Control unit and method for determining the position of a bumper

Abstract

A control unit (130) for determining position information regarding the position of a bumper (105) that is movably mounted on a cleaning device (100) is described. The control unit (130) is configured to use a camera (200) of the cleaning device (100) to acquire image data regarding one or more reference points (300) that are fixedly connected to the bumper (105) and to determine the position information regarding the position of the bumper (105) based on the image data.

Description

[0001] The invention relates to a cleaning device, in particular for a cleaning robot. In particular, the invention relates to a control unit and a method for determining the position of a bumper of a cleaning device.

[0002] A cleaning device, particularly a vacuum cleaner, typically has a suction nozzle with a suction port through which impurities or dirt, particularly dust particles, are sucked up from a floor to be cleaned by means of an air stream. The air stream can be generated by a fan. The air stream transports the dirt from the suction port into a dirt collection container of the vacuum cleaner.

[0003] The cleaning device can be designed to move autonomously over the floor to be cleaned. For this purpose, the cleaning device can have a chassis.

[0004] A cleaning device, in particular a cleaning robot, can have a movable, in particular spring-mounted, bumper, with which impacts of the cleaning device against an obstacle can be detected and, if necessary, dampened. The cleaning device can further have a shock sensor with which the deflection of the bumper can be detected. Example shock sensors are mechanical tactile sensors and / or light barriers. The operation of the cleaning device can be adapted depending on the sensor data of the shock sensor. For example, in response to a detected deflection of the bumper, the direction of movement of the cleaning device can be adjusted in order to avoid an obstacle.

[0005] The installation of a dedicated impact sensor is associated with increased costs and space requirements. This document addresses the technical task of detecting the deflection of the bumper of a cleaning device in a particularly efficient, reliable, and precise manner.

[0006] The problem is solved by the subject matter of the individual independent patent claims. Advantageous embodiments are defined in particular in the dependent patent claims, described in the following description, or illustrated in the accompanying drawings.

[0007] According to one aspect, a control unit is described for determining position information relating to the position of a bumper that is movably mounted on a cleaning device. The determined position information thus relates to the position of the bumper. In particular, the position information can indicate the (spatial) position of the bumper (possibly relative to the cleaning device). The (spatial) position can include the position and / or orientation as components. If necessary, the position of the bumper can correspond to the (spatial) pose of the bumper.

[0008] The bumper may be configured to have a specific set of different spatial positions (in particular, poses). The position information may indicate the position from the set of different spatial positions that the bumper currently has.

[0009] As an alternative to the term “position information relating to the position of the bumper”, the term “position information relating to the position of the bumper” or the term “position information indicating the position of the bumper” may be used in the description and / or in the claims.

[0010] The cleaning device can, in particular, be a cleaning robot that is designed to move independently to perform a cleaning operation. The cleaning device typically comprises a cleaning unit for cleaning a surface. Furthermore, the cleaning device can comprise a drive unit that is designed to move the cleaning device (e.g., move it over the surface to be cleaned).

[0011] The control unit is configured to use a camera of the cleaning device to capture image data relating to one or more reference points that are (typically permanently) connected to the bumper. The camera can also be used to capture image data relating to the surroundings of the cleaning device (e.g., relating to the surroundings located in front of the cleaning device in the direction of movement). The image data can be used, for example, to detect obstacles in the surroundings of the cleaning device and / or to enable automatic navigation of the cleaning device.

[0012] The camera can be arranged in the housing of the cleaning device such that the camera is concealed by the bumper (and thus shielded by the bumper). The bumper can have an opening within the camera's detection area, enabling the camera to capture image data relating to the surroundings of the cleaning device through the opening in the bumper.

[0013] The one or more reference points are arranged within the camera's detection range. The one or more reference points can, for example, be arranged (at least partially) on the non-transparent edge of the bumper opening. In particular, the one or more reference points can encompass the non-transparent edge of the bumper opening or correspond to the edge of the opening.

[0014] The bumper opening may be covered with a (transparent) window (e.g., to protect the camera from environmental influences). The one or more reference points may include one or more markings on the window.

