WO2015090401A1

WO2015090401A1 - Robotic cleaning device providing haptic feedback

Info

Publication number: WO2015090401A1
Application number: PCT/EP2013/077382
Authority: WO
Inventors: Petter FORSBERG; Magnus LINDHÉ; Mats Lindberg
Original assignee: Aktiebolaget Electrolux
Priority date: 2013-12-19
Filing date: 2013-12-19
Publication date: 2015-06-25

Abstract

The invention relates to a robotic cleaning device and a method of indicating user input to a user interface of a robotic cleaning device. In an aspect of the present invention, a robotic cleaning device (10) is provided comprising a user interface (22), a processing unit (16) and a plurality of motors (15a, 15b, 19, 21). The processing unit is arranged to register user input to the user interface and further to temporarily operate at least one of said plurality of motors in response thereto to indicate the user input to the user interface.

Description

ROBOTIC CLEANING DEVICE PROVIDING HAPTIC FEEDBACK TECHNICAL FIELD

The invention relates to a robotic cleaning device and a method of indicating user input to a user interface of a robotic cleaning device. BACKGROUND

Robotic vacuum cleaners are typically equipped with a user interface comprising touch buttons via which a user can control the vacuum cleaner in terms of e.g. turning the vacuum cleaner on/off, selecting a cleaning program, having the vacuum cleaner move to a charging station, or in any other way programming/instructing the vacuum cleaner to take a desired action. The robotic cleaning device may be provided with a small speaker for providing feedback to a user activating the touch buttons, but it is generally rather weak. This is particularly a problem for elderly people and the hearing- impaired. Further, the added speaker makes the robotic cleaning device more expensive.

SUMMARY

An object of the present invention is to solve, or at least mitigate, this problem and provide an improved robotic cleaning device capable of haptic and/or audible feedback. This object is attained in a first aspect of the present invention by a method of indicating user input to a user interface of a robotic cleaning device, comprising registering the user input to the user interface, and temporarily operating at least one motor of the robotic cleaning device in response thereto to indicate the user input to the user interface. This object is attained in a second aspect of the present invention by a robotic cleaning device comprising a user interface, a processing unit and a plurality of motors. The processing is arranged to register user input to the user interface and further to temporarily operate at least one of said plurality of motors in response thereto to indicate the user input to the user interface. Advantageously, by operating a motor of the robotic cleaning device when a user provides input to the user interface of the cleaning device and the user input to the user interface is registered at the robotic cleaning device, be it e.g. a capacitive button of a touch screen or a key of an electro-mechanical interface activated by the user, an interface for receiving remote control signals in the form of light, sound (even speech) or radio signals, or a camera for observing gestures, a tactile or relatively powerful audible feedback can be provided.

In an embodiment of the present invention, the motor to operate to provide the feedback of user interface input is one or more of already existing motors at the robotic cleaning device, such as a propulsion motor, a cleaning motor or an internal motor. This is advantageous since no additional motor needs to be included in the robotic cleaning device than the already existing motors. Further, by configuring a processing unit already arranged to control the respective motor with an appropriate computer program comprising computer-executable instructions for causing the robotic cleaning device to perform the method of the present invention in order to provide the feedback when the computer-executable instructions are executed on the processing unit, functionality is easily implemented and modified. Thus, this

embodiment advantageously employs a motor having another main purpose for providing feedback to the user interface input.

In an embodiment, if the propulsion motor(s) is operated to provide the feedback, the robotic cleaning device is caused to move in a certain motion pattern to indicate the user interface input, in which case haptic (and indirectly audible) feedback is provided to a user providing input to the user interface.

In a further embodiment, if the internal motor is operated to provide the feedback, the robotic cleaning device is caused to vibrate to indicate the user interface input, in which case haptic feedback is provided to a user providing input to the user interface. By e.g. controlling suction operation of a fan, it is even possible to synthesise a sound by having the fan e.g. run at various speeds, thus advantageously providing an elaborated audible feedback.

In still a further embodiment, if the cleaning motor is operated to provide the feedback, the robotic cleaning device is caused to slightly vibrate from cleaning member rotation to indicate the user interface input, in which case haptic feedback is provided to a user providing input to the user interface.

