Cleaning device and method for operating a cleaning device

Abstract

A self-propelled cleaning device and a method for operating a self-propelled cleaning device are proposed, wherein the cleaning device autonomously navigates an environment and determines its position within the environment with a certain uncertainty, and wherein the uncertainty in a principal axis of the cleaning device is automatically determined. Depending on the determined uncertainty, a movement maneuver is performed, at least temporarily, by means of the cleaning device to reduce the increase in uncertainty.

Description

[0001] The present invention relates to a method for operating a cleaning device according to the preamble of claim 1 and a cleaning device according to the preamble of claim 15.

[0002] Self-propelled or self-driving cleaning devices are known from the state of the art, particularly as (semi-)autonomous vacuum cleaner robots, mop robots or vacuum-mop robots for cleaning surfaces such as floors.

[0003] Such cleaning devices are usually equipped with a navigation device to enable navigation in a known or unknown environment.

[0004] To navigate in the environment, self-propelled cleaning devices must determine their position in the environment using the navigation system. However, due to the limited range of the sensors used and measurement inaccuracies or deviations during the cleaning device's movement, a (measurement) uncertainty arises regarding the exact / true position of the cleaning device in the environment.

[0005] If the surrounding area is unknown, for example, if no detailed map information is available, the area must first be mapped using the cleaning device. However, the exact / true position of the cleaning device is required for this mapping.

[0006] The aim of simultaneous localization and mapping (SLAM) is to solve the problem of a cleaning device autonomously exploring a new / unknown environment and simultaneously creating a map of this environment, which is then used to navigate the cleaning device in the environment.

[0007] The present invention is based on the object of providing a method for operating a self-propelled cleaning device that is improved compared to the prior art and an improved self-propelled cleaning device, wherein a more precise or less error-prone position determination of the cleaning device in an unknown or known environment is enabled or supported.

[0008] The object underlying the invention is achieved by the method according to claim 1 or the cleaning device according to claim 15. Advantageous further developments are the subject of the dependent claims.

[0009] The present invention relates to a preferably computer-implemented method for operating a cleaning device. Preferably, the proposed method, in particular individual or all method steps of the proposed method, is / are carried out automatically or independently by means of the cleaning device, in particular by means of appropriate means for data processing and controlling the cleaning device, such as a data processing device and / or a control device.

[0010] A cleaning device within the meaning of the present invention is preferably a (semi-)autonomous or self-propelled vacuum cleaner robot, mop robot, or vacuum-mop robot. In particular, a cleaning device within the meaning of the present invention is designed to clean a cleaning surface automatically or (semi-)autonomously during a cleaning process. However, the cleaning device within the meaning of the present invention can also be any other device for cleaning, processing, and / or maintaining surfaces, in particular floors. For example, polishing devices or robots, window cleaning devices or robots, or lawn mowers or robots are also generally considered cleaning devices within the meaning of the present invention.

[0011] As already explained at the beginning, a cleaning device according to the present invention is designed to navigate autonomously in an environment. For this purpose, a cleaning device according to the present invention typically comprises a navigation device, a data processing device, and a control device.

[0012] In the method according to the invention for operating a self-propelled cleaning device, the cleaning device navigates autonomously in a known or unknown environment, in particular by means of the navigation device, the data processing device, and the control device, wherein the position of the cleaning device in the environment—in particular relative to a reference point or a reference coordinate system—is automatically determined. Due to measurement inaccuracies or measurement deviations, the determination of the position, also called localization, occurs with a (measurement) uncertainty. The (measurement) uncertainty can increase with the distance traveled, in particular in unknown environments or if no reference point can be detected by the cleaning device.

[0013] The proposed method is characterized in that, in particular during navigation in the environment by means of the cleaning device, the (measurement) uncertainty in a main axis of the cleaning device, particularly preferably in the direction of travel and / or against the direction of travel, is automatically determined and, depending on the determined (measurement) uncertainty, a movement maneuver is carried out at least temporarily by means of the cleaning device, in particular in order to reduce an increase in the (measurement) uncertainty in the main axis or the main direction of movement of the cleaning device.

[0014] The movement maneuver therefore improves the localization of the cleaning device in a particularly large environment, both when mapping an unknown environment and when navigating in a known or already mapped environment.

[0015] The cleaning device, in particular the navigation device, preferably has at least one distance sensor with a measuring / detection range. The distance sensor determines the distance of the cleaning device from a reference point or an object in the environment, such as a wall, in order to determine the position of the cleaning device along the main axis of the cleaning device.

[0016] Preferably, the movement maneuver is carried out automatically if the reference point or the object is outside the measuring / detection range, i.e. the position of the cleaning device in the main axis can no longer be determined or can only be determined with a large (measurement) uncertainty.

[0017] Such a situation can occur, for example, when the cleaning device is moving in a large area, such as a corridor, for example with a length of more than 15 m or 20 m, and / or in a hall, and the distance to a reference point or object in the environment, such as a wall, can no longer be determined or can only be determined with great (measurement) uncertainty.

[0018] The movement maneuver is preferably characterized by adjusting the orientation of the cleaning device or the direction of travel of the cleaning device. Particularly preferably, during the movement maneuver, the cleaning device moves in a direction of travel that deviates from the main direction of movement or the original direction of travel of the cleaning device, with lower (measurement) uncertainty, or at least partially obliquely to the main axis of the cleaning device.

[0019] During the movement maneuver or during the movement in the adjusted direction of travel, the proportional movement of the cleaning device or the distance traveled in the main axis or in the main direction of movement is calculated based on the movement or the distance traveled in the adjusted direction of travel or based on the movement or the distance traveled orthogonal to the main axis or the main direction of movement on the one hand and the angle between the adjusted direction of travel and the main axis or the main direction of movement on the other.

[0020] The movement or distance traveled in the direction with the greater (measurement) uncertainty can therefore be calculated by calculating the movement or distance traveled in a direction with a lower (measurement) uncertainty. This makes it possible to reduce any increase in (measurement) uncertainty along the main axis or in the main direction of movement.

[0021] Preferably, the direction of travel of the cleaning device is only adjusted when a predefined limit value of the (measurement) uncertainty is reached or exceeded, in particular by a predefined angle.

