WO2017108077A1 - Controlling movement of a robotic cleaning device - Google Patents
Controlling movement of a robotic cleaning device Download PDFInfo
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- WO2017108077A1 WO2017108077A1 PCT/EP2015/080776 EP2015080776W WO2017108077A1 WO 2017108077 A1 WO2017108077 A1 WO 2017108077A1 EP 2015080776 W EP2015080776 W EP 2015080776W WO 2017108077 A1 WO2017108077 A1 WO 2017108077A1
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- Prior art keywords
- cleaning device
- robotic cleaning
- move
- section
- predetermined path
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- 238000004140 cleaning Methods 0.000 title claims abstract description 264
- 238000000034 method Methods 0.000 claims abstract description 24
- 238000001514 detection method Methods 0.000 claims abstract description 12
- 238000004590 computer program Methods 0.000 claims description 11
- 238000001454 recorded image Methods 0.000 claims description 3
- 239000000428 dust Substances 0.000 description 9
- 230000003287 optical effect Effects 0.000 description 3
- 230000006399 behavior Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 241001417527 Pempheridae Species 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0248—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 in combination with a laser
Abstract
The invention relates to a method of controlling movement of a robotic cleaning device over a surface to be cleaned, and a robotic cleaning device performing the method. The Robotic cleaning device (10) comprises a propulsion system (112, 113, 115a, 115b) arranged to move the robotic cleaning device (10), an obstacle detection device (122), and a controller (116) configured to control the propulsion system to move the robotic cleaning device (10) The controller (116) is configured to control the robotic cleaning device (10) to move, from a starting point (C), along a predetermined path (11) over the surface to be cleaned, control the robotic cleaning device (10) to, upon encountering an object (17) detected by the obstacle detection device (122), move towards said starting point (C), control the robotic cleaning device (10) to move along a temporary path (19a) towards a section (20, 22) of the predetermined path (11), which section (20, 22) has not previously been travelled by the robotic cleaning device (10); and to control, upon reaching the section (20), the robotic cleaning device (10) to resume its movement along said predetermined path (11).
Description
CONTROLLING MOVEMENT OF A ROBOTIC CLEANING DEVICE
TECHNICAL FIELD
The invention relates to a method of controlling movement of a robotic cleaning device over a surface to be cleaned, and a robotic cleaning device performing the method.
BACKGROUND
In many fields of technology, it is desirable to use robots with an autonomous behaviour such that they freely can move around a space without colliding with possible obstacles. Robotic vacuum cleaners are know in the art, which are equipped with drive means in the form of a motor for moving the cleaner across a surface to be cleaned. The robotic vacuum cleaners are further equipped with intelligence in the form of microprocessor(s) and navigation means for causing an autonomous behaviour such that the robotic vacuum cleaners freely can move around and clean a surface in the form of e.g. a room. Thus, these prior art robotic vacuum cleaners have the capability of more or less autonomously vacuum clean a room in which objects such as tables and chairs and other obstacles such as walls and stairs are located.
For today's robotic cleaners, navigating a surface free from obstacles is relatively straightforward, where the robotic cleaner moves over the surface to be cleaned along a predetermined path.
However, when moving over a surface accommodating one or more obstacles, such as e.g. chairs, tables, sofas, etc. navigation becomes far more complex. In particular, when the robotic cleaner encounters an object, it may not know how to navigate around the object and how to choose which particular way to proceed.
SUMMARY
An object of the present invention is to solve, or at least mitigate this problem in the art and to provide an improved method of controlling movement of a robotic cleaning device over a surface to be cleaned. This object is attained in a first aspect of the invention by a method of controlling movement of a robotic cleaning device over a surface to be cleaned. The method comprises controlling the robotic cleaning device to move, from a starting point, along a predetermined path over the surface to be cleaned, and controlling the robotic cleaning device to, upon encountering an object, move towards the starting point. The method further comprises controlling the robotic cleaning device to move along a temporary path towards a section of the predetermined path, which section has not previously been travelled by the robotic cleaning device, and controlling, upon reaching the section, the robotic cleaning device to resume its movement along the predetermined path.
This object is attained in a second aspect of the invention by a robotic cleaning device comprising a propulsion system arranged to move the robotic cleaning device, an obstacle detection device, and a controller configured to control the propulsion system to move the robotic cleaning device. The controller is configured to control the robotic cleaning device to move, from a starting point, along a predetermined path over the surface to be cleaned, and to control the robotic cleaning device to, upon encountering an object detected by the obstacle detection device, move towards the starting point. The controller is further configured to control the robotic cleaning device to move along a temporary path towards a section of the predetermined path, which section has not previously been travelled by the robotic cleaning device, and to control, upon reaching the section, the robotic cleaning device to resume its movement along the predetermined path.
The robotic cleaning device is controlled to move from a starting point along a predetermined path having e.g. a squared-spiral shape and upon
encountering an obstacle, such as for instance a sofa, a table, a chair, or the
like, the robotic cleaning device is controlled to move towards the starting point.
