Patent Application
20240164611
The present invention relates to a self-propelled and self-steering floor cleaning apparatus, comprising at least one functional unit and a control unit for controlling at least one functional unit of the at least one functional unit, wherein the at least one functional unit comprises a running gear for traveling on a floor surface, at least one cleaning tool for cleaning the floor surface, and a sensor unit for detecting the surroundings of the floor cleaning apparatus, in particular during movement, and wherein the control unit determines, depending on at least one signal of the sensor unit, that an obstacle is located on or at the floor surface.
The present invention also relates to a method for controlling a self-propelled and self-steering floor cleaning apparatus, in particular of the type mentioned above.
An autonomous cleaning of the floor surface can be carried out with a floor cleaning apparatus of the type mentioned at the outset. For this purpose, the floor cleaning apparatus travels over the floor surface. The at least one cleaning tool comprises, for example, a sweeping roller or a disc brush in order to detach dirt from the floor surface. To increase the cleaning performance, the floor surface can preferably be acted upon with a cleaning liquid, in particular water. A cleaning chemical can be added to increase the cleaning performance. The mixture of dirt and cleaning fluid can be picked up from the floor surface by means of a cleaning tool and transferred to a dirty liquid tank.
In autonomous floor cleaning apparatuses, it is known to detect the surroundings for localization and/or navigation purposes by means of the sensor unit. Accordingly, the sensor unit can comprise or form a navigation unit, or vice versa.
Depending on the presence of obstacles, the floor cleaning apparatus decides, for example, which travel path it takes. Obstacles can be placed on the floor surface or at the floor surface, wherein in the latter case, for example, these can be the boundaries of the floor surface.
An object underlying the present invention is to provide a floor cleaning apparatus of the type in question which has a higher operational safety.
In a first aspect of the invention, a self-propelled and self-steering floor cleaning apparatus comprises at least one functional unit and a control unit for controlling at least one functional unit of the at least one functional unit. The at least one functional unit comprises a running gear for traveling on a floor surface, at least one cleaning tool for cleaning the floor surface, and a sensor unit for detecting the surroundings of the floor cleaning apparatus, in particular during movement. The control unit determines, depending on at least one signal of the sensor unit, that an obstacle is located on or at the floor surface. The control unit classifies the obstacles with respect to persons and objects, and the control unit controls at least one functional unit depending on the classification of a recognized obstacle.
In a second aspect of the invention, a method for controlling a self-propelled and self-steering floor cleaning apparatus comprises:
The foregoing summary and the following description may be better understood in conjunction with the drawing figures, of which:
Although the invention is illustrated and described herein with reference to specific embodiments, the invention is not intended to be limited to the details shown. Rather, various modifications may be made in the details within the scope and range of equivalents of the claims without departing from the invention.
The present invention relates to a self-propelled and self-steering floor cleaning apparatus comprising at least one functional unit and a control unit for controlling at least one functional unit, wherein the at least one functional unit comprises a running gear for traveling on a floor surface, at least one cleaning tool for cleaning the floor surface and a sensor unit for detecting the surroundings of the floor cleaning apparatus, in particular during movement, and wherein the control unit determines, depending on at least one signal of the sensor unit, that an obstacle is located on or at the floor surface, wherein the control unit classifies the obstacles with respect to persons and objects, and wherein the control unit controls at least one functional unit depending on the classification of a detected obstacle.
The control unit of the floor cleaning apparatus in accordance with the invention is formed and designed to classify the obstacles as a person or as a different type of obstacle, namely as an object. It is understood that the classification can be carried out within the scope of the information detectable by means of the sensor unit, so that obstacles are classified as persons in particular when they are persons at least with a certain probability. At least one functional unit is controlled depending on the classification. This allows the floor cleaning apparatus to adapt its situational behavior to the type of obstacle. In particular, the requirements for the functional safety can preferably be set higher if the obstacle is a person instead of a different type of obstacle, such as an object.
It can be provided that obstacles are classified into more than just persons and objects.
