EP3626149A1 - Vacuum cleaner device - Google Patents
Vacuum cleaner device Download PDFInfo
- Publication number
- EP3626149A1 EP3626149A1 EP19194793.6A EP19194793A EP3626149A1 EP 3626149 A1 EP3626149 A1 EP 3626149A1 EP 19194793 A EP19194793 A EP 19194793A EP 3626149 A1 EP3626149 A1 EP 3626149A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- vacuum cleaner
- cleaner device
- relative humidity
- temperature
- sampled
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000001514 detection method Methods 0.000 claims description 24
- 230000007423 decrease Effects 0.000 claims description 16
- 239000002245 particle Substances 0.000 claims description 5
- 238000001914 filtration Methods 0.000 claims description 4
- 238000000034 method Methods 0.000 description 13
- 239000007788 liquid Substances 0.000 description 12
- 230000000694 effects Effects 0.000 description 5
- 244000025254 Cannabis sativa Species 0.000 description 3
- 238000013459 approach Methods 0.000 description 3
- 238000005070 sampling Methods 0.000 description 3
- 210000002700 urine Anatomy 0.000 description 3
- 239000003795 chemical substances by application Substances 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 238000011109 contamination Methods 0.000 description 2
- 238000013500 data storage Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000010408 sweeping Methods 0.000 description 2
- 238000010407 vacuum cleaning Methods 0.000 description 2
- 235000013361 beverage Nutrition 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000001035 drying Methods 0.000 description 1
- 230000001747 exhibiting effect Effects 0.000 description 1
- 238000010413 gardening Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 238000011144 upstream manufacturing Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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
- 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
- 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
-
- 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
Definitions
- the present invention relates to a vacuum cleaner device.
- Such a vacuum cleaner device can be used, e.g. in a household, for vacuum cleaning, sweeping (wet-vac) etc.
- wet spots e.g. liquid layers, e.g. due to a spilled liquid
- the floor area e.g. a carpet or a hard floor
- the owner/user can be alerted about the presence of liquids.
- the present invention improves on the contemporary art by disclosing a vacuum cleaner device configured to operate on a floor area (e.g. for removing, particularly collecting, dust and other small particles from said floor area), wherein the device comprises a suction duct and a temperature sensor for sampling an air temperature in the vicinity of the device (e.g. upon movement of the device on the floor area) as a function of time, wherein the temperature sensor is arranged in the suction duct or adjacent an opening of the suction duct. Further, the vacuum cleaner device comprises an analyzing unit configured to detect a wet spot on said floor area using said sampled air temperature as an input.
- the temperature sensor when the temperature sensor is arranged adjacent an opening of the suction duct, the temperature sensor is arranged such with respect to the suction duct (or with respect to said opening of the suction duct) that a suction effect generated by the suction duct is present at the location of the temperature sensor.
- a temperature sensor allows a very precise and reliable detection of wet spots. Furthermore, such a sensor can be more robust and less prone to contamination. Particularly, such a temperature sensor can be mounted on the device at a location where it is more shielded from mechanical damage. This allows improving reliability and durability of the device according to the present invention. Since a temperature sensor usually comprises a faster response time (e.g. 2 s when using e.g. STS3x of Sensirion AG, Staefa ZH, Switzerland) than a relative humidity sensor (e.g. 8 s when using e.g. SHTW2 of Sensirion AG), the device can move with a higher velocity on the floor area while still being able to detect wet spots. Furthermore, it can also detect smaller amounts of liquids.
- a temperature sensor usually comprises a faster response time (e.g. 2 s when using e.g. STS3x of Sensirion AG, Staefa ZH, Switzerland) than a relative humidity sensor (e.g.
- the wet spot to be detected by the vacuum cleaner device can be formed by a spilled liquid (forming e.g. a liquid layer on said floor area).
- the liquid can e.g. be water or a spilled beverage, but also urine (e.g. pet or child urine).
- the floor area can be a carpet or another floor type (e.g. hard floor), but can also be a grass area in other embodiments of the device (e.g. in case the device is a lawn mower etc.).
- the vacuum cleaner device can be configured to be moved manually, but may also comprise a drive system (e.g. in case the device is a robotic vacuum cleaner device).
- the vacuum cleaner device is a robotic vacuum cleaner device that is configured to autonomously operate on said floor area.
- the robotic vacuum cleaner device comprises a drive system that is configured to move the device autonomously on said floor area.
- the device may comprise an electronic control unit to control the drive system, particularly the respective motor (e.g. the first and the second motor), so that the device can move autonomously on said floor area.
- the device may further comprise a navigation system for determining the current location (e.g. coordinates) of the device on the floor area (e.g. upon moving on said floor area), and particularly for passing the current location to the electronic control unit.
- the analyzing unit is configured to detect the presence of a wet spot on the floor area in case the sampled air temperature shows a predefined temperature drop over a predefined period of time, or in case a slope of the sampled temperatures is negative and decreases below a predefined threshold.
- the temperature drop per period of time is larger than 0.2 °C/s.
- the temperature drop per period of time is in the range from 0.4 °C/s to 1 °C/s. Particularly, when approaching the wet spot, the slope will be negative, whereas when leaving the wet spot, it will be positive.
- the analyzing unit is configured to determine a beginning and an end of a wet spot.
- said beginning corresponds to a location on the floor area for which the analyzing unit determines an onset of a temperature drop of the sampled temperature or a negative slope of the sampled temperature, which slope is smaller than a predefined threshold
- said end corresponds to a location on the floor area for which the analyzing unit determines an onset of an increase of the sampled temperature or a positive slope of the sampled temperature, which positive slope is larger than a predefined threshold.
- the respective threshold is used to differentiate from noise and slower effects exhibiting a changing temperature (e.g. being near an open window or heat source, e.g. a radiator).
- a changing temperature e.g. being near an open window or heat source, e.g. a radiator.
- an upper limit is less important because it depends mainly on a response time of the sensor and a velocity of the vacuum cleaner device.
- the analyzing unit is configured to at least one of:
- the vacuum cleaner device comprises at least one relative humidity sensor for sampling a relative humidity of the air as a function of time in the vicinity of the vacuum cleaner device (e.g. upon movement of the device on the floor area).
- the analyzing unit is configured to detect a wet spot on said floor area using said sampled air temperature and said sampled relative humidity.
- the analyzing unit is configured to detect the presence of a wet spot on the floor area in case the sampled air temperature shows a predefined temperature drop over a predefined period of time (or a slope of the sampled temperature is negative and decreases below a predefined threshold) and the relative humidity shows a predefined increase over a predefined period of time (or a slope of the sampled relative humidity increases above a predefined threshold).
- the relative humidity (RH) increase per time unit is larger than 0.1 %RH/s.
- RH relative humidity
- it is in the range from 0.2 %RH/s to 0.5 %RH/s.
- the analyzing unit is configured to determine a beginning and an end of a wet spot using the sampled relative humidity.
- said beginning corresponds to a location on the floor area for which the analyzing unit determines an onset of an increase of the sampled relative humidity or a positive slope of the sampled relative humidity, which slope is larger than a predefined threshold
- said end corresponds to a location on the floor area for which the analyzing unit determines an onset of a decrease of the sampled relative humidity or a negative slope of the sampled temperature, which slope is smaller than a predefined threshold.
- the respective threshold is used to differentiate from noise and slower effects of changing relative humidity (RH), e.g. being near to open window / entering the bath room.
- RH relative humidity
- An upper limit is less important because it depends mainly on a response time of the sensor and a velocity of the vacuum cleaner.
- the device comprises a housing having a bottom wall configured to face said floor area upon operation of the vacuum cleaner device on said floor area and a lateral wall (e.g. a circumferential lateral wall) that particularly extends from the bottom wall.
- the lateral wall may form a front side of the housing, wherein particularly the device is configured to move or to be moved with the front side ahead in a movement direction.
- the bottom wall comprises said opening of the suction duct, so that air can be sucked into the suction duct via said opening.
- the housing forms a head of the vacuum cleaner device that is manually movable on said floor area and comprises said opening of the suction duct so that air can be sucked into the suction duct / device via said head.
- the temperature sensor is mounted to the bottom wall or to the lateral wall of the housing or head of the vacuum cleaner device.
- the temperature sensor can be mounted to the front side of the housing or head of the vacuum cleaner device.
- the temperature sensor comprises a distance to the floor area when the device rests on the floor area that is in the range from 1 mm to 100 mm.
- the at least one relative humidity sensor is mounted to the bottom wall or to the lateral wall. Particularly, the at least one relative humidity sensor is mounted to the front side. Particularly, in an embodiment, the at least one relative humidity sensor comprises a distance to the floor area when the device rests on the floor area that is in the range from 1 mm to 100 mm.
- the at least one relative humidity sensor can also be arranged in a suction duct or a hose of the vacuum cleaner device (e.g. in case of a car vacuum cleaner or an industrial vacuum cleaner).