Advantageously, by moving towards the starting point, the robotic cleaning device will move in a structured and controlled manner to cover surfaces designated for cleaning. Further, this is particularly advantageous in case of so called spot cleaning, where a limited part of a larger surface is to be cleaned. For instance, a robotic cleaning device may be equipped with a "spot cleaning" button on its top face, which when pressed by a user controls the robotic cleaning device to move within, say, a i m radius around the starting point. In case of spot cleaning, the robot is to be controlled to move within a designated range around the starting point.
Thereafter, the robotic cleaning device is controlled to move along a temporary path towards a section of the predetermined path which has not previously been travelled by the robotic cleaning device. Upon reaching the section, the robotic cleaning device is controlled to resume its movement along the predetermined path.
Thus, the robotic cleaning device is advantageously controlled to move to a previously non-travelled section of the predetermined path to cover a surface which has not previously been cleaned before resuming its movement along the predetermined path.
In an embodiment of the invention, the controlling of the robotic cleaning device to move towards the starting point upon encountering an object further comprises controlling the robotic cleaning device to move towards a closest located section of the predetermined path previously travelled by the robotic cleaning device. The method further comprises controlling the robotic cleaning device to move to an end of the section; and the controlling of the robotic cleaning device to move along a temporary path further comprises controlling, upon reaching the end of the section, the robotic cleaning device to move to a closest adjacent previously non-travelled section being located
on a distance from the section, to resume its movement along the
predetermined path.
In another embodiment of the invention, the method further comprises controlling the robotic cleaning device to move, by tracking the obstacle, along a periphery of the obstacle. The controlling of the robotic cleaning device to move along a temporary path further comprises controlling, upon reaching an end point of the obstacle, the robotic cleaning device to move to a previously non-travelled section of the predetermined path, the previously non-travelled section being the section to which the robotic cleaning device was controlled to move when encountering the obstacle, to resume its movement along the predetermined path.
In still another embodiment of the invention, the movement of the robotic cleaning device is controlled such that a side brush of the robotic cleaning device faces a centre point of the surface to be cleaned. Advantageously, by having the side brush always face inwards, there is no risk of having the side brush re-spread dirt and debris into the centre area.
It is noted that the invention relates to all possible combinations of features recited in the claims. Further features of, and advantages with, the present invention will become apparent when studying the appended claims and the following description. Those skilled in the art realize that different features of the present invention can be combined to create embodiments other than those described in the following.
BRIEF DESCRIPTION OF THE DRAWINGS
The invention is now described, by way of example, with reference to the accompanying drawings, in which:
Figure 1 illustrates a robotic cleaning device moving along a predetermined path over a surface to be cleaned;
Figure 2 illustrates a surface having been cleaned when the robotic cleaning device has moved from a first position Pi to a second position P2;
Figure 3 illustrates an overlap occurring along sections on the cleaned surface;
Figure 4a illustrates movement of the robotic cleaning device upon
encountering an obstacle, in an embodiment of the invention; Figure 4b illustrates further movement of the robotic cleaning device upon encountering an obstacle, in the embodiment of the invention shown in Figure 4a; and
Figure 4c illustrates yet further movement of the robotic cleaning device upon encountering an obstacle, in the embodiment of the invention shown in Figures 4a and 4b;
Figure 5a illustrates movement of the robotic cleaning device upon
encountering an obstacle, in another embodiment of the invention;
Figure 5b illustrates further movement of the robotic cleaning device upon encountering an obstacle, in the embodiment of the invention shown in Figure 5a;
Figure 5c illustrates yet further movement of the robotic cleaning device upon encountering an obstacle, in the embodiment of the invention shown in Figures 5a and 5b;
Figure 6 shows a robotic cleaning device according to an embodiment of the present invention in a bottom view;
Figure 7 shows a front view of the robotic cleaning device of Figure 6 in an embodiment of the present invention;
Figure 8 illustrates a flowchart of the method of controlling movement of a robotic cleaning device over a surface to be cleaned according to an embodiment of the invention;
Figure 9 illustrates a flowchart of the method of controlling movement of a robotic cleaning device over a surface to be cleaned according to another embodiment of the invention;
Figure 10 illustrates a flowchart of the method of controlling movement of a robotic cleaning device 10 over a surface to be cleaned according to yet an embodiment of the invention; and
Figure 11 shows movement of a robotic cleaning device equipped with a side brush according to an embodiment of the invention.
DETAILED DESCRIPTION
The invention will now be described more fully hereinafter with reference to the accompanying drawings, in which certain embodiments of the invention are shown. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided by way of example so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. Like numbers refer to like elements throughout the description.
Figure 1 shows a robotic cleaning device 10 moving over a surface to be cleaned along a predetermined path 11, in this particular example along a squared spiral in an outward direction, starting at a centre point C of the surface to be cleaned and working itself outwards until the surface has been cleaned.
The shape of the robotic cleaning device 10 is illustrated to be circular, but could be arranged to have any appropriate form such as a triangular or slightly more rectangular shape, as will be illustrated with reference to an embodiment of the invention.
Further, the robotic cleaning device 10 is typically arranged with a cleaning member for removing debris and dust from the surface to be cleaned in the
form of a rotatable brush roll arranged in an opening 12 at the bottom of the robotic cleaner 10.
