EP3243418B1 - Système et procédé de nettoyage d'un plancher à l'aide d'un robot de nettoyage - Google Patents

Système et procédé de nettoyage d'un plancher à l'aide d'un robot de nettoyage Download PDF

Info

Publication number
EP3243418B1
EP3243418B1 EP17170077.6A EP17170077A EP3243418B1 EP 3243418 B1 EP3243418 B1 EP 3243418B1 EP 17170077 A EP17170077 A EP 17170077A EP 3243418 B1 EP3243418 B1 EP 3243418B1
Authority
EP
European Patent Office
Prior art keywords
cleaning
event
cleaning robot
intensity
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
EP17170077.6A
Other languages
German (de)
English (en)
Other versions
EP3243418A1 (fr
Inventor
Helmut SCHÖNHOFF
Jochen Jentsch
Dirk Schmidt
Dr. Sabine Schweppe
Harald Windorfer
Mikel Blum
Pia Hahn
Iris Zabback
Hans-Peter Arnold
Raphael Liß
Maike Brede
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.)
Vorwerk and Co Interholding GmbH
Original Assignee
Vorwerk and Co Interholding 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 Vorwerk and Co Interholding GmbH filed Critical Vorwerk and Co Interholding GmbH
Publication of EP3243418A1 publication Critical patent/EP3243418A1/fr
Application granted granted Critical
Publication of EP3243418B1 publication Critical patent/EP3243418B1/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
    • 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
    • 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
    • A47L11/24—Floor-sweeping machines, motor-driven
    • 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
    • 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
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
    • 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 system with at least one cleaning robot, with control means for controlling the cleaning robot and with communication means for detecting at least one environmental event, the environmental event being an event determined from a database, in particular a weather event, or an event determined by means of sensors, and a method for Cleaning a floor with at least one cleaning robot.
  • Cleaning robots are known as independently driving and navigating robot units in the form of vacuum robots, sweeping robots and mopping robots.
  • cleaning robots have electrically operated suction / blower units and / or electric motor-driven brushes and / or bristle rollers and / or wiping elements as well as a dust and dirt collecting compartment.
  • Cleaning robots are able to independently clean hard floors such as parquet, laminate, tiled floors or stone floors as well as textile floor coverings from dust and coarse material by means of a suction air stream and, if necessary, with the help of a mechanical brush.
  • Sweeping robots on the other hand, clean the floor purely mechanically using brushes and collecting containers, without using a suction air stream.
  • mopping robots there is also a mopping element, which is usually moved at a high frequency and which picks up dirt from the floor by means of a cleaning agent, usually water-based.
  • At least one motor means is provided for driving at least one of at least three wheels.
  • two electric motors are provided which are independent drive two drive wheels from each other, with a third wheel being provided to stabilize the cleaning robot.
  • Known cleaning robots also have at least one sensor, in particular several sensors, for observing the space surrounding the cleaning robot.
  • the cleaning robot can use the sensors to detect the surroundings and the cleaning robot can navigate largely without contact with walls or objects.
  • the cleaning robot is assigned a stationary base station which is connected to the household electricity network.
  • Cleaning robots find the base station automatically, for example with the help of radio and / or light signal guidance or radio communication between the base station and cleaning robot.
  • the request to approach the base station can take place automatically, for example by radio communication between the base station and the cleaning robot.
  • the cleaning robot itself can also approach the base station depending on the degree of filling of the dirt container on the device and / or the charge status of the accumulators.
  • the cleaning robot can automatically approach the base station after completing a work to be carried out, for example cleaning a predetermined floor area.
  • Cleaning robots have control means which control the actions of the cleaning robot described above.
  • the control means are designed as computer means with a data processing unit, which control the actions of the cleaning robot on the basis of input signals and / or stored data.
