EP3984434B1 - Method for operating a self-propelled mobile device - Google Patents

Method for operating a self-propelled mobile device Download PDF

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Publication number
EP3984434B1
EP3984434B1 EP21198181.6A EP21198181A EP3984434B1 EP 3984434 B1 EP3984434 B1 EP 3984434B1 EP 21198181 A EP21198181 A EP 21198181A EP 3984434 B1 EP3984434 B1 EP 3984434B1
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EP
European Patent Office
Prior art keywords
base station
self
mobile
positions
driving device
Prior art date
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EP21198181.6A
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German (de)
French (fr)
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EP3984434A2 (en
EP3984434A3 (en
Inventor
Kristina Daniel
Frank Schnitzer
Julius Geis
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BSH Hausgeraete GmbH
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BSH Hausgeraete GmbH
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Publication date
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Publication of EP3984434A2 publication Critical patent/EP3984434A2/en
Publication of EP3984434A3 publication Critical patent/EP3984434A3/en
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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
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2868—Arrangements for power supply of vacuum cleaners or the accessories thereof
    • A47L9/2873—Docking units or charging stations
    • 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
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A47L11/4008—Arrangements of switches, indicators or the like
    • 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
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • 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
    • A47L2201/02—Docking stations; Docking operations
    • 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 method for operating a mobile, self-propelled device, in particular a floor cleaning device for autonomous processing of floor surfaces, such as a suction and/or sweeping and/or wiping robot.
  • a floor cleaning system with such a mobile, self-propelled device.
  • Autonomous cleaning devices such as cleaning robots
  • base stations where they can charge their batteries independently in order to then be able to clean with their full power again.
  • the cleaning device In order for the cleaning device to always find its base station safely and to be able to dock to it optimally, there must be no obstacles in the immediate vicinity of the base station and in particular directly in front of the base station that block the cleaning device from seeing the base station or make it difficult for the cleaning device to approach the base station .
  • installation restrictions apply, which are intended to ensure that the cleaning device finds its way to its base station under all conditions in users' homes.
  • These installation restrictions are extensive, which can make it difficult for the user to find a suitable position that conforms to the specifications.
  • the cleaning device itself on the other hand, can have lower demands on the position of the base station, which, among other things, results in significantly simplified installation restrictions for the user.
  • the set-up restrictions specified are usually chosen generously, in order to almost always enable the cleaning device to be found and approached to the base station, regardless of the actual design of the user's apartment.
  • the base station is usually recognized by the cleaning device using optical sensors. This means that the cleaning device must be able to detect the base station as soon as it is nearby. This results in an opening angle in front of the base station that should be kept free of items, objects and obstacles. As long as there are no objects within the opening angle are located, the cleaning device can easily find the base station and move to it.
  • the size of the opening angle is determined by the detection technology and the ability of the cleaning device to dock with the station.
  • a vacuum cleaner robot is known, among other things, in which an efficient cleaning path is determined by means of a map of the surroundings.
  • the pamphlet U.S. 2018/052468 A1 describes a mobile robot that can quickly find its base station based on a stored map of its surroundings.
  • the pamphlet U.S. 2011/137461 A1 describes a mobile robot and a method for creating a travel path of the robot that allows the robot to find its base station.
  • the pamphlet EP 3 505 037 A1 describes a cleaning robot and a method for this, in which a position to which the cleaning robot drives is marked on a map of the surroundings.
  • the pamphlet DE102018116065 describes a method for operating a self-moving service device, in which a map of the area is created that shows the possible positions of a base station.
  • the object of the invention is to offer the user an operating method in which all possible positions of the base station in his home are displayed and in particular these are evaluated with regard to relevant criteria, and to provide a floor cleaning system that can implement such a method.
  • This object is achieved by a method for operating a mobile, self-propelled device, in particular a floor cleaning device for autonomous processing of floor surfaces, having the features of claim 1 and by a floor cleaning system having the features of claim 8.
  • the solution according to the invention is characterized in that the floor cleaning device itself recognizes and informs the user at which positions a sufficiently good location of the base station for the floor cleaning device is formed in the planned floor processing area.
  • the user is given an evaluation of the possible positions, which the user can use to select a for can find him a suitable position for the base station.
  • criteria of the quality, efficiency and/or quality of a movement of the mobile, self-propelled device to the base station and/or of a finding of the base station by the mobile, self-propelled device are incorporated.
  • the floor cleaning device itself determines the positions at which the floor cleaning device can find and move to its base station—taking into account its assessment of the positions.
  • the base station which in particular are precisely tailored to the conditions of the planned soil processing area.
  • the user is also shown possible positions that he would not have thought of himself, such as under beds or furniture placed sufficiently high. Due to the integration of the efficiency when starting up the base station, this is advantageously increased since the base station can be reliably found by the evaluation taken into account.
  • the optimal positions of the base station in the soil working area displayed, but all possible positions for the base station can be displayed and evaluated.
  • the non-recommended and impossible positions and preferably intermediate stages are also displayed and their evaluation is visualized.
  • the user is given or displayed precise information tailored to their soil working area and, in particular, complete information about a possible positioning of the base station.
  • a mobile, self-propelled device is to be understood in particular as a floor cleaning device, for example a cleaning or lawn mower device, which autonomously processes floor areas or lawns, in particular in the household sector.
  • a floor cleaning device for example a cleaning or lawn mower device, which autonomously processes floor areas or lawns, in particular in the household sector.
  • These include, inter alia, vacuum and/or sweeping and/or wiping robots such as vacuum cleaner robots or lawnmower robots.
  • vacuum cleaner robots such as vacuum cleaner robots or lawnmower robots.
  • these devices work preferably without or with as little as possible user intervention. For example, the device moves automatically into a given room in order to clean the floor according to a given and programmed strategy.
  • An exploration trip is to be understood in particular as an exploratory trip that is suitable for exploring a floor area to be processed for obstacles, room layout and the like.
  • the aim of an exploration trip is in particular to be able to assess and/or represent the conditions of the tillage area to be worked on.
  • a soil processing area is to be understood as meaning any spatial area that is intended for processing, in particular cleaning. This can be a single (living) room or an entire apartment, for example. It can also be understood as merely partial areas of a (living) room or an apartment that are intended for cleaning.
  • Obstacles are to be understood as meaning any objects that are arranged in the soil processing area and that affect processing by the mobile, self-propelled device, in particular impeding and/or disturbing such as furniture, walls, curtains, carpets and the like.
  • a detection device is to be understood as meaning any device that is suitable for detecting obstacles, preferably reliably. This is preferably sensor-based and/or camera-based.
  • a map of the surroundings is to be understood in particular as meaning any map that is suitable for showing the surroundings of the tillage area with all its obstacles.
  • the environment map shows a sketch of the tillage area with the obstacles and walls it contains.
  • a position is to be understood as meaning any spatial, in particular three-dimensional location in the tillage area.
  • a position is to be understood here in particular in the spatial sense.
  • a base station is to be understood in particular as a station that is suitable for independently charging the batteries of the mobile, self-propelled device when starting off.
  • the base station can be designed as a stationary transmission device for wireless networks, which is particularly suitable for communicating with the mobile, self-propelled device—and vice versa.
  • an independent router can be used for communication.
  • the assessment is aimed in particular at the quality, efficiency and/or quality of the mobile, self-propelled device driving to the base station and/or the mobile, self-propelled device finding the base station.
  • the evaluation preferably takes place automatically based on these criteria. For example, clearly visible and accessible positions can be distinguished from impossible positions and intermediate positions via the evaluation.
  • the quality, efficiency and/or quality of moving the mobile, self-propelled device to the base station and/or finding the base station by the mobile, self-propelled device only takes into account the conditions of the soil cultivation area.
  • the user is also shown positions that the user himself may not have considered, such as under beds or furniture with sufficiently high feet.
  • the efficiency of the docking process is increased because the selected position of the base station can be reliably found by the mobile, self-propelled device.
  • any possible positions, in particular along straight walls and obstacles are evaluated as a function of their goodness, efficiency and/or quality and independently of their goodness, efficiency and/or quality shown.
  • a complete profile of possible positions for the base station can be displayed and presented to the user.
  • all positions along straight walls and obstacles are displayed, since only such positions are suitable for attaching the base station in the soil processing area. Freestanding positions are therefore preferably not considered and are not shown to the user in particular, and in particular not with an evaluation.
