DE102022118092A1 - Self-propelled and self-steering floor cleaning device, floor cleaning system and method for operating a floor cleaning device - Google Patents

Abstract

The invention relates to a self-propelled and self-steering floor cleaning device, comprising a chassis for moving on the floor surface, at least one cleaning tool for cleaning the floor surface, a control device and at least one in particular optical sensor device coupled to the control device with at least one detection area directed towards the floor surface, by means of a Detection sensor device of the at least one sensor device can spatially detect an examination object on the floor surface and a corresponding detection signal can be provided, which is indicative of a relative position of the floor cleaning device and the examination object, and wherein the examination object can be examined by means of an examination sensor device of the at least one sensor device and a A relevant examination signal can be provided, which is indicative of a material of the examination object, and wherein a cleaning behavior for the floor surface based on the determined material of the examination object can preferably be adjusted by means of the control device. The invention also relates to a floor cleaning system and a method for operating a floor cleaning device.

Description

The present invention relates to a self-propelled and self-steering floor cleaning device, comprising a chassis for moving on the floor surface, at least one cleaning tool for cleaning the floor surface and a control device.

In addition, the present invention relates to a floor cleaning system with a floor cleaning device, wherein the floor cleaning system can include or be formed by the floor cleaning device.

In addition, the present invention relates to a method for operating a floor cleaning device.

A floor cleaning device of the type mentioned above enables autonomous cleaning of a floor surface. The floor cleaning device moves under control by the control device, with the floor surface being cleaned using the at least one cleaning tool. For example, dry cleaning is conceivable, with a sweeping unit or a sweeping-suction unit being provided. Alternatively or additionally, a wiping unit with a particularly moistenable cleaning roller or a moistenable cleaning cloth can be provided as a cleaning tool. It is to be understood that the above exemplary cleaning tools are not limiting of the present invention.

It is known that the floor cleaning device includes a sensor device, which allows navigation within the environment, in particular using a map. Floor cleaning devices are known in which a floor material is determined using a sensor device in order to adapt cleaning parameters and/or to avoid non-cleanable floor surface sections. The use of a sensor device is also known to detect a material that is contaminating the floor with a view to suitable cleaning.

The DE 10 2018 200 719 A1 describes an automatic floor cleaner for cleaning a surface. A method includes features of emitting light of a predetermined light spectrum onto the substrate; detecting emitted light after it has been reflected from the surface; determining an intensity curve
the detected light in a predetermined light spectrum; and determining a condition of the ground based on a comparison of the intensity curve with a predetermined intensity curve.

In the WO 2018/202301 A1 describes how a soil type can be recognized using a spectroscopic device of a floor cleaning device and how cleaning properties can be adjusted based on this.

The object of the present invention is to provide a floor cleaning device, a floor cleaning system with a floor cleaning device and a method for operating a floor cleaning device with which a better examination of the floor surface is possible, preferably with a view to improved cleaning.

This object is achieved by a self-propelled and self-steering floor cleaning device according to the invention, comprising a chassis for moving on the floor surface, at least one cleaning tool for cleaning the floor surface, a control device and at least one in particular optical sensor device coupled to the control device with at least one detection area directed towards the floor surface, wherein an examination object on the floor surface can be spatially detected by means of a detection sensor device of the at least one sensor device and a corresponding detection signal can be provided which is indicative of a relative position of the floor cleaning device and the examination object, wherein the examination object can be examined by means of an examination sensor device of the at least one sensor device and a relevant examination signal can be provided which is indicative of a material of the examination object, wherein a cleaning behavior for the floor surface based on the determined material of the examination object can preferably be adjusted by means of the control device.

