Floor cleaning system

Abstract

Method for the automatic processing of floor surfaces with the aid of a floor cleaning system comprising a mobile, self-propelled device (1), in particular a cleaning device for the autonomous processing of floor surfaces (6) such as a vacuum and / or sweeping and / or wiping robot, comprising a controllable chassis, a controller and a communication element, and a portable additional device (2) for a user, comprising an operating unit, a communication unit and a position determination unit, comprising the following steps: - Determination of the cleaning (8) or limiting path (5) with the additional device (2) by the user walking along this path, - transmitting the completed cleaning (8) or boundary path (5) to the mobile, self-propelled device (1), - starting cleaning along the departed cleaning path (8) or cleaning the floor area (6) enclosed by the boundary path (5) in accordance with the cleaning order, wherein in the case of an open cleaning path (8) the floor area (6) is cleaned exactly along the cleaning path (8), and in the case of a closed boundary path (5) the floor area (6) is cleaned additionally within an area defined by the boundary path (5), and wherein the definition of the cleaning path (8) or boundary path (5) starts at a location (S) of the mobile, self-propelled device (1), and the cleaning of the floor area (6) starts at a cleaning point (S1) defined by the user on the cleaning path (8) or boundary path (5), wherein the cleaning does not start directly at the location (S) of the mobile, self-propelled device (1).

Description

[0001] The invention relates to a floor cleaning system comprising a mobile, self-propelled device, in particular a cleaning device for autonomously cleaning floor surfaces, such as a vacuum and / or sweeping and / or mopping robot, and a portable accessory device for a user. Furthermore, the invention relates to a method for automatically cleaning floor surfaces using a floor cleaning system.

[0002] Floor cleaning with mobile, self-propelled devices such as robot vacuum cleaners is well known. In addition to cleaning the entire area reachable by the robot (Clean All) and cleaning entire rooms (Room Cleaning), there is also the option of cleaning small areas (Spot Cleaning). The Spot Cleaning function is often selected in an app by specifying the center point of the area to be cleaned. However, the user is usually unable to see the exact boundaries of the Spot Cleaning area or how this area is aligned within the room in the app's map view. In addition, the accuracy depends on the selected zoom level and the size of the user's fingers. Spot Cleaning is also usually limited to small areas under 1.2 m x 1.2 m, meaning that larger areas cannot be covered.

[0003] If the so-called spot cleaning function is selected without an app, the user must carry the robot cleaner to the desired area, start it up, and then carry it back to the base station after cleaning. However, this results in a cumbersome, user-unfriendly, and time-consuming floor cleaning process.

[0004] The document DE 10 2016 210 422 A1 describes a cleaning robot and a teach-in device which, among other things, serves to demarcate or delimit a cleaning area by scanning the floor with the teach-in device.

[0005] The document DE 10 2014 110 265 A1 describes a cleaning method using a cleaning device in which a part of the room to be cleaned is selected by the user using a photo.

[0006] The document DE 10 2009 059 215 A1 describes a method for guiding a vacuum robot, which is based on a light-sensitive element and a light beam from a light source.

[0007] The object of the invention is, in particular, to enable a user-friendly, handy and preferably precise floor cleaning system, as well as to provide an improved and, in particular, simplified method for treating floor surfaces.

[0008] This object is achieved by a floor cleaning system having the features of claim 1 and by a method for treating floor surfaces having the features of claim 9. Advantageous embodiments and further developments are the subject of the subclaims.

[0009] According to the invention, a floor cleaning system comprises a mobile, self-propelled device and a portable accessory device for a user. The mobile, self-propelled device is, in particular, a cleaning device for autonomously cleaning floor surfaces, such as a vacuum and / or sweeping and / or mopping robot, and comprises a controllable chassis, a controller, and a communication element.The additional device has an operating unit, a communication unit and a position determination unit, wherein the user defines the floor area to be cleaned with the position determination unit by the user walking a cleaning or boundary path with the additional device, which can be transmitted to the mobile, self-propelled device in order to clean with the mobile, self-propelled device along the cleaning path or a floor area enclosed by the boundary path according to a cleaning order, wherein in the case of an open cleaning path the floor area is cleaned exactly along the cleaning path, and / or in the case of a closed boundary path the floor area is cleaned additionally within an area defined by the boundary path.

