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GB2361553A - Improvements in or relating to floor cleaning devices - Google Patents

Improvements in or relating to floor cleaning devices

Info

Publication number
GB2361553A
GB2361553A GB0113417A GB0113417A GB2361553A GB 2361553 A GB2361553 A GB 2361553A GB 0113417 A GB0113417 A GB 0113417A GB 0113417 A GB0113417 A GB 0113417A GB 2361553 A GB2361553 A GB 2361553A
Authority
GB
United Kingdom
Prior art keywords
room
cleaning device
traverse
relating
obstacles
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
GB0113417A
Other versions
GB0113417D0 (en
GB2361553B (en
Inventor
David Lindsey Bisset
Michael David Aldred
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.)
Dyson Ltd
Original Assignee
Dyson Ltd
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 Dyson Ltd filed Critical Dyson Ltd
Publication of GB0113417D0 publication Critical patent/GB0113417D0/en
Publication of GB2361553A publication Critical patent/GB2361553A/en
Application granted granted Critical
Publication of GB2361553B publication Critical patent/GB2361553B/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Acoustics & Sound (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Electric Vacuum Cleaner (AREA)

Abstract

A robotic floor cleaning device is arranged so that it firstly completes a traverse around the edge of a room (A-I), avoiding any obstacles in its path, and then moves inwards (at I) and completes a second traverse of the room. The cleaning device continues to move inwards after each traverse (e.g. at T) so as to travel in a generally inwardly spiral manner until the floor of the room, apart from areas occupied by obstacles (400, 402), has been cleaned. Preferably, the distance by which the cleaning device moves inwardly after each traverse of the room is substantially the width of the cleaning head of the cleaning device, or a distance set by the user. The cleaning device seeks a wall of the room if it is started from a position (W) away from a wall. The cleaning device can determine when it has completely traversed a room.
GB0113417A 1998-12-18 1999-12-06 Improvements in or relating to floor cleaning devices Expired - Fee Related GB2361553B (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB9827777A GB2344900A (en) 1998-12-18 1998-12-18 Robotic floor cleaning device with obstacle detection
PCT/GB1999/004072 WO2000038025A1 (en) 1998-12-18 1999-12-06 Improvements in or relating to floor cleaning devices

Publications (3)

Publication Number Publication Date
GB0113417D0 GB0113417D0 (en) 2001-07-25
GB2361553A true GB2361553A (en) 2001-10-24
GB2361553B GB2361553B (en) 2003-02-12

Family

ID=10844396

Family Applications (2)

Application Number Title Priority Date Filing Date
GB9827777A Withdrawn GB2344900A (en) 1998-12-18 1998-12-18 Robotic floor cleaning device with obstacle detection
GB0113417A Expired - Fee Related GB2361553B (en) 1998-12-18 1999-12-06 Improvements in or relating to floor cleaning devices

Family Applications Before (1)

Application Number Title Priority Date Filing Date
GB9827777A Withdrawn GB2344900A (en) 1998-12-18 1998-12-18 Robotic floor cleaning device with obstacle detection

Country Status (3)

Country Link
AU (1) AU1575300A (en)
GB (2) GB2344900A (en)
WO (1) WO2000038025A1 (en)

Families Citing this family (59)

