Cleaning robot with a robot arm and method for controlling the cleaning robot

Abstract

A cleaning robot 1 for cleaning a cleaning area is proposed, comprising a housing 2, a drive unit 3 for driving the cleaning robot 1 in the cleaning area, a floor cleaning unit 4 for cleaning a floor surface 5 of the cleaning area, a robot arm 15 for moving objects and / or for cleaning a surface raised above the floor surface 5, wherein the robot arm 15 is arranged in a rest position 101 at a housing front 16 of the housing 2, and a control unit 14 for controlling the drive unit 3, the floor cleaning unit 4 and the robot arm 15, wherein the robot arm 15 forms a bumper in the rest position 101.

Description

[0001] The invention relates to a cleaning robot for cleaning a cleaning area having the features of the preamble of claim 1. Furthermore, the invention relates to a method for controlling the cleaning robot.

[0002] Self-propelled cleaning robots are known for cleaning, particularly vacuuming and / or mopping, a flat floor covering. While current robot models can only clean flat floor coverings to a limited extent, future cleaning robots are intended to also be able to remove or tidy up objects lying around. For this purpose, cleaning robots are known that are equipped with a manipulator that allows the cleaning robot to grasp objects, among other things.

[0003] Document WO 2021 142 984 A1 discloses a mobile robot comprising a robot body and a robot arm. One end of the robot arm is connected to the robot body, and the other end is configured as a clamping part, which is used to grip an object. The robot body is provided with a recess for receiving the robot arm, and the robot arm is arranged in a curved or folded manner within the recess.

[0004] The invention is based on the object of creating a cleaning robot with a robot arm which is characterized by a compact and cost-effective design.

[0005] The object is achieved by a cleaning robot according to claim 1 and a method according to claim 14. Preferred or advantageous embodiments of the invention and other categories of invention emerge from the further claims, the following description and the attached figures.

[0006] The invention relates to a cleaning robot that is designed and / or suitable for cleaning a cleaning area. A cleaning robot is a cleaning device capable of moving independently or autonomously within a cleaning area in order to completely or partially clean one or more surfaces to be cleaned within the cleaning area. In particular, a cleaning area is understood to be a demarcated and / or enclosed area within a building, preferably one or more interconnected rooms.

[0007] The cleaning robot comprises a housing, a drive unit, and a floor cleaning unit. The housing refers in particular to the outer casing of the cleaning robot, which seals it off from the outside. The inner workings of the cleaning robot are located inside the housing. In other words, at least the drive unit and the floor cleaning unit are accommodated or arranged in the housing.

[0008] The drive unit serves to drive the cleaning robot in the cleaning area. For this purpose, the drive unit can be designed as a wheel or crawler drive. The drive unit preferably has a chassis with at least one or exactly one drive means, which is preferably driven or can be driven by an electric drive motor to move the cleaning robot. In other words, the drive means acts directly on the surface to be cleaned, preferably a floor surface, in the cleaning area in order to move the cleaning robot. The drive means can be designed as a wheel, a roller, or a ball to form the wheel drive. Alternatively, the drive means can be designed as a chain or a belt to form the crawler drive. Optionally, one or more non-driven support wheels can be provided.

[0009] The floor cleaning unit serves to clean the floor surface of the cleaning area. For this purpose, the floor cleaning unit can comprise a vacuum cleaner, for example a wet vacuum cleaner and / or a dry vacuum cleaner. Alternatively or optionally additionally, the floor cleaning unit can comprise one or more stationary or driven brushes, rollers, wipers, cloths, or the like. Specifically, the housing has a suction channel and a suction inlet connected to the suction channel, which, on an underside of the housing, faces the floor surface to be cleaned. Preferably, the suction inlet is connected to the floor cleaning unit, preferably the vacuum cleaner, in order to suck air through the suction channel and the suction inlet.

[0010] The cleaning robot has a robot arm which is designed and / or suitable for moving objects and / or for cleaning a surface raised above the floor surface, wherein the robot arm is arranged in a rest position on a housing front of the housing. In particular, a robot arm is understood to be a single- or multi-jointed manipulator which has an end effector, preferably a gripper, at its free end. The robot arm is preferably rotatable about a rotation axis via a base joint and tiltable about a tilt axis via a tilt joint on the housing. The rotation axis and the tilt axis are preferably arranged at right angles to one another. Alternatively or optionally additionally, the rotation axis is aligned with a vertical housing axis and / or the tilt axis, at least in a basic position, is aligned with a longitudinal housing axis and / or a radial plane of the vertical housing axis.For example, the robot arm can be stored at the front of the housing in the rest position, preferably bent and / or folded. The robot arm can be transferred from the rest position into at least one or exactly one working position. In the working position, the robot arm can manipulate objects arranged in the cleaning area, preferably grasp and / or move them. Alternatively or optionally, the robot arm can grasp and / or use a tool for cleaning the raised surface, e.g., a piece of furniture, in the working position.

[0011] The cleaning robot further comprises a control unit which is designed and / or suitable for controlling the drive unit, the floor cleaning unit and the robot arm. In particular, the control unit is configured to navigate and / or control the cleaning robot in the cleaning area on the basis of environmental and sensor data. The control unit can control the drive unit and the floor cleaning unit in order to guide the cleaning robot systematically over the floor surface and to clean the floor surface. The control unit can further control the robot arm in order to manipulate objects arranged in the path of the robot, for example to tidy them up or at least to move them aside to make room for cleaning the floor, and / or to clean the raised surface, in particular by means of the tool. The control unit is preferably accommodated in the housing orarranged and signal-connected to the drive unit, the floor cleaning unit and the robot arm.

