EP3454715B1 - System and method for cleaning a floor by means of a cleaning robot - Google Patents

System and method for cleaning a floor by means of a cleaning robot Download PDF

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Publication number
EP3454715B1
EP3454715B1 EP17725888.6A EP17725888A EP3454715B1 EP 3454715 B1 EP3454715 B1 EP 3454715B1 EP 17725888 A EP17725888 A EP 17725888A EP 3454715 B1 EP3454715 B1 EP 3454715B1
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EP
European Patent Office
Prior art keywords
cleaning
intensity
event
cleaning robot
communication means
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EP17725888.6A
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German (de)
French (fr)
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EP3454715A1 (en
Inventor
Hendrik Koetz
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Vorwerk and Co Interholding GmbH
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Vorwerk and Co Interholding GmbH
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Publication of EP3454715A1 publication Critical patent/EP3454715A1/en
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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
    • A47L9/28—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
    • 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
    • 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

Definitions

  • the invention relates to a system and a method for cleaning a floor with at least one cleaning robot.
  • Cleaning robots are known as autonomously driving and navigating robot units in the form of vacuum robots, sweeping robots and wiping robots.
  • cleaning robots of this type have electrically operated suction / blower units and / or brushes and / or bristle rollers and / or wiping elements driven by an electric motor, and a dust and dirt collecting compartment.
  • Cleaning robots are able to independently clean hard floors such as parquet, laminate, tiled floors or stone floors as well as textile floor coverings from dust and coarse material by means of a suction air flow and, if necessary, with the aid of a mechanical brush.
  • Sweeping robots on the other hand, clean the floor mechanically using brushes and collecting containers, without the use of a suction air stream.
  • wiping robots there is also a wiping element which is generally moved at a high frequency and which, by means of a cleaning agent, generally water-based, picks up dirt from the floor.
  • At least one motor means for driving at least one of at least three wheels is provided for moving the cleaning robot over a floor.
  • two electric motors are provided which drive two drive wheels independently of one another, a third impeller being provided to stabilize the cleaning robot.
  • known cleaning robots have at least one sensor, in particular a plurality of sensors for observing the cleaning robot surrounding space.
  • the cleaning robot can detect the surroundings by means of the sensors and the cleaning robot can navigate largely without contact with walls or objects.
  • the cleaning robot is supplied with power for the operation of the electrical components, in particular the electric motors, the sensors and a control, via accumulators.
  • the cleaning robot is assigned a stationary base station that is connected to the household power supply.
  • Cleaning robots find the base station automatically, for example with the aid of radio and / or light signal routing or radio communication between the base station and the cleaning robot.
  • the request to start the base station can be made automatically, for example by radio communication between the base station and the cleaning robot.
  • the cleaning robot itself can move to the base station depending on the degree of filling of the dirt container on the device and / or the state of charge of the batteries.
  • the cleaning robot can automatically move to the base station after completion of a work to be carried out, for example cleaning a predetermined floor area.
  • Cleaning robots have control means which control the actions of the cleaning robot described above.
  • the control means are designed as computer means with a data processing unit, which control the actions of the cleaning robot on the basis of input signals and / or stored data.
  • the cleaning robots described are programmable so that the cleaning robot carries out cleaning at predetermined times.
  • the cleaning robot can also be started manually. It is also possible to specify a specific room area in which cleaning is to be carried out. This area can be the entire accessible area or only a part be of it. The use of this cleaning robot can therefore be controlled solely on the basis of data entered by the user.
  • a system with at least one cleaning robot, with control means and with communication means is known.
  • the system has stationary sensors as well as sensors arranged on the cleaning robot, which show the occupancy profile of certain rooms of a user in the past on a smartphone display. A user can then choose which rooms should be cleaned on which days. Before the vacuum robot starts cleaning, the user is notified using the smartphone. Using the smartphone, the user is shown the amount of dirt collected by the vacuum cleaner robot or the dirtiest room cleaned by the vacuum cleaner robot.
  • the present invention is therefore based on the technical problem of making a system and a method for cleaning a floor with a cleaning robot more flexible and with improved cleaning results.
  • control means for controlling the cleaning robot and communication means for detecting at least one event with increased pollution levels of at least part of the floor are provided, the control means adjusting the intensity of the use of the cleaning robot for cleaning at least part of the floor as a function of the intensity of at least one event with increased pollution.
  • the cleaning of the floor should be intensified when certain events occur through the communication means be determined. If such events occur, the control means can additionally activate the cleaning robot in order to carry out a cleaning of the floor during or after an increased amount of dirt, possibly earlier than on a predetermined schedule.
  • the communication means can identify an entry of an electronic calendar that can be connected to the communication means as an event with increased pollution. This can preferably be done after certain key terms such as “party”, “eating”, “meeting”, “meeting”, “football”, especially in connection with “at home”, “garden”, "living room” ... in which at least one calendar is searched. Such events are associated with increased pollution due to more intensive use of the living area. After a "party”"athome", the system can then, for example, set an additional cleaning by the cleaning robot, for example still at night or the next morning, regardless of or even in coordination with a possibly scheduled schedule.
  • the cleaning robot can also be controlled before the event begins to carry out an additional cleaning.
  • the communication means can preferably identify weather information from a database as an event with increased pollution.
  • current weather information is queried, for example, in a network, in particular on the Internet, in one or more weather databases.
  • the determined weather data can then be used to search for key terms such as “rain”, “snow”, “mud”, “wind”, “storm”, ... in order to identify events with increased pollution.
  • Weather reports or season calendars can be used for this.
  • a scheduled cleaning cycle could be shortened in seasons with increased rainfall and extended in seasons with lower rainfall.
  • the communication means as the intensity of events with increased pollution, can be the duration or the intensity of a Record precipitation event. Because precipitation events have the greatest impact on how quickly and intensely soiling an apartment.
  • the means of communication preferably record the number and / or the strength of the at least one event as the intensity of events with increased pollution. If there are several events within a short period of time, the control means can control the cleaning robot for an additional cleaning after the last of the events and thus sensibly increase the intensity of the use of the cleaning robot without generating too many uses of the cleaning robot.
  • control means can control the cleaning robot several times to carry out an additional cleaning. This also increases the intensity of the use of the cleaning robot.
  • the intensity of the next scheduled cleaning or an additional cleaning by the cleaning robot can be increased by a slower driving speed and / or by an increased number of cleaning cycles.
  • control means adjust the intensity of the use of the cleaning robot by changing the frequency and / or the strength of the cleaning action (suction power, revolutions of the cleaning brush).
  • the frequency can mean the number of separate uses of the cleaning robot or the number of times it is passed over a certain area of the home during use of the cleaning robot.
