METHOD FOR OPERATING A MOBILE, SELF-PROPELLED DEVICE

Description

[0001] The invention relates to a method for operating a mobile, self-driving device, in particular a floor cleaning device, such as a vacuuming, mopping and / or sweeping robot, which includes a touch sensor, and to a mobile, self-driving device that is operated according to such a method.

[0002] Cleaning robots, such as robotic vacuum cleaners, are becoming increasingly autonomous thanks to digital features and intelligent algorithms. Functions for selecting specific rooms to be cleaned, programmable cleaning schedules, event-based program execution via IFTTT ("if this then that"), and networking with other smart home devices enable these robotic vacuum cleaners to keep the home clean even without user intervention. Examples are known from US 2016 / 161945 A1, US 10 394 246 B2, and US 2021 / 260773 A1.

[0003] However, this automation doesn't always align with the user's current situation. For example, the user might unexpectedly arrive home when the robot vacuum starts an automated cleaning cycle. Furthermore, the interaction between the robot vacuum and smart home devices can lead to the robot being sent to clean a specific area where the user intends to work undisturbed. Canceling the cleaning process requires operating the robot vacuum via its local user interface or using an app on a smartphone or tablet. However, it's possible that the user doesn't have their mobile device readily available or is unable or unwilling to bend down to the robot at that particular moment.

[0004] Even for manually starting a new cleaning cycle outside of the scheduled time, the user is limited to the methods described above. This means the user must use one of the aforementioned controls, such as the local user interface, the app, the app-linked voice assistant, or similar. Therefore, the user has no simple, readily available way to start and / or stop a spontaneous cleaning cycle.

[0005] It frequently happens that a user, disturbed by the robot vacuum, kicks it. This is intended to signal to the robot that it is currently unwelcome in that room. However, the robot vacuum, based on this collision, simply assumes there is an obstacle in its path and attempts to take a detour to avoid it and continue cleaning. This behavior leads to a continuous disturbance for the user. Furthermore, repeated kicks and the resulting collisions create the risk that the robot will detect a perceived permanent obstacle in the room and add it to its map, preventing it from cleaning that area on future cleaning runs.

[0006] The object of the invention is to provide a method for operating a mobile, self-driving device in which it is possible for the user to easily transmit a spontaneous user command to a mobile, self-driving device, in particular by having an existing touch sensor perform an additional function besides collision detection.

[0007] This problem is solved by a method for operating a mobile, self-driving device with the features of claim 1 and by a mobile, self-driving device with the features of claim 9. Advantageous embodiments and further developments are the subject of the dependent claims.

[0008] According to the invention, in a method for operating a mobile, self-driving device, in particular a floor cleaning device such as a vacuuming and / or sweeping and / or mopping robot, the mobile self-driving device has at least one touch sensor which is provided for collision detection of the mobile, self-driving device with obstacles, and which, in addition to collision detection, triggers at least one user command when a user presses against the touch sensor n times in a predetermined time period, where n>1.

[0009] In this system, a predefined user command is executed by activating the device's integrated touch sensor. The touch sensor thus performs an additional function beyond simple collision detection. This allows the user to send the programmed user command to the device without having to access their smartphone. For example, this can be done to end or start a cleaning cycle, such as for the current room or the entire apartment. The user can also use the touch sensor to signal that the device is currently unwanted in the room being cleaned by tapping at least one area. This sends the device a "go away" signal. Alternatively, the user can also send a start command to the device by tapping the touch sensor.The device initiates a cleaning process by selectively pressing the touch sensor.

[0010] Normally, if the device encounters an obstacle that it hasn't previously detected, for example, with its navigation sensor, the touch sensor is pressed and emits a signal. This tells the device that a collision has occurred, and it will then attempt to navigate around the obstacle. However, if a user simply taps the touch sensor once, the device doesn't recognize this as a user command. Instead, the device will swerve and try to find a detour to avoid the obstacle it perceives as being in front of it.

[0011] According to the invention, the user taps at least twice in quick succession against at least one area of ​​the touch sensor, so that the device recognizes that these signals could not possibly have been caused by collisions due to the user's own movement. This makes it possible to interpret these signals as a user command to the device. The device thus distinguishes between a collision event (in the case of a single tap / move of the device) and a user command (in the case of multiple taps / moves of the device within a short and, if necessary, defined time period).