[0012] Within the scope of the invention, it is proposed that the robot arm forms a bumper in the rest position. In particular, the bumper serves to absorb and / or detect a collision with an obstacle. In the simplest embodiment, the robot arm forms a ram protection which is designed as a mechanical buffer in order to absorb and / or dampen a collision between the cleaning robot and the obstacle. In the rest position, the robot arm is preferably arranged on the housing in such a way that it does not form an interfering contour, in particular at the height of the cleaning robot. In the rest position, the robot arm preferably extends largely over the entire front of the housing. The front of the housing is to be understood as the part of the housing which can in principle come into contact with an obstacle when traveling straight ahead.In other words, when the cleaning robot collides with an obstacle, it only comes into contact with the obstacle via the robot arm. For example, the housing front can have a round or square outer contour, with the robot arm at least approximately following the outer contour of the housing front in the rest position. Specifically, the robot arm is mounted so that it can move relative to the housing in the rest position.

[0013] The invention is based on the realization that when combining a mobile platform and a robot arm, the space requirements of the cleaning robot – especially in height – can rapidly increase, thus redefining the overall height of the cleaning robot. In the working position, the robot arm can extend beyond the housing, which limits the ability to drive underneath furniture or objects such as beds, chairs, etc., and / or can lead to damage to the robot arm.

[0014] The advantage of the invention is that the robot arm can be arranged on the housing in a space-saving manner when in the rest position. This means that the mobility of the cleaning robot within the cleaning area is not restricted by the robot arm, allowing the cleaning robot to move freely beneath objects within the cleaning area, in accordance with its housing dimensions. A further advantage is that the robot arm can be used as a bumper when in the rest position, eliminating the need for an additional bumper on the front of the housing. Thus, a cleaning robot with a robot arm is proposed that is characterized by a compact and cost-effective design.

[0015] In a specific embodiment, the housing has a receiving area for the robot arm on the front of the housing. In particular, the receiving area serves to receive and / or support the robot arm in the rest position. In the rest position, the robot arm is arranged within a maximum height of the cleaning robot in the receiving area. Put simply, the robot arm is arranged in the receiving area with no overhang relative to a vertical axis of the housing to the highest point of the cleaning robot. The maximum height of the cleaning robot is preferably defined by the housing itself or by a structure arranged on the housing, such as an environment sensor. A cleaning robot is thus proposed whose maximum height in the rest position of the robot arm is determined by the housing or a structure and not by the robot arm.

[0016] Alternatively or optionally in addition, it is provided that the robot arm is arranged in the receiving area with a projection relative to the housing, at least in relation to the vertical axis of the housing and / or a longitudinal axis of the housing. Optionally in addition, the robot arm is arranged in the receiving area with a projection relative to the housing in relation to a transverse axis of the housing. In other words, the robot arm projects beyond the housing to the front, upwards and optionally at least in sections to both sides. For example, the projection can be at least 1 mm, preferably more than 5 mm, in particular more than 10 mm. In particular, the vertical axis of the housing, the longitudinal axis of the housing and the transverse axis of the housing are defined by a reference coordinate system, wherein a z-axis is coaxial with the vertical axis of the housing, an x-axis is coaxial with the longitudinal axis of the housing and a y-axis is coaxial with the transverse axis of the housing.In particular, the cleaning robot's direction of travel during straight travel is aligned axially with the housing's longitudinal axis. This overhang ensures that the robot arm first comes into contact with an obstacle, before the housing itself collides with it.

[0017] In a further development, it is provided that the receiving area has a contact section which is designed and / or suitable for the robot arm to be placed on the housing. In particular, the contact section serves for the horizontal placement or storage of the robot arm in the rest position. For this purpose, the robot arm is supported on the contact section at least in the axial direction with respect to the vertical axis of the housing. The contact section can be designed as an edge which is aligned in the axial direction with respect to the longitudinal axis of the housing and / or in the axial direction with respect to the transverse axis of the housing and which extends at least on the underside of the housing on the front of the housing. In particular, the contact section extends in a radial plane of the vertical axis of the housing.

[0018] According to this development, the contact section has at least or exactly one sliding surface, via which the robot arm is supported in a sliding manner on the contact section at least in sections in the rest position. The sliding surface has the particular function of reducing friction between the robot arm and the contact section when the robot arm is in the rest position. The sliding surface can be arranged on the contact section in a point-like manner or over the entire surface. For example, the sliding surface can be formed by one or more Teflon plates. The contact section can ensure that the robot arm is relieved of stress in the rest position, so that the articulated drives of the robot arm are relieved in particular. The sliding contact also ensures that the robot arm can be moved relative to the housing even with low forces in the event of a collision with an obstacle due to the reduced friction force.

[0019] In a further specific embodiment, it is provided that the robot arm has at least or exactly two segments, which are each connected to one another via a joint to form a serial kinematics. In particular, the manipulator is formed by at least one segment and the end effector by at least one segment. The segments can be hollow and / or have a covered support structure. Preferably, the joints are each designed as a pivot joint. A first segment can be articulated to the housing on one side via the base joint and / or the tilt joint and on the other side via a first joint to a second segment. The second segment can in turn be connected to a third segment via a second joint, etc.In other words, the first segment is designed as a base segment, the second segment as an intermediate segment, and the third segment as a further intermediate segment or the end effector. Particularly preferably, the robot arm has exactly five of these segments.

