CONTROL OF A SOIL TREATMENT MACHINE

Description

[0001] The present invention relates to the control of a soil cultivation machine. In particular, the invention relates to the control of the machine for cultivating a predetermined area of ​​a soil surface.

[0002] A floor cleaning machine is designed to autonomously traverse and clean a floor area. For example, the machine may include an autonomous vacuum cleaner. In different modes, the machine can perform a complete cleaning of a predetermined floor area, clean a particularly heavily trafficked walkway, or clean a specific area of ​​the floor on demand. Cleaning this area might be necessary, for instance, after sugar, oatmeal, or breadcrumbs have been spilled. This type of cleaning is also known as spot cleaning.

[0003] A known autonomous vacuum cleaner can be brought close to a soiled area for spot cleaning, where it then performs the localized cleaning. It may not be immediately clear to the user which area is actually being cleaned. For example, the user might mistakenly assume that the area begins in front of the device when it actually begins at the device's position, or vice versa. The size of the area being cleaned can also be difficult for the user to judge. DE 10 2017 104 428 A1 discloses a robot that operates based on a predefined restricted area. DE 10 2010 015 923 A1 and DE 10 2009 059 215 A1 describe approaches for guiding a cleaning robot.

[0004] Publication WO 2018 / 158248 A2 describes a floor cleaning method in which a virtual boundary is made visible to the user by direct projection onto the floor.

[0005] One of the problems underlying the present invention is to provide an improved technique that allows a user to precisely assess and control a floor area to be worked. The invention solves this problem by means of the subject matter of the independent claims. Dependent claims describe preferred embodiments.

[0006] According to a first aspect of the present invention, a method for controlling a machine for processing a floor surface by means of a control device comprises steps of detecting a request for local cleaning on an area of ​​the floor surface; projecting an indication of the boundaries of a planned area onto the floor surface by means of a projector of the control device; detecting confirmation of the area, wherein the confirmation is determined if no predetermined operator input has been detected for a predetermined time; and starting the processing of the area within the boundaries by means of the machine, wherein the area is determined with respect to the machine and the predetermined operator input comprises a change in the position of the machine.

[0007] This method allows the user to see directly the boundaries of an area being cleaned during spot cleaning. This prevents the machine from missing a spot or from cleaning an area that is too small or too large. A universal display or conventional control panel on the machine is no longer necessary.

[0008] In one embodiment, different areas can be preset, allowing the user, for example, to access areas of different sizes in relation to the machine.

[0009] Confirmation can be determined if the user makes a predefined input. Other predefined inputs, however, can be ignored.

[0010] Confirmation is triggered if no predetermined user input has been detected within a specified time. This predetermined time could be, for example, approximately 5 seconds. In one embodiment, a countdown timer indicates the remaining time until confirmation is triggered. The countdown can be displayed as a visual or audible signal. This signal can indicate the passage of time and / or signal that the time has expired.

[0011] An optical signal can be displayed directly at the machine or projected onto the floor. For example, the number of seconds remaining until the area is taken over can be displayed numerically. The optical signal can also be given symbolically, such as in the form of a rising or falling bar or a rising or falling circular segment. A metaphor familiar from computer technology can be used advantageously here. An acoustic signal can be output as a tone or sequence of tones, or even as spoken information.

[0012] According to the invention, the area is defined with respect to the machine, wherein the predetermined operator input includes a change in the machine's position. The indication of the area's boundaries can be continuously displayed, allowing the user to interactively adjust the area by appropriately setting the machine's position or pose.

[0013] The area can encompass the machine's current position on the floor surface. For example, the machine can be positioned at the center of a contamination, and the area can be defined relative to this position. The area can then be further adjusted in terms of its shape or size.

[0014] In one embodiment, the area has a predetermined shape, and the user input includes changing the size of the shape. The shape can be scaled symmetrically to a predetermined fixed point. This fixed point can, in particular, be a position of the machine. In another embodiment, the aspect ratio or a similar proportion of the shape can also be influenced. A user can input the corresponding parameters, for example, via a dedicated control element on the machine or a separate operating device, which is preferably wirelessly connected to the machine. Such a device can, in particular, be a mobile device such as a smartphone.

