METHOD FOR AUTONOMOUS PROCESSING OF SOIL SURFACES

Description

[0001] The invention relates to a method for the autonomous processing of floor surfaces using a mobile, self-propelled device, in particular a floor cleaning device such as a vacuum and / or sweeping and / or mopping robot. Furthermore, the invention relates to a mobile, self-propelled device with which such processing can be carried out.

[0002] Mobile, self-driving devices such as robot vacuum cleaners are designed to autonomously clean as entire a floor as possible. Obstacles lying on the floor, such as shoes, socks, or toys, make it particularly difficult for the devices to reach every corner of the floor. Another problem is that these obstacles are often so small that room-scanning sensors, such as 360° laser sensors, cannot detect them due to their low height. If the device fails to detect the obstacles, it may suck them in, causing them to clog the suction channel, or parts of the obstacle, such as shoelaces, may become wrapped around the brush roller. The device may also drive into the obstacle and become stuck.For the user, this not only results in the problem that the device cannot clean all areas, but also that the device can no longer free itself from a situation and needs help to be able to resume its tasks.

[0003] Conventional mobile, self-driving devices can use suitable sensors, such as cameras and object recognition algorithms, to detect various obstacles on the ground in front of them and then avoid them. This prevents the device from ramming into, getting stuck on, or sucking them in. The disadvantage, however, is that the corresponding areas of the floor where the obstacles are located are not cleaned.

[0004] For example, the documents DE 10 2017 112740 A1 and DE 10 2004 016345 A1 disclose a vacuum cleaner device that can detect, classify and transport obstacles on the floor.

[0005] Conventional mobile, self-driving devices that lack object detection typically approach the obstacle, touch it with a bumper, for example, and then try to find a detour, fail to recognize the obstacle, drive over it, attempt to suck it in, or push it around. If the obstacle isn't sucked in and the device can easily overcome it, it may scatter the obstacles across the room.

[0006] The object of the invention is to provide an effective, optimized and / or safe method for the autonomous processing of floor surfaces, in which in particular the most complete cleaning of the floor surface can be ensured by clearing the floor surface to be cleaned of movable obstacles, preferably before or during cleaning, wherein preferably non-movable obstacles remain in their position at the same time.

[0007] This object is achieved by a method for cultivating soil surfaces having the features of claim 1 and by a mobile, self-propelled device having the features of claim 9. Advantageous embodiments and further developments are the subject of the subclaims.

[0008] According to the invention, a method for autonomously treating floor surfaces using 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: Carrying out an exploratory drive of the mobile, self-propelled device in a designated soil cultivation area, detecting obstacles and / or objects located on the ground by means of a detection device, classifying the obstacles and / or objects as movable or non-movable, and transporting the obstacles and / or objects classified as movable to at least one collection point, wherein the collection point is cleaned before obstacles and / or objects classified as movable are transported to the collection point.

[0009] The solution according to the invention is characterized in that the mobile, self-propelled device collects the movable obstacles lying in the room before or during cleaning and places them in a central location, the collection point, where these obstacles do not interfere with cleaning and can be quickly found by the user. For example, before cleaning, the mobile, self-propelled device specifically searches for the obstacles in order to bring them to the collection point and thus clear the floor area to be cleaned. Advantageously, the floor area is cleared and the obstacles are collected at the same time. The mobile, self-propelled device distinguishes between movable obstacles such as socks, shoes, toys, and immovable obstacles such as cables, power strips, lamp stands, chair legs, and pet droppings.The mobile, self-propelled device classifies the obstacles lying on the floor and moves the movable obstacles to the collection point to ensure the most thorough cleaning of the floor area. At the same time, the mobile, self-propelled device performs a rough tidying process. This advantageously provides the user with a variety of functions. The user finds the moved obstacles and objects at a predefined location (collection point). Searching for the moved obstacles and objects throughout the apartment is advantageously eliminated.

[0010] A mobile, self-propelled device is understood in particular to be a floor cleaning device, such as a cleaning or lawn-mowing device, which autonomously cleans floors or lawns, particularly in the home. These include, among others, vacuuming and / or sweeping and / or mopping robots, such as robot vacuum cleaners or robot lawn mowers. These devices preferably operate without, or with as little as possible, user intervention during operation (cleaning or lawn-mowing). For example, the device moves automatically into a specified room to clean the floor according to a predefined and programmed process strategy.

