Patent Application
20200069133
The present invention relates to a floor cleaning appliance which comprises at least one cleaning assembly for cleaning a floor surface and an optical detection device with which a floor type is determinable.
The present invention also relates to a method for cleaning a floor surface with a floor cleaning appliance.
In floor cleaning appliances, specifically self-propelled and self-steering floor cleaning appliances for autonomously cleaning a floor surface, it is known to determine the floor type on the basis of an optical detection device. For example, DE 10 2013 113 426 A1 describes that photographic recordings of the floor surface are generated, which are evaluated by means of methods of image processing for determining the floor type. Is has been shown that a determination of the floor type by means of photographic recordings is often prone to error due to the surroundings, for example incident light and associated scattering and reflection on the floor surface.
Further floor cleaning appliances with optical detection devices are described in WO 2017/031365 A1 and in US 2005/0166354 A1. WO 2017/031364 A1 describes how it can be determined whether water remains on the floor surface after cleaning.
An object underlying the present invention is to provide a floor cleaning appliance of the kind stated at the outset and a method for floor cleaning with which/in which a reliable determination of the floor type is possible.
In a first aspect of the invention, a floor cleaning appliance comprises at least one cleaning assembly for cleaning a floor surface and an optical detection device with which a floor type is determinable. The detection device is configured as or comprises a spectroscopic device with which the floor type is determinable on the basis of a spectrum of the floor surface recorded by reflection measurement.
In a second aspect of the invention, a method for cleaning a floor surface with a floor cleaning appliance is provided, wherein a floor type is determined by means of a spectroscopic device of the floor cleaning appliance on the basis of a spectrum recorded by reflection measurement, and wherein the cleaning of the floor surface is based on the information regarding the floor type.
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 and without departing from the invention.
The present invention relates to a floor cleaning appliance which comprises at least one cleaning assembly for cleaning a floor surface and an optical detection device with which a floor type is determinable. The detection device is configured as or comprises a spectroscopic device with which the floor type is determinable on the basis of a spectrum of the floor surface recorded by reflection measurement.
The floor cleaning appliance in accordance with the invention allows for the floor type to be spectroscopically determined. A spectrum of the floor surface may hereby be recorded. In dependence on the intensity or signal strength as a function of a wavelength or energy or frequency of light used, a spectral signature of the different floor types may be found by means of a quantitative analysis. As a result of the spectral analysis, the determination of the floor type is largely independent of outside influences like ambient light. It has been shown in practice that a reliable determination of the floor type is possible in this way.
“By reflection measurement” presently includes the case that light directed from the spectroscopic device to the floor surface is scattered by the latter and is detected by the spectroscopic device.
The recorded spectrum of the floor surface may be calibrated with respect to wavelength and/or energy or frequency of the light. Provision may also be made for the wavelength or energy or frequency to not be calibrated and to be determined on the basis of channels (bins) of a line or field detector.
In a corresponding manner, the intensity or signal strength of the spectrum may be calibrated or not calibrated. The spectral sensitivity of a receiving element may be used for evaluating the spectrum. It is also possible for only the counts to be used in the investigation of characteristic structures of the spectrum in dependence on a predetermined wavelength or energy or frequency.
It proves to be advantageous if at least one of the following is settable by the floor cleaning appliance in dependence on the determined floor type for adapting the cleaning to the floor surface:
It is understood that the aforementioned adaptation of the cleaning to the floor surface may be used in particular in the case of a self-propelled and self-steering floor cleaning appliance for autonomously cleaning the floor surface. A control unit of a floor cleaning appliance of that kind may be a constituent part of the spectroscopic device or vice versa.
Alternatively or in addition, provision may be made for the floor cleaning appliance to be a hand-guided floor cleaning appliance that is guided by an operator (walk-behind or ride-on).
Favorably, in particular with hand-guided floor cleaning appliances, information is outputtable to a user at an indication unit regarding the floor type. The operator may adjust the floor cleaning appliance to the indication for adapting the cleaning to the floor surface and/or check possible adjustments made automatically by the floor cleaning appliance. The indication unit may be configured in particular optically as a display unit and/or acoustically as a speaker unit.
It is advantageous if, for evaluating the spectrum, characteristic features thereof are determined on the basis of at least one of the following:
Preferably at least one illuminating element of the spectroscopic device is arranged on the front side floor cleaning appliance, in relation to a main movement direction thereof, for determining the floor type of a region of the floor surface arranged upstream in the main movement direction. When moving the floor cleaning appliance, the floor type on the front side or in front of the floor cleaning appliance is thereby determined. In dependence thereon, the floor cleaning appliance may be immediately adapted with respect to cleaning parameters and/or travel parameters.
