Soil cultivation robot

Abstract

Method (600) for controlling an autonomously moving robot (100) on a floor surface (105), wherein the method (600) comprises the following steps: - Capturing (610) a passage (120) that lies between a first section (110) and a second section (115) of the ground surface (105); - wherein a closing element (125) is associated with the passage (120) which is designed to at least partially close the passage (120); - Determining (620) a direction of movement along which the locking element (125) can be moved; - Bringing (625) the robot (100) into alignment with the locking element (125); and - Driving (630, 635) of the robot (100) in the specified direction of movement, characterized in that - the closure element (125) is flexible in itself, is attached to a top (130) of the passage (120) and hangs down towards the bottom surface (105), - wherein the robot (100) detects when it is approaching a lower section of the locking element (125) which lies on the floor surface (105), and then reverses a final driving maneuver to free itself from the locking element (125).

Description

[0001] The invention relates to a robot that can move autonomously on a floor surface. In particular, the invention relates to the robot passing through a passageway.

[0002] An autonomously moving robot is designed to follow a path across a floor surface. For example, the robot might be set up to clean the floor in an apartment. Between a first and second section of the floor is a passageway that can be closed by a locking mechanism. To pass through the passageway, the robot may need to move the locking mechanism.

[0003] For example, German patent applications DE 10 2011 050 357 A1 and US 2014 / 0 200 713 A1 each describe methods for controlling a robot such that a locking element can be moved. German patent application DE 10 2012 109 004 A1 describes a method for the autonomous inspection and processing of floor surfaces using a robot. German patent application DE 10 2015 220 840 A1 discloses a method for controlling a robot in which its building position is determined, thereby controlling a building management system so that a cleaning task can be carried out by the robot at that building position.

[0004] DE 10 2011 050 357 A1 relates to a technology by which a swing door can be pushed open by a robot. Alternatively, the robot can attach itself to the door using a suction coupling and pull the door open.

[0005] Not all doors encountered by such a robot can be opened using the described method. Therefore, one of the problems underlying the present invention is to provide an improved technique for operating certain types of doors. The invention solves this problem by means of the subject matter of the independent claims. Dependent claims describe preferred embodiments.

[0006] Between a first and a second section of a floor surface lies a passageway to which a closure element is assigned. The closure element is designed to at least partially close the passageway, being flexible, attached to an upper surface of the passageway, and hanging down towards the floor surface. A method according to the invention for controlling a robot that moves autonomously on the floor surface comprises the steps of detecting the passageway; determining a direction of movement along which the closure element can be moved; bringing the robot into contact with the closure element; and moving the robot in the determined direction of movement, wherein the robot detects when it encounters a lower section of the closure element lying on the floor surface and then performs a final maneuver to reverse itself away from the closure element.

[0007] This method allows the robot to be controlled to open a door that differs from a conventional hinged or swing door. For example, a sliding door can be opened using this method. The method is also suitable for allowing the robot to pass through a doorway that is closed by a curtain, blinds, strings of beads, or similar hanging devices. The method can be particularly advantageous for controlling a robot designed to clean floor surfaces. Such a robot could be, for example, an autonomous vacuum cleaner, an autonomous lawnmower, or a similar device.

[0008] In one version, the closure element can be moved across the floor area due to its flexibility. For example, louvers or a curtain near the floor can be moved to the side or in the direction of travel.

[0009] In another variant, the closure element comprises several separate segments that terminate side-by-side at the base. For example, slats or strings of beads can fall into this variant. As the robot passes through, the individual segments can be deflected in the direction of travel and / or shifted laterally, creating a gap through which the robot can pass.

[0010] The locking element can be fixed to the top of the passage. Opening and, if necessary, closing the locking element within the passage may involve deformation of the locking element. The direction of deformation can be selected depending on the desired passage direction.

[0011] In another variation, the locking element is attached to the top of the opening in a sliding manner. This can apply, for example, to louvers or a curtain. The locking element can be moved so that it shifts along the top of the opening. This can make it easier for the robot to pass through the opening. A sliding door can also fall into this category. In this case, the locking element is usually not flexible but rigid, so it may be necessary to move it along a predetermined direction to open the opening.

