Method for controlling a mobile self-propelled device

Abstract

A method for controlling a mobile, self-propelled device, in particular a floor cleaning device such as a vacuuming, sweeping, and / or mopping robot, for cleaning a floor area is described. The device has a side brush (3) at a front lateral position that rotates at a normal rotational speed. When the device is cleaning open areas, the side brush (3) rotates at a lower speed than the normal rotational speed. When the device is cleaning along walls and / or corners, the side brush (3) rotates at the normal rotational speed. During floor cleaning, the side brush (3) is guided predominantly along previously vacuumed paths (5).

Description

[0001] The invention relates to a method for controlling a mobile, self-driving device, in particular a floor cleaning device, such as a vacuuming, sweeping and / or mopping robot, for cleaning a floor processing area, a mobile, self-driving device, a computer program product and a computer-readable data carrier.

[0002] Mobile, self-driving devices such as robotic vacuum cleaners are designed to autonomously remove dust from the floor, ensuring thorough cleaning across the entire floor area. This involves the device covering the entire floor surface, including areas near walls and around chair and table legs. Robotic vacuum cleaners equipped with a side brush generally perform very well along walls and in corners. This side brush, often located at the front of the robotic vacuum, transports dust and dirt to the vacuum's suction opening. However, there is a risk of the side brush collecting hair, which can gradually become tightly tangled around it. Furthermore, the direct contact with dirt and hair can lead to a buildup of debris on the side brush, requiring manual removal by the user.

[0003] The amount of hair that wraps around the side brush depends, among other things, on how much hair is on the part of the floor that the side brush covers while the robot vacuum is moving. If the robot vacuum has previously collected hair from the floor with its suction nozzle and / or main cleaning roller, this hair will no longer be able to wrap around the side brush. However, if the side brush covers previously uncleaned areas of the floor, the likelihood of hair wrapping around the side brush increases significantly.

[0004] The navigation pattern of a robot vacuum cleaner is often designed so that the areas covered by the suction nozzle slightly overlap in adjacent passes, meaning that the side brush located to the side of the nozzle covers previously unvacuumed areas of the floor every other pass. Alternatively, it is known that the navigation pattern is designed so that the suction nozzle and side brush define a single path width. In this case, the side brush continuously covers previously unvacuumed areas of the floor. Overall, this practice of covering unvacuumed areas increases the risk of hair becoming entangled in the side brush.

[0005] Furthermore, the rotation speed of the side brush influences the number of hairs wrapped around it. If it rotates quickly, dust and dirt can be effectively swept away by the side brush. However, with increased rotation speed, the number of hairs wrapped around the side brush also increases, while noticeably fewer hairs accumulate with a slowly rotating side brush.

[0006] The object of the invention is to provide an improved method for controlling a mobile, self-driving device, in particular a floor cleaning device such as a vacuuming, sweeping and / or mopping robot, for cleaning a floor area, in which the aforementioned disadvantages are avoided, and in particular the dangers of hair getting caught around the side brush are reduced.

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

[0008] According to the invention, in a method for controlling a mobile, self-propelled device, in particular a floor cleaning device such as a vacuuming, sweeping, and / or mopping robot, for cleaning a floor area, the device has a side brush at a front lateral position that rotates at a normal rotational speed. When the device is cleaning open areas, the side brush rotates at a lower speed than the normal rotational speed. When the device is cleaning along walls and / or corners, the side brush rotates at the normal rotational speed. During floor cleaning, the side brush is guided primarily along previously vacuumed paths.

[0009] The inventive method particularly involves adjusting the device's driving mode or cleaning procedure to reduce the amount of hair wrapped around the side brush. This driving mode deliberately exposes the side brush to a smaller amount of hair, thus reducing the risk of it becoming clogged with hair. The inventive control method reduces the contact between the device's side brush and hair, as the device performs its maneuvers in such a way that the side brush primarily covers previously vacuumed floor areas. As a result, the user needs to clean the side brush less frequently, or even not at all.