In the floor cleaning device according to the invention, there is a combinatorial approach to the information that can be provided by means of the detection sensor device and the examination sensor device and, in particular, evaluated by the control device. The examination object can be detected via the detection sensor device. Here, the examination object can be arranged on the floor surface, for example in the sense of a physical object, or the examination object can be part of the floor surface itself, for example formed by the nature (e.g. a texture) of the floor surface material. By determining the relative position, the control device has the opportunity to determine the location of the object to be examined, so that this can be done by means of the examination sensor device can be examined. What can be provided here is a detection or examination in successive steps or, depending on the nature of the at least one sensor device, a simultaneous detection and examination. The aim of the investigation is to determine the material of the object under investigation. Based on this, the cleaning behavior can preferably be adjusted.

The present invention offers, for example, the advantage that it is possible for the floor cleaning device to obtain more information about the floor surface (including any examination objects arranged thereon) through the combined detection and examination than was the case with conventional floor cleaning devices. Preferably, it is possible to determine whether the examination object is part of the floor surface itself or, for example, represents contamination of the floor surface. By means of the detection sensor device, for example, a change or peculiarity in a texture is detected, although it cannot yet be determined by the floor cleaning device whether the change or peculiarity is based on an object on the floor surface (e.g. contamination) or is a change in texture of the floor itself (for example Example of a filled knothole in a wooden floor, which creates a difference to the drawing of the wood). Using the examination sensor device, the material can be examined and the object of the examination can be determined more precisely. In the example of the knothole, this could prevent contamination.

It can be provided that the detection signal and the examination signal can be provided simultaneously by means of the at least one sensor device, for example when using a combined detection and examination sensor device.

It is advantageous if, depending on the determined relative position, the chassis can be controlled to move the floor cleaning device specifically in the direction of the examination object in order to examine it. After the object to be examined has been detected, its targeted examination can be carried out in order to obtain further information about the object to be examined, in particular its material. It is advisable to examine the object to be examined from close up with the aim of determining the material of the object to be examined as reliably as possible.

The detection and/or examination of the examination object can preferably be carried out during the cleaning movement of the floor cleaning device over the floor surface. A separate examination of the ground surface, although such an examination can be planned in the sense of an “exploration”, can be saved in this way.

It can be advantageous if the floor cleaning device with the examination sensor device can be positioned above the examination object in order to examine it. This can prove to be advantageous, for example, in a spectroscopic sensor device for a selective examination of the object to be examined. For example, the floor cleaning device is moved in order to arrange the examination sensor device over the examination object in such a way that it is positioned as optimally as possible in the detection area.

It was mentioned above that the floor cleaning device can be moved to the examination object. Alternatively or additionally, it is conceivable that a sensor device is movably arranged on the floor cleaning device and that a drive unit of the sensor device can be controlled depending on the determined relative position to move the examination sensor device in a targeted manner in order to align the detection area with the examination object. It is conceivable that the floor cleaning device can remain in place.

It can be provided that the size of the object to be examined can be determined by means of the at least one sensor device, for example a 2D imager. For this purpose, the at least one sensor device can be movably arranged on the floor cleaning device via a drive unit, as explained above.

For example, a sensor device with a spatially small detection area (for a point measurement, so to speak) can be moved along a path in at least one spatial direction, preferably two or more spatial directions. Edges of the material can preferably be determined along the at least one spatial direction and a planar extent of the object under examination can be concluded.

It can be particularly advantageous if the control device can determine, based on the material determined, whether the object to be examined is a contamination of the floor surface or the floor. Based on this finding, cleaning behavior in particular can be adapted particularly advantageously. Contamination that is recognized as such is preferably cleaned by the floor cleaning device, unless there are reasons against cleaning. reasons could be, for example, the inability to drive over the contamination or its property as not being cleanable with the cleaning tool or as not being removable because the contamination can be cleaned but cannot be removed from the floor surface using the cleaning tool. Otherwise, by determining that the examination object is part of the floor, the cleaning behavior can be adapted to the floor material, for example. It is also conceivable that contamination of the floor surface at the section of the examination object can be ruled out.

The cleaning behavior is preferably, as already mentioned, adaptable based on the material determined, in particular with regard to removing the examination object from the floor surface.