  • the strength of the cleaning can in turn be adjusted by adapting the driving speed and / or the cleaning power, in particular the suction power of the cleaning robot.
  • the strength of the cleaning can only be used for a part of the living area, for example, in the area of an entrance door or in the area of the living room in which a celebration took place.
  • the system can be designed such that the communication means with the data acquisition are arranged in the cleaning robot and connected to the control means and that the communication means are connected to a network by means of a wireless communication link.
  • the cleaning robot has the entire data acquisition and control itself on board.
  • the communication means can for example be integrated in the base station or in a separate device.
  • the communication means with the data acquisition can be arranged outside the cleaning robot and connected to a network, and the communication means can be connected to the control means by means of a wireless communication link.
  • the system could have more than one cleaning robot, all of which are supplied with the information important for the control via the same communication means.
  • the technical problem outlined above is also solved by a method for cleaning a floor with a cleaning robot, in which at least one event with increased pollution is recorded at least part of the floor and in which the intensity of the use of the cleaning robot for cleaning at least part of the Floor is set depending on the intensity of at least one event with increased pollution.
  • a cleaning robot according to the invention is shown in the form of a vacuum robot 2.
  • the vacuum robot 2 has a housing 4, a chassis 6 arranged on the underside of the housing 4, a sensor system 8 for detecting the surroundings of the housing 4 and a controller for automatically driving the chassis 6.
  • the undercarriage 6 is arranged on the underside of the housing 4 and faces the floor surface to be cleaned.
  • the undercarriage 6 has two traction wheels 10 driven by an electric motor and a follower wheel 11, so that a three-point support of the floor cleaning robot 2 is achieved on the floor surface to be cleaned.
  • the robot vacuum cleaner 2 can be moved in any direction, with forward travel in the direction of the arrow r in accordance with Fig. 1 he follows. Likewise, a rotation on the spot and a backward movement against the direction of arrow r is possible.
  • a suction fan motor not shown, is provided, which is also operated electrically.
  • a dustpan-like ramp 16 is provided, via which brushed dirt particles are transported into a container-like receptacle, not shown.
  • the aforementioned sensor system 8 is provided, which is designed as a sensory obstacle detection system.
  • This consists of an optical transmitter unit and an optical receiver unit, both in the in Fig. 1 shown sensor 8 are integrated.
  • the sensor system 8 is arranged to be rotatable about a vertical axis x of the housing 4, as with the arrow c in Fig. 1 is shown.
  • Further sensors 20, 22 and 24 are provided, which are designed as ultrasonic sensors and / or infrared sensors.
  • a display 26 is provided, which Displays information for the user and, if necessary, serves as an input aid for commands for operation.
  • Fig. 3 now shows an inventive system for cleaning a floor with at least one cleaning robot 2, for example as in the 1 and 2 shown as a robot vacuum cleaner, in an exemplary environment of an apartment 30 with two rooms 32 and 34.
  • Fig. 3 shows a floor plan of the apartment with walls 36, entrance door 38 and room door 39 and window 40.
  • a vacuum robot 2 is arranged in the room 32 and is connected to a base station 42 for charging at least one battery 44 provided in the vacuum robot 2 with mains voltage.
  • the base station 42 is positioned in the room 32 and connected to a socket 46.
  • the vacuum robot 2 has control means 50 for controlling the vacuum robot 2 and communication means 52 for detecting at least one event with increased pollution levels in at least part of the floor.
  • the communication means 52 have a transmission and reception device for wireless communication with a transmission and reception device arranged in the room 32 as communication means 54. Wireless communication is preferably carried out using a standardized method such as WLAN or Bluetooth.
  • the communication means 52 can also have a mobile radio device, so that in this case no communication means 54 are required.
  • the communication means 52 and possibly 54 can be connected via a cable connection or wirelessly to a local or external network, in particular to the Internet, in order to collect information about events with increased pollution.
  • the control means 50 are connected to the communication means 52 and receive data on one or more events via this connection. Depending on the intensity of at least one event with increased pollution, the control means 50 adjust the intensity of the use of the vacuum robot 2 for cleaning at least part of the floor.
  • An example of events is that the communication means 52 identify an entry of a calendar that can be connected to the communication means 52 and possibly 54 as an event with increased pollution.
  • This calendar can be the personal calendar of a person living in the apartment, a so-called family calendar for several people or another calendar.
  • the way in which the calendar is managed can be implemented by different programs or service providers.
  • the communication means 52 searches for predetermined key terms such as "party”, “eating”, “meeting”, “meeting”, “soccer”, possibly in combination with the terms “at home”, “garden”, “living room”. When one of these terms or combinations of terms is found, the communication means 52 determine an event with increased pollution. Because the corresponding calendar entries indicate intensive use of the apartment or parts of the apartment.
  • control means 50 can also control the vacuum robot 2 for additional cleaning before the event.
  • the communication means 52 can identify weather information from a database as an event with increased pollution.
  • the communication means 52 accesses weather data from the network, preferably from the Internet, via the wireless connection.
  • the communication means 52 searches the weather data for predetermined key terms and detects the local weather events in the coming time period.
  • the terms “rain”, “snow”, “mud”, “wind”, “storm” etc. or combinations of these terms can be used as key terms.
  • at least one season calendar can also be used to record general weather trends.
  • the communication means 52 can record the duration or the intensity of a precipitation event, in particular as the intensity of events with increased pollution. Because especially rain or snow events lead to increased pollution when the apartment is used normally.
  • the communication means 52 can additionally or alternatively detect the number and / or the strength of weather events as the intensity of events with increased pollution. This information is also used to estimate the degree of pollution in the home.
  • the control means 50 described above adjust the intensity of the use of the vacuum robot 2 by changing the frequency and / or the strength of the cleaning depending on the data of the detected events.
  • the cleaning of the apartment 30 by means of the vacuum robot 2 can be carried out frequently and / or more intensively. If no schedule has been entered, the controller can plan and carry out the cleaning of the apartment 30 independently.
  • the spatial scope of the cleaning of the apartment 30 can also be set using the data of the events. For example, is it determined that an event with the visit of several people in the living room (room 32 in Fig. 3 ) will take place, the controller 50 can the vacuum robot 2 after this event only have room 32 and not room 30 (bedroom), if necessary, additionally cleaned. If, on the other hand, a rain event is detected, for example, the controller 50 can control the vacuum robot 2 in such a way that the area in front of the entrance door 38 is cleaned more intensively than other areas of the apartment 30.
  • the system has previously been described in such a way that the communication means 52 are arranged in the vacuum robot 2 and are connected to the control means 50 and that the communication means 52 are connected to a network via the device 54 by means of a wireless communication link.
  • the vacuum robot 2 is self-sufficient in terms of data acquisition, evaluation and control.
  • the communication means 54 can be arranged outside the vacuum robot 2 and to be connected to a network, and for the communication means 54 to be connected to the control means 50 by means of a wireless communication link via the communication means 52.
  • the data acquisition takes place outside the vacuum robot 2.
  • Such a system offers the possibility of supplying more than one vacuum robot 2 with the event data and a larger living area than in Fig. 3 is shown to organize.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Description

