Method for operating a mobile, self-propelled appliance

Abstract

Disclosed is a method for operating a mobile, self-propelled appliance, in particular a floor cleaning device such as a vacuum and / or sweeping and / or wiping robot, having a rechargeable battery, with which a user specifies on a portable additional device, the time window (T1-T25) in which the mobile, self-propelled appliance should carry out at least one specified cleaning task, wherein the mobile, self-propelled appliance automatically determines its recharging time of the rechargeable battery in this time window (T1-T25), and / or the time period (Z41, Z42, Z47, Z51, Z52, Z55, Z62, Z63, Z65) in which the mobile, self-propelled appliance should carry out no cleaning tasks, wherein the mobile, self-propelled appliance automatically determines at an end of the time period (Z41, Z42, Z47, Z51, Z52, Z55, Z62, Z63, Z65) to charge the rechargeable battery to its full charge capacity.

Description

[0001] Method for operating a mobile, self-propelled device

[0002] The invention relates to a method for operating a mobile, self-propelled device, in particular a floor cleaning device such as a vacuum and / or sweeping and / or wiping robot, which comprises a battery.

[0003] Mobile, self-driving devices such as robot vacuums are designed to autonomously clean an entire floor area, if possible. Autonomous robot vacuums are designed to perform their tasks as independently as possible, especially without user intervention. This includes not only independently planning and executing cleaning tasks, but also independently locating the charging station and recharging the battery to ensure sufficient capacity for future cleaning tasks.

[0004] Recharging the battery may be necessary not only after a cleaning task. While cleaning large areas, multiple rooms, or at very high cleaning power levels, the battery charge level may drop to such a low level that the cleaning task cannot be fully completed.

[0005] Since recharging the battery usually takes significantly longer than emptying it, robot vacuums that need to charge their batteries before completing a cleaning task can take several hours to complete. This can be annoying for a user who started the robot vacuum while they were away, returns home a few hours later, and finds the robot still cleaning. It can also be frightening if the robot vacuum unexpectedly starts up on its own after several hours at its charging station to finish the cleaning task it had started but hadn't yet finished.

[0006] It is well known that the overall duration of a cleaning task can be reduced by minimizing the need for interim recharging. To do this, the robot vacuum cleaner checks, before starting a cleaning session or when cleaning is interrupted, what charge capacity is required for the intended cleaning task. Based on this, the charging process at the charging station is shortened by only charging the battery with as much charge as is necessary for the remainder of the cleaning. However, this can disadvantageously result in the robot vacuum cleaner having a completely discharged battery immediately after cleaning, meaning it cannot be used by the user for further spontaneous cleaning tasks within a certain time period.

[0007] After each completed cleaning run, the robot usually recharges itself at the charging station in preparation for the next jobs. To be ready for a new cleaning task at any time, the battery is usually fully charged. However, the batteries predominantly used in robot vacuums are prone to self-discharge. In addition, energy is drawn from the battery for the robot vacuum's standby mode, so it must be recharged from time to time to maintain a full charge. However, this recurring trickle charging and the associated constantly high battery charge puts stress on the battery and reduces its lifespan. This causes the battery to age, which means that with each charging cycle it can store less capacity and, in particular, can complete fewer cleaning tasks over time before the battery needs to be recharged.

[0008] It is known from the documents DE 10 2017 123665 A1 and DE 102017 112 663 A1 that the battery is only charged when a cleaning task is imminent. The battery is in storage at other times. Therefore, if the user spontaneously requests a cleaning task, the robot vacuum cleaner must first recharge its battery.

[0009] To be able to start a spontaneous cleaning task without delay, the battery should not be empty if possible. At the same time, the battery should not be constantly recharged and should be subjected to stress through trickle charging to increase its lifespan.

[0010] The object of the invention is to provide the user with an operating method characterized by user-dependent battery charging while simultaneously ensuring an extended battery life. This object is achieved by a method for operating a mobile, self-propelled device, in particular a floor cleaning device for autonomously cleaning floor surfaces, with the features of claim 1. Advantageous embodiments and further developments are the subject of the dependent claims.

[0011] According to the invention, in a method for operating a mobile, self-propelled device, in particular a floor-cleaning device for autonomously cleaning floor surfaces, such as a vacuuming and / or sweeping and / or mopping robot, which has a battery, a user specifies on a portable additional device the time window in which the mobile, self-propelled device must perform at least one predetermined cleaning task, wherein the mobile, self-propelled device automatically determines its battery recharging time within this time window. Additionally or alternatively, the user specifies the period in which the mobile, self-propelled device is not to perform any cleaning task, wherein the mobile, self-propelled device automatically determines, towards the end of the period, to charge the battery to its full capacity.In particular, the user indirectly indicates during which period the battery of the mobile, self-driving device is not to be charged (except towards the end), unless the battery charge level falls below a specified charging capacity (specified minimum value).

