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1. (WO2018219473) METHOD OF DETECTING A DIFFERENCE IN LEVEL OF A SURFACE IN FRONT OF A ROBOTIC CLEANING DEVICE
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Pub. No.: WO/2018/219473 International Application No.: PCT/EP2017/063468
Publication Date: 06.12.2018 International Filing Date: 02.06.2017
IPC:
A47L 9/28 (2006.01)
A HUMAN NECESSITIES
47
FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
L
DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
9
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
28
Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Regulation of suction cleaners by electric means
Applicants:
AKTIEBOLAGET ELECTROLUX [SE/SE]; S:t Göransgatan 143 10545 Stockholm, SE
Inventors:
FORSBERG, Petter; SE
LINDHE, Magnus; SE
KLINTEMYR, Andreas; SE
Agent:
ELECTROLUX GROUP PATENTS; S:t Göransgatan 143 105 45 Stockholm, SE
Priority Data:
Title (EN) METHOD OF DETECTING A DIFFERENCE IN LEVEL OF A SURFACE IN FRONT OF A ROBOTIC CLEANING DEVICE
(FR) PROCÉDÉ DE DÉTECTION D'UNE DIFFÉRENCE DE NIVEAU D'UNE SURFACE DEVANT UN DISPOSITIF DE NETTOYAGE ROBOTISÉ
Abstract:
(EN) The invention relates to a method of detecting a difference in level of a surface in front of a robotic cleaning device, and a robotic cleaning device performing the method. In a first aspect of the invention, a method for a robotic cleaning device (10) of detecting a difference in level of a surface (31) in front of the robotic cleaning device moves is provided. The method comprises illuminating (S101) the surface with light (30b), capturing (S102) an image (40b) of the surface, detecting (S103) a luminous section in the captured image (40b) caused by the light (30b), identifying (S104) at least a first segment (30b') and a second segment (30b'') representing the detected luminous section, and detecting (S104), from a positional relationship between the identified first and second segment (30b', 30b''), the difference in level of the surface (31).
(FR) L'invention concerne un procédé de détection d'une différence de niveau d'une surface devant un dispositif de nettoyage robotisé, et un dispositif de nettoyage robotisé mettant en œuvre le procédé. Un premier aspect de l'invention concerne un procédé permettant à un dispositif de nettoyage robotisé (10) de détecter une différence de niveau d'une surface (31) devant les mouvements du dispositif de nettoyage robotisé. Le procédé comprend l'éclairage (S101) de la surface avec de la lumière (30b), la capture (S102) d'une image (40b) de la surface, la détection (S103) d'une section lumineuse dans l'image capturée (40b) provoquée par la lumière (30b), l'identification (S104) d'au moins un premier segment (30b') et un second segment (30b'') représentant la section lumineuse détectée, et la détection (S104), à partir d'une relation de position entre les premier et second segments identifiés (30b', 30b''), de la différence de niveau de la surface (31).
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Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW
African Regional Intellectual Property Organization (ARIPO) (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Office (AM, AZ, BY, KG, KZ, RU, TJ, TM)
European Patent Office (EPO) (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG)
Publication Language: English (EN)
Filing Language: English (EN)