EP4335342A1 - Method for operating a self-propelled cleaning device and self-propelled cleaning device - Google Patents

Abstract

A method for operating a self-propelled cleaning device is proposed, wherein the cleaning device has a preferably hinged cover and a distance meter for measuring the distance of the cleaning device from objects in its surroundings. According to the invention, the distance meter is used to detect an open position of the cover.

Description

The present invention relates to a method for operating a self-propelled cleaning device according to the preamble of claim 1 and a self-propelled cleaning device according to the preamble of claim 9.

From the prior art, self-moving or self-propelled cleaning devices are known in particular as (partially) autonomous vacuum cleaner robots or wiping robots or combined vacuum-wiping robots for cleaning surfaces such as floors.

These cleaning devices usually have a dirt container for holding 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 prior art to provide an electrical switch which detects the position or the opening status of the cover of the dirt container or by means of which an open position of the cover is recognized.

On the one hand, there is the disadvantage that the electrical switch is prone to errors, since the electrical switch is arranged near the dirt container and errors or functional failures of the switch can easily occur due to contamination.

Furthermore, costs arise for the provision of the electrical switch to the associated peripherals, such as cable harnesses and an appropriately designed microcontroller for communication with the switch.

The present invention is therefore based on the object of specifying an improved method for operating a self-propelled cleaning device and an improved self-propelled cleaning device, preferably wherein the detection of an opened cover, in particular a dirt container, is simpler and / or less prone to errors and / or where costs can be reduced .

The object on which the invention is based is achieved by a method for operating a self-propelled cleaning device according to claim 1 or a self-propelled cleaning device according to claim 9. Advantageous further training is the subject of the subclaims.

A cleaning device in the sense of the present invention is preferably a (partially) autonomous or self-propelled vacuum cleaner robot, hereinafter referred to as a vacuum robot, or a mopping robot or a combined vacuum-mopping robot. However, a cleaning device in the sense of the present invention can also be another device for cleaning and/or caring for surfaces, in particular floors. For example, polishing devices or robots, window cleaning devices or robots or lawn mowing devices or robots are also fundamentally to be understood as cleaning devices within the meaning 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 surroundings. The cover is preferably hinged and serves in particular to cover a dirt container, in particular a dust container, of the cleaning device. But it can also be some other type of coverage.

According to the invention, the distance meter 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 meter. This means that an open cover can be detected in a simple, cost-effective and error-prone manner.

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 interpreted as the open position of the cover.

It is preferred that a direction is assigned to both the measured distance and the reference value and that it is only considered the 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 coincides with the direction of the reference value. This can ensure that the smaller measured distance is actually caused by the opened cover.

The reference value preferably represents a distance to an outer edge of a cleaning device. Preferably, the open position of the cover is recognized 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 viewed 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 in an open position .

In the method, a warning message is preferably issued and/or a cleaning process is aborted, interrupted and/or prevented when an open position of the cover is detected. This increases 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 surroundings and is designed to carry out the method described herein.

It is preferred that the cover is flush with a housing of the cleaning device in a closed position and protrudes from the housing in an open position. As a result, the cover in the open position is preferably in the detection range of the distance meter, so that the open position of the cover can be recognized by means of the distance meter.

The cover is preferably arranged on a top side of the cleaning device.

Preferably, the cover is at least substantially horizontally aligned in a closed position and at least vertically in an open position aligned. This enables the open position to be recognized using the distance meter.

The cover preferably serves to cover and/or close a dirt container, in particular a dust container, of the cleaning device. However, it can also be a different cover or a fold-out carrying handle for the cleaning device, which is also referred to by this term.

The distance meter is preferably arranged on a top side of the cleaning device.

Preferably the distance measurer is a laser distance measurer. This enables a two- or three-dimensional recording of the environment of the cleaning device and the creation of a map of the room or cleaning area in which or on which the cleaning device is located. This allows particularly efficient cleaning to be carried out by creating a map of the room 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 implemented independently of one another, but also in any combination or order.

