Method for improved edge cleaning of a wall

Abstract

The invention relates to a method for improved edge cleaning of a wall (6) with a protruding skirting board (7) by means of a cleaning robot (1), wherein - the cleaning robot (1) hits the skirting board (7) on a first cleaning run, whereupon a collision sensor (2) generates a first signal and a distance detector (3) detects a first distance from the wall (6); - the cleaning robot (1) continues its first cleaning run and hits the skirting board (7), whereupon the collision sensor (2) generates a second signal and the distance detector (3) detects a second distance from the wall (6); - a computer device (4) of the cleaning robot (1) calculates two spatial points and a first straight line extending through the two spatial points from the signals; - the computer device (4) determines the approach limit of the cleaning robot (1) to the wall (6) using the distances and the two spatial points; - the computer device (4) controls the cleaning robot (1) during a subsequent cleaning run only by means of at least one distance detector (3).

Description

TECHNICAL FIELD

[0001] The invention relates to a method for improved edge cleaning of a wall with a protruding skirting board by means of a cleaning robot. The invention also relates to a cleaning robot for carrying out the method. BACKGROUND

[0002] From US 2017 / 0332853 A1 a cleaning robot with wheels and a drive device and a suction device is known, wherein the drive device drives the wheels. Via the suction device dust-laden air can be sucked in. Furthermore, the cleaning robot has a sensor device on the inside of the front bumper, which detects an impact of the cleaning robot on an obstacle.

[0003] From US 2018 / 0149753 A1 a self-propelled device with a LIDAR sensor is known, which minimizes the size of the self-propelled device by separating the transmitter module from the receiver module.

[0004] Generally, a large number of cleaning robots today have, in addition to a largely laser-based distance measuring sensor device as the main data source for navigation and, if necessary, map creation, a spring bumper with a switch impact sensor, in short bumper. The bumper serves to enable the cleaning robot to detect objects outside the detection range of the main distance sensor device in such a way that the cleaning robot hits an obstacle or object and identifies the object as an obstacle by the triggered impact sensor. These objects can be outside the detection range on the one hand because of the limited lateral spatial resolution of the sensor device (objects are too small), on the other hand because of being below the measurement plane (objects are too low). The latter case applies in particular to skirting boards along walls if the distance sensor device is installed at the front of the cleaning robot or at the top of the cleaning robot.

[0005] In the above-mentioned cases, the cleaning robot often hits the skirting board because the navigation software assumes a distance from the wall of the thickness of the skirting board based on the values provided by the distance sensor device. It is therefore not possible or less possible to use such a cleaning robot for edge cleaning along such a skirting board. SUMMARY

[0006] The invention thus relates to the problem of specifying a method for improved edge cleaning of a wall with a protruding skirting board and in particular of overcoming the disadvantages occurring in the prior art.

[0007] The problem is solved by the subject matter according to the invention. Advantageous embodiments are the subject matter of the following description.

[0008] The general idea on which the present invention is based is that the thickness of the skirting board along the wall is detected and taken into account, and that an improved edge cleaning along the skirting board projecting from the wall is thereby achieved, even if the cleaning robot is preferably navigated only by means of the distance detector. Here, the method for improved edge cleaning of a wall with a projecting skirting board by means of a cleaning robot according to the invention is as follows: First, the cleaning robot is activated and hits the skirting board of the wall, for example on the first cleaning run, whereupon a first signal is generated by the impact sensor of the cleaning robot and a distance detector arranged above the impact sensor detects a first distance from the wall. Then, the cleaning robot returns and continues its first cleaning run until the cleaning robot hits the skirting board at least once more. Then, a second signal is generated by the impact sensor, while the distance detector simultaneously detects a second distance from the wall. Next, a computer device of the cleaning robot calculates two spatial points and a first straight line extending through these two spatial points from the first signal and the second signal. Now, using the previously determined distances and the two spatial points, the computer device determines a drive-up limit of the cleaning robot to the wall for subsequent cleaning runs. Now, by means of the determined first straight line and the associated distances, the computer device is able to control the cleaning robot only by means of the distance detector and only to drive up to the drive-up limit on subsequent cleaning runs, and an improved edge cleaning is thereby achieved. Here, the distance from the wall can be measured by the distance detector by means of a distance sensor or be taken from a map in which distances for different spatial points are pre-stored. Thus, the method according to the invention uses the coordinates of the points, i.e. the first spatial point and the second spatial point, which are determined on the first execution of the edge cleaning in a room, at which points contact with the skirting board occurs and at the same time the distance detector detects the distance from the wall, the values of which indicate a greater distance from the wall. With the a priori knowledge that the skirting board is installed parallel to the wall, the thickness of the skirting board can be calculated from the two spatial points and the associated first and second distances in such a way that a straight line is determined from the two spatial points and the normal distance of the determined straight line from the wall behind is calculated in the navigation software. If the cleaning robot here drives onto a wall without a skirting board, the remaining distance from the wall is equal to zero, while the distance detected by the cleaning robot when hitting a skirting board projecting from the wall is greater than zero. Thus, with the method according to the invention, a self-learning of the drive-up limit of the cleaning robot is achieved, and this is possible even in a room with walls with skirting boards, whereby an improved cleaning of the edge along the skirting board is achieved and, by means of this, in particular an improved cleaning result can be achieved. Furthermore, it is particularly advantageous that the navigation of the cleaning robot can be achieved almost exclusively by means of the distance detector, and at the same time the edge cleaning can be improved without additional sensor devices. This brings a significant additional benefit for one user or a plurality of users.

