EP3440975B1 - Procédé de fonctionnement d'un appareil de nettoyage en mouvement de manière automatique - Google Patents

Procédé de fonctionnement d'un appareil de nettoyage en mouvement de manière automatique Download PDF

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Publication number
EP3440975B1
EP3440975B1 EP18186774.8A EP18186774A EP3440975B1 EP 3440975 B1 EP3440975 B1 EP 3440975B1 EP 18186774 A EP18186774 A EP 18186774A EP 3440975 B1 EP3440975 B1 EP 3440975B1
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EP
European Patent Office
Prior art keywords
cleaning device
surface section
cleaning
degree
area
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
EP18186774.8A
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German (de)
English (en)
Other versions
EP3440975A1 (fr
Inventor
Pia Hahn
Gerhard Isenberg
Harald Windorfer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Vorwerk and Co Interholding GmbH
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Vorwerk and Co Interholding GmbH
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Publication of EP3440975A1 publication Critical patent/EP3440975A1/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
    • 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
    • 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
    • A47L11/40—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
    • 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
    • A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
    • 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
    • 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
    • A47L9/2857—User input or output elements for control, e.g. buttons, switches or displays
    • 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

Definitions

  • the invention relates to a method for operating a cleaning device that moves automatically within an environment, with the cleaning device cleaning a defined, spatially limited subarea of the environment, thereby completing a planned movement path.
  • the invention relates to a cleaning device that moves automatically within an environment, which is designed to carry out cleaning of a defined, spatially limited subarea of the environment and to carry out a planned movement path in the process.
  • the cleaning device can be a mobile robot, for example, which can independently carry out a suction task and/or a wiping task.
  • the publications DE 10 2011 000 536 A1 and DE 10 2008 014 912 A1 disclose, for example, methods in connection with automatically movable suction and/or cleaning robots for cleaning floors.
  • the robots are equipped with distance sensors that measure distances to obstacles such as furniture or room boundaries be able.
  • a map of the surroundings is created from the measured distance data, which can be used to plan a travel route that avoids a collision with obstacles.
  • the distance sensors preferably work without contact, for example with the help of light and/or ultrasound.
  • the detected distance data are processed and stored by a computing device of the robot to form a map of the surroundings, so that this map of the surroundings can be accessed in the course of a work operation for the purpose of orientation.
  • the robot intensively cleans a smaller area of the surrounding area of, for example, 2 by 2 meters. Within this partial area, the robot moves, for example, in straight, parallel lines. When the robot has completed its predefined path within the spot, it returns to a starting point.
  • a cleaning robot which measures a degree of contamination in an area adjacent to a currently cleaned area and travels there to clean this adjacent area if a degree of contamination above a reference degree of contamination is detected. Furthermore, it is disclosed that dirt is detected at a point in time Location to carry out a spot cleaning mode, in which, starting from the detected dirty location, the cleaning area is expanded spirally.
  • the disadvantage here is that the cleaning of the spatially limited partial surface area takes place independently of the degree of soiling of this partial surface area.
  • a detection device of the cleaning appliance measure the degree of soiling of the partial surface area during the cleaning of this defined partial surface area, with the degree of soiling being compared with a defined reference degree of soiling and the partial surface area being automatically cleaned by adding a defined additional partial area adjacent to the partial surface area via a den Surface sub-area delimiting peripheral track is also increased when a degree of pollution within the surface sub-area above the reference pollution level.
  • a sub-area processed by the cleaning device is now enlarged as a function of a determined degree of contamination of the sub-area under certain conditions.
  • a boundary of the partial area is changed by adding a defined additional partial area to the previous area of the partial area.
  • the additional portion may be defined in terms of its size, shape, and/or position.
  • the subarea can be defined how sensitively the subarea is expanded as a function of a detected degree of soiling, so that, for example, the subarea is adapted differently in the case of only light soiling than in the case of relatively high degrees of soiling.
  • the degree of soiling of the subarea is determined, for example, with a dust sensor.
  • the reference degree of soiling can be defined manually by a user or can also be derived from a degree of soiling from an earlier cleaning cycle.
  • the reference degree of soiling can be stored location-dependently in an environment map for the cleaning device, so that different partial areas of an environment, for example different rooms in an apartment, are assigned different reference degrees of soiling.
  • Information about the sub-area cleaned in this way can then be stored in the area map for future use Cleaning cycles of the cleaning device are saved.
  • the user can carry out a number of different actions after a cleaning cycle, for example deciding whether the previously cleaned partial area including the additional partial area should be cleaned again or not.
