GB2361553A - Improvements in or relating to floor cleaning devices - Google Patents
Improvements in or relating to floor cleaning devicesInfo
- Publication number
- GB2361553A GB2361553A GB0113417A GB0113417A GB2361553A GB 2361553 A GB2361553 A GB 2361553A GB 0113417 A GB0113417 A GB 0113417A GB 0113417 A GB0113417 A GB 0113417A GB 2361553 A GB2361553 A GB 2361553A
- Authority
- GB
- United Kingdom
- Prior art keywords
- room
- cleaning device
- traverse
- relating
- obstacles
- 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
- 238000004140 cleaning Methods 0.000 title abstract 8
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
Abstract
A robotic floor cleaning device is arranged so that it firstly completes a traverse around the edge of a room (A-I), avoiding any obstacles in its path, and then moves inwards (at I) and completes a second traverse of the room. The cleaning device continues to move inwards after each traverse (e.g. at T) so as to travel in a generally inwardly spiral manner until the floor of the room, apart from areas occupied by obstacles (400, 402), has been cleaned. Preferably, the distance by which the cleaning device moves inwardly after each traverse of the room is substantially the width of the cleaning head of the cleaning device, or a distance set by the user. The cleaning device seeks a wall of the room if it is started from a position (W) away from a wall. The cleaning device can determine when it has completely traversed a room.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
GB9827777A GB2344900A (en) | 1998-12-18 | 1998-12-18 | Robotic floor cleaning device with obstacle detection |
PCT/GB1999/004072 WO2000038025A1 (en) | 1998-12-18 | 1999-12-06 | Improvements in or relating to floor cleaning devices |
Publications (3)
Publication Number | Publication Date |
---|---|
GB0113417D0 GB0113417D0 (en) | 2001-07-25 |
GB2361553A true GB2361553A (en) | 2001-10-24 |
GB2361553B GB2361553B (en) | 2003-02-12 |
Family
ID=10844396
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
GB9827777A Withdrawn GB2344900A (en) | 1998-12-18 | 1998-12-18 | Robotic floor cleaning device with obstacle detection |
GB0113417A Expired - Fee Related GB2361553B (en) | 1998-12-18 | 1999-12-06 | Improvements in or relating to floor cleaning devices |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
GB9827777A Withdrawn GB2344900A (en) | 1998-12-18 | 1998-12-18 | Robotic floor cleaning device with obstacle detection |
Country Status (3)
Country | Link |
---|---|
AU (1) | AU1575300A (en) |
GB (2) | GB2344900A (en) |
WO (1) | WO2000038025A1 (en) |
Families Citing this family (58)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7571511B2 (en) | 2002-01-03 | 2009-08-11 | Irobot Corporation | Autonomous floor-cleaning robot |
US6883201B2 (en) | 2002-01-03 | 2005-04-26 | Irobot Corporation | Autonomous floor-cleaning robot |
ITFI20010021A1 (en) * | 2001-02-07 | 2002-08-07 | Zucchetti Ct Sistemi S P A | AUTOMATIC VACUUM CLEANING APPARATUS FOR FLOORS |
SE518482C2 (en) | 2001-02-28 | 2002-10-15 | Electrolux Ab | Obstacle detection system for a self-cleaning cleaner |
SE518483C2 (en) | 2001-02-28 | 2002-10-15 | Electrolux Ab | Wheel suspension for a self-cleaning cleaner |
