[go: up one dir, main page]

EP4277508B1 - Procédé de traitement autonome des surfaces au sol - Google Patents

Procédé de traitement autonome des surfaces au sol Download PDF

Info

Publication number
EP4277508B1
EP4277508B1 EP22700484.3A EP22700484A EP4277508B1 EP 4277508 B1 EP4277508 B1 EP 4277508B1 EP 22700484 A EP22700484 A EP 22700484A EP 4277508 B1 EP4277508 B1 EP 4277508B1
Authority
EP
European Patent Office
Prior art keywords
obstacles
movable
collection point
mobile
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.)
Active
Application number
EP22700484.3A
Other languages
German (de)
English (en)
Other versions
EP4277508A1 (fr
EP4277508C0 (fr
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
Application granted granted Critical
Publication of EP4277508B1 publication Critical patent/EP4277508B1/fr
Publication of EP4277508C0 publication Critical patent/EP4277508C0/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • 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 vacuum and/or sweeping and/or mopping robot.
  • a mobile, self-propelled device with which such processing can be carried out.
  • Mobile, self-driving devices such as robot vacuum cleaners are designed to autonomously clean as entire a floor area as possible. Obstacles lying on the floor, such as shoes, socks, or toys, make it particularly difficult for the devices to reach every corner of the floor. Another problem is that these obstacles are often so small that room-scanning sensors, such as 360° laser sensors, cannot detect them due to their low height. If the device does not detect the obstacles, it may suck them in, causing them to clog the suction channel, or components of the obstacle, such as shoelaces, may become wrapped around the brush roller. It is also possible for the device to drive into the obstacle and become stuck. For the user, this not only poses the problem that the device cannot clean all areas, but also that the device cannot extricate itself from a situation and requires assistance to resume its tasks.
  • a vacuum cleaner device that can detect, classify and transport obstacles on the floor.
  • the object of the invention is to provide an effective, optimized and/or safe method for the autonomous processing of floor surfaces, in which in particular the most complete cleaning of the floor surface can be ensured by clearing the floor surface to be cleaned of movable obstacles, preferably before or during cleaning, wherein preferably non-movable obstacles remain in their position at the same time.
  • the solution according to the invention is characterized in that the mobile, self-propelled device collects the movable obstacles lying in the room before or during cleaning and places them in a central location, the collection point, where these obstacles do not interfere with cleaning and can be quickly found by the user.
  • the mobile, self-propelled device specifically searches for the obstacles in order to bring them to the collection point and thus clear the floor area to be cleaned, whereby the floor area is advantageously tidied and the obstacles are collected at the same time.
  • the mobile, self-propelled device distinguishes between movable obstacles such as socks, shoes, toys, and immovable obstacles such as cables, power strips, lamp stands, chair legs, and pet droppings.
  • a mobile, self-propelled device is understood to mean, in particular, a floor cleaning device, such as a cleaning or lawnmower, which autonomously cleans floors or lawns, particularly in the home.
  • a floor cleaning device such as a cleaning or lawnmower
  • These include, among others, vacuuming and/or sweeping and/or mopping robots, such as robot vacuum cleaners or robot lawnmowers.
  • These devices preferably operate without, or with as little as possible, user intervention during operation (cleaning or lawnmowing). For example, the device moves automatically into a specified room to clean the floor according to a predefined and programmed process strategy.
  • An exploration trip is understood to be a reconnaissance trip that is suitable for exploring a ground area to be worked for obstacles, spatial 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 soil cultivation area to be worked.
  • a floor treatment area is defined as any spatial area intended for treatment, especially cleaning. This could be, for example, a single (living) room or an entire apartment. It can also be understood as just areas of a (living) room or apartment that are intended for cleaning.
  • free areas of the soil processing area are cleaned before and/or while obstacles and/or objects classified as movable are transported to the collection point.
  • the collection point to which the movable 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. The most complete cleaning of the soil processing area possible is advantageously possible.
  • the classification, collection, and removal of movable obstacles is performed during the execution of the cleaning program.
  • the mobile, self-propelled device continuously scans the floor area in front of it and, even before physical contact, detects the objects or obstacles involved. It collects the corresponding obstacles and transports them to the designated collection point to then continue cleaning.
  • the mobile, self-propelled device carries out a search drive before the actual start of the cleaning program and/or after cleaning the collection point, which searches the floor area within the soil treatment area to be cleaned. Any or all detected and Obstacles classified as movable are brought to the collection point. Afterward, the actual cleaning of the soil cultivation area begins.
  • obstacles and/or objects classified as movable are transported to the collection point, particularly before the floor treatment area is cleaned.
  • a so-called cleanup program is initiated.
  • the mobile, self-propelled device searches for movable obstacles and transports them to the collection point without executing the cleaning program.
  • the floor can then be cleaned.
  • the user can start and run the cleanup program without subsequently cleaning the floor.
  • the collection point is located outside the floor treatment area. This advantageously ensures the most complete cleaning possible.
  • the mobile, self-propelled device brings the obstacles classified as movable to the collection point, which is located outside the floor area to be cleaned.
  • the collection point might be located in the study if the living room is to be cleaned.
