DE102021214206A1 - Autonomous mobile working device - Google Patents

Abstract

The invention relates to an autonomous mobile working device (1), in particular a robotic vacuum cleaner, a robotic mower, a mobile surveillance robot or a mobile surveillance drone, with at least one drive unit (20) for driving the autonomous working device (1), with at least one navigation unit (42) for navigation in a work area (90), the navigation unit (42) being designed and set up to determine a position of the autonomous mobile work device within the work area (22). It is proposed that the autonomous mobile work device (1) have a means of communication (50) for wireless communication, wherein the communication means (50) is designed and set up to determine communication signal information of a received communication signal from a transmitter (80), and wherein a processing unit (44) is provided which links the detected communication signal information with the position at which the acquisition of the communication signal information takes place.

Description

The invention relates to an autonomous mobile working device and a method for creating at least one item of communication signal information that is dependent on position.

State of the art

Wireless communication systems are used in many areas. Known systems use Bluetooth, Zigbee, Z-Wave, WiFi, 3G, 4G as the radio standard. It is also known that the signal strength can vary greatly inside buildings. In particular, components such as ceilings or walls, but also furniture or technical devices can affect the signal quality and signal strength, in particular dampen it. There are also areas in buildings where there is no radio signal at all. Wireless communication is not possible here. To counteract this, there are devices such as amplifiers, access points, repeaters, but also technologies such as mesh.

The devices are usually attached to the best of our knowledge and belief, which means that although there is a sufficient radio signal in the relevant areas, the radio signal in terms of signal strength and bandwidth is sometimes far too low. Furthermore, the radio coverage is covered several times in other areas.

Disclosure of Invention

The invention relates to an autonomous mobile working device, in particular a robotic vacuum cleaner or a robotic mower or a mobile surveillance robot or a mobile surveillance drone or a combination. The autonomous working device is advantageously configured with at least one drive unit for driving the autonomous working device. Preferably, the drive unit includes wheels or a rotor. It is advantageous that the autonomous mobile working device is equipped with at least one navigation unit for navigation, in particular in a work area. The navigation unit is designed and set up to determine a position of the autonomous mobile working device within the working area. The autonomous mobile working device is designed to drive autonomously in its work area.

It is advantageous that the autonomous mobile working device has a communication means for wireless communication. The communication means is designed and set up to determine communication signal information of a received communication signal from a transmitter. It is also advantageous that a processing unit is provided which links the detected communication signal information with the position at which the communication signal information was detected. The wireless network quality within the working area can thus advantageously be determined, for example, without additional devices.

The measures listed in the subclaims result in advantageous developments and improvements of the features and method steps specified in the main claim.

An advantageous development is that the working device has at least one working unit. The working unit is used for floor cleaning or grass cutting or monitoring. The working unit has at least one wiper, one brush, one vacuum cleaner, one mower or one camera, which in particular is part of a camera-based surveillance system or forms one.

An advantageous development is that the communication signal information includes the signal quality and/or the maximum possible bandwidth and/or the received signal strength, preferably the signal reception strength, and/or the RSSI of a received radio signal.

An advantageous development is that the communication signal information includes the designation of the transmitter, in particular the central communication units, of the received radio signal. The central communication unit is designed and set up to provide a radio network. In particular routers or access points, but also smart home controllers or control centers represent such central communication units. The central communication units provide a radio network into which devices, in particular the autonomous mobile working device, can then dial in using their means of communication or use them.

As an advantageous development, it has been shown that a data memory is designed to store the communication signal information associated with a position together with the position.

A particularly advantageous development is that the communication means is designed and set up to communicate using the Bluetooth, Zigbee, Z-Wave, WiFi, Thread, Matter, 868 MHz, 433 MHz, 3G, 4G, 5G or 6G radio standard. Communicate is also understood to mean merely receiving. The content of the signals does not have to be understood here. Just receiving is enough.

An advantageous development is that the communication means is designed and set up to send the communication signal information associated with the position, in particular to a mobile communication device and/or a display means and/or a server, preferably to a cloud.

