METHOD FOR OPERATING A WORKING DEVICE AND WORKING DEVICE

Description

[0001] The invention relates to a method for operating a working device, in particular a cleaning device for autonomously cleaning a processing environment, wherein the working device is designed to move autonomously in a processing environment.

[0002] Generic work devices are known in the prior art in a variety of designs. Such work devices are designed to move autonomously within a processing environment and perform work tasks. Examples of such work devices include cleaning devices that perform cleaning tasks within a processing environment, transport robots in warehouse logistics, or security robots used for surveillance purposes. A cleaning device is designed, for example, as a vacuum robot, a mop robot, or a vacuum and mop robot. Such work devices typically have at least one control device comprising a data processing device and, with a plurality of sensors, ensuring navigation of the work device within the processing environment and controlling the completion of work tasks within the processing environment.

[0003] Tools designed as cleaning equipment suitable for commercial applications typically have a larger volume, heavier weight, higher movement speeds, and greater power than cleaning equipment used in households. Furthermore, increased operational safety requirements apply, for example, with regard to the risk of falling on edges and stairs, as well as contact with people or other work equipment.

[0004] For the operational safety of a work device, it is therefore of increased importance that, when an obstacle or a critical operating situation is detected, an immediate reaction of the moving work device is required in order to prevent damage to the area surrounding the work device and / or damage to the work device.

[0005] US 2028 / 333869 A1 discloses a generic mobile robot comprising a sensor. The sensor detects an obstacle in a detection area in front of the robot. US 2028 / 333869 A1 discloses a method when the sensor detects an obstacle in a detection area. Depending on the area in which the obstacle was detected, the mobile robot can decelerate or stop immediately.

[0006] US 2021 / 157326 A1 discloses a robot that immediately stops when an obstacle is detected in a predefined area or reduces the robot's driving speed when an obstacle is detected in another predefined area. Furthermore, US 2021 / 157326 A1 discloses different lighting modes depending on the area in which an obstacle is detected.

[0007] US 2017 / 183005 A1 discloses a material handling vehicle that scans at least two areas to detect an obstacle in front of the vehicle. If an obstacle is detected in the first area, braking is triggered. If an obstacle is detected in the second area, braking is also triggered.

[0008] The invention is therefore based on the object of specifying a method for operating a work device by which operational safety and reliability are increased, and of specifying a work device, in particular for commercial applications, by which operational safety and reliability are increased.

[0009] The aforementioned object is achieved by a method according to claim 1. The working device is designed to move autonomously in a processing environment. The method comprises at least the following method steps: Detecting a safety-relevant operating situation using at least one first sensor system of the working device, initiating a braking process, wherein the braking process includes the use of at least one drive motor of the working device to reduce the speed when a critical operating situation has been detected, processing at least one driving parameter determined after initiating the braking process, selecting between continuing the braking process or triggering an emergency braking process depending at least on the processed driving parameter, and in particular operating the working device on the basis of the selection.

[0010] The work device is designed for autonomous movement within a processing environment and for completing work tasks. For example, the work device is designed as a cleaning device, a transport device in transport logistics, or a security robot for environmental monitoring.

[0011] The work device is preferably designed as a cleaning device for cleaning a processing environment. The work device designed as a cleaning device is advantageously a cleaning device with a suction and / or wiping function, in particular a vacuum robot, a wiping robot, or a vacuum and wiping robot.

[0012] The method for operating a work device comprises detecting a safety-relevant operating situation using at least one sensor system of the work device. Safety-relevant operating situations are, for example, situations in which the sensor system required for the navigation of the work device, in particular at least one sensor of the sensor system, detects, for example, the risk of damage to the work device and / or the risk of the work device causing damage in the processing environment. For this purpose, it is provided, for example, that the control device of the work device continuously processes sensor information, for example, data, signals, or measured values, and detects a safety-relevant operating situation based on predetermined criteria. This detection is advantageously carried out by means of the control device.

