CN107405034A - 机器人清洁设备以及控制所述机器人清洁设备的方法 - Google Patents

机器人清洁设备以及控制所述机器人清洁设备的方法 Download PDF

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CN107405034A
CN107405034A CN201580078184.6A CN201580078184A CN107405034A CN 107405034 A CN107405034 A CN 107405034A CN 201580078184 A CN201580078184 A CN 201580078184A CN 107405034 A CN107405034 A CN 107405034A
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cleaning device
robotic cleaning
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CN107405034B (zh
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M·林德
P·福斯贝里
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Electrolux AB
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
    • G05D1/0022—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement characterised by the communication link
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2842—Suction motors or blowers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2847—Surface treating elements
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2894—Details related to signal transmission in suction cleaners
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/0085—Cleaning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Abstract

本发明涉及一种机器人清洁设备以及一种控制所述机器人清洁设备的方法。所述机器人清洁设备(10)包括惯性测量单元(24)和控制器(16)。所述惯性测量单元(24)被安排成用于感测所述机器人清洁设备(10)的位移，并且所述控制器(16)被安排成用于确定所述机器人清洁设备(10)的所述位移的特征、并且将所述机器人清洁设备(10)设定为与所述位移的所确定的特征相关联的运行模式。

Description

机器人清洁设备以及控制所述机器人清洁设备的方法
技术领域
本发明涉及一种机器人清洁设备以及一种控制所述机器人清洁设备的方法。
背景技术
在许多技术领域中，希望使用具有自主行为的机器人，使得他们可以在空间周围自由地移动而不与可能的障碍物碰撞。
机器人真空吸尘器在本领域是已知的，这些机器人真空吸尘器装备有呈电机形式的驱动装置用于在待清洁的表面上移动吸尘器。机器人真空吸尘器进一步装备有呈用于引起自主行为的微处理器和导航装置形式的智能，使得机器人真空吸尘器能够自由地来回移动并且清洁呈例如房间形式的空间。因此，这些现有技术机器人真空吸尘器具有或多或少地自主地对其中具有家具(如桌椅)以及其他障碍物(如墙和楼梯)的房间进行真空吸尘的能力。