  • the evaluation is displayed coded, in particular color-coded, gray-coded and/or coded with symbols.
  • optimal or well-suited positions for the base station can be displayed in green, positions that are not recommended or unsuitable in red, and intermediate positions can be displayed in orange. Shades of gray or symbols such as smileys with different satisfied or dissatisfied faces are also possible as alternative evaluation options.
  • Positions that are not recommended or unsuitable are, in particular, positions that are unsuitable, for example, due to furniture legs or obstacles in the immediate vicinity.
  • unsuitable or not optimally suitable positions are also displayed during the evaluation.
  • the user can be shown an almost or preferably complete profile of well-suited and unsuitable positions and intermediate stages thereof.
  • This complete display can open up new possibilities for the user that they may not have considered before, such as under furniture with enough ground clearance.
  • the rating also shows the user that for some of the displayed positions, such as intermediate positions, there is a high probability that the mobile, self-propelled device will not be able to find and dock with the base station properly every time.
  • the map of the surroundings with the obstacles, possible positions of the base station and their evaluation are stored in an app shown on a portable accessory. This serves in particular to visualize a possible interaction for the user.
  • an additional device is to be understood in particular as any device that is portable for a user, that is arranged outside of the mobile, self-propelled device, in particular differentiated from the mobile, self-propelled device, and for displaying, providing, transmitting and/or transmitting data is suitable, such as a mobile phone, a smartphone, a tablet and/or a computer or laptop.
  • an app in particular a cleaning app, is installed on the portable additional device, which is used for communication between the mobile, self-propelled device and the additional device and in particular enables visualization of the floor processing area, i.e. the living space to be cleaned or the apartment or living area to be cleaned.
  • the app preferably shows the user the area to be cleaned as a map of the area and any positions for the base station and their respective rating.
  • the user is advantageously free to look for a position for the base station himself.
  • the user is advantageously able to have possible locations for the base station and their evaluation displayed as an option in the app.
  • the user can preferably determine himself which soil processing area is suitable for this, ie in particular whether the entire apartment is suitable for this or only certain rooms.
  • the mobile, self-propelled device then presents the app with information on suitable and unsuitable positions as well as intermediate positions.
  • the mobile, self-propelled device locates the base station. After the visualization of possible positions with additional evaluation, the user can therefore freely choose the position in which he actually places the base station. The position selected by the user does not have to be entered manually in the app's area map.
  • the mobile, self-propelled device can, for example, carry out a localization for its next cleaning task and automatically transfer the position of the base station to the map of the area.
  • a floor cleaning system comprises a mobile, self-propelled device, in particular a floor cleaning device for autonomous processing of floor surfaces, such as a suction and/or sweeping and/or wiping robot, and a portable additional device for a user, the mobile, self-propelled device being used during an exploration trip over a designated area Detected soil processing area obstacles by means of a detection device and created a map of the surrounding area of the soil processing area, based on which possible positions of a base station are shown in the map of the surrounding area on the portable additional device and with regard to the quality, efficiency and/or quality of moving the mobile, self-propelled device to the base station and/or a location of the base station by the mobile, self-propelled device.
  • a mobile, self-propelled device in particular a floor cleaning device for autonomous processing of floor surfaces, such as a suction and/or sweeping and/or wiping robot, and a portable additional device for a user, the mobile, self-propelled device being used during an exploration trip over a designated area Detected
  • the possible positions of the base station are shown in coded form in the map of the surroundings, in particular color-coded, gray-coded and/or coded with symbols.
  • optimal or well-suited positions for the base station can be displayed in green, positions that are not recommended or unsuitable in red, and intermediate positions can be displayed in orange. Shades of gray or symbols such as smileys with different satisfied or dissatisfied faces are also possible as alternative evaluation options.
  • any possible positions, in particular along straight walls and obstacles, are evaluated depending on their quality, efficiency and/or quality and displayed on the portable additional device independently of their quality, efficiency and/or quality.
  • a complete profile of possible positions for the base station is displayed and presented to the user.
  • all positions along straight walls and obstacles are indicated, since only such positions are suitable for attaching the base station in the soil working area. Detached positions are therefore preferred are not taken into account and, in particular, are not presented to the user, and in particular not with an evaluation.
  • figure 1 shows a plan view of a base station 2 attached to a wall 1, which is provided for a mobile, self-propelled device (not shown).
  • the mobile, self-propelled device can independently charge its batteries at the base station 2 by the mobile, self-propelled device moving to the base station 2 and docking with it. The mobile, self-propelled device can then carry out a cleaning job again at full power.
  • the mobile, self-propelled device In order for the mobile, self-propelled device to find the base station 2 reliably and to be able to dock to it, there must be no obstacles in the immediate vicinity and in particular in front of the base station 2 that would block the mobile, self-propelled device's view of the base station or make it difficult to approach.
  • the resulting restrictions for positioning the base station are generously chosen by the providers of mobile, self-propelled devices with base stations in order to almost always enable them to be found and docked again.
  • the mobile, self-propelled devices recognize their base station 2 preferably by optical sensors, which results in an opening area for the visibility of the base station in the center in front of the base station 2, which should or must be free of obstacles so that the mobile, self-propelled device can reliably find its base station 2 can.
  • the size The opening range is determined by the technology for detection and the ability of the mobile, self-propelled device to dock with the base station 2.
  • FIG 2 is a wall mounted base station 1 2 as in figure 1 shown, with 2 pieces of furniture 4 being arranged or set up on the wall 1 next to the base station.
  • Generously chosen base station positioning constraints specified by the vendors of mobile, self-propelled devices with base stations are shown as rectangular area 5 .
  • the opening area 3 that is actually necessary requires significantly fewer requirements for a reliable approach to the base station 2, as is shown in figure 2 by the overlapping areas - rectangular area 5 and opening area 3 - is represented. If the positioning conditions are described with the opening area 3 instead of the rectangular area 5, it becomes clear that furniture 4 or other objects and obstacles can be arranged close to the base station 2 without impeding the mobile, self-propelled device.
  • the invention provides that the mobile, self-propelled device itself recognizes and informs the user at which positions a sufficiently good location for the base station 2 would be for the mobile, self-propelled device, or which locations are possible come and how these are to be evaluated.
  • An app on a portable additional device, such as a mobile phone, is used for this purpose.
  • the mobile, self-propelled device can be operated with the app, and at the same time a map 10 of the surroundings of his home or of the floor processing area 6 to be cleaned is displayed to the user in the app.
  • FIG 2A an example of an area map 10 displayed in the app is shown.
  • the environment map 10 contains a single room that is to be completely cleaned with the mobile, self-propelled device. This means that the whole room can be seen as a tillage area 6.
  • All obstacles, in particular furniture 4, which are located in the room to be cleaned are shown in the environment map 6.
  • Any imaginable obstacles and furniture such as carpets, long curtains and the like are also possible.
  • Figure 2B shows the area map 6 output in the app with visualization of the possible positions of the base station along straight walls and furniture. Positions 7a that are clearly visible and accessible are marked in light gray as an example, positions 7b that are not recommended or impossible and are unsuitable, for example, because of furniture legs or obstacles in the immediate vicinity, are marked in dark gray.
  • Intermediate stages 7c in a medium shade of gray allow the user to consider whether positions other than the easily visible and accessible positions 7a are also suitable for the base station.
  • a coding based on symbols such as a smiling smiley for optimal positions, a neutral smiley for intermediate positions and a sad smiley for non-recommended positions, is also suitable as a rating display.
  • the user can freely choose which position to put the base station in.
  • the display in the environment map opens up all possibilities for the user, including those that the user may not have thought of before, such as under furniture with sufficient ground clearance.
  • the user is informed that some positions can result in the mobile, self-propelled device not being able to find and dock with the base station correctly every time.
  • the position selected by the user does not necessarily have to be entered manually in the map of the surroundings.
  • the mobile, self-propelled device can, for example, carry out a localization of the base station during its next cleaning task, with the position of the base station then being automatically transferred to the map of the area.
  • the invention offers the advantage that the mobile, self-propelled device itself can best determine the positions at which the mobile, self-propelled device can find and move to its base station. This results in significantly more options for positioning the base station. All options are displayed to the user, including those that he may not have thought of himself, for example under beds or furniture with sufficiently high feet. The efficiency of the docking process is also increased since the selected position can be found reliably. To select the desired position, the user receives help from the app - namely the display of any position of the base station with the associated Evaluation - which advantageously leads to higher interaction with the product and more acceptance by the user.

