EP3412186B1 - Procédé de fonctionnement d'un appareil de traitement du sol mobile automatique - Google Patents

Procédé de fonctionnement d'un appareil de traitement du sol mobile automatique Download PDF

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Publication number
EP3412186B1
EP3412186B1 EP18172082.2A EP18172082A EP3412186B1 EP 3412186 B1 EP3412186 B1 EP 3412186B1 EP 18172082 A EP18172082 A EP 18172082A EP 3412186 B1 EP3412186 B1 EP 3412186B1
Authority
EP
European Patent Office
Prior art keywords
fringes
carpet
processing device
floor processing
combing
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
EP18172082.2A
Other languages
German (de)
English (en)
Other versions
EP3412186A1 (fr
Inventor
David Erkek
Georg Hackert
Gerhard Isenberg
Roman Ortmann
Andreas Schmidt
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
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Publication date
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Publication of EP3412186A1 publication Critical patent/EP3412186A1/fr
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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
    • A47L7/00—Suction cleaners adapted for additional purposes; Tables with suction openings for cleaning purposes; Containers for cleaning articles by suction; Suction cleaners adapted to cleaning of brushes; Suction cleaners adapted to taking-up liquids
    • A47L7/0085—Suction cleaners adapted for additional purposes; Tables with suction openings for cleaning purposes; Containers for cleaning articles by suction; Suction cleaners adapted to cleaning of brushes; Suction cleaners adapted to taking-up liquids adapted for special purposes not related to 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
    • 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
    • A47L5/00—Structural features of suction cleaners
    • A47L5/12—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4052—Movement of the tools or the like perpendicular to the cleaning surface
    • A47L11/4055—Movement of the tools or the like perpendicular to the cleaning surface for lifting the tools to a non-working position
    • 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
    • A47L7/00—Suction cleaners adapted for additional purposes; Tables with suction openings for cleaning purposes; Containers for cleaning articles by suction; Suction cleaners adapted to cleaning of brushes; Suction cleaners adapted to taking-up liquids
    • A47L7/009—Details of suction cleaner tools for additional purposes
    • 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
    • A47L7/00—Suction cleaners adapted for additional purposes; Tables with suction openings for cleaning purposes; Containers for cleaning articles by suction; Suction cleaners adapted to cleaning of brushes; Suction cleaners adapted to taking-up liquids
    • A47L7/02—Suction cleaners adapted for additional purposes; Tables with suction openings for cleaning purposes; Containers for cleaning articles by suction; Suction cleaners adapted to cleaning of brushes; Suction cleaners adapted to taking-up liquids with driven tools for special purposes
    • 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
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Definitions

  • the invention relates to a method for operating a tillage device that moves automatically within an environment, wherein a detection device of the tillage device detects features of a surface to be cleaned and compares them with reference features of carpets.
  • the invention relates to a self-propelled within an environment tillage apparatus with a housing and a detection device which is adapted to detect features of a surface to be cleaned and to compare with reference features of carpets.
  • the soil cultivation device may be, for example, a cleaning robot, which can independently perform a suction task.
  • the publications DE 10 2011 000 536 A1 and DE 10 2008 014 912 A1 are disclosed in connection with self-propelled suction and / or cleaning robots for cleaning floors.
  • the robots are equipped with distance sensors, which Measure distances to obstacles, such as furniture or room boundaries. From the measured distance data, an environment map is created, on the basis of which a travel route can be planned, which avoids a collision with obstacles.
  • the distance sensors preferably operate without contact, for example with the aid of light and / or ultrasound. It is further known to provide the robot with means for all-around distance measurement, for example with an optical triangulation system, which is arranged on a platform or the like rotating about a vertical axis.
  • the acquired distance data are processed by means of a computing device of the robot to an environment map and stored, so that in the course of a work operation on this map for the purpose of orientation can be used.
  • the publication JP 2004174149 A further discloses a vacuum robot and a method of operation thereof, wherein a camera of the vacuum robot identifies an edge of a carpet and detects whether fringes are disposed on that edge. In the event that the carpet has fringes, a brush of the robotic vacuum cleaner is disabled so that the edge can be run over without problems and the fringes are not sucked into the vacuum robot.
  • the carpet unlike known carpets, which line the floor of a room to the walls, usually has a smaller one Area expansion.