[0013] If a safety-relevant operating situation is detected by the control device, the control device initiates a braking process. The braking process comprises reducing the speed of the working device using at least one drive motor of the working device. It is preferably provided that the working device has at least two drive units, each having at least one drive motor, a gearbox, and a drive wheel. The drive wheel can be driven by the drive motor. For example, it is provided that initiating the braking process includes controlling at least one drive motor or all drive motors such that the drive motor or motors move counter to the current direction of travel. Such control is usually carried out with a corresponding control command or control signal to the drive motors.However, due to the inertia of the mass, a drive motor in motion is not able to immediately stop its movement or move in the opposite direction after receiving a corresponding control signal, which results in a certain time delay.

[0014] After the control device initiates the braking process, at least one driving parameter determined after the braking process is processed. The driving parameter can be, for example, a speed and / or a direction of movement and / or another driving parameter. Particularly suitable driving parameters are all parameters that determine the state of motion of the implement and / or that establish a relationship between the movement of the implement and the environment of the implement.

[0015] Depending on the processed driving parameter, for example a speed detected after the start of the braking process, or a result of the processing, a selection is made by the control device, deciding between continuing the braking process or activating an emergency braking process.

[0016] Continuation of the braking process is selected, for example, if, using at least the processed driving parameter, the control device can assess that the occurrence of a damaging event, such as a collision or a fall of the implement, is prevented. This prevention is achieved by the braking process leading to a complete stop of the implement before the damaging event occurs.

[0017] If the control system, using the processed driving parameter, assesses the situation in such a way that the braking process will not result in the implement stopping in time, i.e., the occurrence of the damage event cannot be prevented by the braking process, the triggering of an emergency braking process is selected. After the selection, the implement is operated based on the selection; therefore, either the braking process continues or the emergency braking process is triggered.

[0018] Preferably, the working device is designed in such a way that, after the emergency braking process has been triggered and after the vehicle has come to a complete stop, it carries out a safety shutdown which, in particular, can only be deactivated manually by a user.

[0019] To meet safety requirements, it is advantageous - as explained above - for work equipment to perform a safety shutdown after performing an emergency braking procedure, which no longer allows normal operation and which must be deactivated by a user. This ensures that the cause of the safety-relevant operating situation has been eliminated before the user resumes operation, or that the work equipment has been returned to a safe environment.

[0020] The invention has the advantage over the prior art that not every safety-relevant situation detected by the control device leads to an emergency stop of the implement, which requires a safety shutdown and interaction with a user. According to the present invention, the effectiveness of the measure taken, in this case the braking process, is checked during the braking process using driving parameters in order to be able to trigger the emergency braking process as part of a further escalation stage. This step-by-step approach increases the autonomy of the implement and minimizes avoidable interactions between a user and the implement.

[0021] A first embodiment of the method provides that the detection of a safety-relevant operating situation occurs using sensor information from at least one sensor or a plurality of sensors of the sensor system. The sensor system of the implement is designed, for example, such that the implement can move autonomously in a processing environment using the sensor system. The sensor system is preferably designed redundantly in order to be able to compensate for the failure of a sensor or individual sensors without jeopardizing the safe operation of the implement. The sensor information is, for example, data, signals, or measured values from at least one sensor or multiple sensors.

[0022] Preferably, the detection of a safety-relevant operating situation occurs using at least one fall sensor and / or at least one collision sensor. For example, the work device has a plurality of fall sensors, which are advantageously designed as distance sensors and are distributed on the underside of the housing. The fall sensors continuously detect the distance of the housing from a surface, e.g., a hall floor, on which the work device is moving. If a significant increase in the distance is detected, the fall sensor or the control device can detect a step in the surface, e.g., the end of a platform or another ledge, which could pose a risk of falling for the work device.

