WO1992000500A1 - Appareil servant a determiner la vitesse de traitement d'une superficie - Google Patents

Appareil servant a determiner la vitesse de traitement d'une superficie Download PDF

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Publication number
WO1992000500A1
WO1992000500A1 PCT/US1990/003590 US9003590W WO9200500A1 WO 1992000500 A1 WO1992000500 A1 WO 1992000500A1 US 9003590 W US9003590 W US 9003590W WO 9200500 A1 WO9200500 A1 WO 9200500A1
Authority
WO
WIPO (PCT)
Prior art keywords
axis
machine
time
timing
wheel
Prior art date
Application number
PCT/US1990/003590
Other languages
English (en)
Inventor
Quentin H. Rench
Stephen Jacobs
Original Assignee
Von Schrader Company
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
Priority to US07/379,618 priority Critical patent/US5038484A/en
Priority claimed from US07/379,618 external-priority patent/US5038484A/en
Application filed by Von Schrader Company filed Critical Von Schrader Company
Priority to CA002071868A priority patent/CA2071868A1/fr
Priority to PCT/US1990/003590 priority patent/WO1992000500A1/fr
Publication of WO1992000500A1 publication Critical patent/WO1992000500A1/fr

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
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
    • E01C19/004—Devices for guiding or controlling the machines along a predetermined path
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/32—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring areas
    • 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