- the suction duct comprises a constriction (e.g. a portion having a reduced inner diameter), wherein the temperature sensor is arranged in the constriction.
- the at least one relative humidity sensor is arranged in the suction duct. Due to such an arrangement of the relative humidity sensor, the latter is less exposed to mechanical damage.
- the at least one relative humidity sensor is arranged in the suction duct downstream a filter for filtering particles that is arranged in the suction duct.
- the filter is arranged downstream the temperature sensor.
- the present invention is related to a vacuum cleaner device, it is also conceivable to apply the present invention to other devices, such as a mower, particularly a mower having a suction device (e.g. an agricultural machine).
- the mower can also be a lawn mower, particularly a robotic lawn mower, or to other household appliances.
- a mower e.g. lawn mower
- said floor area is a grass area and said wet spot corresponds to a spot of wet grass.
- a robotic device that has the single function of detecting a wet spot on the floor area.
- the device does not comprise an additional function such as vacuum cleaning or mowing but is exclusively dedicated to monitoring or detecting wet spots on said floor area using the temperature sensor and particularly relative humidity sensor as described herein.
- the vacuum cleaner device when the vacuum cleaner device detects a wet spot, the vacuum cleaner device is configured to at least one of: stop, move around the wet spot, clean up the wet spot (e.g. by sucking up a liquid forming the wet spot, e.g. through the suction duct, or by drying or removing the wet spot in another fashion), store a location of the wet spot in a data storage of the robotic device, output a warning signal (e.g. acoustic and/or optical warning signal).
- a warning signal e.g. acoustic and/or optical warning signal
- a user can look up the location (e.g., using a smart phone app) to allow the user to find the spot even after it has dried / been removed.
- the analyzing unit is configured to determine a size (e.g. a diameter) of a detected wet spot (or a size/diameter of a region of the floor area covered by the wet spot). Further, particularly the analyzing unit is configured to alert a user in case said size exceeds a pre-defined threshold.
- a size e.g. a diameter
- the analyzing unit is configured to alert a user in case said size exceeds a pre-defined threshold.
- larger wet spots e.g. due to an appliance leak
- smaller wet spots e.g. due to pet urine etc.
- the analyzing unit is configured to use the velocity of the device with respect to the floor area to determine said size (e.g. diameter) of the wet spot on the floor area.
- the analyzing unit can be configured to determine said size (e.g. diameter) of the wet spot using a velocity of the vacuum cleaner device in a movement direction of the vacuum cleaner device as well as a determined location of a beginning of the wet spot and a determined location of an end of the wet spot along the movement direction of the vacuum cleaner device.
- the distance between the two temperature sensors can be used for determining the size of the wet spot.
- the vacuum cleaner device comprises at least one further temperature sensor configured to sample an air temperature in the vicinity of the device, wherein the at least one further temperature sensor is arranged in a further suction duct of the vacuum cleaner device.
- the temperature sensor is arranged in a first branch of the suction duct and the at least one further temperature sensor is arranged in a second branch of the suction duct.
- the analysing unit is configured to detect a wet spot on said floor area using said sampled air temperature sampled by the temperature sensor and said sampled air temperature sampled by the at least one further temperature sensor.
- a computer-implemented method for detecting a wet spot comprising the steps of:
- the temperature drop per period of time is larger than 0.2 °C/s.
- the temperature drop per period of time is in the range from 0.4°C/s to 1 °C/s.
- the method further comprises the step of receiving a time series of a relative humidity of air located above the floor area.
- the step of detecting the presence of a wet spot corresponds to: detecting the presence of a wet spot on the floor area in case the air temperature shows a pre-defined temperature drop over a pre-defined period of time or in case the slope of the air temperature is negative and decreases below a predefined threshold, and in case the relative humidity shows a predefined increase over a predefined period of time or a slope of the relative humidity increases above a predefined threshold.
- the relative humidity (RH) increase per time unit is larger than 0.1 %RH/s.
- RH relative humidity
- it is in the range from 0.2 %RH/s to 0.5 %RH/s.
- the method further comprises at least one of following steps: determining if the temperature drop is followed by an increase of the temperature after passing of a pre-defined time span to confirm detection of the wet spot; determining if the relative humidity increases when the temperature drop occurs and/or decreases when said increase of the temperature (after passing of said pre-defined time span) occurs to confirm detection of the wet spot; determining if a total temperature drop associated with the detected wet spot exceeds a pre-defined threshold to confirm detection of the wet spot; determining if a total relative humidity increase associated with the detected wet spot exceeds a pre-defined threshold to confirm detection of the wet spot.
- said location of the beginning of the detected wet spot is determined as a location at which the temperature shows an onset of a drop in the temperature or a negative slope of the temperature, which slope is smaller than a predefined threshold; or as a location at which the relative humidity shows an onset of an increase of the relative humidity or a positive slope of the relative humidity, which slope is larger than a predefined threshold.
- said location of an end of the detected wet spot is determined as a location at which the temperature shows an onset of an increase of the sampled temperature or a positive slope of the sampled temperature, which positive slope is larger than a predefined threshold; or as a location at which the relative humidity shows an onset of a decrease in the relative humidity or a negative slope of the relative humidity, which slope is smaller than a predefined threshold.
- a non-transitory computer readable medium having stored thereon instructions that will cause a processor (e.g. a processor comprised by the analyzing unit of the vacuum cleaner device) to conduct the above-described method according to the present invention.
- a processor e.g. a processor comprised by the analyzing unit of the vacuum cleaner device
- Fig. 1 shows a vacuum cleaner device 1 for operation on a floor area F, wherein the device 1 comprises a suction duct 7 and an actuator 9 (e.g. a ventilator) that is configured to generate an underpressure in the suction duct 7 so that air is sucked into the suction duct 7. Further, the device 1 comprises a temperature sensor 10 configured to sample an air temperature in the vicinity of the device 1, wherein said temperature sensor 10 is arranged in the suction duct 7. Furthermore, the vacuum cleaner device 1 comprises an analyzing unit 3 configured to detect a wet spot W on said floor area F using said sampled air temperature.
- an actuator 9 e.g. a ventilator
- the device 1 comprise a head 6 having a bottom wall 6c configured to face said floor area F upon operation of the device 1 on said floor area F.
- the head 6 may comprise a circumferential lateral wall 6a extending from the bottom wall 6c.
- the temperature sensor 10 can also be arranged on the lateral wall 6a or on the bottom wall 6c, particularly in proximity to the opening 6c of the suction duct 7 so that the temperature sensor 10 is arranged in a region that experiences a suction effect generated by the suction duct 7 and actuator 9.
- the analyzing unit 3 analyzes the current air temperatures sampled with the temperature sensor 10 and concludes detection of a wet spot W in case the sampled air temperature drops by a predefined amount within a pre-defined period of time.
- At least one relative humidity sensor 11 can be arranged in the suction duct 7 (or on the head 6), wherein the at least one relative humidity sensor 11 can be used to confirm detection of the wet spot W, since the sampled relative humidities show an increase when the head 6 approaches a wet spot W (see also experimental data described below). Furthermore, as described above, a beginning B and an end E of the wet spot W with respect to the movement direction D can be detected (e.g. for determining a size/diameter of the wet spot W).
- Figure 2 shows a modification of the embodiment shown in Fig. 1 , wherein here the vacuum cleaner device 1 comprises two suction ducts 7, 7a, starting from an associated opening 6d formed in the bottom wall 6c of the head 6, wherein a temperature sensor 10, 10a is arranged in each suction duct 7, 7a. Furthermore, a relative humidity sensor 11, 11a can be arranged in each suction duct 7, 7a, too, in order to improve detection of wet spots W. In the embodiment shown in Fig. 2 , two temperature signals (and optionally relative humidity signals) can be used to determine the presence of a wet spot W as described above in conjunction with Fig. 1 .
- Fig. 3 shows a further modification of the embodiment shown in Fig. 1 , wherein here the suction duct 7 branches off and comprises two branches 7b, 7c, wherein each branch 7b, 7c ends at its respective opening 6d formed in the bottom wall 6c of the head 6. Also here, two temperature signals (and optionally relative humidity signals) can be used to determine the presence of a wet spot W as described above in conjunction with Fig. 1 .
- Fig. 4 shows a further embodiment of a vacuum cleaner device 1 according to the present invention in form of a robotic vacuum cleaner device 1.
- a robotic device 1 can comprise a drive system 2 configured to move the device 1 autonomously on the floor area F, a temperature sensor 10 for sampling an air temperature in the vicinity of the device 1 (e.g. upon movement of the device 1 on the floor area F), and an analyzing unit 3 configured for detecting a wet spot W on said floor area F using said air temperature as an input, particularly when the device 1 approaches said wet spot W.
- the drive system 2 of the robotic device 1 can comprise rotatable wheels 20 via which the robotic device 20 is supported on the floor area F.