[0009] In an advantageous extension of the method according to the application, the cleaning robot continues its first cleaning run until the cleaning robot hits the skirting again, whereupon the impact sensor generates a further signal and the computer device calculates a further associated spatial point from the further signal. Also attached to the further spatial point is the further distance from the wall detected by the distance detector assigned to the further spatial point when the cleaning robot hits the skirting. The computer device now takes the further spatial point into account for the adjustment of the first straight line only if the further spatial point is less than a predefined distance from the first straight line calculated from the first and second spatial points. As long as the further spatial point has or exceeds the predefined distance from the first straight line, the computer device ignores the further spatial point. In this way, the first straight line calculated can always be adapted and the measurement uncertainty of the respective spatial points measured is relativized or compensated by this. Furthermore, with this advantageous extension of the method according to the application, it is also possible to reliably distinguish between an accidental impact of the cleaning robot on an obstacle and an impact on the skirting, and thus to exclude accidental impacts of the cleaning robot on an obstacle from the adjustment of the first straight line. This is the case, in particular, when the further spatial point has or exceeds the predefined distance from the first straight line. Thus, in this case, it can be concluded with comparatively high certainty that the further spatial point does not belong to the first straight line, but is due to an accidental impact on another obstacle. In this way, a self-learning effect perceptible to the user can also be produced, and at the same time the fear of damage to the skirting due to repeated impacts can be reduced.

[0010] In a further advantageous embodiment of the method according to the application, the computer device calculates a second straight line from the distances from the wall detected at at least the first and second spatial points and discards the first straight line if a predefined angular deviation between the two straight lines is exceeded. That is, in general, the first straight line drawn through at least the first and second spatial points must extend parallel to the wall, i.e. the first and second distances must be at least approximately the same in theory as long as the thickness of the skirting is the same. The predefined angular deviation must therefore be zero in the ideal case, so that the first and second straight lines extend parallel. If the first and second straight lines do not extend parallel, with this advantageous embodiment of the method according to the application, a predefined angular deviation, for example 0.2 to 0.5 degrees, is specified, which may, perhaps, also be caused by the presence of unevennesses in the wall plaster. A larger angular deviation, on the other hand, would indicate that the first straight line is incorrect, so that the first straight line is preferably determined anew.

[0011] In a further advantageous embodiment of the method according to the application, the first distance corresponds to the thickness of the skirting board at the first spatial point. Similarly, the second distance also corresponds to the thickness of the skirting board at the second spatial point. Here, in the case of identical thicknesses of the skirting board, the first distance and the second distance must generally be of the same size. By this, for example, the method according to the application can also be monitored in such a way that the computer device determines the relevant spatial point and the relevant distance from the wall at each impact on the skirting board and compares the individual distances with one another, wherein here deviations in the distance which are attributable only to tolerances, for example, can be tolerated, which indicate manufacturing tolerances of the skirting board.

