EP3725202A1 - Robot aspirateur autonome ainsi que système comprenant un robot aspirateur autonome et un appareil de nettoyage par aspiration externe - Google Patents

Robot aspirateur autonome ainsi que système comprenant un robot aspirateur autonome et un appareil de nettoyage par aspiration externe Download PDF

Info

Publication number
EP3725202A1
EP3725202A1 EP20168124.4A EP20168124A EP3725202A1 EP 3725202 A1 EP3725202 A1 EP 3725202A1 EP 20168124 A EP20168124 A EP 20168124A EP 3725202 A1 EP3725202 A1 EP 3725202A1
Authority
EP
European Patent Office
Prior art keywords
robot
cleaning device
vacuum cleaner
vacuum
housing
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
EP20168124.4A
Other languages
German (de)
English (en)
Other versions
EP3725202B1 (fr
Inventor
Roman Ortmann
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 EP3725202A1 publication Critical patent/EP3725202A1/fr
Application granted granted Critical
Publication of EP3725202B1 publication Critical patent/EP3725202B1/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
    • A47L9/32—Handles
    • 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
    • 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
    • A47L9/10—Filters; Dust separators; Dust removal; Automatic exchange of filters
    • A47L9/12—Dry filters
    • 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
    • A47L11/4002—Installations of electric equipment
    • 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
    • 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
    • A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices
    • 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
    • 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
    • A47L9/02—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
    • 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
    • A47L9/10—Filters; Dust separators; Dust removal; Automatic exchange of filters
    • 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
    • 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
    • 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
    • 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

