METHOD FOR OPERATING AN AUTONOMOUSLY TRAVELING FLOOR TREATMENT DEVICE

Abstract

A method for operating a floor treatment device that travels autonomously within an environment, wherein the floor treatment device performs a treatment of a defined and spatially limited partial surface region of the environment. During the treatment of the partial surface region a detection device of the floor treatment device measures a treatment status of the partial surface region, compares the treatment status is with a defined reference status and continues a treatment of the partial surface region until the defined reference status is reached. In order to improve the result of a floor treatment operation, a user defines the reference status manually and transmits it to the floor treatment device.

Claims

1. A method for operating a floor treatment device that travels autonomously within an environment, comprising: performing with the floor treatment device a treatment of a defined and spatially delimited partial surface region of the environment, measuring during the treatment of the partial surface region a treatment status of the partial surface region with a detection device of the floor treatment device, comparing the treatment status with a defined reference status, continuing a treatment of the partial surface region until such time as the defined reference status is reached, wherein a user defines the reference status manually and transmits said status to the floor treatment device.

2. The method according to claim 1, wherein the treatment status is a contamination level of the partial surface region, wherein the contamination level is compared with a defined reference contamination level and wherein a cleaning of the partial surface region continues until the contamination level is below the defined reference contamination level.

3. The method according to claim 1, wherein in the defined spatially delimited partial surface region a spot cleaning mode with increased cleaning performance compared to a standard mode is implemented.

4. The method according to claim 1, wherein the reference status has a target specification for a treatment quality of the partial surface region.

5. The method according to claim 1, wherein the reference status is defined as a function of a type of the partial surface region and/or a type of contamination and/or a location and/or size of the partial surface region.

6. The method according to claim 1, wherein the treatment of the partial surface region comprises a plurality of temporally consecutive treatment cycles, wherein the step of comparing is performed during or after a treatment cycle.

7. The method according to claim 1, wherein the step of comparing is performed while the floor treatment device is stationary at a defined start/stop position.

8. The method according to claim 1, wherein during the treatment of the partial surface region the floor treatment device moves in a meandering trajectory or in trajectories oriented parallel to each other.

9. A floor treatment device which travels autonomously within an environment and is designed to perform a cleaning of a defined spatially delimited partial surface region of the environment, comprising a control device which is configured to control the floor treatment device and measure during the treatment of the partial surface region a treatment status of the partial surface region with a detection device of the floor treatment device, compare the treatment status with a defined reference status, and continue treatment of the partial surface region until such time as the defined reference status is reached, wherein a user defines the reference status manually and transmits said status to the floor treatment device.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In the following the invention is explained in further detail based on exemplary embodiments. Shown are:

[0025] FIG. 1 a perspective view of a floor treatment device,

[0026] FIG. 2 an external terminal with an environment map of the floor treatment device,

[0027] FIG. 3 an external terminal with an environment image of the environment of the floor treatment device,

[0028] FIG. 4 a selection menu for selecting parameters for a floor treatment operation,

[0029] FIG. 5 an environment with a partial surface region, in which the floor treatment device is to proceed,

[0030] FIG. 6 an environment with a partial surface region, in which a user places the floor treatment device.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0031] FIG. 1 shows a floor treatment device 1 which is designed here as a vacuum-cleaner robot. The floor treatment device 1 has electric-motor driven wheels 10, which the floor treatment device 1 uses to enable it to move within an environment. Furthermore, the floor treatment device 1 has cleaning elements 11, namely here, among others, a roller brush, which in the normal operating position shown of the floor treatment device 1 is oriented substantially horizontally, i.e. substantially parallel to a partial surface region 2 to be cleaned. In the area of the cleaning element 11 the floor treatment device 1 has a suction opening, not shown in detail, through which air loaded with suction material can be drawn into the floor treatment device 1 by means of a motor and blower assembly. For the energy supply of the individual electrical components, such as for a drive motor of the wheels 10, the cleaning element 11 and additionally provided electronics, the floor treatment device 1 has a rechargeable battery, not shown.

[0032] The floor treatment device 1 also has a distance measuring device 12, which here includes, for example, a triangulation measuring device. The distance measuring device 12 is arranged within the housing of the floor treatment device 1 and specifically comprises a laser diode, the emitted light beam of which is guided out of the housing via a deflection device and can be rotated about a vertical axis of rotation in the illustrated orientation of the floor treatment device 1, in particular with a measuring angle of 360?. As a result, an all-round distance measurement around the floor treatment device 1 is possible. The distance measurement device 12 measures distances to obstacles, for example, pieces of furniture, within the environment of the floor treatment device 1.