Die Erfindung betrifft ein System und ein Verfahren zur Reinigung eines Fußbodens mit mindestens einem Reinigungsroboter.The invention relates to a system and a method for cleaning a floor with at least one cleaning robot.

Reinigungsroboter sind als selbstständig fahrende und navigierende Robotereinheiten sind in Form von Saugrobotern, Kehrrobotern und Wischrobotern bekannt. Hierzu verfügen derartige Reinigungsroboter über elektrisch betriebene Saug-Gebläseeinheiten und/oder elektromotorisch angetriebene Bürsten und/oder Borstenwalzen und/oder Wischelemente sowie ein Staub- und Schmutzauffangfach.Cleaning robots are known as autonomously driving and navigating robot units in the form of vacuum robots, sweeping robots and wiping robots. For this purpose, cleaning robots of this type have electrically operated suction / blower units and / or brushes and / or bristle rollers and / or wiping elements driven by an electric motor, and a dust and dirt collecting compartment.

Reinigungsroboter sind in der Lage, selbstständig Hartböden, wie Parkett, Laminat, geflieste Böden oder Steinböden sowie textile Bodenbeläge von Staub und Grobgut mittels eines Saugluftstroms und ggf. mit Hilfe einer mechanischen Bürste zu reinigen. Kehrroboter reinigen dagegen den Boden rein mechanisch mittels Bürsten und Auffangbehältern, ohne dass ein Saugluftstrom eingesetzt wird. Bei Wischrobotern kommt noch ein in der Regel mit hoher Frequenz bewegtes Wischelement hinzu, das mittels eines Reinigungsmittels, in der Regel auf Wasserbasis, Schmutz vom Boden aufnimmt.Cleaning robots are able to independently clean hard floors such as parquet, laminate, tiled floors or stone floors as well as textile floor coverings from dust and coarse material by means of a suction air flow and, if necessary, with the aid of a mechanical brush. Sweeping robots, on the other hand, clean the floor mechanically using brushes and collecting containers, without the use of a suction air stream. In the case of wiping robots, there is also a wiping element which is generally moved at a high frequency and which, by means of a cleaning agent, generally water-based, picks up dirt from the floor.

Für eine Bewegung des Reinigungsroboters über einen Fußboden ist mindestens ein Motormittel zum Antreiben von zumindest einem von mindestens drei Rädern vorgesehen. Üblicher Weise sind zwei Elektromotoren vorgesehen, die unabhängig voneinander zwei Antriebsräder antreiben, wobei ein drittes Laufrad zum Stabilisieren des Reinigungsroboters vorgesehen ist.At least one motor means for driving at least one of at least three wheels is provided for moving the cleaning robot over a floor. Usually, two electric motors are provided which drive two drive wheels independently of one another, a third impeller being provided to stabilize the cleaning robot.

Des Weiteren weisen bekannte Reinigungsroboter mindestens einen Sensor, insbesondere mehrere Sensoren zur Beobachtung des den Reinigungsroboter umgebenden Raums auf. Mittels der Sensoren kann der Reinigungsroboter die Umgebung detektieren und der Reinigungsroboter kann weitgehend ohne Kontakt mit Wänden oder Gegenständen navigieren.Furthermore, known cleaning robots have at least one sensor, in particular a plurality of sensors for observing the cleaning robot surrounding space. The cleaning robot can detect the surroundings by means of the sensors and the cleaning robot can navigate largely without contact with walls or objects.

Die Stromversorgung des Reinigungsroboters für den Betrieb der elektrischen Komponenten, insbesondere der Elektromotoren, der Sensoren und einer Steuerung, erfolgt über Akkumulatoren. Zum Aufladen der Akkumulatoren und darüber hinaus ggf. auch zur Entsorgung des in einem geräteinternen Behälter gesammelten Schmutzes oder Abfalls, ist dem Reinigungsroboter eine stationäre Basisstation zugeordnet, die an das Haushaltsstromnetz angeschlossen ist.The cleaning robot is supplied with power for the operation of the electrical components, in particular the electric motors, the sensors and a control, via accumulators. To charge the batteries and, if necessary, also to dispose of the dirt or waste collected in an internal container, the cleaning robot is assigned a stationary base station that is connected to the household power supply.

Reinigungsroboter finden die Basisstation selbsttätig auf, bspw. mit Hilfe einer Funk- und/oder Lichtsignalführung oder auch einer Funkkommunikation zwischen Basisstation und Reinigungsroboter. Die Aufforderung zum Anfahren der Basisstation kann selbsttätig erfolgen, so bspw. durch Funkkommunikation zwischen Basisstation und Reinigungsroboter. Ebenso kann das Reinigungsroboter selber in Abhängigkeit vom Füllgrad des geräteseitigen Schmutzbehälters und/oder vom Ladezustand der Akkumulatoren die Basisstation anfahren. Des Weiteren kann der Reinigungsroboter nach Abschluss einer durchzuführenden Arbeit, bspw. einer Reinigung eines vorgegebenen Fußbodenbereiches, die Basisstation selbsttätig anfahren.Cleaning robots find the base station automatically, for example with the aid of radio and / or light signal routing or radio communication between the base station and the cleaning robot. The request to start the base station can be made automatically, for example by radio communication between the base station and the cleaning robot. Likewise, the cleaning robot itself can move to the base station depending on the degree of filling of the dirt container on the device and / or the state of charge of the batteries. Furthermore, the cleaning robot can automatically move to the base station after completion of a work to be carried out, for example cleaning a predetermined floor area.

Reinigungsroboter weisen Steuermittel auf, die die zuvor beschriebenen Aktionen des Reinigungsroboters steuern. Die Steuermittel sind als Computermittel mit einer Datenverarbeitungseinheit ausgebildet, die anhand von Eingangssignalen und/oder von gespeicherten Daten die Aktionen des Reinigungsroboters steuern.Cleaning robots have control means which control the actions of the cleaning robot described above. The control means are designed as computer means with a data processing unit, which control the actions of the cleaning robot on the basis of input signals and / or stored data.

Die beschriebenen Reinigungsroboter sind programmierbar, so dass der Reinigungsroboter zu vorbestimmten Zeiten eine Reinigung durchführt. Ebenso kann der Reinigungsroboter manuell gestartet werden. Zudem ist es möglich einen bestimmten Raumbereich vorzugeben, in dem eine Reinigung durchgeführt werden soll. Dieser Raumbereich kann der gesamte befahrbare Raumbereich oder nur ein Teil davon sein. Der Einsatz dieses Reinigungsroboters ist also allein auf Basis von durch den Benutzer eingegebenen Daten steuerbar.The cleaning robots described are programmable so that the cleaning robot carries out cleaning at predetermined times. The cleaning robot can also be started manually. It is also possible to specify a specific room area in which cleaning is to be carried out. This area can be the entire accessible area or only a part be of it. The use of this cleaning robot can therefore be controlled solely on the basis of data entered by the user.

Aus der US 2014/0207280 A1 ist ein System mit mindestens einem Reinigungsroboter, mit Steuermitteln und mit Kommunikationsmitteln bekannt. Das System verfügt über stationäre Sensoren sowie über auf dem Reinigungsroboter angeordnete Sensoren, die das Belegungsprofil bestimmter Räume eines Nutzers in der Vergangenheit auf einem Smartphone Display darstellen. Ein Nutzer kann anschließend auswählen, an welchen Tagen welche Räume gereinigt werden sollen. Bevor der Saugroboter mit der Reinigung beginnt, wird der Nutzer mittels des Smartphones benachrichtigt. Mittels des Smartphones wird dem Nutzer die Menge des von dem Staubsaugerroboter aufgesammelten Schmutzes oder der dreckigste, von dem Staubsaugerroboter gereinigte Raum dargestellt.From the US 2014/0207280 A1 a system with at least one cleaning robot, with control means and with communication means is known. The system has stationary sensors as well as sensors arranged on the cleaning robot, which show the occupancy profile of certain rooms of a user in the past on a smartphone display. A user can then choose which rooms should be cleaned on which days. Before the vacuum robot starts cleaning, the user is notified using the smartphone. Using the smartphone, the user is shown the amount of dirt collected by the vacuum cleaner robot or the dirtiest room cleaned by the vacuum cleaner robot.

