WO2005093536A1 - Systeme de traitement de surfaces - Google Patents

Systeme de traitement de surfaces Download PDF

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Publication number
WO2005093536A1
WO2005093536A1 PCT/EP2005/051311 EP2005051311W WO2005093536A1 WO 2005093536 A1 WO2005093536 A1 WO 2005093536A1 EP 2005051311 W EP2005051311 W EP 2005051311W WO 2005093536 A1 WO2005093536 A1 WO 2005093536A1
Authority
WO
WIPO (PCT)
Prior art keywords
sound signal
sound
processing system
surface processing
base part
Prior art date
Application number
PCT/EP2005/051311
Other languages
German (de)
English (en)
Inventor
Markus Spielmannleitner
Joachim Damrath
Gerhard Wetzl
Original Assignee
BSH Bosch und Siemens Hausgeräte 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 BSH Bosch und Siemens Hausgeräte GmbH filed Critical BSH Bosch und Siemens Hausgeräte GmbH
Publication of WO2005093536A1 publication Critical patent/WO2005093536A1/fr

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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
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • 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
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
    • 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
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons

Definitions

  • the invention relates to a surface treatment system according to the preamble of claim 1.
  • EP 753 160 AI discloses a mobile robot and a method for determining the position.
  • a number of transponders are provided which serve the autonomous robot for orientation.
  • the orientation of the robot is based on a distance measurement between the robot and the transponders.
  • the period of time for an ultrasound pulse to propagate from an ultrasound transmitter of the robot to a transponder is a measure of the distance from the robot to the transponder.
  • the transponder After receiving the ultrasound signal, the transponder confirms receipt of the ultrasound pulse by sending a light pulse or a radio wave pulse back to the robot.
  • the distance between the robot and the transponder is derived from the time between the transmission of the ultrasound pulse and the receipt of the light pulse or the radio wave pulse.
  • the object of the invention is to improve the position determination of the mobile robot.
  • a simple technical solution is to be offered which enables sensible path planning for the navigation of the autonomously driving device, particularly in a typical household environment.
  • the autonomously driving devices are preferably self-propelled surface cleaning devices, preferably suction robots, wet cleaning robots, wiping robots, polishing robots or window or tile cleaning robots. Surface cleaning devices of this type are used in particular in connection with fixed base stations.
  • the self-propelled surface cleaning devices automatically move to the fixed base station, for example to charge the electric batteries or accumulators or to unload collected dust.
  • the aim is to provide the self-propelled surface cleaning device with data on its position in a typical household environment using comparatively simple technical means, so that targeted path planning for navigation can be carried out thereon.
  • the timer for carrying out the transit time measurement can be triggered by the light signal received by the light signal receiver and can be stopped by the sound signal received by the sound signal receiver and the distance determined on the basis of the measured transit time from handset to base part forms an input variable that can be fed to a control unit for the drive means of the handset.
  • the at least one light signal transmitter and the at least one sound signal transmitter can preferably be controlled to start their transmission at the same time.
  • the at least one light signal transmitter and the at least one sound signal transmitter can also be activated at a predetermined time interval for starting the transmission of their signals with a time delay. Such a preferably small time offset is possible if the time offset between sound and light signal is specified.
  • the time offset must then be taken into account when evaluating the time difference, ie when determining the sound transit time.
  • a time offset can be generated in which the sound signal is emitted after the light signal or, conversely, the light signal is emitted at a fixed time interval after the sound signal.
  • the sound and light signals are sent simultaneously. This enables the fastest possible measurement and thus a quick determination of the distance, which increases the mobility or the driving speed and reaction speed of the handset.
  • the at least one light signal transmitter and the at least one sound signal transmitter are provided on the base part and the associated light signal and sound signal receivers are provided on the mobile part.
  • the base part sends out a first signal that propagates at the speed of light, e.g. Light in the visible or infrared range or electromagnetic radiation such as radio waves, and a second signal that propagates at the speed of sound, such as Ultrasound in the inaudible sound range.
  • a first signal that propagates at the speed of light
  • a second signal that propagates at the speed of sound such as Ultrasound in the inaudible sound range.
  • the use of light in the infrared range and sound in the ultrasound range has the advantage that the surface processing system is optically imperceptible and inaudible, which leads to minor disturbances for the people present in the room.
  • the at least one light signal transmitter and the at least one sound signal transmitter are preferably provided on the handset and the associated light signal and sound signal receivers are provided on the base part.
  • the signal receiver can be designed as a one-piece component that has both a sound and a light signal sensor.
  • an infrared transmitter diode is provided as the light signal transmitter and a piezo buzzer for the ultrasound range is preferably provided as the sound signal transmitter.
  • the base part has a sound signal transmitter and the mobile part for receiving the transmitted one sound signal has at least two sound signal receivers arranged at a distance from one another on the handset.
  • the two sound signal receivers are like this positioned far apart that a significant difference in transit time of the sound signal can be evaluated. Given the room sizes regularly to be found in the household and the expected distances between the base part and the mobile unit, a sufficiently precise measurement can be achieved even at distances of less than 40 cm between the two sound signal receivers.
  • the mobile part can have a sound signal transmitter and the base part for receiving the emitted one sound signal can have at least two sound signal receivers arranged at a distance from one another on the base part.
  • the sound transit time can be evaluated in the base part and the evaluated data is transmitted to the handset, for example, via a radio link.
  • the mobile part is able to determine its distance relative to the base part. This makes it possible to improve the driving strategy in such a way that, for example, the mobile part travels around the base part at predetermined intervals (radii).
  • the distances or the radii can preferably be continuously expanded or shortened.
  • the base part of the revenge processing system is designed to preferably transmit different sound signals and has at least two sound signal transmitters arranged at a distance from one another on the base part, the mobile part having a sound signal receiver for receiving the at least two different sound signals.
  • the position of the handset relative to the base part can be determined.
  • a distance of approx. 40cm between the two sound signal transmitters has proven to be sufficient to achieve a sufficiently precise evaluation of the signal distances.
