Cleaning device

An autonomous cleaning device (500), comprises:- a vacuum unit (VAC1) to remove dust particles (P1) from a floor (FLOOR1),- a motive system (MOS1) to move the cleaning device (500) on the floor (FLOOR1),- a control system (SYS1) to control movements of the cleaning device (500)based on signals obtained from one or more sensors (SEN1,100),wherein the cleaning device (500) comprises an optical presence sensor (100)for detecting the presence of a non-vacuumable object (NVO1), the optical presence sensor (100) comprising:- a first light source (LS1) to illuminate a surveillance region (REG1) with firstilluminating light (LB1), which has a first wavelength (?1),- a second light source (LS2) to illuminate the surveillance region (REG1) withsecond illuminating light (LB2), which has a second wavelength (?2), - one or more detectors (DET0) to gather reflected light (RL1, RL2) from thesurveillance region (REG1),wherein the cleaning device (500) is arranged to form a first detector signalvalue (SDET1) indicative of spectral intensity of gathered reflected light (RL1) atthe first wavelength (?1), and to form a second detector signal value (SDET2) indicative of spectral intensity of gathered reflected light (RL2) at the secondwavelength (?2),wherein the cleaning device (500) is arranged to determine based on the firstdetector signal value (SDET1) and based on the second detector signal value(SDET2) whether a non-vacuumable object (NVO1) is present in the surveillance region (REG1), wherein the first wavelength (?1) is within an optical absorptionband of liquid water.

Patent family as of 17.7.2026
FI130302 B, FI20215270 A, WO22189709 A1