[0012] According to the invention, charging of the battery of the mobile, self-propelled device is only permitted within defined and predefined time windows, thus creating optimal conditions for the battery and thus advantageously increasing its service life. Furthermore, the user sets a time limit for the charging time at the charging station, which allows the total time required to complete a cleaning job to be reduced as desired. In particular, the user specifies a time limit within which the mobile, self-propelled device must complete its task, so that the device adjusts its recharging time accordingly.

[0013] The total duration of the cleaning job can preferably be reduced by reducing the need for interim recharging. Specifically, the user specifies a time window within which the mobile, self-driving device must complete its task, so that the device adjusts its recharging time accordingly. The user thus specifies a maximum required duration for the entire cleaning task, including charging time. If the device cannot complete its cleaning task with one battery charge, it at least partially recharges itself, but terminates the charging process early and continues cleaning so that the specified total duration is not exceeded.

[0014] The user can specify a maximum time duration, i.e. from the start of cleaning to completion, including any interim battery charging. Alternatively or additionally, the user can specify a desired end time, for example 5 p.m. If the device estimates that its battery can be fully charged and the cleaning can be fully completed within the specified time frame, any interim battery charging will not be interrupted. This advantageously results in a longer battery life. By allowing a possible time window, the device also has freedom in structuring the cleaning and charging process, while at the same time guaranteeing that the device will complete its tasks at the time specified by the user.This can prevent the user from feeling disturbed by the ongoing cleaning process in his presence.

[0015] Selecting a time window in the form of a specific time of day or a total duration allows for the implementation of a function in which the mobile, self-driving device no longer operates after a predetermined time of day or cleaning duration. This advantageously minimizes disruption to the user caused by a moving and operating device.

[0016] By specifying a period of time during which the device's battery is not recharged, the aging of the battery can be further delayed and its lifespan can be increased. The device's battery is preferably not charged during this period because it is foreseeable that the device will not be used for cleaning tasks during this time, for example at night. Outside of this period, i.e. when the user intends to use the device for cleaning, the device is charged as usual and is therefore always ready for cleaning tasks. During the specified non-charging period, a predetermined critical value for the battery's charge capacity is specified, which the battery should not fall below.If the battery falls below this value, a trickle charge is initiated, which charges the battery to an ideal storage charge level above the critical value, such as 50% of the battery capacity, which in particular does not mean the battery is fully charged. The user determines the start and end times of the period in order to adapt the cleaning behavior of their device to their daily routine. Preferably, the user can specify several periods per day during which the battery of the mobile, self-driving device is not in use and therefore does not need to be charged, unless the battery charge level falls below the specified charge capacity. Weekday-dependent periods, i.e. different periods depending on the day of the week, can also be implemented if required.Since the device is only kept at a nearly full charge outside of these time periods, and the battery is only recharged at the end of the time period(s) and after cleaning runs, the strain on the battery is advantageously reduced. Outside of the specified time periods, the device is immediately available to the user with a full charge thanks to the maintenance charge.

[0017] These set time periods have a beneficial effect on the device's battery life. For example, if a user sets a rest period from 7 p.m. to 7 a.m., this means approximately 12 hours per day during which the battery isn't stressed by a forced high charge level. This creates better conditions for the battery for about half of its lifespan.

[0018] A mobile, self-propelled device is understood in particular to be a floor cleaning device, for example, a cleaning appliance, that autonomously cleans floors, particularly in the home. These include, among others, vacuuming and / or sweeping and / or mopping robots, such as robot vacuum cleaners. These devices preferably operate without, or with as little as possible, user intervention during operation (cleaning mode). For example, the device moves automatically into a specified room to clean the floor according to a predefined and programmed process strategy.

[0019] 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 depict the conditions of the soil to be worked.

[0020] 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.

[0021] An environmental map is understood to mean any map suitable for depicting the surroundings of the tillage area, including all its obstacles and objects. For example, the environmental map shows a sketch of the tillage area, including the furniture and walls within it.

[0022] The surrounding map with the obstacles is preferably displayed in the app on a portable device. This primarily serves to visualize a possible interaction for the user.

[0023] In the present case, an additional device is understood to mean in particular any device that is portable for a user, that is arranged outside the mobile, self-propelled device, in particular that is external and / or differentiated from the mobile, self-propelled device, and that is suitable for displaying, providing, transmitting and / or transmitting data, such as a mobile phone, a smartphone, a tablet and / or a computer or laptop.

[0024] The app, in particular the cleaning app, is installed on the portable accessory device. This app enables communication between the mobile, self-propelled device and the accessory device and, in particular, enables visualization of the floor cleaning area, i.e., the living space or apartment or living area to be cleaned. The app preferably shows the user the area to be cleaned as a map of the surrounding area. In the app, the user can, for example, enter, manage, start, and stop cleaning jobs, and / or enter cleaning parameters or commands, and / or check the battery charge level.

