Service station for a mobile, self-propelled device

Abstract

The invention relates to a service station for a mobile, self-propelled device, in particular for a cleaning robot (10), which service station is designed to receive the device and is integrated in a piece of furniture, wherein a gate (11) closes an entry and exit of the service station, the gate (11) can be tilted for the device to travel in and out and to this end the gate (11) can be rotated about a fixed pivot point from a closed position into an open position, and vice versa, and the pivot point is positioned in such a way that, in the closed position, a height (S) of the door (11) below the pivot point is substantially twice as great as a horizontal distance (I) from the pivot point to the door (11).

Description

[0001] 202402791

[0002] Service station for a mobile, self-driving device

[0003] The invention relates to a service station for a mobile, self-driving device, which is designed to receive the device and is integrated into a piece of furniture, a method for controlling a gate of such a service station, a computer program product and a computer-readable data carrier.

[0004] Cleaning robots are designed to clean floors as autonomously as possible. The goal is not only to relieve the user of the actual cleaning task, but also to minimize the user's maintenance effort. Recharging the robot's battery, emptying its dustbin, refilling its water tank, and cleaning and drying its mopping pads can all be done automatically at designated service stations. This significantly reduces the user's workload. In particular, the user no longer needs to focus on the cleaning robot itself, but rather on the service station, where they replace the dustbin, fill the fresh water tank, and empty the wastewater tank.

[0005] To make the increasingly larger service stations, resulting from their expanded functionality, less conspicuous, they can be integrated into a kitchen unit. The service station remains discreetly hidden, and the cleaning robot, when not in operation, is concealed in or under a kitchen cabinet. With a fully integrated service station, for example, in a sink cabinet, the available space under the unit, particularly the plinth area, as well as the space directly under the sink, is utilized. The space under the sink is further occupied by siphons, pipes, and water connections. The plinth area of ​​the kitchen cabinets is limited by the feet and plinth panel, meaning that this limited space must be optimally utilized to accommodate all necessary components when integrating the service station.Installing a lower module of the service station, especially a docking module, is advantageous after the kitchen cabinets have been positioned and their feet adjusted. 202402791.

[0006] Preferably, the front of the docking module of the service station is closed by a gate when the cleaning robot is docked in the service station or when the cleaning robot is on a cleaning run. This gate is particularly advantageous when it is visually similar to the base panel. To allow the cleaning robot to enter and exit the service station, the gate can be opened automatically. For integration into the kitchen cabinet, certain constraints must be considered for the gate's design, resulting from the available space and, in particular, the height.

[0007] Some appliance manufacturers are working on integrating cleaning robots or their service stations into furniture and household appliances. For example, an upward-opening gate is integrated into the service station for entry and exit. This has the disadvantage of requiring complex mechanics and significantly more space, making it impractical or only partially applicable when integrating the robot into an otherwise unchanged kitchen cabinet.

[0008] Publication US6 327741 B1 describes a cleaning robot and a service station designed as a small cabinet whose front can be concealed by a roller shutter. Publications KR 20180 122216 A and US 20180029809 A1 describe service stations for cleaning robots integrated into a piece of furniture or a household appliance. However, doors for entering and exiting are not disclosed there. Publications DE 102014111 868 A1 and EP 3420876 A1 describe service stations for a cleaning robot integrated into kitchen cabinets. A door in the form of a laterally sliding panel is disclosed. Publication CH 708544 A describes a service station installed in furniture or cabinets with an automatically opening and closing door, in particular a door that folds inwards.

[0009] German patent application DE 102020209600 B4 describes a service station for a cleaning robot, on whose gate cleaning elements are attached that clean the robot as it enters and exits. The gate is described as a passively oscillating element, which, however, has the disadvantage of requiring a large amount of internal installation space. 202402791

[0010] The object of the invention is to provide a service station integrated into a piece of furniture, comprising a service station gate that can be opened and closed with a simple and purposeful mechanism.

