Procedure for cleaning a side brush

Abstract

A method is specified for cleaning a side brush (5) or a wiping pad of a mobile, self-propelled device (10), in particular a floor cleaning device such as a vacuum and / or sweeping and / or wiping robot, which method comprises the following steps: approaching the device (10) to an obstacle having a projecting contour (9) in such a way that the projecting contour (7) of the obstacle intersects a circumference described during rotation of the side brush (5) or the wiping pad, rotating the side brush (5) or the wiping pad while the device (10) is stationary so that the side brush (5) or the wiping pad rubs against the projecting contour (7), and cleaning an area around the obstacle.

Description

[0001] The invention relates to a method for cleaning a side brush of a mobile, self-propelled device, in particular a floor cleaning device such as a vacuum and / or sweeping and / or wiping robot, a mobile, self-propelled device, a computer program product and a computer-readable data carrier.

[0002] Cleaning robots, such as vacuum and / or sweeping robots, are designed to perform recurring floor cleaning tasks. During their cleaning runs, they should cover as much of the floor area as possible with their cleaning units and specifically collect and vacuum up dust and dirt.

[0003] In addition to cleaning easily accessible, open surfaces, corners and edges along walls or around objects also need to be cleaned satisfactorily. For this purpose, cleaning robots often have rotating side brushes on the front of the housing. Their radially protruding cleaning arms, bristle tufts, or rubber arms sweep dust from walls and corners toward the robot's suction nozzle.

[0004] Robots with side brushes and / or wiping pads are known, for example, from the documents DE 10 2023 205 527 B3, US 2023 / 0 356 399 A1, US 2016 / 0 073 840 A1, DE 10 2022 211 684 A1, US 2012 / 0 011 676 A1, DE 10 2014 105 330 A1 and DE 10 2021 206 579 A1.

[0005] However, side brushes themselves are susceptible to dirt, for example, from hair becoming entangled or dirt particles sticking to them. If dust or dirt is caught by the side brush's cleaning arms, it can become trapped there. This can impair cleaning performance. If dirt also gets into the side brush's bearing, it can impede rotation, stop it, or even cause damage to the bearing.

[0006] The object of the invention is to provide a method for automatically cleaning the side brush, in which the device automatically cleans its side brush of dirt and dust.

[0007] This object is achieved by a method for cleaning a side brush of a mobile, self-propelled device having the features of claim 1. Advantageous embodiments and further developments are the subject of the subclaims.

[0008] According to the invention, a method for cleaning a side brush or a wiping pad of a mobile, self-propelled device, in particular a floor cleaning device such as a vacuum and / or sweeping and / or wiping robot, comprises the following method steps: - Approaching the device to an obstacle having a protruding contour such that the protruding contour of the obstacle intersects a perimeter described during rotation of the side brush or the wiping pad, wherein a user specifies obstacles having a protruding contour in an environment map of the device, - Rotating the side brush or the wiping pad, preferably when the device is stationary, so that the side brush or the wiping pad rubs against the protruding contour, and - Cleaning an area around the obstacle.

[0009] In this case, the device identifies suitable furniture or objects in its surroundings, moves towards them and rubs its side brush or wiping pad against them in order to wipe away dirt, for example from cleaning arms or a seam. In this process, the device brings its rotating side brush or rotating wiping pad into contact with suitable pieces of furniture or objects in its surroundings so that dirt adhering to, for example, the cleaning arms is wiped off. To do this, the device detects suitable structures in its surroundings using sensors, identifies suitable objects, approaches them and cleans its side brush or wiping pad by rotating them against the object. According to the invention, the device cleans the side brush or wiping pad independently. The user therefore has to clean the side brush or wiping pad less often or not at all.

[0010] Preferably, the device performs the cleaning method according to the invention precisely as soon as the device is in proximity to the suitable object. Once an interval for cleaning the side brush is reached, the device does not simply move across the room to clean the side brush or mop pad and then continue vacuuming or mopping, but continues cleaning the room until the device is in a suitable position with a suitable object to perform its side brush cleaning / mop pad cleaning.

