EP3357395B1 - Appareil de traitement du sol automatique déplaçable - Google Patents

Appareil de traitement du sol automatique déplaçable Download PDF

Info

Publication number
EP3357395B1
EP3357395B1 EP18154132.7A EP18154132A EP3357395B1 EP 3357395 B1 EP3357395 B1 EP 3357395B1 EP 18154132 A EP18154132 A EP 18154132A EP 3357395 B1 EP3357395 B1 EP 3357395B1
Authority
EP
European Patent Office
Prior art keywords
floor
treatment device
wheels
reference axis
floor treatment
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
EP18154132.7A
Other languages
German (de)
English (en)
Other versions
EP3357395A1 (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

Links

Images

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
    • A47L9/2836—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
    • 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
    • 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 recognizing a type of soil of a surface to be worked, the detection device having a frictional resistance element.
  • 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 of a surface to be worked.
  • Soil cultivation devices of this type are sufficiently known in the prior art.
  • E.g. are vacuum or wiping robots, which can autonomously sweep a surface to be cleaned and perform cleaning tasks such as vacuuming, wiping or similar. make.
  • a detection device is provided which first determines the type of soil before the processing operation. This ensures, for example, that certain areas of a room are excluded from processing because their surface is not suitable for this.
  • a wiping robot it can be provided, for example, that carpets are excluded from wet cleaning.
  • blower power and brushing power can be adapted to the respective surface. Sealing lips or support rollers can also be adjusted depending on the type of soil detected.
  • Optical measuring devices such as imaging measuring devices, are frequently used, which take a picture of the surface by means of a camera system and compare them with reference pictures or reference features. The technical effort for the camera system and the image processing for evaluating the images is correspondingly high.
  • Another disadvantage of optical detection devices is that an optimal measurement result can only be achieved if the area to be determined is shielded from ambient light. In this respect, such a detection device requires a greater outlay on equipment.
  • the DE 103 57 635 A1 further discloses a floor cleaning device in which floor detection is carried out by detecting slip and / or driving resistance on a floor surface.
  • the slip is determined by comparing the distance traveled and revolutions of a drive wheel and / or a driven brush.
  • the invention proposes an automatically movable soil cultivation device, in which the frictional resistance element contacts the surface during locomotion in such a way that a force resultant engages the soil cultivation device outside of a reference axis, the reference axis being oriented parallel to a main direction of movement of the soil cultivation device predetermined by the orientation of the wheels and is aligned in the middle between the wheels in relation to a direction perpendicular to the reference axis.
  • 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 frictional resistance element can have different distances from the wheels.
  • the frictional resistance element is arranged on a housing of the soil cultivation device in such a way that the frictional resistance element is in contact with the surface during normal operation of the soil cultivation device, ie during the processing of a surface.
  • the frictional resistance element is subjected to a force which, due to the non-central arrangement of the frictional resistance element relative to the wheels, causes a drift of the tillage implement on the surface.
  • the soil tillage implement travels straight ahead, ie it follows its main direction of movement, which is predetermined by the plane of rotation of the wheels. If, however, the soil tillage implement changes from a hard floor surface, for example, which has a low frictional resistance to a carpet, the frictional resistance between the frictional resistance element increases and the area. As a result, an increased frictional force acts on the frictional resistance element, a first part of the frictional force being attributed to that area of the frictional resistance element which is arranged on one side of the reference axis, and a second part of the frictional force being attributed to that area of the frictional resistance element which is on the opposite Side of the reference axis is formed.
  • the friction resistance element provides contact surfaces of different sizes on both sides of the reference axis to the surface to be cleaned. It is essential that differently large resistance forces act on the two sides of the friction resistance element, so that a drift of the tillage implement results.
  • a plurality of friction resistance elements can also be arranged on the tillage implement, which overall have an asymmetrical arrangement and / or configuration with respect to the reference axis.
  • the frictional resistance element be a machining element for machining the surface to be machined, in particular a cleaning roller rotating perpendicular to the reference axis.
  • the processing element usually located anyway on the soil cultivation device thus simultaneously serves, in addition to its actual processing function, also as a friction resistance element of the detection device for detecting a type of soil.
  • the processing element can be a rotating cleaning roller, for example, which has bristle elements or a textile cleaning covering on its peripheral surface.
  • a partial area of the circumferential surface of the cleaning roller or, in general, of the frictional resistance element protrudes beyond the standing plane spanned by the wheels in a state of the tillage implement not standing on a surface, so that there is contact between the frictional resistance element and the ground surface of the soil preparation implement Surface comes, for example.
  • the cultivation element advantageously rotates during soil cultivation, it being possible to rotate both in the direction of rotation of the wheels and in the opposite direction.
  • friction resistance elements arranged immovably on the tillage implement are also possible.
  • the frictional resistance element can be a bristle strip, a sealing lip or a resistance element protruding from under the housing of the tillage implement, which serves the sole purpose of producing a resistance force which, due to the asymmetrical effect, drifts relative to the reference axis of the tillage implement.