In case of a robotic vacuum cleaner the cleaning member may be embodied in the form of a rotatable brush roll arranged in an opening at the bottom of the robotic cleaner 10, typically in combination with a suction fan creating an air flow for transporting debris to a dust bag or cyclone arrangement housed in a main body of the robot 10 via the opening. In case the robot 10 is a robotic floor washer, the cleaning member may be embodied by a wet mop.
A width of the cleaning member, commonly referred to as cleaning width, determines a greatest distance d between two adjacent sections 13 and 14 of the path 11. Thus, the distance d cannot be greater than the cleaning width, and usually, the distance d is selected such that when the robot 10 e.g. moves along section 13 of the path 11, a surface being cleaned will overlap with a surface that was cleaned when the robot 10 previously moved along section 14 of the path 11.
It should be noted that many variants can be envisaged as regards the distance d and any possible overlap, from no overlap at all up to an overlap of about 1/3 of the width of the robotic cleaning device 10.
Figure 1 illustrates five snapshots of the robotic cleaning device 10 moving along the predetermined path 11, the corresponding positions along the path 11 being denoted P1-P5.
Figure 2 illustrates a surface 15 (indicated with stripes) having been cleaned when the robotic cleaning device 10 has moved from its starting position Pi to the second position P2. Figure 3 illustrates the previously mentioned overlap 16 (indicated with dots) occurring along each section 14 on the cleaned surface 15, apart from the outermost sections enclosing the surface, when the distance d between two adjacent sections is selected to be less than the cleaning width of the robot 10.
Now, with reference to Figure 4a, if the robotic cleaning device 10 encounters an obstacle 17, such as e.g. a sofa in position P2, it cannot pursue the predetermined path 11 which it has been instructed to follow, which creates navigation problems. For illustrational purposes, a single obstacle is shown. However, the surface to be cleaned may accommodate a number of different obstacles.
With further reference to Figure 4a, in an embodiment of the invention, as the robotic cleaning device 10 is controlled in step S101 to move along the predetermined path 11 over the surface to be cleaned, initially starting at the centre point C in position Pi like in previous Figures, and encounters the obstacle 17 in position P2), the robot 10 is controlled to move in step S102 towards the starting point C.
Advantageously, by moving towards the starting point C, the robotic cleaning device 10 will move in a structured and controlled manner to cover surfaces designated for cleaning. Further, this is particularly advantageous in case of so called spot cleaning, where a limited part of a larger surface is to be cleaned. For instance, a robotic cleaning device may be equipped with a "spot cleaning" button on its top face, which when pressed by a user controls the robotic cleaning device 10 to move within, say, a i m radius around the starting point C.
In this particular embodiment, the movement in step S102 towards the starting point C includes controlling the robotic cleaning device 10 to move towards a closest located section 18 of the predetermined path 11 previously travelled by the robotic cleaning device 10. Section 18 is in the following referred to as the first section.
For illustration, the predetermined path 11 is indicated with dashed lines, while actually travelled sections are indicated by means of continuous lines.
Figure 4b further illustrates the embodiment of Figure 4a, wherein in step S103, the robotic cleaning device 10 is controlled to move to an end point EP of the first section 18. Upon approaching the end point EP, the robotic
cleaning device 10 will not travel the section indicated at 1), since that section has already been travelled, and the corresponding surface has thus already been cleaned.
Instead, in this embodiment of the invention, the robotic cleaning device 10 is controlled, upon reaching the end point EP of the first section 18, to move in step S104 along a temporary path 19a towards a section 20 of the
predetermined path 11 which has not yet been travelled by the robotic cleaning device 10. Thus, the robotic cleaning device 10 is advantageously controlled to move to the section 20 of the predetermined path 11 to cover a surface which has not previously been cleaned.
As can be seen in Figure 4b, in this embodiment, the controlling of the robotic cleaning device 10 to move along the temporary path 19a comprises controlling the robotic cleaning device 10 to move to a closest adjacent, previously non-travelled, section 20 being located on the previously mentioned distance d from the first section 18, to resume its movement in step S105 along the predetermined path 11 indicated at 2). Section 20 is in the following referred to as the second section.
The robotic cleaning device 10 will advantageously in step S105 move along the second section 20 of the predetermined path 11 and into illustrated position P3.
Advantageously, the robotic cleaning device 10 will thus move in a structured and controlled manner and cover surfaces designated for cleaning, which have not previously been cleaned, even when encountering obstacles such as obstacle 17, the sofa. Figure 4c illustrates the embodiment of Figures 4a and 4b when the robotic cleaning device 10 again encounters the obstacle 17 in step S101 in robot position P4. Again as the robotic cleaning device 10 is controlled to move along the predetermined path 11 over the surface to be cleaned, and now encounters the obstacle 17 in position P4 in step S101, the robot 10 is controlled to move in step S102 towards the starting point C, which in this
embodiment includes moving towards the first section 18 of the
predetermined path 11 previously travelled by the robotic cleaning device 10.
Even if the robot 10 in step S102 initially would move to the previously travelled section which it pursued when encountering the obstacle 17 in position P2 in Figure 4b, it would again encounter the obstacle 17, and consequently move further to the first section 18.