In yet an embodiment, in case two propulsion motors are operated, their operation is synchronized to have the robotic cleaning device move according to a desired motion pattern. For instance, the robotic cleaning device may be caused to rotate around a finger of the user providing the input to the user interface thus minimizing the risk of having the robotic cleaning device move away from the finger of the user.

In yet a further embodiment, a particular type of action selected by the user input is configured to correspond to a unique temporary operation of the at least one motor. This is advantageous in that a particular type of action selected via the user input to the user interface will result in a unique haptic feedback. The unique feedback will hence in itself carry information regarding the action selected via the user interface. For instance, the user selects a particular start time for the robot to being cleaning, wherein the robot operates the internal motor in a particular unique manner; the user selects a certain room that the robotic cleaning device is instructed to clean, and the robotic cleaning device responds by activating the propulsion motors (e.g. both wheel motors are activated, a single wheel motor is activated, the wheel motors are activated to rotate the drive wheels in separate directions, etc.). Hence, numerous combinations can be envisaged.

It is noted that the invention relates to all possible combinations of features recited in the claims. Further features of, and advantages with, the present invention will become apparent when studying the appended claims and the following description. Those skilled in the art realize that different features of the present invention can be combined to create embodiments other than those described in the following.

BRIEF DESCRIPTION OF THE DRAWINGS

The invention is now described, by way of example, with reference to the accompanying drawings, in which:

Figure ι shows a bottom view of a robotic cleaning device according to embodiments of the present invention;

Figure 2 shows a top view of a robotic cleaning device according to

embodiments of the present invention; Figure 3a illustrates a flow chart of a basic embodiment of the method of indicating user input to a user interface of a robotic cleaning device according to the present invention;

Figure 3b illustrates a flow chart of another embodiment of the method of indicating user input to a user interface of a robotic cleaning device according to the present invention;

Figure 3c illustrates a flow chart of still another embodiment of the method of indicating user input to a user interface of a robotic cleaning device according to the present invention;

Figure 4 illustrates a robotic cleaning device according to a further

embodiment of the present invention; and

Figure 5 illustrates a robotic cleaning device according to yet a further embodiment of the present invention.

DETAILED DESCRIPTION

The invention will now be described more fully hereinafter with reference to the accompanying drawings, in which certain embodiments of the invention are shown. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided by way of example so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

The invention relates to robotic cleaning devices, or in other words, to automatic, self-propelled machines for cleaning a surface, e.g. a robotic vacuum cleaner, a robotic sweeper or a robotic floor washer. The robotic cleaning device according to the invention can be mains-operated and have a cord, be battery-operated or use any other kind of suitable energy source, for example solar energy. Figure ι shows a robotic cleaning device 10 according to embodiments of the present invention in a bottom view, i.e. the bottom side of the robotic cleaning device is shown. The arrow indicates the forward direction of the robotic cleaning device. The robotic cleaning device io comprises a main body 11 housing components such as a propulsion system comprising driving means in the form of two electric wheel motors 15a, 15b, referred to as propulsion motors, for enabling movement of the driving wheels 12, 13 such that the cleaning device can be moved over a surface to be cleaned.. Each wheel motor 15a, 15b is capable of controlling the respective driving wheel 12, 13 to rotate independently of the other with respect to e.g. direction and/or rotational speed in order to move the robotic cleaning device 10 across the surface to be cleaned. A number of different driving wheel arrangements can be envisaged. For instance, robotic cleaning devices exist where the driving wheels 12, 13 are coaxially arranged along a drive shaft (not shown). As an alternative, a track propulsion system may be used or even a hovercraft propulsion system. Further, different driving motor arrangements are possible; for instance one driving wheel and one driving motor, two driving wheels and one driving motor, or even three wheels with three separate driving motors for independent control, etc. It should be noted that the robotic cleaning device may have any appropriate shape, such as a device having a more traditional circular-shaped main body, or a triangular-shaped main body. A controller 16 such as a microprocessor controls the wheel motors 15a, 15b to rotate the driving wheels 12, 13 as required in view of information received from an obstacle detecting device (not shown) for detecting obstacles in the form of walls, floor lamps, table legs, around which the robotic cleaning device must navigate.

