EP3243418A1 - System and method for cleaning a floor with a robotic cleaner - Google Patents

System and method for cleaning a floor with a robotic cleaner Download PDF

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Publication number
EP3243418A1
EP3243418A1 EP17170077.6A EP17170077A EP3243418A1 EP 3243418 A1 EP3243418 A1 EP 3243418A1 EP 17170077 A EP17170077 A EP 17170077A EP 3243418 A1 EP3243418 A1 EP 3243418A1
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EP
European Patent Office
Prior art keywords
cleaning
event
cleaning robot
floor
intensity
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP17170077.6A
Other languages
German (de)
French (fr)
Other versions
EP3243418B1 (en
Inventor
Helmut SCHÖNHOFF
Jochen Jentsch
Dirk Schmidt
Dr. Sabine Schweppe
Harald Windorfer
Mikel Blum
Pia Hahn
Iris Zabback
Hans-Peter Arnold
Raphael Liß
Maike Brede
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Vorwerk and Co Interholding GmbH
Original Assignee
Vorwerk and Co Interholding GmbH
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Publication date
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Publication of EP3243418A1 publication Critical patent/EP3243418A1/en
Application granted granted Critical
Publication of EP3243418B1 publication Critical patent/EP3243418B1/en
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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Definitions

  • the invention relates to a system and a method for cleaning a floor with at least one cleaning robot.
  • Cleaning robots are known as self-propelled and navigating robot units in the form of vacuum robots, sweeping robots and wiper robots.
  • cleaning robots have electrically operated suction-blower units and / or electric motor-driven brushes and / or bristle rollers and / or wiping elements and a dust and dirt collecting tray.
  • Cleaning robots are able to independently clean hard floors such as parquet, laminate, tiled floors or stone floors as well as textile floor coverings of dust and coarse material by means of a suction air flow and if necessary with the help of a mechanical brush.
  • sweeping robots clean the floor purely mechanically using brushes and collecting containers without the use of a suction air flow.
  • wiping robots is still a usually moving at a high frequency wiping element is added, which absorbs dirt from the ground by means of a cleaning agent, usually water-based.
  • At least one motor means is provided for driving at least one of at least three wheels.
  • two electric motors are provided which independently drive two drive wheels, wherein a third impeller is provided for stabilizing the cleaning robot.
  • known cleaning robots have at least one sensor, in particular a plurality of sensors for monitoring the cleaning robot surrounding space.
  • the cleaning robot can detect the environment and the cleaning robot can largely navigate without contact with walls or objects.
  • a stationary base station is associated with the cleaning robot, which is connected to the household electricity network.
  • Cleaning robot find the base station automatically, for example. With the help of a wireless and / or optical signal or even a wireless communication between the base station and cleaning robot.
  • the request to start the base station can be done automatically, so for example by radio communication between the base station and cleaning robot.
  • the cleaning robot itself can approach the base station depending on the degree of filling of the device-side dirt container and / or the state of charge of the accumulators.
  • the cleaning robot can approach the base station automatically after completing a work to be performed, for example, a cleaning of a predetermined floor area.
  • Cleaning robots have control means which control the above-described actions of the cleaning robot.
  • the control means are designed as computer means with a data processing unit which control the actions of the cleaning robot based on input signals and / or stored data.
  • the described cleaning robots are programmable so that the cleaning robot performs cleaning at predetermined times. Likewise, the cleaning robot can be started manually. In addition, it is possible to specify a specific room area in which a cleaning is to be carried out. This room area can be the entire passable room area or only part of it be of it. The use of this cleaning robot can thus be controlled solely on the basis of data entered by the user.
  • the present invention is based on the technical problem of designing a system and a method for cleaning a floor with a cleaning robot more flexibly and with improved cleaning results.
  • an aforementioned system for cleaning a floor by providing at least one cleaning robot, control means for controlling the cleaning robot and communication means for detecting at least one environmental event, the environmental event being an event determined from a database, in particular betting event, or an event determined by means of sensors, and wherein the control means set in dependence on the environmental event, the intensity of the use of the cleaning robot for cleaning at least a part of the floor.
  • a system which can respond not only to manual inputs of a person, either for a one-time action or for scheduling, but also automatically by occurrence of at least one predetermined external or internal environmental event. If a given environmental event occurs, the system automatically responds according to specifications and controls the cleaning robot so that at least part of the floor surface is cleaned.
  • the environmental event can be different types of events, whether internal or external, or via an electronic network or on-site with sensors.
  • a first embodiment of the system consists in that the communication means determine the environmental event as a betting event from an external weather database.
  • the communication means establish a connection to a network, locally or the Internet, and determine current weather data or weather data of a prediction as environmental data.
  • environmental data may relate in particular to the outside temperature, precipitation events such as rain or snow or even dry events such as sunshine, the air pressure and / or the humidity. All of this data, individually or in combination with one another, provides environmental data that the system evaluates to assess whether or not additional cleaning by the cleaning robot is required.
  • the communication means can record as intensity of weather events the number, the duration and / or the intensity of a precipitation event.
  • precipitation events lead to greater contamination of a room area and possibly require more frequent cleaning of the floor.
  • the communication means may alternatively or additionally determine the environmental event by means of at least one external sensor.
  • corresponding sensors are arranged outdoors outside the spatial area, which generate measurement data for determining an environmental event in the form of weather data.
  • sensors can measure local weather data such as outside temperature and / or rainfall in the outdoor area and pass the measured data by means of a data transmission to the system.
  • At least one internal sensor can be arranged indoors and, for example, detect the internal temperature or the status of the underfloor heating. Depending on whether the floor heating is on or off or depending on the set temperature, for example, it can be concluded whether and how intensively the room area is used.
  • Another way of capturing environmental data is to capture the number of people in the area of the room to be cleaned, and thus the Need to identify additional cleaning operations.
  • persons and also other living beings can be detected by means of motion sensors and / or by means of at least one camera or by the analysis of activities in local data networks or by information from a home automation system.
  • Animals can also be detected by identification chips.
  • moving elements can be detected and closed from their movement profile to furniture, pets or people.
  • the cleaning robot perceives moving elements, for example via its sensors, in such a way that, taking into account its own movement in space, the continuously recorded sensor data of the surroundings perceive a change in location of an element previously judged as wall or obstacle.
  • This change of location may be an indication of a self or alien subject or an automatic or externally influenced movement of dead objects such as e.g. Be furniture.
  • a further interpretation of the sensor data by the cleaning robot can provide conclusions about certain living beings, objects and / or furniture by an evaluation on characteristic movement profiles, so that the environmental data obtained in this way allow adjustment of a cleaning behavior of the cleaning robot adapted to the present situation.
  • the communication means detect the environmental event as a calendar entry from an external electronic calendar.
  • Environmental events can be detected and identified by searching for specific terms such as party, visit, etc.
  • Such an environmental event is an event in which at least part of the space to be cleaned becomes more soiled and therefore requires additional cleaning.
  • the control means determine whether and to what extent the cleaning robot is to be additionally used. Thus, it is preferably provided that the control means the intensity of the use of the Adjust the cleaning robot by changing the frequency and / or the amount of cleaning.
  • the parameters to be set may be the number of cleaning cycles including an increased frequency in certain residential areas such as the corridor area, the type of cleaning, ie sweeping, vacuuming and / or wiping, and / or the area of use, ie single-room cleaning or multi-room cleaning or single crossing or multiple crossing.
  • the detected environmental event means that a person or animal is present in the room to be cleaned
  • it can be set so that the room is not cleaned or cleaned only in eco-mode at a reduced volume.
  • the operating mode of the cleaning robot can be adjusted, for example the brush speed, the driving speed, the pressure on the cleaning roller, the drying or drying, the activation of the side brushes or selection of the type of side cleaning units, selection of Amount of water for wet or wet cleaning and / or the type and amount of cleaning agent.
  • the system may be arranged such that the communication means are arranged with the data acquisition in the cleaning robot and connected to the control means and that the communication means are connected by means of a wireless communication link to a network.
  • the cleaning robot has all the data acquisition and control itself on board. Therefore, such a system is highly self-sufficient.
  • the communication means with the data acquisition may be located outside the cleaning robot and connected to a network, and the communication means may be connected to the control means by means of a wireless communication link.
  • the system could be more than have a cleaning robot, all of which are supplied via the same communication means with the information important to the control.
  • the control means including a data processing unit integrated therein can thus be realized in a base station or in an external device or server.
  • the data processing unit can control the cleaning device accordingly by means of a wireless data connection.
  • a distributed realization on different components is also possible.
  • the technical problem indicated above is also solved by a method for cleaning a floor with a cleaning robot, in which at least one environmental event is detected and in which the intensity of the use of the cleaning robot for cleaning at least a part of the floor depending on the intensity of at least an environmental event is set.
  • the vacuum robot 2 comprises a housing 4, a chassis 6 arranged on the underside of the housing 4, a sensor 8 for detecting the surroundings of the housing 4 and a control for automatically driving the chassis 6.
  • the chassis 6 is arranged on the underside of the housing 4 and faces the floor surface to be cleaned.
  • the chassis 6 has two electric motor driven Verfahrcken 10 and a Mitlaufrad 11, so that a three-point support of the floor cleaning robot 2 is achieved on the floor surface to be cleaned.
  • the Saugroboter2 can be moved in any direction, with a forward drive in the direction of the arrow r according to Fig. 1 he follows. Similarly, a rotation on the spot and a reverse drive against the direction of the arrow r is possible.
  • Fig. 2 results, on the underside of the housing 4 a projecting beyond the lower edge, electric motor-driven brush 12 is disposed within a suction opening 14. Furthermore, an unillustrated suction fan motor is provided, which is also operated electrically. In addition, a keyless ramp 16 is provided, are transported through the brushed dirt particles in a container-like receptacle, not shown.
  • the already mentioned sensor system 8 is provided, which is designed as a sensoric obstacle detection.
  • This consists of an optical transmitter unit and an optical receiver unit, both in the in Fig.1 shown sensors 8 are integrated.
  • the sensor 8 is rotatably arranged in the present embodiment about a vertical axis x of the housing 4, as with the arrow c in Fig. 1 is shown.
  • Further sensors 20, 22 and 24 are provided which are designed as ultrasonic sensors and / or infrared sensors.
  • a display 26 is provided which displays information for the user and possibly serves as input help for commands for operation.
  • FIG. 3 Now shows an inventive system for cleaning a floor with at least one cleaning robot 2, for example, as in the Fig.1 and 2 represented as a vacuum robot may be formed in an exemplary environment of a flat 30 with two rooms 32 and 34th Fig. 3 shows a floor plan of the apartment with walls 36, front door 38 and room door 39 and window 40.
  • a vacuum robot 2 In space 32, a vacuum robot 2 is arranged, which is connected to a base station 42 for charging at least one accumulator 44 provided in the vacuum robot 2.
  • the base station 42 is positioned in the space 32 and connected to the power supply to a socket 46.
  • the vacuum robot 2 has control means 50 for controlling the vacuum robot 2 and communication means 52 for detecting at least one event with increased contamination of at least a part of the floor.
  • the Communication means 52 comprise a transmitting and receiving device for wireless communication with a transmission and reception device arranged in the room 32 as a communication means 54.
  • the wireless communication is preferably carried out according to a standardized method such as WLAN or Bluetooth.
  • the communication means 52 can also have a mobile radio device, so that in this case no communication means 54 are required.
  • the communication means 52 and optionally 54 may be connected via a cable connection or wirelessly to a local or external network, in particular to the Internet, in order to record information about environmental events.
  • the control means 50 are connected to the communication means 52 and determine via this connection the environmental event from a database, in particular a weather event and the control means 50 adjust the intensity of the use of the cleaning robot 2 for cleaning at least part of the floor depending on the environmental event.
  • the communication means 52, 54 determine the environmental event as a weather event from an external weather database, in particular weather events in the form of the outside temperature, the weather forecast, rain or snow or sunshine and air pressure and / or humidity are determined.
  • the communication means 52, 54 can detect the number, duration and / or intensity of a precipitation event as intensity of weather events.
  • the environmental event is an event determined by means of sensors, wherein external sensors 60 or internal sensors 62 determine the environmental event as measured data.
  • the external sensors 60 are positioned, for example, in a weather station 64 outside the home, wherein the weather station 64 has a communication means 66 for wireless data transmission.
  • the internal sensor 62 is integrated, for example, in the housing of the communication means 54.
  • environmental data can be measured as outdoor temperature and / or the amount of rainfall.
  • the internal sensors for example, the internal temperature (temperature sensor) or the number of persons in the cleaning area (motion sensor) can be determined.
  • the communication means 52, 54 are also suitable for detecting the environmental event as a calendar entry from an external electronic calendar.
  • the nature of the environmental event is derived from given terms such as party, visit, etc.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

