Patent Application
20240081594
This application claims the benefit under 35 U.S.C. 119(a) to German Patent Application No. 10 2022 123 090.2, filed Sep. 12, 2022, the disclosure of which is incorporated herein by reference in its entirety.
The present invention relates to a method for operating a self-propelled cleaning device according to the claims as appended hereto and to a self-propelled cleaning device according to the claims are appended hereto.
In the prior art, self-moving or self-propelled cleaning devices are known, in particular as (partially) autonomous vacuuming robots or mopping robots or combined vacuuming and mopping robots for cleaning surfaces such as floors.
These cleaning devices usually have a dirt container for receiving dirt that is removed from the surface to be cleaned by means of the cleaning device. It should be ensured that the dirt container or a cover of the dirt container is closed during a cleaning process. The cleaning device should therefore detect whether the dirt container or cover is open or closed.
It is known from the state of the art to provide an electrical switch that detects the position and/or the opening status of the cover of the dirt container or by means of which an open position of the cover is detected.
On the one hand, there is the disadvantage that the electrical switch is prone to errors, as the electrical switch is located close to the dirt container and thus faults or functional failures of the switch can easily occur due to dirt.
Furthermore, there are costs for providing the electrical switch to the associated peripherals, such as wiring harnesses and an accordingly configured microcontroller to communicate with the switch.
It is therefore a problem underlying the present invention to provide an improved method for operating a self-propelled cleaning device and an improved self-propelled cleaning device, preferably wherein the detection of an open cover, in particular of a dirt container, is simpler and/or less prone to errors and/or wherein costs can be reduced.
The problem underlying the invention is solved by a method for operating a self-propelled cleaning device according to the claims as appended hereto or a self-propelled cleaning device according to the claims as appended hereto. Advantageous further developments are the subject of the subclaims.
A cleaning device within the meaning of the present invention is preferably a (partially) autonomous and/or self-propelled vacuum cleaning robot, hereinafter referred to as a vacuuming robot, or a mopping robot or a combined vacuuming and mopping robot. However, a cleaning device within the meaning of the present invention may also be another device for cleaning and/or maintaining surfaces, in particular floors. For example, polishing devices or robots, window cleaning devices or robots or lawn mowing devices or robots are also to be understood as cleaning devices in the sense of the present invention.
The method according to the invention relates to the operation of a self-propelled cleaning device. The cleaning device has a cover and a distance meter for measuring the distance of the cleaning device from objects in its environment. The cover is preferably hinged and serves in particular to cover a dirt container, in particular a dust container, of the cleaning device. However, it can also be another cover.
According to the invention, the distance sensor is used to detect an open position of the cover. In other words, an open position of the cover is detected by means of the distance sensor. In this way, the detection of an open cover can be carried out in a simple, inexpensive and error-free manner.
A detection of an open position of the cover by means of the distance meter is preferably carried out by measuring a distance with the distance meter and comparing the measured distance with a reference value. If the comparison shows that the measured distance is smaller than the reference value, this is preferably evaluated as an open position of the cover.
It is preferred that both the measured distance and the reference value are each assigned a direction and that it is only evaluated as an open position of the cover if the comparison shows that both the measured distance is smaller than the reference value and the direction of the measured distance corresponds to the direction of the reference value. This ensures that the smaller measured distance is actually caused by the open cover.
The reference value preferably represents a distance to an outer edge of a cleaning device. Preferably, the open position of the cover is thus detected by measuring a distance that is smaller than the distance to the outer edge of the cleaning device. The reference value or the distance represented by the reference value is preferably a minimum distance, in particular the minimum distance to the outer edge of the cleaning device as seen from the distance meter in the direction of the cover or in an angular range of the measuring range of the distance meter in which the cover is located in an open position.
In the method, preferably a warning message is output and/or a cleaning process is aborted, interrupted and/or prevented if an open position of the cover is detected. This increases the operational safety.
The self-propelled cleaning device according to the present invention has a preferably hinged cover and a distance meter for measuring the distance of the cleaning device from objects in its environment and is designed to perform the method described herein.
