This application is a U.S. National Phase application of PCT International Application No. PCT/EP2013/077386, filed Dec. 19, 2013, which is incorporated by reference herein.
The invention relates to a method of controlling operation of a robotic cleaning device and a robotic cleaning device performing the method.
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 motor(s) 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 space in the form of e.g. a room. Thus, these prior art robotic vacuum cleaners has the capability of more or less autonomously vacuum cleaning a room in which furniture such as tables and chairs and other obstacles such as walls and stairs are located. Traditionally, these robotic vacuum cleaners have navigated a room by means of using e.g. ultrasound or light waves. Further, the robotic vacuum cleaners typically must be complemented with additional sensors, such as stair sensors, wall-tracking sensors and various transponders to perform accurately.
A large number of prior art robot vacuum cleaners use a technology referred to as Simultaneous Localization and Mapping (SLAM). SLAM is concerned with the problem of building a map of an unknown environment by a mobile robot while at the same time navigating the environment using the map. This is typically combined with a horizontally scanning laser for range measurement. Further, odometry is used to provide an approximate position of the robot as measured by the movement of the wheels of the robot.
US 2002/0091466 discloses a mobile robot with a first camera directed toward the ceiling of a room for recognizing a base mark on the ceiling and a line laser for emitting a linear light beam toward an obstacle, a second camera for recognizing a reflective linear light beam from the obstacle. The line laser emits a beam in the form of straight line extending horizontally in front of the mobile robot.
Further methods known in the art comprise horizontal laser scanning of an area to be represented in 3D, in combination with a camera recording images the area. Features can thus be extracted from the recorded images in order to create the 3D representation.
The process of causing robotic cleaning devices to behave in an autonomous manner is highly complex, even when the robotic cleaning device navigates over a plane surface, mainly because the robotic device has to detect and navigate around a number of objects, and becomes even more complex when the robotic cleaning device further is to transverse some of the objects such as for instance doorsteps. Commonly, the robotic cleaning devices in the art get stuck on obstacles and require human intervention to continue cleaning the surface. This is frustrating for the user, in particular if the robotic cleaning device has been scheduled to clean while the user is not at home.
An object of the present invention is to solve, or at least mitigate this problem in the art and provide an improved method of operating a robotic cleaning device and a robotic cleaning device performing the improved method.
This object is attained in a first aspect of the present invention by a method of controlling operation of a robotic cleaning device. The method comprises detecting obstacles, and identifying one or more sections to be cleaned where the robotic cleaning device is likely to move without being hindered by the detected obstacles. Further, the method comprises controlling movement of the robotic cleaning device such that cleaning of the one or more sections is prioritized before sections of the surface where the robotic cleaning device is more likely to be hindered by the detected obstacles.
This object is attained in a second aspect of the present invention by a robotic cleaning device comprising a main body, a propulsion system arranged to move the robotic cleaning device, and an obstacle detection device arranged to detect obstacles. The robotic cleaning device further comprises a controller arranged to control the propulsion system to move the robotic cleaning device. The controller is further arranged to identify one or more sections to be cleaned where the robotic cleaning device is likely to move without being hindered by the detected obstacles, and to control movement of the robotic cleaning device such that cleaning of the identified one or more sections is prioritized before sections of the surface where the robotic cleaning device is more likely to be hindered by the detected obstacles.
Thus, with the present invention, by categorizing sections of the surface to be cleaned on the basis of the likelihood that the robotic cleaning device will be hindered by, or get stuck on, detected obstacles, the surface to be cleaned can advantageously be divided into obstacle-free sections, sections with many obstacles or sections with obstacles that needs to be climbed/traversed. Subsequently, by prioritizing cleaning of free sections first while more risky sections are left to the end of the cleaning cycle, the cleaning surface coverage before the robot risks getting stuck is increased. This is particularly advantageous in situations where the user cannot be there to help the robot in case it gets stuck.
In an embodiment of the present invention, the robotic cleaning device is positioned with respect to the detected obstacle; wherein the controlling of the movement of the robotic cleaning device is performed on the basis of the positioning.
Advantageously, by positioning the robotic cleaning device with respect to the surface to be cleaned, i.e. position or coordinates of the robotic cleaning device in relation to the surface to be cleaned and obstacles located on or above the surface is derived, a 3D representation or map can be created over e.g. a living room in a house. The positioning of the robotic cleaning device, which e.g. is implemented by means of using a 3D camera system comprising a 3D camera device configured to record images of the vicinity of the robotic cleaning device and a processing unit being configured to generate a map over the area to be cleaned from the recorded images using for instance a methodology such as SLAM, enables the robotic cleaning device to attain a detailed view, in 3D, of the area to be cleaned. The robotic device detects obstacles located on the surface to be cleaned and further advantageous is that, by means of the detection of obstacles and the subsequent positioning, the robotic cleaning device is capable of in more detail identify one or more sections of the surface to be cleaned where the robotic cleaning device is likely to move without being hindered by the detected obstacles. For instance, it may be that a smaller section of the surface to be cleaned accommodates a relatively large number of furniture such as tables, chairs, floor lamps, cables, a sideboard hanging on a wall, etc. Since in the present invention such sections advantageously are identified by the robotic cleaning device, a decision can be taken that the robotic cleaning device is much more likely to be hindered in the identified sections of a room where many obstacles are located than in a section relatively free from obstacles, and that the section free from obstacles should be prioritized when the room is cleaned.
