WO2015090401A1 - Dispositif de nettoyage robotique fournissant un retour d'informations tactile - Google Patents

Dispositif de nettoyage robotique fournissant un retour d'informations tactile Download PDF

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Publication number
WO2015090401A1
WO2015090401A1 PCT/EP2013/077382 EP2013077382W WO2015090401A1 WO 2015090401 A1 WO2015090401 A1 WO 2015090401A1 EP 2013077382 W EP2013077382 W EP 2013077382W WO 2015090401 A1 WO2015090401 A1 WO 2015090401A1
Authority
WO
WIPO (PCT)
Prior art keywords
cleaning device
motor
user interface
input
robotic cleaning
Prior art date
Application number
PCT/EP2013/077382
Other languages
English (en)
Inventor
Petter FORSBERG
Magnus LINDHÉ
Mats Lindberg
Original Assignee
Aktiebolaget Electrolux
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Aktiebolaget Electrolux filed Critical Aktiebolaget Electrolux
Priority to PCT/EP2013/077382 priority Critical patent/WO2015090401A1/fr
Publication of WO2015090401A1 publication Critical patent/WO2015090401A1/fr

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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
    • 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
    • A47L9/2857—User input or output elements for control, e.g. buttons, switches or displays
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
    • 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

Definitions

  • the invention relates to a robotic cleaning device and a method of indicating user input to a user interface of a robotic cleaning device.
  • Robotic vacuum cleaners are typically equipped with a user interface comprising touch buttons via which a user can control the vacuum cleaner in terms of e.g. turning the vacuum cleaner on/off, selecting a cleaning program, having the vacuum cleaner move to a charging station, or in any other way programming/instructing the vacuum cleaner to take a desired action.
  • the robotic cleaning device may be provided with a small speaker for providing feedback to a user activating the touch buttons, but it is generally rather weak. This is particularly a problem for elderly people and the hearing- impaired. Further, the added speaker makes the robotic cleaning device more expensive.
  • An object of the present invention is to solve, or at least mitigate, this problem and provide an improved robotic cleaning device capable of haptic and/or audible feedback.
  • This object is attained in a first aspect of the present invention by a method of indicating user input to a user interface of a robotic cleaning device, comprising registering the user input to the user interface, and temporarily operating at least one motor of the robotic cleaning device in response thereto to indicate the user input to the user interface.
  • a robotic cleaning device comprising a user interface, a processing unit and a plurality of motors. The processing is arranged to register user input to the user interface and further to temporarily operate at least one of said plurality of motors in response thereto to indicate the user input to the user interface.
  • a motor of the robotic cleaning device when a user provides input to the user interface of the cleaning device and the user input to the user interface is registered at the robotic cleaning device, be it e.g. a capacitive button of a touch screen or a key of an electro-mechanical interface activated by the user, an interface for receiving remote control signals in the form of light, sound (even speech) or radio signals, or a camera for observing gestures, a tactile or relatively powerful audible feedback can be provided.
  • the motor to operate to provide the feedback of user interface input is one or more of already existing motors at the robotic cleaning device, such as a propulsion motor, a cleaning motor or an internal motor.
  • a propulsion motor such as a propulsion motor
  • a cleaning motor such as a cleaning motor or an internal motor.
  • an appropriate computer program comprising computer-executable instructions for causing the robotic cleaning device to perform the method of the present invention in order to provide the feedback when the computer-executable instructions are executed on the processing unit, functionality is easily implemented and modified.
  • embodiment advantageously employs a motor having another main purpose for providing feedback to the user interface input.
  • the robotic cleaning device if the propulsion motor(s) is operated to provide the feedback, the robotic cleaning device is caused to move in a certain motion pattern to indicate the user interface input, in which case haptic (and indirectly audible) feedback is provided to a user providing input to the user interface.
  • the robotic cleaning device is caused to vibrate to indicate the user interface input, in which case haptic feedback is provided to a user providing input to the user interface.
