DE102011050357A1 - Method for controlling i.e. guiding, movable household floor cleaning device e.g. sucking robot, involves recording and processing light signal such that transmission of light signal to cleaning area is controlled - Google Patents

Abstract

The method involves utilizing an automatic movable apparatus (1) for recording and processing an acoustic signal in an audible region such that the movable apparatus is controlled based on transmission of the acoustic signal. An automatic movable auxiliary device i.e. remote controller, is operated for monitoring and/or activating the movable apparatus. The movable apparatus is operated for recording and processing a light signal such that transmission of the light signal to a cleaning area is controlled. An independent claim is also included for a method for performing cooperation of an automatic movable apparatus with a door.

Description

The invention initially relates to a method for controlling, for example, destination guidance of an automatically movable device, in particular a cleaning device for cleaning a floor, such as a suction and / or sweeping robot.

Methods of the type in question are known. By means of this, a device, in particular a self-propelled floor cleaning device to a certain point or area within a room or apartment directed to perform here, for example, a surface-limited cleaning of the soil. Furthermore, such a device is called in, for example by means of such a method, in particular to the location of the signal generating the command. It is also known in this regard to transmit to the device further instructions by means of such a method, for example, beyond the route guidance commands with respect to the timing of an automatic process or with respect to a cleaning or -intensity. Furthermore, the control of, for example, an automatically movable transport device or the like is possible by means of such a method.

Autonomously operating devices, such as in particular cleaning or transport equipment in the household sector should preferably operate in (cleaning) operation without user intervention. Nevertheless, these are usually provided with facilities for route guidance, so that for example the user can drive the device in certain areas of the apartment, for example, to perform a cleaning there. Known in this context are remote controls (radio or optical base with infrared), in which the remote control, for example, keys for different directions (separate buttons for the directions, joystick, four-way switch, etc.). These buttons allow the user to control the device to the destination. The operation is similar to that of a remote-controlled car. From the field of toys also wired solutions are known in which the remote control is connected to the toy via a long cable (electrical connection, sometimes mechanically via Bowden cables). This known control by remote control proves to be time consuming and getting used to the user. Thus, an accurate and at the same time fast control of the autonomous device is difficult. In particular, with four-way switches a defined cornering for the user is complicated to perform. Here, the user must refer steering directions (left-right) from the orientation on the remote control to the orientation of the autonomous device. In summary, in these known solutions in particular disadvantage that the user must act at the system level of the autonomous device. In addition, solutions are known in which the device, for example via a remote control coordinates (for example, by radio) are transmitted, which serve the device using a stored for example in the device cartography and a position detection in space to drive to a specific location, for example in a flat and to do the usual work there.

In view of the above-described prior art, a technical problem of the invention is seen in a method of the type in question, in particular with regard to the operation to control the device to further improve.

This problem is solved first and foremost by the subject matter of claim 1, wherein the features listed below are considered both individually and in each combination of importance. So it's important
in that the device is designed to receive and process an acoustic signal in the audible range and that the device is controlled and / or preferred by transmitting a specific acoustic signal
the device is controlled and / or preferred by means of a sound body independent of the device and by the operator by transmitting a specific sound
that the device is controlled by means of a radio signal using the existing home technology and / or preferred
a portable WLAN module is provided and that a signal interpretable by the device is transmitted and / or preferred by mechanical action on the module
that the device has a fragrance sensor and that the device is controlled by certain fragrances and / or preferred
in that an automatically movable functional device and an automatically movable auxiliary device are provided, wherein the auxiliary device is designed and / or preferred for searching and / or guiding and / or activating the functional device
the device is controlled via a user-operated control element and that the control element is integrated in a garment and / or preferred
in that movement patterns of a user are detected by means of a camera and analyzed by an evaluation software, and that the movement pattern analyzed in this way is forwarded to the device in the form of commands and / or preferred
a remote-readable data carrier, for example an RFID data carrier, is provided for transmitting an instruction to the device, and that the data carrier can be activated or deactivated by means of a mechanical switch and / or is preferred
that an instruction is transmitted to the device by a targeted arrangement of an object in the room and / or preferred
that information is transmitted to the device by means of parts to be scattered on the ground, for example beads, wherein the parts contain and / or prefer remote-readable data carriers
in that the device is designed to receive and process a light signal and that the device is controlled by transmitting a light signal characterizing a room and / or an activity.

