Cleaning apparatus and cleaning system

Abstract

The present invention relates to a cleaning device (1) having at least one electrical interface (2) for cooperating with a counter-electrical interface (3) of at least one base station (4), the base station being at least used to charge the energy storage device (1), wherein the cleaning device (1) is at least constructed and configured to autonomously move in at least one processing environment (7), complete cleaning tasks, and move to a service location (8) of the base station (4) for service purposes. A cleaning device (1) capable of determining the service function range (13) of the base station (4) is achieved by at least further constructing and configuring the cleaning device (1) such that at least one measured value of the voltage applied to the electrical interface (2) and / or at least one measured value of the voltage curve applied to the electrical interface (2) are determined as identification means at least at the service location (8), and at least one service function range of the base station (4) is determined by using this identification means, wherein at least the identification means is provided on at least one communication interface (9) for use when determining the service function range by a data processing device (10). The present invention also relates to a cleaning system (16), a method (100), and a computer program product.

Description

Technical Field

[0001] This invention relates to a cleaning device, and more particularly to a cleaning device configured for autonomous movement in a treatment environment. The cleaning device has at least one electrical interface for cooperating with a counter-electrical interface of at least one base station. During cooperation, for example, electrical contact occurs, and the energy storage device of the cleaning device is charged by a voltage supplied to the electrical interface.

[0002] The cleaning equipment should be constructed and positioned such that it can be moved to the service location of the base station for service purposes. At least at the service location, voltage can be applied to the electrical interface, specifically for charging the energy storage device of the cleaning equipment. Background Technology

[0003] Such cleaning devices are known in many existing designs. These devices are, for example, designed as vacuuming robots, scrubbing robots, or vacuuming and scrubbing robots. Such cleaning devices typically have at least one data processing unit equipped with multiple sensors to ensure the device's navigation within the processing environment and to control the completion of cleaning tasks. Specifically, to achieve systematic movement of the cleaning device within the processing environment, an environmental map of the environment is created and continuously adjusted using the data processing unit, or a provided environmental map is continuously adjusted. This "environmental map" is provided in a form that can be processed and interpreted by the data processing unit under any circumstances. The existence of this environmental map can, for example, support the location of base stations for service purposes.

[0004] Depending on the design of the cleaning equipment, the service purpose, i.e. the tasks to be completed by the cleaning equipment at the service location, may include charging the energy storage device, especially the battery, emptying the dirt collection container and / or regenerating the wet cleaning coating.

[0005] Especially in cleaning systems with multiple base stations and / or multiple cleaning devices, there is a challenge that the service needs of a particular cleaning device at a specific point in time cannot be handled by every base station in the cleaning system. For example, only one base station can empty the waste collection container, while all base stations can charge the energy storage device.

[0006] In order to control the base stations that are suitable for the current service requirements, the cleaning equipment needs information about the service function range of the base station used in the cleaning system or information about the service function range of all base stations used in the cleaning system. Summary of the Invention

[0007] The objective of this invention is to provide a cleaning device, a cleaning system, and a computer program product capable of determining the service function range of a base station.

[0008] The aforementioned task is solved by a cleaning device having the features described in claim 1, wherein the cleaning device is constructed and arranged such that at least one measurement of the voltage applied to the electrical interface is determined as an identification means, at least at the service location. Alternatively or additionally, the cleaning device is constructed and arranged such that at least one measurement of the voltage curve applied to the electrical interface is determined as an identification means.

[0009] This electrical interface, specifically the charging interface for the cleaning equipment, is used to charge at least one energy storage device within the cleaning equipment. This energy storage device may be, for example, a battery or a supercapacitor.

[0010] By using identification means, namely by using measurements of at least one voltage applied to an electrical interface and / or measurements of a voltage curve applied to an electrical interface, a cleaning device, particularly a data processing device for the cleaning device, determines at least one service function range of a base station. This service function range includes information about tasks that can be performed by the corresponding base station, such as charging an energy storage device, emptying a waste collection container, etc.

[0011] Each data processing device, particularly a data processing device for cleaning equipment, includes, for example, at least one processor device for performing computational operations, at least one, particularly non-volatile, storage device for storing data, and preferably at least one communication device.

[0012] Alternatively or additionally, at least one identification means, namely at least one measurement of voltage and / or at least one measurement of voltage curve, may be provided on at least one communication interface of the cleaning equipment for use when determining the service function range via a data processing device, particularly a spatially spaced data processing device. The data processing device, particularly a spatially spaced data processing device, is, for example, an internet-accessible server, particularly a cloud computer, a user's mobile data processing device, such as a smartphone, tablet, or laptop, other cleaning equipment data processing devices, and / or base station data processing devices.

[0013] The settings and tuning of the measured value must take into account the tolerance between the measured value and the stored voltage measured value. Within this tolerance, the measured value will still be assigned to the voltage measured value if there is a deviation between the measured value and the stored voltage measured value. For example, the tolerance between the measured value and the stored voltage measured value is ±2%, ±5%, or ±10%.

[0014] The voltage applied to the electrical interface is, for example, a standard charging voltage with a deviation exceeding the normal tolerance range. Preferably, the deviation is chosen so significantly for each type of base station that it is clearly different from the normal voltage tolerance and therefore does not cause misidentification. Preferably, for measurement by cleaning equipment, this deviation is temporary and is adjusted back to the standard value during the actual charging of the energy storage device. Therefore, it is specifically configured that the voltage applied to the electrical interface is changed only at predetermined time points, after a predetermined time period, or for a predetermined time period, and then the set charging voltage is applied again.

[0015] For example, to identify each type of base station, the voltage applied to the electrical interface is a few volts higher or lower than the charging voltage set for charging the energy storage device. It is also configured that the base station continuously provides slightly different charging voltages, individually characterizing each type of base station. Therefore, the voltage is a few volts higher or lower than the standard charging voltage.

