EP2710944A3 - Appareil de nettoyage du sol à déplacement automatique et procédé de fonctionnement d'un appareil de nettoyage du sol - Google Patents

Appareil de nettoyage du sol à déplacement automatique et procédé de fonctionnement d'un appareil de nettoyage du sol Download PDF

Info

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)
English (en)
Other versions
EP2710944A2 (fr
EP2710944B1 (fr
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/fr
Publication of EP2710944A3 publication Critical patent/EP2710944A3/fr
Application granted granted Critical
Publication of EP2710944B1 publication Critical patent/EP2710944B1/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
    • 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)
EP13184490.4A 2012-09-19 2013-09-16 Appareil de nettoyage du sol à déplacement automatique et procédé de fonctionnement d'un appareil de nettoyage du sol Active EP2710944B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102012108802.0A DE102012108802A1 (de) 2012-09-19 2012-09-19 Selbsttätig verfahrbares Bodenreinigungsgerät und Verfahren zum Betreiben eines Bodenreinigungsgerätes

Publications (3)

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

Family

ID=49226015

Family Applications (1)

Application Number Title Priority Date Filing Date
EP13184490.4A Active EP2710944B1 (fr) 2012-09-19 2013-09-16 Appareil de nettoyage du sol à déplacement automatique et procédé de fonctionnement d'un appareil de nettoyage du sol

Country Status (6)

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

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CN104000541B (zh) * 2014-06-16 2016-05-04 成都北斗群星智能科技有限公司 支持门槛检测的扫地机器人及门槛检测方法
EP3162265B1 (fr) * 2014-06-30 2019-12-25 Panasonic Intellectual Property Management Co., Ltd. Dispositif de nettoyage de type à déplacement autonome
CN104188600A (zh) * 2014-09-16 2014-12-10 湖南格兰博智能科技有限责任公司 一种应用于自动地面清洁机装置的碰撞检测的方法及装置
JP2017213009A (ja) 2014-10-10 2017-12-07 パナソニックＩｐマネジメント株式会社 自律走行型掃除機
US10568483B2 (en) 2014-12-12 2020-02-25 Irobot Corporation Cleaning system for autonomous robot
JP2016077855A (ja) * 2015-01-06 2016-05-16 パナソニックＩｐマネジメント株式会社 自律走行型掃除機
CN106137057B (zh) * 2015-04-15 2018-10-19 小米科技有限责任公司 清洁机器人及机器人防碰撞方法
JP6486255B2 (ja) * 2015-09-30 2019-03-20 シャープ株式会社 自走式掃除機
CN106913290B (zh) * 2015-12-25 2020-09-25 北京奇虎科技有限公司 一种扫地机和基于扫地机的控制方法
JP6685755B2 (ja) * 2016-02-16 2020-04-22 東芝ライフスタイル株式会社 自律走行体
CN112617698B (zh) * 2016-06-06 2023-03-14 北京小米移动软件有限公司 障碍物跨越方法及装置
KR101966044B1 (ko) * 2017-02-16 2019-04-04 엘지전자 주식회사 로봇청소기 및 그의 제어하는 방법
CN106896814B (zh) * 2017-02-28 2020-08-25 联想(北京)有限公司 一种控制方法及移动电子设备
CN107913035A (zh) * 2017-12-20 2018-04-17 深圳市沃特沃德股份有限公司 清洁墙体边缘的方法及其清洁装置
WO2019143700A1 (fr) 2018-01-17 2019-07-25 Tti (Macao Commercial Offshore) Limited Système et procédé permettant de faire fonctionner un système de nettoyage sur la base d'une surface à nettoyer
CN110393476A (zh) * 2018-04-25 2019-11-01 科沃斯机器人股份有限公司 清洁机器人及其贴边行走方法、可读介质
JP7129659B2 (ja) * 2018-09-18 2022-09-02 パナソニックＩｐマネジメント株式会社 自走式掃除機
KR102243178B1 (ko) * 2019-03-29 2021-04-21 엘지전자 주식회사 인공지능을 이용한 이동 로봇 및 이동 로봇의 제어방법
CN109998427A (zh) * 2019-04-29 2019-07-12 湖南格兰博智能科技有限责任公司 一种智能扫地机的沿墙清扫感应结构
KR102281346B1 (ko) 2019-07-25 2021-07-23 엘지전자 주식회사 로봇 청소기 및 그 제어방법
CN110477820B (zh) * 2019-08-16 2021-11-16 云鲸智能科技（东莞）有限公司 清洁机器人的沿障碍物清洁方法、清洁机器人以及存储介质
CN112493924B (zh) * 2019-08-26 2023-03-10 苏州宝时得电动工具有限公司 清洁机器人及其控制方法
CN111358375A (zh) * 2020-04-25 2020-07-03 王晨庄 一种能够清扫屋子角落或边沿的扫地机和方法
CN115104958B (zh) * 2020-10-28 2023-08-08 追觅创新科技(苏州)有限公司 障碍物检测方法及自移动设备
CN113974507B (zh) * 2021-09-30 2023-09-12 云鲸智能(深圳)有限公司 清洁机器人的地毯探测方法、装置、清洁机器人及介质
DE102023205527B3 (de) 2023-06-14 2024-09-05 BSH Hausgeräte GmbH Verfahren zum Steuern eines mobilen, selbstfahrenden Geräts