[0025] A user is understood to mean, in particular, any end customer or end consumer who uses the mobile, self-propelled device and, in particular, has a cleaning order and / or a cleaning trip carried out in his or her own home or living space.

[0026] A battery is understood, in particular, to be any rechargeable battery. A battery's charge level is understood, in particular, to be the actual charge capacity available at a given time. A specified minimum charge capacity, which must not be exceeded, indicates a minimum charge level (specified minimum value), which, if exceeded, results in the battery being charged.

[0027] A time window is understood to mean any period of time that includes, in particular, a start time and an end time, and a time phase in between. Likewise, a period of time is understood to mean any period of time that includes, in particular, a start time and an end time, and a time phase in between.

[0028] The term “automatic” means, in particular, that the mobile, self-propelled device determines, sets, starts, stops and / or plans its recharging time, preferably automatically, without user intervention or user input or user specification.

[0029] In an advantageous embodiment, if the battery's charge capacity is low during a cleaning run, it is recharged within a time window such that the time window specified by the user for a cleaning job is not exceeded overall. The charging time at the charging station is limited by the time window specified by the user, i.e. by setting a time limit by the user. It is not absolutely necessary for the device to only spend a minimum amount of time at the charging station. In particular, the device freely determines how long it charges its battery within the time window. The user therefore allows the device a maximum total duration or sets a final working time by which the device must complete its cleaning.Given the appropriate time constraints, it is possible that the device will not have a completely empty but a partially charged battery after the cleaning work has been completed, and can therefore be used by the user for further cleaning work immediately afterwards if necessary.

[0030] In a further advantageous embodiment, the mobile, self-propelled device interrupts the charging process in order to complete the cleaning task within the time window. In this case, the cleaning time or task time is not limited by the user specifications; instead, the time reduction is achieved via the charging time, which is limited depending on the user specifications. User specifications are therefore adjusted based on the recharging time. If the device cannot complete its cleaning task with the available battery charge, the device partially recharges its battery, but terminates the charging process early and continues cleaning so that the total duration specified by the user is not exceeded.

[0031] In a further advantageous embodiment, the remaining time within the time window is calculated by analyzing previous cleaning runs, taking into account the time required and / or energy consumption at the corresponding power level. A targeted analysis therefore determines when the device needs to interrupt the charging process in order to complete cleaning on time. The device learns how long it needs for each room or area and can use this to estimate how long an unfinished part of the cleaning will take. The device therefore learns how much battery charge is required for each room / area and can use this to estimate how much charge still needs to be recharged for the unfinished part of the cleaning.

[0032] If the device has not previously completed any cleaning runs on which to base its estimate, a factory default value per room / area can be used. Alternatively, the user can be prevented from specifying a time window until the device is ready to make an estimate or until an estimate is possible. In another advantageous embodiment, the user is given a warning on the additional device if the cleaning task, including the necessary charging, takes longer than the specified time window. This means that as soon as an estimate of the required battery charge can be made, for example after three completed cleaning runs, the user can be given feedback when setting the time window as to whether the device can adhere to this time window.If the device is likely to take longer than the user has allowed, the user can be prevented from setting the time window that is too limited, or a corresponding message is displayed to the user, allowing the user to decide whether and / or that the device should cancel the cleaning in this case, even though it has not yet finished.

[0033] In another advantageous embodiment, the time window is a maximum time period that can be exceeded. The time window thus includes a maximum time period from the start of cleaning to its completion, including any interim battery charging. If the device estimates that it can fully charge its battery within the time window and complete the cleaning, charging will not be interrupted. This means that the battery will not be completely drained, which has a positive effect on battery life.

[0034] In a further advantageous embodiment, the mobile, self-propelled device automatically determines its cleaning time within this time window. This means that the device itself decides whether and when to charge its battery, and when to perform which cleaning tasks. The temporal sequence of cleaning tasks and battery charging is left to the device. For example, before starting the cleaning task, the device estimates whether its current battery charge is sufficient to complete the task. Based on this estimate, cleaning can be interrupted before a low battery level is reached in order to charge the battery. This further protects the battery, as low battery levels occur much less frequently.

[0035] To determine when the device needs to interrupt the interim battery charging and continue cleaning, the device includes the time required to clean the remaining area in its calculations. Additional consideration of the battery charge required for this area is not mandatory. When creating the time window, the user can be provided with information on the adherence to the set time window. This information relates to both the time required for cleaning and charging, as well as the battery charge required for cleaning and thus recharging.

[0036] In a further advantageous embodiment, if the time window is exceeded, the mobile, self-propelled device continues its cleaning task if this can be completed within a predetermined tolerance range. The estimate of how long the device needs for a remaining portion of the cleaning or how much battery charge is required for this can deviate from the actual value due to unforeseen events such as new or moved obstacles that must be avoided, new or moved carpets that require more energy than hard floors, and the like, which can cause the time window to be exceeded. The user can decide how the device should proceed if the time window is exceeded. Within a certain tolerance range, which is defined in particular by the user, the device can continue its cleaning and attempt to complete it.Alternatively, the user can specify that the device must stop cleaning regardless of the area that has not yet been cleaned.

