DE102024206118B3 - Procedure for preventing damage to a side brush - Google Patents

Abstract

A method is specified for preventing damage to a side brush (5) of a mobile, self-propelled device (10), in particular a floor cleaning device such as a vacuum and/or sweeping and/or wiping robot, which comprises the following method steps: detection by the device (10) that the device (10) has been lifted from the floor; detection by the device (10) that the device (10) has been placed on the floor; and rotating the side brush (5) after the device (10) has been placed on the floor.

Description

The invention relates to a method for preventing damage to a side brush of a mobile, self-propelled device, in particular a floor cleaning device in the form of a vacuum and/or sweeping and/or wiping robot, a mobile, self-propelled device, a computer program product and a computer-readable data carrier.

Cleaning robots such as vacuum and/or sweeping robots nowadays often take on repetitive floor cleaning tasks. During their cleaning cycles, the cleaning robot's cleaning units cover as much of the floor as possible and specifically collect dust and dirt. In addition to cleaning easily accessible, open floor areas, corners and edges along walls or around objects are also crucial for a satisfactory cleaning result. For this purpose, cleaning robots usually have rotating side brushes in the front area of a robot housing. These cleaning arms, for example tufts of bristles or rubber arms, sweep dust away from walls and corners and transport it towards a suction mouth of the cleaning robot. The side brushes usually only rotate when the cleaning robot is carrying out a cleaning task.

Robots for soil cultivation are, for example, known from the publications DE 10 2018 212 167 A1 , US 2016 / 0 309 975 A1 and US 2023 / 0 367 324 A1 known.

The thin cleaning arms of the side brushes, located exposed on the underside of the robot cleaner, are at risk of being quickly damaged in certain situations. If the forces are too great and/or the force is applied for a long time, the cleaning arms can become permanently bent. If the deformation is too great, the sweeping effect of the cleaning arm is impaired, and the cleaning performance of the robot cleaner decreases, especially along edges, in corners, and generally on open surfaces where dirt is transported to the suction nozzle.

A particularly common cause of a cleaning arm becoming bent is the user manually carrying and carelessly parking the robot cleaner. If a cleaning arm is bent or kinked while parking and the robot cleaner remains in place for a certain period of time, permanent damage to the cleaning arm can occur. This frequently occurs, for example, when parking the robot cleaner on carpets or when returning the robot cleaner to its charging or service station.

The object of the invention is to provide an improved method for preventing damage to the side brush, in which the device selectively rotates its side brush after the device has been lifted by a user and then put down again.

This object is achieved by a method for preventing damage to a side brush of a mobile, self-propelled device having the features of claim 1. Advantageous embodiments and further developments are the subject of the subclaims.

• - Erkennen durch das Gerät, dass das Gerät vom Boden angehoben wurde,
• - Erkennen durch das Gerät, dass das Gerät auf den Boden abgesetzt wurde, und
• - Drehen der Seitenbürste nach Absetzen des Geräts am Boden, wobei nach Erkennen des Absetzens des Geräts an einer Lade- oder Servicestation das Drehen der Seitenbürste ohne Wartezeit direkt ausgeführt wird.

According to the invention, a method for preventing damage to a side brush of a mobile, self-propelled device, in particular a floor cleaning device in the form of a vacuum and/or sweeping and/or wiping robot, comprises the following method steps:

• - Detection by the device that the device has been lifted from the ground,
• - Detection by the device that the device has been placed on the ground, and
• - Rotating the side brush after placing the device on the ground, whereby after detecting that the device has been placed at a charging or service station, the side brush rotates immediately without waiting.

In this case, the device rotates its side brush a few times, specifically after a user has carried it to another location, for example. This rotation allows the side brush's cleaning arms to be freed from situations where they are bent or kinked, stuck to the floor or against an obstacle. Any bending or kinking of the side brush's cleaning arms can be effectively resolved, preventing permanent damage. Overall, the service life of the side brush is increased.

According to the invention, the device rotates its rotating side brush for a limited time whenever it detects a user lifting and then setting it down again. A bent or kinked side brush cleaning arm caused by carelessly setting the device down can be freed by rotating the side brush. Permanent damage to the cleaning arms can be avoided.