[0011] A mobile, self-propelled device is specifically defined as a floor cleaning device that autonomously cleans floors, particularly in the home. This includes, among others, vacuuming, mopping, and / or sweeping robots, such as robot vacuum cleaners. These devices preferably operate without, or with as little as possible, user intervention during operation (cleaning mode). For example, the device moves automatically to a specified room to clean the floor according to a predefined and programmed process strategy.

[0012] The device is preferably a cleaning robot that has a suction mouth with a brush roller and a suction fan. The device can additionally comprise a wet cleaning module. To detect its surroundings and recognize obstacles, the device is equipped with navigation sensors, for example a LiDAR sensor, a camera and / or a wall-following sensor. These sensors are part of the device and in particular are integrated in or on it. At the front of the device in the direction of travel, on at least one side or a front corner of the device, a side brush is placed, the cleaning arms of which protrude beyond the contour of the device housing at least laterally, and preferably also forwards. The device can also have dry or moist rotating wiping pads. Such wiping pads are usually arranged in a rear housing section of the device and protrude beyond the rear of the device.

[0013] With its sensors, the device can detect suitable objects in its environment that can enable cleaning of the side brush or the wiping pad.

[0014] This includes, in particular, objects in the area to be cleaned which have a protruding contour or a protruding body on which the side brush or the wiping pad can be cleaned.

[0015] A protruding contour is understood to mean, in particular, a shape that protrudes or protrudes from the obstacle. This can be, for example, a corner or edge of the obstacle, but is not limited to these.

[0016] After the obstacles have been detected, they are inserted into the device's environmental map. An environmental map is understood to be any two- or three-dimensional floor plan suitable for depicting the surroundings of the soil processing area, including all its walls, obstacles, and objects. This environmental map is also used for localization, for example, when using SLAM. This SLAM map, or a derived version thereof, displays, for example, a sketch of the environmental map, including the soil processing area and the furniture and walls contained therein, in an app on a preferably portable input device. The map serves primarily to visualize a possible interaction for the user.

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

[0018] The app, in particular a cleaning device app, is installed on the input device. This app serves to communicate between the mobile, self-propelled device and the input device and, in particular, enables visualization of the floor cleaning area, i.e., the living space or apartment or living area to be cleaned. The app preferably shows the user the area to be cleaned as a map of the surrounding area, along with any obstacles.

[0019] Obstacles are understood to mean any objects and / or items that are located in a soil processing area, for example lying or standing there, and that influence the processing by the mobile, self-propelled device, in particular hinder and / or disrupt it, such as furniture, walls, curtains, carpets, and the like.

[0020] In an advantageous embodiment, the device uses sensors to detect its surroundings to identify obstacles with a protruding contour. For example, suitable objects are relocated by the device at the beginning of each cleaning process for the side brush.

[0021] In an alternative embodiment, the device has stored obstacles with a protruding contour detected during previous trips in a map of the surrounding area. In particular, the device retrieves the stored obstacles and their position in the surrounding area. In this case, preferably only changes in the position of the obstacles are checked and a relative localization of the obstacle to the device is performed.

[0022] According to the invention, a user specifies obstacles with a protruding contour in the device's surrounding map, particularly via the cleaning device app. This allows, among other things, the selection of positions that are not or barely within the user's normal field of vision and therefore do not disturb the user when the device performs the cleaning process for the side brush or the mop pad.

[0023] In another preferred embodiment, the side brush or mop pad rotates at the obstacle in the opposite direction to the direction of rotation used for floor cleaning. For example, the device does not rotate its side brush in the usual direction to perform cleaning, but instead rotates in the opposite direction to the usual direction for floor cleaning.

[0024] In a further preferred embodiment, the side brush or the wiping pad rotates at the obstacle alternately in the direction of rotation for floor cleaning and in the opposite direction of rotation for floor cleaning. This advantageously further improves dirt removal.

[0025] In particular, the side brush, for example, is rotated in both directions during the process, with several changes of direction preferably occurring. Furthermore, the cleaning process, for example of the side brush, can be carried out with a special speed profile.

