FLOOR CLEANING SYSTEM

Description

[0001] The invention relates to a floor cleaning system comprising a mobile, self-propelled device, in particular a cleaning device for the autonomous cleaning of floor surfaces such as a vacuuming and / or sweeping and / or mopping robot, and a portable accessory for a user. The invention also relates to a method for the automatic cleaning of floor surfaces using a floor cleaning system.

[0002] Floor cleaning with mobile, self-driving devices such as robotic vacuum cleaners is widely known. In addition to cleaning the entire area accessible to the robot (Clean All) and entire rooms (Room Cleaning), there is also the option to clean smaller areas (Spot Cleaning). Often, the Spot Cleaning function is selected in an app by specifying the center point of the area to be cleaned. However, the app's map view usually doesn't clearly show the exact boundaries of the Spot Cleaning area or its orientation within the room. Furthermore, the accuracy depends on the selected zoom level and the size of the user's fingers. Spot Cleaning is also typically limited to small areas under 1.2 m x 1.2 m, meaning larger areas cannot be covered with this function.

[0003] If the so-called spot cleaning function is selected without the app, the user has to carry the cleaning robot to the desired area, start it, and then carry the robot back to its base station after cleaning. This results in a cumbersome, user-unfriendly, and time-consuming floor cleaning process.

[0004] Publication US 2019 / 0320866 A1 describes a laser with which a user indicates the boundary of an area of ​​interest in order to navigate a robotic vacuum cleaner to the area of ​​interest and start an area cleaning.

[0005] The object of the invention is to avoid the aforementioned disadvantages according to the prior art and in particular to enable a user-friendly, handy and preferably precise floor cleaning system, as well as to provide an improved and in particular simplified method for processing floor surfaces.

[0006] This problem is solved by a floor cleaning system with the features of claim 1 and by a method for treating floor surfaces with the features of claim 8. Advantageous embodiments and further developments are the subject of the dependent claims.

[0007] According to the invention, a floor cleaning system comprises a mobile, self-propelled unit and a portable attachment for a user. The mobile, self-propelled unit is, in particular, a cleaning device for the autonomous cleaning of floor surfaces, such as a vacuuming and / or sweeping and / or mopping robot, and includes a controllable chassis, a control unit, and a communication unit. The attachment comprises an operating unit, a communication unit, and a position detection unit. The user defines the floor area to be cleaned using the position detection unit by walking a cleaning or boundary path with the attachment. This path can be transmitted to the mobile, self-propelled unit, enabling the mobile, self-propelled unit to clean along the cleaning path or within a floor area enclosed by the boundary path according to a cleaning command.In an open cleaning path, the floor surface is cleaned exactly along the cleaning path, and in a closed boundary path, the floor surface is additionally cleaned within an area defined by the boundary path.

[0008] The solution according to the invention is characterized by the fact that the user is not limited to routes, areas, and possibilities defined by the robot software, but can specify and implement any cleaning area in the real environment. This allows for flexible, convenient, user-friendly, and precise specification of the floor area to be cleaned, with the advantage that it can be adapted to all existing conditions, particularly with regard to the selection of the floor area to be cleaned. In particular, the user can fully adapt the specified floor area, or the cleaning path or boundary, to the specific conditions of the apartment or room to be cleaned. There are no restrictions regarding size, shape, or orientation.

[0009] Following the cleaning or boundary path provides an intuitive and simple control for the user, while simultaneously increasing the user's perceived sense of control through user interaction.

[0010] A floor cleaning system is understood to mean, in particular, any system that includes at least one floor cleaning component and one operating component, such as the mobile, self-propelled device and the auxiliary device in the present case, wherein communication is possible between these devices in at least one direction, and preferably both devices communicate with each other.

[0011] A mobile, self-propelled device is understood to be, in particular, a cleaning or lawn mowing device that autonomously cleans floors or lawns, especially in the home. This includes, among other things, robotic vacuum cleaners and / or sweepers, robotic mops such as wet cleaning robots, and robotic lawn mowers. These devices operate (cleaning or mowing) preferably with little or no user intervention. For example, the device autonomously navigates to a predefined area to clean the floor according to a pre-programmed cleaning strategy.