  • the obstacles and/or objects classified as movable are deposited in a sorted manner.
  • the obstacles classified as movable are deposited 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. This allows for advanced cleanup by the mobile, self-propelled device, which advantageously facilitates the subsequent removal of the obstacles from the collection point by the user.
  • a mobile, self-propelled device in particular a floor cleaning device for autonomously cleaning floor surfaces such as a vacuum and/or sweeping and/or wiping robot, comprises a detection device for detecting obstacles and/or objects located on the ground, a classification device for classifying the obstacles and/or objects as movable or non-movable, and a transport device for transporting the obstacles and/or objects classified as movable to at least one collection point, wherein cleaning of the collection point is provided before transporting the obstacles and/or objects classified as movable to the collection point.
  • a classification device is understood to mean, in particular, any device capable of classifying obstacles and/or objects as movable or immovable. A more detailed classification of obstacles is not necessarily required, but can be implemented.
  • the mobile, self-propelled device comprises a robotic arm or similar mechanism capable of grasping, clamping and/or lifting objects, items and/or obstacles and carrying them away or at least putting them down.
  • the mobile, self-propelled device pushes the obstacles across the ground using the transport device.
  • fold-out/extendable side walls serve as stabilizers to prevent the obstacles from sliding sideways when cornering.
  • a frontal, grid-like, fold-out/extendable barrier in front of the mobile, self-propelled device is particularly preferred to prevent the transported obstacles from entering a suction nozzle, onto a brush roller, or generally underneath the mobile, self-propelled device.
  • any side walls and the frontal barrier are retracted to advantageously restore normal maneuverability of the mobile, self-propelled device.
  • a shovel-like collecting mechanism can be used as a transport device, which slightly lifts the obstacles and thus also enables transport over door thresholds and the like.
  • Figure 1 shows an environmental map 10 of an apartment to be cleaned, in particular a floor treatment area 1 to be cleaned.
  • This environmental map is displayed in an app, in particular a cleaning app, of a portable additional device, in particular a mobile device. This enables interaction between a user and a mobile, self-propelled device, in particular a vacuum robot.
  • the environmental map 10 is created by the mobile, self-driving device.
  • the robot vacuum performs an exploratory drive, during which the robot vacuum explores and recognizes its surroundings and then transmits this information to the user in the form of an environmental map in the mobile device's app.
  • a detection device detects any obstacles, items, and objects 3 on the ground, such as socks lying on the floor, toys, shoes, carpets, walls, door thresholds, etc., and displays them to the user at the correct location in the environmental map.
  • the robot vacuum includes suitable sensors, such as a 3D camera, 3D LIDAR, PMD sensor, and/or a (stereo) camera.
  • the robot vacuum In addition to detecting obstacles, items, and objects 3 on the floor, the robot vacuum also classifies them as movable obstacles and non-movable obstacles. Detection of all object types is not mandatory. In particular, the robot vacuum recognizes which obstacles should/must remain in place and must be avoided later, such as power strips, cables, lamp stands, chair legs, pet droppings, and the like, and which obstacles can be moved and removed by the robot vacuum, such as toys, socks, shoes, and other loose objects.
  • the collection point 2 can, for example, be predefined by the user in the environment map 10, to which the robot vacuum cleaner should transport the loose, movable obstacles lying around.
  • the robot vacuum cleaner can itself define the area it selects as collection point 2. The location of the area, quick accessibility, and other characteristics such as a walking path for the user, tripping hazards, and the like are taken into account. This suggestion is preferably displayed to the user in the environment map 10 so that the user can change and/or adapt the collection point 2 if necessary.
  • the robot vacuum cleaner can bring the obstacles.
  • the robot vacuum cleaner will drive to the closest collection point.
  • the robot vacuum cleaner will only use the first collection point until it is full and a second collection point is needed, or it provides a noticeable improvement in working speed.
  • the collection point can be located outside the floor area to be cleaned, for example, in a study if the living room is to be cleaned. This ensures that the floor area to be cleaned is cleaned as completely as possible.
  • FIG. 2A An environmental map 10 is shown, in which a plurality of obstacles, items, and objects 3 are indicated. In addition, movable obstacles 4 and non-movable obstacles 5 are shown, which were detected and classified by the vacuum robot during the exploration drive.
  • the robot vacuum Before the robot vacuum transports the obstacles classified as movable to the collection point, it cleans the collection point to ensure that the collection point is also cleaned, which is no longer possible after the objects have been transported.
  • the movable obstacles 4 can then be collected and removed during the cleaning program.
  • the robot vacuum continuously scans the floor area in front of it and detects the obstacles before any physical contact. collects the movable obstacles 4, brings them to the collection point 2, and then continues its cleaning.
  • all obstacles 4 classified as movable are located at the collection point 2, while the obstacles 5 classified as non-movable remain in their place, as shown in Figure 2B is shown.
  • the robot vacuum cleaner can perform a search run that scans the floor of the area to be cleaned. Detected obstacles are brought to collection point 2. The actual cleaning then begins.
  • detected movable obstacles 4 are placed in a classified manner at the collection point 2.
  • socks are placed in a first pile at the collection point 2, shoes in a second pile at the collection point 2, and toys in a third pile at the collection point 2. This advantageously facilitates subsequent cleanup by the user.