An advantageous development is that a calculation unit is provided which determines one or more advantageous positions for an additional central communication unit. In particular, these are positions at which a positioned supplementary central communication unit, in particular a signal amplifier and/or a radio repeater, ensures that areas that are weaker or not at all supplied with the radio network are also supplied. Supplementary central communication units improve the signal quality and/or the range of the radio network of the central communication unit.

An advantageous development is that the working unit includes a vacuum cleaner or a brush, a wiper or a mower or a camera.

Furthermore, the invention relates to a method for creating position-dependent communication signal information, in particular a communication signal heat map, using an autonomous mobile working device. The autonomous working device has a working unit, a drive unit, a navigation unit and a communication means for wireless communication. The method also includes the method steps listed below.

In a method step, the autonomous mobile working device is moved within a working area by means of the drive unit and the navigation unit. The movement takes place autonomously, in particular independently. Specifically, moving is started by timing or a command.

In a method step, a position of the autonomous mobile working device is determined using the navigation unit. This can be done in particular with a map that the navigation unit has previously created or created simultaneously and/or that is stored in the navigation unit.

In a method step, communication signal information of a received communication signal is continuously recorded by means of the communication means.

In a method step, the communication signal is determined as a heat map by linking the detected communication signal information with the local position, in particular the environmental position, at which the communication signal information is detected by the processing unit. The created and/or stored map is preferably used for the positioning.

An advantageous development of the method is that the position and the communication signal information associated with the position are stored in a further method step. As a result, the individually determined communication signal information can be collected.

An advantageous development of the method is that the position and the communication signal information associated with the position are sent. Preferably, the communication signal information can be sent individually or in groups, in particular all.

• 1 ein schematisch dargestelltes autonomes mobiles Arbeitsgerät,
• 2 ein Beispiel eines Gebäudes in dem das autonome mobile Arbeitsgerät eingesetzt wird, und
• 3 ein Ablaufdiagramm des erfindungsgemäße Verfahren.

Exemplary embodiments are shown in the figures and explained in more detail in the following description. Show it:

• 1 a schematically represented autonomous mobile working device,
• 2 an example of a building in which the autonomous mobile work device is deployed, and
• 3 a flow chart of the method according to the invention.

In 1 an autonomous mobile working device 1 is shown. The autonomous mobile working device 1 is in 1 for example an autonomous mobile floor cleaning system, in particular a robot vacuum cleaner/mop, preferably a robot vacuum cleaner/mop.

Alternatively, autonomous working devices 1 can also be in the form of robotic mowers or surveillance robots or surveillance drones. Advantageously, the autonomous mobile working devices 1 have a main task that differs from the acquisition of communication signals according to the invention.

Alternatively, autonomous working devices 1 can also be designed as mobile surveillance robots. These move autonomously within the building and monitor the work area.

Alternatively, autonomous working devices 1 can also be designed as mobile drones. This move autonomously within the building and monitor the work area.

In particular, the autonomous mobile working device 1 can also be designed as a combination, with this wiping and vacuuming.

The autonomous mobile working device 1 embodied as an example of an autonomous floor cleaning system is a mobile, self-propelled device, in particular a cleaning device for autonomous processing of floor surfaces, such as a suction and/or sweeping and/or wiping robot.

The autonomous mobile working device 1 preferably has a working unit 10 . The unit of work 10 consists according to FIG 1 for example, from a suction area 12, in which in particular a rotating brush 15 is arranged, as well as a dirt container 14 and a fan 16. The fan 16 generates an air flow. The fan 16 sucks in air via the intake area 12 . Dirt elements, which are located in particular on the floor, are also sucked in. The dirt elements are conveyed into the dirt container 14 either by means of the air flow or the optional brush 15. One or more edge brushes 18 are preferably additionally formed. In 1 For example, the autonomous working device 1 has two edge brushes 18 . The edge brushes 18 are advantageously arranged in such a way that they can transport dirt from edges or corners and feed it to the suction area 14 .

