Robot vacuum cleaner and method for charging a robot vacuum cleaner

Abstract

Robot vacuum cleaner (10), comprising: - a solar charging device (12); - a motion control (22); and - a charging controller (24) which is designed to detect a charging voltage (U) provided by the solar charging device (12) and to evaluate whether this corresponds to at least a minimum charging voltage (U min ), characterized in that the charging control (24) is further designed to transmit a charging voltage status signal (LS) to the movement control (22), and in that the movement control (22) is designed to control a position of the vacuum robot (10) such that at least the minimum charging voltage (U min ), and that the movement control (22) is designed to change the position until at least two positions (P 1,2 ) have been reached at which the minimum charging voltage (U min) and then to move to the position (P1) with the highest available charging voltage (U).

Description

[0001] The invention relates to a vacuum robot according to the preamble of patent claim 1, a method for charging a vacuum robot according to the preamble of patent claim 5, a system according to the preamble of patent claim 7 and a method according to the preamble of patent claim 8.

[0002] Currently, vehicle interiors are typically cleaned manually with vacuum cleaners. Cleaning a vehicle interior in this way is laborious, as the person performing the cleaning must be inside the vehicle and work over the surface to be cleaned with the handheld vacuum cleaner or hose.

[0003] Robot vacuum cleaners are now relatively common for use in building interiors. Their use in vehicles would also be desirable. One aspect that needs to be adapted to this effect is the robot vacuum's suction power to make it suitable for use in vehicle interiors, as particularly high suction power is often required due to the surface and the type of typical dirt.

[0004] Since high suction power also requires high energy consumption, solar energy is a particularly suitable option for powering the robot vacuum. However, since solar intensity can fluctuate locally, the robot vacuum must be able to move to a suitable location for recharging.

[0005] US 2005 / 0 234 594 A1 describes a vacuum robot that is equipped with a camera and can thus identify positions with good lighting conditions.

[0006] However, such solutions are technically very complex, as additional systems, such as the camera in this case, must be provided.

[0007] CN 108 436 921 A discloses a vacuum robot comprising a solar charging device, a charging controller, and a motion controller. The motion controller can position the vacuum robot to a location with good lighting conditions.

[0008] The invention is based on the object of creating a solar-chargeable vacuum robot that can independently move to positions with good lighting conditions with the least possible technical effort.

[0009] The object is solved by the subject matter of independent patent claims 1, 5, 7 and 8. Further preferred embodiments of the invention emerge from the remaining features mentioned in the subclaims.

[0010] A first aspect of the invention relates to a vacuum robot comprising: - a solar charging device; - a motion control; and - a charging controller which is designed to detect a charging voltage provided by the solar charging device and to evaluate whether this corresponds at least to a minimum charging voltage required for charging.

[0011] According to the invention, it is provided that the charging controller is further designed to transmit a charging voltage status signal to the motion controller, and that the motion controller is designed to control a position of the vacuum robot such that at least the minimum charging voltage is present, and that the motion controller is designed to change the position until at least two positions have been reached at which the minimum charging voltage was present, and then to move to the position with the highest charging voltage provided.

[0012] This solution offers the advantage of achieving the best possible charging time under the given environmental conditions, since the highest achievable charging voltage can be utilized. Therefore, the motion control is preferably configured to change the position until a plurality of positions, for example, five, ten, or more positions, have been reached where the minimum charging voltage was present, and then to move to the position with the highest available charging voltage.

[0013] Because components that are usually already included in a vacuum robot can be used simply by adapting the control technology, the cost of additional systems is, in the best case, completely eliminated.

[0014] The charging voltage status signal can, for example, include a binary statement indicating whether the minimum charging voltage is present or not. However, it can also include a value of the available charging voltage.

[0015] The solar charging device comprises one or more solar cells. These can be crystalline or bendable thin-film solar cells. This allows a larger area to be utilized for sunlight, which helps ensure the minimum charging voltage is reached quickly. Fold-out solar panels can also be provided for this purpose.

[0016] In a preferred embodiment of the vacuum robot of the invention, it is provided that the movement control is designed to change the position as long as the minimum charging voltage is not present and to maintain the position as soon as the minimum charging voltage is present.

[0017] This minimizes the time until the charging process can begin.