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

Description

Die Erfindung betrifft ein Verfahren zum Betrieb eines mobilen, selbstfahrenden Geräts, insbesondere Bodenreinigungsgerät zur autonomen Bearbeitung von Bodenflächen wie ein Saug- und/oder Kehr- und/oder Wischroboter. Zudem betrifft die Erfindung ein Bodenreinigungssystem mit einem derartigen mobilen, selbstfahrenden Gerät.The invention relates to a method for operating a mobile, self-propelled device, in particular a floor cleaning device for autonomous processing of floor surfaces, such as a suction and/or sweeping and/or wiping robot. In addition, the invention relates to a floor cleaning system with such a mobile, self-propelled device.

Autonome Reinigungsgeräte, beispielsweise Reinigungsroboter, sind unter anderem auf Basisstationen angewiesen, an denen sie ihre Akkus selbstständig aufladen können, um anschließend wieder mit ihrer vollen Leistung reinigen zu können. Damit das Reinigungsgerät seine Basisstation immer sicher finden und optimal daran andocken kann, dürfen sich in der unmittelbaren Umgebung der Basisstation und insbesondere direkt vor der Basisstation keine Hindernisse befinden, die dem Reinigungsgerät eine Sicht auf die Basisstation verdecken oder das Annähern des Reinigungsgeräts an die Basisstation erschweren. Hierzu finden Aufstellbeschränkungen Anwendung, die sicherstellen sollen, dass das Reinigungsgerät unter jeglichen Bedingungen in Wohnungen von Nutzern zu seiner Basisstation findet. Diese Aufstellbeschränkungen sind dabei umfangreich gewählt, was es dem Nutzer jedoch erschweren kann, eine passende vorgabenkonforme Position zu finden. Das Reinigungsgerät dagegen selbst kann jedoch durchaus geringere Ansprüche an die Position der Basisstation aufweisen, was unter anderem deutlich vereinfachte Aufstellbeschränkungen für den Nutzer zur Folge hat.Autonomous cleaning devices, such as cleaning robots, depend, among other things, on base stations where they can charge their batteries independently in order to then be able to clean with their full power again. In order for the cleaning device to always find its base station safely and to be able to dock to it optimally, there must be no obstacles in the immediate vicinity of the base station and in particular directly in front of the base station that block the cleaning device from seeing the base station or make it difficult for the cleaning device to approach the base station . For this purpose, installation restrictions apply, which are intended to ensure that the cleaning device finds its way to its base station under all conditions in users' homes. These installation restrictions are extensive, which can make it difficult for the user to find a suitable position that conforms to the specifications. The cleaning device itself, on the other hand, can have lower demands on the position of the base station, which, among other things, results in significantly simplified installation restrictions for the user.

Insbesondere sind die angegebenen Aufstellbeschränkungen meist großzügig gewählt, um dem Reinigungsgerät unabhängig von der tatsächlichen Gestaltung der Wohnung des Nutzers das Wiederfinden und Anfahren an die Basisstation nahezu immer zu ermöglichen. Je nach Form und Größe der in der Wohnung vorhandenen Möbel und Wände ist es dem Reinigungsgerät häufig möglich, sicher zur Basisstation zu finden. Meist erfolgt das Erkennen der Basisstation mittels des Reinigungsgeräts durch optische Sensorik. Das bedeutet, dass das Reinigungsgerät in der Lage sein muss, die Basisstation zu erkennen, sobald sie in der Nähe ist. Dadurch ergibt sich ein Öffnungswinkel vor der Basisstation, der frei gehalten sein sollte von Gegenständen, Objekten und Hindernissen. Solange sich keine Objekte innerhalb des Öffnungswinkels befinden, kann das Reinigungsgerät die Basisstation problemlos finden und diese anfahren. Die Größe des Öffnungswinkels wird dabei durch die Technologie zur Erkennung und die Fähigkeit des Reinigungsgeräts zum Docken an die Station bestimmt.In particular, the set-up restrictions specified are usually chosen generously, in order to almost always enable the cleaning device to be found and approached to the base station, regardless of the actual design of the user's apartment. Depending on the shape and size of the furniture and walls in the apartment, it is often possible for the cleaning device to find its way safely to the base station. The base station is usually recognized by the cleaning device using optical sensors. This means that the cleaning device must be able to detect the base station as soon as it is nearby. This results in an opening angle in front of the base station that should be kept free of items, objects and obstacles. As long as there are no objects within the opening angle are located, the cleaning device can easily find the base station and move to it. The size of the opening angle is determined by the detection technology and the ability of the cleaning device to dock with the station.

Für mögliche Positionen einer Basisstation ist herkömmlicherweise Voraussetzung, diese auf eine ebene, frei zugängliche Fläche ohne Hindernisse innerhalb eines Quadratmeters zu stellen. Das Vorgehen bei der Inbetriebnahme des Reinigungsgeräts ist dabei meist wie folgt:

  • der Nutzer sucht eine Position in der Wohnung für die Basisstation,
  • das Reinigungsgerät startet eine Exploration von der Basisstation ausgehend und erkundet die Wohnung, und
  • das Reinigungsgerät stellt dem Nutzer eine Umgebungskarte der Wohnung zur Verfügung.
For possible positions of a base station, it is traditionally a requirement that it be placed on a level, freely accessible area without obstacles within one square meter. The procedure for commissioning the cleaning device is usually as follows:
  • the user is looking for a position in the apartment for the base station,
  • the cleaning device starts an exploration from the base station and explores the apartment, and
  • the cleaning device provides the user with a map of the area around the apartment.

Herkömmlicherweise ist es anschließend nicht möglich, die gewählte Position der Basisstation zu ändern, da ansonsten eine neue Exploration zu erfolgen hat, um eine neue Umgebungskarte anzulegen.Conventionally, it is then not possible to change the selected position of the base station, since otherwise a new exploration has to be carried out in order to create a new map of the area.

Aus der Druckschrift US 2019/254490 A1 ist unter anderem ein Staubsaugerroboter bekannt, bei dem mittels einer Umgebungskarte ein effizienter Reinigungsweg ermittelt wird.From the pamphlet U.S. 2019/254490 A1 a vacuum cleaner robot is known, among other things, in which an efficient cleaning path is determined by means of a map of the surroundings.

Die Druckschrift US 2018/052468 A1 beschreibt einen mobilen Roboter, der in kurzer Zeit basierend auf einer gespeicherten Umgebungskarte seine Basisstation auffinden kann.The pamphlet U.S. 2018/052468 A1 describes a mobile robot that can quickly find its base station based on a stored map of its surroundings.

Die Druckschrift US 2011/137461 A1 beschreibt einen mobilen Roboter und ein Verfahren zum Erstellen eines Fahrweges des Roboters, dem es dem Roboter erlaubt, seine Basisstation zu finden.The pamphlet U.S. 2011/137461 A1 describes a mobile robot and a method for creating a travel path of the robot that allows the robot to find its base station.

Aus der Druckschrift DE 10 2010 017211 A1 ist ein Verfahren zur Bodenreinigung bekannt, bei dem ein Bodenreinigungsgerät selbsttätig zu seiner Basisstation verfährt.From the pamphlet DE 10 2010 017211 A1 a method for floor cleaning is known in which a floor cleaning device moves automatically to its base station.

Die Druckschrift EP 3 505 037 A1 beschreibt einen Reinigungsroboter und ein Verfahren hierzu, bei dem in einer Umgebungskarte eine Position markiert wird, zu der der Reinigungsroboter fährt. Die Druckschrift DE102018116065 beschreibt ein Verfahren zum Betrieb eines sich selbsttätig fortbewegenden Servicegerätes, bei dem eine Umgebungskarte erstellt wird, die die möglichen Positionen einer Basisstation zeigt.The pamphlet EP 3 505 037 A1 describes a cleaning robot and a method for this, in which a position to which the cleaning robot drives is marked on a map of the surroundings. The pamphlet DE102018116065 describes a method for operating a self-moving service device, in which a map of the area is created that shows the possible positions of a base station.

Aufgabe der Erfindung ist es, dem Nutzer ein Betriebsverfahren zu bieten, bei dem jegliche mögliche Positionen der Basisstation in seiner Wohnung dargestellt und insbesondere diese bezüglich relevanter Kriterien bewertet werden, sowie ein Bodenreinigungssystem bereitzustellen, das ein derartiges Verfahren umsetzen kann. Diese Aufgabe wird durch ein Verfahren zum Betrieb eines mobilen, selbstfahrenden Geräts, insbesondere ein Bodenreinigungsgerät zur autonomen Bearbeitung von Bodenflächen, mit den Merkmalen des Anspruchs 1 und durch ein Bodenreinigungssystem mit den Merkmalen des Anspruchs 8 gelöst. Vorteilhafte Ausgestaltungen und Weiterbildungen sind Gegenstand der Unteransprüche.The object of the invention is to offer the user an operating method in which all possible positions of the base station in his home are displayed and in particular these are evaluated with regard to relevant criteria, and to provide a floor cleaning system that can implement such a method. This object is achieved by a method for operating a mobile, self-propelled device, in particular a floor cleaning device for autonomous processing of floor surfaces, having the features of claim 1 and by a floor cleaning system having the features of claim 8. Advantageous refinements and developments are the subject of the dependent claims.

Erfindungsgemäß umfasst ein Verfahren zum Betrieb eines mobilen, selbstfahrenden Geräts, insbesondere Bodenreinigungsgerät zur autonomen Bearbeitung von Bodenflächen wie ein Saug- und/oder Kehr- und/oder Wischroboter, folgende Schritte:

  • Durchführen einer Explorationsfahrt des mobilen, selbstfahrenden Geräts in einem vorgesehenen Bodenbearbeitungsbereich,
  • Detektieren von Hindernissen mittels einer Detektionseinrichtung und Erstellen einer Umgebungskarte des Bodenbearbeitungsbereichs,
  • Darstellen möglicher Positionen einer Basisstation in der Umgebungskarte, und
  • Darstellen einer Bewertung der möglichen Positionen der Basisstation bezüglich Güte, Effizienz und/oder Qualität eines Anfahrens des mobilen, selbstfahrenden Geräts an die Basisstation und/oder eines Auffindens der Basisstation durch das mobile, selbstfahrende Gerät.
According to the invention, a method for operating a mobile, self-propelled device, in particular a floor cleaning device for autonomous processing of floor surfaces such as a suction and/or sweeping and/or wiping robot, comprises the following steps:
  • Carrying out an exploration drive of the mobile, self-propelled device in a designated tillage area,
  • Detecting obstacles using a detection device and creating a map of the surroundings of the tillage area,
  • Displaying possible positions of a base station in the area map, and
  • Representation of an assessment of the possible positions of the base station in terms of quality, efficiency and/or quality of the mobile, self-propelled device approaching the base station and/or of the mobile, self-propelled device locating the base station.

