Method for cleaning a side brush

Abstract

A method for cleaning a side brush (5) or a mopping pad of a mobile, self-propelled device (10), in particular a floor cleaning device such as a vacuuming and / or sweeping and / or mopping robot, is described, comprising the following steps: approaching the device (10) to an obstacle having a protruding contour (9) such that the protruding contour (7) of the obstacle intersects a circle described during a rotation of the side brush (5) or the mopping pad, rotating the side brush (5) or the mopping pad while the device (10) is stationary so that the side brush (5) or the mopping pad rubs against the protruding contour (7), and cleaning an area around the obstacle.

Description

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

[0002] Cleaning robots, such as vacuuming and / or sweeping robots, are intended to take over recurring floor cleaning tasks, covering as much of the floor surface as possible with their cleaning units during their cleaning runs and specifically collecting and vacuuming up dust and dirt.

[0003] In addition to cleaning easily accessible, open surfaces, corners and edges along walls or around objects should also be cleaned satisfactorily. Cleaning robots often have rotating side brushes at the front of the housing for this purpose; their radially protruding cleaning arms, tufts of bristles, or rubber arms sweep dust from walls and corners towards the robot's suction nozzle.

[0004] Side brushes are themselves susceptible to contamination, for example, from hair wrapping around them or dirt particles adhering to them. If dust or dirt is caught by the cleaning arms of the side brush, it can become lodged there. This can impair cleaning performance. If dirt also gets into the bearing of the side brush, it can obstruct or stop its rotation, or even damage the bearing.

[0005] The object of the invention is to provide a method for the automatic cleaning of the side brush, in which the device automatically removes dirt and dust from its side brush.

[0006] This problem is solved by a method for cleaning a side brush of a mobile, self-propelled device with the features of claim 1. Advantageous embodiments and further developments are the subject of the dependent claims.

[0007] According to the invention, a method for cleaning a side brush or a mopping pad of a mobile, self-propelled device, in particular a floor cleaning device such as a vacuuming and / or sweeping and / or mopping robot, comprises the following method steps: Approaching the device to an obstacle having a protruding contour such that the protruding contour of the obstacle intersects a circle described during a rotation of the side brush or wiper pad, preferably rotating the side brush or wiper pad while the device is stationary so that the side brush or wiper pad rubs against the protruding contour, and cleaning an area around the obstacle.

[0008] In this case, the device identifies suitable furniture or objects in its vicinity, moves towards them, and rubs its side brush or cleaning pad against them to remove dirt, for example, from cleaning arms or a hem. In this method, the device brings its rotating side brush or cleaning pad into contact with suitable pieces of furniture or objects in its vicinity so that adhering dirt, for example, on the cleaning arms, is removed. The device uses sensors to detect suitable structures in its environment, identifies suitable objects, approaches them, and cleans its side brush or cleaning pad by rotating it against the object. According to the invention, the device cleans its side brush or cleaning pad automatically. As a result, the user needs to clean the side brush or cleaning pad less frequently or not at all.

[0009] Preferably, the device performs the cleaning method according to the invention precisely as soon as the device is in the vicinity of the suitable object. Therefore, when an interval for cleaning the side brush is reached, the device does not simply move across the room to clean the side brush or the mop pad and then continue its vacuuming or mopping, but continues cleaning the room until the device is in a suitable position with a suitable object to perform its side brush / mop pad cleaning.

[0010] A mobile, self-driving device is understood to be, in particular, a floor cleaning device that autonomously cleans floor surfaces, especially in the home. This includes, among other things, robotic vacuum cleaners, mops, and / or sweepers. 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.

[0011] The device is preferably a cleaning robot equipped with a suction nozzle with a brush roller and a suction fan. The device may also include a wet cleaning module. For sensing its surroundings and detecting obstacles, the device is equipped with navigation sensors, for example, a LiDAR sensor, a camera, and / or a wall-following sensor. These sensors are part of the device and, in particular, are integrated into or attached to it. A side brush is positioned at the front of the device, on at least one side or front corner, with its cleaning arms extending beyond the contour of the device housing at least laterally, and preferably also forward. The device may also have dry or wet rotating mopping pads. Such mopping pads are usually arranged in a rear section of the device housing and extend beyond it at the rear.