[0026] In another preferred embodiment, the obstacle is a chair leg, a shelf leg, a baseboard, or a doorpost. In particular, pieces of furniture with narrow legs or support structures have a suitable protruding contour and are suitable for the cleaning method of the side brush or mop pad.

[0027] In a further preferred embodiment, the device approaches the obstacle without causing a collision. The device approaches the obstacle or object in a suitable manner without causing a collision. Preferably, the device uses an open area adjacent to the obstacle for this purpose.

[0028] In a further preferred embodiment, the device approaches the obstacle from the side or from the front or rear of the obstacle at a predetermined distance. For example, the device positions itself laterally at a suitable distance from the protruding obstacle. The device moves so close to the obstacle or turns sideways towards the obstacle that the obstacle intersects the circle described, for example, by the cleaning arms during rotation of the side brush. A lateral distance is preferably maintained to prevent contact between the device housing and the obstacle. The device rotates its side brush or wiping pad, thereby rubbing the cleaning arms or the seam against the obstacle. Dirt adhering to the cleaning arms or the seam can be loosened and wiped off.A further cleaning effect is achieved by the side brush's cleaning arms snapping back to their original shape after contact with the obstacle. This utilizes the spring properties of the bristles, releasing the stored energy after separation from the obstacle. The sudden change in shape, especially from a bend to the original shape, advantageously leads to further loosening of dirt on the bristles.

[0029] Alternatively, the device can approach the obstacle head-on. The device moves toward the obstacle so that the obstacle intersects the circle in front of the device housing described by the cleaning arms during one rotation of the side brush. A head-on distance is preferably maintained to prevent the device housing from contacting the obstacle. The device preferably rotates its side brush in both directions, dragging the cleaning arms against the obstacle, thus scraping off dirt on the cleaning arms.

[0030] Alternatively, the device can approach the obstacle from behind. The device moves toward the obstacle in such a way that the obstacle intersects the circle described by the mop pad during one rotation behind the device housing. A backward distance is preferably maintained to prevent the device housing from contacting the obstacle. The device preferably rotates its mop pad in both directions, dragging the edge of the pad against the obstacle, thus scraping off dirt at the edge.

[0031] In a further preferred embodiment, the device has increased suction power when cleaning the area around the obstacle. After the cleaning procedure at the obstacle, the device preferably executes a special navigation routine to pick up the loosened dirt from the floor by sweeping the area around the obstacle with its suction nozzle.

[0032] In a further preferred embodiment, the cleaning process of the side brush or the wiping pad is carried out at the end of each cleaning job of the device, at the end of cleaning a floor area, at certain time intervals or at the command of the user.

[0033] Furthermore, the invention relates to a mobile, self-propelled device, in particular a floor cleaning device such as a vacuum and / or sweeping and / or wiping robot, which is designed to carry out a method according to the invention.

[0034] It is understood that, in addition to the method and the device, a computer program product comprising instructions that, when executed by the device, cause the device to carry out the method according to the invention, also falls within the scope of this invention. A computer-readable medium on which such a computer program product is stored also falls within the scope of this invention.

[0035] Any features, configurations, embodiments and advantages relating to the method also apply in connection with the device, computer program product and computer-readable medium according to the invention, and vice versa.

[0036] The invention is explained in more detail with reference to the following embodiments, which are merely examples. They show: Fig. 1A, Fig. 1B: each shows a schematic view of a mobile, self-propelled device which is designed to carry out a method according to the invention, Fig. 1C: a schematic view of a side brush of a mobile, self-propelled device of the embodiment of the Fig. 1A, Fig. 1B, Fig. 2-4B: schematic views of individual method steps for an embodiment of a method according to the invention, and Fig. 5: a flowchart of an embodiment of a method according to the invention.

[0037] In the Fig. 1A and Fig. 1B shows a mobile, self-propelled device 10, which is in particular a vacuum robot. Fig. 1A shows a top view of the device 10. Fig. Figure 1B shows a bottom view of the device 10. The robot vacuum perceives its surroundings using various sensors, in particular a lidar sensor 1, which is used to create an environmental map with the contours of walls, objects, and obstacles. Furthermore, the robot vacuum has a camera 2, which can detect objects in front of the robot vacuum and is used, for example, for object detection and object classification.