  • Carpets according to the invention are slidably disposed on a floor of the room and have thicknesses of usually 5mm to 30mm or more.
  • fringes are fabric threads which usually extend outward parallel to a large surface plane of the carpet. These can be created by tearing or cutting at the edges of the carpet or by knotting long standing warp threads in groups. In a typically desired orientation, the fringes extend perpendicularly outward with respect to the carpet edge and lie next to the carpet on a floor.
  • a method is proposed in which it is determined when recognizing a carpet, if and where the carpet fringes, the fringes are aligned by means of a combing device of the harrow in a defined direction relative to the carpet.
  • a brush or other processing device of the soil cultivation device is turned off to drive over a carpet with fringes
  • this is now advantageously used as a combing device to align the fringes of the carpet and thereby possibly even clean.
  • the cultivator and / or the combing device of the cultivator are controlled by a controller of the cultivator such that the fringes are aligned in a defined direction relative to the carpet.
  • this defined direction is a direction oriented perpendicular to a trailing edge of the carpet.
  • the fringes are also usually aligned parallel to each other.
  • the combing device combs the fringes perpendicularly relative to the respective carpet edge.
  • Detection of a carpet during a tillage operation of the tillage implement may be accomplished by various methods of soil detection.
  • a camera of the cultivator picks up an image and / or a video of the environment and forwards it to a computing device.
  • the computing device executes an image processing program that identifies defined features within the image or video and compares them to reference features that typically characterize carpets. These features may be, for example, an area occupied in the environment, a height relative to a floor surface, and / or a texture or color. Other features are of course possible.
  • a position of the carpet in a room of an apartment or relative to furniture may also contribute to the determination.
  • the detection device may alternatively or in addition to a camera also include other optical sensors, ultrasonic sensors, contact sensors and the like. Detecting whether the carpet has fringes is basically done in a conventional manner by comparison with stored reference features. For example, reference features for fringes may be a particular length, width and height, a number, a current orientation relative to the carpet, and the like. Finally, if it is determined that the carpet has fringes, the combing device is used according to a predefined strategy to align the fringes.
  • the tillage implement first process a region of the environment and / or the carpet that does not have fringes prior to processing the fringes of a carpet.
  • first such areas are processed in which no fringes have been detected.
  • disturbances of the soil cultivating device can be avoided, which could result from a constant change of the cultivator from fringe areas to non-fringe areas, and vice versa.
  • the fringes having areas of the carpet are processed, namely aligned the fringes and cleaned if necessary.
  • a driving strategy and / or driving route of the cultivator be generated as a function of a detected position and / or a desired orientation of the fringes on the carpet.
  • the positions and dimensions of carpets detected by the detection device are used to plan a driving strategy and / or driving route of the soil cultivation device through the environment.
  • the driving route or the driving strategy may include first cleaning those areas of the environment or of the carpet which have no fringes.
  • the driving strategy or the route can also be planned so that it comes as a result of a certain direction of travel of the harrow to a desired orientation of fringes, because the combing device is then oriented accordingly relative to a carpet and is pulled through the fringes.
  • alignment with parallel fringes is perpendicular to an associated edge region of the carpet.
  • the tillage implement may leave the carpet in sections over adjoining edge portions, which may result in parallel alignment of the fringes with each other and vertical alignment of the fringes relative to the respective edge region of the carpet.
  • the driving strategy and / or driving route may include driving several carpets in the vicinity in a particular order be approached from a certain direction or the like.
  • the driving strategy may provide for the use of certain tillage elements in certain subregions of the environment, such as on a carpet other tillage elements than in a fringe area or a completely carpet-free area of the environment.
  • a position and orientation of a detected carpet and a position and / or orientation of the fringes are stored in an environment map of the soil cultivation device.
  • the environmental map of the harrow may also include, in a conventional manner, objects and room boundaries of the environment, such as furniture and walls of an apartment.
  • carpets are also stored in the environment map, namely their position and orientation within the respective room.
  • the environment map also contains information about which edge regions of the carpet have fringes and in which spatial direction or in which direction relative to the carpet they are oriented.
  • a driving strategy or travel route of the soil cultivation device can then be planned. The planning can then be carried out according to certain criteria, as explained above, for example, to first perform a cleaning carpet or fringe-free areas to approach several carpets in a particular order or the like.