[0012] Using its sensors, the device can detect suitable objects in its environment that can be used to clean the side brush or mop pad. This includes, in particular, objects in the area to be cleaned that have a protruding contour or shape against which the side brush or mop pad can be cleaned.

[0013] A projecting contour refers in particular to a shape that protrudes or stands out from the obstacle. This can be, for example, a corner or edge of the obstacle, but is not limited to that.

[0014] After obstacles are detected, they are added to a device-generated environment map. An environment map is understood to be any two- or three-dimensional plan suitable for representing the area surrounding the flooring area, including all its walls, obstacles, and objects. This environment map is also used for localization, for example, when using SLAM (Surface Area Map). This SLAM map, or a version derived from it, displays the environment map, including the flooring area and its furniture and walls, in a sketch-like format within an app on a preferably portable input device. The map serves primarily to visualize potential user interaction.

[0015] For the purposes of this document, an input device shall be understood to mean in particular any device that is portable for a user, that is located outside the mobile, self-driving device, in particular external and / or separate from the mobile, self-driving device, and that is suitable for displaying, providing, transmitting and / or transferring data via an interface, such as a mobile phone, a smartphone, a tablet and / or a computer or laptop.

[0016] The app, in particular a cleaning device app, is installed on the input device. This app facilitates communication between the mobile, self-driving device and the input device and, in particular, enables a visualization of the cleaning area, i.e., the living space or apartment to be cleaned. The app preferably displays the area to be cleaned as a map and shows the user any obstacles.

[0017] Obstacles are understood to be any objects and / or items that are located in a soil processing area, for example lying or standing there, and that affect the processing by the mobile, self-propelled device, in particular hinder and / or disrupt it, such as furniture, walls, curtains, carpets, and the like.

[0018] In an advantageous embodiment, the device uses sensors to detect its surroundings in order to identify obstacles with a protruding contour. For example, suitable objects are relocated by the device at the beginning of each cleaning process for the side brush.

[0019] In an alternative embodiment, the device stores obstacles with a protruding contour that were detected during previous journeys in an environmental map. In particular, the device retrieves the stored obstacles and their position in the environment. Preferably, only changes in the position of the obstacles are checked, and a relative localization of the obstacle to the device is performed.

[0020] In a preferred embodiment, a user specifies obstacles with a protruding contour in the device's environment map, particularly via the cleaning device app. This allows, among other things, the selection of positions that are not, or hardly, within the user's normal field of vision and therefore do not disturb the user when the device performs the cleaning procedure for the side brush or the mop pad.

[0021] In another preferred embodiment, the side brush or cleaning pad rotates against the obstacle in the opposite direction to the floor cleaning rotation. For example, the device does not rotate its side brush in the usual direction to perform cleaning, but instead selects a rotation direction opposite to the usual floor cleaning rotation direction.

[0022] In another preferred embodiment, the side brush or wiping pad is rotated against the obstacle alternately in the direction of rotation for floor cleaning and against the direction of rotation for floor cleaning. This can advantageously achieve a further improvement in dirt removal. In particular, for example, the side brush is rotated in both directions during the process, preferably with several changes of direction.

[0023] In addition, the cleaning process, for example of the side brush, can be carried out with a special speed profile.

[0024] In another preferred embodiment, the obstacle is a chair leg, a shelf leg, a baseboard, or a door jamb. In particular, furniture with narrow legs or support structures has a suitable protruding contour and is suitable for the cleaning process of the side brush or the wiping pad.

[0025] In another preferred embodiment, the device approaches the obstacle without collision. The device approaches the obstacle or object in a suitable manner without triggering a collision with it. Preferably, the device uses a clear area next to the obstacle for this purpose.

