Control of cleaning robots

• US 10,492,654 B2
• Filed: 10/26/2016
• Issued: 12/03/2019
• Est. Priority Date: 10/26/2015
• Status: Active Grant

• Current Assignee: Siemens Schweiz AG (Siemens AG)
• Original Assignee: Siemens Schweiz AG (Siemens AG)
• Inventors: Frey, Christian
• Primary Examiner(s): Melton, Todd M
• Assistant Examiner(s): Roberson, Jason R
• Application Number:
  US15/334,428
• Publication Number:
  US 20170112345A1
• Time in Patent Office: 1,133 Days
• Field of Search: None
• CPC Class Codes: A47L 11/4011 Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: A47L 2201/06 Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
• CPC Class Codes: A47L 9/2852 Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
• CPC Class Codes: A47L 9/2857 User input or output elements for control, e.g. buttons, switches or displays
• CPC Class Codes: A47L 9/2894 Details related to signal transmission in suction cleaners
• CPC Class Codes: G01C 21/206 specially adapted for indoor navigation
• CPC Class Codes: G05B 15/02 electric
• CPC Class Codes: G05B 19/042 using digital processors G05B19/05 takes precedence
• CPC Class Codes: G05B 2219/2642 Domotique, domestic, home control, automation, smart house
• CPC Class Codes: G05B 2219/45098 Vacuum cleaning robot
• CPC Class Codes: G05D 1/0276 using signals provided by a source external to the vehicle involving a plurality of vehicles G05D1/0287; automatically controlling vehicle speed responsive to externally generated signals B60K31/0058
• CPC Class Codes: G05D 1/028 using a RF signal

Abstract

A method and corresponding arrangement are provided for controlling a mobile cleaning robot for cleaning of a building. A cleaning program with cleaning tasks is loaded into a control unit of the cleaning robot, the current position of the cleaning robot in the building is determined, the respective cleaning tasks are carried out taking into account the current position of the cleaning robot, and based on the current position of the cleaning robot and the cleaning task to be performed at the respective position, at the request of the control unit a building management system activates facilities located at the respective position, so that a corresponding cleaning task is able to be carried out for the cleaning robot.

Claims

1. A method for control of a mobile cleaning robot for cleaning of a building, the method comprising:

loading a cleaning program with cleaning tasks into a control unit of the cleaning robot;

monitoring a current position of the cleaning robot in the building;

sending information to the control unit of the cleaning robot about a current weather condition and at least one of a previous usage, a current usage, or a future usage of the current position via a communication link;

modifying the cleaning program by adapting at least one of the cleaning intensity or the programmed cleaning tasks of the cleaning robot based on the received information; and

performing the cleaning tasks based at least on the modified cleaning program;

wherein, based on the current position of the cleaning robot and a respective cleaning task to be performed at the respective position, at the request of the control unit a building management system activates facilities located at the respective position enabling the cleaning robot to perform the respective cleaning task;

documenting the cleaning tasks performed by the cleaning robot and recording preventative maintenance of the cleaning robot directly by the building management system;

wherein monitoring the current position of the cleaning robot in the building includes using a positioning system to determine the current position;

wherein activating facilities includes the building management system referring to a Building Information Model (BIM) including a building plan; and

after a floor of the building has been cleaned, providing the robot with an elevator car using the building management system to convey the robot to a further floor to be cleaned or to storage.

2. A control unit for controlling a mobile cleaning robot for cleaning of a building, the control unit comprising:

a processor;

a communication link; and

a cleaning program stored in a non-transitory computer-readable medium, the cleaning program including cleaning tasks and the cleaning program executable by the processor to;

monitor a current position of the cleaning robot in the building using a positioning system to determine the current position;

perform the cleaning tasks based at least on the current position of the cleaning robot;

wherein the control unit receives information about a current weather condition and at least one of a previous usage, a current usage, or a future usage of the current position via the communication link;

the control unit modifies the cleaning program by adapting at least one of the cleaning intensity or the programmed cleaning tasks of the cleaning robot based on the received information; and

based on the modified cleaning program, the cleaning program requests a building management system to activate facilities located at the respective position enabling the cleaning robot to perform the respective cleaning task;

wherein the building management system refers to a Building Information Model (BIM) in the course of activating facilities;

the building management system directly documents the cleaning tasks performed by the cleaning robot and recording preventative maintenance of the cleaning robot; and

after a floor of the building has been cleaned, the cleaning program directs the robot to an elevator car provided by the building management system to convey the robot to a further floor to be cleaned or to storage.

3. A cleaning robot for cleaning of a building, the cleaning robot comprising:

a first communication unit for communication with a system positioned in one or more buildings for receiving current position data of the cleaning robot;

a second communication unit for communication with a building management system of the building to be cleaned, wherein the current position of the cleaning robot is transmitted cyclically to the building management system;

a robot controller including a processor for executing a cleaning program loaded into the robot controller, the cleaning program including cleaning tasks,

wherein the respective cleaning tasks are processed based on the current position of the cleaning robot; and

the robot controller of the cleaning robot receives information about a current weather condition and at least one of a previous usage, a current usage, or a future usage of the current position via a communication link; and

the robot controller modifies the cleaning program by adapting at least one of the cleaning intensity or the programmed cleaning tasks of the cleaning robot based on the received information;

wherein, based on the modified cleaning program, at the request of the robot controller the building management system activates facilities located at the respective position to enable the cleaning robot to perform the corresponding cleaning task using a Building Information Model (BIM) including a building plan;

the building management system directly documents the cleaning tasks performed by the cleaning robot and recording preventative maintenance of the cleaning robot; and

after a floor of the building has been cleaned, the robot navigates to an elevator based on information provided by the building management system to travel to a further floor to be cleaned or to storage.

4. An arrangement for control of a cleaning robot in a building, said arrangement comprising:

a building management system for monitoring and control of facilities in the building, wherein the building management system manages a building plan for the building including a Building Information Model (BIM);

a positioning system for determining a position of mobile objects located in the building;

a cleaning robot for cleaning the building, wherein the cleaning robot comprises;

a first communication unit for communication with the positioning system for receiving current position data of the cleaning robot;

a second communication unit for communication with the building management system of the building to be cleaned, wherein the current position of the cleaning robot is transmitted cyclically to the building management system;

a robot controller including a processor for executing a cleaning program loaded into the robot controller, the cleaning program including cleaning tasks,

wherein the respective cleaning tasks are processed based on the current position of the cleaning robot;

the robot controller of the cleaning robot receives information about a current weather condition and at least one of a previous usage, a current usage, or a future usage of the current position via a communication link; and

the robot controller modifies the cleaning program by adapting at least one of the cleaning intensity or the programmed cleaning tasks of the cleaning robot based on the received information;

wherein, based on the modified cleaning program, at the request of the robot controller the building management system activates facilities located at the respective position to enable the cleaning robot to perform the corresponding cleaning task;

the building management system directly documents the cleaning tasks performed by the cleaning robot and recording preventative maintenance of the cleaning robot; and

after a floor of the building has been cleaned, the building management system provides an elevator and navigation directions for the robot to enter the elevator to travel to a further floor for cleaning or to storage.