The obstacle detecting device may be embodied in the form of infrared (IR) sensors and/or sonar sensors, a microwave radar, a 3D sensor system registering its surroundings, implemented by means of e.g. a 3D camera, a camera in combination with lasers a laser scanner, etc., for detecting obstacles and communicating information about any detected obstacle to the microprocessor 16. The microprocessor 16 communicates with the wheel motors 15a, 15b to control movement of the wheels 12, 13 in accordance with information provided by the obstacle detecting device, such that the robotic cleaning device 10 can move as desired across the surface to be cleaned. Further, the main body 11 is arranged with a cleaning member 17 for removing debris and dust from the surface to be cleaned in the form of a rotatable brush roll arranged in an opening 18 at the bottom of the robotic cleaner 10. Thus, the rotatable brush roll 17 is arranged along a horizontal axis in the opening 18 to enhance the dust and debris collecting properties of the cleaning device 10. In order to rotate the brush roll 17, a brush roll motor 19, known as a cleaning motor, is operatively coupled to the brush roll to control its rotation in line with instructions received from the controller 16.

Moreover, the main body 11 of the robotic cleaner 10 comprises a suction fan 20 creating an air flow for transporting debris to a dust bag or cyclone arrangement (not shown) housed in the main body via the opening 18 in the bottom side of the main body 11. The suction fan 20 is driven by a fan motor 21, referred to as an internal motor, communicatively connected to the controller 16 from which the fan motor 21 receives instructions for controlling the suction fan 20.Further, the robotic cleaning device 10 may comprise a rotation side brush (not shown) adjacent to the cleaning member 17 for sweeping debris in a direction towards the cleaning member. A separate motor (not shown) driving the side brush may be used for providing the haptic feedback to the user.

With further reference to Figure l, the processing unit 16 embodied in the form of one or more microprocessors is arranged to execute a computer program 25 downloaded to a suitable storage medium 26 associated with the microprocessor, such as a Random Access Memory (RAM), a Flash memory or a hard disk drive. The processing unit 16 is arranged to carry out a method according to embodiments of the present invention when the appropriate computer program 25 comprising computer-executable instructions is downloaded to the storage medium 26 and executed by the processing unit 16. The storage medium 26 may also be a computer program product comprising the computer program 25. Alternatively, the computer program 25 may be transferred to the storage medium 26 by means of a suitable computer program product, such as a digital versatile disc (DVD), compact disc (CD) or a memory stick. As a further alternative, the computer program 25 may be downloaded to the storage medium 116 over a network. The processing unit 16 may alternatively be embodied in the form of a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), a complex programmable logic device (CPLD), etc.

Figure 2 shows a top view of a robotic cleaning device 10 according to embodiments of the present invention, i.e. the top side of the robotic cleaning device is displayed. The arrow indicates the forward direction of the robotic cleaning device. On the main body 11 of the robotic cleaning device 10, a user interface 22 is arranged comprising a number of touch buttons 23:1, 23:2, 23:3 via which a user can instruct the cleaning device to e.g. run a desired cleaning program. Further, the user interface 22 comprises display means 24 for visually indicating a selected cleaning program (in this example "P2") to the user. It should be noted that the user need not provide input to the user interface 22 by physically touching the buttons or keys 23, but may

alternatively communicate with the user interface via a remote control. Figure 3a illustrates a flow chart of a basic embodiment of the method of indicating user input to a user interface of a robotic cleaning device according to the present invention. Reference is further made to Figures 1 and 2 for elements of the robotic cleaning device of the present invention. In a first step S101, the processing unit 16 receives from the user interface 22 a signal indicating that a user provides input to the user interface, for instance by pushing a touch button to turn the cleaning device 10 on. Upon receiving the signal from the user interface 22, the processing unit 16 operates,

temporarily, in step S102 any one or more of the wheel motors 15a, 15b, the brush roll motor 19 and the fan motor 21 to indicate to the user that an instruction successfully was input to the user interface 22 by operating at least one motor of the robotic cleaning device in response thereto to indicate to the user the input to the user interface. As previously mentioned, by advantageously operating one or more motors 15a, 15b, 19, 21 of the robotic cleaning device 10 upon user input to the user interface 24, a tactile or relatively powerful audible feedback can be provided. Further, advantageous is that an already existing motor 15a, 15b, 19, 21 of the robotic cleaning device 10 is employed. By "temporarily" operating the motor is meant a short, instant operation of a second, or even fractions of a second, in order to indicate to the user that the user interface input was registered.