[0037] In a further advantageous embodiment, the mobile, self-propelled device determines its recharging time such that it begins after the completion of cleaning a room or area. It is particularly advantageous for the user if the device does not interrupt its cleaning task in the middle of a room when the battery is empty and then resumes from there after being recharged. Instead, the device always completely finishes a room or an area defined by the user and starts on another area after charging the battery. To this end, the device estimates whether the remaining battery charge is sufficient to complete cleaning of the room or area before or before cleaning a room or area begins.If no area on the list of areas to be cleaned is small enough or the charge required is large enough to complete the cleaning before returning to the charging station, the device drives directly to the charging station. In a further advantageous embodiment, the mobile, self-propelled device carries out room or area cleaning and / or its cleaning sequence depending on the charging capacity. Particular attention is paid here to the fact that more charge must be available in the battery for rooms or areas that the device requires more time or charge to clean than other rooms or areas, which is why it is advantageous if the device starts with these rooms or areas. If, after charging the battery, only areas remain that require little time or charge to clean, less charge needs to be loaded into the battery during recharging.The charging time can therefore be shortened and the cleaning can be aborted prematurely. If the user specifies that the device should only clean entire rooms or areas and should stop cleaning at the end of the time window, the device can vary the order of the cleaning tasks or the rooms / areas to be cleaned, with any missed rooms / areas being given priority in the next time window.

[0038] In another advantageous embodiment, the user is given the option of interrupting the device's current charging phase via the cleaning app and thus continuing cleaning. In this case, the device may not have enough charge in the battery to fully complete cleaning. A message can be displayed to inform the user that prematurely continuing cleaning and thus aborting the recharging process may result in the device not being able to complete the cleaning. The user can actively decide whether to complete the cleaning completely and continue charging, or to complete the cleaning as quickly as possible with a lower charge, but possibly incompletely.If cleaning is incomplete, the device does not continue cleaning after recharging the battery. Instead, the user-specified command specifies that if the battery charge is too low before the desired cleaning task is completed, the device will terminate the cleaning task by driving to the charging station. In another advantageous embodiment, the mobile, self-driving device accesses a user's calendar to automatically generate the time window and / or period. In this case, the time window and / or period is not actively specified by the user, but passively via their own calendar. Thus, it is possible to grant the device permission to access the calendar.Preferably, the residents or users of a shared apartment can set whether a disturbance by the device is okay, or whether they do not want to be disturbed by a cleaning task of the device during certain time windows or periods, or whether only predetermined areas or surfaces should be left out of the cleaning, for example, if the users are in their apartment according to the calendar.

[0039] In a further advantageous embodiment, the charge level of the battery is kept between 20% and 80%, preferably between 30% and 50%, during the period in which the battery of the mobile, self-propelled device is not to be charged, and / or greater than 80% outside of this period. The device's battery is therefore not charged, or at least barely charged, during the predetermined period (the charging capacity should not exceed a maximum value, i.e., a predefined threshold), since it is foreseeable that the device will not be used for cleaning tasks during this period, for example, at night. Outside of the period in which it is foreseeable that the user will use the device for cleaning, the device is instead charged as usual according to the required charging capacity, i.e., above the predefined threshold, and is thus available to the user at all times.

[0040] In a further advantageous embodiment, the predetermined charge capacity (specified minimum value) is 20% or less. In particular, no trickle charge is carried out on the battery during the predetermined period, which would fully recharge the battery. However, if the charge level falls below a critical minimum value during the period, for example 20% of the battery capacity, the battery is charged to an ideal storage charge level of, for example, 50% of the battery capacity. During this period, the charge level of the battery will decrease overall due to self-discharge and continued active consumers in the device. The overall low battery capacity during this time results in improved conditions for the battery, which have a positive effect on its service life. In a further advantageous embodiment, the battery is charged to its full charge capacity at the end of the period.At the end of the period, just before the user wants to use the device, the battery is recharged to its full capacity. The device has a full battery available for daily routines or spontaneous cleaning tasks after the period.

[0041] In a further advantageous embodiment, the battery is not charged at the beginning of the period, in particular after its cleaning task. It is possible for a cleaning job to overlap with the beginning of the set period. In this case, the cleaning run is preferably not aborted but continued. Preferably, the battery is not recharged after the cleaning run has ended unless the charge level falls below the specified minimum charge capacity. In particular, an overlap between a cleaning job and the period is advantageous because in this case the battery has a low battery level for the remaining period and thus improved storage conditions.