现代机器人真空吸尘器被安排成具有用户界面(UI)，机器人吸尘器的使用者可以通过所述用户界面输入指令，如选择并且计划待执行的清洁程序或用于录入如时间和日期等数据。这些UI的问题是可以被录入的输入数据的类型是相当有限的。进一步地，使用者待操作的UI的大小较小，使得通过UI输入数据对于使用者而言是麻烦的。而且，当具有多个电子装置时，对于使用者而言,感到待录入的数据可能是非直观的。
发明内容
本发明的目的是解决或者至少缓解本领域的这些问题中的一个或多个问题、并且为使用者提供一种改进的方法以及机器人清洁设备，便于使用者向所述机器人清洁设备提供用户指令。
这个目的是在发明的第一方面通过一种控制机器人清洁设备的运行的方法而达到的。所述方法包括感测所述机器人清洁设备的位移、确定所述机器人清洁设备的所述位移的特征、并且将所述机器人清洁设备设定为与所述位移的所确定特征相关联的运行模式。
这个目的是在发明的第二方面通过包括惯性测量单元和控制器的机器人清洁设备而达到的。所述惯性测量单元被安排成用于感测所述机器人清洁设备的位移，并且所述控制器被安排成用于确定所述机器人清洁设备的所述位移的特征、并且将所述机器人清洁设备设定为与所述位移的所确定的特征相关联的运行模式。
有利地，通过在机器人清洁设备处感测使用者引起的所述设备的位移，例如，通过使用惯性测量单元(IMU)感测所述位移，所述机器人设备能够确定所感测到的位移的特征，如取向或旋转速度的变化。
基于所确定的特征，所述机器人清洁设备被设定为具体的运行模式(有可能是多种运行模式中的一种运行模式)。例如，如果使用者将所述机器人设备从地板上抬升起来并且将其来回摇晃，所述机器人设备可以配置成被设定为就设置偏好而言定义为“重置”的运行模式，或者如果所述机器人设备处于实施清洁程序的过程中，将所述机器人设备从地板上抬升起来并且将其来回摇晃的相同操作可以被配置成意味着“重新开始”。将机器人设备从所述地板上抬升至所述地板上方的特定高度的动作本身可以指示位移由使用者引起而并非正常位移的结果。
因此，有利地方便使用者向机器人设备提供指令，而不必操作机器人设备的UI。进一步有利的是，可以向机器人设备提供可供使用的以IMU为形式的硬件装置，因为机器人清洁设备典型地被安排成具有一个或多个IMU。
在发明的实施例中，选定的运行模式进一步基于所述机器人清洁设备的当前运行模式；如果当前运行模式为例如“位于充电站”，摇晃可能有利地意味着“重置”，而如果所述当前运行模式例如为“运行清洁程序A”，则使用者相同的摇晃运动可以有利地意味着“重新开始”。
在发明的另外的实施例中，将所述机器人清洁设备设定为与所述位移的所确定特征相关联的运行模式有利地包括：当所述机器人清洁设备被移位到预定取向时，使所述机器人清洁设备的无线设置启用无线局域网(WLAN)。在这个具体的示例实施例中，使用者可以将所述机器人设备从所述地板上拾起并且例如将其上下倒置所述机器人设备的IMU将感测这个位移，并且所述控制器登记所述使用者引起的并且所述IMU感测到的所述位移。所述控制器在这个实施例中将简单地通过根据IMU数据得出机器人设备上下颠倒的结论来确定位移的特征、并且将所述机器人设定为无线设置模式。
在无线设置模式下，所述机器人设备将有利地例如通过蓝牙与所述使用者的移动终端无线通信。所述移动终端接着将通过具体的应用来传递所述使用者的WLAN的名称以及需要的密码，使得所述机器人设备随后可以连接至接入点(AP)(例如用于无线WiFi通信的家用路由器)提供的WLAN。
在本发明的又另外一个实施例中，为了避免所述使用者将所述机器人清洁设备设定为当所述机器人设备在正常运行过程中到处移动时可能发生位移的运行模式、并且因此意外地使所述机器人自身在执行正常清洁程序过程中进入所述运行模式的情况，所述有待设定的运行模式被配置成与偏离于和所述机器人清洁设备在正常运行过程中发生的位移相对应的特征的位移特征相关联。
总的来说，除非本文中另有明确定义，否则在权利要求书中所使用的所有术语是根据它们在技术领域中的普通含义来解释的。除非另有明确声明，所有引用的“一/一个/元件、装置、部件、手段、步骤等”是如参考该元件、装置、部件、手段、步骤等中的至少一个实例开放性解释的。除非明确声明，本文中披露的任何方法的步骤不必完全按照所披露的顺序执行。
