Method for operating a mobile self-propelled device

Abstract

A method for operating a mobile, self-propelled device, in particular a floor cleaning device, such as a vacuum and / or sweeping and / or mopping robot, comprising at least one wet cleaning module (11), for cleaning a floor treatment area (13) is described, comprising the following process steps: starting a cleaning run with wet cleaning; mopping the floor treatment area (13) in a first cycle in which the device travels the floor treatment area (13) on first meandering paths (14), skipping every second meandering path (15); and mopping the floor treatment area (13) in a second cycle in which the device travels the floor treatment area (13) on the skipped second meandering paths (15), skipping the first meandering paths (14) of the first cycle.

Description

[0001] The invention relates to a method for operating a mobile, self-driving device, in particular a floor cleaning device, such as a vacuuming and / or sweeping and / or mopping robot, comprising at least one wet cleaning module behind a dry cleaning unit, such a mobile, self-driving device, a computer program product and a computer-readable data carrier.

[0002] Floor cleaning robots are designed to relieve users of recurring tasks such as sweeping, vacuuming, and mopping. Besides regular cleaning, users particularly value a visually clean result. Among other things, no dust or stains should be visible on the floors after the robot has finished cleaning. Combination vacuum and mop devices are advantageous for this type of cleaning. These typically have a dry cleaning unit (sweeping and vacuuming) at the front of the robot and a wet cleaning module at the rear. For wet cleaning, the robots use one or more mopping pads or rollers, which are moistened with water or cleaning fluid before and / or during a cleaning cycle.

[0003] Due to space constraints, the suction nozzle of cleaning robots is often narrower than the mopping pads, which are sometimes positioned outside the main housing and designed to be as wide as possible. This allows the cleaning robots to mop a wider area than they previously vacuumed. Furthermore, it enables them to mop closer to walls and other objects, thus reducing unmowed streaks.

[0004] During cleaning, modern robots typically follow straight, parallel paths to systematically cover a room. These meandering paths are designed so that the areas swept by the suction nozzle of two adjacent paths slightly overlap. This means the suction nozzle also cleans – at least partially – the area previously mopped on the adjacent path. Moisture can be drawn into the suction nozzle by the fan's airflow, become trapped in the robot's dustbin and filter, and cause dust to clump together. Similarly, the robot's wheels or rollers, a side brush, a rubber lip on the suction nozzle, and the main brush (which must touch the floor for its sweeping function) also come into contact with the moisture, making it easier for dust and dirt to accumulate on these components.

[0005] The object of the invention is therefore to provide an improved method for the cleaning operation of a mobile, self-driving device in which the device, through an adapted driving strategy, no longer or hardly drives over floor surfaces that have been mopped shortly before, and thus the wetting and soiling of the main brush, the dust box and / or other components in contact with the floor can be reduced.

[0006] According to the invention, a method for operating a mobile, self-propelled device, in particular a floor cleaning device, such as a vacuum and / or sweeping and / or mopping robot, comprising at least one wet cleaning module behind a dry cleaning unit, for cleaning a floor area comprises the following method steps: starting a cleaning run with wet cleaning; mopping the floor area in a first cycle in which the device travels the floor area on first meandering paths, skipping every second meandering path; and mopping the floor area in a second cycle in which the device travels the floor area on the skipped second meandering paths, skipping the first meandering paths of the first cycle.

[0007] The adapted driving strategy prevents the machine from driving on damp floor surfaces, especially with its suction nozzle, during wet cleaning. Among other things, the machine does not travel along adjacent meandering paths in open areas. It only travels along non-overlapping meandering paths, ensuring that predetermined components of the machine, such as the suction nozzle and main brush, do not come into contact with damp floor surfaces. This reduces soiling of the suction nozzle, main brush, side brushes, and wheels or rollers, and minimizes visible marks on the floor.

[0008] In the first cycle, which covers the entire soil cultivation area, predetermined meandering paths are skipped. These initially skipped meandering paths are then cleaned by the machine in the second cycle, or a second pass. This is done, if possible, only after the first meandering paths of the soil, cleaned in the first cycle or previous pass, have dried.

[0009] The following advantages can be achieved through the driving behavior according to the invention: The user needs to clean the device less frequently. Maintenance is reduced, resulting in a higher perceived quality. The main brush is prevented from coming into contact with moisture, so less dust and dirt adhere to it. Moisture is prevented from entering the suction nozzle and accumulating in it, the dustbin, and / or the filter, so less dust and dirt adhere to and clump on these components. Contact between the side brush and the wheels or rollers with moisture is reduced, so less dust and dirt adhere to them. Traces of the drive wheels, support rollers, side brush, and main brush on the mopped floor are avoided. The floor appears cleaner as a result. The drive wheels remain dry and therefore exhibit less slippage.The device can drive and navigate more precisely; the risk of damage to sensitive floors such as parquet or laminate due to excessive moisture accumulation is reduced, as recently mopped areas of adjacent meandering paths are allowed to dry before the device mops them again with the mopping pad.