  • the cleaning robots described are programmable so that the cleaning robot carries out cleaning at predetermined times.
  • the cleaning robot can also be started manually. It is also possible to specify a certain area of the room in which cleaning is to be carried out. This spatial area can be the entire drivable area or only a part of it. The use of this cleaning robot can therefore be controlled solely on the basis of data entered by the user.
  • control means operating a cleaning robot as a function of weather information from a server. If, for example, a dust warning is received, the control means can increase the suction intensity of the cleaning robot. If only a small amount of dust is announced, the control means can reduce the suction intensity of the cleaning robot.
  • the present invention is therefore based on the technical problem of making a system and a method for cleaning a floor with a cleaning robot more flexible and with improved cleaning results.
  • control means adjust the intensity of the use of the cleaning robot for cleaning at least part of the floor as a function of the environmental event and that the control means adjust the intensity of the use of the cleaning robot by changing the cleaning frequency.
  • a system is specified that can react not only to manual inputs by a person, be it for a one-off action or for time programming, but also automatically when at least one predetermined external or internal environmental event occurs. Occurs a predetermined If an environmental incident occurs, the system reacts automatically according to specifications and controls the cleaning robot in such a way that at least part of the floor area is cleaned.
  • the environmental event can be different types of events, whether internal or external or whether via an electronic network or on-site with sensors.
  • a first embodiment of the system consists in the communication means determining the environmental event as a weather event from an external weather database.
  • the means of communication establish a connection with a network, locally or the Internet, and determine current weather data or weather data from a forecast as environmental data.
  • These data can relate in particular to the outside temperature, precipitation events such as rain or snow or also dry events such as sunshine, the air pressure and / or the air humidity. All of these data, individually or in combination with one another, result in environmental data, which the system evaluates in order to assess whether additional cleaning by the cleaning robot is required or not.
  • the communication means can record the number, duration and / or intensity of a precipitation event as the intensity of weather events. Precipitation events in particular lead to greater contamination of a room area and may require more frequent cleaning of the floor.
  • the communication means can determine the environmental event by means of at least one external sensor.
  • corresponding sensors are arranged outdoors outside the room area, which generate measurement data for determining an environmental event in the form of weather data.
  • sensors can local weather data such as outside temperature and / or Measure the amount of precipitation outdoors and transfer the measured data to the system by means of data transmission.
  • At least one internal sensor can also be arranged in the interior and, for example, detect the interior temperature or the status of the underfloor heating. Depending on whether the underfloor heating is on or off or depending on the set temperature, it can be concluded, for example, whether and how intensively the room area is used.
  • Another possibility for recording environmental data is to record the number of people in the area of the room to be cleaned and thus to determine the need for additional cleaning processes.
  • people and other living beings can be recorded by means of motion sensors and / or by means of at least one camera or by analyzing activities in local data networks or by means of information from a home automation system.
  • Animals can also be recorded using identification chips.
  • Moving elements can also be recorded and furniture, pets or people can be deduced from their movement profile.
  • the cleaning robot perceives moving elements, for example via its sensors, in such a way that, taking into account its own movement in the room, the continuously recorded sensor data of the environment perceive a change in location of an element previously assessed as a wall or an obstacle.