[0015] The area can be rectangular, with its boundaries projected onto the floor at the points where two diagonally opposite corners meet. This allows for a clear indication of the area without depicting it completely. Depending on the projection device, this can result in a brighter or more rapidly changing image being projected onto the floor.

[0016] The area can be defined in terms of the floor area, whereby a change in the machine's pose between the recording of the confirmation and the start of processing is determined.

[0017] For example, a user can hold the device while requesting local cleaning. The machine can project an area onto the floor, which the user can adjust to their needs by changing the device's pose. Once satisfied with the projected area, they can confirm it. They can then place the machine on the floor to begin cleaning. It is particularly advantageous for the boundary indication to be projected continuously, at least until the cleaning process begins. A pose generally comprises a position and an orientation and can be specified by six coordinates or degrees of freedom in space.

[0018] According to a second aspect of the present invention, a control device for a machine for processing a floor surface is specified, wherein the control device comprises: an input device for detecting a request for local cleaning on an area of ​​the floor surface; a projector for projecting an indication of the boundaries of a planned area onto the floor surface; a device for detecting confirmation of the area, wherein the confirmation is determined if no predetermined operator input has been detected for a predetermined time; and an interface for starting the processing of the area within the boundaries, wherein the area is determined with respect to the machine and the predetermined operator input comprises a change in the position of the machine.

[0019] The control device can easily be retrofitted to an existing machine for processing a floor surface. However, it is preferred that the control device is also configured to control the machine for processing the floor surface.

[0020] In one variant, the projector is set up to project an image with a predetermined number of pixels. For this purpose, the projector can be, for example, an LED projector or based on swiveling micromirrors. In this variant, the projection can also be large-area and, in particular, cover the entire area planned for processing.

[0021] In another variant, the projector comprises a light source for providing a beam of light and a deflection device for deflecting the beam. The light source can be configured to provide coherent light and may include a laser. The deflection device may include one or more movable mirrors. In this way, the message can be displayed broadly, similar to a vector display, with relatively little effort. In particular, the boundaries of the area can be displayed wholly or partially on the floor.

[0022] In both versions, the projector can be configured to display additional parameters. Such parameters could include, for example, an operating status, the remaining time until processing is complete, a possible error state, or the remaining energy supply. Other parameters can also be output via the projector.

[0023] According to another aspect of the invention, a machine for processing a floor surface comprises a control device as described herein.

[0024] A method described herein is preferably configured to be executed on a control device described herein. For this purpose, the control device may include a processing unit, which may in particular comprise a programmable microcomputer or microcontroller. The method may be in the form of a computer program product with program code means. Features or advantages of the method may be transferred to the device and vice versa. The computer program product may be stored on a computer-readable data carrier.

[0025] The invention will now be described in more detail with reference to the accompanying figures, in which: Figure 1 shows a system with a soil cultivation machine; Figure 2 shows exemplary projections of a soil cultivation machine; Figure 3 shows a user with a soil cultivation machine; and Figure 4 shows a flowchart of a procedure for controlling a soil cultivation machine. represents.

[0026] Figure 1Figure 1 shows a system 100 comprising a machine 105 configured to treat a floor surface 110. The machine or floor treatment machine 105 is preferably configured to clean the floor surface 110 and may, for example, include a robotic vacuum cleaner or mop. In another embodiment, the machine 105 comprises an automatic lawnmower. It is preferred that the machine 105 is a household appliance and is configured for use in a household, particularly a private household. Optionally, the system 100 further comprises a separate control device 115, which is preferably wirelessly connected to the machine 105. The control device 115 may, in particular, comprise a mobile device such as a smartphone, a laptop computer, a tablet computer, or a similar device.

[0027] The machine 105 can preferably be controlled by means of a control device 120. The control device 120 preferably comprises a processing unit 125, an input device 130, one or more projectors 135, and an interface 140. Furthermore, a positioning device 145 can be provided, which is configured to determine a position and / or orientation of the machine 105. The positioning device 145 can, for example, comprise a gyroscope, an accelerometer, an inertial platform, or a camera. The input device 130 is typically haptic and can, for example, comprise a button, a switch, or a touch-sensitive surface (touchpad, touchscreen).

