EP3490417B1 - Robot de nettoyage et système robotique - Google Patents

Robot de nettoyage et système robotique Download PDF

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Publication number
EP3490417B1
EP3490417B1 EP17739226.3A EP17739226A EP3490417B1 EP 3490417 B1 EP3490417 B1 EP 3490417B1 EP 17739226 A EP17739226 A EP 17739226A EP 3490417 B1 EP3490417 B1 EP 3490417B1
Authority
EP
European Patent Office
Prior art keywords
cleaning robot
additional camera
robot
additional
cleaning
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.)
Active
Application number
EP17739226.3A
Other languages
German (de)
English (en)
Other versions
EP3490417A1 (fr
Inventor
Maximilian FREMEREY
Arne Rost
Markus Köhler
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.)
BSH Hausgeraete GmbH
Original Assignee
BSH Hausgeraete GmbH
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
Application filed by BSH Hausgeraete GmbH filed Critical BSH Hausgeraete GmbH
Publication of EP3490417A1 publication Critical patent/EP3490417A1/fr
Application granted granted Critical
Publication of EP3490417B1 publication Critical patent/EP3490417B1/fr
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Classifications

    • 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
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • 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 cleaning robot and a robot system.
  • the invention relates to equipping a cleaning robot with multiple uses.
  • Such a cleaning robot is, for example, from US-2005/0,166,354 A1 known.
  • a cleaning robot is set up to drive automatically or autonomously over a floor area and to clean it in the process.
  • An existing range of cleaning robots includes those with different sensors, different cleaning devices and different control devices that carry out navigation or control of the cleaning robot on the floor surface. In general, however, the equipment of the cleaning robot cannot be changed after purchase and the cleaning robot is limited to its original function of cleaning the floor.
  • the object of the invention is to provide improved technology in order to provide a cleaning robot that can be used more flexibly.
  • the invention solves this problem by means of the subject matter of the independent claims. Subclaims reflect preferred embodiments.
  • a cleaning robot according to the invention for a floor area comprises an electrical energy store; an electric drive device; a sensor for sensing an environment of the cleaning robot; a control device that is set up to control the drive device on the basis of signals from the sensor in such a way that the cleaning robot is moved over the floor surface; and a cleaning device for cleaning a portion of the floor surface; characterized by a recording device for an additional camera, in order to be able to retrofit an additional camera on the cleaning robot, the recording device having a mechanical interface for attaching the additional camera; wherein the mechanical interface is adapted to allow tool-less insertion or removal of the auxiliary camera; an electrical interface for supplying the additional camera with energy from the energy store; and a data technology interface for transmitting image or sound information from the additional camera or control data to the additional camera.
  • the additional camera is preferably not required for controlling the cleaning robot. A user can therefore use the cleaning robot for its original purpose of floor cleaning without restrictions, even without the additional camera.
  • the recording device also offers the possibility of combining the additional camera with the cleaning robot to form an extended household appliance, so that the additional camera can be moved automatically over the floor area of a household together with the cleaning robot while providing recordings of its surroundings.
  • the information of the auxiliary camera can be transmitted to a user or control information from the user to the auxiliary camera.
  • a user can evaluate the image or sound recordings to ensure, for example, that no unauthorized person is in the household while the cleaning robot is in operation.
  • the recordings can be transmitted in real time, or the recordings can be stored and further processed at a later point in time. If the user suspects that there is an irregularity in the household, he can analyze the recordings of the additional camera in order to confirm or refute the suspicion.
  • the use case of the user occasionally monitoring their household is also called "peace of mind".
