US 12,228,940 B2
Self-propelled processing device
Marcus Bell, Duesseldorf (DE); David Erkek, Aarau (CH); Lars Schlueter, Zurich (CH); and Dennis Schulz, Duisburg (DE)
Assigned to Vorwerk & Co. Interholding GmbH, Wuppertal (DE)
Filed by Vorwerk & Co. Interholding GmbH, Wuppertal (DE)
Filed on Jul. 7, 2022, as Appl. No. 17/859,235.
Claims priority of application No. 21184654 (EP), filed on Jul. 9, 2021.
Prior Publication US 2023/0019872 A1, Jan. 19, 2023
Int. Cl. G01C 21/00 (2006.01); A47L 9/28 (2006.01); G05D 1/00 (2024.01)
CPC G05D 1/0274 (2013.01) [A47L 9/2805 (2013.01); A47L 9/2852 (2013.01); A47L 9/2894 (2013.01); G01C 21/3859 (2020.08); A47L 2201/04 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A self-propelled floor processing device comprising:
a drive unit connected to at least one wheel;
an evaluation unit; and
a memory,
wherein the evaluation unit is configured:
to navigate the floor processing device within an environment based on an area map,
during a movement of the floor processing device, to determine a behavior parameter of the floor processing device and a movement path of the floor processing device, wherein the behavior parameter enables the evaluation unit to differentiate between a behavior of the floor processing device defined as proper during floor processing and a behavior of the floor processing device defined as an error behavior,
to access at least one reference behavior parameter that is characteristic for an error behavior and stored in the memory, and compare the determined behavior parameter with the at least one reference behavior parameter,
to determine the error behavior depending on the comparison result, to define a location of the movement path at which the error behavior was determined as a no-go area which the floor processing device must not traverse,
to enter the no-go area in the area map or change a no-go area already entered in the area map, and
to navigate the floor processing device by controlling the drive unit so that the floor processing device does not traverse the no-go area entered in the area map, so as to avoid an error behavior,
wherein the memory contains at least one reference behavior parameter selected from the following group: a defined movement speed of the floor processing device, a defined drift of the floor processing device, a defined number of turning maneuvers of the floor processing device per defined partial area of the environment, a defined power consumption of the drive unit of the floor processing device per unit time.