* Cited by examiner, † Cited by third party
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US7571511B2 (en) 2002-01-03 2009-08-11 Irobot Corporation Autonomous floor-cleaning robot
US6883201B2 (en) 2002-01-03 2005-04-26 Irobot Corporation Autonomous floor-cleaning robot
ITFI20010021A1 (en) * 2001-02-07 2002-08-07 Zucchetti Ct Sistemi S P A AUTOMATIC VACUUM CLEANING APPARATUS FOR FLOORS
SE518483C2 (en) 2001-02-28 2002-10-15 Electrolux Ab Wheel suspension for a self-cleaning cleaner
SE518482C2 (en) 2001-02-28 2002-10-15 Electrolux Ab Obstacle detection system for a self-cleaning cleaner
SE518683C2 (en) 2001-03-15 2002-11-05 Electrolux Ab Method and apparatus for determining the position of an autonomous apparatus
SE0100924D0 (en) 2001-03-15 2001-03-15 Electrolux Ab Energy-efficient navigation of an autonomous surface treatment apparatus
KR100420171B1 (en) 2001-08-07 2004-03-02 삼성광주전자 주식회사 Robot cleaner and system therewith and method of driving thereof
EP1441632B1 (en) 2001-09-26 2013-05-01 F. Robotics Acquisitions Ltd. Robotic vacuum cleaner
IL145680A0 (en) 2001-09-26 2002-06-30 Friendly Robotics Ltd Robotic vacuum cleaner
GB0126497D0 (en) * 2001-11-03 2002-01-02 Dyson Ltd An autonomous machine
GB0126499D0 (en) * 2001-11-03 2002-01-02 Dyson Ltd An autonomous machine
GB0126492D0 (en) * 2001-11-03 2002-01-02 Dyson Ltd An autonomous machine
GB2398394B (en) 2003-02-14 2006-05-17 Dyson Ltd An autonomous machine
KR20070028575A (en) 2004-06-24 2007-03-12 아이로보트 코퍼레이션 Programming and diagnostic tool for a mobile robot
CN102039595B (en) * 2009-10-09 2013-02-27 泰怡凯电器(苏州)有限公司 Self-moving ground handling robot and facing ground handling control method thereof
GB2494443B (en) 2011-09-09 2013-08-07 Dyson Technology Ltd Autonomous surface treating appliance
GB2494446B (en) 2011-09-09 2013-12-18 Dyson Technology Ltd Autonomous cleaning appliance
GB2494442B (en) 2011-09-09 2013-12-25 Dyson Technology Ltd Autonomous vacuum cleaner
GB2502131B (en) 2012-05-17 2014-11-05 Dyson Technology Ltd Autonomous vacuum cleaner
GB2502132B (en) 2012-05-17 2014-11-05 Dyson Technology Ltd Autonomous vacuum cleaner
US9939529B2 (en) 2012-08-27 2018-04-10 Aktiebolaget Electrolux Robot positioning system
GB201301578D0 (en) 2013-01-29 2013-03-13 Dyson Technology Ltd Mobile robot
WO2014169943A1 (en) 2013-04-15 2014-10-23 Aktiebolaget Electrolux Robotic vacuum cleaner
KR102137923B1 (en) 2013-04-15 2020-07-24 에이비 엘렉트로룩스 Robotic vacuum cleaner with protruding sidebrush
GB2513193B (en) 2013-04-19 2015-06-03 Dyson Technology Ltd Air moving appliance with on-board diagnostics
KR102099495B1 (en) 2013-12-19 2020-04-09 에이비 엘렉트로룩스 Sensing climb of obstacle of a robotic cleaning device
US10209080B2 (en) 2013-12-19 2019-02-19 Aktiebolaget Electrolux Robotic cleaning device
WO2015090398A1 (en) 2013-12-19 2015-06-25 Aktiebolaget Electrolux Robotic vacuum cleaner with side brush moving in spiral pattern
EP3084539B1 (en) 2013-12-19 2019-02-20 Aktiebolaget Electrolux Prioritizing cleaning areas
EP3082541B1 (en) 2013-12-19 2018-04-04 Aktiebolaget Electrolux Adaptive speed control of rotating side brush
JP6687286B2 (en) 2013-12-19 2020-04-22 アクチエボラゲット エレクトロルックス Robot cleaner and landmark recognition method
JP6455737B2 (en) 2013-12-19 2019-01-23 アクチエボラゲット エレクトロルックス Method, robot cleaner, computer program and computer program product
EP3082539B1 (en) 2013-12-20 2019-02-20 Aktiebolaget Electrolux Dust container
CN110543168B (en) * 2014-04-14 2022-10-04 科沃斯机器人股份有限公司 Walking method of self-moving robot and walking method of sweeping robot
CN104972462B (en) 2014-04-14 2017-04-19 科沃斯机器人股份有限公司 Obstacle avoidance walking method of self-moving robot
ES2681802T3 (en) 2014-07-10 2018-09-17 Aktiebolaget Electrolux Method to detect a measurement error in a robotic cleaning device
EP3190939B1 (en) 2014-09-08 2021-07-21 Aktiebolaget Electrolux Robotic vacuum cleaner
EP3190938A1 (en) 2014-09-08 2017-07-19 Aktiebolaget Electrolux Robotic vacuum cleaner
US10877484B2 (en) 2014-12-10 2020-12-29 Aktiebolaget Electrolux Using laser sensor for floor type detection
CN114668335A (en) 2014-12-12 2022-06-28 伊莱克斯公司 Side brush and robot dust catcher
EP3234713B1 (en) 2014-12-16 2022-06-15 Aktiebolaget Electrolux Cleaning method for a robotic cleaning device
EP3234714B1 (en) 2014-12-16 2021-05-12 Aktiebolaget Electrolux Experience-based roadmap for a robotic cleaning device
JP6743828B2 (en) 2015-04-17 2020-08-19 アクチエボラゲット エレクトロルックス Robot vacuum and method for controlling the robot vacuum
GB2540134B (en) 2015-07-01 2017-10-11 Dyson Technology Ltd A separating apparatus
GB2539933B (en) 2015-07-01 2017-10-11 Dyson Technology Ltd A separating apparatus
JP6736831B2 (en) 2015-09-03 2020-08-05 アクチエボラゲット エレクトロルックス Robot cleaning device system, method for controlling cleaning device, computer program and computer program product
EP3430424B1 (en) 2016-03-15 2021-07-21 Aktiebolaget Electrolux Robotic cleaning device and a method at the robotic cleaning device of performing cliff detection
CN109068908B (en) 2016-05-11 2021-05-11 伊莱克斯公司 Robot cleaning device
KR20220025250A (en) 2017-06-02 2022-03-03 에이비 엘렉트로룩스 Method of detecting a difference in level of a surface in front of a robotic cleaning device
KR20200058400A (en) 2017-09-26 2020-05-27 에이비 엘렉트로룩스 Control the movement of the robot cleaning device
CN108344419B (en) * 2018-02-09 2021-07-20 弗徕威智能机器人科技（上海）有限公司 Method for searching charging seat
CN111374603A (en) * 2018-12-28 2020-07-07 珠海市一微半导体有限公司 Control method and chip for partitioned cleaning of vision robot and intelligent sweeping robot
US11537141B2 (en) * 2019-12-19 2022-12-27 Diversey, Inc. Robotic cleaning device with dynamic area coverage
CN111466827B (en) * 2020-03-31 2021-09-10 深圳市银星智能科技股份有限公司 Cleaning robot and cleaning mode thereof
CN111580525B (en) * 2020-05-26 2023-05-05 珠海一微半导体股份有限公司 Judgment method for returning to starting point in edge walking, chip and vision robot
CN111596662B (en) * 2020-05-26 2023-03-10 珠海一微半导体股份有限公司 Method for judging one circle along global working area, chip and visual robot
CN112790672B (en) * 2021-02-10 2022-08-26 北京石头创新科技有限公司 Automatic cleaning equipment control method and device, medium and electronic equipment
CN118382848A (en) * 2022-11-18 2024-07-23 汤恩智能科技(上海)有限公司 Robot, travel control method thereof, robot system, and storage medium

