Method for operating a mobile, self-moving device and mobile, self-moving device

Abstract

An operating method operates a mobile, self-moving appliance. The method is performed in a wall following mode and includes: moving the mobile, self-moving appliance along a first wall; detecting a second wall, which forms a corner with the first wall; and moving away from the second wall, until there is a first predetermined distance between a front point of a housing corner of the appliance and the second wall. The appliance is rotated about a center point so that the front point of the housing corner faces the second wall and is at a second predetermined distance therefrom. Forward movement of the mobile, self-moving appliance proceeds so that the appliance is aligned parallel to the second wall. The second predetermined distance between the front point of the housing corner and second wall remains substantially constant during the forward movement. A mobile, self-moving appliance is configured to perform the method.

1 . A method for operating a mobile, self-moving appliance, which comprises the following sequential steps performed in a wall following mode:
 moving the mobile, self-moving appliance along a first wall;   detecting a second wall forming a corner with the first wall;   moving away from the second wall, until there is a first predetermined distance between a front point of a housing corner of the mobile, self-moving appliance and the second wall;   rotating the mobile, self-moving appliance about a center point so that the front point of the housing corner faces the second wall and is at a second predetermined distance therefrom; and   performing a forward movement of the mobile, self-moving appliance so that the mobile, self-moving appliance is aligned parallel to the second wall, the second predetermined distance between the front point of the housing corner and the second wall remaining substantially constant during the forward movement.   
     
     
         2 . The method according to  claim 1 , wherein the sequential steps control a movement response of the mobile, self-moving appliance so that the second predetermined distance between the front point of the housing corner and the first wall and the second wall is kept constant. 
     
     
         3 . The method according to  claim 1 , wherein the front point of the housing corner is selected so that a distance between the front point and an actual housing boundary of the mobile, self-moving appliance is substantially constant in cleaning directions. 
     
     
         4 . The method according to  claim 1 , wherein the front point of the housing corner is selected so that an active range of at least one cleaning element is substantially constant in cleaning directions. 
     
     
         5 . The method according to  claim 4 , wherein the at least one cleaning element is a side brush and the front point is a side brush axle, a distance between which and the first and second wall is used as a controller parameter for the wall following mode. 
     
     
         6 . The method according to  claim 1 , wherein the second predetermined distance has a tolerance range, in which the front point can appear without a travel movement of the mobile, self-moving appliance being adjusted. 
     
     
         7 . The method according to  claim 1 , wherein the forward movement of the front point is brought about by a first drive of the mobile, self-moving appliance and an alignment of the mobile, self-moving appliance is brought about by a second drive of the mobile, self-moving appliance. 
     
     
         8 . The method according to  claim 1 , wherein the mobile, self-moving appliance has a D shape. 
     
     
         9 . The method according to  claim 1 , wherein the mobile, self-moving appliance reduces its speed before reaching the second wall. 
     
     
         10 . The method according to  claim 1 , wherein the mobile, self-moving appliance is a floor cleaning appliance, or a vacuum cleaning and/or sweeping and/or mopping robot. 
     
     
         11 . A mobile, self-moving appliance, comprising:
 a distance measurement unit configured to determine a distance between a front point of a housing corner and an adjacent wall; and   configured to perform the method according to  claim 1 .