  • This change in location can be an indication of a living being being moved by itself or by others, or an automatic or external movement of dead objects such as furniture.
  • a further interpretation of the sensor data by the cleaning robot can enable conclusions to be drawn about certain living beings, objects and / or furniture by evaluating characteristic movement profiles, so that the environmental data obtained in this way allow the cleaning robot to adjust its cleaning behavior to the situation at hand.
  • a further embodiment of the present invention consists in that the communication means record the environmental event as a calendar entry from an external electronic calendar.
  • the environmental events can be recorded and identified by searching for certain terms such as "party", "visit” etc.
  • Such an environmental event represents an occurrence in which at least part of the room area to be cleaned is more heavily soiled and therefore requires additional cleaning.
  • the control means determine whether and to what extent the cleaning robot should also be used. It is thus provided that the control means adjust the intensity of the use of the cleaning robot by changing the frequency of the cleaning. It is preferably additionally provided that the control means adjust the intensity of the use of the cleaning robot by changing the intensity of the cleaning.
  • the parameters to be set can be the number of cleaning cycles including an increased frequency in certain apartment areas such as the hallway area, the type of cleaning, i.e. sweeping, vacuuming and / or wiping, and / or the area of application, i.e. one-room cleaning or multi-room cleaning or single passage Multiple crossing.
  • the recorded environmental event means that a person or an animal is present in the room to be cleaned, it can be set that the room is not cleaned or is only cleaned in eco mode with a reduced volume.
  • the operating mode of the cleaning robot can be adapted, for example the brush speed, the driving speed, the pressure weight on the cleaning roller, the drying or post-drying, the activation of the side brushes or selection of the type of side cleaning units, selection of the Amount of water for damp or wet cleaning and / or the type and amount of cleaning agent.
  • the system can be designed such that the communication means with the data acquisition are arranged in the cleaning robot and connected to the control means and that the communication means are connected to a network by means of a wireless communication link.
  • the cleaning robot has the entire data acquisition and control itself on board. Such a system can therefore be used to a large extent independently.
  • the communication means with the data acquisition can be arranged outside the cleaning robot and connected to a network and the communication means can be connected to the control means by means of a wireless communication link.
  • the system could have more than one cleaning robot, all of which are supplied with the information important for the control via the same communication means.
  • the control means including a data processing unit integrated therein can thus be implemented in a base station or in an external device or server.
  • the data processing unit can control the cleaning device accordingly through a wireless data connection.
  • a distributed implementation on different components is also possible.
  • the technical problem shown above is also solved by a method for cleaning a floor with a cleaning robot, in which at least one environmental event is recorded, in which the intensity of the use of the cleaning robot for cleaning at least part of the floor depending on the intensity of at least an environmental event and in which the intensity of the use of the cleaning robot is adjusted by changing the frequency of the cleaning.
  • the robot vacuum cleaner 2 has a housing 4, a chassis 6 arranged on the underside of the housing 4, a sensor system 8 for detecting the surroundings of the housing 4 and a controller for automatically driving the chassis 6.
  • the chassis 6 is arranged on the underside of the housing 4 and faces the floor surface to be cleaned.
  • the chassis 6 has two electric motor-driven traversing wheels 10 and an idler wheel 11, so that a three-point support of the floor cleaning robot 2 on the floor surface to be cleaned is achieved.
  • the robot vacuum 2 can be moved in any direction, with a forward movement in the direction of the arrow r according to FIG Fig. 1 he follows. It is also possible to turn on the spot and to drive backwards against the direction of the arrow r.
