Patent ID: 12228940

DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

FIG.1exemplarily shows a self-propelled floor processing device1moving within an environment, which here is designed as a vacuuming robot. The floor processing device1has a drive unit9in the form of an electric motor, which is allocated to a wheel11of the floor processing device1. Here, for example, the floor processing device1has a total of two such motor-driven wheels11(only one shown onFIG.1). Each drive unit9can further (not shown here) have allocated to it an odometry measuring unit, which measures a number of revolutions of the respective wheel11per unit time. A path distance covered by the floor processing device1can be determined from the latter. The floor processing device1further has a floor processing element8in the form of a cleaning brush that rotates around an essentially horizontal axis of rotation. The floor processing element8is likewise driven by means of an electric motor not shown in any more detail. Each electric motor of the floor processing device1can have allocated to it an undepicted detection unit that detects a power consumption of the electric motor. The measurement data recorded by the detection units can be analyzed by means of an evaluation unit2, for example to detect an operating error of the floor processing device1. The evaluation unit2is in the form of a computer processor and accesses a memory17. In addition, the floor processing device1has a communication interface18, via which a user can communicate with the floor processing device1.

The floor processing device1also has an obstacle detection unit10, which here for example is designed as a laser triangulation measuring unit, which (not shown here) is arranged within the housing of the floor processing device1and outwardly emits a light beam into the environment via reflecting elements. The obstacle detection unit10can preferably detect distances to obstacles12in a 360° area around the floor processing device1. The evaluation unit2of the floor processing device1generates an area map3from these measured values (for example, seeFIG.2), based on which the floor processing device1can orient itself during a trip. The current position and orientation of the floor processing device1can also be determined and shown within the generated area map3.

The evaluation unit2of the floor processing device1is set up to determine an error or a situation to be avoided with respect to the floor processing device1by evaluating the detection results of one or several detection units of the floor processing device1. For example, an error or undesired situation is present when a movement of the floor processing device1takes too long, involves too many turning maneuvers, requires too much energy, includes an accident involving the floor processing device1and the like. For example, an accident situation can be present if the floor processing device1has gotten stuck on an obstacle12, for example on a floor bracket of a swivel chair, and is unable to get out of the situation by itself or can do so only with an increased energy expenditure.

FIG.2shows a home environment with a plurality of rooms, which include among other a dining room14and a living room15. At various locations within the dining room14and living room15, there exist areas that are difficult for a self-propelled floor processing device1to process, for example because tight obstacles12exist there. For example, the dining room14here has a dining set with a table and six swivel chairs, wherein, as shown onFIG.3, the swivel chairs have a floor backet as a foot part, on which the floor processing device1can at least partially sit, so that at least one of the wheels11loses contact with the surface to be cleaned. It is often not even possible for the floor processing device1to automatically free itself from such a situation. However, doing so requires at least an increased energy expenditure by a drive unit9of the wheels11or the floor processing element8, in order to tilt the floor processing device1over the floor bracket, so that one or both wheels11of the floor processing device1once again come into contact with the floor. It goes without saying that such error situations of the floor processing device1should be avoided. In addition, there are other undesired situations of the floor processing device1which, while they do not involve any accidents and hence any complete inability of the floor processing device1to move, instead point to an abnormal behavior by the floor processing device1that is not desired by a user of the floor processing device, since this entails a longer time for processing the floor. For example, an undesired behavior by the floor processing device1is characterized by behavior parameters such as a lowered movement speed compared to a reference, a drift by the floor processing device, an increased stay of the floor processing device1in a specific partial environmental area compared to a reference, an increased number of turning maneuvers, an increased power consumption by a drive unit9, or other factors. For example, in the living room15according toFIG.2, narrow alleys or partial environmental areas may arise between various obstacles12, here for example a sofa and nearby speakers, requiring that the floor processing device1perform a plurality of turning maneuvers for floor processing purposes. By comparison with free floor surfaces without obstacles12, the floor processing device1thus remains in the respective partial environmental area for a very long time. According to the invention, no-go areas5are therefore automatically defined by the floor processing device1at such difficult to process partial environmental areas, which the floor processing device1must not traverse. No-go areas5are defined based on behavior parameters4of the floor processing device1that the evaluation unit2of the floor processing device1can detect. If a current behavior parameter4of the floor processing device1differs from permissible areas of a reference behavior parameter6, an undesired situation can be defined, which then leads to a no-go area5being set up in the environment. This will be covered in more detail later on.