Die Erfindung betrifft ein System zur Reinigung eines Fußbodens mit mindestens einem Reinigungsroboter (2), mit Steuermitteln (50) zum Steuern des Reinigungsroboters (2) und mit Kommunikationsmitteln (52, 54) zum Erfassen von mindestens einem Umweltereignis, wobei das Umweltereignis ein aus einer Datenbank ermitteltes Ereignis, insbesondere Wetterereignis, oder ein mittels Sensoren ermitteltes Ereignis ist und wobei die Steuermittel (50) in Abhängigkeit von dem Umweltereignis die Intensität des Einsatzes des Reinigungsroboters (2) für eine Säuberung zumindest eines Teils des Fußbodens einstellen. Das System löst das technische Problem, ein System und ein Verfahren zur Reinigung eines Fußbodens mit einem Reinigungsroboter flexibler und mit verbessertem Reinigungsergebnissen zu gestalten. Die Erfindung betrifft auch ein Verfahren zur Reinigung eines Fußbodens.The invention relates to a system for cleaning a floor with at least one cleaning robot (2), with control means (50) for controlling the cleaning robot (2) and with communication means (52, 54) for detecting at least one environmental event, the environmental event being one of a Database determined event, in particular weather event, or a sensor-detected event and wherein the control means (50) depending on the environmental event, the intensity of the use of the cleaning robot (2) for cleaning at least a portion of the floor. The system solves the technical problem of making a system and method for cleaning a floor more flexible and with improved cleaning results with a cleaning robot. The invention also relates to a method for cleaning a floor.

Description

Die Erfindung betrifft ein System und ein Verfahren zur Reinigung eines Fußbodens mit mindestens einem Reinigungsroboter.The invention relates to a system and a method for cleaning a floor with at least one cleaning robot.

