DE102007053310A1 - Robotic vehicle has drive device provided for driving and steering robotic vehicle on operating area, and control device is provided for controlling drive device depending on sensor information of sensor device - Google Patents

Abstract

The robotic vehicle (1) has drive device (12) provided for driving and steering the robotic vehicle on an operating area (3). A control device (11) is provided for controlling a drive device depending on the sensor information of a sensor device. The sensor device is formed as a distance determining device (5) arranged on the robotic vehicle, particularly for determining smallest distance to a borderline or boundary surface (4). A Global positioning system (GPS)receiver is assigned to the control device. An independent claim is included for a method for controlling a drive device for driving and steering a robotic vehicle in an operating area.

Description

State of the art

The The invention relates to an (autonomous) surface vehicle according to The preamble of claim 1 and a driving method according to the The preamble of claim 14.

From the EP 1 041 220 A2 , of the EP 1 302 611 A2 , of the WO 2005 045 162 A1 , of the EP 1 022 411 A2 , of the US 2004 0074524 A1 , of the WO 2004 019.295 A1 , of the EP 1 489 249 A2 , of the EP 657 603 A1 , of the ES 2 074 401 A1 , of the FR 2 685 374 A1 , of the JP 2005 257 441 A , of the EP 750 083 A1 as well as the KR 2004 101 953 A robotic vehicles are known, which make a direction angle by a defined angle after detecting a wall contact and then continue their movement in a straight line. A disadvantage of these robotic vehicles is that the robotic vehicles are controlled with a pure random navigation, so that it is not possible to run the working area away optimally. A complete shutdown is not guaranteed for any areas and takes a correspondingly long time.

From the FR 2 781 243 A1 , of the US 556 937 A and the US 5,974,347 A1 robotic vehicles are known, the control unit of which carries out an automatic trajectory correction for following a path previously programmed by the operator. The programming of the path is complex and requires mostly expert support.

Drive systems for lawnmower robotic vehicles with a marker-based lawn area boundary are known, for example, from US Pat EP 550 473 B1 and the US Pat. No. 6,984,952 B2 known.

Disclosure of the invention

Technical task

Of the Invention is based on the object of proposing a robotic vehicle, with the one working area of any shape optimized and completely away can be traversed, without it being necessary, a corresponding to program the optimized path. Furthermore, there is the task in proposing a correspondingly optimized driving method.

Technical solution

These Task becomes regarding the robotic vehicle with the features of claim 1 and in terms of the driving method with the Characteristics of claim 14 solved. Advantageous developments The invention are specified in the subclaims. In The scope of the invention also includes all combinations at least two of in the description, the claims and / or features disclosed in the figures. To avoid repetition should be purely device-revealed features also be disclosed as being according to the method and be claimable. Likewise, purely according to the method disclosed Features also disclosed as a device apply and be claimable.

The invention is based on the idea of arranging on the autonomous robot vehicle, ie on and / or in the robotic vehicle, a sensor device designed as a distance determining device, with which, preferably continuously, ie continuously or at short discrete time intervals, the distance of the robotic vehicle to a boundary line and / or interface, which preferably completely encloses the work area can be determined. For example, the interface may be the peripheral wall of a pool, or the walls of a room or yard, or a curb or the like. The distance determination device supplies, preferably constantly, distance information about the, in particular the smallest, distance of a reference point of the robot vehicle to the boundary line and / or interface. The control unit processes this distance information and uses it for the controlled driving and steering of the robotic vehicle, for example in such a way that the robotic vehicle maintains a constant distance to the borderline and / or interface during a forward travel. A borderline and / or boundary surface in the sense of the invention does not necessarily mean a line or area directly delimiting the working area. It is also an embodiment feasible, in which the boundary line and / or the interface is arranged at a distance from the outer limits of the working area / are. With a robotic vehicle designed according to the concept of the invention, by processing the distance information, the work area can be optimized and / or completely traveled away without having to first determine a route. For example, the control unit drives the drive means of the robotic vehicle such that the robotic vehicle runs the work area in parallel lanes, each lane being at a constant distance from the limit line and / or interface determined by the control unit base of the distance information of the distance determiner is maintained by appropriate activation of the drive means. Another advantage of a robotic vehicle designed according to the concept of the invention, in addition to being able to dispense with programming a route to be traveled, is that of a cyclical calibration of the sensor device on site for each new one Field of application can be omitted. It is sufficient the one-time factory calibration if no mechanical adjustment takes place. Particularly preferred is an embodiment of the robotic vehicle as a pool robot with a suction and / or filtering and / or cleaning device. A robotic vehicle designed according to the concept of the invention enables a complete and efficient shutdown of the work area, in particular a complete and efficient cleaning of a pool floor and / or the pool walls without additional external aids or operator interactions, such as pool-specific programming activities or on-site calibration procedures.