  • the friction resistance element be arranged perpendicular to the reference axis and have a greater length on one side of the reference axis than on the opposite side of the reference axis.
  • the frictional resistance element is a cylindrical cleaning element which rotates about an axis of rotation and which crosses the reference axis.
  • the two subareas of the resistance element, which extend on different sides of the reference axis, are of different lengths and are therefore subject to differently large forces when they come into contact with the surface to be cleaned.
  • the tillage device has a control and evaluation device, which is set up to compare the speeds of the wheels with the same driving force to identify the type of soil and to compare a determined speed difference with reference types dependent on the type of soil.
  • the previously described resistance-dependent drift of the tillage implement leads to a speed difference of the driven wheels, since the wheel which is on the side with greater friction resistance rotates less quickly than the wheel arranged on the opposite side with respect to the reference axis reference differences stored in a memory of the tillage implement are compared, each of which is characteristic of a particular type of soil on which the tillage implement moves.
  • E.g. is a speed difference when driving on a carpet larger than a speed difference when driving on a hard floor.
  • a match is found between the calculated speed difference and a reference difference or a reference difference range, it can be concluded that the type of soil currently being driven on. Knowing the type of soil can then z.
  • the detection device have a current measuring device assigned to a drive motor of the frictional resistance element, a control and evaluation device of the tillage device being set up to compare a current drawn by the drive motor with reference currents dependent on the soil type.
  • the frictional resistance element can be the same frictional resistance element which also leads to the drift of the tillage implement. Alternatively, however, it can also be an additional frictional resistance element.
  • the friction resistance element is driven by a drive motor, which draws a defined current depending on a friction resistance depending on the type of soil. If, starting from driving on a hard floor, for example, the current consumed by the drive motor rises, it can be concluded that the hard floor has been left and the tillage implement is now moving over a carpet, for example.
  • the frictional resistance element can, for example, be a side brush of the tillage implement, which is mounted in a rotating manner.
  • a side brush is usually arranged in relation to a main direction of movement at the front of the soil cultivation device and is used to move suction material from, for example, room corners into a suction channel of the soil cultivation device.
  • the side brush consists, for example, of several tufts of bristles which have direct contact with the surface to be cleaned. Depending on the nature of the floor, the side brush experiences a different degree of friction, namely a relatively low friction on hard floors and a higher friction on carpets. Since the drive motor of the side brush, or generally of the friction resistance element, is speed-controlled, there is an increased current or power consumption of the drive motor when there is high friction.
  • This current or this output can be evaluated in relation to the type of soil.
  • the same principle also applies to other frictional resistance elements which are not designed as a side brush, for example a rotating main brush of the tillage implement.
  • the main brush is usually one across the width of the soil tillage device arranged brush, which processes a surface to be cleaned over a large area.
  • the detection device has an optical reflection measuring device with a light source and a light receiver, a light emission direction of the light source being oriented essentially in the direction of the standing plane spanned by the wheels.
  • the detection device can thus also have an optical reflection measuring device for detecting the type of soil.
  • the reflection measuring device can be a distance measuring device, for example, which primarily serves to detect abysses.
  • the light source of the optical reflection measuring device is preferably arranged in the front area of the tillage device in order to prevent a tillage device moving forward in the main direction of movement, for example from falling 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 radiated onto the surface to be examined, reflected there and finally strikes the light receiver.
  • the degree of reflection of the measured area can be used to infer the type of floor of the area, since, for example, a carpet has a lower degree of reflection than a hard floor (tiles, wooden floorboards or the like).
  • the invention also proposes a method for operating an automatically movable tillage implement which has a tillage element, at least two motor-driven wheels and a detection device for recognizing a type of soil of a surface to be worked, the method including that a frictional resistance element the detection device contacts the surface during locomotion such that a force resultant attacks the soil tillage implement outside of a reference axis, the reference axis being oriented parallel to a main direction of movement of the soil tillage implement predetermined by the orientation of the wheels and oriented in the middle between the wheels in relation to a direction perpendicular to the reference axis, and wherein for recognizing the soil type The speeds of the wheels are compared with one another with the same driving force, a determined speed difference being compared with reference differences depending on the type of soil.
  • the method includes that a soil type of a surface to be worked is identified by means of a drift which arises as a result of a resistance force acting asymmetrically on the tillage implement.
  • the drift is in turn caused by a speed difference of the wheels, which can be measured and compared with reference differences depending on the type of soil.
  • the method includes a determination of the type of surface to be cleaned not only on the basis of a drift of the tillage implement, but also on the basis of a changing current or power consumption of the drive motor of the frictional resistance element, which is set on different types of soil.
