CN111065306A

CN111065306A - Method for robotic cleaning device

Info

Publication number: CN111065306A
Application number: CN201780094221.1A
Authority: CN
Inventors: J·诺伯格; N·诺丁
Original assignee: Electrolux AB
Current assignee: Electrolux AB
Priority date: 2017-09-05
Filing date: 2017-09-05
Publication date: 2020-04-24
Also published as: US20200397204A1; JP2020532382A; JP6987219B2; KR102455701B1; EP3678526B1; KR20200047561A; EP3678526A1; WO2019048030A1

Abstract

The invention relates to a method of controlling a robotic cleaning device (100) of an ongoing execution of a cleaning program, and a robotic cleaning device (100) configured for performing the method. In an aspect of the invention, a robotic cleaning device (100) is provided, which is configured for controlling the running of an ongoing cleaning program. The robotic cleaning device (100) comprises a propulsion system (112, 113, 115a, 115b) configured for moving the robotic cleaning device (100); at least one battery (117) configured to power the robotic cleaning device (100); and a controller (116) configured to receive instructions for pausing an ongoing cleaning procedure; in response to the pause instruction, controlling the propulsion system (112, 113, 115a, 115b) to travel the robotic cleaning device (100) to a charging station to recharge the robotic cleaning device battery (117); receiving a further instruction to resume the cleaning procedure being performed when the pause instruction was received; and in response to the further instruction, resuming the cleaning procedure that was in progress when the pause instruction was received.

Description

Method for robotic cleaning device

Technical Field

The present invention relates to a method of controlling a robotic cleaning device of an ongoing execution of a cleaning program, and a robotic cleaning device configured for performing the method.

Background

In many technical fields it is desirable to use robots with autonomous behavior so that they can move freely around a space without colliding with possible obstacles.

Robotic vacuum cleaners are known in the art which are equipped with drive means in the form of a motor for moving the cleaner over a surface to be cleaned. The robotic vacuum cleaner is further equipped with intelligence in the form of microprocessor(s) and navigation means for inducing autonomous behavior, so that the robotic vacuum cleaner is able to move around freely and clean surfaces in the form of e.g. floors. Thus, these prior art robotic vacuum cleaners have the ability to more or less autonomously vacuum a room in which objects (such as tables and chairs) and other obstacles (such as walls and stairs) are located.

For practical reasons there is a limit to how much battery power the robotic vacuum cleaner can carry. This therefore limits the size of the surface on which the robotic vacuum cleaner can move before it is required to recharge the cleaner.

When the battery is nearly exhausted of energy, but the area still to be cleaned, the robotic vacuum cleaner returns to its charging station for a so-called stop (pit stop) during which the robotic vacuum cleaner interfaces with the charging station to recharge the cleaner battery.

If the user returns home while the cleaning program is in progress, and in this case does not wish the vacuum cleaner to continue cleaning, the user has two options:

1) the cleaning process is interrupted and the cleaner is brought to a charging station, or

2) Indicating that the cleaner is paused on the spot and restarted later.

Disclosure of Invention

It is an object of the present invention to provide an improved method for a robotic cleaning device for controlling the running of an ongoing cleaning program.

This object is achieved in a first aspect of the invention by a method of controlling a robotic cleaning device in the execution of an ongoing cleaning program. The method comprises the following steps: receiving an instruction to pause an ongoing cleaning program; travel to a charging station to recharge a robotic cleaning device battery in response to the pause instruction; receiving a further instruction to resume the cleaning procedure being performed when the pause instruction was received; and in response to the further instruction, resuming the cleaning procedure that was in progress when the pause instruction was received.

This object is achieved in a second aspect of the invention by a robotic cleaning device configured for controlling the running of an ongoing cleaning program. The robotic cleaning device includes a propulsion system configured to move the robotic cleaning device; at least one battery configured to power the robotic cleaning device; and a controller. The controller is configured to: receiving an instruction to pause an ongoing cleaning program; in response to the pause instruction, controlling the propulsion system to travel the robotic cleaning device to a charging station to recharge the robotic cleaning device battery; receiving a further instruction to resume the cleaning procedure being performed when the pause instruction was received; and in response to the further instruction, resuming the cleaning procedure that was in progress when the pause instruction was received.