Daher liegt der vorliegenden Erfindung das technische Problem zugrunde, ein System und ein Verfahren zur Reinigung eines Fußbodens mit einem Reinigungsroboter flexibler und mit verbesserten Reinigungsergebnissen zu gestalten.The present invention is therefore based on the technical problem of making a system and a method for cleaning a floor with a cleaning robot more flexible and with improved cleaning results.

Das zuvor aufgeführte technische Problem wird erfindungsgemäß durch ein eingangs genanntes System dadurch gelöst, dass Steuermittel zum Steuern des Reinigungsroboters und Kommunikationsmittel zum Erfassen von mindestens einem Ereignis mit erhöhtem Verschmutzungsaufkommen zumindest eines Teils des Fußbodens vorgesehen sind,
wobei die Steuermittel in Abhängigkeit von der Intensität von mindestens einem Ereignis mit erhöhtem Verschmutzungsaufkommen die Intensität des Einsatzes des Reinigungsroboters für eine Säuberung zumindest eines Teils des Fußbodens einstellen.According to the invention, the above-mentioned technical problem is solved by a system mentioned at the beginning in that control means for controlling the cleaning robot and communication means for detecting at least one event with increased pollution levels of at least part of the floor are provided,
the control means adjusting the intensity of the use of the cleaning robot for cleaning at least part of the floor as a function of the intensity of at least one event with increased pollution.

Somit wird erfindungsgemäß vorgeschlagen, dass unabhängig von einer eingestellten Programmierung der Aktionen des Reinigungsroboters die Reinigung des Fußbodens dann zu intensivieren, wenn bestimmte Ereignisse durch die Kommunikationsmittel ermittelt werden. Liegen solche Ereignisse vor, so können die Steuermittel den Reinigungsroboter zusätzlich aktivieren, um während oder nach einem erhöhten Schmutzaufkommen gegebenenfalls früher als nach einem vorgegebenen Zeitplan eine Reinigung des Fußbodens durchzuführen.It is therefore proposed according to the invention that, regardless of the programmed programming of the actions of the cleaning robot, the cleaning of the floor should be intensified when certain events occur through the communication means be determined. If such events occur, the control means can additionally activate the cleaning robot in order to carry out a cleaning of the floor during or after an increased amount of dirt, possibly earlier than on a predetermined schedule.

Für das Erfassen von mindestens einem Ereignis mit erhöhtem Verschmutzungsaufkommen gibt es verschiedene Möglichkeiten.There are various options for recording at least one event with increased pollution.

Beispielsweise können die Kommunikationsmittel als Ereignis mit erhöhtem Verschmutzungsaufkommen einen Eintrag eines mit den Kommunikationsmitteln verbindbaren elektronischen Kalenders identifizieren. Dazu kann bevorzugt nach bestimmten Schlüsselbegriffen wie "Party", "Essen", "Treffen", "Meeting", "Fußball", insbesondere in Verbindung mit "zuhause", "Garten", "Wohnzimmer"... in dem mindestens einen Kalender gesucht werden. Solche Ereignisse sind durch eine intensivere Nutzung des Wohnbereiches mit einer verstärkten Verschmutzung verbunden. Das System kann dann beispielsweise nach einer "Party" "zuhause" eine zusätzliche Reinigung durch den Reinigungsroboter, beispielsweise noch in der Nacht oder am nächsten Morgen einstellen, unabhängig von oder auch in Abstimmung mit einem möglicher Weise einprogrammierten regelmäßigen Zeitplan.For example, the communication means can identify an entry of an electronic calendar that can be connected to the communication means as an event with increased pollution. This can preferably be done after certain key terms such as "party", "eating", "meeting", "meeting", "football", especially in connection with "at home", "garden", "living room" ... in which at least one calendar is searched. Such events are associated with increased pollution due to more intensive use of the living area. After a "party""athome", the system can then, for example, set an additional cleaning by the cleaning robot, for example still at night or the next morning, regardless of or even in coordination with a possibly scheduled schedule.

Wenn ein Ereignis mit erhöhtem Schmutzaufkommen, wie beispielsweise eine stattfindende Party im Wohnbereich, festgestellt wird, das eine erhöhte Sauberkeit des Wohnbereichs auch vor Beginn des Ereignisses erfordert, so kann der Reinigungsroboter auch vor Beginn des Ereignisses angesteuert werden, eine zusätzliche Reinigung durchzuführen.If an event with increased dirt accumulation, such as a party taking place in the living area, is detected, which requires an increased cleanliness of the living area even before the start of the event, the cleaning robot can also be controlled before the event begins to carry out an additional cleaning.

Weiterhin bevorzugt können die Kommunikationsmittel als Ereignis mit erhöhtem Verschmutzungsaufkommen eine Wetterinformation aus einer Datenbank identifizieren. Hierzu wird beispielsweise in einem Netzwerk, insbesondere im Internet, in einer oder mehreren Wetterdatenbanken aktuelle Wetterinformationen abgefragt. In den ermittelten Wetterdaten kann dann nach Schlüsselbegriffen wie "Regen", "Schnee", "Matsch", "Wind", "Sturm",... gesucht werden, um Ereignisse mit erhöhtem Verschmutzungsaufkommen zu identifizieren. Dazu können einerseits Wetterberichte oder auch Jahreszeitenkalender genutzt werden.Furthermore, the communication means can preferably identify weather information from a database as an event with increased pollution. For this purpose, current weather information is queried, for example, in a network, in particular on the Internet, in one or more weather databases. The determined weather data can then be used to search for key terms such as "rain", "snow", "mud", "wind", "storm", ... in order to identify events with increased pollution. Weather reports or season calendars can be used for this.

Beispielsweise könnte bei der Nutzung von Jahreszeitenkalendern ein planmäßiger Reinigungszyklus in Jahreszeiten mit erhöhtem Niederschlagsvorkommen verkürzt und in Jahreszeiten mit niedrigerem Niederschlagsvorkommen verlängert werden.For example, when using seasonal calendars, a scheduled cleaning cycle could be shortened in seasons with increased rainfall and extended in seasons with lower rainfall.

Insbesondere können die Kommunikationsmittel als Intensität von Ereignissen mit erhöhtem Verschmutzungsaufkommen die Dauer oder die Intensität eines Niederschlagereignisses erfassen. Denn Niederschlagsereignisse haben den stärksten Einfluss darauf, wie schnell und intensiv eine Wohnung verschmutzt wird.In particular, the communication means, as the intensity of events with increased pollution, can be the duration or the intensity of a Record precipitation event. Because precipitation events have the greatest impact on how quickly and intensely soiling an apartment.

Bevorzugt erfassen die Kommunikationsmittel als Intensität von Ereignissen mit erhöhtem Verschmutzungsaufkommen die Anzahl und/oder die Stärke des mindestens einen Ereignisses. Kommt es danach zu mehreren Ereignissen innerhalb einer kurzen Zeitdauer, so können die Steuermittel den Reinigungsroboter nach dem letzten der Ereignisse für eine zusätzliche Reinigung ansteuern und somit die Intensität des Einsatzes des Reinigungsroboters sinnvoll erhöhen, ohne zu viele Einsätze des Reinigungsroboters zu erzeugen.The means of communication preferably record the number and / or the strength of the at least one event as the intensity of events with increased pollution. If there are several events within a short period of time, the control means can control the cleaning robot for an additional cleaning after the last of the events and thus sensibly increase the intensity of the use of the cleaning robot without generating too many uses of the cleaning robot.