According to the above-described individual or any combinable with each other features a method of the type in question is given, which is easy to understand for the user, depending on the specific embodiment moreover, of course. Also, this provides solutions that are easy for the user to understand and learn. The operator needs to control the movable device in a preferred embodiment no separate, solely designed for the operation of the robot control device. Advantageously, the operator uses already existing, possibly adapted to the operation of the robot control devices and / or gives commands only by audible tones and / or only by gestures. Thus, air pressure fluctuations in the frequency range of 16 Hz to about 16 kHz are perceived by the human ear as audible sound. This is, as proposed, used to control the device, for example, to lead targeted in a particular room and / or trigger a specific work of the device. For this purpose, the device, for example a robot, has a corresponding receiver, for example a microphone, for receiving the acoustic signal, to which microphone in particular an evaluation unit is connected downstream, for processing the also received acoustic signal. In the device preferably corresponding sound patterns are stored, in particular in the form of a sound pattern database, so that a corresponding adjustment of the received signal with the stored signals leads to the triggering of a predetermined command. Preferably, the signal which can be triggered by the command is accordingly audible, likewise receivable by the user, so that he understands in the simplest manner, based on the acoustic signal, the command to be triggered in the device. In an exemplary embodiment, this can be an electronic auxiliary device, further example, serve a remote control, which further emits, for example, according to the corresponding push of a button or the like. An audible and therefore audible signal. As a transmitting device can continue to be used, for example, the ringtone of a mobile phone. Decisive is a striking frequency pattern, which allows the evaluation at the receiving part. Characteristic here is the recognition of an acoustic pattern, which allows the assignment to a specific location or the assignment to a specific command. To detect the signal, the ambient noise is preferably recorded and passed through a signal filter which is tuned to the characteristic frequencies of the ringing tones. Depending on the composition and distribution of the frequency components, an assignment to a transmitter or the triggering of a command takes place. In a further alternative and / or combined embodiment, a sounding body is used to transmit the acoustic signals, which is used by the operator. Such a sound body sends in a preferred embodiment without further, in particular electronic aids sound lying in the audible range, wherein it is further preferably in such a sound body, for example, to common objects, more preferably household items and / or facilities. As a transmitter, various sound instruments are conceivable in this context, which can be characterized by different frequency components, such as bells with different basic tones and / or overtones. At the device-side receiver, the ambient sound is preferably recorded via a microphone and the frequencies relevant for the function are filtered out and analyzed. As soon as the filtered noise matches a stored sound image and can therefore be unambiguously assigned to a transmitter, the transmission location stored for this sound image is approached, for example. For example, the operation of a door handle further generates a sound that calls the device, for example, for cleaning in a particular room. For this purpose, the door handle is designed such that it emits a sound when actuated. The transmitter works preferably purely mechanically and thus requires no energy source that needs to be replaced or recharged. Furthermore, the transmitting part is preferably simple and inexpensive, more preferably formed by already existing sounding body, further example, by a bell, as used for example to summon operating personnel or the like. The user understands the user principle quickly, which also gives the possibility that even non-technical users in the simplest way can control the device, in particular summon. Also, for example, the knocking on a door, such as a room door can be received and interpreted by the device, further example, a pounding on the floor (structure-borne sound transmission) or knocking on a radiator. In this case, the sound is used by already existing in the room objects, in particular for calling the device in a particular room of a dwelling each room can be assigned a predetermined acoustic sound. In this case, the device is trained in a first step, a specific tone. For example the noise of knocking is taught to a heater in the first room. A pounding on the ground, for example, trained in a second room. The knock on a door is characteristic of a third room. If one of these noises is triggered, the device then preferably drives automatically to the area or to the room that is assigned to this noise, this more preferably using a stored travel strategy, more preferably using a stored mapping of the premises. For this purpose, an acoustic receiving unit, for example a microphone with a corresponding evaluation unit, for example audio frequency analysis by means of Fast Fourier transformation, is used for detection on the device.

Further alternatively or combinatively, the existing building technology is used to control the device, such as a TV, mobile or wireless devices, such as a mobile phone, moreover, for example, a radio, which household appliances are preferably switched to a specific frequency or a particular mode , Thus, a signal is transmitted, for example by means of a remote control, which is received either directly from the device, such as robots or alternatively received via an intermediate station such as a TV or a radio and optionally modulated forwarded to the device. The existing building services can continue to be used, for example, by means of existing devices, such as a TV by activating or receiving a specific signal, for example via a remote control to send signals in the existing home network (power or computer network, such as LAN or WLAN), so as to address, for example, automatically movable devices in other rooms or even to transmit, for example, instructions for controlling the robot, this, for example, with the interposition and use of a base station for the self-moving device. Also, several automatically movable devices in a household, for example, via the electrical power supply (home network) can be communicated and controlled.

In addition, the control is alternatively or combinatively possible by means of a portable WLAN module. WLAN (wireless local area network) is a local area network after the Radio network standard IEEE 802.11 with a data transmission rate of 2 to 300 Mbit / sec, preferably 20 to 60 Mbit / sec. Such a transportable WLAN module is suitable for sending corresponding signals, in particular modulated signals, to the device in order to control this accordingly, for example to summon and / or trigger specific commands, for example a spot cleaning or a specific cleaning method. The device has a corresponding receiving part, more preferably a customized WLAN module, which receives the transmitted modulated signal and generates a corresponding command from the signal. For example, the portable WLAN module sends out signals according to a corresponding key press or the like. It is preferred in this regard that a signal interpretable by the device is transmitted by mechanical action on the module, so further preferably by pressing, pulling, pushing or rotating the WLAN module or a subsection thereof.

Further, alternatively or in combination, it is provided that the automatically movable device responds to scents, for which purpose the device has a corresponding scent sensor. The fragrance sensor or fragrance chip detects odors and can be guided over the odor intensity in particular to the selected room to trigger there, for example, a corresponding cleaning of the soil according to the embodiment of the device as a floor cleaning device. For example, the user may deposit corresponding scent marks by means of scented sprays or the like, alternatively laying out fragrance-repellent carpet cleaners which are registered by the device according to the fragrance sensor. Alternatively or in combination with this, the travel path of the device through a room, possibly through several rooms, can be predetermined by distributing scent marks on the floor. In particular, in the case of scent marking in the form of cleaning agents, such as flocculants on a carpet designed cleaners can hereby also a character, a letter or even a lettering are applied to the floor, this further, for example, using a template or the like. Such characters are preferred by Device read and interpreted as further instructions if necessary. The device correspondingly has a reading unit, more preferably in the form of a digital camera, for example in the form of a micro-camera, which delivers video images on the simplest technical basis, wherein the received image is fed to a preferably processor-controlled evaluation unit within the device and with stored characters -, letter or lettering patterns is compared.

In the further proposed, alternative or combination solution in which a function device and an auxiliary device are provided, for example, the calling of the function device, which is preferably equipped in the case of a floor cleaning device with tools for floor cleaning, for example, a command robot forming auxiliary device, which, for example from the room to be cleaned losfährt, the Function device searches and activates this for cleaning. In this case, the auxiliary device can communicate with the functional device correspondingly, for example, initially to find the functional device, for example, according to the dwell coordinates of the functional device to the auxiliary device, more preferably both devices have a mapping of the premises. For example, after finding the functional device, the auxiliary device can transmit to it the coordinates from which the auxiliary device has been started so that the functional device can find the space to be controlled with the help of the cartography. Alternatively, the auxiliary device leads the functional device quasi "on a leash" in the room to be cleaned.

In addition, it is alternatively or combinatively proposed that an operating element serving to control the device is integrated in a garment, which garment is worn by the user. The garment is, for example, a dressing gown, an apron or the like., In particular garments that are worn in the usual way in house cleaning. The garment is so further equipped for example with a touch sleeve, with the contact elements of the robot controlled or called for cleaning in certain rooms or can be sent. For cleaning, the textile garment is tightened accordingly, further example, a glove or a T-shirt. This garment can process and send out signals, in particular radio signals, such as ultrasonic signals. The user can enter the control of the robot as well as instructions for action via the intelligent textile with touch function, whereby the data are sent directly or indirectly to the self-moving device with the interposition of household appliances, home installations or base stations.