Reinigungsroboter sind als selbstständig fahrende und navigierende Robotereinheiten in Form von Saugrobotern, Kehrrobotern und Wischrobotern bekannt. Hierzu verfügen derartige Reinigungsroboter über elektrisch betriebene Saug-Gebläseeinheiten und/oder elektromotorisch angetriebene Bürsten und/oder Borstenwalzen und/oder Wischelemente sowie ein Staub- und Schmutzauffangfach.Cleaning robots are known as self-propelled and navigating robot units in the form of vacuum robots, sweeping robots and wiper robots. For this purpose, such cleaning robots have electrically operated suction-blower units and / or electric motor-driven brushes and / or bristle rollers and / or wiping elements and a dust and dirt collecting tray.

Reinigungsroboter sind in der Lage, selbstständig Hartböden, wie Parkett, Laminat, geflieste Böden oder Steinböden sowie textile Bodenbeläge von Staub und Grobgut mittels eines Saugluftstroms und ggf. mit Hilfe einer mechanischen Bürste zu reinigen. Kehrroboter reinigen dagegen den Boden rein mechanisch mittels Bürsten und Auffangbehältern, ohne dass ein Saugluftstrom eingesetzt wird. Bei Wischrobotern kommt noch ein in der Regel mit hoher Frequenz bewegtes Wischelement hinzu, das mittels eines Reinigungsmittels, in der Regel auf Wasserbasis, Schmutz vom Boden aufnimmt.Cleaning robots are able to independently clean hard floors such as parquet, laminate, tiled floors or stone floors as well as textile floor coverings of dust and coarse material by means of a suction air flow and if necessary with the help of a mechanical brush. On the other hand, sweeping robots clean the floor purely mechanically using brushes and collecting containers without the use of a suction air flow. When wiping robots is still a usually moving at a high frequency wiping element is added, which absorbs dirt from the ground by means of a cleaning agent, usually water-based.

Für eine Bewegung des Reinigungsroboters über einen Fußboden ist mindestens ein Motormittel zum Antreiben von zumindest einem von mindestens drei Rädern vorgesehen. Üblicher Weise sind zwei Elektromotoren vorgesehen, die unabhängig voneinander zwei Antriebsräder antreiben, wobei ein drittes Laufrad zum Stabilisieren des Reinigungsroboters vorgesehen ist.For a movement of the cleaning robot over a floor, at least one motor means is provided for driving at least one of at least three wheels. Conventionally, two electric motors are provided which independently drive two drive wheels, wherein a third impeller is provided for stabilizing the cleaning robot.

Des Weiteren weisen bekannte Reinigungsroboter mindestens einen Sensor, insbesondere mehrere Sensoren zur Beobachtung des den Reinigungsroboter umgebenden Raums auf. Mittels der Sensoren kann der Reinigungsroboter die Umgebung detektieren und der Reinigungsroboter kann weitgehend ohne Kontakt mit Wänden oder Gegenständen navigieren.Furthermore, known cleaning robots have at least one sensor, in particular a plurality of sensors for monitoring the cleaning robot surrounding space. By means of the sensors, the cleaning robot can detect the environment and the cleaning robot can largely navigate without contact with walls or objects.

Die Stromversorgung des Reinigungsroboters für den Betrieb der elektrischen Komponenten, insbesondere der Elektromotoren, der Sensoren und einer Steuerung, erfolgt über Akkumulatoren. Zum Aufladen der Akkumulatoren und darüber hinaus ggf. auch zur Entsorgung des in einem geräteinternen Behälter gesammelten Schmutzes oder Abfalls, ist dem Reinigungsroboter eine stationäre Basisstation zugeordnet, die an das Haushaltsstromnetz angeschlossen ist.The power supply of the cleaning robot for the operation of the electrical components, in particular the electric motors, the sensors and a controller, via accumulators. For charging the batteries and, if appropriate, also for disposing of the dirt or waste collected in a device-internal container, a stationary base station is associated with the cleaning robot, which is connected to the household electricity network.

Reinigungsroboter finden die Basisstation selbsttätig auf, bspw. mit Hilfe einer Funk- und/oder Lichtsignalführung oder auch einer Funkkommunikation zwischen Basisstation und Reinigungsroboter. Die Aufforderung zum Anfahren der Basisstation kann selbsttätig erfolgen, so bspw. durch Funkkommunikation zwischen Basisstation und Reinigungsroboter. Ebenso kann das Reinigungsroboter selber in Abhängigkeit vom Füllgrad des geräteseitigen Schmutzbehälters und/oder vom Ladezustand der Akkumulatoren die Basisstation anfahren. Des Weiteren kann der Reinigungsroboter nach Abschluss einer durchzuführenden Arbeit, bspw. einer Reinigung eines vorgegebenen Fußbodenbereiches, die Basisstation selbsttätig anfahren.Cleaning robot find the base station automatically, for example. With the help of a wireless and / or optical signal or even a wireless communication between the base station and cleaning robot. The request to start the base station can be done automatically, so for example by radio communication between the base station and cleaning robot. Likewise, the cleaning robot itself can approach the base station depending on the degree of filling of the device-side dirt container and / or the state of charge of the accumulators. Furthermore, the cleaning robot can approach the base station automatically after completing a work to be performed, for example, a cleaning of a predetermined floor area.

Reinigungsroboter weisen Steuermittel auf, die die zuvor beschriebenen Aktionen des Reinigungsroboters steuern. Die Steuermittel sind als Computermittel mit einer Datenverarbeitungseinheit ausgebildet, die anhand von Eingangssignalen und/oder von gespeicherten Daten die Aktionen des Reinigungsroboters steuern.Cleaning robots have control means which control the above-described actions of the cleaning robot. The control means are designed as computer means with a data processing unit which control the actions of the cleaning robot based on input signals and / or stored data.

Die beschriebenen Reinigungsroboter sind programmierbar, so dass der Reinigungsroboter zu vorbestimmten Zeiten eine Reinigung durchführt. Ebenso kann der Reinigungsroboter manuell gestartet werden. Zudem ist es möglich einen bestimmten Raumbereich vorzugeben, in dem eine Reinigung durchgeführt werden soll. Dieser Raumbereich kann der gesamte befahrbare Raumbereich oder nur ein Teil davon sein. Der Einsatz dieses Reinigungsroboters ist also allein auf Basis von durch den Benutzer eingegebenen Daten steuerbar.The described cleaning robots are programmable so that the cleaning robot performs cleaning at predetermined times. Likewise, the cleaning robot can be started manually. In addition, it is possible to specify a specific room area in which a cleaning is to be carried out. This room area can be the entire passable room area or only part of it be of it. The use of this cleaning robot can thus be controlled solely on the basis of data entered by the user.

Daher liegt der vorliegenden Erfindung das technische Problem zugrunde, ein System und ein Verfahren zur Reinigung eines Fußbodens mit einem Reinigungsroboter flexibler und mit verbessertem Reinigungsergebnissen zu gestalten.Therefore, the present invention is based on the technical problem of designing a system and a method for cleaning a floor with a cleaning robot more flexibly and with improved cleaning results.