  • the sound signal receiver or the downstream evaluation unit has, for example, a signal differentiator which is able to distinguish between the two signals emitted by the first and second sound signal transmitters.
  • the mobile part of the surface processing system is designed to emit different sound signals.
  • the sound signal transmitters can emit sound signals in different frequencies, in different time sequences or in an encoded manner.
  • a time interval between the two signals can, for example, be significantly longer than the usual transit times of the sound signals for distance measurement.
  • the mobile part of the surface processing system is designed and has to emit different sound signals at least two sound signal transmitters arranged at a distance from one another on the mobile part, the base part for receiving the at least two different sound signals each having an assigned sound signal receiver.
  • the surface processing system can optionally be designed with at least one light signal transmitter for transmitting different identifiers assigned to the at least two different sound signals.
  • the at least one light signal transmitter and / or the at least one sound signal transmitter can be designed for frequency- or amplitude-modulated or digitally coded transmission.
  • the respective light signal receivers and / or sound signal receivers are matched to the frequency or amplitude modulated or digitally coded transmitters and only react to this specific modulation or coding. In particular, this also enables the use of several mobile units in the same room, preferably when several mobile units share a common base station.
  • the surface processing system can have a distance determination device which comprises at least one sensor for measuring physical quantities which influence the local speed of sound in the vicinity of the surface processing system.
  • the physical quantities measured in this way are the basis for correction values that can be included in the calculation to calculate the sound propagation time.
  • the sensors can be designed, for example, to measure the air density, air temperature, air pressure or air humidity. It makes sense to use any type of sensor that measures physical quantities that influence the speed of sound.
  • the surface processing system or the distance determination device can have a calibration device for determining the speed of sound.
  • the calibration device for determining the actual speed of sound can carry out a measurement of the sound propagation time on the basis of a predetermined distance between the sound signal transmitter and the sound signal receiver in a parking position of the handset.
  • the calibration device for checking the function of sound signal transmitter and sound signal receiver is preferably assigned an evaluation unit which compares the sound speed determined on the basis of the sound propagation time measurement with a predetermined sound speed range rated.
  • the above-described churning devices can preferably carry out a distance measurement when the handset is docked to the base part, i.e. if the handset is in a defined predetermined position on the base part for charging the batteries or accumulators or for emptying its dust collection container.
  • a distance measurement taking place in this parking position can serve as a reference for the calibration devices.
  • An exact local speed of sound can be calculated from the previously known distance between sound transmitter and sound receiver and the measured current transit time for the sound signal, which is then stored in an evaluation unit as a reference speed of sound and is used as the actual speed of sound in the further distance measurements.
  • the surface processing system can have a distance determination device which contains an electronic component for determining the transit time of the sound signal, which also includes a correction element for taking the duration of the electrical signals through the electronic component into account.
  • the computing time required to calculate the sound propagation time through the electronic component can also be used as a correction value.
  • the surface processing system can have an evaluation unit by means of which a significant signal weakening at the at least one light signal receiver can be evaluated.
  • the sound waves are reflected more or less strongly on objects, so that in certain cases it can be expected that the same sound signal will be received several times in succession by the assigned sound signal receiver.
  • only the first sound signal received may be used for evaluation, since only the direct and thus the fastest transmission of the sound signals can be a measure of the shortest connection and therefore of the distance between the base part and the handset.
  • the reception of the light signal can be used as a further criterion in order to be able to exclude sound signals that are not received directly, ie reflected sound signals.
  • the handset If there is no light signal or only a very weak light signal is received by the handset, the handset is in a shadow area that is neither directly accessible by light nor by sound signals. A very heavily weakened or non-existent light signal is therefore a decision criterion for the fact that direct sound signal reception is not possible.
  • An intensity threshold can be provided for the received light signal in order to be able to exclude reflected light.
  • At least one second base part can be provided as an auxiliary transmitter for transmitting and / or receiving sound and / or light signals in shadow areas of the first base part.
  • the at least one additional base part and the mobile part or a plurality of base parts can advantageously be connected to one another by radio.
  • the geometric evaluations can lead to uncertainties. This is the case in particular when the emitted signals are not coded and the distances between the sound signal transmitters and sound signal receivers can only be distinguished on the basis of the differences in the transit times of two signals.
  • the spatial orientation of the handset relative to the base part should be determinable, which also enables the handset to be oriented relative to its direction of travel.
  • a tangential alignment of the handset to a sound signal transmitter on the base part is achieved if the time interval between two sound signal receivers arranged at a distance from one another on the handset is the same.
  • a radial alignment of the handset to a sound signal transmitter on the base part is achieved if the time interval between one of two sound signal receivers arranged at a distance from one another is greatest and one is smallest.
  • the handset has a rotational position sensor for determining its position.
  • the rotational position sensor can be a piezoelectric gyroscope or a mechanical gyrocompass. Alternatively or in addition, the traction Have onsab chorus for the drive means, preferably for wheels of the handset.
  • the invention is explained in more detail below with reference to FIGS. 1 to 7 using the example of a surface treatment system which has a cleaning robot which drives itself in a living space.
  • FIGS. 1 to 7 show a schematic plan view of a room in which a surface processing system according to the invention is present;
  • FIG. 2 shows a schematic illustration of the control components for the surface processing system according to the invention; 3a, b show a schematic representation of the time sequence of the transmitted light and sound signals;
  • FIG. 4 shows a first variant of a surface processing system according to the invention, the base of which has a sound signal transmitter and the mobile part of which has a sound signal receiver and a rotational position sensor;
  • FIG. 4a shows a driving strategy for the mobile part in the first variant according to FIG. 4;
