DE102020207117A1 - METHOD OF CALIBRATING A DISTANCE MEASUREMENT OF A CLEANING ROBOT AND A CLEANING DEVICE WITH A CLEANING ROBOT - Google Patents

Abstract

The invention relates to a method (4) for calibrating a distance measurement of a cleaning robot (2) of a cleaning device (1). The cleaning robot (2) carries out the distance measurement over a number of wheel revolutions of its wheel (6) and a stored wheel circumference or wheel diameter of its wheel (6).
According to the invention, in a comparison measurement step, the cleaning robot (2) optically determines a comparison distance (VA) between its position (SP) and a position point (PP) distant from the position (SP). In a measurement step, the cleaning robot (2) drives from the position (SP) to the position point (PP) and determines a measurement distance (MA) between the position (SP) and the position point (PP) from the stored wheel circumference or wheel diameter of its wheel (6 ) and from a determined number of wheel revolutions of his wheel (6). In a calculation step, the cleaning robot (2) determines an actual wheel circumference or wheel diameter of its wheel (6) from the comparison distance (VA) and from the determined number of wheel revolutions. In a calibration step, the cleaning robot (2) replaces the stored wheel circumference or wheel diameter with the actual wheel circumference or wheel diameter.

Description

The invention relates to a method for calibrating a distance measurement of a cleaning robot of a cleaning device according to the preamble of claim 1. The invention also relates to a cleaning device with the cleaning robot.

A generic cleaning device usually comprises a cleaning robot and a base station for charging the battery of the cleaning robot. When cleaning, the cleaning robot moves freely through a room, with the cleaning robot being navigated for efficient cleaning of the room. For this purpose, a distance measurement is usually carried out, in which the cleaning robot can determine the distance over the wheel circumference or wheel diameter of its wheel and the number of wheel revolutions.

From the DE 10 2014 106 444 A1 it is known to carry out the distance measurement with an optical device. The optical device or sensor is calibrated for the distance measurement over the wheel circumference and the number of wheel revolutions.

From the WO 2016/005 012 A1 and the DE 10 2010 060 347 A1 similar methods for calibrating optical devices in the cleaning robot are known.

Disadvantageously, however, the wheels of the cleaning robot are subject to wear, which falsifies the distance measurement and also the calibration of optical devices.

The object of the invention is therefore to provide an improved method for calibrating a distance measurement of a cleaning robot. Furthermore, a correspondingly improved cleaning device with the cleaning robot is to be provided.

According to the invention, these objects are achieved by the subject matter of the independent claims. Advantageous embodiments are the subject of the dependent claims.

A method is provided for calibrating a distance measurement of a cleaning robot of a cleaning device. The cleaning robot carries out the distance measurement over a stored wheel circumference or wheel diameter of its wheel and a number of wheel revolutions of its wheel. According to the invention, in a comparison measurement step, the cleaning robot optically determines a comparison distance between its position and a position point distant from the position. In a measurement step, the cleaning robot moves from the point of view to the position point and determines a measurement distance between the point of view and the position point from the stored wheel circumference or wheel diameter of its wheel and from a determined number of wheel revolutions of its wheel. In a calculation step, the cleaning robot determines an actual wheel circumference or wheel diameter of its wheel from the comparison distance and the determined number of wheel revolutions. In a calibration step, the cleaning robot then replaces the stored wheel circumference or wheel diameter with the actual wheel circumference or wheel diameter.

In the method according to the invention, the cleaning robot can independently calibrate the distance measurement and the wear on its wheels can thereby be taken into account. This enables the subsequent distance measurement to be carried out more precisely. Advantageously, better space coverage, better corner cleaning, a constant driving style and a constant cleaning result over the entire service life of the cleaning robot can thereby be achieved.

It can advantageously be provided that the cleaning robot is positioned at its position at a first distance not equal to zero from a base station and at the position point at a second distance not equal to zero from the base station. In the comparison measurement step, the cleaning robot then optically determines the first distance and the second distance and calculates the comparison distance from the two distances. In other words, in order to calibrate the distance measurement, the cleaning robot can calculate the comparison distance between two points remote from one another and from the base station.

Alternatively, it can be provided that the cleaning robot is positioned at its position at a first distance not equal to zero from a base station and at the position point at a second distance equal to zero from the base station. In the comparison measurement step, the cleaning robot optically determines the first distance and then sets the comparison distance equal to the first distance. In other words, the cleaning robot can calculate the comparison distance between the base station and its position in order to calibrate the distance measurement. It can be provided that the cleaning robot drives up to the base station in the measurement step to reach the position point until it detects contact with the base station via a contact sensor.