Another, in particular for the user logical and easy-to-learn way to control the device is the command transmission according to gestures. For this purpose, the device has a camera, in particular electronic camera such as a camera, which detects the movement pattern of a user. Such a camera can also be provided by the device separately in the room, more preferably in all rooms, in which case preferably the communication or the data transmission from the camera to the device, for example via a WLAN module or via the building services. The detected movement patterns are compared with stored movement patterns in a database or the like, for which an evaluation software for analyzing the movement pattern is further provided. Thus, for example, the automatically movable device or a base station assigned to the device is connected to a respective camera in each room. From the respective camera, the executed gesture is interpreted, which serves the request or control of the robot. The user can use the camera, which communicates with the device via a computer or a WLAN module, for example, to initiate the control of the robot. For example, upon entering the room, the user can set the cleaning program and / or call the robot. In the simplest way, the robot is called in by the gesture "waving".

For the transmission of an instruction to the device are also remotely readable data carriers, in particular RFID data carriers that can be activated or deactivated, in particular by a mechanical switch. Such activatable RFID element is for example from the DE 10 2008 003 928 A1 known. Further, for purposeful cleaning of a floor, for example, to the doorknob of a room to be cleaned a sign "please clean" are hung. The self-moving device recognizes this via optical detection means (image recognition, color or structure analysis).

Further alternatively or in combination, the instruction is transmitted by a targeted arrangement of one or more objects in the room. The arrangement or position of a given, predetermined object in space is known to the device. Alternative positions of the object in the room are stored for example in a device-internal database, for example, when entering a room, the device first by means of a camera, for example. A micro-camera, the environment receives and thereby detects the position of one or more relevant items , Depending on the detected position, a command, for example, a cleaning command is triggered.

In addition, alternatively or combinatively, parts which are to be scattered on the floor, for example beads, which are preferably equipped with RFID tags, are preferably available in each room of the flat on the floor. If these beads are laid out in space on the floor, the robot, in particular suction robot in a so-called patrol can recognize this and deduce that a cleaning of the corresponding room is desired. For this purpose, the automatically movable device has a transmitter which is capable of detecting the proximity of RFID tags or generally passive circuits which convert energy from an emitted electromagnetic field and use this in turn to generate an electromagnetic field or the emitted field in this way to recognize that the transmission of information to the transmitter is enabled to detect. Each RFID tag preferably carries a unique identifier, what this makes identifiable. Several tags may be present in the area of effect of the transmitter field, it being possible in this regard to recognize them simultaneously.

Also, alternatively or in combination, the device can be controlled with light, in particular light in the visible range, so on, in particular by transmitting a, a room and / or an activity characterizing light signal. Thus, for example, each room or area is assigned a unique signal source.

Further features of the invention are explained below, also in the description of the figures, often in their preferred association with the subject matter of claim 1 or with features of further claims. But they can also be in an assignment to only individual features of claim 1 or the respective further claim or each independently of importance.

Thus, it is provided in an advantageous development that the acoustic signal is generated with the human voice, such as by calling, in particular by calling a name assigned to the robot or by calling commands such as "come here", moreover, for example by whistling. Furthermore, it is also possible to generate an acoustic signal, for example, by clapping hands.

More preferably, it is provided that an acoustic signal is converted into different or a plurality of consecutive behaviors depending on the intensity, the frequency or repetitions of the device. Characteristic is the recognition of an acoustic pattern, which allows the assignment to a specific location. To detect the signal, the ambient noise is recorded and passed through a signal filter tuned to the characteristic frequencies of the ringing tones. Depending on the composition and distribution of the frequency components, an assignment to a transmitter takes place. So further existing instruments can be used to call, so also dog whistles or sound stones. The device can receive and execute commands by generating trained or learned sounds and sounds. Here, certain sounds and sounds can be assigned to the individual rooms in an apartment or even individual commands. Sound sequences can result in defined instructions or sequences, such as a cleaning sequence of different rooms. In this case, a certain noise may result in a previously defined cleaning, for example the definition of the cleaning time, with or without brush cleaning, special spot treatment, etc. This means that the command transmitter, for example a sound instrument, forces a course of action. Alternatively, a sound is specifically assigned a specific location, so that when a defined sound is triggered, a room is visited. Likewise, the successive playing of tones can mean that the rooms are to be cleaned in the order that corresponds to the sequence of notes. For example, in one embodiment, whistling means summoning the robot to the location of the signal broadcast, i. H. to the whereabouts of the user. In contrast, a melody variant, for example, means an individual room allocation or an individual cleaning strategy. Also, the calling by voice with appropriate speech recognition of the robot is possible in this regard, with a certain voice pattern is also stored as a characteristic noise in the automatically movable device, analogous to calling the number of mobile devices or the like.

Thus, it is further provided in this regard that a simple noise signal causes the robot, a multiple signal provides information about the desired cleaning intensity. In a variation, the number of repetitions of the respective signal can additionally be used to transmit information. For example, the number of repetitions can provide information about the degree of contamination, such as normal pollution in the case of a simple signal and extreme pollution in the case of a double signal. Based on this information, the automatically movable device can then drive particularly slowly, for example in the case of extremely heavy pollution, in order to better clean up the area or, alternatively, pick up a corresponding tool in an associated base station or the like, for example a brush roller for mechanical machining of the floor.

If the device is designed to detect odors, various or a number of consecutive behaviors of the device can be achieved, according to appropriately designed different fragrances. In the case of a garment provided with an integrated control element, different touch zones may offer a selection of cleaning operations. If the robot is designed to respond to gestures, different spaces can be assigned to different gestures, further by appropriate gesturing the intensity of the cleaning process. Thus, for example, by a circular motion or by a finger pointing the robot, for example, a heavily polluted spot on the floor to be displayed, which requires, for example, an intensive cleaning.