  • This invention is related generally to apparatus for treatment of surfaces such as floors, roadways and the like which present at least surface segments that are generally planar. More particularly, the invention relates to an apparatus for determining an area of such a surface traversed and treated by an object per unit of time.
  • Various devices and methods have been developed in the past for the treatment of surfaces such as floors, roadways and the like where the surface to be treated, if not planar, has segments which are generally so. While a carpeted floor surface is obviously practically planar, a roadway or any other exemplary surface may be considered planar for the purpose of the invention if it has an axis lateral to the path traversed by the object which is generally straight and if the radius of curvature of the path traversed by the object is very large compared to the size of the object. Examples of the latter circumstances include street sweepers and road graders, both of which treat the travelled surface.
  • the rate at which a given apparatus can treat or otherwise prepare a particular surface per unit of time will depend in significant part upon the initial condition of the surface. Other factors such as the skill of the operator may also affect the rate at which a surface may be treated. When treating such surfaces, it is often useful for the operator to be able to readily ascertain the coverage rate at which the apparatus is proceeding across the surface and this information, coupled with personal observations of the operator, will permit the apparatus to be moved across the surface at the maximum speed consistent with satisfactory treatment.
  • an operator of a road grading machine may undertake to prepare and treat road surfaces, one of which has only sparsely distributed, small projecting imperfections and a second road surface on which such imperfections are both frequent and sizeable. Therefore, satisfactory treatment of the second road surface can only result if the machine is moved thereacross at a substantially lower rate compared to the first road surface.
  • Another object of the invention is to provide such an apparatus which can reduce labor costs in tasks involving the treatment of surfaces.
  • Still another object of the invention is to provide such an apparatus which permits the most rapid treatment of a surface consistent with acceptable quality. Yet another object of this invention is to provide such an apparatus which continuously displays to the operator the rate at which a machine is traversing and treating a surface area.
  • Still another object of the invention is to provide such an apparatus which may be readily adapted to a variety of types of surface treating machines.
  • An apparatus for determining an area of a surface which is traversed and treated by an object during a unit of time is configured for use with a oveable object that has a first axis of a known length.
  • the object is capable of movement along a second axis and the first and second axes define an angle between them which is other than 0° .
  • a signalling means includes a sensor which may be mounted in a motion-sensing relationship to the object for providing a motion signal when the object moves a distance along the second axis.
  • the motion signal has a predetermined relationship to that distance.
  • a timing means repetitively provides a plurality of timing signals, each sequential pair of which defines an interval of time of known duration.
  • a computing means is coupled to the timing means and to the signalling means for receiving at least one sequential pair of timing signals and at least one motion signal.
  • the computing means thereby initiates a display of the area of the surface which is traversed by the first axis per unit of time and therefore treated as the object moves along the second axis.
  • a carpet cleaning machine usually has its component which performs the cleaning operation, a brush or foam application nozzle, arranged along a first axis which is generally normal to the second axis of travel.
  • the surface treating component, a blade or a rotating brush are often disposed during use along a first axis which defines an angle less than 90° with respect to the second axis of travel.
  • the area of the surface traversed for each increment of distance travelled along the second axis may be readily computed. For example, if a carpet cleaning machine is equipped with a brush which is disposed generally normal to the second axis and which has a length of two feet, an area of six square feet will be treated for each three feet in linear distance that the machine moves along the second axis. Additionally, if the rate at which the machine is moved along the second axis can be measured or determined, the rate of treatment coverage, in area per unit time, can be determined. In the foregoing example, if the carpet cleaning machine moved along the second axis for a distance of three feet in two seconds, the machine will have treated carpet at the rate of 10,800 square feet per hour.
  • the apparatus of this invention may be used with an object that includes a carriage and a treating means, e.g. brush, mounted on the carriage to interact with the surface to be treated.
  • a treating means e.g. brush
  • the dimension of the exemplary brush will be the dimension of the part of the brush in contact with the carpet and projected to a plane normal to the second axis of travel.
  • the object will preferably be equipped with a rotating member, such as a wheel, which is mounted on the carriage.
  • the apparatus includes a sensor to be mounted in a motion detecting relationship to the wheel for providing input pulses as the carriage moves along the second axis. This sensor co-acts with other portions of the signalling means for providing a plurality of input pulses as the carriage moves along the second axis.
  • a timing section repetitively provides a plurality of timing signals, each sequential pair of which defines an interval of time of known duration. These timing signals are used to periodically update the display as described following, and the interval of time is selected in view of the application.
  • the interval of time may be selected to be 15-20 seconds since the speed of the machine is governed by engine throttle and is relatively constant.
  • an interval of 2-4 seconds is more appropriate for a carpet cleaning machine since this interval will "damp out” slight variations in the walking speed of the operator while yet providing a rate of coverage display which is sufficiently current in view of.the fact that a walking operator may change pace very quickly.
  • a computing section is coupled to the timing section and to the signalling section for receiving the timing signals and the output pulse strings, the latter being generated by the signalling section in response to the input pulses.
  • the computing section is arranged to count the number of individual pulses included in output pulse strings and received by the computing section during the interval of time as determined by the timing section.
  • the computing section initiates and periodically updates a display of the surface area being traversed by the first axis for the selected unit of time and as the machine is moved along the second axis.
  • the sensor may co-act to result in the generation of input signals.
  • small magnets may be mounted on the side of the wheel and at regularly spaced intervals in a circular pattern which is concentric with the wheel axis . These magnets could be used to operate a reed switch sensor.
  • Other approaches include the use of a proximity sensor capable of detecting projections similarly arranged on the wheel or a photo sensor may be used.
  • a Hall effect sensor is preferred. As the wheel rotates and each individual magnet comes into close proximity of the Hall sensor, an input signal is generated thereby and is directed to a pulse conditioner which generates an output pulse for each received input signal.
  • the output pulse actuates an output pulse string generator which generates a plurality of output pulses, a string of pulses, for each input signal received at the pulse conditioner.
  • the number of individual pulses which constitute each output pulse string is preferably adjustable for the reasons and in the manner described in detail following.
  • the individual pulses which make up each of the output pulse strings are directed to a computing section which registers each pulse and upon on the receipt of a reset signal from the timing section, the computer stores the pulse count and causes its display, by an LED panel for example, for reference by the operator. The operator may then adjust the speed of the machine along the second axis to provide desired treatment rate.
