METHOD FOR IDENTIFYING AN ERROR STATE IN A CLEANING ROBOT

Abstract

A method for identifying an error state in a cleaning robot which has a collection container for collecting dirt. According to the method an average duration for filling the collection container with dirt during the operation of the cleaning robot is determined. The existence of an error state is identified as soon as a single duration for filling deviates from the determined average duration for filling by more than a predefined difference value.

Claims

1-12. (canceled)

13. A method for identifying an error state in a cleaning robot having a collection container for collecting dirt, the method comprising: determining an average duration for filling the collection container with dirt during an operation of the cleaning robot; and identifying an existence of an error state when a single duration for filling deviates from the average duration for filling by more than a predefined difference value that specifies a threshold value.

14. The method according to claim 13, which comprises using as the single duration for filling an operating time of the cleaning robot during which the robot is cleaning, the operating time being a time that has elapsed between an emptying of the collection container and a subsequent identification that a predefined maximum fill level of the collection container has been attained.

15. The method according to claim 13, which comprises classifying the error state as having occurred as soon as a single duration for filling is shorter, by more than the predefined difference value, than the determined average duration for filling, so that the threshold value has been undershot.

16. The method according to claim 13, which comprises calculating the average duration for filling by forming an arithmetic mean from single durations for filling.

17. The method according to claim 13, which comprises specifying the difference value as an absolute deviation from the average duration for filling, the absolute deviation having a predefined time value.

18. The method according to claim 17, wherein the absolute deviation has a time value of 1 to 3 hours.

19. The method according to claim 18, wherein the absolute deviation has a time value of approximately 2 hours.

20. The method according to claim 13, which comprises specifying the difference value as a relative deviation from the average duration for filling.

21. The method according to claim 20, wherein the relative deviation corresponds to a multiple standard deviation of the single duration for filling considered for the average duration for filling from the average duration for filling.

22. The method according to claim 21, wherein the relative deviation is a triple standard deviation.

23. The method according to claim 13, which comprises selectively operating the cleaning robot in at least two different operating modes, and determining the average duration for filling and an associated identification of an error state individually for each operating mode, wherein the operating modes differ in respect of a suction power of the cleaning robot.

24. The method according to claim 13, which comprises selectively operating the cleaning robot in at least two different operating modes, and determining an equivalent average duration for filling and of an equivalent single duration for filling and calculating an associated identification of an error state on a basis of the average durations for filling determined for the single operating modes weighted with times spent in the respective operating modes, or distances covered, or surfaces cleaned.

25. The method according to claim 13, which comprises: generating with the cleaning robot a digital map of a surface to be cleaned and storing the digital map in a digital map memory; determining whether the cleaning robot is cleaning a surface that has already been mapped; and performing a determination of the average duration for filling and the associated identification of an error state individually for each digital map.

26. The method according to claim 13, which comprises monitoring an air pressure difference between an intake duct and an exhaust duct of the cleaning robot in order to determine single durations for filling during operation of the cleaning robot.

27. The method according to claim 13, which comprises, when an error state is identified, generating a fault message to be conveyed to a user of the cleaning robot by way of an information facility of the cleaning robot and/or by way of a mobile device connected for data communication to the cleaning robot.

28. A cleaning robot, comprising: a collection container for collecting dirt during an operating of the cleaning robot; and an open-loop/closed-loop control facility configured and programmed to carry out the method according to claim 13.

Description

[0020] Further key features and advantages of the invention will become apparent from the dependent claims, the drawing, and the associated description of the FIGURE with reference to the drawing.

[0021] It is understood that the features mentioned above and yet to be explained below are usable not only in the combination specified in each case but also in other combinations or alone without departing from the scope of the present invention.

[0022] Preferred exemplary embodiments of the invention are shown in the drawing and are explained in more detail in the description below.