  • haptic feedback is provided to a user providing input to the user interface.
  • the robotic cleaning device if the cleaning motor is operated to provide the feedback, the robotic cleaning device is caused to slightly vibrate from cleaning member rotation to indicate the user interface input, in which case haptic feedback is provided to a user providing input to the user interface.
  • the robotic cleaning device in case two propulsion motors are operated, their operation is synchronized to have the robotic cleaning device move according to a desired motion pattern.
  • the robotic cleaning device may be caused to rotate around a finger of the user providing the input to the user interface thus minimizing the risk of having the robotic cleaning device move away from the finger of the user.
  • a particular type of action selected by the user input is configured to correspond to a unique temporary operation of the at least one motor.
  • This is advantageous in that a particular type of action selected via the user input to the user interface will result in a unique haptic feedback.
  • the unique feedback will hence in itself carry information regarding the action selected via the user interface. For instance, the user selects a particular start time for the robot to being cleaning, wherein the robot operates the internal motor in a particular unique manner; the user selects a certain room that the robotic cleaning device is instructed to clean, and the robotic cleaning device responds by activating the propulsion motors (e.g. both wheel motors are activated, a single wheel motor is activated, the wheel motors are activated to rotate the drive wheels in separate directions, etc.).
  • the propulsion motors e.g. both wheel motors are activated, a single wheel motor is activated, the wheel motors are activated to rotate the drive wheels in separate directions, etc.
  • Figure ⁇ shows a bottom view of a robotic cleaning device according to embodiments of the present invention.
  • Figure 2 shows a top view of a robotic cleaning device according to
  • Figure 3a illustrates a flow chart of a basic embodiment of the method of indicating user input to a user interface of a robotic cleaning device according to the present invention
  • Figure 3b illustrates a flow chart of another embodiment of the method of indicating user input to a user interface of a robotic cleaning device according to the present invention
  • Figure 3c illustrates a flow chart of still another embodiment of the method of indicating user input to a user interface of a robotic cleaning device according to the present invention
  • Figure 4 illustrates a robotic cleaning device according to a further embodiment
  • Figure 5 illustrates a robotic cleaning device according to yet a further embodiment of the present invention.
  • the invention relates to robotic cleaning devices, or in other words, to automatic, self-propelled machines for cleaning a surface, e.g. a robotic vacuum cleaner, a robotic sweeper or a robotic floor washer.
  • the robotic cleaning device according to the invention can be mains-operated and have a cord, be battery-operated or use any other kind of suitable energy source, for example solar energy.
  • Figure ⁇ shows a robotic cleaning device 10 according to embodiments of the present invention in a bottom view, i.e. the bottom side of the robotic cleaning device is shown. The arrow indicates the forward direction of the robotic cleaning device.
  • the robotic cleaning device io comprises a main body 11 housing components such as a propulsion system comprising driving means in the form of two electric wheel motors 15a, 15b, referred to as propulsion motors, for enabling movement of the driving wheels 12, 13 such that the cleaning device can be moved over a surface to be cleaned.
  • Each wheel motor 15a, 15b is capable of controlling the respective driving wheel 12, 13 to rotate independently of the other with respect to e.g. direction and/or rotational speed in order to move the robotic cleaning device 10 across the surface to be cleaned.
  • a number of different driving wheel arrangements can be envisaged.
  • robotic cleaning devices exist where the driving wheels 12, 13 are coaxially arranged along a drive shaft (not shown).
  • a track propulsion system may be used or even a hovercraft propulsion system.
  • different driving motor arrangements are possible; for instance one driving wheel and one driving motor, two driving wheels and one driving motor, or even three wheels with three separate driving motors for independent control, etc.
  • the robotic cleaning device may have any appropriate shape, such as a device having a more traditional circular-shaped main body, or a triangular-shaped main body.
  • a controller 16 such as a microprocessor controls the wheel motors 15a, 15b to rotate the driving wheels 12, 13 as required in view of information received from an obstacle detecting device (not shown) for detecting obstacles in the form of walls, floor lamps, table legs, around which the robotic cleaning device must navigate.
