CONTROL OF A CLEANING ROBOT

Abstract

A cleaning robot is configured to clean a predetermined floor area. A method for controlling the cleaning robot includes determining a section of the floor area, the treatment of which by the cleaning robot is intended to differ from that of the remaining floor area, deactivating a cleaning facility of the cleaning robot, controlling the cleaning robot to travel along a boundary of the section, detecting a user-controlled confirmation of the boundary traveled along, and enabling the cleaning facility. A control apparatus and a system including a cleaning robot are also provided.

Claims

1-15. (canceled)

16. A method for controlling a cleaning robot configured to clean a predetermined floor area, the method comprising: determining a section of the floor area to be processed by the cleaning robot differently than a remaining floor area; deactivating a cleaning facility of the cleaning robot; controlling the cleaning robot to travel along a boundary of the section; detecting a user-controlled confirmation of the boundary traveled along; and enabling the cleaning facility.

17. The method according to claim 16, which further comprises determining the section in relation to a map mapping the predetermined floor area.

18. The method according to claim 17, which further comprises determining the map based on scans of the floor area carried out by the cleaning robot.

19. The method according to claim 16, which further comprises reducing a speed at which the cleaning robot travels along the boundary.

20. The method according to claim 16, which further comprises controlling a speed of the cleaning robot by a user while the cleaning robot is traveling along the boundary.

21. The method according to claim 16, which further comprises controlling the travel of the cleaning robot along the boundary by preventing the cleaning robot from touching the determined section.

22. The method according to claim 16, which further comprises controlling the travel of the cleaning robot along the boundary by preventing the cleaning facility from touching the determined section.

23. The method according to claim 16, which further comprises determining the section by controlling the travel of the cleaning robot along the boundary of the section based on user-controlled inputs.

24. The method according to claim 16, which further comprises determining a user-controlled changing of the section, and controlling the cleaning robot to travel along a changed section of the boundary of the section.

25. The method according to claim 16, which further comprises, while traveling along the boundary, controlling the cleaning robot to give an indication of a side of the traveled boundary included in the section.

26. The method according to claim 16, which further comprises locating the boundary between a region not to be cleaned and a region to be cleaned.

27. A control apparatus for a cleaning robot configured to process a predetermined floor area, the control apparatus comprising: a determining facility for determining a section of the floor area to be processed by the cleaning robot differently than a remaining floor area; a processing facility configured to deactivate a cleaning facility of the cleaning robot and to control the cleaning robot to travel along a boundary of the section; and an input apparatus for inputting a user-controlled confirmation of the boundary being traveled along; said processing facility configured to enable said cleaning facility in response to a detected user-controlled confirmation that the boundary has been traveled along.

28. A cleaning robot, comprising a control apparatus according to claim 27.

29. The cleaning robot according to claim 28, which further comprises a cleaning facility including at least one of a suction facility, a mopping facility or a sweeping facility.

30. A system, comprising: a cleaning robot according to claim 28; and a mobile operating unit; said mobile operating unit including an output apparatus for outputting an environment map of the cleaning robot; and said mobile operating unit including an input apparatus for inputting a section of the floor area not to be cleaned, and for inputting a user-controlled confirmation.

Description

[0023] The invention is now explained in more detail with reference to the accompanying drawings, in which:

[0024] FIG. 1 shows a system with a cleaning robot;

[0025] FIG. 2 shows an exemplary map of a floor area; and

[0026] FIG. 3 shows a flow diagram of a method.

[0027] FIG. 1 shows a system 100 with a cleaning robot 105, which is configured for cleaning a floor area 110, and an optional mobile operating unit 115, which in the present case is embodied by way of example as a smartphone.

[0028] The cleaning robot 105 is configured to travel over the floor area 110 and clean a section of the floor area 110 lying in its range by means of a cleaning facility 120. The cleaning facility 120 comprises, for example, a suction mechanism, a mopping facility, in particular with a moisture facility, and/or a sweeping facility, for example with a rotating brush roller, or a combination of the two facilities. The cleaning facility 120 is usually designed to be narrower than the cleaning robot 105. Control of the cleaning robot 105 preferably takes place by means of a control apparatus 125.

[0029] The control apparatus 125 preferably comprises a processing facility 130 and an optional communication facility 135, which is configured to communicate with the operating unit 115. In another embodiment, elements of the operating unit 115 are included in the cleaning robot 105 and it is possible to dispense with the communication facility 135. The processing facility 130 is preferably further configured to control an operation of the cleaning facility 120. Additionally, one or more indicators 140 may be provided, in order for example to indicate a right-hand or left-hand region of the floor area 110 in relation to a direction of travel of the cleaning robot 105. An indicator 140 may be designed as visual, for example, and comprise a light or an LED.

[0030] In a further preferable manner, the processing facility 130 is connected to a sensor 145, which is configured to scan an environment of the cleaning robot 105. On the basis of scans of the sensor 145, a map of the environment can be created. The map may be stored in a data storage unit, which may be included in the processing facility 130.

[0031] The operating unit 115 preferably comprises an output apparatus 150 and an input apparatus 155, which in the present case are designed as combined with one another in the form of a touchscreen. The output apparatus 150 is configured to visually represent the map mentioned. The input apparatus 155 is configured to detect various inputs of a user, in particular in relation to the map and/or a control of the cleaning robot 105.