[0033] The floor treatment device 1 also has a detection device 9, namely here an image sensor arranged facing forwards in the direction of travel of the floor treatment device 1, which sensor can detect a contamination of the partial surface region 2 currently being traversed by the floor treatment device 1. The detection device 9 records images of the partial surface region 2 and compares these with images of a reference contamination. Alternatively, the detection device 9 could also be a dust sensor, which is arranged in a flow supply to the motor and blower assembly of the floor treatment device 1 and detects dirt particles. The floor treatment device 1 has a control device 5, which is designed to perform the comparison between a contamination level recorded by the detection device 9 and one or more reference contamination levels stored in the floor treatment device 1. For this purpose, the control device 5 can alternatively also access an external storage unit with which the floor treatment device 1 is in communication.

[0034] If the floor treatment device 1 is a different device than the exemplary cleaning appliance shown here, then the detection device 9 could be designed to measure another parameter of the partial surface region 2. In a lawnmower robot this could be, for example, a mown or not yet mown condition of a region of the lawn area.

[0035] The floor treatment device 1 follows a trajectory 4 (see FIGS. 5 and 6) within the environment to clean one or more partial surface regions 2. This trajectory 4 can be, for example, a route of travel of the floor treatment device 1 during a spot-cleaning mode in which the floor treatment device 1 cleans a limited partial surface region 2 with increased cleaning performance of the motor and blower assembly compared to a standard mode. In this spot-cleaning mode, the floor treatment device 1 traverses the partial surface region 2, starting for example from a start-stop position 3, along a helical trajectory 4 and removes dirt there.

[0036] FIGS. 2 and 3 show a user input by a user on an external terminal 15 which is in communication with the floor treatment device 1. The external terminal 15 in FIG. 2 is, for example, a tablet computer, on the display 16 of which an environment map 13 of the floor treatment device 1 is displayed. According to FIG. 3 the external terminal 15 is a mobile telephone, on the display 16 of which an environment image 14 of the environment of the floor treatment device 1 is shown. The environment image 14 is, for example, a camera recording from the detection device 9. As shown in FIGS. 2 and 3, in the environment map 13 or the environment image 14 the user can select a partial surface region 2 of the environment, for example a specific sub-region of a flat or a room, in which a floor treatment, here a cleaning process, is to take place. By tapping on an area on the display 16 of the external terminal 15, a partial surface region 2 can be highlighted.

[0037] In addition, as shown in FIG. 4, the user has the facility to define parameters for the treatment of the partial surface region 2. For this purpose, as shown in FIG. 4, a selection menu can be displayed to the user on the display 16 of the external terminal 15, which indicates various area shapes 7 and area sizes 8 for the partial surface region 2 on which a spot-cleaning is to be carried out. The area size 8 indicated here designates, for example, a half side-length of the respective surface shape 7 starting from a central start/stop position 3. In the top row of the table shown, the area size 8 of 0.5 m therefore means a square area shape 7 with a total area of (2?0.5 m).sup.2, i.e. 1 m.sup.2. A selectable area size 8 of 1.0 m means a partial surface region 2 to be covered by the floor treatment device 1 with a total surface area of 4 m.sup.2. In the circular shape shown in the bottom row of the table, the area size 8 designates the radius of the circle on the partial surface area 2 to be cleaned. Furthermore, the user can select a treatment mode 17 in the table shown, for example, an eco-mode, a normal mode or a performance-increased spot-cleaning mode.

[0038] FIG. 5 shows an environment with a floor treatment device 1, which a user can control using an external terminal 15. The user can send a command to the floor treatment device 1 to move to a selected partial surface region 2 with a start-stop position 3. The start-stop position 3 is located on the outer circumferential path 6 of the circular partial surface region 2.

[0039] By contrast, FIG. 6 shows an embodiment in which the user him/herself places the floor treatment device 1 on a desired partial surface region 2 themselves, namely centrally on a start-stop-position 3, which is a centre of the desired circular shaped area 7. During the spot-cleaning mode selected here the floor treatment device 1 proceeds along a spiral trajectory 4 and returns to the start-stop position 3 after each traversal of the trajectory 4. The manual placement is performed such that the floor treatment device 1 is placed by the user centrally in the partial surface region 2 to be cleaned. This position is used as a start-stop position 3 for each of a plurality of successive cleaning cycles. Using an external terminal 15 or else a keyboard or touch screen of the floor treatment device 1, the user selects the area size 8 that is to be cleaned.