[0011] According to the invention, a service station for a mobile, self-propelled device, in particular for a cleaning robot, is provided for receiving the device and is integrated into a piece of furniture. A gate closes off an entrance and exit of the service station, wherein the gate is tiltable for the entry and exit of the device by being rotatable from a closed position about a fixed pivot point to an open position, and vice versa, and wherein the pivot point is positioned such that, in the closed position, the height of the gate below the pivot point is substantially twice the horizontal distance from the pivot point to the gate.

[0012] This document describes a service station integrated into a piece of furniture, specifically a kitchen unit, featuring an upward-tilting gate. When lowered, the gate closes the service station's opening, while when tilted upward, it allows the cleaning robot to enter and exit. The tilting mechanism reduces the service station's footprint compared to conventional opening mechanisms. Due to the pivot point's position, the gate, when open, is located in a niche behind the furniture's front panel (i.e., a cabinet door). This eliminates, or at least minimizes, the risk of damage to the service station from a user who might bump into the open gate.

[0013] A mobile, self-propelled device is understood to be, in particular, a floor cleaning device that can autonomously clean floor surfaces, for example, in the home. This includes, among other things, vacuuming, sweeping, and / or mopping robots. For example, a mobile, self-propelled device might be a combination device capable of both dry and wet cleaning. These devices operate (during cleaning mode) preferably with little or no user intervention. For example, the device autonomously moves to a designated room to clean the floor according to a pre-programmed cleaning strategy. 202402791

[0014] Preferably, the device is a cleaning robot equipped with a dry cleaning unit (e.g., suction nozzle, brush roller, suction fan, side brush) and / or a wet cleaning module (e.g., water tank, pump, mopping pad, actuator for mopping pad movement). Its housing is provided with interfaces that allow for battery charging, dustbin emptying, and water tank refilling at a service station.

[0015] A service station is defined as any station of a mobile, self-propelled device, particularly a cleaning robot, that provides at least one additional service function besides simply charging the device's battery. This service function may include, in particular, vacuuming dust and dirt from the device's dustbin, refilling the device's water tank, and / or cleaning or washing the mopping pads attached to the device. The service function is therefore a task that should be performed to ensure optimal cleaning or to allow the cleaning process to continue. Naturally, a service station can offer more than one service function.

[0016] The service station has a base plate onto which the device docks. A ramp is preferably provided for this purpose. Recesses in the base plate, which accommodate the device's wheels, ensure the device stands securely on the base unit. The service station can be equipped with connections for a fixed water supply (fresh water, wastewater). To keep the size of the docking module of the service station compact, a fan, for example, used to empty the device's dustbin at the service station, and a dust bag, in which the removed dust and dirt can be collected, can be located outside the docking module in a separate upper module. The device and service station can preferably communicate with each other directly or, for example, via a smart home environment.

[0017] The docking module of the service station is preferably integrated into a plinth area of ​​a kitchen unit. This allows the device and service station to be permanently installed. 202402791

[0018] They are placed discreetly but remain ready for use at all times. The device accesses the service station via an opening in the base panel.

[0019] The door on the docking module of the service station closes the opening in the base panel, preferably when the device is docked in the service station or is en route for a cleaning job. The door has a fixed pivot point around which it can move from a substantially vertical, closed position to a substantially horizontal, open position. The door can be opened when the device leaves or returns to the service station.

[0020] The gate is preferably made in one piece and is in particular not divisible, bendable, foldable, kinkable, or similar. Specifically, the gate is designed as a rigid, flat body. The pivot point of the gate is preferably formed by fastening components on the gate body. These fastening elements form a lever arm by which the gate body can be tilted or rotated.

[0021] To ensure a safe and compact design of the service station with a tilting gate, the following boundary conditions are preferably met:

[0022] - In the open position, the gate is preferably located above the highest point of the device. The distance is preferably large enough to allow the device to pass through even when driving onto the ramp of the service station;

[0023] - The device should preferably be parked as close as possible to the gate. The gate should preferably not touch any contour of the device during opening or closing;

[0024] - In the open position of the gate, the gate preferably protrudes only so far from the service station that a minimum distance to the front of the furniture (= cabinet door) is not undercut.

