METHOD FOR AUTONOMOUS PROCESSING OF SOIL SURFACES

Description

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

[0002] Mobile, self-driving devices, such as robotic vacuum cleaners, are designed to autonomously clean as much of the floor area as possible. Conventional mobile, self-driving devices use appropriate sensors, such as cameras and object recognition algorithms, to detect various obstacles on the floor ahead and then navigate around them. This prevents the device from colliding with, getting stuck on, or sucking up obstacles. For example, the device can identify narrow passages before reaching them. By evaluating sensor data, the device often avoids entering areas with problematic spots altogether if the passageways are too narrow.

[0003] For example, it is known from the publications US 2019 / 025838 A1, US 2020 / 225673 A1 and CN 106 983 454 A to classify obstacles or floor areas with sensors and to control the robot's driving or cleaning behavior based on this classification.

[0004] The floor cleaning area includes areas with limited space, such as between chair and table legs, from which the mobile, self-propelled device may be unable to find a way out or may even become wedged between obstacles. If the mobile, self-propelled device is unable to free itself, it cannot complete its cleaning work and requires human assistance. If the mobile, self-propelled device lacks suitable sensors to detect such confined spaces before entering them, the frequency of user intervention for floor cleaning increases significantly.

[0005] To minimize these interventions, so-called no-go zones are usually implemented, for example, around chairs and tables. These are areas that the mobile, self-driving device should not enter, preventing it from encountering difficult situations it cannot manage on its own. The disadvantage of this is that these areas will not be cleaned. If a no-go zone cannot or should not be established, the user must move or stack the chairs before the cleaning process begins so that the mobile, self-driving device can then clean unimpeded without further intervention from the user.

[0006] It would be advantageous to reduce the need for user assistance in situations from which the mobile, self-driving device cannot free itself, or the preparation of the area to be cleaned, in particular the removal or raising of chairs.

[0007] The object of the invention is therefore to provide a method for the autonomous processing of floor surfaces with reduced user intervention, in which, in particular, the most complete possible cleaning of the floor surface can be ensured without the device getting stuck, preferably by reducing critical situations based on increased interaction between user and device and / or by postponing critical situations, especially those critical situations that require user intervention for floor cleaning.

[0008] This problem is solved by a method for treating ground surfaces with the features of claim 1 and by a mobile, self-propelled device with the features of claim 9. Advantageous embodiments and further developments are the subject of the dependent claims.

[0009] According to the invention, a method for the autonomous processing of floor surfaces using a mobile, self-driving device, in particular a floor cleaning device such as a vacuuming and / or sweeping and / or mopping robot, comprises the following method steps: Conducting an exploratory drive of the mobile, self-propelled device in a designated soil cultivation area and creating an environmental map; detecting a critical area with limited space using sensors of the mobile, self-propelled device from various directions; evaluating the structure of the critical area using knowledge of the device's own size and capabilities based on predetermined criteria to calculate the probability of the device becoming stuck in the critical area; interacting with a user of the mobile, self-propelled device regarding further action; and / or determining a processing sequence for different areas of the soil cultivation area, with the critical area being placed last in the processing sequence. The user sets a threshold value for the probability of the device getting stuck in the critical area, above which the mobile, self-propelled device does not begin processing the ground surface and / or omits the critical area and / or parts of the critical area when processing the ground surface.

[0010] This document describes a method in which the device uses its sensors to detect critical areas more intensively and precisely, and analyzes their structure in greater detail. The critical area is preferably measured from multiple positions and directions. With this detailed information, the device can evaluate various criteria, such as which cleaning strategy and / or process will best clean the floor area. The user can then be presented with various criteria. In addition to simply notifying the user, the system can also be interactive, for example, by showing the user what results can be achieved if they, for instance, move the chairs out of the way.Additionally, the device can, for example, display individual obstacles during user interaction, which can significantly improve the cleaning result. The inventive method advantageously maps critical areas in more detail, and by adjusting the cleaning behavior accordingly or providing user feedback, blockages in these areas can be avoided, thus enabling more effective cleaning. Furthermore, the increased interaction between user and device, particularly through the device informing the user about the likelihood of blockages before cleaning begins, increases the user's awareness of critical areas and their acceptance of any necessary interventions.

