EP2710944A3 - Self-propelled floor cleaning apparatus and method for operating a floor cleaning apparatus - Google Patents

Self-propelled floor cleaning apparatus and method for operating a floor cleaning apparatus Download PDF

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Publication number
EP2710944A3
EP2710944A3 EP13184490.4A EP13184490A EP2710944A3 EP 2710944 A3 EP2710944 A3 EP 2710944A3 EP 13184490 A EP13184490 A EP 13184490A EP 2710944 A3 EP2710944 A3 EP 2710944A3
Authority
EP
European Patent Office
Prior art keywords
obstacle
floor cleaning
cleaning apparatus
travel
operating
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
EP13184490.4A
Other languages
German (de)
French (fr)
Other versions
EP2710944A2 (en
EP2710944B1 (en
Inventor
Harald Windorfer
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
Publication of EP2710944A2 publication Critical patent/EP2710944A2/en
Publication of EP2710944A3 publication Critical patent/EP2710944A3/en
Application granted granted Critical
Publication of EP2710944B1 publication Critical patent/EP2710944B1/en
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
    • 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
    • A47L9/2826—Parameters or conditions being sensed the condition of the floor
    • 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
    • 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
    • A47L9/0461—Dust-loosening tools, e.g. agitators, brushes
    • A47L9/0488—Combinations or arrangements of several tools, e.g. edge cleaning 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
    • 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
    • A47L9/2831—Motor parameters, e.g. motor load or speed
    • 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
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • 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)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Electric Vacuum Cleaner (AREA)

Abstract

Selbsttätig verfahrbares Bodenreinigungsgerät (1), sowie Verfahren zum Betreiben eines solchen, wobei das Bodenreinigungsgerät (1) in der Lage ist, niedrige, langgestreckte Hindernisse, wie sie typischerweise durch eine Teppichrandkante (14) gegeben sind, mit einer Verfahrrichtung im rechten oder spitzen Winkel zu einer Längserstreckung des Hindernisses, zu überfahren. Für eine noch effektivere Reinigung ist das Bodenreinigungsgerät (1) derart ausgebildet, dass eine Verfahrweise zur Reinigung des Hindernisses oder eines an das Hindernis angrenzenden Bereiches durchführbar ist, in welcher das Reinigungsgerät (1) eine Verfahrrichtung (R oder V) einnimmt, die an der Erstreckung des Hindernisses ausgerichtet ist, und in Bezug auf die Hindernisfläche ein Verfahren auf einem Bodenbereich vor dem Hindernis beinhaltet, mit einem seitlichen Abstand einer in Verfahrrichtung zugeordneten Randkante des Gerätes (1) zu der Hindernisfläche, der geringer ist als eine Breite des Gerätes (1) senkrecht zur Verfahrrichtung.

Figure imgaf001
An automatically movable floor cleaning appliance (1), and method of operating such, wherein the floor cleaning appliance (1) is capable of low, elongated obstacles, as typically given by a carpet edge (14), with a direction of travel at right or acute angle to a longitudinal extent of the obstacle to run over. For even more effective cleaning, the floor cleaning device (1) is designed such that a method of operation for cleaning the obstacle or adjacent to the obstacle area is feasible, in which the cleaning device (1) assumes a direction of travel (R or V), which at the Extension of the obstacle is aligned, and with respect to the obstacle surface includes a method on a floor area in front of the obstacle, with a lateral distance of a direction of travel associated peripheral edge of the device (1) to the obstacle surface which is smaller than a width of the device (1 ) perpendicular to the direction of travel.
Figure imgaf001
EP13184490.4A 2012-09-19 2013-09-16 Self-propelled floor cleaning apparatus and method for operating a floor cleaning apparatus Active EP2710944B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102012108802.0A DE102012108802A1 (en) 2012-09-19 2012-09-19 Automatically movable floor cleaning device and method for operating a floor cleaning device

Publications (3)

Publication Number Publication Date
EP2710944A2 EP2710944A2 (en) 2014-03-26
EP2710944A3 true EP2710944A3 (en) 2018-04-04
EP2710944B1 EP2710944B1 (en) 2020-12-16

Family

ID=49226015

Family Applications (1)

Application Number Title Priority Date Filing Date
EP13184490.4A Active EP2710944B1 (en) 2012-09-19 2013-09-16 Self-propelled floor cleaning apparatus and method for operating a floor cleaning apparatus

Country Status (6)

Country Link
US (1) US11006804B2 (en)
EP (1) EP2710944B1 (en)
JP (1) JP6505965B2 (en)
CN (1) CN103654619B (en)
DE (1) DE102012108802A1 (en)
ES (1) ES2846782T3 (en)