A user wishing to temporarily suspend the cleaning operation of the robotic cleaning device may e.g. press a pause button on a user interface on top of the robotic cleaning device, or send a pause instruction via a mobile phone application, in which case the robotic cleaning device must be capable of wireless communication, such as radio or infrared communication.

Upon receiving the instruction to pause the cleaning program, the robotic cleaning device travels to a charging station to recharge a battery with which the robotic cleaning device is equipped. The robotic cleaning device will remain parked in the charging station until given further instructions to resume the cleaning program that has been paused.

After a period of time, the user will instruct the robotic cleaning device to resume the paused cleaning program, for example by wirelessly submitting further instructions to the robotic cleaning device via the mobile phone application discussed previously.

In response to a further instruction for resuming the paused cleaning program, the robotic cleaning device leaves the charging station and resumes the previously paused cleaning program.

Advantageously, during a user-initiated pause spent in the charging station, the battery of the robotic cleaning device has been partially or fully charged and the originally set cleaning program is resumed.

In an embodiment, the further instructions configured to cause the robotic cleaning device to resume the paused cleaning program may specify that the program should be resumed immediately, or that the paused cleaning program should be resumed after a set period of time has elapsed as indicated by the further instructions.

It is therefore envisaged that the further instructions may specify a certain time period after which the robotic cleaning device will resume the paused cleaning program. The further instruction may be submitted to the robotic cleaning device immediately after the pause instruction has been submitted. Thus, the pause instruction is submitted, followed by the further instruction that the paused cleaning program should be resumed after a given period of time (e.g. 30 minutes).

For example, it is conceivable that the user gets home for 30 minutes of lunch each day after work, after which the robotic cleaning device resumes the paused cleaning program. This may be achieved by a custom setting in the mobile phone application and is advantageous in that the user does not have to remember to send further instructions to the robotic cleaning device before leaving home after lunch.

In another embodiment, in response to the pause instruction, a current robotic cleaning device position is recorded, wherein resuming the cleaning program comprises: travel to the recorded robotic cleaning device position to resume the cleaning procedure that was in progress when the pause instruction was received.

In a further embodiment, in response to the pause instruction, the next robotic cleaning device position as specified by the cleaning program is recorded, wherein resuming the cleaning program comprises: to the next recorded robotic cleaning device position to resume the cleaning procedure that was in progress when the pause instruction was received.

In general, 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, device, component, means, step, etc" are to be interpreted openly as referring to at least one instance of the element, device, 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.

Drawings

The invention will now be described, by way of example, with reference to the accompanying drawings, in which:

fig. 1 illustrates a prior art scenario in which a user temporarily wishes to pause the cleaning operation of a robotic cleaning device;

figure 2 illustrates a robotic cleaning device controlling the running of an ongoing cleaning program according to an embodiment of the present invention;

figure 3 illustrates a flow chart of a method of controlling a robotic cleaning device of an ongoing execution of a cleaning program according to an embodiment of the present invention;

fig. 4 illustrates another embodiment, in which the robotic cleaning device does not return to the position where it stopped upon receiving the pause instruction, but returns to another position; and is

Fig. 5 illustrates a robotic cleaning device according to an exemplary embodiment.

Detailed Description

The present invention now will 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 reference numerals refer to like elements throughout the specification.

The present invention relates to a robotic cleaning device, or in other words to a self-propelled machine for cleaning a surface, such as a robotic vacuum cleaner, a robotic sweeper, or a robotic floor washer. The robotic cleaning device according to the invention is battery operated and sometimes needs to be recharged by returning to its charging station.

Fig. 1 illustrates a prior art scenario in which a user temporarily wishes to pause the cleaning operation of the robotic cleaning device 100.

The dashed line illustrates a path 200 via which the robotic cleaning device 100 will travel as specified by the current cleaning program.