[0026] In another preferred embodiment, the device approaches the obstacle laterally, or head-on or from behind, at a predetermined distance. For example, the device positions itself laterally at a suitable distance from the protruding obstacle. The device moves so close to the obstacle or turns sideways so that the obstacle intersects the area described, for example, by the cleaning arms during a rotation of the side brush. A lateral distance is preferably maintained to prevent contact between the device housing and the obstacle. The device rotates its side brush or wiping pad, thereby rubbing the cleaning arms or the edge against the obstacle. Adhering dirt on the cleaning arms or the edge can be loosened and wiped away.A further cleaning effect results from the cleaning arms of the side brush snapping back into their original shape after contact with the obstacle ends. This utilizes the spring properties of the bristles, releasing the stored energy after separation from the obstacle. The sudden change in shape, especially from a bend back to its original form, advantageously leads to further loosening of dirt on the bristles.

[0027] Alternatively, the device can approach the obstacle head-on. The device moves towards the obstacle in such a way that the obstacle intersects the area in front of the device housing described by the cleaning arms during a rotation of the side brush.

[0028] Preferably, a frontal distance is maintained to prevent the device housing from touching the obstacle. The device preferably rotates its side brush in both directions, thereby rubbing the cleaning arms against the obstacle and wiping away dirt.

[0029] Alternatively, the device can approach the obstacle from behind. The device moves towards the obstacle in such a way that the obstacle intersects the area behind the device housing described by the wiping pad during one rotation. Preferably, a rearward distance is maintained to prevent the device housing from contacting the obstacle. The device preferably rotates its wiping pad in both directions, thereby rubbing the edge of the pad against the obstacle and wiping away dirt.

[0030] In another preferred embodiment, the device exhibits increased suction power when cleaning the area around the obstacle. After the cleaning procedure at the obstacle, the device preferably executes a special navigation routine to pick up the loosened dirt from the floor by sweeping its suction nozzle over the area around the obstacle.

[0031] In another preferred embodiment, the cleaning process of the side brush or the mop pad is carried out at the end of each cleaning job of the device, at the end of the cleaning of a floor area, after certain time intervals or at the user's command.

[0032] The invention further relates to a mobile, self-driving device, in particular a floor cleaning device such as a vacuuming and / or sweeping and / or mopping robot, which is equipped to carry out a method according to the invention.

[0033] 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 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 product is stored is part of the scope of this invention. All features, configurations, embodiments, and advantages relating to the method also apply in connection with the device, computer program product, and computer-readable medium according to the invention, 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 a mobile, self-propelled device configured to carry out a method according to the invention; Figure 1C: a schematic view of a side brush of a mobile, self-propelled device of the exemplary embodiment of the Figures 1A, 1B Figures 2-4B: schematic views of individual process steps for an embodiment of a process according to the invention, and Figure 5: a flowchart of an embodiment of a process according to the invention.

[0035] In the Figures 1A and 1B is a mobile, self-driving device 10 shown, which is in particular a robotic vacuum cleaner. Figure 1A represents a view of device 10. Figure 1BFigure 10 shows a bottom view of the device. The robotic vacuum cleaner perceives its surroundings using various sensors, in particular a lidar sensor 1, which is used to create a map of the environment, including the contours of walls, objects, and obstacles. In addition, the robotic vacuum cleaner has a camera 2 that can detect objects in front of it and is used, for example, for object recognition and classification.

[0036] The robotic vacuum cleaner has a suction nozzle 3 with a brush roller 4 and a suction fan. The robotic vacuum cleaner may also include a wet cleaning module. A side brush 5 is positioned at the front of the robotic vacuum cleaner, on at least one side or front corner, with its cleaning arms 6 extending beyond the contour of the robot housing 7. Specifically, the side brush 5 is positioned next to the suction nozzle 3 on the underside of the robotic vacuum cleaner in such a way that when the side brush 5 rotates, the cleaning arms 6 transport dust and dirt from the floor into the suction nozzle 3. In particular, the rotating side brush 5, or rather its cleaning arms 6 (e.g., bristle tufts or rubber arms), sweeps dust from walls and corners in the front area of ​​the housing 7 and transports it towards the suction nozzle 3. The side brush 5 is in Figure 1C shown in detail.