  • a lightly soiled short pile carpet may be capable of being cleaned at the rate of 12,000 square feet per hour while the same carpet which is heavily soiled should be cleaned at no more than about 7,000 square feet per hour.
  • the degree of control and efficiency which results from use of the invention allows more efficient surface treating operations, better use of human and machine resources and very likely, a higher quality result.
  • FIGURE 1 is a simplified top plan view of aspects of the invention shown in conjunction with a carpet cleaning machine, with parts removed for clarity;
  • FIGURE 2 is a side elevation view of the carpet cleaning machine shown in FIGURE 1;
  • FIGURE 3 is a side elevation view, greatly enlarged, of a wheel of the carpet cleaning machine shown in FIGURES 1 and 2 , the view being taken along the axis 3 of FIGURE 1;
  • FIGURE 4 is a cross-sectional view of the wheel of
  • FIGURE 3 taken normal to the plane 4-4 of FIGURE 3; .
  • FIGURE 5 is an electrical schematic diagram of the display circuit of the invention, and
  • FIGURE 6 is a simplified conceptual sketch, in top . . . . plan view, of another application for the invention, namely a machine for treating the surface of a road.
  • a highly preferred apparatus 10 is shown in conjunction with a floor treating machine 11 such as those used for cleaning carpets.
  • the machine 11 includes a carriage 13 which may include motor(s) (not shown) for self propulsion or merely for actuating the floor treating means 15 such as a revolving, cylindrical shaped brush supported on the carriage 13.
  • the brush 15 has a dimension measured along a first axis 17 and the machine 11 is capable of movement along a second axis 19 which, for a machine of this type, is generally normal to the first axis 17.
  • the carriage 13 and the floor treating means .15 are supported by a pair of rear wheels 21 and a pair of front wheels 23, all rotatably mounted on the carriage 13 for support thereof as the machine 11 moves across the floor 25.
  • a sensor 27, part of the signalling means 28, is mounted in rotation detecting relationship to the wheel 23, the latter having means 29 for initiating an input pulse from the sensor 27 as the wheel 23 rotates during movement of the machine 11 along the second axis 19.
  • means 29 is preferably embodied as a plurality of small magnets 29a, each of which may be inserted in a pocket 31 formed in the side of the wheel 23.
  • the pockets 31 are disposed at regularly spaced intervals about a circle which is concentric with the rotation axis 33 of the wheel 23.
  • these permanent magnets may be affixed to the side of the wheel 23 by adhesive or the like. The manner in which the preferred number of magnets is selected will be described in detail following.
  • the signalling means 28 also includes the sensor 27 supported on the machine 11 to be in close proximity to the magnets 29a and therefore, in rotation detecting relationship to the wheel 23.
  • the senor 27 will be a Hall effect transistor which is in sufficiently close but non-contacting proximity to generate an input pulse as each magnet 29a passes in close proximity thereto.
  • the sensor 27 be mounted adjacent an upper quadrant of the wheel 23. If the presence of dirt and/or high likelihood of physical damage so suggests, the sensor 27 may be mounted in rotation-sensing relationship to a wheel whichT " is other than a load-bearing wheel 21, 23.
  • a wheel may be coupled to the machine drive axle 35 or to a load bearing wheel 21, 23 in a known manner, e.g., by idler gears or pulleys, so that it might be located well away from the surface 25 to be treated.
  • a pedestal 37 extends from the carriage 13 and is constructed to house the display circuit 35 including the display panel 41 whereby the machine operator may be visually apprised of the rate at which the machine 11 is treating a floor area per unit time.
  • the display circuit 39 is shown to include signalling means 28 for providing an output pulse string, computing means 43 for receiving and registering this pulse string and generating a resulting display and timing means 45 for periodically updating the display.
  • the signalling means 28 includes the sensor 27 which is electrically coupled to the input terminals 47 for providing an input signal to the pulse conditioner 49.
  • an input signal emanates fro the sensor 27 each time a magnet 29a comes to close proximity thereto.
  • the pulse conditioner 49 emits a square wave signal along its output line 51 and this signal persists in a binary "1" state for a time determined and fixed by the values of the resistor-capacitor network 53 connected to the input of the conditioner 49.
  • the output pulse string generator 55 will be switched to a conducting state and will provide a sequential series of individual pulses, the number of which may be selected by adjusting the value of the resistor 57. As described following, this number of individual pulses will be selected to have a predetermined relationship to the number of input pulses which define the motion signal. As the individual pulses are emitted by the generator 55, they are registered by the integrated circuit 59.
  • the timing means 45 includes a gate control 61 which provides a binary "1" reset signal once for each interval of time as may be selected by adjusting the value of the resistor 63.
  • the resistor 63 is adjusted to result in a reset signal approximately once each two seconds. This time is sufficiently short to provide the operator of the machine 11 with a contemporary display which indicates the area of the carpet being traversed and treated per unit time and which recognizes that a walking operator may change pace very quickly. On the other hand, this delay is sufficiently long to "damp out" slight variations in the walking speed of the operator.
  • a reset signal Upon emission of a reset signal at the output line 65, that signal is directed to the pin 67 of the integrated circuit 59 which causes the circuit 59 to store the then-existing count of individual pulses.
  • the reset signal is simultaneously directed to a delay line 69 and is received at the pin 71 at a time which is slightly delayed from that at which the signal is received at the pin 67. This delay line signal clears the counter and, in -li ⁇
  • a power supply 72 provides a regulated output voltage of 5VOC from an unregulated 9VDC input voltage.
  • an economical display panel 41 includes four operative digits 73 with a fifth digit 75 being constantly illuminated as a zero. Therefore, the actual number of individual pulses displayed will, in the described embodiment, be multiplied by ten as viewed.
  • the longitudinal rotational axis 77 of the brush 15 is normal to the second axis 19 of travel and that the first axis 17, the width of the brush 15, is two feet in length.
  • the wheel 23 includes ten permanent magnets 29a disposed about the side thereof and that the wheel 23 has a diameter of 2.75 inches, i.e., a circumference of 0.722 feet.
  • the wheel 23 will have made approximately 1.4 revolutions resulting in fourteen (10 x 1.4) input signals per foot of travel along the second axis 19 and resulting in two square feet of carpet being cleaned.
  • the rate of cleaning carpet will be 7,200 square feet per hour, the figure which should appear on the display panel 41 at that cleaning rate.
  • the sensor 27 has provided only fourteen input pulses for each one foot of travel and therefore, it is required that each pulse be effectively multiplied if the count stored in the integrated circuit and displayed is to be correct. Therefore, using the described display panel 41 having a constantly illuminated zero as the last digit, the displayed count is required to be 720 pulses.
  • a pulse multiplication factor of 720 divided by 14 or about 51 is required to achieve the described display.
  • This multiplication factor may be achieved by proper selection and adjustment of the value of the resistor 57.
  • each input signal to the pulse conditioner 49 results in an output string from the generator 55 which has 51 individual pulses therein, such pulses being counted and stored by the integrated circuit 59.
  • the apparatus 10 may be used in conjunction with a simplified depiction of a road grader 79, another type of surface treatment machine.
  • This application differs from that of a carpet cleaning machine 11 in that the surface treating device, the blade 81, is mounted angularly to define an angle 83 with respect to the second axis of travel 85 which is greater than 0° but less than 90°.
  • the effective length of the first axis 17a will be not the actual length of the blade 81 but rather, its length projected to a plane normal to the second axis 85.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Cleaning In General (AREA)