It is preferred that the cover is flush with a housing of the cleaning device in a closed position and projects from the housing in an open position. In this way, the cover in the open position is preferably in the detection range of the distance meter, so that it is possible to detect the open position of the cover by means of the distance meter.
The cover is preferably arranged on a top side of the cleaning device.
Preferably, the cover is aligned at least substantially horizontally in a closed position and at least vertically in an open position. This allows the open position to be detected by means of the distance meter.
The cover is preferably used to cover and/or close a dirt container, in particular a dust container, of the cleaning device. However, it can also be another cover or a fold-out carrying handle for the cleaning device, which is also to be understood under this term.
The distance meter is preferably located on a top side of the cleaning device.
Preferably, the distance meter is a laser distance meter. This enables a two- or three-dimensional detection of the environment of the cleaning device and the creation of a map of the room and/or cleaning area in which the cleaning device is located. This allows for particularly efficient cleaning by creating a map of the room and/or cleaning area and defining a corresponding cleaning plan or path.
The aforementioned aspects, features and method steps of the present invention, as well as the aspects, features and method steps of the present invention resulting from the claims and the following description, can in principle be realised independently of one another, but also in any combination or sequence.
Further aspects, advantages, features and characteristics of the present invention are apparent from the claims and the following description of a preferred embodiment with reference to the figures. It shows:
In the schematic figures, some of which are not to scale, the same reference signs are used for identical, similar or like parts and components, wherein corresponding or comparable properties or advantages are achieved, even if a repeated description is omitted.
The cleaning device 1 is preferably designed as a vacuuming robot and/or is designed to automatically and/or autonomously drive over a cleaning surface F. In particular, the cleaning device 1 is designed to suck up suction material or air together with suction material from the cleaning surface F.
Alternatively or additionally, however, the cleaning device 1 can also be designed to wipe the cleaning surface F or have a floor mopping function. In other words, the cleaning device 1 can also be designed as a floor mopping robot or combined vacuuming and mopping robot.
In the following description, it is assumed that the cleaning surface F is at least substantially flat and horizontal. In particular, the term “horizontal” is used for directions parallel to the cleaning surface F and refers in particular to the position of use of the cleaning device 1 shown in the figures.
The cleaning device 1 has a housing 2 and several, in this case two, electric motor-driven wheels 3.
The cleaning device 1 has a dirt container 4 or dust container for receiving the dirt, in particular dust, removed from the cleaning surface F by means of the cleaning device 1.
On a bottom side 5 or on a side 5 facing the cleaning surface F, the cleaning device 1 has a particularly elongated and/or slot-like aspiration opening 6, via which dirt can be picked up or sucked in from the cleaning surface F.
Relative position designations used herein, such as “top”, “bottom”, “top side”, “bottom side” or the like, refer to the position of use of the cleaning device 1 shown in the figures, in which the cleaning device 1 travels or can travel over the cleaning surface F and/or the wheels 3 contact the cleaning surface F.
During cleaning operation of the cleaning device 1, suction material or air together with suction material can be sucked from the cleaning surface F into the cleaning device 1, in particular into the dirt container 4, via the aspiration opening 6. The cleaning device 1 preferably has a blower (not shown) for sucking in the suction material.
In the dirt container 4, the collected suction material is preferably separated from the air, for example by means of a filter not shown, wherein the (cleaned) air can then be released back into the environment.
The dirt container 4 is preferably arranged inside the housing 2 and/or (completely) surrounded by the housing 2.
Furthermore, the cleaning device 1 has a cover 7. The cover 7 is arranged in particular on a top side 8 of the cleaning device 1.
Preferably, the cover 7 is a cover for the dirt container 4, i.e. a dirt container cover. The cover 7 therefore preferably serves to cover and/or close the dirt container 4. By opening the cover 7, the dirt container 4 is preferably made accessible and can preferably be emptied and/or removed from the cleaning device 1 for emptying.
In principle, however, the cover 7 can also be a cover other than a dirt container cover, for example a cover that allows access to the interior of the cleaning device 1 and/or to parts or components inside the housing 2. For example, the cover 7 can be a cover of a maintenance compartment or the like, or it can also form a fold-out carrying handle for the cleaning device 1.