[0018] In a further preferred embodiment of the vacuum robot of the invention, it is provided that the charging control comprises a logic circuit which is operatively connected to the movement control and which is designed to convert the charging voltage provided by the solar charging device as an input variable directly into a logic signal as a charging voltage status signal.

[0019] This solution offers the advantage of being extremely easy to implement, very robust, and responsive. This is especially important because the robot vacuum cleaner might otherwise have already left the position with good light intensity before it stops.

[0020] In a further preferred embodiment of the vacuum robot of the invention, it is provided that the charging control comprises a voltage measuring device which is capable of generating a voltage measurement value as a charging voltage status signal.

[0021] This makes it possible to determine the maximum available charging voltage with minimal effort. A voltage measuring device is often already present in a charge controller, which then only needs to be integrated into the control system.

[0022] Another aspect of the invention relates to a method for charging a vacuum robot, wherein the vacuum robot comprises: - a solar charging device; - a motion control; and - a charging controller; and wherein the method comprises the following steps: a) Detection of a charging voltage provided by the solar charging device; b) Assessment of whether the charging voltage provided corresponds to at least a minimum charging voltage required for charging.

[0023] According to the invention, the method further comprises the steps: c) Transmission of a charging voltage status signal from the charging controller to the motion controller; d) controlling a position of the vacuum robot by the motion controller so that at least the minimum charging voltage is present, and that the charging controller comprises a voltage measuring device which, in step c), generates a voltage measurement value as a charging voltage status signal, and that the motion controller changes the position in step d) until at least two positions have been reached at which the minimum charging voltage was present, and that the position with the highest available charging voltage is then approached.

[0024] A vacuum robot according to the invention as described above can preferably be used as the vacuum robot. The naming of steps a) to d) in no way necessarily implies a chronological sequence. This can be determined by a person skilled in the art, especially since some of the steps can also be performed in parallel and iteratively.

[0025] In a preferred embodiment of the method of the invention, it is provided that the charging control comprises a logic circuit which is operatively connected to the movement control and which, in step c), converts the charging voltage provided by the solar charging device as an input variable directly into a logic signal as a charging voltage status signal, and that the movement control changes the position in step d) as long as the minimum charging voltage is not present and maintains the position as soon as the minimum charging voltage is present.

[0026] Preferably, the position is changed in step d) until a plurality of positions, for example five, ten or more positions, have been reached at which the minimum charging voltage was present, and then the position with the highest charging voltage provided is approached.

[0027] A further aspect of the invention relates to a system comprising a vehicle and a vacuum robot according to the invention as described above, which is arranged in an interior of the vehicle.

[0028] The vacuum robot is preferably designed to clean the interior of the vehicle.

[0029] Preferably, it is a motor vehicle, particularly preferably a passenger vehicle such as an automobile.

[0030] The robot vacuum cleaner and the vehicle are technically designed to meet the requirements resulting from their interaction. In this case, the specialist can take a cue from well-known robot vacuum cleaners for vehicles.

[0031] A further aspect of the invention relates to a method in which a vacuum robot is charged in the interior of a vehicle in a method according to the invention according to the preceding description.

[0032] The vacuum robot is preferably a vacuum robot according to the invention as described above.

[0033] The vacuum robot and the vehicle preferably form a system according to the invention as described above.

[0034] In other words, the invention relates to a vacuum robot that can be charged with solar energy. The vacuum robot uses the electrical state variables of its solar cells to determine whether the available solar radiation is sufficient for charging, and then maintains or changes its position based on this assessment.

[0035] The various embodiments of the invention mentioned in this application can be advantageously combined with one another, unless stated otherwise in the individual case.

[0036] The invention is explained below in exemplary embodiments with reference to the accompanying drawings. They show: Fig. 1 a vacuum robot according to the invention; Fig. 2A-2B two alternative embodiments of an interaction of a charging control and a movement control for the vacuum robot from Fig. 1; and Fig. 3 schematically shows a sequence of a method according to the invention using a system according to the invention.

[0037] Fig. 1 shows a vacuum robot 10 according to the invention.

