EP3357395A1 - Appareil de traitement du sol automatique déplaçable - Google Patents

Appareil de traitement du sol automatique déplaçable Download PDF

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Publication number
EP3357395A1
EP3357395A1 EP18154132.7A EP18154132A EP3357395A1 EP 3357395 A1 EP3357395 A1 EP 3357395A1 EP 18154132 A EP18154132 A EP 18154132A EP 3357395 A1 EP3357395 A1 EP 3357395A1
Authority
EP
European Patent Office
Prior art keywords
soil
soil cultivation
type
reference axis
wheels
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
EP18154132.7A
Other languages
German (de)
English (en)
Other versions
EP3357395B1 (fr
Inventor
Hendrik Koetz
Pia Hahn
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 EP3357395A1 publication Critical patent/EP3357395A1/fr
Application granted granted Critical
Publication of EP3357395B1 publication Critical patent/EP3357395B1/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
    • A47L11/24—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
    • A47L9/28—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
    • 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
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
    • 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
    • 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
    • A47L11/4036—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
    • 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
    • A47L9/0405—Driving means for the brushes or agitators
    • A47L9/0411—Driving means for the brushes or agitators driven by electric motor
    • 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
    • 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
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2847—Surface treating elements
    • 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
    • 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
    • A47L9/0466—Rotating 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
    • A47L9/02—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