附图说明
现在将通过示例方式通过参考附图来描述本发明，在附图中：
图1示出了根据本发明实施例的机器人清洁设备的底视图；
图2示出了根据本发明实施例的机器人清洁设备的前视图；
图3a示出了根据本发明的实施例的正在移位的机器人清洁设备的俯视图；
图3b展示了根据本发明的控制机器人清洁设备的方法的实施例的流程图；
图4示出了根据本发明的另一个实施例的正在移位的机器人清洁设备的俯视图；
图5展示了根据本发明的控制机器人清洁设备的方法的另一个实施例的流程图；并且
图6展示了根据本发明的实施例正在设定另外一个运行模式。
具体实施方式
现在将参考这些附图在下文中更为全面地描述本发明，在附图中示出了本发明的某些实施例。然而，本发明可以采用许多不同的形式来实施，并且不应被解释为局限于在此阐述的实施例；而是，这些实施例是以举例方式提供的，这样使得本披露将变得全面和完整，并且将向本领域技术人员充分地表达本发明的范围。贯穿本说明书，相同的数字指代相同的元件。
本发明涉及机器人清洁设备，或者换言之，涉及用于清洁表面的自动自推进机器，例如，机器人真空吸尘器、机器人清洁器或机器人地板洗涤器。根据本发明的机器人清洁设备能够用市电操作并且具有电绳、能够用电池操作或者使用任何其他种类的合适的能源，例如，太阳能。
图1示出了从下方观看的根据本发明的实施例的机器人清洁设备10，即，示出了机器人清洁设备的底侧。箭头指示机器人清洁设备的前进方向。机器人清洁设备10包括主体11，所述主体容纳诸如推进系统的多个部件，所述推进系统包括呈能够使驱动轮12、13移动的两个电动轮电机15a、15b形式的驱动装置，从而使得清洁设备能够在有待清洁的表面上移动。每个轮电机15a、15b能够控制各自的驱动轮12、13彼此独立地旋转以便使机器人清洁设备10在待清洁的表面上移动。可以设想许多不同的驱动轮安排以及各种不同的轮电机安排。应注意的是，机器人清洁设备可以具有任何合适的形状，如具有更多传统的圆形主体或三角形主体的设备。作为替代方案，可以使用跟踪推进系统或甚至气垫船推进系统。所述推进系统可以进一步被安排为引起机器人清洁设备10进行偏摆、俯仰、平移或滚动移动中的任一项或多项。
控制器16(如微处理器)鉴于从障碍物检测设备(图1中未示出)接收的信息来控制这些轮电机15a、15b根据需要使驱动轮12、13旋转，所述障碍物检测设备用于检测机器人清洁设备必须绕其导航的、处于墙壁、落地灯、桌腿形式的障碍物。障碍物检测设备可以以登记其周围环境借助于例如3D相机、与激光器、激光扫描仪组合的相机实现的3D传感器系统等形式被实施，用于检测障碍物并将关于任何检测到的障碍物的信息传达到微处理器16。微处理器16与轮电机15a、15b通信，以便根据由障碍物检测设备提供的信息来控制轮12、13的移动，使得机器人清洁设备10能够根据需要在有待清洁的表面上移动。这将参考后边的附图进行更详细的描述。
另外，主体11可以可选地安排有用于从待清洁的表面上除去碎屑和灰尘的清洁构件17，所述清洁构件呈安排在机器人吸尘器10的底部处的开口18中的可旋转刷辊的形式。因此，可旋转刷辊17沿水平轴线安排在开口18中，以增强清洁设备10的灰尘和碎屑收集特性。为了使刷辊17旋转，刷辊电机19操作地联接到刷辊上，以根据从控制器16接收的指令控制其旋转。
而且，机器人吸尘器10的主体11包括抽风机20，所述抽风机创造气流以便经由主体11的底侧中的开口18将碎屑运输到被容纳在所述主体中的集尘袋或旋流器安排(未示出)。抽风机20被通信地连接到控制器16上的风扇电机21驱动，风扇电机21从所述控制器接收用于控制抽风机20的指令。应注意的是，可以设想机器人清洁设备具有可旋转刷辊17和抽风机20中的任一者用于将碎屑运送到集尘袋。然而，这两个的组合会增强机器人清洁设备10的除屑能力。