[0040] In the virtual placement of the floor treatment device 1 according to FIG. 5, the user indicates the desired position of the floor treatment device 1 in an environment map 13 or environment image 14 displayed on the display 16 of the external terminal 5. Thereafter the floor treatment device 1 moves to the selected start-stop position 3 associated with the partial surface region 2.

[0041] In addition, the user can select a desired target treatment status, which here, for example, indicates a specified level of contamination for the partial surface region 2 to be cleaned. Furthermore, a time-delayed cleaning or cleaning at a specific time can also be selected by means of the external terminal 15. Furthermore, it is also possible to define regular intervals for a cleaning run of the floor treatment device 1.

[0042] To define the target treatment status, the user can make a selection from a plurality of possible predefined treatment states, which relate either to a defined final contamination level or to an absolute level of contamination per unit area. In the case that, for example, a contamination level is defined relative to an initial contamination level, the original contamination level is initially detected during a first cleaning cycle, i.e. an initial excursion of the floor treatment device 1. The target treatment status can be selected from a predefined selection list which comprises, for example, the following steps: Optimal is equal to a reduction of the level of contamination to 0 per cent of the original contamination level, Normal is equal to reduction of the level of contamination to 10 per cent of the original contamination level, Fast is equal to reduction of the level of contamination to 25 per cent of the original level of contamination. If the target treatment status is defined by a surface-based sensor signal, for example a number of dirt particles per standardized unit of area can be defined. In the floor treatment device 1 defined reference states are stored that are defined for a standard surface area, such as a rectangular area with a size of 2 m?2 m, or a circular area with a radius of 1 m. The reference states can be, for example: an optimal treatment status in which no sensor signal occurs per standard surface area, a normal treatment status in which up to ten sensor signals may occur per standard surface area, and a treatment status for a quick cleaning operation in which up to 50 sensor signals per standard surface area can occur. The user selects a desired target status from the defined reference status.

[0043] In addition, the user can transmit an indication of a type of contamination of the partial surface region 2 to be cleaned to the control device 5 of the floor treatment device 1. Since the detection device 9 may respond differently to different types of contamination, this facility allows the definition or selection of limits to be adjusted. The type of contamination can be sub-divided, for example, into coarse material, fine particles, hairs, fluids, sticky dirt and further categories. For a reliable determination of an actual treatment status, i.e. the level of contamination of the partial surface region 2, the user can also transmit information about a floor type to the control device 5 of the floor treatment device 1. The floor type can be defined, for example, in a previous cleaning run. If necessary, it may be useful to increase a reference contamination level, for example in the case of carpeted floors a factor relative to a hard floor, because it can be assumed that in a carpeted floor some fibres will be detected by the detection device 9 and interpreted as dirt.

[0044] The treatment of the partial surface region 2 can be started via a user interface on the floor treatment device 1 or else by means of the external terminal 15. During the treatment of the partial surface region 2 the detection device 9 measures a current treatment status, i.e. in this case a contamination status of the partial surface region 2, and if the contamination status at the end of a cleaning cycle is higher than the selected target cleaning status a new cleaning cycle is started, wherein this is advantageously performed along the previously selected trajectory 4. After the reference status, i.e. the reference contamination level, has been reached, a parked position of the floor treatment device 1 is advantageously activated. This can be, for example, a rest position on a base station of the floor treatment device 1.

[0045] The cleaning operations carried out by the user can be stored in a history and displayed to the user on the external terminal 15. For example, already cleaned partial surface regions 2 are advantageously displayed in an environment map 13 or an environment image 14, so that the user can make another selection quickly. For example, the user can select a plurality of partial surface regions 2, which are to be travelled to as successive partial surface regions 2 for a spot-cleaning operation. In addition, the user can choose whether the cleaning operation carried out and if required, its results, are entered into an environment map, 13 or an environment image 14, or whether these should be deleted without the possibility of subsequent use.

LIST OF REFERENCE NUMERALS

[0046] 1 floor treatment device [0047] 2 partial surface region [0048] 3 start/stop position [0049] 4 trajectory [0050] 5 control device [0051] 6 circumferential path [0052] 7 shape of area [0053] 8 size of area [0054] 9 detection device [0055] 10 wheel [0056] 11 cleaning element [0057] 12 distance measuring device [0058] 13 environment map [0059] 14 environment image [0060] 15 external terminal [0061] 16 display [0062] 17 treatment mode