[0015] The individual reference points can each have a specific areal extent. Furthermore, the individual reference points can each have a specific shape and / or a specific pattern. The individual reference points can each have a areal extent that corresponds, for example, to 0.5% or less, or 0.1% or less of the total area of ​​an image captured by the camera. Alternatively or additionally, the individual reference points can each have a areal extent such that the individual reference points are each represented by at least one pixel, preferably by at least Q pixels, in an image captured by the camera, for example with Q≥2, or Q≥10, for example Q between 10 and 50, or Q between 5 and 100.

[0016] Thus, one or more reference points can be captured by the camera, with the one or more reference points being configured such that they move along with the bumper (so that a movement of the one or more reference points can be inferred from a corresponding movement of the bumper). Preferably, several reference points located at different locations on the bumper are taken into account in order to increase the accuracy of the position information determined thereon with regard to the position of the bumper.

[0017] The control unit is configured to determine the position information regarding the position of the bumper based on the image data, in particular based on the one or more reference points represented in the image data. The position information can indicate the position and / or orientation of the bumper relative to the housing of the cleaning device. In particular, the position information can indicate the pose of the bumper (for some of the six degrees of freedom and / or for all six degrees of freedom) relative to the housing of the cleaning device.

[0018] Position information can be used, for example, to determine whether the bumper has been dented or not, starting from its resting position. This information can be provided in a binary format (e.g., "dented" or "not dented"). Furthermore, position information can be used to determine the direction in which the bumper has been dented, e.g., in the center of the front, on the right side, or on the left side of the bumper.

[0019] For example, a specific set of bumper states can be defined. Each individual state can define a specific (spatial) position of the bumper. The set of states can include, for example, the states: "rest position," "pressed in the middle," "pressed in on the right side," and / or "pressed in on the left side." Position information can be used to determine which state the bumper is currently in from the set of predefined states.

[0020] Alternatively or additionally, the position information can indicate the position and / or orientation of the bumper in space (relative to the housing of the cleaning device) with a relatively high value resolution (e.g. 2 or more, or 3 or more, or 4 or more different values ​​per degree of freedom).

[0021] A camera can thus be used to efficiently and precisely determine the position of the cleaning device's bumper. In particular, it can be determined whether the bumper has been deflected from its resting position. Furthermore, it can be determined in which direction (e.g., along the longitudinal direction and / or along the transverse direction of the cleaning device) the bumper has been deflected. Using the camera's image data eliminates the need for a dedicated impact sensor. Furthermore, the position information can be determined with increased accuracy.

[0022] The control unit can be configured to operate the cleaning device, in particular the cleaning unit and / or the drive unit of the cleaning device, depending on the determined position information. Due to the fact that the position information can be determined with particularly high accuracy (so that even relatively small deflections of the bumper from the rest position can be detected), particularly reliable and gentle operation of the cleaning device is enabled.

[0023] The image data typically comprises at least one image in which the one or more reference points are depicted. The image data usually comprises a temporal sequence of images, each of which depicts the one or more reference points. The individual images can each be analyzed in the manner described to determine the position information in a particularly precise manner and / or as a function of time.

[0024] The control unit may be configured to determine (using an image analysis algorithm) one or more properties of the one or more reference points represented in the image. Example properties of the individual reference points represented in the image include: - the position of the reference point within the image; - the size of the reference point displayed; and / or - the shape and / or pattern of the reference point shown.

[0025] The position information can be determined in a particularly precise manner on the basis of the one or more determined properties of the one or more displayed reference points.

[0026] The control unit can be configured to determine the position information relating to the position of the bumper using a predefined assignment function. The assignment function can be designed to assign different positions of the bumper to different combinations of one or more properties of the one or more reference points. The assignment function can comprise, for example, a look-up table and / or one or more analytical functions. The position of the bumper can be specified for 2 or more, or for 4 or more, or for 10 or more, or 100 or more, or 1000 or more, or 10,000 or more different combinations. By using an assignment function determined in advance, the position information can be determined particularly precisely during operation of the cleaning device.