Abstract

Un appareil (10) servant à déterminer la superficie d'une surface et traitée par un objet pendant une unité de temps est conçu pour être utilisé avec un objet mobile (11) qui possède un premier axe (17) d'une longueur connue. L'objet peut se déplacer le long d'un second axe (19) et les premier et second axes (17, 19) forment un angle qui est autre que 0°. Un dispositif de signalisation (28) comprend un détecteur (27) qui peut être monté de manière à établir un rapport de détection de mouvement avec l'objet (11) afin de produire un signal de mouvement lorsque l'objet (11) se déplace à une distance le long du second axe (19). Le signal de mouvement présente un rapport prédéterminé avec cette distance. Un dispositif à minuterie (45) produit de manière répétitive une multiplicité de signaux de temps dont chaque paire séquentielle définit un intervalle de temps d'une durée connue. Un dispositif de calcul (43) est couplé au dispositif à minuterie (45) et au dispositif de signalisation (28) afin de recevoir au moins une paire séquentielle de signaux de temps et au moins un signal de mouvement. Le dispositif de calcul (43) produit ainsi un affichage de la superficie de surface qui est parcourue par le premier axe (17) par unité de temps et par conséquent traitée alors que l'objet (11) se déplace le long du second axe (19).
PCT/US1990/003590 1989-07-14 1990-06-25 Appareil servant a determiner la vitesse de traitement d'une superficie WO1992000500A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
US07/379,618 US5038484A (en) 1989-07-14 1989-07-14 Apparatus for determining an area coverage rate
CA002071868A CA2071868A1 (fr) 1989-07-14 1990-06-25 Appareil permettant de determiner un rendement superficiel specifique
PCT/US1990/003590 WO1992000500A1 (fr) 1989-07-14 1990-06-25 Appareil servant a determiner la vitesse de traitement d'une superficie

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US07/379,618 US5038484A (en) 1989-07-14 1989-07-14 Apparatus for determining an area coverage rate
CA002071868A CA2071868A1 (fr) 1989-07-14 1990-06-25 Appareil permettant de determiner un rendement superficiel specifique
PCT/US1990/003590 WO1992000500A1 (fr) 1989-07-14 1990-06-25 Appareil servant a determiner la vitesse de traitement d'une superficie

Publications (1)

Publication Number Publication Date
WO1992000500A1 true WO1992000500A1 (fr) 1992-01-09

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Application Number Title Priority Date Filing Date
PCT/US1990/003590 WO1992000500A1 (fr) 1989-07-14 1990-06-25 Appareil servant a determiner la vitesse de traitement d'une superficie