In an embodiment of the present invention, a section comprising a fewer number of obstacles is advantageously considered to be a section where the robotic cleaning device is more likely to move without being hindered as compared to a section comprising a larger number of obstacles.
In a further embodiment of the present invention, a section comprising obstacles having a height below a predetermined threshold value is advantageously considered to be a section where the robotic cleaning device is likely to move without being hindered. Assuming for instance that the robotic cleaning device will have problems moving over obstacles higher than, say, 5 cm, the threshold value could be set to that.
In still another embodiment of the present invention, a section comprising obstacles under which the robotic cleaning device is to move having a clearance height exceeding a predetermined clearance threshold value is advantageously considered to be a section where the robotic cleaning device is likely to move without being hindered. Assuming for instance that the height of the robotic cleaning device is 5 cm, the clearance threshold will be set to a value just over that.
Generally, all terms used in the claims are to be interpreted according to their ordinary meaning in the technical field, unless explicitly defined otherwise herein. All references to “a/an/the element, apparatus, component, means, step, etc.” are to be interpreted openly as referring to at least one instance of the element, apparatus, component, means, step, etc., unless explicitly stated otherwise. The steps of any method disclosed herein do not have to be performed in the exact order disclosed, unless explicitly stated.
The invention is now described, by way of example, with reference to the accompanying drawings, in which:
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.
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.
A controller 16 such as a microprocessor controls the wheel motors 15a, 15b to rotate the driving wheels 12, 13 as required in view of information received from an obstacle detecting device (not shown) for detecting obstacles in the form of walls, floor lamps, table legs, low-hanging wall-mounted furniture, etc., around which the robotic cleaning device must navigate.
The obstacle detecting device may be embodied in the form of infrared (IR) sensors and/or sonar sensors, a microwave radar, 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 16. The microprocessor 16 communicates with the wheel motors 15a, 15b to control movement of the wheels 12, 13 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.
Further, the main body 11 is optionally arranged with a cleaning member 17 for removing debris and dust from the surface to be cleaned in the form of a rotatable brush roll arranged in an opening 18 at the bottom of the robotic cleaner 10. Thus, the rotatable brush roll 17 is arranged along a horizontal axis in the opening 18 to enhance the dust and debris collecting properties of the cleaning device 10. In order to rotate the brush roll 17, a brush roll motor 19 is operatively coupled to the brush roll to control its rotation in line with instructions received from the controller 16.
Moreover, the main body 11 of the robotic cleaner 10 comprises a suction fan 20 creating an air flow for transporting debris to a dust chamber or cyclone arrangement (not shown) housed in the main body via the opening 18 in the bottom side of the main body 11. The suction fan 20 is driven by a fan motor 21 communicatively connected to the controller 16 from which the fan motor 21 receives instructions for controlling the suction fan 20.
With further reference to
A number of embodiments illustrating different cleaning situations will be described in detail in the following.
The first and second line laser 27, 28 are configured to scan, preferably in a vertically 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 27, 28 are configured to send out laser beams, which illuminate furniture, walls and other objects of a home or room. The device 23 is controlled by the controller 16 to capture and record images from which the controller 16 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 motor 15 to 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 device such that the surface to be cleaned can be navigated taking into account the generated 3D representation.
The 3D representation generated on the basis of the images recorded by the 3D camera system 22 thus facilitates detection of obstacles in the form of walls, floor lamps, table legs, around which the robotic cleaning device must navigate. The robotic cleaning device 10 is hence configured to learn about its environment or surroundings by operating/cleaning.
With respect to
Once the obstacles 31-36 have been detected, the controller identifies in step S102 from the 3D representation of the room one or more sections of the surface 30 to be cleaned where the robotic cleaning device 10 is likely to move without being hindered by the detected obstacles 31-36. In the illustration of
As is illustrated in
Again, with reference to
With reference to
In a further embodiment of the present invention, it is even envisaged that one or more sections of the room 30 are identified as sections that the robotic cleaning device 10 will dispense from cleaning, such as the relatively tight area around the sofas 33, 34 and the coffee table 35 in the lower left part of the room. Rather, the robotic cleaning device 10 may proceed to a different room and optionally return to the sections where cleaning was dispensed with at the very end of the cleaning program.
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.
Filing Document | Filing Date | Country | Kind |
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PCT/EP2013/077386 | 12/19/2013 | WO | 00 |
Publishing Document | Publishing Date | Country | Kind |
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WO2015/090404 | 6/25/2015 | WO | A |
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