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4878003A (en) * 1985-10-15 1989-10-31 Knepper Hans Reinhard Process and installation for the automatic control of a utility vehicle
FR2695342A1 (en) * 1989-06-07 1994-03-11 Onet Robotic floor-sweeping with stored-program microprocessor control

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3536974A1 (en) * 1985-10-17 1987-04-23 Knepper Hans Reinhard Operatorless, externally controlled machine with a chassis, and process for its external control
FR2648071B1 (en) * 1989-06-07 1995-05-19 Onet SELF-CONTAINED METHOD AND APPARATUS FOR AUTOMATIC FLOOR CLEANING BY EXECUTING PROGRAMMED MISSIONS
US5568589A (en) * 1992-03-09 1996-10-22 Hwang; Jin S. Self-propelled cleaning machine with fuzzy logic control
KR970000582B1 (en) * 1994-03-31 1997-01-14 삼성전자 주식회사 Method for controlling driving of a robot cleaner

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4878003A (en) * 1985-10-15 1989-10-31 Knepper Hans Reinhard Process and installation for the automatic control of a utility vehicle
FR2695342A1 (en) * 1989-06-07 1994-03-11 Onet Robotic floor-sweeping with stored-program microprocessor control

Also Published As

Publication number Publication date
GB0113417D0 (en) 2001-07-25
AU1575300A (en) 2000-07-12
WO2000038025A1 (en) 2000-06-29
GB2361553B (en) 2003-02-12
GB9827777D0 (en) 1999-02-10
GB2344900A (en) 2000-06-21

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Legal Events

Date Code Title Description
732E Amendments to the register in respect of changes of name or changes affecting rights (sect. 32/1977)
PCNP Patent ceased through non-payment of renewal fee

Effective date: 20131206