METHOD FOR CONTROLLING A MOBILE, SELF-PROPELLED DEVICE

Description

[0001] The invention relates to a method for controlling a mobile, self-driving device, in particular a floor cleaning device, such as a vacuuming, sweeping and / or mopping robot, for cleaning along the carpet edges of a carpet.

[0002] Mobile, self-driving devices such as robotic vacuum cleaners are designed to autonomously remove dust from the floor, ensuring coverage across the entire floor area. The advantage of this is that few, if any, areas remain that require manual cleaning by the user. Particular emphasis is placed on cleaning corners and edges, including those of carpets. To effectively clean edges and corners, robotic vacuum cleaners are often equipped with a side brush positioned at the front corner of the device.

[0003] Additionally, some combination robotic vacuums have a mopping module at the rear for damp cleaning floors. This mopping module is designed for use on hard floors, not carpets. The robot should not drive on carpets unless the user removes the mopping module. To ensure thorough cleaning of carpet edges, a carpet edge-following mode is recommended. In this mode, the robot follows and cleans the carpet edges. However, areas around carpet corners often remain uncleaned, where dirt and dust can accumulate. Due to the robot's geometry and the position of its drive wheels, the side brush cannot reach every spot, especially in carpet corners. Therefore, a completely thorough cleaning is not always possible.

[0004] It is known that the robot, after orienting itself behind the outer edge of the carpet, initiates a targeted, limited reverse movement to clean any missed areas of the floor, particularly around corners. While this additional movement allows for thorough cleaning along edges and corners, it can be irritating to the user and negatively increases the overall cleaning time due to the extra travel distances. There is also a risk that the side brush could be bent or even kinked while navigating around the carpet edge, potentially causing permanent damage.

[0005] From JP 7 206171 B2, a floor cleaning method along an obstacle is known, in which cleaning at obstacle surfaces at corners or edges is improved by reversing. EP 3 078 315 A1 describes, among other things, different driving behavior of robotic vacuum cleaners at wall edges.

[0006] The object of the invention is to provide an improved method for controlling a mobile, self-driving device, in particular a floor cleaning device such as a vacuuming, sweeping and / or mopping robot, for cleaning along edges or borders of a carpet, in which the aforementioned disadvantages are avoided, and in particular the dangers of incomplete corner cleaning and damage to the side brush are reduced.

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

[0008] According to the invention, a method for controlling a mobile, self-driving device, in particular a floor cleaning device, such as a vacuuming, sweeping and / or mopping robot, for cleaning along the edges of a carpet comprises the following method steps: Driving and cleaning along a first carpet edge in the forward direction of the machine until the first carpet edge ends; continuing to drive in the forward direction along the terminated first carpet edge until the machine extends beyond the carpet to such an extent that a subsequent rotation of the machine results in a parallel alignment with a constant lateral distance between the machine and the carpet, in particular until the machine extends beyond the carpet by substantially one machine length; rotating the machine on the spot opposite the direction of the carpet until the machine is aligned along a second carpet edge in the forward direction; and driving and cleaning along the second carpet edge in the forward direction of the machine.

[0009] The inventive method thus avoids uncleaned areas and spots at the corners of the carpet by having the device perform a movement pattern as described herein. Specifically, at carpet corners, the device does not turn towards the next carpet edge, but rotates in the opposite direction until it reaches the desired orientation. Unlike when cleaning walls, the device and its housing can rotate over the carpet edge. In particular, the front of the device can be moved over the carpet edge. The corner cleaning method is designed so that the device does not rotate by the small angle that results between the previous and the new orientation of the device or the carpet edges, but rather by the large angle complementary to that small angle. In the case of a rectangular carpet, the device therefore rotates 270° at each carpet corner instead of 90°.Both before and after the rotation, the device is aligned parallel to one of the carpet edges that form the carpet corner and can clean it by moving along this edge.

[0010] Regardless of the device's housing geometry, this method advantageously ensures that the carpet corner is covered with the device, thus guaranteeing complete cleaning. Uncleaned areas at carpet corners are avoided.

[0011] A mobile, self-propelled device is primarily understood to be a floor cleaning device that can autonomously clean floor surfaces, for example, in the home. This includes, among other things, vacuuming, sweeping, and / or mopping robots. For example, a mobile, self-propelled device might be a combination unit capable of both dry and wet cleaning. These devices operate (during cleaning mode) preferably with little or no user intervention. For instance, the device autonomously navigates to a designated room to clean the floor according to a pre-programmed cleaning strategy.

