WO2011144710A1 - Appareil de traitement de sol ainsi que procédé de traitement d'une surface de sol présentant un motif de base - Google Patents

Appareil de traitement de sol ainsi que procédé de traitement d'une surface de sol présentant un motif de base Download PDF

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Publication number
WO2011144710A1
WO2011144710A1 PCT/EP2011/058195 EP2011058195W WO2011144710A1 WO 2011144710 A1 WO2011144710 A1 WO 2011144710A1 EP 2011058195 W EP2011058195 W EP 2011058195W WO 2011144710 A1 WO2011144710 A1 WO 2011144710A1
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WO
WIPO (PCT)
Prior art keywords
harrow
floor
images
soil cultivation
cultivation device
Prior art date
Application number
PCT/EP2011/058195
Other languages
German (de)
English (en)
Inventor
Markus Dünne
Original Assignee
Alfred Kärcher Gmbh & Co. Kg
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Alfred Kärcher Gmbh & Co. Kg filed Critical Alfred Kärcher Gmbh & Co. Kg
Priority to EP11720510A priority Critical patent/EP2572251A1/fr
Publication of WO2011144710A1 publication Critical patent/WO2011144710A1/fr

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20081—Training; Learning
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle

Definitions

  • the invention relates to a method for processing a ground surface by means of a harrow having a soil treatment unit and at least one detection unit, wherein the harrow is moved over the ground surface, by means of the at least one detection unit at successive times images of the soil surface are created and from the harrow on the basis of Images a map of the floor surface is generated.
  • the invention also relates to a harrow for performing the method with a soil treatment unit and with at least one detection unit for creating images of the soil surface to be processed at successive times during movement of the harrow, wherein the floor cleaning device based on the images a map of the soil surface can be generated.
  • An efficient area-wide processing of the ground surface in the shortest possible time is always desirable for achieving a good cost-benefit ratio, be it in an operation of a self-propelled and self-steering harrow or even with the use of an operator for the harrow.
  • the floor surface when processing the floor surface, it should also be considered that the floor surface may be divided into areas to be worked on and not to be machined, and for this reason only a partial processing of the floor surface is required, possibly even only permitted.
  • Object of the present invention is to produce a map of the bottom surface as a basis for the widest possible coverage of the same with a relatively low equipment and computational effort.
  • This object is achieved in a generic method according to the invention that the images are examined by the harrow to see if the bottom surface has a regularly repeating basic pattern, the ground pattern exhibiting bottom surface segment of the harrow is identified as to be processed bottom surface segment and in the map for each processing floor area segment is stored an area associated with this floor area segment.
  • the floor area to be worked on has a pattern composed of a regularly repeating basic pattern.
  • the bottom surface may therefore comprise at least sections regularly arranged and each having the basic pattern having bottom surface segments.
  • a tiled floor surface is configured in such a way, wherein each floor surface segment is formed by a tile, which usually defines a rectangular basic pattern.
  • buildings with such trained floor areas are buildings with a lot of public traffic, such as supermarkets, office buildings, public buildings, etc.
  • the method provides for analyzing the images in such a way as to determine whether the bottom surface is composed of a base pattern having regularly repeating bottom surface segments.
  • a bottom surface segment having the basic pattern is to be processed.
  • a map of the floor area can be created in a simple manner, for example by a control unit of the soil cultivation device, in which the actual floor surface segments to be processed are assigned to individual areas within the map.
  • the analysis of the images and the creation of the map can be carried out with relatively little equipment and computational effort, as a rule, since the tillage device can transmit a pre-existing and in practice often simple constructed pattern of the bottom surface in a sense in the card.
  • an efficient processing of the ground surface can be carried out. This is possible in the case of control of the processing device by an operator who can recognize, control and work with the soil processing unit on the basis of the map to be processed bottom surface segments. Even with an autonomous processing of the ground surface by a self-propelled and self-steering tillage implement can be run over as recognized for processing soil surface segments and processed by means of the soil cultivation unit.
  • the map of the bottom surface can be easily generated when it is subdivided into cells, each ground plane having the basic pattern. is assigned to a cell.
  • a map created in this way can be managed and processed with little computational effort and managed, for example, in the form of a matrix.