- a first wheel 20 can be driven with a first motor 21 and - similarly - a second wheel can be independently driven with a second motor (not shown) of the drive system 2 which also allows steering of the device 1 in a simple manner.
- Other ways of steering and driving the device 1 can also be used.
- the robotic device 1 can comprise an electronic control unit 4 to control the drive system 2, particularly the respective motor 20, so that the device 1 can move autonomously on said floor area F.
- the device 1 may further comprise a navigation system 5 for determining the current location (e.g. coordinates) of the robotic device 1 on the floor area F.
- the device 1 can further comprise a housing 6 having a bottom wall 6c configured to face said floor area F upon operation of the robotic device 1 on said floor area F. Further, the device 1 comprises a circumferential lateral wall 6a that also forms a front side 6b of the device when the device 1 moves in a movement direction D with the front side 6b ahead.
- the suction duct 7 can extend from an opening 6d formed in the bottom wall 6c of the housing 6 and may extend from said opening 6d forming an intake to an outtake opening 6e.
- the duct 7 may comprise a constriction 70, wherein particularly the temperature sensor 10 is arranged in the constriction 70.
- a filter 8 can be arranged in the suction duct 7 for filtering particles sucked into the suction duct 7 due to an underpressure generated by an actuator 9 (e.g. a ventilator) that can be arranged downstream the filter 8.
- an actuator 9 e.g. a ventilator
- the device 1 can comprise at least one or several (e.g. one to three) relative humidity sensors 11.
- the at least one relative humidity sensor 11 can also be mounted to the bottom wall 6c or to the lateral wall 6a, particularly to the front side 6b, as shown in Fig. 4 .
- the at least one relative humidity sensor 11 can also be arranged in the suction duct 7, as also shown in Fig. 4 , particularly, the at least one relative humidity sensor 11 can be arranged downstream the filter 8 and particularly upstream said actuator 9. In case the at least one relative humidity sensor 10 is arranged in the suction duct 7 it is less exposed to mechanical damage.
Abstract
Description
- The present invention relates to a vacuum cleaner device.
- Such a vacuum cleaner device can be used, e.g. in a household, for vacuum cleaning, sweeping (wet-vac) etc.
- During operation of such devices it is usually desirable to detect wet spots (e.g. liquid layers, e.g. due to a spilled liquid) on the floor area (e.g. a carpet or a hard floor) so that the device does not suck up the liquid (in case the vacuum cleaner device is not configured for removing liquids) or repeatedly moves over the wet spot. Further, in case a wet spot is detected, the owner/user can be alerted about the presence of liquids. Such features are especially useful for autonomous operation of robotic vacuum cleaner devices.
- In the prior art it is known to use relative humidity sensors to determine wet spots (e.g.
US2006130646A1 ) or to avoid double cleaning (e.g.WO2008/007830A1 ). Furthermore, the device disclosed inUS2016066759A1 comprises a temperature sensor, but a specific use of the temperature sensor is not disclosed. - Regarding the use of relative humidity sensors it turns out that these sensors are rather difficult to apply to the task of detecting individual wet spots on a floor area on which the vacuum cleaner device operates, since such sensors are usually rather slow and can therefore be inaccurate in the detection of a wet spot. Also the durability of an relative humidity sensor can be limited since these sensors are usually prone to dust.
- The present invention improves on the contemporary art by disclosing a vacuum cleaner device configured to operate on a floor area (e.g. for removing, particularly collecting, dust and other small particles from said floor area), wherein the device comprises a suction duct and a temperature sensor for sampling an air temperature in the vicinity of the device (e.g. upon movement of the device on the floor area) as a function of time, wherein the temperature sensor is arranged in the suction duct or adjacent an opening of the suction duct. Further, the vacuum cleaner device comprises an analyzing unit configured to detect a wet spot on said floor area using said sampled air temperature as an input.
- Particularly, when the temperature sensor is arranged adjacent an opening of the suction duct, the temperature sensor is arranged such with respect to the suction duct (or with respect to said opening of the suction duct) that a suction effect generated by the suction duct is present at the location of the temperature sensor.
- Surprisingly, it turns out that a temperature sensor allows a very precise and reliable detection of wet spots. Furthermore, such a sensor can be more robust and less prone to contamination. Particularly, such a temperature sensor can be mounted on the device at a location where it is more shielded from mechanical damage. This allows improving reliability and durability of the device according to the present invention. Since a temperature sensor usually comprises a faster response time (e.g. 2 s when using e.g. STS3x of Sensirion AG, Staefa ZH, Switzerland) than a relative humidity sensor (e.g. 8 s when using e.g. SHTW2 of Sensirion AG), the device can move with a higher velocity on the floor area while still being able to detect wet spots. Furthermore, it can also detect smaller amounts of liquids.
- Particularly, the wet spot to be detected by the vacuum cleaner device can be formed by a spilled liquid (forming e.g. a liquid layer on said floor area). The liquid can e.g. be water or a spilled beverage, but also urine (e.g. pet or child urine). The floor area can be a carpet or another floor type (e.g. hard floor), but can also be a grass area in other embodiments of the device (e.g. in case the device is a lawn mower etc.).
- The analyzing unit can be or can comprise an analyzing circuit (e.g. an integrated circuit) that is particularly adapted to detect the respective wet spot using the sampled temperature (and optionally relative humidity) or a computed slope of the sampled temperature or of the sampled relative humidity, wherein the slope of the sampled temperature is the derivative of the sampled temperature with respect to time. Likewise, the slope of the sampled relative humidity is the derivative of the sampled relative humidity with respect to time. The analyzing unit can also be or comprise a computer or processor on which an algorithm (software) is executed that is adapted to detect the wet spot as described herein.
- The vacuum cleaner device can be configured to be moved manually, but may also comprise a drive system (e.g. in case the device is a robotic vacuum cleaner device).
- According to an embodiment, the vacuum cleaner device is a robotic vacuum cleaner device that is configured to autonomously operate on said floor area.
- Further, in an embodiment, the robotic vacuum cleaner device comprises a drive system that is configured to move the device autonomously on said floor area.
- Particularly, the drive system of the device can comprise rotatable wheels via which the device is supported on the floor area. At least one of the wheels can be driven by a motor of the drive system of the device. In an embodiment, a first wheel can be driven with a first motor and a second wheel with a second motor of the drive system. This also allows steering of the device in a simple manner. Other ways of steering and driving the device can also be used. For instance, alternatively (e.g. instead of wheels), the device can comprise continuous tracks for moving on the floor area or other elements for transferring a force generated by the motor(s) of the drive system of the vacuum cleaner device to the floor area.
- Further, according to an embodiment of the present invention, the vacuum cleaner device is configured to measure and/or control a velocity of the vacuum cleaner device with respect to the floor area. This velocity can optionally be used to determine a size (e.g. a diameter) of a detected wet spot.
- Particularly in case of larger velocities of the vacuum cleaner device with respect to the floor area, the slope of the sampled temperatures (or of the sampled relative humidity) can provide a more accurate detection signal. In case of smaller velocities of the vacuum cleaner device, the raw signal, i.e. the sampled temperature or sampled relative humidity, is preferably used according to an embodiment.
- Further, in an embodiment, the device may comprise an electronic control unit to control the drive system, particularly the respective motor (e.g. the first and the second motor), so that the device can move autonomously on said floor area. The device may further comprise a navigation system for determining the current location (e.g. coordinates) of the device on the floor area (e.g. upon moving on said floor area), and particularly for passing the current location to the electronic control unit.
- Further, in an embodiment, the analyzing unit is configured to detect the presence of a wet spot on the floor area in case the sampled air temperature shows a predefined temperature drop over a predefined period of time, or in case a slope of the sampled temperatures is negative and decreases below a predefined threshold.
- Furthermore, according to an embodiment, the temperature drop per period of time is larger than 0.2 °C/s. According to an embodiment, the temperature drop per period of time is in the range from 0.4 °C/s to 1 °C/s. Particularly, when approaching the wet spot, the slope will be negative, whereas when leaving the wet spot, it will be positive.
- In the rare case, were a hot liquid is spilled on a colder floor and the vacuum cleaner device crosses this wet spot while the liquid is still hot, the T slopes may be inverted. This case can be discriminated by performing an integrity check with the relative humidity sensor.
- Furthermore, according to an embodiment, the integrity of the derived information may be checked by analysing the total temperature drop. Preferably, the total temperature drop is larger than 0.2 °C, most preferably, larger than 0.5 °C.
- Further, according to an embodiment of the present invention, the analyzing unit is configured to determine a beginning and an end of a wet spot. Particularly, said beginning corresponds to a location on the floor area for which the analyzing unit determines an onset of a temperature drop of the sampled temperature or a negative slope of the sampled temperature, which slope is smaller than a predefined threshold, and wherein said end corresponds to a location on the floor area for which the analyzing unit determines an onset of an increase of the sampled temperature or a positive slope of the sampled temperature, which positive slope is larger than a predefined threshold.