Definitions

  • the invention relates to an automatically moving vacuum robot with a housing and a filter chamber for receiving suction material, the housing having a housing opening formed on the upper side of the housing with a displaceable closure element, which is based on a normal orientation of the vacuum robot during automatic movement a closed position closing the housing opening can be displaced into a release position releasing the housing opening in order to enable access to the filter chamber, namely a statement of the interior of the filter chamber by means of an external vacuum cleaning device manually operated by a user.
  • the invention relates to a system of such a robot vacuum cleaner and an external vacuum cleaning device, in particular a vacuum cleaning device operated manually by a user, wherein the housing opening of the vacuum robot and a suction opening of the vacuum cleaning device can be connected to one another in a corresponding shape so that the filter chamber of the vacuum robot can be sucked out by means of the vacuum cleaning device is.
  • Robot vacuum cleaners are well known in the prior art. These usually have a so-called permanent filter, which provides a filter chamber for receiving suction material.
  • This permanent filter can either be removed from the housing of the robotic vacuum cleaner for emptying or else can be regenerated by means of an external suction cleaning device in that the suction material present in the interior of the filter chamber is sucked out by means of the fan of the external suction cleaning device.
  • the external vacuum cleaning device can, for example, be another vacuum cleaner, in particular a vacuum cleaning device manually operated by a user, but also another vacuum robot.
  • the vacuum cleaning device can be part of a base station to which the vacuum robot docks to receive service activities, here for example the regeneration of the filter chamber, but also other services such as charging an accumulator, cleaning a cleaning brush or the like.
  • the user opens a closure element on the housing of the robotic vacuum cleaner and, if necessary, an opening in the filter chamber, if the housing opening and the filter chamber opening are not in the sense of a single Opening collapse. The user can then connect the housing opening or the filter chamber opening to a suction opening of the vacuum cleaning device.
  • the object of the invention is to develop the vacuum robot so that its use is even more convenient for a user, in particular a regeneration of the filter chamber is possible with as little or no user intervention as possible.
  • the closure element of the robotic vacuum cleaner be mounted on the housing in a linearly displaceable manner is, in particular an area of attack of the closure element for moving the closure element can be mechanically contacted from outside the housing and wherein the robot vacuum cleaner has a detection device which is set up to detect the presence of an external vacuum cleaning device to be connected to the housing opening in the area of the robot vacuum cleaner housing opening, wherein the robot vacuum cleaner has a control device which is set up to control opening of the housing opening upon detection of the presence of an external vacuum cleaning device.
  • the mounting of the closure element is now suitable for fully automatic actuation, since the closure element is not folded away from the housing of the robotic vacuum cleaner to release the housing opening, but the displacement movement of the closure element takes place linearly, in particular parallel to a housing surface of the robotic vacuum cleaner. This avoids, for example, that objects in the vicinity of the robotic vacuum cleaner can move into a pivoting radius of the closure element and thus prevent the housing opening from being opened.
  • the closure element is now arranged and designed on the robot vacuum cleaner so that fully automatic docking and regeneration of the filter chamber, for example at a base station, or opening of the housing opening for vacuuming the filter chamber with an external vacuum cleaning device is possible without the risk of the vacuum cleaning device unexpectedly hits the closure element.
  • an area of engagement of the displaceable closure element be designed for mechanical contacting by an external vacuum cleaning device, ie in particular accessible from the outside, so that the closure element can also be moved manually by a user or a vacuum cleaning device manually operated by the user.
  • the engagement area is preferably formed on the closure element in such a way that it protrudes from a surface of the closure element and / or is part of a side surface of the closure element, wherein an attack plane of the attack area and the direction of displacement are not oriented parallel to one another, in particular are oriented orthogonally to one another.
  • An engagement area designed in this way makes it easier to grip the closure element in order to achieve a displacement of the closure element from the closed position into the release position by mechanical contact and the application of a pushing force.
  • the detection device is suitable for recognizing when an external vacuum cleaning device is approached to the vacuum robot in order to regenerate the filter chamber of the vacuum robot.
  • the detection device has a detection area in which the presence of the external vacuum cleaning device can be detected.
  • the detection area can, for example, span an area with a maximum distance of 20 cm or less from the detection device. The smaller the detection area, the closer the vacuum cleaning device must be brought to the robot vacuum cleaner, but the lower the risk that other objects in the detection area will trigger a signal.
  • the detection device can detect it and transmit a corresponding detection signal to a control device of the robot vacuum cleaner, which informs about the presence of the external vacuum cleaning device.
  • the detection area of the detection device is preferably located in the area of the housing opening, for example adjacent to it, so that not every presence of an object in the vicinity of the robotic vacuum cleaner is interpreted as a connection request.
  • the housing opening is arranged on an upper side of the robotic vacuum cleaner - based on a common orientation of the robotic vacuum cleaner during operation - and the detection area of the detection device does not point in a potential direction of movement of the robotic vacuum cleaner, but rather, for example, starting from the housing of the Robot vacuum up.
