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-driving device, in particular a floor cleaning device, such as a vacuuming, sweeping and / or mopping 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. The goal is not only to relieve the user of the actual cleaning task, but also to minimize the need for user supervision or manual intervention. The robot's battery is recharged at a base station, which it automatically returns to as needed. Further reducing user effort is often achieved through a self-emptying station, where the robot's dustbin, filled with dust and dirt, is automatically emptied, minimizing or eliminating the need for manual emptying.

[0003] For operation at the charging station, the cleaning robot requires two electrical contacts to charge its battery. For operation with a self-emptying station, however, additional communication interfaces, such as extra contacts, are provided to enable communication between the cleaning robot and the station. This communication allows the cleaning robot to be emptied only when needed, particularly if the cleaning robot explicitly signals this to the station.

[0004] To ensure full compatibility between cleaning robots and all stations, such as charging and emptying stations, it is conventionally necessary for all cleaning robots to have an additional communication interface. Cleaning robots that operate exclusively on a charging station only use two charging contacts. If the user purchases an additional emptying station, the same cleaning robot uses the extra 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 that are unnecessary if the robots are only used with charging stations. However, equipping cleaning robots with only two charging contacts also reduces their flexibility in using them with (potentially separately purchased) self-emptying stations.

[0006] A docking station designed for performing maintenance work on a robot is known from publication WO 2022 / 133174 A2. A charging station for a robot is known from EP 2 625 763 B1; this station only applies the full charging voltage to the charging contacts once the robot is securely docked.

[0007] The object of the invention is to provide an operating method at a service station or a service station itself, so that the aforementioned disadvantages are avoided, and in particular, a service function of the service station can be performed on mobile, self-driving devices even without an additional communication interface.

[0008] According to the invention, a method for operating a mobile, self-driving device at a service station which, in addition to charging a battery of the device, offers at least one service function, comprises the following method steps: Detecting the docking of a device at the service station by the flow of a charging current through 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.

[0009] The inventive method advantageously allows a device optimized for cost-effective operation at a charging station, with only two charging contacts and no communication interface, to also be operated at the service station. The service station preferably comprises electronics that can distinguish and recognize different device variants based on the presence or absence of a communication interface.

[0010] The service station includes charging electronics capable of charging the battery of a docked or connected device when its charging contacts are connected to the corresponding contacts of the service station. Preferably, the charging electronics are protected so that only batteries equipped with a suitable BMS (Battery Management System) are charged. In other cases, no charging current is provided. This ensures that charging current only flows when a compatible device is docked.

[0011] To enable devices to be operated independently of an existing communication interface at the service station, the method according to the invention is carried out. If the control electronics of the service station 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. Depending on the result of the check, the subsequent process steps of the service station differ. In particular, if no communication interface is present, an automatic process starts automatically to perform the service function for this device automatically and, in particular, without user intervention.

[0012] 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 from the device is necessary. The service station therefore starts the service function independently, without user intervention and regardless of the device. The device includes charging contacts for charging the battery, but no explicit communication with the service station takes place via these contacts.

[0013] 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.

[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 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.

[0016] During its exploration run, the device detects obstacles and / or 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 obstacles have been determined, the device enters this information into its environment map. Alternatively, a user can directly enter the position of the obstacles into the environment map during device setup, for example, using the cleaning app on their mobile device.

[0017] 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.

[0018] 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.

[0019] 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.

[0020] A service station is defined as any base station for a mobile, self-driving device, particularly a cleaning robot, that provides at least one additional service function besides simply charging the robot's battery. This service function might include, for example, vacuuming dust and dirt from the robot's dustbin, refilling the robot's water tank, and / or cleaning or washing the mopping pads attached to the robot. The service function is therefore a task that should be performed to ensure optimal cleaning or to allow the cleaning process to continue. Naturally, the service station can offer more than one service function.

[0021] Docking the device to the service station refers specifically to a mechanical and / or electrical connection between the device and 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. To charge, the device is positioned on the base plate in such a way that its charging contacts are in mechanical and electrical contact with the mating contacts, allowing a charging current to flow from the service station to the device.

[0022] A communication interface of the device 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 specifically 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 corresponding responses to the service station.

