Cleaning device and method for operating a cleaning device

Abstract

Method for operating a self-propelled cleaning device (1), wherein the cleaning device (1) autonomously navigates in an environment and determines its position in the environment with an uncertainty, characterized by that the uncertainty in a principal axis (A) of the cleaning device (1) is automatically determined, and that, depending on the determined uncertainty, at least temporarily a movement maneuver is carried out using the cleaning device (1) in order 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 prior art, in particular as (semi-)autonomous vacuum cleaner robots, mopping robots or vacuum-mop robots for cleaning surfaces such as floors.

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

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

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

[0006] Within the framework of so-called simultaneous localization and mapping (SLAM), the problem is to be solved that a cleaning device autonomously explores a new / unknown environment and simultaneously creates a map of this environment, which is then used for navigation of the cleaning device in the environment.

[0007] DE 10 2011 000 250 A1 discloses a method for determining the position of a self-moving device, wherein the variance of all scattered possible positions and orientations of the device is analyzed in order to improve SLAM localization.

[0008] Papachristos et al. disclose a method for planning the locomotion path of a flying robot, selecting the locomotion path that exhibits the least uncertainty with regard to the expected localization and mapping (see Papachristos, Christos et al.: Localization uncertainty-aware autonomous exploration and mapping with aerial robots using receding horizon path-planning. In: Autonomous Robots, Vol. 43, 2019, pp. 2131-2161).

[0009] The present invention is based on the objective of providing an improved method for operating a self-propelled cleaning device and an improved self-propelled cleaning device compared to the prior art, whereby a more accurate or less error-prone position determination of the cleaning device in an unknown or known environment is enabled or supported.

[0010] The problem underlying the invention is solved by the method according to claim 1 or the cleaning device according to claim 15. Advantageous embodiments are the subject of the dependent claims.

[0011] The present invention relates to a preferably computer-implemented method for operating a cleaning device. Preferably, the proposed method, in particular individual or all process steps of the proposed method, are carried out automatically by means of the cleaning device, in particular by means of appropriate data processing and control means of the cleaning device, such as a data processing device and / or a control device.

[0012] A cleaning device within the meaning of the present invention is preferably a (semi-)autonomous or self-driving robotic vacuum cleaner, mopping robot, or vacuum-mop robot. In particular, a cleaning device within the meaning of the present invention is designed to clean a 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, especially floors. For example, polishing devices or robots, window cleaning devices or robots, or lawnmowers or robots are also generally to be understood as cleaning devices within the meaning of the present invention.

[0013] As explained at the outset, 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.

[0014] In the inventive method for operating a self-propelled cleaning device, the cleaning device navigates autonomously in a known or unknown environment, particularly by means of the navigation device, the data processing device, and the control device. The position of the cleaning device in the environment—especially relative to a reference point or a reference coordinate system—is automatically determined. Due to measurement inaccuracies or deviations, the determination of the position, also called localization, is subject to a measurement uncertainty. This measurement uncertainty can increase with the distance traveled, particularly in an unknown environment or if the cleaning device cannot detect a reference point.

[0015] The proposed method is characterized by the fact that, particularly during navigation in the environment using the cleaning device, the (measurement) uncertainty in a principal axis of the cleaning device, especially 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 using the cleaning device, in particular to reduce an increase in the (measurement) uncertainty in the principal axis or the principal direction of movement of the cleaning device.

[0016] 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.

[0017] 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 to a reference point or an object in the environment, such as a wall, in order to determine the position of the cleaning device on its main axis.

[0018] Preferably, the movement maneuver is performed automatically when the reference point or object is outside the measuring / detection range, i.e., when 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.

[0019] Such a situation can occur, for example, when the cleaning device moves in a spacious environment, 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.