[0016] Specifically, the settings define multiple measurement values. For example, measurements of a continuous voltage curve over a predetermined time period are considered as measurement values.

[0017] Preferably, the applied or supplied voltage and / or voltage curve is measured by means of a charging control device assigned to the energy storage device, particularly to the battery. The charging control device is typically constructed and configured to monitor and control the charging of the energy storage device.

[0018] When cleaning equipment is deployed at the service location of a base station, the electrical interface of the cleaning equipment works in conjunction with the opposing electrical interface of the base station to enable the transmission of voltage applied to the opposing electrical interface.

[0019] The cleaning equipment includes, for example, at least one blower motor for vacuuming, at least one mobile drive device, for example having at least three rollers or wheels, at least one electric motor for at least one cleaning tool, at least one cleaning tool, particularly at least one rotatable brush or wet cleaning tool, and / or at least one sensor, preferably multiple sensors.

[0020] In order to provide different voltage values ​​on the opposing electrical interface, the base station preferably has multiple resistors with different resistance values ​​and multiple switching elements, which can be controlled by the base station's data processing device to apply a predetermined output voltage to the opposing electrical interface.

[0021] For example, the electrical interface may have at least two electrical contacts that are in physical contact with opposing contacts on the base station. For instance, the electrical contacts or opposing contacts may be configured as resiliently supported contact surfaces or as contact pins and contact seats.

[0022] Alternatively, for example, the electrical interface may have at least one secondary coil configured to work in conjunction with the primary coil in the base station. The energy storage device is then charged in an inductive manner, such that there is no physical contact between the electrical interface and the opposing electrical interface, but there is still a "contact" and they work together.

[0023] The advantage of this invention over existing technologies is that determining the service function range does not require additional hardware, as known cleaning devices already possess electrical interfaces, particularly for charging energy storage devices, as well as charging management systems and charging controllers. By advantageously determining the service function range, the cleaning device can clearly identify base stations and effectively control them according to current service requirements within the framework of the cleaning strategy.

[0024] A first design embodiment of the cleaning device of the present invention specifies that a service function range is determined by tuning at least one measured value and a voltage measurement value prepared in at least one storage device. Different voltage measurement values ​​in the storage device are assigned to base stations with different service function ranges. By tuning the measured voltage values ​​and the measurement values ​​stored in the storage device, the base station is directly identified, and thereby the service function range is determined. The storage device is designed, for example, as a non-volatile memory or a database, particularly a database in a non-volatile memory, in which the voltage measurement values ​​and corresponding service function ranges are prepared.

[0025] For example, the setup involves preparing a storage device, specifically a database, via a data processing unit of the cleaning equipment. Corresponding measured values ​​are provided to this data processing unit for allocation or comparison with stored voltage measurements.

[0026] Optionally, a storage device, particularly a database, may be provided on the spatially spaced data processing unit. For example, in order to determine the service function range, the cleaning equipment's data processing unit accesses this storage device, particularly the database, via at least one communication interface, and accesses the spatially spaced data processing unit to compare the measured values ​​with the stored voltage measurements. The spatially spaced data processing unit may be, for example, an internet-accessible server, particularly a cloud computer, a user's mobile data processing device, such as a smartphone, tablet, or laptop, other cleaning equipment data processing units, and / or a base station data processing unit.

[0027] At least one measurement of the voltage or voltage curve can be measured at different time points. According to another design of the cleaning equipment, it has proven advantageous to construct and arrange the cleaning equipment such that at least one measurement of the voltage and / or at least one measurement of the voltage curve is measured immediately after the cleaning equipment is placed in the service location, particularly immediately after the electrical interface contacts the opposing electrical interface. Therefore, the measurement or multiple measurements are measured directly after the cleaning equipment is systematically placed in the service location and the electrical interface contacts the opposing electrical interface, without any time delay. The service function range is then measured immediately after the cleaning equipment is placed in the service location of the base station. Preferably, the service function range is measured each time the cleaning equipment is placed in the service location of the base station.

[0028] It is also configured to, alternatively or additionally, measure at least one voltage value at at least one predetermined time point. For example, a time point for measuring the value may be defined, such as after the initialization process between the cleaning equipment and the base station has been completed following its deployment at the service location, or at any other predetermined time point.

[0029] Particularly preferably, alternatively or additionally, after the cleaning equipment is connected to the base station, particularly after the cleaning equipment is positioned at the service location, at least one measured value of the voltage and / or a measured value of the voltage curve is determined after at least a predetermined time period. For example, the relevant time point for determining the measured value is after at least a predetermined time period, such as 1, 2, 3, 4, 5, 10, or 15 seconds, following contact between the electrical interface and the peer electrical interface. Preferably, the cleaning equipment and the base station are constructed and arranged such that the base station provides the relevant voltage at the peer electrical interface at that time point or performs detection by the cleaning equipment at that time point.

[0030] It is also configured to detect at least one or more measurements within a predetermined time period. For example, the measurement or at least one measurement may be measured within 10 or 15 seconds after the cleaning equipment is deployed in the base station, or within a predetermined time period starting from any predetermined point in time, particularly within a predetermined time period after the cleaning equipment is deployed at the service location.

[0031] If a single measurement of the voltage curve is measured, it is preferable to measure multiple measurements. Preferably, the voltage curve varying over time is selected so that it can be clearly distinguished from other voltage curves varying over time, and thus the service function range of the base station can be clearly identified through this characteristic voltage curve. Therefore, the measured value is the voltage curve.

[0032] Advantageously, to enable the efficient operation of the cleaning equipment by utilizing the measured service function range of the base stations, according to another design scheme of the cleaning equipment, the cleaning equipment is further designed and arranged such that the measured service function range of each base station is associated with the location data of the corresponding base station in the processing environment, particularly by the cleaning equipment, preferably in an environmental map created by the data processing device of the cleaning equipment. Therefore, the cleaning equipment assigns the measured service function range to a location in the processing environment. In this way, the cleaning equipment can selectively control the base station whenever it requires the service function range provided by the base station.