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10242257A1 (de) * 2001-09-14 2003-04-24 Vorwerk Co Interholding Selbsttätig verfahrbares Bodenstaub-Aufsammelgerät, sowie Kombination eines derartigen Aufsammelgerätes und einer Basisstation
JP2004049592A (ja) * 2002-07-22 2004-02-19 Matsushita Electric Ind Co Ltd 自走式掃除機
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

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FR2648071B1 (fr) * 1989-06-07 1995-05-19 Onet Procede et appareil autonomes de nettoyage automatique de sol par execution de missions programmees
US6810305B2 (en) * 2001-02-16 2004-10-26 The Procter & Gamble Company Obstruction management system for robots
ES2366689T3 (es) * 2001-06-12 2011-10-24 Irobot Corporation Procedimiento y sistema para una cobertura multimodo para un robot autónomo.
JP2003052582A (ja) * 2001-08-10 2003-02-25 Toshiba Tec Corp 掃除装置
JP3841220B2 (ja) * 2004-01-30 2006-11-01 船井電機株式会社 自律走行ロボットクリーナー
TWI262777B (en) * 2004-04-21 2006-10-01 Jason Yan Robotic vacuum cleaner
EP2816434A3 (fr) * 2005-12-02 2015-01-28 iRobot Corporation Robot à couverture autonome
EP2120122B1 (fr) * 2005-12-02 2013-10-30 iRobot Corporation Mobilité de robot de couverture
KR20080075051A (ko) * 2007-02-10 2008-08-14 삼성전자주식회사 로봇 청소기 및 그 제어방법
DE102008014912B4 (de) 2008-03-19 2023-01-19 Vorwerk & Co. Interholding Gmbh Selbsttätig verfahrbares Bodenstaub-Aufsammelgerät
CN102038470B (zh) * 2009-10-09 2013-02-27 泰怡凯电器(苏州)有限公司 自移动地面处理机器人及其贴边地面处理的控制方法
DE102010000174B4 (de) * 2010-01-22 2022-09-01 Vorwerk & Co. Interholding Gesellschaft mit beschränkter Haftung Verfahren zur Reinigung eines Raumes mittels eines selbsttätig verfahrbaren Reinigungsgerätes
DE102010017689A1 (de) * 2010-07-01 2012-01-05 Vorwerk & Co. Interholding Gmbh Selbsttätig verfahrbares Gerät sowie Verfahren zur Orientierung eines solchen Gerätes
DE102010036772A1 (de) 2010-07-30 2012-02-02 Vorwerk & Co. Interholding Gmbh Verfahren zur Überwachung einer Schließstellung
KR101752190B1 (ko) * 2010-11-24 2017-06-30 삼성전자주식회사 로봇청소기 및 그 제어방법
DE102011000250A1 (de) 2011-01-21 2012-07-26 Vorwerk & Co. Interholding Gmbh Verfahren zur Bestimmung der Position eines selbsttätig verfahrbaren Geräts
DE102011003677B4 (de) 2011-02-04 2015-09-24 Schott Ag Verbundstoff, Verfahren zu seiner Herstellung und Verwendung des Verbundstoffes
DE102011000536A1 (de) 2011-02-07 2012-08-09 Vorwerk & Co. Interholding Gmbh Verfahren zur Bestimmung der Position eines selbsttätig verfahrbaren Geräts
JP5400966B2 (ja) * 2011-04-28 2014-01-29 株式会社東芝 電気掃除機

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10242257A1 (de) * 2001-09-14 2003-04-24 Vorwerk Co Interholding Selbsttätig verfahrbares Bodenstaub-Aufsammelgerät, sowie Kombination eines derartigen Aufsammelgerätes und einer Basisstation
JP2004049592A (ja) * 2002-07-22 2004-02-19 Matsushita Electric Ind Co Ltd 自走式掃除機
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
US20140075689A1 (en) 2014-03-20
DE102012108802A1 (de) 2014-03-20
CN103654619B (zh) 2018-06-19
JP2014061375A (ja) 2014-04-10
ES2846782T3 (es) 2021-07-29
US11006804B2 (en) 2021-05-18
EP2710944A2 (fr) 2014-03-26
CN103654619A (zh) 2014-03-26
EP2710944B1 (fr) 2020-12-16
JP6505965B2 (ja) 2019-04-24

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