[0025] The existing installation space of the furniture preferably has a ground clearance of approximately 15 cm below the base area in which the docking module is integrated, and a ground clearance of approximately 10 cm below the front.

[0026] In an advantageous embodiment, the service station, in particular the docking module, comprises an actuator for tilting the gate. In particular, the gate can be tilted by means of 202402791

[0027] of a motor, especially a servo motor, from the open to the closed position and back.

[0028] The fixed pivot point of the gate is determined by geometric relationships between a gate height and a pivot point height, or by a lever arm.

[0029] In a further advantageous embodiment, the gate, when open, projects from the service station such that the length of the projecting gate is less than the horizontal distance between the service station and the front of the furniture. If the gate is tilted upwards or inwards by, for example, 90°, the gate projects from the module by a length W. The length W of the projecting gate must be less than the available distance Y to the front: W < Y. The length W of the projecting gate is calculated as W = S - 1, where S is the height S of the gate below the pivot point in the closed position (=pivot point height) and I is the horizontal distance I from the pivot point to the gate in the closed position (=lever arm).

[0030] In another advantageous embodiment, the vertical distance V of the gate to the ground in the open position is greater than the sum of the horizontal distance I from the pivot point to the gate in the closed position and the height S of the gate below the pivot point in the closed position: V > S + I. Preferably, the vertical distance V of the gate to the ground in the open position is approximately 2 mm greater: V = 2 mm + S + I. If the gate is tilted upwards or inwards by approximately 90°, the clearance height is determined by the distance V. The additional 2 mm result from the distance of the lower edge of the closed gate to the ground.

[0031] Furthermore, the vertical distance V of the gate to a ground in the open position of the gate is greater at a point of the lowest point of the gate than a device height U when entering the service station, especially when driving onto the ramp of the service station: V > U.

[0032] In a further advantageous embodiment, the sum of the horizontal distance I from the pivot point to the gate in the closed position and the height S of the 202402791

[0033] The gate below the pivot point in the closed position is smaller than the installation space height Z of the furniture: Z > I + S. The open gate must not protrude beyond the maximum installation space height Z of the module.

[0034] To position the device as close as possible to the door inside the docking module, the space occupied by the door when tilting inwards must be minimized. The longer the lever arm (I) and the higher the door's pivot point (S), the greater the distance between the moving door and the device. However, the distance I and the height S are limited by the installation space height Z and the available distance Y to the front.

[0035] Preferably, the ratio of the gate's height S below the pivot point in the closed position (pivot point height) to the horizontal distance I from the pivot point to the gate in the closed position (lever arm) is approximately 2:1: l / S ~ 1 / 2. These parameters result in a gate that maximizes the use of the docking module's interior space and the available installation space in front of the docking module, while simultaneously meeting the requirements for the incoming, outgoing, and parked devices. Advantageously, this design requires minimal space within the docking module, thus leaving more room for components of the service station's service functions.

[0036] In a further advantageous embodiment, the gate can be tilted into intermediate positions between the closed and open positions. Any intermediate positions of the gate are also possible and can be deliberately selected.

[0037] In another advantageous embodiment, the inner side of an edge of the service station, along which the gate can be moved, has a chamfer. A preferred installation condition arises when, in the closed position of the gate, there is no or only a minimal visible gap between the gate and the edge of the docking module above it. For this purpose, the inner side of the upper docking module front is provided with a chamfer or bevel that allows the gate to slide more closely along the upper docking module front. 202402791

[0038] The service station described above, with the gate on the docking module of the service station, can also be combined with service stations that are not integrated into kitchen cabinets or other furniture.

[0039] Furthermore, according to the invention, a method for controlling a gate of a service station, through which a mobile, self-driving device, in particular a cleaning robot, can enter and exit the service station, is specified, wherein the service station is integrated into a piece of furniture, the gate for entering and exiting the device is opened by tilting the gate from a closed position about a pivot point to an open position, and the pivot point is positioned such that in the closed position a height of the gate below the pivot point is essentially twice as large as a horizontal distance from the pivot point to the gate.

