SENSOR ARRANGEMENT FOR OPTIMIZED NAVIGATION OF A MOBILE ROBOT UNIT

Description

[0001] The invention relates to a method for navigating a mobile robot unit (2) by means of a lighting device for a light source, in particular an LED, comprising a control device for the light source and a sensor which transmits sensor data / environmental data to a mobile robot unit according to the method claim. 1.

[0002] Lighting devices for light sources that incorporate sensors, such as temperature sensors, smoke detectors, etc., are well known. Mobile robotic units are also well known, such as... z.B. Drones, autonomous transport vehicles (food trolleys, medicine trolleys), robotic lawnmowers for mowing the lawn or cleaning robots that, for example, vacuum or mop the floor.

[0003] However, using such a mobile robot unit presents the problem that the field of view of the integrated sensors, such as distance sensors and optical sensors, is severely limited. This means it only detects problem areas, such as stairs or moving objects like animals, people, or other mobile robot units, once these appear within the sensor field of view. Therefore, there is no guarantee that the mobile robot unit will not go down stairs or obstruct moving objects.

[0004] Document DE 112010002823 is known from the prior art. This document describes a cleaning robot with an integrated image acquisition module that captures and processes images of the cleaning robot's immediate surroundings. Depending on the degree of soiling, the cleaning robot is steered in the corresponding direction. However, because the sensors are located within the cleaning robot and therefore have a limited field of view, the problem described at the beginning is not solved.

[0005] Patent application DE 10164278 A1 describes a cleaning robot in which, among other things, a camera for capturing images is arranged perpendicular to the direction of drive. These images are analyzed within the cleaning robot, and the drive path is compensated according to specific drive patterns.

[0006] The object of the present invention is therefore to expand and optimize the field of view of the mobile robot unit.

[0007] The invention proposes to create a lighting device for a light source, in particular an LED, comprising a control device for the light source and a sensor, which communicates with the mobile robot unit to solve the aforementioned task. The lighting device and the method are listed as independent claims. Further embodiments of the invention are the subject of dependent claims.

[0008] The invention provides a method for navigating a mobile robot unit (2) by means of a lighting device with a sensor, which is configured to collect sensor data / environmental data and transmit this data to the mobile robot unit. The lighting device comprises: a sensor, in particular an optical sensor; a device to transmit environmental data to the mobile robot unit (wirelessly).

[0009] This is achieved by the sensor receiving the sensor / environmental data, transmitting it to a processing unit which evaluates the data and then passes it on to the mobile robot unit. The robot can then adjust its route or cleaning program accordingly.

[0010] The sensor integrated into the lighting device can be an optical sensor, such as a PIR sensor, or a camera. The processing unit includes image recognition that evaluates the images received by the camera.

[0011] The sensor can also be designed as an acoustic sensor, for example an ultrasonic sensor, which scans the environment at short intervals and transmits this data to the processing unit, which calculates, for example, a 2D or 3D image of the room.

[0012] The previously calculated data is used to optimize the route of the mobile robot unit. This allows the mobile robot unit to navigate around temporarily placed objects such as children's toys, shopping bags, etc. It can also directly navigate around new furniture or decorative items.

[0013] It can also be specified, for example, that the mobile robot unit keeps a certain distance of a specific number of meters from moving objects to avoid obstructing or damaging them. Alternatively, it can be specified that the mobile robot unit avoids areas with moving objects and approaches them at a later time.

[0014] The processing unit, which evaluates the sensor data and transmits it to the mobile robot unit, is located directly in the lighting unit. In further embodiments of the invention, it would be conceivable to arrange the processing unit in the charging station or docking station of the mobile robot unit, or in the mobile robot unit itself.

[0015] For example, environmental data can be calculated so that the movement area (the surface on which the mobile robot unit moves) of the room to be traversed is divided into squares, each of which is assigned individual coordinates. This allows certain squares to be placed on a "blacklist" that the mobile robot unit avoids. For instance, squares located within a doorway can be added to the "blacklist" if the mobile robot unit should initially avoid the adjacent room, and removed from the list once the room is clear.

[0016] Due to the room's layout, a further embodiment of the invention provides for the arrangement of multiple sensors at different positions within the room. This can be advantageous if large obstacles such as cabinets, room dividers, etc., would obstruct the view of a single sensor. Multiple sensors allow for a complete analysis of the room.

[0017] The sensors can communicate with each other wirelessly or via cable and transmit the data to the processing unit. Possible wireless communication standards include Wi-Fi, VLC (Visible Light Communication), Bluetooth, infrared, etc. Wired standards can include Ethernet, PLC (Powerline Communication), etc.

[0018] The invention, as well as other aspects of the invention, will now also be shown with regard to the figures. Fig. 1 shows a front view of a room with a lighting device, a mobile robot unit (in this embodiment a cleaning robot), a docking station for the mobile robot unit, an obstacle / moving object and other sensors, Fig. 2 shows a top view of a movement area divided into individual squares and labelled with Cartesian coordinates. Fig. 3 shows a mobile device (for example, a smartphone).

[0019] Fig. 1 shows an exemplary room arrangement with a lighting device 1, a control gear 9 for the light source, a mobile robot unit (in this example a cleaning robot) 2, a docking station 3 for the mobile robot unit 2 and an obstacle / moving object 4. The sensor 5 in the lighting unit 1 monitors the room at all times, or only while the mobile robot unit is active, and transmits this data to a processing unit. 7. Also shown here is a two-dimensional movement area 6 (in this example the floor of a room).