Fig. 1

eine perspektivische Ansicht eines erfindungsgemäßen Reinigungsgeräts mit geschlossener Abdeckung;

Fig. 2

eine perspektivische Ansicht des Reinigungsgeräts gemäß Fig. 1 mit geöffneter Abdeckung; und

Fig. 3

eine Seitenansicht des Reinigungsgeräts gemäß Fig. 2

Further aspects, advantages, features and properties of the present invention emerge from the claims and the following description of a preferred embodiment based on the figures. It shows:

Fig. 1

a perspective view of a cleaning device according to the invention with the cover closed;

Fig. 2

a perspective view of the cleaning device according to Fig. 1 with cover open; and

Fig. 3

a side view of the cleaning device according to Fig. 2

In the schematic figures, some of which are not to scale, the same reference numbers are used for the same, similar or similar parts and components, with corresponding or comparable properties or advantages being achieved, even if a repeated description is omitted.

The Fig. 1 and 2 show a self-propelled (mobile) cleaning device 1.

The cleaning device 1 is preferably designed as a vacuum robot or is designed to move over a cleaning surface F automatically or autonomously. In particular, the cleaning device 1 is designed to suck suction material or air together with suction material from the cleaning surface F.

Alternatively or additionally, the cleaning device 1 can also be designed to wipe the cleaning surface F or have a floor wiping function. In other words, the cleaning device 1 can also be designed as a floor mopping robot or a combined vacuum-mopping robot.

The following description assumes that the cleaning surface F is at least essentially 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, wheels 3 driven by an electric motor.

The cleaning device 1 has a dirt container 4 or dust container for holding the dirt, in particular dust, removed from the cleaning surface F by means of the cleaning device 1.

The cleaning device 1 has, on a bottom side 5 or on a side 5 facing the cleaning surface F, a particularly elongated or slot-like suction opening 6, through which dirt can be picked up or sucked in from the cleaning surface F.

Relative position designations used here, such as "top", "bottom", "top", "bottom" or the like, refer to the position of use shown in the figures of the cleaning device 1, in which the cleaning device 1 moves or can move over the cleaning surface F 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 suction opening 6. To suck in the suction material, the cleaning device 1 preferably has a blower (not shown).

In the dirt container 4, the suctioned material is preferably separated from the air, for example by means of a filter (not shown), whereby the (cleaned) air can then be released back into the environment.

The dirt container 4 is preferably arranged within the housing 2 or (completely) surrounded by the housing 2.

The cleaning device 1 also has a cover 7. The cover 7 is arranged in particular on a top side 8 of the cleaning device 1.

The cover 7 is preferably a cover for the dirt container 4, i.e. a dirt container cover. The cover 7 therefore preferably serves to cover 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 enables access to the inner workings of the cleaning device 1 or to parts or components within the housing 2. For example, the cover 7 can be a cover for a maintenance compartment or the like or can also form a fold-out carrying handle for the cleaning device 1.

The cover 7 is preferably at least essentially flat, flat, flat and/or disk-like and/or designed as a flap.

The dirt container 4 preferably has an opening 9, which is arranged in particular on an upper 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 makes it possible to vacuum the dirt collected or located in the dirt container 4 through the opening 9 using another vacuum cleaner, 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 therefore 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 opened or moved from the closed position to the open position by opening it. In particular, the cover 7 can be pivoted from the closed position to the open position and vice versa.

The closed position of the cover 7 is in Fig. 1 shown. In Fig. 2 and Fig. 3 the open position of the cover 7 is shown in each case.

In the closed position, the cover 7 is preferably flush with the housing 2 and/or the top 8 of the cleaning device 1. Furthermore, the cover 7 is preferably at least substantially horizontally aligned in the closed position.

In the open position, the cover 7 preferably protrudes from the housing 2 and/or the top 8. Furthermore, the cover 7 is preferably at least partially aligned vertically in the open representation.

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. The open position can preferably only be left by a user (not shown) manually bringing the cover 7 into the closed or horizontal position and snapping it into place. To lock 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 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 into the closed position by pressing down from the open position and can be snapped into place.

The term “open position” refers in particular to the completely open position of the cover 7 shown in the figures, in which the cover 7 is held automatically, preferably by means of the spring mechanism, or is preloaded into the cover, preferably 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 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. The cover 7 can therefore only be partially opened in the open position, for example if the spring mechanism is damaged and the cover 7 can no longer move into the fully open position or the cover 7 has become caught or the like. Preferably, any position in which the cover 7 is not aligned horizontally and/or is flush with the housing 2 or the top 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 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 symbolized in the figures by corresponding arrows.