Die erfindungsgemäße Lösung zeichnet sich dadurch aus, dass das Bodenreinigungsgerät selbst erkennt und dem Nutzer mitteilt, an welchen Positionen ein für das Bodenreinigungsgerät ausreichend guter Standort der Basisstation in dem vorgesehenen Bodenbearbeitungsbereich ausgebildet ist. Zusätzlich wird dem Nutzer eine Bewertung der möglichen Positionen ausgegeben, anhand derer der Nutzer eine für ihn passende Position für die Basisstation finden kann. Hierbei fließen Kriterien der Güte, Effizienz und/oder Qualität eines Anfahrens des mobilen, selbstfahrenden Geräts an die Basisstation und/oder eines Auffindens der Basisstation durch das mobile, selbstfahrende Gerät ein.The solution according to the invention is characterized in that the floor cleaning device itself recognizes and informs the user at which positions a sufficiently good location of the base station for the floor cleaning device is formed in the planned floor processing area. In addition, the user is given an evaluation of the possible positions, which the user can use to select a for can find him a suitable position for the base station. In this case, criteria of the quality, efficiency and/or quality of a movement of the mobile, self-propelled device to the base station and/or of a finding of the base station by the mobile, self-propelled device are incorporated.

Das Bodenreinigungsgerät bestimmt vorliegend also selbst, an welchen Positionen das Bodenreinigungsgerät seine Basisstation finden und anfahren kann - unter Berücksichtigung seiner Bewertung zu den Positionen. Gegenüber dem herkömmlichen Verfahren über die Positionsbestimmung mittels der Aufstellbeschränkungen ergeben sich mit Vorteil deutlich mehr Möglichkeiten zur Positionierung der Basisstation, die insbesondere exakt an die Gegebenheiten des vorgesehenen Bodenbearbeitungsbereichs zugeschnitten sind. Dabei werden dem Nutzer zudem vorteilhafterweise mögliche Positionen angezeigt, an die er selbst nicht gedacht hätte, wie beispielsweise unter Betten oder Möbeln mit ausreichend hoher Aufstellung. Aufgrund des Einbindens der Effizienz bei dem Anfahren der Basisstation wird diese mit Vorteil erhöht, da durch die berücksichtigte Bewertung die Basisstation zuverlässig gefunden werden kann.In the present case, therefore, the floor cleaning device itself determines the positions at which the floor cleaning device can find and move to its base station—taking into account its assessment of the positions. Compared to the conventional method of determining the position by means of the set-up restrictions, there are advantageously significantly more options for positioning the base station, which in particular are precisely tailored to the conditions of the planned soil processing area. Advantageously, the user is also shown possible positions that he would not have thought of himself, such as under beds or furniture placed sufficiently high. Due to the integration of the efficiency when starting up the base station, this is advantageously increased since the base station can be reliably found by the evaluation taken into account.

Mit Vorteil werden erfindungsgemäß nicht nur die optimalen Positionen der Basisstation im Bodenbearbeitungsbereich angezeigt, sondern ein Anzeigen und Bewerten aller möglichen Positionen für die Basisstation kann realisiert werden. Hierbei werden also neben gut sichtbaren und erreichbaren Positionen ebenso die nicht empfohlenen und unmöglichen Positionen sowie vorzugsweise Zwischenstufen hierzu angezeigt sowie deren Bewertung visualisiert. Dadurch werden dem Nutzer exakte, auf seinen Bodenbearbeitungsbereich zugeschnittene und insbesondere vollständige Informationen zu einer möglichen Positionierung der Basisstation angegeben beziehungsweise angezeigt.Advantageously, according to the invention, not only are the optimal positions of the base station in the soil working area displayed, but all possible positions for the base station can be displayed and evaluated. In addition to clearly visible and accessible positions, the non-recommended and impossible positions and preferably intermediate stages are also displayed and their evaluation is visualized. As a result, the user is given or displayed precise information tailored to their soil working area and, in particular, complete information about a possible positioning of the base station.

Unter einem mobilen, selbstfahrenden Gerät ist insbesondere ein Bodenreinigungsgerät, beispielsweise Reinigungs- oder Rasenmähergerät, zu verstehen, welches insbesondere im Haushaltsbereich Bodenflächen oder Rasenflächen autonom bearbeitet. Hierunter zählen unter anderem Saug- und/oder Kehr- und/oder Wischroboter wie beispielsweise Staubsaugerroboter, oder Rasenmäherroboter. Diese Geräte arbeiten im Betrieb (Reinigungsbetrieb oder Rasenmäherbetrieb) bevorzugt ohne oder mit möglichst wenig Benutzereingriff. Beispielsweise verfährt das Gerät selbsttätig in einen vorgegebenen Raum, um entsprechend einer vorgegebenen und einprogrammierten Verfahrensstrategie den Boden abzureinigen.A mobile, self-propelled device is to be understood in particular as a floor cleaning device, for example a cleaning or lawn mower device, which autonomously processes floor areas or lawns, in particular in the household sector. These include, inter alia, vacuum and/or sweeping and/or wiping robots such as vacuum cleaner robots or lawnmower robots. During operation (cleaning operation or lawn mower operation), these devices work preferably without or with as little as possible user intervention. For example, the device moves automatically into a given room in order to clean the floor according to a given and programmed strategy.

Unter einer Explorationsfahrt ist insbesondere eine Erkundungsfahrt zu verstehen, die dazu geeignet ist, eine zu bearbeitende Bodenfläche nach Hindernissen, Raumaufteilung und ähnliches zu erkunden. Ziel einer Explorationsfahrt ist es insbesondere, Gegebenheiten des zu bearbeitenden Bodenbearbeitungsbereich einschätzen und/oder darstellen zu können. Dabei ist es neben dem "reinen" Erkunden des Bodenbearbeitungsbereichs auch möglich, gleichzeitig einen ersten Reinigungsvorgang des Bodenbearbeitungsbereichs durchzuführen.An exploration trip is to be understood in particular as an exploratory trip that is suitable for exploring a floor area to be processed for obstacles, room layout and the like. The aim of an exploration trip is in particular to be able to assess and/or represent the conditions of the tillage area to be worked on. In addition to "purely" exploring the soil processing area, it is also possible to carry out a first cleaning process of the soil processing area at the same time.

Unter einem Bodenbearbeitungsbereich ist jeglicher räumliche Bereich zu verstehen, der zur Bearbeitung, insbesondere Reinigung vorgesehen ist. Das kann beispielsweise ein einzelner (Wohn)raum oder eine ganze Wohnung sein. Auch lediglich Teilbereiche eines (Wohn)raums oder einer Wohnung, die zur Reinigung vorgesehen sind, können darunter verstanden werden.A soil processing area is to be understood as meaning any spatial area that is intended for processing, in particular cleaning. This can be a single (living) room or an entire apartment, for example. It can also be understood as merely partial areas of a (living) room or an apartment that are intended for cleaning.

Unter Hindernisse sind jegliche Objekte zu verstehen, die im Bodenbearbeitungsbereich angeordnet sind und die Bearbeitung durch das mobile, selbstfahrende Gerät beeinflussen, insbesondere behindern und/oder stören wie beispielsweise Möbel, Wände, Vorhänge, Teppiche und ähnliches.Obstacles are to be understood as meaning any objects that are arranged in the soil processing area and that affect processing by the mobile, self-propelled device, in particular impeding and/or disturbing such as furniture, walls, curtains, carpets and the like.

Unter einer Detektionseinrichtung ist jegliche Einrichtung zu verstehen, die dazu geeignet ist, Hindernisse bevorzugt zuverlässig zu detektieren. Diese ist vorzugsweise sensorbasiert und/oder kamerabasiert.A detection device is to be understood as meaning any device that is suitable for detecting obstacles, preferably reliably. This is preferably sensor-based and/or camera-based.

Unter einer Umgebungskarte ist insbesondere jegliche Karte zu verstehen, die geeignet ist die Umgebung des Bodenbearbeitungsbereichs mit all seinen Hindernissen darzustellen. Beispielsweise zeigt die Umgebungskarte den Bodenbearbeitungsbereich mit den darin enthaltenen Hindernissen und Wänden skizzenartig an.A map of the surroundings is to be understood in particular as meaning any map that is suitable for showing the surroundings of the tillage area with all its obstacles. For example, the environment map shows a sketch of the tillage area with the obstacles and walls it contains.