[0037] Side brushes 5 are themselves susceptible to contamination, for example, through hair wrapping around them or dirt particles adhering to them. If dust or dirt is picked up by the cleaning arms 6 of the side brush 5, it can become lodged there. This can impair cleaning performance. If dirt also gets into the bearing of the side brush 5, it can obstruct rotation, stop it completely, or even damage the bearing.

[0038] To prevent this, the robot vacuum cleaner uses a cleaning process to automatically remove dirt from its side brush 5 on an obstacle such as a piece of furniture by rubbing its rotating side brush 5 against the piece of furniture.

[0039] For this purpose, the robot vacuum cleaner uses its sensors to detect suitable objects 8 in its environment that allow the side brush to clean. These include, in particular, objects 8 in the area to be cleaned that have a protruding contour 9. These are sometimes pieces of furniture with narrow legs or support structures, such as chair legs or shelf legs. Baseboards or door jambs are also suitable.

[0040] The robot vacuum cleaner approaches the suitable object 8 without triggering a collision with it, as described in Figure 2 This is shown. The robot vacuum cleaner preferably uses a free area next to object 8 for this purpose.

[0041] The Figures 3A and 3BFigure 1 shows a lateral approach to the detected object 8, which has been deemed suitable. The robotic vacuum cleaner positions itself laterally at a predetermined and suitable distance from the protruding object 8. The robotic vacuum cleaner moves so close to the object 8 or turns laterally towards it that the object 8 intersects the area described by the cleaning arms 6 during a rotation of the side brush 5. Preferably, a lateral distance to the object 8 is maintained to prevent contact between the robot housing 7 and the object 8. The robotic vacuum cleaner rotates its side brush 5, preferably in both directions, thereby rubbing the cleaning arms 6 against the object 8. Adhering dirt on the cleaning arms 6 can be loosened and removed.Furthermore, the cleaning arms 6 are cleaned by snapping them back into their original shape after contact with the object 8 has ended. This utilizes the spring properties of the bristles, releasing stored energy after separation from the object 8. The abrupt change in shape from a bend back to the original form of the cleaning arms 6 advantageously leads to further removal of dirt from the bristles of the cleaning arms 6.

[0042] The Figures 4A and 4BFigure 1 shows a frontal approach to the detected object 8, which has been classified as suitable. The robot vacuum cleaner approaches the object 8 in such a way that the object 8 intersects the area in front of the robot housing 7 defined by the cleaning arms 6 during a rotation of the side brush 5. A frontal distance to the object 8 is maintained to prevent contact between the robot housing 7 and the object 8. The robot vacuum cleaner preferably rotates its side brush 5 in both directions, causing the cleaning arms 6 to rub against the object 8 and thus removing dirt from the cleaning arms 6.

[0043] An exemplary sequence of the procedure for cleaning the side brush 5 is shown in Figure 5As shown, in step 101 the robot vacuum cleaner begins the cleaning process for the side brush 5. The cleaning process of the side brush can be carried out at the end of each cleaning job, at the end of cleaning an area or room, at specific time intervals or on command by the user.

[0044] In step 102, the robot vacuum scans its surroundings for suitable objects 8 or retrieves the positions of previously stored suitable objects 8 from its environmental map. The suitable objects 8 can be relocated by the robot vacuum at the beginning of each cleaning cycle of the side brush 5. Alternatively, the robot vacuum has already stored the objects 8 detected during a previous cleaning run in its environmental map and retrieves their positions as needed. In this case, the robot vacuum's sensors only check for changes in position and perform precise relative localization. Alternatively, the user can specify the positions of suitable objects 8 in the environmental map via an app.This allows the selection of positions that are not or hardly in the user's normal field of vision and are therefore not perceived as disturbing by the user when the cleaning procedure for the side brush 5 is carried out.