  • the detection device has a limited detection range, so that an object which is at a distance from the detection device that is greater than a maximum distance is not evaluated as an external vacuum cleaning device to be connected.
  • the detection device transmits a detected distance to an obstacle to the control device of the robotic vacuum cleaner, which then compares the detected distance with a defined maximum distance and, when it determines that the distance is greater than the maximum distance, no opening of the housing opening initiated. It can thus be ensured that the housing opening is only opened and access to the filter chamber of the robotic vacuum cleaner is permitted if it can be assumed with a predominant probability that an external vacuum cleaning device is to be connected to the robotic vacuum cleaner. Furthermore, it is also possible for the detection device to be set up to detect further parameters of an object in the vicinity of the housing opening in order to be able to determine whether an object present is actually an external vacuum cleaning device.
  • These parameters can include, for example, a direction of movement of the object, a size of the object, a shape of the object or the like. It is also possible for the detection device to detect the presence of an external vacuum cleaning device by making mechanical contact with a sub-area of the detection device.
  • the housing have a guide device for guiding the sliding displacement of the closure element, the guide device being arranged on the robot vacuum cleaner relative to the housing opening in such a way that the closure element can be displaced along the guide device from the closed position into the release position and vice versa.
  • the guide device can be two parallel to one another have running guide elements, along and between which the closure element is slidably mounted, wherein the guide elements can in particular be part of a guide slot and / or rail guide.
  • the guiding device of the robotic vacuum cleaner serves to guide the linear displacement movement of the closure element in a directed manner.
  • the guide device is preferably designed as a three-dimensional guide slot or as a rail guide in which the closure element can be moved.
  • the guide device can have two guide elements, in the guide area of which the housing opening of the robotic vacuum cleaner is arranged, so that the closure element passes over the housing opening and can close it when the displacement movement is performed.
  • the housing opening is preferably located between them.
  • the housing opening is located in the guide area of the guide device at an end partial area, so that, for example, a stop element of the guide device and / or the guide elements defines that position of the closure element which is in overlap with the housing opening.
  • the robotic vacuum cleaner has a displacement device that displaces the closure element.
  • the displacement device can for example be an electric motor which is controlled by the control device of the robotic vacuum cleaner.
  • the displacement device can have a spring element, the restoring force of which is directed from the release position of the closure element into the closed position so that the closure element is displaced back into the closed position when an opening force acting on the closure element ceases.
  • An embodiment is particularly preferred in which both the opening and the closing of the housing opening take place without the intervention of a user and the displacement of the closure element is effected as soon as it is determined that an external vacuum cleaning device is located in front of the housing opening and is to be connected to it in terms of a flow connection or is from removed from the housing opening. It is therefore no longer necessary for the user to manually grip the closure element in order to displace it relative to the housing opening.
  • the detection device of the robotic vacuum cleaner it is proposed that it have a contact sensor and / or a magnetic field sensor and / or an image acquisition device.
  • the contact sensor is designed to detect contact between an object and a corresponding detection area of the detection device and to transmit the information to the control device of the robotic vacuum cleaner via a detected contact.
  • the contact sensor reacts to the mechanical contact, with a minimum force preferably having to be exerted on the detection area so that it recognizes the contact as a valid connection request from an external vacuum cleaning device.
  • the contact sensor is designed for contact with a partial area of the external vacuum cleaning device, with a user preferably placing a hand-held vacuum cleaning device on the contact sensor and the mere weight of the vacuum cleaning device is sufficient to exceed the defined minimum force.
  • a further pulse is also transmitted to the contact sensor, for example by the user additionally pressing the vacuum cleaning device against the contact sensor.
  • the contact sensor can furthermore also be set up to detect a direction of the mechanical force exerted on the contact sensor, in order to be able to differentiate between external vacuum cleaning devices and other objects in the vicinity, if necessary.
  • the contact sensor can for example be integrated into an edge area of the housing opening, so that when the housing opening is touched by the vacuum cleaning device, a signal for the control device of the vacuum robot is generated.
  • the signal can be generated, for example, by means of an electromechanical switch in that an electrical circuit is closed by the contact of the vacuum cleaning device with the contact sensor.
  • the switch is preferably located at a typical contact point between the vacuum robot and the vacuum cleaning device, in particular directly at the housing opening.
  • a magnetic field sensor can also be used to form the detection device.
  • the magnetic field sensor can be a Hall sensor which supplies an output voltage that is dependent on a magnetic field.
  • a partial area of an external vacuum cleaning device to be connected to the housing opening can have, for example, a permanent magnet whose magnetic field can be detected by the Hall sensor of the vacuum robot.
