Method for controlling a robotic vacuum cleaner to blow an airflow onto horizontal work areas

Abstract

This description relates to a control method for a robotic vacuum cleaner (1) moving on a horizontal work surface (WS). The control method includes a blowing phase during which the robotic vacuum cleaner, from a first work zone (Z1) within the horizontal work surface, generates at least one airflow (40) onto a target zone within the horizontal work surface that is adjacent to the first work zone. This is done to move at least one piece of debris (50) placed on the target zone (ZC) until it reaches a second work zone (Z2) within the horizontal work surface, which is adjacent to the target zone and accessible to the robotic vacuum cleaner. Thus, the control method allows the robotic vacuum cleaner to vacuum debris placed on horizontal surfaces that might otherwise be inaccessible to it. Abstract figure: Figure 11

Description

Title of the invention: Method for controlling a robotic vacuum cleaner to blow an airflow onto horizontal work areas. Technical field

[0001] The invention relates to a control method for a robot vacuum cleaner.

[0002] It relates more particularly to a control method enabling the vacuum robot to blow a flow of air onto a horizontal work area that is difficult for it to access, in order to move dust or debris present on this work area to another work area that is easier for it to access.

[0003] The invention also relates to a vacuum cleaner robot implementing the piloting method.

[0004] The invention finds a favorite, and not limiting, application for the cleaning of horizontal surfaces by autonomous vacuum cleaner robots regardless of their size and shape. Previous technique

[0005] As is known, robot vacuum cleaners are used by individuals to facilitate, or even completely accomplish, the task of cleaning a floor in a room, which floor is subsequently referred to as the horizontal work surface.

[0006] A known advantage of robot vacuum cleaners is their ability to move / glide under furniture to vacuum up dust and debris if the height of the lower part of the furniture, relative to the floor, allows it; whereas a homeowner, if they were to use a conventional vacuum cleaner, would potentially have to move the furniture to vacuum the area on which it rests, before putting it back in place. In such a situation, the robot vacuum cleaner saves the homeowner time and energy.

[0007] However, due to their size (height, width; length) and / or shape (round, square, etc.), some robot vacuum cleaner models may not be able to access horizontal target areas where dust or debris needs to be vacuumed.

[0008] Also, some target areas, even if accessible to robotic vacuum cleaners, have dimensions in width and / or length such that once inside, the robotic vacuum cleaners have difficulty maneuvering and moving out of said areas. Summary of the invention

[0009] The present invention aims to resolve all or part of the disadvantages mentioned above.

[0010] To this end, the invention proposes a control method for a vacuum robot on a horizontal work surface, which vacuum robot comprising a control unit equipped with a processor and storage memory, a movement device and a blowing device, the control unit being configured to control the operation of the movement device and the blowing device, said control method being executed by said control unit and comprising a blowing phase during which, the vacuum robot being present on a first work zone of the horizontal work surface, the control unit commands the blowing device to generate at least one airflow from the first work zone so as to move at least one piece of debris present on a target zone of the horizontal work surface adjacent to the first work zone,so that at least one piece of debris reaches a second work zone on the horizontal work surface, accessible to the robot vacuum cleaner, adjacent to the target zone and pre-registered in the storage memory.

[0011] The target area may correspond to an area inaccessible to the robot vacuum cleaner, which inaccessible area may: - be located under a piece of furniture with insufficient clearance from the floor in relation to the height of the robot vacuum cleaner, - be located between two surfaces having a vertical component (for example, a wall and a vertical panel of a piece of furniture) separated horizontally by a separation distance that is less than a length and / or a width of the robot vacuum cleaner, - correspond to a corner formed by the junction of two vertical surfaces (such as walls).

[0012] The target area may also correspond to a restricted access zone in which the robot vacuum cleaner has difficulty maneuvering and / or moving. This may be, for example and without limitation, a horizontal surface located under the seat of a chair and delimited by the four legs of the chair.

[0013] The arrangements according to the invention advantageously allow for the cleaning of a target area without requiring the robot vacuum cleaner to access said target area by taking advantage of its movement on horizontal surfaces comprising the horizontal work surface, called work zones, which are accessible to it and adjacent to the target area. Thus, from a first work zone, the robot vacuum cleaner generates at least one airflow so as to move at least one piece of debris present in the target area towards a second work zone which it can access, in order to ultimately vacuum up at least one piece of debris.

[0014] By debris or dust, we mean an unwanted object or material that must be collected during cleaning by the robot vacuum cleaner. In particular, debris or dust can originate from various sources such as human activities, natural or industrial processes.

[0015] According to an embodiment of the invention, in which, before the blowing phase, the control unit determines and records in its storage memory a location of the second working zone as a function of a location of the first working zone and a location of the target zone.

[0016] According to an embodiment of the invention, in which, before the blowing phase, the control unit determines the second working area based on a map of the horizontal working surface recorded in the storage memory.

[0017] The mapping of the work surface may, for example, have been carried out by a user with knowledge of the horizontal work surface, i.e., its dimensions, the location of the target zone, the dimensions of the target zone, etc. The mapping may, for example, be carried out using a program contained in a computer device, which is capable of communicating with the control unit of the robotic vacuum cleaner to transmit the map, which, once received, is stored in the storage memory. The computer device may be a connected mobile terminal, for example, a smartphone or a tablet.

[0018] The mapping, as well as its loading into the storage memory of the vacuum robot, can for example take place: before the implementation of the control process; or during the implementation of the control process, prior to the blowing phase.

[0019] Prior knowledge of the second work zone reduces the implementation time of the piloting process. When at least one piece of debris is present in the target zone, the vacuum robot does not need to leave the first work zone and move / navigate the horizontal work surface to determine the second work zone adjacent to the target zone for the blowing phase to be implemented: the blowing phase is implemented directly if the vacuum robot detects at least one piece of debris in the target zone from the first work zone.

[0020] In one embodiment, the locations of the first work zone, the target zone, and the second work zone can be known to the robot vacuum cleaner because they are indicated / declared in the pre-loaded mapping.

[0021] According to one embodiment of the invention, before the blowing phase, the control unit creates a map of the horizontal work surface as the vacuum robot moves across it, stores it in its memory, and determines the second work zone based on the locations of the first work zone and the target zone on said map.

[0022] In this embodiment, the locations of the first work zone, the target zone, and the second work zone are determined in real time by the control unit while the robot vacuum cleaner moves across the horizontal work surface. Simultaneously with the robot vacuum cleaner's movement, the control unit creates a map of the horizontal work surface indicating the locations of the different zones.

[0023] Advantageously, this embodiment does not require human intervention. The control unit's processor implements the piloting process autonomously. Furthermore, since the map of the horizontal work surface is stored in the storage memory, the locations of the first work zone, the target zone, and the second work zone will be known to the robot vacuum cleaner for subsequent intervention on said horizontal work surface, thus reducing the duration of the piloting process.

[0024] According to a feature of the invention, before the blowing phase, the control unit determines the first working zone, the second working zone and a blowing strategy based on a geometric conformation of the target zone.

[0025] By blowing strategy, we mean a set of actions implemented by the control unit during the blowing phase so that the vacuum robot, from the first work zone, efficiently generates at least one airflow to move at least one piece of debris present in the target zone until it reaches the second work zone. An effective / efficient blowing strategy can be defined as a blowing strategy in which: - at least one piece of debris, under the effect of at least one airflow generated by the robotic vacuum cleaner from the first work zone, has the least distance to travel from its position in the target zone to reach the second work zone, which ultimately reduces the time required to implement the blowing phase; and / or - at least one airflow is generated by the robot vacuum cleaner at a reduced flow rate or speed, in order to reduce stress on equipment included in the robot vacuum cleaner and contributing to the generation.

[0026] The target area may, for example, have a rectangular or elongated shape having two long sides (rectangle lengths) and two short sides (rectangle widths). When the environment around this rectangular shape is accessible to the robotic vacuum cleaner, the control unit can determine the first and second working areas such that each adjoins a distinct length of the rectangular shape; and the blowing strategy as consisting, during the blowing phase, of generating at least one airflow from the first working area in such a way to move at least one piece of debris present in the target area across the width of the target area until it reaches the second work area.

[0027] For such a geometric configuration of the target area, it is clearly more efficient to generate at least one airflow in the width direction rather than in the length direction, since the distance to be traveled by the at least one piece of debris under the effect of the at least one airflow to reach the second working area is shorter, potentially reducing the duration of the blowing phase. Also, blowing on the at least one piece of debris in the width rather than the length of the target area reduces the flow rate at which the at least one airflow must be generated by the vacuum robot, thus reducing the load on the equipment contributing to generating the at least one airflow.

[0028] According to one feature of the invention, before the blowing phase, the control unit determines the first working zone, the second working zone and a blowing strategy based on at least one contextualized situation parameter of the target zone in the horizontal working surface.

[0029] In one embodiment of the invention, taking into account the situation of the target area in the horizontal working surface, in addition to its geometric conformation, allows a more effective / efficient determination of the first working area, the second working area, and the blowing strategy for the generation from the first working area by the vacuum robot, during the blowing phase, of at least one airflow so as to move at least one piece of debris present in the target area until it reaches the second working area.

[0030] According to one embodiment of the invention, at least one contextualized situation parameter includes a parameter representative of an environment around the target area or of the presence of an obstacle around or next to the target area.

[0031] At least one contextualized situation parameter may, for example, correspond to a parameter representing the presence of four chair legs when the target area considered is located under the seat of said chair.

[0032] At least one contextualized situation parameter may, for example, correspond to a parameter representing a piece of furniture positioned against a wall, with the target area located under the furniture and which may, for example, be rectangular in shape, such that three sides of said rectangular shape adjoin horizontal surfaces accessible to the robot vacuum cleaner, and the fourth side is delimited by the wall. In such a context, the first work zone and the second work zone may be determined by the control unit as the accessible horizontal work surfaces adjoining two adjacent sides of the rectangular shape among the three aforementioned sides, or the accessible horizontal work surfaces adjoining two opposite sides among the three aforementioned sides.

[0033] In one embodiment of the invention, the control unit determines the first working zone and the second working zone and a blowing strategy based on the position of at least one piece of debris on the target zone.

[0034] The position of at least one piece of debris on the target area, as well as the geometric conformation of the target area and at least one contextualized situation parameter of the target area in the horizontal working surface, can for example allow the control unit to determine a first working area, a second working area, and then an efficient blowing strategy so that: at least one piece of debris under the effect of at least one airflow generated by the vacuum robot from the first working area travels less distance to reach the second working area, and that the at least one airflow can be generated at a reduced flow rate or speed.

[0035] According to one embodiment of the invention, the blowing strategy is defined by at least one blowing parameter chosen from: - an orientation parameter representative of an orientation of at least one airflow, or - a positioning parameter representative of a position of the robot vacuum cleaner within the first working zone, or - a blowing power parameter representative of a speed or flow rate of at least one airflow.

[0036] The orientation parameter can, for example, correspond to a change in orientation of the blower device of the vacuum robot.

[0037] The orientation parameter can also correspond to a change of orientation of the robot vacuum cleaner on the first working area.

[0038] The blowing strategy may include, for example, at least two orientation parameters, so that at least one airflow is generated successively in at least two distinct blowing directions.

[0039] The blowing strategy may include at least two positioning parameters; which correspond to a movement of the vacuum robot from one position to another position both contained in the first working zone, so that at least one airflow is generated successively from at least two positions in the first working zone.

[0040] Depending on the blowing power parameter, at least one airflow can for example be generated and blown onto at least one piece of debris present in the target area at low or high speed, or according to a low flow rate or a high flow rate.

[0041] As indicated above, the blowing strategy is determined according to the geometric conformation of the target area and / or at least one contextualized situation parameter thereof. Thus, the at least one blowing parameter included in the blowing strategy is adapted to said geometric conformation and / or audit at least one contextualized situation parameter so as to efficiently generate, during the blowing phase, at least one airflow from the first work zone that allows at least one piece of debris present on the target to be moved to the second work zone.

[0042] According to one feature of the invention, at the end of the blowing phase, the control unit commands the movement device to move the vacuum robot from the first work zone to the second work zone, and commands the suction of at least one piece of debris present in the second work zone.