[0033] Since the location of the base station can be changed by the user, it is preferable to set up a system in which the service range is measured each time the cleaning equipment is deployed at the service location of the base station, and the stored data is updated if necessary, especially the data on the service range and the location of the base station.

[0034] Advantageously, when formulating and / or adjusting navigation and / or cleaning task plans, the cleaning equipment considers the service function range associated with the corresponding location data of the base station. Preferably, the cleaning equipment moves in a coordinated manner within the processing environment, particularly when performing cleaning tasks, such as traveling along a systematic path and / or at least cleaning an area of ​​the processing environment. By understanding and locating the service function range of the base station, the cleaning equipment can coordinate its navigation and cleaning tasks so that the base station with the required service function range is located nearby at a given time or time period when the cleaning equipment needs that service function range.

[0035] In particular, the navigation and cleaning strategies of the cleaning equipment can be further improved according to another design scheme of the cleaning equipment, in that the cleaning equipment is constructed and set up such that at least one estimated time point or time period is determined for the service needs of the cleaning equipment by using at least one measured service function range associated with location data and at least one other data of the following: data on the size of the treatment environment, data on the degree of contamination of at least a part of the treatment environment, data on the state of the energy storage of the cleaning equipment, especially the charging state of the battery, data on the regenerativeness of the wet cleaning cover and / or data on the liquid level of the dirt collection container.

[0036] If at least one estimated time point or time period is determined for service needs, such as charging an energy storage device or cleaning a dust collection container, it is preferably configured to be used when developing and / or adjusting navigation and / or cleaning task plans. Preferably, the information about the estimated time point or time period is used in such a way that the cleaning equipment is at least near the location of a base station at the estimated service time point or time period, and the base station can utilize its service range to handle the service area of ​​the cleaning equipment required at the estimated service time point. In particular, the estimated time point or time period of service needs is used to coordinate service needs with other cleaning equipment, especially with other cleaning equipment regarding the use of at least one or more base stations.

[0037] In this way, cleaning equipment can efficiently complete its navigation and cleaning tasks, minimizing the time it takes for the base station to perform services. Furthermore, it prevents cleaning equipment from traveling unnecessarily long distances to complete its service tasks.

[0038] According to another design scheme for the cleaning equipment, the cleaning equipment is constructed and set up in such a way that, in particular, the current service demand of the cleaning equipment is determined at a specific point in time using a data processing device. By using information on the service ranges of different base stations stored in a storage device, at least one suitable base station is selected, and then the cleaning equipment is moved, in particular, to the selected base station with known location data. If the service range of any base station is unknown, it is preferable to move to any base station to determine the service range.

[0039] The cleaning equipment is preferably constructed and configured such that it can be selected from multiple base stations at any given time. For example, if it is necessary to charge an energy storage device, but the waste collection container does not yet need to be emptied, then a base station suitable only for charging the energy storage device can be selected. If, for example, the waste collection container also needs to be cleaned, but the base station providing that service range is currently occupied, then the cleaning equipment is constructed and configured to first control a first base station to handle the first part of the service demand, such as charging the energy storage device, and then control at least another base station to handle the second part of the service demand, such as emptying the waste collection container. Therefore, the cleaning equipment is constructed and configured to select at least one base station with a known service range.

[0040] Preferably, to further improve the efficiency of cleaning task completion, according to another design scheme of the cleaning equipment, the cleaning equipment is also constructed and arranged such that at least one optimized location for the corresponding base station is determined by using at least one measured service function range for at least one base station and by using data of at least one other cleaning characteristic, namely, data on the general contamination of the treatment environment, data on the expected cleaning intensity of the treatment environment, data on the holding capacity of the waste collection container, data on the regeneration of the wet cleaning surface and / or the maximum operating time of the energy storage device, and / or data on the general contamination of the treatment environment, the expected cleaning intensity of the treatment environment, the holding capacity of the waste collection container, and the maximum operating time of the regeneration of the wet cleaning surface and / or the energy storage device measured during the navigation and / or cleaning movements already undertaken.

[0041] By using at least some of the data described above, the cleaning equipment can determine an optimal location for each base station based on its service function range. Therefore, base stations used solely for charging can be located in different places from those suitable for regenerating wet cleaning covers or emptying waste collection containers.

[0042] Preferably, the system is configured to output at least one determined, optimized location via at least one display device, preferably a spatially spaced display device. This display device is, for example, a user's mobile data processing device, such as a smartphone or tablet. "Spatially spaced" means, for example, an arrangement not within or on the casing of the cleaning equipment.

[0043] The optimized location is characterized by its optimal alignment with the requirements of efficient navigation and cleaning strategies.

[0044] Preferably, the cleaning equipment is configured and arranged such that it determines multiple optimized locations for the base station in the processing environment, and in particular, outputs the determined optimized locations to the user via at least one spatially spaced display device. The cleaning equipment preferably determines multiple locations based on the aforementioned parameters, and these locations (which may have different degrees of suitability) can be considered as optimized locations.

[0045] The system also includes a spatially spaced data processing device that determines at least one location, preferably multiple optimized locations, and subsequently outputs the results to the user on a display device. Suitable spatially spaced data processing devices include, for example, servers, particularly cloud servers, or the user's mobile data processing device, such as a smartphone or tablet that can also function as a display device, and / or other cleaning equipment or other base station data processing devices.

[0046] Users can select at least one optimized location, preferably multiple optimized locations, via an input device such as a tablet or smartphone, or confirm it as a future location, which has proven particularly advantageous according to another design. If a user confirms an optimized location, the cleaning device stores it as an optimized location. The user then needs to move the base station whose optimized location has been determined to be located at the location now considered optimized. Changing the orientation of the base station is also considered an optimized location.

