Device and method for determining a usage order

Abstract

A device (130) for determining a usage order (150) for a cleaning robot (100) is described. The device (130) is configured to determine a set of cleaning orders already executed that were carried out by the cleaning robot (100) within a past operating period, wherein the individual cleaning orders each indicate a scope (151, 152) of the cleaning task carried out by the cleaning robot (100) in the respective cleaning order. The device (130) is further configured to determine and / or adapt at least one usage order (150) for a future point in time based on the set of cleaning orders already executed, wherein the usage order (150) indicates a scope (151, 152) of the cleaning task to be carried out by the cleaning robot (100) in the usage order (150).

Description

The invention relates to a robot cleaner. In particular, the invention relates to a device and a corresponding method for increasing the comfort of the use of a cleaning robot.A cleaning robot can be used in a household to perform one or more different cleaning tasks, in particular suction and / or wiping. For this purpose, a user of the cleaning robot can be enabled to define a use order for carrying out a cleaning task via a user interface of the cleaning robot. The use task may be directed to an immediate (ad hoc) execution of the cleaning task (so that the cleaning task is initiated manually). On the other hand, the usage order may be directed to a cleaning task scheduled for the future (which corresponds to a so-called scheduled task). The setting of use orders for carrying out different cleaning tasks can optionally be associated with a relatively high outlay for the user.The present document is concerned with the technical object of increasing the comfort of a cleaning robot in relation to defining a use order for carrying out a cleaning task in an efficient and reliable manner.The object is achieved in each case by the subject matter of the individual independent patent claims. Advantageous embodiments are defined in particular in the dependent claims, described in the following description or illustrated in the accompanying drawing.According to one aspect, a device for determining a use order for a cleaning robot, in particular for a suction and / or sweeping and / or wiping robot, is described. The device can be part of the cleaning robot. Alternatively or additionally, the device can be at least partially or completely part of an external computing unit (e.g. a backend server).The device is configured to determine a quantity (e.g. 10 or more, or 50 or more, or 100 or more) of already executed cleaning orders which were executed by the cleaning robot within a previous operating period (e.g. of 1 week or more, or of 4 weeks or more). The individual cleaning orders from the set of already executed cleaning orders can have been started in each case manually by a user of the cleaning robot (via a user interface of the cleaning robot).The individual cleaning orders each indicate the scope of the cleaning task carried out by the cleaning robot in the respective cleaning order, in particular the spatial scope of the cleaning task and / or the scope of the task (e.g. suction or wiping) of the cleaning task. Furthermore, the individual cleaning orders can each specify the time, in particular the day of the week and the time of day, at which the respective cleaning order was executed.Historical usage data relating to the previous usage of the cleaning robot can thus be determined (in the form of a set of cleaning orders already executed).The device is configured to determine and / or adapt at least one usage order for a preceding point in time on the basis of the set of cleaning orders already executed. The determined usage order can be a planned usage order that is automatically executed, in particular started, by the cleaning robot at a specific point in time, in particular at a specific day of the week and / or at a specific time of day (without the need for an interaction of the user via a user interface of the cleaning robot).The usage order specifies the scope of the cleaning task to be executed by the cleaning robot in the usage order, in particular the spatial scope of the cleaning task and / or the scope of the cleaning task.A device is thus described which is designed to determine a proposal for a (possibly planned) use order on the basis of the historical use data (with respect to the previous use of the cleaning robot and / or with respect to the cleaning tasks carried out hitherto). The use task can define a cleaning task with a specific spatial scope and / or with a specific task scope. In this way, a particularly comfortable operation of the cleaning robot can be effected.The total area (e.g., the house or the home) in which the cleaning robot is operated may be divided into a plurality of different sub-areas (e.g., rooms). The spatial perimeter may indicate one or more sub-regions of the plurality of different sub-regions.The cleaning robot may be configured to operate in multiple different cleaning modes (e.g., vacuuming or wiping, or both in combination). Furthermore, the intensity (e.g. the suction intensity and / or the amount of water) of the respective cleaning mode can optionally be changed and / or adjusted. The scope of tasks may indicate the cleaning mode of the cleaning robot and / or the intensity of the cleaning mode.The device can be configured to output a proposal for executing the determined use order to a user of the cleaning robot via a user interface of the cleaning robot. The user interface may be provided, for example, on a user device (such as a smartphone) of the user. The user can take the proposal to operate the robot cleaner in a comfortable manner.The device can be configured to recognize, on the basis of the set of cleaning orders already executed, that no cleaning order has been effected within the previous operating period for a specific sub-region of the total region in which the cleaning robot is operated and / or for a specific cleaning mode of the plurality of different cleaning modes which can be executed by the cleaning robot. Based on this knowledge, a usage order can be determined (and proposed) which has the determined sub-area and / or the determined cleaning mode as scope. This allows particularly comfortable operation of the cleaning robot.Alternatively or additionally, the device can be