[0011] Additionally or alternatively, situations where a delay in processing or even the risk of the device jamming could occur are placed last in the processing sequence. Areas that are easy to clean are therefore cleaned first. The order in which individual areas are processed is predetermined or determined in such a way as to avoid interrupting or halting the cleaning process at the beginning.

[0012] For example, cleaning can become difficult if there are many obstacles such as chair legs or carpet edges. Ideally, the cleaning area should be divided into sections with few or no easily navigable obstacles, and sections with many obstacles or obstacles that may be difficult to navigate. This division can be done manually by the user or automatically by the device. For instance, the division into individual sections can be done via an app on the user's portable device. The user can define virtual boundaries in the app, numbering the sections and thus establishing a cleaning sequence. The device would then first clean the section numbered, for example, 1, before processing the subsequent sections (2, 3, ...) sequentially.Areas that are easy to clean are prioritized over areas that are difficult to clean, so the risk of the device getting stuck only increases towards the end of the cleaning process.

[0013] Alternatively, the device can automatically detect and identify areas within the cleaning area where difficulties may arise. This is achieved using the device's navigation sensors and / or object recognition sensors. Additionally, any obstacle that causes the device cleaning difficulties can be designated as a critical area for future cleaning tasks.

[0014] Furthermore, the device can measure, area by area, how long it took to clean, for example, one square meter of an area. The device has access to the recorded time history and can analyze it accordingly. Areas where the device took the longest to clean are cleaned last.

[0015] The machine automatically divides the soil cultivation area into critical zones. The machine itself determines the cleaning sequence based on relevant criteria, taking into account the size, shape, and number of obstacles per zone unit, as well as the estimated cleaning time for each zone unit. Optionally, the user can modify the machine's predefined cleaning sequence to suit their own requirements.

[0016] A mobile, self-propelled device is understood to be, in particular, a floor cleaning device, such as a cleaning or lawn mowing machine, which autonomously cleans floors or lawns, especially in the household. This includes, among other things, vacuuming and / or sweeping and / or mopping robots, such as robotic vacuum cleaners or robotic lawn mowers. These devices operate (cleaning or mowing) preferably with little or no user intervention. For example, the device autonomously moves to a predefined area to clean the floor according to a pre-programmed cleaning strategy.

[0017] A floor treatment area is any spatial area intended for treatment, particularly cleaning. This can be, for example, a single (living) room or an entire apartment. It can also include only areas within a (living) room or apartment that are designated for cleaning.

[0018] An exploratory drive is understood to be, in particular, a reconnaissance trip suitable for exploring a soil area to be cultivated, looking for obstacles, spatial layout, and similar features. The aim of an exploratory drive is, in particular, to be able to assess and / or document the conditions of the soil cultivation area to be worked.

[0019] After the exploration drive, the mobile, self-driving device knows its surroundings and can share this information with the user in the form of an environmental map, for example, via an app on a mobile device. The user can then interact with the mobile, self-driving device using this environmental map. The user can conveniently view information in the environmental map and, if necessary, modify and / or adapt it.

[0020] A site map is understood to be any map suitable for depicting the area surrounding the soil cultivation area, including all its obstacles and objects. For example, the site map shows the soil cultivation area, including any furniture and walls within it, in a sketchy manner.

[0021] Obstacles are understood to be any objects and / or items located in the soil processing area, for example lying there, that affect the processing by the mobile, self-propelled device, in particular hindering and / or disturbing it, such as furniture, walls, curtains, carpets and the like.

[0022] The map of the environment, including obstacles, is preferably displayed in the app on a portable device. This serves primarily to visualize potential interactions for the user.

[0023] Interaction between device and user encompasses any possibility of information exchange. Specifically, the device can provide the user with information about the area to be worked, as well as information on the probabilities and solutions to problems that may arise during cleaning. The user can also be provided with selection and / or decision-making aids and / or input fields, which are then transmitted to the device.

[0024] 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.