[0047] To understand the user's wishes regarding base station deployment, according to another design scheme, the cleaning equipment is also constructed and arranged such that it can receive data about at least one preferred location in the processing environment via a communication interface through at least one input device, particularly through an input device constructed on the cleaning equipment, or through spatially spaced input devices. This preferred location is transmitted to the cleaning equipment by the user. Furthermore, the cleaning equipment is constructed and arranged such that the preferred location is evaluated in terms of its suitability as a location within the framework of the navigation and / or cleaning task plan, using data on at least one preferred location based on the determined service function range for at least one base station, and using data on at least one other cleaning characteristic, namely, data on the general contamination level of the treatment environment, data on the expected cleaning intensity of the treatment environment, data on the capacity of the waste collection container, data on the regeneration of the wet cleaning surface and / or the maximum operating time of the energy storage device, and data on the general contamination level of the treatment environment, data on the expected cleaning intensity of the treatment environment, data on the capacity of the waste collection container, and data on the regeneration of the wet cleaning surface and / or the maximum operating time of the energy storage device determined during the navigation and / or cleaning operations already conducted. Based on this evaluation, a result is preferably output to the user indicating whether the base station should be located at the preferred location or whether the preferred location is unsuitable as a base station location.

[0048] It is also configured that users can input multiple preferred locations via an input device and the cleaning equipment can evaluate the suitability of each of the preferred locations, especially to evaluate different degrees of suitability.

[0049] The task described at the outset is further addressed by a cleaning system comprising at least one base station and at least one cleaning device, particularly the cleaning device according to any one of the preceding claims. The cleaning device has at least one electrical interface, particularly a charging interface, for cooperating with a counter-electrical interface of the base station, particularly a counter-charging interface, which at least serves to charge the energy storage device's energy storage. The cleaning device is constructed and configured to autonomously advance within the processing environment, complete cleaning tasks, and move to a service location at least one base station for service purposes. At the service location, voltage can be supplied to the energy storage device's energy storage via the counter-electrical interface and the electrical interface.

[0050] The cleaning equipment is also constructed and arranged such that at least one measurement of the voltage applied to the electrical interface and / or at least one measurement of the voltage curve applied to the electrical interface is determined as an identification means, at least at the service location. By using the identification means, i.e., by using at least one measurement, at least one service function range of the base station is determined, or at least the identification means, i.e., the at least one measurement, is provided on at least one communication interface for determining the service function range by a data processing device, particularly one that is spatially spaced.

[0051] According to the first design scheme of the cleaning system, there are at least two cleaning devices and / or at least two base stations. Specifically, each cleaning device is constructed and arranged such that the service function range of each base station at its corresponding service location is determined, or at least one measurement is provided on at least one communication interface for use in determining the service function range via a data processing device that is spatially spaced.

[0052] Another design scheme for the cleaning system specifies that there are at least two base stations, particularly multiple base stations, and the measurable voltage difference at the electrical interface for base stations with different functional ranges is at least 0.5V, particularly at least 1V, and preferably at least 2V.

[0053] To differentiate base stations from each other, the voltage difference provided by the base stations should be at least 0.5V, particularly at least 1V, and preferably at least 2V. The greater the voltage difference, the less susceptible the system is to misallocation caused by voltage fluctuations. It is preferable to arrange and construct base stations to provide different voltages at the opposing electrical interfaces.

[0054] In particular, the base station is arranged and constructed to control the opposing electrical interface in such a way that at least temporarily changes the voltage measurable by the cleaning equipment, particularly the voltage measurable at at least one predetermined point in time, and / or particularly at least for a predetermined period of time to produce a predetermined voltage profile.

[0055] Another design of the cleaning system specifies the presence of at least one data processing device. For example, the cleaning system may have a spatially spaced data processing device, such as a sensor, or a data processing device using the cleaning equipment. Specifically, the data processing device is constructed and arranged such that the service demand of at least one cleaning device is determined at at least one point in time, and at least one base station at least partially suitable for that service demand is selected using the current service demand. The data processing device is also constructed and arranged such that it causes the cleaning equipment to move to the service location of at least one selected base station or to move the cleaning equipment to the service location of any base station to determine the service range. Preferably, data is transmitted to the cleaning equipment via the data processing device, particularly to the data processing device of the cleaning equipment, and this data contains information that allows identification of the selected base station.

[0056] The task described at the beginning is further addressed by a method for operating at least one cleaning device, having at least one electrical interface for cooperating with a counter-electrical interface of at least one base station, the base station being at least used to charge the energy storage device of the cleaning device. The cleaning device is constructed and configured to autonomously move within at least one processing environment, complete cleaning tasks, and move to a service location at the base station for service purposes. Voltage is provided at the service location via the electrical interface, and the method includes at least the following steps:

[0057] - Determine at least one measured value of the voltage at the electrical interface of the cleaning equipment at the service location and / or determine at least one measured value of the voltage curve at the electrical interface of the cleaning equipment at the service location as an identification means.

[0058] - By using this identification means, at least one service function range of a base station is determined by at least the measured values ​​of the tuning voltage and / or the measured values ​​of the voltage curve, and by voltage measurements prepared in at least one storage device, particularly in a database, wherein the voltage measurements prepared in the storage device, particularly in a database, are assigned to data regarding the service function ranges of different base stations.

[0059] The present invention also relates to a computer program product comprising instructions that, when executed by a processing unit of a data processing device, cause it to determine at least one current service demand required by a cleaning device at at least one point in time, select at least one suitable base station for handling at least a portion of the current service demand by using data regarding the service function ranges assigned to known base stations, and cause the cleaning device to move to the service location of the selected base station.