[0020] The movement maneuver is preferably characterized by an adjustment of the cleaning device's orientation or direction of travel. Particularly preferably, during the movement maneuver, the cleaning device moves in a direction of travel that deviates from its main direction of movement or original direction of travel, resulting in lower (measurement) uncertainty or at least partially obliquely to the main axis of the cleaning device.

[0021] During the movement maneuver or during the movement in the adapted direction of travel, the proportional movement of the cleaning device or the distance traveled in the main axis or in the main direction of travel is calculated based on the movement or the distance traveled in the adapted direction of travel or on the movement or the distance traveled orthogonal to the main axis or to the main direction of travel on the one hand and the angle between the adapted direction of travel and the main axis or to the main direction of travel on the other hand.

[0022] 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. In this way, it is possible to reduce the increase in (measurement) uncertainty along the principal axis or in the main direction of movement.

[0023] 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.

[0024] According to a preferred method variant, the limit of the (measurement) uncertainty is preferably reduced, at least temporarily, or set to a lower value when the predefined limit is reached or exceeded, wherein, in particular, the reduced limit is reset to the original value after the reduced limit or lower value has been reached or fallen below. This ensures that the movement maneuver is not started and stopped in rapid succession, but is carried out for a certain period of time.

[0025] The movement maneuver preferably comprises several, in particular uniform, changes of direction or changes in the orientation of the cleaning device or the direction of travel. It is especially preferred that 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 that the movement maneuver forms a movement pattern, in particular a zigzag pattern.

[0026] The cleaning device preferably changes its direction of travel (again) during the movement maneuver depending on the distance to an object in the vicinity, in particular a wall, and / or depending on the distance to the main axis.

[0027] The movement maneuver is preferably terminated automatically when the (reduced) limit value of the (measurement) uncertainty in the main axis is reached or falls below, and / or when a target point is reached. In particular, when the (reduced) limit value of the (measurement) uncertainty is reached or falls below, the cleaning device moves again parallel to the main axis or in its original direction of travel.

[0028] It is therefore preferably intended that the movement maneuver is only carried out as long as the determined (measurement) uncertainty reaches or exceeds the predefined limit.

[0029] The cleaning device preferably moves along a movement path during the cleaning of a cleaning surface and / or after mapping the surroundings.

[0030] The proposed procedure can also be used, in particular, during or after the planning of the movement path.

[0031] Preferably, the values ​​of the (measurement) uncertainty determined, for example, during mapping, are taken into account when defining the movement path for the cleaning device.

[0032] For example, when calculating or defining the movement path, an area of ​​the environment can be taken into account where a high (measurement) uncertainty is to be expected.

[0033] In other words, the execution of the movement maneuver within a specific area of ​​the environment can be taken into account when calculating or defining the movement path. This improves the planning of cleaning processes. In particular, more precise information about the cleaning duration can be provided to the user.

[0034] Additionally or alternatively, it can be provided that a (previously) defined cleaning path of the cleaning device is automatically adjusted, at least section by section, depending on the determined (measurement) uncertainty. For example, when cleaning large surfaces, straight sections of a meandering segment of the movement path can be positioned obliquely to the main direction of movement, particularly in such a way as to reduce the increase in (measurement) uncertainty on the meandering section.

[0035] The proposed method therefore enables, in a particularly simple way and especially 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.

[0036] The proposed cleaning device is designed to carry out the proposed procedure. In this way, the corresponding advantages are realized.

[0037] The present invention further relates to a computer program product comprising commands that cause the computer or the cleaning device to execute the program, or to carry out the method or individual process steps described herein.

[0038] 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 it or the latter to execute the method and / or individual process steps described herein.

[0039] In the context of the present invention, the term "position" preferably refers to a mathematical specification for the location of the cleaning device. Preferably, the position of the cleaning device is described using coordinates from a coordinate system with a coordinate origin, for example, the position of a base position or a starting position of the cleaning device as the coordinate origin. The Cartesian coordinate system is particularly preferred, with the position being specified by the distances to 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.