  • different additional cameras can be used together with the cleaning robot, so that a user can decide on different embodiments of the additional camera independently of the equipment of the cleaning robot. For example, he can choose between a first additional camera with a particularly high resolution, a second additional camera with automatic motion detection and a third additional camera with a night vision device. The user can also swap out multiple auxiliary cameras depending on an upcoming mission if needed.
  • the cleaning robot preferably also includes a wireless communication device, with the control device being set up to receive image or sound information from the additional camera via the data-technical interface and forward it via the communication device.
  • control device can also process the information to be forwarded.
  • This processing can include, for example, compression, automatic motion detection or exposure compensation.
  • the processing can also be carried out by the additional camera.
  • the image or sound information provided via the communication device can be stored, in particular by means of a central entity that can be reached, for example, via the Internet or in a cloud, or forwarded directly to a predetermined device, in particular a mobile device of the user.
  • the control device can also be set up to receive control information via the communication device and to control the additional camera depending on the control information.
  • a user can thus have the option of transmitting control information to the additional camera via the communication device.
  • the control information can influence, for example, a recording control, a single image function, a zoom, a focus, an exposure, a contrast, a data compression, a resolution or an orientation of the additional camera. In this way, the function of the additional camera can be influenced by a remote application or by the remote user.
  • the mechanical interface is set up to allow the additional camera to be inserted or removed without tools.
  • the mechanical interface can be set up in particular in such a way that the electrical interface and/or the data technology interface is established or disconnected when the mechanical interface is established or disconnected. In this way, a simple and user-friendly insertion, removal or replacement of an additional camera on the cleaning robot can be supported.
  • the mechanical interface can ensure that the additional camera is attached to the cleaning robot in a predetermined manner. This can mean that the additional camera is protected against a collision of the cleaning robot with an object, for example, or that a predetermined orientation of the additional camera is maintained.
  • the mechanical interface is preferably designed in such a way that the additional camera can only be used in one way.
  • the mechanical interface has a locking mechanism includes in order to prevent the additional camera from accidentally falling out of the recording device.
  • control device is set up to switch off the electrical interface when the recording device is not connected to the additional camera. It can thereby be ensured that a user, for example, cannot touch the live element of the electrical interface.
  • the electrical interface is preferably designed in such a way that there is no risk of contact when the additional camera is accommodated in the receiving device.
  • control device is set up to determine or scan a type designation of the additional camera via the technical data interface.
  • the type designation may indicate a model or embodiment from which capabilities or operational parameters of the auxiliary camera may be derived.
  • the additional camera provides these parameters directly. For example, a maximum power consumption of the additional camera, a selection of supported image resolutions or recording modes can be provided. The control device can then better control the additional camera depending on the transmitted information or provide the information to an external control device, for example the mobile device of the user.
  • an electrical connection of the electrical or data technology interface includes a spring-loaded contact and a rigid contact.
  • One of the contacts is attached to the cleaning robot and the other to the additional camera, so that the electrical connection can be made safely.
  • the rigid contact can be designed in particular as a printed conductor track on a printed circuit board, as a result of which costs can be saved.
  • the cleaning robot comprises an impact protection, with the recording device being attached behind the impact protection in order not to enlarge the outline of the cleaning robot in the horizontal direction by the additional camera.