  • edges or lines are detected as features and / or if quadrilaterals are compared as comparison patterns. This allows a reliable and at the same time with comparatively low computing power feasible determination of whether the bottom surface has a regularly repeating basic pattern.
  • the practice is taken into account that patterned to be processed floor surfaces are often tiled and consequently typically have rectangular basic pattern.
  • the reference patterns in this and the previous variant of the method are also preferably quadrangular and in particular rectangular.
  • the position of the harrow relative to the bottom surface segments having the basic pattern is determined as a function of time.
  • the movement of the harrow on the ground surface causes two or more successive images to detect different portions of the ground surface.
  • the method is therefore made possible to determine a change in position of the harrow.
  • the position can be stored time-dependent in the map. This can be achieved with little computational effort, a self-localization of the harrow and further its movement path can be determined.
  • the times at which images of the bottom surface are created determined depending on the speed of the harrow. This can ensure that the accuracy of the comparison of successive images is sufficiently large in order to achieve a reliable position determination and determination of the movement path of the harrow.
  • an operator of an image of the map is displayed by means of a display unit.
  • Information stored in the card is thereby recognizable to the operator to assist in controlling the harrow.
  • the operator z. B. recognize which the basic pattern having ground surface segments have already been run over and edited and which are still to be processed. This allows efficient processing of the floor surface, because the operator can specifically control and edit not yet processed floor surface segments. At the same time a multiple processing of floor surface segments can be largely avoided.
  • the operator can ensure that direction changes are made in a suitable manner, so that, for example, the ground pattern not having ground surface segments are not run over for their protection and / or not processed.
  • the bottom surface is processed autonomously by means of the cultivator, wherein the harrow is self-propelled and is self-steering and has a drive unit and a control unit for controlling the movement of the floor cleaning device.
  • the control unit drives the drive unit so to drive over the bottom surface segments and to edit by means of the soil cultivation unit. This can be ensured in a simple manner and with low equipment and computational effort that the widest possible coverage of the actual to be processed segments floor area is achieved.
  • images of portions of the ground surface ahead of the cultivator are created, based on its direction of travel based on a locomotion pattern.
  • the direction of movement of the harrow can be maintained when it is determined that the ground surface ahead has the regularly repeating basic pattern.
  • a more rapid processing of the soil can be achieved.
  • the harrow can thus move over the ground surface based on one or more locomotion patterns. It is advantageous if, in accordance with the basic locomotion pattern of the cultivator, an in particular straight-ahead travel is carried out, since this is a particularly simple locomotion pattern. In combination with the last-described variant of the method, the harrow can therefore drive straight ahead until it is determined that the area of the ground surface lying ahead no longer has the regularly repeating basic pattern.
  • the state of movement of the harrow is changed when it is determined that in the direction of movement of the harrow no Grundzan having ground surface segments are no longer present.
  • no Grundzan having ground surface segments are no longer present.
  • the ground pattern not having ground surface segments are not run over and edited. This is advantageous, for example, if there are floor surface segments that can not be edited.
  • the harrow can be stopped and / or a change in the direction of movement of the harrow can be performed.
  • the harrow can rotate on the ground surface to determine if the ground surface imaged after rotation has the regular repeating pattern so that further processing of the ground surface can proceed.
  • the drive unit is controlled by the control unit so that not yet processed, but an area of the map already assigned and the basic pattern having bottom surface segments are run over and edited. As a result, the area-wide processing of the floor surface can be ensured.
  • the drive unit is controlled by the control unit such that the basic pattern of non-exhibiting bottom surface segments is not run over and / or not processed.
  • the bottom surface segments marked as "not machined” are spared.
  • the size of the bottom surface or the bottom surface segments having the basic pattern need not be known. Nevertheless, it is favorable if the size of the base surface segments having the basic pattern is determined on the basis of the images. This allows For example, by comparing successive images to determine the distance traveled by the tillage implement.
  • the distance covered by the soil cultivation device and / or changes in direction of the soil cultivation device are recorded and, in particular, stored time-dependently. This allows to determine the movement path of the tillage implement.
