Processing device for preparing a ground surface

Abstract

The present invention relates specifically to a processing device for the pre-preparation of a floor surface for subsequent processing by means of a floor processing machine.

Description

[0001] The invention relates to a processing device for preparing a soil surface, in particular for subsequent processing by means of a soil cultivation machine.

[0002] A floor surface in a household can be maintained using a floor cleaning machine. For example, an automatic vacuuming robot can be used to vacuum the floor, or a mopping robot can clean the floor with a cleaning fluid. Such robots are able to orient themselves on the floor and navigate around obstacles.

[0003] A small object on the floor surface may go undetected and could therefore be inadvertently processed. The object could be mistaken for dirt or waste, rendering it useless to the user. Furthermore, the object could enter a processing device of the machine and damage it. Even if all objects are detected and avoided, the overall floor area may not be adequately processed if there are many objects.

[0004] US 2020 O 205 629 A1 proposes controlling a floor cleaner to push aside an object on a floor surface being cleaned. KR 20 2008 O 003 542 U relates to a floor cleaner with a paddle wheel for moving small objects in front of it. US 9 827 678 B1 discloses a movable robotic arm capable of grasping objects. DE 10 2017 112 740 A1 describes an autonomous robotic vacuum cleaner with a gripper arm. US 2021 / 362320 A1, US 2019 / 246858 A1, CN 108 209 753 A and CN 111 265 154 A relate to other relevant systems.

[0005] Known approaches are limited to treating the floor surface and often do not treat objects gently. One of the problems underlying the present invention is to provide an improved technique for treating a floor surface in a household. The invention solves this problem by means of the subject matter of the independent claims. Dependent claims describe preferred embodiments.

[0006] According to a first aspect of the present invention, a processing device for preparing a floor surface in a household for automatic floor cultivation comprises: a detection device for detecting an object on the floor surface; a drive device for moving the processing device on the floor surface; a collection container for objects; and a collecting device for receiving the object into the collection container.

[0007] It was recognized that a soil cultivation machine cannot be effectively designed to both clear the soil of objects and then cultivate it. A combined machine is typically larger and less maneuverable than a known soil cultivation machine or the cultivation device proposed herein. It is therefore proposed to provide a separate cultivation device that clears the soil of objects by collecting them. The soil cultivation can then be carried out by another device. This division of tasks according to the invention allows both tasks to be performed more effectively by specialized devices. The cultivation device can handle a collected object with greater care, preferably without damaging or soiling it during the process.

[0008] The object may include, in particular, a toy. Many toys consist of relatively small parts that can easily be scattered on the floor during play. Examples of such toys include puzzle pieces or building blocks, doll limbs, or mosaic tiles. Such toys are usually sufficiently sturdy to be handled safely by the processing equipment. At the same time, such an object can be easily distinguished from other items that might not be intended for collection by the processing equipment, such as food or a clump of dirt.

[0009] The processing device can include a camera for optically scanning the object. This allows the object to be scanned at close range for identification or to better control the collection process. In another embodiment, a LiDAR or radar sensor can also be used to detect an object on the ground. Preferably, different sensors are used to detect and characterize the object from different distances. The LiDAR or radar sensor can first determine the object's position and / or size. The processing device can then be moved to a predetermined distance from the object and optically scan it from there. A scan of the object can also be received from another device.

[0010] A processing unit can be provided for the recognition of multiple predetermined objects. The processing unit can operate like an artificial neural network (ANN). In one embodiment, multiple scans from identical or different sensors can form the basis for recognition.

[0011] The processing device can be configured to recognize a predetermined object based on images taken from different perspectives. For this purpose, the processing device can be moved to various positions relative to the object and take one or more images in each position. In another embodiment, an image or scan from another device, such as a base station or a floor cleaner, can also be used.

[0012] The collection device is designed to pick up the object from the floor using an airflow. A suction mechanism, similar to a vacuum cleaner, can be integrated into the processing device for this purpose. A suction nozzle can be positioned precisely over the object and drawn in by the airflow. This ensures gentle and safe handling of the object. Larger objects cannot be picked up due to their mass and / or dimensions. An object to be picked up can be easily distinguished from nearby objects that should not be picked up. Optionally, several small objects can be picked up simultaneously.

