METHOD FOR OPERATING A MOBILE, SELF-PROPELLED DEVICE

Description

[0001] The invention relates to a method for operating a mobile, self-propelled device, in particular a floor cleaning device, such as a vacuum and / or sweeping robot, with a detection device.

[0002] Mobile, self-driving devices, such as robot vacuum cleaners, are designed to autonomously clean as entire a floor as possible. Such robot vacuum cleaners are usually equipped with a dust container to collect the vacuumed-up dirt and dust. With such a dust container, it is essential that the user regularly empties this dust container so that the robot vacuum cleaner can operate at full suction power and vacuum up relevant dirt. For this purpose, the robot vacuum cleaner has a cover on top of the dust container. To remove and empty the dust container, the user opens the cover by positioning it essentially vertically to the robot vacuum cleaner to allow access to the dust container.After emptying and / or cleaning the dust container, the user reinserts it into the robot vacuum cleaner and closes the cover element by folding it down into its essentially horizontal position.

[0003] The disadvantage here is that the user may forget to close the cover after inserting the dust container. However, the open cover severely restricts the field of view of a detection device and prevents obstacles in front of or behind the robot vacuum from being recognized and detected. This increases the potential risk of navigation errors and collisions with undetected obstacles.

[0004] Known solutions include sensors that detect the open position of the cover element and alert the user, for example, via voice output. As soon as the robot vacuum detects an open cover element using these sensors, it no longer starts cleaning, but waits for the user to intervene and manually close the cover element. Another solution is known, for example, from US 2017 / 332864 A1.

[0005] The object of the invention is to provide an operating method of a mobile, self-propelled device that is as autonomous and, in particular, independent as possible, in which, in particular, the least possible user intervention is necessary.

[0006] This object is achieved by a method for operating a mobile, self-propelled device, in particular a floor cleaning device for autonomously processing floor surfaces, having the features of claim 1. Advantageous embodiments and further developments are the subject of the subclaims.

[0007] According to the invention, in a method for operating a mobile, self-propelled device, in particular a floor cleaning device, such as a vacuum and / or sweeping and / or wiping robot, a detection device provided for navigation is used to determine whether a cover element arranged on a device housing of the mobile, self-propelled device is open or closed, wherein the mobile, self-propelled device carries out a driving maneuver to automatically close the cover element when the cover element is open.

[0008] In this case, the detection device intended for navigation is also used to determine the position of the cover element in order to carry out the steps planned according to the detection result. Advantageously, additional sensors for determining the position of the cover element are not necessary. This savings in sensor technology has a positive impact on the manufacturing cost, the complexity of the system, and the assembly time of the mobile, self-propelled device.

[0009] The mobile, self-propelled device therefore does not use a specially installed sensor to determine whether the cover element above the dust collection container has been left open by the user, but instead relies on the already installed detection device. The mobile, self-propelled device can thus independently detect an open cover element without the need for dedicated sensors.

[0010] If the detection device detects an open cover element, the mobile, self-propelled device independently and automatically performs a maneuver that attempts to close the cover element without user intervention. In particular, the mobile, self-propelled device's drive systems are utilized, enabling the mobile, self-propelled device to close the cover element independently. A rapid acceleration maneuver, for example, is used for this purpose. In addition to simply detecting the open cover element, the device is also capable of closing it independently and autonomously, without requiring user intervention.

[0011] A mobile, self-propelled device is understood in particular to be a floor cleaning device, for example, a cleaning appliance, that autonomously cleans floors, particularly in the home. These include, among others, vacuuming, mopping, and / or sweeping robots, such as robot vacuum cleaners. These devices preferably operate without, or with as little as possible, user intervention during operation (cleaning mode). For example, the device moves automatically into a specified room to clean the floor according to a predefined and programmed process strategy.

[0012] The floor area to be cleaned refers to any room area to be cleaned. This includes, but is not limited to, parts of individual rooms, individual areas of an apartment, individual rooms within an apartment, and / or the entire floor area of ​​the entire apartment or living space.

[0013] In order to take any specific environmental characteristics into account, an exploratory drive with the mobile, self-propelled device is preferably carried out. An exploratory drive is understood to be a reconnaissance drive suitable for checking the area of ​​land to be worked for obstacles, spatial layout, and similar features. The goal of an exploratory drive is, in particular, to be able to assess and / or represent the conditions of the soil cultivation area to be worked.

[0014] 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 a mobile app. The map can provide the user with the opportunity to interact with the mobile, self-driving device. The user can advantageously view information in the map and change and / or adapt it as needed.