[0012] Particularly when the closure element is flexible, it may have a lower section that rests on the floor surface. It is preferred that the robot not encounter such a section. For example, unevenness in the floor in the area of ​​the passage can be detected. According to the invention, if the robot has already encountered such a section, it performs a final maneuver to free itself from the closure element. For example, the robot can reverse or return to a position it held before attempting to cross the passage. This prevents the robot from becoming trapped in the closure element. The robot's navigation and functionality can be maintained.

[0013] It is preferable that the robot is configured for floor surface processing (e.g., cleaning) and is controlled to process the floor surface in an area where the locking element was located before movement. This allows the floor surface processing to better cover the area that may be – at least temporarily – obscured by the locking element. This is particularly useful for a cleaning robot, as dirt can accumulate more readily in this area.

[0014] The robot can include a forward-facing collision sensor. In some embodiments, a signal from the collision sensor is ignored, or the collision sensor is temporarily deactivated to allow passage. In other embodiments, movement is performed in reverse. This eliminates the need to deactivate the collision sensor, thus improving the robot's ability to scan its surroundings. Furthermore, this variant can also be suitable for robots with a collision sensor that cannot be deactivated.

[0015] A computer program product comprises program code means for carrying out the procedure described above, provided the computer program product runs on a processing device. The computer program product may also be stored on a computer-readable data carrier. The processing device may, in particular, include the robot. Features or advantages of the procedure may be transferred to the robot and vice versa.

[0016] A robot according to the invention, which is capable of autonomous movement on a floor surface, comprises a scanning device for detecting a passage located between a first section and a second section of the floor surface. A closing element is associated with the passage, which is configured to at least partially close the passage. The closing element is flexible, attached to the upper side of the passage, and hangs down towards the floor surface. The robot further comprises a processing device configured to determine a direction of movement along which the closing element can be moved; to bring the robot into contact with the closing element; and to move the robot in the determined direction of movement.The processing unit is further configured to detect when the robot encounters a lower section of the closure element resting on the floor surface and then reverse a final maneuver to free the robot from the closure element. This allows the robot to automatically move the closure element, removing it from the passage. The robot can then proceed through the passage. Optionally, it can subsequently close the passage again in a similar manner.

[0017] This allows the robot to better reach both sections of the floor surface, thus improving its usability.

[0018] The invention was explained with reference to a method and a robot. Unless otherwise stated, features disclosed for one claim category are applicable analogously to all other claim categories.

[0019] The invention will now be described in more detail with reference to the accompanying figures, in which: Fig. 1 a robot in an exemplary embodiment; Fig. 2 a passage with various exemplary closure elements; Fig. 3-5 Processes during the passage of exemplary closure elements by a robot; Fig. 6 a flowchart of an embodiment of a method for controlling a robot in the area of ​​a passage with a closure element represent.

[0020] Fig. Figure 1 shows a robot 100 in an exemplary embodiment, on a floor surface 105. The floor surface 105 comprises a first section 110, on which the robot 100 is located, and a second section 115. Between sections 110 and 115 lies a passage 120, which must be traversed to move between sections 110 and 115. The passage 120 can be closed by means of a closing element 125, which is attached to the upper surface 130 of the passage 120 and hangs down from there onto the floor surface 105. The upper surface 130 can correspond to a boundary of the passage 120 located away from the floor surface 105. Exemplary embodiments of the passage 120 and the closing element 125 are described below, in particular with reference to Fig. 2, described in more detail.

[0021] The robot 100 is generally configured to move autonomously on the floor surface 105. For this purpose, it preferably comprises a processing unit 135, a longitudinal control 140, a lateral control 145, which may also be integrated, and typically a local power source 150. The robot 100 can be configured to perform a predetermined task, for which an actuator 155 may be provided. In the case of a robotic vacuum cleaner 100, the actuator 155 may comprise a suction and / or sweeping unit. In the case of a robotic lawnmower 100, the actuator 155 may comprise a mowing or cutting unit.