It is favorable if the control unit controls the running gear to maintain a safety distance from the person when a person is detected. The safety distance is preferably predetermined and can be a minimum distance.
It can be provided to increase the existing distance of the floor cleaning apparatus from the person.
Advantageously, the control unit controls the running gear to reduce a travel speed of the floor cleaning apparatus or to stop the floor cleaning apparatus when a person is detected.
For example, it can be provided that the control unit controls the running gear to stop for a predetermined duration when a person is detected. This can in particular be understood to mean that the running gear is not activated for the predetermined duration.
It can be provided, for example, that the control unit controls the running gear to increase a travel speed when a person is detected, in order to be able to maintain a preferably predetermined safety distance from the person as quickly as possible.
While it can be advantageous in the case of persons to maintain a safety distance, it can be advantageous in the case of obstacles in the form of objects to move as close as possible to the obstacle in order to clean the floor surface at the obstacle.
When an object is detected, it is favorable if the control unit controls the running gear to travel to the object with regard to a cleaning of the floor surface that is close to the object. In this case, the floor cleaning apparatus can advantageously travel at least up to within a maximum distance from the object in order to perform a cleaning of the floor surface close to the object, for example, close to the edge. It is understood that the at least one cleaning tool is preferably activated in this embodiment.
In a preferred embodiment of the invention, the at least one functional unit comprises an indicator unit having at least one visual and/or acoustic actuator. For example, a flashing light and/or an illumination is provided as a visual actuator and/or a speaker as an acoustic actuator. The visual actuator can be a display unit of the floor cleaning apparatus, which is located, for example, on an operating unit.
The control unit controls the indicator unit when a person is detected preferably to provide at least one indicator, which, for example, can be acoustic and/or visual. The indicator can in particular be indicative of a person being detected.
Advantageously, it is provided that the at least one indicator can be unequivocally perceived by the person at least within a maximum distance from the floor cleaning apparatus.
It can be favorable if the control unit controls at least one cleaning tool to reduce the power when the person is detected. This allows, for example, the noise emission of the floor cleaning apparatus to be reduced in the presence of persons for their wellbeing.
In particular when the running gear is at a standstill, the control unit can switch off the cleaning tool or temporarily deactivate its operation.
It can be advantageous if the control unit determines, depending on the at least one signal of the sensor unit, whether the obstacle is static or moving relative to the floor surface, and if the control unit controls the at least one functional unit depending on whether the obstacle is static or moving. Particularly versatile situational behavior of the floor cleaning apparatus can thereby be achieved. For example, the floor cleaning apparatus determines that the obstacle is moving away from the travel path, so that a reduction of the travel speed may be able to be omitted.
Controlling at least one functional unit in the case of an existing classification, for example, for maintaining a safety distance, changing the distance, changing the travel speed, changing the power of a cleaning tool, and/or controlling the indicator unit, as explained above, can, for example, be dependent on whether the obstacle is moving. For example, such a control takes place in the case of a moving person, but not in the case of a static person. Alternatively or additionally, this can apply to objects.
A threshold value for movement can preferably be defined for determining a movement, wherein a movement below a threshold value is not regarded as a “movement” in the above sense, but only a movement above the threshold value.
Optionally, in a floor cleaning apparatus of the type mentioned at the outset, it can be provided that the control unit determines, depending on the at least one signal of the sensor unit, whether the obstacle is static or moving relative to the floor surface, and that the control unit controls the at least one functional unit depending on whether the obstacle is static or moving. In the context of the present disclosure, an independent invention is thereby justified. The classification of obstacles with respect to persons and objects is only optional and not mandatory in this invention, but is nevertheless preferred.
It is advantageous if the floor cleaning apparatus comprises an operating unit via which the type of control of the at least one functional unit can be configured by an operator depending on the classification of the obstacle and/or a movement of the obstacle. For example, the operator can specify how the floor cleaning apparatus behaves in the event of detected persons or objects and/or in the case of moving obstacles.