Sind dagegen mehrere Ereignisse mit größerem Zeitabstand ermittelt worden, so können die Steuermittel den Reinigungsroboter mehrfach ansteuern, eine zusätzliche Reinigung durchzuführen. Auch dadurch wird die Intensität des Einsatzes des Reinigungsroboters erhöht.If, on the other hand, several events with a larger time interval have been determined, the control means can control the cleaning robot several times to carry out an additional cleaning. This also increases the intensity of the use of the cleaning robot.

Wird dagegen ein einzelnes Ereignis mit hoher Intensität ermittelt, so kann die Intensität der nächsten planmäßigen Reinigung oder einer zusätzlichen Reinigung durch den Reinigungsroboter durch eine langsamere Fahrgeschwindigkeit und/oder durch eine erhöhte Anzahl von Reinigungsdurchgängen erhöht werden.If, on the other hand, a single event with high intensity is determined, the intensity of the next scheduled cleaning or an additional cleaning by the cleaning robot can be increased by a slower driving speed and / or by an increased number of cleaning cycles.

Weiterhin ist es bevorzugt, dass die Steuermittel die Intensität des Einsatzes des Reinigungsroboters durch Verändern der Frequenz und/oder der Stärke der Reinigungswirkung (Saugkraft, Umdrehungen der Reinigungsbürste) einstellen. Dabei kann die Frequenz die Anzahl von separaten Einsätzen des Reinigungsroboters oder auch die Anzahl des Überfahrens eines bestimmten Wohnungsbereichs während eines Einsatzes des Reinigungsroboters bedeuten. Die Stärke der Säuberung kann wiederum durch eine Anpassung der Fahrgeschwindigkeit und/oder der Reinigungskraft, insbesondere der Saugkraft des Reinigungsroboters eingestellt werden. Die Stärke der Säuberung kann auch nur für einen Teil des Wohnbereichs, beispielsweise im Bereich einer Eingangstür oder im Bereich des Wohnzimmers, in dem eine Feier stattgefunden hat, erhöht werden.It is further preferred that the control means adjust the intensity of the use of the cleaning robot by changing the frequency and / or the strength of the cleaning action (suction power, revolutions of the cleaning brush). The frequency can mean the number of separate uses of the cleaning robot or the number of times it is passed over a certain area of the home during use of the cleaning robot. The strength of the cleaning can in turn be adjusted by adapting the driving speed and / or the cleaning power, in particular the suction power of the cleaning robot. The strength of the cleaning can only be used for a part of the living area, for example, in the area of an entrance door or in the area of the living room in which a celebration took place.

Das System kann so ausgebildet sein, dass die Kommunikationsmittel mit der Datenerfassung im Reinigungsroboter angeordnet und mit den Steuermitteln verbunden sind und dass die Kommunikationsmittel mittels einer drahtlosen Kommunikationsstrecke mit einem Netzwerk verbunden sind. Somit besitzt der Reinigungsroboter die gesamte Datenermittlung und Steuerung selbst an Bord. Daher ist ein solches System in hohem Maße autark einsetzbar. Die Kommunikationsmittel können beispielweise in der Basisstation oder in einem separaten Gerät integriert sein.The system can be designed such that the communication means with the data acquisition are arranged in the cleaning robot and connected to the control means and that the communication means are connected to a network by means of a wireless communication link. Thus, the cleaning robot has the entire data acquisition and control itself on board. Such a system is therefore highly self-sufficient. The communication means can for example be integrated in the base station or in a separate device.

Alternativ können die Kommunikationsmittel mit der Datenerfassung außerhalb des Reinigungsroboters angeordnet und mit einem Netzwerk verbunden sein und die Kommunikationsmittel können mit den Steuermitteln mittels einer drahtlosen Kommunikationsstrecke verbunden sein. In diesem Fall könnte das System mehr als einen Reinigungsroboter aufweisen, die alle über die gleichen Kommunikationsmittel mit den für die Steuerung wichtigen Informationen versorgt werden.Alternatively, the communication means with the data acquisition can be arranged outside the cleaning robot and connected to a network, and the communication means can be connected to the control means by means of a wireless communication link. In this case, the system could have more than one cleaning robot, all of which are supplied with the information important for the control via the same communication means.

Das oben aufgezeigte technische Problem wird auch durch ein Verfahren zur Reinigung eines Fußbodens mit einem Reinigungsroboter gelöst, bei dem mindestens ein Ereignis mit erhöhtem Verschmutzungsaufkommen zumindest eines Teils des Fußbodens erfasst wird und bei dem die Intensität des Einsatzes des Reinigungsroboters für eine Säuberung zumindest eines Teils des Fußbodens in Abhängigkeit von der Intensität von mindestens einem Ereignis mit erhöhtem Verschmutzungsaufkommen eingestellt wird.The technical problem outlined above is also solved by a method for cleaning a floor with a cleaning robot, in which at least one event with increased pollution is recorded at least part of the floor and in which the intensity of the use of the cleaning robot for cleaning at least part of the Floor is set depending on the intensity of at least one event with increased pollution.

Dieses Verfahren und seine nachfolgend beschriebenen Ausgestaltungen weisen die gleichen Eigenschaften und Vorteile auf, wie sie zuvor für das System beschrieben worden sind. Daher wird auf die vorige Beschreibung verwiesen.This method and its configurations described below have the same properties and advantages as were previously described for the system. Therefore, reference is made to the previous description.

Das beschriebene Verfahren kann durch einen Ablauf dadurch weitergebildet werden,

  • bei dem ein Eintrag eines mit dem Kommunikationsmitteln verbindbaren Kalenders als Ereignis mit erhöhtem Verschmutzungsaufkommen identifiziert wird und/oder
  • bei dem eine Wetterinformation aus einer Datenbank als Ereignis mit erhöhtem Verschmutzungsaufkommen identifiziert wird und/oder
  • bei dem als Intensität von Ereignissen mit erhöhtem Verschmutzungsaufkommen die Dauer oder die Intensität eines Niederschlagereignisses erfasst wird und/oder
  • bei dem als Intensität von Ereignissen mit erhöhtem Verschmutzungsaufkommen die Anzahl und/oder die Stärke des mindestens einen Ereignisses erfasst wird und/oder
  • bei dem die Intensität des Einsatzes des Reinigungsroboters durch Verändern der Frequenz und/oder der Stärke der Säuberung eingestellt wird.
The described method can be further developed by a sequence
  • in which an entry of a calendar that can be connected to the communication means is identified as an event with increased pollution and / or
  • in which weather information from a database is identified as an event with increased pollution and / or
  • in which the duration or intensity of a precipitation event is recorded as the intensity of events with increased pollution and / or
  • in which the number and / or the strength of the at least one event is recorded as intensity of events with increased pollution and / or
  • in which the intensity of the use of the cleaning robot is adjusted by changing the frequency and / or the strength of the cleaning.

Im Folgenden wird die Erfindung anhand von Ausführungsbeispielen mit Bezug auf die Zeichnung erläutert. In der Zeichnung zeigen

Fig. 1
ein Ausführungsbeispiel eines erfindungsgemäßen Reinigungsroboters in einer perspektivischen Ansicht von oben,
Fig. 2
der in Fig. 1 dargestellte Reinigungsroboter in einer perspektivischen Ansicht von unten und
Fig. 3
ein erfindungsgemäßes System zur Reinigung eines Fußbodens.
The invention is explained below using exemplary embodiments with reference to the drawing. Show in the drawing
Fig. 1
an embodiment of a cleaning robot according to the invention in a perspective view from above,
Fig. 2
the in Fig. 1 shown cleaning robot in a perspective view from below and
Fig. 3
an inventive system for cleaning a floor.