It is also preferably provided that a signal output via a radio transmitter is input via a converter into the electrical wiring of a building, for example by modulating, more preferably a signal conducted via the electrical cabling signal via a base station or alternatively via a radio converter, further alternatively via a WLAN Transducer is transmitted to the device. Thus, for example, by means of a remote control, for example, a TV remote control over which specific channel memory locations are called, the robot is sent to assigned rooms. In this case, the television modulates after calling these memory locations, for example, either a signal on the mains voltage and feeds them into the housing network or sends via WLAN corresponding information directly to the device. The robot can receive the modulated signals from the network via the base station or it receives the WLAN message immediately and responds accordingly. The existing building technology is used here to communicate with the robot. So you can use existing mobile or wireless devices such as mobile phone, WLAN module, Bluetooth, TV or radio to a certain frequency or in a particular mode are switched. An existing device, such as a WLAN module can also give by activating or receiving a specific signal signals in the existing home network and so on to devices in other rooms or instructions for controlling the robot transmit.

In the case of a portable WLAN module this is formed in a further preferred embodiment in an article to be worn by the user, for example in a clothing item, such as a jacket or a belt. Moreover, the article to be worn is preferably a piece of jewelry, more preferably a chain or a pendant of a chain or a ring. Such a jewelry ring has integrated a WLAN module. For example, a rotation of the ring is interpreted as a command, which triggers a ringing signal for the vacuum robot. The robot can be called accordingly by a kind of remote control in the form of a ring or other jewelry item. For this purpose, the article, more particularly in the embodiment of the same as a ring, an acceleration and / or rotation rate sensor. The call function can be further activated by gestures that are detected by certain movement patterns. The movement is detected by acceleration sensors (accelerometers) and / or yaw rate sensors (gyrometers) based on semiconductors. By analyzing the space vector of the acceleration and / or the torques occurring, it is possible to detect a specific movement pattern, which differs significantly from random movement patterns during wear. In a simplified variant, the call function is conventionally achieved by triggering a button, which is preferably concealed by a suitable surface in the article to be carried, for example in the jewelry ring, so that it is not accidentally triggered during wear. Preferably, in this case, a surface is stretched over the triggering mechanism, which is optically indistinguishable from the remaining surface of the ring and can only be seen haptically. The transmission of the call signal is carried out by an integrated radio transmitter, preferably in the ISM transmission range (WLAN). To call the device, a special radio sequence is sent out, which causes the robot to find the space in which the user is located. Alternatively or also in combination, the object can use surroundings information to determine the location of the user and to communicate this to the robot in the call sequence, in order to enable a targeted control of the room. The power supply of the ring or the object to be carried can be done via a permanently installed battery, preferably a long-lived primary cell. Alternatively, energy conversion of the kinetic energy caused by movements during wear is conceivable (energy harvesting). The accumulated energy is sufficient to transmit the short radio sequence.

As preferred, a command is triggered due to an RFID tag stuck in the tag, which is preferably activated by hanging the tag on the door handle. The shape of the door plate allows a hanging of the shield on the door handle, wherein the weight of the shield, for example, a button is held down, which button activates the day of the shield. Alternatively, a visible pushbutton or a capacitive or pressure sensitive pushbutton recessed on the surface may serve for activation.

After completion of the cleaning process, the day of the door plate is marked as done. Only by hanging the sign and hanging up a renewed cleaning request is obtained. Since the device may not recognize the temporary suspension of the sign, for example because it is not nearby or is not switched on, it is expedient that the sign can assign itself a new number from a sufficiently large number range. Each room can optionally have its own number range or its own sequence of numbers so that the room to be cleared can already be recognized from the identification number.

If an instruction is transmitted to the device by a targeted arrangement of an object in the room, this object is for example a door, a window, a chair, a curtain or a plant. For example, by positioning the chairs of a dining table set on the table, the robot can be indicated that the corresponding area or room should be cleaned. Also pushing aside, for example, plants that are otherwise placed freely in the room, can lead to the generation of a corresponding command. Further alternatively or in combination, for example, a marking on the floor allows the user to set up a room door at a predetermined opening angle, which in turn is interpreted by the robot as a cleaning request. A tag affixed to the floor or the like can be detected by a downwardly-looking sensor recessed in the room door. As soon as the door is placed over the sensor, the sensor in the door sends out a radio signal analogous to a remote control, which calls the robot into the room to be cleaned. The sensor is in this case designed so that it can be invisibly integrated into the door, preferably by screwing into a previously created blind hole in the floor facing the surface of the door. The energy supply of the sensor is ensured by a long-lasting primary cell. Alternatively, an energy harvesting from the movements of the door can also be done here. By accelerating a weight, an electric current can be induced, which energy is buffered in a special buffer. The accumulated energy can then be used to send a call sequence over the air.

In the case of information transmission by means of parts to be scattered on the floor, for example beads with remotely readable data carriers is provided in a development that the parts are receivable by the device, more preferably, the parts are discarded by the device for reuse. For this purpose, the robot preferably has a suitable receiving unit which receives the tags lying on the ground, which preferably have a spherical shape for the purpose of simple reception. The balls can be easily absorbed with the normal impurities. In the suction channel can then be achieved by a mechanical trap, an air vortex with centrifuge effect or by magnetic attraction, a separation of sucked dust. Furthermore, the day can already be taken when driving over, but before reaching the suction channel. An additional sensor embedded in the bottom plate of the robot can detect overrun and pick up the tag by a mechanical device such as a flap or gripping device. Furthermore, suction by negative pressure or magnetic force absorption is possible. The evaluation of the information on how many tags were found and recorded in which room presupposes a known information about the arrangement and limitation of the individual rooms. In this regard, it is assumed that the device has a map (cartography) showing the location and boundaries of each room. Furthermore, the robot is able to recognize its current position within this map, for example using an all-around distance scanner. If the robot has detected one or more tags in a room, it begins cleaning the room according to the limits stored in the card. As the number of tags found in the room increases, so does the cleaning time, with more intensive cleaning taking place in the immediate vicinity of a found tag, taking into account the geometry of the room. If all tags are found within a room and the scheduled cleaning time is reached, the cleaning is finished. In a simplified version, the detection of a nearby detected tag leads to an immediate start of cleaning. In this case, no additional map known to the robot is necessary. The cleaning is preferably carried out in spiral tracks or other geometric route planning, which allows a systematic screening of the environment in gradually increasing distance. The cleaning is continued until all detected tags have been recorded and the search algorithm makes no further tags visible around the last location. The recorded tags are stored inside the robot separately from the suction material and can be stored again after cleaning. There are several storage options. The robot can store the collected tags at the central docking station (base station), where they are again held by the user for reuse. Alternatively, the robot may store the tags in a special bin located in each room. The containers are in both cases designed to deactivate the tags within this container, for example by a metal housing which shields electromechanical radiation and thus hides the tags.

