Device for processing a surface

• US 10,247,669 B2
• Filed: 01/11/2016
• Issued: 04/02/2019
• Est. Priority Date: 01/23/2015
• Status: Active Grant

• Current Assignee: Vorwerk & Co. Interholding GmbH, Vorwerk & Company Interholding Gesellschaft Mit Beschrã¤Nkter Haftung (Vorwerk & Company KG)
• Original Assignee: Vorwerk & Company Interholding Gesellschaft Mit Beschrã¤Nkter Haftung (Vorwerk & Company KG)
• Inventors: Windorfer, Harald
• Primary Examiner(s): Ton, Tri T
• Application Number:
  US15/554,560
• Publication Number:
  US 20180164213A1
• Time in Patent Office: 1,177 Days
• Field of Search: 356445-448, 356600-613, 3562371-2376, 3562391-2398
• CPC Class Codes: A47L 2201/06 Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
• CPC Class Codes: A47L 9/2805 Parameters or conditions being sensed
• CPC Class Codes: G01N 2021/4726 Detecting scatter at 90°
• CPC Class Codes: G01N 2021/4735 Solid samples, e.g. paper, glass
• CPC Class Codes: G01N 2021/555 Measuring total reflection power, i.e. scattering and specular
• CPC Class Codes: G01N 2021/556 Measuring separately scattering and specular
• CPC Class Codes: G01N 21/251 Colorimeters; Construction thereof
• CPC Class Codes: G01N 21/255 Details, e.g. use of specially adapted sources, lighting or optical systems
• CPC Class Codes: G01N 21/47 Scattering, i.e. diffuse reflection G01N21/25, G01N21/41 take precedence G01N21/55 takes precedence
• CPC Class Codes: G01N 21/55 Specular reflectivity

Abstract

A cleaning robot has an optical measuring device for determining the type of surface to be cleaned. The optical measuring device has a light source and at least two light sensors. Light emitted by the light source hits a reflection point of the surface at an angle of incidence (α), and is reflected to the first light sensor at a corresponding angle of reflection (β). The light source, reflection point and first light sensor span a plane of incidence. A secondary plane that intersects the reflection point and has a second light sensor spans perpendicular to the surface, and exhibits an angle (δ) of between 80° and 100° relative to the plane of incidence. A straight line running through the reflection point and second light sensor has an angle (γ) relative to the surface that is essentially as large as the angle of incidence (α) or angle of reflection (β).

Claims

1. A method for cleaning a surface with a cleaning device, comprising:

determining with an optical measuring device a type of the surface to be cleaned, and

adjusting cleaning processes of the cleaning device based on the determined type of surface,

wherein the step of determining comprises the following steps;

radiating light inside of a plane of incidence at an angle of incidence (α

) from a light source onto a reflection point of the surface,

reflecting the light with a corresponding angle of reflection (β

) to a first light sensor,

arranging a second light sensor in a secondary plane that stands perpendicular to the surface, intersects the reflection point, and has an angle (δ

) of between 80° and

100°

to the plane of incidence in such a way that a straight line running through the reflection point and the second light sensor has an angle (γ

) to the surface that is essentially as large as the angle of incidence (α

) or the angle of reflection (β

), and

measuring with the first and second light sensors the light radiated by the light source,

wherein the step of measuring comprises;

measuring light intensity with the first light sensor and the second light sensor with the light source turned off,

measuring the light intensity with the first light sensor with the light source turned on, and

measuring the light intensity with the second light sensor with the light source turned on.

2. The method according to claim 1, further comprising the step of comparing the light intensities measured by the light sensors with corresponding reference intensities for known surfaces.

3. The method according to claim 1, wherein the light source emits polychromatic light.

4. The method according to claim 1, further comprising the step of spectrally filtering light traveling from the surface to the light sensors.