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1. WO2011000256 - CLEANING ROBOT, DIRT RECOGNITION DEVICE THEREOF AND CLEANING METHOD OF ROBOT

Publication Number WO/2011/000256
Publication Date 06.01.2011
International Application No. PCT/CN2010/073762
International Filing Date 10.06.2010
IPC
A47L 9/28 2006.01
AHUMAN NECESSITIES
47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
9Details 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
28Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
B08B 13/00 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
08CLEANING
BCLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
13Accessories or details of general applicability for machines or apparatus for cleaning
CPC
A47L 2201/06
AHUMAN NECESSITIES
47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
LDOMESTIC WASHING OR CLEANING
2201Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
06Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
A47L 9/2805
AHUMAN NECESSITIES
47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
LDOMESTIC WASHING OR CLEANING
9Details 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
28Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
2805Parameters or conditions being sensed
A47L 9/2852
AHUMAN NECESSITIES
47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
LDOMESTIC WASHING OR CLEANING
9Details 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
28Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
2836characterised by the parts which are controlled
2852Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
G05D 1/0246
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
021specially adapted to land vehicles
0231using optical position detecting means
0246using a video camera in combination with image processing means
G05D 2201/0203
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
2201Application
02Control of position of land vehicles
0203Cleaning or polishing vehicle
Y10S 901/47
YSECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
10TECHNICAL SUBJECTS COVERED BY FORMER USPC
STECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
901Robots
46Sensing device
47Optical
Applicants
  • 科沃斯机器人科技(苏州)有限公司 ECOVACS ROBOTICS (SUZHOU) CO., LTD. [CN]/[CN] (AllExceptUS)
  • 汤进举 TANG, Jinju [CN]/[CN] (UsOnly)
Inventors
  • 汤进举 TANG, Jinju
Agents
  • 北京信慧永光知识产权代理有限责任公司 BEIJING SUNHOPE INTELLECTUAL PROPERTY LTD.
Priority Data
200910150110.503.07.2009CN
Publication Language Chinese (ZH)
Filing Language Chinese (ZH)
Designated States
Title
(EN) CLEANING ROBOT, DIRT RECOGNITION DEVICE THEREOF AND CLEANING METHOD OF ROBOT
(FR) ROBOT DE NETTOYAGE, SON DISPOSITIF DE RECONNAISSANCE DE LA SALETÉ, ET PROCÉDÉ DE NETTOYAGE DU ROBOT
(ZH) 清洁机器人及其脏物识别装置和该机器人的清洁方法
Abstract
(EN)
A cleaning robot (1), a dirt recognition device thereof and a cleaning method of the robot (1) are disclosed. The recognition device includes an image collecting module (10) and an image processing module (20). The image collecting module (10) may be used for collecting the image information of the surface to be treated by the cleaning robot (1) and sending the image information to the image processing module (20). The image processing module (20) may divide the collected image of the surface to be treated into N blocks, extract the image information of each block and process the image information in order to determine the dirtiest surface to be treated that corresponds to one of the N blocks. The cleaning robot (1) can make an active recognition to the dirt such as dust and etc., thereby it can get into the working area accurately and rapidly. Consequently, it can improve the working efficiency and save the working time.
(FR)
Cette invention concerne un robot de nettoyage (1), son dispositif de reconnaissance de la saleté et un procédé de nettoyage du robot (1). Le dispositif de reconnaissance comprend un module d'acquisition d'image (10) et un module de traitement d'image (20). Le module d'acquisition d'image (10) peut être utilisé pour acquérir des données d'image de la surface à traiter par le robot de nettoyage (1) et pour transmettre les données d'image au module de traitement d'image (20). Le module de traitement d'image (20) peut diviser l'image acquise de la surface à traiter en N blocs, extraire les données d'image de chaque bloc et traiter les données d'image afin de déterminer la surface la plus sale à traiter qui correspond à l'un des N blocs. Le robot de nettoyage (1) peut opérer une reconnaissance active de la saleté telle que la poussière, etc., et il peut ainsi arriver dans la zone de travail avec précision et rapidité. Par conséquent, il peut améliorer l'efficacité du travail et économiser le temps de travail.
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