The operating unit can in particular be a functional unit of the floor cleaning apparatus. The operating unit can be located on the floor cleaning apparatus. Alternatively or additionally, a spatially remote operating unit is provided, which can be in a communication connection with the floor cleaning apparatus via a wireless and/or wired communication interface.
The control unit advantageously controls the running gear, when a distance from an obstacle which is within a maximum distance is present, to reduce the travel speed of the floor cleaning apparatus. For example, the speed is reduced in the case of obstacles still unclassified before the further situational behavior of the floor cleaning apparatus is decided, for example, in one of the manners explained above.
It has already been mentioned that the floor cleaning apparatus can have a navigation unit. For example, the sensor unit comprises or forms the navigation unit or vice versa.
It is advantageous if different spatial resolutions of the surroundings of the floor cleaning apparatus can be achieved via the sensor unit, wherein the control unit controls the sensor unit, when a distance from an obstacle which is within a maximum distance is present, to increase a spatial resolution of the surroundings. For example, in situations in which the floor cleaning apparatus is located at bottlenecks or near an obstacle, the resolution is increased in order to increase the localization and/or navigation of the floor cleaning apparatus. In contrast, it can be provided, for example, that in the absence of an obstacle, for example, outside the maximum distance, a less high resolution of the surroundings is sufficient to be able to reliably perform cleaning tasks, localization and/or navigation. By increasing the resolution, the floor cleaning apparatus can preferably travel very precisely and close to the obstacle, with regard to a cleaning close to the object.
Optionally, in a floor cleaning apparatus of the type mentioned at the outset, it can be provided that different spatial resolutions of the surroundings of the floor cleaning apparatus can be achieved via the sensor unit, wherein the control unit controls the sensor unit, when a distance from an obstacle which is within a maximum distance is present, to increase a spatial resolution of the surroundings. In the context of the present disclosure, an independent invention is thereby justified. The classification of obstacles with respect to persons and objects is only optional and not mandatory in this invention, but nevertheless preferred.
The spatial resolution is advantageously only temporarily increased, so that the spatial resolution is reduced again depending on a predetermined criterion. For example, the resolution is only increased until the distance of the floor cleaning apparatus from the obstacle exceeds the maximum distance, and/or after a predetermined period of time has elapsed.
In the present case, “predetermined” can also mean in particular “predeterminable.”
In a preferred embodiment of the invention, the floor cleaning apparatus comprises a storage unit, in which at least one travel path to be traveled by the floor cleaning apparatus, in particular a cleaning path, is stored. The cleaning path can be predefined by an operator, can be trained by an operator (taught) or can be created by the floor cleaning apparatus itself.
The control unit advantageously determines on the basis of at least one signal of the sensor unit that the floor cleaning apparatus is not able to follow the travel path due to an obstacle, wherein the control unit controls at least one functional unit in this case to carry out an alternative behavior. This allows the floor cleaning apparatus to adapt its situational behavior in particular to a situation in which a previously unknown obstacle blocks the travel path and thereby restricts the floor cleaning apparatus in its freedom of movement.
Via the at least one alternative behavior, the floor cleaning apparatus can in particular attempt to free itself from the situation.
A plurality of alternative behaviors can preferably be provided, wherein the best suited behavior can be selected depending on the situation in which the floor cleaning apparatus finds itself and/or depending on which protection field of the sensor unit has been violated. Alternatively or additionally, a “sequence” of alternative behaviors can be provided, wherein a weighting of the alternative behaviors with regard to the fastest and/or most promising freeing of the floor cleaning apparatus from its situation is conceivable.
For example, the alternative behavior comprises an evasive movement. In this case, the floor cleaning apparatus heads, for example, toward a position on the travel path which is upstream or downstream of the current position on the travel path. For example, the floor cleaning apparatus travels back to a point of the travel path which it has already passed. Starting from there, the floor cleaning apparatus can preferably attempt to adapt the travel path while bypassing the obstacle such that a continuation on the travel path is possible. Alternatively, it can be provided, starting from the position, to navigate to a downstream position on the travel path, bypassing the obstacle, and to continue the movement on this path.