[0025] The portable accessory has an app installed, specifically a cleaning app, which facilitates communication between the mobile, self-driving device and the accessory. This app provides a visualization of the cleaning area, i.e., the living space or apartment to be cleaned. The app preferably displays the cleaning area to the user as a map, along with any obstacles.

[0026] Sensors are defined as any detection device capable of reliably detecting obstacles, preferably from different directions. Examples include sensor-based, laser-based, and / or camera-based devices.

[0027] A critical area is understood to be any part of the soil cultivation equipment that makes soil cleaning difficult for the mobile, self-propelled machine. For example, a critical area has narrow passages that the machine must navigate around or where the machine can become stuck.

[0028] Different directions refer specifically to detection from different perspectives. For example, the device circles the critical area and scans it as it does so. This allows the device to detect the critical area from different directions and continuously improve the accuracy of the mapping of the critical area.

[0029] Predetermined criteria are understood to be, in particular, criteria that further define the critical area. Examples include the number and / or exact position of the chair or table legs, the precise measurement of the critical area, the proportion of cleanable surface within the critical area, and / or the probability of the device becoming stuck within the critical area.

[0030] Evaluation, in particular, means drawing conclusions from predetermined criteria that aim specifically at achieving an optimal cleaning result in the critical area, such as an optimal cleaning strategy for the critical area, an optimized cleaning process in the critical area, indicating areas that are inaccessible during cleaning, and / or showing improved cleaning results under changed conditions in the critical area, such as moving chairs in the critical area to cover a larger cleaning area.

[0031] Further action refers specifically to how the mobile, self-driving device should proceed based on the evaluation results. For example, further action could include starting or ending the cleaning process. Alternatively or additionally, further action could involve excluding certain areas or sub-areas from the device's cleaning activity.

[0032] In an advantageous embodiment, the detection of the critical area occurs automatically, particularly depending on the device, or depending on the user. For example, if the mobile, self-driving device detects an area with numerous chair and / or table legs, its sensors automatically detect this area more intensively by driving around the critical area and scanning it from different directions. The structure of the critical area is then evaluated. This can happen automatically, i.e., automatically, upon detection of the relevant critical areas. Alternatively, the detection of the critical area can be triggered by the user via a corresponding program, such as a "Table & Chair" program in the relevant cleaning app. In this case, user interaction is necessary to start the program and begin the detection process.

[0033] In a further advantageous embodiment, the mobile, self-propelled device creates a detailed map, particularly one that is up-to-date, after capturing the critical area. Specifically, an accurate map is created by measuring the critical area from multiple positions and directions. The mobile, self-propelled device can then analyze this detailed map, which, unlike the map of the environment stored in memory from the initial exploration, contains the actual positions of the chair and table legs at any given time, in greater detail.

[0034] In a further advantageous embodiment, the evaluation includes at least one of the following criteria: Cleaning procedure, proportion of the area that can be cleaned in the critical area, information on inaccessible areas, marking of obstacles in the critical area that affect floor cleaning, and / or information on an improved cleaning result, especially in the case of possible intervention by the user such as the removal of the obstacle by the user, information on upcoming user-dependent cleaning tasks.

[0035] Using the detailed map and its knowledge of the mobile, self-driving device's own size and capabilities, the device can analyze which cleaning strategy and sequence will be optimal for cleaning the floor area. Furthermore, the device can determine in advance what percentage of the floor area it can reach with the current positioning of chairs and / or tables. The device can also calculate the probability of becoming stuck in the given situation. The user can then be informed, for example via the cleaning app, how well the expected floor area can be cleaned and whether there are any inaccessible areas.In addition to simply notifying the user, the system can also offer an interactive feature by showing the user what results could be achieved if they were to remove chairs, tables, and / or other obstacles. Furthermore, the device can highlight individual obstacles, such as chairs, on the detailed map, for example, by color-coding them, indicating that removing them would significantly improve the cleaning results.

[0036] In another advantageous embodiment, interaction takes place via an app on a portable accessory belonging to the user. The accessory thus provides a flexible connection between the device and the user, enabling enhanced interaction.