  • FIG. 5 shows a second variant of a surface processing system according to the invention, the base of which has a sound signal transmitter and the mobile part of which has two sound signal receivers arranged at a fixed distance from one another;
  • FIG. 6 shows a third variant of a surface processing system according to the invention, the base of which has two sound signal transmitters arranged at a fixed distance from one another and the mobile part of which has a sound signal receiver;
  • FIG. 7 shows a fourth variant of a surface processing system according to the invention, the base of which has two sound signal transmitters arranged at a fixed distance from one another and the mobile part of which has two assigned sound signal receivers which are arranged at a fixed distance from one another;
  • a living space 1 shown schematically in FIG. 1 is delimited by walls 2.
  • the living room 1 contains a number of furnishings that are referred to in connection with the surface processing system as exemplary obstacles 3a and 3b.
  • a base part 5 is set up on a side wall 4 of the living space 1.
  • a self-driving mobile part 6 is assigned to the base part 5 and can move autonomously in the living space 1 over the floor surfaces in order to clean them. Starting from an origin 7 located on the base part 5, a thought coordinate system is clamped into the living space 1 to determine the current position of the handset 6.
  • the self-driving handset 6 is connected to the base part 5 via light, sound and, optionally, radio signals.
  • the necessary control components for the base part 5 and the mobile part 6 are shown schematically in FIG. 2.
  • the mobile part 6 has a housing 8 in which the drive means 9 are accommodated.
  • the drive means 9 are rotatable mounted wheels 10, which are driven by an electric motor 11.
  • the motors 11 are connected to an electronic drive control 12, in which a suitable navigation strategy is stored in terms of programming.
  • the driving control 12 is connected to a distance determination device 15.
  • the distance determination device 15 calculates the distance between the mobile reference point 13 and the fixed reference point 14 of the base part 4.
  • the distance determination device 15 is assigned a timer 16.
  • a light signal receiver 17 and a sound signal receiver 18 are connected to the timer 16.
  • the light signal receiver 17 serves to detect a light signal emitted by the base part 5 by a light signal transmitter 19.
  • the sound signal receiver 18 serves to detect a sound signal emitted by the base part 5 by a sound signal transmitter 20.
  • the base part 5 has a transmission controller 21.
  • the transmission controller 21 is connected via a first antenna 22 attached to the base part 5 and via a second antenna 23 attached to the mobile part 6 for the exchange of information via radio.
  • FIG. 3a shows a surface processing system according to the invention, the base 5 of which has the sound signal transmitter 20 and the light signal transmitter 19.
  • the handset 6 has the sound signal receiver 18 and the light signal receiver 17.
  • the light signal transmitter 19 provided on the base part 5 emits a light signal and a sound signal at time t.
  • the light signal is perceived almost simultaneously with the transmission by the light signal receiver 17 and the schematically represented timer 16 is started.
  • a sound signal is preferably emitted via the sound signal transmitter 20 on the base part 5 at the same time as the light signal is emitted. Since the sound propagation time is significantly less than the speed of light, the sound signal reaches the mobile unit 6 later than the light signal, with a delay ⁇ t. With the moment when the sound signal receiver 18 receives the sound signal
  • the timer 16 stops the time measurement and transfers the measurement result ( ⁇ t) to the distance determination device 15.
  • the distance determination device 15 determines a distance A of the mobile reference point 13 on the handset depending on the geometric and structural boundary conditions 6 from the fixed reference point 14 of the base part 5.
  • the distance A is calculated on the basis of the measured time ⁇ t, taking into account the speed of sound, from the radius r resulting from the sound propagation time measurement. Based on the radius r and the structurally predetermined distance d between sound signal receiver 18 and mobile reference point 13, taking into account the angular position ⁇ of the mobile part 6 measured by the rotational position sensor 24, the distance A is calculated.
  • Simple navigation of the handset 6 is illustrated, for example, as shown in FIG. 4a, in that the travel control 12 solves the movement of the handset 6 while maintaining a fixed distance A or radius r on a circular path around the base part 5, either until the Handset 6 hits an obstacle, or until the rotational position sensor has determined a rotation of up to 360 ° for handset 6.
  • the base part 5 e.g. once circled or the circular arc section between two obstacles 3a and 3b has been traveled
  • another, for example larger radius r is specified as a setpoint.
  • the handset 6 then moves on a larger radius r with a correspondingly larger distance A on a circular path around the base part 5.
  • the handset 6 can also move spirally around the base part 5, the rotation of the handset being significantly more than. Is 360 °, i.e. is preferably a multiple thereof.
  • the distance A is calculated on the basis of two measurements.
  • the sound signal emitted by the sound signal transmitter 20 is received by two separate sound signal receivers 18a and 18b.
  • the radius r results from the different time measurements for the distance between sound signal transmitter 20 and sound signal receiver 18a and the radius r for the distance between sound signal transmitter 20 and sound signal receiver 18b. From the radii r 1 and r2, as well as the structurally predetermined distance d 1 of the sound signal receiver 18a from the mobile reference point 13 and the distance d of the sound signal receiver 18b from the mobile reference point 13, the distance A of the mobile reference point 13 is detached from that Determine fixed reference point 14 on base part 5 and the spatial position of handset 6.
  • the handset 6 can furthermore have the rotational position sensor 24 in order to determine the spatial position of the handset 6 without any doubt.
  • the distance A is calculated on the basis of two measurements.
  • the different sound signals emitted by a first sound signal transmitter 20a and a second sound signal transmitter 20b are received by a sound signal receiver 18.
  • the radius r results from the different time measurements for the distance between the first sound signal transmitter 20a and the sound signal receiver 18 and the radius r for the distance between the second sound signal transmitter 20b and the sound signal receiver 18.
  • the distance A des Determine the mobile reference point 13 from the fixed reference point 14 on the base part 5 and the spatial position of the mobile part 6.
  • the handset 6 can furthermore have the rotational position sensor 24 in order to determine the spatial position of the handset 6 without any doubt.
  • the distance A is calculated on the basis of two measurements. The sound signal emitted by a first sound signal transmitter 20a is received by an assigned first sound signal receiver 18a.
  • the second sound signal which is transmitted by a second sound signal transmitter 20b and is different from the first sound signal, is received by an assigned second sound signal receiver 18b.
  • the radius r results from the different time measurements for the distance between the first sound signal transmitter 20a and the first sound signal receiver 18a and for the distance between the second sound signal transmitter 20b and the second sound signal receiver 18b. Radius r ..from the radii.r and r as well as -.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Acoustics & Sound (AREA)
  • Electromagnetism (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