[0010] A mobile, self-driving device is understood to be, in particular, a floor cleaning device that autonomously cleans 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 without or with minimal user intervention. For example, the device autonomously moves to a designated room to clean the floor according to a pre-programmed cleaning strategy. The device is a cleaning robot that has at least a wet cleaning module and may additionally include a suction nozzle (preferably with a brush roller), a suction blower, and a side brush. For environmental perception, obstacle detection, and localization against a stored map, the device is equipped with navigation sensors (e.g., LiDAR sensor, camera, and / or wall-following sensor).A control system is responsible for evaluating sensor data, planning cleaning missions, planning routes to be traveled, and controlling the actuators. A drive system enables the device to move in a controlled manner.

[0011] The wet cleaning module of the device can include one or more wiping pads, a liquid tank, a liquid pump for actively moistening the wiping pad(s), and an actuator for moving the wiping pad(s) (vibrating, oscillating, rotating).

[0012] In an advantageous embodiment, the device cleans the soil cultivation area in adjacent, particularly parallel, cleaning paths, so-called meandering paths. An exception to this may exist for cleaning corners and edges. In the present embodiment, in a first cycle, adjacent meandering paths are not cleaned directly one after the other, but rather one path is skipped after each meandering path. Thus, between two meandering paths cleaned consecutively in the first cycle, one uncleaned meandering path remains. In a second cycle, all previously skipped meandering paths are then cleaned. This ensures the cleaning of the entire soil cultivation area.

[0013] In an advantageous embodiment, the first cycle extends over the entire soil cultivation area. Preferably, the second cycle also extends over the entire soil cultivation area. In this case, the entire soil cultivation area is therefore traversed twice. On an outward pass, the machine, in the first cycle, traverses each first meandering path across the entire soil area to be cleaned, skipping or omitting any adjacent second meandering path. On a return pass, the machine then wipes the skipped second meandering paths across the entire soil area to be cleaned, again skipping or omitting any adjacent first meandering path.

[0014] In a further advantageous embodiment, the first meander paths of the first cycle do not overlap each other. Preferably, the second meander paths also do not overlap each other. However, the first meander paths of the first cycle and adjacent second meander paths of the second cycle can overlap in certain areas, since they are wiped with such a time offset that some drying of the wiped first meander paths has already taken place.

[0015] The device traverses the meandering paths sequentially, ensuring that the cleaning area does not overlap. To achieve this, the device skips or omits every other meandering path during the first cycle. Because the floor surface in front of the device has not been recently damp-mopped, the suction nozzle, main brush, side brush, and / or drive wheels come into little to no contact with moisture. This reduces dirt adhesion to these components and, consequently, the overall cleanliness of the device.

[0016] In a further advantageous embodiment, when starting a cleaning run with pure dry cleaning, the device performs the first and second cycles in a single (common) pass by traversing the meandering paths of the first and second cycles in one combined cycle. Consequently, during pure dry cleaning of the floor, i.e., during a pure vacuuming and / or sweeping task, the device continues to follow its normal, adjacent meandering paths without missing or skipping any neighboring meandering paths.

[0017] In a further advantageous embodiment, the first meandering paths of the first cycle and / or the omitted second meandering paths of the second cycle are coordinated in such a way that, during the cleaning run, a suction nozzle, a main brush, a side brush, and / or drive wheels of the device do not come into contact with floor moisture, or at least only to a reduced extent. This reduces the adhesion of dirt to these components.

[0018] The invention further relates to a mobile, self-propelled device equipped to carry out a method as described. It is understood that, in addition to the method and the device, a computer program product comprising commands that, upon execution of the program, cause a device to perform the method according to the invention is also included in the scope of this invention. Likewise, a computer-readable medium on which such a computer program product is stored is included in the scope of this invention.

[0019] 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.

[0020] 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 provided for the method according to the invention, Figure 2: a schematic view of an embodiment of a mobile, self-propelled device provided for the method according to the invention, Figure 3A: a top view of an embodiment of a soil cultivation area to be cleaned, which is cleaned with the method according to the invention, and Figure 3B: top view of an embodiment of a soil cultivation area to be cleaned, which is cleaned with the method according to the invention in the first cycle.

[0021] In Figure 1A is a mobile, self-driving device, in particular a robot 10, shown in overhead view. Figure 1B shows robot 10 of the Figure 1Ain a bottom view. The robot 10 comprises a suction nozzle 1, in which a main brush 2 is integrated, as well as a suction fan. The robot 10 also has a side brush 3 with side brush arms at a front lateral position on its housing. The side brush 3 is designed to transport dust and dirt, especially along walls and in corners, to the suction nozzle 1 of the robot 10.

[0022] The robot 10 is also equipped with navigation sensors that can perceive its surroundings. For example, the robot has a LIDAR sensor 4 on its housing, a camera 6, and / or a wall-following sensor. The robot 10's control system can interpret the sensor data from the LIDAR sensor 4 to determine, among other things, which room the robot 10 is in, its location within that room, and the type of room it is currently in. The robot 10 can infer the type of room from the furnishings and decor.