Initially shown purely schematically in tabular form onFIG.4is a basis of comparison, which the evaluation unit2of the floor processing device1uses to evaluate a current behavior of the floor processing device1as normal or abnormal. To this end, behavior parameters4are first established, which can be determined by a detection unit of the floor processing device. For example, these behavior parameters4here include a number of turning maneuvers per square meter, a stay of the floor processing device1per square meter, and an absent floor contact of a wheel11. In addition, a plurality of other behavior parameters4can also be detected and evaluated, for example (but not limited to) an inclined position of the floor processing device1relative to the surface to be cleaned, a movement speed of the floor processing device1, a drift of the floor processing device1, a specific power consumption by a drive unit9of the floor processing device1, and others. So-called reference behavior parameters6are stored in the memory17of the floor processing device1in relation to these behavior parameters4, and used for a comparison of the actual behavior parameters4of the floor processing device1. Defined here as reference behavior parameters6in the third column of the table shown onFIG.4are different value ranges, which still characterize a current behavior parameter4of the floor processing device1as “normal”. A permissible value range for the reference behavior parameter6of 0 to 50 turning maneuvers per square meter is defined in relation to a number of turning maneuvers of the floor processing device1. As a consequence, for example, if a current behavior parameter4of the floor processing device1measures 60 turning maneuvers per square meter, the current behavior parameter4lies outside of the value range for the reference behavior parameter6, as a result of which the current situation of the floor processing device1is qualified as abnormal. For example, a reference behavior parameter6of 2 minutes per square meter is defined for a permissible stay of the floor processing device1per square meter of the environment. In addition, a behavior parameter4of the floor processing device1can be a missing floor contact of a wheel11of the floor processing device1. Within the framework of a reference behavior parameter6, it is here defined that the number of missing floor contacts can only assume the value “0”. This means that already a single missing floor contact of a wheel11is qualified as abnormal. The current behavior parameters4shown in the first column of the table according toFIG.4are then compared with the permissible areas according to the defined reference behavior parameter6, and a no-go area5is set up at the respective location13of the environment where the floor processing device1exhibits or exhibited an abnormal behavior. According to the example shown onFIG.4, no-go areas5are here set up for all locations13that are exemplarily indicated (Set up no-go area (5): “yes”).

Finally,FIG.5shows a user of the floor processing device1with an external terminal7, which here for example is a mobile phone. Other external terminals7are alternatively also possible for implementing the invention, of course, for example conventional tablet computers, laptops, or the like. The external terminal has a display16in the usual manner, which can display information to the user. Shown here on the display16of the external terminal7is an area map3of the environment, which shows the environment of the floor processing device1(environment according toFIG.2). The display16is here preferably designed as a touchscreen, and can further be used by the user to make entries and communicate with the floor processing device1via its communication interface18. For this purpose, an application is set up on the external terminal7that is suitable for controlling the floor processing device1and communicating with it.

The reference behavior parameters6defined onFIG.4can be predefined by a manufacturer of the floor processing device1, or alternatively be defined by a user of the floor processing device1. In addition, it is also possible that the manufacturer predefine reference behavior parameters6, which the user can then select and/or change as desired, in order to adjust the tolerance of the floor processing device in relation to specific situations.

It will be explained below how the floor processing device1automatically defines no-go areas5within the environment, so that during future floor processing activities, the floor processing device1does not travel in the problematic partial environmental areas and there exhibit an undesired behavior, for example require too much time to perform the floor processing activity.

In order to enable the floor processing device1to avoid future problems and/or undesired situations within the environment, the current behavior parameters4of the floor processing device1within the environment are initially detected, after which the current behavior parameters4are analyzed and evaluated in relation to reference behavior parameters6defined by the manufacturer or the user. The actual behavior parameters4of the floor processing device1, for example those recorded within the framework of a reconnaissance trip or processing trip, are detected to this end. During the trip, the floor processing device1traverses the environment based upon a predefined or random movement path, wherein the movement path preferably includes all partial environmental areas of the environment, and thus enables as complete a floor processing as possible of the respective partial environmental areas. To this end, the detection data of the detection units of the floor processing device1are analyzed by an algorithm of the evaluation unit2by comparing the current behavior parameters4with the predefined reference behavior parameters6, specifically with value ranges which were predefined by the manufacturer or can be set or at least changed by the user. Deviations between the current behavior of the floor processing device1and an optimal behavior can be detected in this way. An essential basis is here formed by the mapping data of the obstacle detection unit10of the floor processing device1, which are processed into an area map3, and identify the obstacles12located in the environment.