[0040] It is understood that, in addition to the service station and the method, a computer program product comprising commands that, when executed by the service station according to the invention, cause it to execute the method according to the invention, is also part of the scope of this invention. Likewise, a computer-readable medium on which such a computer program product is stored, and which, for example, is part of the control system of the service station, is part of the scope of this invention.

[0041] Any features, designs, embodiments and advantages relating to the service station also apply in connection with the method, the computer program product and computer-readable medium, and vice versa.

[0042] The invention is explained in more detail with reference to the following examples. These examples show:

[0043] Figures 1A, 1B, 1C: each a schematic view of an embodiment of a mobile, self-propelled device intended for a service station according to the invention, 202402791

[0044] 9

[0045] Figures 2A - 2D: each a schematic view of an embodiment of a service station according to the invention integrated in a kitchen cabinet for a mobile, self-driving device,

[0046] Figures 3A to 30: each a schematic view of an embodiment of a gate of an integrated service station according to the invention,

[0047] Figures 4A to 4E: each a schematic view of an embodiment of a service station according to the invention integrated in a kitchen cabinet for a retractable mobile, self-propelled device, and

[0048] Figure 5 shows a schematic view of an embodiment of a gate of an integrated service station according to the invention.

[0049] 15

[0050] Figure 1A shows a mobile, self-driving device, in particular a robot 10, in a front oblique view. Figure 1B shows the robot 10 from Figure 1A in a bottom view. Figure 1C shows the robot 10 from Figure 1A in a rear oblique view.

[0051] 20 The robot 10 includes a suction mouth 1 in which a brush roller 2 is integrated.

[0052] Furthermore, the robot 10 has a side brush 3 with side brush arms at a front lateral position on its housing. The side brush 3 is designed to transport dust and dirt, especially along walls and in corners, to the robot's suction opening 1. Its housing has interfaces 6 that allow for charging the battery, emptying the dustbin, and filling the water tank at a service station.

[0053] The robot 10 also has navigation sensors that can perceive the robot's surroundings. For example, the robot has a LiDAR sensor 5 O

[0054] or 30 on the housing of the robot 10. A controller of the robot 10 can, among other things, interpret the sensor data of the LiDAR sensor 5 to determine in which room, or rather, in what type of room the robot 10 is currently located. The robot 10 can infer the type of room from the furnishings and furniture.

[0055] 2

[0056] a 202402791

[0057] 10

[0058] In addition to its dry cleaning unit (the brush roller 2, a suction blower, the side brush 3), the robot 10 has a wet cleaning module (a water tank, a pump, cleaning pads 4, possibly an actuator for cleaning pad movement).

[0059] A service station for the robot 10, capable of performing at least one service function on the robot 10, is integrated into a kitchen cabinet. Such an integrated service station is illustrated in the embodiments shown in Figures 2A to 2D. Figure 2A shows a kitchen cabinet 7, in particular an open sink cabinet, in a cross view. Figure 2B shows the closed kitchen cabinet 7 of Figure 2A with a removed lower module, in particular a docking module 8 of the service station. Figure 2C shows the kitchen cabinet 7 of Figure 2A with the integrated service station into which the robot 10 enters. Figure 2D shows a cross view of the kitchen cabinet 7 of Figures 2A to 2C with the docked robot 10.

[0060] The service station performs 10 service functions on a docked robot, such as emptying the robot dustbin by vacuuming, filling the robot water tank, and / or cleaning the mopping pads. The service station can be equipped with connections for a fixed water supply (fresh water, wastewater). The robot and service station can communicate directly or via a smart home environment.

[0061] The docking module 8 of the service station is integrated into the base of the kitchen cabinet 7. This allows the robot 10 and service station to be permanently and discreetly positioned, while remaining ready for use at all times. The robot 10 accesses the service station through an opening in the base panel. A gate 11 on the docking module 8 of the service station can open or close this opening as needed. The gate 11 can be opened and closed by an actuator, such as a servo motor.