  • the user can use an application installed on an external device to store information about completed cleaning cycles, for example information about whether an added additional sub-area was too large or too small, whether the cleaning quality met the user's expectations, or similar. Through this procedure, for example, a learning behavior of the cleaning device can also be achieved.
  • a spot cleaning mode with increased cleaning performance compared to a standard mode of the cleaning device is carried out in the defined spatially limited partial area.
  • a decision is made as to whether the subarea is supplemented by additional subareas, which are then also subject to cleaning according to the settings of the spot cleaning mode.
  • the cleaning device can, for example, first be placed on a peripheral line of the subarea to be cleaned. From there, the cleaning device moves, for example, in straight, parallel lines through the subarea and cleans it.
  • the partial area can have an area of 2 by 2 meters, for example.
  • the degree of contamination of the subarea is measured by the detection device and compared with the defined reference degree of contamination. If the detected contamination is greater than the reference contamination, the subarea is enlarged by an additional subarea. Otherwise, the spot cleaning is ended or at least limited to the area of the previous partial area.
  • the cleaning device moves within the partial surface area and/or within the additional partial area on a meandering path of movement or on paths of movement oriented parallel to one another.
  • the subarea is thus not traversed according to a random pattern, but rather along a defined travel route, which can have regular or irregular patterns.
  • a movement along parallel movement paths or along a meandering movement path is particularly preferably carried out. If an additional partial area is added to the surface partial area, the trajectory or trajectories of the cleaning robot are correspondingly extended into the additional partial area, with the movement pattern preferably remaining the same in principle.
  • the degree of contamination is detected along a circumferential path delimiting the subarea.
  • the detection device can detect contamination at any point of the subarea, but it is advisable to evaluate a necessary enlargement of the subarea in particular, if necessary exclusively, to evaluate the contamination of an outer peripheral path of the subarea.
  • the cleaning device can specifically move along the circumferential path delimiting the subarea and measure contamination along the circumferential path there.
  • the cleaning device can move on a meandering path of motion or paths of motion oriented parallel to one another through the subarea and measure the degree of soiling where the path of motion crosses the peripheral path.
  • the detection device detects the contamination exclusively in the area of the peripheral path delimiting the partial surface area, or also centrally within the partial surface area, preferably only one degree of soiling on the outer peripheral path is compared with the reference degree of soiling, to decide whether to increase the area portion by adding an additional portion.
  • the surface sub-area be extended beyond a peripheral track delimiting the surface sub-area by an additional sub-area at least in the area of a peripheral track section.
  • the sub-area be expanded in the area of a peripheral path section which has a degree of soiling above the defined reference degree of soiling. This refinement takes into account on which side of the sub-area a contamination limit value was exceeded, so that the sub-area is only expanded where the limit value was exceeded.
  • the sub-area is, for example, a rectangular sub-area with four straight peripheral path sections, the sub-area can be expanded on one of the sides of the rectangle, so that the corresponding peripheral path section is displaced and thus the partial surface area is enlarged on one side.
  • the partial surface area is preferably expanded in the direction of the increased amount of dirt, which is particularly advantageous from the point of view of cleaning efficiency.
  • the cleaning device moves forward through the enlarged subarea, it is avoided that certain locations are repeatedly run over by the cleaning device. This can be avoided if the cleaning device first cleans one of the added additional sub-areas in the case of surface expansions on opposite circumferential path sections and optionally expands this radially outward step by step, and only then moves to the opposite additional sub-area to clean there. As a result, the proportion of locations within the sub-area or additional sub-areas that are traveled over several times is kept as small as possible. Overall, the widening of the partial surface area results in an uneven expansion of the partial surface area on only some of the existing circumferential path sections, so that the shape of the partial surface area can also change asymmetrically in the course of cleaning.
  • the sub-area be expanded spirally and/or by adding one or more rectangular additional sub-areas in relation to a circumferential track delimiting it.
  • the original surface of the partial surface area is continuously and continuously enlarged by an additional partial area of defined width.
  • a detected amount of dirt is continuously compared with a limit value, while the cleaning device moves along the circumferential track. Due to the spiral-shaped widening of the partial surface area, the partial surface area is expanded essentially uniformly in all directions.
  • the peripheral path of the partial surface area or the added additional partial areas does not necessarily have to be curved, for example along a circular shape, but can also be square, triangular or otherwise shaped.
  • a rectangular partial area can be expanded on one or more sides by adding additional rectangular partial areas. As a result, an asymmetrical expansion of the subarea can also be created.
  • the partial surface area is extended by a frame-like additional partial area.
