Method for generating an area map for an automatically moving floor processing device, and system comprised of two automatically moving floor processing devices

Patent metadata

Field	Value
Publication number	US-11740638-B2
Application number	US-202017078175-A
Country	US
Kind code	B2
Filing date	Oct 23, 2020
Priority date	Oct 25, 2019
Publication date	Aug 29, 2023
Grant date	Aug 29, 2023

Abstract

A method for generating an area map for a floor processing device, wherein first and second floor processing devices detect feature data of an environment and process them into first and second area maps. The first floor processing device identifies an object based on a unique identifier of the object as an anchor point and stores relative positional information of the anchor point in a coordinate system of the first area map. The second floor processing device recognizes the same object as an anchor point known to the second floor processing device, and stores relative positional information of the anchor point in a coordinate system of the second area map. The first and second area maps are combined into a common global area map based on the relative positional information of the anchor point contained therein, and the unique identifier is a code that clearly identifies the object.

First claim

What is claimed is:

1. A method for generating an area map for first and second automatically moving floor processing devices, comprising:
detecting with the first floor processing device first feature data of an environment, and processing the first feature data into a first area map,
detecting with the second floor processing device second feature data of the environment and processing the second feature data into a second area map,
identifying with the first floor processing device an object based on a unique identifier of the object as an anchor point of the environment known to the first floor processing device, and
storing relative positional information of the anchor point in a coordinate system of the first area map,
recognizing with the second floor processing device the same object as an anchor point known to the second floor processing device,
storing relative positional information of the anchor point in a coordinate system of the second area map, and
combining the first area map and the second area map into a common global area map based on the relative positional information of the anchor point contained therein,
wherein the unique identifier is a code that clearly identifies the object, wherein the object having the identifier is a floor processing device, or a base station that provides a service activity for a floor processing device, or a defined element of a living space,
wherein, if the first floor processing device recognizes the second floor processing device as a floor processing device based on an exterior shape of the second floor processing device, the first floor processing device sends a query signal to the environment without specific receivers, wherein the second floor processing device from among several floor processing devices of the system in immediate surroundings of the second floor processing device is identified by responding to the query,
wherein the second floor processing device responds to the query signal by exploring its environment and detecting the first floor processing device, and wherein the first floor processing device identifies the second floor processing device from among several floor processing devices by the response to the query signal,
wherein the first and second floor processing devices mutually identify each other based on their identifiers,
and wherein the generated global area map stores authorization information for at least one partial environmental area, wherein the at least one partial environmental area indicates which floor processing device can or cannot map the partial environmental area, and wherein the map divides the environment into different partial areas with different authorizations so that the floor processing devices avoid mapping the same areas of the environment whenever possible,
wherein before the floor processing device starts moving through the environment for purposes of generating or updating an area map, the floor processing device uses the global area map to first enquire about which authorizations are assigned to the first floor processing device for this purpose to identify which partial environmental areas the first floor processing device can map.

2. The method according to claim 1 , wherein the first and second floor processing devices transmit their area maps to a database that belongs to an external server and/or another floor processing device and is jointly allocated to the floor processing devices, wherein a computing unit allocated to the database analyzes the area maps with respect to anchor points contained therein, recognizes an identical anchor point stored in the area maps, and superposes the area maps according to the relative positional information of the identical anchor point.

3. The method according to claim 2 , wherein the database has information about one or several anchor points present in the environment, wherein the information stored in the database is drawn upon for comparison with objects present in the area maps.

4. The method according to claim 1 , wherein the unique identifier is detected with a detection unit of the floor processing device.

5. The method according to claim 4 , wherein the detection unit is selected from the group consisting of a camera, a laser scanner and an electronic or magnetic transmitter/receiver.

6. The method according to claim 1 , wherein the generated global area map stores authorization information for at least one partial environmental area, wherein the at least one partial environmental area indicates which floor processing device can or cannot pass through the partial environmental area.

7. The method according to claim 1 , wherein at least one of the floor processing devices navigates according to the common global area map once the global area map has been generated.

8. The method according to claim 1 , wherein the code is selected from the group consisting of an optical code, an electronic code, a magnetic code, a shape coding and a color coding.

9. A system comprised of at least a first automatically moving floor processing device and a second automatically moving floor processing device, wherein the floor processing devices are designed to implement a method according to claim 1 .

Assignees

• Vorwerk Co Interholding

Inventors

• Mosebach Andrej
• Papenheim Marc
• Hayn Henning

Classifications

• G05D1/0274 Primary

  using mapping information stored in a memory device (navigation using map-matching G01C21/30) · CPC title

• G05D1/0291

  Fleet control (monitoring fleets in traffic control systems for road vehicles G08G1/127, G08G1/127) · CPC title

• G05D1/0234

  using optical markers or beacons (optical beacons per se G01S1/70) · CPC title

• G05D1/0219

  ensuring the processing of the whole working surface · CPC title

• G05D1/0236

  in combination with a laser (lasers per se H01S) · CPC title