[0012] In this context, a controller is understood to mean, in particular, any unit that includes, among other things, the communication link for transmitting and transferring data, parameters, drivers, and software. The controller is therefore capable of communicating with the auxiliary device. The controller may also include a memory for the data to be transmitted.

[0013] The communication link and the communication unit serve in this case to transmit and transfer data, parameters and / or drivers and software. In particular, the communication link serves to communicate with the auxiliary device and especially with the communication unit, and vice versa.

[0014] A steerable chassis is any chassis that can be controlled by the control system and is also suitable for moving the mobile, self-propelled device to a designated location. For this purpose, the chassis preferably has a plurality of wheels or rollers.

[0015] In the present context, an additional device is understood to mean in particular any device that is portable for a user, that is located outside the mobile, self-driving device, in particular separate from the mobile, self-driving device, and that is suitable for displaying, providing, transmitting and / or transferring data, such as a mobile phone, a smartphone, a tablet and / or a computer or laptop.

[0016] An operating unit is understood to mean in particular any unit that is suitable for operating the additional device, such as an actual or virtual keypad, a touchpad and / or an associated screen or display.

[0017] A position detection unit is any unit capable of determining the position of the auxiliary device. Examples include inertial measurement units (inertial measurement units, accelerometers, and gyroscopes) integrated into the auxiliary device. These units measure changes in position and orientation, allowing the auxiliary device to react to its movements. Alternatively or additionally, other and / or further position detection units (Bluetooth localization, satellite-based positioning, optical flow, etc.) can be used to increase positioning accuracy.

[0018] The invention is characterized in that the user, using the additional device, starts an app which, upon pressing a start button, initiates a recording process by the position detection unit and records the movement, compiling it into a cleaning path or boundary path that the user walks. This data is then transmitted to the mobile, self-driving device, in particular via the communication link and the communication unit, whereupon the mobile, self-driving device begins floor cleaning along the cleaning path or the floor area enclosed by the boundary path, according to the cleaning instructions.

[0019] In an advantageous embodiment, the starting point of the cleaning or boundary path is the location of the mobile, self-driving device. This location is, in particular, the current position of the mobile, self-driving device. For example, the location is the charging point of the mobile, self-driving device, where its base station is located. In this case, the recording of the path to be cleaned therefore begins at the mobile, self-driving device itself. This has the particular advantage that the mobile, self-driving device receives the exact path from the user right from the start. The user can thus advantageously define and determine the path that the mobile, self-driving device should take from the very beginning, i.e., from its current location. Obstacle avoidance or prior planning or programming of a preferred path is therefore unnecessary.This allows for simple, user-friendly operation that is also hardly prone to malfunctions.

[0020] To begin defining the cleaning or boundary path, the user holds the attachment over the mobile, self-propelled device and presses a start button. From this position, the user walks along the desired cleaning or boundary path, thus defining it. Once the path is completed, a stop button is pressed. Alternatively, the start button can be held down while walking the desired cleaning or boundary path. Upon completion, the start button is released, thus defining the cleaning or boundary path with its start and end points.By pressing another button or by pressing the start button again, the indicated route and in particular its data can be transferred to the mobile, self-driving device, which then travels the defined route and performs the corresponding cleaning.

[0021] In a further advantageous embodiment, the cleaning or boundary path can be determined based on the location of the mobile, self-propelled device. In this case, therefore, no further reference points or location points of the room or apartment are necessary to define the floor area to be cleaned, apart from the location of the mobile, self-propelled device. The cleaning or boundary path recorded by the user is thus the only information that the mobile, self-propelled device uses directly to define the floor area to be cleaned, and in particular to spatially position this floor area with respect to the location and thus the starting position of the mobile, self-propelled device.

[0022] Therefore, no absolute reference system or coordinate system of the room or apartment is necessary. A map view of the apartment and room, which might be stored in the device, is also advantageously unnecessary for reliable and trouble-free floor cleaning. Of course, from a user-friendly perspective, the cleaning path or boundary line can also be displayed on a map view on the device, for example, in the associated (cleaning) app. However, this serves only for visualization and route monitoring for the user, and not for determining the floor area to be cleaned in relation to the apartment or room.

[0023] In a further advantageous embodiment, defining the cleaning or boundary path begins at a location of the mobile, self-propelled device, with the cleaning of the floor surface starting at a user-defined cleaning point along the cleaning or boundary path. Therefore, it is not essential that the cleaning begins directly at the location or base station of the mobile, self-propelled device. Only the user's walking of the path to be traveled, and thus the definition of the path itself, begins at the mobile, self-propelled device.

