EP3254593A1 - Système de capteur pour la navigation optimisée d'une unité de robot mobile - Google Patents

Système de capteur pour la navigation optimisée d'une unité de robot mobile Download PDF

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Publication number
EP3254593A1
EP3254593A1 EP17174464.2A EP17174464A EP3254593A1 EP 3254593 A1 EP3254593 A1 EP 3254593A1 EP 17174464 A EP17174464 A EP 17174464A EP 3254593 A1 EP3254593 A1 EP 3254593A1
Authority
EP
European Patent Office
Prior art keywords
sensor
lighting device
mobile robot
robot unit
mobile
Prior art date
Legal status (The legal status 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 status listed.)
Pending
Application number
EP17174464.2A
Other languages
German (de)
English (en)
Inventor
Klaus Kussinger
Florian Moosmann
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tridonic GmbH and Co KG
Original Assignee
Tridonic GmbH and Co KG
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
Priority claimed from ATGM140/2016U external-priority patent/AT15526U1/de
Application filed by Tridonic GmbH and Co KG filed Critical Tridonic GmbH and Co KG
Publication of EP3254593A1 publication Critical patent/EP3254593A1/fr
Pending legal-status Critical Current

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    • 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
    • A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
    • 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
    • A47L9/30—Arrangement of illuminating devices
    • 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