The cover 7 is preferably at least substantially flat, level, planar and/or disc-like and/or designed as a flap.
The dirt container 4 preferably has an opening 9, which is arranged in particular on a top side of the dirt container 4 or on a side of the dirt container 4 facing the cover 7.
The opening 9 of the dirt container 4 enables the dirt collected or located in the dirt container 4 to be sucked off by another vacuum cleaner through the opening 9, so that the dirt container 4 does not necessarily have to be removed from the cleaning device 1 for emptying.
Preferably, the opening 9 is sealed by the cover 7 when the cover 7 is closed. The cover 7 thus preferably serves to seal the opening 9 of the dirt container 4.
The cover 7 has a closed and an open position. Preferably, the cover 7 can be unfolded and/or moved from the closed position to the open position by unfolding. In particular, the cover 7 can be pivoted/swiveled from the closed position to the open position and vice versa.
The closed position of the cover 7 is shown in
In the closed position, the cover 7 preferably closes flush with the housing 2 and/or the top side 8 of the cleaning device 1. Further, in the closed position, the cover 7 is preferably aligned at least substantially horizontally.
In the open position, the cover 7 preferably protrudes from the housing 2 and/or the top side 8. Furthermore, the cover 7 is preferably at least partially vertically aligned in the open position.
Preferably, the cover 7 is biased into the open position and/or the cover 7 is held in the open position, for example by means of a spring mechanism and/or latching mechanism. Preferably, the open position can only be left by a user (not shown) manually moving the cover 7 into the closed and/or horizontal position and latching it into place. For latching the cover 7 in the closed position, a push-push mechanism can be provided, for example, so that the cover 7 is on the one hand released from the closed position by pressing on the cover 7 and is preferably automatically moved into the open position by means of the spring mechanism and on the other hand can be moved or pivoted or folded from the open position into the closed position and latched therein by pressing down.
The term “open position” refers in particular to the fully open position of the cover 7 as shown in the figures, in which the cover 7 is preferably automatically held by means of the spring mechanism and/or into which the cover is preferably pretensioned by means of the spring mechanism. In the fully open position, the cover 7 is preferably arranged at an angle of more than 60° to the top side 8 of the cleaning device 1. In principle, however, the term “open position” includes any position of the cover 7 that does not correspond to the closed position. Thus, the cover 7 can also be only partially open in the open position, for example if the spring mechanism is damaged and the cover 7 can no longer move to the fully open position or the cover 7 has become caught or the like. Preferably, any position in which the cover 7 is not horizontally aligned and/or is not flush with the housing 2 or the top side 8 or any position in which the cover 7 protrudes from the housing 2 is an open position of the cover 7.
The cleaning device 1 has a distance meter 10. The distance meter 10 is preferably designed to detect objects located in front of the cleaning device 1 in the direction of travel R and/or to measure the distance of the cleaning device 1 from objects located in front of the cleaning device 1 in the direction of travel R. The direction of travel R of the cleaning device 1 is symbolised by corresponding arrows in the figures. The direction of travel R of the cleaning device 1 is symbolised in the figures by corresponding arrows.
By means of the distance meter 10 and the wheels 3, the cleaning device 1 can automatically or autonomously orientate and move within an environment or on the cleaning surface F.
The distance meter 10 is preferably designed to scan the (horizontal) environment of the cleaning device 1 and/or to detect objects in the environment of the cleaning device 1, in particular laterally or horizontally (in particular with reference to the direction of travel R) in front of, behind and/or next to the cleaning device 1, and/or to measure the distance of the cleaning device 1 from objects in its (horizontal) environment.
The distance meter 10 is preferably aligned at least substantially horizontally and/or parallel to the cleaning surface F and/or is designed to measure at least substantially horizontal distances and/or distances at least substantially parallel to the cleaning surface F.
The distance meter 10 preferably has a laser for measuring or is preferably a laser distance meter.
Preferably, the cleaning device 1 is designed by means of the distance meter 10 to scan the environment of the cleaning device 1 in a horizontal direction or in a direction parallel to the cleaning surface F in two or three dimensions. Furthermore, the cleaning device 1 is preferably designed, by means of the distance meter 10, to create a (two-dimensional) map of the surroundings of the cleaning device 1 or of the cleaning surface F travelled over by the cleaning device 1 on the basis of the distances measured by means of the distance meter 10.
