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1. 发明公开

EP3234713A1 CLEANING METHOD FOR A ROBOTIC CLEANING DEVICE 有权
标题翻译：机器人清洁装置的清洁方法
公开(公告)号：EP3234713A1
公开(公告)日：2017-10-25
申请号：EP14816216.7
申请日：2014-12-16
申请人： Aktiebolaget Electrolux
发明人： HAEGERMARCK, Anders , LINDHÉ, Magnus
IPC分类号： G05D1/02
CPC分类号： G05D1/0219 , A47L5/22 , A47L9/009 , A47L9/0411 , A47L9/0477 , A47L9/2826 , A47L9/2852 , A47L11/24 , A47L11/28 , A47L11/4011 , A47L11/4061 , A47L2201/04 , G05D1/0234 , G05D1/0238 , G05D1/0272 , G05D1/0274 , G05D2201/0215
摘要： The invention relates to a method of operating a robotic cleaning device (10) over a surface (35, 35') to be cleaned, the method being performed by the robotic cleaning device, the method comprising the steps of: following (S02) a boundary (38, 38') of a first object (34, 34') while registering (S03) path markers (36) at intervals on the surface, the path markers comprising positional information; tracing (S04) previously registered path markers (36') at an offset (D) upon encountering one or more of the previously registered path markers; and switching (S05) from tracing the previously registered path markers to following (S06) an edge (38'') of a second object (40) upon detection of the second object.
摘要翻译：本发明涉及一种在待清洁表面（35,35'）上操作机器人清洁装置（10）的方法，所述方法由机器人清洁装置执行，所述方法包括以下步骤：跟随（S02）（34,34'）的边界（38,38'），同时在所述表面上间隔地注册（S03）路径标记（36），所述路径标记包括位置信息; 在遇到一个或多个先前注册的路径标记时，在偏移（D）处跟踪（S04）先前注册的路径标记（36'）; 以及在检测到所述第二对象时，切换（S05）从跟踪所述先前注册的路径标记到跟随（S06）所述第二对象（40）的边缘（38“）。

2. 发明公开

EP3084538A1 ROBOTIC CLEANING DEVICE WITH PERIMETER RECORDING FUNCTION 有权
标题翻译：环境记录功能机械手清洗设备
公开(公告)号：EP3084538A1
公开(公告)日：2016-10-26
申请号：EP13811937.5
申请日：2013-12-19
申请人： Aktiebolaget Electrolux
发明人： LINDHÉ, Magnus , FORSBERG, Petter , HAEGERMARCK, Anders
IPC分类号： G05D1/02
CPC分类号： G05D1/0221 , A47L11/4011 , A47L2201/04 , G05D1/0231 , G05D1/0248 , G05D1/0251 , G05D1/0274 , G05D2201/0203
摘要： The invention relates to a robotic cleaning device comprising a main body (2), a cleaning portion (12) configured to clean a floor of an area (28) of interest, a propulsion system (7, 8) configured to move the robotic cleaning device (1) across a surface of the area. The robotic cleaning device (1) may further comprise an obstacle detecting device and a processing unit (20), the processing unit (20) being configured to control the propulsion system (8), wherein the obstacle detecting device is configured to monitor a perimeter (30, 30') of at least part of the area (28) and to follow and continuously record a position of an object (34), while the object is moving along the perimeter (30, 30'); and wherein the processing unit (20) is configured to create positional data of the perimeter (30, 30') out of the continuously recorded positions.

3. 发明授权

EP3082537B1 ROBOTIC CLEANING DEVICE AND METHOD FOR LANDMARK RECOGNITION 有权
公开(公告)号：EP3082537B1
公开(公告)日：2020-11-18
申请号：EP13819028.5
申请日：2013-12-19
申请人： Aktiebolaget Electrolux
发明人： LINDHÉ, Magnus , HAEGERMARCK, Anders , FORSBERG, Petter
IPC分类号： A47L9/00