主体11或机器人清洁设备10进一步配备有惯性测量单元(IMU)24，如陀螺仪和/或加速度计和/或磁力计或任何其他适合的装置，用于测量机器人清洁设备10相对于参考位置的、以取向、旋转速度、重力等为形式的位移。三轴陀螺仪能够测量机器人清洁设备10的滚动、俯仰、偏摆移动的转速。三轴陀螺仪能够测量所有方向的加速度，这主要用来确定机器人清洁设备是否被阻挡或被抬升或是否被卡住(即，即使轮子正在转但并没有移动)。机器人清洁设备10在每个驱动轮12、13上进一步包括编码器(在图1中未示出)，在这些轮子旋转时所述编码器产生脉冲。这些脉冲可以是磁性的或光学的。通过在控制器16处对脉冲计数可以确定每个轮子12、13的速度。通过轮速读数与陀螺仪信息相结合，控制器16可以执行所谓的航位推算以便确定清洁设备10的位置与航向。
主体11可以进一步安排有邻近开口18的旋转侧刷14，可以通过驱动电机15a、15b、刷辊电机19或可替代地单独的侧刷电机(未示出)来控制旋转侧刷的旋转。有利地，旋转侧刷14从有待清洁的表面扫起碎屑和灰尘，从而使得灰尘在开口18处最终来到主体11的下方，并因此能够运输到机器人清洁设备的集尘室。进一步地有利的是，将提高机器人清洁设备10的到达率，并更有效地清洁例如角落和地板与墙壁交汇的区域。如图1所展示的，旋转侧刷14朝一个方向旋转，从而使得所述旋转侧刷朝向开口18扫起碎屑，从而使得抽风机20能够将碎屑运输到集尘室。机器人清洁设备10可以包括两个旋转侧刷，这两个旋转侧刷被侧向地安排在开口18的每一侧并邻近所述开口。
另外参考图1，以一个或多个微处理器形式实施的控制器/处理单元16被安排为执行被下载到与所述微处理器相关联的合适的存储介质26中的计算机程序25，所述存储介质例如是随机存取存储器(RAM)、快闪存储器或硬盘驱动器。控制器16被安排为在包括计算机可执行指令的适当计算机程序25被下载至存储介质26并且被控制器16执行时实施根据本发明的多个实施例的方法。存储介质26还可以是包括计算机程序25的一种计算机程序产品。替代地，计算机程序25可以通过合适的计算机程序产品(如数字化通用磁盘(DVD)、光盘(CD)或者记忆棒)来传递至存储介质26。作为另外一个替代方案，计算机程序25可以通过有线或无线网络下载至存储介质26。控制器16可以替代地以数字信号处理器(DSP)、专用集成电路(ASIC)、现场可编程门阵列(FPGA)、复杂可编程逻辑器件(CPLD)等的形式来实施。
图2示出了本发明的实施例中的图1的机器人清洁设备10的前视图，展示了呈3D传感器系统形式的前述障碍物检测设备，所述相机系统包括至少一个相机23以及第一和第二线激光器27、28，这些线激光器可以是水平或竖直定向的线激光器。进一步示出了前面参考图1a讨论的控制器16、主体11、驱动轮12、13和可旋转刷辊17。控制器16操作性地联接到用于记录机器人清洁设备10的附近的图像的相机23。第一和第二线激光器27、28可以优选地是竖直线激光器并且被安排在相机23的侧面并且被配置为照亮比机器人清洁设备10的高度和宽度更大的高度和宽度。进一步地，相机23的视场角度优选地小于第一线激光器和第二线激光器27、28照亮的空间。相机23由控制器16控制来每秒捕捉和记录多张图像。通过控制器16从这些图像中提取数据，并且通常将数据与计算机程序25一起保存在存储器26中。
第一线激光器和第二线激光器27、28沿着垂直于所述相机的光轴的一条轴线被安排在相机23的相应侧上。另外，线激光器27、28被定向成使得他们的相应激光束在相机23的视场内相交。典型地，交点与相机23的光轴重合。
第一和第二线激光器27、28被配置为优选地朝竖直朝向、正常朝机器人清洁设备10的移动方向扫描机器人清洁设备10的附近。第一线激光器和第二线激光器27、28被配置为发出照亮例如待清洁的房间里的家具、墙壁和其他物体的激光束。在机器人清洁设备10在有待清洁的表面上移动时，相机23被控制器16控制，以捕捉并记录图像，通过从这些图像提取特征并通过测量被机器人清洁设备10覆盖的距离，控制器16从这些图像创建机器人清洁设备10在其中操作的周围环境的表示或布局。因此，控制器16从所记录的图像中得到机器人清洁设备10相对于待清洁的表面的位置数据、从得到的位置数据中生成周围环境的3D表示、并且控制驱动电机15a、15b来使机器人清洁设备根据提供给机器人清洁设备10的生成的3D表示和导航信息来移动，使得能够在考虑到所生成的3D表示的情况下对有待清洁的表面导航。因为得到的位置数据会用作机器人清洁设备的导航基础，所以定位正确是重要的；机器人设备会以其他方式根据误导的其周围环境的“地图”来进行导航。