[0043] In one variant, sequentially, the control unit can for example move the robot vacuum cleaner from the first work zone to the second work zone, and then make it vacuum up at least one piece of debris now located in the second work zone.

[0044] In another embodiment, the control unit can, for example, move the robotic vacuum cleaner from the first work zone to the second work zone, while simultaneously vacuuming any dust or debris present on the horizontal work surface during this movement, i.e., along the path enabling the robotic vacuum cleaner to reach the second work zone. Once in the second work zone, the control unit commands the vacuuming of at least one piece of debris initially placed in the target zone and moved to the second work zone by the action of at least one airflow generated from the first work zone. According to one feature of the invention, the control unit initiates the blowing phase if it receives, from a presence sensor, a presence detection signal indicating the presence of at least one piece of debris in the target zone.

[0045] The presence sensor can be physically connected to the control unit, or communicate with it via a wireless link and according to a short or long distance communication protocol.

[0046] According to one feature of the invention, during the blowing phase, the control unit commands the blowing device to adjust a flow rate or speed of at least one airflow as a function of at least one dimension of the target area.

[0047] The flow rate or speed of at least one airflow is adapted according to at least one dimension of the target area so that the robot vacuum cleaner, from the first working area, efficiently blows on at least one piece of debris from the target area to the second working area on the one hand; this while not putting too much strain (or conversely, while avoiding not putting enough strain on) at least one piece of equipment of the robot vacuum cleaner contributing to the generation of at least one airflow.

[0048] According to one embodiment of the invention, during the blowing phase, the control unit commands the blowing device to adjust the flow rate or speed of at least one airflow also as a function of a position of the vacuum robot on the first work area, an orientation of the blowing device with respect to the target area, and a position of at least one piece of debris on the target area.

[0049] The flow rate or speed of at least one airflow is thus adapted according to the orientation of the vacuum robot (or blowing device) in the first working zone with respect to the position of at least one piece of debris on the target zone and the distance separating the vacuum robot from the at least one piece of debris, so that the vacuum robot, from the first working zone, efficiently blows on the at least one piece of debris from the target zone to the second working zone on the one hand; this while not putting too much strain (or conversely, while avoiding not putting enough strain on) at least one piece of equipment of the vacuum robot contributing to the generation of at least one airflow.

[0050] According to one embodiment of the invention, before the blowing phase, the control unit determines the target area based on detection information of at least one obstacle received from a detection device.

[0051] The detection device can be physically connected to the control unit, or communicate with it by means of a wireless link and according to a short or long distance communication protocol.

[0052] The detection device acquires in real time a set of information which allows the control unit to represent its environment in order to make the robot vacuum cleaner move around, make it vacuum up dust or debris located on the horizontal work surface, etc.

[0053] This information set may include information detecting at least one obstacle placed on the horizontal working surface. Based on this detection information, the control unit determines a target zone associated with the at least one obstacle, and commands the robot vacuum cleaner to minimize its movement around said obstacle (for example, if no debris is detected as being placed on this target zone).

[0054] According to one embodiment of the invention, before the blowing phase, the control unit determines the target area based on the location of at least one obstacle indicated in the horizontal work surface map recorded in the storage memory.

[0055] When the map is pre-recorded in the control unit's storage memory, the location of at least one obstacle on the horizontal working surface is known to the unit. Therefore, the control unit does not need to command the robot vacuum cleaner to move across the horizontal working surface. until at least one obstacle is detected to determine the associated target area; this determination can, for example, be implemented from the start of the piloting process, thus saving time in the implementation of the piloting process.

[0056] According to one embodiment of the invention, the control unit determines the target area based on an accessibility criterion for the robot vacuum cleaner.

[0057] The accessibility criterion allows the control unit to determine whether an area of ​​the horizontal work surface corresponds to a work area accessible to the robot vacuum cleaner, or to a target area.

[0058] As previously stated, the target area may correspond to an area inaccessible to the robot vacuum cleaner, or to an area of ​​restricted accessibility in which the robot vacuum cleaner has difficulty maneuvering and / or moving. Thus, the accessibility criterion allows the control unit to determine whether the target area corresponds to an inaccessible area or an area of ​​restricted accessibility. By distinguishing, for example, a working area from an area of ​​restricted accessibility, the control unit avoids commanding the robot vacuum cleaner to move into the said restricted accessibility area.

[0059] According to one embodiment of the invention, the accessibility criterion includes at least one of the following comparison results:

[0060] - a comparison result between a height of the robot vacuum cleaner and a height free under at least one obstacle placed above the target area; or

[0061] - a comparison result between a dimension of the vacuum cleaner robot's template and a spacing between two obstacles delimiting the target area.

[0062] The target area associated with at least one obstacle may, for example, correspond to an area inaccessible to the robot vacuum cleaner when the free height under at least one obstacle placed above the target area is less than the height of the robot vacuum cleaner, and / or when the spacing between two obstacles delimiting the target area is less than one dimension (length or width) of the robot vacuum cleaner's footprint.

[0063] The target area associated with at least one obstacle may, for example, correspond to a restricted accessibility area when the spacing between two obstacles delimiting the target area is equal to, or substantially greater than, a dimension (length or width) of the vacuum robot's footprint, making it difficult for the vacuum robot to move / maneuver in the target area.

[0064] A target zone is not associated with an obstacle when the clearance height under said obstacle is greater than the height of the robot vacuum cleaner, and the spacing between this obstacle and another obstacle is sufficiently large relative to the size of the robot vacuum cleaner to allow it to maneuver and move within this spacing. In this case, the area delimited by the clearance height and the spacing between obstacles corresponds to a working zone.

[0065] According to an embodiment of the invention, the accessibility criterion is established based on a type of obstacle to which at least one obstacle belongs among several types of obstacle.

[0066] The type of obstacle may, but is not limited to, correspond to a piece of furniture (for example: a chest of drawers, a wardrobe, a shelf, a chair), a decorative or lighting accessory (for example a lamp), a household appliance (for example a washing machine), or a partition / wall.

[0067] Thus, the spacing between two obstacles can, for example, correspond to the spacing between a piece of furniture and a wall, or between two pieces of furniture, etc.

[0068] The spacing between two obstacles can also correspond, for example, to the spacing between two feet of an obstacle with a free height, such as the legs of a chair, the feet of a cabinet, etc.

[0069] In the remainder of this description, for the sake of convenience, the term "obstacle" refers to furniture (furniture, chairs, etc.) or a wall / partition. Although these are obstacles in themselves, the legs that an obstacle, for example a chair, may have are referred to as "legs" and not "obstacles".

[0070] When the obstacle is a piece of furniture such as a wardrobe, a chest of drawers or a shelf, the target area associated with the obstacle may, for example, correspond to an inaccessible or restricted access surface depending on the free height under the furniture and the spaces between the feet of the furniture given in the direction of the length or width of said furniture.

[0071] In one embodiment, the type of obstacle can automatically define the type of target zone associated with it. For example: - if the obstacle is a chair, then the target area will be a restricted accessibility zone, or - if the obstacle corresponds to a chest of drawers, then the target area will be an inaccessible area.

[0072] According to one embodiment of the invention, the piloting method comprises, before the blowing phase: - a step of displaying the map on a touch screen included in a connected mobile terminal, which connected mobile terminal is in communication with the control unit, - an assignment step during which a user of the connected mobile terminal interacts with the mapping, and assigns to at least one obstacle a type of obstacle from among several types of obstacles, - a transmission step during which the connected mobile terminal transmits to the control unit an attribution information relating to the type of obstacle assigned to at least one obstacle; and the control unit determines the target area following receipt of the allocation information associated with at least one obstacle.

[0073] In other words, the typing of at least one obstacle by the user of the connected mobile terminal during the assignment step allows the control unit, after receiving the mapping, to determine the target area, then the first work area and the associated second work area.

[0074] The connected mobile terminal may correspond, in a limited way, to: a mobile phone of the smartphone type, a tablet, a laptop computer, etc.

[0075] The connected mobile terminal and the control unit of the robot vacuum cleaner can, for example, communicate with each other via a wireless link and according to a short or long distance communication protocol, such as WiFi or Bluetooth.

[0076] The display, allocation, and transmission steps can be implemented using a mobile application contained within the connected mobile terminal.

[0077] In one variant, prior to the display stage, the control unit of the robot vacuum cleaner may have communicated to the connected mobile terminal the map of the horizontal working surface which is preloaded in its storage memory.

[0078] In another embodiment, the control unit can transmit to the connected mobile terminal in real time the map it creates as the robot vacuum cleaner moves across the horizontal work surface. The user of the connected mobile terminal can then see the map being completed in real time during the display stage.

[0079] In another embodiment, following the allocation step and before the transmission step, the control method may include a declaration step during which the user of the connected mobile terminal identifies and then indicates on the map the first and second work zones associated with the target zone for at least one obstacle. Thus, once the map is received, the control unit refers to the user's indications on the map to determine the target zone, the first work zone, and the second work zone associated with at least one obstacle.

[0080] In one embodiment of the invention, the display step may be preceded by an editing step during which the user, by means of, for example, the mobile application mentioned above, creates / edits the mapping of the horizontal work surface himself, for example by defining the dimensions of the horizontal work surface; by creating at least one obstacle and then defining its dimensions and its location on the horizontal work surface; etc.

[0081] According to one embodiment of the invention, the control unit determines the type of obstacle to which the at least one obstacle belongs, and then the target area, following a comparison between the detection information of the at least one obstacle and data relating to each of several types of obstacle, which data is contained in a database included in the storage memory.

[0082] In one embodiment of the invention, the robot vacuum cleaner includes at least one mop shaped to make contact with and slide along the horizontal working surface; and the control method includes, after vacuuming at least one piece of debris in the second working area, a washing step during which the robot vacuum cleaner moves in the second working area with at least one mop washing said second working area.

[0083] In other words, and advantageously, the robot vacuum cleaner can vacuum up at least one piece of debris placed on the second work area, and then wash that area. Hereafter, and unless otherwise specified, "wash" means wash. More generally, the robot vacuum cleaner can advantageously vacuum up debris placed on accessible work areas of the horizontal work surface (i.e., the first and second work areas as defined in the invention) and then wash it.

[0084] In one embodiment of the invention, the control method comprises, after the blowing phase and before the control unit commands the movement device to move the robot vacuum cleaner from the first work zone to the second work zone, the control method comprises a washing step, called the initial washing step, during which the robot vacuum cleaner moves in the first work zone with at least one mop washing said first work zone, and implemented on the condition that no debris is placed on it.

[0085] In other words, once the robot vacuum cleaner has moved the at least one piece of debris from the target area to the second working area by blowing air over it, the robot vacuum cleaner cleans the first working area. After washing the first working area, the robot vacuum cleaner moves to the second working area. Once there, it vacuums up at least one piece of debris and then cleans it. The initial washing step is carried out provided that no debris is present in the first working area. Indeed, if at least one piece of debris is present in the first working area and the robot vacuum cleaner cleans it without first vacuuming up at least one piece of debris, the debris will then stick to the first working area.Therefore, if the robot vacuum cleaner detects the presence of at least one piece of debris placed on the first work area at the end of the blowing phase, the control process includes an optional vacuuming step of said at least one piece of debris before the initial washing step is implemented.

[0086] In one embodiment of the invention, the vacuum robot includes a spraying device controlled by the control unit, and the control method includes, after the suction of at least one piece of debris in the second working zone, and prior to or simultaneously with the washing step, a spraying step during which the control unit commands the spraying device to spray a cleaning product onto the second work surface.

[0087] In other words, after vacuuming at least one piece of debris placed on the second work area, the robot vacuum cleaner sprays a cleaning product onto it during the spraying stage. The cleaning product allows the mop to wash the second work area as the robot vacuum cleaner moves over it during the cleaning stage.

[0088] The cleaning product may be chosen from, but not limited to: a detergent, a natural solution such as water or white vinegar.

[0089] In one embodiment of the invention, the control method includes, after the blowing phase and prior to the implementation of the initial washing step, a spraying step called the initial spraying step, during which the control unit commands the sprayer to spray the cleaning product onto the first work area.