Definitions

  • the invention relates to a lighting device for a luminous means, in particular an LED, comprising an operating device for the luminous means and a sensor which transmits environmental data to a mobile robot unit according to the preamble of claim 1 and a corresponding method according to the preamble of claim 10.
  • Lighting device for illuminants which include sensors such as temperature sensors, smoke sensors, etc. are well known. Also known are mobile robotic units, e.g. Drones, autonomous transport trolleys (trolleys, medicine trolleys), mowing robots for lawn mowing or cleaning robots, for example, to vacuum or wipe the floor.
  • mobile robotic units e.g. Drones, autonomous transport trolleys (trolleys, medicine trolleys), mowing robots for lawn mowing or cleaning robots, for example, to vacuum or wipe the floor.
  • the field of view of the sensors integrated in the mobile robot unit such as distance sensor, optical sensor, etc. is greatly limited. That is, it detects problem areas such as stairs or moving objects such as animals, humans or other mobile robot units only when they appear in the field of view of the sensors of the mobile robot unit. This does not guarantee that the mobile robot unit does not drive down the stairs or is in the way of moving objects.
  • the object of the present invention is therefore to expand and optimize the field of view of the mobile robot unit.
  • the invention now proposes to provide a lighting device for a lighting means, in particular an LED, including a control device for the lighting means and a sensor which communicates with the mobile robot unit in order to achieve the above-mentioned object.
  • the lighting device and the method are listed as independent claims. Further embodiments of the invention are the subject of the dependent claims.
  • the sensor receiving the environment data, transmitting it to a processing device, which evaluates the data and then passes it on to the mobile robot unit. He can then adjust his route or cleaning program according to the data.
  • the sensor mounted in the lighting device can be designed as an optical sensor such as a PIR sensor or a camera.
  • the processing device has an image recognition that evaluates the images received by the camera.
  • the senor can also be embodied as an acoustic sensor, for example an ultrasonic sensor which scans the environment at short intervals and transmits this data to the processing device, which calculates therefrom, for example, a 2D or 3D image of the space.
  • an acoustic sensor for example an ultrasonic sensor which scans the environment at short intervals and transmits this data to the processing device, which calculates therefrom, for example, a 2D or 3D image of the space.
  • the previously calculated data optimizes the route of the mobile robot unit.
  • the mobile robot unit can avoid / fly around temporarily parked items such as children's toys, shopping bags, etc. But also new furnishings or decorative items are directly bypassed.
  • the mobile robot unit may also be determined, for example, that the mobile robot unit keeps a certain number of meters away from moving objects so as not to obstruct or injure them. Or it can be fixed be that the mobile robot unit avoids spaces with moving objects and this anffliegt at a later time /.
  • the processing device which evaluates the data of the sensor and transfers it to the mobile robot unit, can be located directly in the illumination device. In further embodiments of the invention, it would be conceivable to arrange the processing device in the loading station or docking station of the mobile robot unit or in the mobile robot unit itself.
  • environment data may be calculated so that the movement area (the ground on which the mobile robot unit moves) of the space to be traveled is divided into squares assigned to individual coordinates.
  • certain squares can be set to a "blacklist" that the mobile robotic unit avoids. For example, squares allocated within a doorframe may be blacklisted if the mobile robotic unit is to avoid the adjacent room for the time being, and removed from the list when the room is vacated.
  • a further embodiment of the invention provides to arrange a plurality of sensors at different positions in the room. This can be useful if large obstacles such as cabinets, room dividers, etc. restrict the view of one sensor would. With several sensors, the room can be analyzed completely.
  • the sensors can communicate with each other wirelessly or by cable and pass on the data to the processing device.
  • W-LAN, VLC (Visible Light Communication), Bluetooth, Infrared, etc. are conceivable as wireless communication standard.
  • Wired standards can be Ethernet, PLC (Powerline Communication), etc.
  • Fig. 1 shows an exemplary room arrangement with a lighting device 1, a lighting device 10, a mobile robot unit (in this example a cleaning robot) 2, a docking station 3 for the mobile robot unit 2 and an obstacle / moving object 4.
  • the sensor 5 in the lighting device 1 monitors the room at any time, or only while the mobile robotic unit is active, passes this data to a processing device 7.
  • a two-dimensional moving surface 6 in this example the floor of a room).
  • the sensor 5 in the lighting device 1 can be designed as an optical sensor, for example a camera or PIR sensor.
  • the processing device 7 can have an image recognition which evaluates the received image material.
  • the processing device 7 can determine from which material the movement surface 6 exists and accordingly configure the mobile robot unit 2.
  • the mobile robot unit 2 if it concerns a cleaning robot, for example, apply different cleaning methods, which can be applied depending on the material of the movement surface 6.
  • the various cleaning methods of the mobile robot unit 2 may have different suction forces and different brush types.
  • a cleaning method with a higher suction power than a wooden surface can be used for a carpet surface. It can be used with a wooden surface, a lower suction force and a fine brush.
  • a user can access the sensor 5, the mobile robot unit 2 or the docking station with a mobile device 8 and view the sensor data.
  • the user can, for example, obtain information about the cleaning state of the movement surface 6, experience the progress of the current activity or the location, even if the user is not in the immediate vicinity of the movement surface 6.
  • the mobile device 8 may be a mobile communication terminal, such as a mobile phone (mobile phone) or smartphone, which in FIG. 3 will be shown.
  • the mobile robot unit 2 can also be used as an alarm system.
  • the mobile device 8 may include a user interface configured to alter and / or communicate configuration parameters.
  • the user can set the mobile robot unit 2 by means of the mobile device 8 in an alarm mode and when detecting a moving object, the mobile robot unit 2 with a transmitting unit and / or the sensor 5 send an alert to the mobile device 8 and / or a flashing mode Induce lighting device 1.
  • the senor 5 is formed in the lighting device 1 as an acoustic sensor.
  • the latter can, for example, record the surroundings by means of radar and transmit the information to the processing device 7, which in turn can provide the information for the mobile robot unit 2.
  • the processing device 7 can be configured such that it can detect obstacles and / or moving objects 4, for example fragile or briefly parked objects, and can transmit movement instructions to the mobile robot unit 2.
  • It may also be configured to detect obstacles and / or moving objects 4 and to transmit in real time the mobile robotic unit 1 which then evades or keeps a certain distance from the obstacles and / or moving objects 4.
  • the vacuum robot can "hide” under furniture when a moving object passes through the room. As a result, for example, accidental trampling of the mobile robot unit 2 is prevented.
  • the environment data can be transmitted in a variety of ways from the sensor 5 in the illumination device (1) to the processing device 7 and from the processing device 7 to the mobile robot unit 2.
  • Wireless standards like W-LAN, Bluetooth, Zigbee, VLC, Infrared, IPv6 etc. are possible. But Also wired as Ethernet, PLC, etc. are conceivable.
  • wireless standards are used which do not require direct visual contact.
  • the mobile robot unit 2 can also inform the processing device 7, for example, when its filling container is full.
  • the processing device 7 can communicate this information to the operating device of the lighting device 1 and the operating device 9 can then initiate a flashing mode in which the lighting device starts to flash and thus can inform the user about a full filling container.
  • the mobile robot unit 2 can directly transmit the level to the mobile device 8 of the user.
  • the processing device 7 may be mounted in the illumination device 1. It is also conceivable that it is accommodated in the docking station 3 of the mobile robot unit 2 or in the mobile robot unit 2 itself.
  • This application example is transferable from a cleaning robot to any mobile robotic unit (flying drone, autonomous food trolley, etc.).
  • the movement area 6 recorded by the sensor 5 in the illumination device 1 can be broken down graphically into individual squares 11, triangles or other polygons, and these subdivisions can be provided with coordinates.
  • This allows individual Areas are set to a "blacklist", which the mobile robot unit 2 should avoid and keep a certain distance to it.
  • Fig. 2 By way of example, an "area to be avoided” 12 is shown.
  • further sensors 5a / b are distributed in space in order to increase the accuracy.
  • obstacles / moving objects 4 by stationary objects may be outside the field of view of the sensor 5 in the illumination device 1 and not be detected thereby.
  • the additional sensors 5a / b can also be positioned in different rooms.
  • a method which involves the detection of obstacles and / or moving objects 4 in the movement area 6, the processing and transmission of the data to the mobile robot unit 2 and the avoid / keep the mobile robot unit 2 to the obstacle and / or moving object 4 includes.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
EP17174464.2A 2016-06-07 2017-06-06 Système de capteur pour la navigation optimisée d'une unité de robot mobile Pending EP3254593A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AT1272016 2016-06-07
ATGM140/2016U AT15526U1 (de) 2016-06-07 2016-06-13 Sensoranordnung für die optimierte Navigation eines Reinigungsroboters

