EP4277508A1 - Procédé de traitement autonome de surfaces de sol - Google Patents

Procédé de traitement autonome de surfaces de sol

Info

Publication number
EP4277508A1
EP4277508A1 EP22700484.3A EP22700484A EP4277508A1 EP 4277508 A1 EP4277508 A1 EP 4277508A1 EP 22700484 A EP22700484 A EP 22700484A EP 4277508 A1 EP4277508 A1 EP 4277508A1
Authority
EP
European Patent Office
Prior art keywords
obstacles
collection point
objects
mobile
self
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.)
Pending
Application number
EP22700484.3A
Other languages
German (de)
English (en)
Inventor
Frank Schnitzer
Dominik SCHREINER
Julius Geis
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
BSH Hausgeraete GmbH
Original Assignee
BSH Hausgeraete GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by BSH Hausgeraete GmbH filed Critical BSH Hausgeraete GmbH
Publication of EP4277508A1 publication Critical patent/EP4277508A1/fr
Pending legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L7/00—Suction cleaners adapted for additional purposes; Tables with suction openings for cleaning purposes; Containers for cleaning articles by suction; Suction cleaners adapted to cleaning of brushes; Suction cleaners adapted to taking-up liquids
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L7/00—Suction cleaners adapted for additional purposes; Tables with suction openings for cleaning purposes; Containers for cleaning articles by suction; Suction cleaners adapted to cleaning of brushes; Suction cleaners adapted to taking-up liquids
    • A47L7/009—Details of suction cleaner tools for additional purposes
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • A47L9/2826—Parameters or conditions being sensed the condition of the floor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2857—User input or output elements for control, e.g. buttons, switches or displays
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Definitions

