WO2016206716A1 - Remotely controlled robotic cleaning device - Google Patents

Remotely controlled robotic cleaning device Download PDF

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Publication number
WO2016206716A1
WO2016206716A1 PCT/EP2015/064030 EP2015064030W WO2016206716A1 WO 2016206716 A1 WO2016206716 A1 WO 2016206716A1 EP 2015064030 W EP2015064030 W EP 2015064030W WO 2016206716 A1 WO2016206716 A1 WO 2016206716A1
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WO
WIPO (PCT)
Prior art keywords
light
cleaning device
robotic cleaning
refracting unit
optical detector
Prior art date
Application number
PCT/EP2015/064030
Other languages
French (fr)
Inventor
Niklas NORDIN
Original Assignee
Aktiebolaget Electrolux
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Aktiebolaget Electrolux filed Critical Aktiebolaget Electrolux
Priority to PCT/EP2015/064030 priority Critical patent/WO2016206716A1/en
Publication of WO2016206716A1 publication Critical patent/WO2016206716A1/en

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C23/00—Non-electrical signal transmission systems, e.g. optical systems
    • G08C23/04—Non-electrical signal transmission systems, e.g. optical systems using light waves, e.g. infrared

Definitions

  • the invention relates to a robotic cleaning device arranged with a user interface via which the robotic cleaning device can be remotely controlled by means of optical signals.
  • IR infrared
  • an optical detector arranged on the robotic cleaning device may be turned away from the remote control held by a user controlling the device, in which case light emitted by the remote control not necessarily impinges on the detector, having as a consequence that the robotic device cannot interpret the emitted IR signals. Further, even if the optical detector is not turned away from the remote control, the angle of incident light may still be such that the detector cannot detect the light emitted by the remote control.
  • One solution to this problem is to equip the robotic cleaning device with multiple optical detectors at different positons on the robotic device such that the optical detectors will detect emitted light no matter where the user is located with the remote control, since one or more of the multiple optical detectors always are facing the remote control. However, using multiple optical detectors will add a cost to the manufacturing of the robotic cleaning device.
  • US 2004/ 0085037 discloses a system and method for confining a robot to a particular space.
  • the system includes a portable barrier signal transmitter that produces an optical barrier signal, and a mobile robot capable of avoiding the barrier signal upon detection of the barrier signal by means of a signal detector referred to as a robot confinement (RCON) detector.
  • RCON robot confinement
  • the RCON detector comprises a lens arranged on top of an infrared (IR) detector for focusing the optical barrier signal on the IR detector.
  • IR infrared
  • the lens used in the RCON detector is designed to accept light rays perpendicular to an axis of the lens and to reject rays substantially above or substantially below a plane perpendicular to the axis of the lens.
  • the lens focuses primarily horizontally impinging light rays onto the IR detector.
  • An object of the invention is to solve, or at least mitigate, this problem in the art and to provide an improved robotic cleaning device light detector capable of detecting signals incident from any direction.
  • a robotic cleaning device arranged with a user interface via which the robotic cleaning device can be remotely controlled by means of optical signals.
  • the user interface comprises an optical detector configured to detect the optical signals remotely controlling the robotic cleaning device, and a light-refracting unit arranged above the optical detector, the light-refracting unit being configured to refract any incident light to impinge on the optical detector.
  • the range over which detection of optical signals is possible can be increased with a single optical detector, thereby enabling detection of light impinging on the user interface from any angle.
  • the optical detector being for instance a photo diode
  • the light-refracting unit in the form of e.g. a lens arranged on top of it, any light incident on the lens will be refracted and impinge on the photo diode arranged under the lens, thereby avoiding use of multiple detectors arranged at different positons on the robotic device.
  • the user interface is advantageously arranged on an upper side of the robotic cleaning device, being the best position on the robotic device for facilitating receiving optical signals from any direction .
  • the light-refracting unit is arranged in an opening in the robotic cleaning device chassis. The light-refracting unit will thus have an advantageous exposure to optical signals impinging on the robotic cleaning device.
  • the light-refracting unit comprises a dome-shaped lens arranged in an opening in the robotic cleaning device chassis is a dome- shaped lens protruding out from the opening.