[0022] According to a preferred method variant, the limit value of the (measurement) uncertainty is preferably at least temporarily reduced or set to a lower value upon reaching or exceeding the predefined limit value. In particular, the reduced limit value is reset to the original value after reaching or falling below the reduced limit value or the lower value. This ensures that the movement maneuver is not started and aborted in rapid succession, but is carried out for a certain period of time.

[0023] The movement maneuver preferably comprises several, in particular uniform, changes in direction or changes in the orientation of the cleaning device or the direction of travel. Particularly preferably, the orientation of the cleaning device or the direction of travel is changed several times by the same angle during the movement maneuver and / or the movement maneuver forms a movement pattern, in particular a zigzag pattern.

[0024] The cleaning device preferably changes the direction of travel (again) during the movement maneuver depending on the distance to an object in the environment, in particular a wall, and / or depending on the distance to the main axis.

[0025] The movement maneuver is preferably terminated automatically when the (reduced) limit value of the (measurement) uncertainty in the main axis is reached or undershot and / or when a target point is reached. In particular, the cleaning device moves parallel to the main axis or in the original direction of travel again when the (reduced) limit value of the (measurement) uncertainty is reached or undershot.

[0026] It is therefore preferably provided that the movement maneuver is only carried out as long as the determined (measurement) uncertainty reaches or exceeds the predefined limit value.

[0027] The cleaning device preferably moves along a movement path during the cleaning of a cleaning area and / or after the surrounding area has been mapped.

[0028] The proposed procedure can also be applied during or after the planning of the movement path.

[0029] Preferably, the (measurement) uncertainty values ​​determined, for example, during mapping are taken into account when determining the movement path for the cleaning device.

[0030] For example, when calculating or determining the movement path, an area of ​​the environment can be taken into account where a high (measurement) uncertainty is to be expected.

[0031] In other words, the execution of the maneuver in a specific area of ​​the environment can be taken into account when calculating or determining the movement path. This improves the planning of cleaning processes. In particular, more precise information about the cleaning duration can be communicated to the user.

[0032] Additionally or alternatively, it can be provided that a (previously) defined cleaning path of the cleaning device is automatically adjusted, at least in sections, depending on the determined (measurement) uncertainty. For example, when cleaning extensive cleaning areas, straight sections of a meandering section of the movement path can be positioned at an angle to the main direction of movement, in particular in such a way that an increase in the (measurement) uncertainty on the meandering section is reduced.

[0033] The proposed method therefore enables, in a particularly simple manner and in particular without additional sensors, an improvement in the localization of the cleaning device both when mapping an environment and when navigating in a known or already mapped environment.

[0034] The proposed cleaning device is designed to carry out the proposed process. This provides corresponding advantages.

[0035] The present invention further relates to a computer program product comprising instructions which, for the execution of the program by a computer or by the cleaning device, cause the computer or the cleaning device to carry out the method described herein or individual method steps.

[0036] Finally, the present invention relates to a computer-readable storage medium comprising the computer program product and / or instructions which, when executed by a computer or the cleaning device, cause the computer or the cleaning device to carry out the method described herein and / or individual method steps.

[0037] The term “position” in the sense of the present invention is preferably to be understood as a mathematical specification for the location of the cleaning device.

[0038] Preferably, the position of the cleaning device is described using coordinates of a coordinate system with a coordinate origin, for example, with the position of a base position of the cleaning device or with a starting position of the cleaning device as the coordinate origin. Particularly preferably, the Cartesian coordinate system is used as the coordinate system, with the position being specified by the distances from the coordinate origin along the coordinate directions X, Y, and optionally Z. However, it is also possible to specify the position of the cleaning device using a different coordinate system.

[0039] The term "measurement uncertainty" or "uncertainty," hereinafter referred to as "uncertainty," refers to a mathematical or statistical value or key figure, particularly a measure of dispersion (variance), for the distribution / scatter of measured values ​​around the true (unknown) value of the measured quantity. In particular, uncertainty is a value range within which the true value of the measured quantity lies with a certain probability.

[0040] For example, the uncertainty can be expressed as a standard uncertainty with a probability of approximately 68.27%.

[0041] The term “uncertainty” is to be understood in particular according to DIN 1319-1:1995-01.

[0042] For a measurement result Y with an uncertainty U, the true value of the measured quantity lies with a certain probability in the value range Y ± U.

[0043] The uncertainty of the determined position of the cleaning device is therefore preferably a range of values ​​for possible positions of the cleaning device in which the exact / true / actual position of the cleaning device lies with a certain probability, for example 68.27% or 95.45%.

[0044] The uncertainty of a measurement results from (unknown) systematic and / or random measurement errors.

[0045] The measurement error is the difference between the measured value determined from the measurement and a reference value, such as the correct value, in particular according to DIN 1319-1:1995-01.

[0046] The measurement error can be caused by measuring instrument deviations, such as manufacturing tolerances, errors in the measuring method, environmental influences or the like.

[0047] Measurement error can be divided into systematic / methodological deviations and random / statistical deviations. While a measured value can be corrected for known systematic deviations, the corrected measured value remains an estimate due to the unknown systematic and random deviations.

[0048] The term “main axis” in the sense of the present invention is preferably understood to mean the axis which has the greatest uncertainty, in particular with regard to the current position of the cleaning device and / or the position of the cleaning device reached immediately before the movement maneuver is carried out.

[0049] The main axis preferably extends at least substantially parallel to the cleaning surface.

[0050] Preferably, the main axis runs at least substantially parallel to the current / original direction of travel and / or the main direction of movement of the cleaning device, in particular if the uncertainty in the direction of travel or the main direction of movement is greater than the uncertainty perpendicular to the direction of travel or the main direction of movement. However, it is also possible for the main axis to run at least substantially orthogonal to the current / original direction of travel and / or the main direction of movement of the cleaning device, in particular if the uncertainty in the direction of travel or the main direction of movement is smaller than the uncertainty perpendicular to the direction of travel or the main direction of movement.

[0051] The main direction of movement is preferably the direction of movement of the cleaning device which results from a starting position and a target position of the cleaning device and / or from the sum of the movements in different directions of travel, in particular during the movement maneuver.

[0052] Preferably, the main direction of movement is either parallel or orthogonal to the main axis or to the direction with the (currently) greatest uncertainty, at least during the movement maneuver.