  • a brush 12 which projects beyond the lower edge and is driven by an electric motor, is arranged within a suction opening 14 on the underside of the housing 4. Furthermore, a suction fan motor (not shown) is provided, which is also operated electrically. In addition, a dustpan-like ramp 16 is provided, via which dirt particles that have been brushed off are transported into a container-like receptacle (not shown).
  • the electrical supply of the individual components of the vacuum cleaning robot 2, i.e. the electric motor of the traversing wheels 10, the electric drive of the brush 12, the suction fan and the other electronics of the control is provided by a rechargeable battery (not shown).
  • the aforementioned sensor system 8 is provided, which is designed as a sensory obstacle recognition system.
  • This consists of an optical transmitter unit and an optical receiver unit, both in the in Fig. 1 sensors 8 shown are integrated.
  • the sensor system 8 is arranged rotatably about a vertical axis x of the housing 4, as indicated by the arrow c in FIG Fig. 1 is shown.
  • Further sensors 20, 22 and 24 are present, which are designed as ultrasonic sensors and / or infrared sensors.
  • a display 26 is provided that Displays information for the user and, if necessary, serves as an input aid for commands for operation.
  • FIG. 3 now shows a system according to the invention for cleaning a floor with at least one cleaning robot 2, which, for example, as in FIG Figs. 1 and 2 shown can be designed as a vacuum robot, in an exemplary environment of an apartment 30 with two rooms 32 and 34.
  • Fig. 3 shows a floor plan of the apartment with walls 36, entrance door 38 and room door 39 and window 40.
  • a robot vacuum cleaner 2 is arranged in the space 32 and is connected to a base station 42 for charging at least one accumulator 44 provided in the robot vacuum cleaner 2.
  • the base station 42 is positioned in the room 32 and connected to a socket 46 for power supply.
  • the robot vacuum cleaner 2 has control means 50 for controlling the robot vacuum cleaner 2 and communication means 52 for detecting at least one event with increased contamination of at least part of the floor.
  • the communication means 52 have a transmitting and receiving device for wireless communication with a transmitting and receiving device arranged in the room 32 as the communication means 54.
  • the wireless communication is preferably carried out according to a standardized method such as WLAN or Bluetooth.
  • the communication means 52 can also have a mobile radio device, so that in this case no communication means 54 are required.
  • the communication means 52 and possibly 54 can be connected via a cable connection or wirelessly to a local or external network, in particular to the Internet, in order to record information about environmental events.
  • the control means 50 are connected to the communication means 52 and use this connection to determine the environmental event from a database, in particular a weather event, and the control means 50 set the intensity of the use of the cleaning robot 2 for cleaning at least part of the floor as a function of the environmental event.
  • the communication means 52, 54 preferably determine the environmental event as a weather event from an external weather database, wherein in particular weather events in the form of the outside temperature, the weather forecast, rain or snow or sunshine as well as air pressure and / or humidity are determined.
  • the communication means 52, 54 can detect the number, the duration and / or the intensity of a precipitation event as the intensity of weather events.
  • the environmental event is an event determined by means of sensors, with external sensors 60 or internal sensors 62 determining the environmental event as measurement data.
  • the external sensors 60 are positioned, for example, in a weather station 64 outside the home, the weather station 64 having a communication means 66 for wireless data transmission.
  • the internal sensor 62 is integrated, for example, in the housing of the communication means 54.
  • the external sensors 60 in the weather station 64 can be used to measure environmental data as the outside temperature and / or the amount of precipitation.
  • the internal sensors can be used, for example, to determine the internal temperature (temperature sensor) or the number of people in the cleaning area (motion sensor).
  • the communication means 52, 54 are also suitable for recording the environmental event as a calendar entry from an external electronic calendar.
  • the type of environmental event is derived from given terms such as "party”, “visit”, etc.