[0012] The method according to the invention provides the user with intuitive, simple, and convenient control of the device. No additional sensors need to be installed on the device for this purpose. The existing touch sensor already integrated into the device is used. The user is provided with an additional operating option for the device, for which no additional technology such as a smartphone, voice control, one-push button, or similar, or advanced operating knowledge is required. The user can easily adjust the cleaning procedure if they find the cleaning process disruptive. Furthermore, the user can configure the actions controlled by the touch sensor operation and adapt them to their needs as required.

[0013] A mobile, self-propelled device is understood to be, in particular, a floor cleaning device that autonomously cleans floor surfaces, for example, in the household. This includes, among other things, vacuuming and / or sweeping and / or mopping robots such as robotic vacuum cleaners or robotic lawnmowers. These devices operate (during cleaning mode) preferably without or with minimal user intervention. For example, the device autonomously moves to a designated room to clean the floor according to a pre-programmed cleaning strategy.

[0014] To take all individual environmental characteristics into account, an exploratory drive with the mobile, self-propelled device is preferably carried out. An exploratory drive is understood to be, in particular, a reconnaissance drive suitable for exploring a soil area to be worked, 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.

[0015] After the exploration drive, the mobile, self-driving device knows its surroundings and can make this information available to the user as an environmental map in an app on their mobile device. The user can then interact with the mobile, self-driving device via this environmental map. The user can conveniently view information in the environmental map and, if necessary, modify and / or adapt it.

[0016] 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.

[0017] The map of the environment, including obstacles, is preferably displayed in the app on a portable accessory. This serves, in particular, to visualize potential user interaction. An accessory, in this context, refers specifically to any device that is portable by a user, located outside the mobile, self-driving device, and is specifically external to and / or separate from the mobile, self-driving device, and is capable of displaying, providing, transmitting, and / or transferring data, such as a mobile phone, smartphone, tablet, and / or computer or laptop.

[0018] The portable add-on device has an app installed, specifically a control app, which facilitates communication between the mobile, self-driving device and the add-on device. This app primarily enables 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.

[0019] Obstacles are understood to include, in particular, any objects located in the soil cultivation area, such as furniture, equipment, clothing, toys, pet supplies, and the like. The device detects these obstacles, for example, using at least one sensor, preferably a lidar sensor and / or a touch sensor, or an optical sensor such as a camera. During operation, the lidar sensor preferably scans a plane approximately 10 cm above the ground with a 360° field of view. This allows the lidar sensor to detect walls and other obstacles.

[0020] Additionally, the device has a touch sensor, preferably a bumper sensor, which is preferably positioned in the form of a bumper on the front of the device and activates small sensors upon contact with obstacles and objects, indicating the collision. This enables collision detection. During a cleaning cycle, the device can therefore detect and avoid small / low obstacles in the surrounding area by means of collisions with the touch sensor. Preferably, the touch sensor is a bumper.

[0021] A user command is any command issued by a user that influences, in particular modifies, the operating behavior and / or cleaning activity of the device. For example, a user command changes the direction of travel, the cleaning path, and / or the cleaning area, stops the cleaning process, and / or starts it. The user command is predefined / programmed. This means that the device is instructed (either by the user or during its manufacture) what to do if this user command is triggered, such as canceling or starting a cleaning program within a specific area or the entire apartment.

[0022] A predetermined time interval is understood to mean, in particular, a duration that does not exceed a maximum predefined duration. The predetermined time interval is thus defined between 0 seconds as the minimum value and a maximum predefined threshold value, Tmax, as the maximum value. If the time interval between the first and second presses of the touch sensor exceeds the maximum value, Tmax, the user command is not triggered. Conversely, if the second press of the touch sensor falls between 0 seconds and Tmax, i.e., if the time interval between the first and second presses falls below the maximum value, Tmax, this is recognized as a programmed user command and triggered.