[0038] This comprises a solar charging device 12 that can absorb solar energy and convert it into electrical energy, for example, to power means of transport 14 and a vacuum cleaner (not shown). The solar charging device 12 also includes a rechargeable battery, which is not shown separately here. The solar charging device 12 comprises various solar cells 16, 20. Crystalline solar cells 16 are provided on top of the vacuum robot 10. Furthermore, bendable thin-film solar cells 20 are provided on a shock body 18 of the vacuum robot 10.

[0039] The vacuum robot 10 further comprises a motion control 22 with which the means of transport 14 can be controlled.

[0040] Furthermore, the vacuum robot 10 comprises a charging controller 24. This can also be combined with the solar charging device 12 and control its components, such as a charging controller, the solar cells 16, 20 and the battery.

[0041] The charging controller 24 is designed in particular to detect a charging voltage U provided by the solar charging device 12 and to evaluate whether this corresponds to at least a minimum charging voltage U required for charging. min corresponds (see also Fig. 2). The charging controller 24 is further configured to transmit a corresponding charging voltage status signal LS to the motion controller 22, as shown in principle in the upper part of the Fig. 1 is shown.

[0042] The motion controller 22 is further configured to control a position of the vacuum robot 10 on the basis of the charging voltage status signal LS such that at least the minimum charging voltage U minFor this purpose, it can output corresponding control signals S to the means of transport 14.

[0043] The Fig. 2A and Fig. 2B show two alternative embodiments of an interaction of a charging control 24 and a movement control 22 for the vacuum robot 10 from Fig. 1.

[0044] In Fig. 2A shows an embodiment in which the charging controller 24 includes a logic circuit 26. The logic circuit 26 converts the charging voltage U provided by the solar charging device 12 as input variable E directly into a logic signal as a charging voltage status signal LS. In the present case, LS = 1 if the charging voltage U provided by the solar charging device 12 is at least equal to the minimum charging voltage U min On the other hand, LS = 0 if the charging voltage U provided by the solar charging device 12 is less than the minimum charging voltage U min.

[0045] The logic circuit 26 is operatively connected to the motion controller 22 by providing the charging voltage status signal LS as output variable A and transmitting it to the motion controller 22.

[0046] Based on the charging voltage status signal LS, the motion controller 22 will now change the position of the vacuum robot 10 if LS = 0, i.e. as long as the minimum charging voltage U min is not present. If LS = 1, the motion control 22 will maintain the position of the vacuum robot 10, since the minimum charging voltage U min already exists.

[0047] In Fig. 2B shows an alternative embodiment that differs from the previously described one in the charging voltage status signal LS used. While previously a binary output variable A was used, the charging controller 24 now includes a voltage measuring device M that is designed to provide a voltage measurement value U M over time t as a charging voltage status signal LS. The output variable A is thus a measured value.

[0048] The motion control 22 is further configured, for example by means of a correspondingly programmed software component 28, which is shown here in principle, to determine when a plurality of positions P i has been approached by the vacuum robot 10, at which the minimum charging voltage U min How many positions P i are evaluated for this purpose is at the discretion of the expert.

[0049] The motion control 22 is further designed to move to the position P1 at which the largest available charging voltage U has been measured.

[0050] Fig. Figure 3 schematically shows a sequence of a method according to the invention for charging a vacuum robot 10, which in this case corresponds to the vacuum robot 10 according to the invention from the other figures. Therefore, when using reference numerals below, the other figures can also be consulted if the designated components in Fig. 3 are not shown graphically.

[0051] The vacuum robot 10 is arranged in an interior 30 of a vehicle 32. In this case, the vehicle 32 is a motor vehicle, an automobile, which is shown in sections. The vehicle 32 and the vacuum robot 10 form a system 34 according to the invention.

[0052] In the method now described, the vacuum robot 10 of the system 34 is charged in the interior 30 of the vehicle 32 of the system 34 as follows: First, the charging voltage U provided by the solar charging device 12 is detected by the charging controller 24 in step a). For example, this can initially be done at position P1.

[0053] Then, in step b), an assessment is made as to whether the provided charging voltage U at least corresponds to a minimum charging voltage U required for charging. min corresponds.

[0054] Based on this, in step c) a charging voltage status signal LS is transmitted from the charging controller 24 to the motion controller 22. In the present example, it is assumed that at position P1 the minimum charging voltage U min is present (as in Fig. 2B).