[0023] Automatic startup means that the device starts automatically without any user intervention, i.e., purely device-dependent. The trigger for automatic startup is, for example, a predefined action of the device, such as a defined number of docking cycles, for instance, after every fourth docking cycle at the service station. Alternatively or additionally, automatic startup can be triggered after predetermined times or fixed time intervals, such as three days after the last service function was performed.

[0024] In an advantageous embodiment, the method comprises the following further process steps: Waiting for a start command to initiate the service function from the device if the communication interface is present; starting the service function upon receipt of the start command.

[0025] If the device has a communication interface, the service station waits for a command from the device to initiate the service function. The service station does not start this service function automatically. Specifically, the device itself is defined as the "master," which determines the trigger for performing the service function. The device preferably uses internal sensors to detect when performing the service function is appropriate, ensuring that it is only executed when necessary. Due to the automated nature of the service function, the user experiences minimal disruption. Additionally, the user can specify, preferably via the cleaning app, when the device is permitted to perform the service task. For example, the user can disable service functions at certain times, such as at night.

[0026] In a further advantageous embodiment, the service station's check includes sending a request to the device and (if applicable) receiving a response from the device 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, it sends the (specific) request to the device. If the device responds (correctly), the service station recognizes 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. In this way, the service station can distinguish between a present and a non-present communication interface.

[0027] In a further advantageous embodiment, the service function is automatically started after a predefined tolerance time interval. The service station therefore waits after its request to see if the device responds. A tolerance time interval is specified for this waiting period. After this tolerance time interval, the service station determines the "master": if it responds, the device is recognized as the master; if there is no response, the service station is recognized as the master.

[0028] 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 plurality of service functions that are started partially or completely according to the same principle of the invention. These service functions can include, among others: vacuuming the dust box, washing the mop pads, refilling the water tank, blowing off the top of the device, and cleaning the exterior of the device and / or the external sensors.

[0029] The invention further relates to a service station for a mobile, self-driving device at which an operating method according to the invention can be carried out. The invention also relates to a service system for carrying out an operating method according to the invention for a mobile, self-driving device at a service station, comprising the mobile, self-driving device and the service station, which, in addition to charging the device's battery, offers at least one service function.

[0030] It is understood that, in addition to the method, the service station, and the service system, a computer program comprising commands that, when executed by a service station of 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.

[0031] Any features, designs, embodiments and advantages relating to the method also apply in connection with the service station, service system, computer program and computer-readable medium according to the invention, and vice versa.

[0032] 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 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 that is provided at a service station for the operating method according to the invention; Figures 3A, 3B: each a schematic bottom view of an embodiment of a mobile, self-propelled device that is provided at a service station for the operating method according to the invention; and Figure 4: flowchart of an embodiment of an operating method according to the invention.

[0033] In Figure 1A service station 1 is depicted, designed for charging the battery of a mobile, self-driving device, particularly a cleaning robot, which the cleaning robot automatically returns to as needed. To minimize the effort required from the user of the cleaning robot, the service station 1 offers at least one service function. For example, the service station 1 includes a vacuuming function, which automatically empties a full dustbin of the cleaning robot at the service station 1, thus minimizing the user's effort in emptying and cleaning the cleaning robot. As an alternative or additional service function, the service station 1 can provide a refill function for the cleaning robot's water tank. A third alternative or additional service function can be a cleaning function for the cleaning robot's mopping pads.

[0034] Two contacts, 2a and 2b, are required to simply charge the cleaning robot's battery at the service station. To offer at least one service function for the cleaning robot, an additional communication interface, 2c, specifically another contact, is necessary to allow communication between the cleaning robot and service station 1. This communication enables the cleaning robot to be vacuumed only when it explicitly informs the service station 1, for example, when the dustbin is full or a longer period of time has passed since the last vacuuming.Notifying the cleaning robot of a necessary vacuuming is particularly advantageous when several service stations are in use that do not necessarily communicate with each other, but only with the cleaning robot, so that only the robot actually knows when its last emptying was.

[0035] Figure 2 shows a cleaning robot 3 in a top view, which is located at a service station of the exemplary embodiment of the Figure 1The cleaning robot 3 has a D-shape. Its front is straight, while its back is curved. A LIDAR sensor 4 is located at the rear of the cleaning robot 3, enabling it to 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 recharge its battery. To do this, the cleaning robot 3 moves its front end onto a base plate 5 of the service station 1, ensuring that its charging contacts make contact with contacts 2a and 2b to begin charging. Specifically, the cleaning robot 3 docks with the service station 1 by bringing its charging contacts into mechanical and electrical contact with the corresponding contacts 2a and 2b of the service station, allowing a charging current to flow.