Landscapes

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

Claims (13)

  1. Système de nettoyage d'un sol
    - avec au moins un robot de nettoyage (2),
    - avec des moyens de commande (50) pour commander le robot de nettoyage (2),
    et
    - avec des moyens de communication (52, 54) permettant de détecter au moins un événement environnemental,
    - où l'événement environnemental est un événement déterminé à partir d'une base de données, en particulier un événement météorologique, ou un événement déterminé au moyen de capteurs,
    caractérisé
    - en ce que les moyens de commande (50) ajustent l'intensité d'utilisation du robot de nettoyage (2) pour nettoyer au moins une partie du sol en fonction de l'événement environnemental, et
    - en ce que les moyens de commande (50) ajustent l'intensité d'utilisation du robot de nettoyage (2) en faisant varier la fréquence du nettoyage.
  2. Système selon la revendication 1,
    caractérisé
    en ce que les moyens de communication (52, 54) déterminent l'événement environnemental comme un événement météorologique à partir d'une base de données météorologiques externe.
  3. Système selon la revendication 2,
    caractérisé
    en ce que les moyens de communication (52, 54) détectent comme intensité de l'événement météorologique le nombre, la durée et/ou l'intensité d'un événement de précipitation.
  4. Système selon la revendication 1,
    caractérisé
    en ce que les moyens de communication (52, 54) détectent l'événement environnemental au moyen d'au moins un capteur externe ou interne (60, 62).
  5. Système selon la revendication 1,
    caractérisé
    en ce que les moyens de communication (52, 54) détectent l'événement environnemental comme une entrée de calendrier d'un calendrier électronique externe.
  6. Système selon l'une des revendications 1 à 5,
    caractérisé
    en ce que les moyens de commande (50) ajustent l'intensité d'utilisation du robot de nettoyage (2) en faisant varier l'intensité du nettoyage.
  7. Système selon l'une des revendications 1 à 6,
    caractérisé
    - en ce que les moyens de communication (52) sont disposés dans le robot de nettoyage (2) et sont reliés aux moyens de commande (50), et
    - en ce que les moyens de communication (52) sont connectés à un réseau au moyen d'une liaison de communication sans fil.
  8. Système selon l'une des demandes 1 à 6,
    caractérisé
    - en ce que les moyens de communication (54) sont disposés à l'extérieur du robot de nettoyage (2) et sont connectés à un réseau, et
    - en ce que les moyens de communication (54) sont connectés aux moyens de commande (50) au moyen d'une liaison de communication sans fil.
  9. Méthode de nettoyage d'un sol avec un robot de nettoyage,
    - dans laquelle au moins un événement environnemental est détecté,
    - dans laquelle l'intensité d'utilisation du robot de nettoyage pour le nettoyage d'au moins une partie du sol est ajustée en fonction de l'intensité d'au moins un événement environnemental, et
    - dans laquelle l'intensité d'utilisation du robot de nettoyage est ajustée en faisant varier la fréquence du nettoyage.
  10. Méthode selon la revendication 9,
    dans laquelle l'au moins un événement environnemental est déterminé à partir d'une base de données ou au moyen de capteurs.
  11. Méthode selon la revendication 9 ou 10,
    dans laquelle l'événement environnemental est déterminé comme événement météorologique.
  12. Méthode selon la revendication 11,
    dans laquelle l'intensité d'un événement météorologique est déterminée par le nombre, la durée et/ou l'intensité d'un événement de précipitation.
  13. Méthode selon l'une des revendications 9 à 12,
    dans laquelle l'intensité d'utilisation du robot de nettoyage est ajustée en faisant varier l'intensité du nettoyage.
EP17170077.6A 2016-05-09 2017-05-09 Système et procédé de nettoyage d'un plancher à l'aide d'un robot de nettoyage Active EP3243418B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102016108514.6A DE102016108514A1 (de) 2016-05-09 2016-05-09 System und ein Verfahren zur Reinigung eines Fußbodens mti einem Reinigungsroboter

Publications (2)

Publication Number Publication Date
EP3243418A1 EP3243418A1 (fr) 2017-11-15
EP3243418B1 true EP3243418B1 (fr) 2021-03-17

Family

ID=58692437

Family Applications (1)

Application Number Title Priority Date Filing Date
EP17170077.6A Active EP3243418B1 (fr) 2016-05-09 2017-05-09 Système et procédé de nettoyage d'un plancher à l'aide d'un robot de nettoyage

Country Status (6)

Country Link
EP (1) EP3243418B1 (fr)
JP (1) JP6681360B2 (fr)
CN (1) CN107348906A (fr)
DE (1) DE102016108514A1 (fr)
ES (1) ES2863236T3 (fr)
TW (1) TW201742591A (fr)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2019217205A (ja) * 2018-06-22 2019-12-26 東芝ライフスタイル株式会社 電気掃除装置
CN111158354B (zh) * 2018-11-07 2022-10-04 科沃斯机器人股份有限公司 自移动设备作业方法、设备及存储介质
CN111829576A (zh) * 2019-04-19 2020-10-27 康塔有限公司 环境监测系统
CN110362082A (zh) * 2019-07-17 2019-10-22 重庆科创职业学院 智能扫地机器人避障系统
JP2021029487A (ja) * 2019-08-21 2021-03-01 パナソニックＩｐマネジメント株式会社 自律走行型掃除機、自律走行型掃除機の制御方法、及び、プログラム
CN111407187A (zh) * 2020-03-06 2020-07-14 珠海格力电器股份有限公司 一种扫地机器人、扫地机器人清扫路线调整方法及装置
CN114305263B (zh) * 2021-12-30 2022-12-16 深圳银星智能集团股份有限公司 清洁基站以及清洁机器系统