  • the tillage implement moves on the carpet to align the fringes and leaves it in a direction which corresponds to a desired orientation of the fringes. This is achieved by orienting the wheels of the cultivator and / or the combing device so that their contact surface is aligned parallel to the desired orientation of the fringes. This is preferably a direction of rolling or Kämmraum oriented perpendicular to an edge region of the carpet. If the combing device is, for example, a comb with parallel tines or a brush with a large number of bristles, the fringes can be aligned optimally.
  • a driving strategy of the tillage implement advantageously includes that the tillage device crosses the fringes starting from, for example, a central region of the carpet in sections, namely preferably perpendicular to an associated edge of the carpet.
  • the soil cultivator may again ride on the carpet, preferably from a side where the fringes have not yet been aligned.
  • the soil cultivator moves over a non-fringed edge region on the carpet.
  • This embodiment is suitable for carpets which have at least one edge region that does not wear fringes.
  • this may be a carpet which has fringes on two edge regions which are parallel to one another and has no fringes on two other mutually parallel edge regions, in particular those which are perpendicular to the two aforementioned edge regions.
  • the tillage implement may return from one side to the carpet which has no fringes. Subsequently, a re-alignment of the fringes, in particular in an adjacent edge region, take place.
  • the fringes are combed by means of a bristle roller of the cultivator.
  • the fringes may be provided by means of a rotational axis aligned during a tilling operation about an axis of rotation substantially parallel to the carpet be combed rotating bristle roller.
  • the bristle roller combing the fringes can either rotate about an axis of rotation aligned parallel or perpendicular to the carpet.
  • a bristle roller which rotates about an axis of rotation aligned parallel to the carpet is particularly suitable.
  • the bristle roller combing the fringes is simultaneously suitable for cleaning a surface of the environment to be cleaned during a processing operation of the cultivator.
  • a bristle roller usually has a very large number of juxtaposed and successively arranged bristles which, for example, achieve an improved cleaning effect on carpets and carpets during a suction operation of the soil cultivating device.
  • Such a bristle roller can thus serve both a cleaning task and a Kämmaufgabe.
  • a rotational speed and / or rotational direction of the bristle roller is varied for combing and / or driving over the fringes.
  • a motor or gear of the harrow is suitable for effecting different rotational speeds and / or directions of rotation of the bristle roller. It is usually advantageous for the bristle roller to be rotated at a lower speed for orientation of fringes than during floor cleaning.
  • the direction of rotation of the bristle roller is adjusted depending on whether the harrow is currently moving from the carpet or riding on the carpet.
  • the direction of rotation of the bristle roller should correspond in each case to the combing direction of the fringes, in order to achieve or maintain the desired orientation of the fringes.
  • the bristle roller is not rotated when crossing already combed fringes. This embodiment can be particularly advantageous where the direction of rotation of the bristle roller can not be changed. This prevents the aligned fringes from being again mixed up.
  • a soil cultivation element of the soil cultivation device is lifted off the surface when the fringes are passed over.
  • the combing device is lifted off the surface when passing already aligned fringes.
  • the soil cultivation element may, for example, be a side brush of a soil cultivating device, an additional wiping element or the like.
  • the invention also proposes a tillage device with a housing and a detection device, which is self-propelled within an environment, wherein the detection device is set up to provide features for a surface to be cleaned and compare with reference features of carpets, the soil cultivator having combing means for aligning fringes of a carpet in a defined direction, the combing means being displaceable relative to the fringes and the housing on the cultivator is arranged and / or controllable with respect to a rotational speed and / or rotational direction about an axis of rotation.
  • the combing device can be, for example, a soil cultivating element, which is arranged on the cultivating device anyway for the execution of tilling tasks, for example a bristle roller or the like rotatable about a horizontal axis of rotation (relative to an orientation during a conventional cultivating operation).
  • the combing device may also be provided exclusively for the purpose of aligning carpet fringes on the cultivator.
  • the combing device may preferably be in connection with a control device of the soil cultivation device, which can control a displacement and / or rotation of the combing device relative to a housing of the cultivator. In particular, a speed and / or direction of rotation of a rotating combing device can be controlled.
  • the harrow is thus generally designed to align fringes of a carpet according to a variant of the method described above.
  • the soil cultivation device has a combing device which can be moved out of the housing of the cultivator.
  • the combing device can thus be extended out of the housing as required and otherwise stored space-saving within the harrow, so as not to increase the dimension of the harrow.