  • the light-refracting unit the light-refracting unit is arranged in an opening of the robot cleaning device chassis.
  • a side of the light-refracting unit facing an exterior of the robotic cleaning device is configured to be flat while a side of the light- refracting unit facing the optical detector dome-shaped with a concave side of the dome-shape facing the optical detector.
  • the light- refracting unit in this particular embodiment does not protrude from the opening of the chassis, a slightly lower user interfaced can be provided, which his favourable with respect to a total height of the robotic cleaning device, since the robot sometimes need to travel under beds, chairs, bureaus, etc. It should be noted that a protruding light-refracting unit will add very little to the height of the robot.
  • the light-refracting unit is arranged under a light-transmitting layer of the user interface.
  • the user interface is typically arranged on an upper side of the robotic cleaning device, thereby being positioned such that it easily can be reached by the signals of the remote control, which reduces the risk of having the user interface being turned away from the remote control.
  • a side of the light-refracting unit facing the light-transmitting layer is configured to be flat and arranged parallel with the light-transmitting layer.
  • the flat side of the light-refracting unit may be located just under the light-transmitting layer or may be flush against the layer, while a side of the light-refracting unit facing the optical detector is dome-shaped with a concave side of the dome-shape facing the optical detector.
  • the light-refracting device may be attached to the internal side of the light-transmitting layer by means of e.g. adhesive, and thus refract incident light onto the optical detector positioned right under it, providing for an inexpensive solution .
  • the wavelength of the optical signal emitted from the remote control is adapted to an operating wavelength of the optical detector such that light having a wavelength corresponding to that of the remote control optical signal is readily detected by the optical detector, while ambient light such as e.g. sunrays are supressed at the optical detector.
  • the optical detector is complemented with an optical filter.
  • other types of lenses and shapes of the lenses than those described herein can be envisaged for refracting incident light in a direction towards the optical detector, such as e.g. a Fresnel lens.
  • Figure 1 shows a front view of an exemplifying robotic cleaning device implementing a user interface according to an embodiment of the invention ;
  • Figure 2 shows a top view of the robotic cleaning device of Figure 1, illustrating a user interface;
  • Figure 3 shows the user interface of Figure 2 in a sectional view, where a light-refracting unit is arranged in an opening in the robotic cleaning device chassis according to an embodiment of the invention ;
  • Figure 4 shows a user interface of according to a further embodiment of the invention ;
  • Figure 5 shows a user interface of according to yet a further embodiment of the invention.
  • Figure 6 shows a user interface of according to still a further embodiment of the invention.
  • the invention relates to robotic cleaning devices, or in other words, to automatic, self-propelled machines for cleaning a surface, e.g. a robotic vacuum cleaner, a robotic sweeper or a robotic floor washer.
  • the robotic cleaning device according to the invention can be mains-operated and have a cord, be battery-operated or use any other kind of suitable energy source, for example solar energy.
  • a robotic cleaning deice is equipped with a propulsion system comprising driving means in the form of electric wheel motors for enabling movement of driving wheels such that the robot can be moved over a surface to be cleaned.
  • the robotic cleaner further comprises a controller such as a microprocessor that controls the wheel motors to rotate the driving wheels as required in view of information received from an obstacle detecting device, such as e.g. a 3D camera, for detecting obstacles in the form of walls, floor lamps, table legs, around which the robotic cleaning device must navigate.
  • an obstacle detecting device such as e.g. a 3D camera
  • the robot may be equipped with a cleaning member for removing debris and dust from the surface to be cleaned in the form of a rotatable brush roll arranged in an opening in the bottom of the robotic cleaner.
  • the robotic cleaner comprises a suction fan creating an air flow for transporting debris to a dust bag or cyclone arrangement housed in a main body of the cleaner via the opening in its bottom side.
  • Figure 1 shows a front view of an exemplifying robotic cleaning device 10 implementing a user interface 20 according to an embodiment of the invention .
  • the exemplified robotic cleaner 10 comprises an obstacle detecting device in the form of a 3D sensor system comprising at least a camera 11 and a first and a second line laser 12, 13, which may be horizontally or vertically oriented line lasers, configured to illuminate a vicinity of the robotic cleaning device 10. Further shown is a controller 14, driving wheels 15, 16, and a rotatable brush roll 17 as previously discussed.