[0053] The direction of travel in the sense of the present invention is the direction in which the cleaning device moves.

[0054] The original direction of travel is preferably the direction in which the cleaning device is moving immediately before performing the maneuver. In particular, the original direction of travel corresponds to the main direction of movement and / or the main axis extends parallel to the original direction of travel. However, the main axis can also extend orthogonally to the original direction of travel.

[0055] The adjusted direction of travel is preferably a direction of travel that deviates from the original direction of travel or the main direction of movement. In particular, the cleaning device moves in the adjusted direction of travel during the maneuver. The angle enclosed between the adjusted direction of travel and the original direction of travel or the main axis is preferably more than 0° and / or less than 90°, particularly preferably at least substantially 45°.

[0056] Preferably, the uncertainty in the adjusted direction of travel is lower than the uncertainty in the original direction of travel.

[0057] The term "movement maneuver" within the meaning of the present invention preferably refers to a (temporary) change in the (original) direction of travel of the cleaning device, preferably by a predefined angle. Particularly preferably, a movement maneuver within the meaning of the present invention comprises several, preferably uniform, changes in direction or changes in the orientation of the cleaning device or the direction of travel, in particular in order to reduce an increase in uncertainty regarding the original direction of travel or the main direction of movement.

[0058] Preferably, the movement maneuver does not change the main direction of movement or the direction resulting from the movements in the adapted directions of travel.

[0059] A movement maneuver within the meaning of the present invention can in particular have a repeating movement pattern, such as a zigzag pattern.

[0060] However, the movement maneuver may also exhibit irregularities, such as changes in direction of varying degrees.

[0061] The term "measuring range" or "detection range" within the meaning of the present invention preferably refers to the area of ​​the cleaning device, in particular the navigation device or the distance sensor, in which the measurement deviations lie within specified limits. In particular, the uncertainty within the measuring or detection range, hereinafter always referred to as the detection range, is smaller than a predefined limit value, the reaching or exceeding of which leads to the execution of the movement maneuver.

[0062] The aforementioned aspects, features and / or method steps or variants of the present invention as well as the aspects, features and method steps or variants of the present invention resulting from the claims and the following description can in principle be implemented independently of one another, but also in any desired combination or sequence.

[0063] Further aspects, advantages, features, and characteristics of the present invention will become apparent from the claims or the following description of a preferred embodiment with reference to the figures. It shows: Fig. 1 a perspective view of a proposed cleaning device; Fig. 2 a schematic representation of the cleaning device according to Fig. 1 in a spacious environment; Fig. 3 a schematic diagram with probability distributions represented as particle clouds over possible positions of the cleaning device at different locations in the environment according to Fig. 2 to illustrate the increase in the uncertainty of the position of the cleaning device; Fig. 4 a schematic representation of a movement maneuver of the cleaning device in a spacious environment; Fig. 5 a schematic diagram with probability distributions represented as particle clouds over possible positions of the cleaning device at different locations in the environment according to Fig. 4 with reduced uncertainty due to the movement maneuver; Fig. 6 a schematic representation of a movement path for mapping an environment; Fig. 7 a schematic representation of a movement path for cleaning a cleaning area in the mapped environment according to Fig. 6; and Fig. 8 a schematic flow diagram of a proposed method for operating the cleaning device or individual method steps of the proposed method.

[0064] In the figures, some of which are not to scale and are merely schematic, the same reference symbols are used for identical, identical or similar parts and components, whereby corresponding or comparable properties and advantages are achieved, even if a repeated description is omitted.

[0065] Fig. 1 shows a proposed self-propelled cleaning device 1.

[0066] The cleaning device 1 is preferably designed as a vacuum cleaner robot, mop robot or combined vacuum-mop robot or is designed to automatically / autonomously travel over a cleaning surface F during one or more cleaning processes in order to clean the cleaning surface F, in particular to vacuum and / or mop it.

[0067] In particular, the cleaning device 1 is designed to suck up or wipe up suction material or air and / or a liquid cleaning agent together with suction material from the cleaning surface F.

[0068] A cleaning process within the meaning of the present invention is preferably a process in which the cleaning surface F is cleaned by means of the cleaning device 1 and / or in which the cleaning device 1 cleans a cleaning surface F, in particular by vacuuming and / or wiping it.

[0069] Preferably, the cleaning surface F is formed by a floor. However, it is also possible for another surface, such as a window or a facade, to have or form the cleaning surface F.

[0070] The cleaning device 1 has a housing 2, several, in this case two, electric motor-driven wheels 3, a navigation device 4, a data processing device 5 and / or a control device 6.

[0071] By means of the navigation device 4, the data processing device 5, the control device 6 and the wheels 3, the cleaning device 1 can orient itself and move independently / autonomously within an environment or on the cleaning surface F.

[0072] The control device 6 is preferably designed to control the wheels 3 or the electric motors of the cleaning device 1 and / or the fan of the cleaning device 1, in particular to activate and / or deactivate them, and / or to adjust the power, preferably at least partially automatically.

[0073] The cleaning device 1 preferably has an elongated or slot-like suction opening 7 on an underside or a side facing the cleaning surface F, through which suction material and / or cleaning agent applied to the cleaning surface F can be picked up or sucked in.

[0074] The cleaning device 1 is preferably equipped with an electric motor-driven fan (not shown) and a collecting container (not shown) for the suction material.

[0075] During cleaning operation or during a cleaning process, the fan can be used to suck in suction material or air and / or cleaning agent together with suction material from the environment or from the cleaning surface F into the cleaning device 1, in particular into the container, via this suction opening 7.

[0076] In the case of a robot vacuum cleaner, the collected vacuumed material is separated from the air, for example by means of a filter (not shown), whereby the (cleaned) air can then be released back into the environment.

[0077] The cleaning device 1, in particular the navigation device 4, is preferably equipped with a plurality of sensors 8 to 10 in order to detect the environment, in particular objects such as obstacles, in the environment and / or to determine the (relative) position of the cleaning device 1 in the environment, in particular by measuring the distance between the cleaning device 1 and reference points or objects in the environment.

[0078] Preferably, the cleaning device 1, in particular the navigation device 4, has one or more sensors, in particular distance sensors 8, 9, for measuring the distance to objects in the environment and one or more sensors, in particular inertial sensors 10, for measuring the movement of the device itself, in particular the acceleration and / or speed.