Thus, in step S103, the robotic cleaning device 10 is controlled to move to an end point EP of the first section 18, now having been displaced along the first section 18 in a rightwards direction. Upon approaching the end point EP, in line with the illustration of Figure 4b, the robotic cleaning device 10 will not travel the second section 20 indicated at 2), since that section has already been travelled, and the corresponding surface has thus already been cleaned.
Instead, the robotic cleaning device 10 is controlled, upon reaching the end point EP of the first section 18, to move in step S104 along a temporary path 19b towards a section 21 of the predetermined path 11 which has not yet been travelled by the robotic cleaning device 10. Thus, the robotic cleaning device 10 is advantageously controlled to move to the section 21 of the
predetermined path 11 to cover a surface which has not previously been cleaned.
As can be seen in Figure 4c, in this embodiment, the controlling of the robotic cleaning device 10 to move along the temporary path 19b again comprises controlling the robotic cleaning device 10 to move to a closest adjacent, previously non-travelled, section 21 being located on distance d from the first section 18, to resume its movement in step S105 along the predetermined path 11 indicated at 3).
The robotic cleaning device 10 will in step 105 advantageously move along the section 20 and into illustrated position P5.
Figures 5a-c illustrates a further embodiment of the invention of controlling the robotic cleaning device upon encountering an obstacle 17.
Now, with reference to Figure 5a, when the robotic cleaning device 10 encounters an obstacle 17, such as the sofa in position P2, it cannot pursue the predetermined path 11 which it has been instructed to follow, which creates navigation problems.
With further reference to Figure 5a, in an embodiment of the invention, as the robotic cleaning device 10 is controlled in step S101 to move along the predetermined path 11 over the surface to be cleaned, initially starting at the centre point C in position Pi like in previous Figures, and encounters the obstacle 17 in position P2, the robot 10 is controlled to move in step S102 towards the starting point C.
Advantageously, as has been discussed with reference to Figure 4a, by moving towards the starting point C, the robotic cleaning device 10 will move in a structured and controlled manner to cover surfaces designated for cleaning. Further, this is particularly advantageous in case of so called spot cleaning, where a limited part of a larger surface is to be cleaned. For instance, a robotic cleaning device may be equipped with a "spot cleaning" button on its top face, which when pressed by a user controls the robotic cleaning device 10 to move within, say, a i m radius around the starting point C.
However, unlike the embodiment discussed with reference to Figure 4b, the robotic cleaning device is in this particular embodiment controlled in step S103 to move, by tracking the obstacle 17, along a periphery of the obstacle 17·
Further in this embodiment, the controlling of the robotic cleaning device 10 to move along a temporary path 19a in step S104 further comprises controlling, upon reaching an end point of the obstacle 17, the robotic cleaning device 10 to move to a previously non-travelled section 22 of the predetermined path 11. In this embodiment, the previously non-travelled
section 22 is the section to which the robotic cleaning device 10 was to move when encountering the obstacle 17. Thus, the robotic cleaning device 10 is advantageously controlled to move to the section 22 of the predetermined path 11 to cover a surface which has not previously been cleaned. The robotic cleaning device hence resumes its movement in step S105 along the predetermined path 11 indicated at 2) and into illustrated position P3. Section 22 is in the following referred to as the third section.
Advantageously, the robotic cleaning device 10 will thus move in a structured and controlled manner and cover surfaces designated for cleaning, which have not previously been cleaned, even when encountering an obstacle 17.
Figure 5c illustrates the embodiment of Figures 5a and 5b when the robotic cleaning device 10 again encounters the obstacle 17 in step S101 in robot position P4. Again as the robotic cleaning device 10 is controlled to move along the predetermined path 11 over the surface to be cleaned and now encounters the obstacle 17 in position P4 in step S101, the robot 10 is controlled to move in step S102 towards the starting point C.
Now, the robotic cleaning device is in this particular embodiment controlled in step S103 to move, by tracking the obstacle 17, along a periphery of the obstacle 17. Further in this embodiment, the controlling of the robotic cleaning device 10 to move along a temporary path 19b in step S104 further comprises controlling, upon reaching an end point of the obstacle 17, the robotic cleaning device 10 to move to a previously non-travelled section 23 of the predetermined path 11. In this embodiment, the previously non-travelled section 23 is the section to which the robotic cleaning device 10 was to move when encountering the obstacle 17. Thus, the robotic cleaning device 10 is advantageously controlled to move to the section 23 of the predetermined path 11 to cover a surface which has not previously been cleaned.
In step S105, the robotic cleaning device 10 resumes its movement along the predetermined path 11 indicated at 3) and into illustrated position P5.
As is noted with reference to Figures 5a-c, if the starting point C alternatively would be located at position P5, i.e. the robotic cleaning device 10 would travel the predetermined path 11 in the opposite direction, the same cleaning pattern would ultimately be obtained. Hence, movement in an inwards direction from a starting point C at position P5 would result in an identical cleaning pattern.
Further, a predetermined path 11 having a spiral shape can be envisaged, with rounded corners as compared to the squared spiral shape shown in Figures 4a-c and 5a-c.