A mobile, self-propelled device is specifically defined as a floor cleaning device that autonomously cleans floors, particularly in the home. This includes, among others, vacuuming, mopping, and/or sweeping robots, such as robot vacuum cleaners. These devices preferably operate without, or with as little as possible, user intervention during operation (cleaning mode). For example, the device moves automatically to a specified room to clean the floor according to a predefined and programmed process strategy.

The device is preferably a cleaning robot with a suction nozzle with a brush roller and a suction fan. The device can additionally comprise a wet cleaning module. To detect its surroundings and obstacles, the device is equipped with navigation sensors, for example a LiDAR sensor, a camera, and/or a wall-following sensor. Acceleration sensors (IMU), as well as sensors that can register the swinging of the device's wheels, and sensors that can measure the distance of a device housing from the ground, are used, for example, to detect when a user lifts and/or sets down the device. These sensors are part of the device and are in particular integrated into or on it. A side brush is positioned at the front of the device in the direction of travel, on at least one side or a front corner of the device, with its small cleaning arms projecting beyond the contour of the device housing.

The floor area to be cleaned refers to any room area to be cleaned. This includes, but is not limited to, parts of individual rooms, individual areas of an apartment, individual rooms within an apartment, and/or the entire floor area of the entire apartment or living space.

A map of the surrounding area is understood to mean, in particular, any two- or three-dimensional floor plan suitable for depicting the surroundings of the tillage area with all its walls, obstacles, and objects. A map of the surrounding area is understood to mean, in particular, any two- or three-dimensional map suitable for depicting the surroundings of the tillage area with all its walls, obstacles, and objects. This map of the surrounding area is used, for example, in the context of navigation using SLAM and also for localization. This navigation map, or a version derived from it, displays, for example, a sketch of the map of the surrounding area with the tillage area and the furniture and walls contained therein.

Obstacles are understood to mean any objects and/or items that are located in a soil cultivation area, for example lying or standing there, and that influence the cultivation by the mobile, self-propelled device, in particular hinder and/or interfere with it, such as furniture, walls, curtains, carpets and the like.

The environmental map with the obstacles is preferably displayed in an app on a preferably portable input device. This serves primarily to visualize a possible interaction for the user.

In the present case, an input device is understood to mean in particular any device that is portable for a user, that is arranged outside the mobile, self-driving device, in particular external and/or differentiated from the mobile, self-driving device, and that is suitable for displaying, providing, transmitting and/or transmitting data by means of the interface, such as a mobile phone, a smartphone, a tablet and/or a computer or laptop.

The app, in particular a cleaning device app, is installed on the input device. This app serves to communicate between the mobile, self-propelled device and the input device and, in particular, enables visualization of the floor cleaning area, i.e., the living space or apartment or living area to be cleaned. The app preferably shows the user the area to be cleaned as a map of the surrounding area, along with any obstacles.

In an advantageous embodiment, the side brush rotates for a predetermined period of time. If the device detects, in particular, that the user has lifted it off the floor and then placed it back on the floor, the device activates a drive motor for the side brush even without a start command for a cleaning job. This motor remains activated for the predetermined period of time, causing the side brush to rotate several times around its axis. If one or more cleaning arms were bent on the floor or against an obstacle near the device when the user put the device down, the cleaning arm can be freed from its bent position by targeted rotation. After the side brush drive is switched off, the side brush remains in its current orientation. Permanent bending or kinking of a cleaning arm can advantageously be avoided.

In a further advantageous embodiment, the predetermined time period is between 0.5 seconds and 3 seconds inclusive. This short time period is sufficient for the cleaning arms of the side brush to free themselves from any bent positions.

In a further advantageous embodiment, the side brushes rotate immediately after they have been placed on the ground. If the device's sensors detect a lifting and subsequent placement on the ground, the side brushes rotate in a targeted manner over the predetermined period of time without any delay and, in particular, without a predetermined waiting time.

In an alternative advantageous embodiment, the rotation of the side brush starts after a predetermined waiting period after the device has been placed on the ground. As an alternative to an immediate start of the side brush motor after the device has been placed down, a waiting period is introduced in this case. During the predetermined waiting period, the device checks whether the user has started a cleaning task. If the device registers a start command for a cleaning task or for a travel movement, the side brush motor is not activated independently of the cleaning task and the side brush does not rotate independently of the cleaning task. This means that the side brush does not rotate in addition to the cleaning task to prevent damage. If, on the other hand, no start command is received by the end of the predetermined waiting period, the side brush begins to rotate for the predetermined period to prevent damage.