Especially preferred is an embodiment in which the control unit the drive means controls such that, if the robotic vehicle is deposited anywhere on the work area, the robotic vehicle drives straight on until it reaches any position has an initial setpoint distance to the boundary line or interface measures. There begins the robotic vehicle with the movement parallel to the boundary line or interface, wherein the control unit is the drive means of the robotic vehicle such that a set distance value is maintained. Prefers the control unit inside the robotic vehicle is in a watertight Housing or arranged in the camera.

In Development of the invention is provided with advantage that the Control unit based on, in particular continuously determined, Distance information automatically a trajectory for the robotic vehicle is calculated, which is preferably designed such is that the entire workspace or a given or operator-specifiable section of the workspace, at least approximately, is completely traversed, preferably without a Surface section is passed over several times. The the latter restriction or departure optimization applies not necessarily for the last downhill run or the last Trajectory section of the trajectory, especially if the / the Diameter of the work area not evenly through the abzufahrenden Rail widths is divisible / are.

From particular advantage is an embodiment in which the Trajectory for the robotic vehicle is calculated in such a way that this clockwise and / or counterclockwise the Working area annular, d. H. in rounds, leaves. An embodiment is preferred in which the trajectory calculated so that the robotic vehicle is constantly, either clockwise or counterclockwise, moves. However, it is an embodiment feasible, in the between a departure of the work area in a clockwise direction and a departure in the counterclockwise direction is changed. In other words become annular, at the boundary line and / or the interface oriented, d. H. parallel to this / these running, lanes calculated, with the diameter of the abzufahrenden to each other Lanes depending on whether in the work area inside or outside starting to depart, either progressively larger or gradually getting smaller. In other words after leaving a ring track from the robotic vehicle to the next, adjacent, adjusted to the work area contour ring track changed.

In Development of the invention is provided with advantage that the Control unit, the drive means depending on the distance information controls so that the robotic vehicle, the work area in several rounds, d. H. Ring lanes, leaves, with the round contours at the working area contour or at the inner contour of the borderline and / or Are oriented to interface. Preferably, the correspond Contours of the ring tracks of the contour of the boundary line or the interface on an enlarged or reduced scale. While a round is being driven, d. H. while the robot vehicle drives a ring track controls the Control unit, the drive means such that the robot vehicle a defined distance to the boundary line and / or interface comply. After completing each round, so after a ring from the robot vehicle, preferably completely was, the robot vehicle changes to a neighboring larger or smaller ring or round, whereby the contour of this ring or this ring track to the contour of the work area or the Inner contour of the boundary line or the interface due to is adapted to the maintenance of the constant distance, or this corresponds to a changed scale.

From particular advantage is an embodiment in which the Width of a round, d. H. the width of a ring track, at least approximately, the Width of the robot vehicle transverse to the direction of travel or the width a working element of the robotic vehicle, such as a Cutting knife or a cleaning device of the robotic vehicle, corresponds so that the entire workspace is completely "processed" can be, preferably without a surface section run over several times.

Prefers is an embodiment of the robotic vehicle in which this has a rotational angle sensor with which it can be determined when a round is completed, so on an adjacent round or ring track can be changed. Additionally or alternatively the provision of a rotation angle sensor may be completed a round of GPS-assisted or odometry-supported data detected become.

In With regard to the specific design of the distance determination device There are different possibilities. Of special Advantage is an embodiment of the distance determination device, in which these at least one measurement signal source and at least one Sensor for receiving a signal emitted by the measuring signal source and reflected at the boundary line and / or the interface Measuring signal has. It is particularly preferred if the Measuring signal source and the sensor, preferably in common, rotating are drivable. For example, this is the measurement signal source and the at least one sensor fixed to a rotatably driven Holding plate connected.