[0022] To enable autonomous operation of the robot 100, one or more scanning devices 160 are typically provided. A scanning device 160 can, for example, comprise a camera, a video camera, an infrared camera (optionally with a lighting device), an ultrasonic sensor, a light sensor, a LiDAR sensor, or a radar sensor. Usually, several scanning devices 160, which may be different types, are provided. An optional collision sensor or impact protection device 165 is configured to detect, prevent, or dampen a collision between the robot 100 and another object. After detection, the robot 100 can be stopped to minimize damage. The collision sensor 165 can be arranged all around or only in a preferred direction of travel (forward travel).

[0023] The processing unit 135 preferably controls the robot 100 depending on a predetermined task. For this purpose, it can determine the position of the robot 100, query the sensors 160 and 165, and influence the devices 140, 145, and 155. Optionally, a storage device 170 is provided, in which, for example, cartographic data in the area of ​​the floor surface 105, patterns for object recognition based on sensor signals, or other information that may be useful for fulfilling the purpose of the robot 100 can be stored.

[0024] Fig. Figure 2 shows an exemplary passage 120 with various exemplary embodiments of the closure element 125. Fig. Figure 2A shows an embodiment of the passage 120 with a sliding door, not belonging to the invention. The locking element 125 is formed by a door leaf that is usually non-deformable and can be guided in a track in the area of ​​the upper surface 130 of the passage 120. The direction of movement of the locking element 125 is fixed. This direction of movement is usually transverse to a path that runs through the passage 120 between the first section 110 and the second section 115 of the floor surface 105. Optical features by which this embodiment can be recognized include a rectangular boundary or a predetermined surface of the locking element 125, an operating element such as a handle or a doorknob, a track in the area of ​​the upper surface 130, or a position of the locking element 125 relative to the passage 120.

[0025] Fig. Figure 2B shows an embodiment of the passage 120 with a curtain as a closing element 125. The curtain 125 is made of a preferably flexible material and is usually made in one or two pieces. The material can be opaque, semi-transparent, or transparent. In one embodiment, the curtain 125 is guided laterally in a track in the area of ​​the top 130. In another embodiment, the curtain 125 is fixed in the area of ​​the top 130 and cannot be moved, but can only be deformed or lifted in the middle or lower area to open the passage 120.

[0026] The curtain 125 can usually be passed underneath if it is not resting on the floor surface 105. A two- or multi-part curtain 125 can be passed through by deflecting or shifting at least one of its parts laterally perpendicular to the opening 120.

[0027] Features by which this embodiment can be recognized include a fold of the curtain 125, in particular in a vertical direction, a rail in the area of ​​the top 130, a predetermined pattern or decoration of the material of the curtain 125 or a position of the curtain 125 or one of its parts with respect to the passage 120.

[0028] Fig. Figure 2C shows an embodiment in which the closure element 125 is formed from individual segments 205 that are attached to the top surface 130 and terminate side by side in the area of ​​the bottom surface 105. The individual slats 205 are typically rectangular and can be the same color. A pattern or decoration is possible. The slats 205 can be deflected towards the passage 120 and thus be passed underneath by the robot 100. Alternatively, a passage 120 can be created between individual slats 205 in which the slats 205 are deflected to the right or left. The slats 205 can be laterally displaceable in the area of ​​the top surface 130. In this case, the slats 205 can be influenced not only by their flexibility but also by their lateral movement so that they clear the passage 120.

[0029] Features by which this embodiment can be identified include the number, shape or size of the slats 205, their optical appearance, a rail in the area of ​​the top 130 or the position of the slats 205 with respect to the passage 120.

[0030] Fig. Figure 2D shows another embodiment in which the individual segments 205 are designed as strings of beads, cords, ribbons, or similar segments 205. In contrast to the lamellae 205 of Fig. In section 2C, the segments 205 are typically less uniform in appearance and usually narrower than a lamella 205. The cords 205 can be guided laterally in a rail on the upper surface 130 or fixed in place. Passage through the opening 120 can be achieved by passing underneath, deflecting laterally, or sliding one or more cords 205 laterally.