[0079] The distance sensor 8 or 9 is preferably designed as a laser distance sensor, in particular a lidar sensor, PMD sensor or time-of-flight sensor or radar sensor, or as an ultrasonic sensor.

[0080] In the illustrated embodiment, the cleaning device 1 has several, here two different, distance sensors 8 and 9. However, other solutions are also possible, for example, in which the cleaning device 1 is equipped with only one distance sensor 8 or 9.

[0081] Individual or multiple aspects, advantages, features, properties and method steps that are only described in connection with one of the distance sensors 8 or 9 are preferably also provided for the other distance sensor 8 or 9, so that corresponding statements also apply to the other distance sensor 8 or 9.

[0082] The cleaning device 1 preferably has a (first) distance sensor 8, for example, wherein the distance sensor 8 is aligned in the direction of travel R or is designed to detect objects located in front of the cleaning device 1 in the direction of travel R or to measure the distance of the cleaning device 1 from objects located in front of the cleaning device 1 in the direction of travel R.

[0083] Preferably, the distance sensor 8 is arranged on a front side of the cleaning device 1, in particular centrally and / or within the housing 2, as in Fig. 1 shown.

[0084] In addition or alternatively to the (first) distance sensor 8, the cleaning device 1 has a (second) distance sensor 9, preferably wherein the (second) distance sensor 9 is arranged on an upper side or on the side of the cleaning device 1 facing away from the cleaning surface F.

[0085] In the illustrated embodiment, the (first) distance sensor 8 is preferably designed as a PMD sensor or time-of-flight sensor, and the (second) distance sensor 9 is designed as a lidar sensor, particularly preferably as a 2D lidar sensor. However, other solutions are also possible.

[0086] The distance sensor 9 is preferably designed to scan the surroundings of the cleaning device 1 and / or to detect objects in the surroundings of the cleaning device 1, in particular laterally or horizontally in front of, behind or next to the cleaning device 1, or to measure the distance of the cleaning device 1 to objects in the surroundings.

[0087] The distance sensor 9 is preferably aligned at least substantially horizontally or parallel to the cleaning surface F. In particular, the distance sensor 9 is designed to measure distances in all horizontal directions or by 360° around the cleaning device 1 or around a vertical axis V, starting from the cleaning device 1.

[0088] Accordingly, each distance measured with the distance sensor 9 is preferably assigned a direction, or each distance measured with the distance sensor 9 is additionally provided with directional information. The direction is preferably specified relative to the orientation of the cleaning device 1 and / or in the direction of travel R of the cleaning device 1. In particular, the direction represents an angle or an angular position relative to the orientation or direction of travel R of the cleaning device 1 and / or the vertical axis V.

[0089] Most preferably, the distance sensor 9 has a laser that rotates or can be rotated by 360° around the vertical axis V of the distance sensor 9. Preferably, the distance sensor 9 is configured so that the laser beam of the laser rotates 360° around the vertical axis V several times, for example, five times, per second.

[0090] The distance sensor 8, 9 preferably has a detection range B within which the distance sensor 8, 9 can detect objects or measure distances to objects, in particular with an uncertainty of less than 0.1 m or 0.01 m. Objects located outside the detection range B cannot be detected or detected by the distance sensor 8, 9 or can only be detected with great uncertainty, for example with an uncertainty of more than 0.1 m or 0.5 m.

[0091] The detection area B can be a two-dimensional area, i.e. an area extending only in one plane, or a three-dimensional area. Fig. 1, the detection area B1 of the first distance sensor 8 is shown as a three-dimensional area.

[0092] In particular, the detection area B1 of the first distance sensor 8 opens in a conical or pyramidal shape starting from the first distance sensor 8 or the cleaning device 1.

[0093] The second distance sensor 9 preferably has a detection area B2. The detection area B2 is preferably circular or cylindrical, as shown in Fig. 2 shown.

[0094] Preferably, the detection ranges B1 and B2 of the distance sensors 8 and 9 differ from each other and / or the detection ranges B1 and B2 of the distance sensors 8 and 9 only partially overlap.

[0095] The inertial sensor 10 is preferably designed as an inertial measuring unit, IMU for short, acceleration sensor or yaw rate sensor.

[0096] In particular, the inertial sensor 10 is designed to measure or determine the acceleration, the speed, the force and / or the rotation rate of the movement of the cleaning device 1 and / or the orientation and / or a change in the direction of travel R of the cleaning device 1.

[0097] Optionally, the cleaning device 1 is equipped with an odometry sensor (not shown) to determine the position and / or orientation of the cleaning device 1 based on the rotation of the wheels 3.

[0098] The data processing device 5 is preferably designed to evaluate the measured values ​​measured or determined by the navigation device 4 or the sensors 8 to 10 and / or to transmit them as input values ​​to the control device 6. The wheels 3 are then controlled by the control device 6. In this way, the cleaning device 1 can navigate independently / autonomously within the environment or on the cleaning surface F.

[0099] Optionally, the cleaning device 1, in particular the data processing device 5, is provided with a database 11 (only in Fig. 8) are connected or connectable by data technology, preferably wherein the database 11 contains one or more details, information, values, characteristics and / or parameters for evaluating the measured values.

[0100] As already explained at the beginning, navigation requires that the cleaning device 1 locates itself in the environment or on the cleaning surface F using the sensors 8 to 10 or determines its position.

[0101] For localization or position determination, the distance to reference points or objects, such as a wall W, is measured by means of the sensors 8 to 10, in particular in two directions that are orthogonal to each other.

[0102] However, the determination of the position is never exact due to measurement inaccuracies or deviations, so that the determined position of the cleaning device 1 deviates from the actual / true position of the cleaning device 1 or there is uncertainty regarding the actual / true position of the cleaning device 1. The position of the cleaning device 1 can therefore only be estimated with a probability.

[0103] The position of the cleaning device 1 can be specified in the case of movement in a two-dimensional space, such as on the cleaning surface F, using the Cartesian coordinate system with a coordinate for the abscissa, hereinafter X-value or X-coordinate, and a coordinate for the ordinate, hereinafter Y-value or Y-coordinate, in particular with the starting position of the cleaning device as the coordinate origin.