[0036] In the Figures 3A, 3B The subpages of two different cleaning robots 3 are shown. The cleaning robot 3 of the Figure 3A The cleaning robot 3 is designed for operation at service station 1 and is preferably sold as a package with it. In addition to charging contacts 6a and 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 communication interface 6c, the cleaning robot 3 is recognized by service station 1 as a robot with an interface and can inform it via communication interface 6c when a service function (emptying the dustbin, washing the mop pads, refilling the water tank) needs to be performed. The battery is also charged via charging contacts 6a and 6b.

[0037] The cleaning robot 3 of the Figure 3Bis designed for operation at a charging station without any additional service function (not shown). Specifically, the cleaning robot 3 has charging contacts 6a and 6b, but no communication interface. No explicit communication takes place via the charging contacts 6a and 6b. Due to the absence of a communication interface, the cleaning robot cannot be charged from the service station 1 of the exemplary embodiment. Figure 2 be recognized as a robot without an interface.

[0038] In order to use both a cleaning robot 3 of the exemplary embodiment of the Figure 3A (with communication interface), as well as the cleaning robot 3 of the exemplary embodiment of the Figure 3B (without communication interface) at service station 1 of the exemplary embodiment of the Figure 1 In order to be able to operate, the procedure according to the exemplary embodiment of the Figure 4 Application.

[0039] In step 101, the cleaning robot travels to the service station and docks there. After docking, the service station's charging electronics begin charging the cleaning robot's battery (step 102). When 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 check 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.

[0040] If the cleaning robot responds correctly, a communication interface is detected. The service station assumes the cleaning robot has 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 particular service function is appropriate, ensuring that it is only performed when truly necessary. As a result, the user is rarely disturbed by the execution of a service function. Furthermore, the user can use the cleaning app to specify when the cleaning robot is permitted to perform service functions and when it is not.For example, service functions may be prohibited at certain times, such as at night.

[0041] If, after the service station sends a request, no response is received from the cleaning robot within a defined tolerance time interval, no communication interface is detected. In this case, the service station assumes the cleaning robot has no communication interface (step 105b). Here, the service station defines itself as the master and does not wait for communication or a command from the cleaning robot. The service station automatically starts one or more service functions (step 106b), for example, after each docking of the cleaning robot, after a defined number of docking operations by the cleaning robot (for example, every fourth time), or after a fixed time interval, for example, whenever three days have passed since the last service function.

[0042] Overall, it's possible that service functions will be performed more frequently on cleaning robots without a communication interface than on those with one, thus increasing the likelihood of malfunctions for the user. However, the advantage is that this allows the cleaning robot, initially equipped without a service function, to gain enhanced functionality at the service station with all available service options. A cleaning robot with only two charging contacts can therefore also be operated at the service station with service functions, while there are no disadvantages for cleaning robots with a communication interface.

Claims

1. Method for operating a mobile, self-propelled device at a service station (1), which, in addition to charging a rechargeable battery of the device, offers at least one service function, having the following method steps: - identifying a docking of a device at the service station (1) by running a charging current over 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 a presence of a communication interface (6c) of the device, characterised by an - automatic starting of the service function at predetermined times or after predefined operations of the device in the case of the absence of the communication interface (6c) of the device.

2. Method according to claim 1, having the alternative or further method steps: - waiting for a start command to start the service function of the device in the presence of the communication interface (6c), - 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 operations of the device are a defined number of docking processes of the device and / or a fixed time interval.

4. Method according to one of the preceding claims, wherein the checking of the service station (1) comprises sending a request from the service station (1) to the device and possibly receiving feedback from the device to the service station (1) by way of 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 commend from the device, independently of the presence or absence of the communication interface (6c).

7. Service station for a mobile, self-propelled device, on 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 on 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 rechargeable battery of the device.

9. Computer program, comprising commands, which, upon execution of the program by a service station (1) of a mobile, self-propelled device trigger this to carry out the method according to one of the preceding claims 1 to 6.

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

Images