[0010] The inventive solution is characterized by the fact that the user is not dependent on routes, areas, and options defined by the robot software, but can specify and implement any cleaning area in the real environment. Flexible, handy, user-friendly, and precise specification of the floor area to be cleaned is possible, with the advantage that adaptation is possible, particularly to all existing circumstances regarding the selection of the floor area to be cleaned. In particular, the specified floor area or the cleaning or boundary path can be adapted without restriction by the user to the conditions of the apartment or room to be cleaned. There are no specifications regarding size, shape, or orientation.

[0011] The execution of the cleaning or boundary path represents an intuitive and simple control for the user, while at the same time the user's perceived sense of control can be increased through user interaction.

[0012] A floor cleaning system is understood to mean, in particular, any system that comprises at least one floor cleaning component and one operating component, such as the mobile, self-propelled device and the additional device in the present case, wherein communication is possible between these devices in at least one direction, and preferably both devices communicate with each other.

[0013] A mobile, self-propelled device is understood in particular to be a cleaning or lawn-mowing device that autonomously cleans floors or lawns, particularly in the home. These include, among others, vacuum and / or sweeping robots such as robot vacuum cleaners, mopping robots such as wet-cleaning robots, or robot lawn-mowers. These devices preferably operate without, or with as little as possible, user intervention during operation (cleaning or lawn-mowing). For example, the device moves automatically into a specified area to clean the floor according to a predefined and programmed process strategy.

[0014] In this context, a controller is understood to mean any unit that includes, among other things, the communication element for transmitting and transferring data, parameters, and / or drivers and software. The controller is therefore suitable for communicating with the additional device. The controller can also have a memory for the data to be transmitted.

[0015] The communication link and the communication unit serve to transmit data, parameters, and / or drivers and software. In particular, the communication link serves to communicate with the additional device and, in particular, with the communication unit, and vice versa.

[0016] A controllable chassis is any chassis that can be controlled by a control system and is also suitable for moving the mobile, self-propelled device to a designated location. For this purpose, the chassis preferably has a plurality of wheels or rollers.

[0017] In the present case, an additional device is understood to mean in particular any device that is portable for a user, that is arranged outside the mobile, self-propelled device, in particular that is differentiated from the mobile, self-propelled device, and that is suitable for displaying, providing, transmitting and / or transmitting data, such as a mobile phone, a smartphone, a tablet and / or a computer or laptop.

[0018] An operating unit is understood to mean, in particular, any unit that is suitable for operating the additional device, such as an actual or virtual keypad, a touchpad and / or an associated screen or display.

[0019] A position detection unit is any unit capable of determining the position of the additional device. For example, inertial sensors (inertial measurement units; acceleration sensors and gyroscopes) are used. These are built into the additional device and measure position and attitude changes, thus allowing them to react to movements of the additional device. Alternatively or additionally, other and / or additional position detection units (Bluetooth localization, satellite-based positioning, optical flow, etc.) can be used to increase positioning accuracy.

[0020] The invention is characterized in that the user, for example, launches an app with the additional device. Upon pressing a start button, the app initiates a recording process of the position detection unit, records a movement, and compiles it into a cleaning path or boundary path followed by the user. This data is then transmitted to the mobile, self-propelled device, in particular via the communication link and the communication unit, whereby the mobile, self-propelled device begins cleaning the floor along the cleaning path or the floor area enclosed by the boundary path in accordance with the cleaning task.

[0021] In an advantageous embodiment, a starting point of the cleaning or boundary path is a location of the mobile, self-propelled device. The location is in particular the actual location of the mobile, self-propelled device. For example, the location is the charging location of the mobile, self-propelled device, where in particular its base station is located. In this case, the recording of the path to be cleaned therefore begins at the mobile, self-propelled device itself. This has the particular advantage that the mobile, self-propelled device is already given the exact path by the user upon start-up. The user can advantageously define and determine the path that the mobile, self-propelled device should take right from the start, i.e. from the location of the mobile, self-propelled device. Obstacle avoidance or prior planning or programming of a preferred path are thus unnecessary.This makes it easy and user-friendly to handle and is also less prone to malfunctions.