[0028] The control device 120 can be configured to project various pieces of information onto the floor surface 110 using a projector 135. For example, the charge level of an energy storage device, the fill level of a dirt container, a maintenance instruction, an error code, and / or a scheduled cleaning can be visually displayed. The projection can implement symbolic, graphical, numerical, or alphanumeric output. The projection can be monochrome or multi-colored, with a signal color, such as red, being used for particularly important information. In some embodiments, the projection can also be animated, for example, to guide the user through a required step during the maintenance of the machine 105. The animation can also include scrolling text.

[0029] In one embodiment, a projection onto the floor surface 110 can be held still (stabilized) even though the machine 105 is moving. This can particularly apply to external movement, i.e., movement not caused by a drive system. For this purpose, the movement can be determined by means of the gyroscope 145 and taken into account during output by the projector 135.

[0030] In a further embodiment, the movement is determined and a notification is issued to the user. In particular, it can indicate whether a specific movement in amplitude, speed, and / or acceleration exceeds a predetermined threshold, so that the movement is interpreted as an operator input. The notification is preferably audible or visual, preferably by means of a projector 135.

[0031] It is proposed that the control device 120 be configured to receive a request for local cleaning of an area of ​​the floor surface 110 via a user-controlled input on the operating device 115 or the local input device 130, to project an indication of the area's boundaries onto the floor surface 110, to receive confirmation of the area, and to start processing the area within those boundaries. For this purpose, the interface 140 can be connected to another control device for controlling the machine 105. Optionally, the control of the machine 105 can be carried out entirely by the control device 120. In this case, the interface 140 can, for example, be connected to a drive or steering unit of the machine 105.

[0032] Figure 2Shows exemplary projections of a machine 105 for soil cultivation. The machine 105 is schematically depicted from above on the soil surface 110.

[0033] The representation of Figure 2AA rectangular area 205 is defined. A projection 210, which is cast onto the floor surface 110 by means of the projector 135, extends along an outer boundary of the area 205. The entire boundary can be covered by the projection 210. In the illustrated embodiment, the projection 210 comprises two sections, each marking a corner of the area 205 and located diagonally opposite each other at the boundary. Such a projection 210 can, for example, be displayed by means of a vector display 135, which can deflect a light beam from a point light source to predetermined positions on the floor surface 110. A continuous image can result due to the persistence of vision. To obtain a bright display, the deflection speed of the light beam can be reduced or the repetition rate of the projection 210 can be increased.Both can be achieved simultaneously by reducing the length or complexity of projection 210. This can be accomplished, for example, by reducing projection 210 to the corners of region 205, as shown.

[0034] Figure 2B The area 205 is in the shape of an ellipse. A projector 135 can be used, which is set up to project matrix-like arranged image elements (pixels) onto the floor surface 110. Although in Figure 2B Although only the projection of a boundary of the area 205 is indicated, a larger area of ​​the area 205 can also be illuminated with such a projector 135. In one embodiment, the entire area 205 around the machine 105 can be illuminated.

[0035] Figure 3Figure 1 shows an example user 305 of the machine 105 for processing a floor surface 110. The user 305 holds the machine 105 in his hands so that the projector 135 projects an indication of the boundaries of an area 205 onto the floor surface 110. The user 305 can change the pose of the machine 105 so that the area 205 is in a predetermined position with respect to a contamination 310 that is to be processed by the machine 105. If the user 305 is satisfied with the area 205, he can confirm it directly on the machine 105, for example by actuating the input device 130. He can then place the machine 105 on the floor surface 110, as shown by dashed lines. The machine 105 can continue to project the image 210 onto the floor surface 110. The machine 105 can then be controlled to process the predetermined area 205.

[0036] Figure 4 Figure 400 shows a flowchart of an exemplary method 400 for controlling a machine 105 for processing a ground surface 110. Method 400 can be used in particular in combination with a machine 105 or a system 100 according to [reference to relevant figure]. Figure 1 can be applied. The following example uses a cleaning robot.

[0037] In step 405, machine 105 can register a request for local cleaning (spot cleaning) of floor area 110. The aim is not to clean the entire floor area 110, but only a section or area 205, which is yet to be determined.

[0038] In step 410, an indication of the boundaries of area 205 can be projected onto the floor surface 110. This can be based on an area 205 of a predetermined size and shape. The position of area 205 relative to machine 105 can be determined.