The evasive movement is preferably dependent on the position at which an obstacle is located relative to the floor cleaning apparatus. For example, the evasive movement comprises traveling away from the obstacle, wherein the traveling can take place backward, forward and/or laterally away from the obstacle. A movement in the reverse direction on the travel path on which the floor cleaning apparatus has come can be weighted more heavily since it is already known.
Alternatively or additionally, the evasive movement can comprise a rotation in place away from the obstacle.
The alternative behavior can comprise, for example, providing an indicator by means of an indicator unit, which can be a functional unit of the floor cleaning apparatus, with at least one visual and/or acoustic actuator. The indicator is, for example, indicative of the floor cleaning apparatus not being able to follow the travel path. The indicator is directed in particular to at least one person in the surroundings.
The alternative behavior can comprise, for example, increasing a spatial resolution of the surroundings that can be achieved by means of the sensor unit, wherein different spatial resolutions of the surroundings of the floor cleaning apparatus can be achieved by the sensor unit. As explained above, the possibility exists, for example, of being able to carry out more precise navigation by means of the increased resolution. Based on the increased resolution, the floor cleaning apparatus advantageously has the possibility to determine its position more precisely. Advantageously, the possibility exists of being able to continue the movement along the travel path on this basis.
The floor cleaning apparatus preferably comprises a communication unit, which can be a functional unit. By way of example, a message to a receiver located spatially remote from the floor cleaning apparatus can be provided via the communication unit if the floor cleaning apparatus is not able to follow the travel path, and/or if the floor cleaning apparatus is not able to free itself from its position by means of evasive movements.
The receiver can be a natural person and/or an automated receiver, for example, a data processing unit. The data processing unit can be central or distributed spatially, for example, as a cloud service. For example, the state of the floor cleaning apparatus is stored in the data processing unit. Countermeasures can, for example, be automated and/or performed by the operator in order to free the floor cleaning apparatus.
The floor cleaning apparatus advantageously comprises a communication unit, which can be a functional unit. Via the communication unit, an operator located spatially remotely from the floor cleaning apparatus can preferably enter into a communication connection with the floor cleaning apparatus. For example, the operator checks the surroundings of the floor cleaning apparatus and/or frees the floor cleaning apparatus from its position by actively controlling it.
In a preferred embodiment, the floor cleaning apparatus can advantageously be a scrubber vacuum.
As mentioned at the outset, the present invention also relates to a method. The object is to provide a method for controlling a self-propelled and self-steering floor cleaning apparatus, with which an increased operational reliability can be ensured.
The method in accordance with the invention, in particular for controlling a floor cleaning apparatus of the type described above, comprises:
The advantages already mentioned in connection with the explanation of the floor cleaning apparatus in accordance with the invention can also be achieved by applying the method. Advantageous exemplary embodiments of the method in accordance with the invention follow from advantageous embodiments of the floor cleaning apparatus in accordance with the invention. In this regard, reference can be made to the above statements.
The floor cleaning apparatus 10 comprises a housing 14 having a plurality of functional units 16 located thereon and a control unit 18 for controlling at least one of the functional units 16.
The control unit 18 can comprise or be formed as at least one computer. At least one microprocessor with software executable or stored thereon can be provided. The control unit 18 can comprise various safety circuits.
A running gear 20 for traveling on the floor surface 12 is provided on the underside of the housing 14 as a functional unit 16.
A further functional unit 16 is a cleaning tool 22. In the present case, a floor cleaning head 24 with sweeping rollers (not shown in the drawing), a suction strip 26 and a side broom 28 are provided as cleaning tools 22.
On the housing 14, the floor cleaning apparatus 10 comprises a storage container 30 for a cleaning liquid for wetting the floor surface 12, in particular water. By means of the cleaning tools 22, dirt can be detached from the floor surface 12, and, via the suction strip 26, can be transferred into a dirty liquid container 32 under the effect of a suction unit (not shown in the drawing).