[0040] The term "measurement uncertainty" or "uncertainty," hereinafter always referred to as uncertainty, is a mathematical or statistical specification or metric, in particular a measure of dispersion (variance), for the distribution / dispersion of measured values ​​around the true (unknown) value of the measured quantity. Specifically, the uncertainty indicates a range of values ​​within which the true value of the measured quantity lies with a certain probability.

[0041] The uncertainty can be expressed, for example, as the standard uncertainty with a probability of approximately 68.27%.

[0042] The term "uncertainty" is to be understood in particular in accordance with DIN 1319-1:1995-01.

[0043] For a measurement result Y with an uncertainty U, the true value of the measured quantity lies with a certain probability within the range Y ± U.

[0044] The uncertainty of the determined position of the cleaning device is therefore preferably a range of values ​​for possible positions of the cleaning device, within which the exact / true / actual position of the cleaning device lies with a certain probability, for example 68.27% or 95.45%.

[0045] The uncertainty of a measurement results from (unknown) systematic and / or random measurement deviations.

[0046] The measurement deviation is the difference between the measured value obtained from the measurement and a reference value, such as the correct value, especially according to DIN 1319-1:1995-01.

[0047] The measurement deviation can be caused by deviations in the measuring instrument, such as manufacturing tolerances, by errors in the measurement procedure, by environmental influences, or the like.

[0048] Measurement deviation can be divided into systematic / methodological deviations and random / statistical deviations. While a measured value can be corrected for known systematic deviations, the corrected measurement remains an estimate due to unknown systematic and random deviations.

[0049] The term “main axis” within the meaning of the present invention preferably refers to the axis that exhibits the greatest uncertainty, particularly with regard to the current position of the cleaning device and / or the position of the cleaning device reached immediately before the movement maneuver was carried out.

[0050] The main axis preferably extends at least substantially parallel to the cleaning surface.

[0051] Preferably, the principal axis runs at least substantially parallel to the current / original direction of travel and / or the main direction of movement of the cleaning device, particularly if the uncertainty in the direction of travel or main direction of movement is greater than the uncertainty perpendicular to the direction of travel or main direction of movement. However, it is also possible for the principal 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, particularly if the uncertainty in the direction of travel or main direction of movement is smaller than the uncertainty perpendicular to the direction of travel or main direction of movement.

[0052] The main direction of movement is preferably the direction of movement of the cleaning device that results from a starting position and a target position of the cleaning device and / or from the sum of movements in different directions of travel, particularly during the movement maneuver.

[0053] Preferably, the main direction of movement, at least during the movement maneuver, runs either parallel or orthogonal to the main axis or to the direction with the (currently) greatest uncertainty.

[0054] The direction of travel within the meaning of the present invention is the direction in which the cleaning device moves.

[0055] The initial direction of travel is preferably the direction in which the cleaning device is moving immediately before the movement maneuver is performed. In particular, the initial direction of travel corresponds to the main direction of movement and / or the main axis extends parallel to the initial direction of travel. However, the main axis can also extend perpendicular to the initial direction of travel.

[0056] The adapted direction of travel is preferably a direction of travel that differs from the original direction of travel or main direction of movement. In particular, the cleaning device moves in the adapted direction of travel during the maneuver. Preferably, the angle between the adapted direction of travel and the original direction of travel or the main axis is greater than 0° and / or less than 90°, and particularly preferably at least substantially 45°.

[0057] Preferably, the uncertainty in the adapted direction of travel is lower than the uncertainty in the original direction of travel.

[0058] 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. A movement maneuver within the meaning of the present invention particularly preferably comprises several, preferably uniform, changes in direction or orientation of the cleaning device or the direction of travel, especially to reduce the increase in uncertainty in the original direction of travel or the main direction of movement.

[0059] Preferably, the main direction of movement or the direction resulting from the movements in the adapted directions of travel is not changed by the movement maneuver.