For example, at least one of the following can be adjustable: selection of a cleaning tool, adjustment of the cleaning power, amount of cleaning liquid, dosage of a cleaning chemical, adjustment of the degree of cleaning, avoiding running over the object to be examined.

The detection signal can, for example, be indicative of a size and/or shape of the examination object, with the cleaning behavior being adjustable, for example, based on the determined size and/or shape. For example, objects to be examined that are too large, especially contamination, are not driven over. For example, dirt that is liquid is not driven over so that it is not smeared onto the floor surface.

Conveniently, objects to be examined that are identified as being dirty are not driven over before the examination in order to avoid getting stuck or smeared.

It can be provided that the detection sensor device and the examination sensor device are of different types, wherein the detection signal can be provided by means of the detection sensor device and the examination signal can be provided by means of the different examination sensor device. The sensor devices are in particular functionally and/or structurally different from one another and can, for example, provide different data sets that are evaluated by the control device. Each sensor device can preferably be optimally adapted with regard to the task to be performed - detection or examination. For example, relatively inexpensive standard components can be used for the sensor devices in order to ensure reliable function of the floor cleaning device and preferably to enable inexpensive production.

In a preferred embodiment, it can be provided that the at least one sensor device is designed as a combined detection and examination sensor device for spatially detecting the examination object and providing the detection signal and for examining the examination object and providing the examination signal, or a combined detection and examination signal can be provided by the combined sensor device, which is indicative of the relative position of the examination object and the floor cleaning device and of the material of the examination object. Accordingly, it can be provided that different types of data sets or only a single data set are provided by the combined sensor device. Independently of this, the relative position and the material can preferably be determined by the control device. A standard component can also be used for the combined sensor device, for example, in order to ensure reliable operation of the floor cleaning device and, for example, to achieve a compact design, since installation space for an additional sensor device can be saved.

The examination sensor device can preferably be designed as or include an optical spectroscopic sensor device, in particular as a material sensor. Preferably, for example, it is provided that the examination object is illuminated and reflected or scattered light is spectrally decomposed in order to evaluate spectrally dependent intensities of the received light to determine the material. It is conceivable, for example, to use a multispectral camera, especially with a 2D imager. Such cameras are offered, for example, by the company Unispectral, Israel. Alternatively or additionally, it is conceivable to use a spectral 2D or 3D lidar device and/or a UHF sensor device (also referred to as a mm-wave sensor device) to obtain spectral information about the object to be examined.

It can be advantageous if the detection sensor device is designed as an optical camera device with at least one camera or includes one. For example, a camera device with a camera for creating a 2D image of the examination object can be provided. The use of a camera device for creating a particularly high-resolution 3D image of the The object to be examined can prove to be particularly suitable for use with a stereo camera device. It is conceivable to use a multi-channel camera device with color information (for example RGB) or a monochrome camera device. For example, the use of a time-of-flight camera device (TOF) to create a depth image can be envisaged. For example, the use of a camera device with color information and depth information can prove to be advantageous, e.g. B. an RGB-D camera device.

It can be particularly advantageous if the detection sensor device is designed as an optical scanning device for spatial scanning of the environment or includes such a device, in particular a lidar device. The scanning device uses in particular structured light, for example a light section method, to scan the environment.

The above statements show that, for example, a spectral 2D lidar device or a spectral 3D lidar device can be used as a combined detection and examination sensor device.

As an alternative to the optical design, the at least one sensor device can be designed differently. For example, it includes a radar device to provide material and/or spatial information.

It can be provided that the at least one sensor device comprises two or more identical or similar sensor devices. For example, two or more identical or similar examination sensor devices are provided, for example spectroscopic sensor devices.

The sensor devices can preferably be arranged at a uniform distance from one another and/or in a line arrangement on the floor cleaning device. It is conceivable, particularly in the case of an optical spectroscopic device, for example a respective point measurement. By using a plurality of sensor devices, at least an approximate measurement can be carried out along a line on the floor surface, with the floor cleaning device moving in one area. The combined detection range of the plurality of sensor devices can preferably be provided over an entire or substantially entire width of the floor cleaning device.