configured to identify, on the basis of the set of cleaning orders already executed, a specific sub-region of the total region and / or a specific cleaning mode of the plurality of different cleaning modes of the cleaning robot, for which a relatively high number of cleaning orders (e.g. greater than a number threshold value) is present in the set of cleaning orders already executed. Based on this knowledge, a usage order can be determined and / or adapted, which has the determined sub-area and / or the determined cleaning mode as scope. The device can be configured in particular to identify an already planned use order which already has the specific cleaning mode but not the specific sub-region as scope. The scope of the already planned use order can then be extended by the specific sub-area and stored in a modified form. This allows particularly comfortable operation of the cleaning robot.The device can be configured to determine the time point ahead, in particular the day of the week and the time of day, for the execution of the use order on the basis of the time points, in particular the day of the week and / or the times of day, of the set of cleaning orders already executed. This allows particularly comfortable operation of the cleaning robot.As already explained above, the scope of the individual cleaning orders from the set of already executed cleaning orders can indicate one or more subareas of the total area in which the cleaning robot is operated.The device can be configured to divide the individual cleaning orders from the set of already executed cleaning orders into one or more data entries for the corresponding one or more subareas, so that the scope of the individual data entries relates in each case only to a single subarea of the total area. The individual cleaning orders can thus each be divided into one or more components (i.e. data entries), in each case one data entry per sub-region. The usage order for the preceding point in time can then be determined and / or adapted in a particularly precise and robust manner on the basis of the data entries.As already explained above, the individual cleaning orders and the data entries determined therefrom can each specify a day of the week and a time of day at which and at which the respective cleaning order or the respective data entry was executed. The device can be configured to assign the ascertained data entries to a respective day segment from a sequence of day segments depending on the respective day of the week and the respective time of day, wherein the sequence of day segments divides one week into a limited number of (e.g. between 20 and 100) day segments.For the individual day sections of the sequence of day sections, a set of assigned data entries can thus be determined in each case. The usage order for the preceding point in time can then be determined and / or adapted in a particularly robust and precise manner on the basis of the set of assigned data entries for at least one day section.The device may in particular be configured to identify a day segment having a number of assigned data entries that is equal to or greater than a number threshold value (e.g. 2 or more, or 3 or more). The usage order for the preceding point in time can then be determined and / or adapted in a particularly precise and robust manner on the basis of the set of assigned data entries for the identified day section.The device can be configured to determine the preceding time, in particular the day of the week and the time of day, for the usage order on the basis of the day and the times of day of the individual data entries of the set of assigned data entries for the identified day section. For example, the time of day of the usage order can be determined as the mean value of the day times of the data entries.The device can be configured to detect that an already planned use order is present for the identified daily section. The scope of the already scheduled use order can then be extended on the basis of the set of assigned data entries for the identified day section. This allows particularly comfortable operation of the cleaning robot.The device can be configured to assign the ascertained data entries to a first day segment from a sequence of first day segments and a second day segment from a sequence of second day segments in each case as a function of the respective day of the week and the respective time of day, wherein the second day segments are offset in time and overlap with the corresponding first day segments. The usage order for the preceding point in time can then be determined and / or adapted in a particularly precise and robust manner on the basis of the set of assigned data entries for a specific first day section and for a specific second day section which is offset and overlapping with the specific first day section.According to a further aspect, a cleaning robot, in particular a suction robot and / or sweeping robot and / or wiping robot, is described, which comprises the device described in this document.According to a further aspect, a method for determining a use order for a cleaning robot is described. The method comprises the determination of a set of already executed cleaning orders which have been executed by the cleaning robot within a previous operating period, wherein the individual cleaning orders each indicate the extent of the cleaning task executed by the cleaning robot in the respective cleaning order. Furthermore, the method comprises the determination and / or adaptation, on the basis of the set of cleaning orders already executed, of at least one use order for a preceding point in time, wherein the use order specifies the extent of the cleaning task to be executed by the cleaning robot in the use order.It should be noted that any aspects of the apparatus and / or method described in this document may be combined with one another in a variety of and / or arbitrary ways. In particular, the features of the patent claims can be combined with one another in many and / or arbitrary ways.The invention is described in more detail below with reference to exemplary embodiments shown in the appended drawings. Figure shows FIGS. 1 aand 1 b show an exemplary cleaning robot as an example of a suction and / or sweeping and / or wet cleaning and / or wiping device in different perspective views; FIG. 1 c shows exemplary components of a cleaning robot; FIG. 1 d shows an example user interface