[0027] The control unit can be configured to use the camera to capture reference image data relating to the one or more reference points when the bumper is in a reference position, in particular in the rest position. Furthermore, the control unit can be configured to calibrate the assignment function (which is used to determine the position information relating to the position of the bumper based on the image data) based on the reference image data. The calibration of the assignment function can be carried out repeatedly, in particular after a reset and / or restart of the cleaning device and / or before the start of a cleaning process, for example before the start of each individual cleaning process. By calibrating the assignment function (if necessary repeatedly), the position information relating to the position of the bumper can be determined permanently with particularly high accuracy.

[0028] The control unit can be configured to determine that an illumination situation exists (e.g., because the one or more reference points cannot be detected in the acquired image data (e.g., due to relatively poor lighting conditions). In response to this determination, the one or more reference points can be illuminated by one or more light elements (e.g., LEDs) of the cleaning device. This allows the position information to be determined precisely even in the dark.

[0029] The image data captured by the camera can comprise an overall image in which the one or more reference points and the surroundings of the cleaning device are shown. The control unit can be configured to crop the overall image in order to provide a partial image in which the surroundings of the cleaning device are shown but not the one or more reference points. For this purpose, the one or more reference points are preferably arranged at the edge of the overall image. It can then be ensured that the partial image (and not the overall image) is provided to a user of the cleaning device. This can enable particularly convenient operation of the cleaning device (even if the image data is used to determine the position information).

[0030] According to a further aspect, a cleaning device, in particular a cleaning robot, is described. The cleaning device comprises a cleaning unit configured to clean a surface, e.g., a surface on which the cleaning device is arranged and / or on which the cleaning device moves. The cleaning device further comprises a bumper movably mounted on the housing of the cleaning device, and a camera configured to capture image data, in particular image data relating to the surroundings of the cleaning device. Furthermore, the cleaning device comprises a control unit configured to determine position information relating to the position of the bumper (and configured as described in this document).

[0031] According to a further aspect, a method is described for determining position information relating to the (spatial) position (in particular the pose) of a bumper that is movably mounted on a cleaning device. The method comprises capturing, using a camera of the cleaning device, image data relating to one or more reference points connected to the bumper. Furthermore, the method comprises determining the position information relating to the position of the bumper based on the image data.

[0032] It should be noted that any aspects of the control unit described in this document and / or the cleaning device described in this document and / or the method described in this document can be combined in a variety of ways. In particular, the features of the patent claims can be combined in a variety of ways.

[0033] The invention will be described in more detail below with reference to exemplary embodiments shown in the accompanying drawings. Fig. 1a and Fig. 1b shows an exemplary cleaning robot as an example of a cleaning and / or suction device in a perspective view; Fig. 1c exemplary components of a cleaning device; Fig. 2 an exemplary detection range of a camera; Fig. 3a an exemplary bumper window with multiple reference points; Fig. 3b exemplary reference points; and Fig. 4 a flowchart of an exemplary method for determining the position of a bumper.

[0034] As stated at the beginning, this document deals with the efficient and reliable determination of the position of the bumper of a cleaning device. In this context, Fig. 1a the top 121 and Fig. 1b shows the underside 122 of a cleaning robot 100 as an example of a cleaning device, in particular as an example of a suction device. The aspects described specifically for a cleaning robot apply generally to a cleaning device.

[0035] During cleaning operation of the cleaning robot 100, the underside 122 faces the floor to be cleaned or the surface of a cleaning area, such as a room, to be cleaned. The underside 122 of the cleaning robot 100 typically has one or more drive units 101 (with one or more drive wheels), by means of which the cleaning robot 100 can move independently to clean different areas of a floor. Furthermore, the cleaning robot 100 can have one or more guide and / or support elements 104 (e.g., non-driven wheels) that enable stable movement of the cleaning robot 100 over the floor to be cleaned. In addition, a cleaning robot 100 typically comprises one or more cleaning units 106 (in particular, suction nozzles) that are configured to clean the floor beneath the cleaning robot 100.