[0039] In step 415, a user input from user 305 can be captured. This input typically involves an adjustment of area 205, for example, regarding its shape, size, or position. Other aspects, such as an aspect ratio or similar proportions, may also be affected. Once a user input has been captured, the process 400 can return to step 410 and repeat it. This allows user 305 to immediately see the effect of their changes in the projection 210 on the floor surface 110.

[0040] In step 420, confirmation of area 205 can be recorded. In one variant, the confirmation is recorded after no operator inputs or no operator inputs directed at area 205 have been recorded within a predetermined time period. Alternatively, the user 305 can also provide the confirmation directly via the operating device 115 or the input device 130 on the machine 105.

[0041] In step 425, contact between the machine 105 and the floor can be detected. This step is usually only necessary if the machine 105 was being held by the user 305 during the definition of the area 205 and was not in contact with the floor surface 110. In another embodiment, the machine 105 may have already been standing on the floor surface 110 earlier, and the change in the area 205 may have been adjusted by influencing the projector 135 and / or controlling the machine 105 via the floor surface 110.

[0042] In step 430, cleaning of the predetermined area 205 can be controlled. For this purpose, corresponding position, orientation, and / or shape parameters of the area 205 can be transmitted to a corresponding control device 120 of the machine 105. Optionally, moving the machine 105 into the predetermined area 205 and / or operating a device for processing the floor surface 110 is controlled. Reference sign

[0043] 100 System 105 Machine 110 Floor area 115 Operating device 120 Control device 125 Processing device 130 Input device 135 Projector 140 Interface 145 Positioning device 205Area 210Projection 305 Users 310 Pollution 400 Procedure 405 Record local cleaning request 410 Project indication of area boundaries 415 Record operator input 420 Record confirmation 425 Record floor contact 430 Start processing

Claims

1. Method (400) for controlling a machine (105) for processing a floor surface (110) by means of a control apparatus (120), comprising the following steps: - Detecting (405) a request for local cleaning on an area of the floor surface (110); - Projecting (410) an indication of boundaries of a planned area (205) onto the floor surface (110) by means of a projector (135) of the control apparatus (120); - Detecting (420) a confirmation of the area (205), wherein the confirmation is determined (420) if no predetermined operating input has been detected during a predetermined time; and - Starting (430) the processing of the area (205) within the boundaries by means of the machine (105); - characterised in that the area (205) is determined with reference to the machine (105) and the predetermined operating input comprises changing the position of the machine (105).

2. Method (400) according to claim 1, wherein the area (205) includes a current position of the machine (105) on the floor surface (110).

3. Method (400) according to one of the preceding claims, wherein the area (205) has a predetermined shape and the predetermined operating input comprises changing the size of the shape.

4. Method (400) according to one of the preceding claims, wherein the area (205) is quadrilateral and each of the boundaries in the area (205) of two diagonally opposite corners are projected onto the floor surface (110).

5. Method (400) according to one of the preceding claims, wherein the area (205) is determined with reference to the floor surface (110); and a change in the posture of the machine (105) is determined between detecting the confirmation and starting the processing.

6. Method (400) according to claim 5, wherein the indication is projected from the changed posture.

7. Method (400) according to claim 5 or 6, wherein the change in the posture comprises placing (425) the machine (105) on the floor surface (110).

8. Control apparatus (120) for a machine (105) for processing a floor surface (110), wherein the control apparatus (120) comprises the following: - An input apparatus (115, 130) for detecting a request for local cleaning on an area of the floor surface (110); - A projector (135) for projecting an indication of boundaries of a planned area (205) onto the floor surface (110); - A facility (115, 130) for detecting a confirmation of the area (205), wherein the confirmation is determined if no predetermined operating input has been detected during a predetermined time; and - An interface (140) for starting the processing of the area (205) within the boundaries, characterised in that the area (205) is determined with reference to the machine (105) and the predetermined operating input comprises changing the position of the machine (105).

9. Control apparatus (120) according to claim 8, wherein the projector (135) is configured to project an image with a predetermined number of pixels.

10. Control apparatus (120) according to claim 9, wherein the projector (135) comprises a light source for providing a light beam and a deflection facility for deflecting the light beam.

11. Machine (105) for processing a floor surface (110), comprising a control apparatus (120) according to one of claims 8 to 10.