Especially preferred is an embodiment of the distance determination device, in which the measuring signal source as a light beam source, in particular as a laser beam source, is ausgebil det and the at least one sensor an optical sensor. This can be both a point sensor act as well as an area sensor. Particularly preferred an embodiment of the distance determination device, when the sensor as a digital camera, in particular with a CCD chip, is trained. The digital camera and the light beam source are thereby, preferably together, for example by mounting on a holding plate rotatably driven. With such a thing trained distance determination device can easily for every rotation of the digital camera (sensor and measuring signal source) the smallest distance to the boundary line and / or interface be determined. Preferably, the control unit is designed such if, by means of the distance determination device, obstacles be detected, these are bypassed. With the distance determination device obstacles can be detected because the obstacles Reflect light beam into the digital camera. That way is it, with a corresponding design of the control unit, possible, to avoid the obstacle at a constant distance.

additionally or alternatively, the measurement signal source of the distance determination device as sonar source and / or ultrasound source and / or radar source be formed. Such a trained measuring signal source is then a corresponding sensor, ie a sonar signal sensor or to assign an ultrasonic sensor or a radar sensor, wherein to note that radar waves are not used under water can. The actual distance measurement, d. H. Distance determination, done - independently from the specific design of the measuring signal source and / or the sensor, for example via a transit time measurement of the measurement signal and / or interferometric Measurement methods.

According to one preferred embodiment, the drive means of the Robotic vehicle based on the measurement of the smallest distance to the Boundary line or interface controlled such that this smallest distance from the robotic vehicle with each revolution of the work surface clockwise and / or counterclockwise, at least approximately, is constantly maintained. The constant distance will after each 360 ° circulation of the robot vehicle, ie after completion of each Round to measure a constant length, in particular order the width of a working element of the robot vehicle or the Width of robotic vehicle, increased or decreased. One preferably provided rotary angle sensor determines whether or when a complete 360 ° turn of the robotic vehicle took place. Only after detection of a complete 360 ° rotation increases the required distance to be maintained or lowered. It is an embodiment feasible in case of ambiguity, the robotic vehicle in a preferred direction of motion is moved in a clockwise or counterclockwise direction. Farther an embodiment is feasible, in which the robot vehicle, when this is in undefined states, for example because (temporarily) no distance value can be measured, as long as goes straight until again a valid distance value is present, whereupon the robotic vehicle then the route with the prescribed Distance to the boundary line or interface continues. Furthermore, an embodiment can be realized in which the Robot vehicle, if this the borderline and / or the interface, in particular a Peripheral, touches, does not continue, but goes back again, until again a valid Distance signal is present and then in case of another signal failure a direction different by an angle increment as before.

In a further development of the invention, it is advantageously provided that the distance determination device determines the distance to the boundary line or interface by triangulation, preferably in each case the minimum distance to the boundary line or interface, with the aid of the rotating light beam source and the rotating camera. In triangulation, a light beam is focused on the boundary line or interface and observed with a camera. If the distance of the boundary line or the measuring object (measured object) from the sensor (eg camera) changes, the angle under which the light beam is observed and thus the position of its image on the photo sensor of the camera also changes. From the change in position, the distance of a reference point to the boundary line or boundary surface is then calculated by means of angle functions. One advantage of triangulation is that it is a fast and precise method (> 20 kHz line measurement rate achievable - depending on light output). The distance measurement can therefore be continuous ierlich done and is well suited for quasi-continuous determination of, preferably lowest, distance of the robotic vehicle to the boundary line or interface.

additionally or alternatively to a distance determination by triangulation can by means of the previously described distance determination device a distance measurement by a transit time measurement of, preferably temporally modulated, light beam done.

In Further training is provided with advantage that the coarse trajectory the further inward or outward paths for the robotic vehicle based on the first orbit closest to on the outer contour or inner contour is calculated with GPS signals is the GPS receiver assigned by a control unit be received. The previously described Methods for distance measurement used for fine position correction become. Additionally or alternatively, the GPS trajectory calculation for distant tracks, if there is the distance to the boundary line and / or Interface is too large for other measurement methods, be used.