[0022] To start determining the cleaning or boundary path, the user, for example, holds the additional device over the mobile, self-propelled device and presses a start button. From this position, the user walks the desired cleaning or boundary path, thereby defining this path. Once the path is completed, a stop button is pressed. Alternatively, the start button can be held while walking the desired cleaning or boundary path. In this case, upon completion of the path, the start button is released, thus defining the cleaning or boundary path with its start and end points.By pressing another button or by pressing the start button again, the indicated route and in particular its data can be transferred to the mobile, self-driving device, which then travels the defined route and carries out the corresponding cleaning.

[0023] In a further advantageous embodiment, the cleaning or boundary path can be determined based on the location of the mobile, self-propelled device. Therefore, in this case, apart from the location of the mobile, self-propelled device, no further reference points or location points of the room or apartment are required to define the floor area to be cleaned. The cleaning or boundary path recorded by the user is therefore the only information used directly by the mobile, self-propelled device to define the floor area to be cleaned, and in particular, to spatially classify this floor area with respect to the location and thus with respect to the starting position of the mobile, self-propelled device.

[0024] Therefore, no absolute reference system or coordinate system of the room or apartment is necessary. A map view of the apartment and the room, for example, stored in the additional device, is advantageously not necessary for reliable and trouble-free floor cleaning. Of course, for user-friendliness, the completed cleaning or boundary path can also be displayed in a map view on the additional device, for example, in the associated (cleaning) app. However, this only serves to visualize and monitor the path for the user, and not to determine the floor area to be cleaned in relation to the apartment or room.

[0025] In a further advantageous embodiment, the definition of the cleaning or boundary path begins at a location of the mobile, self-propelled device, with cleaning of the floor area starting at a user-defined cleaning point along the cleaning path or boundary path. In this case, it is therefore not absolutely necessary for cleaning to begin directly at the location or base station of the mobile, self-propelled device. Only the user walking the path to be traveled, and thus the definition of the path itself, begins on the mobile, self-propelled device itself.

[0026] For example, the user starts the (cleaning) app with the additional device at the location of the mobile, self-driving device and presses a start button. From this location, the user goes to the area they want to have cleaned. The user then presses and holds a cleaning button - e.g. on the app. While holding the cleaning button, the user walks the cleaning path or walks around the floor area to be cleaned. This defines the boundary path or cleaning path for the mobile, self-driving device. Once the cleaning or boundary path is completed, the cleaning button can be released. By pressing another button or pressing the start button again, the path and its data are transmitted to the mobile, self-driving device, which then moves to the cleaning location and begins cleaning.

[0027] According to the invention, with an open cleaning path, the floor surface is cleaned exactly along the cleaning path, whereas with a closed boundary path, the floor surface is also cleaned within an area defined by the boundary path. An open cleaning path is understood in particular to be a path with separate or different start and end points or a (floor) area filled (completely, almost, or only partially) by a cleaning path. A closed boundary path, on the other hand, is understood to be a path along an enclosing (floor) area with (almost) overlapping start and end points and without an enclosed cleaning path.

[0028] With an open cleaning path, the mobile, self-propelled device preferably follows the defined cleaning path precisely, thus traveling along a path, track, or trail drawn by the user. With a closed boundary path, however, the edge of an area is generated from the path followed, which the mobile, self-propelled device then cleans by driving around it and then (preferably systematically) along (e.g., by meandering). The distinction between an open cleaning path and a closed boundary path is preferably made automatically. Alternatively, the user can manually specify on the additional device what constitutes a cleaning path and what constitutes a boundary path.

[0029] In a further advantageous embodiment, the cleaning or boundary path can be stored in the control system of the mobile, self-propelled device. Particularly preferably, the cleaning and boundary path can be repeatedly traveled by the mobile, self-propelled device. By saving the recorded paths, these can advantageously be cleaned regularly and repeatedly, for example. It is also conceivable to send the mobile, self-propelled device to a so-called path-following mode and / or to conduct patrols. Due to the storage option, it is advantageously not necessary to walk the cleaning or boundary path again for repetition, thus enabling simple, user-friendly, and reliable operation.