[0023] Pressing the touch sensor n times, where n > 1, refers specifically to multiple, i.e., repeated, presses of the touch sensor by the user. It is essential that the repeated presses do not exceed the predetermined time interval, otherwise the user command will not be recognized as such by the device. Therefore, the presses must occur in quick succession for the user command to be executed.

[0024] In an advantageous embodiment, the predetermined time interval is so short that collisions with obstacles can be ruled out. In particular, the device must be able to distinguish between a possible multiple collision with one or more obstacles and a deliberate and targeted triggering of the user command. For example, the user taps the same spot on the touch sensor twice in quick succession, so that the device recognizes that these signals could not possibly have been caused by collisions due to the user's own movement. These signals are therefore interpreted by the device as a user command.

[0025] For example, if the device stops and reverses after the first tap to avoid an obstacle, the user taps the device's touch sensor at least one more time. When stationary or reversing, the device interprets the change from "collision detected" (first tap), "collision resolved" (stationary or reversing), and "collision detected again" (second tap) as not being caused by a stationary obstacle and therefore classifies it as a user command.

[0026] In another advantageous embodiment, the user command is to cancel the cleaning job and / or to start a pre-programmed cleaning job or to begin cleaning all accessible rooms or the entire accessible floor ("Clear All"). For example, the pre-programmed user command is to completely cancel the cleaning job. Alternatively, the pre-programmed user command can be to simply cancel the cleaning job in the current room, i.e., the room in which the device is located when the user command is triggered. If there are other rooms in the current cleaning job's processing list, the device moves to the next room and continues cleaning there. If there are no more rooms to clean or a complete cancellation is triggered, the device ends the cleaning job and returns to its base station.Alternatively, the device can place the skipped room at the last position in the cleaning list or schedule it for separate cleaning at a later time. The device thus automatically reorders the cleaning list and order to ensure complete cleaning.

[0027] In another advantageous embodiment, different user commands are executed depending on the number n of times the touch sensor is pressed. For example, pressing the touch sensor twice cancels the cleaning of the current room, whereas pressing it three times cancels the entire cleaning job. Cleaning processes can also be started, for example, via predefined tap sequences. If the device is at its base station, for instance, and the user taps the center of the touch sensor twice, the device starts cleaning a specific room or the entire apartment.

[0028] If the device is stationary and / or at its base station, and receives a signal that the touch sensor has been activated n times within the predetermined time period, the device assumes the user command has been triggered, since obstacle detection by the touch sensor does not normally occur while parked at the base station or when stationary. This allows the user to give the device a start command intuitively, easily, and conveniently.

[0029] In a further advantageous embodiment, different user commands are executed depending on the area of ​​the touch sensor where the pressure is applied. For example, the touch sensor is divided into areas "left side" / "center" / "right side", and different user commands are triggered depending on the area where the pressure is applied.

[0030] Ideally, the user should be able to define, for example via the app settings, which command or user action should be executed when the center, right, and / or left touch sensor area is tapped n times. This allows for individual and easy operation and adaptation to user needs.

[0031] The invention further relates to a mobile, self-driving device that is operated as described above and comprises a touch sensor configured to trigger at least one user command in addition to collision detection when a user presses against the touch sensor n times in a predetermined time period, where n>1.

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

[0033] 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 a mobile, self-driving device operated according to the method according to the invention, and Figures 2A, 2B each a flowchart relating to an embodiment of an operating method according to the invention.

[0034] Figur 1Figure 1 shows a three-dimensional view of a mobile, self-driving device 10, in particular a robotic vacuum cleaner, comprising a device housing 1 that has a D-shape. Specifically, the housing 1 has a straight front and a rounded or curved rear. A lidar sensor 2 is positioned centrally on the housing 1 at the rear. The lidar sensor 2 enables the robotic vacuum cleaner to measure a horizontal plane approximately 10 cm above the ground with a 360° field of view. Specifically, the lidar sensor detects walls, obstacles, and other objects and integrates them into an environmental map.

[0035] Obstacles of low height cannot be detected by the lidar sensor 2. To detect low obstacles and objects, especially those less than 10 cm above the ground, a touch sensor 3, such as a bumper sensor, is used. This bumper is positioned on the flat front of the robot vacuum. When the bumper comes into contact with objects, small sensors are activated, indicating a collision. This enables collision detection. During a cleaning cycle, the device 10 can therefore detect and avoid obstacles in the surrounding area by means of collisions with the bumper.