[0032] The floor area 110 may be delimited on one or more sides by a wall 160. For example, due to an object 165 on the floor area 110, it may be desired to not have a section 170 of the floor area 110 covering the object 165 cleaned by the cleaning robot 105. A user can define the section 170 in relation to the map shown by means of the input apparatus 155. In this context, the object 165 may not be included in the map and the defined section 170 usually cannot be seen in reality. It is proposed to determine a boundary 175, which exists between the section 170 and a remaining part of the floor area 110 to be processed by the cleaning robot 105. The cleaning robot 105 can then be actuated to travel along the boundary 175 while the cleaning facility 120 is deactivated. In this context, a user can be satisfied that the section 170 has been chosen correctly. He can confirm the section 170 or the traversed boundary 175 by means of the input apparatus 155, meaning that the control apparatus 125 omits the defined section 170 on a following processing procedure of the floor area 110.

[0033] FIG. 2 shows an exemplary map 200 of a floor area 110. The map 200 represents a top view of a section of a building, in particular a residential building. The cleaning robot 105 has traveled the region shown and scanned it by means of its sensors 145. As a result, it has determined a travelable region 205, which is delimited by walls 160. Non-travelable regions 210 result from obstacles, for example furniture.

[0034] A section 170 is not to be traveled at the request of a user. Parts of this section 170 are already included in the non-travelable region 210. By defining the section 170, a boundary 175 is specified, which extends in the region in which the section 170 diminishes on the travelable region 205.

[0035] FIG. 3 shows a flow diagram of a method 300 for controlling a cleaning robot 105. It is assumed that, before starting the method 300 shown, a sufficiently exact map or environment map 200 of a floor area 110, which can be cleaned by the cleaning robot 105, is already available. This map 200 in particular may have been collected by scans by the cleaning robot 105 while traveling on the floor area 110 in a systematic or erratic manner.

[0036] In a step 305, a specification of a section 170 can be detected by a user. In a step 310, the boundary 175 of the section 170 can be determined. Preferably, only a section of the boundary 175 that can be traveled by the cleaning robot 105 on at least one side is determined. A part of the boundary 175 that lies too close to a wall 160, a non-travelable region 210 or a known obstacle can be disregarded. Optionally, the boundary 175 can be determined once the specified section 170 has been merged with a further, previously specified section 170. It is also possible for a non-travelable region 210 or a boundary of the floor area 110, for example in the form of a wall 160, to be taken into consideration when determining the boundary 175.

[0037] In an optional step 315, it is possible to determine a section of the boundary 175 which has been altered by the present input of the user compared to a previous version. In this case, the boundary 175 may temporarily be reduced to the altered region.

[0038] In a step 320, the processing facility 120 may be deactivated. Subsequently, the cleaning robot 105 can be controlled along the boundary 175 in a step 325. In this context, by means of the indicator 140, it is possible to give an indication on the side of the boundary 175 which is not to be processed in usual operation. Conversely, it is also possible to indicate the side of the boundary 175 which is to be processed. In order to traverse the boundary 175, the cleaning robot 105 may first be moved to a first end of the boundary 175, from which it follows the boundary 175. While traversing the boundary 175, it is preferred to choose a travel speed such that it is made easier for the user to assess the location and size of the section 170 on the real floor area 110. In one embodiment, the user himself is able to control the speed of the cleaning robot 105. In another embodiment, the speed can be specified at a predetermined value. This value preferably corresponds to a slow movement.

[0039] In a step 330, an input of a user by means of the input apparatus 155 can be detected. For example, the input may be detected while traversing the boundary 175 and cause an interruption or stopping of the cleaning robot 105. If the user is not satisfied with the specified section 170 due to the previous traversal of the boundary 175, for example then he can alter the section 170, wherein the method 300 may return to step 305. In a further embodiment, the input may comprise a correction of the boundary 175, while the cleaning robot 105 travels on the boundary 175. If the cleaning robot 105 has traversed the entire boundary 175 or the previously determined section of the boundary 175, then it is possible to detect a confirmation of the user that he agrees with the traversed boundary 175 or the section 170 corresponding thereto. Optionally, the user may also wish for the boundary 175 to be traversed again. In yet another embodiment, an agreement by the user may be assumed, if an input cannot be detected within a predetermined time.

[0040] In a step 335, the cleaning robot 105 can be actuated to return to a predetermined position. In particular, this position may lie at a base station, at which the cleaning robot 105 can be supplied with electrical energy or relieved of collected dirt particles, for example.

[0041] In a step 340, if this has not already taken place, the determined section 170 can be accepted. This means that the determined section 170 is omitted during a following cleaning movement over the floor area 110. Optionally, the determined section 170 can also be discarded, if it was not explicitly confirmed by a user before the cleaning robot 105 has returned to the predetermined position.

[0042] In a step 345, the processing facility 120 can be enabled again. In the following, it is possible to control a cleaning of the floor area 110 by means of the cleaning robot 105.

[0043] It should be noted that the steps of the method 300 shown are not all mandatory and do not necessarily have to take place in the order shown. In particular, the steps 335 to 345 can also be dispensed with on an individual basis or can be performed in a different order.

REFERENCE CHARACTERS

[0044] 100 System [0045] 105 Cleaning robot [0046] 110 Floor area [0047] 115 Operating unit [0048] 120 Cleaning facility [0049] 125 Control apparatus [0050] 130 Processing facility [0051] 135 Communication facility [0052] 140 Indicator [0053] 145 Sensor [0054] 150 Output apparatus [0055] 155 Input apparatus [0056] 160 Wall [0057] 165 Object [0058] 170 Section [0059] 175 Boundary [0060] 200 Map [0061] 205 Travelable region [0062] 210 Non-travelable region [0063] 300 Method [0064] 305 Specify no-go section [0065] 310 Determine boundary [0066] 315 Determine altered section of the boundary [0067] 320 Deactivate processing facility [0068] 325 Control cleaning robot along boundary [0069] 330 Detect input [0070] 335 Return to base station [0071] 340 Accept no-go section [0072] 345 Enable processing facility