  • the combing means may be a non-rotating brush which is displaceable relative to the fringes and / or relative to the housing of the cultivator.
  • the navigation of the harrow is simplified because the harrow does not drive the carpet constantly and must leave again.
  • FIG. 1 shows a harrow 1, which is designed here as a vacuum robot.
  • the harrow 1 has motor-driven wheels 13, with the aid of which the harrow 1 can move within an environment.
  • the harrow 1 has soil cultivating elements 10, namely a side brush projecting laterally beyond a housing 11 of the cultivator 1, and a bristle roller 8 which is rotatable about a rotation axis 9.
  • the axis of rotation 9 is oriented horizontally in the usual operating position shown here of the harrow 1, that is, substantially parallel to a surface to be cleaned.
  • the bristle roller 8 serves on the one hand for releasing dirt from the surface to be cleaned, in particular from a carpet 3, and on the other hand as a combing device for aligning fringes 4 of a carpet 3. This will be discussed below.
  • the harrow 1 further comprises a distance measuring device 12, which here for example has a triangulation measuring device.
  • the distance measuring device 12 is disposed within the housing 11 of the harrow 1 and has in detail a laser diode whose emitted light beam led out of the housing 11 via a deflecting device and is rotatable about a rotation axis perpendicular to the orientation of the cultivating device 1, in particular with a measuring angle of 360 °. This is an all-around distance measurement around the tillage implement 1 possible.
  • the distance measuring device 12 measures distances to obstacles, for example pieces of furniture 17, within an environment of the soil cultivation device 1.
  • the tillage implement 1 in the field of soil cultivation elements 10 on a suction mouth not shown, via which by means of a motor-blower unit with suction material acted upon air can be sucked into the harrow 1.
  • the harrow 1 has a rechargeable battery, not shown.
  • the harrow 1 also has a detection device 2, namely here in the direction of travel of the harrow 1 front of the housing 11 arranged camera which receives images of the environment.
  • the detection device 2 is connected to an evaluation and control device of the soil cultivation device 1, not shown, in order to be able to evaluate images taken by the detection device 2.
  • the evaluation includes a comparison of existing in the image features of a surface to be cleaned with reference features of carpets 3 or 4 fringes to find fringes 4 having carpets 3 within the environment can.
  • the reference features are stored in a memory of the tillage implement 1 and include typical features of carpets 3, 4 such as height, width and length, structure, orientation, and the like.
  • FIG. 2 shows a portion of an environment, namely a room of an apartment in which a carpet 3 with fringes 4 is present.
  • the carpet 3 drives a harrow 1 along a fringe 4 having edge portion 7 of the carpet 3.
  • the driving route 14 includes a section-wise driving of the carpet 3 and a section-wise alignment of the fringes 4 by the soil cultivation element 10.
  • the travel route 14 that the tillage device 1 on an edge portion 7, which has no fringes 4, on the carpet 3rd moves, and then pivots 90 ° and perpendicular to a fringe 4 having edge portion 7 leaves the carpet 3 again.
  • the axis of rotation 9 of the bristle roller 8 is oriented parallel to the edge region 7, so that the direction of rotation of the bristle roller 8 corresponds to the desired orientation of the fringes 4.
  • the harrow 1 has left the carpet 3 and the fringes 4 again, it moves along the edge portion 7 again to one side of the carpet 3, which has no fringes 4, to go there again on the carpet 3 and fringes 4 at another to align adjacent edge area 7.
  • FIG. 3 shows a driving route 14 for the cleaning of the carpet 3 and the alignment of the fringes 4 according to another possible embodiment.
  • the carpet 3 is divided in two halves with respect to the travel route 14, which each have an edge region 7 with fringes 4.
  • the tillage implement 1 moves in accordance with this travel route 14 approximately in a central region on the carpet 3 and from there to different portions of the fringes having edge portions. 7
  • FIGS. 4 to 6 show a harrow 1 when driving on a carpet 3 on a fringe 4 having edge portion 7.
  • This embodiment is particularly suitable for tillage equipment 1, in which the bristle roller 8 is rotatable about the axis of rotation 9 in one direction only.
  • the axis of rotation 9 of the bristle roller 8 is arranged relative to the housing 11 displaced.