The invention relates to robotic cleaning devices, or in other words, to automatic, self-propelled machines for cleaning a surface, e.g. a robotic vacuum cleaner, a robotic sweeper or a robotic floor washer. The robotic cleaning device according to the invention can be mains-operated and have a cord, be battery-operated or use any other kind of suitable energy source, for example solar energy.
Even though it is envisaged that the invention may be performed by any appropriate robotic cleaning device being equipped with sufficient processing intelligence, Figure 6 shows a robotic cleaning device 10 according to an embodiment of the present invention in a bottom view, i.e. the bottom side of the robotic cleaning device is shown. The arrow indicates the forward direction of the robotic cleaning device 10 being illustrated in the form of a robotic vacuum cleaner. The robotic cleaning device 10 comprises a main body 111 housing
components such as a propulsion system comprising driving means in the form of two electric wheel motors 115 a, 115b for enabling movement of the driving wheels 112, 113 such that the cleaning device can be moved over a surface to be cleaned. Each wheel motor 115a, 115b is capable of controlling the respective driving wheel 112, 113 to rotate independently of each other in
order to move the robotic cleaning device 10 across the surface to be cleaned. A number of different driving wheel arrangements, as well as various wheel motor arrangements, can be envisaged. It should be noted that the robotic cleaning device may have any appropriate shape, such as a device having a more traditional circular-shaped main body, or a triangular-shaped main body. As an alternative, a track propulsion system may be used or even a hovercraft propulsion system. The propulsion system may further be arranged to cause the robotic cleaning device 10 to perform any one or more of a yaw, pitch, translation or roll movement. A controller 116 such as a microprocessor controls the wheel motors 15a, 15b to rotate the driving wheels 112, 113 as required in view of information received from an obstacle detecting device (not shown in Figure 6) for detecting obstacles in the form of walls, floor lamps, table legs, around which the robotic cleaning device must navigate. The obstacle detecting device may be embodied in the form of a 3D sensor system registering its surroundings, implemented by means of e.g. a 3D camera, a camera in combination with lasers, a laser scanner, etc. for detecting obstacles and communicating information about any detected obstacle to the microprocessor 116. The microprocessor 116 communicates with the wheel motors 115a, 115b to control movement of the wheels 112, 113 in accordance with information provided by the obstacle detecting device such that the robotic cleaning device 10 can move as desired across the surface to be cleaned. This will be described in more detail with reference to subsequent drawings.
Further, the main body 111 may optionally be arranged with a cleaning member 117 for removing debris and dust from the surface to be cleaned in the form of a rotatable brush roll arranged in an opening 118 at the bottom of the robotic cleaner 10. Thus, the rotatable brush roll 117 is arranged along a horizontal axis in the opening 118 to enhance the dust and debris collecting properties of the cleaning device 10. In order to rotate the brush roll 117, a brush roll motor 119 is operatively coupled to the brush roll to control its rotation in line with instructions received from the controller 116.
Moreover, the main body 111 of the robotic cleaner 10 comprises a suction fan 20 creating an air flow for transporting debris to a dust bag or cyclone arrangement (not shown) housed in the main body via the opening 118 in the bottom side of the main body 111. The suction fan 120 is driven by a fan motor 121 communicatively connected to the controller 116 from which the fan motor 121 receives instructions for controlling the suction fan 120. It should be noted that a robotic cleaning device having either one of the rotatable brush roll 117 and the suction fan 20 for transporting debris to the dust bag can be envisaged. A combination of the two will however enhance the debris-removing capabilities of the robotic cleaning device 10.
The main body 111 or the robotic cleaning device 10 is further equipped with an inertia measurement unit (IMU) 124, such as e.g. a gyroscope and/or an accelerometer and/or a magnetometer or any other appropriate device for measuring displacement of the robotic cleaning device 10 with respect to a reference position, in the form of e.g. orientation, rotational velocity, gravitational forces, etc. A three-axis gyroscope is capable of measuring rotational velocity in a roll, pitch and yaw movement of the robotic cleaning device 10. A three-axis accelerometer is capable of measuring acceleration in all directions, which is mainly used to determine whether the robotic cleaning device is bumped or lifted or if it is stuck (i.e. not moving even though the wheels are turning). The robotic cleaning device 10 further comprises encoders (not shown in Figure 1) on each drive wheel 112, 113 which generate pulses when the wheels turn. The encoders may for instance be magnetic or optical. By counting the pulses at the controller 116, the speed of each wheel 112, 113 can be determined. By combining wheel speed readings with gyroscope information, the controller 116 can perform so called dead reckoning to determine position and heading of the cleaning device 10.