[0090] The invention also relates to a robotic vacuum cleaner for vacuuming on a horizontal work surface, the robotic vacuum cleaner comprising:

[0091] - a control unit comprising a processor and a storage memory, and which is at least compliant to implement the piloting method according to any one of the preceding claims,

[0092] -a displacement device shaped to allow movement of the robot vacuum cleaner on the horizontal work surface,

[0093] - a suction device that is fluidly coupled to a motor and that is configured to vacuum at least one piece of debris present on the horizontal working surface, - a blowing device configured to generate at least one airflow during the blowing phase;

[0094] the displacement device, the suction device, and the blowing device being in communication with the control unit.

[0095] The displacement device may, for example, include: - two drive wheels arranged oppositely under one side of the lower surface of the robot vacuum cleaner in the direction of one of its dimensions, and - a drive motor which is either physically connected to the control unit, or in communication with it (by means of a wireless link and according to a short or long distance communication protocol), and which is coupled to the two drive wheels.

[0096] In this example, the drive motor is configured to receive a movement command from the control unit, and then to activate / operate the drive wheels so that the robot vacuum cleaner moves / rolls on the horizontal working surface.

[0097] The suction device may, for example, include a suction duct having an opening under the lower surface of the robot vacuum cleaner. The opening may, for example, be arranged between the two aforementioned drive wheels.

[0098] The vacuum robot may, for example, include several blowing devices configured to generate, during the blowing phase, at least one airflow in different directions over the target area. Thus, the several blowing devices may, for example, be controlled successively and in turn by the control unit to generate at least one airflow as a function of the progressive movement of at least one piece of debris in the target area under the action of at least one flow generated by one of the several blowing devices, until the at least one piece of debris reaches the second working area.

[0099] According to one embodiment of the invention, the motor is also fluidly coupled to the blowing device, and in which, during the blowing phase, the motor is configured to: not circulate air in the suction device, and to generate air which then circulates in the blowing device.

[0100] In other words, in this embodiment, on command from the control unit, the robot vacuum cleaner is configured to vacuum on a first or second horizontal work zone, or to generate at least one airflow from a first work zone onto the target zone if at least one piece of debris is detected on it; this in a sequential / alternate manner.

[0101] Since at least one airflow comes from the motor providing the suction, and although suction of at least one piece of debris cannot be implemented simultaneously with the blowing phase, the designed vacuum robot is more compact (since it does not include a motor that would be dedicated to implementing the blowing phase) and its integration costs are lower.

[0102] According to one embodiment of the invention, the robot vacuum cleaner comprises a ventilation device separate from the motor coupled to the suction device, which is in communication with the control unit and is fluidly coupled to the blowing device; the ventilation device being configured to: - at the start of the blowing phase, generate air that circulates in the blowing device, and

[0103] - at the end of the blowing phase, cease generating circulating air in the blowing device.

[0104] In other words, the control unit commands the ventilation device so that the airflow is generated only during the blowing phase, between the moment when at least one piece of debris is detected in a target area and the moment when at least one piece of debris, under the action of the airflow, has been moved from the target area to a second working area.

[0105] Since the ventilation device is separate from the motor dedicated to suction, the control unit can, for example, in one embodiment, command suction on the first work zone during the blowing phase. Suction can, for example, be implemented simultaneously with blowing when the blowing strategy determined to move at least one piece of debris includes at least two positioning parameters (i.e., when the blowing strategy involves one or more movements of the vacuum robot on the first work zone, and the generation of several successive airflows).

[0106] According to one embodiment of the invention, the ventilation device corresponds to at least one compact turbine.

[0107] According to one embodiment of the invention, the blowing device is mobile on a periphery of the vacuum robot in a horizontal (virtual) plane parallel to the horizontal working surface.

[0108] The blowing device can, for example, be mobile on only part of the periphery of the vacuum robot, or be mobile on its entire periphery.

[0109] In one variant, the horizontal plane can for example be located at mid-height of the robot vacuum cleaner, i.e. equidistant from its upper surface and its lower surface.

[0110] In another variant, the horizontal plane can be located below half the height of the robot vacuum cleaner, for example by being substantially close to the lower surface.

[0111] When the robot vacuum cleaner is equipped with a fixed / fixed blowing device, and at least one piece of debris is detected as being placed on the target area, the robot vacuum cleaner must possibly move into the first working area, or orient itself differently so that at least one piece of debris is in the path of at least one airflow generated / projected by the blowing device.

[0112] The mobility of the blowing device on the periphery of the vacuum robot allows its orientation to be changed so that at least one airflow generated from the first working zone moves the at least one piece of debris placed on the target zone to the second working zone, without the vacuum robot needing to move or change its own orientation, resulting in savings in movement of the vacuum robot and a shorter implementation time for the blowing phase.

[0113] According to one feature of the invention, the robot vacuum cleaner includes a presence sensor in communication with the control unit, which presence sensor is configured to detect at least one piece of debris in the target area, and then transmit a presence detection information relating to the presence of at least one piece of debris in the target area to the control unit.

[0114] According to one embodiment of the invention, the presence sensor is chosen, without limitation, from: an infrared sensor, an ultrasonic sensor, a time-of-flight sensor, or an artificial vision camera.

[0115] Ultrasonic and TOF (Time Of Flight) sensors can enable the control unit to detect the presence of at least one piece of debris in the target area, and also to determine the distance between the at least one piece of debris and the robot vacuum cleaner.

[0116] According to one embodiment of the invention, the vacuum robot includes a detection device in communication with the control unit, which detection device is configured to detect at least one obstacle on the horizontal working surface, and then transmit to the control unit information on the detection of at least one obstacle related to the at least one obstacle detected.

[0117] According to one embodiment of the invention, the detection device is chosen non-limitingly from: a Red-Green-Blue camera, a black and white camera, an infrared camera, a time-of-flight sensor.

[0118] The time-of-flight sensor can, for example, correspond to a LiDAR (Light Detection And Ranging) sensor.

[0119] From the detection information it receives from the detection device, the processing unit can, for example, determine the spacing between two obstacles, and determine whether the robot vacuum cleaner, due to its size, can pass through this spacing or not.

[0120] According to one feature of the invention, the storage memory comprises a database containing data relating to several types of obstacles; the control unit being configured to compare the detection information of at least one obstacle with said data so as to determine a type of obstacle to which the at least one obstacle belongs among the several types of obstacle.

[0121] For example, when the detection device is a Red-Green-Blue camera or a black and white camera, the detection information corresponds to a photographic image, and the database can contain sets of photographic images, each relating to a distinct type of obstacle. To determine the type of obstacle to which at least one obstacle belongs, the control unit compares the photographic image taken by the camera with the different photographic images in the sets of photographic images until it finds a correlation / match with one or more images in one of the sets of photographic images.

[0122] According to a feature of the invention, wherein the blowing device comprises at least one blowing element in communication with the outside and through which propagates at least one airflow; at least one blowing element being non-limitingly chosen from: a nozzle, or a tube, or a vent.

[0123] In one embodiment of the invention, the robot vacuum cleaner includes at least one mop which is disposed under the robot vacuum cleaner, which is shaped to come into contact and slide over the horizontal working surface, so as to wash said horizontal working surface during the movement of the robot vacuum cleaner.

[0124] The at least one mop can, for example, correspond to a flat mop or to a ring-shaped pad.

[0125] When at least one mop is ring-shaped, it can, for example, go around the underside of the robot vacuum cleaner; or be coupled to a rotating element located under the robot vacuum cleaner, the rotation of which is controlled by the control unit (the horizontal work surface is thus cleaned by the rotation of the at least one mop due to the rotation of the rotating element). If at least one mop is positioned, for example, as close as possible to the edges of the robot vacuum cleaner, it can advantageously clean certain hard-to-reach parts of the horizontal work surface, such as the corners of a room.

[0126] Also, at least one mop can, for example, be removably attached to the robot vacuum cleaner so that a user can remove it and replace it. A user of the robot vacuum cleaner may wish to remove at least one mop in order to wash it if it has become significantly soiled during its use for washing the horizontal work surface WS.

[0127] In one embodiment of the invention, the robot vacuum cleaner includes a tank containing a cleaning product and comprising a tank outlet, which is equipped with a valve that is at least in communication with the control unit and that is configurable in: - a closed position such that the cleaning product remains contained inside the reservoir, and - an open position such that the reservoir is in fluidic communication with at least one mop, with the cleaning product then soaking at least one mop; the valve being by default in its closed position, and the control unit commanding its opening for the cleaning of the horizontal working surface.

[0128] In other words, when the robot vacuum cleaner starts up, the valve is in its closed position with the cleaning product remaining stored inside the tank. When the robot vacuum cleaner is configured to wash the horizontal work surface (i.e., at a minimum the second work zone, and possibly the first work zone), the control unit commands the opening of the valve, causing the cleaning product The robot vacuum cleaner then soaks (or moistens) at least one mop. Passing at least one mop soaked in cleaning product over the horizontal work surface while moving across it allows the robot to wash it.

[0129] The control unit can therefore, for example, command the opening of the valve at the start of the washing step of the pilot process.

[0130] The control unit can, for example, be configured to close the valve after the horizontal working surface has been washed. It can therefore, for example, command the valve to close after the washing step of the pilot process.

[0131] The control unit can also, for example, be configured to close the valve once an opening time has elapsed, so as to prevent at least one mop from becoming too soaked with cleaning product.

[0132] The control unit can also, for example, during the washing of the horizontal work surface, successively command several openings and closings of the valve after respective closing and opening delays, with the same aim of avoiding over-saturating at least one mop with cleaning product.

[0133] In one embodiment of the invention, the robot vacuum cleaner includes a reservoir containing a cleaning product, which is fluidly coupled to a spraying device which is at least in communication with the control unit, which commands the spraying device to spray the cleaning product onto the horizontal working surface prior to washing it.

[0134] The spraying device may include at least one spraying element that is fluidly coupled to the reservoir and is in communication with the outside. Thus, before being sprayed onto the horizontal working surface, the cleaning product spreads through at least one spraying element. This at least one spraying element may, for example, be a tube.

[0135] When the blowing device includes at least one blowing element, the at least one spraying element may, for example, be arranged vertically above or below the at least one blowing element.

[0136] The robot vacuum cleaner's reservoir may, for example, include a reservoir inlet fitted, for example, with a cover located on the upper part of the robot vacuum cleaner. The reservoir inlet is thus accessible to a user who can then fill the reservoir with cleaning product.

[0137] Generally, robot vacuum cleaners operate electrically using a rechargeable power source, for example a battery, and are supplied with a docking station including a base on which the robot vacuum cleaner is configured to position itself in order to charge its rechargeable power source when the charge level of the latter is low.

[0138] In one embodiment, the reservoir may include a reservoir inlet fluidly coupled to a first end of a conduit, referred to as the receiving conduit. The receiving conduit has a second end opening to the outside and, for example, located on the upper part of the robot vacuum cleaner. The docking station may include a reservoir, with a larger capacity than that of the robot vacuum cleaner, designed to hold the cleaning product and comprising a reservoir inlet accessible to a user for filling the reservoir with cleaning product, and a reservoir outlet equipped with a valve and fluidly connected to a first end of a conduit, referred to as the discharge conduit. The discharge conduit has a second end opening to the outside.When the robot vacuum cleaner is positioned on the docking station's base, the second end of the receiving hose is designed to seamlessly connect to the second end of the discharge hose, and the docking station's reservoir valve is designed to be in its open position. Cleaning solution flows from the docking station's reservoir through the discharge hose and into the robot vacuum cleaner's receiving hose, ultimately filling the robot vacuum cleaner's reservoir with cleaning solution. Thus, the docking station also serves to automatically refill the robot vacuum cleaner's reservoir with cleaning solution. This automatic refilling prevents the user from having to manually refill the robot vacuum cleaner's reservoir too frequently.When the robot vacuum cleaner leaves the docking station's base, the docking station's reservoir valve is calibrated to close. The cleaning solution is then contained within the docking station's reservoir and no longer flows into the exhaust.

[0139] In one embodiment, the robot vacuum cleaner may, for example, include a sensor shaped to measure the quantity of cleaning product contained in the robot vacuum cleaner's tank, and capable of communicating information about the quantity of cleaning product in the tank to the docking station's control unit when the robot vacuum cleaner is positioned on the base. The control unit may, for example, compare this information with a capacity threshold such as:

[0140] - when the quantity of cleaning product is less than the capacity threshold, the unit the control unit commands the opening of the valve; and

[0141] - when the quantity of cleaning product is greater than or equal to the threshold of capacity, the control unit commands the closing of the valve (or keeps it closed if the quantity of cleaning product when the robot comes to charge its battery is already greater than or equal to the capacity threshold).

