EP4373376A1 - Appareil de nettoyage de sol et procédé de commande d'un appareil de nettoyage de sol - Google Patents

Appareil de nettoyage de sol et procédé de commande d'un appareil de nettoyage de sol

Info

Publication number
EP4373376A1
EP4373376A1 EP21749172.9A EP21749172A EP4373376A1 EP 4373376 A1 EP4373376 A1 EP 4373376A1 EP 21749172 A EP21749172 A EP 21749172A EP 4373376 A1 EP4373376 A1 EP 4373376A1
Authority
EP
European Patent Office
Prior art keywords
cleaning device
floor cleaning
control unit
unit
floor
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
EP21749172.9A
Other languages
German (de)
English (en)
Inventor
Fedor VLASOV
Manuel Drust
Heiko HÖNNIGE
Christian Wurm
Felipe GARCIA LOPEZ
Fabian SCHURIG
Gereon HINZ
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.)
Alfred Kaercher SE and Co KG
Original Assignee
Alfred Kaercher SE and Co KG
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 Alfred Kaercher SE and Co KG filed Critical Alfred Kaercher SE and Co KG
Publication of EP4373376A1 publication Critical patent/EP4373376A1/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
    • A47L11/4061—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
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A47L11/4008—Arrangements of switches, indicators or the like
    • 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
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4066—Propulsion of the whole machine
    • 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