By means of the distance meter 10 and the wheels 3, the cleaning device 1 can orient and move automatically or autonomously 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 objects in the environment of the cleaning device 1, in particular laterally or horizontally (in particular with respect to the direction of travel R) in front of, behind and / or next to Cleaning device 1, closed detect or measure the distance of the cleaning device 1 from objects in its (horizontal) surroundings.

The distance meter 10 is preferably aligned at least substantially horizontally or parallel to the cleaning surface F or is designed to measure at least substantially horizontal distances 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.

The cleaning device 1 is preferably designed by means of the distance meter 10 to scan the surroundings of the cleaning device 1 in two or three dimensions in a horizontal direction or in a direction parallel to the cleaning surface F. 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 area F traveled by the cleaning device 1 based on the distances measured by means of the distance meter 10.

Very particularly preferably, the distance meter 10 has a laser which rotates or can be rotated through 360° about a vertical axis or axis of symmetry A, hereinafter referred to as axis A, of the distance meter 10. The distance meter 10 is preferably designed so that the laser beam of the laser rotates 360° about the axis A several times, for example five times, per second. Furthermore, the distance meter 10 is preferably designed to detect the surroundings of the cleaning device 1 within a radius of several meters, for example approximately 4 m.

The distance meter 10 is preferably arranged on the top 8 of the cleaning device 1. The distance meter 10 is preferably aligned at least substantially horizontally. The distance meter 10 is preferably designed to measure distances in all horizontal directions or around 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 directional information. The The direction is preferably specified relative to the orientation of the cleaning device 1 and/or the 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 one another in such a way that an open position of the cover 7 can be recognized or detected 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 4 in the direction of travel R.

The method according to the invention for operating the cleaning device 1 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 recognized by means of the distance meter 10 or that the distance meter 10 is used to recognize an open position of the cover 7.

This makes particular use of the fact that the cover 7 is aligned horizontally in the closed position and/or is flush with the top 8 or the housing 2 or is not 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 recognized with the distance meter 10.

An open position of the cover 7 is detected in particular by comparing 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 interpreted as detection of an open position of the cover 7.

The measured distances and the reference value or the reference values are preferably each available as digital data. The reference value is preferably stored in the cleaning device 1 or a memory of the cleaning device 1. Alternatively or additionally, however, the reference value can also be stored at another location, for example a cloud that is connected to the cleaning device 1 in terms of data technology or 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 the 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 the axis A in the direction of travel R and / or in the direction of the cover 7. As the outer edge 11 of the cleaning device 1 or housing 2, in particular the edge between the top 8 and a section of the housing 2 which extends from the top 8 downwards towards the bottom 5 or the cleaning surface F is referred to, as in particular in Fig. 3 shown.

Since the distance meter 10 is preferably arranged decentrally on the top 8 of the cleaning device 1, as shown in the figures, the outer edge 11 (in particular the housing 2 surrounding) has different distances from the distance meter 10 in different directions when viewed from the distance meter 10. If the cover 7 is open or is 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 in this angular range in the open position a smaller distance is measured between the cover 7 than when the cover 7 is in the closed position.

Preferably, any direction emanating from the distance meter 10 or the axis A that lies within this angular range is referred to as the “direction of the cover 7”.

The minimum distance seen from the distance meter 10 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 predeterminable minimum distance, below which can be assessed as the 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 correspond at least 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 is at a smaller distance from the distance meter 10 than the outer edge 11, as can be seen from the figures. Accordingly, this can be used to detect an open position of the cover 7 using the distance meter 10.

Preferably, the measured distances of the distance meter 10 are assigned a direction. 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 direction information. The same applies preferably to the reference value(s).

Preferably, it is only considered the 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 (in addition) the direction of the measured distance (i.e. the direction assigned to the measured distance ) matches the direction of the reference value (i.e. the direction assigned to the reference value). This makes it possible in particular to avoid incorrect or false-positive detection of an open position of the cover 7 due to objects located close to the cleaning device 1 or distance meter 10. 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 Fig. 3 i.e. directly on the left side of the cleaning device 1.