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)

Claims (10)

  1. Procédé de traitement autonome de surfaces de sol à l'aide d'un appareil mobile automoteur, en particulier d'un appareil de nettoyage de sol tel qu'un robot aspirateur et/ou balayeur et/ou de passage de la serpillière, comprenant les étapes de procédé suivantes :
    - réalisation d'un parcours d'exploration de l'appareil mobile automoteur dans une zone de traitement de sol prévue (1),
    - détection d'obstacles (3, 4, 5) et/ou d'objets se trouvant au sol au moyen d'un dispositif de détection,
    - classement des obstacles et/ou objets (3, 4, 5) en déplaçables ou non déplaçables, et
    - transport des obstacles (4) et/ou objets classés comme déplaçables vers au moins un point de collecte (2),
    caractérisé en ce que
    le point de collecte (2) est nettoyé avant que les obstacles (4) et/ou objets classés comme déplaçables soient transportés vers le point de collecte (2).
  2. Procédé selon la revendication 1, dans lequel le point de collecte (2) est déterminé par l'appareil mobile automoteur lui-même ou par un utilisateur.
  3. Procédé selon l'une des revendications précédentes, dans lequel l'appareil mobile automoteur détermine lui-même un trajet de l'obstacle (4) et/ou l'objet classé comme déplaçable vers le point de collecte (2).
  4. Procédé selon l'une des revendications précédentes, dans lequel une pluralité de points de collecte (2) est définie.
  5. Procédé selon l'une des revendications précédentes, dans lequel des zones libres de la zone de traitement de sol sont nettoyées avant et/ou pendant que des obstacles (4) et/ou objets classés comme déplaçables sont transportés au point de collecte (2).
  6. Procédé selon l'une des revendications précédentes 1 à 4, dans lequel les obstacles (4) et/ou objets classés comme déplaçables sont transportés au point de collecte (2), en particulier avant que la zone de traitement de sol (1) soit nettoyée.
  7. Procédé selon l'une des revendications précédentes, dans lequel le point de collecte (2) est situé en dehors de la zone de traitement de sol (1).
  8. Procédé selon l'une des revendications précédentes, dans lequel les obstacles (4) et/ou les objets classés comme déplaçables sont déposés de façon triée.
  9. Appareil mobile automoteur, en particulier appareil de nettoyage de sol pour le traitement autonome de surfaces de sol tel qu'un robot aspirateur et/ou balayeur et/ou de passage de la serpillière, comprenant :
    - un dispositif de détection pour la détection d'obstacles (3, 4, 5) et/ou d'objets se trouvant au sol,
    - un dispositif de classement pour le classement des obstacles (3, 4, 5) et/ou objets en déplaçables ou non déplaçables, et
    - un dispositif de transport pour le transport des obstacles (4) et/ou objets classés comme déplaçables vers au moins un point de collecte (2),
    caractérisé en ce que
    un nettoyage du point de collecte (2) est prévu avant le transport des obstacles (4) et/ou objets classés comme déplaçables vers le point de collecte (2).
  10. Appareil mobile automoteur selon la revendication 9, dans lequel le dispositif de transport comprend un dispositif de préhension, un dispositif de serrage, un dispositif formant paroi et/ou un dispositif formant pelle.
EP22700484.3A 2021-01-18 2022-01-12 Procédé de traitement autonome des surfaces au sol Active EP4277508B1 (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 (3)