[0060] The computer program product can be executed either by the data processing device of the cleaning equipment or by a spatially spaced data processing device connected to the data processing device of the cleaning equipment via at least one communication interface. This spatially spaced data processing device is, for example, a server or a user's mobile data processing device, such as a smartphone or tablet. Therefore, the computer program product controls the determination of the required service demand and subsequently selects a suitable base station to handle that service demand. According to the first design, the computer program product is preferably configured such that multiple base stations are operated by the cleaning equipment to achieve a range of service functions, for example, to handle a portion of the service demand separately. The computer program product preferably controls the cleaning equipment such that the cleaning equipment first controls a first base station to handle at least a first portion of the service demand and then controls at least a second base station to handle at least a second portion of the service demand. Attached Figure Description

[0061] Other advantageous designs of the invention can be derived from the following description of the drawings and dependent claims.

[0062] It is shown that:

[0063] Figure 1 A side view of one embodiment of the cleaning equipment.

[0064] Figure 2 A side view of another embodiment of the cleaning equipment.

[0065] Figure 3 A partial cross-sectional side view of another embodiment of the cleaning equipment.

[0066] Figure 4 One embodiment of the cleaning equipment,

[0067] Figure 5 One embodiment of the processing environment,

[0068] Figure 6 A schematic diagram of an embodiment of the method according to the present invention,

[0069] Figure 7 Voltage curve over time at the electrical interface of the cleaning equipment at the service location of the base station.

[0070] In all the figures in the accompanying drawings, the same parts are always indicated by the same labels.

[0071] List of reference numerals

[0072] 1. Cleaning equipment

[0073] 2 Electrical Interface

[0074] 3. Opposite electrical interface

[0075] 4 base stations

[0076] 5. Forward movement device

[0077] 6 Cleaning tools

[0078] 7. Environmental Processing

[0079] 8 Service Locations

[0080] 9. Communication Interface

[0081] 10 Data processing device

[0082] 10a Smartphone

[0083] 10b server

[0084] 11 Storage devices

[0085] 12 Voltage Measurement Values

[0086] 13 Service Function Scope

[0087] 14. Processing environmental data

[0088] 15 Location Data

[0089] 16 Cleaning System

[0090] 17. Optimized Location

[0091] 18 Waste collection container

[0092] Waste collection containers for 19 base stations

[0093] 20 Voltage Curve

[0094] 100 methods

[0095] 101 Confirmed

[0096] 102 Measurement Detailed Implementation

[0097] As will be said in the following description, the invention is not limited to these embodiments and is not limited to all or more features of the described combination of features. Rather, any individual sub-feature of this embodiment / each embodiment is also represented separately from all other sub-features described herein and is also represented in combination with any features of other embodiments to represent the subject matter of the invention.

[0098] Figure 1A side view of one embodiment of the cleaning device 1 is shown. The cleaning device 1 has an electrical interface 2 for cooperating with a counter-electrical interface 3 of a base station 4. The base station 4 is used to charge the energy storage device 1, which is a battery in this case. The cleaning device 1 has a forward movement device 5 with a motion drive, and at least one cleaning tool 6, which is a rotating brush in this case. The electrical interface 2 has two electrical contacts, and the counter-electrical interface 3 has two counter-electrical contacts, which will be in contact with each other as long as the cleaning device 1 is fully positioned in the service location of the base station 4.

[0099] Figure 2 A side view of another embodiment of the cleaning device 1 is shown. The cleaning device 1 is arranged in the service location 8 of the base station 4, wherein the base station 4 is different from... Figure 1 Base station 4 in the middle. According to Figure 2 The electrical interface 2 of the cleaning device 1 is configured as a secondary coil and the opposing electrical interface 3 of the base station 4 is configured as a primary coil, thereby enabling inductive charging of the energy storage device of the cleaning device 1.

[0100] Such construction and setup Figure 1 and Figure 2 The cleaning device 1 in the embodiment is used for, for example... Figure 5 In the processing environment 7 shown, which serves as the dwelling place, the robot autonomously moves forward and completes cleaning tasks. It is also constructed and set up according to... Figure 1 and Figure 2 Two cleaning devices 1, for service purposes, are moved to Figure 1 and Figure 2 The service location 8 of the base station 4 shown provides voltage via electrical interface 2, specifically for charging the energy storage device of the cleaning equipment 1. It is also constructed and configured according to... Figure 1 and Figure 2 The cleaning device 1 enables the determination of at least one measurement of the voltage applied to the electrical interface 2 at at least service location 8 and / or a voltage profile 20 applied to the electrical interface 2 over a period of time (see [reference]). Figure 7 At least one measurement value of ) is used as an identification means, and by using the identification means, that is, by using at least one measurement value, at least one service function range 13 of base station 4 is determined (see Figure 4 ).

[0101] Figure 3 A partial cross-sectional side view of an alternative embodiment of the cleaning device 1 is shown. The cleaning device 1 also has an electrical interface 2, which makes electrical contact with a counter-electrical interface 3 of the base station 4 at the shown service location 8. The cleaning device 1 has a cleaning tool 6 in the form of a brush roller and a forward movement device 5 with a motion drive to move within the processing environment 7 (see...). Figure 5The cleaning device 1 moves autonomously within the system. It also has a waste collection container 18, which can be emptied by the base station 4 by drawing waste from the container into a waste collection container 19 on the base station 4. Therefore, the service functions 13 of the base station 4 include charging the energy storage device of the cleaning device 1 and emptying the waste collection container 18.

[0102] And so it is constructed and set up according to Figure 3 The cleaning equipment 1, at least at the service location 8 shown, determines at least one measured value of the voltage applied to the electrical interface 2 and / or a voltage curve 20 applied to the electrical interface 2 (see...). Figure 7 At least one measurement value is used as an identification means. In this embodiment, the determined measurement value or multiple determined measurement values, i.e. the identification means, are transmitted to at least one communication interface 9 to determine the service function range 13 through a spatially spaced data processing device 10, such as a smartphone 10a or a server 10b.