[0142] In another variant, the docking station can for example also be provided for washing, or even drying, at least one mop of the robot vacuum cleaner when it comes to position itself on the base of the docking station.

[0143] In one embodiment of the invention, the spraying device is mobile on a periphery of the vacuum robot in a horizontal plane parallel to the horizontal working surface. Brief description of the drawings

[0144] Other features and advantages of the present invention will become apparent from the following detailed description, of a non-limiting example of implementation, made with reference to the accompanying figures in which:

[0145] [Fig-1] is a schematic top view of a robot vacuum cleaner comprising a conformal processing unit executing the process of piloting the exhibit.

[0146] [Fig.2] is a schematic view from below of the robot vacuum cleaner;

[0147] [Fig.3] is a schematic profile view of the robot vacuum cleaner;

[0148] [Fig.4] is an example of a horizontal work surface delimited by walls and on which several obstacles are posed;

[0149] [Fig.5] is a flowchart of the process of controlling the presentation;

[0150] [Fig.6] is a representation of a map of the horizontal work surface;

[0151] [Fig.7] is a schematic view of a target area, side view (a) and top view (b), corresponding to a surface inaccessible to the robot vacuum cleaner, and which is located under an obstacle presenting a given free height from the horizontal working surface;

[0152] [Fig.8] is a schematic, top view of two target areas corresponding to surfaces inaccessible to the robot vacuum cleaner such that one of the two target areas is under an obstacle, and the other of the two targets corresponds to a space between said obstacle and a wall;

[0153] [Fig.9] is a schematic top view of a target area, corresponding to a horizontal surface with restricted accessibility in which the robot vacuum cleaner can access, but with difficulty move and / or maneuver;

[0154] [Fig. 10] is a schematic representation, for a first situation corresponding to that described [Fig.7], of a detection (a) of a detritus in a target area by the vacuum robot, which is positioned in a first work area which is accessible to it and which is adjacent to the target area, and of a determination (b) of a second work area adjacent to the target area and which is also accessible to the robot;

[0155] [Fig. 11] is a schematic representation of a blowing phase implemented following the two steps illustrated [Fig. 10], during which the vacuum robot, from the first work zone, is configured to generate at least one airflow over the area target and in the direction of the debris so as to move the debris from the target area to the second work area (a), and which ends once the debris is placed on the second work area (b);

[0156] [Fig. 12] is a schematic representation of an optional movement step (a) and suction step (b) implemented immediately following the blowing phase illustrated [Fig. 11], during which respectively the robot moves from the first work zone to the second work zone, then suctions the debris once it arrives in the second work zone;

[0157] [Fig. 13] is a schematic representation, for a second situation, of a determination of the first work zone and the second work zone associated with a target zone (a), as well as of a blowing strategy implemented during the blowing phase (b), when a geometric conformation of the target is taken into consideration;

[0158] [Fig. 14] is a schematic representation, for a third situation corresponding to that described [Fig.8], of the determination by the control unit of the vacuum robot of the first work zone and the second work zone associated with the target zone, this as a function of at least one contextualized situation parameter of the target zone in the horizontal work surface;

[0159] [Fig. 15] is a schematic representation of the blowing phase implemented following the determination step of [Fig. 14], which blowing phase includes the generation of a first airflow (a) and then the generation of a second airflow (b) to move the debris from the target area to the second working area;

[0160] [Fig. 16] presents two logic diagrams of the control process when the robot vacuum cleaner is designed to vacuum debris or dust on the horizontal work surface, but also to wash it after vacuuming, with: one of the two logic diagrams implementing a washing of the second work area after the robot vacuum cleaner has vacuumed at least one piece of debris initially placed on the target area and then projected onto the second work area after the robot vacuum cleaner has blown air on it during the blowing phase ([Fig.16]-a); and the other of the two logic diagrams also implementing a washing of the first work area at the end of the blowing phase and before the robot vacuum cleaner moves to the second work area to vacuum at least one piece of debris;

[0161] [Fig. 17] is a schematic representation viewed from below, according to different embodiments, of the robot vacuum cleaner which includes at least one mop for washing the horizontal working surface;

[0162] [Fig. 18] is a schematic representation of an embodiment of the robot vacuum cleaner, shown in profile, in which, in order to wash the horizontal working surface; at least one mop is soaked in a cleaning product contained in a reservoir which is included in the robot vacuum cleaner;

[0163] [Fig. 19] is a schematic representation of an embodiment of the robot vacuum cleaner, shown in profile, in which, in order to wash the horizontal working surface; cleaning product is sprayed onto the horizontal working surface by a spraying device included in the robot vacuum cleaner so that at least one mop cleans the latter;

[0164] [Fig.20] is a schematic representation of a pure embodiment of replenishing the reservoir included in the robot vacuum cleaner with cleaning product.

[0165] [Detailed description of one or more embodiments of the invention]

[0166] A schematic and simplified architecture of a vacuum cleaner robot 1 implementing the control method 100 which is the subject of this presentation is illustrated in [Fig. 1] to [Fig. 3]. This architecture is given in an illustrative and non-restrictive manner.

[0167] Hereafter and unless otherwise indicated, "robot 1" means "robot vacuum cleaner 1".

[0168] The robot 1 is defined by a template comprising a height hl, a length 11, and a width wl.

[0169] The robot 1 comprises a control unit 2 having a processor 3 and a storage memory 4. The processor 3 is configured to execute a program containing a list of instructions for implementing the control method 100. The storage memory 4 may include a database 4L

[0170] The robot 1 includes a displacement device to enable it to move on a horizontal work surface WS; a suction device shaped to suction debris 50 on the horizontal work surface WS; and a blowing device shaped to generate and project an airflow 40 (in other words, to blow) onto the horizontal work surface WS.

[0171] The displacement device may, for example, include: - two drive wheels 81 arranged oppositely under one side of the lower surface of the robot 1 in the direction of its length 11 or its width wl; and a drive motor 8 which is either physically connected to the control unit 2, or in communication with it (by means of a wireless link and according to a short or long distance communication protocol), and which is coupled to the two drive wheels 81. The drive wheels 81 can also be configured to rotate about an axis of rotation, allowing the robot 1 to move in all directions.

[0172] In this example, the drive motor 8 is configured to receive a movement command from the control unit 2, and then to activate / do operate the drive wheels 81 so that the robot 1 moves on the horizontal working surface WS.

[0173] The suction device may, for example, comprise a suction duct having an opening 91 under the lower surface of the robot 1. The opening 91 may, for example, be arranged between the two drive wheels 81. The suction device is seamlessly coupled to a motor 9. The motor 9 is controlled by the control unit 2, either by being physically connected to the control unit 2 or by communicating with it via a wireless link. The motor 9 is configured to perform, upon command from the control unit 2, suction of the robot 1 onto the horizontal work surface WS in order to vacuum up debris 50 placed on it.

[0174] The robot 1 includes a receiving chamber (not shown) in fluidic communication with the opening 91 and configured to receive and then store the aspirated debris 50. In one embodiment, the receiving chamber is designed to be removable so that a user can remove it from the robot 1, empty it of all the debris it contains 50, and then replace it in the robot 1 (i.e., recouple it to the robot). In another embodiment, the robot 1 includes a discharge conduit (not shown) fluidly coupled to the receiving chamber. This discharge conduit may also be fluidly connected to a suction conduit of a docking station 200 (shown [Fig. 20]) to which the robot 1 docks / positions itself for electrical charging.In other words, the docking station 200 is designed to vacuum up, via the suction duct, the debris 50 contained in the receiving chamber once the robot 1 is docked to it.

[0175] The blowing device comprises at least one blowing element 5 in communication with the outside and through which at least one airflow 40 propagates and is then projected onto the horizontal working surface WS. In one embodiment, the blowing device may comprise several blowing elements such that each of the blowing elements projects at least one airflow 40 onto the horizontal working surface WS in a different direction. In the example shown, the blowing element 5 corresponds to a tube.

[0176] The blowing element 5 can extend parallel to the horizontal work surface WS along a (virtual) horizontal plane HP or oriented towards the horizontal work surface WS relative to the plane HP. This horizontal plane HP can, in one embodiment, be located at mid-height of the robot 1, i.e., equidistant from its upper and lower surfaces. In the example shown, the blowing element 5 is positioned at a height such that it is close to the lower surface of the robot 1.

[0177] The blowing device, i.e. the blowing element 5, can in an embodiment be movable in the horizontal plane HP over all or part of the periphery of the robot 1. In the example shown, the blowing element 5 is considered to be fixed.

[0178] In one embodiment, the motor 9 is seamlessly coupled to the blowing device. The control unit 2 is then configured to control the motor 9 so that either suction or blowing onto the horizontal work surface WS is implemented alternately.

[0179] In the example shown, the blowing element 5 is seamlessly coupled to a ventilation device 10 which is either physically connected to the control unit 2 or communicates with it via a wireless link. The ventilation device 10 generates at least one airflow 40 as controlled by the control unit 2. In this embodiment, the control unit 2 is capable of simultaneously controlling suction and blowing onto the horizontal work surface.

[0180] The ventilation device may, for example, correspond to at least one compact turbine.

[0181] The robot 1 includes a presence sensor 6 connected to the control unit 2 or communicating with it via a wireless link. The presence sensor 6, the role of which is specified below, may be selected from among, but not limited to: an infrared sensor; an ultrasonic sensor; a time-of-flight sensor; or a machine vision camera.

[0182] Finally, the robot 1 includes a detection device 7 connected to the control unit 2 or communicating with it via a wireless link. The detection device 7, the role of which is specified below, may be selected from among, but not limited to: a Red-Green-Blue camera; a black and white camera; an infrared camera; a time-of-flight sensor such as a LiDAR sensor.

[0183] Figure 4 illustrates an example of a horizontal work surface WS on which four obstacles 01, 02, 03, 04 are placed, hereafter referred to as first obstacle 01, second obstacle 02, third obstacle 03, and fourth obstacle 04. The horizontal work surface WS corresponds to the floor of a room delimited by walls 05, which can also be considered as obstacles. The fourth obstacle 04 is positioned so that it is parallel along its length 10 to one of the walls 05 of the room, and that there is a free space between them.

[0184] Fig. 5 represents, in an illustrative and non-restrictive manner, a flowchart of one embodiment of the control method 100 according to the present exposition, implemented by the control unit 2 of the robot 1.

[0185] In the given example, the piloting method 100 includes a navigation step NV during which the robot 1 moves on the horizontal working surface WS. The control unit can also command a vacuuming of dust or debris 50 simultaneously during the movement of robot 1.

[0186] In one embodiment, the control unit 2 can command the movement of the robot 1 on the work surface WS during the navigation step NV by relying on a WSM map of the horizontal work surface WS which is stored in its storage memory 4 and which is illustrated [Fig. 6]. The WSM map includes at least the location of obstacles 01, 02, 03, 04, 05.

[0187] The WSM map can, for example, be created in real time by the control unit 2 during the movement of the robot 1 during the navigation step NV. The control unit 2 saves the WSM map in its storage memory 4 at the same time as it creates it.

[0188] The WSM map can, for example, be preloaded into the storage memory prior to the implementation of the piloting process 100. In one variant, the WSM map may correspond to that produced by the processing unit 2 as previously indicated, for example during a previous implementation of the piloting process 100 on the horizontal work surface WS. In another variant, the WSM map may have been produced by a user with knowledge of the work surface WS, i.e., its dimensions, the location of obstacles 01, 02, 03, 04, 05, etc.The user may, for example, have created this WSM map using a program / application contained in a computer device, which computer device is capable of communicating with the control unit 2 of the robot 1, for example via a wireless link and according to a short- or long-range communication protocol, to transmit the WSM map to it. The computer device may, but is not limited to, be a connected mobile terminal such as a smartphone or a tablet.