  • the images provided by the at least one Radencoder encoder data based on the images are checked for plausibility.
  • This allows, for example, a more reliable determination of the position and the movement path of the harrow.
  • the distance determined on the basis of the encoder data can be compared with the distance which is determined on the basis of the evaluation of two or more successive images.
  • the size of the basic pattern having bottom surface segments, which are determined based on the images can be checked by means of the encoder data.
  • the principle is that the greater the time between two time points at which images of the bottom surface are created, the greater the accuracy of the encoder data, and vice versa. It can be provided that in the case of a negative plausibility check of encoder data with data determined on the basis of the images, the rate of creating images is increased. Additionally or alternatively, the speed of the harrow can be reduced.
  • the inventive method is particularly suitable for processing a floor surface by means of a floor cleaning device, in particular a self-propelled and self-steering floor cleaning device.
  • Object of the present invention is also to provide a harrow of the type mentioned for performing the method.
  • the tillage equipment can determine whether the bottom surface has a regularly repeating basic pattern that the basic pattern exhibiting bottom surface segment of the harrow is identified as being processed and that the harrow comprises a storage member for storing a a region of the map assigned to a surface area segment to be processed.
  • Such an embodiment of the soil cultivation device makes it possible with comparatively little apparatus and computational effort to create a map of the floor surface as a basis for the widest possible coverage of the same.
  • the at least one detection unit is designed as an optical detection unit, in particular as a digital camera. This allows a structurally simple creation of images of the floor surface. So that- In contrast, the detection unit preferably makes black-and-white images of the bottom surface, for example with a resolution of 640 ⁇ 480 pixels to approximately 2 megapixels.
  • the soil cultivating device comprises a pattern recognition element for extracting features of the images and for constructing comparative patterns, and a comparison element for comparing the comparison patterns with one or more reference patterns stored in the memory element. This makes it possible, with relatively little outlay on equipment and computation, to reliably determine whether the floor surface to be machined has a regularly repeating basic pattern.
  • the tillage implement comprises a locating member for determining the position of the tillage implement relative to the ground plane segments having the base pattern on the basis of comparative data of the comparison member obtainable by comparing two or more consecutive images of the ground surface.
  • the position of the harrow on the ground surface can be determined and stored.
  • time-dependent storage of the position changes in position and the movement path of the harrow can be tracked.
  • the cultivator comprises in each case a wheel encoder associated with a drive wheel for determining the number of revolutions of the respective drive wheel.
  • the distance covered by the cultivator and changes in direction along the path can be tracked.
  • the encoder data for example, the position of the soil cultivation device, which is determined from based on the images data are checked.
  • the soil cultivation device comprises a computing element for determining the size of a ground surface segment having the basic pattern and / or for determining the distance traveled by the soil cultivation device. th route.
  • the size of the bottom surface segment with basic pattern can be calculated because the field of view of at least one detection unit and its position on the harrow is known.
  • the computing element can also determine the path of movement of the soil cultivation device.
  • encoder data can be used to determine the route and to determine the size of the floor surface segment.
  • the harrow comprises one or more sensors for detecting obstacles on the ground surface and / or for detecting boundaries of the ground surface.
  • additional information characterizing the surface to be processed can be obtained and entered in the map. This will complete the map. This facilitates the control of the movement of a self-propelled and self-steering tillage implement over the ground surface to be processed.
  • the cultivator may, for example, comprise a distance sensor, such as an infrared sensor, an ultrasonic sensor, a radar sensor or a laser sensor. It is also possible to use a touch-sensitive sensor which detects the obstacles and / or boundaries of the floor surface in a groping manner.
  • a distance sensor such as an infrared sensor, an ultrasonic sensor, a radar sensor or a laser sensor. It is also possible to use a touch-sensitive sensor which detects the obstacles and / or boundaries of the floor surface in a groping manner.
  • the tillage implement preferably comprises a display unit for displaying an image of the map.