In den Fig. 1 und 2 ist ein erfindungsgemäßer Reinigungsroboter in Form eines Saugroboters 2 dargestellt. Der Saugroboter 2 weist ein Gehäuse 4, ein an der Unterseite des Gehäuses 4 angeordnetes Fahrwerk 6, eine Sensorik 8 zum Erfassen der Umgebung des Gehäuses 4 und eine Steuerung zum selbsttätigen Antreiben des Fahrwerks 6 auf.In the 1 and 2 A cleaning robot according to the invention is shown in the form of a vacuum robot 2. The vacuum robot 2 has a housing 4, a chassis 6 arranged on the underside of the housing 4, a sensor system 8 for detecting the surroundings of the housing 4 and a controller for automatically driving the chassis 6.

Das Fahrwerk 6 ist an der Unterseite des Gehäuses 4 angeordnet und der zu reinigenden Bodenfläche zugewandt. Das Fahrwerk 6 weist zwei elektromotorisch angetriebene Verfahrräder 10 und ein Mitlaufrad 11 auf, so dass eine Dreipunktauflage des Bodenreinigungsroboters 2 auf der zu reinigenden Bodenfläche erreicht wird. Durch unterschiedliche Ansteuerung der beiden Verfahrräder 10 kann der Saugroboter2 in beliebige Richtungen verfahren werden, wobei eine Vorwärtsfahrt in Richtung des Pfeils r gemäß Fig. 1 erfolgt. Ebenso ist eine Drehung auf der Stelle sowie eine Rückwärtsfahrt entgegen der Richtung des Pfeils r möglich.The undercarriage 6 is arranged on the underside of the housing 4 and faces the floor surface to be cleaned. The undercarriage 6 has two traction wheels 10 driven by an electric motor and a follower wheel 11, so that a three-point support of the floor cleaning robot 2 is achieved on the floor surface to be cleaned. By controlling the two travel wheels 10 differently, the robot vacuum cleaner 2 can be moved in any direction, with forward travel in the direction of the arrow r in accordance with Fig. 1 he follows. Likewise, a rotation on the spot and a backward movement against the direction of arrow r is possible.

Wie sich insbesondere aus Fig. 2 ergibt, ist an der Unterseite des Gehäuses 4 eine über die Unterkante hinausragende, elektromotorisch angetriebene Bürste 12 innerhalb einer Saugöffnung 14 angeordnet. Des Weiteren ist ein nicht dargestellter Sauggebläsemotor vorgesehen, der ebenfalls elektrisch betrieben wird. Zudem ist eine kehrblechartige Rampe 16 vorgesehen, über die abgebürstete Schmutzpartikel in eine nicht dargestellte behälterartige Aufnahme transportiert werden.How to look in particular Fig. 2 results, is arranged on the underside of the housing 4, an electric motor-driven brush 12 protruding beyond the lower edge within a suction opening 14. Furthermore, a suction fan motor, not shown, is provided, which is also operated electrically. In addition, a dustpan-like ramp 16 is provided, via which brushed dirt particles are transported into a container-like receptacle, not shown.

Die Elektroversorgung der einzelnen Komponenten des Saugreinigungsroboters 2, also des Elektromotors der Verfahrräder 10, des Elektroantriebs der Bürste 12, des Sauggebläses und der weiteren Elektronik der Steuerung erfolgt über einen nicht dargestellten wiederaufladbaren Akkumulator.The electrical supply to the individual components of the vacuum cleaning robot 2, that is to say the electric motor of the traversing wheels 10, the electric drive of the brush 12, the suction fan and the further electronics of the control system, takes place via a rechargeable battery, not shown.

Um die Umgebung, Raumbegrenzungen und ggf. Hindernisse erkennen zu können, und um insbesondere ein Festfahren des Saugroboters 2 zu verhindern, ist die bereits erwähnte Sensorik 8 vorgesehen, die als sensorische Hinderniserkennung ausgebildet ist. Diese besteht aus einer optischen Sendeeinheit und einer optischen Empfängereinheit, die beide in der in Fig. 1 dargestellten Sensorik 8 integriert sind. Die Sensorik 8 ist beim vorliegenden Ausführungsbeispiel um eine Vertikalachse x des Gehäuses 4 drehbar angeordnet, wie mit dem Pfeil c in Fig. 1 dargestellt ist. Weitere Sensoren 20, 22 und 24 sind vorhanden, die als Ultraschallsensoren und/oder Infrarotsensoren ausgebildet sind. Des Weiteren ist ein Display 26 vorgesehen, das Informationen für den Benutzer anzeigt und ggf. als Eingabehilfe für Befehle zur Bedienung dient.In order to be able to recognize the surroundings, space limitations and any obstacles, and in particular to prevent the vacuum robot 2 from getting stuck, the aforementioned sensor system 8 is provided, which is designed as a sensory obstacle detection system. This consists of an optical transmitter unit and an optical receiver unit, both in the in Fig. 1 shown sensor 8 are integrated. In the present exemplary embodiment, the sensor system 8 is arranged to be rotatable about a vertical axis x of the housing 4, as with the arrow c in Fig. 1 is shown. Further sensors 20, 22 and 24 are provided, which are designed as ultrasonic sensors and / or infrared sensors. Furthermore, a display 26 is provided, which Displays information for the user and, if necessary, serves as an input aid for commands for operation.

Fig. 3 zeigt nun ein erfindungsgemäßes System zur Reinigung eines Fußbodens mit mindestens einem Reinigungsroboter 2, der beispielsweise wie in den Fig. 1 und 2 dargestellt als Saugroboter ausgebildet sein kann, in einer beispielhaften Umgebung einer Wohnung 30 mit zwei Räumen 32 und 34. Fig. 3 zeigt dazu einen Grundriss der Wohnung mit Wänden 36, Eingangstür 38 und Zimmertür 39 und Fenster 40. Fig. 3 now shows an inventive system for cleaning a floor with at least one cleaning robot 2, for example as in the 1 and 2 shown as a robot vacuum cleaner, in an exemplary environment of an apartment 30 with two rooms 32 and 34. Fig. 3 shows a floor plan of the apartment with walls 36, entrance door 38 and room door 39 and window 40.

Im Raum 32 ist ein Saugroboter 2 angeordnet, der an einer Basisstation 42 zum Aufladen von mindestens einem im Saugroboter 2 vorgesehenen Akkumulator 44 mit Netzspannung angeschlossen ist. Die Basisstation 42 ist dabei im Raum 32 positioniert und an einer Steckdose 46 angeschlossen.A vacuum robot 2 is arranged in the room 32 and is connected to a base station 42 for charging at least one battery 44 provided in the vacuum robot 2 with mains voltage. The base station 42 is positioned in the room 32 and connected to a socket 46.