Advantageously, the cleaning robot can first or the second distance in determine the comparison measurement step; then carry out the measurement step; and then determine the second or the first distance and the comparison distance in the comparison measuring step. In other words, the comparison measurement step can be interrupted for performing the measurement step and continued after the measurement step has ended. The duration of the process can advantageously be reduced as a result. Alternatively, the cleaning robot can first carry out the comparison measurement step and then the measurement step or first carry out the measurement step and then the comparison measurement step.

It can advantageously be provided that the cleaning robot first compares the comparison distance and the measurement distance in the calculation step. The cleaning robot then interrupts the calculation step when the comparison distance is equal to the measurement distance. However, if the comparison distance is smaller than the measuring distance, the cleaning robot continues the calculation step. In other words, the cleaning robot only carries out a calibration when this is necessary.

It can advantageously be provided that the cleaning robot determines the comparison distance in the comparison measurement step by means of a distance sensor or by means of a LIDAR system. In the comparison measurement step, the cleaning robot can advantageously determine the respective distance from the base station using a pattern at the base station. The pattern can be two-dimensional or three-dimensional and can be represented by a striped pattern or a rectangular window of the base station. The cleaning robot can determine a measured variable of the pattern in the respective position point and determine the respective distance to the base station by means of a triangulation over the measured variable of the pattern and over a stored actual comparison value of the pattern.

The invention also relates to the cleaning device with the cleaning robot and with the base station, the cleaning robot being able to carry out the distance measurement over a stored wheel circumference or wheel diameter of its wheel and a number of wheel revolutions of its wheel. According to the invention, the cleaning device is designed to carry out the method described above.

Further important features and advantages of the invention emerge from the subclaims, from the drawing and from the associated description of the figures based on the drawing.

It goes without saying that the features mentioned above and those yet to be explained below can be used not only in the respectively specified combination, but also in other combinations or on their own, without departing from the scope of the present invention.

• Die einzige 1 zeigt eine erfindungsgemäße Reinigungsvorrichtung.

A preferred embodiment of the invention is shown in the drawing and is explained in more detail in the following description.

• The only 1 shows a cleaning device according to the invention.

Accordingly 1 has a cleaning device according to the invention 1 a cleaning robot 2 and a base station 3 on. Accordingly 1 is also a method according to the invention 4th for calibrating a distance measurement of the cleaning robot 2 described.

The cleaning robot 2 is first at a viewpoint SP and determines a first distance X1 from the base station in a comparison measurement step 3 . The cleaning robot instructs you to do this 2 a distance sensor or a LIDAR system 5 on.

oder alternativ nach der Formel $$\text{MA}=\text{n }*\mathrm{\pi }*\text{ D\_AB}$$

bestimmt werden, wobei U_AB einem abgespeicherten Radumfang des Rads 6 und D_AB einem abgespeicherten Durchmesser des Rads 6 entsprechen. Die Wahl der Formel hängt dabei davon ab, ob der Reinigungsroboter 2 zur Entfernungsmessung den Radumfang oder den Raddurchmesser verwendet.Then the cleaning robot moves 2 in a measurement step from the point of view SP to the position point PP and determines the number of wheel revolutions n of his wheel 6th . Once the position point PP has been reached, the cleaning robot determines 2 a measurement distance MA between the station point SP and the position point PP. The measuring distance MA can be calculated according to the formula $$\text{MA}=\text{n}*\text{U\_AB}$$

or alternatively according to the formula $$\text{MA}=\text{n}*\mathrm{\pi }*\text{D\_AB}$$

can be determined, where U_AB is a stored wheel circumference of the wheel 6th and D_AB a stored diameter of the wheel 6th correspond. The choice of formula depends on whether the cleaning robot 2 the wheel circumference or the wheel diameter is used to measure the distance.

The cleaning robot 2 now continues the comparison measurement step and determines a second distance X2 to the base station 3 with the distance sensor or the LIDAR system 5 . The cleaning robot determines from the first distance X1 and the second distance X2 2 then a comparison distance VA according to the formula: $$\text{VA}=\text{X1}-\text{X2}$$

The cleaning robot compares in a calculation step 2 the measuring distance MA and the comparison distance VA. If the comparison distance VA is the same as the measurement distance MA, then the procedure is 4th completed. However, if the comparison distance VA is smaller than the measuring distance MA, the cleaning robot calculates 2 an actual wheel circumference U_TS of his wheel 6th according to the formula: $$\text{U\_TS}=\text{VA / n}$$

Alternatively, the cleaning robot calculates 2 an actual wheel diameter D_TS of its wheel 6th according to the formula: $$\text{D\_TS}=\text{VA /}\left(\text{n}*\mathrm{\pi }\right)$$

Again, the choice of formula depends on whether the cleaning robot 2 the wheel circumference or the wheel diameter is used to measure the distance.