[0038] The vacuum robot has a suction mouth 3 with a brush roller 4 and a suction fan. The vacuum robot can additionally include a wet cleaning module. A side brush 5 is placed at the front in the direction of travel, on at least one side or front corner of the vacuum robot, which with its cleaning arms 6 projects beyond the contour of a robot housing 7. In particular, the side brush 5 is arranged next to the suction mouth 3 on the underside of the vacuum robot in such a way that when the side brush 5 rotates, the cleaning arms 6 convey dust and dirt from the floor into the suction mouth 3. In particular, the rotating side brush 5 or its cleaning arms 6 (for example, tufts of bristles or rubber arms) in the front area of ​​the housing 7 sweeps dust away from walls and corners and transports it towards the suction mouth 3. The side brush 5 is in Fig. 1C shown in detail.

[0039] Side brushes 5 are themselves susceptible to contamination, for example, by hair becoming entangled or by dirt particles adhering to them. If dust or dirt is caught by the cleaning arms 6 of the side brush 5, it can become trapped there. This can impair cleaning performance. If dirt also gets into the bearing of the side brush 5, it can impede rotation, stop it completely, or even cause damage to the bearing.

[0040] To prevent this, the vacuum robot uses a cleaning process to independently free its side brush 5 from dirt deposits on an obstacle, such as a piece of furniture, by rubbing its rotating side brush 5 against the piece of furniture.

[0041] To do this, the robot vacuum uses its sensors to detect suitable objects 8 in its surroundings that allow the side brush to clean. These include, in particular, objects 8 in the area to be cleaned that have a protruding contour 9. These include furniture with narrow legs or supporting structures, such as chair legs or shelf legs. Also suitable are baseboards or doorposts.

[0042] The vacuum robot approaches the suitable object 8 without causing a collision with it, as described in Fig. 2. The vacuum robot preferably uses a free area next to the object 8.

[0043] The Fig. 3A and Fig. 3B show a lateral approach to the detected object 8 classified as suitable. The vacuum robot positions itself laterally at a predetermined and suitable distance next to the protruding object 8. The vacuum robot moves so close to the object 8 or turns laterally towards the object 8 that the object intersects the circle described by the cleaning arms 6 during a rotation of the side brush 5. A lateral distance from the object 8 is preferably maintained in order to prevent contact of the robot housing 7 with the object 8. The vacuum robot rotates its side brush 5, preferably in both directions of rotation, and thereby rubs the cleaning arms 6 against the object 8. Any dirt adhering to the cleaning arms 6 can be loosened and wiped off.Furthermore, the cleaning arms 6 are cleaned by snapping them back to their original shape after contact with the object 8 has ended. This utilizes the spring properties of the bristles, so that stored energy is released after separation from the object 8. The sudden change in shape from a bend to the original shape of the cleaning arms 6 advantageously leads to further loosening of dirt on the bristles of the cleaning arms 6.

[0044] The Fig. 4A and Fig. 4B show a frontal approach to the detected object 8, which has been classified as suitable. The vacuum robot moves towards the object 8 in such a way that the object 8 intersects the circle in front of the robot housing 7 described by the cleaning arms 6 during a rotation of the side brush 5. A frontal distance from the object 8 is maintained to prevent the robot housing 7 from coming into contact with the object 8. The vacuum robot rotates its side brush 5 preferably in both directions of rotation and thereby drags the cleaning arms 6 against the object 8, so that dirt is wiped off the cleaning arms 6.

[0045] An example of the procedure for cleaning the side brush 5 is shown in Fig.5. In step 101, the robot vacuum cleaner begins the cleaning process for the side brush 5. The cleaning process of the side brush can be carried out at the end of each cleaning job, at the end of cleaning an area or a room, at certain intervals, or at the user's command.