[0060] A movement maneuver according to the present invention can, in particular, have a repeating movement pattern, such as a zigzag pattern. However, the movement maneuver can also have irregularities, such as varying degrees of change in direction.

[0061] In the context of the present invention, the terms "measuring range" or "detection range" preferably refer to the area of ​​the cleaning device, in particular the navigation device or the distance sensor, in which the measurement deviations lie within defined limits. Specifically, 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 triggers the execution of the movement maneuver.

[0062] The aforementioned aspects, features and / or process steps or variants of the present invention, as well as the aspects, features and process 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 combination or sequence.

[0063] Further aspects, advantages, features and properties of the present invention will become apparent from the claims or the following description of a preferred embodiment with reference to the figures. These show: 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 cleaning device's position; Fig. 4 a schematic representation of a movement maneuver of the cleaning device in a wide 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 flowchart of a proposed procedure for operating the cleaning device or individual process steps of the proposed procedure.

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

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

[0066] The cleaning device 1 is preferably designed as a vacuuming robot, mopping robot or combined vacuuming-mop robot, or is designed to clean a cleaning surface F (only in Fig. 2 marked) to move automatically / autonomously during one or more cleaning processes in order to clean the cleaning surface F, in particular to vacuum and / or wipe.

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

[0069] Preferably, the cleaning area F is formed by a floor. However, it is also possible that another surface, such as a window or a facade, has or forms the cleaning area F.

[0070] The cleaning device 1 has a housing 2, several, in this case two, electrically 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 automatically / 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 blower 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 on a side facing the cleaning surface F, through which material to be suctioned 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 electrically driven blower (not shown) and a collection container (not shown) for the vacuumed material.

[0075] During cleaning operations or a cleaning process, the blower can be used to draw material or air and / or cleaning agents together with material from the surroundings 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 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 several sensors 8 to 10 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 its own movement, in particular 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 process steps that are described only 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 designs also apply to the other distance sensor 8 or 9.

[0082] Preferably the cleaning device 1 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 inside the housing 2, as shown in Fig. 1 shown.

[0084] In addition to or as an alternative 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 a top 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 configured as a PMD sensor or time-of-flight sensor, and the (second) distance sensor 9 is configured 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 environment of the cleaning device 1 and / or to detect objects in the environment 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 environment.

[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 around the cleaning device 1 by 360°, or around a vertical axis V, starting from the cleaning device 1.

[0088] Accordingly, each distance measured by the distance sensor 9 is preferably assigned a direction, or each distance measured by 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 angular position relative to the orientation or direction of travel R of the cleaning device 1 and / or the vertical axis V.

[0089] Particularly preferably, the distance sensor 9 has a laser that rotates or is rotatable by 360° about the vertical axis V of the distance sensor 9. Preferably, the distance sensor 9 is configured such that the laser beam of the laser rotates by 360° about 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 by the distance sensor 8, 9 or can only be detected with a large 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 a plane, or a three-dimensional area. In Fig. Figure 1 shows the detection area B1 of the first distance sensor 8 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, or IMU, accelerometer or gyroscope.

[0096] In particular, the inertial sensor 10 is designed to measure or determine the acceleration, speed, force and / or 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 unit 5 is preferably configured to evaluate the measured values ​​obtained by means of the navigation unit 4 or the sensors 8 to 10 and / or to transmit them as input values ​​to the control unit 6. The wheels 3 are then controlled by means of the control unit 6. In this way, the cleaning device 1 can navigate automatically / autonomously within its surroundings or on the cleaning surface F.

[0099] The cleaning device 1, in particular the data processing unit 5, is optionally equipped with a database 11 (only in Fig. 8 shown) connected or connectable via data technology, preferably wherein the database 11 contains one or more details, information, values, key figures and / or parameters for evaluating the measured values.