[0104] In the Fig. In the scenario illustrated in Figure 2, the cleaning device 1 moves along a corridor or parallel to a wall W of a large area. The distance to a reference point in the Y direction or orthogonal to the direction of travel R0 or to the wall W can be measured by means of the distance sensor 8 or 9, in particular such that the cleaning device 1 can be localized in the Y direction or the Y coordinate of the position can be determined.

[0105] However, the X-coordinate of the position cannot be determined or can only be determined with a greater uncertainty than the Y-coordinate, since there is no object or reference point for determining the X-coordinate in the detection area B1 or B2 or no distance to an object or reference point in the environment in the X-direction or in the direction of travel R0 can be measured.

[0106] In the Fig. In the scenario shown in Figure 2, the axis with the greatest uncertainty, hereinafter referred to as the main axis A, runs parallel to the wall W or in the X direction or in the direction of travel R0. However, it is also possible in principle for the main axis A to run in the Y direction or perpendicular to the direction of travel R0, for example if the cleaning device 1 crosses a wide hall in which the distance to an object can be detected in the direction of travel R0, but no reference points can be detected in the detection area B1 or B2 perpendicular to the direction of travel R0.

[0107] Fig. 3 shows a diagram with possible positions of the cleaning device 1 at different locations X1 to X5 along the Fig. 2 or along the main axis A. The positions for the different locations X1 to X5 are each represented as a probability distribution or two-dimensional Gaussian distribution in the form of a point or particle cloud. Each point or particle represents a possible position of the cleaning device 1 at the respective location X1 to X5.

[0108] The larger the point or particle cloud and thus the variance (distribution / scattering of the measured values ​​around the true value of the measured variable), the greater the uncertainty with regard to the position of cleaning device 1.

[0109] Fig. Figure 3 illustrates that the point or particle cloud, or the uncertainty, increases with the movement of the cleaning device 1 along the corridor or with increasing distance without detecting an object or a reference point in the main axis A or in the X direction. The scatter of the possible X positions consequently increases.

[0110] At a first location X1, for example at the beginning of a spacious environment, such as a corridor, the cleaning device 1 can determine its position with a first or relatively low uncertainty U1, for example based on the measured distance to an object in the Y direction or perpendicular to the main axis A and based on a measured distance in the X direction or parallel to the main axis A.

[0111] The uncertainty in the Y-direction or perpendicular to the main axis A is therefore at least essentially as large as the uncertainty in the X-direction or parallel to the main axis A, so that the particle cloud is circular.

[0112] If the cleaning device 1 cannot detect an object or reference point in the X direction or cannot determine a distance to an object or reference point in the X direction and / or if the measurement deviations increase due to larger distances, the uncertainty in the corresponding direction increases.

[0113] In the scenario shown, it is not possible for the cleaning device 1 to determine the X coordinate or only with an increasing measurement deviation if the cleaning device 1 moves along the corridor or parallel to the wall W.

[0114] The X-coordinate of the position of the cleaning device 1 must then be estimated, for example by means of additional sensors, such as an odometry sensor.

[0115] This leads to an increase in the uncertainty in the main axis A or in the direction of travel R0 or along the corridor or the scatter of the possible X-positions. Fig. 3 this is illustrated by increasingly longer particle clouds.

[0116] However, since the distance to wall W along the corridor does not change, or wall W is always within the detection range B1 or B2 of distance sensors 8 or 9, respectively, the Y coordinate of the position of cleaning device 1 can be determined with sufficient accuracy or with less uncertainty than the X coordinate. This results in the particle cloud not increasing or not increasing significantly in the Y direction along the main axis A or along the corridor.

[0117] As a result, the variance in the X-direction or in the direction of the main axis A increases with the distance traveled, whereas the variance in the Y-direction or orthogonal to the main axis A is at least essentially constant with the distance traveled.

[0118] In the following, the Fig. 4 to 8 describe in more detail the proposed method for operating the cleaning device 1.

[0119] The proposed method is preferably carried out by means of the cleaning device 1.

[0120] The cleaning device 1, in particular the data processing device 5, is preferably designed to carry out the method described herein or individual method steps.

[0121] Preferably, commands or the algorithm for executing the proposed method or individual method steps of the proposed method are stored electronically in a (data) memory of the cleaning device 1, in particular the data processing device 5.

[0122] The proposed method preferably includes one or more method steps and / or a program to improve the position determination or localization of the cleaning device 1, in particular in a spacious environment, such as a hall or a corridor.

[0123] The method is preferably multi-stage or multi-step. In particular, the method comprises several process steps, whereby the individual process steps can in principle be carried out independently of one another and in any order, unless otherwise stated below.

[0124] The proposed method is characterized in that the cleaning device 1 automatically determines / monitors the uncertainty, in particular in the main axis A or in the direction of travel R, and, depending on the determined / monitored uncertainty, at least temporarily carries out a movement maneuver in order to reduce or limit the increase in the uncertainty.

[0125] The uncertainty can be determined, for example, by carrying out several (independent) measurements by means of one sensor 8 to 10 or by means of several sensors 8 to 10 to determine the position and the deviations of the measured values ​​from one another are evaluated (statistically) by means of the data processing device 5, in particular whereby the (direction-dependent) variance or the square root of the (direction-dependent) variance (standard deviation or standard uncertainty) is determined and / or the covariance analysis is applied.

[0126] Additionally or alternatively, it is possible that corresponding information about the navigation device 4, in particular the sensors 8 to 10 of the navigation device 4, is used to determine the uncertainty, for example values ​​from the calibration certificate, information about the accuracy classes, other specifications or manufacturer's information and / or empirically determined values.

[0127] The corresponding information is preferably stored in an electronic (data) memory of the data processing device 5 and / or in the database 11.

[0128] The determined uncertainty is preferably compared with a predefined limit value.

[0129] When a predefined uncertainty limit is reached or exceeded, for example U = 0.1 m or U = 0.2 m, the movement maneuver is preferably carried out automatically.

[0130] In particular, when the predefined limit value of the uncertainty is reached or exceeded, the direction of travel R0 is adjusted by a preferably predefined angle α, wherein the angle α is measured by means of the cleaning device 1, in particular the inertial sensor 10.