SE518683C2 (en) | 2001-03-15 | 2002-11-05 | Electrolux Ab | Method and apparatus for determining the position of an autonomous apparatus |
SE0100924D0 (en) | 2001-03-15 | 2001-03-15 | Electrolux Ab | Energy-efficient navigation of an autonomous surface treatment apparatus |
KR100420171B1 (en) | 2001-08-07 | 2004-03-02 | 삼성광주전자 주식회사 | Robot cleaner and system therewith and method of driving thereof |
WO2003026474A2 (en) | 2001-09-26 | 2003-04-03 | Friendly Robotics Ltd. | Robotic vacuum cleaner |
IL145680A0 (en) | 2001-09-26 | 2002-06-30 | Friendly Robotics Ltd | Robotic vacuum cleaner |
GB0126499D0 (en) * | 2001-11-03 | 2002-01-02 | Dyson Ltd | An autonomous machine |
GB0126492D0 (en) * | 2001-11-03 | 2002-01-02 | Dyson Ltd | An autonomous machine |
GB0126497D0 (en) | 2001-11-03 | 2002-01-02 | Dyson Ltd | An autonomous machine |
GB2398394B (en) | 2003-02-14 | 2006-05-17 | Dyson Ltd | An autonomous machine |
WO2006002385A1 (en) | 2004-06-24 | 2006-01-05 | Irobot Corporation | Programming and diagnostic tool for a mobile robot |
CN102039595B (en) * | 2009-10-09 | 2013-02-27 | 泰怡凯电器(苏州)有限公司 | Self-moving ground handling robot and facing ground handling control method thereof |
GB2494442B (en) | 2011-09-09 | 2013-12-25 | Dyson Technology Ltd | Autonomous vacuum cleaner |
GB2494446B (en) | 2011-09-09 | 2013-12-18 | Dyson Technology Ltd | Autonomous cleaning appliance |
GB2494443B (en) | 2011-09-09 | 2013-08-07 | Dyson Technology Ltd | Autonomous surface treating appliance |
GB2502132B (en) | 2012-05-17 | 2014-11-05 | Dyson Technology Ltd | Autonomous vacuum cleaner |
GB2502131B (en) | 2012-05-17 | 2014-11-05 | Dyson Technology Ltd | Autonomous vacuum cleaner |
JP6202544B2 (en) | 2012-08-27 | 2017-09-27 | アクティエボラゲット エレクトロラックス | Robot positioning system |
GB201301578D0 (en) | 2013-01-29 | 2013-03-13 | Dyson Technology Ltd | Mobile robot |
CN105101855A (en) | 2013-04-15 | 2015-11-25 | 伊莱克斯公司 | Robotic vacuum cleaner with protruding sidebrush |
US10448794B2 (en) | 2013-04-15 | 2019-10-22 | Aktiebolaget Electrolux | Robotic vacuum cleaner |
GB2513193B (en) | 2013-04-19 | 2015-06-03 | Dyson Technology Ltd | Air moving appliance with on-board diagnostics |
KR102137857B1 (en) | 2013-12-19 | 2020-07-24 | 에이비 엘렉트로룩스 | Robotic cleaning device and method for landmark recognition |
US9946263B2 (en) | 2013-12-19 | 2018-04-17 | Aktiebolaget Electrolux | Prioritizing cleaning areas |
US10433697B2 (en) | 2013-12-19 | 2019-10-08 | Aktiebolaget Electrolux | Adaptive speed control of rotating side brush |
KR102124235B1 (en) | 2013-12-19 | 2020-06-24 | 에이비 엘렉트로룩스 | Robotic cleaning device with perimeter recording function |
US10045675B2 (en) | 2013-12-19 | 2018-08-14 | Aktiebolaget Electrolux | Robotic vacuum cleaner with side brush moving in spiral pattern |
US10149589B2 (en) | 2013-12-19 | 2018-12-11 | Aktiebolaget Electrolux | Sensing climb of obstacle of a robotic cleaning device |
WO2015090397A1 (en) | 2013-12-19 | 2015-06-25 | Aktiebolaget Electrolux | Robotic cleaning device |
EP3082539B1 (en) | 2013-12-20 | 2019-02-20 | Aktiebolaget Electrolux | Dust container |
CN110543168B (en) * | 2014-04-14 | 2022-10-04 | 科沃斯机器人股份有限公司 | Walking method of self-moving robot and walking method of sweeping robot |
CN104972462B (en) | 2014-04-14 | 2017-04-19 | 科沃斯机器人股份有限公司 | Obstacle avoidance walking method of self-moving robot |