[0100] As explained at the beginning, for navigation it is necessary 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 using the sensors 8 to 10, in particular in two directions that are orthogonal to each other.

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

[0103] The position of the cleaning device 1 can be specified for 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 referred to as the X-value or X-coordinate, and a coordinate for the ordinate, hereinafter referred to as the Y-value or Y-coordinate, in particular with the starting position of the cleaning device as the origin of the coordinate system.

[0104] In the Fig. In the scenario shown in Figure 2, the cleaning device 1 moves along a corridor or parallel to a wall W in a spacious environment. 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 using the distance sensor 8 or 9, in particular such that the cleaning device 1 can be located in the Y direction or the Y-coordinate of its position can be determined.

[0105] However, the X-coordinate of the position cannot be determined, or can only be determined with a greater uncertainty compared to the Y-coordinate, because 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 can be measured in the X-direction or in the direction of travel R0.

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

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

[0108] The larger the cloud of points or particles and thus the variance (distribution / scattering of the measured values ​​around the true value of the measured quantity), the greater the uncertainty with regard to the position of the 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 reference point on the principal axis A or in the X-direction. Consequently, the dispersion of possible X-positions increases.

[0110] At a first point X1, for example at the beginning of a large 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 principal axis A, is therefore at least essentially the same as the uncertainty in the X direction, or parallel to the principal 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, or only possible with an increasing measurement deviation, for the cleaning device 1 to determine the X-coordinate when 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 can then be estimated, for example using additional sensors such as an odometry sensor.

[0115] This leads to an increase in uncertainty along the main axis A, in the direction of travel R0, along the corridor, and in the dispersion of possible X-positions. Fig. Figure 3 illustrates this with increasingly longer particle clouds.

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

[0118] The following will be based on the Fig. 4, Fig. 5, Fig. 6, Fig. 7 to Fig. 8. Describe in more detail the proposed procedure for operating the cleaning device 1.

[0119] The proposed method is preferably carried out using the cleaning device 1.

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

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

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

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

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

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

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

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

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

[0129] If 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 of 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] At the in 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 point X2, because the uncertainty U2 in the main axis A or in the direction of travel R0 or in the X-direction has increased so much compared to point X1 that the limit value has been reached or exceeded.

[0132] The cleaning device 1 is particularly preferably rotated in such a way that it subsequently moves at an angle to the main axis A or to the original direction of travel R0.

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

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

[0135] During the movement maneuver or during movement in the adapted 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 adapted direction of travel R1 or on the change in the Y-coordinate ΔY or on the movement or the distance traveled orthogonal to the main axis A or to the X-direction or to the original direction of travel R0 on the one hand and the angle α between the adapted 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 motion 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 motion 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 a as the angle between the adjusted direction of travel R1 and the original direction of travel R0.

[0136] The motion component ΔY is preferably measured using the distance sensor 8, 9 and the angle a using the inertial sensor 10.

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

[0138] In the example shown, the movement maneuver is initiated by a leftward rotation of the cleaning device 1. However, it is also possible for the movement maneuver to be initiated by a rightward rotation 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, a decision is automatically made as to whether the movement maneuver is initiated by a left or a right turn.

[0140] Preferably, the cleaning device 1 rotates automatically in the direction where more space is available or where a longer distance can be covered without obstacles. Most preferably, before the movement maneuver is carried out, the distance to the objects next to the cleaning device 1 is measured, and the device rotates in the direction of the object that is furthest away 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 essentially 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. As illustrated in Figure 4, the movement maneuver preferably involves several changes in the orientation of the cleaning device 1 or the direction of travel R.

[0144] 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, preferably a zigzag pattern. However, other solutions are also possible.

[0145] Preferably, the cleaning device 1 changes its direction of travel R during the movement maneuver depending on the distance to an object in the vicinity, 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 (again) changed if 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 value and / or the distance between the cleaning device 1 and the wall W reaches or falls below a predefined limit value.