In the floor cleaning appliance in accordance with the invention, it is possible to recognize the floor type by means of the spectroscopic device. For example, a floor with plastic flooring, parquet, laminate, tiling, or carpeting may be determined as a floor type.
It is favorable if the floor type is determinable by determining the floor material. The floor type is able to be inferred from the floor material determined on the basis of the spectrum. It is hereby advantageous in particular if different materials of parquet, tiling, laminate, plastic flooring, and/or carpeting are able to be differentiated from each other.
For determining the floor type, further qualities of the floor surface may be deduced on the basis of the spectrum, for example roughness or hardness on the basis of absolute intensity of a characteristic structure or relative intensity of a plurality of characteristic structures.
Information regarding the respective characteristic structures to be expected may be stored in a storage unit of the floor cleaning appliance linked to a respective floor type and in particular floor material. By comparing with the result of the evaluation, the floor type may preferably be determined unambiguously.
The spectroscopic device favorably has at least one optical illuminating element for emitting light directed at the floor surface and/or at least one diffractive or refractive element for spectrally decomposing reflected light that is detectable by means of at least one receiving element. The receiving element may be a line or field detector, for example. Advantageously, a diaphragm, which may be of slit-shaped or hole-shaped configuration, is used for suppressing ambient light.
An element for spectrally decomposing light may then be omitted in an advantageous embodiment, for example if the spectrum of the illuminating element is narrow-band enough to enable an identification of the floor type. The floor cleaning appliance may in this case have an illuminating element for emitting directed, structured light.
The spectroscopic device favorably comprises at least one transmitting and receiving module which comprises the at least one illuminating element, the at least one receiving element, and the at least one diffractive or refractive element, arranged in a common housing. A simple constructive design may thereby be achieved. The transmitting and receiving module is provided, for example, as a prefabricated unit which is fixed or may be fixed on or in a corresponding receptacle of the floor cleaning appliance. The input of scattered light may be suppressed by arranging the receiving element in the housing.
The at least one illuminating element preferably is or comprises a light-emitting diode.
It proves in practice to be advantageous if an optical transmission grating or reflection grating is provided as a diffractive element or a prism is provided as a refractive element.
The at least one illuminating element, in particular a light-emitting diode, is advantageously configured to emit light in the UV range, in the range of the visible spectrum, and/or in the NIR range (near infrared range). The use of more cost-effective technologies is possible in particular with the use of NIR light-emitting diodes with a wavelength of about 700 nm to 1100 nm. Cost-effective line or field detectors may hereby be used in the area of the receiving elements, too.
The at least one illuminating element may emit narrow-band or broad-band. The light emitted by the spectroscopic device may be a discrete spectrum or a continuous spectrum.
In an advantageous implementation, it proves to be favorable if a plurality of illuminating elements is provided which emit light of different wavelengths. This offers the possibility of providing a plurality of discrete or partially overlapping spectra and thereby obtaining comprehensive information regarding the floor type.
Preferably a plurality of annularly arranged illuminating elements is provided, which emit light to a region of the floor surface located centrally between said illuminating elements. Different illuminating elements may hereby be used, which emit light of different wavelengths, or identical illuminating elements may be used. The emission to the centrally located region ensures that information is obtained that is as comprehensive as possible regarding the floor type of a floor surface region to which light is emitted from all illuminating elements.
The spectroscopic device advantageously comprises a storage unit or is coupled to a storage unit in which information is stored linked to a respective floor type and in particular floor material, the floor type being determinable by comparing said information with the spectrum or characteristic features of the same. The storage unit may be arranged internally in the floor cleaning appliance or externally thereto. Reference spectra of different floor types and in particular floor materials may be stored in the storage unit. The floor type is able to be inferred by comparing a determined spectrum with a reference spectrum. Alternatively or in addition, information regarding characteristic structures may be stored in the storage unit, linked to a respective floor type and in particular floor materials.