Definitions

  • the present invention relates to a self-propelled and self-steering floor cleaning device, comprising at least one functional unit and a control unit for controlling at least one functional unit of the at least one functional unit, wherein the at least one functional unit comprises a chassis for moving on a floor surface, at least one cleaning tool for cleaning the Floor surface and a sensor unit for detecting an environment of the floor cleaning device, in particular during movement, and wherein the control unit determines, depending on at least one signal from the sensor unit, that an obstacle is arranged on or at the floor surface.
  • the present invention relates to a method for controlling a self-propelled and self-steering floor cleaning device, in particular of the type mentioned above.
  • the at least one cleaning tool includes, for example, a roller brush or a disk brush to remove dirt from the floor surface.
  • the floor surface can preferably be treated with a cleaning liquid, in particular water.
  • a cleaning chemical can be added to increase cleaning performance.
  • the mixture of dirt and cleaning liquid can, for example, be picked up from the floor surface by means of a cleaning tool and transferred to a dirt liquid container.
  • the sensor unit can include or form a navigation unit, or vice versa.
  • the floor cleaning device has to decide, for example, which travel path to take. Obstacles can be placed on the floor surface or on the floor surface, the latter case being, for example, boundaries of the floor surface.
  • the object of the present invention is to provide a generic floor cleaning device that has a higher level of operational reliability.
  • this object is achieved according to the invention in that the control unit classifies the obstacles with regard to persons and objects and that the control unit controls at least one functional unit depending on the classification of a detected obstacle.
  • the control unit of the floor cleaning device is designed and set up to classify the obstacles as a person or as a different type of obstacle, namely as an object.
  • the classification can be carried out within the scope of the information that can be detected by means of the sensor unit, so that obstacles are classified as people in particular if they are at least with a certain probability people.
  • At least one functional unit is controlled depending on the classification. This allows the floor cleaning device to adapt its situational behavior to the type of obstacle.
  • the functional safety requirements can preferably be set higher if the obstacle is a person instead of another type of obstacle such as an object. Provision can be made for obstacles to be classified into more than just persons and objects.
  • the safety distance is preferably predetermined and can be a minimum distance.
  • control unit controls the chassis to reduce a travel speed of the floor cleaning device or to stop the floor cleaning device when a person is detected.
  • control unit controls the chassis to stop for a specified period if a person is detected.
  • this can be understood to mean that the chassis is not activated for the specified duration.
  • control unit controls the chassis to increase a travel speed when a person is detected, in order to be able to maintain a preferably predetermined safety distance from the person as quickly as possible.
  • control unit controls the running gear, when an object is detected, with a view to cleaning the floor surface close to the object, to move up to the object.
  • the floor cleaning device can do this advantageously be moved at least to within a maximum distance from the object in order to carry out cleaning of the floor surface close to the object, for example close to the edge.
  • the at least one cleaning tool is preferably activated in this embodiment.
  • the at least one functional unit comprises an indication unit with at least one optical and/or acoustic actuator.
  • a flashing light and/or lighting is provided as an optical actuator and/or a loudspeaker as an acoustic actuator.
  • the optical actuator can be a display unit of the floor cleaning device, which is arranged on an operating unit, for example.
  • control unit preferably controls the notification unit to provide at least one notification, which can be acoustic and/or visual, for example.
  • the notice can be indicative of the fact that a person has been recognized.
  • control unit activates at least one cleaning tool to reduce the power when a person is detected. This makes it possible, for example, to reduce the noise emitted by the floor cleaning device when people are present for their well-being.
  • the control unit can switch off the cleaning tool or temporarily deactivate its operation, particularly when the chassis is at a standstill.
  • control unit determines, depending on at least one signal from the sensor unit, whether the obstacle is static relative to the floor surface or is moving, and if the control unit determines the at least controls a functional unit depending on whether the obstacle is static or moving.
  • the floor cleaning device determines that the obstacle is moving away from the travel path, so that there is no need to reduce the travel speed.
  • Activation of at least one functional unit with an existing classification for example to maintain a safety distance, change the distance, change the travel speed, change the performance of a cleaning tool and/or activation of the notification unit as explained above, can depend, for example, on whether the obstacle is moving emotional. For example, such an actuation takes place when the person is moving, but not when the person is static. Alternatively or additionally, this can apply to objects.
  • a threshold value for movement can preferably be defined for a determination of a movement, with a movement below a threshold value not being understood as “movement” in the above sense, but rather only a movement above the threshold value.