  • the invention relates to a method for the autonomous processing of floor surfaces using a mobile, self-propelled device, in particular a floor cleaning device such as a suction and/or sweeping and/or wiping robot.
  • a mobile, self-propelled device with which such processing can be carried out.
  • the object of the invention is to provide an effective, optimized and/or safe method for the autonomous processing of floor areas, in which in particular the most complete possible cleaning of the floor area can be ensured by preferably clearing the floor area to be cleaned of movable obstacles before or during the cleaning is, preferably at the same time non-movable obstacles remain in their position.
  • a method for the autonomous processing of floor surfaces using a mobile, self-propelled device comprises the following method steps:
  • the solution according to the invention is characterized in that the mobile, self-propelled device collects the movable obstacles in the room before or during the cleaning and stores them at a central location, the collection point, where these obstacles do not disturb the cleaning and can be found quickly by the user can become.
  • the mobile, self-propelled device searches for the obstacles before cleaning, for example, in order to bring them to the collection point and thus clear the floor area to be cleaned, with the floor area advantageously being cleaned up and the obstacles being collected at the same time.
  • the mobile, self-propelled device distinguishes between movable obstacles such as socks, shoes, toys, and non-movable obstacles such as cables, socket strips, lamp stands, chair legs, pet droppings.
  • the mobile self-propelled device thus classifies the obstacles lying on the ground and moves the sliding obstacles to the collection point to ensure the most complete cleaning of the floor surface, while at the same time a rough type of cleaning is carried out by the mobile self-propelled device.
  • a plurality of functions are thus advantageously available to the user.
  • the user finds the moved obstacles and objects at a predefined location (collecting point).
  • a search in the apartment for the moved obstacles and objects is advantageously not necessary.
  • a mobile, self-propelled device is to be understood in particular as a floor cleaning device, for example a cleaning or lawn mower device, which autonomously processes floor areas or lawns, in particular in the household sector.
  • a floor cleaning device for example a cleaning or lawn mower device, which autonomously processes floor areas or lawns, in particular in the household sector.
  • These include, inter alia, vacuum and/or sweeping and/or wiping robots such as vacuum cleaner robots or lawn mower robots.
  • These devices work during operation (cleaning operation or lawnmowing operation) preferably without or with as little user intervention as possible. For example, the device moves automatically into a given room in order to clean the floor according to a given and programmed strategy.
  • An exploration trip is to be understood in particular as a reconnaissance trip that is suitable for exploring a floor area to be processed for obstacles, room layout and the like.
  • the aim of an exploration trip is in particular to be able to assess and/or represent the conditions of the tillage area to be worked on.
  • a soil processing area is to be understood as meaning any spatial area that is intended for processing, in particular cleaning.
  • this can be a be a single (living) room or an entire apartment. It can also only be understood to mean areas of a (living) room or apartment that are intended for cleaning.
  • Obstacles are any objects and/or items that are arranged in the floor processing area, for example lying there, and affect processing by the mobile, self-propelled device, in particular impede and/or disturb such as furniture, walls, curtains, carpets and the like .
  • Movable obstacles are to be understood as meaning any obstacles that can and in particular should be moved by the mobile, self-propelled device. It is therefore not only crucial that a shift is generally possible, but that a shift is actually intended. For example, feces from pets are generally moveable. However, this is not intended, as otherwise the feces would be distributed throughout the apartment. Movable obstacles are, for example, toys, shoes, socks and other objects lying around.
  • immovable obstacles are any obstacles that cannot be moved by the mobile, self-propelled device and also any obstacles that can be moved but are not intended to be moved.
  • fixed obstructions include power strips, cords, lamp stands, chair legs, and pet droppings.
  • a detection device is to be understood as meaning any device that is suitable for detecting obstacles, preferably reliably. This is preferably sensor-based and/or camera-based.
  • a collection point is to be understood as meaning any spatial, in particular three-dimensional location in or adjacent to the soil processing area.
  • a collection point is to be understood here in particular in the spatial sense.
  • Classification means, in particular, dividing the obstacles and/or objects and/or items into displaceable or non-displaceable. Additionally further classifications can be carried out, such as in different categories, for example category “socks”, category “shoes”, category “toys” etc.
  • Transport is to be understood in particular as any possibility of transport, such as reaching for the obstacles and objects, holding, clamping, lifting and/or moving the obstacles and objects using the mobile, self-propelled device.
  • the mobile, self-driving device After the exploration trip, the mobile, self-driving device knows its surroundings and can pass this on to the user in the form of a map of the surroundings, for example in an app on a mobile device.
  • the user In the area map, the user can be given the opportunity to define an area as a collection point to which the mobile, self-propelled device should bring the movable obstacles.
  • the mobile, self-propelled device can itself designate an area as a collection point. This decision can be based on the location of the place, the quick accessibility and other properties such as walking route for the user, possible tripping hazards for the user, etc.
  • the collection point is preferably displayed in the map of the area. The user can advantageously view the location of the collection point on the map of the area and, if necessary, change and/or adjust it.
  • a map of the surroundings is to be understood, in particular, as any map that is suitable for showing the surroundings of the tillage area with all its obstacles.
  • the environment map shows a sketch of the tillage area with the obstacles and walls it contains.
  • the map of the area with the obstacles is preferably displayed in the app on a portable additional device. This serves in particular to visualize a possible interaction for the user.