[0012] Here, the distance detector can have a distance sensor for measuring the distance from the wall at the respective spatial point, by means of which the real situation on the space can be detected permanently and the approach to the skirting board or to the approach limit can be adapted continuously. Alternatively, it is also conceivable that the relevant distance from the wall, and thereby the thickness of the skirting board present at the respective spatial point, is entered individually in advance in a map, for example via an app, and that the distance detector uses the distance entered for this spatial point upon impact on the skirting board. In the case of the possibility of specifying the thickness of the skirting board in this app, an improvement in the navigation behavior and in the corner and edge cleaning can be achieved. This can be achieved individually for each room, for example. Thus, the distance of the cleaning robot from the skirting board can be adapted exactly to the real situation. This can be enhanced and individual walls or even individual wall sections can be changed or the thickness of the skirting board installed there can be entered individually. In this way, for example, a floor mirror can be embedded in the map and the cleaning robot will navigate differently in this area. In this way, the corner and edge cleaning is improved even without a rotating side brush. Furthermore, it is possible to prevent constant impacts on the more solid skirting boards and thereby also damage to these skirting boards, and the cleaning robot can thereby obtain a more intelligent navigation.

[0013] The general idea on which the application is based also consists in specifying a cleaning robot which has an impact sensor and a distance detector arranged above the impact sensor in the operating state, and a computer device, wherein the computer device is designed to carry out the method according to the application. By this, a cleaning robot can be provided which is navigated preferably only by means of the distance detector and at the same time achieves a significantly improved cleaning result, since the cleaning robot detects the room boundaries present in the case of a wall with a skirting board significantly better than was possible with previous cleaning robots.

[0014] In another advantageous embodiment of the cleaning robot according to the application, the distance detector or at least one distance detector is arranged on the top of the cleaning robot, for example in a tower, or on the front of the cleaning robot above the impact sensor. By this it is possible to arrange the distance detector so high that it detects the distance from the respective wall above the skirting board in any case and thus the method according to the application can be carried out.

[0015] Suitably, the impact sensor is arranged in a spring bumper of the cleaning robot. By this, comparatively light impacts of the cleaning robot on the skirting board can be realized, whereby in particular any type of damage can be almost completely ruled out.

[0016] Further important features and advantages of the application result from the drawing and from the accompanying description of the drawing in accordance with the drawing.

[0017] It is easily understood that the features mentioned above and subsequently still to be set forth can be applied not only in the combinations respectively explained, but also in other combinations or alone, without leaving the scope of protection of the application. BRIEF DESCRIPTION OF DRAWINGS

[0018] Preferred embodiments of the application are shown in the drawing and are explained in more detail in the following description, in which identical reference signs refer to identical or similar or functionally identical components. Herein, respectively schematically:

[0019] Figure 1 a cleaning robot according to the application is shown when carrying out the method according to the application for improved edge cleaning of a wall;

[0020] Figure 2 the individual method steps of the method according to the application are shown;

[0021] Figure 3 a diagram as in Figure 2 but at a further approach of the cleaning robot to the wall is shown. DETAILED DESCRIPTION

[0022] According to Figures 1 to 3 , the cleaning robot 1 according to the application has at least an impact sensor 2 and a distance detector 3 arranged above the impact sensor in the operating state, i.e. when driving conventionally, and a computer device 4. Herein, the cleaning robot 1 shown according to Figures 1 to 3 has two distance detectors 3, namely one tower-top distance detector 3 and one front distance detector. According to Figures 1 to 3Also a wall 6 forming a boundary of the room 5 is drawn, which is provided in front with a skirting board 7, wherein the cleaning robot 1 cleans the floor 8 of the room 5. In order to be able to perform an improved edge cleaning of this wall with the skirting board 7 protruding from the wall 6 here too, among other things, the method according to the invention is provided, which is described in the subsequent paragraphs:

[0023] In this method according to the invention, the cleaning robot 1 is first activated and hits the skirting board 7 during the first cleaning run, whereupon the impact sensor 2 generates a first signal and the distance detector 3 detects a first distance a from the wall 6. According to Figure 2 and Figure 3 This is denoted by the method step A. Then, the cleaning robot 1 continues its first cleaning run until the cleaning robot hits the skirting board 7 at least once again, according to Figure 2 and Figure 3 This is denoted by the method state C. Upon hitting the skirting board 7 again, the impact sensor 2 generates a second signal and the distance detector 3 detects a second distance a from the wall 6. Now, the computer means 4 of the cleaning robot 1 calculates two spatial points PI and P2 (see Figure 2 and Figure 3 ) and a first straight line extending through these two spatial points PI and P2 from the first and second signals. According to Figure 1 This first straight line extends outside the skirting board 7. Now, using the distances a at the respective spatial points PI and P2 and these two spatial points PI and P2, the computer means 4 determines the approach limit of the cleaning robot 1 to the wall 6 for the subsequent cleaning run. In this case, the distance a between the cleaning robot 1 and the wall 6 is corrected by the determined thickness of the skirting board 7, so that the cleaning robot 1 can significantly improve the run along the skirting board 7 and perform a significantly improved edge cleaning there during the subsequent cleaning run.

[0024] With the method according to the invention, it is possible for the first time to navigate the cleaning robot 1 only by means of the distance detector 3 and to achieve this even in the case of a wall 6 with a skirting board 7 arranged in front, wherein a particularly accurate approach of the cleaning robot 1 to the approach limit or the skirting board 7 can be achieved at the same time by taking into account the thickness of the skirting board 7, i.e. the distance a, and thereby a significantly improved edge cleaning.

[0025] Here, the distance detector 3 can have distance sensors for measuring the distance a from the wall 6 at the respective spatial point Pl, P2 or in general at each arbitrary spatial point P, thereby permanently detecting the real situation in the room and continuously adapting the approach to the toe-kick 7 or to the approach limit. Alternatively, it is also conceivable that the relevant distance a from the wall 6 is entered individually beforehand for different spatial points P, for example via an application, and thereby the thickness of the toe-kick 7 present at the respective spatial point P is entered beforehand, and that the distance detector 3 uses the distance a entered for this spatial point P when hitting the toe-kick 7. In the case of the possibility of specifying the thickness of the toe-kick 7 in this application, an improvement in the navigation behavior and in the corner and edge cleaning can be achieved. This can be achieved individually for each room, for example. Thus, the distance a of the cleaning robot 1 from the toe-kick 7 can be adapted exactly to the real situation. This can also be enhanced and individual walls 6 or even individual wall sections can be changed or the thick base of the toe-kick 7 installed there can be entered individually. In this way, for example, a floor mirror can be embedded in the map and the cleaning robot 1 can navigate differently in this area. The corner and edge cleaning is enhanced to optimum cleaning (side brush without rotation). Furthermore, it is thereby possible to prevent constant hitting of the toe-kick 7 and thereby also damage to these, and the cleaning robot 1 can thereby obtain a more intelligent navigation.

[0026] Now, in an extension of the method according to the application, the cleaning robot 1 continues its first cleaning drive until it hits the toe-kick 7 again, whereupon the impact sensor 2 generates a further signal and the distance detector 3 detects a further distance a from the wall. The computer means 4 calculates a further spatial point from this further signal, considers this further spatial point for adjusting the first straight line only if this further spatial point is less than a predefined distance from the first straight line calculated from the first and second spatial points Pl and P2, and ignores this further spatial point if this further spatial point has or exceeds the predefined distance from the first straight line. In this way, reliable hits of the cleaning robot 1 against obstacles can be distinguished from hits against the toe-kick 7 in particular and accidental hits can be ruled out. Of course, further measuring points can also be detected by the return direction and included in the straight line calculation thereby, with which the straight line calculation can be adjusted or improved.

[0027] Furthermore, the computer means 4 can calculate a second straight line from the distances a from the wall 6 detected at at least the first and second spatial points Pl and P2 and discard the first straight line if a predefined angular deviation between the two straight lines is exceeded.

[0028] According to Figure 2 and Figure 3The two straight lines G1 and G2 must extend parallel and thus have an angle deviation of 0 degrees. Here, by specifying a predefined angle deviation of, for example, 0.5 degrees, the first straight line G1 can be discarded as soon as the angle deviation is too large and this indicates an inaccurate measurement when creating the first straight line G1.

[0029] In the method according to the application, it is generally the case that the distance a between the cleaning robot 1 and the wall 6, which is detected by the distance detector 3, is measured, for example, or read from a map with previously input values, which corresponds to the thickness of the skirting board 7. The distance a at the respective space points P1 and P2 must therefore generally be identical.