  • the control unit determines, depending on at least one signal from the sensor unit, whether the obstacle is static or moving relative to the floor surface, and that the control unit activates the at least one functional unit depending on this whether the obstacle is static or moving.
  • the classification of obstacles with regard to people and objects is only optional and not mandatory in this invention, but is nevertheless preferred.
  • the floor cleaning device includes an operating unit, via which an operator can configure the type of activation of the at least one functional unit depending on the classification of the obstacle and/or a movement of the obstacle. For example, the operator can specify how the floor cleaning device behaves in the case of known people or objects and/or in the case of moving obstacles.
  • the operating unit can in particular be a functional unit of the floor cleaning device.
  • the operating unit can be arranged on the floor cleaning device.
  • a spatially remote control unit is provided, which can be in communication with the floor cleaning device via a wireless and/or wired communication interface.
  • control unit controls the chassis to reduce the travel speed of the floor cleaning device when there is a distance from an obstacle that is within a maximum distance.
  • the speed is reduced in the case of obstacles that have not yet been classified, before a decision is made on the further situational behavior of the floor cleaning device, for example in one of the ways explained above.
  • the floor cleaning device can have a navigation unit.
  • the sensor unit includes or forms the navigation unit or vice versa.
  • the control unit controlling the sensor unit to increase spatial resolution of the surroundings when there is a distance from an obstacle that is within a maximum distance.
  • the resolution is increased to allow for localization and/or navigation of the floor cleaning device.
  • it can be provided, for example, that in the absence of an obstacle, for example outside the maximum distance, a less high resolution of the environment is sufficient to be able to reliably carry out cleaning tasks, localization and/or navigation.
  • the floor cleaning device can preferably be moved very precisely and close to the obstacle with regard to cleaning close to the object.
  • the sensor unit can be used to achieve different spatial resolutions of the area surrounding the floor cleaning device, with the control unit activating the sensor unit when there is a distance from an obstacle that is within a maximum distance increase spatial resolution of the environment.
  • this constitutes an independent invention.
  • the classification of obstacles with regard to persons and objects is only optional and not mandatory in this invention, but is nevertheless preferred.
  • the spatial resolution is increased only temporarily, so that the spatial resolution is reduced again depending on a predetermined criterion.
  • the resolution is only increased until the distance between the floor cleaning device and the obstacle exceeds the maximum distance and/or after a specified period of time has elapsed.
  • predetermined can in particular also mean “predeterminable”.
  • the floor cleaning device comprises a storage unit in which at least one travel path to be traversed by the floor cleaning device, in particular a cleaning path, is stored.
  • the cleaning path can be predefined by an operator, trained (taught) by an operator, or created by the floor cleaning device itself.
  • the control unit uses at least one signal from the sensor unit to determine that the floor cleaning device is unable to follow the travel path due to an obstacle, with the control unit controlling at least one functional unit in this case to carry out an alternative behavior. This allows the floor cleaning device to adapt its situational behavior in particular to a situation in which a previously unknown obstacle is blocking the travel path and thereby restricting the floor cleaning device in its freedom of movement.
  • the floor cleaning device can in particular try to free itself from the situation via the at least one alternative behavior.
  • a plurality of alternative behaviors can preferably be provided, with the most suitable behavior being able to be selected depending on the situation in which the floor cleaning device is located and/or depending on which protective field of the sensor unit was violated.
  • a "sequence" of alternative behavior can be provided, with a weighting of the alternative behavior with regard to the fastest possible and/or most promising freeing of the floor cleaning device from its situation being conceivable.
  • the alternative behavior includes performing an evasive movement.
  • the floor cleaning device controls, for example, a position on the travel path that is upstream or downstream of the current position on the travel path. For example, the floor cleaning device moves back to a point on the travel path that it has already passed. Starting from there, the floor cleaning device can preferably attempt to adapt the travel path while avoiding the obstacle in such a way that it is possible to continue on the travel path. Alternatively, provision can be made for navigating from the position bypassing the obstacle to a downstream position on the travel path and continuing the movement on this.
  • the evasive movement is preferably dependent on the position at which an obstacle is located relative to the floor cleaning device.
  • the evasive movement includes a movement away from the obstacle, wherein the movement can take place backwards away, forwards away and/or sideways away from the obstacle.
  • a movement backwards along the route that the floor cleaning device has come from can be weighted more heavily since it is already known.
  • the evasive movement can alternatively or additionally include turning away from the obstacle on the spot.
  • the alternative behavior can include, for example, providing an indication via an indication unit, which can be a functional unit of the floor cleaning appliance, with at least one optical and/or acoustic actuator.