Publication Number Publication Date
EP4277508A1 EP4277508A1 (fr) 2023-11-22
EP4277508B1 true EP4277508B1 (fr) 2025-03-12
EP4277508C0 EP4277508C0 (fr) 2025-03-12

Family

ID=80113518

Family Applications (1)

Application Number Title Priority Date Filing Date
EP22700484.3A Active EP4277508B1 (fr) 2021-01-18 2022-01-12 Procédé de traitement autonome des surfaces au sol

Country Status (5)

Country Link
US (1) US20240057835A1 (fr)
EP (1) EP4277508B1 (fr)
CN (1) CN116761538A (fr)
DE (1) DE102021200401B3 (fr)
WO (1) WO2022152736A1 (fr)

Families Citing this family (3)

* 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
DE102023202969A1 (de) 2023-03-30 2024-10-02 BSH Hausgeräte GmbH Flexibel reagierender Bodenroboter
CN119055134A (zh) * 2024-10-08 2024-12-03 追觅创新科技(苏州)有限公司 清洁设备控制方法和清洁设备

Family Cites Families (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10007864A1 (de) * 2000-02-21 2001-08-30 Wittenstein Gmbh & Co Kg Verfahren zum Erkennen, Bestimmen, Lokalisieren zumindest eines beliebigen Gegenstandes und/oder Raumes
DE102004016345A1 (de) * 2004-04-02 2005-10-20 Fraunhofer Ges Forschung Mobiler Roboter für die Ausführung unterschiedlicher Grundfunktionen
JP2007193736A (ja) * 2006-01-23 2007-08-02 National Institute Of Advanced Industrial & Technology 機能可変型ロボットシステムおよび機能可変型ロボット制御方法ならびに機能可変型ロボット制御プログラム
US8972061B2 (en) * 2012-11-02 2015-03-03 Irobot Corporation Autonomous coverage robot
US9682483B1 (en) * 2015-03-19 2017-06-20 Amazon Technologies, Inc. Systems and methods for removing debris from warehouse floors
US9828094B2 (en) * 2015-07-26 2017-11-28 John B. McMillion Autonomous cleaning system
DE102015119865B4 (de) * 2015-11-17 2023-12-21 RobArt GmbH Robotergestützte Bearbeitung einer Oberfläche mittels eines Roboters
US9827678B1 (en) * 2016-05-16 2017-11-28 X Development Llc Kinematic design for robotic arm
US20180085927A1 (en) * 2016-09-28 2018-03-29 International Business Machines Corporation Optimizing a layout of objects in a space
DE102016124901A1 (de) 2016-12-20 2018-06-21 Miele & Cie. Kg Verfahren und Steuergerät zum Betreiben eines Robotersaugers und Robotersauger
KR102688528B1 (ko) 2017-01-25 2024-07-26 엘지전자 주식회사 이동 로봇 및 그 제어방법
DE102017112740A1 (de) * 2017-06-09 2018-12-13 Vorwerk & Co. Interholding Gmbh Haushaltsgerät zur automatischen Reinigung von Fußböden und Verfahren zur Steuerung eines Haushaltsgeräts
CN107544495B (zh) 2017-08-17 2021-04-27 北京小米移动软件有限公司 清扫方法及装置
US11331796B2 (en) * 2018-02-12 2022-05-17 Brain Corporation Autonomous multi-tasking modular robotic system
DE102018121365A1 (de) * 2018-08-31 2020-04-23 RobArt GmbH Exploration eines robotereinsatzgebietes durch einen autonomen mobilen roboter
US11324375B2 (en) * 2019-07-25 2022-05-10 Jeffrey L. Koebrick Automated floor maintenance system
US20230037747A1 (en) 2019-12-23 2023-02-09 Aktiebolaget Electrolux Movement of objects by a robotic cleaning device
AU2021385603A1 (en) * 2020-11-30 2023-06-29 Clutterbot Inc. Clutter-clearing robotic system