  • the recording device is preferably provided at a point on the cleaning robot that allows the additional camera to be recorded with predetermined maximum dimensions in such a way that the additional camera is not mechanically exposed as far as possible. If the additional camera does not protrude beyond the outline of the cleaning robot, the risk of damage, for example if the cleaning robot collides with an object, can be reduced.
  • a robot system comprises the cleaning robot described above and an additional camera which is attached to the recording device of the cleaning robot.
  • the robot system can be easily manufactured by retrofitting the cleaning robot with the auxiliary camera.
  • the robot system can include a further additional camera, with the additional cameras differing in terms of their optical or data-related properties.
  • the two additional cameras can be used alternatively or alternately on the robot system.
  • a large number of additional cameras with different properties are provided. The flexibility of the robot system can thus be further increased in order to be able to process additional applications.
  • the recording device is inclined in such a way that a field of view of the additional camera is directed upwards relative to the floor surface.
  • the inclination of the recording device relative to the floor surface can be based in particular on an inclination of the field of view of the additional camera relative to the recording device.
  • figure 1 shows a robot system 100, which includes an optional mobile device 105, a cleaning robot 110 and an additional camera 115.
  • the idea behind the robot system 100 is to be able to retrofit one or more different additional cameras 115 to the cleaning robot 110 in order to provide an additional benefit that goes beyond the original purpose of the cleaning robot 110 .
  • the cleaning robot 110 is set up to clean a floor surface 120 .
  • the cleaning robot 110 includes a cleaning device 125 which can include, for example, a sweeping or suction mechanism for cleaning the floor surface 120 in the area of the cleaning robot 110 .
  • the cleaning device 125 can be driven by electrical energy from an electrical energy store 130 .
  • the cleaning robot 110 also has an electric drive device 135 which can also be fed from the energy store 130 .
  • a control device 140 is provided in order to bring about a planned movement of the cleaning robot 110 by influencing the drive device 135 .
  • the control device 140 is connected to one or more sensors 145 which are set up to scan an area surrounding the cleaning robot 110 or to determine a position of the cleaning robot 110 .
  • a sensor 145 can include, for example, an ultrasonic sensor, a tactile sensor, an optical sensor, a radar sensor, a LIDAR sensor, or a GPS receiver.
  • a sensor 145 may include a proximity, touch, or collision sensor.
  • the control device 140 determines a movement path of the cleaning robot 110 over the floor surface 120 and controls the cleaning robot 110 according to the planned movement.
  • a collision protection 150 is provided, which can be designed as a mechanical buffer in order to cushion a collision between the cleaning robot 110 and another object.
  • the impact protection 150 is connected to a sensor 145 in order to be able to detect a collision by the control device 140 .
  • a wireless communication device 155 is provided, which can be connected to a network, in particular by means of WLAN, Bluetooth or mobile data transmission, via which the mobile device 105 can be reached.
  • a central server can also be connected to the network, for example for processing or storing transmitted data.
  • a receiving device 160 on the cleaning robot 110 which includes a mechanical interface 165, an electrical interface 170 and a data technology interface 175.
  • the three interfaces 165 to 175 can be designed to be integrated with one another.
  • the electrical interface 170 or the data technology interface 175 can include an electrical contact, which is described below with reference to FIG figure 4 will be described in more detail.
  • a function of the additional camera 115 can be used while the additional camera 115 is moved over the floor surface 120.
  • image information from the additional camera 115 can be used to control the cleaning robot 110 .
  • it is preferred that the control of the cleaning robot 110 is not dependent on the information from the additional camera 115 .
  • the image and/or sound information provided by the additional camera 115 can be evaluated separately by the control device 140, manipulated and/or provided by the wireless communication device 155 or transmitted via the network.
  • control information can also be received via the communication device 155 and forwarded to the additional camera 115 in an appropriate manner.