- The respective threshold is used to differentiate from noise and slower effects exhibiting a changing temperature (e.g. being near an open window or heat source, e.g. a radiator). Particularly, an upper limit is less important because it depends mainly on a response time of the sensor and a velocity of the vacuum cleaner device.
- Particularly, for reducing a risk of detecting false positives, the analyzing unit is configured to at least one of:
- determine if the temperature drop is followed by an increase of the sampled temperature after passing of a pre-defined time span to confirm detection of the wet spot;
- determine if a relative humidity sampled by the vacuum cleaner device increases when the temperature drop occurs and/or decreases when said increase of the sampled temperature after passing of said pre-defined time span occurs to confirm detection of the wet spot;
- determine if a total temperature drop associated with the detected wet spot exceeds a pre-defined threshold to confirm detection of the wet spot;
- determine if a total relative humidity increase associated with to the detected wet spot exceeds a pre-defined threshold.
- Particularly, said pre-defined time span corresponds to a given size (e.g. diameter) of a wet spot divided by the velocity of the vacuum cleaner device.
- Further, according to an embodiment, the vacuum cleaner device comprises at least one relative humidity sensor for sampling a relative humidity of the air as a function of time in the vicinity of the vacuum cleaner device (e.g. upon movement of the device on the floor area).
- Further, according to an embodiment, the analyzing unit is configured to detect a wet spot on said floor area using said sampled air temperature and said sampled relative humidity.
- Further, according to an embodiment, the analyzing unit is configured to detect the presence of a wet spot on the floor area in case the sampled air temperature shows a predefined temperature drop over a predefined period of time (or a slope of the sampled temperature is negative and decreases below a predefined threshold) and the relative humidity shows a predefined increase over a predefined period of time (or a slope of the sampled relative humidity increases above a predefined threshold).
- Further, according to an embodiment, the relative humidity (RH) increase per time unit is larger than 0.1 %RH/s. Preferably, it is in the range from 0.2 %RH/s to 0.5 %RH/s.
- Particularly, when approaching the wet spot, the slope of the sampled relative humidity will be positive. Furthermore, when leaving the wet spot, the slope of the sampled relative humidity will be negative. Once such a slope is detected, the integrity of the derived information can be checked by analysing the total relative humidity (RH) increase, which is particularly assumed to be larger than 0.3 %RH, preferably larger than 0.5 %RH, in case of a wet spot.
- Further, according to an embodiment of the present invention, the analyzing unit is configured to determine a beginning and an end of a wet spot using the sampled relative humidity. Particularly, said beginning corresponds to a location on the floor area for which the analyzing unit determines an onset of an increase of the sampled relative humidity or a positive slope of the sampled relative humidity, which slope is larger than a predefined threshold, and wherein said end corresponds to a location on the floor area for which the analyzing unit determines an onset of a decrease of the sampled relative humidity or a negative slope of the sampled temperature, which slope is smaller than a predefined threshold.
- The respective threshold is used to differentiate from noise and slower effects of changing relative humidity (RH), e.g. being near to open window / entering the bath room. An upper limit is less important because it depends mainly on a response time of the sensor and a velocity of the vacuum cleaner.
- Further, according to an embodiment, the device comprises a housing having a bottom wall configured to face said floor area upon operation of the vacuum cleaner device on said floor area and a lateral wall (e.g. a circumferential lateral wall) that particularly extends from the bottom wall. Particularly, the lateral wall may form a front side of the housing, wherein particularly the device is configured to move or to be moved with the front side ahead in a movement direction. Further, particularly, the bottom wall comprises said opening of the suction duct, so that air can be sucked into the suction duct via said opening.
- Furthermore, in an embodiment, particularly in case the vacuum cleaner device is configured to be moved manually on the floor area, the housing forms a head of the vacuum cleaner device that is manually movable on said floor area and comprises said opening of the suction duct so that air can be sucked into the suction duct / device via said head.
- Further, according to an embodiment, the temperature sensor is mounted to the bottom wall or to the lateral wall of the housing or head of the vacuum cleaner device. Particularly, the temperature sensor can be mounted to the front side of the housing or head of the vacuum cleaner device. In an embodiment, the temperature sensor comprises a distance to the floor area when the device rests on the floor area that is in the range from 1 mm to 100 mm.
- Further, according to an embodiment, the at least one relative humidity sensor is mounted to the bottom wall or to the lateral wall. Particularly, the at least one relative humidity sensor is mounted to the front side. Particularly, in an embodiment, the at least one relative humidity sensor comprises a distance to the floor area when the device rests on the floor area that is in the range from 1 mm to 100 mm. The at least one relative humidity sensor can also be arranged in a suction duct or a hose of the vacuum cleaner device (e.g. in case of a car vacuum cleaner or an industrial vacuum cleaner).
- Further, according to an embodiment, the suction duct comprises a constriction (e.g. a portion having a reduced inner diameter), wherein the temperature sensor is arranged in the constriction.
- Further, according to an embodiment, the at least one relative humidity sensor is arranged in the suction duct. Due to such an arrangement of the relative humidity sensor, the latter is less exposed to mechanical damage.
- Further, according to an embodiment, the at least one relative humidity sensor is arranged in the suction duct downstream a filter for filtering particles that is arranged in the suction duct. Particularly, the filter is arranged downstream the temperature sensor. Although a signal may be weaker, arranging the respective sensor in the suction duct increases protection of the respective sensor regarding contamination and mechanical damage.
- Although the present invention is related to a vacuum cleaner device, it is also conceivable to apply the present invention to other devices, such as a mower, particularly a mower having a suction device (e.g. an agricultural machine). The mower can also be a lawn mower, particularly a robotic lawn mower, or to other household appliances. Particularly, in case of a mower (e.g. lawn mower), said floor area is a grass area and said wet spot corresponds to a spot of wet grass.
- According to a further aspect of the present invention, a robotic device is proposed that has the single function of detecting a wet spot on the floor area. In such an embodiment, the device does not comprise an additional function such as vacuum cleaning or mowing but is exclusively dedicated to monitoring or detecting wet spots on said floor area using the temperature sensor and particularly relative humidity sensor as described herein.
- Further, according to an embodiment, when the vacuum cleaner device detects a wet spot, the vacuum cleaner device is configured to at least one of: stop, move around the wet spot, clean up the wet spot (e.g. by sucking up a liquid forming the wet spot, e.g. through the suction duct, or by drying or removing the wet spot in another fashion), store a location of the wet spot in a data storage of the robotic device, output a warning signal (e.g. acoustic and/or optical warning signal).
- Due to the fact that the respective location of a detected wet spot is stored, a user can look up the location (e.g., using a smart phone app) to allow the user to find the spot even after it has dried / been removed.
- Further, according to an embodiment, the analyzing unit is configured to determine a size (e.g. a diameter) of a detected wet spot (or a size/diameter of a region of the floor area covered by the wet spot). Further, particularly the analyzing unit is configured to alert a user in case said size exceeds a pre-defined threshold. Thus, e.g. larger wet spots (e.g. due to an appliance leak) can be distinguished from smaller wet spots (e.g. due to pet urine etc.).
- Particularly, in an embodiment, the analyzing unit is configured to use the velocity of the device with respect to the floor area to determine said size (e.g. diameter) of the wet spot on the floor area.
- For this, the analyzing unit can be configured to determine said size (e.g. diameter) of the wet spot using a velocity of the vacuum cleaner device in a movement direction of the vacuum cleaner device as well as a determined location of a beginning of the wet spot and a determined location of an end of the wet spot along the movement direction of the vacuum cleaner device. Using two different temperature sensors, also the distance between the two temperature sensors can be used for determining the size of the wet spot.
- Further, according to an embodiment, the vacuum cleaner device comprises at least one further temperature sensor configured to sample an air temperature in the vicinity of the device, wherein the at least one further temperature sensor is arranged in a further suction duct of the vacuum cleaner device.
- Alternatively, the temperature sensor is arranged in a first branch of the suction duct and the at least one further temperature sensor is arranged in a second branch of the suction duct.
- Further, according to an embodiment, the analysing unit is configured to detect a wet spot on said floor area using said sampled air temperature sampled by the temperature sensor and said sampled air temperature sampled by the at least one further temperature sensor.
- According to a further embodiment, the analyzing unit is configured to determine a location and/or dimension of the wet spot using the temperatures sampled by the temperature sensor and the at least one further temperature sensor.
- According to a further aspect of the present invention a computer-implemented method for detecting a wet spot is disclosed, the method comprising the steps of:
- receiving a time series of an air temperature of air located above a floor area,
- detecting the presence of a wet spot on the floor area in case the air temperature shows a pre-defined temperature drop over a pre-defined period of time or in case a slope of the air temperature is negative and decreases below a predefined threshold.