[0131] In the Fig. 4 and Fig. In the example shown in Figure 5, the cleaning device 1 changes its original direction of travel R0 or its original orientation by the angle α at the point X2, since the uncertainty U2 in the main axis A or in the direction of travel R0 or in the X-direction has increased compared to the point X1 to such an extent that the limit value has been reached or exceeded.

[0132] Particularly preferably, the cleaning device 1 rotates in such a way that it subsequently moves obliquely to the main axis A or to the original direction of travel R0.

[0133] The adjusted direction of travel R1 consequently deviates from the main axis A or the original direction of travel R0. In particular, after adjusting the direction of travel R0, the cleaning device 1 moves obliquely to the main axis A, preferably with the angle α between the main axis A and the adjusted direction of travel R1 being greater than 0° and / or less than 90°, preferably at least substantially 45°.

[0134] In the scenario shown, the cleaning device 1 therefore no longer moves parallel to the wall W, at least in sections, during the movement maneuver, but rather diagonally.

[0135] During the movement maneuver or during the movement in the adjusted direction of travel R1, the change in the X-coordinate ΔX or the proportional movement or the distance traveled of the cleaning device 1 in the main axis A or in the X-direction or in the original direction of travel R0 is calculated based on the movement or the distance traveled in the adjusted direction of travel R1 or based on the change in the Y-coordinate ΔY or based on the movement or the distance traveled orthogonal to the main axis A or the X-direction or the original direction of travel R0 on the one hand and the angle α between the adjusted direction of travel R1 and the main axis A or the original direction of travel R0 or the X-direction on the other hand, preferably according to the following equation: ΔX=ΔY 1 / tan(α), with ΔX as the change in the X-coordinate or movement component or distance traveled in the main axis A or in the X-direction or the original direction of travel R0, ΔY as the change in the Y-coordinate or movement component or distance traveled perpendicular to the main axis A or in the Y-direction or perpendicular to the original direction of travel R0 and α as the angle between the adjusted direction of travel R1 and the original direction of travel R0.

[0136] The movement component ΔY is preferably measured by means of the distance sensor 8, 9 and the angle α by means of the inertial sensor 10.

[0137] Using the orientation of the cleaning device 1 or the angle α between the original direction of travel R0 and the adjusted direction of travel R1, it is consequently possible to decompose the movement of the cleaning device 1 into a first movement component ΔX and a second movement component ΔY, wherein the movement component ΔX is calculated using the angle α and the movement component ΔY, which has a lower uncertainty compared to the movement component ΔX.

[0138] In the example shown, the movement maneuver is initiated by a left turn of the cleaning device 1. However, it is also possible for the movement maneuver to be initiated by a right turn of the cleaning device 1.

[0139] In a particularly preferred method variant, depending on the distance to an object in the environment located to the side of the cleaning device 1, it is automatically decided whether the movement maneuver is initiated by a left or right turn.

[0140] Preferably, the cleaning device 1 automatically rotates in the direction where more space is available or where a longer distance can be covered without obstacles. Most preferably, before performing the maneuver, the distance to the objects adjacent to the cleaning device 1 is measured, and a rotation is performed in the direction of the object that is the greatest distance from the cleaning device 1.

[0141] In the event that the cleaning device 1 moves closer to one wall W than to the other wall W, the movement maneuver is preferably initiated by a rotation in the direction of the more distant wall W.

[0142] In the example shown, the cleaning device 1 moves at least substantially in the middle of the corridor, so that the movement maneuver can be initiated either with a left or a right turn.

[0143] How Fig. 4, the movement maneuver preferably comprises several changes in the orientation of the cleaning device 1 or the direction of travel R.

[0144] Particularly preferably, the orientation of the cleaning device 1 or the direction of travel R is changed several times during the movement maneuver. In particular, the movement maneuver forms a repeating movement pattern, particularly preferably a zigzag pattern. However, other solutions are also possible.

[0145] Preferably, the cleaning device 1 changes the direction of travel R during the movement maneuver depending on the distance to an object in the environment, in particular the wall W, and / or depending on the distance to the main axis A.

[0146] For example, the direction of travel R0 or R1 is changed (again) when the distance traveled in the Y direction or in the direction of the wall W and / or the distance between the cleaning device 1 and the main axis A reaches or exceeds a predefined limit and / or the distance between the cleaning device 1 and the wall W reaches or falls below a predefined limit.

[0147] The (adjusted) direction of travel R1 is preferably adjusted again depending on the distance to an object in the environment, in particular the wall W, and / or depending on the distance to the main axis A, preferably by a predefined angle β. In particular, the adjusted direction of travel R1 is changed into a second adjusted direction of travel R2, preferably wherein the angle β between the first adjusted direction of travel R1 and the second adjusted direction of travel R2 is twice as large as the angle α between the first adjusted direction of travel R1 and the original direction of travel R0 and / or more than 45° and / or less than 180°, particularly preferably at least substantially 90°.

[0148] During the movement maneuver, the cleaning device 1 changes its orientation preferably in different directions or, starting from the original direction of travel R0, alternately to the left and to the right.

[0149] Preferably, the uncertainty in the adjusted direction of travel R1 or R2 is lower than the uncertainty in the original direction of travel R0 or in the main axis A, in particular since the movement or the distance traveled transversely or perpendicularly to the main axis A or in the direction of the wall W can be determined with a lower measurement error than the movement or the distance traveled in the original direction of travel R0 or in the direction of the main axis A.

[0150] The main direction of movement resulting from the movement pattern preferably corresponds to the original direction of travel R0. In particular, the repeated adjustment of the direction of travel R at an angle to the original direction of travel R0 or the main axis A results in the cleaning device 1 continuing to move in the original direction of travel R0.

[0151] A small angle α or a large angle β results in a small change in direction or deviation from the main direction of movement, respectively, so that fewer changes in direction are required and the execution of the maneuver is less obvious. However, this also results in the movement component with the greater uncertainty being updated less frequently.

[0152] A large angle α or a small angle β, on the other hand, leads to a more frequent change of direction and a correspondingly more frequent update of the motion component with greater uncertainty. However, this also leads to a greater adjustment of the motion path T or a greater deviation from the main direction of movement and a correspondingly longer travel time. It has therefore proven advantageous to choose an angle α of at least substantially 45° or an angle β of at least substantially 90°.

[0153] As already explained, the movement maneuver leads to the uncertainty in the original direction of travel R0 or in the main axis A not increasing or only slightly increasing.