[0036] A cleaning unit 106 (in particular a suction nozzle) may include a brush roller 102 configured to rotate about a rotational axis, wherein the rotational axis is typically arranged parallel to the underside 122 of the cleaning robot 100. The brush roller 102 may be used to mechanically remove dust and / or contaminants from the floor to be cleaned, so that the dust and / or contaminants can be sucked into the suction mouth 107 of the cleaning unit 106 with increased reliability.

[0037] A user interface can be arranged on the top side 121 of the cleaning robot 100, which allows a user of the cleaning robot 100 to make control inputs. In addition, the cleaning robot 100 can comprise a bumper 105 on a side wall 123 (e.g., on a side wall 123 in the front area of ​​the cleaning robot 100). A bumper sensor can be arranged on the bumper 105 and is configured to record sensor data indicating whether or not the cleaning robot 100 has encountered an obstacle (e.g., in the direction of movement 120 and / or during a rotation and / or when cornering). The triggering of the bumper sensor (due to the deflection of the bumper 105) by an obstacle can cause the cleaning robot 100 to rotate, for example, about its vertical or vertical axis, which is perpendicular to the floor, and thereby change the direction of movement 120 in order to avoid the obstacle.

[0038] Furthermore, a cleaning robot 100 typically has one or more environment sensors 110 (see Fig. 1c), which are configured to capture environmental or sensor data relating to the environment of the cleaning robot 100. The one or more environmental sensors 110 can include: one or more image cameras, one or more ultrasonic sensors, one or more tactile and / or optical distance sensors, one or more acoustic sensors, one or more temperature sensors, one or more lidar and / or radar sensors, etc. A control unit 130 of the cleaning robot 100 can be configured to determine digital map information relating to the cleaning area to be cleaned based on the environmental data and, if necessary, to store it on a storage unit 111 of the cleaning robot 100. The cleaning robot 100 can use the digital map information to orient itself within the cleaning area (e.g., within a room) and / or to determine a route for cleaning the cleaning area.

[0039] The cleaning robot 100 can, in particular, comprise a camera as an environment sensor 110, which is configured to capture image data relating to the environment of the cleaning robot 100. The camera can, for example, be installed behind a protective window 150, wherein the protective window 150 can be integrated into the bumper 105. Fig. 2 shows an exemplary camera 200 with a specific detection range (in particular field of view) 201, wherein the protective window 150 is arranged (at least partially or completely) within the detection range 201 of the camera 200. Furthermore, Fig. 2 a bumper 105 which is movably mounted on the cleaning robot 100, e.g. via one or more spring elements 202.

[0040] A camera 200, which captures the surroundings of the cleaning robot 100 through a window 150 connected to the bumper 105, can be used to efficiently and precisely determine position information regarding the position of the bumper 105. This also makes it possible to eliminate the need for an additional impact sensor.

[0041] As exemplified in Fig. 3a, a plurality of reference points 300 can be arranged in the detection area 201 of the camera 200. A reference point 300 can be arranged, for example, on the window 150, e.g., as a marking on the window. Alternatively or additionally, a reference point can be arranged on the frame of the window 150 or be formed by the frame of the window 150. In the Fig. In the example shown in Figure 3a, four reference points 300 are arranged as markers at different locations on the window 150. The individual reference points 300 are thus firmly connected to the bumper 105, so that a change in the position of the bumper 105 leads to a corresponding change in the position of the reference points 300.

[0042] The individual reference points 300 can be configured such that the reference points 300 can be detected by the camera 200 even in the dark. For this purpose, the cleaning robot 100 can comprise one or more lighting elements 301 configured to illuminate the one or more reference points 300.

[0043] Fig. 3b shows exemplary embodiments of reference points 300. The individual reference points 300 are preferably designed such that the individual reference points 300 can be reliably recognized within the images captured by the camera 200.

[0044] The control unit 130 of the cleaning robot 100 can be configured to use the camera 200 to capture one or more images relating to the reference points 300 connected to the bumper 105. The one or more images can be analyzed using an image analysis algorithm to determine one or more properties (in particular the position and / or size) of the reference points 300 within the one or more captured images. The position of the bumper 105 can, in turn, be deduced from the one or more properties of the reference points 300.