[0103] Spatially spaced data processing device 10 determines the service function range 13 of base station 4, particularly through communication with storage device 11 (see...). Figure 4 The voltage measurement value 12 in the device is tuned, and the determined service function range 13 is transmitted back to the cleaning equipment 1, and in particular the data processing device 10 of the cleaning equipment 1, through the communication interface 9.

[0104] Figure 4 A top view of the cleaning device 1 and the contents of the symbolic storage device 11 are shown. The storage device 11 stores voltage measurement values ​​12 and data regarding the service function range 13 of the corresponding base station 4.

[0105] Storage device 11 is preferably designed as a non-volatile memory. Storage device 11 also includes processing environment data 14, here for drawing a processing environment 7 with location data 15 (see [link to documentation]). Figure 5 In the storage device 11, the service function range 13 of the base station 4 is assigned to each voltage measurement value 12. Preferably, the service function range 13 is determined by comparing the measured value, i.e., the identification means, with the stored voltage measurement value 12.

[0106] This can be alternatively based on Figure 3 The setup includes a spatially spaced data processing device 10, such as an internet-accessible server 10b, to prepare a storage device 11, wherein the data processing device of the cleaning device 1 can access the storage device 11 through the communication interface 9 of the cleaning device 1.

[0107] Alternatively, the storage device 11 can be prepared by a data processing device 10 designed as a smartphone 10a, and the data processing device of the cleaning device 1 can access the storage device 11 through the communication interface 9 of the cleaning device 1 or can retrieve the data of the storage device 11 through the communication interface 9.

[0108] Figure 5 An embodiment of a processing environment 7 is shown, which has multiple cleaning devices 1 and multiple base stations 4, which together constitute a cleaning system 16. The cleaning devices 1 are configured, for example, as follows: Figure 4 Cleaning equipment 1 in the middle. For example, the cleaning equipment 1 is constructed and set up such that at least one measured service function range 13 of each base station 4 is with Figure 5 The location data 15 of each base station 4 in the processing environment 7 is associated. For example, the location data 15 is associated with... Figure 4 The data regarding the service function range 13 in the processing environment data 14 are combined together. The processing environment data 14 can be equivalent to an environment map, for example. Therefore, when formulating and / or adjusting the navigation and / or cleaning task plan of the cleaning equipment 1, the location data 15 of the base station 4 with the corresponding service function range 13 can be taken into account.

[0109] according to Figure 5 At least one cleaning device 1 is also designed and arranged such that at least one estimated time point or time period can be determined for the service needs of the cleaning device 1 by using the service function range 13 associated with the measured location data 15 and other data, such as data on the size of the treatment environment 7 and data on the degree of contamination of at least a portion of the treatment environment 7.

[0110] When developing and / or adjusting the navigation and / or cleaning task plan for cleaning equipment 1, the estimated time point or time period for service demand is used so that cleaning equipment 1 is at least near the location of base station 4 at the estimated service time point, which can at least partially, and in particular fully, handle the service range of cleaning equipment 1 required at the estimated service time point by means of its service function range 13.

[0111] according to Figure 5 At least one cleaning device 1 is also constructed and arranged such that at least one optimized location 17 for the base station 4 in the processing environment 7 is determined by using at least one measured service function range 13 for the base station 4 and by using data of at least one other cleaning characteristic, namely data on the general contamination of the processing environment 7, data on the desired cleaning intensity, and data on the holding capacity of the waste collection container 18.

[0112] For example, it can be done Figure 3The data processing device 10 shown, particularly via a smartphone 10a, outputs the determined optimized location 17 to the user as a display device. The data processing device 10, particularly the data processing device in the form of a smartphone 10a, can also be used by the user as an input device, for example, so as not to adopt the data obtained from the cleaning device 1. Figure 5 The suggested optimized location 17 or a confirmed future location for base station 4 with a specific service function range 13.

[0113] If the optimized location 17 is confirmed as the future location, then the user will need to install an additional base station 4 at the optimized location 17 or place one of the existing base stations 4 at the location 17.

[0114] according to Figure 5 The cleaning system 16 includes three cleaning devices 1 and two base stations 4. The base station 4 is constructed and configured to control the opposing electrical interface 3 such that it at least temporarily alters the voltage measurable through the cleaning devices 1, particularly the voltage measurable at at least one predetermined point in time, and / or particularly generates at least one predetermined voltage profile over at least one predetermined time period.

[0115] All cleaning equipment 1 is also configured and constructed such that at least one measurement of the applied voltage and / or at least one measurement of the voltage curve 20 is determined as an identification means at least at the service location 8 of at least one base station 4.

[0116] according to Figure 1 and Figure 2 The embodiment determines the service function range 13 through the cleaning equipment 1, particularly through the various data processing devices of the cleaning equipment 1 itself, or according to... Figure 3 A data processing device 10, such as a smartphone 10a or a server 10b, which is spatially separated from the cleaning equipment 1, is used to determine the service function range 13.

[0117] Figure 6 A flowchart illustrating a method 100 for operating a cleaning device 1 is shown, particularly the cleaning device 1 according to one of the above embodiments. The cleaning device 1 includes at least one electrical interface 2 for cooperating with a counter-electrical interface 3 of at least one base station 4, the base station being used at least to charge the energy storage device 1.

[0118] The cleaning device 1 is constructed and configured to autonomously advance within at least one processing environment 7, complete cleaning tasks, and move to a service location 8 of the base station 4 for service purposes. At the service location 8, voltage can be supplied via an electrical interface 2, specifically the voltage for the energy storage device of the cleaning device 1.

[0119] Method 100 includes the following steps:

[0120] - Determine at least one measured value of the voltage at the electrical interface 2 of the cleaning equipment 1 at service location 8 and / or determine at least one measured value of the voltage curve at the electrical interface 2 of the cleaning equipment 1 at service location 8.