[0020] According to this embodiment, it is provided that in the rest position of the robot arm at least one segment is arranged on a first side surface of the housing front and the one segment or a further segment is arranged on a front surface of the housing wall and the one segment or a further segment is arranged on a second side surface of the housing front. With a round outer contour, the at least one segment or the individual segments at least approximately follows the outer contour of the housing in an angular range of more than 90° and / or at least or exactly 180°. With a square contour, the at least one segment or the individual segments at least approximately follows the outer contour of the housing in that the joints are arranged at the corners and / or the segments are arranged at an angle, preferably at right angles, to one another. Alternatively or optionally additionally, the at least one segment orThe individual segments have a similar contour and / or shape to the housing. This means that the segment(s) are angularly or roundly shaped to match the outer contour of the housing. Particularly preferably, the segments are aligned in the same direction and / or parallel and / or equidistant from the respective side surface or front surface. Thus, a robot arm is proposed which, in the rest position, at least partially covers the housing front both in the longitudinal direction and in the transverse direction, in order to protect it in the event of a collision with an obstacle.

[0021] In a further embodiment, the robot arm is provided with a touch sensor system that is designed and / or suitable for detecting a collision with an obstacle in the cleaning area. The touch sensor system can be formed by one or more individual sensors and / or sensor systems. Particularly preferably, the touch sensor system is designed as a comprehensive touch sensor system that is configured to detect contact of the robot arm with the obstacle at any point on the robot arm, preferably at least in the longitudinal direction of the housing and / or in the transverse direction of the housing.

[0022] The touch sensor system is designed to provide a sensor signal when the robot arm in the rest position comes into contact with an obstacle, wherein the control unit is designed to influence a travel plan of the cleaning robot based on the sensor signal. In particular, the control unit is designed to determine a movement path of the cleaning robot across the floor surface based on information from the touch sensor system, in particular the sensor signal, and to control the cleaning robot according to the planned movement. For this purpose, the control unit can control the drive unit based on the sensor signal in order to change a direction of travel of the cleaning robot. Optionally, the touch sensor system can be used in the working position of the robot arm to detect a collision of the robot arm, preferably the manipulator and / or the end effector, with the environment and / or with the object to be manipulated.A robot arm is therefore proposed which, in addition to its function as a bumper, also serves to detect collisions when the cleaning robot moves in the cleaning area.

[0023] In a first embodiment, it is provided that the touch sensor system is formed by at least or exactly one area sensor, which is arranged at least in sections on an outer side of the robot arm, in particular of the segments. In particular, the area sensor is arranged flatly, preferably over its entire surface, on the front of the robot arm and / or the sides of the robot arm. Preferably, the area sensor is formed by a resistive and / or capacitive area sensor. In other words, the area sensor is designed to be touch-sensitive and / or pressure-sensitive and / or proximity-sensitive. Preferably, the area sensor is designed to generate the sensor signal upon contact with the obstacle and / or upon approaching the obstacle. For example, the area sensor can be realized by sensing skin or a coating that reacts to resistive or capacitive changes.A touch sensor system is thus proposed which enables large-area, preferably full-area, detection of contact between the robot arm and an obstacle.

[0024] In an alternative or optionally supplementary embodiment, it is provided that the touch sensor system is formed by at least or exactly one touch sensor, which is arranged in at least or exactly one segment and / or at least or exactly one joint of the robot arm. In particular, a touch sensor is arranged in each segment and / or in each joint, preferably including the base joint and / or the tilt joint. The at least one touch sensor can be designed as a force and / or torque sensor. Preferably, the at least one touch sensor is designed as a torque sensor arranged in the joint of the robot arm and / or as a force sensor arranged in at least or exactly one segment. Preferably, the at least one touch sensor is designed to generate the sensor signal based on the introduction of force during a collision with the obstacle.A touch sensor system is thus proposed which is characterized by a particularly robust design.

[0025] In an alternative or optionally supplementary embodiment, it is provided that the touch sensor system is formed by at least or exactly one joint drive of the robot arm, wherein the control unit is designed to monitor a motor current of the joint drive. In particular, the robot arm has one joint drive for each joint, all of which are monitored and / or can be monitored by the control unit. Preferably, the control unit has a monitoring module that is configured to monitor the motor currents of the joint motors and to generate the sensor signal in the event of a current change. Furthermore, the control unit can have a calculation module that is configured to determine the location and / or size of the collision based on the sensor signal and / or the current change. Collision detection is thus proposed which does not require additional sensors, so that costs can be saved.

[0026] In a specific development, all joints of the robot arm are arranged in the rest position such that contact with an obstacle results in a corresponding moment around at least one of the joints, detectable by the touch sensor, for each force direction, particularly in the longitudinal and transverse directions of the housing. In other words, at least or exactly one corresponding joint is present for each force direction to be detected. In particular, the phrase "all joints" refers to the joints between the segments and the base joint. Preferably, the joints each define a pivot axis, which, in the rest position, are aligned parallel to one another and / or axially parallel to the vertical axis of the housing and / or to the rotation axis. Specifically, the joints are exclusively rotatably movable, with one or more segments for each joint forming a lever arm around the corresponding joint in the rest position.In other words, when a force is introduced directly into a joint, a moment results in at least one or exactly one adjacent joint. Particularly preferably, each joint lies at least on a segment line of at least one segment or is arranged with a lever arm of significantly less than 90 degrees, preferably less than 70 degrees, to the associated segment. Optionally, the calculation module of the control unit is designed to determine the size and / or location of the collision on the basis of the introduced moment. Preferably, the calculation module is designed to take into account the addition of moments at consecutive joints. The invention is based on the knowledge that, depending on the point of contact, a touch orCollisions can initiate moments at different joints. Due to the serial kinematics of the robot arm, attention must be paid to the summation of moments at consecutive joints, as a collision can affect multiple joints and the collision force can be distributed among them. Thus, a touch sensor system is proposed that is characterized by particularly reliable and precise detection of obstacles by the robot arm.