  • the control information can be provided manually by a user, for example using the mobile device 105, or by an application on another device.
  • the application can be controlled by the user so that several control parameters can be specifically influenced.
  • a room, an apartment or a household in general which includes the floor area 120 , can be scanned automatically or partially automatically by means of the additional camera 115 .
  • figure 2 shows the system 100 of figure 1 with the cleaning robot 110 and several additional cameras 115.
  • the mobile device 105 is not shown here.
  • Each of the additional cameras 115 is set up to be connected to the cleaning robot 110 at the recording device 160 .
  • each additional camera 115 supports at least the mechanical interface 165.
  • the electrical interface 170 or the data technology interface 175 is preferably also supported.
  • the additional cameras 115 preferably differ with regard to their optical or technical data properties. It is preferred that the additional cameras 115 have the same shape as possible in order to enable the best possible mechanical integration with the cleaning robot 110 .
  • FIG 3 shows the cleaning robot 110 of FIG figure 2 with an additional camera 115.
  • the recording device 160 is provided on the cleaning robot 110 in coordination with the dimensions of the additional camera 115 in such a way that the greatest possible mechanical protection is preferably implemented while at the same time the most advantageous optical perspective possible for the additional camera 115.
  • an outline of the cleaning robot 110 in particular in the horizontal direction, ie parallel to the floor surface 120, is not enlarged by the insertion of the additional camera 115 in the recording device 160.
  • the additional camera 115 can be arranged in the recording device 160 in particular behind the impact protection 150 . In the embodiment shown, impact protection 150 is located radially further outwards with respect to cleaning robot 110 than additional camera 115.
  • FIG 4 shows exemplary variants for an electrical connection 400 between the cleaning robot 110 and the additional camera 115 of one of the preceding figures.
  • the electrical connection 400 can be used in particular to transmit electrical energy via the electrical interface 170 or electrical signals via the data technology interface 175 .
  • the electrical connection 400 preferably comprises a first contact 405 and a second contact 410, which can be found in two different embodiments in figure 4 is shown.
  • the second contact 410 is in the manner of a pogo pin and shown in the lower area in the manner of a leaf spring.
  • the first contact 405 is preferably rigid, while the second contact 410 is elastic.
  • An elastic element for example a cylinder spring 415 or a leaf spring 420, is set up on the second contact 410 to press an electrically conductive element 425 against the first contact 405 when the connection 400 is established.
  • the elastic member 420 and the conductive member 425 are made integrated with each other.
  • the rigid contact 405 can be assigned to the cleaning robot 110 and the elastic contact 410 to the additional camera 115 or vice versa.
  • Electrical connection 400 may also be formed using other elements known in the art.
  • FIG 5 shows the mechanical interface 165 between the cleaning robot 110 and the additional camera 115 of one of the preceding figures in an exemplary embodiment.
  • the mechanical interface 165 comprises a groove 505 on the part of the cleaning robot 110 and a corresponding web 510 on the part of the additional camera 115.
  • the additional camera 115 is attached to the cleaning robot 110 by being inserted vertically from above into the receiving device 160.
  • the web 510 is inserted into the groove 505 in the process.
  • the web 510 is preferably provided on the additional camera 115 in such a way that it is not possible to attach the additional camera 115 to the cleaning robot 110 in a manner other than that intended.
  • figure 6 shows different inclinations of the additional camera 115 on the cleaning robot 110 of the previous figures.
  • an optical axis 605 of the additional camera 115 runs essentially parallel to the floor surface 120.
  • a field of view 610 of the additional camera 115 can therefore not completely capture a distant object 615 in the vertical direction.
  • the additional camera 115 it is therefore preferred to attach the additional camera 115 to the cleaning robot 110 in such a way that the optical axis 605 encloses an angle with the floor surface 120 and the field of view 610 is open further upwards.
  • the object 615 can be imaged completely by the additional camera 115 as a result.