[0010] To further reduce hair wrapping around the side brush according to the invention, the rotational speed of the side brush is specifically reduced. The function of the side brush is to sweep dust and dirt from walls and corners that the device cannot reach with its suction nozzle. This function is not necessary on open floor surfaces, so the side brush is either stopped on these surfaces or, to prevent permanent bending of the side brush arms, continues to rotate (very) slowly but steadily. Preferably, the rotational speed of the side brush on open floor surfaces is reduced by at least 40% compared to the normal rotational speed, and particularly preferably by at least 60%. Preferably, the rotational speed of the side brush on open floor surfaces is a maximum of 100 revolutions per minute. The normal rotational speed of the side brush is preferably at least 200 revolutions per minute.

[0011] A mobile, self-propelled device is understood to be, in particular, 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. These devices operate (during cleaning mode) preferably with little or no user intervention. For example, the device automatically moves to a designated room to clean the floor according to a pre-programmed cleaning strategy.

[0012] To take all individual environmental characteristics into account, an exploratory drive with the mobile, self-propelled device is preferably carried out. An exploratory drive is understood to be, in particular, a reconnaissance drive suitable for exploring a soil area to be worked, looking for obstacles, spatial layout, and similar features. The aim of an exploratory drive is, in particular, to be able to assess and / or document the conditions of the soil cultivation area to be worked.

[0013] After the exploration run, the mobile, self-driving device knows its surroundings and can share this information with the user in the form of an environmental map, for example, in an app (cleaning app) on a mobile device. The user can then interact with the mobile, self-driving device via this environmental map. The user can conveniently view information in the environmental map and, if necessary, modify and / or adjust it.

[0014] 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.

[0015] The map of the environment, including obstacles, is preferably displayed in the app on a portable accessory. This serves, in particular, to visualize potential user interaction. An accessory, in this context, refers specifically to any device that is portable by a user, located outside the mobile, self-driving device, and is specifically external to and / or separate from the mobile, self-driving device, and is capable of displaying, providing, transmitting, and / or transferring data, such as a mobile phone, smartphone, tablet, and / or computer or laptop.

[0016] The portable accessory has an app, specifically the cleaning app, installed on it. This app facilitates communication between the mobile, self-driving device and the accessory, and in particular enables a visualization of the cleaning area, especially the living space or apartment to be cleaned, such as the interior. The app preferably displays the area to be cleaned to the user as a map.

[0017] A side brush on the device is specifically a brush designed to transport dust and dirt towards the suction opening so that it can be vacuumed up. The side brush is located to the side of the suction opening at the front of the device. A brush roller may be integrated into the suction opening. The side brush is positioned laterally to the suction opening in relation to the robot's typical direction of travel. This means that on the side of the robot without a side brush, the suction opening is closer to the side of the device housing where there is no side brush.

[0018] Normal rotational speed refers to the rotational speed of the side brush during normal operation. Therefore, normal rotational speed is the intended and predetermined rotational speed during normal operation.

[0019] The rotational speed of the side brush refers specifically to the actual rotational speed the side brush has at a given time. This may deviate from the normal rotational speed, in particular being higher or lower.

[0020] Free floor areas are understood to be, in particular, areas within a room that do not run along walls and / or obstacles. Free areas are specifically those without boundaries defined by walls, doors, obstacles, objects, or similar features.

[0021] Driving along walls and / or corners means, in this case, specifically that the device follows the wall and travels along it. Therefore, the device does not turn away from the wall during this process.

[0022] Previously vacuumed paths refer to the paths the device has already covered with its suction nozzle. It is essential that the suction nozzle (and not other components of the device) covers these areas beforehand, as this is the only way to ensure that loose hairs are vacuumed up by the nozzle before the side brush moves over these areas.

[0023] The device can be used for both dry cleaning (vacuuming) and wet cleaning (mopping). In this case, the device has a wet cleaning unit in addition to the suction nozzle and side brush.