for defining a use order; FIG. 2 ashows an exemplary subdivision of a time segment into daily segments; FIG. 2 b shows an exemplary analysis of historical cleaning orders; FIG. 3 is a flow diagram of an exemplary method for analyzing historical cleaning orders; FIGS. 4 aand 4 b show a flow diagram of an exemplary method for adapting a (already defined) planned use order; and FIG. 5 shows a flow diagram of an exemplary method for determining a usage order.As stated at the beginning, the present document is concerned with increasing the comfort with regard to the determination of use orders of a cleaning robot. In this connection, FIG. 1 ashows the upper side 121 and FIG. 1 bshows the lower side 122 of a cleaning robot 100, in particular of a vacuum robot.The underside 122 faces the floor to be cleaned or the surface to be cleaned of a cleaning area, for example a room, in the suction mode of the cleaning robot 100. The underside 122 of the cleaning robot 100 typically has one or more drive units 101 (having one or more drive wheels), by means of which the cleaning robot 100 can be moved independently in order to clean different regions of the floor. Furthermore, the cleaning robot 100 may have one or more guide and / or support elements 104 (e.g. non-driven wheels) which enable a 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) which are configured to clean the floor under the cleaning robot 100.A cleaning unit 106 (in particular a suction nozzle) can have a brush roller 102 which is designed to rotate about an axis of rotation, wherein the axis of rotation is typically arranged parallel to the underside 122 of the cleaning robot 100. The brush roller 102 may be used to mechanically detach dust and / or contaminants on the floor to be cleaned from the floor, so that the dust and / or contaminants may be suctioned into the suction mouth 107 of the cleaning unit 106 with increased reliability.A user interface 112 (see FIG. 1 c ) may be arranged on the upper side 121 of the cleaning robot 100, which allows a user of the cleaning robot 100 to make control inputs. Alternatively or additionally, the cleaning robot 100 can comprise a communication interface 113 (e.g. for a wireless communication connection, for example WLAN), via which the cleaning robot 100 can communicate with an external user interface on an electronic user device, for example a smartphone. 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 region of the cleaning robot 100), wherein a shock sensor can be arranged on the bumper 105 which is configured to acquire sensor data which indicate whether or not the cleaning robot 100 has hit against an obstacle in the direction of movement 120. For example, the triggering of the shock sensor (due to the deflection of the bumper 105) by an obstacle may cause the robot cleaner 100 to rotate about its vertical axis perpendicular to the ground, thereby changing the direction of motion 120 to avoid the obstacle.Furthermore, a cleaning robot 100 typically has one or more environment sensors 110 (see FIG. 1 c ) which are configured to acquire environment or sensor data with respect to the environment of the cleaning robot 100. The one or more environment sensors 110 may 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 may be configured to ascertain digital map information relating to the cleaning area to be cleaned on the basis of the environment data and, if appropriate, to store it on a storage unit 111 of the cleaning robot 100. The cleaning robot 100 can use the digital map information in order to orient itself independently within the cleaning area (e.g. within a room) and / or in order to define a travel route for cleaning the cleaning area.FIG. 1 cshows a Cartesian coordinate system having a longitudinal axis (i.e. having an x-axis), having a transverse axis (i.e. having a y-axis) and having a vertical axis (i.e. having a z-axis). The direction of movement 120 of the cleaning robot 100 typically corresponds to the longitudinal axis. The axis of rotation of the brush roller 102 typically runs along the transverse axis.It can be made possible for the user of the cleaning robot 100 to specify a use order for a cleaning task of the cleaning robot 100 at a user interface of the cleaning robot 100. A use order may alternatively be referred to as a cleaning order (in particular when the order is started manually by the user). The user interface can be provided, for example, via a mobile user device (for example, via a smartphone) of the user. FIG. 1 d shows an example user interface for defining a use or cleaning job 150. The usage orders and / or the cleaning orders 150 may be stored in an external computing unit (e.g. in a database of a backend server) (in order to reduce the required storage space on the cleaning robot 100). The data communication can take place via the communication interface 113 of the cleaning robot 100. Within the scope of the use task 150, different aspects and / or dimensions of the cleaning task to be performed by the cleaning robot 100 (in particular the scope of the cleaning task) can be defined. Exemplary aspects and / or dimensions are,• a spatial dimension (i.e. the spatial scope of application) 151 at which the spatial area of the cleaning task is determined. In the example shown in FIG. 1 d, it can be established, for example, whether the spatial subareas A, B, C and / or D are to be cleaned. The individual subareas (in particular rooms) can be recognized as mutually differentiated subareas (in particular rooms) in an overall area (e.g. in a residential environment) during a mapping or exploration trip of the cleaning robot 100 and / or have been defined by the user.• a cleaning mode (i.e. task scope) 152 in which e.g. it is determined whether to suck or wipe or both. Furthermore, the intensity of the blower for the suction operation and / or the quantity of fountain solution for the wiping operation can optionally be fixed.• a temporal dimension 153, in which e.g. the time at which the cleaning task is carried out, in particular started, is to be determined.