Der Saugroboter 2 weist Steuermittel 50 zum Steuern des Saugroboters 2 und Kommunikationsmittel 52 zum Erfassen von mindestens einem Ereignis mit erhöhtem Verschmutzungsaufkommen zumindest eines Teils des Fußbodens auf. Die Kommunikationsmittel 52 weisen eine Sende- und Empfangsvorrichtung zur drahtlosen Kommunikation mit einer im Raum 32 angeordneten Sende- und Empfangsvorrichtung als Kommunikationsmittel 54 auf. Die drahtlose Kommunikation erfolgt dabei bevorzugt nach einem standardisierten Verfahren wie WLAN oder Bluetooth.The vacuum robot 2 has control means 50 for controlling the vacuum robot 2 and communication means 52 for detecting at least one event with increased pollution levels in at least part of the floor. The communication means 52 have a transmission and reception device for wireless communication with a transmission and reception device arranged in the room 32 as communication means 54. Wireless communication is preferably carried out using a standardized method such as WLAN or Bluetooth.

Des Weiteren können die Kommunikationsmittel 52 auch eine Mobilfunkeinrichtung aufweisen, so dass in diesem Fall keine Kommunikationsmittel 54 erforderlich sind.Furthermore, the communication means 52 can also have a mobile radio device, so that in this case no communication means 54 are required.

Die Kommunikationsmittel 52 und ggf. 54 können über eine Kabelverbindung oder drahtlos mit einem lokalen oder externen Netzwerk, insbesondere mit dem Internet verbunden sein, um Informationen über Ereignisse mit erhöhtem Verschmutzungsaufkommen zu erfassen.The communication means 52 and possibly 54 can be connected via a cable connection or wirelessly to a local or external network, in particular to the Internet, in order to collect information about events with increased pollution.

Die Steuermittel 50 sind mit den Kommunikationsmitteln 52 verbunden und erhalten über diese Verbindung Daten zu einem oder mehreren Ereignissen. In Abhängigkeit von der Intensität von mindestens einem Ereignis mit erhöhtem Verschmutzungsaufkommen stellen die Steuermittel 50 die Intensität des Einsatzes des Saugroboters 2 für eine Säuberung zumindest eines Teils des Fußbodens ein.The control means 50 are connected to the communication means 52 and receive data on one or more events via this connection. Depending on the intensity of at least one event with increased pollution, the control means 50 adjust the intensity of the use of the vacuum robot 2 for cleaning at least part of the floor.

Ein Beispiel von Ereignissen besteht darin, dass die Kommunikationsmittel 52 als Ereignis mit erhöhtem Verschmutzungsaufkommen einen Eintrag eines mit den Kommunikationsmitteln 52 und ggf. 54 verbindbaren Kalenders identifizieren. Dieser Kalender kann der persönliche Kalender einer in der Wohnung lebenden Person, ein sogenannter Familienkalender für mehrere Personen oder ein sonstiger Kalender sein. Die Art der Verwaltung des Kalenders kann von unterschiedlichen Programmen oder Dienstleistern verwirklicht werden.An example of events is that the communication means 52 identify an entry of a calendar that can be connected to the communication means 52 and possibly 54 as an event with increased pollution. This calendar can be the personal calendar of a person living in the apartment, a so-called family calendar for several people or another calendar. The way in which the calendar is managed can be implemented by different programs or service providers.

In den Kalendereinträgen sucht das Kommunikationsmittel 52 nach vorgegebenen Schlüsselbegriffen wie "Party", "Essen", "Treffen", "Meeting", "Fußball" gegebenenfalls in Kombination mit den Begriffen "zuhause", "Garten", "Wohnzimmer". Bei Auffinden eines dieser Begriffe oder Begriffskombinationen stellen die Kommunikationsmittel 52 ein Ereignis mit erhöhtem Verschmutzungsaufkommen fest. Denn die entsprechenden Kalendereinträge deuten auf eine intensive Benutzung der Wohnung oder von Teilen der Wohnung hin.In the calendar entries, the communication means 52 searches for predetermined key terms such as "party", "eating", "meeting", "meeting", "soccer", possibly in combination with the terms "at home", "garden", "living room". When one of these terms or combinations of terms is found, the communication means 52 determine an event with increased pollution. Because the corresponding calendar entries indicate intensive use of the apartment or parts of the apartment.

Bei den genannten Ereignissen kommt es auch innerhalb der Wohnung auf eine höhere Sauberkeit an, so dass die Steuermittel 50 den Saugroboter 2 auch vor dem Ereignis zu einer zusätzlichen Reinigung ansteuern kann.In the case of the events mentioned, a higher level of cleanliness is also important within the apartment, so that the control means 50 can also control the vacuum robot 2 for additional cleaning before the event.

Zusätzlich oder alternativ dazu können die Kommunikationsmittel 52 als Ereignis mit erhöhtem Verschmutzungsaufkommen eine Wetterinformation aus einer Datenbank identifizieren. Dazu greift das Kommunikationsmittel 52 über die drahtlose Verbindung auf Wetterdaten aus dem Netzwerk, bevorzugt aus dem Internet zu.Additionally or alternatively, the communication means 52 can identify weather information from a database as an event with increased pollution. For this purpose, the communication means 52 accesses weather data from the network, preferably from the Internet, via the wireless connection.

In den Wetterdaten sucht das Kommunikationsmittel 52 nach vorgegebenen Schlüsselbegriffen und erfasst die örtlichen Wetterereignisse in der kommenden Zeitperiode. Als Schlüsselbegriffe können die Begriffe "Regen", "Schnee", "Matsch", "Wind", "Sturm" etc. oder Kombinationen dieser Begriffe verwendet werden. Zudem kann auch mindestens ein Jahreszeitenkalender benutzt werden, um generelle Wettertendenzen zu erfassen.The communication means 52 searches the weather data for predetermined key terms and detects the local weather events in the coming time period. The terms "rain", "snow", "mud", "wind", "storm" etc. or combinations of these terms can be used as key terms. In addition, at least one season calendar can also be used to record general weather trends.

Aus den beschriebenen ermittelten Wetterdaten können die Kommunikationsmittel 52 insbesondere als Intensität von Ereignissen mit erhöhtem Verschmutzungsaufkommen die Dauer oder die Intensität eines Niederschlagereignisses erfassen. Denn insbesondere Regen- oder Schneeereignisse führen bei einer normalen Benutzung der Wohnung zu einer erhöhten Verschmutzung.From the determined weather data described, the communication means 52 can record the duration or the intensity of a precipitation event, in particular as the intensity of events with increased pollution. Because especially rain or snow events lead to increased pollution when the apartment is used normally.

Die Kommunikationsmittel 52 können als Intensität von Ereignissen mit erhöhtem Verschmutzungsaufkommen zusätzlich oder alternativ die Anzahl und/oder die Stärke von Wetterereignissen erfassen. Auch diese Information dient dazu, den Grad der Verschmutzung der Wohnung abschätzen zu können.The communication means 52 can additionally or alternatively detect the number and / or the strength of weather events as the intensity of events with increased pollution. This information is also used to estimate the degree of pollution in the home.

Die oben beschriebenen Steuermittel 50 stellen in Abhängigkeit von den Daten der erfassten Ereignisse die Intensität des Einsatzes des Saugroboters 2 durch Verändern der Frequenz und/oder der Stärke der Säuberung ein. Somit kann zusätzlich zu einem eingegebenen geplanten Zeitschema die Reinigung der Wohnung 30 mittels des Saugroboters 2 häufig und/oder intensiver durchgeführt werden. Ist kein Zeitplan eingegeben, so kann die Steuerung unabhängig die Reinigung der Wohnung 30 planen und durchführen.The control means 50 described above adjust the intensity of the use of the vacuum robot 2 by changing the frequency and / or the strength of the cleaning depending on the data of the detected events. Thus, in addition to an entered planned time schedule, the cleaning of the apartment 30 by means of the vacuum robot 2 can be carried out frequently and / or more intensively. If no schedule has been entered, the controller can plan and carry out the cleaning of the apartment 30 independently.