[0027] In a further implementation, the cleaning robot comprises an environmental sensor which is designed and / or suitable for recording environmental data relating to the cleaning area. In particular, the environmental sensor serves to create an environmental map of the cleaning area and / or to navigate the cleaning robot within the cleaning area. The environmental sensor is preferably designed as an optical sensor, for example a camera sensor, a lidar sensor, or a laser sensor. The environmental sensor is preferably arranged on the upper side of the housing. In the rest position of the robot arm, the environmental sensor thus forms the highest point of the cleaning robot with respect to the vertical axis of the housing.

[0028] In the working position, the robot arm is arranged at least in sections in a detection range of the environment sensor, wherein the part of the robot arm arranged in the detection range has a smaller cross-section than a part of the robot arm arranged outside the detection range. In particular, the part of the robot arm arranged in the detection range has a maximum of half the diameter and / or half the width and / or height of the part of the robot arm arranged outside the detection range. Particularly preferably, the robot arm is arranged and / or can be arranged exclusively with the part with the reduced cross-section in the detection range of the environment sensor. For example, the part with the reduced cross-section can be formed in sections on the base segment or be formed by the base segment.The proposed robot arm, particularly in the working position, creates the smallest possible interference contour within the detection range of the environment sensor. Furthermore, the detection range is never restricted in the rest position.

[0029] Optionally, the environment sensor can be protected by a protective cover, which is supported on the top of the housing via one or more support sections. Preferably, the reduced-cross-section part of the robot arm is arranged in alignment and / or overlapping with the at least one support section in the detection area in the working position. The support section creates a dead zone in the detection area of ​​the environment sensor, in particular a "dead" angle zone, in which no environment detection can be performed by the environment sensor. By overlapping the support section with the reduced-cross-section part of the robot arm in the working position, an additional dead zone in the upper working position of the robot arm can be avoided.

[0030] In a specific implementation, it is provided that at least the part of the robot arm that can be arranged in the detection zone, in particular the base joint, is recessed into the housing in the rest position. Alternatively or optionally additionally, at least the part of the robot arm that can be arranged outside the detection zone is arranged on the outside of the housing in the rest position. In other words, the part with a reduced cross-section does not contribute to the formation of the bumper. The robot arm is movable via the tilting joint between the rest position and the working position, preferably an upper working position. The tilting joint serves to transfer the robot arm, preferably the base segment, from a substantially horizontal orientation in the rest position to a substantially vertical orientation in the upper working position. The tilting joint is preferably arranged between the top and bottom of the housing, preferably stowed away in the housing.This ensures that the reduced-cross-section and thus more sensitive part of the robot arm is protected in the housing when in the rest position.

[0031] In a further specification, it is provided that at least the part of the robot arm that can be arranged outside the detection zone largely covers the housing front in the rest position. In particular, the robot arm covers the housing front in the vertical direction of the housing by more than 50%, preferably by more than 70%, and in particular by more than 85%. In other words, the segments of the robot arm that are arranged on the outside of the housing front are designed such that they largely or completely cover the height of the housing. Thus, a robot arm is proposed which, in the rest position, provides a large contact surface for forming the bumper in order to be able to map the necessary height of the cleaning robot.

[0032] In a further implementation, the robot arm is arranged in the rest position close to the housing front, in particular the receiving area, forming an air gap. The air gap serves in particular to enable movement of the robot arm during a collision. "Close to the contour" is understood to mean that the robot arm follows the outer contour of the housing at a small and / or constant distance. Preferably, the air gap is formed in the axial direction with respect to the housing's longitudinal axis and / or the housing's transverse axis between the robot arm and the housing, in particular the front surface or the side surfaces. Specifically, the robot arm is positioned across the air gap at least in the housing's longitudinal direction and / or transverse direction and / or without contact with the housing.For example, the air gap can have a width of less than 10 mm, preferably less than 5 mm, and especially less than 3 mm. The air gap ensures relative movement between the robot arm and the housing, allowing the collision in the robot arm's joints to be registered by the touch sensors. The air gap also allows only the robot arm to be exposed to the collision, while the housing experiences little or no vibration.

[0033] The invention further relates to a method for controlling the cleaning robot, as already described above. The method is particularly suitable for being carried out by means of a cleaning robot described herein. Preferably, the control unit of the cleaning robot is configured to carry out the described method in whole or in part. For this purpose, the control unit can comprise a programmable microcomputer or microcontroller, and the method can be in the form of a computer program product with program code means. The computer program product can also be stored on a computer-readable data carrier. Features or advantages of the method can be transferred to the control unit or the cleaning robot, and vice versa.

[0034] In the method, the robot arm is moved into a working position to move an object and / or clean a surface, and into a rest position to stow the robot arm against the housing. In the rest position, the robot arm is arranged at the front of the housing to form a bumper. In particular, the robot arm can assume a lower and / or an upper working position. In the lower working position, the robot arm is moved within the housing height, and in the upper working position, it is moved outside the housing height or above the housing.

[0035] To move the robot arm from its rest position to its upper working position, it is first moved away from the front of the robot. To do this, the robot arm can first be moved into the lower working position. For example, to move the robot arm into the lower working position, all segments can be placed in a straight or rectilinear position aligned with the tilt axis and / or the longitudinal axis of the housing. In the lower working position, the robot arm can be used, for example, to grasp and / or move objects in its path. The advantage of the lower working position is that the cleaning robot can use the robot arm without affecting the overall height of the robot, and thus also under furniture, for example, to retrieve objects from under a cupboard or bed or to push movable obstacles aside with a "wiping motion."

