Method for operating a mobile self-propelled device at a service station

Abstract

A method for operating a mobile, self-driving device at a service station (1) is described, which, in addition to charging the device's battery, offers at least one service function, comprising the following steps: detecting the docking of a device at the service station (1) by the flow of a charging current through two charging contacts (6a, 6b) of the device and two corresponding counter-contacts (2a, 2b) of the service station; checking the service station (1) for the presence of a communication interface (6c) of the device; automatically starting the service function at predetermined times or after predefined actions of the device if the communication interface (6c) of the device is not present.

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, sweeping and / or wiping robot, at a service station which, in addition to charging a battery of the device, offers at least one service function.

[0002] Cleaning robots are designed to clean floors as autonomously as possible. This not only relieves the user of the task of actually cleaning the floor, but also minimizes the amount of care or manual intervention required by the user. The cleaning robot's battery is recharged at a base station, which the cleaning robot visits independently as needed. A further reduction in user effort is often achieved with a vacuum station, where the cleaning robot's dust container filled with dust and dirt can be automatically emptied, requiring little or no effort from the user.

[0003] For operation at the charging station, the cleaning robot requires two electrical contacts to charge its battery. For operation with a vacuum station, however, additional communication interfaces, such as additional contacts, are provided to enable communication between the cleaning robot and the vacuum station. This communication allows the cleaning robot to be vacuumed only when necessary, especially if the cleaning robot explicitly informs the vacuum station of this.

[0004] To ensure complete compatibility between the cleaning robot and all stations, such as the charging station and the vacuum station, all cleaning robots are traditionally required to have an additional communication interface. Cleaning robots that operate exclusively on a charging station use only two charging contacts. If the user purchases an additional vacuum station, the same cleaning robot also uses the additional communication interface for communication.

[0005] The additional communication interface on cleaning robots leads to cost disadvantages compared to cleaning robots with only two charging contacts, particularly increased costs, which are unnecessary when using the robots with charging stations alone. However, the provision of only two charging contacts on cleaning robots reduces the flexibility of use with (possibly purchased) suction stations.

[0006] The object of the invention is to provide an operating method at a service station or a service station such that the above-mentioned disadvantages are avoided and, in particular, a service function of the service station in mobile, self-propelled devices can be carried out even without an additional communication interface.

[0007] According to the invention, a method for operating a mobile, self-propelled device at a service station, which offers at least one service function in addition to charging a battery of the device, comprises the following method steps: Detecting the docking of a device at the service station by flowing a charging current via two charging contacts of the device and two corresponding counter contacts of the service station, checking the service station for the presence of a communication interface of the device, automatically starting the service function at predetermined times or after predefined actions of the device if the communication interface of the device is not present.

[0008] With the method according to the invention, a device that is cost-optimized for operation at a charging station, with only two charging contacts and no communication interface, can advantageously also be operated at the service station. For this purpose, the service station preferably comprises electronics that can distinguish and recognize different device variants based on whether or not the communication interface is present.

[0009] The service station is specifically equipped with charging electronics capable of charging a battery of the docked or connected device if its charging contacts are connected to the corresponding mating contacts of the service station. The charging electronics are preferably protected so that only batteries equipped with a suitable BMS (Battery Management System) are charged. In other cases, no charging current is provided. This advantageously ensures that charging current only flows when a suitable device is docked.

[0010] The method according to the invention is used to operate devices independently of an existing communication interface at the service station. If the service station's control electronics detect that a charging current is flowing, it is assumed that the device is docked. The service station then checks whether the device is equipped with a communication interface. The service station's subsequent process steps vary depending on the result of the test. In particular, if a communication interface is not present, an automatic process is initiated to perform the service function on this device automatically, and in particular, without user intervention.

[0011] For devices without a communication interface, the service station itself is defined as the "master," which determines the trigger for starting the service function. Neither a start command from the user nor the device is required. The service station therefore starts the service function independently, without user intervention and independent of the device. The device includes charging contacts for charging the battery, via which no explicit communication with the service station takes place.

[0012] A mobile, self-propelled device is specifically understood to be a floor cleaning device that can autonomously clean floors, for example, in a household. This includes, among others, vacuum and / or sweeping and / or mopping robots. For example, a mobile, self-propelled device is a combination device that can perform both dry and wet cleaning. During operation (cleaning mode), the devices preferably operate without, or with as little as possible, user intervention. For example, the device moves automatically into a specified room to clean the floor according to a predefined and programmed process strategy.