[0013] Additionally, an intermediate container for separating the object from the airflow and a transfer device for transferring the object from the intermediate container to the collection container are provided. The intermediate container can be subjected to airflow during the collection process, and the object can be separated directly due to its mass or via a cyclone, so that it remains in the intermediate container. For example, when the intermediate container is full, it can be emptied into the collection container. For this purpose, the intermediate container can be temporarily opened, and collected objects can be moved into the collection container by gravity or, for example, by means of an Archimedes screw, a bucket chain, or a conveyor belt. This allows the collection container to remain open at all times, so that objects can be removed from or placed into it while the processing device is in operation.The processing device can thus be improved to cooperate with a person in preparing the cleaning of the floor surface.

[0014] The collecting device can additionally include a gripper and be configured to pick up the object from the floor surface using the gripper. The gripper can, for example, be designed like a robotic arm. Preferably, the gripper can be controlled to approach the object from above and pick it up like tweezers or a multi-finger gripper. Optionally, the arm can also be used to open the intermediate container, empty it into the collection container, and / or close it again.

[0015] A predetermined object can be assigned an elasticity, and the processing equipment is configured to control the gripper for picking up the object based on this elasticity. Similarly, a weight or surface finish can be assigned to the predetermined object. The gripper can then be controlled more effectively based on such a stored parameter to pick up the object safely and without damage.

[0016] The processing device is preferably configured to release a section of the floor surface, cleared of objects, for processing by an automatic floor cleaner. For this purpose, a description of the section can be provided to a base station or directly to a floor cleaning machine. In one embodiment, the processing device prepares the entire floor surface before releasing it for processing. In another embodiment, a portion of the floor surface is prepared before being released. While the floor cleaning machine processes this portion, the processing device can already prepare another portion of the floor surface.

[0017] According to a further aspect of the present invention, a system comprises a processing device described herein and a floor cultivation machine, in particular an automatic floor cleaner. The floor cultivation machine can have one or more sensors for scanning its surroundings. These scans can be provided to the processing device. In one embodiment, the floor cultivation machine and the processing device can be controlled to scan one or more objects lying on the floor surface, the objects being recognized based on the scans. The processing device can then be controlled to pick up a detected object.

[0018] According to a further aspect of the present invention, a system comprises a processing device as described herein and a base station. The processing device is preferably configured to provide objects from the collection container to the base station. The base station can be configured to assist in the transfer of objects from the collection container. Furthermore, the base station can have a sensor, in particular a LiDAR or radar sensor or a camera, by means of which at least a section of the floor surface can be scanned. The resulting sensor data, for example in the form of an image, can be used to locate, characterize, or identify a detected object.

[0019] According to yet another aspect of the present invention, a method for preparing a floor surface in a household for automatic floor cultivation comprises the steps of detecting an object on the floor surface; moving a cultivation device on the floor surface towards the detected object; and collecting the object in a transported collection container. The object is picked up from the floor surface by means of an airflow and separated from the airflow into an intermediate container. Subsequently, a transfer device transfers the object from the intermediate container into the collection container.

[0020] Preferably, the floor area cleared of the object is then treated using a floor cleaner.

[0021] The processing device preferably comprises an electronic processing unit, which may be configured to carry out all or part of a method described herein. The processing unit may also be located outside the processing device, for example, in a base station or on board a floor cleaner. The processing unit may comprise an integrated circuit, a programmable microcomputer, or a microcontroller, and the method may be in the form of a computer program product with program code means. The computer program product may also be stored on a computer-readable data carrier. Features or advantages of the method or the system may be transferred to the device or vice versa.

[0022] The invention will now be described in more detail with reference to the accompanying figures, in which: Figure 1 a system; Figure 2 a processing device in a first variant; Figure 3 a processing device in a second variant; and Figure 4 a flowchart of a process. represents.