[0037] In another advantageous embodiment, the interaction with the user involves asking the user about the next steps. The device and the user thus form a cooperative team to achieve the best possible cleaning result. Here, the user assists the device with tasks that the device recognizes as such but cannot perform alone, such as moving or adjusting chairs to achieve optimal cleaning. The device can indicate to what extent and by what percentage, for example, such a user action will influence and, in particular, improve the cleaning result. With this information, the user can decide whether the indicated improvement makes the suggested action worthwhile.

[0038] In another advantageous embodiment, the mobile, self-driving device begins cleaning the floor area if there is no feedback from the user. If the user does not respond to the device's request, the device starts the cleaning program for the floor area, regardless of any potentially inaccessible critical areas. Thus, if the user cannot be reached via the app, for example, the cleaning is not blocked but begins as planned, thereby advantageously reducing cleaning delays.

[0039] According to the invention, the user sets a threshold value for the probability of the device getting stuck in the critical area. This threshold value prevents the mobile, self-driving device from starting, stopping, or deactivating, and / or from cleaning the floor surface, and / or from cleaning the critical area. Thus, when setting up their mobile, self-driving device and the associated app, the user can specify threshold values ​​beyond which the cleaning program should not start at all, as the result would not be sufficiently satisfactory. Furthermore, the user can define a threshold value, for example, for the probability of getting stuck, beyond which the device should skip the critical area to prevent potential jamming and the associated interruption of the cleaning program.

[0040] In another advantageous embodiment, the interaction includes a prompt to the user to make changes in the critical area to achieve the best possible cleaning result, and / or evaluations of the changes in the critical area. Thus, in addition to simply notifying the user of the presence of critical areas, the app displays information on how these critical areas can be prevented or improved with regard to the cleaning result. Furthermore, the individual critical areas can be evaluated and displayed to the user with respect to their impact on the cleaning result. For example, the app might indicate that the identified critical area will only allow for 30 percent cleaning of the surface if the user does not actively modify the critical area, for example, by moving a chair.

[0041] According to the invention, a mobile, self-driving device, in particular a floor cleaning device for autonomously processing floor surfaces such as a vacuuming and / or sweeping and / or mopping robot, which is suitable for carrying out the method according to the invention, comprises a detection device for detecting obstacles and / or objects and critical areas with limited space from different directions, an evaluation unit for evaluating a setup of the critical areas with knowledge of the device's own size and capabilities based on predetermined criteria in order to calculate a probability of the device getting stuck in the critical area, and an interaction unit for interacting with a portable accessory device of a user regarding the further procedure.

[0042] A detection device is any device capable of reliably detecting obstacles, preferably from different directions. This device is preferably sensor-based, laser-based, and / or camera-based. The mobile, self-propelled device preferably includes suitable sensors such as a 3D camera, a PMD sensor, 3D LiDAR, or a (stereo) camera as its detection device. The detection device is particularly suitable for recognizing objects and items located on the ground.

[0043] An evaluation unit is any unit that is suitable for drawing conclusions from the predetermined criteria and, in particular, for evaluating them based on predefined criteria that aim specifically at an optimal cleaning result in the critical area, such as an optimal cleaning strategy for the critical area, an optimized cleaning process in the critical area, the indication of areas that are inaccessible during cleaning, and / or the demonstration of improved cleaning results under changed conditions in the critical area, such as moving chairs in the critical area to cover a larger cleaning area.

[0044] An interaction unit is understood to be any unit that enables interaction between a device and a user. In particular, the interaction unit communicates with the user's accessory device, for example via an app and especially via a wireless connection between the device and the accessory device.

[0045] Any features, designs, embodiments and advantages relating to the method also apply in connection with the mobile, self-driving device according to the invention, and vice versa.

[0046] The invention is explained in more detail with reference to the following examples. These examples show: Figure 1: a schematic view of an embodiment of an environment map of the inventive method for the automatic processing of ground surfaces using a mobile, self-driving device, and Figure 2: a schematic process flow of a method according to the invention.