从3D传感器系统记录的图像中生成的3D表示因此帮助对墙壁、落地灯、桌腿形式的、机器人清洁设备必须在其周围导航的障碍物以及机器人清洁设备10必须横越的小地毯、地毯、门阶等进行检测。机器人清洁设备10因此被配置为通过运行/清洁来了解其环境或者周围环境。
因此，包括相机23和第一竖直线激光器和第二竖直线激光器27、28的3D传感器系统被安排为记录机器人清洁设备的附近的图像，可以从这些图像检测到物体/障碍物。控制器16能够通过从所记录的图像中得到位置数据来相对于检测到的障碍物对机器人清洁设备10并且因此对有待清洁的表面进行定位。从定位开始，控制器16通过经由轮子驱动电机15a、15b控制轮子12、13越过待清洁的表面来控制机器人清洁设备10的移动。
得到的位置数据帮助控制机器人清洁设备10的移动，使得清洁设备可以被导航移动非常靠近物体，并且在物体周围紧密移动，以从物体所在的表面上除去碎屑。所以，利用得到的位置数据来与物体(例如是厚的小地毯或墙壁)齐平地移动。通常，控制器16经由驱动电机15a、15b连续生成传递控制信号至驱动轮12、13，使得使机器人清洁设备10靠近物体导航。
参考在俯视图中展示机器人设备10的图3a，假定使用者想要在不操作用户界面29的情况下来向机器人真空吸尘器10提供特定类型的指令，在这个具体的例示性实施例中，以下将更详细地讨论指定机器人清洁设备10将被“重置”或“重新开始”的指令。通过使用者将机器人设备10从地板上拾起并且将其如图3a所展示的来回摇晃来将这个指令传递到机器人设备10。
UI 29可以是触摸屏式的或机械地被配置成包括有待操作的实际按钮。进一步地，用户界面29可以包括用于可视地指示使用者的选择的显示装置。应注意的是，使用者不一定需要通过实际触摸UI来向UI 29提供输入、但是可以替代地通过远程控制与UI 29通信。
参考图3a所述的使用者的行为引起机器人设备执行根据本发明的实施例的用于控制机器人清洁设备10的方法，图3b展示了所述方法的这个实施例的流程图。对于结构元件，进一步参考图1。
因此，使用者从地板上拾起机器人10并且将其来回摇晃。机器人设备10的IMU 24将在步骤S101中感测到这个位移，并且控制器16将相应地登记由使用者引起的所感测到的位移。现在，在登记IMU 24感测到的位移之后，控制器16将在步骤S102中确定所述位移的特征，在这个具体的实例中，机器人设备被来回摇晃，即在具体的方向上从第一位置到第二位置并且随后在基本上相反的方向上从第二位置返回到第一位置。控制器16可以通过例如让IMU 24测量机器人设备10在被使用者摇晃时的取向以及可能速度的变化来确定这个特征。
此后，在步骤S103中，控制器16将机器人清洁设备设定为与所确定的特征相关联的运行模式。
现在，在这个具体实例中，如果机器人设备10是暂时不活动的，例如正在其充电站充电，使用者提供的这个具体指令就可能意味着机器人清洁设备10就所记录的即将进行的清洁程序而言被重置。这些清洁程序通常被储存在存储器25中，并且控制器16可以因此在“重置”默认设置的帮助下擦除这样的所登记的即将进行的清洁程序。
然而，如果机器人设备10在执行清洁程序的过程中，则将机器人设备从地板上拾起并且将其来回摇晃的操作可以被配置成意味着当前清洁程序应重新开始。
因此，在本发明的实施例中，选定的运行模式进一步基于机器人清洁设备10的当前运行模式；如果当前运行模式为例如“位于充电站”，则摇晃可以意味着“重置”，而如果当前运行模式例如为“运行清洁程序A”，则使用者相同的摇晃动作可以意味着“重新开始”。
参考图4，在另一个示例实施例中，使用者通过将机器人清洁设备从“12点钟”取向旋转至“2点钟”取向来引起所述机器人清洁设备的位移以便向机器人10提供特定的指令。因此，IMU 24可以感测取向的变化，并且控制器16确定位移的这个具体特征(即从“12点钟”到“2点钟”的取向变化)与给定的运行模式(如正常能量模式到低能量“经济”模式的变化)相关联。