It is advantageous if the floor cleaning appliance comprises a localization unit for determining the position of the floor cleaning appliance relative to the floor surface and if a map of the floor surface is stored or storable in the storage unit, linked to position-dependent information regarding the floor type. On the basis of the map of the floor surface, the floor cleaning appliance is able to automatically navigate on the floor surface or support an operator in navigation. The navigation methods familiar to the person skilled in the art may be used. It is advantageous for the floor type to be stored in the map as a function of the position. For example, which regions of the floor surface have which floor type is stored. This offers the possibility of carrying out the cleaning of the floor surface with knowledge regarding the floor type. In addition, a determination of the floor type may take place in accordance with the present invention. This makes it possible to perform a check on the information stored in the storage unit and to correct said information, as the case may be. If no information regarding the floor type is present yet in the storage unit, when determining the floor type for the first time, corresponding information may be stored as function of the position, linked to the floor surface.
It is favorable if the floor cleaning appliance comprises at least one camera for generating images of the floor surface, and if the floor type is determinable on the basis of the images and is able to be checked for agreement with the floor type determined on the basis of the spectroscopic device. The images generated by the camera deliver redundant information with which a plausibility check may be performed. The floor type may in this way be determined even more reliably with respect to an optimized cleaning of the floor surface.
Advantageously at least one camera is directed at a region of the floor surface arranged upstream of the floor cleaning appliance in relation to the main movement direction of the floor cleaning appliance. Information gained during the travel of the floor cleaning appliance may thereby be used for immediately adapting the cleaning.
Favorably, the position, amount, and/or kind of soiling of the floor surface is determinable by means the spectroscopic device on the basis of a spectral signature of the soiling. In addition to the floor type, it is advantageously determined by means of the spectroscopic device whether and in what way the floor surface is soiled. An adaptation of the cleaning to the soiling is possible, as explained above, in particular by adapting cleaning parameters and/or travel parameters.
A position, amount, and/or kind of soiling may advantageously be determined using at least one camera of the floor cleaning appliance that generates images of the floor surface, which images are examined by means of methods of image processing for the presence of soiling. A check advantageously takes place on the information regarding the soiling, gained on the basis of images from the camera and the spectral signature of the soiling, determined on the basis of the spectroscopic device. The cleaning of the floor may be optimized by, for example, cleaning parameters and/or travel parameters being adapted.
Provision may be made for a detection device and/or a camera for generating images of the floor surface to be arranged downstream of the at least one cleaning assembly in relation to a main movement direction of the floor cleaning appliance, in order to check the cleaning result on the basis of the position, amount, and/or kind of possible soiling and/or of cleaning agent residue. If residual soiling of the floor surface or cleaning agent residue, for example water, is determined after cleaning, another cleaning may be performed. Alternatively or in addition, an operator may be notified of the remaining soiling or the residue. The detection device and/or the camera is arranged, in particular, on a rear side of the floor cleaning appliance.
As already mentioned, the floor cleaning appliance may be a self-steering and self-propelled floor cleaning appliance. Alternatively or in addition, the floor cleaning appliance may be hand-guided.
The object stated at the outset is achieved by a method in accordance with the invention for cleaning a floor surface with a floor cleaning appliance, wherein a floor type is determined by means of a spectroscopic device of the floor cleaning appliance on the basis of a spectrum recorded by reflection measurement, and wherein the cleaning of the floor surface is based on the information regarding the floor type.
The advantages which were already stated in conjunction with the explanation of the floor cleaning appliance in accordance with the invention may also be achieved in carrying out the method in accordance with the invention. Reference may be made to the preceding remarks in this regard.
Advantageous embodiments of the method result from advantageous embodiments of the floor cleaning appliance in accordance with the invention. Reference may be made to the preceding remarks also in this regard.
Discussed in the following are advantageous embodiments of a floor cleaning appliance in accordance with the invention with which advantageous embodiments of the method in accordance with the invention are performable.
In the example depicted in
The floor cleaning appliance 10 (
The floor cleaning appliance 10 has at least one cleaning assembly 24 which is controllable in particular by the control unit 20. For example a cleaning brush and/or a suction assembly is provided as a cleaning assembly. Dirt is able to be picked up from the floor surface 12 by means of the cleaning brush and be transferred into a dirt collecting container in the housing 18 under the additional action of the suction assembly.
Presently a container with an outlet valve for a cleaning liquid, for example water or a cleaning chemical for increasing the cleaning effect, is also regarded as a cleaning assembly 24. The cleaning liquid may be applied from the container to the floor surface 12 for wetting the same. The amount of cleaning liquid may be set and thereby metered by way of the control unit 20.
Furthermore, the floor cleaning appliance 10 comprises a storage unit 26 which is coupled to the control unit 20. For example, stored in the storage unit 26 is a map of the floor surface 12 which enables the floor cleaning appliance 10 to navigate over the floor surface 12 on the basis of the route or travel pattern. All navigation methods that are known to the person skilled in the art are conceivable here. A localization member 27 that is coupled to the control unit 20 is provided in order to determine the position of the floor cleaning appliance 10 relative to the floor surface 12 in a relative and/or absolute frame of reference.