[0031] This variant can be determined based on the appearance of the cords or similarly constructed segments 205, their position with respect to the passage 120 or their relative lateral distances.

[0032] As already indicated, the different embodiments of the locking elements 125 can be moved differently to allow the robot 100 to pass through. In the Fig. 3 to 5 will be used to make various suggestions.

[0033] Fig. Figure 3 shows an exemplary sequence of events when robot 100 passes through a passage 120 in the manner of Fig. 2A. Fig. Figure 3A shows a configuration in which the robot 100 is positioned so that it is in contact with the locking element (door leaf) 125 and is ready to perform a movement in the direction of the black arrow. The robot 100 can be oriented such that a collision sensor or impact protection barrier 165 faces away from the locking element 125, so that despite the contact, the robot 100's functionality is not impaired. The movement is defined such that the locking element 125 is moved to temporarily or permanently open the passage 120. Fig. Figure 3B shows robot 100 in the area of ​​passage 120 after it has performed the specified movement. By moving the locking element 125, passage 120 is clear and can be traversed by robot 100. The moved locking element 125 usually remains in its position, so that passage 120 is passable again for robot 100.

[0034] Fig. 4 shows, in a representation similar to that of Fig. 3, another exemplary sequence when robot 100 passes through a passage 120 according to the type of Fig. 2B with at least a two-part curtain, a passage 120 of the type 2C with slats, or a passage 120 of the type 2D with cords or similar objects. To open the closure element 125, the robot 100 preferably positions itself at a point where it can open the passage 120 by laterally displacing or deflecting individual sections or segments 205 of the closure element 125. In addition to or as an alternative to the lateral movement of the closure element 125, a movement in the direction of travel can also occur. This moves the respective section or segment 205 of the closure element 125 in the direction of travel until, due to its suspension in the area of ​​the upper surface 130 of the passage 120, it lifts vertically from the floor surface 105, allowing the robot 100 to pass underneath it.

[0035] Fig. 5 shows another variant of the procedure of Fig. 4. The robot 100 rotates around its vertical axis or describes a curve, allowing the locking element 125 to be moved laterally in front of it with improved ease. This approach is particularly suitable for a one-piece locking element 125. To pass on the right side of the locking element 125, the rotation is preferably counterclockwise to move the locking element 125 towards the center of the opening 120. A reverse application in the area of ​​the left edge of the opening 120 is also possible. Here, too, the lateral movement can be accompanied or supported by an underpass.

[0036] Fig. Figure 6 shows a flowchart of an embodiment of a method 600 for controlling the robot 100. Fig.1. Method 600 is specifically designed to run on processing equipment 135. Processing equipment 135 may, in particular, comprise a programmable microcomputer or microcontroller. Method 600 may be in the form of a computer program product.

[0037] In step 605, the robot 100 scans its surroundings. This step can be part of a functional program with which the robot 100 fulfills a predetermined purpose, in particular the processing of the floor surface 105. In step 610, the passage 120 is detected. Detection can be based on the position of the robot 100 and available topographical data. In other words, the robot 100 may already know the position of a passage 120 and preferably also what type of closure element 125 it is. However, detection of the passage 120 can also be carried out based on scan results from the robot 100, in particular by means of the scanning device 160.

[0038] Optionally, in step 615, passage 120 is classified. This preferably involves determining which variant of the closure element 125 is present. In step 620, the opening direction of the closure element 125 can be determined. Furthermore, it can be determined what movement of the robot 100 relative to the closure element 125 is necessary to move the closure element 125 so that the robot 100 can use passage 120 from the first section 110 to the second section 115 (or in the reverse direction). In step 625, the robot 100 is positioned so that it is in contact with the closure element 125 and oriented such that a movement of the robot 100 moves the closure element 125. The goal is to coordinate the movements of the robot 100 and the closure element 125 so that the robot 100 can pass through passage 120.In step 630, the robot 100 performs the predetermined movement and preferably moves the closure element 125 so that the passage 120 is opened at least for a relatively small and ground-level object such as the robot 100 itself.