In the case of command transmission by means of a light signal, further preferably this is different in color and / or time and / or intensity. Thus, the device can be called with light of different color (different wavelengths) by the signal source is assigned to a fixed area or place. Optionally, a flash (short but very bright light pulse) due to the greater light output and the associated better dissemination by reflection in other rooms can be used. For example, one room is provided with a red, another room with a green light and another room with a blue light source. By flashing or lighting up, for example, the blue light source is the robot a clear signal for starting and preferred cleaning of the color associated space given.

Furthermore, the invention relates to a method for the interaction of an automatic traveling device, in particular a cleaning device for cleaning a floor such as a suction and / or sweeping robot, with a door having a door frame and a door leaf, wherein the door leaf is in one with the Door frame latched locking position or located in an open position.

Autonomously operating devices, such as in particular cleaning or transport equipment in the household sector should preferably operate in (cleaning) operation without user intervention. Nevertheless, these are usually provided with facilities for route guidance, so that for example the user can drive the device in certain areas of the apartment, for example, to perform a cleaning there.

In particular, in the automatic operation of the device within a multi-room apartment in which the rooms are at least partially separated by doors, it often proves problematic if the device, in particular a floor cleaning device according to a corresponding instruction or a corresponding cleaning routine of a Room wants to enter an adjacent room, but this is prevented by a closed or located in the open position door, which does not allow the immediate passage, however. This usually leads to a disruption of the further process.

In view of the known prior art, a technical problem of the invention is seen in a method of the type in question to further improve.

This problem is initially and essentially solved by the subject matter of claim 9, wherein it is based on the fact that the door leaf is in the open position, but the released passage for driving through the device is not sufficient and that the device, the door leaf by abutment opens further or that the device makes a suction coupling to the door leaf and the door opens by reversing further. According to the proposed method is favorably counteracted an interruption of the automatic process of the device due to a door not sufficiently open. The device is capable of unlocking the unlocked door, d. H. to open the door leaf that is not locked in the door frame-side strike plate automatically. If the door leaf viewed in the usual direction of travel of the device to open at least approximately in the direction of travel, this is achieved by pressing the door leaf through the device. Eventual provided obstacle detections and / or active bumper bandages or the like. To prevent a collision of the device with objects in the conventional method, are preferably disabled for this purpose. This is preferably done in conjunction with a cartography stored in the device, so that the door leaf that is not opened sufficiently is not recognized as an obstacle, but rather in connection with a space transition deposited in the cartography as a door opening. The device continues accordingly at least approximately in the usual direction of travel, in particular with a portion of the circumference abuts against the door leaf and pivots this further method of the device so far that the passage of the device is given in the space behind it. On the other hand, if the door leaf is articulated in such a way that it can be swiveled counter to the direction of travel of the device, the device docks onto the door leaf and pivots it into the open position as a result of reversing, ie. H. Driving approximately opposite to the usual direction of travel, this more preferably with reversing along a circular section line. For suction coupling a vacuum device is preferably provided, further preferably using a bottom cleaning serving suction device, which is switched for this purpose with respect to the suction so that a provided in the peripheral surface of the robot housing Ansaugmund is fluidly connected

Furthermore, the invention relates to a method according to the features of the preamble of claim 9, wherein it is proposed here for improving the method that the device has at its periphery a matched to a marginal edge of the door leaf configuration for mechanical coupling to the door leaf. Accordingly, the device is provided with a device and / or with a contour adjustment, which makes it possible to at least partially couple the device, in particular at a front edge edge of the door panel. In this coupled position, the device moves depending on the articulation of the door leaf further in the usual direction of travel or in the opposite direction, this more preferably along a circular path, so as to open the door at least so far that thereafter the device can pass through the door area. The adapted configuration can be, for example, a groove formed in the housing circumference of the device and adapted to the horizontal cross section in the front region of the door leaf, moreover, for example, a hook-like extension for engaging behind the door leaf.

In a further independent solution, it is proposed in this regard that the device waits in front of a door that is recognized as being locked until the Door is opened. In this case, the device is able to recognize a closed door leaf locked in particular with the door frame, for example using an electronic camera. If this situation is detected, the device waits in front of the door, preferably outside the pivoting range of the door, if the device is on the swinging side of the door until a user or a third person opens the door. The opened state of the door leaf is preferably detected via the change in location of the door leaf, for example using a camera. Alternatively, the user or the third person opening the door can give the device the command to drive through the door area, for example by calling a command or, alternatively, by pressing a switch provided on the device or the like. This method is also used, for example Application, if the device is not able to open the door by its own means.

The features of the above-described independent claims 9 to 12 are in each case substantially, as well as in any combination with each other, further features of an independent claim 9 to 11 can be combined with the features of another independent claim or with features of several independent claims, further also with only individual features of one or more of the further independent claims.

Further features of the invention are explained below, also in the description of the figures, often in their preferred association with the subject matter of claim 9 and / or the further independent claim 10 and / or the further independent claim 11 or with features of further claims. But they can also be in an assignment to only individual features of claim 9 and / or the one or more independent claims 10 to 11 or the respective further claim or each independently of importance.

Thus, it is further preferred that the device interprets a shock load, after this has recognized a door as closed, as an instruction to pass through the previously closed door. For example, the person opening the door gives the device a slight push with the foot in order to draw attention to the now opened door. Information about the direction of the panning and the position of the stop can be entered by teaching in a card present to the device and thus facilitate subsequent Passierversuche.

The subsequent cleaning is preferably carried out by the conventional methods by systematic driving off, using an internal map or accidental traversing.