[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 the like. 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 an app (e.g., a cleaning app) on a mobile device. 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] During the exploration run, the device detects obstacles and / or carpets in the floor area to be cleaned, preferably using special sensors such as ultrasonic sensors, laser systems, and / or camera systems with object recognition algorithms. Once the position, size, and shape of the obstacles have been determined, the device enters them into its surrounding map. Alternatively, a user can enter the position of the obstacles directly into the surrounding map when setting up the device, for example, using the cleaning app on their mobile device.

[0016] 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, carpets, and walls within it.

[0017] The environmental map with the obstacles is preferably displayed in the app on a portable additional device. This serves, in particular, to visualize a possible interaction for the user. In this context, an additional device is understood to mean any device that is portable for a user, that is located outside the mobile, self-driving device, in particular, that is external and / or separate from the mobile, self-driving device, and that is suitable for displaying, providing, transmitting, and / or transmitting data, such as a cell phone, a smartphone, a tablet, and / or a computer or laptop.

[0018] The app, in particular the cleaning app, is installed on the portable attachment. This app serves to communicate between the mobile, self-propelled device and the attachment and, in particular, enables visualization of the floor-treatment area, in particular the living space or apartment or living area to be cleaned, for example, indoors. The app preferably shows the user the area to be cleaned as a map of the surrounding area.

[0019] A service station is understood to mean any base station for a mobile, self-propelled device, in particular a cleaning robot, which, in addition to simply charging the cleaning robot's battery, provides at least one additional service function. This service function can, in particular, include vacuuming dust and dirt from the robot's dust box, refilling water in the robot's water tank, and / or cleaning or washing the mop pads used on the robot for mopping the floor. The service function is therefore a service task that should be performed to further work the floor in order to ensure optimal cleaning or to be able to continue the cleaning process. The service station can, of course, also offer more than one service function.

[0020] Docking the device to the service station specifically refers to a mechanical and / or electrical connection of the device to the service station. For example, the device has two charging contacts on its front underside, i.e., electrical contacts used to charge the battery. The service station has two corresponding mating contacts on its base plate, which are also electrical contacts used to charge the battery. For charging, the device moves onto the base plate in such a way that its charging contacts are mechanically and electrically connected to the mating contacts, allowing a charging current to flow from the service station to the device.

[0021] A device's communication interface is understood to mean, in particular, any interface that enables communication between the device and an external unit. In this case, the external unit is, in particular, the service station. The communication interface can be one or more additional electrical contacts or a contactless interface. The communication interface is particularly suitable for receiving requests from the service station and sending a corresponding response to the service station.

[0022] Automatic start-up is understood in particular as occurring automatically without any user intervention, i.e., purely device-dependent. The trigger for automatic start-up is, for example, a predefined action of the device, such as a defined number of docking operations, for example, after every fourth docking operation of the device at the service station. Alternatively or additionally, automatic start-up can be triggered at predetermined times or fixed time intervals, for example, three days after the last service function was performed.

[0023] In an advantageous embodiment, the method comprises the following further method steps: Waiting for a start command to start the service function from the device if the communication interface is available, starting the service function when the start command is received.

[0024] If the device has a communication interface, the service station waits for a command from the device to start the service function. The service station does not start this service function independently. In particular, the device itself is defined as the "master," which determines a trigger for performing the service function. The device detects, preferably via internal sensors, when it makes sense to perform the service function, so that it is only carried out when necessary. The user is hardly disturbed by the execution of the service function due to the automatic process. In addition, the user can specify to the device, preferably via the cleaning app, when the service task is permitted and when it is not. For example, the user can prohibit service functions at certain times, such as at night.

[0025] In a further advantageous embodiment, the service station check comprises sending a request from the service station to the device and (if applicable) receiving a response from the device at the service station via the communication interface (if the communication interface is present). If the service station detects that a charging current is flowing, i.e. that a device is docked, the service station sends the (specific) request to the device. If the device responds (correctly), the service station detects that a device with a communication interface has docked. If the device does not respond or responds incorrectly, the service station concludes that a device without a communication interface has docked. The service station can thus distinguish between a present and a non-present communication interface.

[0026] In another advantageous embodiment, the automatic start of the service function is performed after a predefined tolerance time interval. The service station waits after its request for a response from the device. A tolerance time interval is specified for the waiting time. After this tolerance time interval, the service station determines the "master": if there is a response, the device is recognized as the master; if there is no response, the service station is recognized as the master.