  • the obstacle detecting device may be embodied in the form of infrared (IR) sensors and/or sonar sensors, a microwave radar, a 3D sensor system registering its surroundings, implemented by means of e.g. a 3D camera, a camera in combination with lasers a laser scanner, etc., for detecting obstacles and communicating information about any detected obstacle to the microprocessor 16.
  • the microprocessor 16 communicates with the wheel motors 15a, 15b to control movement of the wheels 12, 13 in accordance with information provided by the obstacle detecting device, such that the robotic cleaning device 10 can move as desired across the surface to be cleaned.
  • the main body 11 is arranged with a cleaning member 17 for removing debris and dust from the surface to be cleaned in the form of a rotatable brush roll arranged in an opening 18 at the bottom of the robotic cleaner 10.
  • a cleaning member 17 for removing debris and dust from the surface to be cleaned in the form of a rotatable brush roll arranged in an opening 18 at the bottom of the robotic cleaner 10.
  • the rotatable brush roll 17 is arranged along a horizontal axis in the opening 18 to enhance the dust and debris collecting properties of the cleaning device 10.
  • a brush roll motor 19 known as a cleaning motor, is operatively coupled to the brush roll to control its rotation in line with instructions received from the controller 16.
  • the main body 11 of the robotic cleaner 10 comprises a suction fan 20 creating an air flow for transporting debris to a dust bag or cyclone arrangement (not shown) housed in the main body via the opening 18 in the bottom side of the main body 11.
  • the suction fan 20 is driven by a fan motor 21, referred to as an internal motor, communicatively connected to the controller 16 from which the fan motor 21 receives instructions for controlling the suction fan 20.
  • the robotic cleaning device 10 may comprise a rotation side brush (not shown) adjacent to the cleaning member 17 for sweeping debris in a direction towards the cleaning member.
  • a separate motor (not shown) driving the side brush may be used for providing the haptic feedback to the user.
  • the processing unit 16 embodied in the form of one or more microprocessors is arranged to execute a computer program 25 downloaded to a suitable storage medium 26 associated with the microprocessor, such as a Random Access Memory (RAM), a Flash memory or a hard disk drive.
  • the processing unit 16 is arranged to carry out a method according to embodiments of the present invention when the appropriate computer program 25 comprising computer-executable instructions is downloaded to the storage medium 26 and executed by the processing unit 16.
  • the storage medium 26 may also be a computer program product comprising the computer program 25.
  • the computer program 25 may be transferred to the storage medium 26 by means of a suitable computer program product, such as a digital versatile disc (DVD), compact disc (CD) or a memory stick.
  • DVD digital versatile disc
  • CD compact disc
  • the computer program 25 may be downloaded to the storage medium 116 over a network.
  • the processing unit 16 may alternatively be embodied in the form of a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), a complex programmable logic device (CPLD), etc.
  • FIG. 2 shows a top view of a robotic cleaning device 10 according to embodiments of the present invention, i.e. the top side of the robotic cleaning device is displayed.
  • the arrow indicates the forward direction of the robotic cleaning device.
  • a user interface 22 is arranged comprising a number of touch buttons 23:1, 23:2, 23:3 via which a user can instruct the cleaning device to e.g. run a desired cleaning program.
  • the user interface 22 comprises display means 24 for visually indicating a selected cleaning program (in this example "P2") to the user.
  • P2 selected cleaning program
  • FIG. 3a illustrates a flow chart of a basic embodiment of the method of indicating user input to a user interface of a robotic cleaning device according to the present invention. Reference is further made to Figures 1 and 2 for elements of the robotic cleaning device of the present invention.
  • the processing unit 16 receives from the user interface 22 a signal indicating that a user provides input to the user interface, for instance by pushing a touch button to turn the cleaning device 10 on. Upon receiving the signal from the user interface 22, the processing unit 16 operates,
  • step S102 any one or more of the wheel motors 15a, 15b, the brush roll motor 19 and the fan motor 21 to indicate to the user that an instruction successfully was input to the user interface 22 by operating at least one motor of the robotic cleaning device in response thereto to indicate to the user the input to the user interface.