[0045] The front camera 200 of a cleaning robot 100 (generally a cleaning device) can thus be used to detect and / or evaluate the movement of the bumper 105 (i.e., the bumper) triggered by a collision. For this purpose, the camera 200 can track markings 300 (i.e., reference points) on a window 150 in the bumper 105, from whose positions the position of the bumper 105 can be derived. Alternatively or additionally, instead of markings 300 on the window, the pose of the window frame itself can be tracked by the camera 200. The window frame then represents a set of reference points 300.

[0046] The cleaning robot 100 can comprise a dry cleaning unit 106 (with suction fan, filter, dust container, suction mouth 107, and / or brush roller 102) and / or a wet cleaning unit (with water tank, pump, and / or wiping pad). At least one camera 200 is housed in the front area of ​​the cleaning robot 100, which can be used, for example, for video streaming, environmental mapping, and / or object recognition. During video streaming, the user can follow live what the cleaning robot 100 sees in front of them. Mapping is performed to measure the surroundings of the cleaning robot 100 and, for example, to determine the location and size of rooms to be cleaned. Object recognition is used to detect, evaluate, and / or classify objects and obstacles in front of the cleaning robot 100, for example to avoid shoes, cables, or chair legs.

[0047] The front of the cleaning robot 100 is formed by a bumper 105, which is movably attached to the housing of the cleaning robot 100. A transparent window 150 is typically integrated into the bumper 105, in the viewing cone 201 of the camera 200. When using markings 300 on the window 150, the viewing cone 201 of the camera 200 typically remains within the area of ​​the transparent window 150, even when the bumper 105 moves relative to the housing of the cleaning robot 100, i.e., when the bumper 105 moves relative to the camera 200. If, however, the window frame is used to detect the movement of the bumper 105, it is preferably arranged completely within the viewing cone 201 of the camera 200, at least in the neutral position.

[0048] The bumper 105 can be held in an initial or rest position by four springs 202 (e.g., compression springs, leaf springs, or similar). Upon collision with an obstacle, the bumper 105 is pressed against the housing of the cleaning robot 100, counter to the spring forces. The bumper 105 can move in three degrees of freedom: • If the cleaning robot 100 moves head-on toward an obstacle that is centrally located in front of it or is relatively wide, the bumper 105 is pushed backward against the cleaning robot 100. The bumper 105 moves primarily against the longitudinal direction 120 of the cleaning robot 100. • If the cleaning robot 100 rotates on the spot, an obstacle can push the bumper 105 sideways against the cleaning robot 100. The bumper 105 moves predominantly in a transverse direction to the cleaning robot 100 (transverse to the longitudinal direction 120). • If the cleaning robot 100 approaches a laterally offset obstacle, the bumper 105 is pushed backward on one side only. The bumper 105 rotates slightly around the vertical axis of the cleaning robot 100 (which is perpendicular to the floor to be cleaned).

[0049] When implemented using markings 300 on the window 150, the transparent window 150 in the bumper 105 is provided with at least one marking 300. The one or more markings 300 can be affixed as stickers, applied as paint, or engraved using a laser or engraving machine. The one or more markings 300 are located within the field of view 201 of the camera 200, so that the markings 300 can be read from the image data of the camera 200.

[0050] Objects in the room that lie behind a marker 300 are (partially) obscured by the marker 300. The one or more markers 300 are therefore preferably relatively small and preferably positioned in the edge region of the image captured by the camera 200. For video streaming or for taking photos with the camera 200 of the cleaning robot 100, the image edges of the respectively captured image can be cropped to remove the one or more markers 300 from the individual images, thus preventing the user from being disturbed by the one or more markers 300.

[0051] The one or more markings 300 can take on any shape, size, and / or configuration. Preferably, the one or more markings 300 are no larger than required for the resolution and / or image sharpness of the camera 200. The one or more markings 300 are preferably designed such that a corresponding image processing algorithm can reliably detect and / or track the one or more markings 300 in the image data (captured by the camera 200), determine their exact position, and / or—depending on the implementation—determine their size or deformation in the image data. This can involve an optical deformation of one or more markings 300, resulting from the fact that the spatial position of the one or more markings 300 relative to the camera 102 is changed.