  • light is directed by a light source onto the surface to be processed and onto it from the surface a light receiver is reflected back reflected light portion. Based on the degree of reflection of the measured area, a conclusion can be drawn about the type of area.
  • an output of a fan of the soil tillage implement and / or a rotational speed of the soil tillage element is varied, and / or that information about the type of soil identified is stored in a digital environment map of the soil tillage implement.
  • energy management of the soil cultivation device can also be optimized depending on the type of soil of the surface to be worked, in particular with regard to a processing time for processing a surface, with regard to improved cleaning performance or the like.
  • Figure 1 shows an inventive soil cultivation device 1, which is designed here as a vacuum robot.
  • the soil tillage implement 1 is positioned on a surface, here, for example, a wooden floorboard.
  • the soil tillage implement 1 can be moved automatically and has a navigation and self-localization device with which an orientation within rooms is possible.
  • the soil tillage implement 1 has two wheels 3, 4 (see Figure 2 ) and a tillage element 2, which is designed here as a brush roller.
  • the tillage device 1 is supported on the one hand by the two wheels 3, 4 and on the other hand by a contact surface 13 of the tillage element 2 on the surface to be cleaned, both the wheels 3, 4 for locomotion of the tillage device 1 and the tillage element 2 for cleaning are motor-driven.
  • the soil tillage implement 1 has a main direction of movement 8, which is predetermined by the plane of rotation of the wheels 3, 4.
  • the tillage element 2 is arranged perpendicular to this main direction of movement 8, the tillage element 2 rotating about an axis of rotation 10.
  • the soil tillage implement 1 also has a side brush 12, which is also motor-driven and is particularly suitable for cleaning room corners and room boundaries. Furthermore, the soil cultivation device 1 has a distance measuring device 11, which is designed here, for example, as a triangulation measuring device arranged within the soil cultivation device 1 and can preferably measure distances to obstacles in an angular range of 360 degrees. The distance measuring device 11 is part of the navigation and self-localization device.
  • Figure 2 shows the soil tillage implement 1 in a view from below.
  • Two reflection measuring devices 9 can also be seen here, which are used for measuring the distance to a surface arranged below the tillage implement 1.
  • these reflection measuring devices 9 are suitable for protection against falling of the tillage implement 1 on an abyss, for example on stairs.
  • the reflection measuring device 9 has a light source and a light receiver (both not shown), the light source directing a light beam onto a surface to be cleaned. This light beam is at least partially reflected or scattered on the surface, a portion usually returning to the light receiver of the reflection measuring device 9 and being able to be evaluated for distance measurement.
  • the reflection measuring device 9 also serves to determine the type of floor of the surface to be cleaned, since the degree of reflection of the surface can also be used to infer the type of floor, for example because a carpet reflects less than a hard floor such as a tiled floor or a wooden floor.
  • the tillage element 2, ie the bristle roller, is here at the same time a frictional resistance element 6 which, when the tillage implement 1 is in the state in which it is to be cleaned, touches the area to be worked with its contact surface 13.
  • the frictional resistance element 6 exerts a more or less large frictional force on the surface during the movement of the tillage implement 1.
  • the frictional resistance element 6 is arranged asymmetrically with respect to a reference axis 7 of the tillage implement 1.
  • the reference axis 7 is oriented parallel to the main direction of movement 8 of the tillage implement 1 and is also placed in the middle between the two wheels 3, 4 in relation to a direction perpendicular to the reference axis 7.
  • the friction resistance element 6 has a larger projection and a larger part of the contact surface on one side of the reference axis 7 13 on as to the opposite side.
  • the tillage implement 1 leaves the previously traced main direction of movement 8 in the direction of the side on which the greater part of the contact surface 13 to the surface to be worked exists. This is the half side of the tillage implement 1 on which the wheel 3 is arranged.
  • FIG 3 shows a drift of the tillage implement 1 during a forward movement, which is caused by the asymmetrical arrangement of the friction resistance element 6.
  • soil tillage implement 1 is pivoted to the left by the frictional force acting on the frictional resistance element 6, so that the previous main direction of movement 8 is left.
  • This speed difference is from a control and evaluation device 5 (see Figure 2 ) of the soil tillage implement 1 is calculated and compared with reference differences characteristic of certain soil types.
  • the reference differences can be stored, for example, in a memory of the tillage implement 1, which the control and evaluation device 5 can access. 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 in the form of difference ranges, for example be specified so that a match is recognized when the calculated speed difference falls within a certain difference range. If there is a match, the type of floor to be cleaned can be reliably determined.
  • targeted processing of the area to be worked can then be controlled.
  • a power of a suction blower of the tillage implement 1 to be specifically adjusted, a rotational speed of the tillage element 2 or the like.
  • an area map which is accessed, for example, by the navigation system of the tillage device 1, to be provided with information about the position of certain types of floor, such as carpets.
  • the previously described reflection measuring device 9 can be used, which evaluates a reflection of the area currently being traveled on and assigns known types of soil. Furthermore, it is also possible for a current consumption of a drive motor of the tillage element 2 and / or of the side brush 12 to be measured and evaluated.
  • the soil cultivation 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, oiling 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)
  • Agricultural Machines (AREA)
  • Nozzles For Electric Vacuum Cleaners (AREA)
  • Cleaning In General (AREA)