[0024] Furthermore, the device features sensors that can detect its surroundings, such as a LiDAR sensor and / or a camera. A control unit within the device can analyze the sensor data to determine the room and type of room in which the device is located. The device can infer the room type from the furnishings, furniture, and / or obstacles within the room. Alternatively or additionally, the type of individual rooms can be specified or programmed into the device via the app, which displays a map of the surroundings.

[0025] In an advantageous embodiment, the device moves along paths during floor cleaning, the paths of which are determined by the position of the side brush on the device. For example, the device's direction of rotation within the room is determined by the position of the side brush on the device. In particular, when cleaning open areas where the device systematically moves along parallel paths, the paths are planned so that the side brush is predominantly guided only along previously vacuumed paths. To achieve this, the device first travels a straight path. Subsequently, the device can extend the cleaned area with a lateral path, in which the device guides its side brush only over the area already vacuumed. The movement pattern can correspond to a rectified spiral compressed in at least one dimension, the direction of rotation of which is determined by the position of the side brush on the device.

[0026] In a further advantageous embodiment, the cleaning pattern corresponds to an uncompressed rectified spiral or a spiral whose direction of rotation is determined by the position of the side brush on the device. With suitable room geometry, the device can follow an uncompressed or rectified spiral, ensuring that its side brush only covers hair-free floor surfaces.

[0027] Spaces that are longer in one dimension than in another can still be cleaned using predominantly parallel paths, which are also determined by the position of the side brush on the device.

[0028] In a further advantageous embodiment, when cleaning along walls, the device can perform a first pass with a side brush on the side facing away from the wall, and then a second pass with a side brush on the side facing the wall. During the first pass, the side brush points away from the wall. In this pass, the laterally offset suction nozzle already picks up hairs located near the wall. The side brush can rotate very slowly or stop completely. During the subsequent second pass along the same wall, the side brush points directly towards the wall and rotates at normal speed, i.e., faster than in the first pass, to sweep the dust away from the wall. The risk of hair wrapping around the side brush is reduced or completely eliminated due to the prior suction.

[0029] In a further advantageous embodiment, during cleaning cycles, the device begins by cleaning open areas and then proceeds with cleaning cycles along walls and / or corners. To specifically protect the side brush from hair during the first cycle along the wall, the cleaning cycles begin with the interior of the room, thus removing any hair that is lying in the base of the side brush during the initial cycle along the wall. This advantageously prevents loose hair from wrapping around the side brush during the subsequent first cycle along the wall.

[0030] In a further advantageous embodiment, the method according to the invention is limited to predetermined rooms and / or floor areas. The predetermined room is, for example, the bathroom. To save time during cleaning and to avoid permanently exposing users to altered cleaning procedures, the application of the modified driving maneuvers is limited to specific rooms where it can be assumed that a particularly large amount of hair accumulates. For example, the method according to the invention can be used in the bathroom, while a standard or other cleaning procedure is used in other rooms.

[0031] Furthermore, the invention relates to a mobile, self-driving device that is equipped to carry out the method according to the invention.

[0032] It is understood that, in addition to the method and the device, a computer program product comprising instructions that, when executed by the device, cause it to carry out 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 product is stored is part of the scope of this invention.

[0033] Any features, designs, embodiments and advantages relating to the method also apply in connection with the device according to the invention, computer program product and computer-readable medium, and vice versa.

[0034] The invention is explained in more detail with reference to the following examples. These examples show: Figures 1A, 1B: each a schematic view of an embodiment of a mobile, self-propelled device equipped to carry out the method according to the invention; Figures 2, 3A, 3B: each schematic views of embodiments of a driving pattern for cleaning the interior of a room, carried out using the method according to the invention; Figures 4A, 4B: each schematic views of an embodiment of a driving pattern for cleaning walls, carried out using the method according to the invention; and Figure 5 flowchart of an embodiment of a method according to the invention.