Within the framework of the invention, there exist various possible scenarios for how the floor processing device1can detect undesired behaviors of the floor processing device1that can be attributed to specific environmental parameters, for example obstacles12in the environment. In one possible scenario, for example, an odometry sensor allocated to a driven wheel11of the floor processing device1can detect the actual movements of the floor processing device1in the environment. If no movement of the floor processing device1takes place within the environment despite the wheel11being driven, a spinning of the wheel11can be inferred. In addition, for example, if a position sensor simultaneously also determines that the floor processing device1is inclined, it can be concluded overall that the floor processing device1has hit an obstacle12, for example according to the situation onFIG.3, there specifically part of a floor bracket of a swivel chair. The analysis algorithm of the evaluation unit2combines the detected situation of the floor processing device1with the location coordinates in the area map3. If this or other problems are encountered once or even repeatedly at the detected location13, the evaluation unit2defines a no-go area5within the area map3, so that the floor processing device1does not once again traverse this location13of the environment. As a result, the location13is permanently excluded from floor processing, thereby preventing a renewed accident problem. It can alternatively also be provided that the user, for example via the application installed on the external terminal7, can define the floor processing operations for which the defined no-go areas5are to be applied or not. In particular, a no-go area5can only be considered for a specific operating mode of the floor processing device1, for example during a floor processing operation with a low intensity, for example an eco-mode. By contrast, the no-go areas5can be traversed during an intensive floor processing operation, i.e., the floor processing device1ignores the no-go areas5, and nevertheless travels over the respective partial environmental areas. In this regard, the user can define the relevance of the no-go areas5, whether generally or for specific partial environmental areas. As a consequence, the no-go areas5can only be observed during specific floor processing modes, for example only during rapid cleaning, but not during intensive cleaning, wherein gradations are also possible with regard to energy consumption, for example of a drive unit9of the floor processing device1. Therefore, how to handle the no-go lines or no-go areas5can be determined depending on the selection of the user. By contrast, however, partial environmental areas in which the floor processing device1regularly gets stuck can permanently and always be observed as no-go areas5for all floor processing modes, and thus be excluded from all floor processing activities and movement paths.

It is generally recommended that the evaluation unit2of the floor processing device1already evaluate problematic situations, i.e., behavior parameters4outside of the reference behavior parameter6, during a first evaluation, and then suggest a no-go line or no-go area. The suggestion can preferably be displayed to the user on the display16of his or her external terminal7. In particular, suggested no-go areas5can initially be marked as temporary in the area map3. Should the user then desire a permanent entry of the no-go area5in the area map3, he or she can confirm the transfer, for example via an input on the display16. In addition, the application allows him or her to likewise preferably delete and adjust suggested or already stored no-go areas5. Furthermore, a so-called heat map can also be shown to the user on the display16of the external terminal7, which displays the frequency with which a specific behavior parameter4occurs along a movement path or generally in the environment. As a consequence, the user receives information about which partial environmental areas of the environment are especially error-prone for the floor processing device1. Therefore, if the evaluation unit2of the floor processing device1does not automatically set a no-go area5, the user can do so manually.

According to the table shown onFIG.4, for example, another type of undesired behavior by the floor processing device1involves an excessive stay of the floor processing device1in a specific partial environmental area. For example, if the floor processing device1travels into the living room15, which only has a small, obstacle-free movement area for the floor processing device1between the sofa and loudspeakers, the floor processing activity can result in very many turning movements, reversal maneuvers and/or double crossings of partial environmental areas, which requires a considerable expenditure of time and energy. For example, by measuring the stay of the floor processing device1per unit area, excessively difficult floor processing conditions can be inferred. The detected problem is allocated to the respective partial environmental area in the area map3. If a problem is then encountered in this partial environmental area on one or even more than one occasion, this partial environmental area is automatically marked as a no-go area5in the area map3. In future movements in proximity to this partial environmental area, the floor processing device1thus avoids the defined no-go area5, so that the latter must then be manually cleaned by the user. In addition, individual operating modes of the floor processing device1can be defined, in which the partial environmental area labeled as a no-go area5is still traversed. For example, ignoring the no-go area5can be stipulated for an intensive cleaning mode.

Even narrow niches within a room are often a problem for a floor processing device1to traverse. If the floor processing device1is ideally aligned parallel to marginal edges of the niche, the floor processing device1can most often enter without any problem. However, if the floor processing device1reaches an end area of the niche, a straight reset is only possible with difficulty. The confined spaces also rule out any maneuvering and reversal, so that such partial environmental areas should also be detected as problematic, and labeled as a no-go area5.

The type of floor covering in a partial environmental area can also hamper the movement of the floor processing device1. For example, the high frictional resistance can considerably reduce the traveling speed on a carpeted floor with a relatively large pile height. In addition, a pole direction of the carpeting can cause a high frictional resistance and drift, so that the floor processing device1might be forced into a curve or oblique line, even though two wheels11are being identically driven. In these cases as well, the analysis of travel data detects a problem, and stores it in the area map3correspondingly to the location data of the respective location13.

In order to identify no-go areas5within the area map3, the evaluation unit2can specially visualize the area map3for the user on the external terminal7. For example, the position of no-go lines or no-go areas5can here be shown highlighted in color. A representation as a heat map can also make sense, in which the frequency with which problem cases are encountered or a time spent in a specific partial environmental area are graphically visualized by the size of a defined symbol or a specific color scheme.

Although only a few embodiments of the present invention have been shown and described, it is to be understood that many changes and modifications may be made thereunto without departing from the spirit and scope of the invention.

REFERENCE LIST

1Floor processing device2Evaluation unit3Area map4Behavior parameter5No-go area6Reference behavior parameter7External terminal8Floor processing element9Drive unit10Obstacle detection unit11Wheel12Obstacle13Location14Dining room15Living room16Display17Memory18Communication interface