  • the image of the map may assist an operator controlling the tillage implement, for example by marking already processed and not yet processed ground plane segments with basic patterns.
  • the harrow is designed to be self-propelled and self-steering, and a drive unit and a control unit for Controlling the movement of the harrow. This allows in the manner explained above, the autonomous processing of the floor surface.
  • the harrow is preferably designed as a floor cleaning device.
  • the soil working unit may in this case comprise, for example, a scrubbing unit and / or a dirt receiving unit. Additionally or alternatively, for example, a suction unit and / or a polishing unit may be provided.
  • FIG. 1 shows a perspective view of a soil cultivation device according to the invention on a floor surface to be worked
  • Figure 2 is a block diagram of the control system of the tillage implement
  • FIG. 3 shows a plan view of a section of a floor surface to be processed and the soil cultivation device at two different times in a schematic representation
  • FIG. 4 is a schematic representation of a detail of a map of the bottom surface of FIG. 3, produced by the soil cultivation device, at a first point in time;
  • Figure 5 the map shown in Figure 4 at a later time
  • FIG. 6 shows a plan view of an operating unit of the soil cultivation device, comprising a display unit and
  • FIG. 7 shows an enlarged view of the display unit of the operating unit from FIG. 6.
  • FIG. 1 is a perspective view of a preferred embodiment of a soil cultivation device according to the invention, the control system of which is shown in block diagram form in FIG.
  • the harrow is designated by the reference numeral 10 and designed as a mobile, self-propelled and self-steering floor cleaning device. It allows the autonomous cleaning of a bottom surface 12, which is assumed to have, at least in sections, a regularly repeating basic pattern. This will be explained in more detail below.
  • the floor cleaning device 10 For locomotion on the bottom surface 12, the floor cleaning device 10 includes a chassis 14 with two rotatable about a common axis of rotation drive wheels 15 and 16, which drive motors 18 and 19 are assigned.
  • the drive motors 18 and 19 are part of the chassis 14, and they are connected via control lines 21 and 22 to a control unit 24 and known per se, not shown in the drawing electric batteries in electrical connection.
  • the drive wheels 15, 16 and the drive motors 18, 19 form a drive unit 25 of the floor cleaning device 10 for automatically moving over the bottom surface 12.
  • the floor cleaning device 10 can be controlled by an operator by using a control unit 28 arranged on the rear side 26 of the floor cleaning device 10.
  • the floor cleaning device 10 is configured as a scrubbing machine 10 and has a scrubbing unit 30, which is arranged on the bottom side on the front 32 of the floor cleaning device 10, and a dirt receiving unit 34 on the back 26.
  • scrubbing unit 30 can dirt from the bottom surface 12 using a be replaced in a tank 36 stored cleaning liquid.
  • the mixture of cleaning fluid and dirt can be removed from the floor surface by means of the dirt receiving unit 34.
  • surface 12 are received and transferred to a dirty liquid tank 38.
  • the scrubbing unit 30 and the dirt-collecting unit 34 form a ground-processing unit of the floor cleaning appliance 10, which is identified by the reference numeral 40 in FIG. 2.
  • the floor-cleaning unit 40 is in operative connection with the control unit 24 via a control line 42.
  • the floor cleaning device 10 comprises a detection unit 44, which in the present case is an optical detection unit and in particular a digital camera 46.
  • the detection unit 44 is in operative connection with the control unit 24 via a signal line 48.
  • the digital camera 46 is mounted on an approximately vertically extending support 50 at a height of about 0.5 to about 1.5 meters, and preferably about one meter, above the floor surface 12 on the floor cleaning implement 10. It looks at an angle with a field of view 52 at a located in front of the floor cleaning device 10 section of the bottom surface 12 so that images of the bottom surface 12 can be created by means of the digital camera 46.
  • the digital camera 46 has a resolution of about 640 x 480 pixels to about 2 megapixels. This ensures that a sufficient resolution of structures present on the floor surface 12 is made possible, but the images of the floor surface 12 created by the digital camera 46 nevertheless have only a small data volume.
  • images of the bottom surface 12 are created from the bottom surface in successive time intervals, which preferably follow one another regularly. For example, during the movement of the floor cleaning implement 10, which may be at a rate of about 0.2 to about 1.5 m / s, from 1 to about 10 images per second may be created.
  • the images may be provided to the control unit 24 via the signal line 48.
  • the control unit 24 comprises a pattern recognition element 54 for extracting features contained in the images.
  • the pattern recognition element 54 can detect edges or lines in the images and create comparison patterns from these detected edges or lines.
  • the comparison patterns such as rectangular patterns, can be checked for agreement with one or more reference patterns, which are stored in a memory element 58 of the control unit 24, by means of a comparison element 56 included in the control unit 24.