[0020] The sensor 5 in the lighting device 1 can be designed as an optical sensor, for example a camera or PIR sensor. The processing unit 7 can have image recognition capabilities that evaluate the received image data.

[0021] The processing unit 7 can use image recognition to determine the material of the movement surface 6 and configure the mobile robot unit 2 accordingly. If the mobile robot unit 2 is a cleaning robot, it can, for example, apply various cleaning methods depending on the material of the movement surface 6.

[0022] The various cleaning methods of the mobile robot unit 2 can utilize different suction powers and brush types. For example, a different cleaning method with higher suction power might be used for a carpet than for a wooden surface. Conversely, lower suction power and a finer brush might be used for a wooden surface.

[0023] A user can access the sensor 5, the mobile robot unit 2, or the docking station with a mobile device 8 and view the sensor data. This allows the user, for example, to obtain information about the cleaning status of the movement area 6, the progress of the current task, or the location, even if the user is not in the immediate vicinity of the movement area 6. The mobile device 8 can be a mobile communication device, e.g., a mobile phone or smartphone, which is in Figur 3 The mobile robot unit 2 can also be used as an alarm system. The mobile device 8 can have a user interface designed to change and / or transmit configuration parameters. The user can put the mobile robot unit 2 into an alarm mode using the mobile device 8, and upon detecting a moving object, the mobile robot unit 2 can send an alarm to the mobile device 8 via a transmitter unit and / or the sensor 5 and / or initiate a flashing mode of the lighting device 1.

[0024] In a further embodiment of the invention, the sensor 5 in the lighting device 1 is designed as an acoustic sensor. This can, for example, use radar to detect the environment and transmit the information to the processing unit 7, which in turn can provide the information for the mobile robot unit 2.

[0025] The processing unit 7 can be configured to detect obstacles and / or moving objects 4, for example fragile or briefly placed items, and to transmit movement instructions to the mobile robot unit 2.

[0026] It can also be configured to detect obstacles and / or moving objects 4 and transmit this information in real time to the mobile robot unit 1, which then avoids the obstacles and / or moving objects 4 or maintains a certain distance from them. For example, the robot vacuum can "hide" under furniture when a moving object crosses the room. This prevents, for example, the mobile robot unit 2 from being accidentally stepped on.

[0027] The environmental data can be transmitted from sensor 5 in the lighting unit (1) to the processing unit 7 and from the processing unit 7 to the mobile robot unit 2 via various methods. Wireless standards such as Wi-Fi, Bluetooth, Zigbee, VLC, infrared, IPv6, etc., are possible. However, wired standards such as Ethernet, PLC, etc., are also conceivable. Wireless standards that do not require direct line of sight are preferred.

[0028] The mobile robot unit 2 can also, for example, inform the processing unit 7 when its filling container is full. The processing unit 7 can then transmit this information to the control gear of the lighting unit 1, and the control gear 9 can subsequently initiate a flashing mode in which the light source begins to flash, thus indicating a full filling container to the user. In a simplified embodiment, the mobile robot unit 2 can directly transmit the fill level to the user's mobile device 8.

[0029] This application example can be transferred from a cleaning robot to any mobile robotic unit (flying drone, autonomous food cart, etc.).

[0030] It is conceivable that the movement area 6 recorded by sensor 5 in the lighting device 1 can be graphically divided into individual squares 11, triangles, or other polygons, and that these subdivisions can be assigned coordinates. This allows individual areas to be placed on a "blacklist" that the mobile robot unit 2 should avoid and maintain a certain distance from. Fig. 2 An example of an "area to be avoided" is shown in Figure 12.

[0031] In a further embodiment of the invention, in addition to the sensor 5 in the lighting device 1, further sensors 5a / b are distributed throughout the space to increase accuracy. This allows obstacles / moving objects 4 to be located outside the field of view of the sensor 5 in the lighting device 1 due to stationary objects and thus not be detected by it. By attaching further sensors 5a / b, blind spots can be eliminated, these obstacles and / or moving objects 4 can be detected, and the information transmitted to the mobile robot unit 2. The additional sensors 5a / b can also be positioned in different rooms.

Claims

1. Method for navigating a mobile robot unit (2) by means of a lighting device containing a lamp and an operating device (9) for operating this lamp, at least one optical sensor (5) for capturing sensor data / environmental data, and a processing device (7) which has an image recognition system which is designed to provide the sensor data / environmental data for a mobile robot unit (2), as well as a mobile robot unit (2) which is not mechanically connected to the lighting device (1), the method comprising the following steps: - capturing the environment by means of the sensor (5) which is designed to capture the environment - transmitting the captured sensor data / environmental data to the processing device (7) - analyzing the sensor data / environmental data by the processing device (7), which is designed to calculate a permitted region of movement for the mobile robot unit by detecting obstacles and / or objects which are moving - transmitting the permitted movement areas via wireless standards, such as WLAN, Bluetooth, ZigBee, etc., to the mobile robot unit (2) - bypassing obstacles and / or objects which are moving, based on the permitted movement area, by the mobile robot unit (2).

2. Method according to claim 1, characterized in that the sensor data / environmental data calculated by the processing device (7) are divided into polygons and provided with coordinates which may or may not be driven over.

3. Method according to either of the preceding claims, characterized in that additional sensors (5a / b) are distributed in the room, which communicate with the processing device (7) in order to enlarge the field of view of the sensor (5) arranged in the lighting device (1).