Unter einer Position ist jeglicher räumliche, insbesondere dreidimensionale Ort im Bodenbearbeitungsbereich zu verstehen. Eine Position ist hier insbesondere im räumlichen Sinne zu verstehen.A position is to be understood as meaning any spatial, in particular three-dimensional location in the tillage area. A position is to be understood here in particular in the spatial sense.

Unter einer Basisstation ist insbesondere eine Station zu verstehen, die dazu geeignet ist, die Akkus des mobilen, selbstfahrenden Geräts bei einem Anfahren selbstständig aufzuladen. Zudem kann die Basisstation als eine ortsfeste Übertragungseinrichtung von drahtlosen Netzwerken ausgebildet sein, die insbesondere geeignet ist, mit dem mobilen, selbstfahrenden Gerät zu kommunizieren - und umgekehrt. Für die Kommunikation ist es alternativ möglich, dass ein unabhängiger Router Verwendung findet.A base station is to be understood in particular as a station that is suitable for independently charging the batteries of the mobile, self-propelled device when starting off. In addition, the base station can be designed as a stationary transmission device for wireless networks, which is particularly suitable for communicating with the mobile, self-propelled device—and vice versa. Alternatively, an independent router can be used for communication.

Die Bewertung zielt insbesondere ab auf Güte, Effizienz und/oder Qualität eines Anfahrens des mobilen, selbstfahrenden Geräts an die Basisstation und/oder eines Auffindens der Basisstation durch das mobile, selbstfahrende Gerät. Die Bewertung erfolgt dabei vorzugsweise automatisch anhand dieser Kriterien. Beispielsweise können über die Bewertung gut sichtbare und erreichbare Positionen von unmöglichen Positionen und von Zwischenpositionen abgegrenzt werden.The assessment is aimed in particular at the quality, efficiency and/or quality of the mobile, self-propelled device driving to the base station and/or the mobile, self-propelled device finding the base station. The evaluation preferably takes place automatically based on these criteria. For example, clearly visible and accessible positions can be distinguished from impossible positions and intermediate positions via the evaluation.

Bei einer vorteilhaften Ausführungsform werden bezüglich Güte, Effizienz und/oder Qualität des Anfahrens des mobilen, selbstfahrenden Geräts an die Basisstation und/oder eines Auffindens der Basisstation durch das mobile, selbstfahrende Gerät ausschließlich Gegebenheiten des Bodenbearbeitungsbereichs berücksichtigt. Dadurch ist es mit Vorteil möglich, abhängig von der tatsächlichen Gestaltung der Wohnung des Nutzers eine passende Position für die Basisstation auszuwählen. Dadurch ergeben sich mit Vorteil deutlich mehr Möglichkeiten zur Positionierung der Basisstation. Dem Nutzer werden dabei auch Positionen angezeigt, die der Nutzer selbst eventuell nicht in Betracht gezogen hat, wie beispielsweise unter Betten oder Möbeln mit ausreichend hohen Füßen. Gleichzeitig wird die Effizienz des Docking-Prozesses erhöht, da die ausgewählte Position der Basisstation zuverlässig von dem mobilen, selbstfahrenden Gerät gefunden werden kann.In an advantageous embodiment, the quality, efficiency and/or quality of moving the mobile, self-propelled device to the base station and/or finding the base station by the mobile, self-propelled device only takes into account the conditions of the soil cultivation area. This advantageously makes it possible to select a suitable position for the base station depending on the actual layout of the user's home. This advantageously results in significantly more options for positioning the base station. The user is also shown positions that the user himself may not have considered, such as under beds or furniture with sufficiently high feet. At the same time, the efficiency of the docking process is increased because the selected position of the base station can be reliably found by the mobile, self-propelled device.

Bei einer weiteren vorteilhaften Ausführungsform werden jegliche mögliche Positionen, insbesondere entlang gerader Wände und Hindernisse, abhängig von ihrer Güte, Effizienz und/oder Qualität bewertet und unabhängig ihrer Güte, Effizienz und/oder Qualität dargestellt. Dadurch kann dem Nutzer ein vollständiges Profil möglicher Positionen für die Basisstation angezeigt und dargestellt werden. Dabei werden insbesondere alle Positionen entlang gerader Wände und Hindernisse angezeigt, da lediglich solche Positionen für eine Befestigung der Basisstation in dem Bodenbearbeitungsbereich geeignet sind. Freistehende Positionen finden also bevorzugt keine Beachtung und werden insbesondere dem Nutzer nicht, und insbesondere nicht mit einer Bewertung, dargestellt.In a further advantageous embodiment, any possible positions, in particular along straight walls and obstacles, are evaluated as a function of their goodness, efficiency and/or quality and independently of their goodness, efficiency and/or quality shown. As a result, a complete profile of possible positions for the base station can be displayed and presented to the user. In particular, all positions along straight walls and obstacles are displayed, since only such positions are suitable for attaching the base station in the soil processing area. Freestanding positions are therefore preferably not considered and are not shown to the user in particular, and in particular not with an evaluation.

Bei einer weiteren vorteilhaften Ausführungsform wird die Bewertung codiert, insbesondere farbcodiert, graucodiert und/oder mit Symbolen codiert, angezeigt. Beispielsweise können für die Basisstation optimal oder gut geeignete Positionen grün, nicht empfohlene oder ungeeignete Positionen rot und Zwischenstufen orange dargestellt werden. Auch Grauabstufungen oder Symbole wie beispielsweise Smileys mit unterschiedlich zufriedenen beziehungsweise unzufriedenen Gesichtern als alternative Möglichkeiten der Bewertung sind möglich. Nicht empfohlene beziehungsweise ungeeignete Positionen sind insbesondere derartige Positionen, die beispielsweise aufgrund von Möbelbeinen oder Hindernissen in unmittelbarer Umgebung oder unmittelbarer Nähe untauglich sind.In a further advantageous embodiment, the evaluation is displayed coded, in particular color-coded, gray-coded and/or coded with symbols. For example, optimal or well-suited positions for the base station can be displayed in green, positions that are not recommended or unsuitable in red, and intermediate positions can be displayed in orange. Shades of gray or symbols such as smileys with different satisfied or dissatisfied faces are also possible as alternative evaluation options. Positions that are not recommended or unsuitable are, in particular, positions that are unsuitable, for example, due to furniture legs or obstacles in the immediate vicinity.

Bei einer weiteren vorteilhaften Ausführungsform werden bei der Bewertung neben gut geeigneter Positionen auch nicht geeignete oder nicht optimal geeignete Positionen dargestellt. Damit kann dem Nutzer ein nahezu beziehungsweise vorzugsweise vollständiges Profil gut geeigneter und nicht geeigneter Positionen und Zwischenstufen hiervon angezeigt werden. Diese vollständige Darstellung kann dem Nutzer neue Möglichkeiten eröffnen, die er zuvor eventuell nicht in Betracht gezogen hat, wie beispielsweise unter Möbeln mit genug Bodenfreiheit. Zudem wird dem Nutzer mit der Bewertung ebenfalls dargestellt, dass bei einigen der angezeigten Positionen, wie zum Beispiel bei Zwischenpositionen, das mobile, selbstfahrende Gerät mit hoher Wahrscheinlichkeit nicht jedes Mal einwandfrei die Basisstation finden und an sie andocken kann.In a further advantageous embodiment, in addition to well-suited positions, unsuitable or not optimally suitable positions are also displayed during the evaluation. In this way, the user can be shown an almost or preferably complete profile of well-suited and unsuitable positions and intermediate stages thereof. This complete display can open up new possibilities for the user that they may not have considered before, such as under furniture with enough ground clearance. In addition, the rating also shows the user that for some of the displayed positions, such as intermediate positions, there is a high probability that the mobile, self-propelled device will not be able to find and dock with the base station properly every time.

Bei einer weiteren vorteilhaften Ausführungsform werden die Umgebungskarte mit den Hindernissen, möglichen Positionen der Basisstation und deren Bewertung in einer App an einem tragbaren Zusatzgerät dargestellt. Dies dient insbesondere der Visualisierung zu einer möglichen Interaktion für den Nutzer.In a further advantageous embodiment, the map of the surroundings with the obstacles, possible positions of the base station and their evaluation are stored in an app shown on a portable accessory. This serves in particular to visualize a possible interaction for the user.

Unter einem Zusatzgerät ist vorliegend insbesondere jegliches Gerät zu verstehen, das für einen Benutzer tragbar ist, das außerhalb des mobilen, selbstfahrenden Geräts angeordnet, insbesondere differenziert vom mobilen, selbstfahrenden Gerät ist, und zu einer Anzeige, Bereitstellung, Übermittlung und/oder Übertragung von Daten geeignet ist, wie beispielsweise ein Handy, ein Smartphone, ein Tablet und/oder ein Computer beziehungsweise Laptop.In the present case, an additional device is to be understood in particular as any device that is portable for a user, that is arranged outside of the mobile, self-propelled device, in particular differentiated from the mobile, self-propelled device, and for displaying, providing, transmitting and/or transmitting data is suitable, such as a mobile phone, a smartphone, a tablet and/or a computer or laptop.