Figure 3b illustrates a flow chart of a further embodiment of the method of indicating user input to a user interface of a robotic cleaning device according to the present invention. In the first step S101, the processing unit 16 receives from the user interface 22 a signal indicating that a user provides input to the user interface by pushing a button 23:1 to turn the cleaning device 10 on. Upon receiving the signal from the user interface 22, the processing unit 16 generates a fan motor control signal in step Si02a and transfers the generated fan motor control signal in step Si02b to the fan motor 21. When receiving the control signal , the fan motor 21 temporarily activates the fan 20 according to the control signal, for instance by operating the fan 20 at a certain speed during a given time period, in order to provide a haptic feedback of the user input to the user interface 22. Figure 3c illustrates a flow chart of still a further embodiment of the method of indicating user input to a user interface of a robotic cleaning device according to the present invention. In the first step S101, the processing unit 16 receives from the user interface 22 a signal indicating that a user provides input to the user interface by pushing a button 23:1 to turn the cleaning device 10 on. Upon receiving the signal from the user interface 22, the processing unit 16 generates wheel motor control signals in step Si02d and transfers the generated wheel motor control signals in step Si02e to the wheel motors 15a, 15b. When receiving the control signal, one or both of the wheel motors 15a, 15b temporarily activate the respective drive wheel 12, 13 according to the control signal, for instance by rotating the wheels 12, 13 such that the robotic cleaning device 10 makes a slight turn on the spot, in order to provide a haptic feedback of the user input to the user interface 22.

Figure 4 illustrates a further embodiment of the robotic cleaning device 10 according to the present invention, in which either one or both of the fan motor 21 and the brush roll motor 19 is operated to provide the feedback The robotic cleaning device 10 is advantageously caused to vibrate to indicate the user interface input, in which case haptic feedback is provided to a user providing input to the user interface. By controlling suction operation of the fan 20 via the fan motor 21, it is even possible to synthesise a sound by having the fan 20 e.g. run at various speeds, thus advantageously providing an elaborated audible feedback. This is further advantageous in that a relatively loud sound can be achieved by controlling the suction fan 20 as compared to low-volume speakers used in the art. Thus, in the embodiment of Figure 4, a user pushes a button 23:1 of the user interface 22 to select a desired action to be taken by the robotic cleaning device 10, such as "Kitchen should be cleaned; start time: 10:00". The processing unit 16 accordingly registers the user input to the user interface 22 and sends a control signal in response there to the fan motor 21. The processing unit 16 further indicates the user selection on the display 24 ("K:io"). The control signal generated by the processing unit 16 causes the fan motor 21 to temporarily drive the fan 20 at a particular speed such that the robotic cleaning device 10 slightly vibrates, thereby providing haptic feedback to the user that it has

acknowledged the instruction entered via the user interface 22.

Figure 5 illustrates yet a further embodiment of the robotic cleaning device 10 according to the present invention, in which either one or more drive wheel motors 15a, 15b are operated to provide the feedback, in which the robotic cleaning device 10 is advantageously caused to move in a certain motion pattern, e.g. by slightly turning itself around a vertical axis to indicate the user interface input, in which case haptic (and indirectly audible) feedback is provided to a user providing input to the user interface 22. In case two or more wheel motors 15a, 15b are operated to provide the feedback, the movement of the wheels can be coordinated to e.g. have the robotic cleaning device 10 do a full turn (which may take longer than a second, but still being a temporary operation). Hence, in the embodiment of Figure 5, a user pushes a button 23:2 of the user interface 22 to select a desired action to be taken by the robotic cleaning device 10, such as "Return to charging console at 21:00" in order to benefit from a lower electricity price during evenings/nights. The processing unit 16 accordingly registers the user input to the user interface 22 and sends control signals in response there to the wheel motors 15a, 15b. The processing unit 16 further indicates the user selection on the display 24 ("C: 2i"). The control signals generated by the processing unit 16 causes the wheel motors 15a, 15b to temporarily drive the wheels 12, 13 at a particular speed and/or rotational direction such that the robotic cleaning device 10 slightly turns or moves back and forth. The robotic cleaning device 10 thereby provides haptic feedback to the user that it has acknowledged the instruction entered via the user interface 22.