The at least one sensor device can be fixed immovably on the floor cleaning device, or the at least one sensor device can be held movably on the floor cleaning device under control by the control device by means of a drive unit. In this way, for example, linear or flat sections of the floor surface can be detected.

The detection range of the detection sensor device is, based on a main direction of movement of the floor cleaning device, preferably directed towards a section of the floor surface in front of the floor cleaning device and/or towards the surroundings of the floor cleaning device.

The detection range of the examination sensor device can, for example, be directed towards a section of the floor surface arranged below the floor cleaning device, especially when using a material sensor.

The detection area of the detection sensor device can, for example, have a larger spatial extent than the detection area of the examination sensor device.

The detection area of the examination sensor device can, for example, be designed at points. In the present case, “pointwise” refers, for example, to a detection area on the floor surface that covers a few cm ² .

The at least one sensor device can, for example, be arranged on or near a front side in relation to a main direction of movement of the floor cleaning device.

The at least one sensor device is arranged, for example, off-center with respect to a central longitudinal plane. Such a positioning can prove to be advantageous, for example, when traveling along contours, such as a wall-following journey of the floor cleaning device.

The at least one sensor device is, for example, arranged in front of the at least one cleaning tool, based on a main direction of movement of the floor cleaning device, in order to determine the material of an examination object, if possible, before the cleaning tool is passed over it.

As mentioned at the beginning, the present invention also relates to a floor cleaning system.

A floor cleaning system according to the invention, which solves the problem mentioned at the outset, comprises a floor cleaning device of the type described above and a storage unit in which information relating to the material of Examination objects linked to relevant data from the examination sensor device are stored and / or can be stored, which are formed by the examination signal or are based on this. Based on the information from the storage unit, the floor cleaning system can determine what material the examination object is made of. In a sense, a library of different materials can be present, with the control device being able to determine the correct material based on the examination signal.

“Material” in this case can be a single material, for example in the sense of a chemical element, a chemical group or a class of materials, such as “solid organic material”, “aqueous material” or the like.

The information can be stored in the storage unit linked to a map or in a map together with position information.

It can be provided that the floor cleaning device includes the storage unit and forms the floor cleaning system. In particular, for example, no external storage unit is provided.

It can be provided that the floor cleaning system comprises a storage unit arranged spatially distant from the floor cleaning device, in particular as a component or linked to a data processing device positioned spatially distantly. The data processing device can be a single computer or a plurality of computers or servers, for example a cloud. The storage unit can be integrated into the data processing device.

Communication elements preferably enable an exchange of information between the storage unit and the floor cleaning device.

The floor cleaning system is preferably designed to be self-learning, with newly learned materials being able to be stored in the storage unit, for example during an exploration trip of the floor cleaning device on the floor surface. The control device can, for example, use machine learning algorithms and/or a neural network for learning.

In a preferred embodiment, the floor cleaning system comprises a display unit and an input unit for a user, wherein an indication can be provided on the display unit to confirm a determined material for the examination object via the input unit. This can be done, for example, after an exploration trip. For example, at least one suggestion for the material can be made to the user. The confirmation serves, for example, to link the material with the data based on the examination signal in the storage unit, as explained above.

For example, an indication that a material could not be determined can be provided on the display unit, with the user designating the material via the input unit and relevant information being able to be stored in the storage unit. In this way, the user can train the floor cleaning system and, to a certain extent, store additional “known” material in the storage unit.

It can be provided that the floor cleaning device creates at least one map of the environment in which information regarding floor material(s) is or is stored. In this way, position-related information about the condition of the floor surface can be stored. A note can be provided to a user, for example on the display unit, in order to confirm the created map and/or, for example, to check it for storage. The library mentioned above can be expanded in this way.

An exploration trip with a query to the user enables a reliable classification of soil material. The floor cleaning device can be operated conveniently using a floor material suggested by the floor cleaning device, as there is no need to search for floor materials in a list.