With regard to the mentioned embodiment for obstacle and / or shock detection is for example on the DE 103 57 936 A1 . DE 10 2008 061 259 A1 . DE 10 2008 014 912 A1 and DE 10 2009 023 066 A1 directed. The embodiments mentioned with regard to the orientation and / or the application of a cartography and / or with regard to a movement strategy are known, for example, from US Pat DE 10 2009 041 362 A1 . DE 10 2009 059 217 A1 . DE 10 2010 000 317 A1 . DE 10 2010 000 174 A1 and DE 10 2010 017 689 A1 known. A device, in particular floor cleaning device with interchangeable tools, for example, in the DE 10 2010 017 211 A1 described. A flake-like cleaning agent is for example from the DE 100 46 685 A1 as well as from de DE 102 30 638 A1 known.

The contents of the aforementioned patent applications are hereby incorporated in full into the disclosure of the present invention, also for the purpose of including features of this patent application in claims of the present invention.

Below, the invention with reference to the accompanying drawings, which illustrates only exemplary embodiments, explained in more detail. It shows:

1 a schematic representation of an automatically movable device in the form of a cleaning robot, which responds to an acoustic signal;

2 in a further embodiment, a schematic representation of the control of the device using the building services;

3 a further alternative embodiment for controlling the device using a WLAN module in the form of a jewelry ring;

4 a schematic representation of the control of the device using an auxiliary device;

5 a further alternative embodiment, wherein the device is controlled according to predefined movement patterns of the user;

6 in another embodiment, a door leaf of a door with a, a fernauslesbaren disk-containing shield;

7 the sign in perspective, schematic single representation;

8th a further embodiment, the control of the device as a result of a targeted arrangement of objects in a room concerning;

9 a schematic perspective view of an alternative embodiment in which the device by means of parts to be scattered on the ground information is transmitted;

10 the device according to 9 in a schematic side view in the course of collecting the scattered parts;

11 in a schematic plan view of the area of a door, as the door swings open by the device;

12 one of the 11 corresponding representation, however, when the door is pulled up suction coupling of the device to the door leaf;

13 another one 11 corresponding representation, however, concerning an alternative embodiment, in which the door leaf is pivoted open according to an adapted configuration of the device.

Shown and described is first with reference to 1 a machine 1 in the form of a suction and / or sweeping device, further in the form of a movable household floor cleaning appliance. This has a chassis, which underside, the floor to be cared for 2 facing, electric motor driven Verfahrräder 3 and preferably a protruding beyond the lower edge of the chassis floor, also driven by an electric motor brush 4 wearing. The chassis is covered by a device hood 5 , where the device 1 has a circular floor plan. Regarding the design of the device 1 as a suction and / or sweeper is on the DE 102 42 257 A1 directed. The content of this patent application is hereby incorporated in full into the disclosure of the present invention, also for the purpose of including features of this patent application in claims of the present invention.

Next, if not shown, the device 1 additionally or alternatively to the brush 4 have a suction mouth. In this case is in the device 1 further arranged a suction fan motor, which is electrically operated.

The electrical supply of the individual electrical components of the device 1 , as for the electric motor of the Verfahrräder 3 , for the electric drive of the brush 4 , optionally for the suction fan and beyond the further provided electronics in the device 1 for controlling the same via a not shown, rechargeable battery.

The device 1 is further preferred with a sensor arrangement 6 Mistake. This is the top of the device hood 5 of the device 1 arranged and about a vertical axis, which at the same time the central vertical axis of the device 1 represents rotatable. The sensor arrangement 6 preferably consists of a triangulation system.

In the triangulation system is an optical system, preferably in one embodiment, a transmitter in the form of a light source, further in the form of an LED or laser diode is provided, further the light source emits monochromatic light, so far visible light, but in any case light not visible to humans, for example infrared light. Furthermore, the triangulation system has a receiver, more preferably in the form of a photosensitive element. This is, for example, a PSD element or even a CCD or CMOS element in linear, d. H. one-dimensional construction. More preferably, part of the receiver is also a receiver lens, which is connected upstream of the photosensitive element.

With the aid of the above-described sensor arrangement 6 First, an obstacle detection is achieved, so that the device 1 collision-free on the ground 2 or move around it. Moreover, as further preferred, via the sensor arrangement 6 enabling all-around scanning of the environment, using the distance values to obstacles and walls in the environment determined here for creating a cartography, which mapping in the device 1 is stored and deposited. The cartography can also be used as part of a first, user-guided learning drive of the device 1 to be created. According to the deposited cartography and an environment scan, preferably by means of the sensor arrangement 6 is the device 1 able to clearly determine one's own position in its environment or in the cartography.

There is a need to use the device 1 if necessary, to summon a particular room or area within the room to perform, for example, cleaning in this area, further, for example spot cleaning (cleaning in a predetermined size range, for example in a circle area with a radius of 0.5 up to 1.5 m around a specified center). In addition, there is a need for the device 1 To convey commands, for example commands relating to the cleaning process (for example, normal cleaning or intensive cleaning) or further for example, regarding the choice of any replaceable cleaning tools.

As shown in 1 For example, such a command is issued for call-in by transmitting a specific audible signal in the audible range. The user claps in the illustrated embodiment in the hands 7 , wherein the sound pattern generated thereby in the device 1 , in particular in a database provided for this purpose is deposited. The device 1 has a corresponding receiver, for example via a microphone 8th , by means of which the ambient sound is recorded. The frequencies relevant to the function are filtered out and analyzed. As soon as the filtered noise matches a stored sound image and can thereby be unambiguously assigned to a transmitter, the corresponding stored command is executed, in particular the onset of the movement of the device 1 and / or the onset of cleaning processing.

As shown in 2 can also be used for command transmission and the in-house technology. In the illustrated embodiment, the operator uses a conventional remote control for this purpose 9 for a TV 10 , The television 10 modulates after calling a predetermined memory space, a signal to the mains voltage and feeds them into the household network 11 one. A the device 1 assigned base station 12 which is also connected to the household network 11 is connected to the power supply, is provided with a corresponding filter that registers the modulated signals. This signal is thereafter, for example, translated into a radio signal, including the base station 12 a transmitting antenna 13 and the device 1 a receiver antenna 14 having. The radio transmission can be carried out according to the WLAN standard.