As mentioned above, it is the robotic vehicle preferably around a pool robot vehicle, in particular a pool cleaning robot whose Working element, for example a filter device and / or suction device and / or cleaning device. On this application is the Invention not limited. It is conceivable one after robotic vehicle designed as a garden vehicle according to the concept of the invention, for example as a lawnmower or weed yawning vehicle, form, especially if the work area, preferably completely, from a borderline and / or one, in particular vertical, boundary surface (especially wall) is surrounded, to the then, in particular quasi-continuously, a distance measured can be. However, it is also conceivable, the robot vehicle, for example as a room cleaning vehicle, for example as a vacuum cleaner vehicle for use indoors or in confined spaces Training workspaces.

The The invention also leads to a method for driving Drive means for driving and steering a robot vehicle on a workspace. According to the invention provided that the drive means depending on Distance information about a borderline and / or one, in particular vertical interface.

Brief description of the drawings

Further Advantages, features and details of the invention will become apparent the following description of preferred embodiments as well as from the drawings. These show in:

1 FIG. 2 is a schematic representation of a robotic vehicle on a working area surrounding an interface and FIG

2 : an automatically calculated trajectory of the robot vehicle track.

embodiments the invention

In The figures are the same components and components with the same Function marked with the same reference numerals.

In 1 is an example designed as a pool cleaning vehicle, autonomous robotic vehicle 1 shown. The robot vehicle 1 is located within a pool on a workspace 3 which is formed in the embodiment shown by the pool floor. Alternatively, the robot vehicle 1 For example, designed as a lawnmower vehicle, in which case the work area 3 is formed by the mowing lawn.

The workspace 3 is arranged in the embodiment shown of four at right angles to each other, a circumferential interface 4 forming, pool walls limited. The robot vehicle 1 is with a distance determination device 5 (Sensor device) equipped in the embodiment shown a schematically indicated digital camera 6 (Sensor) and designed as a laser beam source light beam source 7 (Measurement signal source) includes. The digital camera 6 and the light beam source 7 are on a mounting plate 8th arranged and by means of a motor, not shown, rotating about a common axis of rotation 9 drivable. The distance determination device 5 furthermore comprises an evaluation unit 10 for the evaluation or determination of the distance measurement values to be determined by triangulation of a reference point of the robotic vehicle 1 to the interface 4 , It is also conceivable that the evaluation unit 10 Part of a separately formed in this embodiment control unit 11 is that controlling on only schematically indicated drive means 12 for generating propulsion and for steering the robotic vehicle 1 acts. With the help of the distance determination device 5 will be at each revolution of the retaining plate 8th with digital camera 6 and light beam source 7 a smallest distance to the interface 4 determined. The control unit 11 controls the drive means as a function of these quasi-continuously determined smallest distance measured values 12 such that the robotic vehicle 1 the workspace 3 in a variety of ways 2 apparent rounds, ie ring tracks, moves away, with the distance of the robotic vehicle 1 to the interface 4 on every lap or ring track remains constant. Is from the control unit 11 due to corresponding sensor signals of a rotation angle sensor 13 Recognized that the robotic vehicle 1 rotated by 360 °, so a ring track has completely traveled, controls the control unit 11 the drive means 12 such that the robotic vehicle changes to an adjacent round or ring track, in turn, a constant distance to the interface 4 is maintained, wherein the width of the ring tracks in the embodiment shown, the width of the not shown working element, here a cleaning device of the robot vehicle 1 , corresponds. In the embodiment shown, the distance to be maintained is increased after each round by a constant length, here the width of the working element. This increase takes place on the indicated radial line 14 instead, which connects the ring tracks with each other. Upon reaching this radial line 14 has the robot vehicle 1 one ring track completely traveled.

Out 2 is the previously described trajectory for the robotic vehicle 1 shown by the control unit automatically 11 depending on the determined distance information to the interface 4 was determined. How out 2 It can be seen almost the entire workspace 3 be traveled down to the immediate innermost area such that one and the same area is not traversed multiple times. The robot vehicle 1 or the control method also allows a complete shutdown of the workspace 3 ,

QUOTES INCLUDE IN THE DESCRIPTION

This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Cited patent literature

• - EP 1041220 A2 [0002]
• - EP 1302611 A2 [0002]
• - WO 2005045162 A1 [0002]
• - EP 1022411 A2 [0002]
• US 20040074524 A1 [0002]
• - WO 2004019295 A1 [0002]
• - EP 1489249 A2 [0002]
• - EP 657603 A1 [0002]
• - ES 2074401 A1 [0002]
• FR 2685374 A1 [0002]
• JP 2005257441 A [0002]
• EP 750083 A1 [0002]
• - KR 2004101953 A [0002]
• FR 2781243 A1 [0003]
• US 556937A [0003]
• US 5974347 A1 [0003]
• - EP 550473 B1 [0004]
• - US 6984952 B2 [0004]