[0189] WSM mapping can also be performed during the NV navigation step, either by the control unit 2 itself or by a user via, for example, a mobile application contained in a connected mobile terminal capable of communicating with the processing unit 2, as described above. In one embodiment, the processing unit can also transmit, during an optional transmission step, the pre-loaded or real-time generated WSM mapping to the user's connected mobile terminal, which is then displayed during an optional display step on a touchscreen of the connected mobile terminal.

[0190] In the example, the piloting method 100 includes an optional obstacle detection step DO during which the detection device 7 detects at least one of the obstacles 01, 02, 03, 04, 05 on the horizontal working surface WS, then generates detection information, relating to at least one of the detected obstacles 01, 02, 03, 04, 05, which it transmits to control unit 2.

[0191] Following the obstacle detection step DO, the control method includes an optional determination step ZCD during which the control unit determines whether a target zone ZC is associated with at least one detected obstacle 01, 02, 03, 04, 05, with robot 1 positioned in a first working zone Zl. A first working zone Zl corresponds to a horizontal surface near an obstacle 01, 02, 03, 04, 05, and which robot 1 can access.

[0192] A target zone ZC is defined as being adjacent to a first working zone Zl; and may correspond to a surface of the horizontal zone WS that the robot 1 cannot access due to its size; the target zone ZC is therefore an inaccessible zone. A target zone ZC may also correspond to a horizontal surface that the robot 1 can access but in which it can hardly move or maneuver, implying that it could potentially become stuck / blocked inside; the target zone ZC then corresponds to a restricted accessibility zone.

[0193] In one variant, the target zones ZC are determined by the control unit 2 during the determination step ZCD from the locations of the obstacles 01, 02, 03, 04, 05 which are indicated in the WSM mapping of the horizontal work surface WS recorded in the storage memory 4.

[0194] In another variant, the target zone ZC can be determined during the determination step ZCD according to an accessibility criterion which corresponds to a type of obstacle to which at least one obstacle 01, 02, 03, 04, 05 belongs. The type of obstacle can, but is not limited to: a piece of furniture (for example: a chest of drawers, a wardrobe, a shelf, a chair), a decorative accessory (for example a halogen lamp), a household appliance (for example a washing machine), or a partition / wall.

[0195] Thus, when the obstacle 01, 02, 03, 04, 05 is a piece of furniture such as a wardrobe, a chest of drawers or a shelf, the target area ZC associated with the obstacle 01, 02, 03, 04, 05 can, for example, correspond to an inaccessible or restricted access surface depending on the clear height hO under the furniture and the spacings 10, WO between the feet 60 of the furniture given in the direction of the length or width of said furniture.

[0196] Optionally, the obstacle type can automatically define the type of target zone ZC associated with it. If obstacle 01, 02, 03, 04, 05 corresponds, for example, to a chair, then the target zone ZC will be considered a restricted accessibility zone; or if obstacle 01, 02, 03, 04, 05 corresponds to a chest of drawers, then the target zone ZC will be an inaccessible zone.

[0197] The type of obstacle can, for example, be determined autonomously by the control unit 2 during the ZCD determination step following a result The system compares the detection information for at least one detected obstacle (01, 02, 03, 04, 05) with data for each of several obstacle types, which data are contained in the database 41 located in the storage memory 4. For example, when the detection device 7 is a Red-Green-Blue camera or a black and white camera, the detection information corresponds to a photographic image, and the database can contain sets of photographic images, each relating to a distinct obstacle type (in other words, the database acts as an image bank). To determine the type of obstacle to which the at least one obstacle belongs, the control unit compares the photographic image taken by the camera with the different photographic images in the sets of photographic images until it finds a correlation / match with one or more images in one of the sets of photographic images.

[0198] The type of obstacle can also be information provided to the control unit 2 by a user of the robot 1. For example, in an embodiment in which the control unit 2 is capable of communicating with a connected mobile terminal to transmit to it the WSM map of the horizontal work surface WS, which WSM map can then be displayed on a screen of said connected mobile terminal during the implementation of an optional display step implemented by a dedicated mobile application contained in the connected mobile terminal, the control method 100 can include: - an optional assignment step during which the user of the connected mobile terminal interacts / edits the WSM map using the mobile application, and assigns at least one obstacle 01, 02, 03, 04, 05 an obstacle type; and - an optional transmission step during which the connected mobile terminal transmits to the control unit 2 an assignment information relating to the obstacle type assigned to at least one obstacle 01, 02, 03, 04, 05.

[0199] The transmission of the mapping, the allocation step, and the transmission step of the allocation information can take place, for example, in parallel with the ZCD determination step; or between the DO detection step and the ZCD determination step; or even from the start of the piloting process 100.

[0200] In another variant, the target zone ZC can, for example, be determined during the determination step ZCD based on an accessibility criterion that includes at least one of the following comparison results: - a comparison result between a height hl of robot 1 and a free height hO under at least one obstacle 01, 02, 03, 04, 05 placed above the target zone ZC; or

[0201] - a comparison result between a dimension of the robot 1 template (its length 11 and / or its width wl) and a spacing 10, w0, w45 between two obstacles 01, 02, 03, 04, 05 delimiting the target zone ZC.

[0202] The length 1ZC and the width wZC of a target zone ZC, the free height hO, or the free spacing 10, wO, w45 between two obstacles 01, 02, 03, 04, 05 can for example be determined by the control unit 2 during the determination step ZCD from the detection information transmitted by the detection device 7. When the detection device is a time-of-flight sensor, for example a LiDAR sensor, this detection information can correspond to the distances it measures between the robot 1 and the obstacles 01, 02, 03, 04, 05, from the light waves it projects onto them and which they reflect back to it.

[0203] A first example of a target zone ZC inaccessible to robot 1 is illustrated [Fig. 7]. This target zone ZC is considered to be located below the first obstacle 01, which here corresponds to a coffee table. In this example, the spacings 10, wO between the legs 60 of the first obstacle 01, respectively in the length and width of the first obstacle 01, are significantly greater than the length 11 and the width wl of robot 1, but the clearance height hO under the first obstacle 01 is less than the height hl of robot 1. Note that if the clearance height hO is greater than the height hl of robot 1, then the horizontal surface under the first obstacle 01 is not a target zone ZC, because: it is accessible to robot 1, and the latter should not, a priori, encounter any difficulty moving and maneuvering once inside it.

[0204] A second example of a target zone ZC inaccessible to robot 1 is illustrated [Fig. 8]. In this example, a first target zone ZC is located under the fourth obstacle 04, which could correspond, for example, to a sofa oriented so that its backrest is opposite a wall (in other words, parallel to it), and whose free height h0 is less than the height hl of robot 1, similarly to the first obstacle 01. A second target zone corresponds to the free space between the fourth obstacle 04 and the wall 05. Indeed, the width w45 of the space between the wall 05 and one leg 60 of the sofa is less than the length 11 and the width wl of robot 1.

[0205] Finally, an example of a target zone ZC corresponding to a horizontal surface with restricted accessibility is illustrated [Fig. 9]. This target zone ZC is associated with the second obstacle 02, which is considered to correspond to a chair. The clearance height hO under the chair's backrest is significantly greater than the height hl of robot 1. However, the spacings 10, wO between the feet 60 of the second obstacle 02, respectively in the length and width directions of the first obstacle 02, are greater than, but substantially close to, the length 11 and width wl of robot 1. Thus, if robot 1 can access the horizontal surface under the chair's backrest, could potentially get stuck in it, hit the feet while trying to move or maneuver.

[0206] Following the determination step ZCD, the piloting process 100 includes a detection step D50 during which the presence sensor 6 determines whether at least one piece of debris 50 is placed or not on the target area ZC.

[0207] In the following description, it is considered that at least one detritus 50 includes one detritus 50.

[0208] If no debris 50 is detected on the target area ZC, the control unit 2 commands the robot 1 to bypass the obstacle 01, 02, 03, 04, 05 and continue to move and vacuum on the horizontal working surface WS.

[0209] With reference to [Fig. 10], if a piece of debris 50 is detected in the target area ZC, for example under the first obstacle 01, the control method 100 comprises, following the detection step D50 ([Fig. 10]-a), a determination step Z2D during which the control unit 2 determines a horizontal surface, called the second working area Z2, which is adjacent to the target area ZC and which the robot 1 can access ([Fig. 10]-b). According to one possibility, the second working area Z2 can be identified as an area located, with respect to the target area, opposite the first working area Z1. Other definition methods are also defined later.

[0210] The control method 100 may include, following the determination step Z2D, an optional recording step during which the control unit 2 records in the storage memory 4 the locations of the first working zone Z1, the target zone ZC, and the second working zone Z2. The data relating to these three locations are grouped in the storage memory as a location configuration. Indeed, the location of the second working zone Z2 depends on the location of the first working zone Z1 and the target zone ZC. The same second working zone Z2 may, for example, have been determined but for different first working zones Z1; in which case there are as many location configurations as there are first working zones Z1

[0211] The recording step is not implemented if, at the end of the determination step Z2D, the locations of the first working area Z1, the target area ZC, and the second working area Z2 correspond to a location configuration already stored in the storage memory 4, following, for example, a previous implementation of the control method 100, for which the same situation would have already been encountered.

[0212] In one variant, the location configuration is also associated with obstacle data 01, 02, 03, 04, 05 associated with the target zone ZC.

[0213] With reference to [Fig. 11], following the determination step Z2D, the piloting process 100 includes a blowing phase PS during which the robot 1 is Positioned in the first work zone Z1, the control unit 2 commands the ventilation device 10 to generate at least one airflow 40, which is then projected by the blower element 5 onto the area ZC in the direction of the debris 50 so as to move it until it reaches the second work zone Z2 ([Fig. 11]-a). In other words, the blowing phase PS lasts for the time necessary to move the debris 50 from the target zone ZC to the second work zone Z2. Once the presence sensor 6 detects that the debris has been placed on the second work zone Z2 or is no longer present in the target zone ZC, it transmits a presence detection signal to the control unit regarding the presence of the debris on the second work zone Z2.Upon receiving this presence detection information, the control unit 2 commands the ventilation device 10 to stop the generation of at least one airflow 40 and the PS blowing phase ends ([Fig. 1 l]-b). Alternatively, the blowing phase can stop after a predetermined time.

[0214] During the blowing phase, the control unit 2 can, for example, control the blowing device, and / or the ventilation device to which it is seamlessly coupled, to adjust / adapt a speed and / or a flow rate of at least one airflow 40 to move the debris from the target zone ZC to the second working zone Z2. The adjustment of the flow rate and / or speed can, for example, be a function of a dimension 1ZC, wZC of the target zone ZC; of a position pl, p2, p3 of the robot 1; of an orientation of the blowing device with respect to the target zone ZC; of a position p50 of the debris 50 on the target zone ZC.

[0215] In one embodiment, during the blowing phase 40, the at least one airflow 40 projected onto the target zone ZC in the direction of the debris 50 can be a function of an (optional) blowing strategy defined by the control unit 2. Chronologically, and as illustrated in [Fig. 5], the blowing strategy is determined by the control unit 2 during a strategy definition step STS. Chronologically, this strategy definition step STS can, for example, take place between the determination step Z2D and the blowing phase PS, or concurrently with the determination step Z2D. The blowing strategy corresponds to a set of actions which are implemented by the control unit 2 during the blowing phase PS so that the robot 1, from the first working zone Z1, efficiently generates at least one airflow 40 in order to move the debris 50 from the target zone ZC to the second working zone Z2.

[0216] An effective / efficient blowing strategy may correspond to a blowing strategy in which:

[0217] - the debris, under the effect of at least one airflow 40 generated by the robot vacuum cleaner 1. From the first work zone Zl, has the least distance to travel from its position p50 on the target zone ZC up to the second working zone Z2, which ultimately reduces the time required to implement the blowing phase; and / or

[0218] - the ventilation device 10 is subjected to the least possible stress, for example by generating at least one low-speed and / or low-flow airflow of 40.

[0219] The blowing strategy can be defined by at least one blowing parameter among:

[0220] - an orientation parameter representative of an orientation of at least one flow 40 air, or

[0221] - a positioning parameter representative of a position pl, p2, p3 of robot 1 to inside the first work zone Zl, or

[0222] - a blowing power parameter representative of a speed or flow rate of at least one airflow of 40.