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WO (1) WO1992000500A1 (fr)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2145573A1 (fr) * 2005-02-18 2010-01-20 Irobot Corporation Robot de nettoyage autonome pour le nettoyage humide et à sec
ITMI20090307A1 (it) * 2009-03-03 2010-09-04 Ghibli S P A Sistema di misurazione e dispositivo di misura della resa di pulizia di una macchina lavasciuga
DE102009042454A1 (de) * 2009-09-23 2011-04-28 Schenk Werkzeug- Und Maschinenbau Gmbh & Co. Kg Gießbehälter zur Aufnahme von flüssigem Metall
ITUB20153336A1 (it) * 2015-09-02 2017-03-02 Ip Cleaning S P A Macchina di trattamento di superfici con ottimizzazione dell?autonomia
ITUB20153356A1 (it) * 2015-09-02 2017-03-02 Ip Cleaning S P A Macchina di trattamento di superfici con controllo di livello di liquido nel serbatoio
ITUB20153355A1 (it) * 2015-09-02 2017-03-02 Ip Cleaning S P A Macchina di trattamento di superfici con regolarizzazione del flusso di liquido
CN111868566A (zh) * 2019-10-11 2020-10-30 安徽中科智能感知产业技术研究院有限责任公司 一种基于定位漂移测算模型的农机作业面积测算方法

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4058712A (en) * 1976-04-08 1977-11-15 Dickey-John Corporation Acre counter
US4114711A (en) * 1975-01-10 1978-09-19 R. G. Dixon & Company Limited Floor treating machines
US4229799A (en) * 1979-04-09 1980-10-21 Allis-Chalmers Corporation Method and apparatus for measuring area traversed by vehicular implement
US4675935A (en) * 1986-03-14 1987-06-30 Tennant Company Control and monitor for a floor maintenance device
US4782550A (en) * 1988-02-12 1988-11-08 Von Schrader Company Automatic surface-treating apparatus

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4114711A (en) * 1975-01-10 1978-09-19 R. G. Dixon & Company Limited Floor treating machines
US4058712A (en) * 1976-04-08 1977-11-15 Dickey-John Corporation Acre counter
US4229799A (en) * 1979-04-09 1980-10-21 Allis-Chalmers Corporation Method and apparatus for measuring area traversed by vehicular implement
US4675935A (en) * 1986-03-14 1987-06-30 Tennant Company Control and monitor for a floor maintenance device
US4782550A (en) * 1988-02-12 1988-11-08 Von Schrader Company Automatic surface-treating apparatus

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2145573A1 (fr) * 2005-02-18 2010-01-20 Irobot Corporation Robot de nettoyage autonome pour le nettoyage humide et à sec
ITMI20090307A1 (it) * 2009-03-03 2010-09-04 Ghibli S P A Sistema di misurazione e dispositivo di misura della resa di pulizia di una macchina lavasciuga
WO2010099968A2 (fr) 2009-03-03 2010-09-10 Ghibli S.P.A. Système de vérification et dispositif de mesure du rendement du nettoyage pour machine laveuse-sécheuse de sols
WO2010099968A3 (fr) * 2009-03-03 2011-01-06 Ghibli S.P.A. Système de vérification et dispositif de mesure du rendement du nettoyage pour machine laveuse-sécheuse de sols
DE102009042454A1 (de) * 2009-09-23 2011-04-28 Schenk Werkzeug- Und Maschinenbau Gmbh & Co. Kg Gießbehälter zur Aufnahme von flüssigem Metall
ITUB20153336A1 (it) * 2015-09-02 2017-03-02 Ip Cleaning S P A Macchina di trattamento di superfici con ottimizzazione dell?autonomia
ITUB20153356A1 (it) * 2015-09-02 2017-03-02 Ip Cleaning S P A Macchina di trattamento di superfici con controllo di livello di liquido nel serbatoio
ITUB20153355A1 (it) * 2015-09-02 2017-03-02 Ip Cleaning S P A Macchina di trattamento di superfici con regolarizzazione del flusso di liquido
WO2017037673A1 (fr) * 2015-09-02 2017-03-09 Ip Cleaning S.P.A. Machine de traitement de surface avec commande du débit d'écoulement
WO2017037669A3 (fr) * 2015-09-02 2017-04-20 Ip Cleaning S.P.A. Machine de traitement de surface avec commande de la vitesse
CN111868566A (zh) * 2019-10-11 2020-10-30 安徽中科智能感知产业技术研究院有限责任公司 一种基于定位漂移测算模型的农机作业面积测算方法
CN111868566B (zh) * 2019-10-11 2023-10-03 安徽中科智能感知科技股份有限公司 一种基于定位漂移测算模型的农机作业面积测算方法

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