可以进一步设想到位移的具体顺序指示有待设定的具体运行模式。例如，假定使用者想要当前清洁程序在早于预期的阶段结束、并且使机器人清洁设备10返回充电站，使用者可以连续三次轻踢机器人设备以便引起三次连续的轻微位移，使得控制器16结束程序并且返回到充电站。可以实际上设定任一运行模式，假定所述运行模式被预先定义在机器人设备10中并且与使用者引起的位移的具体特征相关联。
应进一步注意的是，基于参考位置不一定必须确定机器人清洁设备10的位移的特征、但是可以替代性地确定相对特征。例如，参考之前通过将机器人清洁设备从“12点钟”取向旋转到“2点钟”取向来移位机器人清洁设备的例示性实施例；因为控制器将会确定相同的位移特征，通过进行相同的相对旋转，例如从“4点钟”取向到“6点钟”取向，可以向机器人提供相同的指令。进一步地，根据通过IMU 24感测到的旋转速度，机器人旋转的速度自身意味着具体清洁程序，在所述清洁程序中，例如机器人10在第一速度下的旋转将意味着第一运行模式，而机器人10在第二速度下的相同旋转将意味着第二运行模式。
图5示出了流程图，展示了本发明的控制机器人清洁设备10的运行的方法的进一步实施例。在这个具体的例示性实施例中，使用者将机器人清洁设备10从地板上拾起并且将其上下颠倒，其中，UI 29面向地板。如图5中的查询表(典型地储存在机器人清洁设备10的存储器25上)中可以看到的，通过将机器人上下翻转而引起的位移将意味着使用者想要将机器人10设定为无线设置模式，例如，以便使机器人10通过空气界面连接至使用者的智能电话，所述电话运行适当的应用来与机器人10通信。
机器人设备10的IMU 24将在步骤S101中感测这个位移，并且控制器16登记使用者引起的并且IMU 24感测到的位移。在这个实施例中，控制器16将在步骤S102中简单地通过根据IMU数据得出机器人设备10上下颠倒的结论来确定位移的特征。在步骤S103a中，控制器16将这个所确定的特征(即，实际上IMU读数的值)与查询表中的条目A、B和C相比较，其中，确定了存在与预存储特征C的匹配。每个预存储特征与相应的运行模式相关联，并且如能够推论出的，使用者引起机器人10的上下颠倒定向的位移将使控制器16在步骤S103中将机器人设定为“无线设置”模式。
参考图6，在无线设置模式下，机器人10将例如通过蓝牙与使用者的移动终端30(如智能电话)进行无线通信。智能电话30接着将通过特定的应用来传递使用者的无线局域网(WLAN)的名称以及需要的密码(如果存在的话)，使得机器人10随后可以连接至接入点(AP)31(如用于无线WiFi通信的家用路由器)提供的WLAN。可以想象到的是，机器人10应被转回其正常位置以便退出无线设置模式而进入WiFi模式。在这个具体实施例中，控制器16或者被安排具有收发器功能或控制用于进行无线通信的单独收发器设备(未示出)。
因此，通过IMU 24感测到的位移可以包括取向的静态变化(例如机器人10上下颠倒)和取向的动态变化(即，使用者将机器人10朝具体方向快速转动并且将其返回初始位置)。
在本发明的实施例中，为了避免所述使用者将所述机器人清洁设备设定为当所述机器人设备在正常运行过程中到处移动时很可能发生位移的运行模式、并且因此意外地使所述机器人自身在执行正常清洁程序过程中进入所述运行模式的情况，所述有待设定的运行模式被配置成与偏离于和所述机器人清洁设备在正常运行过程中发生的位移相对应的特征的位移特征相关联。
因此，参考图5的查询表中展示的位移的特性，可以得出以下结论：可能应选择使用者为了将机器人清洁设备设定为所希望的运行模式而采取的动作，使得这些动作不会与机器人设备的”正常”行为相重合。参考查询表，在正常运行过程中，机器人设备可能不会运行使得机器人设备模拟特性A、B和C中的任一项。
以上主要参照一些实施例对本发明进行了描述。然而，本领域技术人员容易了解的是，除了以上公开的实施例之外的其他实施例在由所附专利权利要求书限定的本发明的范围内同样是有可能的。

Claims (18)

1.一种控制机器人清洁设备的运行的方法，包括以下步骤：
感测(S101)所述机器人清洁设备的位移；
确定(S102)所述机器人清洁设备的所述位移的特征；
将所述机器人清洁设备设定(S103)为与所述位移的所确定的特征相关联的运行模式。