[0121] - At least one service function range 13 of base station 4 is determined by using at least the measured values ​​of the tuning voltage and / or the measured values ​​of the voltage curve 20, along with voltage measurement values ​​12 prepared in at least one storage device 11. The voltage measurement values ​​12 prepared in the storage device 11 are assigned to data regarding the service function range of the corresponding base station 4.

[0122] Figure 7 The voltage curve 20 at the electrical interface 2 of the cleaning device 1 at the service location 8 of base station 4 is shown as a function of time. The time is plotted on the horizontal axis in milliseconds after the electrical interface 2 is connected to the opposing electrical interface 3 of base station 4. The voltage applied at the electrical interface 2 is plotted on the vertical axis in volts. In this embodiment, the voltage curve 20 is measured over an 800ms time period after connecting the electrical interface 2. The standard charging voltage for the energy storage device on the electrical interface 2 is, for example, 19V. Base station 4 is constructed and configured such that the voltage drops to 14.5V over a 100ms time period, then remains at that voltage for approximately 400ms, and drops to 6V after approximately 400ms to 500ms. The voltage then rises again after connection up to 800ms, so that it again approximately matches the standard charging voltage of 19V 800ms after connection. This characteristic voltage curve 20 is detected by the cleaning device 1 and used as an identification means when determining the service range 13 of base station 4.

[0123] This invention is not limited to the embodiments shown and described, but also includes all embodiments that function identically in the sense of this invention. It should be emphasized that the embodiments of this invention are not limited to combining all features together; rather, each individual sub-feature remains inventive when separated from all other sub-features. Furthermore, this invention is not limited to the feature combination defined in claim 1, but can also be defined by any different combination of defined features from all the disclosed individual features. This means that, in principle, each individual feature of claim 1 can be omitted in practice or replaced by at least one individual feature disclosed elsewhere in this application.

Claims

1. A cleaning device (1) having at least one electrical interface (2) for cooperating with a counter electrical interface (3) of at least one base station (4), the base station being at least configured to charge the energy storage device (1), wherein the cleaning device (1) is at least constructed and configured to autonomously move in at least one processing environment (7), perform cleaning tasks, and move to the service location (8) of the base station (4) for service purposes. Its features are, The cleaning equipment (1) is constructed and arranged such that at least one measurement of the voltage applied to the electrical interface (2) or at least one measurement of the voltage curve (20) applied to the electrical interface (2) is determined at least at the service location (8) as an identification means, and the identification means is provided on at least one communication interface (9) for use when determining the service function range (13) by a spatially spaced data processing device (10) and the determined service function range (13) is received from the spatially spaced data processing device (10) via the communication interface (9).

2. The cleaning equipment (1) according to claim 1. Its features are, Determining the service function range (13) includes tuning at least one of the above-mentioned measurements with voltage measurements prepared in at least one storage device (11), wherein different voltage measurements are assigned to base stations (4) with different service function ranges (13).

3. The cleaning equipment (1) according to claim 2. Its features are, The storage device (11) is prepared by the data processing device of the cleaning equipment (1), or by the spatially spaced data processing device (10).

4. The cleaning equipment (1) according to claim 1 or 2. Its features are, The cleaning device (1) is also constructed and arranged such that at least one measurement of the voltage or at least one measurement of the voltage curve is measured immediately after the cleaning device (1) is placed at the service location (8).

5. The cleaning equipment (1) according to claim 1 or 2. Its features are, At least one measurement of the voltage is determined at at least one predetermined time point, or at least one measurement of the voltage is determined after at least one predetermined time period has elapsed after the cleaning equipment (1) is placed at the service location (8).

6. The cleaning equipment (1) according to claim 1 or 2. Its features are, The cleaning equipment (1) is also constructed and configured such that the service function range (13) measured for each base station (4) is associated with the location data of the corresponding base station (4) in the processing environment (7).

7. The cleaning equipment (1) according to claim 6. Its features are, When developing or adjusting the navigation or cleaning task plan for the cleaning equipment (1), the scope of service functions (13) associated with the location data (15) shall be taken into consideration.

8. The cleaning equipment (1) according to claim 6. Its features are, The cleaning equipment (1) is also constructed and configured such that at least one estimated time point or time period is determined for the service needs of the cleaning equipment (1) by using at least one measured service function range (13) associated with at least one base station (4) location data (15) and at least one other data of the following: data on the size of the processing environment (7), data on the degree of contamination of at least a portion of the processing environment (7), data on the state of the energy storage of the cleaning equipment (1), data on the regenerativeness of the wet cleaning cover, or data on the liquid level of the waste collection container (18), wherein the estimated time point or time period is used when developing or adjusting the navigation or cleaning task plan of the cleaning equipment (1).

9. The cleaning equipment (1) according to claim 8. Its features are, By using the estimated time point or time period in such a way that the cleaning equipment (1) is at least near the location of the base station (4) at the estimated time point or time period, the base station can at least partially handle the service range of the cleaning equipment (1) required at the estimated time point or time period by means of its service function range (13).

10. The cleaning equipment (1) according to claim 1 or 2. Its features are, The cleaning device (1) is constructed and configured such that the current service demand of the cleaning device (1) is determined at a point in time and at least one base station (4) that is at least partially suitable for the determined service demand is selected by using the current service demand of the cleaning device (1).

11. The cleaning equipment (1) according to claim 10. Its features are, The cleaning device (1) is constructed and configured in such a way that, after selection, it is also caused to move at least toward the selected base station (4) with known location data (15) or to move toward at least one arbitrary base station (4) to determine the service function range (13).

12. The cleaning equipment (1) according to claim 1 or 2. Its features are, The cleaning equipment (1) is also constructed and configured such that at least one optimized location (17) for at least one base station (4) is determined by using at least the determined service function range (13) for at least one base station (4) and by using data of at least one other cleaning feature, namely, data on the general contamination of the processing environment (7), data on the expected cleaning intensity of the processing environment (7), data on the capacity of the waste collection container (18), data on the regenerative capacity of the wet cleaning cover or the maximum operating time of the energy storage device, data on the general contamination of the processing environment (7), data on the expected cleaning intensity of the processing environment (7), data on the capacity of the waste collection container (18), and data on the regenerative capacity of the wet cleaning cover or the maximum operating time of the energy storage device measured during the navigation or cleaning operation that has been carried out.