[0023] Figure 1 Figure 100 shows a system comprising a processing unit 105, a floor cleaner 110, and / or a base station 115. The units 105 to 115 are all household appliances located in a household with a floor area of ​​120. Together, the units 105 to 115 are configured to process, in particular clean, the floor area 120.

[0024] One or more objects 125 may be located on the floor area 120, and an object 125 may, in particular, include a toy. For the purposes of this document, objects 125 can only be considered to be those whose size and / or weight lies within a predetermined range. Further restrictions may apply, for example, with regard to color, material, number, texture, or consistency. As explained in more detail below, preferably several objects 125 are predetermined for processing. Other objects can be considered as fixed obstacles.

[0025] The processing device 105 is configured to collect objects 125 from the floor surface 120 into a transported collection container 130 and optionally to place them at a predetermined location, for example, at the base station 115. The collection container 130 is preferably open at its top to facilitate access to the objects 125 contained therein. The processing device 105 may include a receiving device 132 for receiving an object 125.

[0026] A camera 135 can also be provided for non-contact scanning of the floor surface 120. The camera 135 is preferably a simple camera 135 for optical scanning of the floor surface and can, in particular, have a CMOS sensor for use in a wide brightness range. A radar or LiDAR sensor or an ultrasonic sensor can also be provided for scanning the floor surface 120. A processing unit 140 is preferably configured to determine the position of an object 125 based on a scan. Furthermore, an object 125 can be detected based on one or more scans.

[0027] Preferably, the processing device 105 includes a communication device 145 for communicating with the processing device 110 and / or the base station 115. Each of these may include an additional camera 135 or another non-contact sensor for scanning the floor surface 120, and sensor data from a scan can be transmitted to the processing device 105. In yet another embodiment, the positioning and / or detection of objects 125 on the floor surface 120 can also take place outside the processing device 105, and a determination result can be transmitted to the processing device 105.

[0028] A drive unit 150 can be provided for movement on the ground surface 120. Navigation is preferably carried out in a known manner with respect to an environmental map, which can be updated on the basis of scans by means of the sensor 135 using Simultaneous Localization and Mapping (SLAM).

[0029] The floor cleaner 110 is designed to process and, in particular, clean the floor area 120. For example, the floor cleaner 110 can include a vacuuming robot, a sweeping robot, a mopping robot, or a combination of two or more such devices. Navigation, data processing, or a drive system can be provided in a manner similar to that of the processing device 105.

[0030] The optional base station 115 is designed to supply the processing unit 105 and / or the floor cleaner 110, or to receive items from it. Specifically, a device 105 or 110 can be charged with electricity there. Water or other cleaning fluid can be supplied. Dirt or wastewater can be collected. Collected items 125 can be unloaded. Furthermore, the base station 115 can be configured to perform maintenance on a device 105 or 110, for example, cleaning or replacing a working or wear element, such as a floor cloth.

[0031] The system can also include multiple processing units 105, multiple floor cleaners 110, and / or multiple base stations 115. Optionally, multiple systems 100 can be installed in a single room of the household.

[0032] Figure 2Figure 1 shows a processing device 105 in a first variant. The processing device 105 can be based on a conventional floor cleaner 110, for example in the form of a flat cylinder. In the variant shown, the receiving device 132 is configured to pick up an object 125 from the floor surface 120 by means of an airflow.

[0033] The receiving device 132 comprises a suction unit 205, which is configured to generate an airflow. Upstream of the suction unit 205, an intermediate container 210 is preferably provided, which is configured to separate and at least temporarily collect an object 125 carried along by the airflow. The intermediate container 210 is connected by means of a suction line 215 to a suction inlet 220, through which the airflow can enter. Preferably, the suction inlet 220 is located inside or below the processing device 105, as shown.

[0034] Collected objects 125 in the intermediate container 210 can be delivered into the collection container 130 by means of a transfer device 225. By way of example only, the transfer device 225 is schematically shown as a conveyor belt; in other embodiments, for example, a bucket chain or a similar device may be provided. In yet a further embodiment, the intermediate container 130 can be emptied into the collection container 130 by gravity. For this purpose, the intermediate container 130 can be arranged above the collection container 130 or transported thereto for emptying. Emptying may require opening the intermediate container 130. The collection container 130 is preferably open at the top and accessible therefrom while the processing device 105 is operating.