Definitions

  • the invention relates to an automatically movable soil cultivation device, in particular a cleaning robot, with a soil cultivation element, at least two motor-driven wheels and a detection device for detecting a type of soil to be machined surface.
  • the invention relates to a method for operating an automatically movable soil cultivation device with a soil cultivation element, at least two motor-driven wheels and a detection device for detecting a type of soil to be machined surface.
  • Tillage equipment of this type are well known in the art.
  • sucking or wiping robots which can autonomously drive off a surface to be cleaned and doing cleaning tasks such as suction, wiping or the like. make.
  • a detection device is provided, which first determines the soil type before the processing operation. As a result, it is achieved, for example, that certain areas of a room are excluded from processing because their surface is not suitable for this purpose.
  • a wiping robot it may be provided, for example, that carpets are excluded from wet cleaning.
  • fan output and brushing power can be adapted to the respective surface.
  • sealing lips or support rollers can be adjusted depending on the detected soil.
  • optical measuring devices such as imaging measuring devices are used which record a picture of the surface by means of a camera system and compare it with reference images or reference features.
  • the technical effort for the camera system and the image processing for the evaluation of the images is correspondingly high.
  • a disadvantage of optical detection devices is furthermore often that only then an optimal measurement result can be achieved when the surface to be determined is sealed off from ambient light. In this respect, such a detection device requires a greater expenditure on equipment.
  • the detection device comprises a Reibwiderstandselement which contacts the surface during locomotion so that a force results outside a reference axis on the harrow attack, the reference axis parallel to one by the orientation of the wheels predetermined main movement direction of the soil cultivation device is oriented and oriented in a direction perpendicular to the reference axis centrally between the wheels.
  • the soil cultivation device has a friction resistance element which is not arranged symmetrically to a reference axis defined by the position of the wheels on the soil cultivation device.
  • the friction resistance element may have different distances to the wheels.
  • the frictional resistance element is arranged on a housing of the cultivator such that the frictional resistance element is in contact with the surface during normal operation of the cultivator, ie during processing of a surface.
  • the frictional resistance element is subjected to a force that causes a drift of the cultivator on the surface due to the non-central location of the frictional resistance element relative to the wheels.
  • the harrow moves straight ahead, ie it follows its main direction of movement, which is determined by the plane of rotation of the wheels.
  • the cultivator changes from, for example, a hard bottom surface having a low frictional resistance to a carpet
  • the frictional resistance between the frictional resistance member and the surface increases.
  • an increased frictional force acts on the frictional resistance element, a first part of the frictional force being dispensed with that region of the frictional resistance element which is arranged on one side of the reference axis, and a second part of the frictional force being attributable to that region of the frictional resistance element which opposes the opposite one Side of the reference axis is formed.
  • the Reibwiderstandselement provides different sized contact surfaces to the surface to be cleaned on both sides of the reference axis. It is essential that different levels of resistance forces on the two sides of the Reibwiderstandsiatas attack, resulting in a drift of the harrow.
  • a plurality of frictional resistance elements can also be arranged on the cultivator, which overall have an asymmetrical arrangement and / or design relative to the reference axis.
  • the friction resistance element is a machining element for machining the surface to be machined, in particular a cleaning roller rotating perpendicular to the reference axis.
  • the processing element which is usually already located on the cultivator, thus serves at the same time, in addition to its actual processing function, as a frictional resistance element of the detection device for detecting a type of soil.
  • the processing element may, for example, be a rotating cleaning roller which has bristle elements or a textile cleaning coating on its circumferential surface.
  • a portion of the peripheral surface of the cleaning roller or generally the Reibwiderstandsettis projects in a not standing on a surface state of the harrow beyond the plane spanned by the wheels level, so that it is in a standing on the surface state of the harrow to a contact between the Reibwiderstandselement and the Area comes, for example, to a Engagement of the bristle elements or fibers of the cleaning roller in fibers of the surface to be cleaned.
  • a carpet can be distinguished from a hard floor.
  • the machining element rotates during tillage, both a rotation in the direction of rotation of the wheels, as well as in the opposite direction is possible.
  • the frictional resistance element may be a bristle strip, a sealing lip or a resistance element projecting below the housing of the cultivator, which serves exclusively for the purpose of producing a resisting force which, due to the asymmetrical action relative to the reference axis, causes a drift of the soil cultivator leads.
  • the frictional resistance element is arranged perpendicular to the reference axis and has a greater length to one side of the reference axis than to the opposite side of the reference axis.
  • the friction resistance element is a cylindrical cleaning element rotating about a rotation axis and crossing the reference axis. The two, on different sides of the reference axis extending portions of the resistive element are different lengths and thus are subject to different forces in the contact with the surface to be cleaned.
  • the harrow has a control and evaluation device which is set up for detecting the soil type to compare the rotational speeds of the wheels with the same driving force and a detected speed difference with soil type dependent Compare reference differences.
  • the above-described resistance-dependent drift of the cultivator leads to a speed difference of the driven wheels, since the one wheel which is located on the side with greater frictional resistance, rotates less quickly than the relative to the reference axis arranged on the opposite side wheel compared in a memory of the tillage implement stored reference differences, which are each characteristic of a particular type of soil on which moves the harrow. For example. is a speed difference when driving a carpet greater than a speed difference when driving on a hard floor.
  • the detection device has a current measuring device assigned to a drive motor of the friction resistance element, wherein a control and evaluation device of the soil cultivation device is set up to compare a current received by the drive motor with ground-type-dependent reference currents.
  • the Reibwiderstandselement can be the same Reibwiderstandselement, which also leads to the cause of drift of the harrow. Alternatively, however, it may also be an additional frictional resistance element.
  • the friction resistance element is driven by a drive motor, which receives a defined current depending on a soil-type friction resistance.
  • the friction resistance element can be, for example, a side brush of the soil cultivation device, which is mounted in rotation.
  • a side brush is usually arranged at the front of the harrow with respect to a main movement direction and serves to displace suction material from, for example, room corners into a suction channel of the soil cultivation device.
  • the side brush consists, for example, of a plurality of bristle tufts, which have a direct contact with the surface to be cleaned.
  • the side brush experiences a different degree of friction, namely on hard floor a relatively low friction and carpet on the other hand, a higher friction.
  • the drive motor of the side brush or more generally of the Reibwiderstandsiatas, is speed controlled, it comes with high friction to increased power and power consumption of the drive motor. This current or this power can be evaluated in relation to the soil type.
  • the same principle also applies to other Reibwiderstandsetti, which are not designed as side brush, for example.
  • the main brush is usually arranged over the width of the harrow brush, which works a large area to be cleaned surface.
  • the detection device has an optical reflection measuring device with a light source and a light receiver, wherein a light emission direction of the light source is oriented substantially in the direction of the plane defined by the wheels stand level.
  • the detection device can thus also have an optical reflection measuring device for detecting the type of soil.