  • an additional device is to be understood in particular as any device that is portable for a user, that is arranged outside of the mobile, self-propelled device, in particular differentiated from the mobile, self-propelled device, and for displaying, providing, transmitting and/or transmitting data suitable is, such as a mobile phone, a smartphone, a tablet and/or a computer or laptop.
  • the app in particular a cleaning app, is installed on the portable additional device, which is used for communication between the mobile, self-propelled device and the additional device and in particular enables visualization of the floor processing area, i.e. the living space to be cleaned or the apartment or living area to be cleaned.
  • the app preferably shows the user the area to be cleaned as a map of the area as well as any obstacles and collection points.
  • the collection point is determined by the mobile, self-propelled device itself.
  • the location of the collection point in the home is determined by the mobile, self-propelled device itself and is preferably displayed to the user on the map of the area.
  • the collection point can advantageously be based on the location of the location, the quick accessibility and other properties such as the route taken by the user or the prevention of tripping hazards for the user.
  • a location of the collection point that is as optimal as possible can advantageously be provided.
  • the proposal for the collection point can be viewed by the user in the area map and changed or adjusted as required.
  • a route from the obstacle and/or object classified as movable to the collection point is determined by the mobile, self-propelled device itself.
  • the route from the obstacle to the collection point is therefore chosen by the mobile, self-propelled device itself and not specified by the user. This allows the mobile, self-driving device to freely choose its route based on various criteria such as quick accessibility, no obstacles on the way, and the like.
  • a plurality of collection points are defined in particular by the mobile, self-propelled device. If several collection points are defined, the mobile, self-propelled device can advantageously bring the movable obstacles to the collection point that is currently closest to the mobile, self-propelled device. In addition or alternatively, the mobile, self-propelled devices only use one collection point until it is foreseeable that two collection points will be required and/or there will be noticeable advantages for the processing speed.
  • free areas of the soil processing area are cleaned before and/or while obstacles and/or objects classified as displaceable are transported to the collection point.
  • the collection point to which the displaceable obstacles are to be transported is advantageously cleaned before this collection point is no longer accessible for cleaning due to the obstacles transported there.
  • the floor area of the collection point is cleaned in order to then transport the movable obstacles to the already cleaned, clean floor area of the collection point. A cleaning of the floor working area that is as complete as possible is made possible with advantage.
  • the classifying, collecting and transporting away of the displaceable obstacles is preferably carried out while the cleaning program is being carried out.
  • the mobile, self-propelled device constantly scans the floor area in front of it and, even before physical contact, recognizes which items, objects or obstacles are involved, collects the corresponding obstacles and brings them to the designated collection point in order to then continue cleaning.
  • a search drive is carried out by the mobile, self-propelled device, which searches the floor area within the floor processing area to be cleaned. Any or all obstacles identified and classified as movable are brought to the collection point. Then the actual cleaning of the tillage surface begins.
  • slidably classified obstacles and/or objects are transported to the collection point, in particular before the soil processing area is cleaned.
  • This advantageously enables uninterrupted cleaning.
  • the mobile, self-propelled device carries out a search for movable obstacles and transports them to the collection point without running the cleaning program.
  • the floor cleaning can then be carried out.
  • the user can start and run the clean-up program without subsequently cleaning the floor.
  • the collection point is outside the soil processing area.
  • the mobile, self-propelled device brings the obstacles classified as movable to the collection point, which is outside the floor area to be cleaned.
  • the collection point is in the study if the living room is to be cleaned.
  • the obstacles and/or objects classified as displaceable are stored in a sorted manner.
  • the obstacles classified as movable are stored in a classified manner after successful detection by the mobile, self-propelled device. For example, socks are placed in a first pile, shoes in a second pile, and toys in a third pile at the collection point.
  • advanced clearing takes place using the mobile, self-propelled device, which advantageously facilitates the later removal of the obstacles from the collection point by the user.
  • a mobile, self-propelled device in particular a floor cleaning device for autonomous processing of floor surfaces such as a vacuum and/or sweeping and/or wiping robot, includes a detection device for detecting obstacles and/or objects on the floor, a classification device for classifying the obstacles and/or objects as displaceable or non-displaceable, and a transport device for transporting the obstacles and/or objects classified as displaceable to at least one collection point, the collection point being cleaned before the obstacles and/or objects classified as displaceable are transported to the collection point .
  • a detection device for detecting obstacles and/or objects on the floor
  • a classification device for classifying the obstacles and/or objects as displaceable or non-displaceable
  • a transport device for transporting the obstacles and/or objects classified as displaceable to at least one collection point, the collection point being cleaned before the obstacles and/or objects classified as displaceable are transported to the collection point.
  • the mobile, self-propelled device preferably includes a suitable sensor system such as a 3D camera, a PMD sensor, 3D LIDAR, a (stereo) (black and white, RGB or infrared) camera, an infrared Night vision camera to ensure that the cleaning activity is carried out even in poor lighting conditions and/or a camera in combination with front-mounted LEDs to illuminate the area in front of the cleaning device.
  • a suitable sensor system such as a 3D camera, a PMD sensor, 3D LIDAR, a (stereo) (black and white, RGB or infrared) camera, an infrared Night vision camera to ensure that the cleaning activity is carried out even in poor lighting conditions and/or a camera in combination with front-mounted LEDs to illuminate the area in front of the cleaning device.
  • the detection device is particularly suitable for recognizing and differentiating or classifying objects and objects that are located on the floor. It is not absolutely necessary to recognize any type of object. A classification into obstacles that cannot be moved, that should or must remain in