[0011] An exploration trip is understood to be a reconnaissance trip suitable for exploring a soil area to be worked for obstacles, spatial layout, and the like. The goal of an exploration trip is, in particular, to be able to assess and / or represent the conditions of the soil area to be worked.

[0012] A floor treatment area is defined as any spatial area intended for treatment, especially cleaning. This could be, for example, a single (living) room or an entire apartment. It can also be understood as just areas of a (living) room or apartment that are intended for cleaning.

[0013] Obstacles are understood to mean any objects and / or items that are located in the soil processing area, for example lying there, and that influence the processing by the mobile, self-propelled device, in particular hinder and / or interfere with it, such as furniture, walls, curtains, carpets and the like.

[0014] Movable obstacles are defined as any obstacles that can and, in particular, should be moved by the mobile, self-propelled device. It is therefore not only crucial that movement is generally possible, but that movement is actually intended. For example, pet droppings are generally movable. However, this is not intended, as otherwise the droppings would be spread throughout the apartment. Movable obstacles include toys, shoes, socks, and other objects lying around.

[0015] Non-movable obstacles are any obstacles that cannot be moved by the mobile, self-propelled device, as well as any obstacles that can be moved but are not intended to be moved. Examples of non-movable obstacles include power strips, cables, lamp stands, chair legs, and pet droppings.

[0016] A detection device is any device capable of reliably detecting obstacles. This is preferably sensor-based and / or camera-based.

[0017] A collection point is defined as any spatial, particularly three-dimensional, location in or adjacent to the soil cultivation area. A collection point is defined here particularly in the spatial sense.

[0018] Classification refers, in particular, to categorizing obstacles and / or objects as movable or immovable. Additional classifications can also be performed, such as into different categories, such as "socks," "shoes," "toys," etc.

[0019] Transporting is understood to mean, in particular, any possibility of transport, such as grabbing the obstacles and objects, holding them, clamping them, lifting them and / or moving them by means of the mobile, self-propelled device.

[0020] After the exploratory drive, the mobile, self-driving device is familiar with its surroundings and can communicate this information to the user in the form of a map, for example, in an app on a mobile device. The map can allow the user to define an area as a collection point to which the mobile, self-driving device should bring the movable obstacles. Alternatively, the mobile, self-driving device can itself define an area as a collection point. This decision can be based on the location of the location, quick accessibility, and other characteristics such as the user's walking route, potential tripping hazards, etc. The collection point is preferably displayed on the map. The user can advantageously view the location of the collection point on the map and change and / or adapt it as needed.

[0021] An environmental map is understood to mean, in particular, any map suitable for depicting the surroundings of the tillage area with all its obstacles. For example, the environmental map shows a sketch of the tillage area with the obstacles and walls it contains.

[0022] The surrounding map with the obstacles is preferably displayed in the app on a portable device. This primarily serves to visualize a possible interaction for the user.

[0023] In the present case, an additional device is understood to mean in particular any device that is portable for a user, that is arranged outside the mobile, self-propelled device, in particular that is differentiated from the mobile, self-propelled device, and that is suitable for displaying, providing, transmitting and / or transmitting data, such as a mobile phone, a smartphone, a tablet and / or a computer or laptop.

[0024] The portable attachment is equipped with an app, particularly a cleaning app, which serves to communicate between the mobile, self-propelled device and the attachment 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 and collection points.

[0025] In an advantageous embodiment, the collection point is determined by the mobile, self-propelled device itself. In particular, the location of the collection point in the apartment is determined by the mobile, self-propelled device itself and preferably displayed to the user on the surrounding map. This advantageously allows the collection point to be determined based on the location of the place, quick accessibility, and other characteristics such as the user's walking route or the prevention of tripping hazards for the user. The most optimal location for the collection point can advantageously be provided. Particularly preferably, the user can view the suggested collection point on the surrounding map and change or adapt it as needed.

[0026] In a further advantageous embodiment, a path from the obstacle and / or object classified as movable to the collection point is determined by the mobile, self-propelled device itself. The path from the obstacle to the collection point is thus chosen by the mobile, self-propelled device itself and not specified by the user.

[0027] This allows the mobile, self-driving device to freely choose the route based on various criteria such as quick accessibility, no obstacles on the way, and the like.