[0012] 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.

[0013] After the exploration run, 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, in an app (cleaning app) on a 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 adjust it.

[0014] During its exploration run, the device detects carpets in the area to be cleaned, primarily using specialized sensors such as ultrasonic sensors, laser systems, and / or camera systems with object recognition algorithms. Once the position, size, and shape of the carpets have been determined, the device enters this information into its environmental map. Alternatively, a user can directly enter the carpet's location into the environmental map during device setup, for example, using the cleaning app on their mobile device.

[0015] 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, carpets, and walls within it, in a sketchy manner.

[0016] 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. For the purposes of this discussion, an accessory is understood to be any device that is portable by a user, located outside the mobile, self-driving device, and in particular external to and / or separate from the mobile, self-driving device, and capable of displaying, providing, transmitting, and / or transferring data, such as a mobile phone, smartphone, tablet, and / or computer or laptop.

[0017] The portable accessory has an app installed, specifically the cleaning app, which facilitates communication between the mobile, self-driving device and the accessory. This app enables visualization of the cleaning area, particularly the living space or apartment to be cleaned, such as the interior. The app preferably displays the cleaning area to the user as a map.

[0018] Forward movement refers specifically to the movement of the device during cleaning or driving operations. The device travels with its front section leading along the designated paths. The rear section follows the front section in its movement. Specifically, the front section traverses the floor to be cleaned first, before the rear section passes over it.

[0019] A rotation of the device on the spot means, in particular, that the device does not move forward, but stops its movement and rotates in place around a vertical axis, especially in a circle. For example, a 180° rotation of the device means a complete reversal of the device on the spot, specifically a reversal from a front to a rear position and from a rear to a front position (in the direction of travel), i.e., a half turn around its own axis. The device performs a 180° turn and then ends up facing backward. Small angular deviations are naturally included. Of course, this includes not only 180° rotations, which are discussed here as examples, but any rotation by any angle around the device's axis.

[0020] A carpet edge is understood to mean any (laterally) limiting end of a carpet lying on the floor. Shape, orientation, and similar features are not restricted. Carpet edges can therefore be straight, curved, bent, or similarly shaped.

[0021] "Extending by substantially one device length" means, in particular, that the device extends beyond the carpet edge by approximately one device length, such that the device maintains a distance from the carpet in all directions at the carpet corner. There is no carpet, and especially no carpet edge, to the side of the device. The device and the carpet are positioned corner to corner without being adjacent. "Substantially" or "approximately" here means that the device extends beyond the carpet edge by one device length, including minor or negligible deviations in length. In this context, "extending by substantially one device length" means, in particular, that the device extends beyond the carpet to such an extent that a subsequent rotation of the device results in a parallel alignment with a constant lateral distance between the device and the carpet.

[0022] Turning against the direction of the carpet specifically means turning the device away from the carpet, i.e., in the opposite direction to the carpet. The rotation therefore does not take the shortest path towards the carpet, but rather in the exact opposite direction.

[0023] Aligning along a carpet edge in a forward direction means, in particular, that the device orients itself with its front and rear sections along the carpet edge in such a way that forward travel along the carpet edge becomes possible. The device thus aligns itself parallel to the carpet edge, enabling it to travel along the carpet edge.

[0024] In an advantageous embodiment, the first carpet edge and the second carpet edge enclose a first angle of less than 180°, with the device rotating about a second angle complementary to the first. The first and second angles together form an angle of 360°. Since the first angle is less than 180°, the second angle is consequently greater than 180° but less than 360°.

[0025] In another advantageous embodiment, the device, as it rotates, sweeps over a carpet corner formed by the first and second carpet edges. This sweeping action results particularly from the device's rotation in the opposite direction to the carpet. If the device has a D-shaped housing, its geometry and the positions of the drive wheels mean that, when rotating in the direction of the carpet—that is, at the small angle towards the second carpet edge—it does not reach every area, especially at the carpet corner, thus preventing complete cleaning. By rotating in the opposite direction to the second carpet edge and thereby sweeping over the corner, even a preferably D-shaped device can achieve complete cleaning of carpet corners. Regardless of the device's geometry, this rotation ensures that the carpet corner is swept over and thus completely cleaned.