  • an indication unit which can be a functional unit of the floor cleaning appliance, with at least one optical and/or acoustic actuator.
  • the notice indicates that the floor cleaning device cannot follow the traversing path.
  • the notice is directed in particular to at least one person in the area.
  • the alternative behavior can include, for example, increasing a spatial resolution of the environment that can be achieved by means of the sensor unit, different spatial resolutions of the environment of the floor cleaning appliance being able to be achieved via the sensor unit.
  • increasing a spatial resolution of the environment that can be achieved by means of the sensor unit
  • different spatial resolutions of the environment of the floor cleaning appliance being able to be achieved via the sensor unit.
  • the floor cleaning device On the basis of the increased resolution, there is advantageously the possibility for the floor cleaning device to be able to determine its position more precisely.
  • the floor cleaning device preferably comprises a communication unit, which can be a functional unit.
  • a message can be made available via the communication unit to a recipient located spatially remote from the floor cleaning device if the floor cleaning device is not able to follow the travel path and/or if the floor cleaning device is unable to free itself from its position by means of evasive movements.
  • the recipient can be a natural person and/or an automated recipient, for example a data processing unit.
  • the data processing unit can be configured centrally or spatially distributed, for example as a cloud service.
  • the status of the floor cleaning device is stored in the data processing unit.
  • Countermeasures can, for example, be automated and/or taken by the operator in order to free the floor cleaning device.
  • the floor cleaning device advantageously includes a communication unit, which can be a functional unit.
  • An operator who is spatially remote from the floor cleaning device can preferably establish a communication link with the floor cleaning device via the communication unit. For example, the operator checks the surroundings of the floor cleaning device and/or frees the floor cleaning device from its position under active control.
  • the floor cleaning device can be a scrubbing machine.
  • the present invention also relates to a method.
  • the object is to provide a method for controlling a self-propelled and self-steering floor cleaning device with which increased operational safety can be guaranteed.
  • the method according to the invention in particular for controlling a floor cleaning device of the type described above, comprises:
  • FIG. 1 a perspective representation of a floor cleaning device according to the invention in a preferred embodiment
  • FIG. 2 the floor cleaning device from FIG. 1 in a schematic representation with various types of obstacles, an operator and a data processing unit.
  • FIG. 1 shows an advantageous embodiment of a floor-cleaning device according to the invention, denoted overall by reference numeral 10 .
  • the floor cleaning device 10 is designed to be self-propelled and self-steering and forms in particular a cleaning robot with which an autonomous cleaning of a floor surface 12 can be carried out.
  • the floor cleaning device 10 comprises a housing 14 with a plurality of functional units 16 arranged thereon and a control unit 18 for controlling at least one of the functional units 16.
  • the control unit 18 can comprise at least one computer or be formed as such. At least one microprocessor with software that can run or is stored on it can be provided. The control unit 18 can include various safety circuits.
  • a chassis 20 for moving on the floor surface 12 is provided as a functional unit 16 on the underside of the housing 14 .
  • a further functional unit 16 is a cleaning tool 22.
  • a floor cleaning head 24 with brush rollers (not shown in the drawing), a squeegee 26 and a side brush 28 are provided as cleaning tools 22.
  • the floor cleaning device 10 comprises on the housing 14 a reservoir 30 for a cleaning liquid for wetting the floor surface 12, in particular water.
  • a cleaning liquid for wetting the floor surface 12, in particular water.
  • dirt can be detached from the bottom surface 12 and, via the squeegee 26, under the action of a suction unit, not shown in the drawing, can be transferred into a dirty fluid container 32.
  • the floor cleaning device 10 is accordingly in the present case a scrubbing machine, although the invention is not limited to this.
  • a sensor unit 34 which is operatively connected to the control unit 18 is provided as a further functional unit 16 .
  • the sensor unit 34 makes it possible to detect an environment of the floor cleaning device 10 in particular during its movement and especially during the cleaning movement.
  • the sensor unit 34 comprises a plurality of sensor elements, with each of which a section of the environment can be detected.
  • lidar sensors 36, stereo cameras 38 and ultrasonic sensors 40 are provided as sensor elements. Signals from the sensor unit 34 can be made available to the control unit 18, which evaluates the signals for the purpose of localization and/or navigation.
  • An information unit 42 is provided as a further functional unit 16 .
  • the notification unit 42 comprises an optical actuator 44, designed as a flashing light 46, and an acoustic actuator 48, designed as a loudspeaker 50.
  • a display unit of the floor cleaning device 10, for example on the operating unit, can also be an optical actuator.
  • the floor cleaning device 10 comprises an operating unit 52 for an operator, a memory unit 54 and a communication unit 56.
  • At least the chassis 20 and the cleaning tools 22 can be controlled by the control unit 18, depending on evaluations of signals from the sensor unit 34, as explained below.
  • a plurality of cleaning paths 58 are preferably stored in the storage unit 54 , which include travel paths for the floor cleaning device 10 over the floor surface 12 .