[0035] In Figure 1A is a mobile, self-driving device, in particular a robotic vacuum cleaner 10 shown in overhead view. Figure 1B shows the robot vacuum cleaner 10 of the Figure 1AIn a bottom view, the robotic vacuum cleaner 10 includes a suction nozzle 1 in which a brush roller 2 is integrated. The robotic vacuum cleaner 10 also has a side brush 3 with side brush arms at the front of its housing. In the illustration, the suction nozzle 1 is offset to one side, specifically to the side where the side brush 3 is not located. This means that, in this case, the suction nozzle 1 extends closer to the side of the robotic vacuum cleaner housing where there is no side brush 3.

[0036] The robot vacuum 10 also features sensors that can detect its surroundings. For example, the robot vacuum 10 has a LiDAR sensor 4 on its housing. The robot vacuum 10's control system can interpret the sensor data from the LiDAR sensor 4 to determine which room, and what type of room, the robot vacuum 10 is currently in. The robot vacuum 10 can infer the type of room from the furnishings and furniture.

[0037] The side brush 3 is designed to transport dust and dirt, especially along walls and in corners, to the suction opening 1 of the robot vacuum. However, there is a risk that hair lying on the floor will be picked up by the side brush and gradually become increasingly entangled around it, requiring manual removal. To minimize this risk, the robot vacuum 10 features a Figures 1A, 1BIts driving behavior and cleaning procedure are adapted. This adapted driving behavior is used particularly in rooms within the floor cleaning area where hair is known to accumulate frequently, such as the bathroom. In other rooms, the robot vacuum cleaner can use its usual driving behavior.

[0038] To reduce hair wrapping around side brush 3, the robot vacuum cleaner 10 specifically reduces the side brush speed. Particularly on open areas, the rotation of side brush 3 is stopped, or, to prevent the side brush arms from bending, it continues to rotate more slowly than normal.

[0039] Furthermore, on open areas where the robotic vacuum cleaner 10 systematically travels in parallel paths, the paths are planned so that the side brush 3 is predominantly guided only along previously vacuumed paths 5, as is the case, for example, in Figure 2The robotic vacuum cleaner 10 first travels a straight path 5a. It then extends the cleaned area by adding a lateral path 5b, on which it guides its side brush 3 over the already cleaned path 5a. The travel pattern essentially corresponds to a rectified, compressed spiral, the direction of rotation of which is determined by the position of the side brush 3 on the robotic vacuum cleaner 10.

[0040] In the Figure 2 , 3A, 3B, 4A, 4B The robotic vacuum cleaner 10 is shown from below. The areas covered by the suction nozzle 1 are also shown as paths.

[0041] Given a suitable room geometry, the robot vacuum cleaner can directly follow a spiral or rectified spiral, so that its side brush 3 only sweeps over areas that have already been vacuumed and are free of hair.

[0042] The driving pattern of a rectified spiral is, for example, in Figure 3AThe spiral motion pattern is shown. Figure 3B This is illustrated. These movement patterns allow the side brush 3 to be guided over previously vacuumed areas. This is particularly useful in rooms with a square or round floor. The direction of rotation of the robot vacuum 10 is based on the position of the side brush 3 and is selected accordingly. This means that the robot vacuum 10 always rotates in the direction of the side on which its side brush 3 is located. During rotation, this side is guided along an inner edge of the robot vacuum 10.

[0043] The robot vacuum's driving behavior along walls 6, which prevents hair from wrapping around the side brush 3, is described in the Figures 4A, 4BThe side brush 3 is used to sweep dust and dirt away from the walls 6. For this purpose, the robotic vacuum cleaner 10 first performs an initial wall pass 7a along the wall 6 to be cleaned in reverse direction, i.e., with the side brush 3 pointing away from the wall 6. During this initial wall pass 7a, the suction nozzle 1 vacuums up hair that is close to or directly against the wall 6. The side brush 3 rotates very slowly or stops completely during this process ( Figure 4A ). During a subsequent second wall pass 7b along the same wall 6 with the side brush 3 pointing towards the wall 6, there are now no or hardly any hairs left that can wrap around the side brush 3, even though the side brush 3 now rotates again in the standard way or at least faster than during the first wall pass 7a to sweep dust away from the wall 6 ( Figure 4B ).