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

Claims (10)

  1. Robot de nettoyage (110) pour une surface de sol (120), dans lequel le robot de nettoyage (110) comprend les éléments suivants :
    - un réservoir d'énergie électrique (130) ;
    - un dispositif d'entraînement électrique (135) ;
    - un palpeur (145) pour palpation des alentours du robot de nettoyage (110) ;
    - un dispositif de commande (140) prévu pour commander le dispositif d'entraînement (135) sur base de signaux du palpeur (145) de sorte que le robot de nettoyage (110) se déplace au-dessus de la surface de sol (120) ;
    - un dispositif de nettoyage (125) pour le nettoyage d'une section de la surface de sol (120) ;
    caractérisé par un dispositif de positionnement (160) pour une caméra auxiliaire (115) pour pouvoir équiper le robot de nettoyage de cette caméra auxiliaire, le dispositif de positionnement (160) comprenant les suivants :
    - une interface mécanique (165) pour aménagement de la caméra auxiliaire (115), l'interface mécanique (165) étant prévue pour permettre la mise en place ou la dépose sans outil de la caméra auxiliaire (115) ;
    - une interface électrique (170) pour l'alimentation de la caméra auxiliaire (115) en énergie venant du réservoir d'énergie (130) ; et
    - une interface informatique (175) qui transmet des informations vidéo ou audio de la caméra auxiliaire (115) ou des données de commande à la caméra auxiliaire (115).
  2. Robot de nettoyage (110) selon la revendication 1, comprenant en outre un dispositif de communication sans fil (155), dans lequel le dispositif de commande (140) est prévu pour réceptionner des informations vidéo ou audio de la caméra auxiliaire (115) par le biais de l'interface informatique (175) et les transférer par le biais du dispositif de communication (155).
  3. Robot de nettoyage (110) selon la revendication 1 ou 2, comprenant en outre un dispositif de communication sans fil (155), dans lequel le dispositif de commande (140) est prévu pour réceptionner des informations de commande par le biais du dispositif de communication (155) et commander la caméra auxiliaire (115) en fonction des informations de commande.
  4. Robot de nettoyage (110) selon l'une des revendications précédentes, dans lequel le dispositif de commande (140) est prévu pour éteindre l'interface électrique (170) quand le dispositif de positionnement (160) n'est pas raccordé à la caméra auxiliaire (115).
  5. Robot de nettoyage (110) selon l'une des revendications précédentes, dans lequel le dispositif de commande (140) est prévu pour détecter la désignation du type de la caméra auxiliaire (115) par le biais de l'interface informatique (175).
  6. Robot de nettoyage (110) selon l'une des revendications précédentes, dans lequel le raccord électrique (400) de l'interface électrique (170) ou informatique (175) comprend un contact sollicité par ressort (410) et un contact fixe (405).
  7. Robot de nettoyage (110) selon l'une des revendications précédentes, comprenant en outre une protection (150), dans lequel le dispositif de positionnement (160) est aménagé derrière la protection (150), pour ne pas agrandir le périmètre du robot de nettoyage (110) dans le sens horizontal par la caméra auxiliaire (115).
  8. Système robotisé (100), comprenant
    - un robot de nettoyage (110) selon l'une des revendications précédentes ;
    - une caméra auxiliaire détachable (115) qu'on aménage sur le dispositif de positionnement (160) du robot de nettoyage (110).
  9. Système robotisé (100) selon la revendication 8, comprenant en outre une autre caméra auxiliaire (115) détachable, dans lequel les caméras auxiliaires (115) se distinguent sur base de leurs propriétés optiques ou informatiques.
  10. Système robotisé (100) selon la revendication 8 ou 9, dans lequel le dispositif de positionnement (160) est incliné de sorte que le champ visuel (610) de la caméra auxiliaire (115) est orienté vers le haut par rapport à la surface de sol (120).
EP17739226.3A 2016-07-28 2017-07-04 Robot de nettoyage et système robotique Active EP3490417B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016213921.5A DE102016213921A1 (de) 2016-07-28 2016-07-28 Reinigungsroboter und Robotersystem
PCT/EP2017/066703 WO2018019529A1 (fr) 2016-07-28 2017-07-04 Robot de nettoyage et système robotique

Publications (2)

Publication Number Publication Date
EP3490417A1 EP3490417A1 (fr) 2019-06-05
EP3490417B1 true EP3490417B1 (fr) 2022-09-28

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Application Number Title Priority Date Filing Date
EP17739226.3A Active EP3490417B1 (fr) 2016-07-28 2017-07-04 Robot de nettoyage et système robotique

Country Status (3)

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EP (1) EP3490417B1 (fr)
DE (1) DE102016213921A1 (fr)
WO (1) WO2018019529A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102022207087A1 (de) 2022-07-12 2024-01-18 BSH Hausgeräte GmbH Haushaltsgerät

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002354139A (ja) * 2001-05-23 2002-12-06 Toshiba Tec Corp ロボットの制御システム及びこのシステムに使用するロボット
JP2005211364A (ja) * 2004-01-30 2005-08-11 Funai Electric Co Ltd 自走式掃除機
JP3832593B2 (ja) * 2004-03-25 2006-10-11 船井電機株式会社 自走式掃除機
JP2006122179A (ja) * 2004-10-27 2006-05-18 Funai Electric Co Ltd 自走式走行機
DE102010037100A1 (de) * 2010-08-23 2012-02-23 Vorwerk & Co. Interholding Gmbh Selbsttätig verfahrbares Gerät
KR102124509B1 (ko) * 2013-06-13 2020-06-19 삼성전자주식회사 청소 로봇 및 그 제어 방법
KR20160123613A (ko) * 2015-04-16 2016-10-26 엘지전자 주식회사 로봇 청소기

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EP3490417A1 (fr) 2019-06-05
WO2018019529A1 (fr) 2018-02-01
DE102016213921A1 (de) 2018-02-01

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