[0023] The fall sensor is envisaged to be designed, for example, as an optical sensor, an acoustic sensor, or another sensor capable of measuring a distance to a surface. The use of non-imaging sensors capable of determining a distance has proven advantageous, as their measured values can be processed more quickly and clearly than, for example, those from imaging sensors. The resulting time savings can be crucial, especially for safety-relevant functions.

[0024] A collision sensor, for example, comprises an imaging sensor and / or a laser distance sensor. The collision sensor advantageously continuously records the surroundings of the work device, for example, in at least one plane, and can detect obstacles or determine or calculate distances to obstacles. The collision sensor is preferably also suitable for mapping the processing environment by storing the sensor information and, in particular, linking it to position data. Safety-relevant operating situations can also be detected using a collision sensor or a plurality of collision sensors, for example, when a person, a vehicle, or another work device is moving rapidly toward the work device or crossing its path.

[0025] In order to advantageously evaluate the success of the braking process, it has proven advantageous according to a further embodiment of the method if at least a speed and / or a direction of movement and / or a distance to an obstacle and / or a distance to a step in the processing environment and / or a distance of the center of gravity of the work device to a step is processed as a driving parameter. The driving parameter is processed in such a way that the control device can evaluate the prospects of success of the braking process. For example, it is also provided that a plurality of the aforementioned driving parameters are processed in order to be able to evaluate the probable success of the braking process.

[0026] Preferably, at least one driving parameter, for example, speed, is determined after a predetermined time has elapsed after the braking process has been initiated. For this purpose, the control device starts a time measurement when the braking process is initiated. After the predetermined time has elapsed, at least one or more driving parameters are determined and processed in order to be able to choose between continuing the braking process or activating the emergency braking process.

[0027] In particular, it is provided that the predetermined time, i.e. the period of time after the braking process has been initiated, after which the driving parameter(s) is / are determined, is selected such that, with the implement's speed remaining unchanged, a damage event has not yet occurred. For example, during processing, the control device takes into account the distance to an obstacle or the distance to a step when setting or selecting the time, for example from a plurality of times stored in a memory. In the event that the critical operating situation was detected using a fall sensor, it is provided in particular that the time is set or selected such that the centre of gravity of the implement has not yet exceeded a step.

[0028] Alternatively, it is also preferably provided that the time after which at least one or more driving parameters are determined after the start of the braking process is set as a fixed period, for example, a period between 3 milliseconds and 15 milliseconds. A period between 5 milliseconds and 10 milliseconds has proven particularly advantageous. After this time, a sufficient assessment of the expected success of the braking process can usually already be made.

[0029] In particular, it is provided that the driving parameter(s) are determined using one or more sensors of the sensor system of the implement, which are already present in the implement for implementing autonomous navigation of the implement. For example, according to a further embodiment, it is provided that the current speed is determined as a driving parameter using a distance measuring sensor. For example, the distance measuring sensor comprises at least one sensor or a plurality of sensors in at least one drive wheel, preferably in each drive wheel present. Alternatively or additionally, it is provided that the speed is determined using an inertial measuring unit and / or a gyro sensor.

[0030] Furthermore, it is provided that the processing of at least one driving parameter or the processing of a plurality of driving parameters comprises comparing at least one driving parameter with at least one driving parameter setpoint stored in a memory. The driving parameter setpoints are stored, for example, in a memory of the control device. During processing, the determined driving parameter is compared, for example, with a driving parameter setpoint determined for comparable situations. If the currently determined driving parameter is greater than the driving parameter setpoint, for example, this can be a criterion for determining that the braking process will not prevent the damage event, so that the activation of the emergency braking function can then be selected on this basis.

[0031] For example, if the currently determined driving parameter is lower than the driving parameter setpoint used for the comparison, this can be a criterion for determining whether braking will prevent the damage event. The driving parameter setpoint can, for example, represent a speed that must already be reached at a certain distance from an obstacle or step, also determined, in order to implement a braking action that prevents a damage event before reaching the obstacle or step.