  • the Hall sensor then supplies an output voltage that is proportional to the magnetic flux density of the permanent magnet.
  • the detection device can also alternatively or additionally have an image acquisition device.
  • the image acquisition device is preferably a camera arranged on the robot vacuum cleaner or a chip set up for image acquisition, such as a CCD chip, for example.
  • the image capturing device has a detection area which preferably covers a coupling area in front of the housing opening in order to be able to detect an external vacuum cleaning device moving towards the housing opening.
  • the signals recorded by the image acquisition device are preferably processed by an image processing program in order to be able to detect the presence of an external vacuum cleaning device in the area of the housing opening.
  • the image processing program can compare the recorded images with reference images from vacuum cleaning devices that are suitable for use with the housing opening of the To be connected to the vacuum robot. In this way, it can be ruled out that other objects or unsuitable vacuum cleaning devices in the vicinity of the robotic vacuum cleaner can cause the housing opening to be opened.
  • the detection device is set up to detect a position and / or orientation of the external vacuum cleaning device relative to the housing opening of the robot vacuum cleaner.
  • This refinement is particularly suitable when the detection device has an image acquisition device.
  • the detection device When comparing the images recorded by the detection device with reference images that show different positions and / or orientations of external vacuum cleaning devices, it can be recognized how and where the external vacuum cleaning device is positioned relative to the housing opening.
  • the detection of a valid position and / or orientation of the external vacuum cleaning device on the vacuum robot could, however, also be recognized, for example, by a contact sensor or an arrangement of contact sensors which are contacted when the vacuum cleaning device is properly positioned on the vacuum robot.
  • control device of the robot vacuum cleaner is set up to control a movement of the robot vacuum cleaner relative to the external vacuum cleaning device as a function of the detection signal of the detection device in such a way that the housing opening comes into contact with the external vacuum cleaning device in order to establish a flow connection between the filter chamber of the robotic vacuum cleaner and a suction opening of the external vacuum cleaning device.
  • the detection device first detects the position and / or orientation of the external vacuum cleaning device relative to the housing opening of the vacuum cleaner and transmits the result to the control device, which then determines which position and / or orientation deviation the detected position and / or orientation of the vacuum cleaning device has in relation to a position and / or orientation necessary for a proper coupling of the vacuum cleaning device to the housing opening of the vacuum robot .
  • the control device then controls the robotic vacuum cleaner in such a way that it moves and aligns itself automatically relative to the detected external vacuum cleaning device, for example, moves towards this and / or rotates until the housing opening has reached a position relative to the external vacuum cleaning device in which a suction opening has a Part of the external vacuum cleaning device is in flow connection with the housing opening of the robot vacuum cleaner.
  • the housing opening of the robotic vacuum cleaner is particularly preferably rotationally symmetrical, in particular round, so that there is not just a single position in which the portion of the external vacuum cleaning device having the suction opening can be connected to the housing opening of the robotic vacuum cleaner.
  • the partial area of the vacuum cleaning device preferably slides along the guide device described above, which is formed on the housing of the vacuum cleaning device, so that a directed movement of the vacuum cleaning device takes place in the housing opening.
  • control signals that set the robot vacuum cleaner in motion for alignment with the external vacuum cleaning device it can also be provided that when the housing opening of the robot vacuum cleaner is connected to an external vacuum cleaning device, a corresponding suction power level of the vacuum cleaning device is set in order to enable an optimal cleaning result.
  • the signal could also cause a fan of the robotic vacuum cleaner to operate in order to support the regeneration of the filter chamber, for example by the robotic vacuum cleaner's own fan blowing suction material collected in the filter chamber out of the housing opening.
  • the fan of the robotic vacuum cleaner is preferably only initiated when the detection device detects that an external vacuum cleaning device is actually connected properly and dust-tight to the housing opening of the robotic vacuum cleaner.
  • control device be set up to move the closure element into the release position by moving the robot vacuum against the external vacuum cleaning device, so that the closure element is moved into an open position by the action of mechanical force from the external vacuum cleaning device.
  • the detection device detects a contact between an external vacuum cleaning device and the robot vacuum cleaner
  • a signal is generated for the robot to move in such a way that the displaceable closure element releases the housing opening for suctioning the filter chamber.
  • the robot vacuum moves against the partial area of the vacuum cleaning device having the vacuum opening in such a way that the vacuum cleaning device comes into contact with the closure element and the closure element is shifted into the release position as the robot vacuum continues to move.
  • the external vacuum cleaning device only has to be held in place by a user. However, it is not necessary for the user to move the external vacuum cleaning device towards the robot vacuum cleaner. Rather, the robotic vacuum cleaner itself takes on the alignment relative to the suction opening of the vacuum cleaning device.
  • the implementation of the regeneration process of the filter chamber can thus be automated, the closure element of the robot vacuum being placed and designed on the housing of the robot vacuum cleaner so that the connection between the robot vacuum cleaner and the external vacuum cleaning device can be established without the need for a supplementary or preparatory device requires manual intervention by a user. Rather, the connection can be established fully automatically by the vacuum robot.