[0046] In step 102, the robot vacuum scans its surroundings for suitable objects 8 or retrieves the positions of previously stored suitable objects 8 from its surroundings map. The suitable objects 8 can be relocated by the robot vacuum at the beginning of the cleaning process of the side brush 5. Alternatively, the robot vacuum has stored the objects 8 already detected during a previous cleaning run in its surroundings map and retrieves their positions when needed. In this case, the robot vacuum's sensors only check for changes in position and perform a precise relative localization. Alternatively, the positions of suitable objects 8 can be specified by the user in the surroundings map via an app.This allows the selection of positions that are not or hardly in the normal field of vision of the user and are therefore not perceived as disturbing by the user when the cleaning process for the side brush 5 is carried out.

[0047] In step 103, the robot vacuum approaches the appropriate object 8 and uses its sensors for precise relative navigation. The robot vacuum then positions itself next to the object 8 (either sideways or frontally) so that its side brush 5 can brush against the object 8 (step 104).

[0048] In step 105, the robot vacuum cleaner rotates its side brush 5 for a specified period of time, brushing its cleaning arms 6 along the approaching object 8. The robot vacuum cleaner not only rotates its side brush 5 in the usual operating direction to perform cleaning, but also changes the direction of rotation of the side brush 5 opposite to the usual direction of rotation for floor cleaning. Alternatively, the side brush 5 can be rotated in both directions during the cleaning process, with the side brush 5 advantageously changing direction several times. Preferably, the cleaning of the side brush 5 is performed with a special speed profile that differs from normal floor cleaning operation.

[0049] In step 106, the vacuum robot moves away from object 8. Subsequently (step 107), the vacuum robot cleans the floor area around object 8. After the cleaning procedure of the dirt from the side brush 5 on object 8, the vacuum robot executes a special navigation routine to pick up the loosened dirt from the floor by sweeping the area around object 8 with its suction mouth 3, preferably with increased suction power compared to normal floor cleaning operation.

[0050] The cleaning process for side brush 5 described above can also be used for dry or wet mop pads. Such mop pads are sometimes located in a rear housing section of the robot vacuum cleaner.

Claims

[1] Method for cleaning a side brush (5) or a wiping pad of a mobile, self-propelled device (10), in particular a floor cleaning device such as a vacuum and / or sweeping and / or wiping robot, comprising the following method steps: - approaching the device (10) to an obstacle having a projecting contour (9) such that the projecting contour (9) of the obstacle intersects a circumference described during a rotation of the side brush (5) or the wiping pad, wherein a user specifies obstacles having a projecting contour (9) in an environment map of the device (10), - Rotating the side brush (5) or the wiping pad while the device (10) is at a standstill so that the side brush (5) or the wiping pad rubs against the projecting contour (9), and - Cleaning an area around the obstacle. [2] Method according to claim 1, wherein the device (10) detects its surroundings with a sensor system in order to recognize obstacles with a projecting contour (9). [3] Method according to claim 1, wherein the device (10) has stored obstacles with a projecting contour (9) detected during previous journeys in a map of the environment. [4] Method according to one of the preceding claims, wherein the rotation of the side brush (5) or the wiping pad at the obstacle is carried out counter to a direction of rotation for floor cleaning. [5] Method according to one of the preceding claims 1 to 3, wherein the rotation of the side brush (5) or the wiping pad at the obstacle is carried out alternately in the direction of rotation for floor cleaning and against a direction of rotation for floor cleaning. [6] A method according to any one of the preceding claims, wherein the obstacle is a chair leg, a shelf leg, a skirting board or a door jamb. [7] Method according to one of the preceding claims, wherein the approach of the device (10) to the obstacle is carried out without collision. [8] Method according to one of the preceding claims, wherein the device (10) approaches the obstacle laterally next to it or frontally or rearwardly to the obstacle at a predetermined distance. [9] Method according to one of the preceding claims, wherein the device (10) has an increased suction power when cleaning the area around the obstacle. [10] Method according to one of the preceding claims, which is carried out at the end of each cleaning job of the device (10), at the end of the cleaning of a floor area, at certain time intervals or at the command of the user. [11] Mobile, self-propelled device (10) adapted to carry out a method according to any one of the preceding claims. [12] A computer program product comprising instructions which, when the program is executed by the device (10), cause the device (10) to carry out the method according to any one of the preceding claims 1 to 10. [13] A computer-readable data carrier on which the computer program product according to claim 12 is stored.

Images