If an open position of the cover 7 is detected, a corresponding warning message is preferably issued. This can take the form of an error message, for example. The warning message or error message can be output, for example, optically or visually, for example by means of a flashing lamp or an LCD display or other displays and/or warning lights of the cleaning device 1, and/or by issuing 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 that is linked to the cleaning device 1, such as a tablet or smartphone, in particular via an external device installed on the external device and connected to the cleaning device 1 (digital). connected app. The warning message can also be issued via the app either optically or visually, in particular through 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 initially 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, cleaning planned according to a cleaning plan or cleaning started manually 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 issued at the same time, as described above.

Preferably, before the start of a (planned or manually started) cleaning process, it is checked whether the cover 7 is closed. For this purpose, a detection process is carried out using the distance meter 10 to detect an open position of the cover 7, as described. It is also possible to carry out such a detection process several times, at regular intervals and/or continuously during an ongoing cleaning process in order to detect when the cover 7 is opened or opens during an ongoing cleaning process.

Individual aspects, features and method steps of the present invention can be implemented independently of one another, but also in any combination or order.

List of reference symbols:

1

Cleaning device

2

Housing

3

Wheels

4

Dirt container

5

bottom

6

Intake opening

7

cover

8th

Top

9

opening

10

Distance meter

11

Outer edge

A

axis

F

cleaning area

R

Direction of travel

Claims (15)

Method for operating a self-propelled cleaning device (1), wherein the cleaning device (1) has a preferably hinged cover (7) and a distance meter (10) for measuring the distance of the cleaning device (1) from objects in its surroundings,
characterized,
that the distance meter (10) is used to detect an open position of the cover (7). Method according to claim 1, characterized in that an open position of the cover (7) is detected by comparing a distance measured with the distance meter (10) with a reference value and it is evaluated as the open position of the cover (7), if the comparison shows that the measured distance is smaller than the reference value. Method according to claim 2, characterized in that a direction is assigned to the measured distance and the reference value, whereby it is only evaluated as the open position of the cover (7) if the comparison shows that the measured distance is smaller than the reference value and the direction of the measured distance matches the direction of the reference value. Method according to claim 2 or 3, characterized in that the reference value represents a distance to an outer edge (11) of the cleaning device (1). Method claim 2 or 3, characterized in that the reference value represents a distance to an outer edge (11) of the cleaning device (1) as seen from the distance meter (10) in the direction of travel (R) and/or in the direction of the cover (7). Method according to one of the preceding claims, characterized in that a warning message is issued and/or cleaning is aborted, interrupted and/or prevented when an open position of the cover (7) is detected. Method according to one of the preceding claims, characterized in that before the start of a cleaning process it is checked whether the cover (7) is closed, for which purpose a detection process is carried out to detect an open position of the cover (7). Method according to one of the preceding claims, characterized in that a detection process for detecting an open position of the cover (7) is carried out several times, at regular intervals and/or continuously during an ongoing cleaning process, in particular in order to detect when the Cover (7) is opened or opens. Self-propelled cleaning device (1) with a preferably hinged cover (7) and a distance meter (10) for measuring the distance of the cleaning device (1) from objects in its surroundings,
characterized,
that the cleaning device (1) is designed to carry out a method according to one of the preceding claims. Cleaning device according to claim 9, characterized in that the cover (7) is flush with a housing (2) and/or a top side (8) of the cleaning device (1) in a closed position and is separated from the housing (2) in an open position. and/or the top (8) protrudes. Cleaning device according to claim 9 or 10, characterized in that the cover (7) is arranged on a top side (8) of the cleaning device (1) and / or that the cover (7) is at least substantially horizontally aligned in a closed position and in a Open position is at least partially aligned vertically. Cleaning device according to one of claims 9 to 11, characterized in that the cover (7) serves to cover and/or close a dirt container (4) of the cleaning device (1). Cleaning device according to one of claims 9 to 12, characterized in that the distance meter (10) is arranged on a top side (8) of the cleaning device (1) and/or that the distance meter (10) is a laser distance meter. Cleaning device according to one of claims 9 to 13, characterized in that the distance meter (10) is designed to measure distances in all horizontal directions or around 360 ° around the cleaning device (1), starting from the cleaning device (1). Cleaning device according to one of claims 9 to 14, characterized in that the distance meter (10) is designed to detect objects located in front of the cleaning device (1() in the direction of travel (R) or the distance of the cleaning device (1) from the direction of travel (R) to measure objects located in front of the cleaning device (1).

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