- According to an embodiment of the method, the temperature drop per period of time is larger than 0.2 °C/s. Particularly, according to an embodiment, the temperature drop per period of time is in the range from 0.4°C/s to 1 °C/s.
- According to an embodiment of the method, the method further comprises the step of receiving a time series of a relative humidity of air located above the floor area.
- Further, according to an embodiment, the step of detecting the presence of a wet spot corresponds to: detecting the presence of a wet spot on the floor area in case the air temperature shows a pre-defined temperature drop over a pre-defined period of time or in case the slope of the air temperature is negative and decreases below a predefined threshold, and in case the relative humidity shows a predefined increase over a predefined period of time or a slope of the relative humidity increases above a predefined threshold.
- Further, according to an embodiment of the method, the relative humidity (RH) increase per time unit is larger than 0.1 %RH/s. Preferably, according to an embodiment, it is in the range from 0.2 %RH/s to 0.5 %RH/s.
- Furthermore, according to an embodiment of the method, particularly for reducing false positives, the method further comprises at least one of following steps: determining if the temperature drop is followed by an increase of the temperature after passing of a pre-defined time span to confirm detection of the wet spot; determining if the relative humidity increases when the temperature drop occurs and/or decreases when said increase of the temperature (after passing of said pre-defined time span) occurs to confirm detection of the wet spot; determining if a total temperature drop associated with the detected wet spot exceeds a pre-defined threshold to confirm detection of the wet spot; determining if a total relative humidity increase associated with the detected wet spot exceeds a pre-defined threshold to confirm detection of the wet spot.
- Furthermore, according to an embodiment, the method may further comprise the step of receiving a velocity of a vacuum cleaner device and determining a size of a detected wet spot in a movement direction of a vacuum cleaner device using the velocity, as well as a location of a beginning of the detected wet spot and a location of an end of the detected wet spot with respect to the movement direction.
- Particularly, said location of the beginning of the detected wet spot is determined as a location at which the temperature shows an onset of a drop in the temperature or a negative slope of the temperature, which slope is smaller than a predefined threshold; or as a location at which the relative humidity shows an onset of an increase of the relative humidity or a positive slope of the relative humidity, which slope is larger than a predefined threshold.
- Furthermore, particularly, said location of an end of the detected wet spot is determined as a location at which the temperature shows an onset of an increase of the sampled temperature or a positive slope of the sampled temperature, which positive slope is larger than a predefined threshold; or as a location at which the relative humidity shows an onset of a decrease in the relative humidity or a negative slope of the relative humidity, which slope is smaller than a predefined threshold.
- According to a further aspect, a non-transitory computer readable medium is disclosed having stored thereon instructions that will cause a processor (e.g. a processor comprised by the analyzing unit of the vacuum cleaner device) to conduct the above-described method according to the present invention.
- Attention is now directed to the attached drawings, wherein like reference numerals or characters indicate corresponding or like components. In the drawings
- Fig. 1
- shows a schematical cross-sectional view of an embodiment of a vacuum cleaner device according to the present invention comprising a temperature sensor arranged in a suction duct of the device;
- Fig. 2
- shows a schematical cross sectional view of a further embodiment of a vacuum cleaner device according to the present invention comprising two separate suctions ducts, wherein a temperature sensor is arranged in each suction duct;
- Fig. 3
- shows a schematical cross sectional view of a further embodiment of a vacuum cleaner device according to the present invention comprising a suction duct having two branches, wherein a temperature sensor is arranged in each branch of the suction duct;
- Fig. 4
- shows a schematical cross-sectional view of an embodiment of a robotic vacuum cleaner device according to the present invention; and
- Fig. 5
- shows experimental data, particularly a temperature signal of a temperature sensor that is arranged in the suction duct (denoted as tube) as well as a temperature signal of a temperature sensor that is arranged outside the suction duct on the head of the vacuum cleaner device, wherein the head has been moved over a wet spot;
- Fig. 6
- shows a temperature signal of a temperature sensor that is arranged in the suction duct as well as a temperature signal of a temperature sensor that is arranged outside the suction duct on the head of the vacuum cleaner device, wherein the signals are shown for four passes of the head of the vacuum cleaner device over the wet spot;
- Fig. 7
- shows a relative humidity signal of a relative humidity sensor that is arranged in the suction duct (denoted as tube) as well as a relative humidity signal of a relative humidity sensor that is arranged outside the suction duct on the head of the vacuum cleaner device, wherein the head has been moved over a wet spot;
- Fig. 8
- shows a relative humidity signal of a relative humidity sensor that is arranged in the suction duct (denoted as tube) as well as a relative humidity signal of a relative humidity sensor that is arranged outside the suction duct on the head of the vacuum cleaner device, wherein the signals are shown for four passes of the head of the vacuum cleaner device over the wet spot;
- Fig. 9
- shows the temperature signal of a temperature sensor arranged in the suction duct (denoted as tube) and the slope of the temperature signal when the head of vacuum cleaner devices passes over the wet spot;
- Fig. 10
- shows a temperature signal of a temperature sensor that is arranged in the suction duct (denoted as tube) as well as the slope of the temperature signal, wherein the signal/slope is shown for four passes of the head of the vacuum cleaner device over the wet spot;
- Fig. 11
- shows the relative humidity signal of a relative humidity sensor arranged in the suction duct (denoted as tube) and the slope of the relative humidity signal when the head of vacuum cleaner devices passes over the wet spot; and
- Fig. 12
- shows a relative humidity signal of a relative humidity sensor that is arranged in the suction duct (denoted as tube) as well as the slope of the relative humidity signal, wherein the signal/slope is shown for four passes of the head of the vacuum cleaner device over the wet spot;
-
Fig. 1 shows avacuum cleaner device 1 for operation on a floor area F, wherein thedevice 1 comprises asuction duct 7 and an actuator 9 (e.g. a ventilator) that is configured to generate an underpressure in thesuction duct 7 so that air is sucked into thesuction duct 7. Further, thedevice 1 comprises atemperature sensor 10 configured to sample an air temperature in the vicinity of thedevice 1, wherein saidtemperature sensor 10 is arranged in thesuction duct 7. Furthermore, thevacuum cleaner device 1 comprises an analyzingunit 3 configured to detect a wet spot W on said floor area F using said sampled air temperature. - Particularly, the
device 1 comprise ahead 6 having abottom wall 6c configured to face said floor area F upon operation of thedevice 1 on said floor area F. Further, thehead 6 may comprise a circumferentiallateral wall 6a extending from thebottom wall 6c. Alternatively, instead of arranging thetemperature sensor 10 in thesuction duct 7, thetemperature sensor 10 can also be arranged on thelateral wall 6a or on thebottom wall 6c, particularly in proximity to theopening 6c of thesuction duct 7 so that thetemperature sensor 10 is arranged in a region that experiences a suction effect generated by thesuction duct 7 andactuator 9. - Particularly, for detecting a wet spot W, particularly when the
head 6 of thevacuum cleaner 1 is moving on the floor area F, the analyzingunit 3 analyzes the current air temperatures sampled with thetemperature sensor 10 and concludes detection of a wet spot W in case the sampled air temperature drops by a predefined amount within a pre-defined period of time. - Furthermore, in addition, at least one
relative humidity sensor 11 can be arranged in the suction duct 7 (or on the head 6), wherein the at least onerelative humidity sensor 11 can be used to confirm detection of the wet spot W, since the sampled relative humidities show an increase when thehead 6 approaches a wet spot W (see also experimental data described below). Furthermore, as described above, a beginning B and an end E of the wet spot W with respect to the movement direction D can be detected (e.g. for determining a size/diameter of the wet spot W). -
Figure 2 shows a modification of the embodiment shown inFig. 1 , wherein here thevacuum cleaner device 1 comprises twosuction ducts opening 6d formed in thebottom wall 6c of thehead 6, wherein atemperature sensor suction duct relative humidity sensor suction duct Fig. 2 , two temperature signals (and optionally relative humidity signals) can be used to determine the presence of a wet spot W as described above in conjunction withFig. 1 . - Furthermore,
Fig. 3 shows a further modification of the embodiment shown inFig. 1 , wherein here thesuction duct 7 branches off and comprises twobranches branch respective opening 6d formed in thebottom wall 6c of thehead 6. Also here, two temperature signals (and optionally relative humidity signals) can be used to determine the presence of a wet spot W as described above in conjunction withFig. 1 . - Furthermore,