Now, if the user instructs the robotic cleaning device 100 to pause its current cleaning program, for example by pressing a pause button on a user interface on the top of the cleaner or sending a pause instruction via a mobile phone application, the robotic vacuum cleaner 100 may do either:

1) aborting the cleaning program in operation and returning to charging station 200 at position P2, or

2) Pausing at its current position P1 and resuming the cleaning sequence once the user instructs the cleaner to start cleaning again.

In the first scenario the vacuum cleaner will start executing from the charging station when instructed to execute a new cleaning program, while in the second scenario there is a risk that the battery of the cleaner will discharge before the cleaner receives an instruction to resume the suspended cleaning program, thereby limiting the cleaning time.

With reference to fig. 2 and with further reference to the flowchart illustrated in fig. 3, a method of controlling the robotic cleaning device 100 of the running of an ongoing cleaning program according to an embodiment of the present invention will be described.

Fig. 3 illustrates the robotic cleaning device 100 performing a cleaning procedure, wherein a path 200 is to be traveled for cleaning a specified surface as specified by the cleaning procedure, via which path the robotic cleaning device 100 is to travel as specified by the current cleaning procedure.

Now, when the robot is at the position P1, the user temporarily suspends the cleaning operation of the robot cleaning device 100. Thus, the robotic cleaning device 100 receives an instruction in step S101 to pause its current cleaning program, e.g. by letting the user press a pause button on a user interface on the top of the robot or send a pause instruction via a mobile phone application, in which case the robotic cleaning device 100 must be capable of wireless communication, such as radio or infrared communication.

Note that in an alternative embodiment, the controller 116 of the robotic cleaning device 100 itself makes the pause decision, for example, by receiving an indication from the battery 117 that its charge is low in step S101.

Upon receiving an instruction for suspending the cleaning program indicating a low battery level from the user or from the battery 117, the robotic cleaning device 100 travels to the charging station 300 to recharge the battery with which the robotic cleaning device is equipped in step S102.

The robotic cleaning device 100 will remain docked in the charging station 300 until given further instructions to resume the cleaning program paused in step S101.

After a period of time, the user will instruct the robotic cleaning device 100 to resume the paused cleaning program, e.g. by correspondingly wirelessly submitting further instructions to the robotic cleaning device 100 in step S103.

In an embodiment, it is envisaged that the further instructions specify a certain time period after which the robotic cleaning device 100 will resume the paused cleaning program. The further instruction may be submitted to the robotic cleaning device immediately after the pause instruction has been submitted in step S101. Thus, the pause instruction is submitted in step S101, followed by the further instruction that the paused cleaning program should be resumed after a given period of time (e.g. 30 minutes).

For example, it is conceivable that the user gets home for 30 minutes each day after work for lunch, after which the robotic cleaning device 100 resumes the paused cleaning program. This may be achieved by a custom setting in the mobile phone application and is advantageous in that the user does not have to remember to send further instructions to the robotic cleaning device 100 before leaving home after lunch.

Either way, in response to a further instruction for resuming the paused cleaning program, the robotic cleaning device 100 leaves the charging station at position P2 and returns to position P1 to continue the previously paused cleaning program in step S104, thereby resuming travel along the path 200.

Advantageously, during a user-initiated pause spent in the charging station 300, the batteries of the robotic cleaning device 100 have been partially or fully charged and the originally set cleaning program is resumed.

In the embodiment of fig. 2, it is envisaged that upon receiving the pause instruction in step S101, the robotic cleaning device records its current position so that it may travel to the recorded position of the robotic cleaning device in step S104 to resume the cleaning program in operation upon receiving the pause instruction.

Fig. 4 illustrates another embodiment, in which the robotic cleaning device does not return to the position where it stopped upon receiving the pause instruction, but returns to another position.

Again, when the robot is at the position P1, the user temporarily suspends the cleaning operation of the robot cleaning device 100. Accordingly, the robot cleaning device 100 receives an instruction to pause its current cleaning program in step S101.

Upon receiving the instruction to suspend the cleaning program, the robotic cleaning device 100 travels to the charging station 300 to recharge the battery equipped with the robotic cleaning device in step S102.