  • the comparison element 56 determines that a comparison pattern provided by the pattern recognition element 54 has a predeterminable minimum degree of conformity with a reference pattern in the memory element 58, it can be determined from the images of the bottom surface 12 whether the bottom surface 12 has a basic pattern matching the reference pattern. In particular, it can be determined whether the bottom surface has a regularly repeating basic pattern.
  • the floor surface 12 is partially formed from a plurality of identical square tiles 60 to explain the invention.
  • the square area of each tile 60 defines a square basic pattern that regularly repeats in the area where the floor area 12 is tiled. Based on the images of the bottom surface 12 can thus be determined which portions of the bottom surface 12 are covered with tiles 60. This finding allows a simple generation of a map of the floor surface 12 to be cleaned, and the map can be easily a nationwide cleaning of the floor surface, if it is to be performed, can be achieved. This will be explained below with reference to Figures 3 to 5.
  • FIG. 3 schematically shows a plan view of the bottom surface 12, which has a main corridor 62 tiled with tiles 60 and a side corridor 64 which branches off at right angles thereto and which is likewise tiled with tiles 60.
  • Opposite side corridor 64 is adjacent to the main corridor.
  • dor 62 is a floor area 68 bordering it from two sides and lined with a carpet 66. It is assumed that there is an instruction that the floor cleaning appliance 10 should clean the tiles 60 but not run over or clean the carpet 66.
  • tiled 60 partially tiled floor area exists for example in buildings with a lot of public traffic, such as in office buildings, public buildings, supermarkets, etc.
  • the floor cleaning device 10 is located in the main corridor 62 and moves along a movement pattern along a direction of movement shown by an arrow 70.
  • the movement pattern of the floor cleaning apparatus 10 is normally such that it moves in a straight line straight ahead.
  • the drive motors 18 and 19 are controlled by the control unit 24 such that the drive wheels 15 and 16 rotate uniformly.
  • the field of view 52 of the digital camera 46 captures a portion of the main corridor 62 and a portion of the bottom area 68.
  • the control unit 24 determines that a part of the imaged ground surface 12 has a regularly repeating basic pattern.
  • the bottom surface segments having the basic pattern are identified as tiles 60 having a square basic pattern.
  • these are the tiles A-0 to A-2, B-0 to B-2 and C-1 and C-2, wherein the reference numbers are only illustrative using a coordinate system 71 of Figure 3.
  • An area of the floor area 68 with carpet 66 adjacent to the tiles A-0 to A-2 is recognized as a floor area segment without the basic pattern.
  • a map 72 of the floor surface 12 are created, are distinguished in the cleaned floor surface segments of non-cleanable floor surface segments.
  • the card 72 is applied in the memory member 58 as a matrix 74 of sufficiently large extent and is divided into individual cells 76, the size and shape of which can be selected depending on the shape of the detected basic pattern. In the present case, this means that the cells 76 are chosen to be square.
  • Each bottom surface segment that has been identified as tile 60 is entered in map 72 as a bottom surface segment to be cleaned.
  • cells A-0 to A-2, B-0 to B-2, and C-1 and C-2 in the card 72 become cells a-0 to a-2, b-0 to b-2 and c-1 and c-2 are uniquely assigned. These cells are marked in Figure 4 by a dash.
  • Those floor surface segments that are not recognized as having the basic pattern are also entered in the map 72. They too are assigned cells 76 which are marked as "not to be cleaned". In the present case, this is illustrated in FIG. 4 for the cells z-1 and z-2, in which the area of the floor area 68 covered by the field of view 52 with carpet 66 is stored as the area of the floor area 12 that is not to be processed. These cells are marked by a cross in FIG.
  • the position of the floor cleaning appliance 10 on the floor surface 12 relative to the tiles 60 can thereby be tracked in a time-dependent manner and, for example, likewise stored in the card 72.
  • the position of the floor cleaning device 10 can be determined on the previously mapped bottom surface 12 and also determines the path of movement of the floor cleaning device 10 on the bottom surface 12 and optionally also entered in the map 72.
  • the size of the tiles 60 can be calculated and based on this information further covered by the floor cleaning device 10 distance. This is possible because the position of the digital camera 46 on the floor cleaning device 10 and the size of the field of view 52 of the digital camera 46 is known.
  • the distance traveled by the floor cleaning device 10 can also be determined by detecting the number of revolutions of the drive wheels 15 and 16.