  • a tactile or relatively powerful audible feedback can be provided.
  • an already existing motor 15a, 15b, 19, 21 of the robotic cleaning device 10 is employed.
  • temporary operating the motor is meant a short, instant operation of a second, or even fractions of a second, in order to indicate to the user that the user interface input was registered.
  • Figure 3b illustrates a flow chart of a further embodiment of the method of indicating user input to a user interface of a robotic cleaning device according to the present invention.
  • the processing unit 16 receives from the user interface 22 a signal indicating that a user provides input to the user interface by pushing a button 23:1 to turn the cleaning device 10 on.
  • the processing unit 16 Upon receiving the signal from the user interface 22, the processing unit 16 generates a fan motor control signal in step Si02a and transfers the generated fan motor control signal in step Si02b to the fan motor 21.
  • FIG. 3c illustrates a flow chart of still a further embodiment of the method of indicating user input to a user interface of a robotic cleaning device according to the present invention.
  • the processing unit 16 receives from the user interface 22 a signal indicating that a user provides input to the user interface by pushing a button 23:1 to turn the cleaning device 10 on.
  • the processing unit 16 Upon receiving the signal from the user interface 22, the processing unit 16 generates wheel motor control signals in step Si02d and transfers the generated wheel motor control signals in step Si02e to the wheel motors 15a, 15b.
  • the wheel motors 15a, 15b When receiving the control signal, one or both of the wheel motors 15a, 15b temporarily activate the respective drive wheel 12, 13 according to the control signal, for instance by rotating the wheels 12, 13 such that the robotic cleaning device 10 makes a slight turn on the spot, in order to provide a haptic feedback of the user input to the user interface 22.
  • FIG 4 illustrates a further embodiment of the robotic cleaning device 10 according to the present invention, in which either one or both of the fan motor 21 and the brush roll motor 19 is operated to provide the feedback
  • the robotic cleaning device 10 is advantageously caused to vibrate to indicate the user interface input, in which case haptic feedback is provided to a user providing input to the user interface.
  • haptic feedback is provided to a user providing input to the user interface.
  • a user pushes a button 23:1 of the user interface 22 to select a desired action to be taken by the robotic cleaning device 10, such as "Kitchen should be cleaned; start time: 10:00".
  • the processing unit 16 accordingly registers the user input to the user interface 22 and sends a control signal in response there to the fan motor 21.
  • the processing unit 16 further indicates the user selection on the display 24 ("K:io").
  • the control signal generated by the processing unit 16 causes the fan motor 21 to temporarily drive the fan 20 at a particular speed such that the robotic cleaning device 10 slightly vibrates, thereby providing haptic feedback to the user that it has
  • Figure 5 illustrates yet a further embodiment of the robotic cleaning device 10 according to the present invention, in which either one or more drive wheel motors 15a, 15b are operated to provide the feedback, in which the robotic cleaning device 10 is advantageously caused to move in a certain motion pattern, e.g. by slightly turning itself around a vertical axis to indicate the user interface input, in which case haptic (and indirectly audible) feedback is provided to a user providing input to the user interface 22.
  • the movement of the wheels can be coordinated to e.g. have the robotic cleaning device 10 do a full turn (which may take longer than a second, but still being a temporary operation).
  • a user pushes a button 23:2 of the user interface 22 to select a desired action to be taken by the robotic cleaning device 10, such as "Return to charging console at 21:00" in order to benefit from a lower electricity price during evenings/nights.
  • the processing unit 16 accordingly registers the user input to the user interface 22 and sends control signals in response there to the wheel motors 15a, 15b.
  • the processing unit 16 further indicates the user selection on the display 24 ("C: 2i").
  • the control signals generated by the processing unit 16 causes the wheel motors 15a, 15b to temporarily drive the wheels 12, 13 at a particular speed and/or rotational direction such that the robotic cleaning device 10 slightly turns or moves back and forth.
  • the robotic cleaning device 10 thereby provides haptic feedback to the user that it has acknowledged the instruction entered via the user interface 22.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Electric Vacuum Cleaner (AREA)