[0026] In a further advantageous embodiment, the device includes a side brush at a front corner of the housing. This side brush cleans the first and second carpet edges and sweeps over the carpet corner as the device rotates. The rotation of the device results in a superposition of the device's rotation and the side brush's rotation, thereby enhancing the sweeping action of the side brush and increasing the cleaning performance at the carpet corner. In particular, the rotation preferably supports the sweeping action of the side brush because the relative speed of the side brush's rotation at the outer edge is increased, resulting in improved cleaning performance in the carpet corner area. Furthermore, it is advantageously avoided that the device presses the bristles of the side brush against the carpet in a damaging manner, where the bristles are bent or kinked. The bristles are subjected to stress only as specified.

[0027] In a further advantageous embodiment, the cleaning method is carried out along all carpet edges. In particular, the method is continued until the entire carpet has been encircled. This ensures that all existing carpet corners are covered and thus thoroughly cleaned, thereby advantageously avoiding uncleaned areas. All carpet edges and corners are thus cleaned to the best possible standard.

[0028] It is understood that, in addition to the method, a computer program comprising commands that, when executed by a mobile, self-driving device, cause it to execute the method according to the invention, is also part of the scope of this invention. Likewise, a computer-readable medium on which such a computer program is stored is part of the scope of this invention.

[0029] The invention is explained in more detail with reference to the following examples. These examples show: Figures 1A, 1B: schematic views of an embodiment of a mobile, self-propelled device that can be controlled by a method according to the invention; Figures 2A - 2C: schematic views of an embodiment of a conventional control method for carpet edge cleaning; Figure 2D: detailed view of uncleaned areas in the conventional control method according to the invention. Figures 2A - 2C Figures 3A-3C: schematic views of an embodiment of a control method according to the invention for carpet edge cleaning, and Figure 3D: detailed view of the seamless cleaning in the control method according to the invention. Figures 3A - 3C .

[0030] The Figures 2A to 2CThe figures show the driving behavior of a mobile, self-driving device 10, in particular a robotic vacuum cleaner, which is operated with a conventional control method. Specifically, the figures show the driving behavior during carpet corner cleaning. If the robot detects a carpet 7, it follows the edge of the carpet 7, allowing all straight carpet edges to be cleaned by a side brush 1b of the device 10 up to the carpet 7. However, at carpet corners 8, there is a risk that the robot, when turning towards the next carpet edge to be cleaned, as shown in the figures, may encounter obstacles. Figur 2B shown, leaving an uncleaned area (see circle marking in Figur 2B ). This will not happen during the journey along the first edges ( Figur 2A ), even during the rotation ( Figur 2B ), even during the further journey along the second edge ( Figur 2C ) swept over by the side brush 1b or the robot's suction mouth.

[0031] In addition to the uncleaned floor area, when the robot turns towards the carpet, and especially towards the side brush when very close to the carpet edge, the side brush 1b moves along the carpet 7 in the opposite direction to its normal operating rotation. This reduced relative speed of the side brush rotation results in less effective sweeping. Furthermore, the robot may press the side brush against the carpet 7 during this rotation, causing the bristles of the side brush 1b to bend or even kink, potentially resulting in permanent damage to the bristles.

[0032] In 2D Figure Figure 9 shows a detailed view of the carpet corner with the areas (9) cleaned by the robot's side brush. Directly behind the corner of the carpet (7) remains an uncleaned area (11) where dirt and dust can accumulate.

[0033] Figur 1AFigure 10 shows a three-dimensional cross-sectional view of a mobile, self-driving device 10, in particular a vacuum-mop combination device or a vacuum-mop robot intended for autonomous floor cleaning. Figur 1B shows a bottom view of the vacuuming and mopping robot. Figur 1A The robot has a dry cleaning module 1 in a front section 5, extending across the width of the robot. The dry cleaning module 1 includes a suction nozzle 1a with a brush roller and a side brush 1b at a front corner of the housing. A wet cleaning module 2 is located in a rear section 6 of the robot. This module includes at least one mopping cloth or pad that can be moistened with cleaning fluid from a reservoir within the robot or externally. To prevent the mopping cloth from coming into excessive contact with dirt on the floor, its width is equal to or less than the width of the dry cleaning module 1.

[0034] In a central area, the robot has a drive unit, in particular drive wheels 3, for moving across a floor surface to be cleaned. A sensor 4 for perceiving and detecting its surroundings is located in the rear area of ​​the robot. The sensor 4 is, in particular, a LiDAR sensor.

[0035] Furthermore, the robot has a control device (not shown) which is designed to control the robot in a carpet edge following mode when a carpet is detected on the floor area to be processed.