• a periodicity 154 of the usage order, by which e.g. it is determined how frequently (e.g. on which day of the week) the usage order 150 is to be carried out in each case.A (for future) scheduled usage task 150 may also be referred to as a "scheduled task.".This document describes a method and a corresponding device 130 which make it possible to generate suggestions for new scheduled usage orders 150 or for adapting existing scheduled usage orders 150 on the basis of the usage history of a cleaning robot 100.The cleaning robot 100 can be configured to store each of its use orders or cleaning orders 150 (both manually started use orders and planned use orders) specifying one or more of the following information:• Start time (i.e. temporal dimension 153) of the usage order 150;• E.G. the day of the week (generally periodicity 154) of the use order 150;• Rooms included in the use order 150 (in "clean-all" orders, all rooms that have been reached and cleaned) and / or zones (i.e., spatial dimension 151);• Cleaning mode set for cleaning (suction / wiping, power level, possibly driving strategy, etc.), i.e. application volume 152;• whether the cleaning has been broken off prematurely by the user and optionally after what portion of the surface; and / or• Whether the cleaning had to be stopped for other reasons, for example due to a sealed door.On the basis of the documentation of the starting times for cleaning specific rooms or zones, the frequency of these usage orders 150 can also be determined.A breakdown of the use orders 150 to individual rooms and the cleaning mode used in this case allows conclusions to be drawn about cleaning tasks actually desired by the user. It may be advantageous to distinguish the rooms (i.e. partial areas) actually cleaned by the cleaning robot during a clean-all order (in which the entire area is to be cleaned) from those which, although theoretically listed on the map, could not be cleaned or were not cleaned. This is related to the use behavior of some users who start a clean-all program, but intentionally block the path to some rooms (e.g., by means of a door) in order ultimately to let the cleaning robot 100 operate only in the desired one or more rooms. Also, there are users who carry the robot cleaner 100 into a room, give the clean-all command there, and close the door of the room to let the robot clean only in that room.Furthermore, a detail on individual surfaces may be of interest, for example in order to be able to document "spot cleaning" programs, in which the cleaning robot 100 is intended to clean a (round or square) surface with a specific dimension (e.g. with a specific diameter or with a specific edge length or with a specific number of square meters) at a specific location. If such cleaning is carried out relatively frequently at the almost same point by the user, this cleaning task can also be proposed as a usage order 150 for a repeated cleaning. Examples of such surfaces can be: the entry region at the house door, the surface in front of the kitchen line or in front of a cat's toilet.Documentation of the usage orders 150 aborted by the user makes it possible to draw a conclusion as to whether a usage order 150 was incorrectly specified by the user or whether only parts of the defined area should be cleaned. If, for example, the cleaning is ordered from three rooms, but is discontinued after two rooms, it can be assumed that the cleaning in the last room was not considered as important. However, if a room was cleaned by more than 75%, for example, before the cleaning was stopped, it can be concluded that the cleaning of the room was planned and desired. If necessary, each usage order 150 in which the planned area of a room has been cleaned by more than 75% can be stored and taken into account. As entries in the usage history, all space cleaning mode combinations of the usage order 150 can be adopted. An example full-capacity suction and wipe usage order 150 across the rooms or zones "A", "B", and "C" may thus be generated via the data entries• A, suck, 100% power, Donner's day, 10:15 o'clock;• B, suction, 100% power, Thursday, 10:15 o'clock;• C, suction, 100% power, Thurstag, 10:15 o'clock;• A, wipe, 100% power, Thursday, 10:15 o'clock;• B, wipe, 100% power, Thursday, 10:15 o'clock;• C, wipe, 100% power, Thurstag, 10:15 o'clockThe object can be encrypted.An analysis algorithm may repeatedly evaluate the usage history, e.g., once daily or once weekly. For this purpose, usage data can be evaluated for a specific previous operating period (e.g. 4 or 8 previous weeks), in order to enable a robust and statistically relevant evaluation. The (control) device 130 of the cleaning robot 100 can be configured to provide a proposal for a usage order 150 only when a sufficient amount of usage data is available. Furthermore, usage data that are relatively far behind can be ignored or taken into account to a lesser extent during the analysis, in order to enable an analysis of the current usage behavior of the user. Usage data that are relatively far behind can therefore be deleted.The data entries to be included in the analysis may be sorted by space-clean mode combinations (i.e., by data entries). Each individual combination (i.e. each individual data entry) can then be considered separately.All data entries belonging to a combination (e.g. "room B, suction, 100% power") can be assigned to individual "day sections". These day periods are time intervals of a 7-day 24-hour week and each have a length of, for example, 4 hours (or 2h or 6h). A particularly robust evaluation can be achieved by additionally introducing just as many second day sections once again, which have the same length but are offset by half the length with respect to the first day sections. FIG. 2 ashows example first day segments 201 and example second day segments 202 for a period of approximately 1⁄2 days.The individual data entries can be assigned (based on the respective day of the week and the respective time of day) to a first day section 201 and a second day section 202, respectively, into which the respective data entry falls. The number of data entries assigned to a day section 201, 202 allows conclusions to be drawn as to when a user has executed the corresponding space-cleaning mode combination relatively frequently or relatively rarely. A set 205 of data entries can thus be determined for the individual day sections 201, 202.The one or more day sections 201, 202 in which at least a certain minimum number of data entries for cleaning tasks have been carried out can then be considered. It is thus possible to check for the individual day sections 201, 202 whether a threshold value of data entries is reached or exceeded. Daily sections 201, 202 which overlap and which have both reached the threshold value