4. 发明公开

EP3282912A1 ROBOTIC CLEANING DEVICE AND A METHOD OF CONTROLLING THE ROBOTIC CLEANING DEVICE 有权
标题翻译：机器人清洁装置和控制机器人清洁装置的方法
公开(公告)号：EP3282912A1
公开(公告)日：2018-02-21
申请号：EP15719996.9
申请日：2015-04-17
申请人： Aktiebolaget Electrolux
发明人： LINDHÉ, Magnus , FORSBERG, Petter
IPC分类号： A47L9/28
CPC分类号： G05D1/0022 , A47L9/2805 , A47L9/2842 , A47L9/2847 , A47L9/2852 , A47L2201/04 , A47L2201/06 , G05D1/0212
摘要： A robotic cleaning device having an inertia measurement unit and a controller. The inertia measurement unit is arranged to sense a displacement of the robotic cleaning device and the controller is arranged to determine a characteristic of the displacement of the robotic cleaning device, and to set the robotic cleaning device in an operational mode being associated with the determined characteristic of the displacement.

5. 发明授权

EP3084538B1 ROBOTIC CLEANING DEVICE WITH PERIMETER RECORDING FUNCTION 有权
标题翻译：带外围记录功能的机器人清洁装置
公开(公告)号：EP3084538B1
公开(公告)日：2017-11-01
申请号：EP13811937.5
申请日：2013-12-19
申请人： Aktiebolaget Electrolux
发明人： LINDHÉ, Magnus , FORSBERG, Petter , HAEGERMARCK, Anders
IPC分类号： A47L11/40 , G05D1/02
CPC分类号： G05D1/0221 , A47L11/4011 , A47L2201/04 , G05D1/0231 , G05D1/0248 , G05D1/0251 , G05D1/0274 , G05D2201/0203

6. 发明公开

EP3084540A1 ROBOTIC CLEANING DEVICE 有权
标题翻译：机械手清洗设备
公开(公告)号：EP3084540A1
公开(公告)日：2016-10-26
申请号：EP13817911.4
申请日：2013-12-19
申请人： Aktiebolaget Electrolux
发明人： LINDHÉ, Magnus , HAEGERMARCK, Anders , FORSBERG, Petter
IPC分类号： G05D1/02
CPC分类号： G01C21/206 , A47L11/24 , A47L11/4011 , A47L11/4041 , A47L11/4066 , A47L2201/06 , B60L11/1809 , G05D1/0248 , G05D1/0274 , G05D2201/0215 , Y10S901/01 , Y10S901/46
摘要： A robotic cleaning device having a body, and an obstacle detecting device configured to obtain data from a vicinity of the robotic cleaning device. The robotic cleaning device further has a propulsion system configured to drive the robotic cleaning device across a surface to be cleaned, and a cleaning member. The device also has a processing unit arranged to extract at least one feature from data obtained by the obstacle detecting device, compare the attained feature with stored features and when the attained feature matches one of the stored features, deduce a position of the robotic cleaning device.

7. 发明公开

EP3082541A1 ADAPTIVE SPEED CONTROL OF ROTATING SIDE BRUSH 有权
标题翻译：自适应巡航控制用于旋转侧刷
公开(公告)号：EP3082541A1
公开(公告)日：2016-10-26
申请号：EP13811220.6
申请日：2013-12-19
申请人： Aktiebolaget Electrolux
发明人： LINDHÉ, Magnus , KLINTEMYR, Andreas , HAEGERMARCK, Anders , FORSBERG, Petter
IPC分类号： A47L9/28
CPC分类号： A47L11/4066 , A47L9/2805 , A47L9/2852 , A47L11/24 , A47L11/4011 , A47L11/4038 , A47L11/4041 , A47L11/4069 , A47L2201/04 , A47L2201/06 , G05D1/0219 , Y02B40/82
摘要： A method of controlling rotating side brushes of a robotic cleaning device and a robotic cleaning device performing the method. The robotic cleaning device has a main body, a propulsion system arranged to move the robotic cleaning device across a surface to be cleaned, and a controller arranged to control the propulsion system to move the robotic cleaning device across the surface to be cleaned in accordance with navigation information. The robotic cleaning device has an opening arranged in a bottom side of the main body via which debris is removed from the surface to be cleaned, and at least one rotating side brush adjacent to the opening. The controller registers a speed with which the robotic cleaning device moves across the surface to be cleaned, and controls a rotational speed of the rotating side brush on the basis of the registered speed of movement of the robotic cleaning device.