Abstract

L'invention concerne un dispositif de nettoyage robotique et un procédé d'indication d'une entrée de l'utilisateur sur une interface utilisateur d'un dispositif de nettoyage robotique. Selon un aspect de la présente invention, un dispositif de nettoyage robotique (10) est fourni, qui comprend une interface utilisateur (22), une unité de traitement (16) et une pluralité de moteurs (15a, 15b, 19, 21). L'unité de traitement est conçue pour enregistrer une entrée de l'utilisateur sur l'interface utilisateur et pour faire fonctionner temporairement au moins l'un des moteurs de la pluralité de moteurs en réponse audit enregistrement pour indiquer l'entrée de l'utilisateur sur l'interface utilisateur.
PCT/EP2013/077382 2013-12-19 2013-12-19 Dispositif de nettoyage robotique fournissant un retour d'informations tactile WO2015090401A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/EP2013/077382 WO2015090401A1 (fr) 2013-12-19 2013-12-19 Dispositif de nettoyage robotique fournissant un retour d'informations tactile

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2013/077382 WO2015090401A1 (fr) 2013-12-19 2013-12-19 Dispositif de nettoyage robotique fournissant un retour d'informations tactile

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WO2015090401A1 true WO2015090401A1 (fr) 2015-06-25

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20220042336A1 (en) * 2020-08-06 2022-02-10 Zodiac Pool Care Europe Concepts and methods for communicating with equipment such as automatic swimming pool cleaners via accelerometers or other sensors, motors, or both

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4654924A (en) * 1985-12-31 1987-04-07 Whirlpool Corporation Microcomputer control system for a canister vacuum cleaner
US20020030663A1 (en) * 1999-09-28 2002-03-14 Immersion Corporation Providing enhanced haptic feedback effects
GB2384691A (en) * 2002-01-29 2003-08-06 Paolo Niccolai Self propelled and guided floor cleaner or transport device
WO2007137234A2 (fr) * 2006-05-19 2007-11-29 Irobot Corporation Dispositif pour débarrasser les robots de nettoyage de débris
DE102011081098A1 (de) * 2011-08-17 2013-02-21 Bayerische Motoren Werke Aktiengesellschaft Bedienvorrichtung zur Steuerung elektrisch verstellbarer Komponenten
DE102012100052A1 (de) * 2012-01-04 2013-07-04 Miele & Cie. Kg Staubsauger mit einer Staubflussanzeigevorrichtung

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4654924A (en) * 1985-12-31 1987-04-07 Whirlpool Corporation Microcomputer control system for a canister vacuum cleaner
US20020030663A1 (en) * 1999-09-28 2002-03-14 Immersion Corporation Providing enhanced haptic feedback effects
GB2384691A (en) * 2002-01-29 2003-08-06 Paolo Niccolai Self propelled and guided floor cleaner or transport device
WO2007137234A2 (fr) * 2006-05-19 2007-11-29 Irobot Corporation Dispositif pour débarrasser les robots de nettoyage de débris
DE102011081098A1 (de) * 2011-08-17 2013-02-21 Bayerische Motoren Werke Aktiengesellschaft Bedienvorrichtung zur Steuerung elektrisch verstellbarer Komponenten
DE102012100052A1 (de) * 2012-01-04 2013-07-04 Miele & Cie. Kg Staubsauger mit einer Staubflussanzeigevorrichtung

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20220042336A1 (en) * 2020-08-06 2022-02-10 Zodiac Pool Care Europe Concepts and methods for communicating with equipment such as automatic swimming pool cleaners via accelerometers or other sensors, motors, or both

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