  • the reflection measuring device may, for example, be a distance measuring device, which serves primarily for the detection of abysses.
  • the light source of the optical reflection measuring device is preferably arranged in the front region of the soil cultivating device in order to move in the main direction of movement forward driving tillage device, for example, to prevent crashes on stairs or the like.
  • the reflection measuring device can have, for example, an infrared light source and an infrared light receiver.
  • the light from the light source is blasted onto the surface to be examined, reflected there and finally hits the light receiver.
  • the reflectance of the measured area can be concluded on the soil type of the area, for example, because a carpet has a lower reflectance than a hard floor (tiles, wooden floorboards or the like).
  • the invention likewise proposes a method for operating a self-propelled soil cultivation device which has a soil cultivation element, at least two motor-driven wheels and a detection device for detecting a type of soil of a surface to be processed, the method comprising that for detection the ground type, the rotational speeds of the wheels are compared with the same driving force, wherein a detected speed difference is compared with soil type-dependent reference differences.
  • the method includes detecting a soil type of area to be worked on a drift that occurs as a result of a resistive force acting asymmetrically on the cultivator. The drift is in turn due to a speed difference of the wheels, which can be measured and compared with soil type-dependent reference differences.
  • the method includes a determination of the type of surface to be cleaned not only on the basis of a drift of the harrow, but additionally also on the basis of a changing current or power consumption of the drive motor of the Reibwiderstandsiatas, which adjusts to different types of soil.
  • light is directed onto the surface to be processed by means of a light source and a light component reflected back from the surface onto a light receiver is evaluated. Due to the reflectance of the measured surface can be concluded on a kind of surface.
  • a power of a fan of the soil cultivation device and / or a rotational speed of the soil cultivation element is varied, and / or that information about the detected soil type is stored in a digital environmental map of the soil cultivation device.
  • an energy management of the soil cultivation device can be optimized depending on the soil type of the surface to be processed, in particular with respect to a processing time for the processing of a surface, with respect to an improved cleaning performance or the like.
  • FIG. 1 shows an inventive tillage device 1, which is designed here as a vacuum robot.
  • the harrow 1 is positioned on a surface, here, for example, a wooden floor.
  • the harrow 1 is automatically movable and has a navigation and self-locating device, with which an orientation within premises is possible.
  • the harrow 1 has two wheels 3, 4 (see FIG. 2 ) and a soil working element 2, which is designed here as a brush roller.
  • the harrow 1 is supported on the one hand via the two wheels 3, 4 and on the other hand with a contact surface 13 of the soil cultivation element 2 on the surface to be cleaned, with both the wheels 3, 4 for locomotion of the harrow 1 and the soil working element 2 for performing a cleaning are driven by a motor.
  • the soil cultivation device 1 has a main movement direction 8, which is predetermined by the plane of rotation of the wheels 3, 4.
  • the soil cultivation element 2 is arranged perpendicular to this main movement direction 8, the soil cultivation element 2 rotating about a rotation axis 10.
  • the harrow 1 further has a likewise motor-driven side brush 12, which is particularly suitable for cleaning room corners and room boundaries.
  • the soil cultivating device 1 has a distance measuring device 11 which, for example, is embodied here as a triangulation measuring device arranged within the soil cultivation device 1 and can measure distances to obstacles preferably in an angular range of 360 degrees.
  • the distance measuring device 11 is part of the navigation and self-locating device.
  • FIG. 2 shows the harrow 1 in a view from below.
  • two reflection measuring devices 9, which serve to measure the distance to a surface arranged below the cultivating device 1, can be seen here.
  • these reflection measuring devices 9 are suitable for protection against falling of the soil cultivation device 1 on an abyss, for example on steps.
  • the reflection measuring device 9 has a light source and a light receiver (both not shown), wherein the light source directs a light beam to a surface to be cleaned. This light beam is at least partially reflected or scattered on the surface, wherein usually a portion passes back to the light receiver of the reflection measuring device 9 and can be evaluated for distance measurement.
  • the reflection measuring device 9 further serves to determine the type of soil to be cleaned surface, since on the basis of the reflectance of the surface on the soil can be closed, as for example.
  • a carpet reflects less than a hard floor such as a tile floor or a wooden floor.
  • the soil working element 2, ie the bristle roller, here is at the same time a friction resistance element 6, which at on the surface to be cleaned erected state of the soil cultivation device 1 with its contact surface 13 touches the surface to be processed.
  • a friction resistance element 6 which at on the surface to be cleaned erected state of the soil cultivation device 1 with its contact surface 13 touches the surface to be processed.
  • the friction resistance element 6 is arranged asymmetrically relative to a reference axis 7 of the soil cultivation device 1.
  • the reference axis 7 is oriented parallel to the main movement direction 8 of the soil cultivation device 1 and also placed in relation to a direction perpendicular to the reference axis 7 centrally between the two wheels 3, 4.
  • the frictional resistance element 6 has, on one side of the reference axis 7, a larger projection and a larger part of the contact surface 13 than the opposite side.
  • FIG. 3 shows a drift of the tillage implement 1 during a forward movement, which is caused by the asymmetrical arrangement of the Reibwiderstandsiatas 6.
  • This in the illustration according to FIG. 3 coming from the right in a main movement direction 8 moving tillage device 1 is pivoted by the force acting on the Reibwiderstandselement 6 frictional force to the left, so that the previous main movement direction 8 is left.
  • By attacking the friction force there is a difference in rotational speed of the driven wheels 3, 4, in which case the wheel 3 the half-side of the cultivator 1 with the larger portion of the Reibwiderstandsettis 6 has a lower resulting speed than the other wheel 4.
  • This speed difference is controlled by a control and evaluation 5 (see FIG.
  • the reference differences can be stored, for example, in a memory of the soil cultivation device 1, which can be accessed by the control and evaluation device 5. Furthermore, it is also possible for the reference differences to be stored on a memory of an external server and for the control and evaluation device 5 to access them by means of wireless communication.
  • the reference differences can also be specified, for example, in the form of difference ranges, so that a match is recognized when the calculated speed difference falls within a certain range of differences. If there is a match, the soil type of the area to be cleaned can be reliably determined.
  • a targeted processing of the surface to be processed can then be controlled.
  • a power of a suction fan of the soil cultivation device 1 to be specifically adapted, a rotational speed of the soil cultivation element 2 or the like.
  • an environment map which is accessed, for example, by the navigation system of the soil cultivation device 1, to be provided with information about the position of certain soil types, such as, for example, carpets.
  • the previously described reflection measuring device 9 can be used, which is a reflection of the current evaluated used area and assigns known soil types. Furthermore, it is also possible that a current consumption of a drive motor of the soil working element 2 and / or the side brush 12 is measured and evaluated.
  • the cultivating device 1 can in principle also be designed as a wiping robot, combined suction-wiping device or the like. It is also possible that the tillage not only serves to clean a surface, but also other processing tasks such as polishing, grinding, oils and the like.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Soil Working Implements (AREA)
  • Cleaning In General (AREA)
  • Agricultural Machines (AREA)
  • Nozzles For Electric Vacuum Cleaners (AREA)
EP18154132.7A 2017-02-01 2018-01-30 Appareil de traitement du sol automatique déplaçable Active EP3357395B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102017101936.7A DE102017101936A1 (de) 2017-02-01 2017-02-01 Selbsttätig verfahrbares Bodenbearbeitungsgerät