Publications (1)

Publication Number Publication Date
EP3254593A1 true EP3254593A1 (fr) 2017-12-13

Family

ID=59009615

Family Applications (1)

Application Number Title Priority Date Filing Date
EP17174464.2A Pending EP3254593A1 (fr) 2016-06-07 2017-06-06 Système de capteur pour la navigation optimisée d'une unité de robot mobile

Country Status (1)

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EP (1) EP3254593A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0159553A1 (fr) * 1984-03-26 1985-10-30 NDC Technologies, Inc. Méthode et appareillage pour système de guidage optique de véhicule guidé automatiquement
DE10164278A1 (de) * 2001-04-18 2002-10-31 Samsung Kwangju Electronics Co Reinigungsroboter, Reinigungsrobotersystem und Verfahren zu deren Steuerung
EP1746477A2 (fr) * 2005-07-22 2007-01-24 LG Electronics Inc. Système pour diriger un objet mobile
US20120158282A1 (en) * 2010-12-15 2012-06-21 Electronics And Telecommunications Research Institute Camera-based indoor position recognition apparatus and method

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0159553A1 (fr) * 1984-03-26 1985-10-30 NDC Technologies, Inc. Méthode et appareillage pour système de guidage optique de véhicule guidé automatiquement
DE10164278A1 (de) * 2001-04-18 2002-10-31 Samsung Kwangju Electronics Co Reinigungsroboter, Reinigungsrobotersystem und Verfahren zu deren Steuerung
EP1746477A2 (fr) * 2005-07-22 2007-01-24 LG Electronics Inc. Système pour diriger un objet mobile
US20120158282A1 (en) * 2010-12-15 2012-06-21 Electronics And Telecommunications Research Institute Camera-based indoor position recognition apparatus and method

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