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0822322A (ja) * 1994-07-07 1996-01-23 Johnson Kk 床面洗浄車制御方法及び装置
JP2005218559A (ja) * 2004-02-04 2005-08-18 Funai Electric Co Ltd 自走式掃除機ネットワークシステム
JP4677888B2 (ja) * 2005-11-24 2011-04-27 パナソニック電工株式会社 自律移動掃除機
US8706297B2 (en) * 2009-06-18 2014-04-22 Michael Todd Letsky Method for establishing a desired area of confinement for an autonomous robot and autonomous robot implementing a control system for executing the same
DE102010006531A1 (de) * 2010-02-01 2011-08-04 Armut, Halil, 91315 Vorrichtung zum Reinigen von Flächen, insbesondere Reinigungsroboter zum Reinigen von Solarpanelscheiben und sonstigen Glasflächen
KR101773163B1 (ko) * 2010-12-21 2017-08-31 삼성전자주식회사 청소기 동작 제어 장치 및 그 방법
CN103284662B (zh) * 2012-03-02 2016-09-21 恩斯迈电子(深圳)有限公司 清扫系统及其控制方法
CN103284653B (zh) * 2012-03-02 2017-07-14 恩斯迈电子(深圳)有限公司 清洁机器人及其控制方法
TW201338741A (zh) * 2012-03-22 2013-10-01 Ememe Robot Co Ltd 清潔機器人及控制清潔機器人側刷之方法
JP2014014456A (ja) * 2012-07-06 2014-01-30 Nikon Corp 掃除システム、掃除装置、浴室、制御方法、及びプログラム
JP2014147569A (ja) * 2013-02-01 2014-08-21 Sharp Corp 自走式電子機器
JP2014206850A (ja) * 2013-04-12 2014-10-30 シャープ株式会社 電子機器および自走式掃除機
KR101578893B1 (ko) * 2014-05-02 2015-12-18 에브리봇 주식회사 로봇 청소기 및 그 제어 방법
CN104771115A (zh) * 2014-06-27 2015-07-15 朱国同 一种自动吸尘器控制系统
CN105395136A (zh) * 2014-09-15 2016-03-16 江苏美的清洁电器股份有限公司 吸尘器、边刷异常检测器、边刷电机的控制方法和装置
KR20160058594A (ko) * 2014-11-17 2016-05-25 삼성전자주식회사 로봇 청소기, 단말장치 및 그 제어 방법

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
None *

Also Published As

Publication number Publication date
CN107348906A (zh) 2017-11-17
JP2017202316A (ja) 2017-11-16
ES2863236T3 (es) 2021-10-11
JP6681360B2 (ja) 2020-04-15
DE102016108514A1 (de) 2017-11-09
TW201742591A (zh) 2017-12-16
EP3243418A1 (fr) 2017-11-15