[0032] Particularly preferably, the processing of the at least one driving parameter includes comparing the speed after a predetermined time after initiating the braking process with at least one speed target value stored in a memory as the driving parameter target value. For example, it is provided that at least one driving parameter target value held in the memory represents at least a percentage reduction in an initial speed (for example, the speed at the start of the braking process) after a predetermined time. Advantageously, the driving parameter target value is set or empirically determined such that a predetermined percentage reduction in the initial speed must have occurred after a predetermined time in order to be able to assess that the braking process will prevent the damage event.

[0033] However, it has proven particularly advantageous if, according to a further embodiment, different driving parameter target values are stored in the memory for different configurations of the implement, and the processing of the driving parameter, i.e., the comparison with the stored driving parameter target values, takes into account the current configuration of the implement. The configuration of the implement, for example, the actual dimensions of the housing, but also the number of energy storage devices used, influence, for example, the stopping distance of an implement after initiating a braking operation.

[0034] It is intended that the implement, for example, detects its current configuration, for example using sensors, and takes this into account when processing the driving parameter. In particular, it selects the driving parameter target values for comparison in such a way that the driving parameter target values for the current configuration are used for processing. The driving parameter target values are, for example, empirically determined for various boundary conditions, e.g., stopping distances for different weights or speeds, or calculated for various boundary conditions, or determined by simulation.

[0035] Alternatively or additionally, different driving parameter setpoints for different processing environments are stored in the memory. For example, processing environments, especially the surfaces, have different properties, which, in interaction with the drive wheels of the implement, result in different friction properties. These, in turn, influence the stopping distance, so that different driving parameter setpoints are also used for calibration depending on the processing environment in which the implement is currently being used. This allows the influence of particularly smooth or particularly rough floor coverings on the stopping distance to be taken into account when evaluating the success of the braking process.

[0036] A further embodiment advantageously provides that the different configurations of the work device take into account different housing dimensions and / or the position of the center of gravity in the housing and / or the presence of an accessory component mounted on the work device and / or the fill level of a cleaning water tank and / or the fill level of a dirt collection container. For example, the work device detects that an accessory component, such as a tool, a water tank or similar, is mounted on the housing, which changes the position of the center of gravity of the work device. For the comparison during processing, different driving parameter target values are then used than if the accessory component, an additional battery or similar were not present. The same applies to the fill level of a cleaning water tank or the fill level of a dirt collection container, both of which influence the position of the center of gravity in the housing.

[0037] For example, if a fall from a step is to be prevented, the position of the center of gravity in the implement's housing can have a significant influence on how much time remains for braking before the center of gravity has cleared the step. Knowledge, particularly of the position of the implement's center of gravity in the housing, therefore has a significant influence on the assessment of whether braking will prevent a damage event. Preferably, separate driving parameter setpoints are stored in memory for all of these configurations or a combination thereof.

[0038] It is also planned that weighting factors will be provided for specific configurations. For each driving situation, e.g., a combination of speed and distance to an obstacle, there is only one driving parameter setpoint, which is then recalculated or adjusted by the control unit, taking into account weighting factors that represent the configuration of the implement. It is also planned that one or more weighting factors will be applied to the driving parameter when it is processed.

[0039] A further embodiment provides that during the processing, in particular as a result of the processing, a selection or result value is generated, and that the selection value represents a statement as to whether the occurrence of a damage event resulting from the safety-relevant operating situation can be prevented by the braking process. Based on the selection value, the control device then selects whether the emergency braking process is activated or whether the braking process can be continued. After the selection, the work device is operated with the selected process.

[0040] Furthermore, according to a further embodiment, it is provided that the processing of the driving parameter includes the determination of a probability, in particular a probability that represents the prevention of a damage event with the braking process or the occurrence of the damage event when the braking process is continued. For example, it is provided that the selection is then made on the basis of the determined probability. In particular, the probability at which the braking process will be continued and the probability at which the emergency braking function will be activated have been defined in advance. It is provided that at least one driving parameter or a plurality of driving parameters is / are taken into account when determining the probability. The driving parameter(s) include, for example, the current speed, the speed profile and / or the distance to obstacles or steps.Furthermore, the current configuration of the work device can be taken into account.