Fig. 4 shows a further embodiment of avacuum cleaner device 1 according to the present invention in form of a roboticvacuum cleaner device 1. As shown inFig. 4 such arobotic device 1 can comprise adrive system 2 configured to move thedevice 1 autonomously on the floor area F, atemperature sensor 10 for sampling an air temperature in the vicinity of the device 1 (e.g. upon movement of thedevice 1 on the floor area F), and ananalyzing unit 3 configured for detecting a wet spot W on said floor area F using said air temperature as an input, particularly when thedevice 1 approaches said wet spot W. - For moving, the
drive system 2 of therobotic device 1 can compriserotatable wheels 20 via which therobotic device 20 is supported on the floor area F. For example, afirst wheel 20 can be driven with afirst motor 21 and - similarly - a second wheel can be independently driven with a second motor (not shown) of thedrive system 2 which also allows steering of thedevice 1 in a simple manner. Other ways of steering and driving thedevice 1 can also be used. - Further, the
robotic device 1 can comprise anelectronic control unit 4 to control thedrive system 2, particularly therespective motor 20, so that thedevice 1 can move autonomously on said floor area F. Thedevice 1 may further comprise anavigation system 5 for determining the current location (e.g. coordinates) of therobotic device 1 on the floor area F. - The
device 1 can further comprise ahousing 6 having abottom wall 6c configured to face said floor area F upon operation of therobotic device 1 on said floor area F. Further, thedevice 1 comprises a circumferentiallateral wall 6a that also forms afront side 6b of the device when thedevice 1 moves in a movement direction D with thefront side 6b ahead. - In an embodiment, the
temperature sensor 10 can be mounted to thebottom wall 6c or to thelateral wall 6a, particularly to thefront side 6b (wherein thetemperature sensor 10 is preferably arranged in proximity to theopening 6d, see below, so that thetemperature sensor 10 is arranged in a region where a suction effect/air flow generated by thedevice 1 is present). Particularly, in order to provide better protection of thetemperature sensor 10, the latter is arranged in asuction duct 7 of thedevice 1 which is shown inFig. 4 . - Particularly, the
suction duct 7 can extend from anopening 6d formed in thebottom wall 6c of thehousing 6 and may extend from saidopening 6d forming an intake to anouttake opening 6e. Theduct 7 may comprise aconstriction 70, wherein particularly thetemperature sensor 10 is arranged in theconstriction 70. Further, afilter 8 can be arranged in thesuction duct 7 for filtering particles sucked into thesuction duct 7 due to an underpressure generated by an actuator 9 (e.g. a ventilator) that can be arranged downstream thefilter 8. - Furthermore, besides the
temperature sensor 10, thedevice 1 can comprise at least one or several (e.g. one to three)relative humidity sensors 11. - Particularly, the at least one
relative humidity sensor 11 can also be mounted to thebottom wall 6c or to thelateral wall 6a, particularly to thefront side 6b, as shown inFig. 4 . - In order to offer better protection, the at least one
relative humidity sensor 11 can also be arranged in thesuction duct 7, as also shown inFig. 4 , particularly, the at least onerelative humidity sensor 11 can be arranged downstream thefilter 8 and particularly upstream saidactuator 9. In case the at least onerelative humidity sensor 10 is arranged in thesuction duct 7 it is less exposed to mechanical damage. - Particularly, for detecting a wet spot W, e.g. in front of the
device 1, when the device is moving in the movement direction D, the analyzingunit 3 analyzes the current air temperatures sampled with thetemperature sensor 10 and concludes detection of a wet e.g. spot in case the sampled air temperature drops by a predefined amount within a pre-defined period of time. Alternatively, also the slope of the sampled temperature and particularly other quantities related to temperature and/or relative humidity discussed above can be used to detect a wet spot W. - Particularly, the at least one
relative humidity sensor 11 can be used to confirm detection of the wet spot W, since the sampled relative humidities show an increase when they approach the respective wet spot W (see also above). - Particularly, when the
vacuum cleaner device 1 detects a wet spot W, thedevice 1 is configured to at least one of: stop, move around the wet spot W, remove the wet spot W, store a location of the wet spot W in adata storage 30 of therobotic device 1, output a warning signal (e.g. acoustic and/or optical warning signal). - Particularly, the
device 1 allows a user to look up the location of the wet spot via an interface of the device (e.g. via a smart phone app) so that the user can find the wet spot even in case it has been removed by thedevice 1 for inspection. - Furthermore, the
Figs. 5 to 12 show experimental data recorded with temperature and relative humidity sensors that are located in thesuction duct 7 of a vacuum cleaner device or on the head 6 (e.g.lateral side 6a). - Particularly,
Fig. 5 shows a temperature signal of a temperature sensor that is arranged in the suction duct 7 (denoted as tube) as well as a temperature signal of atemperature sensor 10 that is arranged outside thesuction duct 7 on thehead 6 of thevacuum cleaner device 1, wherein thehead 6 has been moved over a wet spot W.Fig. 5 clearly shows the increase in the sampled temperature for both sensor locations. - Furthermore,
Fig. 6 shows a temperature signal of a temperature sensor that is arranged in thesuction duct 7 as well as a temperature signal of a temperature sensor that is arranged outside thesuction duct 7 on thehead 6 of thevacuum cleaner device 1, wherein the signals are shown for four passes of thehead 6 of thevacuum cleaner device 1 over the wet spot W. Particularly,Fig. 6 demonstrates that a wet spot can also be detected when thedevice 1 is moving, since the respective signal shows a characteristic drop in case of a wet spot (here approx. at times 24:57, 25:06, 25:32, 25:49). - Further,
Fig. 7 shows a relative humidity signal of arelative humidity sensor 11 that is arranged in the suction duct 7 (denoted as tube) as well as a relative humidity signal of arelative humidity sensor 11 that is arranged outside thesuction duct 7 on thehead 6 of thevacuum cleaner device 1, wherein thehead 6 has been moved over a wet spot. As can be seen fromFig. 7 , the sampled relative humidity clearly increases for both sensor locations due to the wet spot. - In addition,
Fig, 8 shows the signals ofFig. 7 in case thehead 6 passes over the wet spot (here four such passes). -
Figures 9 to 12 show further experimental data to show that also the slope of the temperature signal (i.e. the sampled temperature) of atemperature sensor 10 or the slope of the relative humidity signal (i.e. the sampled relative humidity) of arelative humidity sensor 11 is a suitable detection signal for wet spots. Here, therespective sensor suction duct 7 of avacuum cleaner device 1 and thehead 6 of thevacuum cleaner device 1 via which air is sucked into thesuction duct 7 passes over the wet spot.Fig. 9 shows the temperature signal and its derivative with respect to time (i.e. the slope of the sampled temperature) for a single pass of thehead 6 of thevacuum cleaner device 1 over the wet spot, whileFig. 10 shows four succeeding passes over the wet spot. -
Figs. 11 and12 show the same situation for the relative humidity signal of arelative humidity sensor 11 that is arranged in thesuction duct 7. AlsoFigs. 11 and12 demonstrate that the relative humidity signal (sampled relative humidity) as well as the derivative of the relative humidity signal (i.e. the slope of the sampled relative humidity) can be used to detect wet spots. - While a vacuum cleaner device has been shown and described above, this is exemplary only.
- The above-disclosed subject matter can also be applied with and adapted for other (e.g. robotic or manually operable) devices that perform various tasks, including cleaning, sweeping, polishing, lawn mowing, gardening etc.
- In the following further aspects and embodiments of the present invention are stated as items. These items may also be formulated as claims. The reference numbers in parentheses relate to the Figures.
- Item 1: A vacuum cleaner device (1) for operation on a floor area (F), comprising:
- a suction duct (7) and an actuator (9) arranged and configured to generate an underpressure in the suction duct (7) so that air is sucked into the suction duct (7),
- a temperature sensor (10) configured to sample an air temperature in the vicinity of the device (1), wherein said temperature sensor (10) is arranged in the suction duct (7) or adjacent an opening (6d) of the suction duct (7), and
- an analyzing unit (3) configured to detect a wet spot (W) on said floor area (F) using said sampled air temperature.
- Item 2: The vacuum cleaner device according to
item 1, wherein the analyzing unit (3) is configured to detect the presence of a wet spot (W) on the floor area (F) in case the sampled air temperature shows a predefined temperature drop over a predefined period of time or in case a slope of the sampled air temperature is negative and decreases below a predefined threshold. - Item 3: The vacuum cleaner device according to
item 2, wherein the temperature drop per period of time is larger than 0.2 °C/s, and/or wherein the temperature drop per period of time is in the range from 0.4°C/s to 1 °C/s. - Item 4: The vacuum cleaner device according to one of the preceding items, wherein the analyzing unit (3) is further configured to at least one of: determine if the temperature drop is followed by an increase of the sampled temperature after passing of a pre-defined time span to confirm detection of the wet spot (W); determine if a relative humidity sampled by the vacuum cleaner device (1) increases when the temperature drop occurs and/or decreases when said increase of the sampled temperature occurs to confirm detection of the wet spot (W); determine if a total temperature drop associated with the detected wet spot (W) exceeds a pre-defined threshold to confirm detection of the wet spot (W); determine if a total relative humidity increase associated with the detected wet spot (W) exceeds a pre-defined threshold to confirm detection of the wet spot (W).