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CN104000541B (en) * 2014-06-16 2016-05-04 成都北斗群星智能科技有限公司 Support sweeping robot and threshold detection method that threshold detects
WO2016002186A1 (en) * 2014-06-30 2016-01-07 パナソニックＩｐマネジメント株式会社 Autonomous travel-type cleaner
CN104188600A (en) * 2014-09-16 2014-12-10 湖南格兰博智能科技有限责任公司 Collision detection method and device applied to robotic floor cleaner
JP2017213009A (en) 2014-10-10 2017-12-07 パナソニックＩｐマネジメント株式会社 Autonomous travel type cleaner
US10568483B2 (en) 2014-12-12 2020-02-25 Irobot Corporation Cleaning system for autonomous robot
JP2016077855A (en) * 2015-01-06 2016-05-16 パナソニックＩｐマネジメント株式会社 Autonomous travel-type cleaner
CN106137057B (en) * 2015-04-15 2018-10-19 小米科技有限责任公司 Clean robot and robot collision-proof method
JP6486255B2 (en) * 2015-09-30 2019-03-20 シャープ株式会社 Self-propelled vacuum cleaner
CN106913290B (en) * 2015-12-25 2020-09-25 北京奇虎科技有限公司 Sweeper and control method based on sweeper
JP6685755B2 (en) * 2016-02-16 2020-04-22 東芝ライフスタイル株式会社 Autonomous vehicle
CN107456173B (en) * 2016-06-06 2020-12-04 北京小米移动软件有限公司 Obstacle crossing method and device
KR101966044B1 (en) * 2017-02-16 2019-04-04 엘지전자 주식회사 Robot Cleaner and Controlling Method for the same
CN106896814B (en) * 2017-02-28 2020-08-25 联想(北京)有限公司 Control method and mobile electronic device
CN107913035A (en) * 2017-12-20 2018-04-17 深圳市沃特沃德股份有限公司 Clean the method and its cleaning device at wall edge
US11202543B2 (en) 2018-01-17 2021-12-21 Techtronic Floor Care Technology Limited System and method for operating a cleaning system based on a surface to be cleaned
CN110393476A (en) * 2018-04-25 2019-11-01 科沃斯机器人股份有限公司 Clean robot and its welt traveling method, readable medium
JP7129659B2 (en) * 2018-09-18 2022-09-02 パナソニックＩｐマネジメント株式会社 self-propelled vacuum cleaner
KR102243178B1 (en) * 2019-03-29 2021-04-21 엘지전자 주식회사 A ROBOT CLEANER Using artificial intelligence AND CONTROL METHOD THEREOF
CN109998427A (en) * 2019-04-29 2019-07-12 湖南格兰博智能科技有限责任公司 A kind of intelligent sweeping machine cleans induction structure along wall
KR102281346B1 (en) * 2019-07-25 2021-07-23 엘지전자 주식회사 Robot Cleaner and Controlling method for the same
CN110477820B (en) * 2019-08-16 2021-11-16 云鲸智能科技（东莞）有限公司 Obstacle following cleaning method for cleaning robot, and storage medium
CN111358375A (en) * 2020-04-25 2020-07-03 王晨庄 Sweeper capable of sweeping corners or edges of house and sweeping method
CN115104958B (en) * 2020-10-28 2023-08-08 追觅创新科技(苏州)有限公司 Obstacle detection method and self-moving device
CN113974507B (en) * 2021-09-30 2023-09-12 云鲸智能(深圳)有限公司 Carpet detection method and device for cleaning robot, cleaning robot and medium

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DE10242257A1 (en) * 2001-09-14 2003-04-24 Vorwerk Co Interholding Automatically movable soil dust collector, as well as a combination of such a collector and a base station
JP2004049592A (en) * 2002-07-22 2004-02-19 Matsushita Electric Ind Co Ltd Self-propelled vacuum cleaner
US20070271004A1 (en) * 2006-05-19 2007-11-22 Samsung Electronics Co., Ltd. Cleaning robot having carpet detector and method of detecting carpet boundary using the same
US20070267570A1 (en) * 2006-05-17 2007-11-22 Samsung Electronics Co., Ltd. Method of detecting object using structured light and robot using the same

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CN102038470B (en) * 2009-10-09 2013-02-27 泰怡凯电器(苏州)有限公司 Automatic-moving ground treatment robot and ground-abutting treatment control method thereof
DE102010000174B4 (en) * 2010-01-22 2022-09-01 Vorwerk & Co. Interholding Gesellschaft mit beschränkter Haftung Method for cleaning a room using an automatically movable cleaning device
DE102010017689A1 (en) * 2010-07-01 2012-01-05 Vorwerk & Co. Interholding Gmbh Automatically movable device and method for orientation of such a device
DE102010036772A1 (en) 2010-07-30 2012-02-02 Vorwerk & Co. Interholding Gmbh Method for monitoring closing position of control device in household electrical vacuum cleaner, involves monitoring position of control device, and determining time needed to reach voltage level of coil current value of electromagnet
KR101752190B1 (en) * 2010-11-24 2017-06-30 삼성전자주식회사 Robot cleaner and method for controlling the same
DE102011000250A1 (en) 2011-01-21 2012-07-26 Vorwerk & Co. Interholding Gmbh Method for determining the position of a self-moving device
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Patent Citations (4)

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Publication number Priority date Publication date Assignee Title
DE10242257A1 (en) * 2001-09-14 2003-04-24 Vorwerk Co Interholding Automatically movable soil dust collector, as well as a combination of such a collector and a base station
JP2004049592A (en) * 2002-07-22 2004-02-19 Matsushita Electric Ind Co Ltd Self-propelled vacuum cleaner
US20070267570A1 (en) * 2006-05-17 2007-11-22 Samsung Electronics Co., Ltd. Method of detecting object using structured light and robot using the same
US20070271004A1 (en) * 2006-05-19 2007-11-22 Samsung Electronics Co., Ltd. Cleaning robot having carpet detector and method of detecting carpet boundary using the same

Also Published As

Publication number Publication date
CN103654619A (en) 2014-03-26
ES2846782T3 (en) 2021-07-29
US11006804B2 (en) 2021-05-18
CN103654619B (en) 2018-06-19
DE102012108802A1 (en) 2014-03-20
EP2710944A2 (en) 2014-03-26
EP2710944B1 (en) 2020-12-16
JP6505965B2 (en) 2019-04-24
JP2014061375A (en) 2014-04-10
US20140075689A1 (en) 2014-03-20

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