  • the camera 11 is controlled by the controller 14 to capture and record images from which the controller 14 creates a representation or layout of the surroundings that the robotic cleaning device 10 is operating in, by extracting features from the images and by measuring the distance covered by the robotic cleaning device 10 , while the robotic cleaning device 10 is moving across the surface to be cleaned.
  • the controller 14 derives positional data of the robotic cleaning device 10 with respect to the surface to be cleaned from the recorded images, generates a 3D representation of the surroundings from the derived positional data and moves the robotic cleaning device across the surface to be cleaned in accordance with the generated 3D representation and navigation information supplied to the robotic cleaning device 10 such that the surface to be cleaned can be navigated by taking into account the generated 3D representation, thereby avoiding bumping into obstacle.
  • FIG 2 shows a top view of the robotic cleaning device 10 of Figure 1.
  • the user interface (UI) 20 may be of touch-screen type or mechanically
  • the UI 20 may comprise display means for visually indicating a user selection. The user may in addition to physically contacting the UI 20 to control the robot 10 provide input to the UI 20 by means of wireless optical communication via a remote control (not shown).
  • the user interface 20 via which the robotic cleaning device 10 can be remotely controlled by means of optical signals comprises an optical detector (not shown in Figure 2) configured to detect optical signals remotely controlling the robotic cleaning device and a light-refracting unit 22 arranged above the optical detector.
  • the light- reflecting unit 22 is advantageously configured to refract light being incident from any direction to impinge on the optical detector, as will be described in more detail with reference to Figure 3.
  • Figure 3 shows the UI 20 of Figure 2 in a sectional view, where the light- refracting unit 22 is arranged in an opening 23 in the robotic cleaning device chassis 24 above the light detector 21 mounted in the interior of the robotic cleaning device 10.
  • the light-refracting unit 22 is a dome- shaped lens protruding out from the opening 23.
  • the capability of refracting incident light onto the optical detector 21 is high; an incident optical signal Rl impinging on the dome 22 at a small angle of incidence is refracted to impinge on the photo diode 21.
  • Figure 4 shows a further dome-shaped light-refracting unit being used which protrudes even further from the opening 23 of the chassis 24.
  • the first optical signal Rl incides on the dome 22, while a second optical signal R2 hits the chassis 24 and it reflected towards the dome 22, where it is refracted in a direction towards the photo diode 21.
  • the second optical signal R2 has a negative angel of incidence on the dome 22 as compared to the first optical signal Rl.
  • Figure 5 shows a further embodiment of the invention where the light- refracting unit 22 again is arranged in an opening of the robot chassis 24.
  • a side 25 of the light-refracting unit 22 facing an exterior of the robotic cleaning device 10 is configured to be flat while a side 26 of the light-refracting unit 22 facing the optical detector 21 is dome-shaped with a concave side of the dome-shape facing the optical detector 21.
  • an incident optical signal Rl impinging on the light-refracting unit 22 at a small angle of incidence is refracted to impinge on the optical detector 21.
  • the light-refracting unit 22 in this particular embodiment does not protrude from the opening of the chassis 24, a slightly lower UI 20 can be provided, which his favourable with respect to a total height of the robotic cleaning device 10 ; the robot may sometimes need to travel under beds, chairs, bureaus, etc.
  • Figure 6 shows yet a further embodiment of the invention where the light- refracting unit 22 of Figure 5 again is arranged in an opening of the robot chassis 24.
  • the UI 20 comprises a light-transmitting layer 27 (possibly as an integrated part of the robot chassis 24) made of e.g. a plastic material such as acrylonitrile butadiene styrene (ABS).
  • a side 25 of the light-refracting unit 22 facing the light-transmitting layer 27 is configured to be flat and arranged parallel with the light- transmitting layer 27 while a side 26 of the light-refracting unit 22 facing the optical detector 21 is dome-shaped with a concave side of the dome-shape facing the optical detector 21.
  • An incident optical signal Rl impinging on the light-refracting unit 22 at a small angle of incidence is refracted to impinge on the optical detector 21.
  • the light-refracting unit 22 in this particular embodiment is arranged in the interior of the robotic cleaning device 10 , no opening must be made in the chassis.
  • this particular light-refracting unit 22 may be provided in UIs of existing robotic cleaning devices 10.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Electric Vacuum Cleaner (AREA)