[0223] When the blowing device is mobile on a periphery of the robot 1 in the horizontal plane HP, the orientation parameter can for example correspond to a change in orientation of the blowing device of the vacuum robot 1.

[0224] The orientation parameter can also correspond to a change of orientation of the vacuum robot 1 on the first working zone ZL. For example, with reference to [Fig.10]-b and [Fig.11]-a, the second working zone Z2 is determined by the control unit 2 with the robot 1 positioned in a position pl in the first working zone ZL. During the implementation of the blowing phase PS, the control unit commands the robot 1 to change its orientation, rotating it clockwise, so that at least one airflow 40 can be projected onto the target zone ZC in the direction of the debris, without the robot 1 having left its position pl.

[0225] The blowing strategy may include, for example, at least two orientation parameters, so that at least one airflow 40 is generated successively in at least two distinct blowing directions.

[0226] The blowing strategy may include, for example, at least two positioning parameters; which correspond to a movement of the robot 1 in the first working zone Zl, so that at least one airflow 40 is generated successively from different positions p1, p2, p3 from the first working zone Zl

[0227] In the example, as the blowing device and the suction device are coupled respectively to a ventilation device 10 and a motor 9, the control unit 2 can simultaneously command the suction device, the ventilation device 10, and the blowing device so that the robot 1 vacuums on the first work area while blowing on the debris 50.

[0228] The blowing power parameter, on which the flow rate and / or the speed at which at least one airflow 40 is projected during the blowing phase PS depends, can for example be a function of a dimension 1ZC, wZC of the target zone ZC; of a position pl, p2, p3 of the robot 1, of an orientation of the blowing device with respect to the target zone ZC; of a position p50 of the debris 50 on the target zone ZC.

[0229] In the example, with reference to [Fig. 12], the control method 100 includes an optional movement step MTZ occurring after the blowing phase, for example immediately after the blowing phase, and during which the control unit 2 commands the robot 1 to move from the first work zone Z1 to the second work zone Z2 in order to vacuum the debris 50 ([Fig. 12]-a). Once the robot 1 has arrived in the second work zone Z2, the control method 100 includes an optional suction step CLN implemented by the control unit 2 immediately after the movement step MTZ, during which it commands the debris 50 to be vacuumed by the suction device ([Fig. 12]-b).

[0230] In one variant, the control unit 2 commands the suction of any dust or debris lying on the path of the robot 1 from the first work zone ZI to the second work zone Z2 during the movement step MTZ.

[0231] In another embodiment, the control method 100 does not include the optional movement steps MTZ and suction steps CLN. Once the blowing phase PS is complete, the control unit 2 does not command the robot 1 to immediately move to the second work zone Z2 to suction the debris 50; rather, it commands the robot to continue its movement / navigation on the horizontal work surface WS in order to suction any dust or debris 50 on it. Thus, the debris 50 on the second work zone Z2 will be suctioned by the robot 1 later, when it moves into the horizontal work surface WS during its navigation.

[0232] Further details are provided below concerning the implementation of the determination step Z2D of the second working zone Z2 and the blowing phase PS.

[0233] In one variant, the second work zone Z2 during the determination step Z2D (and optionally the blowing strategy during the strategy definition step STS) is determined by the control unit 2, when the robot 1 is positioned in a first work zone, from, for example, the location configurations contained in the storage memory 4, or from indications contained in the WSM mapping preloaded in the storage memory 4 and relating to the locations of the target zones ZC, the first work zones ZI and the second work zones included in the horizontal work surface WS.

[0234] In another embodiment, in which the control unit 2 transmits to the connected mobile terminal the pre-loaded WSM map contained in its storage memory 4 or which it creates in real time, so that the user of said connected mobile terminal can, for example, assign an obstacle type to the at least one obstacle 01, 02, 03, 04, 05 indicated on the WSM map, the control method 100 includes an optional declaration step, during which the user identifies and declares on the WSM map, using the dedicated mobile application, the first work zone ZI and the second work zone Z2 associated with the target zone ZC relating to the at least one obstacle 01, 02, 03, 04, 05. The declaration information relating to the first work zone ZI and the second work zone Z2 associated with the target zone ZC is then transmitted by the connected mobile terminal to the control unit 2.The optional declaration step and the transmission of declarative information are implemented chronologically between the transmission of the WSM map by control unit 2 to the connected mobile terminal and the Z2D determination step. During the Z2D determination step, control unit 2 determines the second work zone Z2 associated with the target zone ZC, and optionally the blowing strategy during the STS strategy definition step, based on the received declarative information. This declarative information also allows control unit 2 to know the location of the first work zone ZI from which robot 1 will blow debris 50 placed on the target zone ZC.

[0235] In another variant, the second working zone Z2, and optionally the blowing strategy, are determined in real time by the control unit 2, from, for example, the detection information provided by the detection device 7 and relating to the target zone ZC which it has identified, for example when the robot 1 moves around the obstacle 01, 02, 03, 04, 05 associated with the target zone ZC.

[0236] In addition to detection information, the control unit 2 can also determine the second working zone Z2, and optionally the blowing strategy, from the position p50 of the debris in the target zone ZC.

[0237] The control unit can also determine the second working zone Z2, and optionally the blowing strategy, based on a geometric conformation of the target zone ZC; and / or - at least one contextualized situation parameter of the target area ZC in the horizontal work surface WS, for example a parameter representative of an environment around the target area or the presence of an obstacle around or next to the target area.

[0238] Depending on the detection information, and / or the geometric conformation of the target zone ZC, and / or at least one contextualized parameter of the target zone ZC in the horizontal work surface WS, in order to implement an efficient blowing phase PS, the piloting process 100 may include an optional first work zone determination step during which the control unit 2 determines a first work zone Zl, Z12 which may correspond either: - to the first work zone Zl in which the robot 1 is currently positioned; or - to another first work zone Z12 also adjacent to the target zone ZC; the control unit then commanding the robot to move from the first work zone Z1 to the other first work zone Z12 from where it will then blow on the debris 50 to move it into the second work zone Z2.

[0239] Chronologically, the optional first work zone determination step takes place after the Z2D determination step and before the PS blowing phase. For example, it can take place concurrently with the STS strategy definition step. When the control unit determines another optional first work zone Z12 during the optional first work zone determination step, the robot 1 moves after this step and before the PS blowing phase is implemented.

[0240] Figure 13 illustrates a situation in which the geometric shape of the target zone ZC is taken into account in determining the second working zone Z2 and the optional blowing strategy. In this situation, a piece of debris 50 is placed, for example, in the center of the target zone ZC, which is associated here with the third obstacle 03, and which has a rectangular shape with a length 1ZC that is very large compared to the width wZC.

[0241] An efficient blowing strategy may for example consist of generating at least one airflow 40 from a first working zone Z1 so as to move a detritus 50 present in the target zone ZC in the direction of the width wZC of the target zone until it reaches the second working zone Z2.

[0242] In the situation described, the control unit 2 detects the detritus 50 during the detection step D50 with the robot 1 positioned in a position pl on the first working zone Zl, which is adjacent to a width wZC of the target zone ZC. Taking into account the geometric conformation of the target zone ZC, the control unit 2 determines during the determination step Z2D that the second working zone Z2 is a horizontal surface adjacent to one of the two lengths 1ZC of the target zone ZC.

[0243] Following the determination of the second work zone Z2, the control unit 2 determines a new / other first work zone Z12 such that it is adjacent to the other of the two lengths 1ZC of the target zone ZC ([Fig.13]-a), and then a blowing strategy for which, at a minimum, the robot 1 moves from its position pl in the first work zone Z1 until it reaches a position p2 on the other first work zone Z12. Once robot 1 has arrived at position p2, control unit 2 commands the generation of at least one airflow 40 to move the debris to the second work zone Z2 ([Fig. 13]-b).

[0244] [Fig. 14] illustrates a situation in which at least one contextualized situation parameter of the target zone ZC in the horizontal work surface WS is considered by control unit 2 to determine the second work zone Z2, and optionally the blowing strategy. This situation corresponds to that previously described in [Fig. 8], in which the fourth obstacle 04 is positioned near a wall 05, and the rectangular target zone ZC corresponds to the sum of the horizontal area located under the fourth obstacle 04 with the spacing between the fourth obstacle 04 and the wall 05.In this situation, three sides of the target zone ZC adjoin horizontal surfaces accessible to the robot vacuum cleaner 1, which are therefore potential first working zones Zl.

[0245] The first work zone Zl determined by the control unit can correspond to the horizontal surface in which the robot 1 is located following the detection of the debris 50. In [Fig. 14], the first work zone Zl is adjacent to the length 1ZC of my target zone ZC which is not opposite the wall 05. The second work zone Z2 can, on the other hand, be determined by the control unit 2 as corresponding to a horizontal surface adjacent to one of the two widths wZC of the target zone ZC.

[0246] The blowing strategy determined by the control unit 2, and implemented during the blowing phase PS illustrated [Fig. 15], can for example include a movement of the robot 1 in the first working zone Zl from its position pl, from where the detritus was detected, to a second position p2 also included in the first working zone ZL. The control unit 2 can command an orientation of the robot 1 so that the airflow 40 is for example projected onto the target zone ZC either in the direction of the detritus 50, or in the vicinity of the detritus (for example in the direction of a plinth included in the wall 05); so as to push the detritus in the direction of the second working zone Z2 ([Fig.15]-a).

[0247] If the projection of the airflow 40 is not sufficient to bring the debris into the second working zone Z2, the blowing strategy may include, as illustrated [Fig.15]-b, another movement of the robot 1 from the position p2 to a third position p3 within the first working zone ZL. During the blowing phase PS, the control unit commands the generation and projection of a second airflow 40 onto the target zone ZC, in the direction of the debris 50 or near it, so as to continue pushing it onto the target zone ZC until it reaches the second working zone Z2.

[0248] The arrangements according to the invention advantageously allow for the cleaning of a target zone ZC without requiring the robot 1 to access it, by taking advantage of its movement on horizontal surfaces comprising the horizontal working surface WS, referred to as work zones, which are accessible to it and adjacent to the target zone ZC. Thus, from a first work zone Z1, the robot 1 generates at least one airflow 40 so as to move at least one piece of debris 50 present on the target zone ZC towards a second work zone Z2 to which it can have access, in order to ultimately vacuum up the at least one piece of debris 50.

[0249] In variant embodiments of the invention, the robot vacuum cleaner 1, in addition to vacuuming dust or debris 50 from the horizontal work surface WS, also cleans it (i.e., washes it). Advantageously, the robot 1 is capable of fully cleaning a floor (a horizontal work surface WS) by performing the tasks of collecting dust / debris 50 and washing (or almost fully, depending on the number of target zones ZC that comprise the horizontal work surface WS); thus, for the user, there is a saving of energy (by minimizing the effort required to clean a horizontal work surface WS) as well as time.

[0250] The control method 100 is then defined such that the washing by the robot 1 of a first work zone Z1 or a second work zone Z2 comprising the horizontal work surface WS is implemented on the condition that the robot 1 has previously vacuumed any dust or debris 5 deposited on said first work zone Z1 or second work zone Z2. Indeed, washing a first work zone Z1 or a second work zone Z2 on which dust or at least one piece of debris 50 remains would have the disadvantage of sticking this dust or at least one piece of debris to the work zone Z1, Z2.

[0251] With reference to [Fig. 16]-a, the piloting method 100 can include, following the successive implementation of the blowing phase PS, the movement step MTZ and the suction step CLN, an optional washing step WH2 during which the robot 1 moves over the second work area, and during which at least one mop 82 which comprises the robot 1, and which is intended to come into contact and slide along the horizontal work surface WS, cleans the second work area Z2.

[0252] In an illustrated variant [Fig.16]-b, the piloting process may include, following the blowing phase PS, and prior to the movement step MTZ, an optional initial washing step WHI during which the robot 1 cleans the first working area ZL. Optionally, in the case where at least one piece of debris 50 is placed on the first working area Zl and is detected by the robot 1, the piloting process 100 includes an optional suction step (not illustrated) during which the robot 1 suctions at least one piece of debris 50 from the first working area.