[0024] For example, the user starts the (cleaning) app with the additional device at the location of the mobile, self-driving device and presses a start button. From this location, the user walks to the area they want cleaned. Next, the user presses and holds a cleaning button – preferably on the app. While holding the cleaning button, the user walks the cleaning path or circles the area to be cleaned. This defines the boundary path or cleaning route for the mobile, self-driving device. Once the cleaning path or boundary path is completed, the cleaning button can be released. By pressing another button or pressing the start button again, the path and its data are transmitted to the mobile, self-driving device, which then drives to the cleaning area and begins cleaning.

[0025] According to the invention, in an open cleaning path, the floor surface is cleaned precisely along the cleaning path, whereas in a closed boundary path, the floor surface is additionally cleaned within an area defined by the boundary path. An open cleaning path is understood to be, in particular, a path with separate or different start and end points, or a (floor) surface that is (completely, almost, or only partially) filled by a cleaning path. A closed boundary path, on the other hand, is understood to be a path along an enclosing (floor) surface with (almost) overlapping start and end points and without an enclosed cleaning path.

[0026] With an open cleaning path, the mobile, self-propelled device preferably follows the defined cleaning path exactly, thus traversing a route, track, or path drawn by the user. With a closed boundary path, however, the boundary of an area is generated from the traversed path. This area is then cleaned by the mobile, self-propelled device by driving around it and subsequently (advantageously systematically) traversing it (for example, by meandering). The distinction between an open cleaning path and a closed boundary path is preferably made automatically. Alternatively, it is conceivable that the user manually specifies the cleaning path and the boundary path on the auxiliary device.

[0027] With a user-defined open cleaning path, it's possible to equip the mobile, self-driving device with additional functions besides cleaning, such as a control function and / or object transport. The user defines the open cleaning path, for example, from the kitchen to a sofa in the living room. If one person in the household is in the kitchen preparing snacks, drinks, and / or food, while another person is on the sofa in the living room, the person in the kitchen can place the prepared dishes and / or drinks on the mobile, self-driving device and send it to the sofa in the living room, where the other person can receive the transported items.

[0028] Another possible function for an open cleaning path is a patrol function. For this, a fixed cleaning path is defined for the mobile, self-driving device, along which it travels, for example, at predetermined times, scanning the surroundings with a camera to discover and / or detect irregularities.

[0029] In a further advantageous embodiment, the cleaning or boundary path can be stored in the control system of the mobile, self-propelled device. It is particularly preferred that the cleaning and boundary path can be repeatedly followed by the mobile, self-propelled device. By storing the recorded paths, these can, for example, be cleaned regularly and repeatedly. Furthermore, it is conceivable to send the mobile, self-propelled device into a so-called path-following mode and / or to perform patrol runs. For repetition, it is advantageously unnecessary to walk the cleaning or boundary path again due to the storage capability, thus enabling simple, user-friendly, and reliable operation.

[0030] In a further advantageous embodiment, the user can define no-go areas by means of the cleaning or boundary path, which are specifically excluded from the cleaning task. The mobile, self-driving device can thus advantageously learn no-go areas without having to define the no-go zones in the auxiliary device and, in particular, in the app at the correct location on a map. By simply walking the path and, in particular, avoiding obstacles, the user enables reliable, unobstructed, interference-free, and simple determination of the cleaning or boundary path.

[0031] According to the invention, a method for the automatic processing of floor surfaces using a floor cleaning system comprises the following process steps: Determining the cleaning or boundary path with the additional device by walking this path by the user, transmitting the walked cleaning or boundary path to the mobile, self-propelled device, starting the cleaning along the walked cleaning path or the floor area enclosed by the boundary path according to the cleaning order, whereby in the case of an open cleaning path the cleaning of the floor area takes place exactly along the cleaning path, and in the case of a closed boundary path the cleaning of the floor area also takes place within an area defined by the boundary path.

[0032] Any features, designs, embodiments and advantages relating to the floor cleaning system also apply in connection with the method according to the invention, and vice versa.