- Item 5: The vacuum cleaner device according to one of the preceding items, wherein the vacuum cleaner device (1) comprises at least one relative humidity sensor (11) configured to sample a relative humidity of the air in the vicinity of the vacuum cleaner device (1).
- Item 6: The vacuum cleaner device according to
item 5, wherein the analyzing unit (3) is configured to detect a wet spot (W) on said floor area (F) using said sampled air temperature and said sampled relative humidity. - Item 7: The vacuum cleaner device according to
items - Item 8: The vacuum cleaner device according to one of the preceding items, wherein the vacuum cleaner device (1) comprises a housing (6) having a bottom wall (6c) configured to face said floor area (F) upon operation of the vacuum cleaner device (1) on said floor area (F), wherein the bottom wall (6c) comprises said opening (6d), and wherein the housing (6) comprises a lateral wall (6a).
- Item 9: The vacuum cleaner device according to one of the preceding items, wherein the suction duct (7) comprises a constriction (70), wherein the temperature sensor (10) is arranged in the constriction (70).
- Item 10: The vacuum cleaner device according to
item 8, wherein the temperature sensor (10) is mounted to the bottom wall (6c) or to the lateral wall (6a) adjacent said opening (6d). - Item 11: The vacuum cleaner device according to
item 5 and according toitem - Item 12: The vacuum cleaner device according to
item 5 or according to one of theitems 6 to 11 when referring toitem 5, wherein the at least one relative humidity sensor (11) is arranged in the suction duct (7). - Item 13: The vacuum cleaner device according to
item 12, wherein the at least one relative humidity sensor (11) is arranged in the suction duct (7) downstream a filter (8) for filtering particles that is arranged in the suction duct (7). - Item 14: The vacuum cleaner device according to one of the preceding items, wherein the vacuum cleaner device (1) is a robotic vacuum cleaner device for autonomous operation on the floor area (F).
- Item 15: the vacuum cleaner device according to item 14, wherein the vacuum cleaner device (1) comprises a drive system (2) that is configured to move the vacuum cleaner device (1).
- Item 16: The vacuum cleaner device according to one of the preceding items, wherein when the vacuum cleaner device (1) detects a wet spot (W), the vacuum cleaner device is configured to at least one of: stop, move around the wet spot (W), clean up the wet spot (W), store and/or transmit a location of the wet spot (W), output a warning signal.
- Item 17: The vacuum cleaner device according to one of the preceding items, wherein the analyzing unit (3) is configured to determine a size of a detected wet spot (W) in a movement direction (D) of the vacuum cleaner device (1) using a velocity of the vacuum cleaner device (1) in the movement direction (D), as well as a location of a beginning (B) of the detected wet spot (W) and a location of an end (E) of the detected wet spot (W) with respect to the movement direction (D).
- Item 18: The vacuum cleaner device according to items 17, wherein the analyzing unit (3) is configured to determine said location of a beginning (B) of the detected wet spot (W) as a location at which the analyzing unit (3) determines one of: an onset of a drop of the sampled temperature; a negative slope of the sampled temperature, which slope is smaller than a predefined threshold; an onset of an increase of a sampled relative humidity; a positive slope of the sampled relative humidity, which slope is larger than a predefined threshold.
- Item 19: The vacuum cleaner device according to item 17 or 18, wherein the analyzing unit (3) is configured to determine said location of an end (E) of the detected wet spot (W) as a location at which the analyzing unit (3) determines one of: an onset of an increase of the sampled temperature; a positive slope of the sampled temperature, which positive slope is larger than a predefined threshold; an onset of a decrease of the a sampled relative humidity; a negative slope of the sampled relative humidity, which slope is smaller than a predefined threshold.
- Item 20: The vacuum cleaner device according to one of the preceding items, wherein the vacuum cleaner device (1) comprises at least one further temperature sensor (10a) configured to sample an air temperature in the vicinity of the device, wherein the at least one further temperature sensor (10a) is arranged in a further suction duct (7a) of the vacuum cleaner device (1), or wherein the temperature sensor (10) is arranged in a first branch (7b) of the suction duct (7) and the at least one further temperature sensor (10a) is arranged in a second branch (7c) of the suction duct (7).
- Item 21: The vacuum cleaner device according to
item 20, wherein the analysing unit (3) is configured to detect a wet spot (W) on said floor area (F) using said sampled air temperature sampled by the temperature sensor (10) and said sampled air temperature sampled by the at least one further temperature sensor (10a). - Item 22: The vacuum cleaner device according to
item - Item 23: A computer-implemented method for detecting a wet spot on a floor area, the method comprising the steps of:
- receiving a time series of an air temperature of air located above a floor area,
- detecting the presence of a wet spot (W) on the floor area (F) in case the air temperature shows a pre-defined temperature drop over a pre-defined period of time or in case a slope of the air temperature is negative and decreases below a predefined threshold.
- Item 24: A non-transitory computer readable medium having stored thereon instructions that will cause a processor to conduct the method according to
item 23. - The vacuum cleaner devices disclosed herein have been described with exemplary reference to specific features and in a manner sufficient to enable persons of ordinary skill in the art to readily reduce any of the embodiments of the present invention to practice without undue experimentation and using conventional techniques. While preferred embodiments of the present invention have been described, so as to enable one of skill in the art to practice the present invention, the preceding description is intended to be exemplary only. Moreover, the embodiments and components thereof are exemplary.
- This description should not be used to limit the scope of the invention, which should be determined by reference to the following claims.
Claims (15)
- A vacuum cleaner device (1) for operation on a floor area (F), comprising:- a suction duct (7) and an actuator (9) arranged and configured to generate an underpressure in the suction duct (7) so that air is sucked into the suction duct (7),- a temperature sensor (10) configured to sample an air temperature in the vicinity of the device (1), wherein said temperature sensor (10) is arranged in the suction duct (7) or adjacent an opening (6d) of the suction duct (7), and- an analyzing unit (3) configured to detect a wet spot (W) on said floor area (F) using said sampled air temperature.
- The vacuum cleaner device according to claim 1, wherein the analyzing unit (3) is configured to detect the presence of a wet spot (W) on the floor area (F) in case the sampled air temperature shows a predefined temperature drop over a predefined period of time or in case a slope of the sampled air temperature is negative and decreases below a predefined threshold.
- The vacuum cleaner device according to claim 2, wherein the temperature drop per period of time is larger than 0.2 °C/s, and/or wherein the temperature drop per period of time is in the range from 0.4°C/s to 1 °C/s.
- The vacuum cleaner device according to one of the preceding claims, wherein the analyzing unit (3) is further configured to at least one of: determine if the temperature drop is followed by an increase of the sampled temperature after passing of a pre-defined time span to confirm detection of the wet spot (W); determine if a relative humidity sampled by the vacuum cleaner device (1) increases when the temperature drop occurs and/or decreases when said increase of the sampled temperature occurs to confirm detection of the wet spot (W); determine if a total temperature drop associated with the detected wet spot (W) exceeds a pre-defined threshold to confirm detection of the wet spot (W); determine if a total relative humidity increase associated with the detected wet spot (W) exceeds a pre-defined threshold to confirm detection of the wet spot (W).
- The vacuum cleaner device according to one of the preceding claims, wherein the vacuum cleaner device (1) comprises at least one relative humidity sensor (11) configured to sample a relative humidity of the air in the vicinity of the vacuum cleaner device (1).
- The vacuum cleaner device according to claim 5, wherein the analyzing unit (3) is configured to detect a wet spot (W) on said floor area (F) using said sampled air temperature and said sampled relative humidity.
- The vacuum cleaner device according to claim 5 or 6, wherein the analyzing unit (3) is configured to detect the presence of a wet spot (W) on the floor area (F) in case the sampled air temperature shows a predefined temperature drop over a predefined period of time or a slope of the sampled temperatures is negative and decreases below a predefined threshold, and in case the relative humidity shows a predefined increase over a predefined period of time or a slope of the sampled relative humidity increases above a predefined threshold.
- The vacuum cleaner device according to one of the preceding claims, wherein the vacuum cleaner device (1) comprises a housing (6) having a bottom wall (6c) configured to face said floor area (F) upon operation of the vacuum cleaner device (1) on said floor area (F), wherein the bottom wall (6c) comprises said opening (6d), and wherein the housing (6) comprises a lateral wall (6a).
- The vacuum cleaner device according to one of the preceding claims, wherein the suction duct (7) comprises a constriction (70), wherein the temperature sensor (10) is arranged in the constriction (70).
- The vacuum cleaner device according to claim 8, wherein the temperature sensor (10) is mounted to the bottom wall (6c) or to the lateral wall (6a) adjacent said opening (6d).
- The vacuum cleaner device according to claim 5 and according to claim 8 or 10, wherein the at least one relative humidity sensor (11) is mounted to the bottom wall (6c) or to the lateral wall (6a).
- The vacuum cleaner device according to claim 5 or according to one of the claims 6 to 11 when referring to claim 5, wherein the at least one relative humidity sensor (11) is arranged in the suction duct (7).