Publications (2)

Publication Number Publication Date
EP3357395A1 true EP3357395A1 (fr) 2018-08-08
EP3357395B1 EP3357395B1 (fr) 2020-03-04

Family

ID=61094310

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18154132.7A Active EP3357395B1 (fr) 2017-02-01 2018-01-30 Appareil de traitement du sol automatique déplaçable

Country Status (7)

Country Link
US (1) US10602900B2 (fr)
EP (1) EP3357395B1 (fr)
JP (1) JP2018122092A (fr)
CN (1) CN108371519B (fr)
DE (1) DE102017101936A1 (fr)
ES (1) ES2777791T3 (fr)
SG (1) SG10201800827YA (fr)

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EP4003669A4 (fr) * 2019-07-31 2023-08-09 LG Electronics Inc. Robot mobile

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USD896858S1 (en) * 2017-12-14 2020-09-22 The Hi-Tech Robotic Systemz Ltd Mobile robot
USD907084S1 (en) * 2017-12-14 2021-01-05 The Hi-Tech Robotic Systemz Ltd Mobile robot
USD906390S1 (en) * 2017-12-14 2020-12-29 The Hi-Tech Robotic Systemz Ltd Mobile robot
US11382477B2 (en) 2017-12-18 2022-07-12 Techtronic Floor Care Technology Limited Surface cleaning device with automated control
CN114190845B (zh) 2017-12-18 2023-03-28 创科地板护理技术有限公司 具有无触发流体分配机构的表面清洁设备
USD879851S1 (en) * 2017-12-29 2020-03-31 Beijing Geekplus Technology Co., Ltd. Robot
USD879852S1 (en) * 2018-03-15 2020-03-31 Beijing Geekplus Technology Co., Ltd. Mobile robot
EP3607864A1 (fr) * 2018-08-07 2020-02-12 Koninklijke Philips N.V. Dispositif de nettoyage humide
USD911406S1 (en) * 2018-08-17 2021-02-23 Grey Orange Pte. Ltd Robot for moving articles within a facility
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CN108371519A (zh) 2018-08-07
DE102017101936A1 (de) 2018-08-02
SG10201800827YA (en) 2018-09-27
JP2018122092A (ja) 2018-08-09
CN108371519B (zh) 2021-08-10
EP3357395B1 (fr) 2020-03-04
US10602900B2 (en) 2020-03-31
US20180213992A1 (en) 2018-08-02

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