[0036] The robot arm can then be moved from the lower working position to the upper working position. For example, the robot arm can be tilted around the tilt axis to move it into the upper working position. Once the robot arm is in the upper working position, it can be moved freely, in particular rotated around the rotation axis. Put simply, the lower working position enables the robot arm to be used within the height of the housing, and the upper working position enables the robot arm to be used at any accessible height. The return of the robot arm from the upper working position to the rest position takes place in the reverse order. By temporarily moving the robot arm to the lower working position, the robot arm can be moved into the upper working position or the rest position without the risk of the robot arm colliding with the housing or the floor.

[0037] In a further implementation, contact with an obstacle by the robot arm is detected in the rest position and a sensor signal is output. Based on the sensor signal, a route plan of the cleaning robot, in particular for avoiding the obstacle, is influenced. In particular, the sensor signal is transmitted to the control unit, in particular to the calculation module, and taken into account by the calculation module in the route planning. Preferably, the location and / or magnitude of the collision on the robot arm can be determined based on the sensor signal.

[0038] Further features, effects, and advantages of the invention will become apparent from the following description of a preferred embodiment of the invention and the accompanying figures. These show: Fig. 1 is a perspective top view of a cleaning robot with a robot arm in a rest position as an embodiment of the invention; Fig. 2 is a perspective bottom view of the cleaning robot from Fig. 1 ; Fig. 3 a perspective view of the cleaning robot with the robot arm in an upper working position; Fig. 4 a detailed top view of the robot arm of the cleaning robot from Fig. 1 ; Fig. 5 a side view of the cleaning robot with the robot arm in an upper working position; Fig. 6 a perspective detailed view of the robot arm of the cleaning robot from Fig. 1 ; Fig. 7 a perspective view of the cleaning robot with the robot arm in a lower working position; Fig. 8 a perspective view of the cleaning robot with the robot arm in an upper working position.

[0039] The Figures 1 and 2Each shows a cleaning robot 1 in different perspective views. The cleaning robot 1 is designed as an autonomously moving vacuum robot, which is configured to perform vacuuming and sweeping work in a cleaning area. The cleaning robot 1 can, for example, be between approximately 7 cm and 15 cm high.

[0040] The cleaning robot 1 has a housing 2 in which a drive unit 3 (not shown in detail) for driving the cleaning robot 1 and a floor cleaning unit 4 (not shown in detail) for cleaning a floor surface 5 of the cleaning area are accommodated.

[0041] As in Figure 2As shown, the drive unit 3 has two drive means 6a, 6b designed as drive wheels, which can be driven by a drive motor (not shown). By setting different speeds of the drive means 6a, 6b, the cleaning robot 1 can also perform turns and cornering.

[0042] As in the Figures 1 and 2 As shown, the floor cleaning unit 4 essentially comprises a brush roller 7, a side brush 8, a suction nozzle 9, a collecting container 10, and a suction fan (not shown). The brush roller 7, the side brush 8, and the suction nozzle 9 are arranged on a bottom side 11, as shown in Figure 2shown, of the housing 2, wherein the bristles of the brush roller 7 and the side brush 8 engage the floor surface 5 to be cleaned in order to remove dust and dirt and transport them towards the suction mouth 9. The suction mouth 9 is fluidically connected to the suction fan, which sucks in dust and dirt via the suction mouth 9 and transports them into the collecting container 10. The collecting container 10 is hereby on an upper side 12, as in Figure 1 shown, of the housing 2. For example, the drive unit 3 and the floor cleaning unit 4 can be supplied with electrical energy via an energy storage unit (not shown), such as a rechargeable battery.

[0043] The cleaning robot 1 further comprises an environmental sensor 13, which is configured to record environmental data. The environmental sensor 13 is designed to scan the environment of the cleaning robot 1 for recording and to provide it as environmental data to a schematically indicated control unit 14 arranged within the housing 2. For example, the environmental data can be used to create an environmental map and / or for navigation. For example, the control unit 14 determines a movement path of the cleaning robot 1 across the floor surface 5 based on the environmental data and navigates the cleaning robot 1 according to the planned movement. The cleaning robot 1 travels across the floor surface 5 in a travel direction 100 and cleans it. For example, the environmental sensor 13 is designed as a lidar sensor.

[0044] The cleaning robot 1 also has a multi-jointed robot arm 15, which in a rest position 101, as in the Figures 1 and 2 shown, is arranged on a housing front 16 of the housing 2. The robot arm 15 can be controlled by the control unit 14 and supplied with electrical energy by the energy storage device. The cleaning robot 1 can use the robot arm 15 to clean elevated surfaces, grasp and insert tools, or pick up and / or move objects.

[0045] The robot arm 15 has several segments 17a, 17b, 17c, 17d, 17e, which are each connected to one another via a joint 18a, 18b, 18c, 19, 20 to form a serial kinematics. A first segment 17a is designed as a base segment, which is rotatable about a rotation axis 110 relative to the housing 2 via a base joint 19. A second, third, and fourth segment 17b, 17c, 17d are each designed as an intermediate segment, wherein the second segment 17b is connected to the first segment 17a via a tilting joint 20 so as to be tiltable about a tilting axis 111, the second segment 17b is connected to the third segment 17c via a first joint 18a so as to be pivotable about a first pivot axis 112a, and the third segment 17d is connected to the fourth segment 17d via a second joint 18b so as to be pivotable about a second pivot axis 112b. A fifth segment 17e, on the other hand, is designed as an end effector, which serves to grip objects and / or tools.The fifth segment 17e is in turn pivotably connected to the fourth segment 17d via a third joint 18c about a third pivot axis 112c. The first, second, and third joints 18a, 18b, 18c are each designed as a pivot joint. The joints 18a, 18b, 18c, the base joint 19, and the tilt joint 20 are each equipped with an electric joint drive.