[0253] With reference to [Fig. 17], the at least one mop 82, which is arranged under the lower part of the robot 1, can, in a non-limiting manner, correspond to: - a flat mop ([Fig.17]-a); - annular-shaped buffers exerting a rotational movement by being coupled to rotating elements 83 controlled, for example, by the control unit 2 ([Fig. 17]-b); or - a ring-shaped mop whose crown goes around the lower part of the robot, and whose inner diameter is such that the drive wheels 81 are able to roll on the horizontal working surface WS and the opening 91 is able to receive the aspirated debris ([Fig.l7]-c).

[0254] In the second and third cases, if the pads or the crown are positioned as close as possible to the edges of the robot 1, at least one mop 82 can, for example, wash certain parts of the horizontal work surface WS that are difficult to access, such as the corners of a room.

[0255] At least one mop 82 can, for example, be removably coupled to the robot 1 so that a user can remove it from the robot and replace it. A user of the robot 1 may wish to remove at least one mop in order to wash it if it has become significantly soiled during its use in one or more of the first working zones Z1 and second working zones Z2 that comprise the horizontal working surface WS.

[0256] To wash the horizontal work surface, a cleaning product 71 is used. This cleaning product 71 can be chosen, without limitation, from: a detergent, a natural solution such as water or white vinegar, etc. This cleaning product is contained in a tank 70 which is part of the robot 1. The tank 70 includes a tank inlet 72 and a tank outlet 73.

[0257] In an alternative embodiment, with reference to [Fig. 18], the tank outlet is provided with a valve 75 whose opening and closing are controlled, for example, by the control unit 2. When the valve 75 is in its closed position, the cleaning product 71 remains contained within the tank 70. When the valve 75 is in its open position, the tank outlet 73 has one end of a conduit 76. This conduit also has at least one other end fluidly coupled to at least one mop. When at least one mop 82 comprises several mops 82, at least one other end comprises several other ends with each of said several other ends coupled fluidly and distinctly to one mop 82 among the several mops 82. Thus, the cleaning product 71 can flow inside the conduit 76 and saturate, i.e. moisten, at least one mop 82.The passage of at least one mop. 82 soaked with cleaning product 71 on the work areas Zl, Z2 while the robot 1 moves over them allows them to be washed.

[0258] By default, at the start of the piloting process 100, the valve 75 is in its closed position. The control unit 2 commands, for example, the opening of the valve 75 prior to the implementation of the cleaning step WH2 (or the initial cleaning step WHI) when the robot 1 has detected that no debris 50 is placed on the second working zone Z2 (or the first working zone Z1). Subsequently, the control unit 2 can, for example, be configured to close the valve 75 after the washing of the first working zone Z1 or the second working zone Z2 (i.e., after the initial washing step WHI or the washing step WH2).Alternatively, in order to prevent at least one mop 82 from becoming too saturated with cleaning product 71, the control unit can, for example: close the valve once an opening time has elapsed; or, during the washing of the first work zone Z1 or the second work zone Z2, command several successive openings and closings of the valve 75 after respective closing and opening times.

[0259] In one embodiment, with reference to [Fig. 19], the robot 1 may include a spraying device comprising at least one spraying element 11, for example a tube, and which is controlled by the control unit 2. The tank outlet 73 is fluidly coupled to the end of a conduit 77; which has at least one other end fluidly coupled to a first end of at least one spraying element 11. When the spraying device comprises several spraying elements 11, at least one other end of the conduit 77 has several other ends, each fluidly and distinctly coupled to the first end of one of the spraying elements 11. The at least one spraying element 11 comprises a second end in communication with the outside.Thus, the spraying device is configured, under the control of the control unit, and via its at least one spraying element 11, to spray cleaning product 71 onto the horizontal working surface WS.

[0260] With reference to [Fig. 16], the piloting process can therefore include, prior to the washing step WH2 (or the initial washing step WHI), an optional spraying step SPR2 (or an optional initial spraying step SPR1) during which the spraying device sprays cleaning product 71 onto the second work area Z2 (or the first work area Z1). The control unit 2 implements an optional spraying of cleaning product 71 onto the work area Z1, Z2, if it does not detect the presence of debris 50 placed on it. The SPR2 spraying step can therefore, for example, be implemented following the CLN suction step. The initial SPR1 spraying step can, on the other hand, be implemented following the PS blowing phase if no debris 50 is placed on it (otherwise, the robot 1 vacuums at least one piece of debris 50 on the first work zone ZI before spraying the cleaning product 71).

[0261] It is conceivable that at least one spraying element 11 may be arranged vertically above or below at least one blowing element 5. It is also conceivable that the spraying may be movable on a periphery of the robot 1 in a horizontal plane HP2 parallel to the horizontal working surface WS, and parallel to the horizontal plane HP1 if it is also envisaged that at least one blowing element 5 may be movable on the periphery of the robot 1.

[0262] The inlet of the tank 72 can be fitted with a cover 74 that can be operated by a user of the robot 1, so as to access the inside of the tank 70 in order to replenish it, i.e. to fill it, with cleaning product 71. In other words, the filling of the tank 70 can, for example, be carried out manually.

[0263] Generally, robot vacuum cleaners operate electrically using a rechargeable power source, for example a battery, and are supplied with a docking station including a base on which the robot vacuum cleaner is configured to position itself in order to charge its rechargeable power source when the charge level of the latter is low.

[0264] In one embodiment, with reference to [Fig. 20], it is conceivable that the filling of the tank 70 is automated using a docking station 200 supplied with the robot 1, which includes a battery (not shown) for its operation. With reference to [Fig. 20]-a, the robot 1 may include a receiving conduit 78 having: a first end 781 fluidly coupled to the tank inlet 72; and a second end 782 which is in communication with the outside and disposed, for example, on the upper part of the robot 1. The tank outlet 73 is not shown in [Fig. 20]-a, but it may, for example, be in fluid communication with at least one mop 82 according to the embodiment of the robot 1 shown [Fig. 18]; or be in communication with at least one spraying element 11 of a spraying device according to the embodiment of the robot 1 shown [Fig. 19].

[0265] Docking station 200 may include a reservoir 203: - with a larger capacity than the 70 tank of robot 1; - designed to contain cleaning product 71, - comprising a reservoir inlet 204 accessible to a user via a cover 206, so that said user can manually fill the reservoir 203 with cleaning product 71, and - a tank outlet 205 which is equipped with a valve 207 configurable in a closed position, and an open position for which the tank outlet 205 is then fluidly coupled to a first end 209 of an evacuation conduit 210, which evacuation conduit 210 having a second end 208 in communication with the outside.

[0266] The docking station 200 may, for example, include a control unit (not shown) controlling, in particular, the opening and closing of the valve 207 of the reservoir 203 of the docking station 200. The docking station 200 includes a base 201 on which the robot 1 is positioned in order to charge its battery, and optionally a ramp 202 allowing the robot 1 to access the base 201.

[0267] When the robot 1 is not positioned on the base 201 of the docking station 200, the valve 207 is in its closed position.

[0268] When the robot 1 comes to position itself on the base 201, it positions itself such that the second end 782 of its receiving conduit 78 is fluidly coupled with the second end 208 of the evacuation conduit 210. The control unit of the docking station 200 then commands the opening of the valve 207, causing the cleaning product 71 contained in the reservoir 203 to flow into the evacuation conduit 210 and then into the receiving conduit 78, to finally be received by the reservoir 70 of the robot 1.

[0269] The robot 1 may, for example, include a sensor conditioned to measure the quantity of cleaning product 71 contained in the tank 70 of the robot vacuum cleaner, and capable of communicating information relating to the quantity of cleaning product 71 in the tank 70 to the control unit of the docking station 200 when the robot 1 is positioned on the base 201. The control unit may, for example, compare this information with a capacity threshold such as: - when the quantity of cleaning product is below the capacity threshold, the control unit commands the opening of valve 207; and - when the quantity of cleaning product is greater than or equal to the capacity threshold, the control unit commands the closure of the valve 207 (or keeps it closed if the quantity of cleaning product 71 when the robot comes to charge its battery is already greater than or equal to the capacity threshold).

[0270] In another embodiment, the docking station 200 can for example also be provided for washing, or even drying, at least one mop 82 of the robot 1 when it comes to position itself on the base 201.

[0271] In one embodiment of the invention, the robot 1 can be controlled to automatically wash a first work zone Z1 or a second work zone Z2 immediately after vacuuming at least one piece of debris placed on it. It is also possible for it to wash it subsequently. For example, having Having vacuumed at least one piece of debris 50 from a work zone Z1, Z2, robot 1 can move towards another work zone to vacuum at least 50 pieces of debris placed there, before returning to the previous work zone Z1, Z2 to clean it. In this case, the control unit 2 of robot 1 can be configured to determine: - the work zones Zl, Z2 in which robot 1 has not yet moved, called uncleaned work zones Zl, Z2; - the work areas Zl, Z2 in which robot 1 has vacuumed at least one piece of debris 50, referred to as partially cleaned work areas Zl, Z2; and - the work areas Zl, Z2 in which robot 1 has vacuumed at least one piece of debris 50 and then washed, referred to as cleaned work areas Zl, Z2.

[0272] Based on this categorization of the work zones Z1, Z2 (uncleaned, partially cleaned, cleaned), the control unit 2 can implement vacuuming or washing steps once the robot 1 is in these work zones Z1, Z2. It is also possible for the control unit 2 to update the WSM map in real time by assigning information related to this categorization to a work zone Z1, Z2, for example, after a vacuuming or washing step has been performed in that work zone Z1, Z2.

[0273] In embodiments in which the WSM mapping can be displayed at a minimum on the screen of a connected mobile terminal of the user, it is conceivable that information relating to the categorization of each of the work areas may also be indicated on the screen (such as textual information, a color code associated with the surfaces of the work areas Z1, Z2 and comprising several colors such that each of them is associated with a category).

[0274] It can be provided that robot 1 automatically performs a washing of the work areas after it has first vacuumed them, in the event of the detection of at least one piece of debris 50. In embodiments where the WSM mapping can be defined and edited by the user from their connected mobile terminal, it is conceivable that robot 1, by default, only vacuums the horizontal work surface WS. Robot 1 only washes the horizontal work surface WS if the control unit 2 receives a washing command from the dedicated mobile application on the connected mobile terminal. Thus, by interacting with the mobile application, the user can decide whether or not to wash the horizontal work surface WS.

[0275] For example, and not limited to, the user can indicate, during the declaration step in which they identify and declare on the WSM map the first work zone Z1 and the second work zone Z2 associated with the target zone ZC on which at least one piece of litter is placed, whether or not they want at least one Washing of the first work zone ZI or the second work zone Z2. When washing of the second work zone Z2 is required, pilot process 100 includes the cleaning step WH2 after the suction step CLN. When washing of the first work zone Z2 is also required, pilot process 100 includes the initial cleaning step WHI following the blowing phase PS and prior to the movement step MTZ. Finally, when neither the first work zone ZI nor the second work zone Z2 is required, pilot process 100 can correspond to the one shown [Fig. 5].

[0276] Although the present invention has been described with reference to specific embodiments, it is evident that modifications and changes can be made to these examples without departing from the general scope of the invention as defined by the claims. In particular, individual features of the various embodiments illustrated / mentioned can be combined in additional embodiments. Therefore, the description and drawings should be considered in an illustrative rather than a restrictive sense.

[0277] It is also evident that all the characteristics described with reference to a process are transposable, alone or in combination, to a device, and conversely, all the characteristics described with reference to a device are transposable, alone or in combination, to a process.

Claims

Demands

1. A method for controlling (100) a robotic vacuum cleaner (1) on a horizontal work surface (WS), said robotic vacuum cleaner (1) comprising a control unit (2) having a processor (3) and a storage memory (4), a movement device and a blowing device, the control unit (2) being configured to control the operation of the movement device and the blowing device, said method of controlling (100) being executed by said control unit (2) and comprising a blowing phase (PS) during which, the robotic vacuum cleaner (1) being present on a first work zone (Z1, Z12) of the horizontal work surface (WS), the control unit (2) commands the blowing device to generate at least one airflow (40) from the first work zone (Z1,Z12) so as to move at least one piece of debris (50) present on a target area (ZC) of the horizontal working surface (WS) adjacent to the first working area (Z1, Z12), so that said at least one piece of debris (50) reaches a second working area (Z2) of the horizontal working surface (WS), accessible to the robot vacuum cleaner (1), adjacent to the target area (ZC) and pre-recorded in the storage memory (4).