  • the floor cleaning device 10 has the drive wheels 15 and 16 associated with Radencoder 82 and 83, which are connected to the control unit 24 via signal lines 85 and 86, respectively. This makes it possible to check the distance determined on the basis of the images of the bottom surface 12 by the computing element 80 for their plausibility. As a result, the position determination of the floor cleaning appliance 10 relative to the floor surface 12, which is determined on the basis of their images, controlled and optionally corrected. As a result, a more accurate self-localization of the floor cleaning apparatus 10 is obtained.
  • the position of the floor cleaning apparatus 10 can be determined as described above, it is possible to determine which of the already recognized tiles 60 are run over and cleaned.
  • the run over and cleaned tiles 60 are marked as cleaned in the card 72. This is symbolized in FIG. 5 by a plus sign in the corresponding cell 76.
  • the floor cleaning device 10 moves by default in a straight line straight ahead, in the present case it travels to a boundary 88 at the end of the main corridor 62, where it adjoins the floor area 68 with carpet 66.
  • the tiles A-0 to A- (n + 2) and B-0 to B- (n + 2) are recognized and already cleaned, and the tiles Cl to C- (n + 2) are recognized but not yet cleaned.
  • the portions of the floor area 68 with carpet 66 that run along the row of tiles A were recognized as non-patterned bottom area segments and are stored in the column z in the card 72.
  • the control unit 24 causes the drive motors 18 and 19 to stop because the floor cleaning apparatus 10 is preceded only by recognizing bottom surface segments of the floor area 68 without the basic square pattern. This means that the state of movement of the floor cleaning appliance 10 changes, and the control unit 24 then causes a rotation of the floor cleaning appliance 10 by corresponding activation of the drive motors 18 and 19.
  • the floor cleaning appliance 10 recognizes further tiles 60 with a square basic pattern arranged along the boundary 88 and bottom floor segments 68 of the floor area 68 with carpet floor 66 without a square basic pattern arranged in the tile rows n + 1 and n + 2 and inserts these into the card 72.
  • control unit 24 controls the drive motors 18 and 19 such that the already recognized but not yet cleaned tiles 60 of the row of tiles C are cleaned.
  • the floor cleaning device 10 is therefore moved parallel to the original direction of movement 70 along a symbolized by an arrow 90 direction of movement in straight line straight ahead on the tile rows C and D. Also in this case will The position of the floor cleaning appliance 10 is continuously determined on the basis of the images of the floor surface 12 and stored in a time-dependent manner, and controlled on the basis of the encoder data of the wheel encoders 82 and 83.
  • Newly recognized tiles 60 are entered in the card 72 (dashed line in FIGS. 4 and 5), and recognized and already cleaned tiles are marked as such in the card 72 (plus signs in FIGS. 4 and 5).
  • the card 72 At a later time, to which the contours of the floor cleaning device 10 are shown in dashed lines in Figure 3 and this is occupied by the reference numeral 10 ', the card 72 therefore assumes the shape shown in Figure 5.
  • the tiles are A-0 to A- (n + 2), B-0 to B- (n + 2), C-2 to C- (n + 2), and D-2 to D- ( n + 2), and the tiles C-0, Cl, D-0, Dl, E-0 to E- (n + 2) and Fn to F- (n + 2) are already recognized, but not yet cleaned ,
  • the floor cleaning device 10 first continues the cleaning of the main corridor 62 and cleans the tile rows C and D.
  • the rows of tiles A to F are successively occupied as being covered with tiles 60 to be cleaned, and these tiles 60 are cleaned. If the floor cleaning appliance 10 moves along the tile rows E and F, existing tiles 60 with basic patterns are detected in the side corridor 64 and entered in the card 72. Therefore, when the main corridor 62 is completely cleaned, the floor cleaning apparatus 10 continues to clean the floor surface 12 in the side corridor 64. If tiles 60 with a square basic pattern are no longer recognized, that portion of the floor area 12 which is tiled with tiles 60 and therefore has to be cleaned is completely cleaned over the entire area. During the cleaning process, the floor cleaning device 10 has created the card 72 of the area to be cleaned of the bottom surface 12 itself. The card 72 may be stored in the memory member 58 for future use, for example.
  • the floor cleaning appliance 10 comprises a sensor unit 92, which is connected to the control unit 24 via a signal line 94.
  • the sensor unit 92 has inter alia a sensor element 96 and a sensor element 98 on a side surface or on the front side 32 of the floor cleaning device 10.
  • the sensor elements 96 and 98 are distance sensors, for example in the form of infrared sensors, ultrasonic sensors, radar sensors, laser sensors or the like. This makes it possible to detect the bottom surface 12 enclosing boundaries and to provide this information to the control unit 24. For example, the bottom surface 12 adjacent to the row of tiles F is bounded by walls 99 and 100.
  • the wall 99 can be recognized by the sensor elements 96 and 98 as such when the floor cleaning device 10 moves over the tile rows A and B. This makes it possible to identify in the card 72 the cells g-4 to g- (n + 2) immediately as "non-clean" areas. A separate identification that these are not bottom surface segments, but boundaries of the bottom surface 12, can also be made.