The main body 111 may further be arranged with a rotating side brush 114 adjacent to the opening 118, the rotation of which could be controlled by the drive motors 115a, 115b, the brush roll motor 119, or alternatively a separate side brush motor (not shown). Advantageously, the rotating side brush 114 sweeps debris and dust such from the surface to be cleaned such that the
debris ends up under the main body 111 at the opening 118 and thus can be transported to a dust chamber of the robotic cleaning device. Further advantageous is that the reach of the robotic cleaning device 10 will be improved, and e.g. corners and areas where a floor meets a wall are much more effectively cleaned. As is illustrated in Figure 6, the rotating side brush 114 rotates in a direction such that it sweeps debris towards the opening 118 such that the suction fan 20 can transport the debris to a dust chamber. The robotic cleaning device 10 may comprise two rotating side brushes arranged laterally on each side of, and adjacent to, the opening 118. With further reference to Figure 6, the controller/processing unit 116 embodied in the form of one or more microprocessors is arranged to execute a computer program 125 downloaded to a suitable storage medium 126 associated with the microprocessor, such as a Random Access Memory (RAM), a Flash memory or a hard disk drive. The controller 116 is arranged to carry out a method according to embodiments of the present invention when the appropriate computer program 125 comprising computer-executable instructions is downloaded to the storage medium 126 and executed by the controller 116. The storage medium 126 may also be a computer program product comprising the computer program 125. Alternatively, the computer program 125 may be transferred to the storage medium 126 by means of a suitable computer program product, such as a digital versatile disc (DVD), compact disc (CD) or a memory stick. As a further alternative, the computer program 125 may be downloaded to the storage medium 126 over a wired or wireless network. The controller 116 may alternatively be embodied in the form of a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), a complex programmable logic device (CPLD), etc.
Figure 7 shows a front view of the robotic cleaning device 10 of Figure 6 in an embodiment of the present invention illustrating the previously mentioned obstacle detecting device in the form of a 3D sensor system comprising at least a camera 123 and a first and a second line laser 127, 128, which may be horizontally or vertically oriented line lasers. Further shown is the controller
116, the main body 111, the driving wheels 112, 113, and the rotatable brush roll 117 previously discussed with reference to Figure 6. The controller 116 is operatively coupled to the camera 123 for recording images of a vicinity of the robotic cleaning device 10. The first and second line lasers 127, 128 may preferably be vertical line lasers and are arranged lateral of the camera 123 and configured to illuminate a height and a width that is greater than the height and width of the robotic cleaning device 10. Further, the angle of the field of view of the camera 123 is preferably smaller than the space
illuminated by the first and second line lasers 127, 128. The camera 123 is controlled by the controller 116 to capture and record a plurality of images per second. Data from the images is extracted by the controller 116 and the data is typically saved in the memory 126 along with the computer program 125·
The first and second line lasers 127, 128 are typically arranged on a respective side of the camera 123 along an axis being perpendicular to an optical axis of the camera. Further, the line lasers 127, 128 are directed such that their respective laser beams intersect within the field of view of the camera 123. Typically, the intersection coincides with the optical axis of the camera 123.
The first and second line laser 127, 128 are configured to scan, preferably in a vertical orientation, the vicinity of the robotic cleaning device 10, normally in the direction of movement of the robotic cleaning device 10. The first and second line lasers 127, 128 are configured to send out laser beams, which illuminate furniture, walls and other objects of e.g. a room to be cleaned. The camera 123 is controlled by the controller 116 to capture and record images from which the controller 116 creates a representation or layout of the surroundings that the robotic cleaning device 10 is operating in, by extracting features from the images and by measuring the distance covered by the robotic cleaning device 10, while the robotic cleaning device 10 is moving across the surface to be cleaned. Thus, the controller 16 derives positional data of the robotic cleaning device 10 with respect to the surface to be cleaned from the recorded images, generates a 3D representation of the surroundings from the derived positional data and controls the driving motors 115a, 115b to
l8 move the robotic cleaning device across the surface to be cleaned in accordance with the generated 3D representation and navigation information supplied to the robotic cleaning device 10 such that the surface to be cleaned can be navigated by taking into account the generated 3D representation. Since the derived positional data will serve as a foundation for the navigation of the robotic cleaning device, it is important that the positioning is correct; the robotic device will otherwise navigate according to a "map" of its surroundings that is misleading.
The 3D representation generated from the images recorded by the 3D sensor system thus facilitates detection of obstacles in the form of walls, floor lamps, table legs, around which the robotic cleaning device must navigate as well as rugs, carpets, doorsteps, etc., that the robotic cleaning device 10 must traverse. The robotic cleaning device 10 is hence configured to learn about its environment or surroundings by operating/cleaning. Hence, the 3D sensor system comprising the camera 123 and the first and second vertical line lasers 127, 128 is arranged to record images of a vicinity of the robotic cleaning from which objects/obstacles may be detected. The controller 116 is capable of positioning the robotic cleaning device 10 with respect to the detected obstacles and hence a surface to be cleaned by deriving positional data from the recorded images. From the positioning, the controller 116 controls movement of the robotic cleaning device 10 by means of controlling the wheels 112, 113 via the wheel drive motors 115a, 115b, across the surface to be cleaned.
The derived positional data facilitates control of the movement of the robotic cleaning device 10 such that cleaning device can be navigated to move very close to an object, and to move closely around the object to remove debris from the surface on which the object is located. Hence, the derived positional data is utilized to move flush against the object, being e.g. a chair, a table, a sofa, a thick rug or a wall. Typically, the controller 116 continuously generates and transfers control signals to the drive wheels 112, 113 via the drive motors
15a, 15b such that the robotic cleaning device 10 is navigated close to the object.
Figure 8 illustrates a flowchart of the method of controlling movement of a robotic cleaning device 10 over a surface to be cleaned according to an embodiment of the invention.