The floor cleaning apparatus 10 is accordingly in the present case a scrubber vacuum, although the invention is not limited thereto.
A sensor unit 34, which is in operative connection with the control unit 18, is provided as a further functional unit 16. The sensor unit 34 allows the surroundings of the floor cleaning apparatus 10 to be detected in particular during its movement and especially during the cleaning movement.
In the present case, the sensor unit 34 comprises a plurality of sensor elements, each of which can detect a portion of the surroundings. In the present case, lidar sensors 36, stereo cameras 38, and ultrasonic sensors 40 are provided as sensor elements. Signals of the sensor unit 34 can be provided to the control unit 18, which evaluates the signals for the purpose of localization and/or navigation.
An indicator unit 42 is provided as a further functional unit 16. In the present case, the indicator unit 42 comprises a visual actuator 44, configured as a flashing light 46, and an acoustic actuator 48, configured as a speaker 50. A display unit of the floor cleaning apparatus 10, for example on the operating unit, can also be a visual actuator.
As further functional units 16, the floor cleaning apparatus 10 comprises an operating unit 52 for an operator, a storage unit 54, and a communication unit 56.
At least the running gear 20 and the cleaning tools 22 can be controlled by the control unit 18, depending on evaluations of signals of the sensor unit 34, as explained below.
A plurality of cleaning paths 58, which comprise travel paths for the floor cleaning apparatus 10 over the floor surface 12, are preferably stored in the storage unit 54. Furthermore, a map 60 of the surroundings is advantageously stored in the storage unit 54.
The surroundings of the floor cleaning apparatus 10 can be detected by means of the sensor unit 34. In particular, there is the possibility of detecting obstacles 62 on the floor surface 12 or at the floor surface 12 (for example, boundaries). Exemplary obstacles 62 are shown in
The control unit 18 is formed and designed to classify the obstacles 62 at least with respect to persons 64 and objects 66. Depending on the classification, at least one functional unit 16, in particular the running gear 20 and/or at least one cleaning tool 22, can be controlled by the control unit 18.
In this way, the floor cleaning apparatus 10 has a high operational safety, in which in particular the situational behavior can be adapted in the presence of persons 64 such that impairments of persons 64 are avoided.
For example, the running gear 20 is controlled in such a way that a predetermined safety distance from the person 64 must be maintained when a person 64 is detected. An existing distance, which is less than the safety distance, for example, can in particular be increased.
When the person 64 is detected, a travel speed of the floor cleaning apparatus 10, for example, can be reduced or the floor cleaning apparatus 10 can be stopped overall. For example, the floor cleaning apparatus 10 stops for a predetermined duration, wherein the running gear 20 is deactivated in particular for this purpose.
It can be advantageous if, when the person 64 is detected, a visual and/or acoustic indicator is provided via the actuators 44, 48 in order to make the person 64 aware of the floor cleaning apparatus 10. The indicator can, for example, be indicative of the person 64 being detected.
It can be provided that, when the person 64 is detected, at least one cleaning tool 22 is controlled to reduce power and thereby reduce noise emission of the floor cleaning apparatus 12.
When an object 66 is detected, it can be provided that the running gear 20 is controlled such that the floor cleaning apparatus 10 is moved up to the object 66, at least up to within a maximum distance from the object 66. This has the purpose of being able to carry out a cleaning of the floor surface 12 close to the object, for example close to the edge, with regard to a good cleaning result.
It can be provided that at least one cleaning tool 22 is switched off, in particular when the running gear 20 is at a standstill.
It can be provided that a travel speed of the floor cleaning apparatus 10 is temporarily increased when the person 64 is detected, for example, in order to increase the distance from the person 64 until it is, for example, beyond a predetermined safety distance.
As already mentioned, it can represent an independent invention if the control unit 18 determines whether the obstacle 62 is static, regardless of the classification, depending on the signal of the sensor unit 34. For example, the control unit 18 controls at least one functional unit 16 depending on whether the obstacle 62 is static or is moving.