[0062] A simple and efficient mechanism is used to open and close the gate 11 of the integrated service station. Specifically, the service station is equipped with an upward-tilting gate 11. When lowered, the gate 11 closes the opening of the service station; when tilted upwards, the gate 11 opens the gate for the robot 10 to enter and exit. 202402791

[0063] 11

[0064] Gate 11 is shown in Figure 3A. Gate 11 has a fixed pivot point around which it can change from a substantially vertical, closed position to a substantially horizontal, open position. Gate 11 opens when the robot 10 leaves or returns to the service station. Gate 11 is particularly well-constructed as a single piece and can be manufactured using a single-component process.

[0065] The docking module 8 is installed in the plinth of the kitchen cabinet 7. Specifically, it utilizes an existing installation space within the kitchen cabinet 7 with a clearance of, for example, 15 cm below the plinth and approximately 10 cm below a cabinet door (front). Figure 3B shows the docking module 8 integrated into the kitchen cabinet 7 with the gate 11 closed. The robot is not visible from the outside when the gate 11 is closed. Figure 3C shows the docking module from Figure 3A with the gate 11 open. When the gate 11 is open, it is positioned within the existing installation space behind the cabinet door and below the cabinet base.

[0066] In order to ensure safe and optimal opening and closing of gate 11, the following boundary conditions must be met:

[0067] - When open, gate 11 must be located above the highest point of robot 10. The distance must be large enough to allow robot 10 to pass through even when approaching the service station via a ramp.

[0068] - Robot 10 should be parked as close as possible to gate 11. Gate 11 must not touch the outline of robot 10 while gate 11 is closing.

[0069] - When gate 11 is open, gate 11 may only protrude from the service station to such an extent that a minimum distance to the cabinet door of kitchen cabinet 7 is not undercut.

[0070] The opening of gate 11 to allow robot 10 to enter docking module 8 of the service station is shown in Figures 4A to 4E. Figure 4A shows the empty docking module 8 with gate 11 closed and the robot moving around (not shown). In Figure 4B, robot 10 reaches docking module 8. Gate 11 opens. In Figure 4C, robot 10 moves through the open gate 11 into docking module 8. 202402791

[0071] 12

[0072] In Figure 4D, gate 11 closes behind the now parked robot 10. Figure 4E shows the robot 10 parked in docking module 8 with gate 11 closed.

[0073] Gate 11, with its fixed pivot point, can be described by the geometric relationships of the gate's height S below the pivot point (pivot point height) and the horizontal distance I from the pivot point to gate 11 (lever arm). To ensure safe rotation, the following conditions must be met:

[0074] W < Y, where W = S - 1 (height S of gate 11 below the pivot point minus the horizontal distance I from the pivot point to gate 11). If gate 11 is tilted upwards or inwards by approximately 90°, the lower part of gate 11 protrudes from the docking module 8 by a length W. The length W of the protruding gate 11 must be less than an available distance Y to the cabinet door of the kitchen cabinet 7 (W < Y). Furthermore, the following must be satisfied:

[0075] V > U, where V = A + S + I (height S of the gate below the pivot point summed with the horizontal distance I from the pivot point to gate 11 plus the height A of a gap under gate 11, where, for example, A = 2 mm). If gate 11 is tilted upwards or inwards by approximately 90°, the height S and distance I add together to give the clearance height. The gap under gate 11 is determined by the distance between the bottom edge of the closed gate 11 and the ground. Furthermore, the following conditions must be met:

[0076] I + S < Z, where Z is the maximum installation height of docking module 8. The open gate 11 must not protrude beyond the maximum installation height Z of docking module 8. To position the robot 10 as close as possible to gate 11 inside docking module 8, the space occupied by gate 11 when tilting inwards must be minimized. The longer the lever arm (I) and the higher the gate's pivot point (S), the greater the distance between the moving gate 11 and the robot 10. The horizontal distance I and the height S are limited by the installation height Z and the available distance Y.

[0077] In order to achieve an optimally opening and closing gate 11 under the given conditions, the ratio of I (horizontal distance I from the pivot point to the gate 11) to S (height S of the gate 11 below the pivot point) is essentially 1 to 2.