Hence, the controller 116 controls the propulsion system, which comprises driving means in the form of the two electric wheel motors 115a, 115b for enabling movement of the driving wheels 112, 113, in step S101 to cause the robotic cleaning device 10 to move, from a starting point C, along a predetermined path 11 over the surface to be cleaned.
Upon the obstacle detection device 122 encountering an object 17 in step S102, the controller controls the robotic cleaning device 10 to move towards the starting point C.
Thereafter, the controller 116 controls the robotic cleaning device 10 in step S103 to move along a temporary path 19a towards a section 20, 22 of the predetermined path 11, which section 20, 22 has not previously been travelled by the robotic cleaning device 10.
Finally in step S105, the controller 116 controls the robotic cleaning device 10 upon reaching the section 20, 22 to resume its movement along the predetermined path 11.
Figure 9 illustrates a flowchart of the method of controlling movement of a robotic cleaning device 10 over a surface to be cleaned according to an embodiment of the invention as previously has been described with reference to Figures 4a-c. Hence, the controller 116 controls the propulsion system in step S101 to cause the robotic cleaning device 10 to move, from a starting point C, along a predetermined path 11 over the surface to be cleaned.
Upon the obstacle detection device 122 encountering an object 17 in step S102, the controller controls the robotic cleaning device 10 to move towards the starting point C and further towards a closest located section 18 of the predetermined path 11 previously travelled by the robotic cleaning device 10; In step S103, the controller controls the robotic cleaning device 10 to move to an end of the section 18, and the controlling in step S104 of the robotic cleaning device 10 to move along a temporary path 19a further comprises controlling, upon reaching the end of the section 18, the robotic cleaning device 10 to move to a closest adjacent previously non-travelled section 20 being located on a distance from the section 18.
Finally in step S105, the controller 116 controls the robotic cleaning device 10 upon reaching the section 20 to resume its movement along the
predetermined path 11.
Figure 10 illustrates a flowchart of the method of controlling movement of a robotic cleaning device 10 over a surface to be cleaned according to an embodiment of the invention as previously has been described with reference to Figures 5a-c.
Hence, the controller 116 controls the propulsion system in step S101 to cause the robotic cleaning device 10 to move, from a starting point C, along a predetermined path 11 over the surface to be cleaned.
Upon the obstacle detection device 122 encountering an object 17 in step S102, the controller controls the robotic cleaning device 10 to move towards the starting point C.
Thereafter, the controller 116 controls the robotic cleaning device 10 in step S103 to move, by tracking the obstacle 17, along a periphery of the obstacle 17·
In step S104, upon reaching an end point of the obstacle 17, the controller 116 controls the robotic cleaning device 10 to move along a temporary path 19a to a previously non-travelled section 22 of the predetermined path 11, where the
previously non-travelled section 22 is the section to which the robotic cleaning device was controlled to move when encountering the obstacle 17.
Finally in step S105, the controller 116 controls the robotic cleaning device 10 upon reaching the section 22 to resume its movement along the
predetermined path 11.
Figure 11 shows a further embodiment of the invention, where the controller 116 controls movement of the robotic cleaning device 10 such that a side brush 114 of the robotic cleaning device 10 faces a centre point C of the surface to be cleaned. Advantageously, by having the side brush 114 always face inwards, there is no risk of having the side brush 114 re-spread dirt and debris into the centre area.
The invention has mainly been described above with reference to a few embodiments. However, as is readily appreciated by a person skilled in the art, other embodiments than the ones disclosed above are equally possible within the scope of the invention, as defined by the appended patent claims.
Claims
CLAIMS l. A method of controlling movement of a robotic cleaning device (io) over a surface to be cleaned, comprising:
controlling (Sioi) the robotic cleaning device to move, from a starting point (C), along a predetermined path (n) over the surface to be cleaned; controlling (S102) the robotic cleaning device (10) to, upon
encountering an object (17), move towards said starting point (C);
controlling (S104) the robotic cleaning device (10) to move along a temporary path (19a) towards a section (20, 22) of the predetermined path (11), which section (20, 22) has not previously been travelled by the robotic cleaning device (10); and
controlling (S105), upon reaching the section (20, 22), the robotic cleaning device (10) to resume its movement along said predetermined path (11).
2. The method of claim 1, the controlling (S102) of the robotic cleaning device (10) to move towards said starting point (C) upon encountering an object (17) further comprising:
controlling the robotic cleaning device (10) to move towards a closest located section (18) of the predetermined path (11) previously travelled by the robotic cleaning device (10); the method further comprising:
controlling (S103) the robotic cleaning device (10) to move to an end (EP) of said section (18); and the controlling (S104) of the robotic cleaning device (10) to move along a temporary path (19a) further comprising:
controlling, upon reaching the end (EP) of said section (18), the robotic cleaning device (10) to move to a closest adjacent previously non-travelled section (20) being located on a distance from said section (18), to resume its movement along said predetermined path (11).