According to a development of the invention, the working unit 10 has a wiper as an alternative or in addition. A moving means is preferably provided which moves the wiper. The movement, together with detergent, causes cleaning of the floor. The working unit 10 also has an optional tank for holding the cleaning agent. The cleaning agent is added to the wiper by means of a valve or a pump.

According to a development of the invention, the autonomous working device 1 is designed as a robot lawn mower. In this case, the working unit 10 has a mower. In particular, the mower comprises a cutting blade and/or a cutting line. In particular, the cutting blade and/or the cutting thread moves on a circular path in such a way that the grass is severed by the cutting blade and/or the cutting thread. The cutting thread and/or the cutting knife is driven by an electric drive of the working unit 10 . The cutting thread and/or the cutting knife is connected to the electric drive of the working unit 10 by means of an axle.

According to a further development, the working unit 10 has a camera. Especially for surveillance tools. Alternatively, the device can also have motion detectors or comparable sensors used for monitoring.

Furthermore, the autonomous mobile working device 1 has a drive unit 20 . The drive unit 20 includes an electric drive 22 for locomotion. The drive unit 20 preferably has one or more drive wheels 24 . In 1 two drive wheels 24 are shown as an example. The drive wheels 24 are each connected to the electric drive 22 via a shaft 26 . A gear and/or a plurality of gears is/are preferably formed between the electric drive and the drive wheels 24 . Preferably, the drive unit 20 can also have a chain drive or omnidirectional drives instead of one or more wheels 24 . The drive unit 20 optionally has an auxiliary wheel 28 . In particular, the drive wheels 24 and the auxiliary wheel 28 are arranged in such a way, in particular in a triangle, that the autonomous working device stands stably on them.

According to an advantageous development, the autonomous mobile working device 1 is designed as a surveillance drone. The drive unit includes in particular a rotor with rotor blades for generating lift. An electric drive drives the rotor.

The autonomous mobile working device 1 has a navigation unit 42 . The navigation unit 42 is provided for detecting the position of the autonomous mobile working device 1 within the working area 70 . It also navigates the autonomous working device 1.

The working area 70 can in particular be an area, a piece of land, a building, part of a building and/or a room. In 2 a building 71 consisting of three rooms 72, 73, 74 is shown as an example.

A navigation unit 42 is to be understood as meaning any unit that is suitable for determining the position of the working device 1 . For this purpose, for example, inertial sensors (inertial measurement units; acceleration sensors and gyroscopes) or sensors detecting the environment, such as in particular lidar, radar, ultrasound, are used, which are installed in the working device 1 and which measure changes in position and attitude and thus detect movements of the working device 1 can react. Alternatively or additionally, other and/or additional position determination units (Bluetooth localization, satellite-based positioning, optical flow etc.) can be used to increase positioning accuracy.

The navigation unit 42 preferably creates a map with the aid of the sensors. Afterwards and/or during it (using SLAM (Simultanious Localization And Mapping) algorithms) it can use the map to determine its relative position within the map. Alternatively, it can also use a coordinate system to determine its position. In particular, it uses the sensors to determine the distance to individual objects or parts of the building.

The autonomous working device 1 also has a communication means 50 . The means of communication 50 is used, among other things, for wireless communication with other devices 90.

Preferably, the other devices 90 to which additional communication takes place are a mobile communication device, in particular a smartphone, a SmartWatch, a tablet; or a smart home device. In particular when configured as a smartphone, smart watch or tablet, the device 90 enables an application to be run, which allows the autonomous working device 1 to be controlled or information from the autonomous working device 1 to be displayed. The communication signal information linked to the position, in particular the position-dependent communication signal information, can also be displayed on a map here. This results in a communication signal heat map.

The device 90 can also be part of a smart home system. A smart home system is a system that is intended to increase the quality of life, security and efficient use of energy. A smart home system is based on at least two or more networked and controllable devices 90 and installations as well as automatic processes. In particular, the autonomous working device can thus also represent part of the smart home system.

The communication with the devices 90 can preferably take place via the central communication unit 80 . In particular, the central communication unit 80 can represent the central unit in a smart home system.