L'invention concerne un système de traitement de surfaces comprenant : un organe de base fixe (5) et un organe mobile (6) se déplaçant de façon autonome, capable de naviguer en fonction d'une détermination de distance, un émetteur de signal lumineux (19) et un émetteur de signal sonore (20) associés à un dispositif de détermination de distance, lesdits signaux étant reçus par des récepteurs de signaux lumineux et sonores (17, 18) en vue de commander une minuterie (16) sur la base de laquelle la distance de l'organe mobile (6) et de l'organe de base (5) peut être déterminée. Afin d'améliorer la détermination de position du robot mobile, l'invention est caractérisée en ce que la minuterie destinée à effectuer la mesure du temps de parcours par le signal lumineux reçu par le récepteur du signal lumineux peut être déclenchée, et en ce que la minuterie destinée à effectuer la mesure par le signal sonore reçu par le récepteur du signal sonore, peut être maintenue. L'agencement selon l'invention permet de disposer, avec des moyens techniques simples, de données relatives à la position de l'appareil de nettoyage des surfaces auto-déplaçable, de sorte qu'une planification de trajectoire rationnelle peut être effectuée pour la navigation.
PCT/EP2005/051311 2004-03-22 2005-03-22 Systeme de traitement de surfaces WO2005093536A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102004014281.5 2004-03-22
DE102004014281.5A DE102004014281B4 (de) 2004-03-22 2004-03-22 Flächenbearbeitungssystem