Also Published As

Publication number Publication date
CN116761538A (zh) 2023-09-15
EP4277508A1 (fr) 2023-11-22
US20240057835A1 (en) 2024-02-22
WO2022152736A1 (fr) 2022-07-21
DE102021200401B3 (de) 2022-06-30
EP4277508C0 (fr) 2025-03-12

Similar Documents

Publication Publication Date Title
EP4277508B1 (fr) Procédé de traitement autonome des surfaces au sol
DE69931131T2 (de) Roboter und Verfahren zum Betrieb eines Roboters
EP2898382B1 (fr) Robot et procédé d'inspection autonome ou de traitement de surface
EP2812766B2 (fr) Procédé de déclenchement automatique d'une auto-localisation
EP3030943B1 (fr) Procédé de fonctionnement d'un appareil de nettoyage de sol et appareil de nettoyage de sol
EP2764812B1 (fr) Robot de nettoyage
EP1938154B1 (fr) Appareil de collecte de la poussière au sol à déplacement autonome
EP3454715B1 (fr) Systeme et procede de nettoyage d'un sol avec un robot de nettoyage
DE112014000174T5 (de) Rollenbürste für Oberflächenreinigungsroboter
WO2017140726A1 (fr) Procédé de commande d'un robot mobile autonome
EP3968621A2 (fr) Appareil mobile de nettoyage du sol, ainsi que procédé de fonctionnement d'un tel appareil
WO2017089140A1 (fr) Système de nettoyage des sols et procédé pour nettoyer la surface d'un sol
DE112020004578T5 (de) Staubsaugerroboter
DE102016124901A1 (de) Verfahren und Steuergerät zum Betreiben eines Robotersaugers und Robotersauger
DE102015100419A1 (de) Verfahren und Anordnung zum Bearbeiten von Bodenflächen
DE102017130954A1 (de) Reinigungsvorrichtung und Verfahren zum Betreiben einer Reinigungsvorrichtung
EP3708058B1 (fr) Appareil de traitement du sol et système comprenant l'appareil de traitement du sol et un terminal externe
DE102020129026A1 (de) Sich selbsttätig fortbewegendes Reinigungsgerät
DE102014105506B4 (de) Robotsauger und Verfahren zum Betrieb eines solchen Robotsaugers
DE102018132964A1 (de) Autonome reinigungsvorrichtung mit einem saugarm
WO2022253658A1 (fr) Procédé de détermination d'un trajet de déplacement sur une surface
EP4113238B1 (fr) Procédé de traitement autonome des surfaces de sol
EP4091519A1 (fr) Procédé de commande d'un appareil de traitement du sol autonome adapté au nettoyage ou à l'entretien d'une surface de sol dans la pièce, ainsi qu'appareil de traitement du sol autonome destiné au nettoyage ou à l'entretien d'une surface de sol d'une pièce
DE102018212166B4 (de) Automatische Reinigung einer Bodenfläche
DE102022208869B4 (de) Verfahren zum Erstellen einer Umgebungskarte

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: UNKNOWN

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20230818

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

RIC1 Information provided on ipc code assigned before grant

Ipc: A47L 11/40 20060101ALI20240819BHEP

Ipc: A47L 9/28 20060101ALI20240819BHEP

Ipc: A47L 7/00 20060101AFI20240819BHEP

INTG Intention to grant announced

Effective date: 20240904

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 502022003173

Country of ref document: DE

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

U01 Request for unitary effect filed

Effective date: 20250326

U07 Unitary effect registered

Designated state(s): AT BE BG DE DK EE FI FR IT LT LU LV MT NL PT RO SE SI

Effective date: 20250402

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20250612

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20250312

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20250612

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20250312

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20250613

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20250312

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20250312

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20250312

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20250312

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20250712