In the floor cleaning appliance 10 in accordance with the invention, it is possible to determine the floor type of the floor surface 12 by means of an optical detection device 28. It is hereby possible to differentiate whether the flooring is a plastic flooring, a laminate, a parquet, a carpet or carpeted floor, or tiling. In particular the floor material may be detected for determining the floor type. Preferably different materials of plastic, laminate, parquet, carpet or carpeting and tiles are able to be differentiated from each other. The determination of the floor type serves for setting cleaning parameters and travel parameters of the floor cleaning appliance 10 with respect to an optimized floor cleaning.
In the case of the floor cleaning appliance 10, the detection device 28 is configured as a spectroscopic device 30 with which a spectrum of the floor surface 12 is recorded and may be evaluated for determining the floor type.
The spectroscopic device 30 has at least one transmitting and receiving module 32, which is schematically depicted in
The transmitting and receiving module 32 comprises a housing 38 which is accommodated, for example, in a corresponding receptacle of the housing 18. A plurality of illuminating elements 40 are arranged at the lower region of the housing 38 for emitting light in the direction of the floor surface 12. The illuminating elements 40 are presently configured as light-emitting diodes. It is favorable if the illuminating elements 40 are able to emit light of different spectra, wherein the wavelengths may advantageously extend from the UV range into the NIR range (about 400 nm to about 1100 nm).
In an advantageous embodiment of the floor cleaning appliance 10, provision may be made for the illuminating elements 40 to be of identical configuration and in particular to emit light in the NIR range, for example about 700 nm to about 1100 nm.
Presently, the illuminating elements 40 are arranged annularly and emit light to a region 42 of the floor surface 12 arranged centrally between said illuminating elements 40 (
Reflected light passes an aperture of a diaphragm 46 arranged above the illuminating elements 40 and enters into a space 48 enclosed by the housing 38. An element for spectrally decomposing the incident light is arranged in the space 48. Said element is presently configured as a diffractive optical element 50, presently in the form of a transmission grating 52. Alternatively, a refractive optical element may be used, for example a prism.
The light that is spectrally decomposed by the transmission grating 52 reaches a receiving element 54. The receiving element 54 is configured, for example, as a line detector or as a field detector (array). An output signal of the receiving element 54 may be provided to a data processing element 56 of the transmitting and receiving module 32. The data processing element 56 is in signal-operative connection with the control unit 20. Alternatively, an output signal of the receiving element 54 may be transmitted directly to the control unit 20. The control unit 20 is thus presently a constituent part of the spectroscopic device 30.
It can be seen in the exemplary depiction of
For determining the floor type, the control unit 20 may evaluate the spectra 58, 60, 62, and 64 in relation to the occurrence of characteristic structures 66, 68, 70 with a predetermined wavelength, in relation to absolute intensity of at least one characteristic structure 66, 68, 70, in relation to relative intensity and/or position of two or more characteristic structures 66, 68, 70 to each other, and/or in relation to the shape of at least one characteristic structure 66, 68, and 70.
In the present case, the spectrum 60 is characterized, for example, by a relatively wide structure 68 and a relatively high structure 66. The structure 68 further comprises a prominent substructure 69. This allows for the spectrum 58 to be differentiated from the other spectra 60, 62, 64.
The spectra 60 and 64 are similar to each other with respect to the shape of the structure 68, but the substructure 69 in the case of the spectrum 64 is more prominent. Furthermore, the spectrum 64 comprises a higher intensity in the region of the structure 66. The spectra 60 and 64 can be differentiated from each other in this way.
The spectrum 62 projects substantially beyond the spectra 58, 60, and 64 in the region of the structure 70 and moreover has significant differences to the spectra 58, 60, and 64 with respect to form and width of the structure 68, such that an identification of the spectrum 62 is also possible.
Information regarding the respective characteristic structures 66, 68, 70 to be expected are stored in the storage unit 26, linked to a respective floor type and in particular floor material. By comparing the results of the evaluation with the stored information, the control unit 20 is able to unambiguously determine the floor type.
Alternatively or in addition, reference spectra may be stored in the storage unit 20, linked to a respective floor type and in particular floor material. The floor type is able to be inferred by a comparison of an obtained spectrum 58, 60, 62, or 64 with the reference spectra.