can be combined to form a common, fused daily section. Data entries which were assigned to both overlapping day sections 201, 202 are only transferred once in the merged day section. This procedure prevents inaccurate predictions of the usage behavior for data entries close to section boundaries.In the resulting list of (optionally fused) day sections, a data point can be created for each day section that exceeds the threshold value for data entries for cleaning tasks carried out, which data point is used in the further processing as representative of the day section. The data point remains linked to the day segment and the data entries assigned thereto, but receives a time stamp which corresponds, for example, to the mean value of the starting times of all data entries assigned to the day segment. Thus, a set of data points can be determined which represent when a room cleaning mode combination was carried out relatively frequently within a week (Monday-Sunday).FIG. 2 bshows a list of (fused) day sections 212 with the respective set 215 of data entries. Furthermore, FIG. 2 bshows the resulting data points 219.Using the generated data points 219 as independent suggestions for usage orders 150 may result in a temporal collision with other suggestions for other space cleaning mode combinations or a temporal collision with already existing usage orders, as the case may be.In a subsequent step, all data can be combined, i.e. all data points of all room cleaning mode combinations and all available (already planned) usage orders 150. This can in turn be effected by an assignment of the data to day sections 201, 202 (as explained in connection with FIG. 2 a). The temporal length of the day segments 201, 202 may be maintained or shorter day segments 201, 202 may be used. By defining a time minimum length of the individual day sections 201, 202 (e.g. one hour), it can be ensured that a sufficiently large distance exists between time-sequential use orders 150 (e.g. in order to be able to charge the electrical energy store of the cleaning robot 100).An assignment to a respective first and a second day segment 201, 202 can be made again, and a merging of day segments 201, 202 and the sets 205 of data entries can then be effected. Based on the merged daily sections 212 and the merged sets 215, data points 219 for use orders 150 can then be determined (taking into account already present scheduled use orders 150).The method described can be divided into a plurality of steps which can be assigned to two stages. In the first stage, data entries are created and assigned to day sections 201, 202 before the data entries are combined to data points 219. This reduces the amount of data to be further processed and compared with each other. In the second stage, these data points are again themselves assigned to day sections 201, 202 before the actual evaluation finally takes place. The first stage may be performed for each space-clean mode combination, and in the second stage, all data may then be merged again to determine combined usage orders 150 (for multiple spaces).FIG. 3 shows a flow diagram of an exemplary method 300 for evaluating the use history of a cleaning robot 100. In a step 301, data entries can be created on the basis of the usage history (e.g. on the basis of a set of cleaning orders already executed). A data entry can correspond to a combination of a room and a cleaning mode. In a further step 302, the individual data entries can be assigned to different daily sections 201, 202 (wherein the individual daily sections 201, 202 in FIG. 3 are referred to as daily section intervals). Furthermore, in a further step 303, overlapping day sections 201, 202, which each have a number of data entries that exceeds a specific threshold value, can be combined to form fused day sections 212. Based on the set 215 of data entries of a merged daily segment 212, a respective data point 219 can be determined (step 304). Steps 301 through 304 may correspond to a first stage of method 300.In a second stage of method 300, ascertained data points 219 and already defined planned usage orders 150 (i.e., scheduled tasks) may be assigned to day sections 201, 202 (step 305). Furthermore, in a further step 306, overlapping day sections 201, 202, which each have a specific minimum number of data entries, can be combined.It is thus possible to define (fused) daily sections 212 which each have data points 219 and planned use orders 150. This information can be used to define new (possibly planned) use orders 150 and / or to adapt already existing planned use orders 150.First, an evaluation of the data points 219 per room or zone can be used to determine when the room or zone was last cleaned. If the last cleaning process that included this space or zone has elapsed for more than 10 days, for example, and other cleaning orders have also been performed in this period (i.e., the user has not been over), the user may be asked (via the one or more user interfaces) whether this space or zone is to be cleaned in a particular manner (e.g., intensity of dry and / or wet cleaning). Alternatively, it can be proposed to the user to expand a potentially already existing scheduled task (i.e. a planned use order) with the cleaning of this space. On the other hand, if the identified space is never to be cleaned, this space may not be suggested for cleaning in the future.Furthermore, the one or more remaining day sections 212 that have a set 215 of data entries can be evaluated individually. For this purpose, it is possible to check for each data point 219 of a manually started cleaning task 150 whether there is already an entry for a scheduled task in the same day section 212 with the same settings for space and cleaning mode or whether the data point 219 can be converted to a scheduled task alone or with one or more other data points 219 from the same day section or from a different day section 212. In this test, the following cases can be observed, among others:1. For a considered data point 219 of a manually started use order 150, there is no suitable scheduled task with the same space-cleaning mode combination in the associated day section 212. In the associated and no other day segment 212, there is a different data point of the same room cleaning mode combination within a defined maximum time interval (e.g., 2h). This considered data point 219 is a candidate for a new scheduled task. The user can be provided