  • the floor cleaning apparatus 10 may be operated in two other modes of operation in which an operator controls the floor cleaning apparatus 10 using the operation unit 28, except in the self-propelled and self-steering operation mode described above in which the floor surface 12 is autonomously cleaned.
  • a first, manual operating mode of the two further operating modes the operator controls the floor cleaning device 10 in a sliding and guiding manner by means of two gripping elements 102 and 104 of the operating device 28 (FIG. 6).
  • the operator can operate the floor cleaning appliance 10 by means of the handle steer elements 102 and 104.
  • it can activate the drive unit 25 by means of an actuating lever 106, so that the floor cleaning device 10 can be moved effortlessly over the bottom surface 12.
  • the operating unit 28 further comprises a further actuating lever 108 for controlling the floor cleaning unit 40, a display unit 110 and a plurality of operating elements 112.
  • Operating instructions of the operator on the operating unit 28 can be transmitted to the control unit 24 via a control line 114.
  • the display unit 110 is used to display an image 118 of the map 72, in addition to information indicating the operating state of the floor cleaning appliance 10. This proves to be very helpful for the operator in the semi-automatic and in the manual operating mode of the floor cleaning appliance 10, because the information contained in the card 72 can be visualized by means of the display unit 110.
  • This can e.g. also be in the form of a matrix 120, which is constructed identically to the matrix 74. Accordingly, the image 118 of the card 72 is subdivided into a plurality of cells 122, which are respectively assigned to the cells 76.
  • FIG 7 the image 118 of the card 72 is shown at a time when the floor cleaning apparatus 10 is moved by the operator through the tile rows C and D along the direction of movement 90.
  • a contour 124 which is displayed in the image 118, signals the operator the current position of the floor cleaning device 10th
  • the visualization of the card 72 allows the operator to determine which of the tiles 60 having the basic pattern has already been moved over the floor cleaning appliance 10 during the cleaning process and thus which of the tiles 60 have already been cleaned. These tiles 60 are indicated to the operator in image 118 by the plus sign as in map 72. In a corresponding manner, the operator can recognize which tiles 60 have been recognized as such, but have not yet been cleaned. These tiles 60 are marked in the image 118 as in the map 72 by a transverse bar.
  • Touch-sensitive navigation elements 126 displayed on the display unit 110 are used to move the illustrated section of the image 118 of the card 72, so that the operator can obtain a better overview of the image 118.
  • the visualization of the card 72 makes it easier for the operator to control the floor cleaning device 10 in such a way that areas of the floor surface 12 that have already been cleaned are not cleaned again and areas of the floor surface 12 which have not yet been cleaned are specifically controlled and cleaned. This enables efficient, comprehensive cleaning of the floor surface 12.
  • the cleaning assistance function of the floor cleaning appliance 10 described above can also be used in a floor cleaning appliance which, unlike the floor cleaning appliance 10, is not self-propelled and / or self-steering, but otherwise has the features of the floor cleaning appliance 10.
  • a floor cleaning device which can be operated only in a manual and / or in a semi-automatic operating mode, an efficient area-wide cleaning of the floor surface can likewise be achieved by utilizing the cleaning assistance function.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Electromagnetism (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un procédé de traitement d'une surface de sol au moyen d'un appareil de traitement de sol qui présente une unité de traitement de sol et au moins une unité d'enregistrement, l'appareil de traitement de sol étant déplacé sur la surface de sol, des images de la surface de sol étant produites à des moments successifs au moyen de cette unité d'enregistrement et une carte de la surface de sol étant produite sur la base des images par l'appareil de traitement de sol. Pour fournir un tel procédé selon lequel une carte de la surface de sol est produite pour un traitement de celle-ci couvrant la surface dans toute la mesure du possible avec un appareillage comparativement minime et sans gros travail de calcul, les images sont analysées par l'appareil de traitement de sol de manière à vérifier si la surface de sol présente un motif de sol se répétant régulièrement, un segment de surface de sol présentant le motif de base est identifié par l'appareil de traitement de sol comme un segment à traiter, et une zone associée à ce segment de surface de sol est stockée dans la carte pour chaque segment de surface de sol à traiter. L'invention concerne également un appareil de traitement de sol pour mettre en œuvre le procédé.
PCT/EP2011/058195 2010-05-21 2011-05-19 Appareil de traitement de sol ainsi que procédé de traitement d'une surface de sol présentant un motif de base WO2011144710A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP11720510A EP2572251A1 (fr) 2010-05-21 2011-05-19 Appareil de traitement de sol ainsi que procédé de traitement d'une surface de sol présentant un motif de base