8. 发明授权

EP3084539B1 PRIORITIZING CLEANING AREAS 有权
公开(公告)号：EP3084539B1
公开(公告)日：2019-02-20
申请号：EP13811938.3
申请日：2013-12-19
申请人： Aktiebolaget Electrolux
发明人： LINDHÉ, Magnus , FORSBERG, Petter
IPC分类号： G05D1/02

9. 发明公开

EP3234714A2 EXPERIENCE-BASED ROADMAP FOR A ROBOTIC CLEANING DEVICE 有权
标题翻译：基于经验的机器人清洁装置路径图
公开(公告)号：EP3234714A2
公开(公告)日：2017-10-25
申请号：EP14821125.3
申请日：2014-12-16
申请人： Aktiebolaget Electrolux
发明人： HAEGERMARCK, Anders , LINDHÉ, Magnus
IPC分类号： G05D1/02
CPC分类号： G05D1/0221 , G05D1/0274 , G05D2201/0203
摘要： The invention relates to a method of operating a robotic cleaning device (10) over a surface to be cleaned comprising the steps of: registering (S01) roadmap nodes (34a, 34b, 34', 34'', 34''', 34'''', 34''''') at intervals on the surface during cleaning, said roadmap nodes comprising positional information; linking (S02) the roadmap nodes to form roadmap links (36) in a roadmap graph (38, 38'), if the robotic cleaning device is driving directly from a previously registered roadmap node (34') to a currently registered roadmap node (34); wherein the roadmap links (36) in the roadmap graph facilitate navigation of the robotic cleaning device.
摘要翻译：本发明涉及一种在待清洁表面上操作机器人清洁装置（10）的方法，包括以下步骤：将（S01）路线图节点（34a，34b，34'，34“，34'，34 所述路线图节点包括位置信息;所述路线图节点包括位置信息，如果所述机器人清洁设备正在从先前注册的路线图节点（34'）直接驱动到当前注册的路线图节点（34'），则链接（S02）所述路线图节点以形成路标图（38,38'）中的路线图链接 34）; 其中路线图中的路线图链接（36）便于机器人清洁设备的导航。

10. 发明公开

EP3230814A1 USING LASER SENSOR FOR FLOOR TYPE DETECTION 有权
标题翻译：使用激光传感器进行地板类型检测
公开(公告)号：EP3230814A1
公开(公告)日：2017-10-18
申请号：EP14811847.4
申请日：2014-12-10
申请人： Aktiebolaget Electrolux
发明人： HAEGERMARCK, Anders , FORSBERG, Petter , LINDHÉ, Magnus
IPC分类号： G05D1/02 , A47L9/28
CPC分类号： G05D1/0246 , A47L9/0477 , A47L9/0488 , A47L9/2826 , A47L9/2842 , A47L9/2847 , A47L9/2852 , A47L11/4011 , A47L2201/04 , A47L2201/06 , G01B11/06 , G01B11/303 , G01N21/84 , G05D1/0248 , G05D2201/0203 , G05D2201/0215 , G06K9/00624 , G06K9/2036 , G06K9/78 , G06T7/521
摘要： The invention relates to a robotic cleaning device (10) and a method at the robotic cleaning device of detecting a structure of a surface (31) over which the robotic cleaning device moves. The method for a robotic cleaning device (10) of detecting a structure of a surface (31) over which the robotic cleaning device moves comprises illuminating (S101) the surface with structured vertical light (30), capturing (S102) an image (37) of the surface, detecting (S103) at least one luminous section in the captured image, and determining (S104), from an appearance of the at least one luminous section, the structure of the surface.
摘要翻译：本发明涉及一种机器人清洁装置（10）以及一种在机器人清洁装置处检测机器人清洁装置在其上移动的表面（31）的结构的方法。用于检测机器人清洁设备在其上移动的表面（31）的结构的机器人清洁设备（10）的方法包括：用结构化垂直光（30）照射（S101）表面，捕获（S102）图像（37 ），在所捕获的图像中检测（S103）至少一个发光部分，并且从所述至少一个发光部分的外观确定（S104）表面的结构。

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