with a proposal for a use order 150 for this space cleaning mode combination. The proposed start time can correspond to the mean value of the start times of the data entries assigned to the data point (or alternatively the latest start time) and can be rounded off to quarter hours, for example. The data point 219 can be finally removed from the map.2. For a considered data point 219 of a manually started use order 150, there is a suitable scheduled task in the associated day section 212 which, with the same cleaning mode combination, comprises the space of the use order 150. Both entries are within a defined maximum time interval (e.g. 2h). This data point 219 is already included in a scheduled task. Data point 219 therefore need not be considered further and can be removed from the overview.3. For a considered data point 219 of a manually started use order 150, there is a matching scheduled task in the associated day section 212 that includes the same cleaning mode combination but not the same space. Both entries are within a defined maximum time interval (e.g. 2h). This data point 219 is a candidate to be added to the existing scheduled task. The user may be provided with a suggestion to expand the scheduled task by the space of the data point 219. The proposed start time may optionally remain unchanged, but may also correspond to an average value of the start times (data point 219, scheduled task) (e.g. rounded to quarter hours). The data point 219 can be finally removed from the map.4. For a considered data point 219 of a manually started use order 150, there is no suitable scheduled task in the associated day section 212 which comprises the same room cleaning mode combination, but in simultaneous or temporally overlapping day sections 212 of other days of the week. The start times of data point 219 and scheduled task are within a defined maximum time interval (e.g., 2h). This data point 219 is a candidate to be added to the existing scheduled task. The user may be provided with a suggestion to expand the scheduled task (in particular the periodicity and / or the frequency of the scheduled task) by the day of the week of the data point 219. The proposed start time may optionally remain unchanged, but may also correspond to an average value of the start times (data point 219, scheduled task) (e.g. rounded to quarter hours). The data point 219 can be finally removed from the map.5. For a considered data point 219 of a manually started use order 150, there is no appropriate scheduled task in the associated day section 212 on any day of the week that comprises the same room cleaning mode combination, but there are one or more other data points 219 of manually started cleaning orders with the same room cleaning mode combination in simultaneous or time-overlapping day sections 212 of other days of the week. The start times of data points 219 are within a defined maximum time interval (e.g., 2h). This data point 219, as well as the found one or more similar data points 219, are candidates for a new scheduled task. The user can be provided with a proposal for this space-cleaning mode combination on the days of the week involved. The proposed start time may correspond to the mean of the start times of the data entries associated with the data points 219 (or alternatively the latest start time) and may be rounded off to quarter hours, for example. The data point 219 and the one or more further merged data points 219 may be finally removed from the map.Overall, for each data point 219, a structured sequence of tests can be performed which yield the above-mentioned and / or further case distinctions. The proposal to create a new scheduled task from a data point 219 of a manually started usage order 150 can possibly only be output if all possibilities for adapting one or more existing already scheduled usage orders 150 have already been checked and evaluated negatively.It can be assumed that the one or more cleaning settings for individual rooms are each defined with the respective scheduled task and are also taken over from this data and applied by the cleaning robot 100. However, it is also possible that a user can specify room-specific cleaning modes which are specified in advance by the user in the map of the user interface per room. Thus, one or more cleaning modes can be associated with each of the individual rooms.In a scheduled task or in a manually started usage order, it may then not be necessary to make details about the cleaning mode, since these are automatically transferred from the map data depending on the space to be cleaned.For the evaluation of the data entries or data points 219 and the existing usage orders 150, the need to compare the cleaning mode is thus eliminated. Within the scope of the described method, only an evaluation of the starting time and space then takes place, if appropriate.The proposals for one or more new or adapted use orders 150 are preferably not directly implemented, but can be sent to the user (i.e. e.g. to the user device of the user), for example by means of a push message. The latter can then accept or reject the proposals. The proposals can remain temporarily stored until a user feedback takes place, or-if the user does not use the user interface for a relatively long time-until a more recent proposal replaces the previous one. If the user accepts the proposal or proposals, corresponding changes are automatically implemented in the one or more scheduled use orders 150.FIGS. 4 aand 4 bdescribe an exemplary method 400 for ascertaining a proposal for a planned use order 150. Method 400 includes a series of yes / no branches, each of which is shown as yes branches in FIG. 4 b.It can be checked for a data point 219 for a manually started cleaning task in a day section 212 whether a planned use task 150 with the same settings 152 already exists in the same day section 212 and for the same space 151 (generally for the same sub-area and / or for the same area)) (steps 401, 402). If so, then data point 219 can be deleted (step 413).If this is not the case, it can be checked whether a planned use order 150 with the same settings already exists in the same daily section 212 but for a different space (partial area and / or area) 151 (step 403). If so, the already scheduled use order 150 may be adjusted (i.e., extended by the space (sub-area and / or area) 151 of the data point 219) (step 414).If this is not the case, it can be checked