Auf dem tragbaren Zusatzgerät ist insbesondere eine App, insbesondere eine Reinigungs-App, installiert, die zur Kommunikation des mobilen, selbstfahrenden Geräts mit dem Zusatzgerät dient und insbesondere eine Visualisierung des Bodenbearbeitungsbereichs, also des zu reinigenden Wohnraums oder der zu reinigenden Wohnung beziehungsweise Wohnbereichs ermöglicht. Die App zeigt dem Nutzer dabei vorzugsweise den zu reinigenden Bereich als Umgebungskarte sowie jegliche Positionen für die Basisstation und deren jeweilige Bewertung an.In particular, an app, in particular a cleaning app, is installed on the portable additional device, which is used for communication between the mobile, self-propelled device and the additional device and in particular enables visualization of the floor processing area, i.e. the living space to be cleaned or the apartment or living area to be cleaned. The app preferably shows the user the area to be cleaned as a map of the area and any positions for the base station and their respective rating.

Dem Nutzer bleibt es mit Vorteil freigestellt, selbst eine Position für die Basisstation zu suchen. Hierfür steht dem Nutzer vorteilhafterweise als Option in der App die Möglichkeit zur Verfügung, sich mögliche Standorte für die Basisstation und deren Bewertung anzeigen zu lassen. Dabei kann der Nutzer bevorzugt selbst festlegen, welcher Bodenbearbeitungsbereich dafür in Frage kommt, also insbesondere, ob die gesamte Wohnung hierfür in Betracht kommt oder nur bestimmte Räume. In der App werden daraufhin vom mobilen, selbstfahrenden Gerät berechnete Angaben der gut geeigneten und nicht geeigneten Positionen sowie Zwischenpositionen präsentiert.The user is advantageously free to look for a position for the base station himself. For this purpose, the user is advantageously able to have possible locations for the base station and their evaluation displayed as an option in the app. In this case, the user can preferably determine himself which soil processing area is suitable for this, ie in particular whether the entire apartment is suitable for this or only certain rooms. The mobile, self-propelled device then presents the app with information on suitable and unsuitable positions as well as intermediate positions.

Bei einer weiteren vorteilhaften Ausführungsform lokalisiert das mobile, selbstfahrende Gerät die Basisstation. Der Nutzer kann also nach der Visualisierung möglicher Positionen mit zusätzlicher Bewertung frei wählen, an welche Position er tatsächlich die Basisstation stellt. Die vom Nutzer gewählte Position muss dabei nicht manuell in die Umgebungskarte der App eingetragen werden. Das mobile, selbstfahrende Gerät kann beispielsweise bei seiner nächsten Reinigungsaufgabe eine Lokalisierung durchführen und die Position der Basisstation automatisch in die Umgebungskarte übertragen.In a further advantageous embodiment, the mobile, self-propelled device locates the base station. After the visualization of possible positions with additional evaluation, the user can therefore freely choose the position in which he actually places the base station. The position selected by the user does not have to be entered manually in the app's area map. The mobile, self-propelled device can, for example, carry out a localization for its next cleaning task and automatically transfer the position of the base station to the map of the area.

Erfindungsgemäß umfasst ein Bodenreinigungssystem ein mobiles, selbstfahrendes Gerät, insbesondere Bodenreinigungsgerät zur autonomen Bearbeitung von Bodenflächen wie ein Saug- und/oder Kehr- und/oder Wischroboter, und ein tragbares Zusatzgerät für einen Benutzer, wobei das mobile selbstfahrende Gerät bei einer Explorationsfahrt über einen vorgesehenen Bodenbearbeitungsbereich Hindernisse mittels einer Detektionseinrichtung detektiert und eine Umgebungskarte des Bodenbearbeitungsbereichs erstellt, anhand derer mögliche Positionen einer Basisstation in der Umgebungskarte auf dem tragbaren Zusatzgerät dargestellt und bezüglich Güte, Effizienz und/oder Qualität eines Anfahrens des mobilen, selbstfahrenden Geräts an die Basisstation und/oder eines Auffindens der Basisstation durch das mobile, selbstfahrende Gerät bewertet sind.According to the invention, a floor cleaning system comprises a mobile, self-propelled device, in particular a floor cleaning device for autonomous processing of floor surfaces, such as a suction and/or sweeping and/or wiping robot, and a portable additional device for a user, the mobile, self-propelled device being used during an exploration trip over a designated area Detected soil processing area obstacles by means of a detection device and created a map of the surrounding area of the soil processing area, based on which possible positions of a base station are shown in the map of the surrounding area on the portable additional device and with regard to the quality, efficiency and/or quality of moving the mobile, self-propelled device to the base station and/or a location of the base station by the mobile, self-propelled device.

Jegliche Merkmale, Ausgestaltungen, Ausführungsformen und Vorteile das Verfahren betreffend finden auch in Zusammenhang mit dem erfindungsgemäßen Bodenreinigungssystem Anwendung, und umgekehrt.Any features, configurations, embodiments and advantages relating to the method also apply in connection with the floor cleaning system according to the invention, and vice versa.

Bei einer weiteren vorteilhaften Ausführungsform sind die möglichen Positionen der Basisstation in der Umgebungskarte codiert dargestellt, insbesondere farbcodiert, graucodiert und/oder mit Symbolen codiert. Beispielsweise können für die Basisstation optimal oder gut geeignete Positionen grün, nicht empfohlene oder ungeeignete Positionen rot und Zwischenstufen orange dargestellt werden. Auch Grauabstufungen oder Symbole wie beispielsweise Smileys mit unterschiedlich zufriedenen beziehungsweise unzufriedenen Gesichtern als alternative Möglichkeiten der Bewertung sind möglich.In a further advantageous embodiment, the possible positions of the base station are shown in coded form in the map of the surroundings, in particular color-coded, gray-coded and/or coded with symbols. For example, optimal or well-suited positions for the base station can be displayed in green, positions that are not recommended or unsuitable in red, and intermediate positions can be displayed in orange. Shades of gray or symbols such as smileys with different satisfied or dissatisfied faces are also possible as alternative evaluation options.

Bei einer weiteren vorteilhaften Ausführungsform sind jegliche mögliche Positionen, insbesondere entlang gerader Wände und Hindernisse, abhängig von ihrer Güte, Effizienz und/oder Qualität bewertet und unabhängig ihrer Güte, Effizienz und/oder Qualität auf dem tragbaren Zusatzgerät dargestellt. Dadurch ist dem Nutzer ein vollständiges Profil möglicher Positionen für die Basisstation angezeigt und dargestellt. Dabei sind insbesondere alle Positionen entlang gerader Wände und Hindernisse angezeigt, da lediglich solche Positionen für eine Befestigung der Basisstation in dem Bodenbearbeitungsbereich geeignet sind. Freistehende Positionen finden also bevorzugt keine Beachtung und werden insbesondere dem Nutzer nicht, und insbesondere nicht mit einer Bewertung, dargestellt.In a further advantageous embodiment, any possible positions, in particular along straight walls and obstacles, are evaluated depending on their quality, efficiency and/or quality and displayed on the portable additional device independently of their quality, efficiency and/or quality. As a result, a complete profile of possible positions for the base station is displayed and presented to the user. In particular, all positions along straight walls and obstacles are indicated, since only such positions are suitable for attaching the base station in the soil working area. Detached positions are therefore preferred are not taken into account and, in particular, are not presented to the user, and in particular not with an evaluation.

Die Erfindung wird anhand der nachfolgenden, lediglich Beispiele darstellenden Figuren näher erläutert. Es zeigen:

Figuren 1A, 1B:
je eine schematische Aufsicht auf ein Ausführungsbeispiel einer Positionierung einer Basisstation eines Bodenreinigungssystems nach dem Stand der Technik, und
Figuren 2A, 2B:
je eine schematische Ansicht eines Ausführungsbeispiels einer Umgebungskarte zur Visualisierung eines erfindungsgemäßen Verfahrens zum Betrieb eines mobilen, selbstfahrenden Geräts zur autonomen Bearbeitung von Bodenflächen.
The invention is explained in more detail with reference to the following figures, which merely show examples. Show it:
Figures 1A, 1B:
each a schematic plan view of an embodiment of a positioning of a base station of a floor cleaning system according to the prior art, and
Figures 2A, 2B:
each shows a schematic view of an exemplary embodiment of an environment map for visualizing a method according to the invention for operating a mobile, self-propelled device for the autonomous processing of ground surfaces.

Figur 1 zeigt eine Aufsicht auf eine an einer Wand 1 befestigten Basisstation 2, die für ein mobiles, selbstfahrendes Gerät vorgesehen ist (nicht dargestellt). An der Basisstation 2 kann das mobile, selbstfahrende Gerät seine Akkus selbstständig aufladen, indem das mobile, selbstfahrende Gerät die Basisstation 2 anfährt und an diese andockt. Anschließend kann das mobile, selbstfahrende Gerät wieder mit voller Leistung einen Reinigungsauftrag ausführen. figure 1 shows a plan view of a base station 2 attached to a wall 1, which is provided for a mobile, self-propelled device (not shown). The mobile, self-propelled device can independently charge its batteries at the base station 2 by the mobile, self-propelled device moving to the base station 2 and docking with it. The mobile, self-propelled device can then carry out a cleaning job again at full power.