Das zuvor aufgeführte technische Problem wird erfindungsgemäß durch ein eingangs genanntes System zur Reinigung eines Fußbodens dadurch gelöst, dass mindestens ein Reinigungsroboter, Steuermittel zum Steuern des Reinigungsroboters und Kommunikationsmittel zum Erfassen von mindestens einem Umweltereignis vorgesehen sind, wobei das Umweltereignis ein aus einer Datenbank ermitteltes Ereignis, insbesondere Wettereignis, oder ein mittels Sensoren ermitteltes Ereignis ist und wobei die Steuermittel in Abhängigkeit von dem Umweltereignis die Intensität des Einsatzes des Reinigungsroboters für eine Säuberung zumindest eines Teils des Fußbodens einstellen.The above-mentioned technical problem is solved according to the invention by an aforementioned system for cleaning a floor by providing at least one cleaning robot, control means for controlling the cleaning robot and communication means for detecting at least one environmental event, the environmental event being an event determined from a database, in particular betting event, or an event determined by means of sensors, and wherein the control means set in dependence on the environmental event, the intensity of the use of the cleaning robot for cleaning at least a part of the floor.

Auf diese Weise wird ein System angegeben, das nicht nur auf manuelle Eingaben einer Person, sei für eine einmalige Aktion oder für eine zeitliche Programmierung, sondern auch automatisch durch ein Auftreten mindestens eines vorgegebenen externen oder internen Umweltereignisses reagieren kann. Tritt ein vorgegebenes Umweltereignis auf, so reagiert das System automatisch entsprechend von Vorgaben darauf und steuert den Reinigungsroboter so an, dass zumindest ein Teil der Bodenfläche gereinigt wird.In this way, a system is provided which can respond not only to manual inputs of a person, either for a one-time action or for scheduling, but also automatically by occurrence of at least one predetermined external or internal environmental event. If a given environmental event occurs, the system automatically responds according to specifications and controls the cleaning robot so that at least part of the floor surface is cleaned.

Es gibt verschiedene Wege, wie das System das Umweltereignis ermittelt. Bei dem Umweltereignis kann es sich um verschiedene Arten von Ereignissen, ob intern oder extern oder ob über ein elektronisches Netzwerk oder vorort mit Sensoren.There are several ways in which the system determines the environmental event. The environmental event can be different types of events, whether internal or external, or via an electronic network or on-site with sensors.

Eine erste Ausgestaltung des Systems besteht darin, dass die Kommunikationsmittel das Umweltereignis als Wettereignis aus einer externen Wetterdatenbank ermitteln.A first embodiment of the system consists in that the communication means determine the environmental event as a betting event from an external weather database.

Dazu stellen die Kommunikationsmittel eine Verbindung mit einem Netzwerk, lokal oder das Internet, her und ermittelt aktuelle Wetterdaten oder Wetterdaten einer Vorhersage als Umweltdaten. Diese Daten können insbesondere die Außentemperatur, Niederschlagsereignisse wie Regen oder Schnee oder auch trockene Ereignisse wie Sonnenschein, den Luftdruck und/oder die Luftfeuchtigkeit betreffen. All diese Daten ergeben einzeln oder in Kombination miteinander Umweltdaten, die das System auswertet um zu beurteilen, ob eine zusätzliche Reinigung durch den Reinigungsroboter erforderlich ist oder nicht.For this purpose, the communication means establish a connection to a network, locally or the Internet, and determine current weather data or weather data of a prediction as environmental data. These data may relate in particular to the outside temperature, precipitation events such as rain or snow or even dry events such as sunshine, the air pressure and / or the humidity. All of this data, individually or in combination with one another, provides environmental data that the system evaluates to assess whether or not additional cleaning by the cleaning robot is required.

Dabei können die Kommunikationsmittel als Intensität von Wetterereignissen die Anzahl, die Dauer und/oder die Intensität eines Niederschlagsereignisses erfassen. Denn insbesondere Niederschlagsereignisse führen zu einer stärkeren Verschmutzung eines Raumbereichs und erfordern gegebenenfalls ein häufigeres Reinigen des Fußbodens.In this case, the communication means can record as intensity of weather events the number, the duration and / or the intensity of a precipitation event. In particular, precipitation events lead to greater contamination of a room area and possibly require more frequent cleaning of the floor.

Die Kommunikationsmittel können alternativ oder zusätzlich das Umweltereignis mittels mindestens eines externen Sensors ermitteln. Dazu sind entsprechende Sensoren im Freien außerhalb des Raumbereiches angeordnet, die Messdaten zum Ermitteln eines Umweltereignisses in Form von Wetterdaten erzeugen. Insbesondere können Sensoren lokale Wetterdaten wie Außentemperatur und/oder Niederschlagsmenge im Außenbereich messen und die gemessenen Daten mittels einer Datenübertragung an das System weitergeben.The communication means may alternatively or additionally determine the environmental event by means of at least one external sensor. For this purpose, corresponding sensors are arranged outdoors outside the spatial area, which generate measurement data for determining an environmental event in the form of weather data. In particular, sensors can measure local weather data such as outside temperature and / or rainfall in the outdoor area and pass the measured data by means of a data transmission to the system.

Darüber hinaus kann auch mindestens ein interner Sensor im Innenbereich angeordnet sein und beispielsweise die Innentemperatur oder den Status der Fußbodenheizung erfassen. In Abhängigkeit davon, ob die Fußbodenheizung an oder aus ist oder in Abhängigkeit von der eingestellten Temperatur kann beispielsweise darauf geschlossen werden, ob und wie intensiv der Raumbereich genutzt wird.In addition, at least one internal sensor can be arranged indoors and, for example, detect the internal temperature or the status of the underfloor heating. Depending on whether the floor heating is on or off or depending on the set temperature, for example, it can be concluded whether and how intensively the room area is used.

Eine weitere Möglichkeit des Erfassens von Umweltdaten besteht darin, die Anzahl von Personen in dem zu reinigenden Raumbereich zu erfassen und damit die Notwendigkeit von zusätzlichen Reinigungsvorgängen zu ermitteln. Insbesondere können Personen und auch andere Lebewesen (Haustiere) mittels Bewegungssensoren und/oder mittels mindestens einer Kamera oder durch die Analyse von Aktivitäten in lokalen Datennetzwerken oder durch Informationen von einer Hausautomationsanlage erfasst werden. Tiere können zudem mittels Identifikationschips erfasst werden. Zusätzlich können bewegte Elemente erfasst und aus deren Bewegungsprofil auf Möbel, Haustiere oder Menschen geschlossen werden.Another way of capturing environmental data is to capture the number of people in the area of the room to be cleaned, and thus the Need to identify additional cleaning operations. In particular, persons and also other living beings (pets) can be detected by means of motion sensors and / or by means of at least one camera or by the analysis of activities in local data networks or by information from a home automation system. Animals can also be detected by identification chips. In addition, moving elements can be detected and closed from their movement profile to furniture, pets or people.