whether a planned use order 150 with other settings 152 already exists in the same daily section 212 and for the same space (partial area and / or area) 151 (step 404). If so, the already scheduled use order 150 may be adjusted (i.e., augmented by the data point 219 settings) (step 415).If this is not the case, it can be checked whether a planned use order 150 with the same settings 152 already exists in the same daily section 212 and for the same room (sub-area and / or area) 151 but for a different day 154 of the week (step 405). If so, the already scheduled use order 150 may be adjusted (i.e., extended by the day 154 of the week of the data point 219) (step 416).If not, it may be checked whether one or more other data points 219 exist that have the same settings 152 in the same day segment 212 but on a different day of the week (step 406). If so, a new scheduled usage order 150 (for data points 219) may be created (step 417).If not, it may be checked whether one or more other data points 219 exist for the same room (sub-area and / or area) 151, for the same daily segment 212, for the same or a different week-wear, and with a different setting 152 each (step 407). If so, a new scheduled usage order 150 (for data points 219) may be created (step 418).If not, a proposal for a scheduled use order 150 may be made for the considered data point 219 (step 408).The method 400 may then be repeatedly performed for the following data point 219. Thus, data points 219 for the manually started cleaning jobs can be successively checked.By means of the measures described in this document, the cleaning orders (use orders) 150 started by the TimerFunction can be automatically adapted to the user's use preferences, if necessary without the need for an intervention by the user. The user receives, for example, suggestions for use orders 150 for frequently manually started cleaning tasks, so that the user has to start the cleaning robot 100 itself less frequently and can rely on the planned use orders 150.Within the scope of the described method, a distinction can be made between individual days of the week, rooms and / or cleaning modes during the evaluation, so that preferences of the user can be recognized and taken into account in a particularly precise manner. If necessary, the user can be reminded of the cleaning of previously omitted areas. By the described combination of data entries to form data points 219, the amount of data to be processed can be reduced, so that relatively large amount of data can also be evaluated with limited hardware capacity.FIG. 5 shows a flow diagram of a method 500 (optionally computer-implemented) for determining a use order 150 for a cleaning robot 100. The method 500 comprises determining 501 a set of already executed cleaning orders which have been executed by the cleaning robot 100 within a previous operating period. In this case, the individual cleaning orders can each specify the scope 151, 152 of the cleaning task carried out by the cleaning robot 100 in the respective cleaning order.The method 500 further comprises the ascertainment and / or adaptation 502 of, on the basis of the set of cleaning orders already executed, at least one use order 150 for a preceding point in time. In this case, the usage order 150 can specify the scope 151, 152 of the cleaning task to be carried out by the cleaning robot 100 in the usage order 150.The present invention is not limited to the exemplary embodiments shown. In particular, it should be noted that the description and the figures are intended to illustrate only the principle of the apparatus and / or the method described in this document.List of reference characters100 Cleaning robot 101 Drive unit 102 Brush roller 104 Guide and / or support element 105 Bumper 106 Cleaning unit / suction nozzle 107 Suction mouth 110 Environment sensor 111 Storage unit 112 User interface 113 Communication interface 120 Direction of movement / longitudinal direction 121 Upper side 122 Underside 123 Side wall 130 Control unit / control device 150 Use order 151 Spatial scope of application 152 Scope of task 153 Temporal scope of application 154 Periodicity 201, 202 Daily section / time section 205 Set of historical use orders 212 Fused daily section / time section 215 Fused set of historical use orders 219 Data point for a use order 300 Method for analysis of historical use orders 301- 306 Method steps 400 Method for adaptation of a planned use order 401- 408, 413- 419 Method steps 500 Method for determination of a use order 501, 502 Method steps

Claims

Device (130) for determining a use order (150) for a cleaning robot (100); wherein the device (130) is configured to - determine a set of already executed cleaning orders which have been executed by the cleaning robot (100) within a previous operating period; wherein the individual cleaning orders each indicate a scope (151, 152) of the cleaning task executed by the cleaning robot (100) in the respective cleaning order; and - determine and / or adapt at least one use order (150) for a previous point in time on the basis of the set of already executed cleaning orders; wherein the use order (150) indicates a scope (151, 152) of the cleaning task to be executed by the cleaning robot (100) in the use order (150).The device (130) according to claim 1, wherein the scope (151, 152) of a cleaning task and / or a use task (150) comprises - a spatial scope (151) of the cleaning task; wherein the spatial scope (151) in particular indicates one or more sub-areas from a total area divided into a plurality of different sub-areas; and / or - a task scope (152) of the cleaning task; wherein the task scope (152) in particular indicates a cleaning mode, such as suction or wiping or both, of the cleaning robot (100) and / or an intensity of the cleaning mode.Device (130) according to one of the preceding claims, wherein - the individual cleaning orders from the set of already executed cleaning orders have each been started manually by a user of the cleaning robot (100); and - the determined use order (150) is a planned use order (150) which is automatically executed, in particular started, by the cleaning robot (100) at a specific point in time, in particular at a specific day of the week and / or at a specific time of day.The device (130) according to any one of the preceding claims, wherein the device (130) is configured to - detect, on the basis of the set of cleaning orders already