Abstract

The invention relates to a robotic cleaning device arranged with a user interface via which the robotic cleaning device can be remotely controlled by means of optical signals. The robotic cleaning device (10) is arranged with a user interface (20) via which the robotic cleaning device can be remotely controlled by means of optical signals. The user interface comprises an optical detector (21) configured to detect the optical signals remotely controlling the robotic cleaning device, and a light-refracting unit (22) arranged above the optical detector, the light-refracting unit being configured to refract any incident light to impinge on the optical detector.

Description

REMOTELY CONTROLLED ROBOTIC CLEANING DEVICE
TECHNICAL FIELD
The invention relates to a robotic cleaning device arranged with a user interface via which the robotic cleaning device can be remotely controlled by means of optical signals.
BACKGROUND
When controlling an autonomous device, such as a robotic cleaning device, by means of e.g. a wireless remote control emitting infrared (IR) signals which are received and interpreted at the robotic clean device in order for the robotic device to perform an action stipulated by the IR signals, it may be difficult to perform detection of the emitted IR signals at the robotic cleaning device.
For instance, an optical detector arranged on the robotic cleaning device may be turned away from the remote control held by a user controlling the device, in which case light emitted by the remote control not necessarily impinges on the detector, having as a consequence that the robotic device cannot interpret the emitted IR signals. Further, even if the optical detector is not turned away from the remote control, the angle of incident light may still be such that the detector cannot detect the light emitted by the remote control. One solution to this problem is to equip the robotic cleaning device with multiple optical detectors at different positons on the robotic device such that the optical detectors will detect emitted light no matter where the user is located with the remote control, since one or more of the multiple optical detectors always are facing the remote control. However, using multiple optical detectors will add a cost to the manufacturing of the robotic cleaning device.
US 2004/ 0085037 discloses a system and method for confining a robot to a particular space. The system includes a portable barrier signal transmitter that produces an optical barrier signal, and a mobile robot capable of avoiding the barrier signal upon detection of the barrier signal by means of a signal detector referred to as a robot confinement (RCON) detector. Upon detection of the signal, the robot turns in a direction selected by a barrier avoidance algorithm until the barrier signal is no longer detected. The RCON detector comprises a lens arranged on top of an infrared (IR) detector for focusing the optical barrier signal on the IR detector. The lens used in the RCON detector is designed to accept light rays perpendicular to an axis of the lens and to reject rays substantially above or substantially below a plane perpendicular to the axis of the lens. The lens focuses primarily horizontally impinging light rays onto the IR detector.
SUMMARY
An object of the invention is to solve, or at least mitigate, this problem in the art and to provide an improved robotic cleaning device light detector capable of detecting signals incident from any direction.
This object is attained in an aspect of the invention by a robotic cleaning device arranged with a user interface via which the robotic cleaning device can be remotely controlled by means of optical signals. The user interface comprises an optical detector configured to detect the optical signals remotely controlling the robotic cleaning device, and a light-refracting unit arranged above the optical detector, the light-refracting unit being configured to refract any incident light to impinge on the optical detector.
Advantageously, with the present invention, the range over which detection of optical signals is possible can be increased with a single optical detector, thereby enabling detection of light impinging on the user interface from any angle. By providing the optical detector, being for instance a photo diode, with the light-refracting unit in the form of e.g. a lens arranged on top of it, any light incident on the lens will be refracted and impinge on the photo diode arranged under the lens, thereby avoiding use of multiple detectors arranged at different positons on the robotic device. In an embodiment of the invention, the user interface is advantageously arranged on an upper side of the robotic cleaning device, being the best position on the robotic device for facilitating receiving optical signals from any direction . In an embodiment, the light-refracting unit is arranged in an opening in the robotic cleaning device chassis. The light-refracting unit will thus have an advantageous exposure to optical signals impinging on the robotic cleaning device.
In a further embodiment, the light-refracting unit comprises a dome-shaped lens arranged in an opening in the robotic cleaning device chassis is a dome- shaped lens protruding out from the opening. With this embodiment, the capability of refracting incident light onto the optical detector is improved, even enabling for the light-refracting unit to refract incident light onto the detector having a negative angle of incidence with respect to a plane in which the light-refracting unit is arranged.