2. A control method (100) according to claim 1, wherein, before the blowing phase (PS), the control unit (2) determines and records in its storage memory (4) a location of the second working zone (Z2) as a function of a location of the first working zone (Z1, Z12) and a location of the target zone (ZC).

3. A control method (100) according to claim 1 or 2, wherein, before the blowing phase (PS), the control unit (2) determines the second working zone (Z2) according to a map (WSM) of the horizontal working surface (WS) recorded in the storage memory (4).

4. A control method (100) according to claim 1 or 2, wherein, before the blowing phase (PS), the control unit (2) creates a map (WSM) of the horizontal work surface (WS) as the vacuum robot (1) moves over it, stores it in its storage memory (4), and determines the second work zone (Z2) depending on the locations on said mapping (WSM) of the first work area (Z1, Z12) and the target area (ZC).

5. A control method (100) according to any one of the preceding claims, wherein, prior to the blowing phase (PS), the control unit (2) determines the first working zone (Z1, Z12), the second working zone (Z2) and a blowing strategy as a function of a geometric conformation of the target zone (ZC).

6. A control method (100) according to any one of the preceding claims, wherein, prior to the blowing phase (PS), the control unit (2) determines the first working zone (Z1, Z12), the second working zone (Z2) and a blowing strategy as a function of at least one contextualized situation parameter of the target zone (ZC) in the horizontal working surface (WS).

7. Control method (100) according to claim 6, wherein at least one contextualized situation parameter includes a parameter representative of an environment around the target zone (ZC) or of the presence of an obstacle (01, 02, 03, 04, 05) around or next to the target zone (ZC).

8. A control method (100) according to any one of claims 5 to 7, wherein the blowing strategy is defined by at least one blowing parameter chosen from: - an orientation parameter representing an orientation of at least one airflow (40), or - a positioning parameter representing a position (pl, p2, p3) of the vacuum robot (1) inside the first working zone (Z1, Z12), - a blowing power parameter representing a speed or flow rate of at least one airflow (40).

9. A control method (100) according to any one of the preceding claims, wherein, at the end of the blowing phase (PS), the control unit (2) commands the movement device to move the vacuum robot (1) from the first working zone (Z1, Z12) to the second working zone (Z2), and commands the suction of at least one piece of debris (50) present in the second working zone (Z2).

10. A piloting method (100) according to any one of the preceding claims, wherein the control unit (2) initiates the blowing phase (PS) on the condition that the control unit (2) receives, from a presence sensor (6), a presence detection information relating to the presence of at least one piece of litter (50) in the target area (ZC).

11. A control method (100) according to any one of the preceding claims, wherein, during the blowing phase (PS), the control unit (2) commands the blowing device to adjust a flow rate or speed of at least one airflow (40) as a function of at least one dimension (1ZC, wZC) of the target zone (ZC).

12. A control method (100) according to claim 11, wherein, during the blowing phase (PS), the control unit (2) commands the blowing device to adjust the flow rate or speed of at least one airflow (40) also as a function of a position (pl, p2, p3) of the vacuum robot (1) on the first working zone (Z1, Z12), an orientation of the blowing device with respect to the target zone (ZC), and a position (p50) of at least one piece of debris (50) on the target zone (ZC).

13. A piloting method (100) according to any one of the preceding claims, wherein, prior to the blowing phase (PS), the control unit (2) determines the target zone (ZC) based on a detection information of at least one obstacle (01, 02, 03, 04, 05) received from a detection device (7).

14. A piloting method (100) according to claim 3 or 4, wherein, prior to the blowing phase (PS), the control unit (2) determines the target zone (ZC) as a function of a location of at least one obstacle (01, 02, 03, 04, 05) indicated in the mapping (WSM) of the horizontal working surface (WS) recorded in the storage memory (4).

15. A control method (100) according to any one of the preceding claims, wherein the control unit (2) determines the target zone (ZC) according to an accessibility criterion for the robot vacuum cleaner (1).

16. A piloting method (100) according to claim 13 or 14, in combination with claim 15, wherein the accessibility criterion includes at least one of the following comparison results: - a comparison result between a height (hl) of the robot vacuum cleaner (1) and a free height (hO) under at least one obstacle (01, 02, 03, 04, 05) placed above the target area (ZC); or - a comparison result between a template dimension (11, wl) of the robot vacuum cleaner and a spacing (10, wO, w45) between two obstacles (01, 02, 03, 04, 05) delimiting the target area (ZC).

17. A piloting method (100) according to claim 13 or 14, in combination with claim 15, wherein the accessibility criterion is established based on a type of obstacle to which at least one obstacle (01, 02, 03, 04, 05) belongs among several types of obstacle.

18. A control method (100) according to claim 3 or 4, in combination with claim 17, wherein the control method (100) comprises, before the blowing phase (PS): - a map display step (WSM) on a touch screen comprising a connected mobile terminal, which connected mobile terminal is in communication with the control unit (2), - an assignment step during which a user of the connected mobile terminal interacts with the map (WSM), and assigns to at least one obstacle (01, 02, 03, 04, 05) a type of obstacle from among several types of obstacle, - a transmission step during which the connected mobile terminal transmits to the control unit (2) an assignment information relating to the type of obstacle assigned to at least one obstacle (01, 02, 03, 04, 05);and the control unit (2) determines the target zone (CZ) following receipt of the allocation information associated with at least one obstacle (01, 02, 03, 04, 05).

19. A control method (100) according to claims 13 and 17, wherein the control unit (2) determines the type of obstacle to which at least one obstacle (01, 02, 03, 04, 05) belongs, and then the target zone (ZC), following a comparison result between the detection information of at least one obstacle (01, 02, 03, 04, 05) and data relating to each of several types of obstacle, which data are contained in a database (41) included in the storage memory (4).

20. A control method (100) according to any one of claims 9 to 19, wherein the robot vacuum cleaner (1) comprises at least one mop (82) shaped to make contact and slide along the horizontal working surface (WS); and in which the piloting method (100) comprises, after the suction of at least one piece of debris (50) in the second working area (Z2), a washing step (WH2) during which the robot vacuum cleaner (1) moves in the second working area (Z2) with at least one mop (82) washing said second working area (Z2).

21. A control method (100) according to claim 20, wherein, after the blowing phase (PS) and before the control unit (2) commands the movement device to move the robot vacuum cleaner (1) from the first working area (Z1) to the second working area (Z2), the control method (100) comprises a washing step, referred to as the initial washing step (WHI), during which the robot vacuum cleaner (1) moves in the first working area (Z1) with at least one mop (82) washing said first working area (Z1), and implemented on the condition that no debris (50) is placed on it.

22. A control method (100) according to claim 20 or 21, wherein the robot vacuum cleaner (1) comprises a spraying device controlled by the control unit (2), and wherein the control method (100) comprises, after the suction of at least one piece of debris (50) in the second working area (Z2), and prior to or simultaneously with the washing step (WH2), a spraying step (SPR2) during which the control unit (2) commands the spraying device to spray a cleaning product (71) onto the second working surface (Z2).

23. A piloting method (100) according to claims 21 and 22, wherein the piloting method (100) comprises, after the blowing phase (PS) and prior to the implementation of the initial washing step (WHI), a spraying step referred to as the initial spraying step (SPR1), during which the control unit (2) commands the sprayer to spray the cleaning product (71) onto the first working area (Zl).

24. Robot vacuum cleaner (1) for vacuuming on a horizontal work surface (WS), the robot vacuum cleaner (1) comprising: - a control unit (2) comprising a processor (3) and a storage memory (4), and which is at least configured to put implementing the piloting method (100) according to any one of the preceding claims, - a displacement device shaped to allow movement of the vacuum robot (1) on the horizontal working surface (WS), - a suction device which is fluidly coupled to a motor (9) and which is shaped to suction at least one detritus (50) present on the horizontal working surface (WS), - a blowing device shaped to generate during the blowing phase (PS) at least one airflow (40); the displacement device, the suction device, and the blowing device being in communication with the control unit (2).

25. Vacuum cleaner robot (1) according to claim 24, wherein the motor (9) is also fluidly coupled to the blowing device, and wherein, during the blowing phase (PS), the motor (9) is configured to: not circulate air in the suction device, and to generate air which then circulates in the blowing device.

26. Vacuum cleaner robot (1) according to claim 24, wherein the vacuum cleaner robot (1) comprises a ventilation device (10) separate from the motor (9) coupled to the suction device, which is in communication with the control unit (2) and is fluidly coupled to the blowing device; the ventilation device (10) being configured to: - at the start of the blowing phase (PS), generate air which circulates in the blowing device, and - at the end of the blowing phase (PS), cease to generate air circulating in the blowing device.

27. ​​Robot vacuum cleaner (1) according to claim 26, wherein the ventilation device (10) corresponds to at least one compact turbine.

28. Vacuum cleaner robot (1) according to any one of claims 24 to 27, wherein the blowing device is movable on a periphery of the vacuum cleaner robot (1) in a horizontal plane (HP) parallel to the horizontal working surface (WS).

29. Robot vacuum cleaner (1) according to any one of claims 24 to 28, wherein the robot vacuum cleaner (1) comprises a presence sensor (6) in communication with the control unit (2), which presence sensor (6) is configured to detect at least one piece of litter (50) in the target area (ZC), and then transmit a presence detection information relating to the presence of at least one piece of litter (50) in the target area (ZC) to the control unit (2).

30. Robot vacuum cleaner (1) according to claim 29, wherein the presence sensor (6) is selected, not limited to: an infrared sensor, an ultrasonic sensor, a time-of-flight sensor, or a computer vision camera.

31. Robot vacuum cleaner (1) according to any one of claims 24 to 29, wherein the robot vacuum cleaner (1) comprises a detection device (7) in communication with the control unit (2), which detection device (7) is configured to detect at least one obstacle (01, 02, 03, 04, 05) on the horizontal working surface (WS), and then transmit to the control unit (2) information on the detection of at least one obstacle relating to the at least one obstacle (01, 02, 03, 04, 05) detected.

32. Robot vacuum cleaner (1) according to claim 31, wherein the detection device (7) is selected non-limitingly from: a Red-Green-Blue camera, a black and white camera, an infrared camera, a time-of-flight sensor.

33. Vacuum cleaner robot (1) according to claims 31 and 32, wherein the storage memory (4) comprises a database (41) containing data relating to several types of obstacles; the control unit (2) being configured to compare the detection information of at least one obstacle with said data so as to determine an obstacle type to which at least one obstacle (01, 02, 03, 04, 05) belongs among the several obstacle types.

34. Robot vacuum cleaner (1) according to any one of claims 24 to 33, wherein the blowing device comprises at least one blowing element (5) in communication with the outside and through which propagates at least one airflow (40); the at least one blowing element (5) being non-limitingly selected from: a nozzle, or a tube, or a vent.

35. A robot vacuum cleaner (1) according to any one of claims 24 to 34, comprising at least one mop (82) disposed under the robot vacuum cleaner (1), which is shaped to make contact with and glide over the horizontal working surface (WS), so as to wash said horizontal working surface (WS) during the movement of the robot vacuum cleaner (1).

36. Robot vacuum cleaner (1) according to claim 35, which includes a tank (70) containing a cleaning product (71) and including a tank outlet (73), which is provided with a valve (75) which is at least in communication with the control unit (2) and which is configurable in: - a closed position such that the cleaning product (71) remains contained inside the tank (70), and - an open position such that the tank (70) is in fluidic communication with at least one mop (82), with the cleaning product (71) then soaking at least one mop (82); the valve (75) being by default in its closed position, and the control unit (2) commanding its opening for washing the horizontal working surface (WS).

37. Robot vacuum cleaner (1) according to claim 35, which includes a reservoir (70) containing a cleaning product (71), and which is fluidly coupled to a spraying device which is at least in communication with the control unit (2), which commands the spraying device to spray the cleaning product (71) onto the horizontal working surface (WS) prior to washing it.

38. Vacuum robot (1) according to claim 37, wherein the spraying device is movable on a periphery of the vacuum robot (1) in a horizontal plane (HP2) parallel to the horizontal working surface (WS).

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