[0041] As already described, the activation of the emergency braking process is selected when, depending on the processing of the driving parameter or a plurality of driving parameters, the occurrence of a damage event cannot be prevented by the braking process, i.e. the assessment shows that the braking process is unlikely to be successful.

[0042] The selection to continue the braking process occurs when the evaluation during processing of the driving parameter shows that the occurrence of a damage event can be prevented by the braking process. Preferably, after the selection to continue the braking process, the braking process continues until the implement comes to a complete standstill. For example, after the implement has come to a complete stop, the implement's sensor system analyzes the implement's surroundings. If a critical operating situation no longer exists, operation can be continued after the implement has come to a standstill, preventing the occurrence of the damage event.

[0043] If the critical operating situation involves a step, for example, the working device is stopped before the center of gravity extends beyond the step. The direction of movement can then be changed, for example, and the cleaning process can be continued, in particular parallel to the step. The control unit is in particular designed and configured in such a way that a detected, safety-relevant operating situation can be stored at least temporarily. Storing the operating situation preferably has the effect that the cause, for example a step, is at least temporarily disregarded for further operation or the further completion of a processing task, because, for example, a change of direction has been completed and a movement parallel to the step now occurs.For example, the sensor information from at least one sensor is temporarily ignored, especially for detecting safety-relevant operating situations. For example, when moving parallel to a step, a laterally mounted fall sensor continues to detect the step, but the control unit can evaluate this sensor information as non-critical due to the stored event and the resulting change of direction and continue operation.

[0044] This state-of-the-art technology offers the advantage that the implement can be operated very close to building edges, such as steps, without activating an emergency braking procedure. This adapted behavior results in greater autonomy of the implement while simultaneously expanding its operating range.

[0045] According to a further embodiment, it has proven advantageous if initiating the braking process comprises controlling at least one drive motor, in particular all drive motors, with a control command that causes the drive motor or motors to execute a travel movement aimed at reducing the speed of the implement. In particular, the goal is to reduce the speed of the implement as quickly as possible until it comes to a standstill. For example, the drive motor or motors are controlled to execute a travel movement opposite to the current direction of movement. Alternatively, it is provided that initiating the braking process involves interrupting the power supply to the drive motor or motors.

[0046] It has also proven particularly advantageous if the triggering of an emergency braking function includes the triggering of a separate emergency braking system. In particular, the emergency braking system is designed such that, after triggering, the mechanical application of a braking force with at least one braking element is effected at least indirectly on a moving component. The moving component preferably serves to effect movement of the implement, for example a rotor of a motor, a motor shaft or a component of a transmission. It is also provided that at least one braking ring is arranged on the motor shaft and that the braking element is designed to act on the braking ring. Due to the mechanical action of the braking element on a moving, in particular rotating, component, a drive unit of the implement can be braked or blocked immediately.

[0047] Preferably, each drive unit has at least one braking element, which preferably acts on an external rotor of a motor, at least indirectly on a motor shaft, or on a braking ring arranged on a motor shaft. This allows a significant braking effect for the implement to be achieved with a relatively low actuating force. Preferably, the implement has two drive units, each having a braking element. It is also provided that a braking element acts directly on the running surface or another surface of a drive wheel in order to inhibit, stop, or block movement of the drive wheel.

[0048] A further embodiment of the method provides that the implement has at least two drive units, each with a braking element. Each drive unit has, for example, a drive motor, a gearbox, and a drive wheel. The braking element is designed, for example, to act on an external rotor of the motor or at least indirectly on a motor shaft. For example, it is provided that the braking element is constantly urged by a spring toward the surface of the rotor or the motor shaft, so that the emergency braking system is activated in the de-energized state.