Smart home devices are home technology control devices, home technology devices, household appliances, gardening devices, information and communication electronics devices and/or entertainment electronics devices that have a communication interface that allows them to communicate with other smart home devices 90 .

Smart home devices 90 are networked with one another and can receive and/or send messages, in particular signals, data packets, information, control commands and/or environmental variables, etc.

A home automation control device is understood to mean, for example, actuators for controlling heating devices, blinds, roller shutters, lamps, but also sensors such as buttons or switches for controlling actuators or other electrical devices.

Household appliances are devices for heating, cooling, ventilating buildings, in particular heating systems, air conditioning systems or ventilation systems, preferably boilers, solar heating, heat pumps, living space ventilation, hot water tanks, radiators, pumps, valves, controls and/or air conditioning systems.

A household appliance is to be understood, for example, as appliance types that can be used in a household but also in the professional sector, such as dishwashers, washing machines, dryers, ovens, microwaves, steamers, combi steamers, vacuum cleaners, irons, extractor hoods and others. Household appliances are also referred to as white goods.

Garden tools include lawn mowers, robotic mowers, irrigation systems, sprinkler systems, soil moisture sensors, light sensors, PH sensors and others.

Electronic information and communication devices are devices that are used for the exchange of information and communication. Such devices are usually also used as an input device or HMI (Human Interface) for the smart home system. This includes input devices such as smartphones, tablets or mobile phones, but also speech recognition devices.

• Bluetooth, Zigbee, Z-Wave, WiFi, Thread, Matter, 868 MHz, 433 MHz, 3G, 4G, 5G oder 6G zu kommunizieren. Vorteilhaft weisen die Funkstandards meist Zentralkommunikationseinheiten 80 auf. Eine solche Zentralkommunikationseinheit 80 ist bei WiFi beispielsweise ein Router oder Accesspoint. Aber auch Repeater oder Verstärker bilden solche Zentralkommunikationseinheiten 80. Insbesondere bei einer Kommunikation über Zigbee, Z-Wave, WiFi, Thread, Matter erzeugt eines Accesspoints oder ein Router ein Funknetzwerk, in welches sich das autonome Arbeitsgerät 1 und weitere Geräte, hier beispielsweise das Gerät 90, einwählen können. Der Access Point und/oder Router sowie das Kommunikationsmittel 50 des autonom Arbeitsgerät 1 senden und/oder empfangen Funksignale. Mittels der Funksignale werden Signale, die Nachrichten, Informationen, Steuerbefehle usw. enthalten, gesendet oder empfangen. Abhängig von der Norm des Funkstandards und/oder den eingesetzten Verstärker und Antennen ergibt sich eine Reichweite. Auch sind Funkstandards sensibler bezüglich Umwelteinflüsse als andere.

The communication means 50 of the autonomous working device 1 is designed and set up using one of the radio standards listed as an example:

• Bluetooth, Zigbee, Z-Wave, WiFi, Thread, Matter, 868MHz, 433MHz, 3G, 4G, 5G or 6G to communicate. The radio standards usually have central communication units 80 in an advantageous manner. In the case of WiFi, such a central communication unit 80 is, for example, a router or access point. However, such central communication units 80 also form repeaters or amplifiers. In particular, when communicating via Zigbee, Z-Wave, WiFi, Thread, Matter, an access point or a router creates a radio network into which the autonomous working device 1 and other devices, here for example the device 90, can dial. The access point and/or router and the means of communication 50 of the autonomous working device 1 send and/or receive radio signals. Signals containing messages, information, control commands, etc. are sent or received by means of the radio signals. The range depends on the radio standard and/or the amplifiers and antennas used. Radio standards are also more sensitive to environmental influences than others.

However, due to the use of reinforced concrete for walls or ceilings, the range of most radio standards inside buildings is limited. Technologies such as mesh or supplementary central communication units 92a, 92b such as repeaters or amplifiers are used to counteract this. However, the use of supplementary central communication units such as repeaters or amplifiers usually only leads to a perceived improvement in range. In particular, it is not normally possible for an ordinary end user within a building to determine areas in which communication is better or worse once the communication has exceeded a certain threshold.