According to the invention, after detecting that the device has been placed at a charging or service station, the side brush rotates immediately without a waiting time. If the device detects that it has been placed at the charging or service station, it begins rotating the side brush without a waiting time. In particular, in this case, it is assumed that the user has placed the device at the station for charging and that no immediate start command for a cleaning job will follow. Detection of the device being placed at the charging or service station can occur by detecting a charging current for charging a device battery and/or by (wireless) communication between the device and the charging or service station.

In a further advantageous embodiment, the side brush rotates even when the device is in standby mode. In this case, the sensors that detect the robot being lifted (e.g., for safety reasons) are continuously operating, especially in standby mode, allowing the side brush to rotate at any time after the device has been successfully detected to prevent damage.

Furthermore, the invention relates to a mobile, self-propelled device, in particular a floor cleaning device such as a vacuum and/or sweeping and/or wiping robot, which is designed to carry out a method according to the invention.

It is understood that, in addition to the method and the device, a computer program product comprising instructions that, when executed by the device, cause the device to carry out the method according to the invention, also falls within the scope of this invention. A computer-readable medium on which such a computer program product is stored also falls within the scope of this invention.

Any features, configurations, embodiments and advantages relating to the method also apply in connection with the device, computer program product and computer-readable medium according to the invention, and vice versa.

• 1A, 1B: jeweils eine schematische Ansicht eines mobilen, selbstfahrenden Geräts, das dazu eingerichtet ist, ein erfindungsgemäßes Verfahren durchzuführen,
• 1C: eine schematische Ansicht einer Seitenbürste eines mobilen, selbstfahrenden Geräts des Ausführungsbeispiels der 1A, 1B, und
• 2: ein Flussdiagramm eines Ausführungsbeispiels eines erfindungsgemäßen Verfahrens.

The invention is explained in more detail with reference to the following embodiments, which are merely examples. They show:

• 1A , 1B : each shows a schematic view of a mobile, self-propelled device which is designed to carry out a method according to the invention,
• 1C : a schematic view of a side brush of a mobile, self-propelled device of the embodiment of the 1A , 1B , and
• 2 : a flowchart of an embodiment of a method according to the invention.

In the 1A and 1B a mobile, self-propelled device 10 is shown, which is in particular a vacuum robot. 1A represents a top view of the device 10. 1B shows a bottom view of the device 10. The robot vacuum perceives its surroundings using various sensors, in particular a LIDAR sensor 1, which is used to create an environmental map with the contours of walls, objects, and obstacles. In addition, the robot vacuum has a camera 2 that can detect objects in front of the robot vacuum and is used, for example, for object detection and object classification.

The vacuum robot has a suction nozzle 3 with a brush roller 4 and a suction fan. The vacuum robot can also include a wet cleaning module 8. In addition, the Robot vacuum cleaners have acceleration sensors (IMU), as well as sensors that can register wheel swinging, and sensors that can measure the distance of the robot body to the floor in order to detect when the robot vacuum cleaner is lifted by a user.

In the direction of travel, at the front, on at least one side or front corner of the vacuum robot, a side brush 5 is placed, which with its cleaning arms 6 projects beyond the contour of a robot housing 7. In particular, the side brush 5 is arranged next to the suction mouth 3 on the underside of the vacuum robot in such a way that when the side brush 5 rotates, the cleaning arms 6 transport dust and dirt on the floor to the suction mouth 3. In particular, the rotating side brush 5 in the front area of the housing 7 or its cleaning arms 6 (for example, tufts of bristles or rubber arms) sweeps dust away from walls and corners and transports it towards the suction mouth 3. The side brush 5 is in 1C presented in detail.

The thin cleaning arms 6 of the side brush 5, which is exposed on the underside of the robot vacuum cleaner, can permanently bend if subjected to excessive forces and/or prolonged exposure to forces, thereby reducing the cleaning performance of the robot vacuum cleaner. The cleaning arms 6 can bend or kink, particularly if the user manually lifts and then sets down the robot vacuum cleaner.

To prevent this, the robot vacuum deliberately rotates its side brush 5 a few revolutions for a limited time as soon as its sensors detect the user lifting or setting down the robot vacuum. This rotation allows the cleaning arms 6 of the side brush 5 to be freed from situations in which they were bent or kinked on the floor or jammed against an obstacle. This can release any possible bending or kinking of the side brush 5, preventing permanent damage.