EP3167341B1 (en) | 2014-07-10 | 2018-05-09 | Aktiebolaget Electrolux | Method for detecting a measurement error in a robotic cleaning device |
US10499778B2 (en) | 2014-09-08 | 2019-12-10 | Aktiebolaget Electrolux | Robotic vacuum cleaner |
EP3190938A1 (en) | 2014-09-08 | 2017-07-19 | Aktiebolaget Electrolux | Robotic vacuum cleaner |
US10877484B2 (en) | 2014-12-10 | 2020-12-29 | Aktiebolaget Electrolux | Using laser sensor for floor type detection |
WO2016091320A1 (en) | 2014-12-12 | 2016-06-16 | Aktiebolaget Electrolux | Side brush and robotic cleaner |
JP6532530B2 (en) | 2014-12-16 | 2019-06-19 | アクチエボラゲット エレクトロルックス | How to clean a robot vacuum cleaner |
CN107003669B (en) | 2014-12-16 | 2023-01-31 | 伊莱克斯公司 | Experience-based road sign for robotic cleaning devices |
JP6743828B2 (en) | 2015-04-17 | 2020-08-19 | アクチエボラゲット エレクトロルックス | Robot vacuum and method for controlling the robot vacuum |
GB2540134B (en) | 2015-07-01 | 2017-10-11 | Dyson Technology Ltd | A separating apparatus |
GB2539933B (en) | 2015-07-01 | 2017-10-11 | Dyson Technology Ltd | A separating apparatus |
KR102445064B1 (en) | 2015-09-03 | 2022-09-19 | 에이비 엘렉트로룩스 | system of robot cleaning device |
JP7035300B2 (en) | 2016-03-15 | 2022-03-15 | アクチエボラゲット エレクトロルックス | Robot Cleaning Devices, Methods for Performing Escarpment Detection in Robot Cleaning Devices, Computer Programs, and Computer Program Products |
WO2017194102A1 (en) | 2016-05-11 | 2017-11-16 | Aktiebolaget Electrolux | Robotic cleaning device |
WO2018219473A1 (en) | 2017-06-02 | 2018-12-06 | Aktiebolaget Electrolux | Method of detecting a difference in level of a surface in front of a robotic cleaning device |
WO2019063066A1 (en) | 2017-09-26 | 2019-04-04 | Aktiebolaget Electrolux | Controlling movement of a robotic cleaning device |
CN108344419B (en) * | 2018-02-09 | 2021-07-20 | 弗徕威智能机器人科技(上海)有限公司 | Method for searching charging seat |
CN111374603A (en) * | 2018-12-28 | 2020-07-07 | 珠海市一微半导体有限公司 | Control method and chip for partitioned cleaning of vision robot and intelligent sweeping robot |
US11537141B2 (en) | 2019-12-19 | 2022-12-27 | Diversey, Inc. | Robotic cleaning device with dynamic area coverage |
CN111466827B (en) * | 2020-03-31 | 2021-09-10 | 深圳市银星智能科技股份有限公司 | Cleaning robot and cleaning mode thereof |
CN111596662B (en) * | 2020-05-26 | 2023-03-10 | 珠海一微半导体股份有限公司 | Method for judging one circle along global working area, chip and visual robot |
CN111580525B (en) * | 2020-05-26 | 2023-05-05 | 珠海一微半导体股份有限公司 | Judgment method for returning to starting point in edge walking, chip and vision robot |
CN115089056A (en) * | 2021-02-10 | 2022-09-23 | 北京石头创新科技有限公司 | Automatic cleaning equipment control method and device, medium and electronic equipment |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4878003A (en) * | 1985-10-15 | 1989-10-31 | Knepper Hans Reinhard | Process and installation for the automatic control of a utility vehicle |
FR2695342A1 (en) * | 1989-06-07 | 1994-03-11 | Onet | Robotic floor-sweeping with stored-program microprocessor control |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3536974A1 (en) * | 1985-10-17 | 1987-04-23 | Knepper Hans Reinhard | Operatorless, externally controlled machine with a chassis, and process for its external control |