[0023] The single FIG. 1 illustrates an example of a method V in accordance with the invention for identifying an error state F in a cleaning robot in accordance with the invention, which cleaning robot comprises a collection container for collecting dirt and an open-loop/closed-loop control facility that is configured/programmed to carry out the method V. In accordance with the method V, an average duration 1 for filling the collection container with dirt is determined during operation of the cleaning robot. In accordance with the method V, the existence of an error state F is furthermore identified as soon as a single duration 2 for filling deviates from the determined average duration 1 for filling by more than a predefined difference value 6, i.e. when a single duration 2 for filling falls below a predefined threshold value 3 predefined by means of the difference value 6. What is used in this context as the single duration 2 for filling is the operating time 4 of the cleaning robot during which it is cleaning, this being the operating time that has elapsed between one emptying of the collection container and the subsequent identification that a predefined maximum fill level of the collection container has been attained. The error state F is classified as having occurred as soon as a single duration 2 for filling is shorter, by more than the predefined difference value 6, than the determined average duration 1 for filling. The average duration 1 for filling is calculated by forming the arithmetic mean 5 from single durations 2 for filling. The average duration for filling is calculated for example by forming the arithmetic mean 5 from n single durations 2 for filling. In the example shown, the average duration 1 for filling is calculated by forming the arithmetic mean 5 from four single durations 2 for filling. Here, the difference value 6 is specified as a deviation from the average duration 1 for filling.

[0024] This deviation specifying the difference value 3 can be an absolute deviation from the average duration 1 for filling. The absolute deviation can be a defined time value of 1 to 3 hours, for example 2 hours. Alternatively, the deviation specifying the difference value 6 can be a relative deviation from the average duration 1 for filling. Here, this relative deviation can correspond to a multiple standard deviation, for example the triple standard deviation, of the single durations 2 for filling considered for the average duration 1 for filling, from the average duration 1 for filling. The determination of the average duration 1 for filling or the formation of the arithmetic mean 5 can be reset after the identification of an error state F.

[0025] The cleaning robot can be operated in at least two different operating modes. Such operating modes are cleaning modes for example and differ in respect of a suction power of the cleaning robot. The determination of the average duration 1 for filling and the associated identification of an error state F are performed individually for each operating mode. This means that, depending on the operating mode in which the cleaning robot is being operated, a different average duration 1 for filling that is assigned to this operating mode is used as a reference value.

[0026] The cleaning robot can also determine the average duration 1 for filling for operation in mixed operating modes. For this purpose, the respective average durations 1 for filling are calculated from cleaning cycles, which, from emptying the collection container until identifying that a predefined maximum fill level of the collection container has been attained, were each performed completely in just one of the operating modes. As soon as these average durations for filling exist, the current equivalent single duration 2 for filling and the equivalent average duration 1 for filling in the cleaning cycle currently being performed can be formed with the (e.g. time-based, distance-based or surface-based) weighted share of the respective operating modes.

[0027] Moreover, the cleaning robot can be configured to generate a digital map of a surface to be cleaned and to store this digital map in a digital map store of the cleaning robot. Here, it is identified if the cleaning robot is cleaning a surface that has already been mapped. The determination of the average duration 1 for filling and the associated identification of an error state F are then performed individually for each digital map. This means that, if the cleaning robot has identified a surface that has already been mapped, the average duration 1 for filling assigned to this digital map is used for the method V.

[0028] An air pressure difference between an intake duct and an exhaust duct of the cleaning robot is monitored in order to determine the single durations 2 for filling during operation of the cleaning robot. A separation facility for separating dirt from dirty air sucked in through the intake duct, and the collection container, may be arranged between the intake duct and the exhaust duct of the cleaning robot. A fault message is generated in the event that the error state F is identified. The fault message is displayed to a user of the cleaning robot. The fault message can be provided to the user of the cleaning robot by means of an information facility of the cleaning robot configured for that purpose and—alternatively or in addition—by means of a mobile device connected for data-transmission purposes to the cleaning robot.

LIST OF REFERENCE CHARACTERS

[0029] 1 Average duration for filling [0030] 2 Single duration for filling [0031] 3 Threshold value [0032] 4 Operating time [0033] 5 Arithmetic mean [0034] 6 Difference value [0035] F Error state [0036] V Method