- The vacuum cleaner device according to claim 12, wherein the at least one relative humidity sensor (11) is arranged in the suction duct (7) downstream a filter (8) for filtering particles that is arranged in the suction duct (7).
- The vacuum cleaner device according to one of the preceding claims, wherein the vacuum cleaner device (1) is a robotic vacuum cleaner device for autonomous operation on the floor area (F).
- The vacuum cleaner device according to claim 14, wherein the vacuum cleaner device (1) comprises a drive system (2) that is configured to move the vacuum cleaner device (1).
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US16/116,959 US11259676B2 (en) | 2018-08-30 | 2018-08-30 | Vacuum cleaner device |
EP18196706 | 2018-09-25 |
Publications (2)
Publication Number | Publication Date |
---|---|
EP3626149A1 true EP3626149A1 (en) | 2020-03-25 |
EP3626149B1 EP3626149B1 (en) | 2022-03-02 |
Family
ID=67840926
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP19194793.6A Active EP3626149B1 (en) | 2018-08-30 | 2019-08-30 | Vacuum cleaner device |
Country Status (2)
Country | Link |
---|---|
EP (1) | EP3626149B1 (en) |
CN (1) | CN110870717B (en) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114209256A (en) * | 2021-11-17 | 2022-03-22 | 添可智能科技有限公司 | Cleaning device and control method |
WO2023088213A1 (en) * | 2021-11-17 | 2023-05-25 | 添可智能科技有限公司 | Cleaning device and control method |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20060130646A1 (en) | 2004-12-22 | 2006-06-22 | Samsung Gwangju Electronics Co., Ltd. | Dust-collecting apparatus and method for a vacuum cleaner |
WO2008007830A1 (en) | 2006-07-14 | 2008-01-17 | Hanulkid Co., Ltd. | Steam robot cleaner |
US20160066759A1 (en) | 2014-09-10 | 2016-03-10 | Miele & Cie. Kg | Method for operating a domestic appliance system |
WO2016133320A1 (en) * | 2015-02-16 | 2016-08-25 | Lg Electronics Inc. | Robot cleaner, remote control system including the same, and control method thereof |
WO2016173919A1 (en) * | 2015-04-28 | 2016-11-03 | Vorwerk & Co. Interholding Gmbh | Domestic robot and method for operating a domestic robot |
WO2017141536A1 (en) * | 2016-02-16 | 2017-08-24 | 東芝ライフスタイル株式会社 | Autonomous travelling body |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH1189771A (en) * | 1997-09-25 | 1999-04-06 | Mitsubishi Electric Corp | Electric vacuum cleaner |
ATE470005T1 (en) * | 2006-11-10 | 2010-06-15 | Johnson Diversey Inc | SENSOR DEVICE AND METHOD |
JP6068824B2 (en) * | 2012-05-01 | 2017-01-25 | シャープ株式会社 | Self-propelled electronic device |
EP3241476A1 (en) * | 2016-05-03 | 2017-11-08 | Koninklijke Philips N.V. | Vacuum cleaner |
-
2019
- 2019-08-29 CN CN201910806915.4A patent/CN110870717B/en active Active
- 2019-08-30 EP EP19194793.6A patent/EP3626149B1/en active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20060130646A1 (en) | 2004-12-22 | 2006-06-22 | Samsung Gwangju Electronics Co., Ltd. | Dust-collecting apparatus and method for a vacuum cleaner |
WO2008007830A1 (en) | 2006-07-14 | 2008-01-17 | Hanulkid Co., Ltd. | Steam robot cleaner |
US20160066759A1 (en) | 2014-09-10 | 2016-03-10 | Miele & Cie. Kg | Method for operating a domestic appliance system |
WO2016133320A1 (en) * | 2015-02-16 | 2016-08-25 | Lg Electronics Inc. | Robot cleaner, remote control system including the same, and control method thereof |
WO2016173919A1 (en) * | 2015-04-28 | 2016-11-03 | Vorwerk & Co. Interholding Gmbh | Domestic robot and method for operating a domestic robot |
WO2017141536A1 (en) * | 2016-02-16 | 2017-08-24 | 東芝ライフスタイル株式会社 | Autonomous travelling body |
Also Published As
Publication number | Publication date |
---|---|
CN110870717B (en) | 2021-08-03 |
CN110870717A (en) | 2020-03-10 |
EP3626149B1 (en) | 2022-03-02 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US9955839B2 (en) | Side brush for a robotic vacuum cleaner and robotic vacuum cleaner comprising a side brush | |
US10349798B2 (en) | Mobile robot and method of controlling the same | |
US11154170B2 (en) | Autonomous vacuum operation in response to dirt detection | |
EP3626149B1 (en) | Vacuum cleaner device | |
JP5075207B2 (en) | Vacuum cleaner nozzle and method for suction cleaning | |
EP2587979B1 (en) | Dust detection system | |
US11259676B2 (en) | Vacuum cleaner device | |
EP3302203B1 (en) | A method of controlling a mobile robot | |
KR101103910B1 (en) | Structure of dust perceiving sensor for robot cleaner | |
KR102147207B1 (en) | Moving Robot and controlling method | |
JP6879478B2 (en) | Experience-based roadmap for robot vacuums | |
WO2018163521A1 (en) | Self-propelled movable body, humidity sensor, liquid detection device | |
KR102201144B1 (en) | Mobile robot and its control method | |
KR20130042422A (en) | Robot cleaner and control method for the same | |
JP2007068684A (en) | Electric vacuum cleaner | |
US20220167808A1 (en) | Autonomous cleaner and cleaning system | |
JP7362917B2 (en) | Control of autonomous mobile robots | |
US20190246852A1 (en) | Robotic cleaning device and a method of controlling movement of the robotic cleaning device | |
KR102467990B1 (en) | Robot cleaner | |
JP6225327B2 (en) | Air cleaner | |
KR100982383B1 (en) | A control method of moving for automatic vacuum cleaner | |
KR20180085154A (en) | Robot cleaner | |
JP2021137478A (en) | Self-propelled cleaner | |
KR20080077488A (en) | Robot cleaner and control method of the same of | |
WO2022233182A1 (en) | Intelligent mobile device and control method therefor, and electronic device and storage medium |
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: 20200925 |
|
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 20060101AFI20210215BHEP |
|
INTG | Intention to grant announced |
Effective date: 20210316 |
|
GRAJ | Information related to disapproval of communication of intention to grant by the applicant or resumption of examination proceedings by the epo deleted |
Free format text: ORIGINAL CODE: EPIDOSDIGR1 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE |
|
INTC | Intention to grant announced (deleted) | ||
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 |
|
INTG | Intention to grant announced |
Effective date: 20210914 |
|
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 |
|
REG | Reference to a national code |
Ref country code: CH Ref legal event code: EP Ref country code: AT Ref legal event code: REF Ref document number: 1471573 Country of ref document: AT Kind code of ref document: T Effective date: 20220315 |
|
REG | Reference to a national code |
Ref country code: DE Ref legal event code: R096 Ref document number: 602019012048 Country of ref document: DE |
|
REG | Reference to a national code |
Ref country code: IE Ref legal event code: FG4D |
|
REG | Reference to a national code |
Ref country code: LT Ref legal event code: MG9D |
|
REG | Reference to a national code |
Ref country code: NL Ref legal event code: MP Effective date: 20220302 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
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: 20220302 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: 20220302 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: 20220602 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: 20220302 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: 20220302 Ref country code: ES 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: 20220302 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: 20220602 |
|
REG | Reference to a national code |
Ref country code: AT Ref legal event code: MK05 Ref document number: 1471573 Country of ref document: AT Kind code of ref document: T Effective date: 20220302 |
|
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: 20220302 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: 20220302 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: 20220603 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: 20220302 |
|
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: 20220302 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
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: 20220302 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: 20220302 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: 20220302 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: 20220704 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: 20220302 Ref country code: CZ 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: 20220302 Ref country code: AT 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: 20220302 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
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: 20220702 Ref country code: AL 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: 20220302 |
|
REG | Reference to a national code |
Ref country code: DE Ref legal event code: R097 Ref document number: 602019012048 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: 20220302 |
|
26N | No opposition filed |
Effective date: 20221205 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
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: 20220302 |
|
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: 20220302 |
|
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: 20220830 |
|
REG | Reference to a national code |
Ref country code: BE Ref legal event code: MM Effective date: 20220831 |
|
P01 | Opt-out of the competence of the unified patent court (upc) registered |
Effective date: 20230602 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: IT 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: 20220302 Ref country code: IE Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20220830 Ref country code: FR Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20220831 |
|
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: 20220831 |
|
PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: GB Payment date: 20230824 Year of fee payment: 5 Ref country code: CH Payment date: 20230902 Year of fee payment: 5 |
|
PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: DE Payment date: 20230822 Year of fee payment: 5 |
|
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: 20190830 |