[0036] The robot's driving behavior when a carpet is detected is described in the Figures 3A to 3C depicted.

[0037] Figur 3AFigure 10 shows that, after detecting a carpet 7, the device 10 moves and cleans along the first carpet edge 13a in a forward direction until the carpet edge 13a ends. The bristles of the side brush 1b extend under the carpet fold and can therefore clean a few millimeters below the carpet 7. At the end of the first carpet edge 13a, the device 10 continues moving forward along the edge until it extends approximately one device length beyond the carpet 7, specifically until half the device width is between the carpet edge and the center of the device. Specifically, the device 10 now extends far enough beyond the carpet 7 that a subsequent rotation of the device 10 results in a parallel alignment with a constant lateral distance between the device 10 and the carpet 7.The device 10 then rotates on the spot around its center point (center between its drive wheels) in the opposite direction to the carpet 7, until the device 10 is aligned along a second carpet edge 13b of the carpet 7 in the forward direction (. Figur 3B Instead of following the edges directly, as is conventionally done (see here). Figur 2B ), the robot turns in the opposite direction at carpet corners. In this case, it rotates approximately 270° counterclockwise. This rotation allows the side brush 1b to sweep over the carpet corner, thus avoiding uncleaned areas. Areas 9 swept by the side brush are shown as gray areas in the figures.

[0038] The robot rotates in the opposite direction to the second carpet edge 13b until it is aligned parallel to it in the forward direction ( Figur 3C). The robot then moves forward along the second carpet edge 13b and cleans the second carpet edge 13b with its side brush 1b.

[0039] The rotation enhances the sweeping action of side brush 1b by increasing the relative speed of the bristles at the outer edge, thus improving cleaning performance in the carpet corner. It also prevents the robot from pressing the bristles of side brush 1b against the carpet 7 in a way that would bend or crease them. The robot's rotation ensures that the bristles are subjected to tangential force according to the designed force application.

[0040] In 3D FigureFigure 9 shows a detailed view of the carpet corner with the areas covered by the robot's side brush. Due to the robot's rotation in the opposite direction to the carpet (Figure 7), no uncleaned area remains; instead, an overlap is created (Figure 12). This prevents dirt and dust from accumulating in the carpet corner.

[0041] The robot preferably cleans all corners of the detected carpet according to the instructions. Figures 3A to 3C , so that when cleaning around the entire carpet 7, a complete cleaning of the carpet edges can be guaranteed.

Claims

1. Method for controlling a mobile, self-propelled device (10), in particular a floor cleaning device, such as a suction, sweeping and / or mopping robot, for cleaning along carpet edges (13a, 13b) of a carpet (7), comprising the following method steps: - moving and cleaning along a first carpet edge (13a) in the forward direction of the device (10), until the first carpet edge (13a) is completed, - continuing to move in the forward direction along the first completed carpet edge (13a) until the device (10) extends so far beyond the carpet (7) that a subsequent rotation of the device (10) brings about a parallel alignment with a consistent lateral distance between device (10) and carpet (7), characterised by - rotating the device (10) at the position counter to the direction of the carpet (7) until the device (10) is aligned in the forward direction along a second carpet edge (13b) of the carpet (7), and - moving and cleaning along the second carpet edge (13b) in the forward direction of the device (10).

2. Method according to claim 1, wherein the first carpet edge (13a) and the second carpet edge (13b) define a first angle of less than 180° and the device (10) rotates about a second angle complementary to the first angle.

3. Method according to one of the preceding claims, wherein the second angle is greater than 180° and smaller than 360°.

4. Method according to one of the preceding claims, wherein, during rotation, the device (10) passes over a carpet corner (8) formed by the first carpet edge (13a) and the second carpet edge (13b).

5. Method according to claim 4, wherein, on a front housing corner, the device (10) comprises a side brush (1b), with which the first and second carpet edges (13a, 13b) are cleaned, and which passes over the carpet corner (8) when the device (10) rotates.

6. Method according to claim 5, wherein, through rotation of the device (10), a combination of device rotation and side brush rotation is performed.

7. Method according to one of the preceding claims, which is performed to clean along any of the carpet edges (13a, 13b) of the carpet (7).

8. Method according to one of the preceding claims, which is performed until the carpet (7) is fully driven around once.

9. Computer program, comprising commands which, when the program is executed by a mobile, self-propelled device (10), prompt it to carry out the method according to one of the preceding claims.

10. Computer-readable data carrier, on which the computer program according to claim 9 is stored.