  • the subarea is expanded along its entire circumference. In relation to a square partial area, this means that all sides of the square are expanded by an additional partial area of the same or different width. This in turn creates a square surface sub-area.
  • the frame-like additional sub-area is a ring of defined width, which expands the radius of the sub-area in all possible radial directions.
  • the sub-area be supplemented by one or more additional sub-areas until contamination below the defined reference contamination is detected.
  • the expansion of the partial surface area by one or more additional partial areas is thus continued until a termination criterion is met.
  • the termination criterion includes here that a contamination measured by the detection device is less than a defined reference contamination.
  • the invention also proposes a cleaning device that moves automatically within an environment, which is designed to carry out cleaning of a defined, spatially limited subarea of the environment and in doing so a planned To complete a trajectory, wherein the cleaning device has a control device which is set up to control the cleaning device to carry out a previously proposed method.
  • control device is set up to measure the degree of soiling of the partial area during the cleaning, to compare the measured degree of soiling with a defined reference soiling and to automatically enlarge the partial area by adding a defined additional partial area if a degree of soiling above the reference soiling is determined.
  • control device can control the cleaning device and the detection device in such a way that the contamination is detected along a peripheral path delimiting the subarea.
  • control device can extend the partial surface area beyond a circumferential path delimiting the partial surface area, at least in Area of a peripheral path section, to expand by an additional sub-area, in particular in the area of a peripheral path section, which has contamination above the defined reference contamination.
  • control device can also be set up to expand the partial surface area in a spiral manner and/or by adding one or more rectangular additional partial areas and/or by adding a frame-like additional partial area.
  • control device can be assigned a storage device with a file which contains reference degrees of soiling as well as sizes, shapes and/or positions for corresponding additional partial areas.
  • a specific size and/or shape and/or position of an additional partial area can be assigned to a specific detected degree of contamination, for example in tabular form.
  • the file that the control device can access can either be stored locally within the cleaning device, or on an external terminal device, an external server or, for example, on a web server (cloud).
  • FIG 1 shows a cleaning device 1, which is designed here as a vacuum robot.
  • the cleaning device 1 has wheels 12 driven by an electric motor 14, with the help of which the cleaning device 1 can move within an environment.
  • the cleaning device 1 has cleaning elements 13, namely here a side brush protruding laterally beyond a housing of the cleaning device 1 and a brush roller, which can be rotated about an axis of rotation.
  • the brush roller In the usual operating position of the cleaning device 1 shown here, the brush roller is oriented horizontally in relation to its longitudinal extent, ie essentially parallel to a surface to be cleaned.
  • the cleaning elements 13 are used to loosen dirt from the surface to be cleaned.
  • the cleaning device 1 in the area of the cleaning elements 13 has a suction mouth opening (not shown) via which air loaded with suction material can be sucked into the cleaning device 1 by means of a motor/fan unit.
  • the cleaning device 1 has a rechargeable battery, not shown.
  • the cleaning device 1 also has a distance measuring device 15 which, for example, contains a triangulation measuring device.
  • the distance measuring device 15 is arranged within the housing of the cleaning device 1 and has a laser diode, the emitted light beam of which is guided out of the housing via a deflection device and can be rotated about an axis of rotation that is vertical in the orientation of the cleaning device 1 shown, in particular with a measuring angle of 360 Degree. An all-round distance measurement around the cleaning device 1 is thereby possible.
  • the distance measuring device 15 measures distances to obstacles, for example pieces of furniture, in the vicinity of the cleaning appliance 1.
  • the cleaning device 1 also has a detection device 3, namely here a dust sensor arranged at the front in the direction of travel of the cleaning device 1, which can detect contamination of a subarea 2 currently traveled over by the cleaning device 1.
  • the dust sensor contains, for example, an image acquisition device, in particular a camera, which records images of the subarea 2 and compares them with images of reference contamination.
  • the cleaning device 1 has a control device 11 which is designed to carry out the comparison between a contamination recorded by the detection device 3 and the reference contamination.
  • the control device 11 can access an internal or external storage device (not shown) in which information on reference contamination is stored.
  • the cleaning device 1 follows a path of movement 5 within the environment.
  • This trajectory 5 can be determined, for example, by means of an environment map 16 (see Figure 5 and 6 ) be planned, which the cleaning device 1 has previously created.
  • the trajectory 5 can, for example, also be a route of movement of the cleaning device 1 during a spot cleaning mode in which the cleaning device 1 cleans a limited partial surface area 2 with an increased cleaning performance compared to a standard mode. In this cleaning mode, the cleaning device 1 travels over the partial surface area 2, for example, on a large number of paths parallel to one another and removes dirt.