The invention has mainly been described above with reference to a few embodiments. However, as is readily appreciated by a person skilled in the art, other embodiments than the ones disclosed above are equally possible within the scope of the invention, as defined by the appended patent claims.

Claims

1. A method of indicating user input to a user interface of a robotic cleaning device, comprising:

registering (Sioi) the user input to the user interface; and

temporarily (S102) operating at least one motor of the robotic cleaning device in response thereto to indicate to the user the input to the user interface.

2. The method according to claim 1, wherein the motor which is operated is one or more of at least one propulsion motor, a cleaning motor and an internal motor.

3. The method according to claim 2, wherein in case the at least one propulsion motor is operated, the step of temporarily operating the motor comprises:

moving the robotic cleaning device in a motion pattern to indicate the user interface input.

4. The method according to claims 2 or 3, wherein in case the internal motor is operated, the step of temporarily operating the motor comprises: vibrating (S1021) the robotic cleaning device to indicate the user interface input or causing (Si02c) an internal motor sound to indicate the user interface input.

5. The method according to any one of claims 2-4, wherein in case the cleaning motor is operated, the step of temporarily operating the cleaning motor comprises:

vibrating the robotic cleaning device to indicate the user interface input.

6. The method according to any one of claims 2-5, wherein in case two propulsion motors are operated, the step of temporarily operating the motor comprises:

synchronizing the operation of the two propulsion motors to have the robotic cleaning device move according to a motion pattern.

7. The method according to claim 6, wherein the motion pattern created causes the robotic cleaning device to rotate around a finger of the user providing the input to the user interface.

8. The method according to any one of the preceding claims, wherein a particular type of action selected by the user input is configured to

correspond to a unique temporary operation of said at least one motor.

9. A robot cleaning device (10) comprising:

a user interface (22);

a processing unit (16);

a plurality of motors (15a, 15b, 19, 21); wherein

the processing unit is arranged to register user input to the user interface and further to temporarily operate at least one of said plurality of motors in response thereto to indicate the user input to the user interface.

10. The robot cleaning device (10) according to claim 9, wherein the at least one motor to be operated comprises on or more of at least one propulsion motor (15a, 15b), a cleaning motor (19) and an internal motor (21).

11. The robot cleaning device (10) according to claim 10, the processing unit (16) being arranged to temporarily operate said at least one motor by: controlling the at least one propulsion motor (15a, 15b) to temporarily move the robotic cleaning device in a motion pattern to indicate the user interface (22) input.

12. The robot cleaning device (10) according to claims 10 or 11, the processing unit (16) being arranged to temporarily operate said at least one motor by:

controlling the internal motor (21) to cause the robotic cleaning device to temporarily vibrate to indicate the user interface (22) input, or controlling the internal motor to cause a temporary motor sound to indicate the user interface input.

13. The robot cleaning device (10) according to any one of claims 10-12, the processing unit (16) being arranged to temporarily operate said at least one motor by:

controlling the cleaning motor (19) to cause the robotic cleaning device to temporarily vibrate to indicate the user interface (22) input.

14. The robot cleaning device (10) according to any one of claims 10-13, the processing unit (16) being arranged to temporarily operate said at least one motor by:

controlling two propulsion motors (15a, 15b) comprised in the robotic cleaning device to synchronize the operation of the two propulsion motors for temporarily moving the robotic cleaning device in a motion pattern to indicate the user interface (22) input.

15. The robotic cleaning device (10) according to any one of claims 10-14, the user interface (22) comprising any one or more of touch buttons (23:1, 23:2, 23:3), electromechanical keys, a receiver operating on light, sound or radio signals, and a camera registering gestures, via which a user can provide input to the user interface.

16. The robotic cleaning device according to any one of claims 9-15, wherein a particular type of action selected by the user input is configured to correspond to a unique temporary operation of said at least one motor.

17. A computer program (25) comprising computer-executable instructions for causing a device (10) to perform the steps recited in any one of claims 1-8 when the computer-executable instructions are executed on a processing unit (16) included in the device.

18. A computer program product comprising a computer readable medium (26), the computer readable medium having the computer program (25) according to claim 17 embodied therein.