Bewegte Elemente nimmt der Reinigungsroboter beispielsweise über seine Sensorik in der Art wahr, dass unter Berücksichtigung seiner Eigenbewegung im Raum die kontinuierlich erfassten Sensordaten der Umgebung eine Ortsveränderung eines bisher als Wand oder Hindernis beurteilten Elements wahrnehmen. Diese Ortsveränderung kann ein Indiz für ein sich selbst oder fremdbewegtes Lebewesen oder ein selbsttätiges oder fremdbeeinflusstes Bewegen toter Gegenstände wie z.B. Möbel sein. Eine weitere Interpretation der Sensordaten durch den Reinigungsroboter kann durch eine Bewertung auf charakteristische Bewegungsprofile Rückschlüsse auf bestimmte Lebewesen, Gegenstände und/oder Möbel ermöglichen, so dass die auf diesem Wege gewonnenen Umweltdaten eine Einstellung eines an die vorliegende Situation angepasstes Reinigungsverhaltens des Reinigungsroboters zulassen.The cleaning robot perceives moving elements, for example via its sensors, in such a way that, taking into account its own movement in space, the continuously recorded sensor data of the surroundings perceive a change in location of an element previously judged as wall or obstacle. This change of location may be an indication of a self or alien subject or an automatic or externally influenced movement of dead objects such as e.g. Be furniture. A further interpretation of the sensor data by the cleaning robot can provide conclusions about certain living beings, objects and / or furniture by an evaluation on characteristic movement profiles, so that the environmental data obtained in this way allow adjustment of a cleaning behavior of the cleaning robot adapted to the present situation.

Eine weitere Ausführungsform der vorliegenden Erfindung besteht darin, dass die Kommunikationsmittel das Umweltereignis als Kalendereintrag aus einem externen elektronischen Kalender erfassen. Dabei können die Umweltereignisse durch eine Suche nach bestimmten Begriffen wir "Party", "Besuch" etc. erfasst und identifiziert werden. Ein solches Umweltereignis stellt eine Begebenheit dar, bei der zumindest ein Teil des zu reinigenden Raumbereichs stärker verschmutzt wird und daher eine zusätzliche Reinigung erfordert.Another embodiment of the present invention is that the communication means detect the environmental event as a calendar entry from an external electronic calendar. Environmental events can be detected and identified by searching for specific terms such as party, visit, etc. Such an environmental event is an event in which at least part of the space to be cleaned becomes more soiled and therefore requires additional cleaning.

Nach dem Erfassen des Umweltereignisses stellen die Steuermittel fest, ob und in welchem Umfang der Reinigungsroboter zusätzlich eingesetzt werden soll. Somit ist vorzugsweise vorgesehen, dass die Steuermittel die Intensität des Einsatzes des Reinigungsroboters durch Verändern der Frequenz und/oder der Stärke der Säuberung einstellen. Als einzustellende Parameter können dienen die Anzahl der Reinigungszyklen einschließlich einer erhöhten Frequenz in bestimmten Wohnungsbereichen wie z.B. dem Flurbereich, die Art der Reinigung, also Kehren, Saugen und/oder Wischen, und/oder den Einsatzbereich, also Einraumreinigung bzw. Mehrraumreinigung bzw. Einfachüberfahrt oder Mehrfachüberfahrt.After detecting the environmental event, the control means determine whether and to what extent the cleaning robot is to be additionally used. Thus, it is preferably provided that the control means the intensity of the use of the Adjust the cleaning robot by changing the frequency and / or the amount of cleaning. The parameters to be set may be the number of cleaning cycles including an increased frequency in certain residential areas such as the corridor area, the type of cleaning, ie sweeping, vacuuming and / or wiping, and / or the area of use, ie single-room cleaning or multi-room cleaning or single crossing or multiple crossing.

Des Weiteren kann dann, wenn das erfasste Umweltereignis bedeutet, dass eine Person oder ein Tier im zu reinigenden Raum anwesend ist, eingestellt werden, dass der Raum nicht gereinigt wird oder nur im Eco-Mode mit einer reduzierten Lautstärke gereinigt wird.Further, when the detected environmental event means that a person or animal is present in the room to be cleaned, it can be set so that the room is not cleaned or cleaned only in eco-mode at a reduced volume.

Des Weiteren können in Abhängigkeit von dem ermittelten Umweltereignis der Betriebsmodus des Reinigungsroboters angepasst werden, so beispielsweise die Bürstendrehzahl, die Fahrgeschwindigkeit, das Andruckgewicht auf der Reinigungswalze, die Trocknung bzw. Nachtrocknung, das Aktivieren der Seitenbürsten bzw. Auswahl der Art der Seitenreinigungseinheiten, Auswahl der Wassermenge bei Feucht- oder Nassreinigung und/oder die Art und Menge des Reinigungsmittels.Furthermore, depending on the determined environmental event, the operating mode of the cleaning robot can be adjusted, for example the brush speed, the driving speed, the pressure on the cleaning roller, the drying or drying, the activation of the side brushes or selection of the type of side cleaning units, selection of Amount of water for wet or wet cleaning and / or the type and amount of cleaning agent.

Das System kann so ausgebildet sein, dass die Kommunikationsmittel mit der Datenerfassung im Reinigungsroboter angeordnet und mit den Steuermitteln verbunden sind und dass die Kommunikationsmittel mittels einer drahtlosen Kommunikationsstrecke mit einem Netzwerk verbunden sind. Somit besitzt der Reinigungsroboter die gesamte Datenermittlung und Steuerung selbst an Bord. Daher ist ein solches System in hohem Maße autark einsetzbar.The system may be arranged such that the communication means are arranged with the data acquisition in the cleaning robot and connected to the control means and that the communication means are connected by means of a wireless communication link to a network. Thus, the cleaning robot has all the data acquisition and control itself on board. Therefore, such a system is highly self-sufficient.

Alternativ können die Kommunikationsmittel mit der Datenerfassung außerhalb des Reinigungsroboters angeordnet und mit einem Netzwerk verbunden sein und die Kommunikationsmittel können mit den Steuermitteln mittels einer drahtlosen Kommunikationsstrecke verbunden sein. In diesem Fall könnte das System mehr als einen Reinigungsroboter aufweisen, die alle über die gleichen Kommunikationsmittel mit den für die Steuerung wichtigen Informationen versorgt werden. Die Steuermittel einschließlich einer darin integrierten Datenverarbeitungseinheit können somit in einer Basisstation oder in einem externen Gerät oder Server realisiert sein. Die Datenverarbeitungseinheit kann durch eine drahtlose Datenverbindung das Reinigungsgerät entsprechend steuern. Eine verteilte Realisierung auf verschiedene Komponenten ist ebenso möglich.Alternatively, the communication means with the data acquisition may be located outside the cleaning robot and connected to a network, and the communication means may be connected to the control means by means of a wireless communication link. In this case, the system could be more than have a cleaning robot, all of which are supplied via the same communication means with the information important to the control. The control means including a data processing unit integrated therein can thus be realized in a base station or in an external device or server. The data processing unit can control the cleaning device accordingly by means of a wireless data connection. A distributed realization on different components is also possible.

Das oben aufgezeigte technische Problem wird auch durch ein Verfahren zur Reinigung eines Fußbodens mit einem Reinigungsroboter gelöst, bei dem mindestens ein Umweltereignis erfasst wird und bei dem die Intensität des Einsatzes des Reinigungsroboters für eine Säuberung zumindest eines Teils des Fußbodens in Abhängigkeit von der Intensität von mindestens einem Umweltereignis eingestellt wird.The technical problem indicated above is also solved by a method for cleaning a floor with a cleaning robot, in which at least one environmental event is detected and in which the intensity of the use of the cleaning robot for cleaning at least a part of the floor depending on the intensity of at least an environmental event is set.

Dieses Verfahren und seine nachfolgend beschriebenen Ausgestaltungen weisen die gleichen Eigenschaften und Vorteile auf, wie sie zuvor für das System beschrieben worden sind. Daher wird auf die vorige Beschreibung verwiesen.This method and its embodiments described below have the same characteristics and advantages as previously described for the system. Therefore, reference is made to the previous description.

