable chassis 20, in connection.
  • the chassis 2 of the floor cleaning appliance 1 which is not shown here, is supported on the chassis 19, for example in the region of an axis 21, by means of a shell-like support surface 20, for example.
  • the latter is loaded by a tension spring 22 in the direction of the support shell 20.
  • the already mentioned dirt ramp 7 is articulated in the lower edge of the entry port 18, d. H. articulated in the region opposite the articulation region of the closure flap 17.
  • FIG. 5 A like in Fig. 5 schematically illustrated lifting the floor cleaning device 1 leads to a rebound of the chassis 19, via which latter and via the lever 23, the displacement of the shutter 17 is effected in the entry opening-closing position.
  • a further alternative embodiment for the automatic closing of the receptacle-entry opening 18 show the 6 and 7 ,
  • the receptacle is floating in the floor cleaning device 1 and stored in the chassis 2, so that the floor cleaning device 1 to the receptacle 8 in the vertical direction is relatively movable.
  • the chassis 2 In the usual operating position (shown Fig. 6 ), the chassis 2 is supported on the receptacle 8, to which further the chassis 2 has a pocket-like cavity 25 for the receptacle 8.
  • the receptacle 8 In the process of the floor cleaning device 8, the receptacle 8 is hereby entrained to collect the swept up or sucked up dirt, which receptacle 8 slides on runner-like spacers 33 on the floor 10.
  • handling technology advantageous is an embodiment in which the relative vertical displaceability of the floor cleaning device 1 and the chassis 2 relative to the receptacle 8 is stop-limited, so that a further lifting of the in Fig. 7 shown position the entrainment of the receptacle 8 causes.
  • the closure of the receiving port 18 may be coupled to the operating state of the brush 5 driven via the electric motor 12 and / or the traction wheels driven by the electric motor 11.
  • a mechanical closing of the entry opening 18 can be achieved via a sensor system for detection of the abyss during lifting of the floor cleaning appliance 1.
  • the 8 and 9 show an embodiment of this.
  • the closure means 16 is formed as a hinged in the upper edge region of the entry port 18 closure flap 17.
  • this flap 17 is coupled to the engine - in the illustrations of the electric motor 12 for the brush 5 - via a toggle mechanism 27, wherein in the region of the knee joint 28 a chassis negligence fixed tension spring 29 biases the mechanism 27 in a closed position of the flap 17.
  • the Fig. 8 shows the operating situation with the electric motor 12 for the brush 5, in which situation by the engine counter torque of the toggle mechanism 27 against the spring force of the tension spring 29 is acted upon so that the shutter 17 is held in the open position via this mechanism.
  • the counter-torque decreases, so that the toggle mechanism 27 due to the spring force of the spring 29 back into his Fig. 9 spent in basic position shown what causes about the mechanism pivoting the flap 17 in the entry port closure position.
  • a supporting air flow for conveying the dirt in the receptacle 8 serving fan 30 This is driven by an electric motor and is mounted directly in the region of the entry opening 18 such that the fan blades 31 in a standstill position of the fan 30 as shown in FIG Fig. 11 extend blocking in front of the entry port 18, said closure position of the fan 30 is defined by a latching at least one fan blade 31 with an edge portion of the entry port 18
  • the fan 30 When switching off the device by the user or even in a detected by abyss 24 lifting the floor cleaning device 1, the fan 30 is electromotively spent in the closed position and turned off after reaching this position, the achievement of the closed position can be monitored for example by a light barrier ,
  • a closure flap 17 articulated on the receptacle 8 is coupled via a lever 23 to a cleaning unit 32 arranged floating or pivotable, the latter essentially consisting of the electric motor 12 and the brush 5 driven by it, which are mounted on a common, not shown pivot arm are pivotally mounted about a horizontal axis.
  • this cleaning unit 32 is in a known manner dependent on gravity with the brush 5 on the floor 10 to be cleaned.
  • Lifting the Bodenthesesgerä tes 1 from the bottom 10 causes a pivoting of the cleaning unit 32 about the pivot axis down, which has the articulated lever 23, the displacement of the flap 17 in the entry port closure position.
  • the pivoting of the cleaning unit 32 is stop limited.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Electric Suction Cleaners (AREA)
  • Nozzles For Electric Vacuum Cleaners (AREA)
  • Geophysics And Detection Of Objects (AREA)
  • Cleaning Of Streets, Tracks, Or Beaches (AREA)
  • Cleaning In General (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Claims (7)

  1. Appareil de nettoyage des sols (1), en particulier robot de nettoyage, avec un entraînement électromoteur et avec des roues de déplacement (3) et / ou une brosse entraînée (5), dans lequel une reconnaissance de sol est réalisable, caractérisé en ce que la reconnaissance de sol est réalisable au moyen d'un enregistrement du glissement, le glissement étant déterminé par comparaison entre la distance parcourue et des tours d'une roue de déplacement entraînée et/ou de la brosse entraînée.
  2. Appareil de nettoyage des sols selon la revendication 1, caractérisé en ce que la détection de sol est en outre réalisable au moyen d'un enregistrement de la résistance au roulement.
  3. Appareil de nettoyage des sols selon la revendication 2, caractérisé en ce que la résistance au roulement est mesurée sur la base du courant absorbé par le moteur d'entraînement (11, 12) de la roue de déplacement (3) et/ou de la brosse (5).
  4. Appareil de nettoyage des sols selon l'une des revendications précédentes, caractérisé en ce que l'appareil (1) de nettoyage des sols comprend un capteur (13) pour la détection de la distance parcourue.
  5. Appareil de nettoyage des sols selon la revendication 4, caractérisé en ce que le capteur (13) est une roue à rotation simultanée (9).
  6. Appareil de nettoyage des sols selon l'une des revendications précédentes, caractérisé en ce que l'appareil de nettoyage des sols (1) comprend une mémoire (15) électronique, dans laquelle sont mémorisées des valeurs de comparaison pour le glissement et/ou la résistance au roulement de différents revêtements de sol.
  7. Appareil de nettoyage des sols selon la revendication 6, caractérisé en ce que l'appareil de nettoyage des sols comprend un calculateur, qui compare les valeurs mesurées et les valeurs mémorisées et qui en déduit un signal pour la navigation et/ou la puissance absorbée de la brosse (5) ou des roues de déplacement (3) et/ou un signal pour le réglage des brosses (5) et/ou d'éléments influant sur la résistance de roulement, qui sont disposés sur le côté de l'appareil.
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 EP1706012A2 (fr) 2006-10-04
EP1706012B1 true EP1706012B1 (fr) 2011-03-02

Family

ID=34638565

Family Applications (2)

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

Family Applications After (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) EP1706012B1 (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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WO2005055796A3 (fr) 2005-11-10
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DE10357635B4 (de) 2013-10-31
DE10357635A1 (de) 2005-07-07
JP2007513660A (ja) 2007-05-31
CN1889882A (zh) 2007-01-03
JP4680204B2 (ja) 2011-05-11
EP1935311A1 (fr) 2008-06-25
DE502004012276D1 (de) 2011-04-14
ATE499869T1 (de) 2011-03-15
WO2005055796A2 (fr) 2005-06-23

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