[0035] Figure 3 shows a processing device 105 in a second variant, which differs from the one in Figure 2The first variant shown mainly differs in that the receiving device 132 includes a gripper 305, which is preferably attached to a gripper arm 310. The gripper 305 and / or the gripper arm 310 can be controlled such that an object 125 is picked up and placed into the collection container 130. The control of an object 125, the control of the gripper arm 310 and / or the opening or closing of the gripper 305 can be controlled depending on the object 125. For example, a gripping force or the like can be controlled depending on how soft, heavy, smooth or what the object 125 is like. The object 125 can be detected by the camera 135 (not shown) while it is being handled by means of the gripper 305. The object 125 can be recognized and one or more attributes can be assigned to the recognized object 125, which can be taken into account for handling.An attribute can include, in particular, mass, size, compressibility, or surface roughness.

[0036] The variants of Figure 2 and 3 They can also be provided together on a processing device 105. In particular, a smaller object 125 can be picked up by the suction unit 205 and a larger one by the gripper 305, and each placed in the collection container 130. In a further embodiment, the gripper 305 with the gripping arm 310 can also serve as a transfer device 225. For this purpose, the intermediate container 210 can be separated from the suction unit 205 and the suction line 215 by means of the gripper 305, moved over the collection container 130, and / or opened. Alternatively, the intermediate container 210 can be opened by means of the gripper 305, and objects 125 can be removed from the intermediate container 210 by means of the gripper 305 and placed in the collection container 130.

[0037] Figure 4Figure 400 shows a flowchart of a process 400 for treating a floor area 120. The process 400 can be carried out using a processing unit on board a processing device 105, a floor cleaner 110, or a base station 114. Optionally, the process 400 can also be carried out in a distributed manner, with the aforementioned devices 105 to 115 communicating appropriately with each other to exchange requests or results.

[0038] In step 405, a room with the floor area 120 to be treated can be scanned. For this purpose, the floor area 120 can be scanned using one or more sensors 135 or other non-contact sensors. The treatment device 105 or the floor cleaner 110 can move across the floor area 120 to improve scanning. The scanning can initially cover only a portion of the floor area 120, and another portion can be scanned during the subsequent process 400 or in a separate pass.

[0039] In step 410, an object 125, in particular a toy, can be detected on the floor surface 120. Typically, several objects 125 are detected, which may be distributed across the floor surface 120. The position of an object 125 on the floor surface 120 can be determined by triangulation if scans are available from at least two different positions. More preferably, the object 125 is also recognized. The primary goal is to distinguish the object 125 from an object not to be detected, such as a cable or a piece of furniture. Even more preferably, the object 125 is specifically recognized or categorized. Thus, several predetermined objects 125 to be detected may be known, and a detected object 125 can only be considered further if it is known.A known object 125 may be assigned one or more attributes which can be used as a basis for handling, for example a mass or a size.

[0040] In step 415, a path can be planned for the processing device 105 to guide it sequentially to several or all of the items 125. A path can be defined such that it leads to one item 125 without passing over any other item 125, so that none of the items 125 have to be driven over by the processing device 105. When planning the path, it can be taken into account that only a limited number of items 125 can be picked up by the processing device 105 before the collection container 130 needs to be emptied. Therefore, several paths can be planned, each leading to one or more items 125, with all visited items 125 being able to be picked up in the collection container 130. A path can end at a location where the items 125 can be removed from the collection container 130, for example, at the base station 115.

[0041] In step 420, the processing device 105 can approach one of the detected objects 125 along one of the specified paths. An onboard camera 135 can be used to position the processing device 105 relative to the object 125 so that the object 125 can be picked up. The picking up of the object 125 can then be controlled. In the first variant, the suction unit 205 can be activated for this purpose. In the second variant, the gripper 305 can be controlled to grasp and pick up the object 125. This process is preferably supported by scanning the object 125 and the gripper 305 using the onboard camera 130 – or a camera 130 of the floor cleaner 110 or the base station 115.