[0028] In a further advantageous embodiment, a plurality of collection points are defined, in particular, by the mobile, self-propelled device. If multiple collection points are defined, the mobile, self-propelled device can advantageously move the movable obstacles to the collection point that is currently closest to the mobile, self-propelled device. Additionally or alternatively, the mobile, self-propelled device can use only one collection point until it becomes apparent that two collection points are needed and / or it provides noticeable advantages for processing speed.

[0029] In a further advantageous embodiment, free areas of the soil processing area are cleaned before and / or while obstacles and / or objects classified as movable are transported to the collection point. According to the invention, the collection point to which the movable obstacles are to be transported is advantageously cleaned before this collection point is no longer accessible for cleaning due to the obstacles transported there. First, the floor area of ​​the collection point is cleaned, and then the movable obstacles are transported to the already cleaned, clean floor area of ​​the collection point. This advantageously enables the most complete cleaning possible of the soil processing area.

[0030] Preferably, the classification, collection, and removal of movable obstacles is performed during the execution of the cleaning program. The mobile, self-propelled device continuously scans the floor area in front of it and, even before physical contact, identifies the objects or obstacles involved. It collects the relevant obstacles and transports them to the designated collection point, then continues cleaning.

[0031] It is particularly preferred that the mobile, self-propelled device perform a search before the actual start of the cleaning program and / or after cleaning the collection point, scanning the ground area within the soil treatment area to be cleaned. Any or all obstacles detected and classified as movable are brought to the collection point. The actual cleaning of the soil treatment area then begins.

[0032] In a further advantageous embodiment, obstacles and / or objects classified as movable are transported to the collection point, particularly before the floor treatment area is cleaned. This advantageously enables uninterrupted cleaning. In particular, a so-called cleanup program is initiated before the actual start of the cleaning program. During this program, the mobile, self-propelled device searches for movable obstacles and transports them to the collection point without executing the cleaning program. The floor can then be cleaned. Alternatively, the user can start and run the cleanup program without subsequently cleaning the floor.

[0033] In another advantageous embodiment, the collection point is located outside the flooring area. This advantageously ensures the most complete cleaning possible. In particular, the mobile, self-propelled device brings the obstacles classified as movable to the collection point, which is located outside the floor area to be cleaned. For example, the collection point might be in the study if the living room is to be cleaned.

[0034] In a further advantageous embodiment, the obstacles and / or objects classified as movable are deposited in a sorted manner. In particular, the obstacles classified as movable are deposited in a classified manner after successful detection by the mobile, self-propelled device. For example, socks are placed in a first pile, shoes in a second pile, and toys in a third pile at the collection point. This allows for advanced cleanup by the mobile, self-propelled device, which advantageously facilitates the subsequent removal of the obstacles from the collection point by the user.

[0035] According to the invention, a mobile, self-propelled device, in particular a floor cleaning device for autonomously processing floor surfaces such as a vacuum and / or sweeping and / or wiping robot, comprises a detection device for detecting obstacles and / or objects located on the floor, a classification device for classifying the obstacles and / or objects as displaceable or non-displaceable, and a transport device for transporting the obstacles and / or objects classified as displaceable to at least one collection point, wherein cleaning of the collection point is provided before transporting the obstacles and / or objects classified as displaceable to the collection point.

[0036] Any features, configurations, embodiments and advantages relating to the method also apply in connection with the mobile, self-propelled device according to the invention, and vice versa.

[0037] As a detection device, the mobile, self-propelled device preferably comprises a suitable sensor system such as a 3D camera, a PMD sensor, 3D LIDAR, a (stereo) (black and white, RGB, or infrared) camera, an infrared night vision camera to ensure that the cleanup operation can be carried out even in poor lighting conditions, and / or a camera in combination with frontally mounted LEDs to illuminate the area in front of the cleaning device. The detection device is particularly suitable for detecting, distinguishing, and classifying objects and items located on the floor. Detection of all types of objects is not necessarily required.In this case, a classification into obstacles that cannot be moved, which in particular should or must remain in their place and which must be avoided during the cleaning program, and obstacles that should or may be moved and removed, is sufficient.

[0038] A classification device is understood to mean, in particular, any device capable of classifying obstacles and / or objects as movable or immovable. A more detailed classification of obstacles is not necessarily required, but can be implemented.

[0039] The transport device is intended and suitable for transporting the obstacles and / or objects classified as movable to at least one collection point. The transport device preferably comprises a gripping device, a clamping device, a wall device, and / or a scooping device.