[0052] The one or more markings 300 can each be provided with a border that distinguishes the individual markings 300 from the image background in a particularly significant manner. This can be a simple, uniformly single-colored border, for example, white.

[0053] The focus range of the camera 200 used generally only begins at a certain distance in front of the bumper 105. This can lead to the one or more markings 300 not being able to be sharply resolved by the camera 200. For an image analysis algorithm, it is typically possible to detect the one or more markings 300 even with a certain degree of blur, especially if the structures on the one or more markings 300 are sufficiently strong and / or wide.

[0054] In the implementation form, a marker 300 is a single-colored, e.g., black, circle. Its position can be reliably determined even in a relatively blurred image by determining the centroid of all associated pixels, allowing for further reduction of the marker 300. The border around the marker 300 allows the relatively blurred marker contour to be distinguished from the actual image content (which typically represents the surroundings of the cleaning robot 100).

[0055] Alternatively or in addition to several individual (point-shaped) and / or local markings 300 in the edge region of the image, relatively large and / or linear structures can be used, such as lines parallel to the image edges or a frame in the form of a square that encircles the entire image.

[0056] The movement of the bumper 105 is determined by evaluating the marking positions and, if applicable, their location and / or size. A lateral transverse movement of the bumper 105 leads to a horizontal movement of the markings 300 (i.e., the reference points); a longitudinal movement of the bumper 105 due to a frontal impact leads to a displacement of the markings 300 (i.e., the reference points) away from the center of the image and outwards. A rotation of the bumper 105 about its vertical axis leads (if necessary only) on the side of the image on which the bumper 105 is pressed toward the cleaning robot 100, to one or more markings 300 (i.e., reference points) being pushed outwards away from the center of the image. The evaluation of all types of movement is thus possible if markings 300 are arranged in several different areas of the image (e.g., at the left and right edges).

[0057] The minimum number of markers (300) is one, especially if such a marker is large or long enough—for example, a frame surrounding the image. A frame can be used, for example, to track the corner points and / or evaluate the course of the connecting lines.

[0058] When using point-like and / or locally limited markings 300, at least two markings 300 are preferably used (e.g., one on the left and one on the right in the image). Increased reliability of the evaluation or increased accuracy can be achieved by using more markings, such as four or more. The bumper movement can be calculated using one or more mapping equations (generally referred to as assignment functions). The displacements of the markings 300 in the image data provide information about the state, in particular the position, of the bumper 105. By including several markings 300 in the image data (or several properties of one or more markings 300), the position information can be determined with respect to up to six degrees of freedom.The degrees of freedom applicable to the bumper 105 can be extracted from geometric data for the cleaning robot 100 or can be incorporated into the calculations as boundary conditions. Alternatively or additionally, the bumper movement or bumper position can be determined using a look-up table in which various configurations of bumper positions and marker positions have been previously entered. The displacement of a marker 300 can be viewed as a superposition of different cases, so that preferably several markers 300 are always considered simultaneously. This can be done in the form of a matrix equation system (i.e., generally using an assignment function).

[0059] Alternatively or in addition to the use of markings 300 on the window 150, the size of the window can be selected such that the opaque area of ​​the bumper 105 surrounding the window 150 - i.e. the window frame - lies within the detection range 201 of the camera 200. The detection of the bumper movement takes place, for example, analogously to the use of a rectangular marking 300 in the edge area of ​​the window 150. To better distinguish between the window frame and the window area, any markings 300, e.g. a rectangular line on the window frame, can be applied. The use of the window frame has the advantage that this type of detection is not visible to the user and thus has a reduced impact on the external appearance of the cleaning robot 100. On the other hand, the use of the window frame may reduce the size of the usable image.