An example of the procedure for preventing damage to the side brush 5 is shown in 2 shown. In step 101, the robot vacuum detects using its sensors that it has been lifted off the floor by the user. If, in step 102, the robot vacuum detects that the robot vacuum has subsequently been placed on the floor, the robot vacuum automatically activates a drive motor of the side brush 5 (step 103a) without a start command for a cleaning job being issued. This motor remains activated for a predetermined period of time, in particular for a short, limited time (e.g., 0.5 seconds to 3 seconds), so that the side brush 5 rotates several times around its axis. If, when the user placed the robot vacuum down, a cleaning arm 6 was bent on the floor or on an obstacle near the robot vacuum, the cleaning arm 6 can be freed from the situation. After the predetermined period of time, the robot vacuum stops rotating the side brush 5 and waits for a start command for a cleaning job (step 104a). After the side brush drive is switched off, the side brush 5 remains in its current orientation. Permanent bending or kinking of a cleaning arm 6 can be avoided.

As an alternative to an immediate start of the side brush motor (i.e., with a waiting time of 0 seconds) after the robot vacuum cleaner is set down (i.e., as an alternative to step 103a), a predetermined waiting time can be introduced during which the robot vacuum cleaner checks whether the user is starting a cleaning task (step 103b). The predetermined waiting time is, for example, 30 seconds, 1 minute, or 3 minutes. If the robot vacuum cleaner registers a start command for a cleaning task or for a movement (step 104b), no rotation of the side brush motor is necessary. The robot vacuum cleaner executes the cleaning task without first rotating the side brush 5 (step 105). If, however, no start command for a cleaning task is received by the end of the waiting time, the procedure is as per steps 103a and 104a. This means that the robot vacuum cleaner rotates its side brush 5 for a short period of time (step 103a) and then stops it while waiting for a cleaning task to start (step 104a).

In addition to steps 103a and 103b, the robot vacuum cleaner can detect docking with its charging or service station (step 103c). In this case, the robot vacuum cleaner begins rotating the side brush 5 without waiting (i.e., step 103a), since it can be assumed that the user has placed the robot vacuum cleaner at the station for charging and will not immediately issue a start command for a cleaning job. Detection of the station can occur by detecting a charging current for charging the robot battery or through other forms of communication between the robot vacuum cleaner and the station. Step 104a concludes the process (i.e., stopping the rotation of the side brush 5 and then waiting for a cleaning job to start).

The method for preventing damage to the side brush 5 is also applied when the robot vacuum cleaner is in standby mode, in case the sensors that detect lifting of the robot vacuum cleaner are working continuously for safety reasons.

Claims (10)

Method for preventing damage to a side brush (5) of a mobile, self-propelled device, in particular a floor cleaning device such as a vacuum and/or sweeping and/or wiping robot, comprising the following method steps: - detection by the device (10) that the device (10) has been lifted off the ground, - detection by the device (10) that the device (10) has been placed on the ground, and - rotation of the side brush (5) after the device (10) has been placed on the ground, wherein, after detection of the device (10) being placed at a charging or service station, the rotation of the side brush (5) is carried out directly without waiting. Procedure according to Claim 1 , wherein the rotation of the side brush (5) is carried out for a predetermined period of time. Procedure according to Claim 2 , wherein the predetermined time period is between 0.5 seconds and 3 seconds inclusive. Method according to one of the preceding claims, wherein the turning of the side breasts (5) is carried out directly after setting down on the ground. Method according to one of the preceding Claims 1 until 3 , wherein the rotation of the side brush (5) starts after a predetermined waiting time after being placed on the ground. Procedure according to Claim 5 , wherein during the predetermined waiting time the device (10) checks whether a cleaning job of the device (10) is started. Method according to one of the preceding claims, wherein the rotation of the side brush (5) is also carried out in a standby mode of the device (10). Mobile, self-propelled device (10) adapted to carry out a method according to any one of the preceding claims. Computer program product, comprising instructions which, when the program is executed by the device (10), cause the device (10) to carry out the method according to one of the preceding Claims 1 until 7 to execute. Computer-readable data carrier on which the computer program product is Claim 9 is stored.