[0042] In step 425, the object 125 can be picked up and placed in the collection container 130. Preferably, the gripping or moving force is applied in such a way that injury to an unidentified person is ruled out. Furthermore, the process can be interrupted if a person or pet is detected within the area of ​​the processing device 105.

[0043] Subsequently, in step 430, it can be determined whether the collection container 130 is full. If this is the case, or if the last item 125 has been picked up along a planned route, the processing device 105 can be moved to a predetermined unloading point where the collection container 130 can be emptied. This process can also be controlled if an item 125 could not be picked up into the collection container 130, in particular because items 125 are arranged in an inconvenient manner within the collection container 130.

[0044] In step 440, an area of ​​the floor surface 120, cleared by picking up objects 125, can be released for processing by the floor cleaner 110. Preferably, the path of the processing device 105 was already planned in step 415 such that the picking process creates a contiguous area that can then be easily processed and, in particular, cleaned. More preferably, the area is chosen such that the processing device 105 can continue to clear another area of ​​the floor surface 120 of objects 125 while the first area is already being cleaned by the floor cleaner 110. Even more preferably, the first area is positioned such that the processing device 105 does not have to travel over a cleaned area again when it moves from another area to the unloading point or to the base station 115, or in the opposite direction.

Claims

1. Treatment appliance (105) for preparing a floor area (120) in a household for automatic floor treatment, wherein the treatment appliance (105) comprises the following: - a detection facility (135) for detecting an object (125) on the floor area (120); - a drive facility (15) for moving the treatment appliance (105) on the floor area (120); - a collection container (130) for objects (125); and - a collection apparatus (205, 305) for gathering the objects (125) into the collection container (130); characterised in that - the collection apparatus (205) is configured to gather the object (125) from the floor area (120) by means of an air flow, and - the treatment appliance (105) comprises an intermediate container (210) for separating the object (125) from the air flow and a transfer apparatus (225) for transferring the object (125) from the intermediate container (210) into the collection container (130).

2. Treatment appliance (105) according to claim 1, wherein the treatment appliance is configured to collect toys.

3. Treatment appliance (105) according to claim 1 or 2, further comprising a camera (130) for optical scanning of the object (125).

4. Treatment appliance (105) according to one of the preceding claims, further comprising a processing facility (140) for identifying multiple predetermined objects (125).

5. Treatment appliance (105) according to claim 4, wherein the processing facility (140) is configured to identify a predetermined object (125) on the basis of images from different perspectives.

6. Treatment appliance (105) according to one of the preceding claims, wherein the collection apparatus comprises a gripper (305) and is configured to gather the object (125) from the floor area (120) by means of the gripper (305).

7. Treatment appliance (105) according to claims 4 and 6, wherein a predetermined object (125) is assigned an elasticity and the processing facility (140) is configured to actuate the gripper (305) as a function of the elasticity to gather the object (125).

8. System (100), comprising a treatment appliance (105) according to one of the preceding claims and an automatic floor cleaner (110).

9. System (100), comprising a treatment appliance (105) according to one of the preceding claims and a base station (115), wherein the treatment appliance (105) is configured to provide objects (125) from the collection container (130) at the base station (115).

10. Method for preparing a floor area (120) in a household for an automatic floor treatment, wherein the method comprises the following steps: - detecting (405, 410) an object (125) on the floor area (120); - moving (420) a treatment appliance (105) on the floor area (120) towards the detected object (125); and - gathering (425) the object (125) into a collection container (130) that is carried along; characterised in that - the object (125) is gathered from the floor area (120) by means of an air flow, - the object (125) is separated from the air flow into an intermediate container (210) and - a transfer apparatus (225) transfers the object (125) from the intermediate container (210) into the collection container (130).

11. Method according to claim 10, further comprising a treatment of the floor area (120) from which the object (125) has been removed, by means of a floor cleaner (110).