US 12,279,743 B2
Method for the improved cleaning of edges of a wall
Julius Geis, Burkardroth (DE); Michael Hohmann, Bad Neustadt a.d. Saale (DE); Juri Gebel, Hohenroth (DE); and Dominik Schreiner, Kalbach (DE)
Assigned to BSH Hausgeraete GmbH, Munich (DE)
Appl. No. 18/004,091
Filed by BSH Hausgeräte GmbH, Munich (DE)
PCT Filed Jun. 23, 2021, PCT No. PCT/EP2021/067086
§ 371(c)(1), (2) Date Jan. 3, 2023,
PCT Pub. No. WO2022/002709, PCT Pub. Date Jan. 6, 2022.
Claims priority of application No. 10 2020 208 400.9 (DE), filed on Jul. 3, 2020.
Prior Publication US 2023/0270304 A1, Aug. 31, 2023
Int. Cl. G05D 1/00 (2024.01); A47L 9/28 (2006.01)
CPC A47L 9/2805 (2013.01) [A47L 9/2852 (2013.01); A47L 9/2894 (2013.01); G05D 1/0274 (2013.01); A47L 2201/04 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A method of using a cleaning robot for the improved cleaning of edges of a wall having a projecting baseboard, the method comprising:
providing the cleaning robot with at least one impact sensor and at least one distance detector disposed above the at least one impact sensor in an operating state;
using the cleaning robot to strike against the baseboard in a first cleaning pass, causing the at least one impact sensor to generate a first signal and causing the at least one distance detector to detect a first distance from the wall;
using the cleaning robot to continue the first cleaning pass until the cleaning robot strikes against the baseboard at least once more, causing the at least one impact sensor to generate a second signal and the at least one distance detector to detect a second distance from the wall;
using a computer facility of the cleaning robot to calculate from the first and second signals two spatial points and a first straight line running through the two spatial points;
using the computer facility to determine an approach boundary of the cleaning robot relative to the wall for subsequent cleaning passes, by using the distances and the two spatial points; and
using the computer facility to control the cleaning robot during subsequent cleaning passes exclusively by using the at least one distance detector, causing the cleaning robot to only travel as far as the approach boundary and thereby permitting an improved cleaning of edges.