[0033] The solution according to the invention provides that the user defines the floor area to be cleaned for the mobile, self-propelled device by walking across it with the attachment. This user-defined walking pattern allows the defined floor area to be easily and intuitively adapted to the specific conditions of an apartment, such as existing obstacles or steps. There are no restrictions regarding the size, shape, or orientation of the floor area to be cleaned. This enables user interaction and control over the cleaning process. Furthermore, walking across the floor area provides the user with an intuitive and simple control method.

[0034] The exact procedure for this is explained in connection with the floor cleaning system and is applied accordingly here.

[0035] In an advantageous embodiment, the cleaning or boundary path is determined based on the location of the mobile, self-propelled device. Advantageously, no further reference points, reference systems, or coordinate systems are necessary. The location of the mobile, self-propelled device is therefore the only reference point required to determine the cleaning or boundary path. This ensures user-friendly, reliable, and simple operation for the user.

[0036] The invention is explained in more detail with reference to the following figures, which are merely examples. They show: Figure 1: a schematic view of an embodiment of a method according to the invention for the automatic treatment of floor surfaces using a floor cleaning system, and Figure 2: a further schematic view of an embodiment of a method according to the invention for the automatic treatment of floor surfaces using a floor cleaning system.

[0037] In Figure 1 The figure schematically shows a method for the automatic cleaning of floor surfaces using a floor cleaning system with a mobile, self-propelled device 1 and an auxiliary device 2. The figure shows an exemplary sketch of a top view of a room 4 to be cleaned.

[0038] The mobile, self-driving device 1 is, for example, a floor cleaning robot that stands at its base station 3 and is supposed to clean room 4 according to its cleaning task. The additional device 2, which is, for example, the user's mobile phone or smartphone with a corresponding app responsible for the cleaning program of the floor cleaning robot, is used to determine the floor area to be cleaned.

[0039] To determine the floor area to be cleaned, the user starts the corresponding app on the auxiliary device 2, specifically the control process. Pressing a start button initiates the recording process for the position detection unit in the auxiliary device 2, specifically the inertial sensors, accelerometers, and / or gyroscopes. The user starts this process while holding the auxiliary device 2 over the mobile, self-propelled device 1. From this starting point S, the user then walks to a location S1 where they want to start cleaning. Next, the user presses and holds another button on the app, for example, a cleaning button. While holding the cleaning button down, the user walks along a boundary path 5 around the floor area 6 to be cleaned. This defines the boundary of the floor area 6 to be cleaned for the mobile, self-propelled device 1.Once the boundary is completed at point S1, the user releases the cleaning button. A map view of the boundary is displayed in the app on the auxiliary device 2 for the user to check the collected data. By pressing the start button again, the collected data is transmitted to the mobile, self-propelled device 1, which then cleans along the boundary path 5 and on the floor area enclosed by the boundary path 5. Specifically, the mobile, self-propelled device 1 travels from its starting point S to point S1 and starts cleaning there.

[0040] The boundary path 5 recorded by the user is the only information directly used by the mobile, self-driving device 1. The path traveled by the user since the start of the process (i.e., from the first pressing of the start button) – that is, the path between the starting point S and location S1 – until the start of the circumnavigation of the ground surface is used exclusively to spatially classify the ground surface with respect to the starting point S.

[0041] With the additional device 2, so-called no-go zones 7 can also be defined. For example, obstacles can be specified that the mobile, self-driving device 1 should navigate around. To do this, the user simply walks around the obstacle when determining the boundary path 5, so that the path specified for the mobile, self-driving device 1 also leads around the obstacle. This is a simple way for the user to define obstacles. Dragging so-called no-go zones to the correct position on a map in the app is therefore advantageously unnecessary.

[0042] Additionally, the boundary path 5 can be stored and saved in the memory of the mobile, self-driving device 1. This enables regular and repeatable cleaning.

[0043] In the exemplary embodiment of the Figure 1The user has defined a closed boundary path 5 using the additional device 2. This means that the start and end points almost completely overlap at point S1. The boundary path 5 therefore completely encloses the floor area 6. The cleaning area is generated from the boundary path and is cleaned by the mobile, self-propelled device 1 by driving along the boundary path 5 and then systematically traversing it (e.g., by meandering).

[0044] Alternatively, it is possible to define an open path using the additional device 2, i.e., a cleaning path with separate start and end points. Such an embodiment is shown in Figure 2 shown.