[0027] In a further advantageous embodiment, the service station offers additional service functions that start automatically or upon a start command from the device, depending on the presence or absence of the communication interface. The service station thus offers a variety of service functions that are started partially or entirely according to the same inventive principle. The service functions can include, among others: vacuuming the dust box, washing the mop pads, filling the water tank, blowing off the top of the device, and cleaning the exterior of the device and / or the external sensors.

[0028] The invention further relates to a service station for a mobile, self-propelled device, at which an operating method according to the invention can be carried out. Furthermore, the invention relates to a service system for carrying out an operating method according to the invention for a mobile, self-propelled device at a service station, which comprises the mobile, self-propelled device and the service station, which, in addition to charging a battery of the device, offers at least one service function.

[0029] It is understood that, in addition to the method, the service station, and the service system, a computer program comprising instructions that, when executed by a service station of a mobile, self-driving device, cause the device to carry out the method according to the invention, also falls within the scope of this invention. A computer-readable medium on which such a computer program is stored also falls within the scope of this invention.

[0030] Any features, configurations, embodiments and advantages relating to the method also apply in connection with the service station according to the invention, the service system, the computer program and the computer-readable medium, and vice versa.

[0031] The invention is explained in more detail with reference to the following embodiments, which are merely examples. They show: Figure 1: a schematic view of an embodiment of a service station for a mobile, self-propelled device with which an operating method according to the invention can be carried out, Figure 2: a schematic view of an embodiment of a mobile, self-propelled device which is provided for the operating method according to the invention at a service station, Figures 3A, 3B: each a schematic bottom view of an embodiment of a mobile, self-propelled device which is provided for the operating method according to the invention at a service station, and Figure 4: flow diagram of an embodiment of an operating method according to the invention.

[0032] In Figure 1a service station 1 is shown, which is intended for charging a battery of a mobile, self-propelled device, in particular a cleaning robot, and which the cleaning robot visits independently when needed. In order to keep the effort for a user of the cleaning robot as low as possible, the service station 1 offers at least one service function. For example, the service station 1 has a suction function as a service function, by means of which a filled dust box of the cleaning robot can be automatically emptied at the service station 1, so that the user has little effort in emptying and cleaning the cleaning robot. As an alternative or further service function, the service station 1 can provide a refill function for refilling a water tank of the cleaning robot. Further alternatively or additionally, a cleaning function for wiping pads of the cleaning robot can be offered as a third service function.

[0033] Two contacts 2a, 2b are required to simply charge the cleaning robot's battery at the service station. To provide at least one service function for the cleaning robot, an additional communication interface 2c, in particular a further contact, is necessary to allow communication between the cleaning robot and the service station 1. This communication enables the cleaning robot to be vacuumed not every time it docks at the service station 1, but only when the cleaning robot explicitly notifies the service station 1 of this, for example, when the dust box is full or a longer time interval has passed since the last vacuuming.Communicating when the cleaning robot needs to be vacuumed is particularly advantageous when several service stations are in use that do not necessarily communicate with each other, but only communicate with the cleaning robot, so that only the robot actually knows when it was last emptied.

[0034] Figure 2 shows a cleaning robot 3 in plan view, which is located at a service station of the embodiment of the Figure 1can be operated. The cleaning robot 3 has a D-shape. Its front is straight, while its back is curved. At a rear area, the cleaning robot 3 has a LIDAR sensor 4 with which it can explore and navigate its surroundings. The cleaning robot 3 is a vacuuming, sweeping, and mopping robot. After autonomously completing its cleaning task, it returns to its service station to charge its battery. To do so, the cleaning robot 3 moves with its front onto a base plate 5 of the service station 1 in such a way that charging contacts of the cleaning robot 3 rest on the contacts 2a, 2b in order to begin charging. In particular, the cleaning robot 3 docks onto the service station 1 by bringing its charging contacts into mechanical and electrical contact with the corresponding contacts 2a, 2b of the service station, so that a charging current can flow.

[0035] In the Figures 3A, 3B The undersides of two different cleaning robots 3 are shown. The cleaning robot 3 of the Figure 3A is intended for operation at the service station 1 and is preferably sold as a package with it. In addition to charging contacts 6a, 6b, the cleaning robot 3 has a communication interface, for example in the form of another electrical contact 6c or contactless communication. Due to the presence of the communication interface 6c, the cleaning robot 3 is recognized by the service station 1 as a robot with an interface and can communicate via the communication interface 6c when a service function (vacuuming the dust box, washing the mop pads, refilling the water tank) should be performed. In addition, the battery is charged via the charging contacts 6a, 6b.