  • the closure element in particular its position, shape and / or size, is particularly advantageously adapted to the sub-area of the external suction cleaning device that has the suction opening. Support for establishing the flow connection is provided by a directed movement of the autonomous vacuum robot when a coupling request from an external vacuum cleaning device is recognized.
  • the invention also proposes a system consisting of such an automatically moving vacuum robot and an external vacuum cleaning device, the housing opening of the vacuum robot and a suction opening of the vacuum cleaning device being connectable to each other in a shape-corresponding manner so that the filter chamber of the vacuum robot is connected to the Vacuum cleaning device is sucked out.
  • the external vacuum cleaning device can in particular be a vacuum cleaning device operated manually by a user.
  • the vacuum cleaning device is part of an essentially stationary base station for the vacuum robot, or alternatively also a vacuum robot that moves automatically.
  • the housing opening of the robotic vacuum cleaner is designed so that it can be opened through a corresponding partial area of the external vacuum cleaning device, which particularly preferably has a suction opening.
  • the features and advantages described above in relation to the automatically moveable vacuum robot also apply accordingly to the system with such a vacuum robot and an external vacuum cleaning device.
  • the closure element of the robotic vacuum cleaner should be closed by means of a sub-area of the Vacuum cleaning device is displaceable from the closed position into the release position, the robot vacuum cleaner furthermore preferably having a guide device which is designed both to guide the closure element and to guide the portion of the vacuum cleaning device having the suction opening.
  • Figure 1 shows an example of a robot vacuum cleaner 1 which is designed for automatic locomotion.
  • the robot vacuum cleaner 1 has motor-driven wheels 16 in the usual way (see FIG Figures 3 and 4th ) and a navigation device, by means of which the robot vacuum cleaner 1 can orientate and localize itself in an environment.
  • the robot vacuum cleaner 1 has a distance measuring device 13 which, for example, has a Laser triangulation measuring device can be. Using the determined distance values, the robot vacuum cleaner 1 creates a map of the surroundings which the robot vacuum cleaner 1 can use to plan a travel path in the environment or to localize itself.
  • the robot vacuum cleaner 1 has a suction device, although other cleaning functions can also be integrated, for example an additional wiping function.
  • the suction device has a fan and an electric motor (not shown) driving the fan, which can suck suction material from a surface to be cleaned into a filter chamber 3 of the robot vacuum cleaner 1.
  • the robot vacuum cleaner 1 also has several cleaning elements 17 for acting on a floor surface to be cleaned, here for example a rotating side brush and a bristle roller rotating about an essentially horizontal axis.
  • a switch 15 of the robot vacuum cleaner 1 is used to switch on the suction device and / or the cleaning elements 17 of the robot vacuum cleaner 1 in order to start a normal cleaning operation.
  • the robot vacuum cleaner 1 also has obstacle sensors 14, for example ultrasonic sensors, which are arranged at the front of a housing 2 of the robot vacuum cleaner 1 in relation to a normal forward movement of the robot vacuum cleaner 1.
  • a housing opening 4 (see FIG. 2) is formed on the upper side of the housing 2 and simultaneously opens the filter chamber 3.
  • a flow connection can exist between the housing opening 4 and the filter chamber 3, for example via a suction channel section, or the housing opening 4 can simultaneously be a filter chamber opening of the filter chamber 3, so that when the housing opening 4 is opened, the filter chamber 3 simultaneously opens and suction material can be sucked out of the filter chamber 3.
  • the housing opening 4 of the robot vacuum cleaner 1 is assigned a closure element 5, which is mounted on the housing 2 in a linearly displaceable manner.
  • the closure element 5 is displaceably mounted here via a guide device 7 in such a way that the closure element 5 is separated from the in Figure 1 closed position shown in Figure 2 Released position shown is displaceable.
  • the guide device 7 here has, for example, two elongated guide elements 8, which extend parallel to one another and form guide rails for the closure element 5.
  • a displacement device 10, namely here, for example, a spring element, is assigned to the closure element 5, the restoring force of which in the direction of FIG Figure 1 shown closed position of the closure element 5 is directed.
  • an actuator such as a linear drive with an electric motor or the like, which can move the closure element 5 into the closed position and, if necessary, also into the release position, can also serve as the displacement device 10.
  • an engagement area 20 is defined on the closure element 5, which, according to the embodiment shown here, corresponds to a side edge of the closure element 5. The function of this attack area 20 will be explained later.
  • a detection device 9 is also assigned to the housing opening 4 of the robot vacuum cleaner 1.
  • the Figures 3 and 4th show the vacuum robot 1 with an external vacuum cleaning device 6.
  • the vacuum cleaning device 6 is designed here as a manually operated vacuum cleaner.
  • the vacuum cleaning device 6 has a handle 18 on which a user can guide the vacuum cleaning device 6 over a surface to be cleaned.
  • the vacuum cleaning device 6 has, in the usual way, a suction fan with an electric motor in order to be able to accommodate suction material in its own filter chamber (not shown).
  • a chamber cover 19 is formed on the housing of the vacuum cleaning device 6 in order to be able to remove the filter chamber or a filter bag from the vacuum cleaning device 6.
  • the vacuum cleaning device 6 has a Subarea 12 has a suction opening 11 at which a negative pressure is generated by the fan.