[0147] The (adjusted) direction of travel R1 is preferably readjusted again depending on the distance to an object in the environment, in particular the wall W, and / or depending on the distance to the principal 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 is more than 45° and / or less than 180°, particularly preferably at least substantially 90°.

[0148] During the movement maneuver, the cleaning device 1 preferably changes its orientation 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 adapted direction of travel R1 or R2 is lower than the uncertainty in the original direction of travel R0 or in the main axis A, particularly 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 deviation 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 obliquely to the original direction of travel R0 or the main axis A ensures that the cleaning device 1 continues to move overall in the original direction of travel R0.

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

[0152] Conversely, a large angle α or a small angle β leads to more frequent changes in direction and correspondingly more frequent updates of the motion component with the greater uncertainty. However, this also results in a stronger adaptation of the motion path T, a greater deviation from the main direction of motion, and a correspondingly longer travel time. Therefore, it has 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 results in the uncertainty in the original direction of travel R0 or in the main axis A not increasing or only increasing slightly.

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

[0155] When the uncertainty limit is reached or fallen below in the main axis A or in the original direction of travel R0 or in the main direction of movement - for example, if 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 the uncertainty in the main axis A can be reduced back to its 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 upon reaching or falling below the limit value, in order to return diagonally to the main axis A. However, solutions are also conceivable in which the cleaning device 1 abruptly terminates the movement maneuver and, if necessary, moves offset from the main axis A in its original direction of travel R0.

[0158] In the event that the uncertainties in both the principal axis A or in the X-axis and perpendicular to the principal 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 explained at the beginning, the proposed procedure can be used both when mapping an unknown environment and when navigating in an already mapped environment.

[0160] Fig. Figure 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 mapping, particularly if the uncertainty of the position is below a predefined limit, i.e., if the position of the cleaning device 1 can be determined with sufficient accuracy. This type of mapping is generally known from the prior art and is shown in the left area of ​​the diagram. Fig. The environment shown in the 6 illustrations is shown.

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

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

[0164] The cleaning device 1 preferably 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 depending on the uncertainty, in particular to reduce an increase in the uncertainty.

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

[0167] The proposed method may include the following provision: upon reaching or exceeding the uncertainty limit, one or more meandering sections of the motion path T are rotated such that one or more straight and preferably parallel segments of the meandering section are positioned obliquely to the main axis A or to the main direction of motion. This is in Fig. 7 is shown in the right-hand area of ​​the surroundings. In this way, corresponding advantages are realized.

[0168] In principle, procedural 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 depending on the location, and the determined uncertainty values ​​are already taken into account when determining the movement path T for the cleaning device 1.

[0169] Fig. Figure 8 shows a schematic flowchart according to a preferred process variant with several process steps / operations A1 to A10.

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

[0171] Preferably, in a further or second process 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, to locate the cleaning device 1.

[0172] In a further or third process 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 a further or fourth process step A4, the uncertainty in a principal 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, especially 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 and statistically evaluated, and / or one or more pieces of information, particularly concerning one or more sensors 8 to 10, such as manufacturer specifications and / or empirically determined values, can be retrieved from database 11, as described in Fig. 8 indicated by a dotted line.

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

[0176] In the event that the uncertainty is less 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, a movement path T is subsequently calculated, or in a further / fifth process step A5, using the determined position of the cleaning device 1.

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

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

[0180] Preferably, in a further / ninth process step A9, the motion path T is modified and / or the motion 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 motion path T or perform the movement maneuver, preferably with the uncertainty being continuously monitored.

[0182] In particular, to prevent a constant switching between the normal operating mode and the operating mode with the movement maneuver, the limit of uncertainty when reaching or exceeding the predefined limit can be reduced at least temporarily or for a predefined period, for example in an optional / eighth procedure step A8.