[0023] In addition to its dry cleaning unit (main brush 2, suction blower, side brush 3), the robot 10 has a wet cleaning module (water tank, pump, mopping pad 5, optional actuator for the mopping pad movement).

[0024] In Figure 2 Is the robot 10 of the Figure 1AThe simplified representation shows the robot 10 as follows: A controller 7 is located inside the robot 10, responsible for evaluating the navigation sensor data 9, planning cleaning missions, planning the routes to be traveled, and controlling the actuators. Drive wheels 8 enable the robot 10 to move in a controlled manner. A suction module 12 with a suction fan is located downstream of a dust box with a filter. Air, including entrained dust particles, which is drawn in by the suction fan, enters the robot 10 through the suction nozzle 1 and is then guided through air ducts to the dust box, the filter, and back to the suction fan after cleaning, before exiting the robot 10. The robot 10 has at least one wet cleaning module 11.The wet cleaning module 11 of the robot 10 includes a liquid tank and the mopping pad, a liquid pump for actively moistening the mopping pad, and an actuator for moving the mopping pad (vibrating, oscillating, rotating).

[0025] To clean a floor cleaning area 13, the robot 10 plans its driving strategy in such a way as to avoid driving over still damp and recently mopped floor surfaces, especially with its suction nozzle. In particular, in a first cycle, only non-overlapping meandering paths are driven, so that the suction nozzle and main brush do not come into contact with damp areas of the floor, or at least hardly at all. In this way, contamination of the suction nozzle, main brush, side brushes and drive wheels 8 can be reduced, and visible marks on the floor can be minimized. This driving behavior is particularly useful in the Figure 3A , 3B depicted.

[0026] Figure 3A Figure 1 shows the floor cleaning area 13 in a top view. The robot's movement is represented by a solid line or a dashed line. During a cleaning task, the robot does not cover the open space on adjacent meanders. Instead, the robot follows the first meander paths 14 of a first cycle, which do not overlap the cleaning area. The first meander paths 14 of the first cycle, as well as the corner and edge cleaning, are shown in Figure 3AThe robot is represented as continuous lines. In the first cycle, it skips or omits individual meandering paths during its run. The (second) meandering paths 15 initially skipped during the cleaning run are cleaned by the robot in a second pass or cycle. This is done, if possible, only after the areas of the floor wiped in the first or previous pass have dried, so that overlaps between the first meandering paths 14 of the first cycle and the second meandering paths 15 of the second cycle do not negatively affect the soiling of individual robot components and / or marks on the floor. The second meandering paths 15 of the second cycle are in Figure 3A represented as dashed lines.

[0027] Figure 3BThe graph shows the wiped areas 16 of the (first) meandering paths 14 of the first cycle. Wiped areas 16 of two consecutively traversed first meandering paths 14 do not overlap. Gaps remain between the wiped first meandering paths 14. These remaining gaps are subsequently covered in the second cycle when the wiped areas 16 have dried.

[0028] When cleaning the floor purely dry, especially when it's just a vacuuming and / or sweeping job, the robot continues to follow its normal, adjacent meandering paths.

Claims

1. Method for operating a mobile, self-propelled device, in particular a floor cleaning device, such as a vacuum and / or sweeping and / or mopping robot, comprising at least one wet cleaning module (11), for cleaning a floor treatment area (13) with the following process steps: - starting a cleaning run with wet cleaning, - mopping the floor treatment area (13) in a first cycle in which the device travels the floor treatment area (13) on first meandering paths (14), skipping every second meandering path (15), and - mopping the floor treatment area (13) in a second cycle in which the device travels the floor treatment area (13) on the skipped second meandering paths (15), skipping the first meandering paths (14) of the first cycle.

2. Method according to claim 1, wherein the first cycle extends over the entire soil cultivation area (13).

3. Method according to one of the preceding claims, wherein the second cycle extends over the entire soil cultivation area (13).

4. Method according to one of the preceding claims, wherein the first meander paths (14) of the first cycle do not overlap each other.

5. Method according to any of the preceding claims, wherein the second meander paths (15) of the second cycle do not overlap each other.

6. Method according to one of the preceding claims, wherein the device, when starting a cleaning run with pure dry cleaning, performs the first and second cycles in one pass by traversing the first meander paths (14) of the first cycle and the second meander paths (15) of the second cycle in a common cycle.

7. Method according to one of the preceding claims, wherein the first meander paths (14) of the first cycle and / or the omitted second meander paths (15) of the second cycle are coordinated such that during the cleaning run a suction nozzle (1), a main brush (2), a side brush (3) and / or drive wheels (8) of the device do not come into contact with soil moisture or at least only to a reduced extent.

8. Mobile, self-propelled device with which a soil cultivation area can be cleaned by means of a method according to one of the preceding claims.

9. Computer program comprising commands which, when the program is executed, cause a mobile, self-driving device to perform the method according to any one of the preceding claims 1 to 7.

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

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