Claims (14)

Robot vehicle with drive means ( 12 ) for driving and steering the robot vehicle ( 1 ) on a workspace ( 3 ) and with a control unit ( 11 ) for driving the drive means ( 12 ) as a function of sensor information of at least one sensor device, characterized in that the sensor device as one on the robot vehicle ( 1 ) distance determining device ( 5 ) for, in particular permanent, determining the, in particular minimum, distance to a borderline and / or boundary surface ( 4 ) is trained. Robot vehicle according to claim 1, characterized in that the control unit ( 11 ) automatically a trajectory of the robotic vehicle ( 1 ) as a function of the distance determination device ( 5 ) provided distance calculation, preferably such that the entire work area ( 3 ) or a predefined or predefinable section of the workspace ( 3 ), at least approximately, is traversed completely, in particular in such a way that, at least approximately, no surface section is run over several times. Robot vehicle according to one of claims 1 or 2, characterized in that the control unit ( 11 ) is formed in a clockwise and / or counterclockwise trajectory. Robot vehicle according to one of the preceding claims, characterized in that the control unit ( 11 ) the drive means ( 12 ) such that the robotic vehicle ( 1 ) the workspace ( 3 ) in several, in particular in each case at the contour of the boundary line and / or interface ( 4 ) laps, with the robotic vehicle ( 1 ) during each round a defined distance to the, preferably the work area ( 3 ) borderline and / or interface ( 4 ), wherein the defined distance from round to round is increased or decreased by a defined length measure. Robot vehicle according to claim 4, characterized in that the defined length dimension, at least approximately, the width of the robot vehicle ( 1 ) or, at least approximately, the width of a working element of the robotic vehicle ( 1 ) corresponds. Robot vehicle according to one of the preceding claims, characterized in that one of the control unit ( 11 ) associated rotational angle sensor ( 13 ) is provided, with which it is possible to determine whether the robotic vehicle ( 1 ) has rotated 360 ° and ended a round in the episode. Robot vehicle according to one of the preceding claims, characterized in that the distance determination device ( 5 ) at least one measurement signal source and at least one sensor for receiving one at the boundary line and / or interface ( 4 ) has reflected measuring signal, wherein the measuring signal source and the sensor, preferably together, are driven in rotation. Robot vehicle according to claim 7, characterized in that the measuring signal source is a light beam source ( 7 ), in particular a laser beam source, and the sensor comprises a photosensor, in particular a digital camera ( 6 ). Robot vehicle according to one of the claims 7 or 8, characterized in that the measuring signal source a Sound source, in particular an ultrasonic source, or a radar source and the sensor comprises a sound sensor, in particular an ultrasonic sensor, or a radar sensor. Robot vehicle according to one of claims 7 to 9, characterized in that the distance determination device ( 5 ) and / or the control unit ( 11 ) the determination of the distance to the boundary line and / or interface ( 4 ), preferably the determination of the minimum distance to the boundary line and / or interface ( 4 ) formed by triangulation. Robot vehicle according to one of the preceding claims, characterized in that the distance determination device ( 5 ) and / or the control unit ( 11 ) the determination of the distance to the boundary line and / or interface ( 4 ), preferably the determination of the minimum distance to the boundary line and / or interface ( 4 ), carried out by running time measurement is performed. Robot vehicle according to one of the preceding claims, characterized in that the control unit ( 11 ) a GPS receiver is assigned, and that the control unit ( 11 ) the drive means ( 12 ) is formed in response to received GPS signals. Robot vehicle according to one of the preceding claims, characterized in that the robot vehicle ( 1 ) is a work vehicle, in particular a gardening vehicle, preferably a lawn mower vehicle, or a cleaning vehicle, or a pool vehicle, in particular a pool cleaning vehicle. Method for controlling drive means ( 12 ) for driving and steering a robotic vehicle ( 1 ) on a workspace ( 3 ), characterized in that the drive means ( 12 ) in dep of distance information about a boundary line and / or an interface ( 4 ).