Particularly preferably, the distance meter 10 has a laser that rotates or can rotate through 360° about a vertical axis or axis of symmetry A, hereinafter referred to as axis A, of the distance meter 10. Preferably, the distance meter 10 is designed so that the laser beam of the laser rotates 360° around the axis A several times, for example five times, per second. Furthermore, the distance meter 10 is preferably designed to detect the environment of the cleaning device 1 in a radius of several metres, for example about 4 m.
The distance meter 10 is preferably arranged on the top side 8 of the cleaning device 1. The distance meter 10 is preferably aligned at least substantially horizontally. Preferably, the distance meter 10 is designed to measure distances in all horizontal directions or 360° around the cleaning device 1 or the axis A, starting from the cleaning device 1.
Accordingly, each distance measured with the distance meter 10 is preferably assigned a direction or each distance measured with the distance meter 10 is additionally provided with direction information. The direction is preferably indicated relative to the orientation of the cleaning device 1 and/or direction of travel R of the cleaning device 1. In particular, the direction represents an angle or an angular position relative to the orientation or direction of travel R of the cleaning device 1 and/or the axis A.
The distance meter 10 and the cover 7 are preferably arranged relative to each other in such a way that an open position of the cover 7 is identifiable or detectable by means of the distance meter 10 or the cover 7 is in the detection or measuring range of the distance meter 10 when it is in the open position.
The cover 7 is preferably arranged in front of the distance meter 10 in the direction of travel R.
The method for operating the cleaning device 1 according to the invention is explained in more detail below. The cleaning device 1 is designed to carry out the method described below.
To carry out the method, the cleaning device 1 preferably has a correspondingly designed control or a correspondingly designed microcontroller.
According to the invention, it is provided that an open position of the cover 7 is detected by means of the distance meter 10 or that the distance meter 10 is used to detect an open position of the cover 7.
Here, particular use is made of the fact that the cover 7 is horizontally aligned in the closed position and/or is flush with the top side 8 or the housing 2 or is not located in the detection or measuring range of the distance meter 10 in the closed position. If, on the other hand, the cover 7 is in an open position, it is in the measuring range of the distance meter 10 or can be detected or recognised with the distance meter 10.
A detection of an open position of the cover 7 is carried out in particular by a comparison of the distance(s) measured with the distance meter 10 with one or more reference values. If the comparison shows that the measured distance is smaller than a reference value or the reference values, this is preferably evaluated as a detection of an open position of the cover 7.
The measured distances and the reference value(s) are preferably each present as digital data. The reference value is preferably stored in the cleaning device 1 or in a memory of the cleaning device 1. Alternatively or additionally, however, the reference value can also be stored in another location, for example in a cloud connected in particular to the cleaning device 1 in terms of data technology or in an external device, such as a smartphone or tablet. The reference value is preferably determined empirically.
The reference value represents in particular a minimum distance. Falling below the minimum distance is preferably evaluated or interpreted as an open position of the cover 7.
Particularly preferably, the reference value or minimum distance represents a distance to an outer edge 11 of the cleaning device 1 or housing 2, in particular as seen from the distance meter 10 or axis A in the direction of travel R and/or in the direction of the cover 7. The outer edge 11 of the cleaning device 1 or housing 2 is in particular the edge between the top side 8 and a section of the housing 2 extending downwards from the top side 8 in the direction of the bottom side 5 or the cleaning surface F, as shown in particular in
Since the distance meter 10 is preferably arranged decentrally on the top side 8 of the cleaning device 1, as shown in the figures, the outer edge 11 (which in particular surrounds the housing 2) of the distance meter 10 has different distances from the distance meter 10 as seen in different directions. When the cover 7 is open or in an open position, the cover 7 is preferably (in particular measured from the axis A) in a certain angular range of the measuring range of the distance meter 10 or covers it, so that a smaller distance is measured in this angular range when the cover 7 is in the open position than when the cover 7 is in the closed position.