Darüber hinaus kann auch der räumliche Umfang der Reinigung der Wohnung 30 durch die Daten der Ereignisse eingestellt werden. Wird beispielsweise ermittelt, dass ein Ereignis mit Besuch mehrerer Personen im Wohnzimmer (Raum 32 in Fig. 3) stattfinden wird, so kann die Steuerung 50 den Saugroboter 2 nach diesem Ereignis nur den Raum 32 und nicht den Raum 30 (Schlafzimmer), ggf. zusätzlich, reinigen lassen. Wird dagegen beispielsweise ein Regenereignis festgestellt, so kann die Steuerung 50 den Saugroboter 2 so ansteuern, dass der Bereich vor der Eingangstür 38 intensiver als andere Bereiche der Wohnung 30 gereinigt werden.In addition, the spatial scope of the cleaning of the apartment 30 can also be set using the data of the events. For example, is it determined that an event with the visit of several people in the living room (room 32 in Fig. 3 ) will take place, the controller 50 can the vacuum robot 2 after this event only have room 32 and not room 30 (bedroom), if necessary, additionally cleaned. If, on the other hand, a rain event is detected, for example, the controller 50 can control the vacuum robot 2 in such a way that the area in front of the entrance door 38 is cleaned more intensively than other areas of the apartment 30.

Zuvor ist das System so beschrieben worden, dass die Kommunikationsmittel 52 im Saugroboter 2 angeordnet und mit den Steuermitteln 50 verbunden sind und dass die Kommunikationsmittel 52 mittels einer drahtlosen Kommunikationsstrecke mit einem Netzwerk über die Einrichtung 54 verbunden sind. Dadurch ist der Saugroboter 2 hinsichtlich der Datenbeschaffung, Auswertung und Steuerung autark.The system has previously been described in such a way that the communication means 52 are arranged in the vacuum robot 2 and are connected to the control means 50 and that the communication means 52 are connected to a network via the device 54 by means of a wireless communication link. As a result, the vacuum robot 2 is self-sufficient in terms of data acquisition, evaluation and control.

Des Weiteren ist es auch möglich, die Kommunikationsmittel 54 außerhalb des Saugroboters 2 angeordnet und mit einem Netzwerk verbunden sind und dass die Kommunikationsmittel 54 über die Kommunikationsmittel 52 mit den Steuermitteln 50 mittels einer drahtlosen Kommunikationsstrecke verbunden sind. In diesem Fall findet die Datenbeschaffung außerhalb des Saugroboters 2 statt. Ein solches System bietet dann die Möglichkeit, mehr als einen Saugroboter 2 mit den Ereignisdaten zu versorgen und einen größeren Wohnungsbereich, als in Fig. 3 dargestellt ist, zu organisieren.Furthermore, it is also possible for the communication means 54 to be arranged outside the vacuum robot 2 and to be connected to a network, and for the communication means 54 to be connected to the control means 50 by means of a wireless communication link via the communication means 52. In this case, the data acquisition takes place outside the vacuum robot 2. Such a system then offers the possibility of supplying more than one vacuum robot 2 with the event data and a larger living area than in Fig. 3 is shown to organize.

Claims (14)

  1. System for cleaning a floor
    - having at least one cleaning robot (2), and
    - having control means (50) for controlling the cleaning robot (2),
    characterised by
    - communications means (52, 54) for detecting at least one event with an increased soiling occurrence for at least one part of the floor,
    - wherein the control means (50) set the intensity of the use of the cleaning robot (2) for cleaning at least one part of the floor depending on the intensity of at least one event with an increased soiling occurrence.
  2. System according to Claim 1,
    characterised in that
    the communication means (52, 54) identify an entry of a calendar connectable to the communication means (52, 54) as an event with an increased soiling occurrence.
  3. System according to Claim 1 or 2,
    characterised in that
    the communication means (52, 54) identify an item of weather information from a database as an event with an increased soiling occurrence.
  4. System according to Claim 3,
    characterised in that
    the communication means (52, 54) detect the duration or the intensity of a rainfall event as the intensity of events with an increased soiling occurrence.
  5. System according to Claim 3 or 4,
    characterised in that
    the communication means (52, 54) detect the number and/or the strength of the at least one weather event as the intensity of events with an increased soiling occurrence.
  6. System according to any one of Claims 1 to 5,
    characterised in that
    the control means (50) set the intensity of the use of the cleaning robot (2) by changing the frequency and/or the intensity of the cleaning.
  7. System according to any one of Claims 1 to 6,
    characterised in that
    the communication means (52) are arranged in the cleaning robot (2) and are connected to the control means (50), and in that the communication means (52) are connected to a network by means of a wireless communication link.
  8. System according to any one of Claims 1 to 6,
    characterised in that
    the communication means (54) are arranged outside the cleaning robot (2) and are connected to a network, and in that the communication means (54) are connected to the control means (50) by means of a wireless communication link.
  9. Method for cleaning a floor using a cleaning robot,
    - in which at least one event with an increased soiling occurrence for at least one part of the floor is detected, and
    - in which the intensity of the use of the cleaning robot for cleaning at least one part of the floor is set depending on the intensity of at least one event with an increased soiling occurrence.
  10. Method according to Claim 9,
    in which an entry of a calendar connectable to the communication means is identified as an event with an increased soiling occurrence.
  11. Method according to Claim 9 or 10,
    in which an item of weather information from a database is identified as an event with an increased soiling occurrence.
  12. Method according to Claim 11,
    in which the duration or the intensity of a rainfall event is detected as the intensity of events with an increased soiling occurrence.
  13. Method according to any one of Claims 9 to 12,
    in which the number and/or the strength of the at least one event is detected as the intensity of events with an increased soiling occurrence.
  14. Method according to any one of Claims 9 to 13,
    in which the intensity of the use of the cleaning robot is set by changing the frequency and/or the intensity of the cleaning.
EP17725888.6A 2016-05-09 2017-05-09 System and method for cleaning a floor by means of a cleaning robot Active EP3454715B1 (en)

Applications Claiming Priority (2)

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DE102016108513.8A DE102016108513A1 (en) 2016-05-09 2016-05-09 System and method for cleaning a floor with a cleaning robot
PCT/EP2017/060999 WO2017194505A1 (en) 2016-05-09 2017-05-09 System and method for cleaning a floor by means of a cleaning robot

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EP3454715A1 EP3454715A1 (en) 2019-03-20
EP3454715B1 true EP3454715B1 (en) 2020-04-22

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Publication number Publication date
JP6542488B2 (en) 2019-07-10
ES2790745T3 (en) 2020-10-29
US10842333B2 (en) 2020-11-24
EP3454715A1 (en) 2019-03-20
US20190082918A1 (en) 2019-03-21
WO2017194505A1 (en) 2017-11-16
CN109152505A (en) 2019-01-04
JP2019514600A (en) 2019-06-06
DE102016108513A1 (en) 2017-11-09
CN109152505B (en) 2020-10-27
TW201739406A (en) 2017-11-16

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