  • the suction opening 11 is designed to correspond in shape to the housing opening 4 of the robot vacuum cleaner 1, so that the suction opening 11 or the partial area 12 can be connected to the housing opening 4 of the robot vacuum cleaner 1 in order to vacuum the filter chamber 3 of the robot vacuum cleaner 1.
  • the robot vacuum cleaner 1 or preferably also the robot vacuum cleaner 1 autonomously - recognizes that the filter chamber 3 of the robot vacuum cleaner 1 should be regenerated, the user brings the external vacuum cleaning device 6 to the robot vacuum cleaner 1, namely in the area of the housing opening 4 which subregion 12 of the suction cleaning device 6 having the suction opening 11 is to be connected.
  • the detection device 9 of the robot vacuum cleaner 1 can be designed, for example, as an image acquisition device and can detect when an external vacuum cleaning device 6 approaches the housing opening 4 of the robot vacuum cleaner 1.
  • a control device of the robot vacuum cleaner 1 can then activate a displacement device 10, namely in particular an electric motor, in order to move the closure element 5 within the guide device 7 from a closed position into a release position until the housing opening 4 for connecting the suction opening 11 of the vacuum cleaning device 6 to the Housing 2 of the robot vacuum cleaner 1 or its filter chamber 3 is open.
  • the filter chamber 3 can then be regenerated by means of the fan of the vacuum cleaning device 6.
  • the displacement device 10 and / or a spring element acts in the direction of a restoring force until the closure element 5 is displaced over the housing opening 4 and thus closes it.
  • the robot vacuum cleaner 1 itself maneuvers relative to the external vacuum cleaning device 6 in such a way that the housing opening 4 is under the suction opening 11 of the Vacuum cleaning device 6 is or comes into contact with this.
  • the housing opening 4 has preferably already been opened automatically beforehand, so that a flow connection can be established directly between the vacuum robot 1 and the vacuum cleaning device 6.
  • the robot vacuum cleaner 1 and the external vacuum cleaning device 6 are connected to one another fully automatically, without a user holding the vacuum cleaning device 6 having to manually fine-tune the vacuum cleaning device 6 relative to the housing opening 4 of the robot vacuum cleaner 1.
  • the user guides the vacuum cleaning device 6, for example, as in FIG Figure 3 shown up to the suction robot 1 until the partial area 12 having the suction opening 11 contacts the detection device 9, namely here, for example, a contact sensor.
  • the detection device 9 has, for example, an electromechanical switch which is actuated by the sub-area 12 of the vacuum cleaning device 6 in such a way that an electrical circuit is closed, whereupon the control device of the vacuum robot 1 then controls the movement relative to the vacuum cleaning device 6.
  • the sub-area 12 of the vacuum cleaning device 6 is located between the guide elements 8 of the guide device 7 of the robot vacuum cleaner 1.
  • the contact signal of the detection device 9 is transmitted to the control device of the robot vacuum cleaner 1, which then transmits a navigation command to the robot vacuum cleaner 1 such that a defined locomotion of the Robot vacuum cleaner 1 is controlled, which is suitable for bringing the housing opening 4 of the robot vacuum cleaner 1 and the suction opening 11 of the vacuum cleaning device 6 to one another.
  • the movement of the robot vacuum cleaner 1 is controlled in such a way that the closure element 5 of the robotic vacuum cleaner 1 with the attack area 20 hits the sub-area 12 of the vacuum cleaning device 6 and with continued movement of the robotic vacuum cleaner 1 from the in Figure 3 in the closed position shown in Figure 4 Released position shown is relocated.
  • the closure element 5 is shifted into the release position parallel to the longitudinal extension of the guide elements 8 of the guide device 7, while the sub-area 12 of the vacuum cleaning device 6 also changes its position within the guide device 7 until the suction opening 11 comes into contact with the housing opening 4 of the robot vacuum cleaner 1 .
  • the displacement of the closure element 5 takes place, for example, against a restoring force of a displacement device 10 designed as a spring element.
  • the spring element is tensioned and can be moved back into the closed position when the vacuum cleaning device 6 is separated from the robot vacuum cleaner 1.
  • the guiding geometry of the guiding device 7 provides a recessed guiding area so that the user cannot slide off the robot vacuum cleaner 1 with the subarea 12 having the suction opening 11 when holding the vacuum cleaning device 6.
  • the autonomous movement of the robot vacuum cleaner 1 is such that the user only has to hold the hand-held vacuum cleaning device 6 in position and, if necessary, press down a little against the robot vacuum cleaner 1, whereby the weight of the vacuum cleaning device 6 can also be sufficient for the contact sensor to Detection device 9 responds.
  • the suction opening 11 or the partial area 12 of the vacuum cleaning device 6 having the suction opening 11 can have a sensor which detects a proper connection of the suction opening 11 to the housing opening 4 of the vacuum robot 1, a control device of the vacuum cleaning device 6 then switching on the fan of the vacuum cleaning device 6 and sets a corresponding suction power level that is suitable for achieving an optimal cleaning result when vacuuming the filter chamber 3 of the robotic vacuum cleaner 1.
  • an opening edge could also be used, for example the housing opening 4 of the robot vacuum cleaner 1 have a sensor to start a fan of the robot vacuum cleaner 1, which also blows out the filter chamber 3 in the direction of the vacuum cleaning device 6, whereby the suction activity of the external vacuum cleaning device 6 is advantageously supported.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Filters For Electric Vacuum Cleaners (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
EP20168124.4A 2019-04-11 2020-04-06 Robot aspirateur autonome ainsi que système comprenant un robot aspirateur autonome et un appareil de nettoyage par aspiration externe Active EP3725202B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102019109634.0A DE102019109634A1 (de) 2019-04-11 2019-04-11 Sich selbsttätig fortbewegender Saugroboter sowie System aus einem sich selbsttätig fortbewegenden Saugroboter und einem externen Saugreinigungsgerät