[0055] In the following step d), a control signal S could therefore be immediately output to the means of transport 14, which leads to the standstill of the vacuum robot 10.

[0056] Alternatively, as in Fig. 3, the position can be further changed and, for example, position P2 can be approached (again compare Fig. 2B). In this example, it is assumed that at position P2 the minimum charging voltage U min is reached, but the charging voltage U provided is lower than at position P1 (as shown in Fig. 2B).

[0057] In step d), therefore, control is carried out to position P1 with the highest available charging voltage U. List of reference symbols 10 robot vacuum cleaners 12 Solar charging device 14 means of transport 16 crystalline solar cells 18 impact bodies 20 thin-film solar cells 22 Motion control 24 Charging control 26 logical circuit 28 Software component 30 Interior 32 vehicles 34 Systems A Output variable E Input variable LS charging voltage status signal M voltage measuring device P i Positions P1 Position P2 Position S control signal t time U M Voltage measurement value U charging voltage U min Minimum charging voltage

Claims

[1] Robot vacuum cleaner (10), comprising: - a solar charging device (12); - a motion control (22); and - a charging controller (24) which is designed to detect a charging voltage (U) provided by the solar charging device (12) and to evaluate whether this corresponds to at least a minimum charging voltage (U min ) corresponds, characterized by that the charging controller (24) is further designed to transmit a charging voltage status signal (LS) to the movement controller (22), and that the movement controller (22) is designed to control a position of the vacuum robot (10) such that at least the minimum charging voltage (U min ), and that the movement control (22) is designed to change the position until at least two positions (P 1,2 ) have been reached at which the minimum charging voltage (U min) and then to move to the position (P1) with the highest available charging voltage (U). [2] Vacuum robot (10) according to claim 1, characterized by that the movement control (22) is designed to change the position as long as the minimum charging voltage (U min ) is not present, and the position (P 1,2 ) as soon as the minimum charging voltage (U min ) is present. [3] Vacuum robot (10) according to claim 2, characterized by that the charging controller (24) comprises a logic circuit (26) which is operatively connected to the movement controller (22) and which is designed to convert the charging voltage (U) provided by the solar charging device (12) as an input variable (E) directly into a logic signal as a charging voltage status signal (LS). [4] Vacuum robot (10) according to claim 1, characterized by that the charging control (24) comprises a voltage measuring device (M) which measures a voltage value (U M) as a charging voltage status signal (LS). [5] Method for charging a vacuum robot (10), the vacuum robot (10) comprising: - a solar charging device (12); - a motion control (22); and - a charging controller (24); and wherein the method comprises the following steps: a) detection of a charging voltage (U) provided by the solar charging device (12); b) Assessment of whether the provided charging voltage (U) corresponds to at least the minimum charging voltage required for charging (U min ) corresponds, characterized by that the procedure further comprises the steps: c) transmitting a charging voltage status signal (LS) from the charging controller (24) to the motion controller (22); d) controlling a position of the vacuum robot (10) by the motion control (22) so that at least the minimum charging voltage (U min), and that the charging control (24) comprises a voltage measuring device (M) which, in step c), produces a voltage measurement value (U M ) as a charging voltage status signal (LS), and that the movement control (22) changes the position in step d) until at least two positions (P 1,2 ) have been reached at which the minimum charging voltage (U min ) was present, and that the position (P1) with the highest available charging voltage (U) is then approached. [6] Method according to claim 5, characterized by that the charging control (24) comprises a logic circuit (26) which is operatively connected to the movement control (22) and which, in step c), converts the charging voltage (U) provided by the solar charging device (12) as an input variable (E) directly into a logic signal as a charging voltage status signal (LS), and that the movement control (22) changes the position in step d) as long as the minimum charging voltage (Umin ) is not present, and the position (P 1,2 ) as soon as the minimum charging voltage (U min ) is present. [7] System (34) comprising a vehicle (32) and a vacuum robot (10) according to one of claims 1 to 4, which is arranged in an interior (30) of the vehicle (32). [8] Method in which a vacuum robot (10) of a system (34) according to claim 7 is charged in the interior (30) of a vehicle (32) of the system (34) according to claim 7 in a method according to one of claims 5 to 6.

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