[0036] According to the invention, the bumper of the device 10 performs an additional function besides collision detection. In particular, the bumper triggers a pre-programmed user command when the user taps the bumper n times (n>1). Therefore, a smartphone is not required to transmit the pre-programmed user command. For example, the user can give the device 10 a "go away" signal with their foot or initiate a cleaning process by deliberately activating the bumper.

[0037] In the Figures 2A, 2B Each is a flowchart of an operating procedure of a mobile, self-driving device, such as those found in Figur 1 is depicted, shown. Figur 2A shows a procedure that occurs when a user feels disturbed by the device and cancels the cleaning of the current room or the entire cleaning job by tapping the bumper.

[0038] In step 100, the robot vacuum starts a cleaning job that includes at least one room. The robot then cleans the rooms in the cleaning job one after the other (step 101). In one of the rooms, the user feels disturbed by the robot's cleaning activity (step 102) and wants to stop it. To do this, the user taps the robot's bumper twice in quick succession (step 103a). Based on this user command, the robot vacuum stops cleaning the currently selected room and moves on to the next room in the cleaning list (step 104b). If the user wants to stop not only the current room but the entire current cleaning job for all rooms, they tap the robot's bumper three times in quick succession in step 103b. The robot vacuum then cancels the entire cleaning job and returns directly to its base station (step 104b).

[0039] In this case, the user can influence the robot vacuum's further actions via various tap or press sequences. The intervals between the user's taps must be kept short so that the robot vacuum can distinguish between potential collisions with obstacles and user commands.

[0040] In Figur 2bThe procedure shown is as follows: the user wants to start a cleaning cycle as easily as possible without using their smartphone, and achieves this by tapping the bumper. Initially, the robot vacuum is at its base station and stationary (step 200). At step 201, the user wants to start a cleaning job, for example, because the floor is dirty or something has been spilled. If the user then taps the center of the robot vacuum's bumper twice in quick succession within a specific time interval in step 202a, the robot vacuum receives the signal to start a cleaning job for the entire apartment (step 203a). If, on the other hand, the user taps the side of the robot vacuum's bumper twice in quick succession within a specific time interval in step 202b, the robot vacuum receives the signal to start a cleaning job only for the current room (step 203b).

[0041] Depending on both the tap sequence (2 times / 3 times / n times) and the tap area on the bumper (center / side), different user commands can be triggered. Ideally, users should be given the option to specify, for example via settings within the cleaning app, which command should be executed when n times the center or the right / left bumper area is tapped, thus allowing the user commands to be individually tailored to user needs.

Claims

1. Method for operating a mobile, self-propelled device (10), in particular a floor cleaning device, such as a suction and / or mopping and / or sweeping robot, wherein the mobile, self-propelled device (10) has at least one touch sensor (3) provided for collision detection of obstacles of the mobile, self-propelled device (10), and is characterised in that, in addition to collision detection, the touch sensor (3) triggers at least one user command if a user presses the touch sensor (3) n times in a predetermined time period, wherein n>1.

2. Method according to claim 1, wherein the touch sensor (3) is a bumper.

3. Method according to one of the preceding claims, wherein the predetermined time period is short enough to preclude collisions with obstacles.

4. Method according to one of the preceding claims, wherein the user command is a termination of the cleaning task.

5. Method according to one of the preceding claims, wherein the user command is a termination of the cleaning task in a current space.

6. Method according to one of the preceding claims, wherein the user command is a starting of a programmed cleaning task.

7. Method according to one of the preceding claims, wherein different user commands are executed in each case as a function of the number n of times the touch sensor (3) is pressed.

8. Method according to one of the preceding claims, wherein different user commands are executed in each case as a function of a touch sensor region which is pressed.

9. Mobile, self-propelled device which is operated according to one of the preceding claims, and which comprises a touch sensor (3) which is designed, in addition to collision detection, to trigger at least one user command if a user presses the touch sensor (3) n times in a predetermined time period, wherein n>1.