In a further embodiment, the light-refracting unit the light-refracting unit is arranged in an opening of the robot cleaning device chassis. However, in this particular embodiment, a side of the light-refracting unit facing an exterior of the robotic cleaning device is configured to be flat while a side of the light- refracting unit facing the optical detector dome-shaped with a concave side of the dome-shape facing the optical detector. Advantageously, since the light- refracting unit in this particular embodiment does not protrude from the opening of the chassis, a slightly lower user interfaced can be provided, which his favourable with respect to a total height of the robotic cleaning device, since the robot sometimes need to travel under beds, chairs, bureaus, etc. It should be noted that a protruding light-refracting unit will add very little to the height of the robot.
In still a further embodiment of the invention, the light-refracting unit is arranged under a light-transmitting layer of the user interface. The user interface is typically arranged on an upper side of the robotic cleaning device, thereby being positioned such that it easily can be reached by the signals of the remote control, which reduces the risk of having the user interface being turned away from the remote control.
In a further embodiment of the invention, a side of the light-refracting unit facing the light-transmitting layer is configured to be flat and arranged parallel with the light-transmitting layer. The flat side of the light-refracting unit may be located just under the light-transmitting layer or may be flush against the layer, while a side of the light-refracting unit facing the optical detector is dome-shaped with a concave side of the dome-shape facing the optical detector. This embodiment is advantageous since the light-refracting unit can be arranged inside of a robotic cleaning device on top of an already available optical detector. Thus, the invention according to this embodiment may be implemented in the robotic cleaning device with no - or minor - structural modifications made to the robotic device. Given that there is room internally under the chassis to mount the light-refracting device, it may be attached to the internal side of the light-transmitting layer by means of e.g. adhesive, and thus refract incident light onto the optical detector positioned right under it, providing for an inexpensive solution .
It should be noted that the wavelength of the optical signal emitted from the remote control is adapted to an operating wavelength of the optical detector such that light having a wavelength corresponding to that of the remote control optical signal is readily detected by the optical detector, while ambient light such as e.g. sunrays are supressed at the optical detector.
Possibly, the optical detector is complemented with an optical filter. Further, other types of lenses and shapes of the lenses than those described herein can be envisaged for refracting incident light in a direction towards the optical detector, such as e.g. a Fresnel lens.
Generally, all terms used in the claims are to be interpreted according to their ordinary meaning in the technical field, unless explicitly defined otherwise herein . All references to "a/ an/ the element, apparatus, component, means, step, etc." are to be interpreted openly as referring to at least one instance of the element, apparatus, component, means, step, etc., unless explicitly stated otherwise. The steps of any method disclosed herein do not have to be performed in the exact order disclosed, unless explicitly stated. BRIEF DES CRIPTION OF THE DRAWINGS
The invention is now described, by way of example, with reference to the accompanying drawings, in which:
Figure 1 shows a front view of an exemplifying robotic cleaning device implementing a user interface according to an embodiment of the invention ; Figure 2 shows a top view of the robotic cleaning device of Figure 1, illustrating a user interface;
Figure 3 shows the user interface of Figure 2 in a sectional view, where a light-refracting unit is arranged in an opening in the robotic cleaning device chassis according to an embodiment of the invention ; Figure 4 shows a user interface of according to a further embodiment of the invention ;
Figure 5 shows a user interface of according to yet a further embodiment of the invention; and
Figure 6 shows a user interface of according to still a further embodiment of the invention.
DETAILED DES CRIPTION
The invention will now be described more fully hereinafter with reference to the accompanying drawings, in which certain embodiments of the invention are shown. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein ; rather, these embodiments are provided by way of example so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. Like numbers refer to like elements throughout the description .
The invention relates to robotic cleaning devices, or in other words, to automatic, self-propelled machines for cleaning a surface, e.g. a robotic vacuum cleaner, a robotic sweeper or a robotic floor washer. The robotic cleaning device according to the invention can be mains-operated and have a cord, be battery-operated or use any other kind of suitable energy source, for example solar energy.
Generally, a robotic cleaning deice is equipped with a propulsion system comprising driving means in the form of electric wheel motors for enabling movement of driving wheels such that the robot can be moved over a surface to be cleaned. The robotic cleaner further comprises a controller such as a microprocessor that controls the wheel motors to rotate the driving wheels as required in view of information received from an obstacle detecting device, such as e.g. a 3D camera, for detecting obstacles in the form of walls, floor lamps, table legs, around which the robotic cleaning device must navigate. Further, the robot may be equipped with a cleaning member for removing debris and dust from the surface to be cleaned in the form of a rotatable brush roll arranged in an opening in the bottom of the robotic cleaner.
Moreover, the robotic cleaner comprises a suction fan creating an air flow for transporting debris to a dust bag or cyclone arrangement housed in a main body of the cleaner via the opening in its bottom side.