The cleaning robot then replaces it 2 the stored wheel circumference U_AB with the actual wheel circumference U_TS or, alternatively, the stored diameter D_AB of the wheel 6th with the actual wheel diameter D_TS.

By calibrating with the method according to the invention 4th the subsequent distance measurement can be carried out more precisely and a constant and better cleaning result can be achieved.

List of reference symbols

1

Cleaning device

2

Cleaning robot

3

Base station

4th

proceedings

5

LIDAR system

6th

wheel

QUOTES INCLUDED IN THE DESCRIPTION

This list of the documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent literature cited

• DE 102014106444 A1 [0003]
• WO 2016/005012 A1 [0004]
• DE 102010060347 A1 [0004]

Claims (10)

Method (4) for calibrating a distance measurement of a cleaning robot (2) of a cleaning device (1), wherein the cleaning robot (2) carries out the distance measurement over a number of wheel revolutions of its wheel (6) and a stored wheel circumference or wheel diameter of its wheel (6), characterized in that - that the cleaning robot (2) optically determines a comparison distance (VA) between its position (SP) and a position point (PP) distant from the position (SP) in a comparison measurement step, - that the cleaning robot (2) in a measurement step from the point of view (SP) to the position point (PP) and a measurement distance (MA) between the point of view (SP) and the position point (PP) from the stored wheel circumference or wheel diameter of his wheel (6) and from a determined number of wheel revolutions of his Rads (6) determines - that the cleaning robot (2) in a calculation step from the comparison distance (VA) and from the erm averaged number of wheel revolutions determines an actual wheel circumference or wheel diameter of its wheel (6), and - that the cleaning robot (2) replaces the stored wheel circumference or wheel diameter with the actual wheel circumference or wheel diameter in a calibration step. Procedure according to Claim 1 Characterized in that - the cleaning robot (2) in its position (SD) with a first distance (X1) equal to zero to a base station and in the position of point (PP) at a second distance (X2) equal to zero to the base station (3 ) is positioned, - that the cleaning robot (2) in the comparison measurement step optically determines the first distance (X1) and the second distance (X2) and calculates the comparison distance (VA) from the two distances (X1, X2). Procedure according to Claim 1 - characterized in - that the cleaning robot (2) in its position (SP) with a first distance (X!) not equal to zero to a base station (3) and in the position point (PP) with a second distance (X2) equal to zero the base station (3) is positioned, and that the cleaning robot (2) optically determines the first distance (X1) in the comparison measurement step and sets the comparison distance (VA) equal to the first distance (X1). Procedure according to Claim 3 , characterized in that the cleaning robot (2) drives up to the base station (3) in the measuring step to reach the position point (PP) until the cleaning robot (2) detects contact with the base station (3) via a contact sensor. Method according to one of the Claims 2 until 4th Characterized in that - the cleaning robot (2) first the comparison measurement step, and then the measuring step carries out, or first the measurement step, and then making the comparison measurement step, or - that the cleaning robot is first determined the first or the second distance (X1, X2) in the comparison measurement step ; then performs the measurement step; and then determining the second or the first distance (X2, X1) and the comparison distance (VA) in the comparison measuring step. Method according to one of the Claims 1 until 5 , characterized in that - in the calculation step, the cleaning robot (2) first compares the comparison distance (VA) and the measurement distance (MA), and - that the cleaning robot (2) interrupts the calculation step when the comparison distance (VA) equals the measurement distance ( MA) and continues the calculation step if the comparison distance (VA) is smaller than the measurement distance (MA). Method according to one of the Claims 1 until 6th , characterized in that the cleaning robot (2) in the comparison measurement step determines the comparison distance (VA) by means of a distance sensor (5) or by means of a LIDAR system (5). Method according to one of the Claims 2 until 7th , characterized in that the cleaning robot (2) in the comparison measuring step determines the respective distance (X1, X2) to the base station via a pattern at the base station (3), the pattern being two-dimensional or three-dimensional and by a striped pattern or a rectangular window the base station (3) is shown. Procedure according to Claim 8 , characterized in that the cleaning robot (2) determines a measured variable of the pattern in the respective position point (PP) and the respective distance (X1, X2) to the base station by means of a triangulation over the measured variable of the pattern and a stored actual comparison value of the pattern (3) determined. Cleaning device (1) with a cleaning robot (2) and with a base station (3), wherein the cleaning robot (2) can carry out the distance measurement over a stored wheel circumference or wheel diameter of its wheel (6) and a number of wheel revolutions of its wheel (6), characterized in that the cleaning device (1) is designed to carry out the method (4) according to one of the preceding claims.

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