[0040] For example, the mobile, self-propelled device comprises a robotic arm or similar mechanism capable of grasping, clamping and / or lifting objects, items and / or obstacles and carrying them away or at least placing them down.

[0041] Alternatively, the mobile, self-propelled device pushes the obstacles across the ground using the transport device. For example, fold-out / extendable side walls serve as stabilizers to prevent the obstacles from sliding sideways when cornering. A frontal, grid-like, fold-out / extendable barrier in front of the mobile, self-propelled device is particularly preferred to prevent the transported obstacles from entering a suction nozzle, onto a brush roller, or generally underneath the mobile, self-propelled device. Preferably, after the obstacles have been deposited at the collection point, any side walls and the frontal barrier are retracted to advantageously restore normal maneuverability of the mobile, self-propelled device.

[0042] Alternatively, a shovel-like collecting mechanism can be used as a transport device, which slightly lifts the obstacles and thus also enables transport over door thresholds and the like.

[0043] The invention is explained in more detail with reference to the following embodiments, which are merely examples. They show: Figure 1: a schematic view of an embodiment of an environmental map before carrying out the method according to the invention for the automatic processing of ground surfaces with the aid of a mobile, self-propelled device, Figure 2A: a schematic view of an embodiment of an environmental map of a method step for carrying out the method according to the invention for the automatic processing of ground surfaces with the aid of a mobile, self-propelled device Figure 2B: a schematic view of an embodiment of an environmental map of a further method step for carrying out the method according to the invention for the automatic processing of ground surfaces with the aid of a mobile, self-propelled device.

[0044] Figure 1shows an environmental map 10 of an apartment to be cleaned, in particular a floor treatment area 1 to be cleaned. This environmental map is displayed in an app, in particular a cleaning app, of a portable additional device, in particular a mobile device. This enables interaction between a user and a mobile, self-driving device, in particular a vacuum robot.

[0045] The environmental map 10 is created by the mobile, self-driving device. For this purpose, the robot vacuum performs an exploratory drive, during which it explores and recognizes its surroundings, and then transmits this information to the user in the form of an environmental map in the mobile device's app. During the exploratory drive, a detection device detects any obstacles, items, and objects 3 on the ground, such as socks, toys, shoes, carpets, walls, door thresholds, etc., and displays them to the user at the correct location in the environmental map. To detect the obstacles, items, and objects, the robot vacuum includes suitable sensors, such as a 3D camera, 3D LIDAR, PMD sensor, and / or a (stereo) camera.

[0046] In addition to detecting obstacles, items, and objects 3 on the floor, the robot vacuum also classifies them as movable obstacles and immovable obstacles. Detection of all object types is not mandatory. In particular, the robot vacuum detects which obstacles should / must remain in place and must be avoided later, such as power strips, cables, lamp stands, chair legs, pet droppings, and the like, and which obstacles can be moved and removed by the robot vacuum, such as toys, socks, shoes, and other loose objects.

[0047] After classifying the obstacles, the obstacles and / or objects classified as movable are transported to a collection point 2. The collection point 2 can, for example, be predefined by the user in the environment map 10, to which the robot vacuum cleaner should transport the loose, movable obstacles lying around. Alternatively, the robot vacuum cleaner can itself define the area it selects as collection point 2. The location of the area, quick accessibility, and other characteristics such as a walking path for the user, tripping hazards, and the like are taken into account. This suggestion is preferably displayed to the user in the environment map 10 so that the user can change and / or adapt the collection point 2 if necessary.

[0048] It is also possible to define multiple collection points (not shown) to which the robot vacuum cleaner can bring the obstacles. In particular, the robot vacuum cleaner will drive to the closest collection point. Alternatively or additionally, the robot vacuum cleaner will only use the first collection point until it is full and a second collection point is needed, or until it provides a noticeable improvement in working speed.

[0049] The collection point can be located outside the floor area to be cleaned, for example, in a home office if the living room is to be cleaned. This ensures that the floor area to be cleaned is cleaned as completely as possible.

[0050] In Figure 2AAn environmental map 10 is shown, in which a plurality of obstacles, items, and objects 3 are indicated. In addition, movable obstacles 4 and non-movable obstacles 5 are shown, which were detected and classified by the vacuum robot during the exploration run.