13. The cleaning equipment (1) according to claim 12. Its features are, The cleaning equipment (1) is constructed and set up in such a way that at least one measured and optimized location (17) is output to the user via at least one display device.

14. The cleaning equipment (1) according to claim 13. Its features are, The cleaning equipment (1) is constructed and set up in such a way that at least one optimized location (17) or a future location is not adopted based on at least one input from the input device.

15. The cleaning equipment (1) according to claim 1 or 2. Its features are, The cleaning equipment (1) is constructed and configured such that data about the location of the base station (4) in at least one location in the processing environment (7) is received via at least one input device, and the location is evaluated in terms of suitability within the framework of the navigation or cleaning task plan by using data about the location based on the measured service function range (13) of the at least one base station (4) and by using data about at least one other cleaning characteristic, namely, data about the general contamination of the processing environment (7), data about the expected cleaning intensity of the processing environment (7), data about the capacity of the waste collection container (18), data about the regenerative capacity of the wet cleaning cover or the maximum operating time of the energy storage device, data about the general contamination of the processing environment (7), data about the expected cleaning intensity of the processing environment (7), data about the capacity of the waste collection container (18), and data about the regenerative capacity of the wet cleaning cover or the maximum operating time of the energy storage device determined during the navigation or cleaning operation.

16. A cleaning system (16) having at least one base station (4) and at least one cleaning device (1), wherein the cleaning device (1) has at least one electrical interface (2) for cooperating with a counter-electrical interface (3) of the base station (4), the base station being at least for charging at least one energy storage device of the cleaning device (1), wherein the cleaning device (1) is at least constructed and configured to autonomously move, perform cleaning tasks, and move to a service location (8) of the base station (4) for service purposes, wherein voltage can be provided at the service location (8) via the counter-electrical interface (3) and the electrical interface (2). Its features are, The cleaning equipment (1) is also constructed and arranged such that at least one measurement of the voltage applied to the electrical interface (2) or at least one measurement of the voltage curve (20) applied to the electrical interface (2) is determined at least at the service location (8) as an identification means, and the identification means is provided at least at a communication interface (9) for use when determining the service function range (13) by a spatially spaced data processing device (10) and the determined service function range (13) is received from the spatially spaced data processing device (10) through the communication interface (9).

17. The cleaning system (16) according to claim 16. Its features are, There are at least two cleaning devices (1) and at least two base stations (4), and each cleaning device (1) is constructed and configured such that the service function range (13) of each base station (4) at the service location (8) is determined or at least one measurement is provided on at least one communication interface (9) for use when the service function range (13) is determined by the data processing device (10).

18. The cleaning system (16) according to claim 16 or 17. Its features are, There are at least two base stations (4), and the measurable voltage difference between the base stations (4) with different functional ranges is at least 0.5V.

19. The cleaning system (16) according to claim 16 or 17. Its features are, The base station (4) is constructed and configured to control the opposing electrical interface (3) in such a way that at least temporarily changes the voltage measurable by the cleaning device (1), or generates at least one predetermined voltage curve (20).

20. The cleaning system (16) according to claim 16 or 17. Its features are, There is at least one data processing device (10), and the data processing device (10) is constructed and configured such that the service demand of at least one cleaning device (1) is determined at at least one point in time, and at least one base station (4) suitable for the service demand is selected by using the current service demand of at least one cleaning device (1), and the cleaning device (1) is moved to the service location (8) of the selected base station (4) or the cleaning device (1) is moved to the service location (8) on any base station (4) to determine the service function range (13).

21. A method (100) for operating at least one cleaning device (1), having at least one electrical interface (2) for cooperating with a counter-electrical interface (3) of at least one base station (4), wherein the cleaning device (1) is at least configured and arranged to autonomously move in at least one processing environment (7), complete cleaning tasks, and move to a service location (8) of the base station (4) for service purposes, wherein voltage can be provided at the service location (8) via the electrical interface, comprising at least the following method steps: - Determine (101) at least one measured value of the voltage at the electrical interface (2) of the cleaning equipment (1) at the service location (8) or determine (101) at least one measured value of the voltage curve at the electrical interface (2) of the cleaning equipment (1) at the service location (8) as an identification means. - By using the identification means, by tuning at least a measured value of the voltage or the measured value of the voltage curve (20) and the voltage measurement value prepared in at least one storage device (11), at least one service function range (13) of the base station (4) is determined (102), wherein the voltage measurement value prepared in the storage device (11) is assigned to data regarding the service function range (13) of different base stations (4), and - The defined service function range (13) is transmitted to the cleaning equipment (1) via the communication interface (9).

22. A computer program product, including instructions that, when executed by a processing unit of a spatially spaced data processing device (10) connected to a data processing device of a cleaning apparatus (1) via at least one communication interface (9), cause the spatially spaced data processing device (10) to perform the following steps: The communication interface (9) is used to obtain at least one measurement of the voltage applied to the electrical interface (2) of the cleaning equipment (1) at least at the service location (8) or at least one measurement of the voltage curve (20) applied to the electrical interface (2) as an identification means. By using the identification means, the service function range (13) of the base station (4) is determined, and the determined service function range (13) is transmitted to the cleaning equipment (1) through the communication interface (9). At at least one point in time, at least one current service demand of the cleaning equipment (1) is determined, and at least one suitable base station (4) is selected from the base stations (4) to handle at least a portion of the current service demand by using data on the service function range (13) assigned to each known base station (4), and the cleaning equipment (1) is moved to the service location (8) of the selected base station (4).

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