[0154] How the different positions X2 to X5 in Fig. 5, the particle cloud or the uncertainty U2 to U5 therefore does not increase or only slightly increases along the corridor or in the main axis A or in the X-direction.

[0155] When the limit value of the uncertainty in the main axis A or in the original direction of travel R0 or in the main direction of movement is reached or undershot - for example when an object or a reference point, such as a wall W, is (again) within the detection area B1 or B2 in the direction of travel R0 or in the main direction of movement - the movement maneuver is preferably terminated, in particular in such a way that the cleaning device 1 moves again parallel to the main axis A or in the original direction of travel R0.

[0156] In the example shown, the movement maneuver is terminated at point X6, since here the uncertainty in the main axis A can be reduced to the original value due to the detected wall W at the end of the corridor.

[0157] The movement maneuver can be terminated by the cleaning device 1 rotating by a predefined angle when the limit value is reached or undershot in order to return diagonally to the main axis A. However, solutions are also conceivable in which the cleaning device 1 abruptly aborts the movement maneuver and, if necessary, moves offset from the main axis A in the original direction of travel R0.

[0158] In the event that the uncertainties in the main axis A or in the X-axis as well as perpendicular to the main axis A or in the Y-axis reach or exceed the (respective) limit value, the movement maneuver does not lead to an improvement in the localization of the cleaning device 1, so that the measured values ​​of the sensors 8 to 9, in particular an odometry sensor and an inertial sensor, can be used to localize or estimate the position.

[0159] As already explained at the beginning, the proposed procedure can be carried out both when mapping an unknown environment and when navigating in an already mapped environment.

[0160] Fig. 6 shows a movement path T of the cleaning device 1 during the mapping of an environment.

[0161] Preferably, the cleaning device 1 moves along the wall W during the mapping, especially if the uncertainty of the position is below a predefined limit, i.e. the position of the cleaning device 1 can be determined with sufficient accuracy. This type of mapping is basically known from the prior art and is shown in the left area of ​​the Fig. 6 shown environment.

[0162] The proposed method provides for the movement maneuver to be carried out by means of the cleaning device 1, depending on the determined uncertainty, at least temporarily during the mapping process. In particular, the cleaning device 1 no longer moves parallel to the wall W, but diagonally, as soon as the predefined limit of the uncertainty has been reached or exceeded or the position in the X-direction or Y-direction can no longer be determined with sufficient accuracy, as shown in Fig. 6 in the right area of ​​the displayed environment.

[0163] Fig. 7 shows a movement path T for the cleaning device 1 during cleaning of the cleaning surface F.

[0164] Particularly preferably, the cleaning device 1 moves along a previously defined movement path T during the cleaning of the cleaning surface F.

[0165] According to a preferred method variant, it is provided that the cleaning path T is automatically adjusted during a cleaning process as a function of the uncertainty, in particular in order to reduce an increase in the uncertainty.

[0166] How Fig. 7, the movement path T preferably has one or more meandering sections in order to systematically clean the cleaning surface F.

[0167] In the proposed method, it can be provided that when the limit value of the uncertainty is reached or exceeded, one or more meandering sections of the movement path T are rotated in such a way that one or more straight and preferably parallel sections of the meandering section are placed obliquely to the main axis A or to the main direction of movement. This is Fig. 7 is shown in the right-hand area of ​​the environment. This way, corresponding advantages are realized.

[0168] In principle, process variants are also possible in which, for example, uncertainty values ​​determined during mapping are stored electronically in the database 11 and / or in a map as a function of location, and the uncertainty values ​​determined are already taken into account when determining the movement path T for the cleaning device 1.

[0169] Fig. 8 shows a schematic flow diagram according to a preferred method variant with several method steps / operations A1 to A10.

[0170] The method or program routine is preferably initiated by starting or switching on the cleaning device 1, preferably in a first method step A1.

[0171] Preferably, in a further or second method step A2, one or more measured values, in particular distances to objects, are determined by means of the navigation device 4, in particular the sensors 8 to 10, in order to localize the cleaning device 1.

[0172] In a further or third method step A3, the measured values ​​are evaluated, in particular by means of the data processing device 5, and the position of the cleaning device 1 is determined with an uncertainty.

[0173] Preferably, in this case or in a further or fourth method step A4, the uncertainty in a main axis A and / or in the current direction of travel R of the cleaning device 1 is determined, for example by calculating the probability distribution, in particular the two-dimensional Gaussian distribution, particularly preferably the variance or standard deviation of the point or particle distribution and / or by means of the method of covariance analysis.

[0174] To determine the uncertainty, several independent measured values ​​can be compared with each other and statistically evaluated and / or one or more pieces of information, in particular relating to a sensor 8 to 10 or several sensors 8 to 10, such as manufacturer information and / or empirically determined values, can be retrieved from the database 11, as in Fig. 8 indicated by a dashed line.

[0175] Preferably, it is subsequently checked, or using a branch D1, whether the uncertainty reaches or exceeds a predefined limit value preferably stored in the database 11.

[0176] In the event that the uncertainty is smaller than the limit value, the normal operation of the cleaning device 1 is preferably carried out or no change is made to the movement path T.

[0177] In particular, subsequently or in a further / fifth method step A5, a movement path T is calculated using the determined position of the cleaning device 1.

[0178] Subsequently, in a further / sixth method step A6, in particular by means of the control device 6, the wheels 3 can be controlled in such a way that the cleaning device 1 moves along the calculated movement path T.

[0179] If the determined uncertainty reaches or exceeds the limit value, the principal axis A is preferably determined in an optional / seventh process step A7, or it is checked which direction / axis has the greatest uncertainty and / or whether the current direction of travel R has the greatest uncertainty or the direction with the greatest uncertainty is at least essentially parallel to the current direction of travel R0. However, it is also possible that the uncertainty is only determined in the current direction of travel R0 or the principal direction of movement.

[0180] Preferably, in a further / ninth method step A9, the movement path T is modified and / or the movement maneuver is calculated.

[0181] In particular, by means of the data processing device 5 and / or the control device 6, the cleaning device 1 can then move along the modified movement path T or carry out the movement maneuver, preferably with the uncertainty being continuously monitored.