Das beschriebene Verfahren kann durch einen Ablauf weitergebildet werden,

  • bei dem das mindestens eine Umweltereignis aus einer Datenbank oder mittels Sensoren ermittelt wird und/oder
  • bei dem als Umweltereignis ein Wetterereignis ermittelt wird und/oder
  • bei dem als Intensität eines Wetterereignisses die Anzahl, die Dauer und/oder die Intensität eines Niederschlagsereignisses erfasst wird und/oder
  • bei dem die Intensität des Einsatzes des Reinigungsroboters durch Verändern der Frequenz und/oder der Stärke der Säuberung eingestellt wird.
The described method can be developed by a procedure,
  • in which the at least one environmental event is determined from a database or by means of sensors and / or
  • in which a weather event is determined as an environmental event and / or
  • in which the number, duration and / or intensity of a precipitation event is detected as the intensity of a weather event and / or
  • in which the intensity of the use of the cleaning robot is adjusted by changing the frequency and / or the strength of the cleaning.

Im Folgenden wird die Erfindung anhand von Ausführungsbeispielen mit Bezug auf die Zeichnung erläutert. In der Zeichnung zeigen

Fig. 1
ein Ausführungsbeispiel eines erfindungsgemäßen Reinigungsroboters in einer perspektivischen Ansicht von oben,
Fig. 2
der in Fig. 1 dargestellte Reinigungsroboter in einer perspektivischen Ansicht von unten und
Fig. 3
ein erfindungsgemäßes System zur Reinigung eines Fußbodens.
In the following the invention will be explained by means of embodiments with reference to the drawing. In the drawing show
Fig. 1
An embodiment of a cleaning robot according to the invention in a perspective view from above,
Fig. 2
the in Fig. 1 illustrated cleaning robot in a perspective view from below and
Fig. 3
an inventive system for cleaning a floor.

In den Fig. 1 und 2 ist ein erfindungsgemäßer Reinigungsroboter in Form eines Saugroboters 2 dargestellt. Der Saugroboter2 weist ein Gehäuse 4, ein an der Unterseite des Gehäuses 4 angeordnetes Fahrwerk 6, eine Sensorik 8 zum Erfassen der Umgebung des Gehäuses 4 und eine Steuerung zum selbsttätigen Antreiben des Fahrwerks 6 auf.In the Fig. 1 and 2 an inventive cleaning robot is shown in the form of a vacuum robot 2. The vacuum robot 2 comprises a housing 4, a chassis 6 arranged on the underside of the housing 4, a sensor 8 for detecting the surroundings of the housing 4 and a control for automatically driving the chassis 6.

Das Fahrwerk 6 ist an der Unterseite des Gehäuses 4 angeordnet und der zu reinigenden Bodenfläche zugewandt. Das Fahrwerk 6 weist zwei elektromotorisch angetriebene Verfahrräder 10 und ein Mitlaufrad 11 auf, so dass eine Dreipunktauflage des Bodenreinigungsroboters 2 auf der zu reinigenden Bodenfläche erreicht wird. Durch unterschiedliche Ansteuerung der beiden Verfahrräder 10 kann der Saugroboter2 in beliebige Richtungen verfahren werden, wobei eine Vorwärtsfahrt in Richtung des Pfeils r gemäß Fig. 1 erfolgt. Ebenso ist eine Drehung auf der Stelle sowie eine Rückwärtsfahrt entgegen der Richtung des Pfeils r möglich.The chassis 6 is arranged on the underside of the housing 4 and faces the floor surface to be cleaned. The chassis 6 has two electric motor driven Verfahrräder 10 and a Mitlaufrad 11, so that a three-point support of the floor cleaning robot 2 is achieved on the floor surface to be cleaned. By different control of the two Verfahrräder 10, the Saugroboter2 can be moved in any direction, with a forward drive in the direction of the arrow r according to Fig. 1 he follows. Similarly, a rotation on the spot and a reverse drive against the direction of the arrow r is possible.

Wie sich insbesondere aus Fig. 2 ergibt, ist an der Unterseite des Gehäuses 4 eine über die Unterkante hinausragende, elektromotorisch angetriebene Bürste 12 innerhalb einer Saugöffnung 14 angeordnet. Des Weiteren ist ein nicht dargestellter Sauggebläsemotor vorgesehen, der ebenfalls elektrisch betrieben wird. Zudem ist eine kehrblechartige Rampe 16 vorgesehen, über die abgebürstete Schmutzpartikel in eine nicht dargestellte behälterartige Aufnahme transportiert werden.As can be seen in particular Fig. 2 results, on the underside of the housing 4 a projecting beyond the lower edge, electric motor-driven brush 12 is disposed within a suction opening 14. Furthermore, an unillustrated suction fan motor is provided, which is also operated electrically. In addition, a keyless ramp 16 is provided, are transported through the brushed dirt particles in a container-like receptacle, not shown.

Die Elektroversorgung der einzelnen Komponenten des Saugreinigungsroboters 2, also des Elektromotors der Verfahrräder 10, des Elektroantriebs der Bürste 12, des Sauggebläses und der weiteren Elektronik der Steuerung erfolgt über einen nicht dargestellten wiederaufladbaren Akkumulator.The electrical supply of the individual components of the vacuum cleaning robot 2, that is, the electric motor of the Verfahrräder 10, the electric drive of the brush 12, the suction fan and the other electronics of the controller via a rechargeable battery, not shown.

Um die Umgebung, Raumbegrenzungen und ggf. Hindernisse erkennen zu können, und um insbesondere ein Festfahren des Saugroboters 2 zu verhindern, ist die bereits erwähnte Sensorik 8 vorgesehen, die als sensorische Hinderniserkennung ausgebildet ist. Diese besteht aus einer optischen Sendeeinheit und einer optischen Empfängereinheit, die beide in der in Fig.1 dargestellten Sensorik 8 integriert sind. Die Sensorik 8 ist beim vorliegenden Ausführungsbeispiel um eine Vertikalachse x des Gehäuses 4 drehbar angeordnet, wie mit dem Pfeil c in Fig. 1 dargestellt ist. Weitere Sensoren 20, 22 und 24 sind vorhanden, die als Ultraschallsensoren und/oder Infrarotsensoren ausgebildet sind. Des Weiteren ist ein Display 26 vorgesehen, das Informationen für den Benutzer anzeigt und ggf. als Eingabehilfe für Befehle zur Bedienung dient.In order to be able to recognize the surroundings, room boundaries and possibly obstacles, and in particular to prevent the suction robot 2 from becoming stuck, the already mentioned sensor system 8 is provided, which is designed as a sensoric obstacle detection. This consists of an optical transmitter unit and an optical receiver unit, both in the in Fig.1 shown sensors 8 are integrated. The sensor 8 is rotatably arranged in the present embodiment about a vertical axis x of the housing 4, as with the arrow c in Fig. 1 is shown. Further sensors 20, 22 and 24 are provided which are designed as ultrasonic sensors and / or infrared sensors. Furthermore, a display 26 is provided which displays information for the user and possibly serves as input help for commands for operation.