Claims (10)

  1. Appareil de traitement de sol à déplacement automatique (1), en particulier robot de nettoyage, avec un élément de traitement du sol (2), au moins deux roues motorisées (3, 4) et un dispositif de détection pour détecter un type de sol d'une surface à traiter, le dispositif de détection comprenant un élément de résistance/d'opposition par frottement (6), caractérisé en ce que l'élément de résistance/d'opposition par frottement (6) vient en contact avec la surface pendant un déplacement de telle manière qu'une force résultante agisse sur l'appareil de traitement de sol (1) en dehors d'un axe de référence (7), l'axe de référence (7) étant orienté parallèlement à une direction principale de déplacement (8) de l'appareil de traitement de sol (1) prédéterminée par l'orientation des roues (3, 4) et centré entre les roues (3, 4) par rapport à une direction perpendiculaire à l'axe de référence (7).
  2. Appareil de traitement de sol (1) selon la revendication 1, caractérisé en ce que l'élément de résistance/d'opposition par frottement (6) est un élément de traitement (1) pour traiter la surface à traiter, en particulier un rouleau de nettoyage tournant perpendiculairement à l'axe de référence (7).
  3. Appareil de traitement de sol (1) selon la revendication 1 ou 2, caractérisé en ce que l'élément de résistance/d'opposition par frottement (6) est agencé perpendiculairement à l'axe de référence (7) et a une longueur supérieure d'un côté de l'axe de référence (7) que du côté opposé de l'axe de référence (7).
  4. Dispositif de traitement de sol (1) selon l'une des revendications précédentes, caractérisé par un dispositif de commande et d'évaluation (5) qui, pour reconnaître le type de sol, est agencé pour comparer entre elles les vitesses de rotation des roues (3, 4) mues avec une même force motrice et pour comparer une différence de vitesse établie avec des différences de référence dépendant du type de sol.
  5. Appareil de traitement de sol (1) selon l'une des revendications précédentes, caractérisé en ce que le dispositif de détection comprend un dispositif de mesure de courant associé à un moteur d'entraînement de l'élément de résistance/d'opposition par frottement (6), dans lequel un dispositif de commande et d'évaluation (5) de l'appareil de traitement de sol (1) est agencé pour comparer un courant absorbé par le moteur d'entraînement à des courants de référence dépendant du type de sol.
  6. Appareil de traitement de sol (1) selon l'une des revendications précédentes, caractérisé en ce que le dispositif de détection comprend un dispositif de mesure de réflexion optique (9) ayant une source de lumière et un récepteur de lumière, dans lequel une direction d'émission de lumière de la source de lumière est orientée sensiblement dans la direction du plan d'appui défini par les roues (3, 4) .
  7. Appareil de traitement de sol (1) selon la revendication 6, caractérisé en ce que le dispositif de mesure optique par réflexion (9) est un dispositif de mesure de distance, en particulier un dispositif de mesure de distance conçu pour détecter des précipices.
  8. Procédé pour faire fonctionner un appareil de traitement de sol à déplacement automatique (1) comprenant un élément de traitement du sol (2), au moins deux roues motorisées (3, 4) et un dispositif de détection pour reconnaître un type de sol d'une surface à traiter, caractérisé en ce qu'un élément de résistance/d'opposition par frottement (6) du dispositif de détection entre en contact avec la surface pendant un déplacement de telle manière qu'une force résultante agisse sur l'appareil de traitement de sol (1) en dehors d'un axe de référence (7), l'axe de référence (7) étant orienté parallèlement à une direction principale de déplacement (8) de l'appareil de traitement de sol (1) prédéterminée par l'orientation des roues (3, 4) et centré entre les roues (3, 4) par rapport à une direction perpendiculaire à l'axe de référence (7) et dans lequel les vitesses de rotation des roues (3, 4) mues avec une même force motrice sont comparées entre elles pour reconnaître le type de sol, une différence de vitesse établie étant comparée à des différences de référence dépendant du type de sol.
  9. Procédé selon la revendication 8, caractérisé en ce qu'est mesuré un courant absorbé par un moteur d'entraînement d'un élément de résistance/d'opposition par frottement (6), dans lequel un courant absorbé par le moteur d'entraînement est comparé à des courants de référence dépendant du type de sol.
  10. Procédé selon la revendication 8 ou 9, caractérisé en ce qu'une puissance d'un souffleur de l'appareil de traitement de sol (1) et/ou une vitesse de rotation de l'élément de traitement du sol (2) est modifiée en fonction du type de sol identifié, et/ou une information sur le type de sol identifié est stockée dans une carte numérique de l'environnement de l'appareil de traitement de sol (1).
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 EP3357395A1 (fr) 2018-08-08
EP3357395B1 true 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)