  • the spot cleaning begins first within a partial area 2, which has a previously defined standard size for spot cleaning, here for example a rectangular area with a size of 2 by 2 meters.
  • a peripheral track 6 as a peripheral line of the partial surface area 2 delimits the spot area and has four peripheral track sections 7, 8, 9, 10 each at a 90° angle to one another.
  • the cleaning device 1 first carries out a cleaning of the partial area 2 along parallel paths in the usual way (not shown in the figures).
  • the detection device 3 detects contamination of the subarea 2 .
  • the cleaning device 1 then moves along a path 5 along a path that runs along the circumferential path 6 of the subarea 2 .
  • the movement path 5 is oriented, for example, in such a way that the cleaning device 1 is still completely within the circumferential path 6 during the movement along the movement path 5 , but moves as close as possible to the circumferential path 6 .
  • the detection device detects during movement 3 again a contamination of the partial surface area 2, which is then used to assess a necessary enlargement of the partial surface area 2. If necessary, the previously detected contamination of the entire partial surface area 2 can also be taken into account, but this is not absolutely necessary.
  • the control device 11 of the cleaning device 1 determines a degree of contamination of the subarea 2 and compares it with one or more defined reference degrees of contamination, which are stored in a data memory that the control device 11 can access.
  • the sub-area 2 is supplemented by an additional sub-area 4 along the entire peripheral path 6, i.e. in the area of all peripheral path sections 7, 8, 9, 10, so that the in figure 2 shown on the right enlarged subarea 2 results.
  • the size of the additional partial area 4 can be varied depending on the degree of soiling, so that a wider additional partial area 4 is added in the case of heavy soiling than in the case of only light soiling.
  • the cleaning device 1 also carries out a spot cleaning in the added additional partial area 4 of the surface partial area 2, which can also be carried out by traveling through parallel paths. During the cleaning operation carried out within the additional partial area 4, contamination is again detected by means of the detection device 3 and compared with one or more defined reference contaminations. If, in turn, a reference degree of contamination is exceeded, the subarea 2 is again expanded by an additional subarea 4 . This procedure is repeated until a determined degree of contamination falls below a relevant reference degree of contamination.
  • figure 3 shows a modified procedure, in which it is taken into account at which peripheral path section 7, 8, 9, 10 of the partial area 2 a reference degree of soiling is exceeded, so that the original partial area 2 is only supplemented by an additional partial area 4 at those peripheral path sections 7, 8, 9, 10 which have an increased amount of dirt compared to the reference dirt.
  • this relates to the peripheral web sections 7, 8 and 9.
  • the partial surface area 2 is expanded exclusively in the direction of the continued accumulation of dirt, so that the partial surface area 2 can be cleaned particularly effectively, in particular as part of a spot cleaning.
  • FIG. 12 shows a further procedure which prevents or at least reduces a region of the partial surface region 2 being driven over several times.
  • the partial surface area 2 is first expanded in one direction when there is increased contamination in the area of opposite peripheral track sections 7, 9 until the detected contamination there falls below a reference contamination level. In the figure, this is the area next to the circumferential track section 7.
  • the surface sub-area 2 is expanded there by one or more additional sub-areas 4, here two additional sub-areas 4, until the defined limit value for contamination is undershot.
  • the cleaning device 1 then moves to the opposite peripheral path section 9 and moves there into the additional partial area 4 that has also been added, cleans it and, if necessary, continues cleaning in a further additional partial area 4 next to the peripheral path section 9 until the degree of soiling determined there is below the defined reference degree of soiling .
  • the partial surface area 2 can basically be enlarged in different ways, for example by means of a figure 2 shown frame-like additional partial area 4, by an in figure 3 illustrated extension of the partial surface area 2 by additional partial areas 4 on only certain peripheral path sections 7, 8, 9, 10 or by a spiral expansion of the partial surface area 2 according to a direction of movement of the cleaning device 1 along the path of movement 5 parallel to the peripheral path 6 of the partial surface area 2, with additional partial areas being successively added 4 are supplemented in the direction of movement on the circumferential path 6 of the subarea 2 .
  • figure 5 shows an area map 16 created by the cleaning device 1, in which subareas 2 are stored on which a spot cleaning is to be carried out.
  • the subareas 2 are shown with a standard size of 2 by 2 meters, for example.
  • a user can access the map 16 of the surroundings of the cleaning device 1 by means of an external terminal device 17 .
  • An application is installed on the external terminal 17 , here a tablet computer, which shows the map of the surroundings 16 on a display 18 of the external terminal 17 .