Alternatively, transmitted in the illustrated embodiment, the television 10 the signal directly via WLAN to the device 1 ,

As in further 3 shown, can be used to control the device 1 also a portable WLAN module 15 be used. This is in the illustrated embodiment in a finger-worn on the jewelry ring 16 integrated. The rotation of the ring can be interpreted, whereupon a call signal for the device 1 is triggered. Alternatively, the call function can also be activated by gestures which are detected by specific movement patterns, whereby acceleration sensors and / or yaw rate sensors based on semiconductors in the jewelery ring are used to detect the movement 16 are integrated. Also, in the jewelry ring 16 a button can be provided, via which the transmission of a corresponding signal via the WLAN module 15 is reached.

In 4 In a further embodiment, a solution is shown in which the device 1 (Function device) an auxiliary device 17 assigned. The latter preferably has no means for floor cleaning or the like. On, serves only for finding and optionally guiding the functional device. The auxiliary device 17 For example, if you leave the room to be cleaned, you are looking for the device 1 and activates this for cleaning. If necessary, the auxiliary device leads 17 , which further preferably also has a cartography of the premises, the functional device to the room to be cleaned (as in 4 sketched).

Is the device 1 as in 5 shown schematically with an electronic camera 18 provided, so can the device 1 also according to a predefined movement pattern of the user to execute corresponding commands. The device 1 has for this purpose a corresponding evaluation software that on via the camera 18 recorded movement pattern analyzed. Thus, in the illustrated embodiment, the device 1 by waving by hand 7 directed by the user into the area to be cleaned.

Also, as in the 6 and 7 shown, a sign 19 on a door handle 20 a door leaf 21 to be hanged. This sign 19 may be provided with a label, for example, "please clean", which label by a camera 18 of the device 1 recorded and then analyzed. A corresponding detection causes the device 1 cleans the room behind the door.

More preferred is the sign 19 with a remote-readable medium 22 , preferably provided an RFID disk. This contains a given coding. Upon detection of the corresponding coding, a corresponding command for cleaning the room and / or for cleaning only certain areas of the room is performed on the device side.

The disk 22 is preferred by a mechanical switch 23 can be activated or deactivated, which switch 23 in the illustrated embodiment with the suspension loop 24 of the shield 19 connected is. Hanging the shield 19 on the door handle 20 leads over the suspension loop 24 to close the switch 23 , this only by the weight of the shield 19 , what the integrated disk 22 is activated. With hanging of the shield 19 and correspondingly missing load on the suspension loop 24 becomes the volume 22 deactivated, with what accordingly such discarded sign 19 does not cause a command triggering.

Alternatively or in combination, instructions are transmitted to the device solely by means of a targeted arrangement of one or more objects 25 in the room. In 8th are the objects 25 Chairs, which in the usual way in overhead position on the table surface of a dining table 26 are turned off. In the course of creating the cartography, the chairs are in the usual dining table arrangement, ie on the floor 2 , As a result, all-round scanning by means of the sensor arrangement 6 and / or by means of an optionally provided camera or the like. Represents the device 1 notice that the items 25 - here the chairs - are not in the position deposited in the cartography. This preferably triggers the command, the dining table area, in particular the floor area below the dining table 26 clean off.

Also, according to 9 the device 1 Information is transmitted by means of on the ground 2 to scattering parts 27 , more preferably in the form of beads. These parts 27 contain remote-readable data carriers, in particular RFID data carriers. About a routine drive of the device 1 recognizes this the designed parts 27 and deduces that a cleaning of the corresponding space or area is desired. The amount of laid out parts 27 can be taken as a measure of the desired cleaning intensity. After or during cleaning, the device may 1 these parts 27 Collect and store for example at a base station or in a collection container.

The device 1 has a suitable receiving unit that covers the parts lying on the ground 27 receives. Thus, in the illustrated embodiment as in 10 schematically shown, a suction device 28 provided in the usual direction of travel of the device 1 in front of the brush 4 is arranged. The parts 27 are correspondingly in the course of driving through the device 1 sucked up and in a device internal collection area 29 stored. Further, in the course of recording the parts 27 disabled for the built-in volume.

The transition from one room to the neighboring room often proves problematic, provided that a door is provided in the area of this transition. Is that with the door frame 30 interacting door leaf 21 locked, the device waits 1 in a preferred embodiment in front of the closed door until the user or a third person opens it. The device moves on a separate command 1 then through the open door area and continues the cleaning program.

In the event that the door leaf 21 in an open position, but the released passage for driving through the device 1 is not enough, is the device 1 with a routine that allows it to move through the resulting gap 31 almost to jostle. Swings the door leaf 21 in the direction of the usual travel direction r of the device 1 , so the latter bumps slightly against the door leaf 21 and pushes this aufschwenkend further in the opening direction (see. 11 ). Any obstacle detection or a sensitive impact bandage or the like is preferably deactivated for this purpose, more preferably in connection with a previous analysis of the environment in which the device 1 determines that the supposed obstacle is not a sufficiently open door. After passing through the obstacle detection is activated again.

Approaching the device 1 from the opposite direction of the door, so this uses according to the embodiment in 12 a suction coupling. For this purpose, the device 1 one in the peripheral area of the device hood 5 provided suction mouth 32 by means of which a suction coupling to the door leaf 21 is reached. By retracting against the usual direction of travel r, more preferably along a circular line pivots the device 1 the docked door leaf 21 further in the opening direction, preferably to a position in which the door gap 31 is sufficiently dimensioned for collision-free driving through the device 1 ,

Next alternative is the device 1 as shown in 13 with one to the edge 33 of the door leaf 21 customized configuration. Shown is a solution in which in the field of device hood 5 one to the contour of the marginal edge 33 adapted groove 34 is trained. To open the door panel 21 drives the device 1 so close to this, that the marginal edge 33 of the door leaf 21 in the groove 34 intervenes. By moving the device along a circular line, the door leaf becomes 21 pivoted in the opening direction, for partial or complete release of the door passage.

All disclosed features are essential to the invention. The disclosure of the associated / attached priority documents (copy of the prior application) is hereby also incorporated in full in the disclosure of the application, also for the purpose of including features of these documents in claims of the present application. The subclaims characterize in their optional sibling version independent inventive development of the prior art, in particular to make on the basis of these claims divisional applications.