  • the axis of rotation 9 can be raised or lowered to a command of the control and evaluation of the tillage device 1 from a surface to be cleaned. As in FIG.
  • the bristle roller 8 is placed outside the carpet 3 still on the surface to be cleaned and can during a suction task of the harrow 1 additional cleaning, especially a dissolving dust and dirt from the surface cause.
  • the control and evaluation device of the soil cultivation device 1 assigned to the detection device 2 recognizes the carpet 3 or the fringes 4 within the recorded image and causes the bristle roller 8 to lift off the surface to be cleaned, so that the bristle roller 8 does not touch the fringes 4 when the tillage implement 1 rests on the carpet 3. This condition is in FIG. 5 shown.
  • the bristle roller 8 can be lowered onto the carpet 3 again to assist cleaning of the carpet 3 there. Then, the tillage implement 1, the carpet 3 on the opposite (in the FIGS. 4 to 6 not shown) leave page again, the bristle roller 8 now, for example. In the in FIG. 6 shown lowered position may remain when the rotational direction of the bristle roller 8 corresponds to the desired Kämmraum the fringes 4.
  • FIGS. 7 and 8 show a further embodiment of a harrow 1.
  • the soil cultivation device 1 here has a relative to the housing 11 displaceable combing device 5, which is a bristle roller 8.
  • the bristle roller 8 is pivotable about a pivot axis 15 out of the housing 11 and into the housing 11, so that the combing device 5 can be pivoted out of the housing 1 as required.
  • the bristle roller 8 can be pivoted into a corresponding receiving portion 16 of the housing 11, so that the outer dimensions of the harrow 1 do not change and the harrow 1 as close as possible to furniture 17 and the like can pass to perform as complete as possible cleaning.
  • the harrow 1 moves along the fringes 4 having edge portions 7 of the carpet 3, wherein the bristle roller 8 is partially placed on a plurality of fringes 4 and after alignment of this is lifted off again.
  • the tillage implement 1 then moves in front of an edge region 7 having adjacent fringes 4 and again places the rotating bristle roller 8 on the fringes 4 in order to align them.
  • FIG. 9 finally shows an environment map 6, which has created the tillage device 1 from the distance measuring device 12 and the detection device 2 recorded distance data.
  • the environment map 6 has detected obstacles, namely here pieces of furniture 17, room boundaries, namely walls, and passage areas between rooms. Furthermore, the environment map 6 includes the carpets 3 detected by the detection device 2, which edge regions 7 with fringes 4 have.
  • the harrow 1 moves within the environment, that is, here the apartment shown around and measures distances to obstacles, such as the furniture shown 17. At the same time detects the detection device 2 on a surface to be cleaned carpets 3 and edge portions. 7 with fringes 4. The recorded data is processed into the illustrated environment map 6. Then, the evaluation and control device of the harrow 1 plan a route 14, which cleans the apartment shown in the most advantageous manner, with a cleaning order of rooms and / or areas can be provided.
  • those portions of the environment which are outside of carpets 3 and fringes 4 may first be cleaned. Only in a further process step, the surfaces of the carpets 3 are then cleaned and the fringes 4 of the carpets 3 aligned in a desired direction. This has the advantage that already aligned fringes 4 are not derangiert by subsequent cleaning operations again.
  • the travel route 14 is further considered, which orientation the carpets have 3, and in which direction the fringes 4 are to show it.
  • FIGS. 2 and 3 shown may be provided depending on possibly edge regions 7 with and without fringes 4 that the tillage device 1 ascends over certain edge portions 7 on a carpet 3 and leaves the carpet 3 on certain edge regions 7 again.
  • the bristle roller 8 as in the FIGS. 4 to 6 are raised for a ride on the carpet 3, so that already aligned fringes 4 are not derangiert.
  • a direction of rotation of the rotational axis 9 of the bristle roller 8 it would also be possible to have a direction of rotation of the rotational axis 9 of the bristle roller 8 to be changed so that it always rotates as a combing device 5 in a direction which corresponds to a desired orientation of the fringes 4.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Soil Working Implements (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Preliminary Treatment Of Fibers (AREA)
  • Nozzles For Electric Vacuum Cleaners (AREA)
  • Treatment Of Fiber Materials (AREA)
  • Cleaning In General (AREA)

Claims (10)

  1. Procédé pour faire fonctionner un appareil de traitement du sol (1) qui se déplace automatiquement à l'intérieur d'un environnement, dans lequel un dispositif de détection (2) de l'appareil de traitement du sol (1) détecte les caractéristiques d'une surface à nettoyer et les compare à des caractéristiques de référence de tapis (3), caractérisé en ce que, lors de la reconnaissance d'un tapis, il est déterminé si et où le tapis (3) présente des franges (4), dans lequel les franges (4) sont alignées dans une direction définie par rapport au tapis (3) au moyen d'un dispositif de peignage (5) de l'appareil de traitement du sol (1).