executed, that - for a specific sub-region of an overall region in which the cleaning robot (100) is operated; and / or - for a specific cleaning mode of a plurality of different cleaning modes which can be executed by the cleaning robot (100), no cleaning order has been effected within the previous operating period; and - based thereon, to determine a use order (150) which has, as a scope (151, 152), the specific sub-region and / or the specific cleaning mode.The device (130) according to any one of the preceding claims, wherein the device (130) is configured to - identify, based on the set of already executed cleaning orders, a specific sub-region of an overall region; and / or - identify a specific cleaning mode of a plurality of different cleaning modes of the cleaning robot (100), for which a relatively high number of cleaning orders is present in the set of already executed cleaning orders; and - determine and / or adapt, based thereon, a use order (150) which has as scope (151, 152) the specific sub-region and / or the specific cleaning mode.The device (130) according to claim 5, wherein the device (130) is configured to - identify an already scheduled use order (150), which already has the determined cleaning mode but not the determined sub-area as the scope (151, 152); and - extend the scope (151, 152) of the already scheduled use order (150) by the determined sub-area.Device (130) according to one of the preceding claims, wherein - the individual cleaning orders each specify a time, in particular a day of the week and a time of day, at which the respective cleaning order was executed; and - the device (130) is configured to determine the time lying ahead, in particular a day of the week and a time of day, for the execution of the use order (150) on the basis of the times of the set of already executed cleaning orders.Device (130) according to one of the preceding claims, wherein - the scope (151, 152) of the individual cleaning orders from the set of already executed cleaning orders in each case specifies one or more subareas of an overall area in which the cleaning robot (100) is operated; and - the device (130) is configured to - divide the individual cleaning orders from the set of already executed cleaning orders in each case into one or more data entries for the corresponding one or more subareas, such that the scope (151, 152) of the individual data entries in each case relates only to a single subarea of the overall area; and - to determine and / or adapt the use order (150) for the point in time lying ahead on the basis of the data entries.Device (130) according to Claim 8, wherein - the individual cleaning orders and the data entries determined therefrom each specify a day of the week and a time of day at which and at which the respective cleaning order or the respective data entry was executed; and - the device (130) is configured to - assign the determined data entries to a day section (201, 202) in each case from a sequence of day sections (201, 202), depending on the respective day of the week and the respective time of day, wherein the sequence of day sections (201, 202) divides a week into a limited number of day sections (201, 202); - determine a set (205) of assigned data entries in each case for the individual day sections (201, 202) of the sequence of day sections (201, 202); and - determining and / or adapting the usage order (150) for the preceding point in time on the basis of the set (205) of assigned data entries for at least one day section (201, 202).The device (130) according to claim 9, wherein the device (130) is configured to - identify a day section (201, 202) having a number of allocated data entries equal to or greater than a number threshold; and - determine and / or adjust the usage order (150) for the preceding time based on the set (205) of allocated data entries for the identified day section (201, 202).Device (130) according to claim 10, wherein the device (130) is configured to determine the point in time lying ahead, in particular the day of the week and the time of day, for the usage order (150) on the basis of the day and the times of day of the individual data entries of the set (205) of allocated data entries for the identified day section (201, 202).The device (130) according to any one of claims 10 to 11, wherein the device (130) is configured to - detect that an already scheduled use order (150) is present for the identified daily section (201, 202); and - extend the scope (150) of the already scheduled use order (150) on the basis of the set (205) of associated data entries for the identified daily section (201, 202).Device (130) according to one of claims 9 to 12, wherein the device (130) is configured to - assign the determined data entries to a first day section (201) from a sequence of first day sections (201) and a second day section (202) from a sequence of second day sections (202) in each case as a function of the respective day of the week and the respective time of day, wherein the second day sections (202) are offset in time and overlap with the corresponding first day sections (201); and - determine and / or adapt the usage order (150) for the point in time lying ahead on the basis of the set (205) of assigned data entries for a specific first day section (201) and for a specific second day section (202) which is offset and overlap with the specific first day section (201).Device (130) according to one of the preceding claims, wherein the device (130) is configured to output a proposal for executing the determined use order (150) to a user of the cleaning robot (100) via a user interface of the cleaning robot (100).Method (500) for determining a use order (150) for a cleaning robot (100); wherein the method (500) comprises - determining (501) a set of already executed cleaning orders which have been executed by the cleaning robot (100) within a previous operating period; wherein the individual cleaning orders each indicate a scope (151, 152) of the cleaning task executed by the cleaning robot (100) in the respective cleaning order; and - determining and / or adapting (502), on the basis of the set of already executed cleaning orders, at least one use order (150) for a previous point in time; wherein the use order (150) indicates a scope (151, 152) of the cleaning task to be executed by the cleaning robot (100) in the use order (150).

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