Abstract
A method for operating a floor processing device that moves automatically within an environment, has a detection system of the floor processing device that detects features of a surface to be cleaned and compares them with reference features of carpets. Upon detection of a carpet, it is determined whether and where the carpet has fringes, and the fringes are aligned in a defined direction relative to the carpet by means of a combing attachment of the floor processing device.
Claims
1. A method for operating a floor processing device that moves automatically within an environment, comprising the following steps: detecting with a detection system of the floor processing device features of a surface to be cleaned; comparing the features to be cleaned with reference features of carpets, upon detection of a carpet, determining whether and where the carpet has fringes, and upon a determination of fringes in the carpet, aligning the fringes in a defined direction relative to the carpet with a combing attachment of the floor processing device.
2. The method according to claim 1, wherein, before the step of aligning the fringes of the carpet, the floor processing device initially processes an area of the environment and/or carpet that has no fringes.
3. The method according to claim 1, further comprising a step of generating a travel strategy and/or travel route of the floor processing device depending on a detected position and/or a desired orientation of the fringes on the carpet.
4. The method according to claim 1, further comprising a step of storing a position and orientation of a detected carpet and a position and/or orientation of the fringes in an area map of the floor processing device.
5. The method according to claim 1, wherein during the step of aligning the fringes, the floor processing device travels onto the carpet and leaves the carpet in a direction corresponding to a desired orientation of the fringes.
6. The method according to claim 1, wherein the floor processing device travels over an edge area of the carpet having no fringes.
7. The method according to claim 1, wherein the combing attachment comprises a bristle roller that rotates around a rotational axis aligned essentially parallel to the carpet during a floor processing operation.
8. The method according to claim 7, wherein during the step of aligning, a speed and/or rotational direction of the bristle roller is varied for combing and/or traversing the fringes.
9. The method according to claim 1, wherein the combing attachment is lifted from the surface when traversing already aligned fringes.
Description
BRIEF DESCRIPTION OF THE DRAWINGS
(1) The invention will be explained in more detail below based on exemplary embodiments. In the drawings:
(2) FIG. 1 is a perspective view of a floor processing device;
(3) FIG. 2 is a floor processing device following a travel route on a carpet;
(4) FIG. 3 is a sketch of a travel route of the floor processing device;
(5) FIG. 4 is a floor processing device according to a first embodiment while approaching a carpet;
(6) FIG. 5 is the floor processing device while moving up onto the carpet;
(7) FIG. 6 is the floor processing device on the carpet;
(8) FIG. 7 is a floor processing device according to a second embodiment while aligning fringes;
(9) FIG. 8 is a perspective view on the floor processing device according to FIG. 7, and
(10) FIG. 9 is an area map of the floor processing device with carpet positions stored therein.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
(11) FIG. 1 shows a floor processing device 1, which here is designed as a vacuuming robot. The floor processing device 1 has motor-driven wheels 13, which the floor processing device 1 can use to move within an environment. In addition, the floor processing device 1 has floor processing elements 10, here specifically a side brush laterally protruding over the housing 11 of the floor processing device 1 as well as a bristle roller 8, which can be rotated around a rotational axis 9. The rotational axis 9 is horizontally oriented in the usual operational position of the floor processing device 1 depicted here, meaning essentially parallel to a surface to be cleaned. The bristle roller 8 is used on the one hand to loosen dirt from the surface to be cleaned, in particular from a carpet 5, and on the other as a comb attachment for aligning fringes 4 of a carpet 3. This has yet to be touched upon below.
(12) The floor processing device 1 further has a distance measuring system 12, which here has a triangulation measuring system, for example. The distance measuring system 12 is arranged within the housing 11 of the floor processing device 1, and specifically has a laser diode, the emitted light beam of which is guided out of the housing 11 by a diverter, and can be rotated around a rotational axis that is perpendicular in the depicted orientation of the floor processing device 1, in particular with a measuring angle of 360. This enables a panoramic distance measurement around the floor processing device 1. The distance measuring system 12 measures distances from obstacles, for example pieces of furniture 17, within an environment of the floor processing device 1.