[0045] Figure 2Figure 1 shows an example of a view of a room 4 to be cleaned. The mobile, self-propelled device 1 is again positioned at its base station 3. To define the cleaning path 8, the user begins recording the desired cleaning path 8 at location S of the mobile, self-propelled device 1 using the auxiliary device 2, for example, by pressing the start button. At point S1, the user can set the start of the cleaning process, for example, by pressing the cleaning button. The user then walks along the desired cleaning path 8, which ends at a location S2 different from point S1, for example, at another base station 3. For example, by pressing the start button again, the defined cleaning path 8, or rather its data, is transmitted to the mobile, self-propelled device 1, which then begins cleaning.

[0046] In a so-called open path, the mobile, self-driving device 1 follows the specified cleaning path 8 exactly. The mobile, self-driving device 1 thus follows the path drawn by the user. Here, in contrast to the closed path... Figure 1 This does not generate any area that needs to be cleaned.

[0047] Driving along these open paths can also be used for purposes such as patrols. This is particularly suitable for mobile, self-driving devices 1 that, for example, have an integrated camera and / or streaming function. Furthermore, driving along open paths can also be combined with an operating function and / or object transport, where the mobile, self-driving device 1 serves as a means of transporting items such as snacks, food, and / or drinks.

Claims

1. Floor cleaning system comprising - a mobile, self-driving apparatus (1), in particular cleaning apparatus for autonomous treatment of floor areas (6) such as a vacuuming and / or sweeping and / or wiping robot, having an actuatable running gear, a controller and a communication element, - a portable additional apparatus (2) for a user, having an operating unit, a communication unit and a position determination unit, wherein the user with the position determination unit defines the floor area (6) to be cleaned, by the user with the additional apparatus (2) walking a cleaning (8) or delimiting path (5), which can be transferred to the mobile, self-driving apparatus (1) in order for the mobile, self-driving apparatus (1) to clean along the cleaning path (8) or to clean the floor area (6) enclosed by the delimiting path (5) in accordance with a cleaning request, characterised in that with an open cleaning path (8) the cleaning of the floor area (6) takes place exactly along the cleaning path (8), and / or with a closed delimiting path (5) the cleaning of the floor area (6) additionally takes place within an area defined by the delimiting path (8).

2. Floor cleaning system according to claim 1, wherein a starting point of the cleaning (8) or delimiting path (5) is a location (S) of the mobile, self-driving apparatus (1).

3. Floor cleaning system according to one of the preceding claims, wherein the cleaning (8) or boundary path (5) can be determined on the basis of a location (S) of the mobile, self-driving apparatus (1).

4. Floor cleaning system according to one of the preceding claims, wherein the definition of the cleaning (8) or delimiting path (5) starts at a location (S) of the mobile self-driving apparatus (1), and the cleaning of the floor area (6) starts at a cleaning point (S1) on the cleaning path (8) or the delimiting path (5) defined by the user.

5. Floor cleaning system according to one of the preceding claims, wherein the cleaning (8) or delimiting path (5) can be stored in the controller of the mobile, self-driving apparatus (1).

6. Floor cleaning system according to claim 5, wherein the cleaning (8) and delimiting path (5) can be traversed repeatedly by the mobile, self-driving apparatus (1).

7. Floor cleaning system according to one of the preceding claims, wherein No-Go areas (7) can be defined by the user by means of the cleaning (8) or delimiting path (5), said No-Go areas being excluded in particular from the cleaning request.

8. Method for automatic treatment of floor areas with the aid of a floor cleaning system according to one of the preceding claims, comprising the following steps: - determining the cleaning (8) or delimiting path (5) with the additional apparatus (2) by the user walking this path, - transmitting the walked cleaning (8) or delimiting path (5) to the mobile self-driving apparatus (1), - beginning the cleaning along the walked cleaning path (8) or cleaning the floor area (6) enclosed by the delimiting path (5) in accordance with the cleaning request, characterised in that with an open cleaning path (8) the cleaning of the floor area (6) takes place exactly along the cleaning path (8), and with a closed delimiting path (5) the cleaning of the floor area (6) additionally takes place within an area defined by the delimiting path (8).

9. Method according to claim 8, wherein the cleaning (8) or delimiting path (5) is determined on the basis of a location (S) of the mobile, self-driving apparatus (1).