Fig. 3 zeigt nun ein erfindungsgemäßes System zur Reinigung eines Fußbodens mit mindestens einem Reinigungsroboter 2, der beispielsweise wie in den Fig.1 und 2 dargestellt als Saugroboter ausgebildet sein kann, in einer beispielhaften Umgebung einer Wohnung 30 mit zwei Räumen 32 und 34. Fig. 3 zeigt dazu einen Grundriss der Wohnung mit Wänden 36, Eingangstür 38 und Zimmertür 39 und Fenster 40. Fig. 3 Now shows an inventive system for cleaning a floor with at least one cleaning robot 2, for example, as in the Fig.1 and 2 represented as a vacuum robot may be formed in an exemplary environment of a flat 30 with two rooms 32 and 34th Fig. 3 shows a floor plan of the apartment with walls 36, front door 38 and room door 39 and window 40.

Im Raum 32 ist ein Saugroboter 2 angeordnet, der an einer Basisstation 42 zum Aufladen von mindestens einem im Saugroboter 2 vorgesehenen Akkumulator 44 angeschlossen ist. Die Basisstation 42 ist dabei im Raum 32 positioniert und zur Stromversorgung an einer Steckdose 46 angeschlossen.In space 32, a vacuum robot 2 is arranged, which is connected to a base station 42 for charging at least one accumulator 44 provided in the vacuum robot 2. The base station 42 is positioned in the space 32 and connected to the power supply to a socket 46.

Der Saugroboter 2 weist Steuermittel 50 zum Steuern des Saugroboters 2 und Kommunikationsmittel 52 zum Erfassen von mindestens einem Ereignis mit erhöhtem Verschmutzungsaufkommen zumindest eines Teils des Fußbodens auf. Die Kommunikationsmittel 52 weisen eine Sende- und Empfangsvorrichtung zur drahtlosen Kommunikation mit einer im Raum 32 angeordneten Sende- und Empfangsvorrichtung als Kommunikationsmittel 54 auf. Die drahtlose Kommunikation erfolgt dabei bevorzugt nach einem standardisierten Verfahren wie WLAN oder Bluetooth.The vacuum robot 2 has control means 50 for controlling the vacuum robot 2 and communication means 52 for detecting at least one event with increased contamination of at least a part of the floor. The Communication means 52 comprise a transmitting and receiving device for wireless communication with a transmission and reception device arranged in the room 32 as a communication means 54. The wireless communication is preferably carried out according to a standardized method such as WLAN or Bluetooth.

Des Weiteren können die Kommunikationsmittel 52 auch eine Mobilfunkeinrichtung aufweisen, so dass in diesem Fall keine Kommunikationsmittel 54 erforderlich sind.Furthermore, the communication means 52 can also have a mobile radio device, so that in this case no communication means 54 are required.

Die Kommunikationsmittel 52 und ggf. 54 können über eine Kabelverbindung oder drahtlos mit einem lokalen oder externen Netzwerk, insbesondere mit dem Internet verbunden sein, um Informationen über Umweltereignisse zu erfassen.The communication means 52 and optionally 54 may be connected via a cable connection or wirelessly to a local or external network, in particular to the Internet, in order to record information about environmental events.

Die Steuermittel 50 sind mit den Kommunikationsmitteln 52 verbunden und ermitteln über diese Verbindung das Umweltereignis aus einer Datenbank, insbesondere ein Wetterereignis und die Steuermittel 50 stellen in Abhängigkeit von dem Umweltereignis die Intensität des Einsatzes des Reinigungsroboters 2 für eine Säuberung zumindest eines Teils des Fußbodens ein.The control means 50 are connected to the communication means 52 and determine via this connection the environmental event from a database, in particular a weather event and the control means 50 adjust the intensity of the use of the cleaning robot 2 for cleaning at least part of the floor depending on the environmental event.

Bevorzugt ermitteln die Kommunikationsmittel 52, 54 das Umweltereignis als Wetterereignis aus einer externen Wetterdatenbank, wobei insbesondere Wetterereignisse in Form der Außentemperatur, der Wettervorhersage, Regen oder Schnee oder Sonnenschein sowie Luftdruck und/oder Luftfeuchtigkeit ermittelt werden. Dabei können die Kommunikationsmittel 52, 54 als Intensität von Wetterereignissen die Anzahl, die Dauer und/oder die Intensität eines Niederschlagsereignisses erfassen.Preferably, the communication means 52, 54 determine the environmental event as a weather event from an external weather database, in particular weather events in the form of the outside temperature, the weather forecast, rain or snow or sunshine and air pressure and / or humidity are determined. In this case, the communication means 52, 54 can detect the number, duration and / or intensity of a precipitation event as intensity of weather events.

In einer weiteren Ausgestaltung ist das Umweltereignis ein mittels Sensoren ermitteltes Ereignis, wobei externe Sensoren 60 oder interne Sensoren 62 das Umweltereignis als Messdaten ermitteln. Die externen Sensoren 60 sind beispielsweise in einer Wetterstation 64 außerhalb der Wohnung positioniert, wobei die Wetterstation 64 ein Kommunikationsmittel 66 zur drahtlosen Datenübertragung aufweist. Der interne Sensor 62 ist beispielsweise im Gehäuse der Kommunikationsmittel 54 integriert.In a further embodiment, the environmental event is an event determined by means of sensors, wherein external sensors 60 or internal sensors 62 determine the environmental event as measured data. The external sensors 60 are positioned, for example, in a weather station 64 outside the home, wherein the weather station 64 has a communication means 66 for wireless data transmission. The internal sensor 62 is integrated, for example, in the housing of the communication means 54.

Mittels der externen Sensoren 60 in der Wetterstation 64 können Umweltdaten als Außentempteratur und/oder die Niederschlagsmenge gemessen werden. Mittels der internen Sensoren kann beispielsweise die Innentemperatur (Temperatursensor) oder die Anzahl von Personen in dem Reinigungsbereich (Bewegungssensor) ermittelt werden.By means of the external sensors 60 in the weather station 64, environmental data can be measured as outdoor temperature and / or the amount of rainfall. By means of the internal sensors, for example, the internal temperature (temperature sensor) or the number of persons in the cleaning area (motion sensor) can be determined.

Die Kommunikationsmittel 52, 54 sind auch geeignet, das Umweltereignis als Kalendereintrag aus einem externen elektronischen Kalender zu erfassen. In diesem Fall wird die Art des Umweltereignisses aus vorgegebenen Begriffen wie "Party", "Besuch" etc. abgeleitet.The communication means 52, 54 are also suitable for detecting the environmental event as a calendar entry from an external electronic calendar. In this case, the nature of the environmental event is derived from given terms such as party, visit, etc.