[0047] Figure 1 Figure 10 shows an environmental map that was detected and subsequently created during an exploration run by a mobile, self-driving device, in particular a robotic vacuum cleaner. The environmental map 10 depicts a floor area intended for cleaning by the robotic vacuum cleaner.

[0048] The environment map 10 shows all obstacles, in particular furniture 2a and walls 2b, that the robotic vacuum cleaner has detected in the cleaning area. Specifically, a critical area 1 within the cleaning area is also indicated. Critical area 1 is an area with limited space from which the robotic vacuum cleaner often cannot find its way back or becomes stuck. In this case, critical area 1 includes a table with chairs, between whose legs the robotic vacuum cleaner can become wedged or stuck, preventing it from completing its cleaning program and requiring human assistance.

[0049] To prevent the robot vacuum from getting stuck, interrupting, or terminating its cleaning program in critical areas (1), interaction between the robot vacuum and the user is increased. Before starting its cleaning cycle, the robot vacuum informs the user of the detected critical area (1) via a cleaning app on the user's device. The app also indicates whether the robot vacuum is likely to be unable to complete its task if it starts cleaning now. The user is then offered alternatives, such as not cleaning the floor at this time or moving the chairs (or some chairs) before the robot vacuum begins its work to ensure a good cleaning result.

[0050] To provide a precise and detailed assessment, the robot vacuum cleaner uses its sensors to more intensively scan all critical areas, especially those with chair and table legs, in order to analyze their structure more accurately. This can happen automatically when the robot vacuum detects critical areas, or it can be triggered by the user via a special program in their cleaning app.

[0051] A detailed map of the critical area, and especially the floor cleaning area, is created by taking measurements from multiple positions and directions. The robot vacuum cleaner analyzes this detailed map, which, unlike the map stored in memory from the previous exploration run, contains the actual, current positions of the chair and table legs. Knowing its own size and capabilities, the robot vacuum cleaner can determine the optimal cleaning strategy and sequence for cleaning the floor area. Furthermore, the robot vacuum cleaner can calculate, even before it begins cleaning, what percentage of the floor area it can clean with the current chair positions. It can also calculate the probability of the robot vacuum cleaner becoming stuck in the given situation.

[0052] After the evaluation, the user is informed, for example, in their app, how well the floor area to be cleaned can be covered and whether there are any inaccessible areas. In addition to simply notifying the user, an interactive element can be added, showing the user what results would be achieved if they moved chairs out of the way. Furthermore, chairs can be highlighted and displayed in the app, indicating that removing them would significantly improve the cleaning result. According to the invention, when setting up the robot vacuum and the cleaning app, the user specifies threshold values ​​at which the probability of the robot vacuum getting stuck will prevent it from starting its cleaning activity or will skip critical areas, such as narrow passages.

[0053] If the user does not respond to the requests of the robot vacuum cleaner, the robot vacuum cleaner will begin cleaning the floor area, including critical areas, regardless of areas that may be inaccessible.

[0054] Through interaction between the user and the robot vacuum, they form a cooperative team to achieve the best possible cleaning results. The robot vacuum cannot perform all household tasks; some jobs must be done by the user. Using its sensors, the robot vacuum can provide the user with information about areas that need cleaning or other tasks. For example, the robot vacuum can detect dust on a shelf it cannot reach and inform the user that it should be dusted there. Additionally or alternatively, the robot vacuum can inform the user that manual wet cleaning is necessary if it detects sticky or liquid residue on the floor. The robot vacuum can also notify the user if it detects specific odors and suggest appropriate countermeasures.

[0055] The invention allows for more precise mapping of critical areas, such as those with multiple chair legs. Based on this mapping, the cleaning behavior can be adjusted, and feedback to the user can prevent the robot from getting stuck in these areas, thus enabling more thorough cleaning. If the robot vacuum informs the user of the likelihood of getting stuck before cleaning begins, this increases the user's awareness of critical situations and their willingness to intervene if necessary. This allows for the largest possible area to be cleaned without additional user intervention.