[0046] The housing 2 has a receiving area 21 on the housing front 16, in which the robot arm 15 is stowed in the rest position 101. In the rest position 101, the robot arm 15 forms a bumper to absorb and / or detect a collision with an obstacle. For this purpose, the robot arm 15 is arranged in the rest position 101 axially with respect to a housing longitudinal axis 113, a housing transverse axis 114, and a housing vertical axis 115 with a slight projection of, for example, 1 mm to 2 mm in the receiving area 21. The robot arm 15 thus slightly projects beyond the housing 2 to the front, to both sides, and upwards, whereby the robot arm 15 first comes into contact with an obstacle, even before the housing 2 itself would collide with the obstacle.The housing longitudinal axis 113 and the housing transverse axis 114 are to be understood as two axes of the housing 2 arranged at right angles to each other, which are oriented in the same direction and / or parallel to the base surface 5, wherein the direction of travel 100 is oriented axially with respect to the housing longitudinal axis 113. The housing vertical axis 115 is oriented perpendicular to the housing longitudinal axis 113 and the housing transverse axis 114 and / or to the base surface 5.

[0047] Furthermore, the robot arm 15 in the rest position 101 is within a maximum height 105 with respect to the housing vertical axis 115, as shown in Figure 5 as can be seen, of the cleaning robot 1. The robot arm 15 is thus arranged in the rest position 101 without protruding from the highest point, here the environment sensor 13, of the cleaning robot 1, whereby the robot arm 15 does not form an interfering contour when driving under objects, such as furniture.

[0048] As in Figure 3As shown, the receiving area 21 has a contact section 22, which serves for the horizontal positioning of the robot arm 15 in the rest position 101. The contact section 22 extends in the axial direction with respect to the housing longitudinal axis 113 and the housing transverse axis 114, as also in Figure 2 shown, circumferentially on the housing front 16. In the rest position 101, the robot arm 15 thus rests at least partially in the axial direction with respect to the housing vertical axis 115 on the contact section 22 in order to relieve the joints 18a, 18b, 18c, 20 of the robot arm 15 and the joint drives located therein, not shown.

[0049] The contact section 22 has a sliding surface 23a, 23b, 23c for each joint 18a, 18b, 18c, via which the robot arm 15 is slidably supported in the rest position 101 with the respective joint 18a, 18b, 18c. For example, the sliding surfaces 23a, 23b, 23c are each formed by a Teflon plate arranged on the contact section 22. Due to the sliding contact, a relative movement in the event of a collision of the robot arm 15 with an obstacle is ensured even with a low force due to the reduced friction force, whereby a collision can be detected particularly reliably by the robot arm 15.

[0050] For this purpose, the robot arm 15 has a touch sensor 24, which, as in Figure 4described, serves to detect collisions of the robot arm 15 in the rest position 101 with an obstacle. The touch sensor system 24 can, in principle, be formed by a surface sensor 25, which is arranged flatly at least on the front outer side of the segments 17a, 17b, 17c, 17d, 17e and reacts to resistive or capacitive changes. Alternatively or optionally additionally, the motor currents of the joint drives could also be monitored by the control unit 14.

[0051] Alternatively or optionally in addition, the touch sensor system 24 has a plurality of touch sensors 26a, 26b, 26c, 26d designed as torque sensors, which are arranged in the joints 18a, 18b, 18c and the base joint 19 in order to detect a moment M1, M2, M3, M4 about the respective pivot axis 112a, 112b, 112c or the rotation axis 110 when a force F1, F2, F3, F4 is introduced. Alternatively or optionally in addition, touch sensors designed as force sensors (not shown) can be used in the segments 17a, 17b, 17c, 17d, 17e in order to directly detect the introduced forces F1, F2, F3, F4.

[0052] The touch sensor system 24 is designed to provide a sensor signal based on the resistive or capacitive changes and / or a current change in the motor currents and / or the moments M1, M2, M3, M4 and / or the forces F1, F2, F3, F4, which sensor signal is evaluated by the control unit 14 and taken into account in the travel planning.

[0053] Depending on the contact point of a touch or collision, as in Figure 4Explained using the forces F1, F2, F3, F4 shown as an example, corresponding moments M1, M2, M3, M4 are introduced at the various joints 18a, 18b, 18c, 19, which indicate the magnitude and location of the collision. This is achieved by aligning the rotation axis 110 and the pivot axes 112a, 112b, 112c in the rest position 101 in the same direction to one another or to the vertical axis 115 of the housing. For example, a force introduction at the third segment 17c by the force F1 results in a moment M1 about the first pivot axis 112a, which is detected by a first touch sensor 26a in the first joint 18a. For example, a force introduction at the fourth segment 17d by the force F2 results in a moment M2 about the second pivot axis 112b, which is detected by a second touch sensor 26b in the second joint 18b.For example, a force introduction at the fifth segment 17e by the force F3 results in a moment M3 about the third pivot axis 112c, which is detected by a third touch sensor 26c in the third joint 18c. For example, a force introduction at the second segment 17b and / or at the first joint 18a and / or at the third joint 18c by one of the forces F4 each results in a moment M4 about the rotation axis 110, which is detected by a fourth touch sensor 26d in the base joint 19.