Die Steuermittel 50 stellen die Intensität des Einsatzes des Reinigungsroboters 2 durch Verändern der Frequenz und/oder der Stärke der Säuberung ein. Als geeignete Parameter stehen dabei zur Verfügung:

  • die Anzahl der Reinigungszyklen durch Verändern der Frequenz in bestimmten Wohnungsbereichen wie z.B. Flurbereich,
  • die Art der Reinigung mit der Unterscheidung zwischen einer trockenen oder feuchten Reinigung,
  • das Aktivieren von Einraumreinigung bzw. Mehrraumreinigung,
  • Steuerung der Reinigung in Abhängigkeit davon, ob eine Person oder ein Tier im Raum ist. gegebenenfalls wird der Raum nicht gereinigt oder nur im Eco-Mode mit reduzierter Lautstärke,
  • die Einstellung des Betriebsmodus durch Verändern der Bürstendrehzahl, Fahrgeschwindigkeit, Andruckgewicht auf der Reinigungswalze, Trocknung bzw. Nachtrocknung, Seitenbürsten aktivieren bzw. Art der Seitenreinigungseinheiten auswählen,
  • Einstellen der Wassermenge bei Feucht- oder Nassreinigung und/oder
  • Auswahl des Reinigungsmittels in Art und/oder Menge).
The control means 50 adjust the intensity of use of the cleaning robot 2 by changing the frequency and / or the amount of cleaning. Suitable parameters are:
  • the number of cleaning cycles by changing the frequency in certain housing areas, such as the corridor area,
  • the type of cleaning with the distinction between a dry or wet cleaning,
  • activating single-room cleaning or multi-room cleaning,
  • Control of cleaning depending on whether a person or an animal is in the room. if necessary, the room is not cleaned or only in eco-mode with reduced volume,
  • activate the setting of the operating mode by changing the brush speed, travel speed, pressure on the cleaning roller, drying or drying, side brushes or select the type of side cleaning units,
  • Adjusting the amount of water for wet or wet cleaning and / or
  • Selection of the cleaning agent in kind and / or quantity).

Claims (13)

System zur Reinigung eines Fußbodens - mit mindestens einem Reinigungsroboter (2), - mit Steuermitteln (50) zum Steuern des Reinigungsroboters (2) und - mit Kommunikationsmitteln (52, 54) zum Erfassen von mindestens einem Umweltereignis, - wobei das Umweltereignis ein aus einer Datenbank ermitteltes Ereignis, insbesondere Wetterereignis, oder ein mittels Sensoren ermitteltes Ereignis ist und - wobei die Steuermittel (50) in Abhängigkeit von dem Umweltereignis die Intensität des Einsatzes des Reinigungsroboters (2) für eine Säuberung zumindest eines Teils des Fußbodens einstellen. System for cleaning a floor with at least one cleaning robot (2), - With control means (50) for controlling the cleaning robot (2) and - with communication means (52, 54) for detecting at least one environmental event, wherein the environmental event is an event determined from a database, in particular a weather event, or an event determined by means of sensors, and - wherein the control means (50) depending on the environmental event, the intensity of the use of the cleaning robot (2) for cleaning at least a portion of the floor set. System nach Anspruch 1,
dadurch gekennzeichnet,
dass die Kommunikationsmittel (52, 54) das Umweltereignis als Wetterereignis aus einer externen Wetterdatenbank ermitteln.System according to claim 1,
characterized,
in that the communication means (52, 54) determine the environmental event as a weather event from an external weather database. System nach Anspruch 2,
dadurch gekennzeichnet,
dass die Kommunikationsmittel (52, 54) als Intensität von Wetterereignissen die Anzahl, die Dauer und/oder die Intensität eines Niederschlagereignisses erfassen.System according to claim 2,
characterized,
in that the communication means (52, 54) record as intensity of weather events the number, duration and / or intensity of a precipitation event. System nach Anspruch 1,
dadurch gekennzeichnet,
dass die Kommunikationsmittel (52, 54) das Umweltereignis mittels mindestens einem externen oder internen Sensor (60, 62) ermitteln.System according to claim 1,
characterized,
in that the communication means (52, 54) determine the environmental event by means of at least one external or internal sensor (60, 62). System nach Anspruch 1,
dadurch gekennzeichnet,
dass die Kommunikationsmittel (52, 54) das Umweltereignis als Kalendereintrag aus einem externen elektronischen Kalender erfassen.System according to claim 1,
characterized,
in that the communication means (52, 54) record the environmental event as a calendar entry from an external electronic calendar. System nach einem der Ansprüche 1 bis 5,
dadurch gekennzeichnet,
dass die Steuermittel (50) die Intensität des Einsatzes des Reinigungsroboters (2) durch Verändern der Frequenz und/oder der Stärke der Säuberung einstellen.System according to one of claims 1 to 5,
characterized,
that the control means (50) adjust the intensity of the use of the robot cleaner (2) by changing the frequency and / or the thickness of the cleaning. System nach einem der Ansprüche 1 bis 6,
dadurch gekennzeichnet,
dass die Kommunikationsmittel (52) im Reinigungsroboter (2) angeordnet und mit den Steuermitteln (50) verbunden sind und
dass die Kommunikationsmittel (52) mittels einer drahtlosen Kommunikationsstrecke mit einem Netzwerk verbunden sind.System according to one of claims 1 to 6,
characterized,
in that the communication means (52) are arranged in the cleaning robot (2) and are connected to the control means (50) and
in that the communication means (52) are connected to a network by means of a wireless communication link. System nach einem der Ansprüche 1 bis 6,
dadurch gekennzeichnet,
dass die Kommunikationsmittel (54) außerhalb des Reinigungsroboters (2) angeordnet und mit einem Netzwerk verbunden sind und
dass die Kommunikationsmittel (54) mit den Steuermitteln (50) mittels einer drahtlosen Kommunikationsstrecke verbunden sind.System according to one of claims 1 to 6,
characterized,
that the communication means (54) outside the cleaning robot (2) are arranged and connected to a network, and
in that the communication means (54) are connected to the control means (50) by means of a wireless communication link. Verfahren zur Reinigung eines Fußbodens mit einem Reinigungsroboter, - bei dem mindestens ein Umweltereignis erfasst wird und - bei dem die Intensität des Einsatzes des Reinigungsroboters für eine Säuberung zumindest eines Teils des Fußbodens in Abhängigkeit von der Intensität von mindestens einem Umweltereignis eingestellt wird. Method for cleaning a floor with a cleaning robot, - where at least one environmental event is detected and - In which the intensity of the use of the cleaning robot is set for a cleaning of at least a portion of the floor in dependence on the intensity of at least one environmental event. Verfahren nach Anspruch 9,
bei dem das mindestens eine Umweltereignis aus einer Datenbank oder mittels Sensoren ermittelt wird.Method according to claim 9,
in which the at least one environmental event is determined from a database or by means of sensors. Verfahren nach Anspruch 9 oder 10,
bei dem als Umweltereignis ein Wetterereignis ermittelt wird.Method according to claim 9 or 10,
in which a weather event is determined as an environmental event. Verfahren nach Anspruch 11,
bei dem als Intensität eines Wetterereignisses die Anzahl, die Dauer und/oder die Intensität eines Niederschlagsereignisses erfasst wird.Method according to claim 11,
in which the number, duration and / or intensity of a precipitation event is detected as the intensity of a weather event. Verfahren nach einem der Ansprüche 9 bis 12,
bei dem die Intensität des Einsatzes des Reinigungsroboters durch Verändern der Frequenz und/oder der Stärke der Säuberung eingestellt wird.Method according to one of claims 9 to 12,
in which the intensity of the use of the cleaning robot is adjusted by changing the frequency and / or the strength of the cleaning.
EP17170077.6A 2016-05-09 2017-05-09 System and method for cleaning a floor with a robotic cleaner Active EP3243418B1 (en)

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DE102016108514.6A DE102016108514A1 (en) 2016-05-09 2016-05-09 System and method for cleaning a floor with a cleaning robot

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TW201742591A (en) 2017-12-16
DE102016108514A1 (en) 2017-11-09
EP3243418B1 (en) 2021-03-17
JP6681360B2 (en) 2020-04-15
JP2017202316A (en) 2017-11-16
CN107348906A (en) 2017-11-17

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