[0042] In a further advantageous embodiment, the user can start the device manually during the cleaning period. To do this, the device estimates whether the remaining battery level is sufficient for this cleaning job and therefore does not need to recharge the battery before starting the cleaning run. If the battery level is insufficient, the battery is charged before the cleaning run. Because the device estimates how much charge is needed to complete the job, a partial charge of the battery is sufficient. Alternatively, the battery can also be fully charged. If a cleaning job taking place during the period requires more battery power than is available in the battery, an intermediate charge can be carried out in order to complete the cleaning job.

[0043] If the end of the cleaning job is within the time period, the battery will not be charged after the cleaning run or will only be charged up to a threshold value if the specified minimum value is not reached.

[0044] Both the reduced number of maintenance charge pulses at high cell voltage and the generally reduced charge level have a beneficial effect on battery life. For example, if a user sets a time period from 7 p.m. to 7 a.m., this means approximately 12 hours per day during which the battery is not stressed by a forced high charge level. This creates better conditions for the battery for about half of its runtime.

[0045] The invention is explained in more detail with reference to the following embodiments, which are merely examples. They show:

[0046] Figure 1 : a schematic diagram showing the total duration of different recharging processes for robot vacuum cleaners,

[0047] Figure 3: a state-of-the-art schematic diagram showing time versus charge level of a robot vacuum cleaner,

[0048] Figures 4 to 6: each a schematic diagram showing time against

[0049] represents the charge level of a robot vacuum cleaner, and

[0050] Figures 2, 7: each a flow chart for cleaning by a vacuum robot with time window or period.

[0051] Figure 1 schematically illustrates the inventive concept of how the total duration T of processing a cleaning job by a mobile, self-propelled device, in particular a robot vacuum cleaner, can be reduced by limiting the charging time of the robot vacuum cleaner at the charging station by setting a time window. The timing diagram in Figure 1 shows a comparison between conventional recharging 1 with intelligent recharging 2 and time-window-based recharging 3.

[0052] In classic recharging 1, the robot vacuum cleaner starts its cleaning task at time T1. Cleaning continues until recharging becomes necessary at time T2 due to a low charge capacity of the robot vacuum cleaner's battery. In the classic principle, the battery is fully charged from time T2 to time T3. After full charging at time T3, cleaning continues until it is fully completed or completed at time T4.

[0053] With intelligent recharging 2, the total cleaning time, including recharging the battery, is reduced. The robot vacuum cleaner calculates, as needed, how much charge the battery needs to complete the intended cleaning job and then only charges the battery with as much energy as is actually necessary. In this case, cleaning starts at time T1 until recharging becomes necessary at time T2 due to low charging capacity. However, the battery is only partially recharged. At time T21, the robot vacuum cleaner stops recharging the battery and continues cleaning until it is successfully completed at time T23. In contrast to classic recharging 1, in which the battery is filled to 100% during recharging before the robot vacuum cleaner continues cleaning, with intelligent recharging 2 the charging process is stopped by the robot vacuum cleaner as soon as the battery has sufficient charge.This can significantly reduce the total cleaning time, including battery charging.

[0054] With time-slot-based charging 3, the mobile, self-driving device carries out its tasks autonomously. In addition to independently planning and executing cleaning tasks, this includes independently locating the charging station and recharging the battery to ensure sufficient charging capacity for future cleaning tasks. In order to disrupt or hinder the user as little as possible, it is advantageous for the user to limit the charging time at the charging station by setting a time limit or time slot. However, it may not be necessary to schedule only a minimal amount of time for the device to be at the charging station. For example, if the user is not at home at the time the cleaning is carried out, it is not absolutely necessary for the device to finish as quickly as possible.With time-slot-based charging, the user therefore allows the device a maximum total duration or an end-of-day time by which the device must be finished. The device can divide the cleaning and charging times freely within this time window, although the total duration can also be undercut. The device therefore adjusts its recharging time based on the time window. With time-slot-based charging 3, the robot vacuum cleaner starts its cleaning task at time T1. Cleaning is carried out until recharging is necessary at time T2 due to a low charge capacity of one of the robot vacuum cleaner's batteries. With regard to the possible duration of the charging time, the device estimates how long it will need for the remaining portion of the cleaning and / or how much charge in the battery is actually necessary for this, whereby the minimum required charging time can be determined.The estimate is based on the cleaning cycles already completed by the device. The charging time also takes into account a user-specified end time T25, by which the entire cleaning process, including the charging time, should be completed. Depending on the specified time window T1 to T25, the device ends its charging process at time T22 in order to complete the entire cleaning process at time T24, which is before the end time T25.

[0055] If the time window T1 to T24 specified by the user cannot be adhered to from the outset, for example because it is too narrow, the user can be given appropriate feedback and / or a warning when entering the time window.