[0054] Thus, the base joint 19 and the joints 18a, 18b, 18c are arranged such that collisions from any direction relative to the housing's longitudinal axis 113 and the housing's transverse axis 114 can be detected, since at least one corresponding joint is present for each force direction to be detected. It should be noted that a force can also be distributed across multiple joints 18a, 18b, 18c, 19. For example, the force F2 is distributed between the base joint 19 and the first and second joints 18a, 18b.

[0055] The housing front 16 has a rectangular outer contour in plan view. In the rest position, the second segment 17b is arranged on a first side surface 27a of the housing 2, the third and fourth segments 17c, 17d are arranged on a front surface 28 of the housing 2, and the fifth segment 17e is arranged on a second side surface 27b of the housing 2, spaced apart from the housing 2 by an air gap 29. This allows the robot arm 15 to move relative to the housing 2 both in the direction of travel 100 and at the sides, so that a collision of the robot arm 15 with an obstacle can be detected. The first and second side surfaces 27a, 27b each extend in a radial plane of the housing transverse axis 114, and the front surface 28 extends in a radial plane of the housing longitudinal axis 113.The air gap 29 also allows only the "soft" robot arm 15 to be exposed to the collision, while the housing 2, in particular the housing front 16, experiences little or no vibration.

[0056] Again Figure 4 As can be seen, the second segment 17b is connected to the tilting joint 20 by a lever arm 30, which deviates from the segment line at an angle of less than 90 degrees, e.g., approximately 45 degrees. Furthermore, the joints 18a, 18b, 18c, in the rest position, lie in the segment line of at least one associated segment. This results in a particularly advantageous arrangement of the joints 18a, 18b, 18c, 18d, 19 relative to the segments 17b, 17c, 17d, 17e, so that the touch sensors 26a, b, c can register collisions at all points on the segments 17b, 17c, 17d, 17e.

[0057] In Figure 5the robot arm 15 is arranged in a working position, hereinafter referred to as the upper working position 103. In the upper working position 103, the robot arm 15 projects beyond the upper side 12 of the housing 2 or the maximum height 105 defined by the environment sensor 13 in order to be able to operate at any achievable height. In this case, a part of the robot arm 15 arranged within a detection range 104 of the environment sensor 13, preferably the lever arm 30, has a smaller cross-section than a part of the robot arm 15 arranged outside the detection range. For example, the lever arm 30 of the second segment 17b has a smaller width than the remaining part of the second segment 17b. The lever arm 30 is designed to be as thin as possible in order to obstruct the detection range 104 of the environment sensor 13 as little as possible, i.e. to intercept as few of the measuring beams as possible and thus to create a dead zone for the environment sensor, e.g.the lidar sensor, with regard to environmental detection.

[0058] In the rest position 101, however, the lever arm 30 is, as in Figure 6 shown, is recessed in the housing 2, whereas the part of the robot arm 15 that can be arranged outside the detection area 104 is arranged in the rest position 101 on the outside of the housing front 16 on the housing 2. The part of the robot arm 15 that can be arranged outside the detection area 104, i.e. in particular the part of the second segment 17b that can be arranged outside the detection area 104 and the remaining segments 17c, 17d, 17e, is deliberately designed to be wide in order to largely cover the height of the housing 2 and thus form a wide contact surface for the bumper. The segments 17a, 17b, 17c, 17d, 17e can be hollow or have a support structure provided with cover surfaces in order to reduce the mass of the segments 17a, 17b, 17c, 17d, 17e or of the robot arm 15.

[0059] Based on the Figures 7 and 8 A method for controlling the robot arm 15 is described below. In order to move the folded robot arm 15 from the rest position 101, as in Figure 1 shown, into the upper working position 103, such as in Figure 3 shown, the robot arm 15 is first moved into a lower working position 102, as shown in Figure 7 shown, transferred. For this purpose, the third, fourth, and fifth segments 17c, 17d, 17e are first moved from the receiving area 21 away from the housing front 16 via the joint drives of the joints 18a, 18b, 18c. For this purpose, the segments 17c, 17d, 17e are preferably aligned in a substantially rectilinear position and / or substantially parallel to the tilt axis 111 of the tilt joint 20. Alternatively, the segments 17c, 17d, 17e are aligned such that they do not collide with the base surface 5 or the housing 2 during the tilting movement.

[0060] From the lower working position 102, the robot arm 15 can be tilted into the upper working position 103, as shown in Figure 7 shown. For this purpose, the second segment 17b is first tilted from the receiving area 21 via the joint drive of the tilting joint 20 to the housing top 12. As soon as the robot arm 15 is in the upper working position 103, all joints 18a, 18b, 18c, 19, 20 can be used without restriction. The return of the robot arm 15 from the upper working position 103 to the rest position 101 takes place in the reverse order. Depending on the joint position, the segments 17c, 17d, 17e can be arranged at least in sections in the detection area 104 of the environment sensor 13, wherein the control unit 14 is designed to take this into account when processing the environment data.