Damit das mobile, selbstfahrende Gerät die Basisstation 2 zuverlässig findet und daran andocken kann, dürfen sich in der unmittelbaren Umgebung und insbesondere vor der Basisstation 2 keine Hindernisse befinden, die dem mobilen, selbstfahrenden Gerät die Sicht auf die Basisstation verdecken oder das Anfahren erschweren. Sich daraus ergebende Einschränkungen für eine Positionierung der Basisstation sind von den Anbietern von mobilen, selbstfahrenden Geräten mit Basisstationen großzügig gewählt, um ein Wiederfinden und Andocken nahezu immer zu ermöglichen. Die mobilen, selbstfahrenden Geräte erkennen ihre Basisstation 2 bevorzugt durch optische Sensorik, womit sich ein Öffnungsbereich für die Sichtbarkeit der Basisstation mittig vor der Basisstation 2 ergibt, der frei von Hindernissen sein sollte beziehungsweise muss, damit das mobile, selbstfahrende Gerät seine Basisstation 2 zuverlässig finden kann. Die Größe des Öffnungsbereichs wird durch die Technologie zur Erkennung und die Fähigkeit des mobilen, selbstfahrenden Geräts zum Docken an die Basisstation 2 bestimmt.In order for the mobile, self-propelled device to find the base station 2 reliably and to be able to dock to it, there must be no obstacles in the immediate vicinity and in particular in front of the base station 2 that would block the mobile, self-propelled device's view of the base station or make it difficult to approach. The resulting restrictions for positioning the base station are generously chosen by the providers of mobile, self-propelled devices with base stations in order to almost always enable them to be found and docked again. The mobile, self-propelled devices recognize their base station 2 preferably by optical sensors, which results in an opening area for the visibility of the base station in the center in front of the base station 2, which should or must be free of obstacles so that the mobile, self-propelled device can reliably find its base station 2 can. The size The opening range is determined by the technology for detection and the ability of the mobile, self-propelled device to dock with the base station 2.

In Figur 2 ist eine an einer Wand 1 befestigten Basisstation 2 wie in Figur 1 gezeigt, wobei neben der Basisstation 2 Möbel 4 an der Wand 1 angeordnet beziehungsweise aufgestellt sind. Von den Anbietern von mobilen, selbstfahrenden Geräten mit Basisstationen angegebene, großzügig gewählte Einschränkungen für die Positionierung der Basisstation sind als rechteckiger Bereich 5 dargestellt. Der tatsächlich notwendige Öffnungsbereich 3 erfordert jedoch deutlich weniger Voraussetzungen für ein zuverlässiges Anfahren der Basisstation 2, wie es in Figur 2 durch die sich überlappenden Bereiche - rechteckiger Bereich 5 und Öffnungsbereich 3 - dargestellt ist. Werden die Bedingungen zur Positionierung mit dem Öffnungsbereich 3 anstelle des rechteckigen Bereichs 5 beschrieben, so wird deutlich, dass nah an der Basisstation 2 Möbel 4 oder andere Objekte und Hindernisse angeordnet sein können, ohne das mobile, selbstfahrende Gerät zu behindern.In figure 2 is a wall mounted base station 1 2 as in figure 1 shown, with 2 pieces of furniture 4 being arranged or set up on the wall 1 next to the base station. Generously chosen base station positioning constraints specified by the vendors of mobile, self-propelled devices with base stations are shown as rectangular area 5 . However, the opening area 3 that is actually necessary requires significantly fewer requirements for a reliable approach to the base station 2, as is shown in figure 2 by the overlapping areas - rectangular area 5 and opening area 3 - is represented. If the positioning conditions are described with the opening area 3 instead of the rectangular area 5, it becomes clear that furniture 4 or other objects and obstacles can be arranged close to the base station 2 without impeding the mobile, self-propelled device.

Um derartige Positionen zu erkennen und nutzen zu können, ist erfindungsgemäß vorgesehen, dass das mobile, selbstfahrende Gerät selbst erkennt und dem Nutzer mitteilt, an welchen Positionen ein für das mobile, selbstfahrende Gerät ausreichend guter Standort der Basisstation 2 wäre, beziehungsweise welche Standorte in Frage kommen und wie diese zu bewerten sind. Genutzt wird hierzu eine App an einem tragbaren Zusatzgerät, wie beispielsweise ein Handy. Mit der App kann das mobile, selbstfahrende Gerät bedient werden, wobei gleichzeitig dem Nutzer in der App eine Umgebungskarte 10 seiner Wohnung beziehungsweise des zu reinigenden Bodenbearbeitungsbereich 6 angezeigt wird.In order to be able to recognize and use such positions, the invention provides that the mobile, self-propelled device itself recognizes and informs the user at which positions a sufficiently good location for the base station 2 would be for the mobile, self-propelled device, or which locations are possible come and how these are to be evaluated. An app on a portable additional device, such as a mobile phone, is used for this purpose. The mobile, self-propelled device can be operated with the app, and at the same time a map 10 of the surroundings of his home or of the floor processing area 6 to be cleaned is displayed to the user in the app.

In Figur 2A ist ein Beispiel einer in der App angezeigten Umgebungskarte 10 dargestellt. Vorliegend beinhaltet die Umgebungskarte 10 einen einzelnen Raum, der vollständig mit dem mobilen, selbstfahrenden Gerät gereinigt werden soll. Das bedeutet, dass der vollständige Raum als Bodenbearbeitungsbereich 6 gesehen werden kann. Alternativ ist es natürlich möglich, dass als Bodenbearbeitungsbereich eine Mehrzahl von Räumen beziehungsweise nur Teilbereiche von Räumen zum Reinigen vorgesehen sind.In Figure 2A an example of an area map 10 displayed in the app is shown. In the present case, the environment map 10 contains a single room that is to be completely cleaned with the mobile, self-propelled device. This means that the whole room can be seen as a tillage area 6. Alternatively, it is of course possible for a plurality of rooms or only partial areas of rooms to be provided for cleaning as the floor processing area.

In der Umgebungskarte 6 sind alle Hindernisse, insbesondere Möbel 4, dargestellt, die sich in dem zu reinigenden Raum befinden. Hierunter zählen unter anderem Schränke, Betten, Schreibtische, Tische, Türen und Stühle. Natürlich ist dies nur eine beispielhafte Aufzählung. Jegliche denkbaren Hindernisse und Möbel wie Teppiche, lange Vorhänge und ähnliches sind ebenfalls möglich.All obstacles, in particular furniture 4, which are located in the room to be cleaned are shown in the environment map 6. This includes cupboards, beds, desks, tables, doors and chairs. Of course, this is only an exemplary list. Any imaginable obstacles and furniture such as carpets, long curtains and the like are also possible.

Das Verfahren bei der Inbetriebnahme des mobilen, selbstfahrenden Geräts, damit eine Umgebungskarte mit allen tatsächlichen Hindernissen des zu reinigenden Bodenbearbeitungsbereichs 6 mit der App erstellt werden kann, ist folgendermaßen:

  • der Nutzer startet das mobile, selbstfahrende Gerät für eine Explorationsfahrt,
  • das mobile, selbstfahrende Gerät erkundet den Bodenbearbeitungsbereich 6, vorliegend den dargestellten Wohnraum und prüft beziehungsweise berechnet gleichzeitig, an welchen Positionen eine Basisstation des mobilen, selbstfahrenden Geräts anfahrbar ist, wobei gleichzeitig gefundene Positionen bezüglich vorgegebener Kriterien bewertet werden,
  • das mobile, selbstfahrende Gerät stellt dem Nutzer die Umgebungskarte zur Verfügung und zeigt an, wo die Basisstation mit welcher Bewertung positioniert werden kann,
  • der Nutzer sucht sich daraus eine für ihn geeignete Position in dem Bodenbearbeitungsbereich 6 aus.
The procedure for starting up the mobile self-propelled device so that a map of the surroundings with all the actual obstacles of the tillage area 6 to be cleaned can be created with the app is as follows:
  • the user starts the mobile, self-propelled device for an exploration trip,
  • the mobile, self-propelled device explores the soil processing area 6, in this case the living space shown, and at the same time checks or calculates the positions at which a base station of the mobile, self-propelled device can be approached, with positions found at the same time being evaluated with regard to predetermined criteria,
  • the mobile, self-driving device provides the user with the map of the area and shows where the base station can be positioned with which rating,
  • the user selects a position in the soil working area 6 that is suitable for him.