Publications (2)

Publication Number Publication Date
EP3725202A1 true EP3725202A1 (fr) 2020-10-21
EP3725202B1 EP3725202B1 (fr) 2023-06-14

Family

ID=70189803

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20168124.4A Active EP3725202B1 (fr) 2019-04-11 2020-04-06 Robot aspirateur autonome ainsi que système comprenant un robot aspirateur autonome et un appareil de nettoyage par aspiration externe

Country Status (7)

Country Link
US (1) US11457789B2 (fr)
EP (1) EP3725202B1 (fr)
JP (1) JP2020171685A (fr)
CN (1) CN111802960B (fr)
DE (1) DE102019109634A1 (fr)
ES (1) ES2951515T3 (fr)
TW (1) TW202041186A (fr)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11122945B2 (en) * 2017-12-04 2021-09-21 Transform Sr Brands Llc Two-in-one upright vacuum
USD938115S1 (en) * 2018-11-30 2021-12-07 Irobot Corporation Autonomous floor cleaning robot
JP1716352S (ja) * 2021-01-14 2022-05-31 掃除ロボット
USD989426S1 (en) * 2021-01-20 2023-06-13 Vorwerk & Co. Interholding Gmbh Robot vacuum cleaner
CN116919260A (zh) * 2022-04-08 2023-10-24 北京石头世纪科技股份有限公司 清洁机器人

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1842474A2 (fr) * 2006-04-04 2007-10-10 Samsung Electronics Co., Ltd. Système robot nettoyeur doté d'un robot nettoyeur et d'une station d'accueil
WO2007137234A2 (fr) * 2006-05-19 2007-11-29 Irobot Corporation Dispositif pour débarrasser les robots de nettoyage de débris
DE102010000607A1 (de) * 2010-03-02 2011-09-08 Vorwerk & Co. Interholding Gmbh Als Basisstation für ein selbsttätig verfahrbares Saug- und/oder Kehrgerät einsetzbarer Haushaltsstaubsauger

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10358237A1 (de) * 2003-12-12 2005-07-07 Vorwerk & Co. Interholding Gmbh Saugreinigungsvorsatz für einen Staubsauger
DE102008030707B4 (de) * 2008-06-27 2020-02-20 Vorwerk & Co. Interholding Gmbh Staubsammelkammer sowie Verfahren zum Betrieb einer Staubsammelkammer
WO2015082019A1 (fr) * 2013-12-06 2015-06-11 Alfred Kärcher Gmbh & Co. Kg Appareil de nettoyage des sols automoteur et autodirecteur, et système de nettoyage
CN204445703U (zh) * 2015-02-09 2015-07-08 宁波六脉神剑软件科技有限公司 一种智能扫地机器人***
CN107997686A (zh) * 2017-11-30 2018-05-08 深圳市沃特沃德股份有限公司 垃圾回收装置及扫地***
US11122945B2 (en) * 2017-12-04 2021-09-21 Transform Sr Brands Llc Two-in-one upright vacuum
CN108464775A (zh) * 2018-04-04 2018-08-31 宛敏玖 一种扫地机器人组件

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1842474A2 (fr) * 2006-04-04 2007-10-10 Samsung Electronics Co., Ltd. Système robot nettoyeur doté d'un robot nettoyeur et d'une station d'accueil
WO2007137234A2 (fr) * 2006-05-19 2007-11-29 Irobot Corporation Dispositif pour débarrasser les robots de nettoyage de débris
DE102010000607A1 (de) * 2010-03-02 2011-09-08 Vorwerk & Co. Interholding Gmbh Als Basisstation für ein selbsttätig verfahrbares Saug- und/oder Kehrgerät einsetzbarer Haushaltsstaubsauger