[0056] Figure 2 shows a flowchart for a cleaning process with a time limit. In the first process step 101, the user programs a cleaning job with a time limit or starts a cleaning program with a time limit. Next, the robot vacuum cleaner begins cleaning (step 102). If the robot vacuum cleaner finishes cleaning completely before the time limit is reached, it returns to the charging station (step 103). If the robot vacuum cleaner needs to interrupt cleaning to recharge its empty battery, it travels to the charging station and begins charging the battery (step 104). The robot vacuum cleaner estimates how much time is needed to clean the remaining area(s) and thus determines the time when charging must be interrupted (step 105). At the calculated time, the robot vacuum cleaner interrupts charging the battery and continues cleaning (step 106).If the robot vacuum cleaner completes cleaning before the time limit is reached, it returns to the charging station (step 107). If the time limit is reached in step 108 before the robot can complete cleaning, and the user does not allow the time limit to be exceeded, the robot vacuum cleaner aborts cleaning when the time limit is reached (step 109) and returns to the charging station (step 110). If the user allows the time limit to be exceeded by a tolerance value (step 111) and the time limit is reached, the robot vacuum cleaner estimates how much time is needed to clean the remaining area and checks whether this time is less than a tolerance value defined by the user (step 112). If the estimated remaining time is greater than the tolerance value, the robot vacuum cleaner aborts cleaning (step 113) and returns to the charging station (step 114).However, if the estimated remaining time is less than or equal to the tolerance value, the robot vacuum cleaner will finish cleaning completely and then return to the charging station (step 115).

[0057] During the cleaning process, the robot vacuum cleaner can take into account unforeseen events such as displaced obstacles and similar things that affect the cleaning time. The user specifies how the robot vacuum cleaner should proceed if the time limit is exceeded. Within a user-defined tolerance range, the robot vacuum cleaner can continue cleaning and attempt to complete it. Alternatively, the user can specify that the robot vacuum cleaner aborts cleaning regardless of the area not yet cleaned.

[0058] Before starting a cleaning job, the robot vacuum cleaner can estimate whether its current battery charge is sufficient to complete the task (at step 102). Based on this, cleaning can be interrupted before the battery level is reached to charge the battery (for example, at step 102). In this case, the battery is further protected, as low battery levels occur less frequently.

[0059] In step 105, the robot vacuum cleaner only includes the time required to clean the remaining areas in its calculation to determine at what point the robot vacuum cleaner must interrupt the interim battery charging and continue cleaning. In contrast, in step 101, when setting the time limit, the user can be provided with information regarding the adherence to the set time limit, which relates to both the time required for cleaning and charging, as well as the battery charge required for cleaning and thus recharging.

[0060] It is advantageous if the robot vacuum cleaner does not interrupt its cleaning in the middle of a room when the battery is empty in step 104 and then continues from there, but rather always completely finishes cleaning a room or an area defined by the user and then starts on a different room or area after charging the battery. To do this, the robot vacuum cleaner estimates before starting to clean a room or area whether the remaining battery charge is sufficient to complete the cleaning of the room or area. If no area in the list of areas intended for cleaning is small enough or the charge required for it is large enough to complete its cleaning before a return to the charging station is necessary, the robot vacuum cleaner drives directly to the charging station.

[0061] It's important to note that for rooms or areas that require more time or charge for the robot vacuum to clean, the battery also needs more charge. It's best if the robot vacuum starts with these rooms or areas. If, after charging the battery, only areas remain that require less time and charge for the robot vacuum to clean, it's sufficient to add only a small amount of charge to the battery when recharging, which can keep the charging time short.

[0062] The robot vacuum cleaner can vary the order of the rooms or areas in the next cleaning job and give priority to the omitted rooms or areas if it is specified that only complete rooms or areas are to be cleaned and / or the robot vacuum cleaner must stop cleaning after its time limit has been reached.

[0063] In step 106, the user can interrupt the current charging phase of the robot vacuum cleaner via the app on their mobile phone in order to continue cleaning. If the robot vacuum cleaner does not have enough charge in the battery to fully complete cleaning, the user can be notified that prematurely resuming cleaning and thus aborting the recharging process may result in the robot vacuum cleaner not being able to complete cleaning. This allows active intervention by the user. The user can decide whether it is important to them to complete cleaning completely and continue charging, or whether they would rather complete cleaning as quickly as possible, even if the cleaning is then incomplete. If charging is aborted prematurely, the robot vacuum cleaner will end the cleaning job if the battery level is low before the desired cleaning is completed, by driving to the charging station or another starting point.

[0064] In step 101, in addition to the user actively specifying the time limit, it is also possible for the robot vacuum cleaner to access the user's calendar. Here, the user or the residents of an apartment can specify whether they do not want to be disturbed by a cleaning task performed by the robot and / or whether certain areas or spaces should be avoided when the user or residents are in the apartment according to the calendar.