[0030] In a further advantageous embodiment, the user can define no-go areas using the cleaning or boundary path, which are specifically excluded from the cleaning task. The mobile, self-propelled device can thus advantageously learn no-go areas without having to define the no-go zones in the additional device and, in particular, in the app at the correct location on a map. Simply walking and, in particular, avoiding obstacles, for example, when determining the cleaning or boundary path enables reliable, obstacle-free, error-free, and simple determination of the cleaning or boundary path.

[0031] According to the invention, a method for automatically processing floor surfaces using a floor cleaning system comprises the following method steps: - Determination of the cleaning or limiting path with the additional device by the user walking along this path, - Transmission of the completed cleaning or boundary path to the mobile, self-propelled device, - Start of cleaning along the cleaning path or the floor area enclosed by the boundary path in accordance with the cleaning order, whereby in the case of an open cleaning path the floor area is cleaned exactly along the cleaning path and / or in the case of a closed boundary path the floor area is also cleaned within an area defined by the boundary path.

[0032] Any features, configurations, embodiments and advantages relating to the floor cleaning system also apply in connection with the method according to the invention, and vice versa.

[0033] The solution according to the invention therefore provides that the user specifies a floor area to be cleaned by the mobile, self-propelled device by walking over this floor area with the additional device. By walking over this floor area in a user-dependent manner, the specified floor area can be easily and customer-oriented adapted to the conditions of a home, such as existing obstacles or steps. There are no specifications regarding the size, shape, or orientation of the floor area to be cleaned. This allows user interaction and, at the same time, control over the floor area to be cleaned. In addition, walking over the floor area to be cleaned represents intuitive and simple control for the user.

[0034] The exact procedure for this is explained in connection with the floor cleaning system and applies accordingly here.

[0035] In an advantageous embodiment, the cleaning or boundary path is determined based on the location of the mobile, self-propelled device. Additional reference points, reference systems, or coordinate systems are advantageously not necessary in this case. The location of the mobile, self-propelled device is therefore the only reference point required for determining the cleaning or boundary path. This ensures user-friendly, trouble-free, and simple operation for the user.

[0036] The invention is explained in more detail with reference to the following figures, which are merely examples. They show: Fig. 1: a schematic view of an embodiment of a method according to the invention for the automatic treatment of floor surfaces with the aid of a floor cleaning system, and Fig. 2: a further schematic view of an embodiment of a method according to the invention for the automatic processing of floor surfaces with the aid of a floor cleaning system.

[0037] In Fig. Figure 1 schematically shows a method for automatically cleaning floor surfaces using a floor cleaning system with a mobile, self-propelled device 1 and an additional device 2. The figure shows an exemplary sketch of a top view of a room 4 to be cleaned.

[0038] The mobile, self-propelled device 1 is, for example, a floor-cleaning robot that is located at its base station 3 and is tasked with cleaning room 4 according to its cleaning task. The additional device 2, which is, for example, a user's mobile phone or smartphone with a corresponding app that is responsible for the floor-cleaning robot's cleaning program, is used to determine the floor area to be cleaned.

[0039] To determine the floor area to be cleaned, the user starts the corresponding app on the additional device 2, in particular the control process. By pressing a start button, the recording process for the position determination unit in the additional device 2 begins, in particular the inertial sensors, acceleration sensors and / or gyroscopes. The user starts this process while holding the additional device 2 over the mobile, self-propelled device 1. From this starting point S, the user now walks to a point S1 at which they want to start cleaning. The user then presses another button on the app, e.g. a cleaning button, and holds it down. While the cleaning button is held down, the user walks around the floor area 6 to be cleaned along a boundary path 5. This defines the boundary of the floor area 6 to be cleaned for the mobile, self-propelled device 1.Once the perimeter at location S1 is completed, the user releases the cleaning button. A representation of the perimeter can be displayed in a map view of the app on the additional device 2 so that the user can review the collected data. Pressing the start button again transmits the collected data to the mobile, self-propelled device 1, which then performs cleaning along the perimeter path 5 and on the floor area enclosed by the perimeter path 5. Specifically, the mobile, self-propelled device 1 travels from its starting point S to location S1 and starts cleaning there.