The autonomous mobile working device 1 also has a processing unit 44 . This is intended to link the determined communication signal information and the determined position with one another.

The navigation unit 42 and the processing unit 44 are advantageously part of an electronic control system 40. This has, in particular, a microprocessor.

In 2 a building 71 is shown as an example. The building 71 has a first room 72 , a second room 73 , and a third room 74 . A central communication unit 80, in particular a router or access point, is arranged in the first room 72. The router 80 is connected to the Internet. It would be advantageous if the radio signal transmitted by the central communication unit 80 is available in all rooms in such a way that communication with a defined bandwidth is possible.

From the 2 it can be seen that the radio network in the third room 74 is only partially available. In particular, this is because the wall between the rooms 72 and 74 completely shields the radio signal. There are similar constellations in many buildings, sometimes between the walls and sometimes between the ceilings. In order to bridge these dead spots or areas with a weak wireless network, the user can set up additional central communication units 92 . However, a suitable place must be found for this. In particular, an arrangement as 92a would be less suitable since it is in the direct vicinity of the central communication unit 90 here. Possibly more suitable is the positioning according to 92b.

The building section 71 shown is a simple structure. It becomes more complex when the building extends over several floors and/or rooms.

The autonomous mobile working device 1 moves in the working area 70. The autonomous mobile working device 1 preferably travels over the working area 70. The work area 70 corresponds here, for example, to the building 71 consisting of the rooms 72, 73, 74. The route 60 is an example in 2 shown. The autonomous mobile working device 1 can move chaotically and/or, for example, in a meandering manner in the working area 70, in particular travel over it. The working device 1 preferably strives to cover as many points as possible that the working device 1 can reach.

An example route is 60 in 2 shown. The autonomous mobile working device 1 advantageously covers the entire working area 70 .

In 3 a method 100 according to the invention for creating position-dependent communication signal information, in particular a communication signal heat map, is shown.

A heat map is a chart and its visualization of data. The data on which the creation of the communication signal heatmap is based is the communication signal information and the position at which this communication signal information is present. Furthermore, the map of the navigation unit is usually used. Using a color gradient, for example, the communication signal information can be displayed in the map in a simplified way.

In a first method step 110, the autonomous working device 1 is started. This means that it starts moving around, specifically driving, within its assigned work area 70 . Moving, in particular driving, takes place autonomously, in particular by means of meandering lines or chaotically. Parallel to the movement, the working unit 10 is usually activated, in particular for wiping, vacuuming, sweeping, cutting, and monitoring.

In a further method step 120, the current position of the implement 1 is detected using its navigation unit 42. As already described above, any sensors, in particular lidar, radar, ultrasound and algorithms for determining the position, are used for this purpose. Preferably, the detection takes place while driving without the implement stopping for this purpose. If the position is determined, the method continues with step 130 . In particular, a map can also be created based on the sensor values and/or a created map can be retrieved. The map is created by the navigation unit 42 using the sensors.

In method step 130, the communication signal information is determined by the communication means 50. The communication signal information includes in particular the signal strength and/or the RSSI of a received radio signal and/or the designations of the transmitter, in particular the central communication units or a supplementary central communication units. In particular, the communication signal information can include a combination of the aforementioned contents. Furthermore, the communication signal information is not limited to the contents enumerated above.

In method step 130 the communication signal information is determined. For example, in method step 130 the signal strength of the signal sent by the transmitter 80, in particular the central communication units or a supplementary central communication unit, can be detected. In particular, it is sufficient if the signal strength is detected. A content-related signal evaluation is preferably not necessary. Also, the communication signal does not have to be sent to the implement as the receiver.

According to a further development of the invention, method steps 120 and 130 take place essentially simultaneously, that is to say in particular with a technology-related delay.

In method step 140, the detected communication signal information is linked to the position at which the communication signal information was detected. In particular, the communication signal information is supplemented by the position when it is linked.