[0065] Figures 4 to 6 show diagrams illustrating user-defined periods during which charging of the robot vacuum cleaner is prohibited, thereby creating better conditions for the battery and thus increasing its service life. Figure 3 shows a diagram based on the state of the art. The y-axis represents the charge level up to 100%. The x-axis is a time axis.

[0066] The diagram in Figure 3 shows a standard procedure in which the robot vacuum cleaner can be started for cleaning at any time and ideally always has a nearly full battery charge. The battery is recharged after completing a cleaning job and, during the subsequent waiting period before the next cleaning, is maintained at the fullest possible charge level through recurring maintenance charges, despite a slow battery discharge. However, the permanently high charge level and the relatively frequent charging cycles based on multiple maintenance charges can stress the battery and cause it to age more quickly.

[0067] In a first time period Z1, the battery is kept as fully charged as possible at the charging station using trickle charging. For this purpose, the battery is charged continuously or very frequently to ensure that the charge level is permanently maintained at approximately 100% of the battery capacity. At a time t1, the robot vacuum cleaner receives a cleaning command from the user. In time period Z2, cleaning takes place during which the robot vacuum cleaner carries out the predefined cleaning task. At time t2, after the robot vacuum cleaner has completed its cleaning task, the robot vacuum cleaner returns to the base station to charge its battery. In time period Z3, the battery is fully charged until it has full battery capacity at time t3, which is maintained at full capacity in time period Z4 using trickle charging.

[0068] According to the invention, the user now specifies a period of time during which the robot vacuum cleaner's battery will not be recharged in order to delay its aging and increase its service life. This is illustrated graphically in Figures 4 to 6.

[0069] The user specifies rest periods (time periods) during which the battery is not charged, but slowly discharges through intrinsic discharge or other active systems in the robot vacuum cleaner. The user can set the start and end times of these periods to adapt the cleaning process to their daily routine. Several rest periods per day or different periods depending on the day of the week are possible. During these periods, the battery is not trickle charged, which would fully recharge the battery. However, if the charge level drops below a critical value during a rest period, such as 20% of the battery capacity, the battery is charged to a charge level ideal for storage, for example 50% of the battery capacity. At the end of the rest period (time period), and thus in time before the user uses the robot vacuum cleaner again, the battery is fully charged.The robot vacuum cleaner therefore has a full battery available for the user's daily routines or spontaneous cleaning tasks.

[0070] For example, in a first period Z41, the robot vacuum cleaner is in the rest phase and is therefore not being charged. The battery capacity decreases. At time t41, the robot vacuum cleaner starts charging at the charging station (period Z42) in order to reach full battery capacity at the end of the rest phase (time t42). From time t42, the battery is kept at a full charge level by trickle charging (period Z43), since this period is outside the rest phase and the robot vacuum cleaner should be available for any (spontaneous) cleaning jobs. At time t43, the vacuum cleaner receives a cleaning command and carries out its cleaning job in period Z44. At time t44, the cleaning job is finished and the battery charging at the charging station begins (period Z45) until it is fully charged at time t45.Since the subsequent period Z46 is not within the specified rest phase, trickle charging takes place to maintain the battery capacity at a high level. At time t46, the rest phase (period Z47) begins, during which no battery charging, including trickle charging, takes place. The battery level slowly decreases.

[0071] Figure 5 graphically illustrates the procedure when a cleaning job overlaps with the start of the set rest period. In this case, the cleaning run is not aborted but continued. After the cleaning job is completed, the battery is not charged unless the charge level falls below the critical value (specified minimum value), for example, 20% of the battery capacity.

[0072] During a first period Z51, the robot vacuum cleaner is in a rest phase. During this time, the battery is only charged if the battery capacity falls below a critical value. At a time t52, the rest phase specified by the user ends, so that the robot vacuum cleaner begins charging the battery in good time beforehand at time t51 (period Z52). From time t52, the battery charge level is maintained at a high, essentially full level (period Z53). In particular, trickle charges take place. At time t53, the robot vacuum cleaner receives a cleaning command and begins cleaning (period Z54). During the cleaning phase, the rest phase specified by the user begins at a time t54. Nevertheless, the robot vacuum cleaner completes its cleaning task. After the cleaning task has been completed (time t55), the robot vacuum cleaner remains in its rest phase (period Z55).This means the battery is not charged unless the charge level reaches a specified minimum. In that case, it is charged up to a defined storage level. At the end of this rest period, the battery is fully recharged.

[0073] Figure 6 graphically illustrates the procedure when the robot vacuum cleaner is started for cleaning during the idle phase. The robot vacuum cleaner first estimates whether its remaining battery charge is sufficient for this cleaning task and whether recharging the battery before the start of the cleaning run is unnecessary. If such an estimate is not carried out, or if it is determined that the remaining charge level is insufficient, the battery is charged before the start of the cleaning run, preferably completely or, if an estimate is available, only partially - depending on how much charge is necessary to complete the job. If a cleaning task performed during the idle phase requires more battery charge than is available in the battery, an intermediate charge takes place in order to complete the cleaning task. If the end of the cleaning task falls within the idle phase, the battery is not charged after the cleaning run.