(13) In the area of the floor processing elements 10, the floor processing device 1 further has a suction nozzle opening (not shown in any greater detail), through which air loaded with suction material can be vacuumed into the floor processing device 1 by means of a motor-fan unit. The floor processing device 1 has a rechargeable battery (not shown) for supplying power to the individual electric components of the floor processing device 1, as well as for driving the wheels 13 and floor processing elements 10 and any other electronics provided.
(14) The floor processing device 1 also has a detection system 2, here specifically a camera arranged at the front of the housing 11 in the travel direction of the floor processing device 1, which records images of the environment. The detection system 2 is connected with an evaluator and controller of the floor processing device 1 (not shown), so that images recorded by the detection system 2 can be evaluated. Evaluation involves comparing the features of a surface to be cleaned present in the image with reference features of carpets 3 or fringes 4, so that carpets 3 having fringes 4 can be found within the environment. The reference features are stored in a memory of the floor processing device 1, and consist of typical features of carpets 3 or fringes 4, specifically for example a height, width and length, a structure, an orientation, and the like.
(15) FIG. 2 shows a partial area of an environment, specifically a room of a home which has a carpet 3 with fringes 4. A floor processing device 1 travels next to the carpet 3 along an edge region 7 of the carpet 3 having fringes 4. Further depicted is a travel route 14 taken by the floor processing device 1 for cleaning the carpet 3 and aligning the fringes 4. The travel route 14 involves having the floor processing element 10 traverse the carpet 3 section by section and align the fringes 4 section by section. As evident, the travel route 14 involves having the floor processing device 1 move over an edge area 7 having no fringes 4 and onto the carpet 3, and then swivel by 90 to again exit the carpet 3 perpendicular to an edge area 7 having fringes. While traversing the fringes 4, the rotational axis 9 of the bristle roller 8 is oriented parallel to the edge area 7, so that the rotational direction of the bristle roller 8 corresponds to the desired alignment of the fringes 4. As a result, the desired alignment comes about while traversing the fringes 4 and having the bristle roller 8 simultaneously rotate in a nap direction of the fringes 4. As soon as the floor processing device 1 has again left the carpet 3 and fringes 4, it again moves along the edge area 7 to a side of the carpet 3 having no fringes 4, so as to move up onto the carpet 3 once more and align fringes 4 on another, adjacent edge area 7.
(16) FIG. 3 shows a travel route 14 for cleaning the carpet 3 or aligning the fringes 4 according to another possible embodiment. The carpet 3 is here divided into two halves in relation to the travel route 14, which each have an edge area 7 with fringes 4. According to this travel route 14, the floor processing device 1 in approximately a middle region moves up onto the carpet 3, and from there to different sections of the edge area 7 having the fringes.
(17) FIGS. 4 to 6 show a floor processing device 1 as it moves up onto a carpet 3 over an edge area 7 having fringes 4. This embodiment is especially suitable for floor processing devices 1 in which the bristle roller 8 can only rotate in one direction around the rotational axis 9. In order not to disarrange fringes 4 that had previously already been aligned while moving up onto the carpet 3, the rotational axis 9 of the bristle roller 8 can be displaced relative to the housing 11. In response to a command from the controller and evaluator of the floor processing device 1, the rotational axis 9 can lifted from or lowered onto a surface to be cleaned. As depicted on FIG. 4, the bristle roller 8 is still set up on the floor to be cleaned outside of the carpet 3, and can perform an additional cleaning step while the floor processing device 1 is vacuuming, in particular loosen dust and dirt from the surface. As soon as the carpet 3 comes into the detection range of the detection system 2, the controller and evaluator of the floor processing device 1 allocated to the detection system 2 detect the carpet 3 or fringes 4 within the recorded image, and causes the bristle roller 8 to be lifted from the surface to be cleaned, so that the bristle roller 8 does not touch the fringes 4 as the floor processing device 1 moves up onto the carpet. This state is shown on FIG. 5. As soon as the floor processing device 1 has reached an area on the carpet 3 where there are no fringes 4, the bristle roller 8 can again be lowered onto the carpet 3, so as to there help clean the carpet 3. The floor processing device 1 can thereupon exit the carpet 3 on the opposite (not shown on FIGS. 4 to 6) side once more, wherein the bristle roller 8 can now remain in the lowered position depicted on FIG. 6, for example, if the rotational direction of the bristle roller 8 corresponds to the desired combing direction of the fringes 4.