[0039] In step 635, which can also be combined with step 630, robot 100 moves through passage 120. Optionally, in a parallel step 640, robot 100 processes the floor surface 105 within the area of ​​passage 120. If robot 100's task is to process floor surface 105, the movement can be performed in such a way that robot 100 covers as much of passage 120 as possible while passing through it. Robot 100 can also pass through passage 120 multiple times or, for example, trace a loop, a zigzag line, or a meander.

[0040] Optionally, in step 645, after the robot 100 has passed through passage 120, the closing element 125 can be repositioned, for example, to close it again or at least partially bring it into passage 120. For this purpose, some of the steps described above can be repeated. Reference sign 100 robots 105 floor area 110 first section 115 second section 120 passes 125 locking element 130 Top 135 Processing unit 140 Longitudinal control 145 Lateral control 150 Energy source 155 Actuator 160 scanning device 165 Crash protection 170 storage device 205 Segment 600 procedures 605 scanning environment 610 pass recording Classify 615 passes 620 Determine opening direction, determine movement Bring 625 into the system with locking element 630 Moving the locking element 635 Drive through 640 possibly process floor area 645 Close

Claims

[1] Method (600) for controlling an autonomously moving robot (100) on a floor surface (105), wherein the method (600) comprises the following steps: - Capturing (610) a passage (120) that lies between a first section (110) and a second section (115) of the ground surface (105); - wherein a closing element (125) is associated with the passage (120) which is designed to at least partially close the passage (120); - Determining (620) a direction of movement along which the locking element (125) can be moved; - Bringing (625) the robot (100) into alignment with the locking element (125); and - Driving (630, 635) the robot (100) in the specified direction of movement, characterized by , that - the closure element (125) is flexible in itself, is attached to a top (130) of the passage (120) and hangs down towards the bottom surface (105), - wherein the robot (100) detects when it is approaching a lower section of the locking element (125) which lies on the floor surface (105), and then reverses a final driving maneuver to free itself from the locking element (125). [2] Method (600) according to claim 1, wherein the locking element (125) can be moved in the area of ​​the base surface (105) due to its flexibility. [3] Method (600) according to claim 2, wherein the closure element (125) comprises several separate segments (205) which terminate side by side in the area of ​​the bottom surface (105). [4] Method (600) according to claim 2 or 3, wherein the closure element (125) is immovably attached to the top (130) of the passage (120). [5] Method (600) according to any one of claims 1 to 3, wherein the closure element (125) is slidably attached to the top (130) of the passage (120). [6] Method (600) according to one of the preceding claims, wherein the robot (100) is set up to process the floor surface (105) and is controlled (640) to process the floor surface (105) in an area where the closure element (125) was located before being moved. [7] Method (600) according to one of the preceding claims, wherein the robot (100) comprises a forward-facing collision sensor (165) and the movement is performed in reverse. [8] Computer program product with program code means for carrying out a method (600) according to any of the preceding claims, when the computer program product runs on a processing device (135). [9] Robot (100) that is capable of autonomous movement on a floor surface (105), wherein the robot (100) comprises the following: - a scanning device (160, 165) for detecting a passage (120) that lies between a first section (110) and a second section (115) of the floor surface (105); - wherein a closing element (125) is associated with the passage (120) which is designed to at least partially close the passage (120); - a processing device (135) configured to determine a direction of movement along which the locking element (125) can be moved; to bring the robot (100) into contact with the locking element (125); and to move the robot (100) in the determined direction of movement, characterized by , that - the closure element (125) is flexible in itself, is attached to a top (130) of the passage (120) and hangs down towards the bottom surface (105), and - the processing device (135) is further configured to detect when the robot (100) comes into contact with a lower section of the locking element (125) which lies on the floor surface (105), and then to reverse a final driving maneuver to free the robot (100) from the locking element (125).

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