Publications (1)

Publication Number Publication Date
WO2005093536A1 true WO2005093536A1 (fr) 2005-10-06

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WO (1) WO2005093536A1 (fr)

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DE102006033494A1 (de) * 2006-07-19 2008-01-24 BSH Bosch und Siemens Hausgeräte GmbH Reinigungsvorrichtung für eine vorzugsweise ebene Fläche, insbesondere für ein Fenster, eine Glasfassade und dergleichen
DE102006033668A1 (de) * 2006-07-20 2008-01-24 BSH Bosch und Siemens Hausgeräte GmbH Reinigungsvorrichtung für eine vorzugsweise ebene Fläche
DE102006033669A1 (de) * 2006-07-20 2008-01-24 BSH Bosch und Siemens Hausgeräte GmbH Reinigungsvorrichtung für eine vorzugsweise ebene Fläche
DE102007002935A1 (de) 2007-01-19 2008-07-24 BSH Bosch und Siemens Hausgeräte GmbH Reinigungsvorrichtung für eine vorzugsweise ebene Fläche, insbesondere ein Fenster
DE102007002934A1 (de) 2007-01-19 2008-07-24 BSH Bosch und Siemens Hausgeräte GmbH Verfahren zur Überwachung des Ladezustands eines Akkumulators eines Roboters
DE102007002937A1 (de) 2007-01-19 2008-07-24 BSH Bosch und Siemens Hausgeräte GmbH Arbeitsvorrichtung, insbesondere Reinigungsvorrichtung für Fenster
DE102007002938A1 (de) 2007-01-19 2008-07-24 BSH Bosch und Siemens Hausgeräte GmbH Reinigungsvorrichtung für vorzugsweise ebene Flächen
DE102007002936A1 (de) 2007-01-19 2008-07-24 BSH Bosch und Siemens Hausgeräte GmbH Reinigungsvorrichtung für vorzugsweise ebene Flächen
DE102007004897A1 (de) 2007-01-31 2008-08-07 BSH Bosch und Siemens Hausgeräte GmbH Reinigungsvorrichtung für vorzugsweise ebene Flächen, insbesondere für Fenster
CN111568317A (zh) * 2014-02-28 2020-08-25 三星电子株式会社 清扫***
CN112558052A (zh) * 2020-12-07 2021-03-26 浙江德清知路导航研究院有限公司 基于mems麦克风传感器的智能手机单向toa测距***
WO2022143285A1 (fr) * 2020-12-31 2022-07-07 深圳市杉川机器人有限公司 Robot de nettoyage et procédé de mesure de distance associé, appareil et support de stockage lisible par ordinateur