2.根据权利要求1所述的方法，其中，所述有待设定的运行模式被配置成与偏离于和所述机器人清洁设备在正常运行过程中发生的位移相对应的特征的位移特征相关联。
3.根据权利要求1或2中任一项所述的方法，所述特征指定了由使用者将所述机器人清洁设备移位而引起的所述机器人清洁设备的移动模式。
4.根据以上权利要求中任一项所述的方法，其中，所述位移的所确定的特征包括所述机器人清洁设备的取向的变化。
5.根据以上权利要求中任一项所述的方法，其中，所述位移的所确定的特征包括所述机器人清洁设备的速度的变化。
6.根据以上权利要求中任一项所述的方法，其中，将所述机器人清洁设备设定为一种运行模式包括：
将所述位移的所确定的特征与预储存的位移特征进行比较(S103a)，所述预储存的特征与具体的运行模式相关联；并且如果所确定的特征与所述预储存的特征之间存在对应关系；并且
将所述机器人清洁设备设定(S103)为与所述预储存的位移特征相关联的具体运行模式。
7.根据以上权利要求中任一项所述的方法，其中，所述将所述机器人清洁设备设定(S103)为与所述位移的所确定的特征相关联的运行模式是进一步基于所述机器人清洁设备的当前运行模式。
8.根据以上权利要求中任一项所述的方法，其中，所述将所述机器人清洁设备设定(S103)为与所述位移的所确定的特征相关联的运行模式包括：
当所述机器人清洁设备被移位到预定取向时，使所述机器人清洁设备的无线设置启用无线局域网WLAN。
9.一种机器人清洁设备(10)，包括：
惯性测量单元(24)；以及
控制器(16)；其中，
所述惯性测量单元(24)被安排成用于感测所述机器人清洁设备(10)的位移；并且
所述控制器(16)被安排成用于确定所述机器人清洁设备(10)的所述位移的特征并且将所述机器人清洁设备(10)设定为与所述位移的所确定的特征相关联的运行模式。
10.根据权利要求9所述的机器人清洁设备(10)，其中，所述有待设定的运行模式被配置成与偏离于和所述机器人清洁设备(10)在正常运行过程中发生的位移相对应的特征的位移特征相关联。
11.根据权利要求9或10所述的机器人清洁设备(10)，所述特征指定了由使用者移位所述机器人清洁设备(10)而引起的所述机器人清洁设备(10)的移动模式。
12.根据权利要求9至11中任一项所述的机器人清洁设备(10)，其中，所述位移的所确定的特征包括所述机器人清洁设备(10)的取向的变化。
13.根据权利要求9至12中任一项所述的机器人清洁设备(10)，其中，所述位移的所确定的特征包括所述机器人清洁设备(10)的速度的变化。
14.根据权利要求9至13中任一项所述的机器人清洁设备(10)，其中，所述控制器(16)进一步被安排成当将所述机器人清洁设备(10)设定为一种运行模式时：
将所述位移的所确定的特征与预储存的位移特征进行比较，所述预储存的特征与具体的运行模式相关联；并且如果所确定的特征与所述预储存的特征之间存在对应关系；并且
将所述机器人清洁设备(10)设定为与所述预储存的位移特征相关联的具体运行模式。
15.根据权利要求9至14中任一项所述的机器人清洁设备(10)，其中，所述控制器(16)被安排成通过考虑所述机器人清洁设备(10)的当前运行模式来将所述机器人清洁设备(10)设定为与所述位移的所确定的特征相关联的运行模式。
16.根据权利要求9至15中任一项所述的机器人清洁设备(10)，所述控制器(16)被安排成当将所述机器人清洁设备(10)设定为与所述位移的所确定的特征相关联的运行模式时：
当所述机器人清洁设备被移位到预定的取向时，使所述机器人清洁设备(10)的无线设置启用无线局域网WLAN。
17.一种计算机程序(25)，包括多个计算机可执行指令，这些计算机可执行指令用于当在设备(10)中所包括的控制器(16)上执行这些计算机可执行指令时致使所述设备进行如权利要求1至8中任一项所述的步骤。
18.一种计算机程序产品，包括计算机可读介质(26)，所述计算机可读介质具有在其中实施的根据权利要求17所述的计算机程序(25)。
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