[0051] Before the vacuum robot transports the obstacles classified as movable to the collection point, it cleans the collection point to ensure that the collection point is also cleaned, which is no longer possible after the objects have been transported. The collection and removal of the movable obstacles 4 can then be carried out during the execution of the cleaning program. The vacuum robot continuously scans the floor area in front of it and, before physical contact, recognizes which obstacles are involved, collects the movable obstacles 4 accordingly, brings them to the collection point 2, and then continues cleaning. At the end of the cleaning program, all obstacles 4 classified as movable are at the collection point 2, while the obstacles 5 classified as non-movable remain in their place, as described in Figure 2B is shown.

[0052] Alternatively, before the actual start of the cleaning program and after cleaning collection point 2, the robot vacuum cleaner can perform a search run that scans the floor of the area to be cleaned. Detected obstacles are brought to collection point 2. The actual cleaning process then begins.

[0053] Alternatively or additionally, it is possible to offer the user a cleaning program that the user can start via the app without having to have the floor cleaned afterwards.

[0054] Preferably, detected movable obstacles 4 are placed in a classified manner at the collection point 2. For example, socks are placed in a first pile at the collection point 2, shoes in a second pile at the collection point 2, and toys in a third pile at the collection point 2. This advantageously facilitates subsequent cleanup by the user.

[0055] To enable the robot vacuum to collect obstacles, it preferably comprises a robot arm or similar mechanism that allows gripping, clamping, lifting, carrying away and / or depositing. Alternatively or additionally, fold-out / extendable side walls are used, which allow obstacles to be pushed across the floor and prevent them from slipping sideways when cornering. A preferably grid-like fold-out / extendable partition in front of the robot front prevents obstacles from getting into the suction mouth, onto the brush roller or underneath the robot vacuum. After the obstacles have been deposited at collection point 2, the side walls and the front partition are retracted again to simplify maneuvering of the robot vacuum. Additionally or alternatively, a shovel-like collection mechanism can be used, which lifts the obstacles and thus enables transport even over door thresholds.

[0056] With the method according to the invention, the obstacles 3, 4, 5 lying on the floor are advantageously detected and classified, and the movable obstacles 4 are brought to the collection point 2 in order to clean the floor area to be cleaned as completely as possible while simultaneously performing a rough cleanup. Non-movable obstacles 5 remain in place.

Claims

1. Method for autonomous processing of floor surfaces with the aid of a mobile, self-driving device, in particular a floor cleaning device such as a suction and / or sweeping and / or mopping robot, comprising the following method steps: - Implementing an exploration tour of the mobile, self-driving device in a proposed floor processing area (1), - Detecting obstacles (3, 4, 5) and / or objects located on the floor by means of a detection facility, - Classifying the obstacles and / or objects (3, 4, 5) as movable or non-movable, and - Transporting the obstacles (4) and / or objects classified as movable to at least one collection point (2), characterised in that the collection point (2) is cleaned before obstacles (4) and / or objects classified as movable are transported to the collection point (2).

2. Method according to claim 1, wherein the collection point (2) is determined by the mobile, self-driving device itself or by a user.

3. Method according to one of the preceding claims, wherein a route from the obstacle (4) and / or object classified as movable to the collection point (2) is determined by the mobile, self-driving device itself.

4. Method according to one of the preceding claims, wherein a plurality of collection points (2) is defined.

5. Method according to one of the preceding claims, wherein free areas of the floor processing area are cleaned, before and / or while obstacles (4) and / or objects classified as movable are transported to the collection point (2).

6. Method according to one of the preceding claims 1 to 4, wherein obstacles (4) and / or objects classified as movable are transported to the collection point (2), in particular before the floor processing area (1) is cleaned.

7. Method according to one of the preceding claims, wherein the collection point (2) lies outside of the floor processing area (1).

8. Method according to one of the preceding claims, wherein the obstacles (4) and / or objects classified as movable are stored in a sorted fashion.

9. Mobile, self-driving device, in particular floor cleaning device for autonomous processing of floor areas such as a suction and / or sweeping and / or mopping robot, comprising - a detection facility for detecting obstacles (3, 4, 5) and / or objects located on the floor, - a classification facility for classifying obstacles (3, 4, 5) and / or objects as movable or non-movable, and - a transport facility for transporting the obstacles (4) and / or objects classified as movable to at least one collection point (2), characterised in that provision is made to clean the collection point (2) before transporting the obstacles (4) and / or objects classified as movable to the collection point (2).

10. Mobile, self-driving device according to claim 9, wherein the transport facility comprises a gripping facility, a clamping facility, a wall facility and / or a scooper facility.