Families Citing this family (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
USD896858S1 (en) * 2017-12-14 2020-09-22 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
CN111936023B (zh) 2017-12-18 2022-01-14 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
CN113423318B (zh) * 2018-11-19 2022-10-14 创科地板护理技术有限公司 生成表面识别指纹的表面清洁设备
DE102018219900B4 (de) * 2018-11-21 2022-12-15 BSH Hausgeräte GmbH Roboter zur Oberflächenpflege sowie Robotersystem
KR102293657B1 (ko) 2019-07-31 2021-08-24 엘지전자 주식회사 이동 로봇
CN110547727A (zh) * 2019-08-14 2019-12-10 深圳市银星智能科技股份有限公司 清洁机器人的流体施加方法及清洁机器人
CN110584547B (zh) * 2019-10-18 2021-11-02 尚科宁家(中国)科技有限公司 一种扫地机器人的清洁方法及清洁系统
WO2021125411A1 (fr) * 2019-12-20 2021-06-24 엘지전자 주식회사 Robot mobile
US11436940B2 (en) 2020-02-28 2022-09-06 Irobot Corporation Mobile cleaning robot hardware recommendations
DE102020114660A1 (de) * 2020-06-02 2021-12-02 Vorwerk & Co. Interholding Gesellschaft mit beschränkter Haftung Sich selbsttätig fortbewegendes Bodenbearbeitungsgerät mit einer Umgebungskarte
USD967883S1 (en) * 2021-01-06 2022-10-25 Grey Orange International Inc. Robot for handling goods in a facility
USD1029047S1 (en) * 2022-08-11 2024-05-28 Willand (Beijing) Technology Co., Ltd. Vision module