Figure 1 shows a front view of an exemplifying robotic cleaning device 10 implementing a user interface 20 according to an embodiment of the invention . The exemplified robotic cleaner 10 comprises an obstacle detecting device in the form of a 3D sensor system comprising at least a camera 11 and a first and a second line laser 12, 13, which may be horizontally or vertically oriented line lasers, configured to illuminate a vicinity of the robotic cleaning device 10. Further shown is a controller 14, driving wheels 15, 16, and a rotatable brush roll 17 as previously discussed. The camera 11 is controlled by the controller 14 to capture and record images from which the controller 14 creates a representation or layout of the surroundings that the robotic cleaning device 10 is operating in, by extracting features from the images and by measuring the distance covered by the robotic cleaning device 10 , while the robotic cleaning device 10 is moving across the surface to be cleaned. Thus, the controller 14 derives positional data of the robotic cleaning device 10 with respect to the surface to be cleaned from the recorded images, generates a 3D representation of the surroundings from the derived positional data and moves the robotic cleaning device across the surface to be cleaned in accordance with the generated 3D representation and navigation information supplied to the robotic cleaning device 10 such that the surface to be cleaned can be navigated by taking into account the generated 3D representation, thereby avoiding bumping into obstacle.
Figure 2 shows a top view of the robotic cleaning device 10 of Figure 1. The user interface (UI) 20 may be of touch-screen type or mechanically
configured comprising physical buttons to be operated. Further, the UI 20 may comprise display means for visually indicating a user selection. The user may in addition to physically contacting the UI 20 to control the robot 10 provide input to the UI 20 by means of wireless optical communication via a remote control (not shown).
Now, in an embodiment of the invention, the user interface 20 via which the robotic cleaning device 10 can be remotely controlled by means of optical signals comprises an optical detector (not shown in Figure 2) configured to detect optical signals remotely controlling the robotic cleaning device and a light-refracting unit 22 arranged above the optical detector. The light- reflecting unit 22 is advantageously configured to refract light being incident from any direction to impinge on the optical detector, as will be described in more detail with reference to Figure 3.
Figure 3 shows the UI 20 of Figure 2 in a sectional view, where the light- refracting unit 22 is arranged in an opening 23 in the robotic cleaning device chassis 24 above the light detector 21 mounted in the interior of the robotic cleaning device 10. In this embodiment, the light-refracting unit 22 is a dome- shaped lens protruding out from the opening 23. With this embodiment, the capability of refracting incident light onto the optical detector 21 is high; an incident optical signal Rl impinging on the dome 22 at a small angle of incidence is refracted to impinge on the photo diode 21.
Figure 4 shows a further dome-shaped light-refracting unit being used which protrudes even further from the opening 23 of the chassis 24. As in Figure 3, the first optical signal Rl incides on the dome 22, while a second optical signal R2 hits the chassis 24 and it reflected towards the dome 22, where it is refracted in a direction towards the photo diode 21. In this particular embodiment, the second optical signal R2 has a negative angel of incidence on the dome 22 as compared to the first optical signal Rl.
Figure 5 shows a further embodiment of the invention where the light- refracting unit 22 again is arranged in an opening of the robot chassis 24. However, in this particular embodiment, a side 25 of the light-refracting unit 22 facing an exterior of the robotic cleaning device 10 is configured to be flat while a side 26 of the light-refracting unit 22 facing the optical detector 21 is dome-shaped with a concave side of the dome-shape facing the optical detector 21. As can be seen, an incident optical signal Rl impinging on the light-refracting unit 22 at a small angle of incidence is refracted to impinge on the optical detector 21. Advantageously, since the light-refracting unit 22 in this particular embodiment does not protrude from the opening of the chassis 24, a slightly lower UI 20 can be provided, which his favourable with respect to a total height of the robotic cleaning device 10 ; the robot may sometimes need to travel under beds, chairs, bureaus, etc.
Figure 6 shows yet a further embodiment of the invention where the light- refracting unit 22 of Figure 5 again is arranged in an opening of the robot chassis 24. However, in this particular embodiment, the UI 20 comprises a light-transmitting layer 27 (possibly as an integrated part of the robot chassis 24) made of e.g. a plastic material such as acrylonitrile butadiene styrene (ABS). A side 25 of the light-refracting unit 22 facing the light-transmitting layer 27 is configured to be flat and arranged parallel with the light- transmitting layer 27 while a side 26 of the light-refracting unit 22 facing the optical detector 21 is dome-shaped with a concave side of the dome-shape facing the optical detector 21. An incident optical signal Rl impinging on the light-refracting unit 22 at a small angle of incidence is refracted to impinge on the optical detector 21. Advantageously, since the light-refracting unit 22 in this particular embodiment is arranged in the interior of the robotic cleaning device 10 , no opening must be made in the chassis. Hence, this particular light-refracting unit 22 may be provided in UIs of existing robotic cleaning devices 10.
The invention has mainly been described above with reference to a few embodiments. However, as is readily appreciated by a person skilled in the art, other embodiments than the ones disclosed above are equally possible