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102010029241.9 2010-05-21
DE102010029241A DE102010029241A1 (de) 2010-05-21 2010-05-21 Bodenbearbeitungsgerät sowie Verfahren zur Bearbeitung einer Bodenfläche

Publications (1)

Publication Number Publication Date
WO2011144710A1 true WO2011144710A1 (fr) 2011-11-24

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Country Link
EP (1) EP2572251A1 (fr)
DE (1) DE102010029241A1 (fr)
WO (1) WO2011144710A1 (fr)

Cited By (3)

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US10638906B2 (en) * 2017-12-15 2020-05-05 Neato Robotics, Inc. Conversion of cleaning robot camera images to floorplan for user interaction
US10890918B2 (en) 2019-04-24 2021-01-12 Innovation First, Inc. Performance arena for robots with position location system
CN114253233A (zh) * 2021-12-02 2022-03-29 稀科视科技(珠海)有限公司 一种数据驱动生产控制方法及系统

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Publication number Priority date Publication date Assignee Title
DE102011051729A1 (de) 2011-07-11 2013-01-17 Alfred Kärcher Gmbh & Co. Kg Selbstfahrendes Bodenreinigungsgerät

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WO1998020399A2 (fr) 1996-11-05 1998-05-14 Carnegie Mellon University Systeme de determination de position non base sur l'infrastructure
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EP1768008A1 (fr) 2004-07-01 2007-03-28 Sharp Kabushiki Kaisha Véhicule mobile

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EP0364353A1 (fr) 1988-10-12 1990-04-18 Commissariat A L'energie Atomique Procédé de mesure de l'évolution de la position d'un véhicule par rapport à une surface
WO1998020399A2 (fr) 1996-11-05 1998-05-14 Carnegie Mellon University Systeme de determination de position non base sur l'infrastructure
US6041274A (en) * 1997-04-21 2000-03-21 Shinko Electric Co., Ltd. Positional deviation detecting device for a mobile body and position correcting apparatus for a working machine mounted on a mobile body
US20040088080A1 (en) 2002-10-31 2004-05-06 Jeong-Gon Song Robot cleaner, robot cleaning system and method for controlling the same
EP1768008A1 (fr) 2004-07-01 2007-03-28 Sharp Kabushiki Kaisha Véhicule mobile

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10638906B2 (en) * 2017-12-15 2020-05-05 Neato Robotics, Inc. Conversion of cleaning robot camera images to floorplan for user interaction
US10890918B2 (en) 2019-04-24 2021-01-12 Innovation First, Inc. Performance arena for robots with position location system
US11221631B2 (en) 2019-04-24 2022-01-11 Innovation First, Inc. Performance arena for robots with position location system
CN114253233A (zh) * 2021-12-02 2022-03-29 稀科视科技(珠海)有限公司 一种数据驱动生产控制方法及系统
CN114253233B (zh) * 2021-12-02 2024-06-04 稀科视科技(珠海)有限公司 一种数据驱动生产控制方法及系统

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DE102010029241A1 (de) 2011-11-24
EP2572251A1 (fr) 2013-03-27

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