[0036] The cleaning robot 3 of the Figure 3Bis intended for operation at a charging station without any additional service function (not shown). In particular, the cleaning robot 3 has charging contacts 6a, 6b, but no communication interface. No explicit communication takes place via the charging contacts 6a, 6b. Due to the absence or non-existence of the communication interface, the cleaning robot can be charged from the service station 1 of the embodiment of the Figure 2 be recognized as a robot without an interface.

[0037] In order to use both a cleaning robot 3 of the embodiment of the Figure 3A (with communication interface), as well as the cleaning robot 3 of the embodiment of the Figure 3B (without communication interface) at the service station 1 of the embodiment of the Figure 1 In order to be able to operate the system, the method according to the embodiment of the Figure 4 Application.

[0038] In step 101, the cleaning robot moves to the service station and docks there. After docking, the service station's charging electronics begin charging the cleaning robot's battery (step 102). If the service station's control electronics detect that a charging current is flowing, the service station recognizes that the cleaning robot is docked (step 103). The service station then performs a test to determine whether the cleaning robot is equipped with a communication interface (step 104). For this purpose, the service station sends a specific request to the cleaning robot.

[0039] If the cleaning robot responds correctly, a communication interface is detected. The service station assumes a cleaning robot with a communication interface (step 105a). In this case, the service station waits for a command from the cleaning robot to start one or more service functions, such as vacuuming, refilling, washing, or similar (step 106a). The service station does not start the service function independently; instead, the cleaning robot is defined as the master. The cleaning robot can use internal sensors to determine when a service function is useful, so that it is only performed when absolutely necessary. The user is therefore rarely disturbed by the execution of a service function. Furthermore, the user can use the cleaning app to specify to the cleaning robot when service functions are permitted and when they are not.For example, service functions may be prohibited at certain times of the day, such as at night.

[0040] If no response is received from the cleaning robot within a defined tolerance time interval after the service station sends the request, no communication interface is detected. In this case, the service station assumes a cleaning robot without a communication interface (step 105b). The service station defines itself as the master and does not wait for communication or a command from the cleaning robot. The service station starts one or more service functions automatically (step 106b), for example, after each docking of the cleaning robot, after a defined number of docking processes by the cleaning robot (for example, every fourth docking process), or after a fixed time interval, for example, whenever three days have passed since the last service function.

[0041] Overall, service functions may be performed more frequently on cleaning robots without a communication interface than on cleaning robots with a communication interface, resulting in a higher probability of malfunction for a user. However, the advantage is that this allows the cleaning robot, which was initially equipped without a service function, to gain increased functionality at the service station with all available service functions. The cleaning robot with only two charging contacts can thus also be operated at the service station with service functions, while cleaning robots with a communication interface suffer no disadvantages.

Claims

1. Method for operating a mobile, self-propelled device at a service station (1) which, in addition to charging a battery of the device, offers at least one service function, with the following method steps: - detecting docking of a device at the service station (1) by a charging current flowing via two charging contacts (6a, 6b) of the device and two corresponding counter contacts (2a, 2b) of the service station, - checking the service station (1) for the presence of a communication interface (6c) of the device, - automatically starting the service function at predetermined times or after predefined actions of the device if the communication interface (6c) of the device is not present.

2. Method according to one of the preceding claims, with the alternative or further method steps: - waiting for a start command to start the service function from the device if the communication interface (6c) is present, - starting the service function upon receipt of the start command.

3. Method according to one of the preceding claims, wherein the predetermined times or predefined actions of the device are a defined number of docking operations of the device and / or a fixed time interval.

4. Method according to one of the preceding claims, wherein checking the service station (1) comprises sending a request from the service station (1) to the device and possibly receiving a response from the device at the service station (1) via the communication interface (6c).

5. Method according to one of the preceding claims, wherein the automatic starting of the service function is carried out after a predefined tolerance time interval.

6. Method according to one of the preceding claims, wherein the service station (1) offers further service functions which start automatically or upon a start command of the device, depending on the presence or absence of the communication interface (6c).

7. Service station for a mobile, self-propelled device at which an operating method according to one of the preceding claims can be carried out.

8. Service system for carrying out an operating method of a mobile, self-propelled device at a service station (1) according to one of the preceding claims 1 to 6, comprising - the mobile, self-propelled device, and - the service station (1) according to claim 7, which offers at least one service function in addition to charging a battery of the device.

9. A computer program comprising instructions which, when executed by a service station (1) of a mobile, self-propelled device, cause the latter to carry out the method according to one of the preceding claims 1 to 6.

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

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