Preferably, any direction from the distance meter 10 or axis A that lies within this angular range is referred to as the “direction of the cover 7”.
The minimum distance from the distance meter 10 as seen in the direction of the cover 7 is therefore preferably the smallest distance from the distance meter 10 to the outer edge 11 in the angular range of the distance meter 10 covered by the cover 7 in an open position. The reference value preferably represents this minimum distance.
However, the reference value can also be another predetermined or presettable minimum distance, the undershooting of which can be evaluated as an open position of the cover 7. Preferably, the reference value or minimum distance is at most as large as the distance to the outer edge 11 or smaller than the distance to the outer edge 11.
This takes advantage of the fact that usually, or when the cover 7 is closed, the distances to objects in the (horizontal) environment of the cleaning device 1 measured with the distance meter 10 must at least correspond to the distance to the outer edge 11 of the cleaning device 1 or housing 2. However, when the cover 7 is in an open position, it has a smaller distance to the distance meter 10 than the outer edge 11, as shown in the figures. Accordingly, this can be used to detect an open position of the cover 7 by means of the distance meter 10.
Preferably, a direction is assigned to the measured distances of the distance meter 10. Accordingly, a direction is preferably also assigned to the reference value(s), in particular in the same way.
As already explained, the distance meter 10 is preferably designed to measure distances in different directions, in particular horizontally relative to the axis A. Accordingly, each measured distance is preferably also assigned the information in which direction this distance was measured. In this sense, each distance is preferably assigned a direction or directional information. The same preferably applies to the reference value(s).
Preferably, it is only evaluated as an open position of the cover 7 if the comparison of the measured distance with the reference value shows that the measured distance is smaller than the reference value and (additionally) the direction of the measured distance (i.e. the direction assigned to the measured distance) corresponds to the direction of the reference value (i.e. the direction assigned to the reference value). In this way, it can in particular be avoided that objects located close to the cleaning device 1 or distance meter 10 lead to a false or false-positive detection of an open position of the cover 7. This could otherwise be the case, for example, if an object is located directly behind the cleaning device 1 or on the side of the distance meter 10 opposite the cover 7, i.e. in
If an open position of the cover 7 is detected, a corresponding warning message is preferably output. This can be done in the form of an error message, for example. The warning message or error message can, for example, be output optically or visually, for example by a flashing lamp or an LCD display or other displays and/or warning lights of the cleaning device 1, and/or by outputting an acoustic warning message by means of the cleaning device 1.
Alternatively or additionally, it is also possible for the warning message or error message to be output via an external device coupled to the cleaning device 1 in terms of data technology, such as a tablet or smartphone, in particular via an app installed on the external device and (digitally) connected to the cleaning device 1. The warning message can also be output via the app optically or visually, in particular by a push message, and/or acoustically.
Alternatively or additionally, if an open position of the cover 7 is detected, a cleaning process can be aborted, interrupted and/or prevented.
For example, it is possible that an ongoing cleaning process is first interrupted if an open position of the cover 7 is detected during the cleaning process and the cleaning process is not continued or is only continued when the cover 7 has been closed or a closed position of the cover 7 has been detected again.
Furthermore, it is possible to prevent or not start a cleaning process if an open position of the cover 7 is detected. In this case, in particular, a cleaning scheduled according to a cleaning plan or a manually started cleaning can be prevented or not started if an open position of the cover 7 is detected. Preferably, a cleaning process is only started when a closed position of the cover 7 is/was detected (again).
If a cleaning process is aborted, interrupted and/or prevented, a warning message is preferably output at the same time, as described previously.
Preferably, before the start of a (scheduled or manually started) cleaning process, it is checked whether the cover 7 is closed. For this purpose, a detection process for detecting an open position of the cover 7, as described, is carried out by means of the distance meter 10. It is also possible to perform such a detection operation several times, at regular intervals and/or continuously during an ongoing cleaning operation, in order to detect when the cover 7 is opened or opens during an ongoing cleaning operation.
Individual aspects, features and process steps of the present invention can be implemented independently of one another, but also in any combination or sequence.
| Number | Date | Country | Kind |
|---|---|---|---|
| 10 2022 123 090.2 | Sep 2022 | DE | national |