[0056] Figure 2This diagram shows a possible sequence of steps in a cleaning process using a robotic vacuum cleaner. Starting at step 100, the robotic vacuum cleaner cleans the area of ​​the apartment specified by the user in step 21. During this process, it detects, for example, a critical area with many chair legs (step 22). Alternatively, the user starts a program using an app on the robotic vacuum cleaner and sends it to critical areas, such as those with many chairs (step 23). In both cases, in step 30, the robotic vacuum cleaner scans the critical area from multiple positions and directions and creates a detailed map that reflects the current situation. In step 40, the robotic vacuum cleaner calculates the optimal path for maximum coverage with the lowest probability of getting stuck.In step 50, the robot vacuum informs the user about the reachable cleaning area and the likelihood of the robot getting stuck. The robot then asks the user whether the critical area should be cleaned under these conditions or if the user would like to make changes. In the next step, 71, the user activates the cleaning function, at which point the robot vacuum begins cleaning the critical area. Alternatively (step 72), the user changes the conditions of the critical area, for example, by moving chairs, and the robot vacuum then begins cleaning the critical area. As a further alternative (step 73), the user does not respond to the robot vacuum's request, at which point the robot vacuum begins cleaning the critical area, optionally only if the likelihood of the robot getting stuck is lower than a user-defined threshold.In any case, the robot vacuum cleaner ends its cleaning activity in step 80.

Claims

1. Method for the autonomous processing of floor areas with the aid of a mobile, self-propelled appliance, in particular floor cleaning appliance such as a vacuum cleaning and / or sweeping and / or mopping robot, comprising the following method steps: - performing an exploration run of the mobile, self-propelled appliance in a provided floor processing region and creating an environment map (10), - registering a critical region (1) with tight spatial conditions using sensors of the mobile, self-propelled appliance from different directions, - interacting with a user of the mobile, self-propelled appliance with regard to the further procedure, and / or - stipulating a processing order of different regions of the floor processing region, wherein the critical region (1) is set as being last in the processing order, characterised in that a layout of the critical region (1) is evaluated using the knowledge of an inherent size and capabilities of the appliance on the basis of predetermined criteria, in order to calculate a probability of the appliance coming to a standstill in the critical region, and that the user records a limit value, for the probability of the appliance coming to a standstill in the critical region (1), after which the mobile, self-propelled appliance does not begin to process the floor area and / or omits the critical region (1) and / or parts of the critical region (1) when processing the floor area.

2. Method according to claim 1, wherein the registering of the critical region (1) takes place in an automatic, in particular appliance-dependent, or user-dependent manner.

3. Method according to one of the preceding claims, wherein the mobile self-propelled appliance creates an, in particular current, detailed map after registering the critical region (1).

4. Method according to one of the preceding claims, wherein the evaluation contains at least one of the following criteria: - cleaning sequence, - portion of the possible area to be cleaned in the critical region (1), - specification of regions not to be reached, - marking of obstacles in the critical region which influence floor cleaning, and / or specifications for an improved cleaning result, - specifications for upcoming user-dependent cleaning tasks.

5. Method according to one of the preceding claims, wherein the interaction takes place via an app on a portable additional device.

6. Method according to one of the preceding claims, wherein the interaction with the user contains querying of the user regarding the further procedure.

7. Method according to claim 6, wherein, in the event of no response from the user, the mobile, self-propelled appliance begins to process the floor area.

8. Method according to one of the preceding claims, wherein the interaction contains a prompt to the user to make changes in the critical region (1), in order to achieve a best-possible cleaning result, and / or assessments regarding the changes in the critical region (1).

9. Mobile, self-propelled appliance for performing a method according to one of the preceding claims, in particular floor cleaning appliance for autonomous processing of floor areas such as a vacuum cleaning and / or sweeping and / or mopping robot, which can perform a method according to one of the preceding claims, comprising - a detection facility for detecting obstacles and / or objects and critical regions (1) with close spatial conditions from different directions, - an evaluation unit for evaluating a layout of the critical regions (1) with the knowledge regarding an inherent size and capabilities of the appliance on the basis of predetermined criteria, in order to calculate a probability of the appliance coming to a standstill in the critical region, - an interaction unit for interacting with a portable additional device of a user with regard to the further procedure.