Similar Documents

Publication Publication Date Title
EP3454715B1 (fr) Systeme et procede de nettoyage d'un sol avec un robot de nettoyage
EP3243418A1 (fr) Système et procédé de nettoyage d'un plancher à l'aide d'un robot de nettoyage
EP3685722B1 (fr) Système composé d'un appareil de traitement du sol guidé exclusivement à la main et d'un appareil de traitement du sol à commande exclusivement automatique ainsi que procédé de fonctionnement d'un tel système
EP3389355B1 (fr) Système et procédé de traitement d'un sol au moyen d'une unité de robot mobile
EP3705010B1 (fr) Station de collecte de produit aspiré, système d'une station de collecte de produit aspiré et d'un appareil de nettoyage par aspiration ainsi que procédé associé
EP3412191B1 (fr) Appareil de traitement du sol se déplaçant automatiquement
EP3288434B1 (fr) Robot ménager et procédé pour faire fonctionner un robot ménager
EP3417350B1 (fr) Procédé de contrôle d'un robot mobile autonome
EP2294960B1 (fr) Procédé destiné au fonctionnement d'un robot de nettoyage
EP3416018B1 (fr) Système pourvu d'au moins deux appareils de traitement du sol
EP3733037B1 (fr) Système comprenant un appareil de traitement du sol guidé à la main, un appareil de traitement du sol à fonctionnement entièrement automatique et un dispositif de calcul
EP3415065A1 (fr) Système pourvu d'au moins deux appareils de nettoyage
EP3825802B1 (fr) Système comprenant au moins deux robots autonomes de nettoyage et procédé d'exploitation du système
EP2617341A2 (fr) Appareil automobile et procédé de fonctionnement d'un tel appareil
EP3683645A1 (fr) Système doté d'un premier appareil de traitement du sol et d'un second appareil de traitement du sol ainsi que procédé de fonctionnement d'un tel système
DE102015104251B4 (de) Bodenpflegegerät und Verfahren zur Pflege eines Hartbodens mit einem selbstfahrenden Bodenpflegegerät
EP3646126B1 (fr) Unité mobile, terminal mobile et procédé associé
DD293258A5 (de) Automatikstaubsauger

Legal Events

Date Code Title Description
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: THE APPLICATION HAS BEEN PUBLISHED

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

AX Request for extension of the european patent

Extension state: BA ME

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: 20180423

RBV Designated contracting states (corrected)

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

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

INTG Intention to grant announced

Effective date: 20201019

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: 502017009713

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

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 1371426

Country of ref document: AT

Kind code of ref document: T

Effective date: 20210415

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG9D

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: 20210317

Ref country code: FI

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: 20210317

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: 20210618

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: 20210617

Ref country code: BG

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: 20210617

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20210317

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

Ref country code: SE

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: 20210317

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: 20210317

Ref country code: LV

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: 20210317

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

Ref country code: NL

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: 20210317

REG Reference to a national code

Ref country code: ES

Ref legal event code: FG2A

Ref document number: 2863236

Country of ref document: ES

Kind code of ref document: T3

Effective date: 20211011

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

Ref country code: LT

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: 20210317

Ref country code: EE

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: 20210317

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: 20210317

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: 20210317

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: 20210717

Ref country code: RO

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: 20210317

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: 20210317

Ref country code: PT

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: 20210719

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: 20210317

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 502017009713

Country of ref document: DE

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

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

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

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

Ref country code: DK

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: 20210317

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210531

Ref country code: AL

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: 20210317

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210531

Ref country code: MC

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: 20210317

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210509

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20210531

26N No opposition filed

Effective date: 20211220

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20210617

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

Ref country code: SI

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: 20210317

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

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210509

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210617

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: 20210717

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

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210531

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

Ref country code: HU

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

Effective date: 20170509

P01 Opt-out of the competence of the unified patent court (upc) registered

Effective date: 20230517

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

Ref country code: CY

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: 20210317

REG Reference to a national code

Ref country code: AT

Ref legal event code: MM01

Ref document number: 1371426

Country of ref document: AT

Kind code of ref document: T

Effective date: 20220509

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

Ref country code: AT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20220509

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

Ref country code: MK

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: 20210317

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

Ref country code: MT

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: 20210317

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20250519

Year of fee payment: 9

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: ES

Payment date: 20250616

Year of fee payment: 9

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: IT

Payment date: 20250530

Year of fee payment: 9

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20250526

Year of fee payment: 9

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

Ref country code: TR

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: 20210317