[0015] An environmental map is understood to mean any map suitable for depicting the surroundings of the tillage area, including all its obstacles and objects. For example, the environmental map shows a sketch of the tillage area, including the furniture and walls within it.

[0016] Obstacles are understood to mean any objects and / or items that are located in a soil cultivation area, for example lying or standing there, and that influence the cultivation by the mobile, self-propelled device, in particular hinder and / or interfere with it, such as furniture, walls, curtains, carpets and the like.

[0017] 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.

[0018] 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 external and / or 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.

[0019] 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-treatment 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.

[0020] A dust container is, in particular, a container suitable for collecting, containing, retaining, and / or separating dust. For example, a dust container is a container or box in which the vacuumed dust is collected during operation, or which is filled with the vacuumed dust during operation until a maximum fill level is reached. The maximum fill level can be signaled to the user, allowing them to remove the dust container and, in particular, empty it.

[0021] A device housing refers specifically to the outer casing of the device, which seals off the device from the outside. The inner workings of the device are therefore located inside the device housing. The detection device projects beyond the device housing, for example, vertically, particularly in the z-direction. For example, the detection device is arranged on a top side in a central area of ​​the device housing.

[0022] A detection device is any device suitable for reliably detecting obstacles. This is preferably sensor-based, laser-based, and / or camera-based. The detection device is preferably a LIDAR sensor and / or a laser tower that scans its surroundings in a horizontal plane through a 360° rotation. In particular, the detection device emits measuring beams, in particular laser beams, at regular intervals, which are used for distance measurement. The detection device rotates about a rotation axis, in particular about a z-axis, relative to the device housing and is driven by a motor.

[0023] A horizontal plane is understood to mean, in particular, any plane that runs parallel to a floor surface and in a horizontal and / or horizontal direction. In particular, the horizontal plane runs parallel to the top of the device housing. Preferably, the horizontal plane is located at a short distance, i.e., just above the top of the device housing.

[0024] A cover element is understood to mean, in particular, a part of the device housing that can be in an open and a closed state and that, in particular, covers the interior of the mobile, self-propelled device. For example, the cover element covers the dust collection container and enables the user to remove or insert the dust collection container into or out of the device. The cover element is attached to the adjacent device housing, for example, by means of hinges, so that it can be moved from a horizontal position to a vertical position for opening and closing. Horizontal and vertical are understood in relation to the top of the device housing.

[0025] A driving maneuver is understood to mean, in particular, any planned driving movement whose goal is the automatic closing of the cover element. This can be, for example, an acceleration movement, a braking movement, and / or a rotational movement. The driving maneuver is preferably executed jerkily, abruptly, or quickly in order to initiate and support a closing movement of the cover element.

[0026] In an advantageous embodiment, the maneuver is performed independently of the user. In particular, no user intervention is required. When an open cover element is detected, the device automatically executes the maneuver without requiring a user to give a command and / or consent. The device thus operates independently.

[0027] In a further advantageous embodiment, the cover element is a cover flap over a dust collection container that is to be emptied. The device thus uses the detection system provided for navigation and obstacle detection to detect whether the cover flap over the dust collection container has been left open by the user. Without any user intervention, the device attempts to close this flap using the specified driving maneuver, which allows the detection system to once again have a full field of vision available for navigation and obstacle detection.

[0028] In a further advantageous embodiment, the detection device is a lidar sensor. This is positioned on the device such that the lidar sensor scans a horizontal plane just above the device, for example, a plane approximately 10 mm above the top of the device housing. The cover element above the dust collection container of the device is arranged in particular centrally or in the middle of the device and thus also lies in the area detected by the lidar sensor. Measuring beams of the lidar sensor cannot penetrate the cover element. An open cover element therefore obstructs the scanning plane of the lidar sensor to the front, whereby the device can in principle detect the cover element, but cannot detect obstacles located behind the cover element.

[0029] In particular, the lidar sensor records measurements at a distance of, for example, 1 cm and with a resolution of, for example, 1°. For a cover element measuring 20 to 25 cm in length at a distance of approximately 20 cm, this results in sufficient measurement points, in particular 50 measurement points or more, to reliably detect the cover element and distinguish it from other obstacles or objects.

[0030] Preferably, before the driving maneuver, it is ensured that the lidar sensor has detected the cover element and not another object that the user has placed, for example, on the device. After detecting at least one obstacle in the area of ​​the device housing, the position of the detected obstacle relative to the cover element is determined. This check determines whether measurement points that are clearly within the device's perimeter and thus not in the surrounding area of ​​the device can be assigned to the position of the cover element, particularly with regard to its distance, length, and relative position.