[0049] Furthermore, at least one actuator is provided that moves the braking element into a release position when the implement is to be operated in the normal state. This creates an emergency braking system that is less prone to errors.

[0050] In particular, it is intended that the emergency braking function is triggered selectively for at least one drive unit. This can not only decelerate the implement but also generate a short-term change of direction. For example, if a drive unit is completely blocked by the emergency braking function, this can lead to rotation, i.e., an immediate change of direction of the implement, which prevents the occurrence of a damaging event, such as a fall from an edge, by causing the implement to move in a different direction.

[0051] It has proven particularly advantageous in one embodiment of the method if the method also includes the following process steps: Measuring the time after initiating the braking process; determining the current speed after a predetermined time, for example 5 ms, 8 ms or 10 ms, has elapsed after initiating the braking process, wherein the predetermined time is selected such that a damage event has not yet occurred even without reducing the speed, for example the center of gravity of the implement has not yet exceeded a step; comparing the current speed with at least one speed target value stored in a memory, wherein the speed target value was determined taking into account a specific implement configuration which corresponds to the current implement configuration, and wherein the result of the comparison allows an assessment by the control device as to whether or not the damage event can be prevented by the braking process.If the damage event can be prevented, the braking process continues; if the damage event cannot be prevented, the emergency braking function is triggered.

[0052] The object stated above is further achieved by a work device that is designed and configured to carry out a method according to at least one of the exemplary embodiments described above. Preferably, the control device of the work device is designed and configured such that a previously described method can be carried out by the control device with the work device. The work device has at least one housing, at least one drive unit, at least one sensor system, and at least one control device. The drive unit has at least one drive motor and at least one drive wheel. Preferably, the drive unit also has a transmission. The work device is designed and configured to move autonomously in a processing environment.

[0053] The sensor system comprises at least one sensor or a plurality of sensors. The sensor system is advantageously designed to provide sensor information. The control device controls the autonomous movement and cleaning of a processing environment by the cleaning device. The control device preferably comprises at least one data processing device with at least one processor and at least one memory.

[0054] The implement preferably has at least one second control device. The second control device advantageously has at least one data processing device with at least one processor and at least one memory. The second control device is designed and configured to assume at least some or all of the tasks of the first control device as a redundant system if a malfunction occurs in the first control device.

[0055] For example, at least or exactly two drive units are arranged on the housing of the implement, each having at least one drive motor, in particular an electric motor, and at least one drive wheel. The drive motor is preferably a brushless DC motor, in particular a brushless DC motor designed as an external rotor. The two drive motors of the drive units can be controlled independently of one another. Each drive motor at least indirectly drives at least or exactly one drive wheel. For example, a gear unit is also provided between the drive motor and the drive wheel of a drive unit.

[0056] Furthermore, the working device has at least one energy storage device, which is designed to supply power to the working device, in particular to supply power to the control device and in particular to a working tool, in particular a cleaning tool, and is electrically connected in the housing. For example, the energy storage device is designed as an accumulator with at least one cell, in particular a plurality of cells.

[0057] Further advantageous embodiments of the invention emerge from the following description of the figures and the dependent subclaims.

[0058] They show: Fig. 1 shows an embodiment of a working device in a processing environment, Fig. 2 shows an embodiment of a schematic sequence of a method and Fig. 3 shows a further embodiment of a schematic sequence of a method.

[0059] InIn the various figures of the drawing, identical parts are always provided with the same reference symbols.

[0060] With regard to the following description, it is claimed that the invention is not limited to the exemplary embodiments and not to all or several features of described combinations of features, but rather each individual partial feature of the / each exemplary embodiment is also important for the subject matter of the invention, even independently of all other partial features described in connection therewith, and also in combination with any features of another exemplary embodiment.

[0061] Fig. 1 shows an embodiment of a working device 10 designed as a cleaning robot. The working device 10 has at least one housing 20 with two drive units 30 and at least one control device. The drive unit 30 has at least one drive motor and at least one drive wheel 40.