[0182] In particular, in order to prevent a constant change between the normal operating mode and the operating mode with the movement maneuver, the limit value of the uncertainty when the predefined limit value is reached or exceeded can be reduced at least temporarily or for a predefined period of time, for example in an optional / eighth process step A8.

[0183] Preferably, the movement maneuver is terminated when the (reduced) uncertainty limit is reached or undercut.

[0184] In particular, after the reduced limit value is reached or undershot, the reduced limit value is reset to the original limit value in an optional / tenth process step A10.

[0185] The predefined limit value is preferably stored in the database 11 and is retrieved when the corresponding process steps A8 and A10 are carried out, as in Fig. 8 represented by corresponding arrows.

[0186] This ensures that the movement maneuver is carried out for at least a certain period of time.

[0187] The proposed method is characterized by using the motion component in a direction with lower uncertainty together with a measured change in orientation to calculate the movement of the cleaning device 1 in another direction with greater uncertainty, thereby improving the localization of the cleaning device 1. In contrast to the solutions known in the prior art, no additional and / or improved sensor technology is required.

[0188] Individual aspects, features and method steps or variants of the present invention can be implemented independently of one another, but also in any combination and / or sequence. List of reference symbols: 1 cleaning device 2 housings 3 wheels 4 Navigation device 5 Data processing facility 6 Control device 7 Intake opening 8 First distance sensor 9 Second distance sensor 10 Inertial sensor 11 Database A main axis B Detection range B1 First detection area B2 Second detection area F Cleaning area R direction of travel R0 original direction of travel R1 (first) adjusted direction of travel R2 (second) adjusted direction of travel T Movement path U1-U7 Uncertainties V vertical axis W Wall X1-X7 Positions of the cleaning device A1 - A10 Procedural steps α angle β angle ΔX Movement component in X direction ΔY Movement component in Y direction

Claims

[1] Method for operating a self-propelled cleaning device (1), wherein the cleaning device (1) navigates autonomously in an environment and determines its position in the environment with an uncertainty, characterized by , that the uncertainty in a main axis (A) of the cleaning device (1) is automatically determined, and that, depending on the determined uncertainty, a movement maneuver is carried out at least temporarily by means of the cleaning device (1) in order to reduce the increase in uncertainty. [2] Method according to claim 1, characterized by that the main axis (A) runs parallel to the direction of travel (R0) of the cleaning device (1) and / or to the main direction of movement of the cleaning device (1). [3] Method according to claim 1 or 2, characterized bythat the direction of travel (R0) of the cleaning device (1) is adjusted by a preferably predefined angle (α, β) when a predefined limit value of the uncertainty is reached or exceeded and / or that the cleaning device (1) moves in a direction of travel (R1, R2) deviating from the main direction of movement and having a lower uncertainty when the predefined limit value of the uncertainty is reached or exceeded. [4] Method according to one of the preceding claims, characterized by that the limit value of the uncertainty is at least temporarily reduced when the predefined limit value is reached or exceeded, preferably wherein the reduced limit value is reset to the original limit value after the reduced limit value is reached or exceeded. [5] Method according to one of the preceding claims, characterized bythat the cleaning device (1) moves at least partially obliquely to the main axis (A) during the movement maneuver and / or that the angle (α) between the main axis (A) and the adapted direction of travel (R1, R2) is greater than 0° and / or less than 90°, preferably at least substantially 45°. [6] Method according to one of the preceding claims, characterized by in that the cleaning device (1) has a distance sensor (8, 9) with a detection range (B1, B2), wherein in order to determine the position of the cleaning device (1) in the main axis (A), the distance of the cleaning device (1) to an object in the environment, such as a wall (W), is determined by means of the distance sensor (8, 9), wherein the movement maneuver is carried out automatically if the object is outside the detection range (B1, B2). [7] Method according to one of the preceding claims, characterized bythat during the movement maneuver and / or during the movement in the adjusted direction of travel (R1, R2), the proportional movement of the cleaning device (1) in the main axis (A) is calculated on the basis of the movement in the adjusted direction of travel (R1, R2) or on the basis of the movement orthogonal to the main axis (A) on the one hand and the angle (α) between the adjusted direction of travel (R1, R2) and the main axis (A) on the other hand. [8] Method according to one of the preceding claims, characterized by that the movement in the adjusted direction of travel (R1, R2) or the proportional movement orthogonal to the main axis (A) is preferably measured by means of a distance sensor (8, 9), in particular a laser distance sensor and / or a PMD sensor, and / or that the angle (α) between the main axis (A) and the adjusted direction of travel (R1, R2) is measured by means of an inertial sensor (10). [9] Method according to one of the preceding claims, characterized bythat the movement maneuver comprises several, preferably uniform, changes in the orientation of the cleaning device (1) or the direction of travel (R). [10] Method according to one of the preceding claims, characterized by that the orientation of the cleaning device (1) or the direction of travel (R) is changed several times by the same angle (α, β) during the movement maneuver and / or that the movement maneuver forms a movement pattern, in particular a zigzag pattern. [11] Method according to one of the preceding claims, characterized by that the cleaning device (1) changes the adapted direction of travel (R1, R2) during the movement maneuver depending on the distance to an object in the environment, in particular a wall (W), and / or depending on the distance to the main axis (A). [12] Method according to one of the preceding claims, characterized bythat when the limit value of the uncertainty in the main axis (A) is reached or undershot, the movement manoeuvre is terminated and / or that when the limit value of the uncertainty in the main axis (A) is reached or undershot, the cleaning device (1) moves again parallel to the main axis (A) or in the original direction of travel (R0). [13] Method according to one of the preceding claims, characterized by that the cleaning device (1) moves along a defined movement path (T) during the cleaning of a cleaning surface (F), wherein determined values of uncertainty are taken into account when determining the movement path (T) for the cleaning device (1). [14] Method according to one of the preceding claims, characterized bythat a movement path (T) of the cleaning device (1) is automatically adapted at least in sections depending on the uncertainty, in particular wherein straight sections of a meandering section of the movement path (T) are placed obliquely to the main axis (A). [15] Self-propelled cleaning device (1), wherein the cleaning device (1) has a navigation device (4), a data processing device (5) and a control device (6) in order to navigate autonomously in an environment, characterized by that the cleaning device (1) is designed to carry out the method according to one of the preceding claims.

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