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE69832957T3 (de) * 1997-08-25 2013-11-21 Koninklijke Philips Electronics N.V. Elektrische flächenbehandlungsvorrichtung mit akustischem detektor des oberflächenmaterials
US6956348B2 (en) * 2004-01-28 2005-10-18 Irobot Corporation Debris sensor for cleaning apparatus
DE10357635B4 (de) * 2003-12-10 2013-10-31 Vorwerk & Co. Interholding Gmbh Bodenreinigungsgerät
DE102004010827B4 (de) * 2004-02-27 2006-01-05 Alfred Kärcher Gmbh & Co. Kg Bodenbearbeitungsgerät und Verfahren zu dessen Steuerung
CN1891132A (zh) * 2005-07-04 2007-01-10 陈东明 用于智能吸尘机的控制系统的控制方法
JP6680453B2 (ja) * 2012-12-05 2020-04-15 フォルヴェルク・ウント・ツェーオー、インターホールディング・ゲーエムベーハーＶｏｒｗｅｒｋ ＆ Ｃｏｍｐａｇｎｉｅ Ｉｎｔｅｒｈｏｌｄｉｎｇ Ｇｅｓｅｌｌｓｈａｆｔ Ｍｉｔ Ｂｅｓｃｈｒａｎｋｔｅｒ Ｈａｆｔｕｎｇ 走行式掃除機並びにこのような装置の運転方法
JP2014236838A (ja) * 2013-06-07 2014-12-18 シャープ株式会社 自走式掃除機
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
EP3205250B1 (fr) * 2014-10-10 2019-07-31 Panasonic Intellectual Property Management Co., Ltd. Dispositif de nettoyage de type à déplacement autonome
US10568483B2 (en) * 2014-12-12 2020-02-25 Irobot Corporation Cleaning system for autonomous robot
US9993129B2 (en) * 2015-02-13 2018-06-12 Irobot Corporation Mobile floor-cleaning robot with floor-type detection

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
None *

Also Published As

Publication number Publication date
US10602900B2 (en) 2020-03-31
SG10201800827YA (en) 2018-09-27
CN108371519B (zh) 2021-08-10
DE102017101936A1 (de) 2018-08-02
US20180213992A1 (en) 2018-08-02
ES2777791T3 (es) 2020-08-06
JP2018122092A (ja) 2018-08-09
CN108371519A (zh) 2018-08-07
EP3357395A1 (fr) 2018-08-08