  2. Procédé selon la revendication 1, caractérisé en ce que, avant un traitement des franges (4) d'un tapis (3), l'appareil de traitement du sol (1) traite d'abord une zone de l'environnement et/ou du tapis (3) qui ne comporte pas de franges (4).
  3. Procédé selon la revendication 1 ou 2, caractérisé en ce qu'une stratégie de déplacement et/ou un itinéraire de déplacement (14) de l'appareil de traitement du sol (1) sont générés en fonction d'une position détectée et/ou d'une orientation souhaitée des franges (4) du tapis (3).
  4. Procédé selon l'une des revendications précédentes, caractérisé en ce qu'une position et une orientation d'un tapis détecté (3) et une position et/ou une orientation des franges (4) sont mémorisées dans une carte d'environnement (6) de l'appareil de traitement du sol (1).
  5. Procédé selon l'une des revendications précédentes, caractérisé en ce que pour aligner les franges (4), l'appareil de traitement du sol (1) se déplace sur le tapis (3) et quitte celui-ci dans une direction correspondant à une orientation souhaitée des franges (4).
  6. Procédé selon l'une des revendications précédentes, caractérisé en ce que l'appareil de traitement du sol (1) se déplace sur le tapis (3) en passant sur une zone de bord (7) ne présentant pas de franges (4).
  7. Procédé selon l'une des revendications précédentes, caractérisé en ce que les franges (4) sont peignées au moyen d'un rouleau à poils (8) de l'appareil de traitement du sol (1), en particulier au moyen d'un rouleau à poils (8) qui, pendant un traitement du sol, tourne autour d'un axe de rotation (9) orienté sensiblement parallèlement au tapis (3).
  8. Procédé selon la revendication 7, caractérisé en ce qu'une vitesse de rotation et/ou un sens de rotation du rouleau à poils (8) est modifié pour peigner et/ou passer sur les franges (4).
  9. Procédé selon l'une des revendications précédentes, caractérisé en ce qu'un élément de traitement de sol (10) de l'appareil de traitement du sol (1) est soulevé de la surface lors du passage sur les franges (4), en particulier le dispositif de peignage (5) est soulevé de la surface lors du passage sur les franges (4) qui ont déjà été alignées.
  10. Appareil de traitement du sol (1) qui se déplace automatiquement à l'intérieur d'un environnement et qui comprend un boîtier (11) et un dispositif de détection (2) qui est conçu pour détecter des caractéristiques d'une surface à nettoyer et pour les comparer à des caractéristiques de référence de tapis (3), caractérisé en ce que l'appareil de traitement du sol (1) comprend un dispositif de peignage (5) pour aligner des franges (4) d'un tapis (3) dans une direction définie, dans lequel le dispositif de peignage (5) est associé à l'appareil de traitement du sol (1) de manière déplaçable par rapport aux franges (4) et au boîtier (11) et/ou peut être commandé en ce qui concerne la vitesse de rotation et/ou le sens de rotation autour d'un axe de rotation (9).
EP18172082.2A 2017-06-09 2018-05-14 Procédé de fonctionnement d'un appareil de traitement du sol mobile automatique Active EP3412186B1 (fr)

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DE102017112794.1A DE102017112794A1 (de) 2017-06-09 2017-06-09 Verfahren zum Betrieb eines sich selbsttätig fortbewegenden Bodenbearbeitungsgerätes

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EP3412186A1 (fr) 2018-12-12
CN109008778A (zh) 2018-12-18
JP2019000622A (ja) 2019-01-10
DE102017112794A1 (de) 2018-12-13
ES2748897T3 (es) 2020-03-18
US20180353043A1 (en) 2018-12-13
US10694913B2 (en) 2020-06-30
CN109008778B (zh) 2021-08-31
TW201904501A (zh) 2019-02-01

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