[0031] In a further advantageous embodiment, when determining the position relative to the cover element, a tolerance range is taken into account, particularly around the position of the open cover element. The tolerance range is introduced in particular to account for a measurement inaccuracy of, for example, + / - 1 cm at measurement distances of less than 1 m from the lidar sensor. Only measurement points within the tolerance range are assigned to the cover element. If sufficient measurement points can be detected, it is assumed that the cover element is open. In particular, measurement points of the detection device within the tolerance range are assigned to the cover element, and those outside the tolerance range are assigned to other obstacles.

[0032] Modeling the measured edge using the least squares method, for example, a least-squares fitting to a line, can also be used to detect the cover element as such. Alternatively or additionally, the measurement points can be checked over time. For example, after approximately 0.2 seconds, additional measurement points from the detection device are available. If these are similar to the previously determined measurement points, it is assumed that an open cover element has been detected.

[0033] Of all lidar measurement points, or at least a defined selection, pointing toward the cover element, especially those with a measurement value beyond the device's perimeter are fed into the navigation algorithms for use for localization and / or environmental mapping. Measurement values ​​within the device's perimeter are checked to determine whether they lie within the defined tolerance range around the open cover element. Measurement points outside the tolerance range are discarded, as no object should be present in these areas, or are used to determine whether the user has positioned an object on the device.

[0034] In a further advantageous embodiment, an additional sensor is provided which determines whether or not a dust collection container is inserted in the mobile, self-propelled device. It is possible for the user to remove the device's dust collection container from the device and empty it while a cleaning job is being carried out. If no dust collection container is detected in the device, for example by means of a microswitch or a reed contact, it is not advisable for the device to perform an action, in particular the driving maneuver, despite the cover element being detected to be open. Only if the dust collection container is detected in the device and the cover element is open at the same time will the execution of the cleaning job actually be hindered and the device will take countermeasures, in particular the intended driving maneuver.

[0035] In a further advantageous embodiment, a user is notified visually and / or via audio output of an open cover element. In this case, manual closing is requested, for example, via a notification in the app or via a voice output via a loudspeaker.

[0036] In a further advantageous embodiment, the driving maneuver comprises an acceleration maneuver, through which a pulse is introduced into the cover element, causing it to close. In particular, the device is enabled to perform special driving maneuvers using the drive mechanisms, for example, a rapid acceleration maneuver, through which the pulse is introduced into the cover element, causing it to close automatically.

[0037] In a further advantageous embodiment, a weight is arranged in an upper region of the cover element. This weight, in particular, amplifies the momentum acting on the cover element during acceleration or during a driving maneuver, which advantageously results in a reliable closing of the cover element.

[0038] During a driving maneuver, it is particularly advantageous that the device has sufficient space for the intended driving maneuver and, for example, that there are no obstacles in its vicinity. To ensure this, the device checks its surroundings using the remaining field of vision of the detection device. In particular, the mobile, self-driving device carries out an environmental detection before the driving maneuver to ensure that sufficient space is available for the driving maneuver. If it is not possible to move the device backwards or turn the device, a bumper on the device can be used, for example, as an additional sensor facing forward to test whether there is sufficient space in the immediate vicinity for the driving maneuver. If there is no space for a corresponding driving maneuver, the user can, for example, be called for assistance and / or informed.

[0039] The invention is explained in more detail with reference to the following embodiments, which are merely examples. They show: Figures 1a, 1c: each show a schematic view of an embodiment of a mobile, self-propelled device for operating a method according to the invention, Figures 1b, 1d, 2a, 2c: each show a schematic cross section of an embodiment of a mobile, self-propelled device for operating a method according to the invention, Figures 2b, 2d, 3: each show a schematic plan view of an embodiment of a mobile, self-propelled device for operating a method according to the invention, and Figures 4, 5 each show a flow chart relating to an embodiment of a method according to the invention for operating a mobile, self-propelled device.

[0040] Figure 1shows an embodiment of a mobile, self-propelled device 10 in an oblique side view or a side view. The device 10 is a vacuum robot that has a device housing 1 and a detection device 2. The detection device 2 is a lidar sensor that is mounted on an upper side of the housing 1 in a central, rear area. The detection device 2 scans a horizontal plane parallel to the upper side of the housing 1 for navigation of the device 10. On the upper side of the device is a cover element 3, in particular a cover plate, which can be folded from a closed position in the upper side of the housing 1 into an open position. The cover plate can be folded upwards, in particular. For this purpose, the cover plate is attached to one side of the housing 1, for example via hinges. Figure 1a, 1b show the device 10 with closed cover element 3, the Figure 1c, 1drepresent the device 10 with the cover element 3 open.