[0045] In step 103, the robot vacuum cleaner approaches the suitable object 8 and uses its sensors for precise relative navigation. The robot vacuum cleaner then positions itself next to the object 8 (sideways or frontally) so that its side brush 5 can brush against the object 8 (step 104).

[0046] In step 105, the robotic vacuum cleaner rotates its side brush 5 for a defined period of time, its cleaning arms 6 brushing along the approaching object 8. The robotic vacuum cleaner does not only rotate its side brush 5 in the usual direction for cleaning, but also reverses its direction of rotation against the usual direction of floor cleaning. Alternatively, the side brush 5 can be rotated in both directions during the cleaning process, with several changes of direction being advantageous. Preferably, the cleaning of the side brush 5 is performed with a special speed profile that differs from that used during normal floor cleaning.

[0047] In step 106, the robot vacuum cleaner moves away from object 8. Subsequently (step 107), the robot vacuum cleaner cleans the floor area around object 8. After the cleaning procedure of the dirt from the side brush 5 on object 8, the robot vacuum cleaner follows a special navigation routine to pick up the loosened dirt from the floor by sweeping the area around object 8 with its suction nozzle 3, preferably with increased suction power compared to normal floor cleaning operation.

[0048] The cleaning method described above for side brush 5 can also be used for dry or wet mopping pads. Such mopping pads are sometimes located in a rear housing section of the robot vacuum.

Claims

1. A method for cleaning a side brush (5) or a mopping pad of a mobile, self-propelled device (10), in particular a floor cleaning device such as a vacuuming and / or sweeping and / or mopping robot, comprising the following steps: - approaching the device (10) to an obstacle having a protruding contour (9) such that the protruding contour (9) of the obstacle intersects a circle described during a rotation of the side brush (5) or the mopping pad, - rotating the side brush (5) or the mopping pad while the device (10) is stationary, so that the side brush (5) or the mopping pad rubs against the protruding contour (9), and - cleaning an area around the obstacle.

2. Method according to claim 1, wherein the device (10) uses sensors to detect its surroundings in order to recognize obstacles with a protruding contour (9).

3. Method according to claim 1, wherein the device (10) has stored obstacles with a protruding contour (9) detected in an environment map during previous journeys.

4. Method according to one of the preceding claims, wherein a user specifies obstacles with a protruding contour (9) in an environment map of the device (10).

5. Method according to one of the preceding claims, wherein the rotation of the side brush (5) or the wiping pad on the obstacle is carried out against a direction of rotation for floor cleaning.

6. Method according to any one of the preceding claims 1 to 4, wherein the rotation of the side brush (5) or the wiping pad on the obstacle is carried out alternately in the direction of rotation for floor cleaning and against a direction of rotation for floor cleaning.

7. Method according to any of the preceding claims, wherein the obstacle is a chair leg, a shelf leg, a baseboard or a door jamb.

8. Method according to one of the preceding claims, wherein the approach of the device (10) to the obstacle is carried out without collision.

9. Method according to one of the preceding claims, wherein the device (10) approaches the obstacle laterally or frontally or rearward at a predetermined distance.

10. Method according to one of the preceding claims, wherein the device (10) has increased suction power when cleaning the area around the obstacle.

11. A method according to any of the preceding claims, which is carried out at the end of each cleaning job of the device (10), at the end of the cleaning of a floor area, at certain time intervals or on command of the user.

12. Mobile, self-driving device (10) configured to perform a method according to any of the preceding claims.

13. Computer program product comprising instructions which, when the program is executed by the device (10), cause it to execute the method according to any one of the preceding claims 1 to 11.

14. Computer-readable data carrier on which the computer program product according to claim 13 is stored.

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