[0044] In Figure 5Figure 101 shows a flowchart for the inventive method or parts thereof. In a first step, the controller evaluates sensor data from the LIDAR sensor 4 of the robotic vacuum cleaner 10 to determine what type of room needs cleaning. If the robotic vacuum cleaner 10 is in a room where it can be assumed that a particularly large amount of hair has accumulated, it cleans this room according to the inventive method. For this purpose, the robotic vacuum cleaner 10 starts its room cleaning.

[0045] In step 102, the first step involves cleaning open areas of the room or the interior of the room. The cleaning pattern is chosen so that the side brush 3 is guided primarily along previously vacuumed paths 5 when cleaning the floor, as is the case, for example, in the Figure 2 , 3A, 3BAs shown, when cleaning the interior of the room, the rotation of the side brush 3 stops or is at least significantly slowed down. Furthermore, the robot vacuum 10 continues cleaning the interior in such a way that it removes hair that would otherwise be in the area of ​​the side brush of the robot vacuum 10 during its initial wall-by-wall cleaning.

[0046] After the entire interior of the room has been cleaned, the robot vacuum 10 begins cleaning along the walls 6 (step 103). For this, the robot vacuum 10 performs its first pass along the wall, with the side brush 3 pointing away from the wall 6. Hair on the wall 6 is then vacuumed up by the suction nozzle. The rotation of the side brush 3 may stop or slow down during this first pass.

[0047] The second wall pass then takes place, during which the side brush 3 points directly towards wall 6 and is guided along it (step 104). The side brush 3 rotates at normal speed. Dust and dirt that have accumulated on wall 6 can thus be effectively transported by the side brush 3 towards the suction nozzle 1. After the second wall pass is completed, the cleaning of this room is finished.

[0048] In step 105, the cleaning of the other rooms in the apartment can follow. If these rooms are declared as not prone to hair wrapping around the side brush, a standard cleaning procedure can be used. This means that the robot vacuum cleaner does not use the inventive method, but performs a conventional cleaning. In particular, for example, the walls are cleaned first before the cleaning of the room interior begins. In addition, the rotational speed of the side brush 3 is kept essentially constant throughout the entire cleaning procedure. The choice of movement pattern also does not depend on whether the side brush 3 is guided over already vacuumed floor areas 5, since the risk of the side brush 3 becoming wrapped around hair is reduced from the outset due to the comparatively small amount of hair.

Claims

1. Method for controlling a mobile, self-propelled device, in particular a floor cleaning device, such as a vacuuming, sweeping and / or mopping robot, for cleaning a floor cleaning area, wherein the device has a side brush (3) at a front lateral position which rotates at a normal rotational speed, wherein - when cleaning the device on open areas the side brush (3) rotates at a rotational speed which is lower than the normal rotational speed, - when cleaning the device along walls (6) and / or corners the side brush (3) rotates at normal rotational speed, and - when cleaning the floor the side brush (3) is guided predominantly along previously vacuumed paths (5).

2. Method according to claim 1, wherein the device travels along paths during floor cleaning which are determined by a position of the side brush (3) on the device.

3. Method according to one of the preceding claims, wherein a driving pattern of the paths corresponds to a rectified spiral or a spiral whose direction of rotation is determined by the position of the side brush (3) on the device.

4. Method according to one of the preceding claims, wherein, during cleaning cycles of the device along walls (6), the device performs a first wall cycle (7a) along the walls (6) with a side brush (3) on a side opposite the wall (6), and subsequently performs a second wall cycle (7b) along the walls (6) with a side brush (3) on a side adjacent to the wall (6).

5. Method according to one of the preceding claims, wherein during cleaning cycles the device begins by cleaning free surfaces and then performs cleaning cycles along walls and / or corners.

6. A method according to any of the preceding claims, which is limited to predetermined rooms and / or floor areas.

7. The method of claim 6, wherein the predetermined room is the bathroom.

8. Mobile, self-driving device configured to perform a method according to any of the preceding claims.

9. Computer program product comprising commands which, when the program is executed by the device, cause it to execute the method according to any one of the preceding claims 1 to 7.

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

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