Claims

1. A robotic cleaning device ( 10 ) arranged with a user interface (20 ) via which the robotic cleaning device can be remotely controlled by means of optical signals, the user interface (20) comprising:
an optical detector (21) configured to detect the optical signals remotely controlling the robotic cleaning device; and
a light-refracting unit (22) arranged above the optical detector (21), said light-refracting unit (22) being configured to refract light being incident from any direction to impinge on the optical detector (21).
2. The robotic cleaning device ( 10 ) according to claim 1, said user interface (10) being arranged on an upper side of the robotic cleaning device ( 10 ).
3. The robotic cleaning device ( 10 ) according to any one of the preceding claims, wherein
the optical detector (21) comprises a photo diode.
4. The robotic cleaning device ( 10 ) according to any one of the preceding claims, wherein
the light-refracting unit (21) is arranged in an opening (23) in the robotic cleaning device chassis (24).
5. The robotic cleaning device (10 ) according to claim 4, wherein
the light-refracting unit (21) is dome-shaped and protrudes out from the opening (23).
6. The robotic cleaning device ( 10 ) according to any one of claims 1-4, wherein
a side (25) of the light-refracting unit (22) facing an exterior of the robotic cleaning device ( 10) is configured to be flat while a side (26) of the light-refracting unit (22) facing the optical detector (21) is dome-shaped with a concave side of the dome-shape facing the optical detector (21).
7. The robotic cleaning device ( 10 ) according to any one of claims 1-3, wherein the light-refracting unit (22) is arranged under a light-transmitting layer (27) of the user interface (20 ).
8. The robotic cleaning device according to claim 4, wherein
a side (25) of the light-refracting unit (22) facing the light-transmitting layer (27) is configured to be flat and arranged parallel with the light- transmitting layer (27) while a side (26) of the light-refracting unit (22) facing the optical detector (21) is dome-shaped with a concave side of the dome-shape facing the optical detector (21).
9. The robotic cleaning device ( 10 ) according to any one of the preceding claims, wherein
the light-refracting unit (22) comprises a dome-shaped lens.
PCT/EP2015/064030 2015-06-23 2015-06-23 Remotely controlled robotic cleaning device WO2016206716A1 (en)

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1331537A1 (en) * 2002-01-24 2003-07-30 iRobot Corporation Method and system for robot localization and confinement of workspace
US20060198032A1 (en) * 2005-03-07 2006-09-07 Saxena Kuldeep K Bi-curvature lens for light emitting diodes and photo detectors

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1331537A1 (en) * 2002-01-24 2003-07-30 iRobot Corporation Method and system for robot localization and confinement of workspace
US20060198032A1 (en) * 2005-03-07 2006-09-07 Saxena Kuldeep K Bi-curvature lens for light emitting diodes and photo detectors

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