FR2648071B1 (en) * | 1989-06-07 | 1995-05-19 | Onet | SELF-CONTAINED METHOD AND APPARATUS FOR AUTOMATIC FLOOR CLEANING BY EXECUTING PROGRAMMED MISSIONS |
US5568589A (en) * | 1992-03-09 | 1996-10-22 | Hwang; Jin S. | Self-propelled cleaning machine with fuzzy logic control |
KR970000582B1 (en) * | 1994-03-31 | 1997-01-14 | 삼성전자 주식회사 | Method for controlling driving of a robot cleaner |
-
1998
- 1998-12-18 GB GB9827777A patent/GB2344900A/en not_active Withdrawn
-
1999
- 1999-12-06 GB GB0113417A patent/GB2361553B/en not_active Expired - Fee Related
- 1999-12-06 WO PCT/GB1999/004072 patent/WO2000038025A1/en active Application Filing
- 1999-12-06 AU AU15753/00A patent/AU1575300A/en not_active Abandoned
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4878003A (en) * | 1985-10-15 | 1989-10-31 | Knepper Hans Reinhard | Process and installation for the automatic control of a utility vehicle |
FR2695342A1 (en) * | 1989-06-07 | 1994-03-11 | Onet | Robotic floor-sweeping with stored-program microprocessor control |
Also Published As
Publication number | Publication date |
---|---|
GB2344900A (en) | 2000-06-21 |
AU1575300A (en) | 2000-07-12 |
GB0113417D0 (en) | 2001-07-25 |
GB9827777D0 (en) | 1999-02-10 |
WO2000038025A1 (en) | 2000-06-29 |
GB2361553B (en) | 2003-02-12 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
GB2361553A (en) | Improvements in or relating to floor cleaning devices | |
DK36192D0 (en) | FLOOR CLEANING MACHINE | |
SE0300964L (en) | Robotic cleaner, robot cleaning system and method for controlling the same | |
DE69622409T2 (en) | DIRT CLEANER FOR FLOOR CLEANING OR DRYING | |
KR930010393U (en) | Vacuum cleaner inlet for cleaning mop | |
ITMI930381A0 (en) | CLEANING APPLIANCE BY SUCTION | |
ITMI932407A0 (en) | SCRUBBING MACHINE FOR CLEANING FLOORS | |
DE9311014U1 (en) | Floor nozzle for vacuum cleaners | |
NL191506C (en) | Ultra-sound device for cleaning floors. | |
FI954128A (en) | Suction head for floor cleaning machine | |
FI950952A (en) | Removable floor cleaner | |
TH42297A3 (en) | Improvements in or related to floor cleaning equipment. | |
IT1292057B1 (en) | AUTOMATIC DEVICE FOR CONTROL OF THE OPERATION OF BRUSHES OF WHEELED VEHICLES FOR CLEANING FLOORS | |
ITMI920164A1 (en) | DEVICE FOR AUTOMATIC CLEANING OF Brooms, BRUSHES, VACUUM CLEANER BRUSHES OR SIMILAR | |
NO177216C (en) | Device for vacuum cleaner for indoor use | |
ITMI920248A0 (en) | WHEEL FOR FLOOR CLEANING EQUIPMENT | |
ITBO910204U1 (en) | MULTI-PURPOSE TOOL FOR CLEANING FLOORS. | |
ITBO910217U1 (en) | MULTI-PURPOSE TOOL FOR CLEANING FLOORS. | |
KR930000275U (en) | Vacuum cleaner for water cleaning | |
TW374313U (en) | Sucking head for cleaning floor | |
ITUD910081A0 (en) | CLEANING NOZZLE FOR MULTIFUNCTIONAL VACUUM CLEANERS | |
KR930017764U (en) | Floor condition detection device of self-propelled vacuum cleaner | |
KR950016656U (en) | Rotary brush controller of vacuum cleaner | |
KR940011864U (en) | Vacuum cleaner water mop drive | |
IT233688Y1 (en) | FLOOR CLEANING TOOL. |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
732E | Amendments to the register in respect of changes of name or changes affecting rights (sect. 32/1977) | ||
PCNP | Patent ceased through non-payment of renewal fee |
Effective date: 20131206 |