Natürlich bleibt es auch mit der App dem Nutzer freigestellt, selbst eine Position für die Basisstation zu suchen. Nach Abschluss der Explorationsfahrt wird dem Nutzer bevorzugt in der App die Option "mögliche Standorte/Positionen für die Basisstation anzeigen" angezeigt. Hierbei kann der Nutzer selbst festlegen, ob der gesamte Bodenbearbeitungsbereich 6 in Betracht hierfür kommt oder nur Teilbereiche hiervon. In der App werden daraufhin die vom mobilen, selbstfahrenden Gerät berechneten Angaben präsentiert. Dies ist beispielhaft in Figur 2B dargestellt.Of course, even with the app, the user is free to look for a position for the base station himself. After completing the exploration drive, the user is given the option "Show possible locations/positions for the base station" in the app. Here, the user himself can determine whether the entire soil processing area 6 comes into consideration for this or only parts of it. The information calculated by the mobile, self-driving device is then presented in the app. This is an example in Figure 2B shown.

Figur 2B zeigt die in der App ausgegebene Umgebungskarte 6 mit Visualisierung der möglichen Positionen der Basisstation entlang gerader Wände und Möbel. Gut sichtbare und erreichbare Positionen 7a werden beispielhaft hellgrau markiert, nicht empfohlene oder unmögliche Positionen 7b, die zum Beispiel aufgrund von Möbelbeinen oder Hindernissen in unmittelbarer Umgebung untauglich sind, werden dunkelgrau markiert. Figure 2B shows the area map 6 output in the app with visualization of the possible positions of the base station along straight walls and furniture. Positions 7a that are clearly visible and accessible are marked in light gray as an example, positions 7b that are not recommended or impossible and are unsuitable, for example, because of furniture legs or obstacles in the immediate vicinity, are marked in dark gray.

Zwischenstufen 7c in einem mittleren Grauton erlauben es dem Nutzer, abzuwägen, ob auch andere Positionen als die gut sichtbaren und erreichbaren Positionen 7a für die Basisstation in Frage kommen.Intermediate stages 7c in a medium shade of gray allow the user to consider whether positions other than the easily visible and accessible positions 7a are also suitable for the base station.

Selbstverständlich kommen auch alternative Bewertungsanzeigen wie beispielsweise eine Ampelbewertung mit grüner Codierung für optimale Positionen, gelber Codierung für Zwischenpositionen und roter Codierung für nicht empfohlene Positionen in Frage. Auch eine Codierung basierend auf Symbolen, wie beispielsweise ein lachender Smiley für optimale Positionen, ein neutraler Smiley für Zwischenpositionen und ein trauriger Smiley für nicht empfohlene Positionen ist als Bewertungsanzeige geeignet.Of course, alternative evaluation displays such as a traffic light evaluation with green coding for optimal positions, yellow coding for intermediate positions and red coding for non-recommended positions are also possible. A coding based on symbols, such as a smiling smiley for optimal positions, a neutral smiley for intermediate positions and a sad smiley for non-recommended positions, is also suitable as a rating display.

Der Nutzer kann nach Darstellen der Positionen mit zugehöriger Bewertung frei wählen, an welche Position er die Basisstation nun stellt. Die Darstellung in der Umgebungskarte eröffnet dem Nutzer dabei alle Möglichkeiten, auch die, an die der Nutzer zuvor eventuell nicht gedacht hat, wie beispielsweise unter Möbeln mit genug Bodenfreiheit. Zudem wird dem Nutzer dargestellt, dass einige Positionen zur Folge haben können, dass das mobile, selbstfahrende Gerät nicht jedes Mal einwandfrei die Basisstation finden und an sie andocken kann.After displaying the positions with the associated rating, the user can freely choose which position to put the base station in. The display in the environment map opens up all possibilities for the user, including those that the user may not have thought of before, such as under furniture with sufficient ground clearance. In addition, the user is informed that some positions can result in the mobile, self-propelled device not being able to find and dock with the base station correctly every time.

Die vom Nutzer gewählte Position muss dabei nicht zwangsläufig manuell in der Umgebungskarte eingetragen werden. Das mobile, selbstfahrende Gerät kann beispielsweise bei seiner nächsten Reinigungsaufgabe eine Lokalisierung der Basisstation durchführen, wobei anschließend die Position der Basisstation automatisch in die Umgebungskarte übertragen wird.The position selected by the user does not necessarily have to be entered manually in the map of the surroundings. The mobile, self-propelled device can, for example, carry out a localization of the base station during its next cleaning task, with the position of the base station then being automatically transferred to the map of the area.

Die Erfindung bietet den Vorteil, dass das mobile, selbstfahrende Gerät selbst am besten bestimmen kann, an welchen Positionen das mobile, selbstfahrende Gerät seine Basisstation finden und anfahren kann. Damit ergeben sich deutlich mehr Möglichkeiten zur Positionierung der Basisstation. Dem Nutzer werden dabei jegliche Möglichkeiten angezeigt, auch diejenigen, an die er selbst vielleicht nicht gedacht hat, beispielsweise unter Betten oder Möbeln mit ausreichend hohen Füßen. Die Effizienz des Docking-Prozesses wird zudem erhöht, da die ausgewählte Position zuverlässig gefunden werden kann. Zur Auswahl der gewünschten Position erhält der Nutzer eine Hilfestellung durch die App - nämlich das Anzeigen jeglicher Positionen der Basisstation mit zugehöriger Bewertung - was mit Vorteil zu einer höheren Interaktion mit dem Produkt und mehr Akzeptanz durch den Nutzer führt.The invention offers the advantage that the mobile, self-propelled device itself can best determine the positions at which the mobile, self-propelled device can find and move to its base station. This results in significantly more options for positioning the base station. All options are displayed to the user, including those that he may not have thought of himself, for example under beds or furniture with sufficiently high feet. The efficiency of the docking process is also increased since the selected position can be found reliably. To select the desired position, the user receives help from the app - namely the display of any position of the base station with the associated Evaluation - which advantageously leads to higher interaction with the product and more acceptance by the user.

Claims (10)

  1. Method for operating a mobile, self-driving device, in particular a floor cleaning device for the autonomous treatment of floor surfaces such as a vacuum and/or sweeping and/or mopping robot, comprising the following steps:
    - performing an exploration movement of the mobile, self-driving device in an intended floor treatment region (6),
    - detecting obstacles (4) by means of a detection facility and creating an environment map (10) of the floor treatment region (6),
    - depicting possible positions (7a, 7b, 7c) of a base station (2) in the environment map (10), and characterised by
    - depicting an assessment of the possible positions (7a, 7b, 7c) of the base station (2) with regard to grading, efficiency and/or quality of the mobile, self-driving device approaching the base station (2) and/or of the mobile, self-driving device finding the base station (2).
  2. Method according to claim 1, wherein
    with regard to grading, efficiency and/or quality of the mobile, self-driving device approaching the base station (2) and/or of the mobile, self-driving device finding the base station (2), exclusively circumstances of the floor treatment region (6) are taken into consideration.
  3. Method according to one of the preceding claims, wherein
    any possible positions (7a, 7b, 7c), in particular along straight walls (1) and obstacles (4), are assessed depending upon their grading, efficiency and/or quality and are depicted regardless of their grading, efficiency and/or quality.
  4. Method according to one of the preceding claims, wherein
    the assessment is displayed in an encoded manner, in particular colour-coded, grey-coded and/or encoded with symbols.
  5. Method according to one of the preceding claims, wherein
    in addition to positions (7a) that are well suited, positions (7b) that are not suitable or not optimally suitable are depicted in the assessment.
  6. Method according to one of the preceding claims, wherein
    the environment map (10) with the obstacles (4), possible positions (7a, 7b, 7c) of the base station (2) and the assessment thereof are depicted in an app on a portable additional device.
  7. Method according to one of the preceding claims with the further method step:
    - locating of the base station (2) by the mobile, self-driving device.
  8. Floor cleaning system, comprising
    - a mobile, self-driving device, in particular floor cleaning device for the autonomous treatment of floor surfaces such as a vacuum and/or sweeping and/or mopping robot,
    - a portable additional device for a user,
    wherein the mobile self-driving device, during an exploration movement over an intended floor treatment region (6), detects obstacles (4) by means of a detection facility and creates an environment map (10) of the floor treatment region (6), on the basis of which possible positions (7a, 7b, 7c) of a base station (2) are depicted in the environment map (10) on the portable additional device, and characterised in that the possible positions (7a, 7b, 7c) of a base station (2) are assessed with regard to grading, efficiency and/or quality of the mobile, self-driving device approaching the base station (2) and/or of the mobile, self-driving device finding the base station (2).
  9. Floor cleaning system according to claim 8, wherein
    the possible positions (7a, 7b, 7c) of the base station (2) are depicted in an encoded manner in the environment map (10).
  10. Floor cleaning system according to claim 8 or 9, wherein
    any given possible positions (7a, 7b, 7c), in particular along straight walls (1) and obstacles (4), are assessed depending upon their grading, efficiency and/or quality and are depicted on the portable additional device regardless of their grading, efficiency and/or quality.
EP21198181.6A 2020-10-15 2021-09-22 Method for operating a self-propelled mobile device Active EP3984434B1 (en)

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