(18) FIGS. 7 and 8 show another embodiment of a floor processing device 1. The floor processing device 1 here has a combing attachment 5 that can be displaced relative to the housing 11, and is a bristle roller 8. The bristle roller 8 can be swiveled out of the housing 11 and into the housing 11 around a swivel axis 15, so that the combing attachment 5 can be swiveled out of the housing 1 when needed. When not in use, the bristle roller 8 can be swiveled into a corresponding receiving area 16 of the housing 11, so that the outer dimensions of the floor processing device 1 do not change, and the floor processing device 1 can pass by pieces of furniture 17 and the like as closely possible, so that cleaning is as seamless as possible. In this embodiment, the floor processing device 1 moves along the edge areas 7 of the carpet 3 that have the fringes 4, wherein the bristle roller 8 is placed on a plurality of fringes 4 section by section, and then lifted off of them again once alignment is complete. The floor processing device 1 thereupon moves in front of an adjacent edge area 7 that has fringes 4, and there as well once again lowers the rotating bristle roller 8 onto the fringes 4 so as to align them.
(19) Finally, FIG. 9 shows an area map 6, which the floor processing device 1 generated from the distance data recorded by the distance measuring system 12 and detection system 2. The area map 6 has detected obstacles, here specifically pieces of furniture 17, room boundaries, specifically walls, and passage areas between rooms. In addition, the area map 6 has the carpets 3 detected by the detection system 2, which have edge areas 7 with fringes.
(20) In order to generate the area map 6, the floor processing device 1 travels around the environment, here meaning the home depicted, and measures distances from obstacles, for example the shown pieces of furniture 17. At the same time, the detection system 2 detects carpets 3 present on a surface to be cleaned as well as edge areas 7 with fringes 4. The recorded data are processed into the depicted area map 6. The evaluator and controller of the floor processing device 1 can thereupon plan a travel route 14 that cleans the depicted home as advantageously as possible, wherein a cleaning sequence for rooms and/or room areas can be provided.
(21) In an embodiment, those partial areas of the environment lying outside of carpets 3 and fringes 4 can be cleaned initially. Only during another procedural step are the surfaces of the carpets 3 then cleaned and the fringes 4 of the carpets aligned in a desired direction. The advantage to this is that already aligned fringes 4 are not again disarranged by subsequent cleaning processes. The travel route 14 further considers what orientation the carpets 3 have, and the direction in which the fringes 4 located thereon should point. As shown on FIGS. 2 and 3, depending on any edge areas 7 with and without fringes 4, it can then be provided that the floor processing device 1 move up onto a carpet 3 over specific edge areas 7 and again leave the carpet 3 over specific edge areas 7. For example, if a carpet 3 has fringes all around, on all edge areas 7, the bristle roller 8 can be lifted for moving up onto the carpet 3 as depicted on FIGS. 4 to 6, so as not to disarrange already aligned fringes 4. Alternatively, it would also be possible to change a rotational direction of the rotational axis 9 of the bristle roller 8 in such a way that, as a combing attachment 5, it always rotates in a direction that corresponds to a desired orientation of the fringes 4.
REFERENCE LIST
(22) 1 Floor processing device 2 Detection system 3 Carpet 4 Fringes 5 Combing attachment 6 Area map 7 Edge area 8 Bristle roller 9 Rotational axis 10 Floor processing element 11 Housing 12 Distance measuring system 13 Wheel 14 Travel route 15 Swivel axis 16 Receiving area 17 Piece of furniture