[0030] With the method according to the application and the cleaning robot 1 according to the application, it is possible for the first time to implement navigation controlled purely by the distance detector 3 with the cleaning robot, while at the same time an improved edge cleaning can be achieved with a wall 6 with a skirting board 7. In particular, no additional complex sensor devices, such as a laser radar, are required.

[0031] List of reference signs

[0032] 1 cleaning robot

[0033] 2 impact sensor

[0034] 3 distance detector

[0035] 4 computer device

[0036] 5 room

[0037] 6 wall

[0038] 7 skirting board

[0039] 8 floor

[0040] a distance

[0041] a1 first distance

[0042] a2 second distance

[0043] G1 first straight line

[0044] G2 second straight line

[0045] P space point

[0046] P1 space point

[0047] P2 space point.

Claims

1. A method for improved edge cleaning of a wall (6) with a protruding skirting board (7) by means of a cleaning robot (1) having at least one impact sensor (2) and at least one distance detector (3) arranged above the impact sensor in the operating state, wherein - the cleaning robot (1) impacts the skirting board (7) on a first cleaning run, whereupon the impact sensor (2) generates a first signal and the distance detector (3) detects a first distance (al) from the wall (6); - the cleaning robot (1) continues its first cleaning run until the cleaning robot impacts the skirting board (7) at least once more, whereupon the impact sensor (2) generates a second signal and the distance detector (3) detects a second distance (a2) from the wall (6); - a computer device (4) of the cleaning robot (1) calculates two spatial points (Pl, P2) and a first straight line (Gl) extending through these two spatial points (Pl, P2) from the first and second signals; - the computer device (4) determines a drive-up limit of the cleaning robot (1) to the wall (6) for a subsequent cleaning run using the distances (al, a2) and the two spatial points (Pl, P2); - the computer device (4) controls the cleaning robot (1) only by means of the at least one distance detector (3) on the subsequent cleaning run and only drives up to the drive-up limit, and an improved edge cleaning is thereby achieved.

2. The method as claimed in claim 1, wherein - the cleaning robot (1) continues its first cleaning run until the cleaning robot impacts the skirting board (7) again, whereupon the impact sensor (2) generates a further signal and the distance detector (3) detects a further distance from the wall (6); - the computer device (4) calculates a further spatial point from the further signal; - the computer device (4) takes the further spatial point into account for adjusting the first straight line (Gl) as long as the further spatial point is less than a predefined distance from the first straight line (Gl) calculated from the first and second spatial points (Pl, P2), and ignores the further spatial point as long as the further spatial point has or exceeds the predefined distance from the first straight line (Gl).

3. The method according to claim 1 or 2, characterized in that, The computer device (4) calculates a second straight line (G2) from the distances (al, a2) from the wall (6) detected at least at the first and second spatial points (Pl, P2), and discards the first straight line (Gl) if a predefined angular deviation between the two straight lines (Gl, G2) is exceeded.

4. The method according to claim 1 or 2, characterized in that, The first distance (al) corresponds to the thickness of the skirting board (7) at the first spatial point (Pl).

5. The method according to claim 1 or 2, characterized in that, The second distance (a2) corresponds to the thickness of the skirting board (7) at the second spatial point (P2).

6. The method of claim 1 or 2, wherein, The distance detector (3) has a distance sensor for measuring the distance (a) from the wall (6) at the respective spatial point (P); or for different spatial points (P), the relevant distance (a) from the wall (6) is inputted beforehand individually and thereby the thickness of the skirting board (7) is inputted beforehand, and upon impact on the skirting board (7) the distance detector (3) uses the distance (a) inputted for the spatial point (P).

7. A cleaning robot (1) having at least one impact sensor (2) and at least one distance detector (3) arranged above the impact sensor in the operating state, and computer means (4) for carrying out the method according to any one of claims 1 to 6.

8. The cleaning robot according to claim 7, wherein, The at least one distance detector (3) is arranged on top of the cleaning robot (1), or in front of the cleaning robot above the impact sensor (2).

9. The cleaning robot according to claim 7 or 8, characterized in that, The impact sensor (2) is arranged in a spring bumper. The impact sensor (2) is arranged in a spring bumper.

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