[0040] The boundary path 5 recorded by the user is the only information directly used by the mobile, self-propelled device 1. The path traveled by the user since the start of the process (i.e., from the first pressing of the start button)—i.e., the path between the starting point S and the point S1—until the beginning of the circumnavigation of the floor area is used exclusively to spatially classify or classify the floor area with respect to the starting point S.

[0041] With the additional device 2, so-called no-go zones 7 can also be defined. For example, obstacles can be specified that the mobile, self-driving device 1 should avoid. To do this, the user simply walks around the obstacle while determining the boundary path 5, whereby the path specified for the mobile, self-driving device 1 also avoids the obstacle. This is a simple way for the user to define obstacles. Dragging a finger from so-called no-go zones to the correct location on a map in the app is thus advantageously no longer necessary.

[0042] Additionally, the boundary path 5 can be stored in a memory of the mobile, self-propelled device 1. This enables regular and repeatable cleaning.

[0043] In the embodiment of the Fig. 1, the user has defined a closed boundary path 5 with the additional device 2. This means that the starting point and the end point almost overlap at point S1. The boundary path 5 therefore completely encloses the floor area 6. In this case, an area is generated from the boundary path as a cleaning area, which is cleaned by the mobile, self-propelled device 1 by driving around the boundary path 5 and then systematically driving along it (e.g., by meandering).

[0044] Alternatively, it is possible to define an open path with the additional device 2, i.e. a cleaning path with separate start and end points. Such an embodiment is shown in Fig. 2 shown.

[0045] Fig. 2 shows, by way of example, a sketch of a top view of a room 4 to be cleaned. In this case, the mobile, self-propelled device 1 is again located at its base station 3. To define the cleaning path 8, the user begins recording the desired cleaning path 8 at location S of the mobile, self-propelled device 1 using the additional device 2, for example by pressing the start button. The user can set the start of cleaning at point S1, for example by pressing the cleaning button. The user then walks the desired cleaning path 8, which ends at a point S2 different from point S1, for example at another base station 3. For example, by pressing the start button again, the defined cleaning path 8 or its data is transmitted to the mobile, self-propelled device 1, which begins cleaning.

[0046] In a so-called open path, the mobile, self-propelled device 1 follows exactly the specified cleaning path 8. The mobile, self-propelled device 1 therefore follows the path drawn by the user. In contrast to the closed path, Fig. 1 does not generate an area that is cleaned.

[0047] Driving along these open paths can also be used for patrolling, for example. This is particularly suitable for mobile, self-driving devices 1 that have, for example, an integrated camera and / or streaming function.

Claims

[1] Method for the automatic processing of floor surfaces with the aid of a floor cleaning system, which comprises a mobile, self-propelled device (1), in particular a cleaning device for the autonomous processing of floor surfaces (6) such as a vacuum and / or sweeping and / or wiping robot, comprising a controllable chassis, a controller and a communication element, and a portable additional device (2) for a user, comprising an operating unit, a communication unit and a position determination unit, comprising the following steps: - Determination of the cleaning (8) or limiting path (5) with the additional device (2) by the user walking along this path, - transmitting the completed cleaning (8) or boundary path (5) to the mobile, self-propelled device (1), - starting cleaning along the departed cleaning path (8) or cleaning the floor area (6) enclosed by the boundary path (5) in accordance with the cleaning order, wherein in the case of an open cleaning path (8) the floor area (6) is cleaned exactly along the cleaning path (8), and in the case of a closed boundary path (5) the floor area (6) is cleaned additionally within an area defined by the boundary path (5), and wherein the definition of the cleaning path (8) or boundary path (5) starts at a location (S) of the mobile, self-propelled device (1), and the cleaning of the floor area (6) starts at a cleaning point (S1) defined by the user on the cleaning path (8) or boundary path (5), wherein the cleaning does not start directly at the location (S) of the mobile, self-propelled device (1). [2] Method according to claim 1, wherein the cleaning (8) or boundary path (5) is determined based on a location (S) of the mobile, self-propelled device (1).

Images