In contrast to the previously described embodiments, the robotic cleaning device 100 does not record its current location, but concludes that it has completed (or is very close to completing) cleaning of the currently residential room, and will continue cleaning in the adjacent room 400; thus, the robotic cleaning device 100 will register the next position at which cleaning will resume as specified by the paused cleaning program.

After the user instructs the robotic cleaning device 100 to resume the paused cleaning procedure in step S103 (or if the set pause period has expired), the robotic cleaning device 100 leaves the charging station at the location P2 and proceeds to the next room 400 to be cleaned (corresponding to the "next location" recorded when the pause instruction was previously received).

Again, during a user-initiated pause spent in the charging station 300, the battery of the robotic cleaning device 100 advantageously has been partially or fully charged and the originally set cleaning program is resumed.

Although it is contemplated that the present invention may be performed by various suitable robotic cleaning devices equipped with sufficient processing intelligence, fig. 5 shows the robotic cleaning device 100 according to an embodiment of the present invention in a bottom view, i.e. showing the underside of the robotic cleaning device. The arrow indicates the forward direction of the robotic cleaning device 100 shown in the form of a robotic vacuum cleaner.

The robotic cleaning device 100 comprises a main body 111 which houses components such as a propulsion system comprising drive means in the form of two electric wheel motors 115a, 115b capable of moving

drive wheels

112, 113, thereby enabling the cleaning device to be moved over a surface to be cleaned. Each wheel motor 115a, 115b is capable of controlling the

respective drive wheels

112, 113 to rotate independently of each other to move the robotic cleaning device 100 across a surface to be cleaned. Many different drive wheel arrangements and various wheel motor arrangements are envisaged. It should be noted that the robotic cleaning device may have any suitable shape, such as a device having a more traditional circular body or a triangular body. Alternatively, a tracking propulsion system or even a hovercraft propulsion system may be used. The propulsion system may further be arranged to cause the robotic cleaning device 100 to perform any one or more of yaw, pitch, pan or roll movements.

A controller 116, such as a microprocessor, controls these wheel motors 115a, 115b to rotate the driving

wheels

112, 113 as required in view of information received from an obstacle detecting device (not shown in fig. 5) for detecting obstacles in the form of walls, floor lamps, table legs around which the robotic cleaning device has to navigate. The obstacle detecting device may be implemented in the form of a 3D sensor system, implemented by means of e.g. a 3D camera, a camera combined with a laser, a laser scanner, etc., registering its surroundings for detecting obstacles and communicating information about any detected obstacles to the microprocessor 116. The microprocessor 116 communicates with the wheel motors 115a, 115b to control the movement of the

wheels

112, 113 according to the information provided by the obstacle detecting device, enabling the robotic cleaning device 100 to be moved over the surface to be cleaned as required.

Further, the robotic cleaning device 100 is equipped with one or more batteries 117 for powering the different components comprised in the cleaning device 100. The one or more batteries 117 are charged via a charging station to which the robotic cleaning device 100 is docked. One or more batteries 117 are further communicatively connected to the controller 116 to signal whether the batteries are low (or fully charged).

Furthermore, the main body 111 of the robotic vacuum cleaner 100 comprises a suction fan 120 which creates an air flow for transporting debris via an opening 118 in the bottom side of the main body 111 to a dust bag or cyclone device (not shown) accommodated in said main body. The suction fan 120 is driven by a fan motor 121 communicatively connected to the controller 116, from which the fan motor 121 receives instructions for controlling the suction fan 120. The body 111 may further be arranged with one or more rotating side brushes 114 adjacent the opening 118.

With additional reference to fig. 5, a controller/processing unit 116, implemented in the form of one or more microprocessors, is arranged to execute a computer program 125 downloaded into a suitable storage medium 126 associated with the microprocessor, such as Random Access Memory (RAM), flash memory or a hard disk drive. The controller 116 is arranged for implementing a method according to an embodiment of the invention when a suitable computer program 125 comprising computer executable instructions is downloaded to the storage medium 126 and executed by the controller 116. The storage medium 126 may also be a computer program product comprising a computer program 125. Alternatively, the computer program 125 may be transferred to the storage medium 126 by means of a suitable computer program product, such as a Digital Versatile Disc (DVD), a Compact Disc (CD) or a memory stick. As a further alternative, the computer program 125 may be downloaded to the storage medium 126 over a wired or wireless network. The controller 116 may alternatively be implemented in the form of a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), a Complex Programmable Logic Device (CPLD), or the like.