  • a map 60 of the surroundings is advantageously stored in the memory unit 54 .
  • the surroundings of the floor cleaning device 10 can be detected by means of the sensor unit 34 .
  • the sensor unit 34 there is the possibility of detecting obstacles 62 on the floor surface 12 or on the floor surface 12 (for example limita- tion).
  • Exemplary obstacles 62 are shown in FIG.
  • the control unit 18 is designed and set up to classify the obstacles 62 at least with regard to people 64 and objects 66 .
  • at least one functional unit 16, in particular the chassis 20 and/or at least one cleaning tool 22, can be controlled by the control unit 18.
  • the floor cleaning device 10 has a high level of operational safety, in which, in particular, the situational behavior when people 64 are present can be adapted in such a way that impairments to people 64 are avoided.
  • the chassis 20 is controlled in such a way that a predetermined safety distance from the person 64 is maintained when a person 64 is detected.
  • An existing distance that is less than the safety distance, for example, can in particular be increased.
  • a travel speed of the floor cleaning device 10 can be reduced or the floor cleaning device 10 can be stopped altogether.
  • the floor cleaning device 10 stops for a predetermined period of time, with the chassis 20 being deactivated in particular for this purpose.
  • an optical and/or acoustic indication is provided in order to make the person 64 aware of the floor cleaning device 10 .
  • the information can be indicative, for example, that the person 64 has been recognized.
  • the chassis 20 is controlled in such a way that the floor cleaning device 10 reaches the object 66 is moved, at least up to within a maximum distance from the object 66.
  • the purpose of this is to be able to carry out cleaning of the floor surface 12 close to the object, for example close to the edge, with a view to achieving a good cleaning result.
  • control unit 18 determines, depending on the signal from the sensor unit 34, whether the obstacle 62 is static, regardless of the classification. For example, the control unit 18 controls at least one functional unit 16 depending on whether the obstacle 62 is static or moving.
  • a static person 64 is not treated differently than a static object 66.
  • the floor cleaning device 10 can, for example, change the travel speed, maintain a safety distance, change a distance, adjust the power of a Cleaning tool and / or the output of the Hin point only when moving obstacles 62 make, whereas this is omitted with static obstacles 62. This can apply to people 64 and/or to objects 66 .
  • An operator can use the operating unit 52 to configure the type of activation of at least one functional unit 16 depending on the classification of the obstacle 62 and/or the movement of the obstacle 62 .
  • the operator can interact with the floor cleaning device 10 via the operating unit 52 .
  • Figure 2 shows an operator 68 located at a distance from floor cleaning device 10.
  • operator 68 can configure the behavior of floor cleaning device 10 via a remote control unit 70, which can establish a wireless and/or wired communication link with communication unit 56 .
  • Input from the operator 68 can be transmitted to the floor cleaning device 10 and processed by it.
  • Different resolutions of the surroundings can preferably be achieved via the sensor unit 34 .
  • the environment can be detected under different "sharp". It can be provided that when there is a distance from an obstacle 62, in particular an object 66, which is within a maximum distance, the sensor unit 34 is actuated to increase the spatial resolution of the environment.
  • the spatial resolution is increased only temporarily, for example until the distance from the obstacle 62 exceeds a maximum distance and/or until a predetermined period of time has elapsed.
  • Cleaning paths 58 can be driven autonomously by the floor cleaning device 10 .
  • the situation can arise in which the cleaning path 58 is blocked, for example due to an unexpected obstacle 62, so that the control unit 18 uses a signal from the sensor unit 34 to determine that that the floor cleaning device 10 cannot follow the cleaning path 58.
  • alternative behaviors are advantageously provided, which can be carried out alternatively or cumulatively by the floor cleaning device 10 .
  • the floor cleaning device 10 can return to a position upstream on the cleaning path 58 and attempt to follow the cleaning path 58 from there, bypassing the obstacle 62.
  • the floor cleaning device 10 moves to a position downstream of the current position on the cleaning path 58, for example bypassing the obstacle 62.
  • an indication can be provided via the actuators 44 and/or 48 in order to draw the attention of people 64 to the floor cleaning device 10 in particular.
  • a spatial resolution of the environment can be increased, for example, via the sensor unit 34 .
  • the floor cleaning device 10 can be enabled here, for example, to navigate more precisely and to follow the cleaning path 58 .
  • a message is transmitted to a spatially remote recipient 72 via the communication unit 56 .
  • the recipient 72 is, for example, the natural operator 68 and/or an automated recipient in the form of a data processing unit 74, which, as shown in FIG. 2, can be designed to be cloud-based, for example.
  • the notification can include, for example, the information that the floor cleaning device 10 is not able to follow the cleaning path 58 and/or to free itself from its position by means of evasive movements.
  • Status information about the content of the message can be stored in the data processing unit 74 .
  • the operator 68 can, for example, communicate with the floor cleaning device 10 via the operating unit 70 .
  • the environment can be checked by the operator 68 using the sensor unit 34 . Provision can be made for the floor cleaning device 10 to be released from its position under the control of the operator 68 .
  • control unit 72 receiver 74 data processing unit