[0061] Optionally, the robot arm 15, in particular the joints 18a, 18b, 18c, can also be used in the lower working position 102. The advantage of the lower working position 102 is that the cleaning robot 1 can use the robot arm 15 without changing the overall robot height and thus also under furniture, for example, to retrieve objects from under a cupboard or bed or to push objects aside with a kind of "wiping motion." List of reference symbols

[0062] 1Cleaning robot 2Housing 3Drive unit 4Floor cleaning unit 5Floor surface 6a, bDrive means 7Brush roller 8Side brush 9Suction mouth 10Collecting container 11Bottom 12Top 13Ambient sensor 14Control unit 15Robot arm 16Housing front 17a - eSegments 18a - cJoints 19Base joint 20Tilt joint 21Receiving area 22Contact section 23a - cSliding surface 24Touch sensor system 25Surface sensor 26a - dTouch sensor 27a, bSide surface 28Front surface 29Air gap 30Lever arm 100Direction of travel 101Rest position 102Lower working position 103Upper working position 104Detection range 105Maximum height 110Rotation axis 111Tilt axis 112a - cPivot axis 113Housing longitudinal axis 114Housing transverse axis 115Housing vertical axis

Claims

1. A cleaning robot (1) for cleaning a cleaning area, - comprising a housing (2), - a drive unit (3) for driving the cleaning robot (1) in the cleaning area, - a floor cleaning unit (4) for cleaning a floor surface (5) of the cleaning area, - a robot arm (15) for moving objects and / or for cleaning a surface raised relative to the floor surface (5), wherein the robot arm (15) is arranged in a rest position (101) on a housing front (16) of the housing (2), - a control unit (14) for controlling the drive unit (3), the floor cleaning unit (4) and the robot arm (15), characterized in that the robot arm (15) forms a bumper in the rest position (101).

2. Cleaning robot (1) according to claim 1, characterized in thatthe housing (2) has a receiving area (21) for the robot arm (15) on the housing front (16), wherein the robot arm (15) is arranged in the receiving area (21) in the rest position (101) within a maximum height (105) of the cleaning robot (1) and is arranged with a projection in the receiving area (21) at least with respect to a housing vertical axis (115) and / or a housing longitudinal axis (113).

3. Cleaning robot (1) according to claim 2, characterized in that the receiving area (21) has a contact section (22) for contacting the robot arm (15) on the housing (2), wherein the contact section (22) has at least one sliding surface (23a, 23b, 23c) via which the robot arm (15) is supported in the rest position (101) at least in sections in a sliding manner on the contact section (22).

4. Cleaning robot (1) according to one of the preceding claims, characterized in thatthe robot arm (15) has at least two segments (17a, 17b, 17c, 17d, 17e) which are connected to one another via a joint (18a, 18b, 18c, 19, 20) to form a serial kinematics, wherein in the rest position (101) at least one segment (17a, 17b, 17c, 17d, 17e) is arranged on a first side surface (27a) of the housing front (16) and / or on a front surface (28) of the housing front (16) and / or on a second side surface (27b) of the housing front (16).

5. Cleaning robot (1) according to one of the preceding claims, characterized in that the robot arm (15) has a touch sensor system (24) which is designed to provide a sensor signal when the robot arm (15) in the rest position (101) comes into contact with an obstacle, wherein the control unit (14) is designed to influence a travel plan of the cleaning robot (1) on the basis of the sensor signal.

6. Cleaning robot (1) according to claim 5, characterized in thatthe touch sensor system (24) is formed by at least one area sensor (25) which is arranged at least in sections on an outer side of the robot arm (15).

7. Cleaning robot (1) according to claim 5 or 6, characterized in that the touch sensor system (24) is formed by at least one touch sensor (26a, 26b, 26c, 26d) which is arranged in at least one segment (17a, 17b, 17c, 17d, 17e) and / or in at least one joint (18a, 18b, 18c, 19) of the robot arm (15).

8. Cleaning robot (1) according to one of claims 5 to 7, characterized in that the touch sensor system (24) is formed by at least one joint drive of the robot arm (15), wherein the control unit (14) is designed to monitor a motor current of the joint drive.

9. Cleaning robot (1) according to one of claims 5 to 8, characterized in thatall joints (18a, 18b, 18c, 19) of the robot arm (15) in the rest position (101) are arranged such that when the robot arm (15) comes into contact with an obstacle, an associated moment (M1, M2, M3, M4) around at least one of the joints (18a, 18b, 18c, 19) results for each force direction, which moment can be detected by the touch sensor system (24).

10. Cleaning robot (1) according to one of the preceding claims, characterized by an environment sensor (13) for detecting environment data relating to the cleaning area, wherein the robot arm (15) is arranged in a working position (103) at least partially in a detection area (104) of the environment sensor (13), wherein the part of the robot arm (15) arranged in the detection area (104) has a smaller cross-section than a part of the robot arm (15) arranged outside the detection area (104).

11. Cleaning robot (1) according to claim 10, characterized in thatat least the part of the robot arm (15) arranged in the detection area (104) is sunk into the housing (2) in the rest position (101) and / or at least the part of the robot arm (15) arranged outside the detection area (104) is arranged on the outside of the housing (2) in the rest position (101).

12. Cleaning robot (1) according to claim 11, characterized in that the part of the robot arm (15) arranged outside the detection area (104) largely covers the housing front (16) in the rest position (101).

13. Cleaning robot (1) according to one of the preceding claims, characterized in that the robot arm (15) in the rest position (101) is arranged close to the contour of the housing front (16), forming an air gap (29).

14. A method for controlling a cleaning robot (1) according to one of the preceding claims, in which: - the robot arm (15) is transferred into at least one working position (102, 103) in order to move an object and / or to clean a surface; - the robot arm (15) is transferred into a rest position (101) in order to stow the robot arm (15), wherein the robot arm (15) is arranged in the rest position (101) on a housing front (16) in order to form a bumper.

15. Method according to claim 14, characterized in that in the rest position (101) contact with an obstacle by the robot arm (15) is detected and a sensor signal is output, wherein a travel plan of the cleaning robot (1) is influenced based on the sensor signal.