The communication signal information associated with the position and/or the detected communication signal information is/are stored in a data memory in an optional method step 150 . In particular, the data memory can be embodied in the autonomous working device or in a server and/or the cloud and/or the mobile communication device.

In an optional method step 160, the communication signal information linked to the position is forwarded to a device 90, in particular a display means, a smart home device, a mobile communication device, and/or server. In particular, the device can then create a heat map.

Following method step 140, 150 or 160, a jump is made back to method step 120. Method step 120 and the following method steps are preferably repeated after a defined time and/or after a defined change in position. The number of repetitions determines the subsequent resolution. This results in a large number of position-dependent pieces of communication signal information, each of which is assigned a position.

In an optional method step 170, a calculation unit determines the optimal position for setting up one or more supplementary central communication units, in particular a signal amplifier and/or a radio repeater 80.

A supplementary central communication unit 92 can also be formed by a device 90 in a mesh network. In particular, mesh networks are used in smart home devices. In this case, a device 90 also simultaneously represents a supplementary central communication unit 92a, 92b within the meaning of the invention.

Claims (11)

Autonomous mobile working device (1), in particular a mobile robotic vacuum cleaner, a robotic mower, a mobile surveillance robot or a mobile surveillance drone, • with at least one drive unit (20) for driving the autonomous mobile working device (1), • with at least one navigation unit (42) for Navigation in a work area (90), the navigation unit (42) being designed and set up to determine a position of the autonomous mobile work device within the work area (22), characterized in that • the autonomous mobile work device (1) has a means of communication ( 50) for wireless communication, wherein the communication means (50) is designed and set up to determine communication signal information of a received communication signal from a transmitter (80), • and wherein a processing unit (44) is provided which links the detected communication signal information with the position , on which the Acquisition of the communication signal information takes place. Autonomous mobile working device (1) according to the preceding claim, characterized in that at least one working unit (10) is formed, which in particular has a wiper, vacuum cleaner, mower or a camera for a camera-based surveillance system. Autonomous mobile work device (1) according to one of the preceding claims, characterized in that the communication signal information comprises the signal strength and/or the RSSI of a received radio signal. Autonomous mobile working device (1) according to one of the preceding claims, characterized in that the communication signal information includes the designation of the transmitter (80), in particular the central communication units, of the received radio signal. Autonomous mobile working device (1) according to one of the preceding claims, characterized in that a data memory is designed for storing the communication signal information associated with a position together with the position. Autonomous mobile working device (1) according to one of the preceding claims, characterized in that the communication means (50) is designed and set up using the Bluetooth, Zigbee, Z-Wave, WiFi, Thread, Matter, 868 MHz, 433 MHz, 3G radio standard , 4G, 5G or 6G to communicate. Autonomous mobile work device (1) according to one of the preceding claims, characterized in that the communication means is designed and set up to transmit the communication signal information associated with the position to a mobile communication device and/or a display means and/or a server, preferably to a cloud send. Autonomous mobile working device (1) according to one of the preceding claims, characterized in that a calculation unit is provided which determines one or more positions for a further transmitter. Method (100) for creating position-dependent communication signal information, in particular a communication signal heat map, using an autonomous mobile working device (1), the autonomous mobile working device (1) having a drive unit (20), a navigation unit (42) and a means of communication (50) for wireless communication and in particular a working unit (10), having the steps: • Autonomous movement (120) of the autonomous mobile working device (1) within a working area (70) by means of the drive unit (20) and the navigation unit (42), • determining (130) a position of the autonomous mobile working device (1) within the working area (70) using the navigation unit (42), • detecting (130) communication signal information of a received communication signal by means of the communication means, • Determination (140) of the position-dependent communication signal information by linking the detected communication signal information with the position at which the detection of the communication signal information takes place using the processing unit (44). Method (100) according to the preceding claim, characterized by the method step: • storing (150) the position and the communication signal information associated with the position. Method (100) according to any one of the preceding claims 9 and 10 , characterized by the step of: • sending (160) the position and the communication signal information associated with the position.

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