[0062] The working device 10 is designed and configured to move autonomously within a processing environment 50. The working device 10 has a sensor system 60.

[0063] Fig. 2 shows an exemplary embodiment of a schematic sequence of a method 1 for operating a working device 10. The method 1 comprises the detection 2 of a safety-relevant operating situation using at least one sensor system 60 of the device 10. For example, a fall sensor detects that the working device 10 is located at a step in the processing environment 50 or is moving towards a step. Subsequently, a braking process is initiated 3, in which at least one drive motor of the working device 10 is controlled by a travel command to move opposite to the current direction of movement in order to brake the working device 10.

[0064] After initiating 3 the braking process, at least one driving parameter 5 detected after initiating 3 the braking process is processed 4, followed by a selection 6 between continuing the braking process or activating an emergency braking process depending at least on the processed driving parameter 5. Finally, the operation 7 of the work device 10 takes place based on the selection, namely continuing the braking process or activating the emergency braking process. The method is preferably carried out continuously during operation of a work device 10. For this purpose, the processing environment 50 is monitored during operation using the sensor system 60.

[0065] Fig. 3shows a further embodiment of a schematic sequence of a method 1. First, the detection 2 of a safety-relevant operating situation takes place again using at least one sensor system 60 of the working device 10. Subsequently, the initiation 3 of a braking process takes place using at least one drive motor of the working device 10 if a critical operating situation has been detected.

[0066] Subsequently, as part of the processing 4, a time lapse is measured 8 in order to record at least one driving parameter 5 after a predetermined time, here 8 ms, has elapsed. The driving parameter 5 is the current speed of the implement 10. The processing 4 comprises comparing 4a the recorded driving parameter 5 with a driving parameter setpoint 9, here a speed setpoint, stored in a memory. If the recorded driving parameter 5 is below the driving parameter setpoint 9, a selection 6 to continue the braking process takes place; if the recorded driving parameter 5 is above the driving parameter setpoint 9, a selection to trigger the emergency braking process takes place, and subsequently an operation 7 of the implement 10 based on the selection. List of reference symbols

[0067] 10Working device 20Housing 30Drive unit 40Drive wheel 50Processing environment 60Sensor system 1Procedure 2Detect 3Initiate 4Process 4aCompare 5Drive parameters 6Select 7Operate 8Measure 9Drive parameter setpoint

Claims

1. Method (1) for operating a working device (10), wherein the working device (10) is arranged to move autonomously in a processing environment (50), at least comprising the following method steps: - Detection (2) of a safety-relevant operating situation using at least one sensor system (60) of the working device (10), - Initiating (3) a braking process, the braking process including using at least one drive motor of the working device (10) to reduce speed when a critical operating situation has been detected, characterized in that further the following method steps are comprised: - Processing (4) at least one driving parameter (5) determined after initiating (3) the braking process, wherein the processing (4) of the at least one driving parameter (5) comprises the comparison (4a) with at least one driving parameter setpoint (9) stored in a memory, - Selecting (6) between a continuation of the braking process or the initiation of an emergency braking process depending at least on the processed driving parameter.

2. Method (1) according to claim 1, characterized in that the detection (2) is carried out using sensor information of at least one sensor or a plurality of sensors of the sensor system (60), in particular the use of sensor information of at least one fall sensor and / or at least one collision sensor is carried out.

3. Method (1) according to claim 1 or 2, characterized in that at least a speed and / or a direction of movement and / or a distance to an obstacle and / or a distance, in particular a distance of the center of gravity of the working device (10) to a step is processed (4) as a driving parameter (5).

4. Method (1) according to any one of claims 1 to 3, characterized in that the driving parameter (5) is determined after a predetermined time has elapsed after the initiation (3) of the braking process, preferably in that the time is selected such that, at undiminished speed of the working device (10), a damage event has not yet occurred after the time has elapsed, for example between 3 ms and 15 ms, preferably between 5 ms and 10 ms.