LIST OF REFERENCE NUMBERS

1

device

2

ground

3

Verfahrrad

4

brush

5

device hood

6

sensor arrangement

7

hand

8th

microphone

9

remote control

10

TV

11

household net

12

base station

13

transmitting antenna

14

receiving antenna

15

WLAN module

16

Jewelry ring

17

auxiliary device

18

camera

19

sign

20

door handles

21

door leaf

22

disk

23

switch

24

suspension loop

25

chair

26

dining table

27

part

28

suction device

29

collecting area

30

door frame

31

gap

32

saugmund

33

edge

34

groove

r

traversing

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102008003928 A1 [0013]
• DE 10357936 A1 [0040]
• DE 102008061259 A1 [0040]
• DE 102008014912 A1 [0040]
• DE 102009023066 A1 [0040]
• DE 102009041362 A1 [0040]
• DE 102009059217 A1 [0040]
• DE 102010000317 A1 [0040]
• DE 102010000174 A1 [0040]
• DE 102010017689 A1 [0040]
• DE 102010017211 A1 [0040]
• DE 10046685 A1 [0040]
• DE 10230638 A1 [0040]
• DE 10242257 A1 [0056]

Cited non-patent literature

• Radio Network Standard IEEE 802.11 [0008]

Claims (12)

Method for controlling, for example, route guidance of a self-moving device ( 1 ), in particular a cleaning device for cleaning a floor ( 2 ) such as a suction and / or sweeping robot, characterized in that the device ( 1 ) is designed to receive and process an audible signal in the audible range and that the device ( 1 ) is controlled by transmitting a specific acoustic signal and / or that the device ( 1 ) by means of one of the device ( 1 ) and independent from the operator body by transmitting a specific sound is controlled and / or preferred that the device ( 1 ) is controlled by means of a radio signal using the existing home technology and / or preferred that a portable WLAN module ( 15 ) and that by mechanical action on the module ( 15 ) one from the device ( 1 ) interpretable signal is sent and / or preferred that the device ( 1 ) has a fragrance sensor and that the device ( 1 ) is controlled by certain fragrances and / or preferably that an automatically movable functional device (device ( 1 )) and an automatically movable auxiliary device ( 17 ) is provided, wherein the auxiliary device ( 17 ) for searching and / or guiding and / or activating the functional device (device ( 1 )) is formed and / or preferred that the device ( 1 ) is controlled via a user-operated control element and that the operating element is integrated in a garment and / or preferably that by means of a camera ( 18 Movement pattern of a user is detected and analyzed by an evaluation software and that the thus analyzed motion pattern in the form of commands to the device ( 1 ) and / or preferred that for the transmission of an instruction to the device ( 1 ) a remote-readable data medium ( 22 ), for example, an RFID data carrier is provided and that the data carrier ( 22 ) by a mechanical switch ( 23 ) is activatable or deactivatable and / or preferred that the device ( 1 ) by a targeted arrangement of an object ( 25 ) in the room an instruction is transmitted and / or preferred that the device ( 1 ) by means of parts to be scattered on the ground ( 27 ), for example globules, information is transmitted, the parts ( 27 ) remotely readable data carriers ( 22 ) and / or that the device ( 1 ) is designed to receive and process a light signal and that the device ( 1 ) is controlled by transmitting a, a room and / or an activity characterizing light signal. Method according to claim 1 or in particular according thereto, characterized in that the acoustic signal is generated with the human voice and / or that an acoustic signal is dependent on the intensity, frequency or repetition of the device ( 1 ) is converted into different or a plurality of successive behaviors. Method according to one or more of the preceding claims or in particular according thereto, characterized in that a signal emitted via a radio transmitter is input via a converter into the electrical wiring of a building as by modulating and / or preferred that a signal routed via the electrical wiring via a base station ( 12 ) to the device ( 1 ) and / or that a signal which is conducted via the electrical cabling is transmitted to the device via a radio converter ( 1 ) and / or that a signal which is conducted via the electrical wiring is transmitted to the device via a WLAN converter ( 1 ) is transmitted. Method according to one or more of the preceding claims or in particular according thereto, characterized in that the transportable WLAN module ( 15 ) is formed in an article to be worn by the user and / or preferred that the object to be worn is a piece of jewelry and / or preferred that the object to be worn has an acceleration and / or rotation rate sensor and / or preferred that to be worn Subject has a button. Method according to one or more of the preceding claims or in particular according thereto, characterized in that the remotely readable data carrier ( 22 ) Part of a sign ( 19 ) is and / or preferred that the switch ( 23 ) in the course of hanging the shield ( 19 ) is pressed. Method according to one or more of the preceding claims or in particular according thereto, characterized in that the object ( 25 ) is a door, a window, a chair, a curtain or a plant and / or preferred that in the case of a door, the opening angle of the door is used. Method according to one or more of the preceding claims or in particular according thereto, characterized in that the parts ( 27 ) through the device ( 1 ) are receivable and / or preferred that the parts ( 27 ) through the device ( 19 ) are discarded for reuse. Method according to one or more of the preceding claims or in particular according thereto, characterized in that the light signal is different in color and / or preferred that the light signal is different in time and / or preferred that the light signal is different in intensity. Method for the interaction of a self-moving device ( 1 ), in particular a cleaning device for cleaning a floor ( 2 ) such as a suction and / or sweeping robot, with a door having a door frame ( 30 ) and a door leaf ( 21 ), wherein the door leaf ( 21 ) in one with the door frame ( 30 ) latched closure position or in an open position, characterized in that the door leaf ( 21 ) is in the open position, but the released passage for driving through the device ( 1 ) is not sufficient and that the device ( 1 ) the door leaf ( 21 ) by abutment further opens or that the device has a suction coupling to the door leaf ( 21 ) and opens the door by reversing. Method according to the features of the preamble of claim 9 or in particular according thereto, characterized in that the device ( 1 ) at its periphery one at a marginal edge ( 33 ) of the door leaf ( 21 ) adapted configuration for mechanical coupling to the door leaf ( 21 ). Method according to the features of the preamble of claim 9 or in particular according thereto, characterized in that the device waits in front of a door recognized as locked until the door is opened. Method according to one or more of claims 9 to 11 or in particular according thereto, characterized in that the device ( 1 ) a shock load, after which it has recognized a door as closed, interpreted as an instruction to pass through the previously closed door.

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