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 within the scope of the invention, as defined by the appended patent claims.

Claims

1. A method of controlling a robotic cleaning device (100) of an ongoing execution of a cleaning program, the method comprising:

receiving an instruction for (S101) suspending an ongoing cleaning procedure;

-travelling (S102) to a charging station (300) to recharge a robotic cleaning device battery (117) in response to the pause instruction;

receiving (S103) a further instruction to resume the cleaning procedure being performed at the time the pause instruction was received; and

in response to the further instruction, resuming (S104) the cleaning procedure that was in progress when the pause instruction was received.

2. The method of claim 1, wherein a suspend instruction indicating a low battery level is received from the battery (117).

3. The method of claim 1 or 2, wherein the pause instruction is received from a user.

4. The method of any of claims 1 to 3, further comprising:

recording a current robotic cleaning device position in response to the pause instruction; wherein resuming (S104) the cleaning procedure comprises:

travel to the recorded robotic cleaning device position to resume the cleaning procedure that was in progress when the pause instruction was received.

5. The method of any of claims 1 to 4, further comprising:

recording a next robotic cleaning device position as specified by the cleaning program in response to the pause instruction; wherein resuming the cleaning process comprises:

to the next recorded robotic cleaning device position to resume the cleaning procedure that was in progress when the pause instruction was received.

6. The method of any of claims 1 to 5, the further instructions being configured to cause the robotic cleaning device (100) to resume the paused cleaning program immediately upon receipt, or after a set period of time has elapsed as indicated by the further instructions.

7. A robotic cleaning device (100) configured for controlling the running of an ongoing cleaning program, the robotic cleaning device comprising:

a propulsion system (112, 113, 115a, 115b) configured for moving the robotic cleaning device (100);

at least one battery (117) configured to power the robotic cleaning device (100); and

a controller (116) configured to:

receiving an instruction to pause an ongoing cleaning program;

in response to the pause instruction, controlling the propulsion system (112, 113, 115a, 115b) to travel the robotic cleaning device (100) to a charging station to recharge the robotic cleaning device battery (117);

receiving a further instruction to resume the cleaning procedure being performed when the pause instruction was received; and

in response to the further instruction, resuming the cleaning program that was in progress when the pause instruction was received.

8. The robotic cleaning device (100) of claim 7, wherein a pause instruction indicating a low battery level is received from the battery (117).

9. The method of claim 1 or 2, wherein the pause instruction is received from a user via a robotic cleaning device user interface.

10. The robotic cleaning device (100) of any one of claims 7-9, the controller (116) being further configured for:

recording a current robotic cleaning device position in response to the pause instruction; and further configured for, upon resuming the cleaning procedure:

controlling the propulsion system (112, 113, 115a, 115b) to advance the robotic cleaning device (100) to the recorded robotic cleaning device position to resume the cleaning program being performed when the pause instruction was received.

11. The robotic cleaning device (100) of any one of claims 7-10, the controller (116) being further configured for:

recording a next robotic cleaning device position as specified by the cleaning program in response to the pause instruction; and further configured for, upon resuming the cleaning procedure:

controlling the propulsion system (112, 113, 115a, 115b) to advance the robotic cleaning device (100) to the recorded next robotic cleaning device position to resume the cleaning program being performed when the pause instruction was received.

12. The robotic cleaning device (100) of any of claims 7-11, the further instructions being configured for causing the robotic cleaning device (100) to resume the paused cleaning program immediately upon receipt or after a set period of time has elapsed as indicated by the further instructions.

13. A computer program (125) comprising computer executable instructions to cause a robotic cleaning device (100) to perform the steps of any of claims 1 to 6 when the computer executable instructions are executed on a controller (116) comprised in the robotic cleaning device (100).

14. A computer program product comprising a computer readable medium (126) having the computer program (125) according to claim 13 embodied thereon.