[0074] An initial period Z61, during which maintenance charging takes place, transitions into the rest phase at time t61 (period Z62). During this rest phase, the robot vacuum cleaner receives a cleaning command at time t62. The robot estimates that the charge in the battery is not sufficient for the cleaning task and therefore begins to fully charge the battery (period Z63). In the subsequent period Z64, the robot vacuum cleaner carries out cleaning until it is finished (t64). Since the end time t64 is still within the specified rest phase, the battery is only charged up to a defined storage value in the remaining rest phase after the end of cleaning if the battery level falls below the critical minimum value.

[0075] Figure 7 shows a flowchart for a cleaning process with rest phases. If the robot vacuum cleaner is outside the rest phase and the user starts a cleaning job, the robot vacuum cleaner carries out the cleaning job, with the battery being fully recharged after the cleaning job is completed (step 701). If the robot vacuum cleaner is outside the rest phase and the charge level drops below a defined threshold, the battery is fully charged and maintained at this full level – trickle charges are carried out at full level (step 702). If the robot vacuum cleaner is within the rest phase and the user starts a cleaning job, the battery is fully charged at the start of the cleaning activity so that the cleaning job can then be carried out (step 703).If the robot vacuum cleaner is in the rest phase and the charge level drops below a critical minimum value, trickle charges are performed up to a storage value (partial value). The charge level is maintained between the critical minimum value and this partial level – trickle charges are performed based on the charge value (step 704).

Claims

PATENT CLAIMS 1. Method for operating a mobile, self-propelled device, in particular a floor cleaning device such as a vacuuming and / or sweeping and / or mopping robot, with a battery, in which a user specifies on a portable accessory the time window (T1-T25) in which the mobile, self-propelled device is to perform at least one specified cleaning task, wherein the mobile, self-propelled device automatically determines its battery recharging time in this time window (T1-T25), and / or - during which period (Z41, Z42, Z47, Z51, Z52, Z55, Z62, Z63, Z65) the mobile, self-propelled device does not have to perform a cleaning task, whereby the mobile, self-propelled device automatically determines at the end of the period (Z41, Z42, Z47, Z51, Z52, Z55, Z62, Z63, Z65) to recharge the battery to its full charging capacity.

2. Method according to claim 1, wherein the battery of the mobile, self-driving device is not to be charged during the period (Z41, Z42, Z47, Z51, Z52, Z55, Z62, Z63, Z65) except towards the end, unless the battery charge level falls below a predetermined charging capacity.

3. Method according to one of the preceding claims, wherein the battery is charged in the time window (T1-T25) when the charging capacity is low, such that the time window (T1-T25) specified by the user is not exceeded overall.

4. Method according to claim 3, wherein the mobile, self-driving device interrupts the charging process in order to complete the cleaning task within the time window (T1-T25).

5. Method according to claim 4, wherein a calculation of a remaining time in the time window (T1-T25) is carried out by analyzing past cleaning runs taking into account the time required and / or energy consumption required at the corresponding power level. A method according to any of the preceding claims, wherein a warning message is displayed to the user on the auxiliary device if the cleaning task, including the necessary charging process, takes longer than the predetermined time window (T1-T25). A method according to any of the preceding claims, wherein the time window (T1-T25) is a maximum duration that may be undercut. A method according to any of the preceding claims, wherein the mobile, self-propelled device automatically determines its cleaning time within this time window (T1-T25). A method according to any of the preceding claims, wherein, if the time window (T1-T25) is exceeded, the mobile, self-propelled device continues its cleaning task if it can be completed within a predetermined tolerance time range. A method according to any of the preceding claims, wherein the mobile, self-propelled device determines its recharging time such that it takes place after the completion of room or surface cleaning.A method according to any one of the preceding claims, wherein the mobile, self-driving device performs room or surface cleaning and / or its cleaning sequence depending on the charging capacity. A method according to any one of the preceding claims, wherein the mobile, self-driving device accesses a user's calendar to automatically generate the time window (T1-T25) and / or the period (Z41, Z42, Z47, Z51, Z52, Z55, Z62, Z63, Z65). A method according to claim 2, wherein the battery charge level is maintained between 20% and 80% during the period (Z41, Z42, Z47, Z51, Z52, Z55, Z62, Z63, Z65), and / or above 80% outside the period (Z41, Z42, Z47, Z51, Z52, Z55, Z62, Z63, Z65). A method according to claim 2 or 13, wherein the predetermined loading capacity is 20% or less. A method according to claim 2, 13 or 14, wherein at the beginning of the period (Z41, Z42, Z47, Z51, Z52, Z55, Z62, Z63, Z65), in particular after a Cleaning task, the battery is not being charged.

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