Also Published As

Publication number Publication date
CN111802960B (zh) 2023-02-21
DE102019109634A1 (de) 2020-10-15
US20200323410A1 (en) 2020-10-15
ES2951515T3 (es) 2023-10-23
TW202041186A (zh) 2020-11-16
EP3725202B1 (fr) 2023-06-14
JP2020171685A (ja) 2020-10-22
CN111802960A (zh) 2020-10-23
US11457789B2 (en) 2022-10-04

Similar Documents

Publication Publication Date Title
EP3725202B1 (fr) Robot aspirateur autonome ainsi que système comprenant un robot aspirateur autonome et un appareil de nettoyage par aspiration externe
EP3705012B1 (fr) Station de collecte de produit aspiré, appareil de nettoyage par aspiration ainsi que système d'une station de collecte de produit aspiré et d'un appareil de nettoyage par aspiration
DE10110905A1 (de) Bodenbearbeitungsgerät, insbesondere Bodenreinigungsgerät
EP3076843B1 (fr) Appareil de nettoyage du sol autotracté et autodirecteur et système de nettoyage
EP2974640B2 (fr) Robot aspirateur dote d'un rouleau de soie et procede de nettoyage pour un rouleau de soie d'un robot aspirateur
DE102013103086B4 (de) Absaugstation für ein selbsttätig verfahrbares Bodenreinigungsgerät sowie Kombination einer Absaugstation mit einem solchen Gerät
DE202009010809U1 (de) Mobile Robotervorrichtung mit einem Aufprallsensor
EP3409168B1 (fr) Module de nettoyage d'angle pour robots de nettoyage modulaires
EP2946712A1 (fr) Appareil de nettoyage de sol automobile équipé d'un véhicule suiveur suivant un véhicule meneur
EP3409165B1 (fr) Dispositif de support sur un robot de nettoyage
EP1519672A1 (fr) Systeme de traitement du sol
DE102010016263A1 (de) Basisstation für einen Saug- und/oder Kehrroboter
DE19753668A1 (de) Ferngesteuerter Staubsauger
DE102019122060A1 (de) Basisstation zum stationären Entleeren eines Schmutzraumes eines mobilen Reinigungsgerätes, Reinigungssystem sowie Verfahren
EP2999388A1 (fr) Appareil de nettoyage de sol automoteur et autoguidé comprenant un élément formant une sonde
EP3405089A1 (fr) Aspirateur
DE102009034955B4 (de) Selbsttätig verfahrbares Bodenstaub-Aufsammelgerät
DE102017112740A1 (de) Haushaltsgerät zur automatischen Reinigung von Fußböden und Verfahren zur Steuerung eines Haushaltsgeräts
DE102019101116A1 (de) Stationierungseinrichtung für ein Reinigungsgerät und Verfahren zum Stationieren des Reinigungsgeräts
EP3409171B1 (fr) Dispositif de verrouillage d'une unité de séparation de poussière
DE102009010694A1 (de) Greiferanordnung, Greifer und Verfahren zum Aufnehmen eines Gegenstands
WO2020120462A2 (fr) Appareil et procédé permettant d'effectuer automatiquement une activité, en particulier permettant de nettoyer des surfaces encrassées
DE102019122062A1 (de) Basisstation mit Ausgleich für eine Fehlpositionierung eines Reinigungsgerätes, sowie Reinigungssystem
DE102020116426A1 (de) Saugreinigungsgerät
EP3527118A1 (fr) Robot de nettoyage et procédé de déplacement d'un robot de nettoyage

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: 20201203

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: 20230130

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: CH

Ref legal event code: EP

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

Effective date: 20230517

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 502020003758

Country of ref document: DE

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 1578590

Country of ref document: AT

Kind code of ref document: T

Effective date: 20230715

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG9D

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20230614

REG Reference to a national code

Ref country code: ES

Ref legal event code: FG2A

Ref document number: 2951515

Country of ref document: ES

Kind code of ref document: T3

Effective date: 20231023

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: 20230614

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: 20230914

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

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: 20230614

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: 20230614

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: 20230614

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: 20230614

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: 20230614

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: 20230915

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

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: 20230614

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

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: 20230614

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: 20231014

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

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: 20230614

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: 20230614

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: 20230614

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: 20231016

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: 20231014

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: 20230614

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: 20230614

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

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: 20230614

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 502020003758

Country of ref document: DE

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: 20230614

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: 20230614

26N No opposition filed

Effective date: 20240315

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: 20230614