For example, it can be provided that a static person 64 is not treated differently than a static object 66. The floor cleaning apparatus 10 can, for example, change the travel speed, maintain a safety distance, change a distance, adapt the power of a cleaning tool, and/or output the indicator only in the case of moving obstacles 62, whereas this is omitted in the case of static obstacles 62. This can apply to persons 64 and/or objects 66.
Via the operating unit 52, an operator can preferably configure the type of control of at least one functional unit 16 depending on the classification of the obstacle 62 and/or the movement of the obstacle 62. For this purpose, the operator can interact with the floor cleaning apparatus 10 via the operating unit 52.
It can be provided that, when a distance from an obstacle which lies within a maximum distance is present, the travel speed is reduced. This can be helpful, for example, in order to move as close as possible to an object 66 for a cleaning close to the object.
Different resolutions of the surroundings can preferably be achieved via the sensor unit 34. In a manner of speaking, the surroundings can be detected with different “sharpness.” It can be provided that, when a distance from an obstacle 62 is present, in particular an object 66 that lies within a maximum distance, the sensor unit 34 is controlled to increase the spatial resolution of the surroundings.
This provides, for example, the possibility of being able to navigate precisely and close to narrow points and/or obstacles 62 while maintaining high operational reliability.
The spatial resolution is, for example, only temporarily increased, for example, until the distance from the obstacle 62 exceeds a maximum distance and/or until a predetermined period of time has elapsed.
Cleaning paths 58 can be driven autonomously by the floor cleaning apparatus 10. In this case, the situation can arise that the cleaning path 58 is blocked, for example, due to an unexpected obstacle 62 in such a way that the control unit 18 determines, on the basis of a signal of the sensor unit 34, that the floor cleaning apparatus 10 cannot follow the cleaning path 58. In this case, alternative behaviors are advantageously provided, which can be carried out alternatively or cumulatively by the floor cleaning apparatus 10.
For example, the floor cleaning apparatus 10 can travel back to a position upstream on the cleaning path 58 and attempt to follow the cleaning path 58 from there while going around the obstacle 62.
Alternatively, it can be provided that the floor cleaning apparatus 10 travels to a position on the cleaning path 58 downstream of the current position, for example, while going around the obstacle 62.
It can be provided that at least one evasive movement is carried out, for example, traveling forward, backward and/or sideways away from the obstacle 62 and/or rotating in place away from the obstacle 62.
Alternatively or additionally, an indicator can be provided, for example, via the actuators 44 and/or 48 in order to make in particular persons 64 aware of the floor cleaning apparatus 10.
Alternatively or additionally, a spatial resolution of the surroundings can be increased, for example, via the sensor unit 34. This can make it possible, for example, for the floor cleaning apparatus 10 to navigate more precisely and follow the cleaning path 58.
Alternatively or additionally, it can be provided that a message is transmitted to a spatially remote receiver 72 via the communication unit 56. The receiver 72 is, for example, the natural operator 68 and/or an automated receiver in the form of a data processing unit 74, which, as shown in
The message can, for example, comprise the information that the floor cleaning apparatus 10 is not able to follow the cleaning path 58, and/or to free itself from its position by means of evasive movements.
Status information about the content of the message can be stored in the data processing unit 74.
The operator 68 can, for example, enter into a communication connection with the floor cleaning apparatus 10 via the operating unit 70. For example, the surroundings can be checked by the operator 68 by means of the sensor unit 34. It can be provided that the floor cleaning apparatus 10 is freed from its position by the control of the operator 68.
This application is a continuation application of international application number PCT/EP2021/070747, filed on Jul. 23, 2021, which is incorporated herein by reference in its entirety and for all purposes.
| Number | Date | Country | |
|---|---|---|---|
| Parent | PCT/EP2021/070747 | Jul 2021 | US |
| Child | 18418460 | US |