[0041] The cover element 3 is arranged above a dust collection container, in particular a dust box. In order to remove and empty the dust box from the device 10, a user opens the cover element 3 by placing it in a substantially vertical position, thus allowing access to the dust box ( Figure 1c, 1d ). After emptying and / or cleaning the dust box, the user places it back into the device 10 and closes the cover element 3 by folding it down into its horizontal position ( Figure 1a, 1b ).

[0042] If the cover element 3 is in its open position, it limits the field of view of the lidar sensor 2 and, in particular, prevents objects and obstacles in front of the robot vacuum from being detected. This increases the potential risk of navigation errors and collisions with obstacles.

[0043] The Figure 2a, 2b show the detection device 2 in operation with a closed cover element 3. The lidar sensor emits measuring beams 4 in a 360° field of view. The measuring beams are emitted in the horizontal plane parallel to the top of the device 10. With the cover element 3 closed, detection is possible in the complete 360° field of view of the lidar sensor. The cover element 3 does not obstruct the view.

[0044] If the cover element 3 is opened, this obstructs the field of view of the lidar sensor in the area of ​​the cover element 3. This is shown by the Figure 2c, 2d When the cover element 3 is open, it penetrates the measuring beams of the lidar sensor and blocks them, preventing detection behind the cover element 3. Driving the robot vacuum with active collision avoidance is therefore not possible.

[0045] In this case, the lidar sensor is used not only for navigation but also to detect an open cover element 3. If the cover element is open, the device 10 initiates a procedure in which the robot vacuum cleaner independently attempts, without external intervention, to close the cover element through a suitable driving maneuver, thus restoring its full functionality within the detection range of the lidar sensor. The robot vacuum cleaner thus detects the open cover element without a dedicated sensor and then independently initiates a closing procedure.

[0046] To ensure that the lidar sensor detects the cover element as open, and not another object that, for example, has been placed by the user on the housing of the robot vacuum cleaner, the device checks whether detected measuring points that are within the device's perimeter and thus not in the surrounding area can be assigned to the position of the cover element in terms of distance, length, and position. The measurement inaccuracy of, for example, + / - 1 cm at measuring distances of < 1 m of the lidar sensor is taken into account by defining a tolerance range 5 around the position of the open cover element 3. Only measuring points within the tolerance range 5 are assigned to the cover element 3 by the device 10. If sufficient measuring points can be detected, it is assumed that the cover element is open. This is Figure 3 shown graphically.

[0047] Modeling the measured edge of cover element 3 using the least squares method (least-squares fitting to a line) can support reliable detection of the cover element. To ensure the accuracy of the detection, the result can also be checked over time. For example, after a certain time, such as 0.2 seconds, additional measured values ​​are available. If these are similar to the previously determined data, it can be assumed that the cover element is open.

[0048] The lidar sensor detects measured values ​​beyond the device's perimeter. These are fed into the navigation algorithms for use for localization and / or map creation. Measurements within the device's perimeter are checked to determine whether they lie within the defined tolerance range around the open cover element. Measurement points outside the tolerance range are discarded or used to check whether an object is positioned on the device. It is also necessary to check whether the dust container is inserted into the device. A microswitch, reed switch, or light barrier, for example, can be used for this purpose.

[0049] Figure 4shows such a flow chart for the vacuum robot checking whether an open cover element has been detected. In the first step 11, the vacuum robot is in active cleaning mode. Individual measured values ​​are recorded via the lidar sensor (step 12). The vacuum robot then checks whether the respective measured values ​​are within the device's range (step 13). If they are outside, the detected measured values ​​are fed into the navigation (step 14a). If, on the other hand, the measured values ​​are within the device's range, a check is carried out in step 14b to determine whether the measured values ​​are within the tolerance range around the cover element. If they are outside the tolerance range, the corresponding measured values ​​are discarded or a check is carried out to determine whether an object is lying on the vacuum robot (step 15a). If the measured values ​​are within the tolerance range, a check is carried out in step 15b to determine whether a minimum number of measured values ​​is available for detecting the cover element.The system then checks whether the dust container can be detected using the associated sensor (step 16). If no dust container is detected, no further action is taken (step 17a). If a dust container is detected, the procedure for automatically closing the cover element starts (step 17b).