In dependence on the determined floor type, the floor cleaning appliance 10 may adapt cleaning parameters of the at least one cleaning assembly 24 as explained above for optimizing the cleaning. Alternatively or in addition, travel parameters of the floor cleaning appliance 10 may be adapted by controlling the undercarriage 22. For example the speed, the route, or the travel pattern is adapted.
When a floor type is determined that should not be cleaned, the route may be adapted to bypass the corresponding floor surface region. Alternatively, a traversing of the floor surface region is conceivable without using a cleaning assembly 24.
On the basis of the information of the spectroscopic device 30, the carpet 72 is able to be recognized and the at least one cleaning assembly 24 controlled to the effect that, during travel over the carpet 72, no cleaning liquid leaks out, but only a dry cleaning with sweeping and vacuuming takes place.
The map of the floor surface 12 in the storage unit 26 may be stored with position-dependent information regarding the determined floor type. In later cleanings of the floor surface 12 taking the map into account, the floor cleaning appliance 10 knows the floor type and is able to carry out a presetting of cleaning parameters and/or travel parameters. During the cleaning, a check of the floor type may be performed.
In the floor cleaning appliance 10, it is advantageously possible to detect with the spectroscopic device 30 the kind, amount, and/or position of soiling of the floor surface 12. For this purpose, the spectra of the spectroscopic device 30 may be analyzed for the presence of a spectral signature of soiling. When a characteristic spectral signature of soiling is found, cleaning parameters and/or travel parameters of the floor cleaning appliance 10 may be adapted for optimizing the cleaning.
The floor cleaning appliance 10 may furthermore have a further transmitting and receiving module 32 which is arranged, for example, on a rear side 76 of the floor cleaning appliance 10. With the transmitting and receiving module 32, after the cleaning takes place, an examination of the floor surface 12 for the kind, amount, and/or position of soiling and cleaning agent residue may be performed behind the floor cleaning appliance 10.
Furthermore, the floor cleaning appliance 10 may comprise at least one camera 78 with which images of the floor surface 12 may be generated. The images may, for example, be evaluated by the control unit 20 by means of methods of image processing. Presently, a first camera 78 is present on the front side 34 and a further camera 78 is present on the rear side 76. The camera 78 on the front side 34 is directed at a region of the floor surface 12 that is arranged upstream of the floor cleaning appliance 10, and the camera 78 on the rear side 76 is directed at a region of the floor surface 12 that is located behind the floor cleaning appliance 10.
Images that are generated by the camera 78 on the front side 34 may be evaluated to determine the floor type of the floor surface 12. A determination made here may be checked for agreement with the floor type determined on the basis on the spectroscopic device 30. This allows for an even more reliable determination to be made regarding the floor type in order to improve the cleaning.
Moreover, the floor type 12 may be checked by means of the camera 78 on the front side 34 for the kind, amount, and/or position of soiling. In a corresponding manner, after a cleaning takes place, the floor surface may be checked by means of the camera 78 on the rear side 76 for remaining soiling and cleaning agent reside.
If, after cleaning, soiling is determined by means of the spectroscopic device 30 or on the basis of the images of the camera 78, another cleaning of the floor surface 12 may be performed, at least in sections. Residue of cleaning agent, for example water, may be suctioned away or wiped up, for example.
The floor cleaning appliance 80 is a hand-guided floor cleaning appliance which may be moved by an operator 82 over the floor surface 12. Provision may additionally be made for the floor cleaning appliance 80 to be of self-propelled and self-steering configuration.
In the floor cleaning appliance 80, an operating unit 84 and an indication unit 86, for example an optical display unit, is provided for the operator 12. The operating unit 84 and the indication unit 86 are depicted in
The operator 82 may operate the floor cleaning appliance 80 by way of the operating unit 84. Information, in particular regarding the determined floor type and preferably also regarding soiling of the floor surface 12, may be displayed to the operator 82 on the indication unit 86.
The floor cleaning appliance 80 can automatically set, for example, cleaning parameters and/or travel parameters in dependence on the floor type determined and/or submit a suggestion regarding this to the operator 82 at the indication unit 86. The operator 82 may accept or, if necessary, modify this suggestion by means of the operating unit 84.
This application is a continuation patent application of international application number PCT/EP2017/060644, filed on May 4, 2017 which is incorporated herein by reference in its entirety and for all purposes.
| Number | Date | Country | |
|---|---|---|---|
| Parent | PCT/EP2017/060644 | May 2017 | US |
| Child | 16671728 | US |