  • the user can transmit feedback to the cleaning device 1, for example after spot cleaning has ended.
  • the user can select a partial area 2 which is to be cleaned again.
  • the user can enter information about a cleaning that has been carried out, for example information about whether a Partial area 2 was selected too large or too small. The cleaning quality can also be assessed.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Cleaning In General (AREA)

Claims (10)

  1. Procédé de fonctionnement d'un appareil de nettoyage (1) se déplaçant automatiquement dans un environnement, dans lequel l'appareil de nettoyage (1) effectue un nettoyage d'une zone partielle de surface définie (2) de l'environnement qui est délimitée spatialement et effectue ce faisant un trajet planifié, caractérisé en ce qu'un dispositif de détection (3) de l'appareil de nettoyage (1) mesure un degré de salissure de la zone partielle de surface (2) pendant le nettoyage de cette zone partielle de surface définie (2), dans lequel le degré de salissure est comparé à un degré de salissure de référence défini et la zone partielle de surface (2) est automatiquement agrandie au-delà d'un trajet périphérique délimitant la zone partielle de surface (2) par ajout d'une zone partielle supplémentaire définie (4) qui est adjacente à la zone partielle de surface (2) lorsqu'un degré de salissure supérieur au degré de salissure de référence est constaté à l'intérieur de la zone partielle de surface (2).
  2. Procédé selon la revendication 1, caractérisé en ce que dans la zone partielle de surface définie (2) qui est spatialement délimitée, un mode de nettoyage localisé est exécuté avec une puissance de nettoyage accrue par rapport à un mode standard de l'appareil de nettoyage (1).
  3. Procédé selon la revendication 1 ou 2, caractérisé en ce que l'appareil de nettoyage (1) se déplace à l'intérieur de la zone partielle de surface (2) et/ou à l'intérieur de la zone partielle supplémentaire (4) sur un trajet (5) en forme de méandres ou sur des trajets (5) orientées parallèlement les uns aux autres.
  4. Procédé selon l'une des revendications précédentes, caractérisé en ce que le degré de salissure est détecté le long d'un trajet périphérique (6) délimitant la zone partielle de surface (2).
  5. Procédé selon l'une des revendications précédentes, caractérisé en ce que la zone partielle de surface (2) est étendue au-delà d'un trajet périphérique (6) délimitant la zone partielle de surface (2) par une zone partielle supplémentaire (4) au moins dans la zone d'une partie du trajet périphérique (7, 8, 9, 10), notamment dans la zone d'une partie du trajet périphérique (7, 8, 9, 10) qui présente un degré de salissure supérieur au degré de salissure de référence défini.
  6. Procédé selon l'une des revendications précédentes, caractérisé en ce que la zone partielle de surface (2) est étendue en spirale par rapport à un trajet périphérique (6) qui la délimite et/ou par ajout d'une ou plusieurs zones partielles supplémentaires rectangulaires (4).
  7. Procédé selon l'une des revendications précédentes, caractérisé en ce que la zone partielle de surface (2) est étendue par une zone partielle supplémentaire (4) en forme de cadre.
  8. Procédé selon l'une des revendications précédentes, caractérisé en ce que la zone partielle de surface (2) est complétée par une ou plusieurs zones partielles supplémentaires (4) jusqu'à ce qu'une salissure inférieure à la salissure de référence définie soit détectée.
  9. Procédé selon l'une des revendications précédentes, caractérisé en ce qu'une taille et/ou une forme d'une zone partielle supplémentaire (4) est modifiée en fonction d'un degré de salissure de la zone partielle de surface (2).
  10. Appareil de nettoyage (1) se déplaçant automatiquement à l'intérieur d'un environnement, qui est conçu pour effectuer un nettoyage d'une zone partielle de surface définie (2) de l'environnement qui est spatialement délimitée et qui effectue ce faisant un trajet planifié, caractérisé par un dispositif de commande (11) qui est conçu pour commander l'appareil de nettoyage (1) pour mettre en œuvre un procédé selon l'une des revendications précédentes.
EP18186774.8A 2017-08-11 2018-08-01 Procédé de fonctionnement d'un appareil de nettoyage en mouvement de manière automatique Active EP3440975B1 (fr)

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CN109381106A (zh) 2019-02-26
JP2019034127A (ja) 2019-03-07
ES2928285T3 (es) 2022-11-16
EP3440975A1 (fr) 2019-02-13
DE102017118380A1 (de) 2019-02-14
TW201919528A (zh) 2019-06-01
US20190045993A1 (en) 2019-02-14
US11771282B2 (en) 2023-10-03

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