[0050] The procedure for automatic closing specifically involves a special maneuver by the robot vacuum, for example, a rapid acceleration maneuver using the drive system, which imparts an impulse to the cover element, causing it to close. To assist in this closing process, a weight can be installed in the uppermost section of the cover element, amplifying the impulse to the cover element during acceleration. Sufficient space is required around the robot vacuum for the maneuver. In particular, there should be no obstacles near the robot vacuum. To do this, the device uses the remaining field of view of the lidar sensor to scan its surroundings. If reversing or turning the robot vacuum is not possible, a bumper can be used as a remaining sensor facing forward to test whether there is enough space in the immediate vicinity.

[0051] If the device reaches the point during its test where there is not enough space for a corresponding driving maneuver, the user is called for assistance by requesting manual closing so that the cleaning job can be continued and successfully completed.

[0052] In Figure 5 A flowchart for the procedure for automatically closing an open cover element is shown. In step 20, the robot vacuum starts the maneuver to automatically close the cover element. Optionally, in step 21, the device also informs the user that the maneuver to close the cover element is being or must be performed. In step 22, the device checks whether the area behind the robot vacuum element provides sufficient space for the maneuver.

[0053] If there is enough space, the device reverses a defined distance and then abruptly accelerates forward (step 23). If the closing was successful, the cleaning task is carried out (step 29). If, however, there is not enough space for the maneuver, the device rotates in place in step 24, checking whether its surroundings offer sufficient space in at least one direction around the robot vacuum cleaner for the maneuver.

[0054] If there isn't enough space for the maneuver, the device initiates a request to the user to manually close the cover so that the cleaning task can be executed (step 28). After the manual closure, the cleaning task continues (step 29). If, however, there is enough space, the robot vacuum orients itself in the direction with sufficient space and then abruptly accelerates forward (step 25). After the cover is successfully closed, the cleaning task is executed (step 29).

[0055] Alternatively, if the device determines that there is not enough space to turn, it will slowly move forward using its bumper to check whether its surroundings in at least one direction around the robot vacuum cleaner offer enough space for the maneuver (step 26). If there is enough space, the robot vacuum cleaner aligns itself in the direction with enough space and then abruptly accelerates forward (step 27). After the cover element has been successfully closed, the cleaning task is carried out (step 29). If, on the other hand, the device determines using the bumper that there is not enough space for the maneuver, it will request the user to manually close the cover element so that the cleaning task can be carried out (step 28). After the cover element has been closed, the cleaning task continues (step 29).

[0056] With the method according to the invention, the lidar sensor already present for navigation is used to detect the open cover element. Advantageously, no additional sensors are required on the cover element for this purpose. This reduced sensor technology advantageously reduces the manufacturing cost of the device, the complexity of the system, and the assembly time. In particular, the device can detect an open cover element itself and close it independently, without the user having to be present and take action. This advantageously increases the system's autonomy.

Claims

1. Method for operating a mobile, self-propelled device (10), in particular floor cleaning device such as a suction and / or dusting and / or wiping robot, with which a detection facility (2) provided for navigation is used to determine a cover element (3) arranged on a device housing (1) of the mobile self-propelled device (10) as open or closed, wherein the mobile, self-propelled device (10) carries out a driving manoeuvre to automatically close the cover element (3) when a cover element (3) is open.

2. Method according to one of the preceding claims, wherein the driving manoeuvre is carried out independently of a user.

3. Method according to one of the preceding claims, wherein the cover element (3) is a cover flap above a dust collection container to be emptied.

4. Method according to one of the preceding claims, wherein the detection facility (2) is a Lidar sensor.

5. Method according to one of the preceding claims, wherein at least one obstacle in the region of the device housing (1) is detected in order to determine the cover element (3) as open or closed and a position of the detected obstacle in relation to the cover element (3) is determined.

6. Method according to claim 5, wherein a tolerance range (5) around the cover element (3) is taken into account when the position is determined in relation to the cover element (3).

7. Method according to claim 6, wherein measuring points of the detection facility (2) are assigned to the cover element (3) in the tolerance range (5) and to other obstacles outside of the tolerance range (5).

8. Method according to one of the preceding claims, wherein a further sensor is available, which determines whether a dust collection container is used in the mobile, self-propelled device (10).

9. Method according to one of the preceding claims, wherein the driving manoeuvre comprises an acceleration manoeuvre by means of which a pulse is introduced into the cover element (3) so that this closes.

10. Method according to one of the preceding claims, wherein a weight is arranged in an upper region of the cover element (3).

11. Method according to one of the preceding claims, in which the mobile, self-propelled device (10) carries out environmental detection before the driving manoeuvre in order to ensure that sufficient space is available for the driving manoeuvre.

12. Method according to one of the preceding claims, wherein a user is informed of the open cover element (3) visually and / or by way of audio output.