3. The method of claim 1 , further comprising:
controlling (S103) the robotic cleaning device (10) to move, by tracking the obstacle (17), along a periphery of the obstacle (17); and the controlling (S104) of the robotic cleaning device (10) to move along a temporary path
(19a) further comprising:
controlling, upon reaching an end point of the obstacle (17), the robotic cleaning device (10) to move to a previously non-travelled section (22) of the predetermined path (11), the previously non-travelled section (22) being the section to which the robotic cleaning device was controlled to move when encountering the obstacle (17), to resume its movement along said
predetermined path (11).
4. The method of any one of the preceding claims, the robotic cleaning device (10) being controlled to move along a spiral-shaped predetermined path (11).
5. The method of claim 4, the robotic cleaning device (10) being controlled to move along a squared spiral-shaped predetermined path (11).
6. The method of any one of the preceding claims, further comprising: controlling movement of the robotic cleaning device (10) such that a side brush (114) of the robotic cleaning device (10) faces a centre point (C) of the surface to be cleaned.
7. Robotic cleaning device (10) comprising:
a propulsion system (112, 113, 115a, 115b) arranged to move the robotic cleaning device (10);
an obstacle detection device (122); and
a controller (116) configured to control the propulsion system to move the robotic cleaning device (10); wherein the controller (116) is configured to: control the robotic cleaning device (10) to move, from a starting point (C), along a predetermined path (11) over the surface to be cleaned;
control the robotic cleaning device (10) to, upon encountering an object
(17) detected by the obstacle detection device (122), move towards said starting point (C);
control the robotic cleaning device (10) to move along a temporary path (19a) towards a section (20, 22) of the predetermined path (11), which section (20, 22) has not previously been travelled by the robotic cleaning device (10);
and to
control, upon reaching the section (20), the robotic cleaning device (10) to resume its movement along said predetermined path (11).
8. The robotic cleaning device (10) of claim 7, the controller (116) further being configured to, when controlling the robotic cleaning device (10) to move towards said starting point (C) upon encountering an object (17):
control the robotic cleaning device (10) to move towards a closest located section (18) of the predetermined path (11) previously travelled by the robotic cleaning device (10); and to:
control the robotic cleaning device (10) to move to an end (EP) of said section (18); the controller (116) further being configured to, when
controlling the robotic cleaning device (10) to move along a temporary path (19a):
control, upon reaching the end (EP) of said section (18), the robotic cleaning device (10) to move to a closest adjacent previously non-travelled section (20) being located on a distance from said section (18), to resume its movement along said predetermined path (11).
9. The robotic cleaning device (10) of claim 7, the controller (116) further being configured to:
control the robotic cleaning device (10) to move, by tracking the obstacle (17) with the obstacle detection device (122), along a periphery of the obstacle (17); and further to, when controlling the robotic cleaning device (10) to move along a temporary path (19a):
control, upon reaching an end point of the obstacle (17), the robotic cleaning device (10) to move to a previously non-travelled section (22) of the predetermined path (11), the previously non-travelled section (22) being the section to which the robotic cleaning device was controlled to move when encountering the obstacle (17), to resume its movement along said
predetermined path (11).
10. The robotic cleaning device (10) of any one of claims 7-9, the controller (116) further being configured to:
control the robotic cleaning device (10) to move along a spiral-shaped predetermined path (11).
11. The robotic cleaning device (10) of claim 10, the controller (116) further being configured to:
control the robotic cleaning device (10) to move along a squared spiral- shaped predetermined path (11).
12. The robotic cleaning device (10) of any one of claims 7-11, further comprising:
a side brush (114)
the controller (116) further being configured to:
control movement of the robotic cleaning device (10) such that the side brush (114) of the robotic cleaning device (10) faces a centre point (C) of the surface to be cleaned.
13. The robotic cleaning device (10) of claim 12, said obstacle detection device comprising a 3D sensor system (122).
14. The robotic cleaning device (10) of claim 13, said 3D sensor system (122) comprising:
a camera device (123) arranged to record images of a vicinity of the robotic cleaning device (10); and
a first and second vertical line laser (127, 128) arranged to illuminate said vicinity of the robotic cleaning device (10);
the controller (116) further being arranged to derive positional data from the recorded images fro controlling movement of the robotic cleaning device (10).
15. A computer program (125) comprising computer-executable
instructions for causing a device (10) to perform the steps recited in any one of claims 1-8 when the computer-executable instructions are executed on a controller (116) included in the device.
16. A computer program product comprising a computer readable medium (126), the computer readable medium having the computer program (125) according to claim 15 embodied thereon.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/EP2015/080776 WO2017108077A1 (en) | 2015-12-21 | 2015-12-21 | Controlling movement of a robotic cleaning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/EP2015/080776 WO2017108077A1 (en) | 2015-12-21 | 2015-12-21 | Controlling movement of a robotic cleaning device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2017108077A1 true WO2017108077A1 (en) | 2017-06-29 |
Family
ID=54979689
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/EP2015/080776 WO2017108077A1 (en) | 2015-12-21 | 2015-12-21 | Controlling movement of a robotic cleaning device |
Country Status (1)
| Country | Link |
|---|---|
| WO (1) | WO2017108077A1 (en) |
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| CN114680734A (en) * | 2020-12-28 | 2022-07-01 | 尚科宁家(中国)科技有限公司 | Cleaning robot and cleaning method thereof |
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