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DE102008009208A1 (de) 2008-02-15 2009-08-20 Gunter Arnold Navigationssystem für einen autonomen mobilen Roboter, insbesondere Rasenmähroboter
DE102010060347B4 (de) 2010-11-04 2024-05-16 Vorwerk & Co. Interholding Gmbh Selbsttätig verfahrbares Gerät sowie Verfahren zur Durchführung einer Überprüfung einer Abstandsmessgenauigkeit
DE102013016939A1 (de) * 2013-10-12 2015-04-16 Tiefenbach Control Systems Gmbh Einrichtung zur berührungslosen Entfernungsmessung
DE102014006363A1 (de) * 2014-04-30 2015-11-05 Abb Ag Distanzmessungssystem und Distanzmessungsverfahren
DE102017131117A1 (de) * 2017-12-22 2019-06-27 Steinel Gmbh Drahtloses, elektronisches Lokalisierungssystem
WO2020078581A1 (fr) 2018-10-15 2020-04-23 Sew-Eurodrive Gmbh & Co. Kg Installation comprenant une première partie mobile et une autre partie mobile

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DE102006033494A1 (de) * 2006-07-19 2008-01-24 BSH Bosch und Siemens Hausgeräte GmbH Reinigungsvorrichtung für eine vorzugsweise ebene Fläche, insbesondere für ein Fenster, eine Glasfassade und dergleichen
DE102006033668A1 (de) * 2006-07-20 2008-01-24 BSH Bosch und Siemens Hausgeräte GmbH Reinigungsvorrichtung für eine vorzugsweise ebene Fläche
DE102006033669A1 (de) * 2006-07-20 2008-01-24 BSH Bosch und Siemens Hausgeräte GmbH Reinigungsvorrichtung für eine vorzugsweise ebene Fläche
DE102007002935A1 (de) 2007-01-19 2008-07-24 BSH Bosch und Siemens Hausgeräte GmbH Reinigungsvorrichtung für eine vorzugsweise ebene Fläche, insbesondere ein Fenster
DE102007002934A1 (de) 2007-01-19 2008-07-24 BSH Bosch und Siemens Hausgeräte GmbH Verfahren zur Überwachung des Ladezustands eines Akkumulators eines Roboters
DE102007002937A1 (de) 2007-01-19 2008-07-24 BSH Bosch und Siemens Hausgeräte GmbH Arbeitsvorrichtung, insbesondere Reinigungsvorrichtung für Fenster
DE102007002938A1 (de) 2007-01-19 2008-07-24 BSH Bosch und Siemens Hausgeräte GmbH Reinigungsvorrichtung für vorzugsweise ebene Flächen
DE102007002936A1 (de) 2007-01-19 2008-07-24 BSH Bosch und Siemens Hausgeräte GmbH Reinigungsvorrichtung für vorzugsweise ebene Flächen
DE102007004897A1 (de) 2007-01-31 2008-08-07 BSH Bosch und Siemens Hausgeräte GmbH Reinigungsvorrichtung für vorzugsweise ebene Flächen, insbesondere für Fenster
CN111568317A (zh) * 2014-02-28 2020-08-25 三星电子株式会社 清扫***
CN112558052A (zh) * 2020-12-07 2021-03-26 浙江德清知路导航研究院有限公司 基于mems麦克风传感器的智能手机单向toa测距***
WO2022143285A1 (fr) * 2020-12-31 2022-07-07 深圳市杉川机器人有限公司 Robot de nettoyage et procédé de mesure de distance associé, appareil et support de stockage lisible par ordinateur

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