[0078] 13

[0079] Preferably: l / S ~ 1 / 2. This ratio results in a gate 11 that can make maximum use of the interior space of the docking module 8 and the given available distance Y in front of the docking module 8, while simultaneously taking into account the requirements for the robot 10 entering, exiting, and parking. Only a small amount of space is required inside the docking module 8, leaving room for components to provide the service functions of the service station.

[0080] Gate 11 can be moved from the open to the closed position and back again using a (servo) motor. All intermediate positions are also possible and can be specifically targeted.

[0081] When gate 11 is closed, it is advantageous if there is no or only a minimal visible gap between gate 11 and the front of the docking module 8 located above it. For this purpose, an inner edge 9 of the service station (docking module front), along which the gate moves, is provided with a chamfer or bevel that allows gate 11 to slide more closely along the upper docking module front (Figure 5). 202402791

[0082] REFERENCE MARK LIST

[0083] 1 Suction mouth

[0084] 2 brush rollers

[0085] 3-sided brush

[0086] 4 Cleaning pad, wiping pad 5 LiDAR sensor

[0087] 6 Interface

[0088] 7 Kitchen cabinet

[0089] 8 Docking module

[0090] 9 edge

[0091] 10 robots

[0092] 11 goals

[0093] I distance

[0094] S Height (Gate)

[0095] U Device height

[0096] V distance

[0097] W length

[0098] Y distance

[0099] Z Installation space height

Claims

202402791 15 PATENT CLAIMS 1. Service station for a mobile, self-driving device, in particular for a cleaning robot (10), which is designed to hold the device and is integrated into a piece of furniture, wherein - a gate (11) closes off an entrance and exit of the service station, - the gate (11) is tiltable for driving the device in and out, in that the gate (11) is rotatable from a closed position about a fixed pivot point to an open position, and vice versa, and - the pivot point is positioned such that, in the closed position, the height (S) of the gate (11) below the pivot point is essentially twice the horizontal distance (I) from the pivot point to the gate (11).

2. Service station according to claim 1, comprising an actuator for tilting the gate (11).

3. Service station according to one of the preceding claims, wherein in the open position the gate (11) protrudes from the service station such that a length (W) of the protruding gate (11) is less than a horizontal distance (Y) of the service station to a front of the furniture.

4. Service station according to one of the preceding claims, wherein the sum of the horizontal distance (I) from the pivot point to the gate (11) in the closed position and the height (S) of the gate (11) below the pivot point in the closed position is less than a space height (Z) of the furniture.

5. Service station according to one of the preceding claims, wherein a vertical distance (V) of the gate (11) to a floor in the open position is greater than the distance of a front of the furniture to the floor.

6. Service station according to one of the preceding claims, wherein a vertical distance (V) of the gate to a floor in the open position is greater than the 202402791 Sum of the horizontal distance (I) from the pivot point to the gate (11) in the closed position and the height (S) of the gate (11) below the pivot point in the closed position.

7. Service station according to one of the preceding claims, wherein the gate (11) is tiltable in intermediate positions between the closed position and the open position.

8. Service station according to one of the preceding claims, wherein an inside of an edge (9) of the service station, past which the gate (11) can be moved, has a chamfer.

9. Method for controlling a gate (11) of a service station through which a mobile, self-driving device, in particular a cleaning robot (10), can enter and exit the service station, wherein - the service station is integrated into a piece of furniture, - the gate (11) is opened for the entry and exit of the device by tilting the gate (11) from a closed position about a pivot point into an open position, and - the pivot point is positioned such that, in the closed position, the height (S) of the gate (11) below the pivot point is essentially twice the horizontal distance (I) from the pivot point to the gate (11).

10. Method according to claim 9, wherein the gate (11) is moved from the open position to the closed position via an actuator, in particular a servomotor.

11. Method according to claim 9 or 10, wherein intermediate positions are selectively approached.

12. Computer program product comprising instructions which, when the program is executed by its service station according to any one of the preceding claims 1 to 8, cause the service station to execute the method according to any one of the preceding claims 9 to 11. 202402791 17 13. Computer-readable data carrier on which the computer program product according to claim 12 is stored.

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