  • a classification device is to be understood in particular as any device that is suitable for being able to carry out a corresponding classification of the obstacles and/or objects as being displaceable or non-displaceable.
  • a more detailed classification of the obstacles is not absolutely necessary, but can be implemented.
  • the transport device is intended and suitable for transporting the obstacles and/or objects classified as movable to at least one collection point.
  • the transport device preferably comprises a gripping device, a clamping device, a wall device and/or a shovel device.
  • the mobile, self-propelled device includes a robotic arm or similar mechanism capable of grasping, clamping and/or lifting and carrying away or at least laying down objects, objects and/or obstacles.
  • the mobile, self-propelled device pushes the obstacles over the ground with the transport device.
  • fold-out/extendable side walls serve as a stabilizer to prevent obstacles from slipping sideways when cornering.
  • a frontal, for example grid-like, foldable/extendable partition in front of the mobile, self-propelled device particularly preferably prevents the transported obstacles from getting into a suction mouth, onto a brush roller or generally under the mobile, self-propelled device.
  • any side walls and the frontal bulkhead are retracted in order to advantageously restore normal maneuverability of the mobile, self-propelled device.
  • a shovel-like collecting mechanism can be used as the transport device, which lifts the obstacles slightly and thus also enables transport over doorsteps and the like.
  • Figure 1 a schematic view of an embodiment of a
  • Figure 2A a schematic view of an embodiment of a
  • Figure 2B a schematic view of an embodiment of a
  • FIG. 1 shows a map 10 of the surroundings of a dwelling to be cleaned, in particular a floor treatment area 1 to be cleaned. This map of the surroundings is displayed in an app, in particular a cleaning app, of a portable auxiliary device, in particular a mobile device. This enables an interaction between a user and a mobile, self-propelled device, in particular a vacuum robot.
  • the environment map 10 is created by the mobile, self-propelled device.
  • the vacuum robot carries out an exploratory journey, during which the vacuum robot scans and recognizes its surroundings and forwards this to the user in the form of a map of the surroundings in the app on the mobile device.
  • a detection device detects any obstacles, objects and objects 3 on the ground, such as socks, toys, shoes, carpets, walls, doorsteps, etc. lying on the ground, and the user is in the right place on the map of the area displayed.
  • the vacuum robot includes a suitable sensor system, such as a 3D camera, 3D LIDAR, PMD sensor and/or a (stereo) camera.
  • the vacuum robot In addition to detecting the obstacles, items and objects 3 on the ground, these are also classified by the vacuum robot as movable obstacles and non-movable obstacles. It is not absolutely necessary to recognize any type of object. In particular, the vacuum robot recognizes which obstacles should/must remain in place and have to be avoided later, such as socket strips, cables, lamp stands, chair legs, pet droppings and the like, and which obstacles can be moved and removed by the vacuum robot, how such as toys, socks, shoes and other items lying around.
  • the collection point 2 can, for example, be predefined by the user in the area map 10 to which the robotic vacuum cleaner is to transport the loose, movable obstacles lying around.
  • the vacuum robot itself can determine the area that it selects as collection point 2.
  • This suggestion is preferably displayed to the user in the area map 10 so that the user can change and/or adjust the collection point 2 if necessary.
  • the vacuum robot drives to the collection point that is closest to it.
  • the vacuum robot only uses a first collection point until it is full and a second collection point is required or it brings noticeable advantages for the working speed.
  • the collection point can be outside the floor area to be cleaned, for example in a study if the living room is to be cleaned. This can ensure that the floor area to be cleaned is cleaned as completely as possible.
  • FIG. 2A A map 10 of the surroundings is shown in FIG. 2A, in which a large number of obstacles, items and objects 3 are indicated.
  • movable obstacles 4 and non-movable obstacles 5 are displayed, which have been detected and classified by the vacuum robot during the exploration trip.
  • the vacuum robot Before the vacuum robot now transports the obstacles classified as movable to the collection point, it cleans the collection point in order to be able to ensure that the collection point is also cleaned, which is no longer possible after the objects have been transported. Subsequently, the slidable obstacles 4 can be collected and removed while the cleaning program is being carried out.
  • the vacuum robot constantly scans the floor area in front of it and, even before physical contact, recognizes which obstacles are involved, collects correspondingly movable obstacles 4, brings them to the collection point 2 and then continues its cleaning. At the end of the cleaning program, all the obstacles 4 classified as being moveable are at the collection point 2, while the obstacles 5 classified as not being moveable remain in place, as shown in FIG. 2B.
  • Displaceable obstacles 4 that have been identified are preferably stored in a classified manner at the collection point 2 .
  • socks are placed in a first pile of collection point 2, shoes in a second pile of collection point 2, and toys in a third pile of collection point 2. This advantageously makes it easier for the user to clean up later.
  • the vacuum robot can collect the obstacles, it preferably includes a robot arm or a similar mechanism that allows gripping, clamping, lifting, carrying away and/or putting down.
  • fold-out/extendable side walls are used, which allow the obstacles to be pushed across the floor and prevent the obstacles from slipping sideways when cornering.
  • a partition in front of the front of the robot that can be folded out or extended, preferably in the form of a grid, prevents obstacles from getting into the vacuum mouth, onto the brush roller or under the vacuum robot. After the obstacles have been deposited at collection point 2, the side walls and the frontal partition are retracted again to make it easier to maneuver the vacuum robot.
  • a shovel-like collecting mechanism can be used, which raises the obstacles and thus also enables transport over doorsteps.
  • the obstacles 3, 4, 5 lying on the floor are advantageously recognized and classified and the movable obstacles 4 are brought to the collection point 2 in order to be able to clean the floor area to be cleaned as completely as possible and at the same time to carry out a rough type of cleaning . Obstacles 5 that cannot be moved remain in place.