5. Method (1) according to any one of claims 1 to 4, characterized in that the current speed is determined as a driving parameter (5), and in that the current speed is determined using a displacement sensor, in particular having at least one encoder in at least one drive wheel, and / or an inertial measurement unit and / or a gyro sensor.

6. Method (1) according to any one of claims 1 to 5, characterized in that the processing (4) of the at least one driving parameter (5) comprises the comparison (4a) of the current speed with at least one speed setpoint stored in the memory.

7. Method (1) according to claim 5 or 6, characterized in that at least one driving parameter setpoint (9) represents at least one speed value which has been determined taking into account a configuration of the working device (10) and / or in that at least one driving parameter setpoint (9) stored in the memory represents at least a percentage reduction of an output speed by a predetermined value after a predetermined time.

8. Method (1) according to any one of claims 5 to 7, characterized in that different driving parameter setpoints (9) for different configurations of the working device (10) are kept ready in the memory, and in that the processing (4) of the driving parameter (5) takes place taking into account a current configuration of the working device (10), in particular in that the different configurations of the working device (10) take into account different housing dimensions and / or the position of the center of gravity in the housing (20) and / or the presence of an accessory component mounted on the working device (10) and / or the filling level of a cleaning water tank and / or the filling level of a dirt collection tank.

9. Method (1) according to any one of claims 1 to 8, characterized in that a selection value is generated in the course of the processing (4), and in that the selection value represents a statement as to whether the occurrence of a damaging event resulting from the safety-relevant operating situation can be prevented by the braking process, in particular in that the generation of the selection value includes a comparison (4a) with a driving parameter setpoint (5) held in a memory.

10. Method (1) according to any one of claims 1 to 9, characterized in that the processing (4) includes determining a probability, in particular a probability representing the prevention of a damaging event with the braking process or the occurrence of the damaging event if the braking process continues.

11. Method (1) according to any one of claims 1 to 10, characterized in that the selection (6) of the triggering of the emergency braking process takes place if, depending on the processing (4) of the driving parameter (5), the occurrence of a damaging event cannot be prevented with the braking process, in particular on the basis of a probability determined in the course of the processing (4).

12. Method (1) according to any one of claims 1 to 11, characterized in that the selection (6) of the continuation of the braking process takes place if, depending on the processing (4) of the driving parameter (5), the occurrence of a damaging event can be prevented with the braking process, in particular that after a selection (6) of the continuation of the braking process, the braking process is continued until a complete standstill of the working device (10), and that after the standstill of the working device (10), an operation is continued while avoiding the occurrence of the damaging event.

13. Method (1) according to any one of claims 1 to 12, characterized in that the initiation (3) of the braking process comprises the control of at least one drive motor, in particular of all drive motors, with a control command which causes the drive motor or the drive motors to execute a driving movement which has as its objective a reduction in the speed of the working device (10), in particular to execute a driving movement counter to the current direction of movement, or in that the initiation (3) of the braking process includes an interruption of the voltage supply to the drive motor or the drive motors.

14. Method (1) according to any one of claims 1 to 13, characterized in that the triggering of the emergency brake function includes the triggering of a separate emergency brake system, in particular that the emergency brake system after a triggering causes the mechanical application of a braking force with at least one brake element to at least one component moving to cause a movement of the working device (10), for example a rotor of a motor or a component of a gearbox, preferably that the triggering of the emergency brake function includes the interruption of the voltage supply of the drive motor or the drive motors.

15. Working device (10), having at least one housing (20), at least one drive unit (30), at least one environment sensor (60) and at least one control device, the drive unit (30) having at least one drive motor and at least one drive wheel (40), the working device (10) being designed and set up to move autonomously in a processing environment (50), characterized in that the working device (10) is constructed and arranged for carrying out a method (1) according to any one of claims 1 to 14.