Similar Documents

Publication Publication Date Title
EP3357395B1 (fr) Appareil de traitement du sol automatique déplaçable
EP2710944B1 (fr) Appareil de nettoyage du sol à déplacement automatique et procédé de fonctionnement d'un appareil de nettoyage du sol
DE102010000573B4 (de) Verfahren zur Leistungssteuerung eines Saug-/Kehrgeräts
EP3345524B1 (fr) Procédé de fonctionnement d'un appareil de traitement au sol
EP2741483B1 (fr) Appareil de nettoyage automobile et procédé de fonctionnement d'un tel
EP3351157B1 (fr) Appareil de nettoyage se déplaçant automatiquement
EP3416018B1 (fr) Système pourvu d'au moins deux appareils de traitement du sol
EP3440978B1 (fr) Procédé de fonctionnement d'un appareil de nettoyage en mouvement de manière automatique
EP3412186B1 (fr) Procédé de fonctionnement d'un appareil de traitement du sol mobile automatique
WO2004059409A1 (fr) Appareil de traitement de sol mobile
DE102017118383A1 (de) Verfahren zum Betrieb eines sich selbsttätig fortbewegenden Reinigungsgerätes
DE112014000174T5 (de) Rollenbürste für Oberflächenreinigungsroboter
EP3351156B1 (fr) Appareil de nettoyage se déplaçant automatiquement
EP3441842A1 (fr) Procédé de fonctionnement d'un appareil de traitement du sol mobile automatique
EP3708058B1 (fr) Appareil de traitement du sol et système comprenant l'appareil de traitement du sol et un terminal externe
DE102015104244A1 (de) Bodenpflegegerät und Verfahren zur Pflege eines Bodens mit einem selbstfahrenden Bodenpflegegerät
DE102017120800A1 (de) Saugreinigungsgerät mit einer Saugdüse
WO2013079334A1 (fr) Procédé pour traiter une surface de sol textile au moyen d'un appareil de nettoyage de sol ainsi qu'appareil de nettoyage de sol
DE102015104250A1 (de) Bodenpflegegerät und Verfahren zur Pflege eines zumindest teilweise mit Teppich belegten Bodens mit einem selbstfahrenden Bodenpflegegerät
EP3967198A1 (fr) Appareil de traitement du sol autonome
DE102012104326A1 (de) Selbstfahrendes und selbstlenkendes Bodenreinigungsgerät sowie Verfahren zur Steuerung von dessen Bewegung
EP4260756A1 (fr) Appareil de nettoyage, brosse de balayage pour un appareil de nettoyage et procédé de fonctionnement d'un appareil de nettoyage
DE19916427A1 (de) Haushaltsroboter zum automatischen Staubsaugen von Bodenflächen
DE102017106420A1 (de) Bodenbearbeitungsgerät mit einer Mehrzahl von rotierend angetriebenen Arbeitselementen
DE102015104251B4 (de) Bodenpflegegerät und Verfahren zur Pflege eines Hartbodens mit einem selbstfahrenden Bodenpflegegerät

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION HAS BEEN PUBLISHED

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20181204

RBV Designated contracting states (corrected)

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

RIC1 Information provided on ipc code assigned before grant

Ipc: A47L 9/28 20060101AFI20190816BHEP

INTG Intention to grant announced

Effective date: 20190919

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 1239432

Country of ref document: AT

Kind code of ref document: T

Effective date: 20200315

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 502018000862

Country of ref document: DE

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200304

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200304

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200604

REG Reference to a national code

Ref country code: ES

Ref legal event code: FG2A

Ref document number: 2777791

Country of ref document: ES

Kind code of ref document: T3

Effective date: 20200806

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20200304

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200304

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200304

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200304

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200604

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200605

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG4D

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200304

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200304

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200304

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200704

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200304

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200729

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200304

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200304

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 502018000862

Country of ref document: DE

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200304

26N No opposition filed

Effective date: 20201207

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200304

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200304

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200304

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210130

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20210131

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CZ

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210130

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210131

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210131

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210130

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210131

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20220130

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20220130

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20230123

Year of fee payment: 6

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: IT

Payment date: 20230131

Year of fee payment: 6

P01 Opt-out of the competence of the unified patent court (upc) registered

Effective date: 20230517

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200304

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO

Effective date: 20180130

REG Reference to a national code

Ref country code: AT

Ref legal event code: MM01

Ref document number: 1239432

Country of ref document: AT

Kind code of ref document: T

Effective date: 20230130

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: ES

Payment date: 20240216

Year of fee payment: 7

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20230130

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200304

Ref country code: AT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20230130

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20240119

Year of fee payment: 7