Landscapes

  • Electric Vacuum Cleaner (AREA)
  • Electric Suction Cleaners (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un appareil de nettoyage de sol automoteur et autodirecteur comprenant au moins une unité fonctionnelle (16) et une unité de commande (18) servant à commander au moins une unité fonctionnelle (16), ladite au moins une unité fonctionnelle (16) comprenant un train de roulement (20) permettant un déplacement sur une surface de sol (12), au moins un outil de nettoyage (22) permettant de nettoyer la surface de sol (12), et une unité de détection (34) permettant de détecter l'environnement de l'appareil de nettoyage de sol (10), en particulier pendant le mouvement, et l'unité de commande (18) déterminant, en fonction d'au moins un signal de l'unité de détection (34), qu'un obstacle (62) est situé sur ou au niveau de la surface de sol (12). En vue de fournir un appareil de nettoyage de sol du type concerné qui présente une fiabilité de fonctionnement supérieure, selon l'invention : l'unité de commande (18) classe les obstacles (62) par rapport aux personnes (64) et aux objets (66) ; et l'unité de commande (18) commande au moins une unité fonctionnelle (16) en fonction de la classification d'un obstacle détecté (62). L'invention concerne également un procédé de commande d'un appareil de nettoyage de sol automoteur et autodirecteur.
EP21749172.9A 2021-07-23 2021-07-23 Appareil de nettoyage de sol et procédé de commande d'un appareil de nettoyage de sol Pending EP4373376A1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2021/070747 WO2023001390A1 (fr) 2021-07-23 2021-07-23 Appareil de nettoyage de sol et procédé de commande d'un appareil de nettoyage de sol

Publications (1)

Publication Number Publication Date
EP4373376A1 true EP4373376A1 (fr) 2024-05-29

Family

ID=77168251

Family Applications (1)

Application Number Title Priority Date Filing Date
EP21749172.9A Pending EP4373376A1 (fr) 2021-07-23 2021-07-23 Appareil de nettoyage de sol et procédé de commande d'un appareil de nettoyage de sol

Country Status (5)

Country Link
US (1) US20240164611A1 (fr)
EP (1) EP4373376A1 (fr)
JP (1) JP2024525952A (fr)
CN (1) CN117529265A (fr)
WO (1) WO2023001390A1 (fr)

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6667592B2 (en) * 2001-08-13 2003-12-23 Intellibot, L.L.C. Mapped robot system
WO2017031365A1 (fr) * 2015-08-18 2017-02-23 Nilfisk, Inc. Robot nettoyeur mobile

Also Published As

Publication number Publication date
WO2023001390A1 (fr) 2023-01-26
CN117529265A (zh) 2024-02-06
US20240164611A1 (en) 2024-05-23
JP2024525952A (ja) 2024-07-12

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