[0060] Particularly high accuracy in determining the current position and / or orientation of the bumper 105 can be achieved through calibration. This can take place when the cleaning robot 100 is checked at the factory after its assembly. In a calibration routine, the bumper 105 can be pressed in in a defined manner while the camera 200 measures the displacement of the bumper 105. In this way, a look-up table can be determined and / or extreme positions of the bumper 105 can be determined so that interpolation can be carried out between them. Another form of calibration can be performed each time the cleaning robot 100 is started (e.g., after a restart or before each start of a cleaning job). The cleaning robot 100 calibrates the starting and / or rest position of the bumper 105 or the positions of the markings 300 in the image of the camera 200 that correspond to the starting and / or rest position.In this way, a change in the spring characteristics of the springs 202 over the service life, a distortion of the materials of the housing of the cleaning robot 100 and / or the bumper 105 and / or changes due to interim disassembly and assembly can be compensated.

[0061] In the dark, the camera 200 may no longer be able to detect its surroundings. To still be able to evaluate the movement of the bumper 105, the markings 300 and / or the window frame (i.e., the reference points 300 in general) can be illuminated from the inside. For this purpose, one or more LEDs 301 can be used, which may already be present on the circuit board of the camera 200 or the adjacent electronics. The markings 300 can be illuminated, for example, in white, green, blue, or red, so that the markings 300 stand out sufficiently brightly from the background and can thus be recognized.

[0062] Fig.4 shows a flowchart of a (possibly computer-implemented) method 400 for determining position information regarding the position of a bumper 105 (i.e., a bumper) that is movably mounted on a cleaning device 100, in particular on a cleaning robot. The method 400 can be executed by a control unit 130 of the cleaning device 100.

[0063] The method 400 includes capturing 401, using a camera 200 of the cleaning device 100, image data relating to one or more reference points 300 connected to the bumper 105. Exemplary reference points 300 are markings on a viewing window 150 of the bumper 105 and / or the frame of a viewing opening of the bumper 105.

[0064] The method 400 further includes determining 402 the position information with respect to the position of the bumper 105 based on the image data (typically using a previously determined and / or calibrated mapping function).

[0065] The measures described in this document eliminate the need for dedicated bumper sensors (buttons, light barriers, etc.). This reduces the number of parts of the 100 cleaning robot, the assembly effort, and / or the costs. Furthermore, the annoying "click" noise generated when mechanical buttons are activated can be avoided.

[0066] Evaluation using image processing enables fine-grained or continuous position determination. In particular, even relatively small movements of the bumper 105 can be detected using the camera 200. This can reduce the reaction time of the cleaning robot 100 and / or cause the cleaning robot 100 to decelerate relatively sooner, thereby reducing the impact force of the cleaning robot 100 and potential damage.

[0067] The evaluation of several reference points 300 allows conclusions to be drawn about the collision location of the bumper 105. This allows particularly precise reactions of the cleaning robot 100 to be achieved.

[0068] Furthermore, installation of the bumper 105 with relatively high tolerances is possible because the position of the reference points 300 in the camera image can be calibrated after installation or when restarting the cleaning robot 100.

[0069] The present invention is not limited to the embodiments shown. In particular, it should be noted that the description and the figures are intended only to illustrate the principle of the control unit described in this document and / or the cleaning device described in this document and / or the method described in this document. List of reference symbols 100 cleaning device (cleaning robot) 101 Drive unit 102 Brush roller 104 Guide and / or support element 105 bumpers 106 Cleaning unit / suction nozzle 107 Suction mouth 110 Environment sensor 111 Storage unit 120 Direction of movement / longitudinal direction 121 top 122 subpage 123 side wall 130 Control unit 150 windows 200 Camera 201 Detection range (camera) 202 Suspension 300 Reference point, marking 301 light element 400 methods for determining the position of a bumper 401, 402 Procedural steps