Landscapes

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

Abstract

L'invention concerne un procédé de traitement autonome de surfaces de sol au moyen d'un dispositif mobile à déplacement autonome, en particulier un dispositif de nettoyage de sol tel qu'un robot aspirateur et/ou de balayage et/ou de lavage, comprenant les étapes de procédé suivantes : le dispositif mobile à déplacement autonome effectue une course d'exploration dans une zone de traitement de sol proposée (1), détecte des obstacles (3, 4, 5) et/ou des objets se situant sur le sol au moyen d'un dispositif de détection, classifie les obstacles et/ou les objets (3, 4, 5) comme étant mobiles ou non mobiles, et transporte les obstacles (4) et/ou les objets classifiés comme mobiles vers au moins un point de collecte (2), le point de collecte (2) étant nettoyé avant que des obstacles (4) et/ou des objets classifiés comme mobiles soient transportés vers le point de collecte (2). L'invention concerne en outre un dispositif mobile à déplacement autonome pour le traitement autonome de surfaces de sol de ce type.
EP22700484.3A 2021-01-18 2022-01-12 Procédé de traitement autonome de surfaces de sol Pending EP4277508A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102021200401.6A DE102021200401B3 (de) 2021-01-18 2021-01-18 Verfahren zur autonomen Bearbeitung von Bodenflächen
PCT/EP2022/050514 WO2022152736A1 (fr) 2021-01-18 2022-01-12 Procédé de traitement autonome de surfaces de sol

Publications (1)

Publication Number Publication Date
EP4277508A1 true EP4277508A1 (fr) 2023-11-22

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP22700484.3A Pending EP4277508A1 (fr) 2021-01-18 2022-01-12 Procédé de traitement autonome de surfaces de sol

Country Status (5)

Country Link
US (1) US20240057835A1 (fr)
EP (1) EP4277508A1 (fr)
CN (1) CN116761538A (fr)
DE (1) DE102021200401B3 (fr)
WO (1) WO2022152736A1 (fr)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102022207089B4 (de) 2022-07-12 2024-05-23 BSH Hausgeräte GmbH Bearbeitungsgerät zur Vorbereitung einer Bodenfläche

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