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

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

[0185] The predefined limit value is preferably stored in database 11 and is retrieved when the corresponding process steps A8 and A10 are carried out, as described 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 the fact that the motion component in one direction with lower uncertainty is used together with a measured change in orientation to calculate the motion of the cleaning device 1 in another direction with greater uncertainty, thereby improving the localization of the cleaning device 1. In contrast to solutions known in the prior art, no additional and / or improved sensors are required.

[0188] Individual aspects, features and process steps or variants of the present invention can be implemented independently of one another, but also in any combination and / or sequence. Reference symbol list: 1 cleaning device 2 cases 3 wheels 4 Navigation system 5 Data processing equipment 6 Control unit 7 Intake opening 8 First distance sensor 9 Second distance sensor 10 Inertial sensor 11 Database A main axis B Detection area B1 First recording area B2 Second recording area F Cleaning area R direction of travel R0 original direction of travel R1 (first) adapted direction of travel R2 (second) adapted direction of travel T movement path U1-U7 Uncertainties V Vertical axis W Wall X1-X7 positions of the cleaning device A1 - A10 Procedure steps α angle β angle ΔX Motion component in the X direction ΔY Motion component in the Y direction

Claims

Method for operating a self-propelled cleaning device (1), wherein the cleaning device (1) autonomously navigates in an environment and determines its position in the environment with an uncertainty, characterized in that the uncertainty in a principal 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. Method according to claim 1, characterized in 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). Method according to claim 1 or 2, characterized in that the direction of travel (R0) of the cleaning device (1) is adjusted by a preferably predefined angle (α, β) when a predefined limit of uncertainty is reached or exceeded and / or that the cleaning device (1) moves in a direction of travel (R1, R2) with lower uncertainty when the predefined limit of uncertainty is reached or exceeded. The method according to claim 3, characterized in that the limit of uncertainty is reduced at least temporarily when the predefined limit is reached or exceeded, preferably wherein the reduced limit is reset to the original limit after reaching or falling below the reduced limit. Method according to one of the preceding claims, characterized in that the cleaning device (1) moves at least sectionally obliquely to the main axis (A) or in an adapted direction of travel (R1, R2) 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°. Method according to claim 5, characterized in that during the movement maneuver and / or during the movement in the adapted 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 adapted 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 (a) between the adapted direction of travel (R1, R2) and the main axis (A) on the other hand. Method according to claim 5 or 6, characterized in that the movement in the adapted direction of travel (R1, R2) or the partial 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 (a) between the main axis (A) and the adapted direction of travel (R1, R2) is measured by means of an inertial sensor (10). Method according to one of claims 5 to 7, characterized in 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). Method according to one of the preceding claims, characterized in that the cleaning device (1) has a distance sensor (8, 9) with a detection range (B1, B2), wherein, 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 when the object is outside the detection range (B1, B2). Method according to one of the preceding claims, characterized in that the movement maneuver comprises several, preferably uniform, changes in the orientation of the cleaning device (1) or the direction of travel (R). Method according to one of the preceding claims, characterized in 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. Method according to one of the preceding claims, characterized in that when a limit value of the uncertainty in the main axis (A) is reached or fallen below, the movement maneuver is terminated and / or that when a limit value of the uncertainty in the main axis (A) is reached or fallen below, the cleaning device (1) moves again parallel to the main axis (A) or in the original direction of travel (R0). Method according to one of the preceding claims, characterized in that the cleaning device (1) moves along a defined path of movement (T) during the cleaning of a cleaning surface (F), taking into account determined values ​​of uncertainty in defining the path of movement (T) for the cleaning device (1). Method according to one of the preceding claims, characterized in that a movement path (T) of the cleaning device (1) is automatically adapted at least section by section depending on the uncertainty, in particular wherein straight sections of a meandering section of the movement path (T) are positioned obliquely to the main axis (A). 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) to navigate autonomously in an environment, characterized in that the cleaning device (1) is configured to carry out the method according to one of the preceding claims.

Images