Claims

[1] Control unit (130) for determining position information relating to the position of a bumper (105) which is movably mounted on a cleaning device (100); wherein the control unit (130) is configured - using a camera (200) of the cleaning device (100), to acquire image data relating to one or more reference points (300) that are fixedly connected to the bumper (105); and - to determine the position information relating to the position of the bumper (105) on the basis of the image data. [2] Control unit (130) according to claim 1, wherein - the camera (200) is arranged in a housing of the cleaning device (100) in such a way that the camera (200) is concealed by the bumper (105); - the bumper (105) has an opening within a detection range (201) of the camera (200), so that the camera (200) is designed to capture image data relating to an environment of the cleaning device (100) through the opening of the bumper (105); and - the one or more reference points (300) are arranged in the detection area (201) of the camera (200). [3] Control unit (130) according to claim 2, wherein - the one or more reference points (300) are arranged on a non-transparent edge of the opening of the bumper (105); and / or - the one or more reference points (300) comprise the non-transparent edge of the opening of the bumper (105). [4] Control unit (130) according to one of claims 2 to 3, wherein - the opening of the bumper (105) is covered with a window (150); and - the one or more reference points (300) comprise one or more markings on the window (150). [5] Control unit (130) according to one of the preceding claims, wherein - the image data comprise at least one image in which the one or more reference points (300) are represented; and - the control unit (130) is set up, - to determine one or more properties of the one or more reference points (300) shown in the image; and - to determine the location information based on one or more of the determined properties. [6] Control unit (130) according to claim 5, wherein the one or more properties of a reference point (300) represented in the image comprise: - a position of the reference point (300) within the image; - a size of the displayed reference point (300); and / or - a shape of the displayed reference point (300). [7] Control unit (130) according to one of claims 5 to 6, wherein - the control unit (130) is configured to determine the position information relating to the position of the bumper (105) using a predefined assignment function; - the assignment function is designed to assign different positions of the bumper (105) to different combinations of one or more properties of the one or more reference points (300); and - the mapping function comprises in particular a look-up table and / or one or more analytical functions. [8] Control unit (130) according to one of the preceding claims, wherein the control unit (130) is arranged - to capture reference image data relating to the one or more reference points (300) using the camera (200) when the bumper (105) is in a reference position, in particular in a rest position; and - an assignment function which is used to determine the position information with respect to the position of the bumper (105) on the basis of the image data, to calibrate it on the basis of the reference image data. [9] Control unit (130) according to claim 8, wherein the control unit (130) is configured to calibrate the assignment function repeatedly, in particular after a reset and / or restart of the cleaning device (100) and / or before the start of a cleaning process, for example before the start of each individual cleaning process. [10] Control unit (130) according to one of the preceding claims, wherein the control unit (130) is arranged - to determine that a lighting situation exists; and - in response to the determining, to cause the one or more reference points (300) to be illuminated by one or more lighting elements (301) of the cleaning device (100). [11] Control unit (130) according to one of the preceding claims, wherein - the image data comprise an overall image in which the one or more reference points (300) and an environment of the cleaning device (100) are shown; and - the control unit (130) is set up, - to crop the overall image to provide a partial image in which the surroundings of the cleaning device (100) but not the one or more reference points (300) are shown; and - to cause the partial image to be provided to a user of the cleaning device (100). [12] Control unit (130) according to one of the preceding claims, wherein the control unit (130) is configured to operate the cleaning device (100), in particular a cleaning unit (106) and / or a drive unit (101) of the cleaning device (100), depending on the determined position information. [13] Control unit (130) according to one of the preceding claims, wherein the position information comprises - a position and / or an orientation of the bumper (105) relative to a housing of the cleaning device (100); and / or - a pose of the bumper (105) relative to the housing of the cleaning device (100). [14] Cleaning device (100), in particular cleaning robot, comprising - a cleaning unit (106) configured to clean a surface on which the cleaning robot (100) is arranged; - a bumper (105) movably mounted on a housing of the cleaning device (100); - a camera (200) configured to capture image data, in particular image data relating to an environment of the cleaning device (100); and - a control unit (130) according to one of the preceding claims, which is configured to determine position information relating to a position of the bumper (105). [15] Method (400) for determining position information relating to the position of a bumper (105) which is movably mounted on a cleaning device (100); the method (400) comprising - capturing (401), using a camera (200) of the cleaning device (100), image data relating to one or more reference points (300) connected to the bumper (105); and - Determining (402) the position information with respect to the position of the bumper (105) on the basis of the image data.

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