The display unit and the input unit can be included in the floor cleaning device. Alternatively or additionally, it can be provided that a spatially distant display unit and/or input unit is provided, for example the data processing device.

As mentioned at the beginning, the present invention also relates to a method.

• - Räumliches Erfassen, mittels einer Erfassungs-Sensoreinrichtung, eines Untersuchungsobjektes auf der Bodenfläche und Bereitstellen eines diesbezüglichen Erfassungssignals, das indikativ für eine Relativposition des Bodenreinigungsgerätes und des Untersuchungsobjektes ist;
• - Untersuchen, mittels einer Untersuchungs-Sensoreinrichtung, des Untersuchungsobjektes und Bereitstellen eines diesbezüglichen Untersuchungssignals, das indikativ für ein Material des Untersuchungsobjektes ist; und, bevorzugt,
• - Einstellen, mittels einer Steuereinrichtung, eines Reinigungsverhaltens für die Bodenfläche basierend auf dem ermittelten Material des Untersuchungsobjektes.

A method according to the invention for operating a floor cleaning device, in particular of the type described above, which solves the problem mentioned at the outset, comprises:

• - Spatial detection, by means of a detection sensor device, of an examination object on the floor surface and provision of a relevant detection signal that is indicative of a relay tive position of the floor cleaning device and the examination object;
• - Examining, by means of an examination sensor device, the examination object and providing a relevant examination signal that is indicative of a material of the examination object; and, preferably,
• - Setting, by means of a control device, a cleaning behavior for the floor surface based on the determined material of the examination object.

Advantages that have already been mentioned in connection with the explanation of the floor cleaning device according to the invention can also be achieved by the floor cleaning system according to the invention and the method according to the invention. Advantageous embodiments of the floor cleaning system according to the invention and advantageous embodiments of the method according to the invention result from advantageous embodiments of the floor cleaning device according to the invention. To avoid repetition, please refer to the above statements.

• 1: eine schematische Seitenansicht des erfindungsgemäßen Bodenreinigungsgerätes in bevorzugter Ausführungsform;
• 2: eine schematische Darstellung des Bodenreinigungsgerätes aus 1 von unten;
• 3: ein Blockdiagramm des Bodenreinigungsgerätes aus 1, insbesondere als Bestandteil eines erfindungsgemäßen Bodenreinigungssystems;
• 4 und 5: schematische Darstellungen einer weiteren bevorzugten Ausführungsform des erfindungsgemäßen Bodenreinigungsgerätes in einer den 1 beziehungsweise 2 entsprechenden Weise; und
• 6: eine schematische Darstellung verschiedenartiger Verfahrensabläufe des erfindungsgemäßen Verfahrens in einem bevorzugten Ausführungsbeispiel.

The following description of preferred embodiments of the invention serves to explain the invention in more detail in conjunction with the drawing. Show it:

• 1 : a schematic side view of the floor cleaning device according to the invention in a preferred embodiment;
• 2 : a schematic representation of the floor cleaning device 1 from underneath;
• 3 : a block diagram of the floor cleaning device 1 , in particular as part of a floor cleaning system according to the invention;
• 4 and 5 : Schematic representations of a further preferred embodiment of the floor cleaning device according to the invention in one 1 or 2 corresponding ways; and
• 6 : a schematic representation of various process sequences of the method according to the invention in a preferred exemplary embodiment.

The 1 until 3 show an advantageous embodiment of the floor cleaning device according to the invention, designated overall by reference number 10. The floor cleaning device 10 is designed to be self-propelled and self-steering and enables the autonomous cleaning of a floor surface 12. The floor with the floor surface 12 can be of different types, whereby an integral part of the floor surface 12 in the present example can be an examination object 14, which is, for example can be a texture 16. The texture 16, for example, is due to the material properties of the floor. If the floor is, for example, a wooden floor, the texture 16 can be traced back to a knothole, for example.

As a further exemplary examination object 14 shows 1 a contamination 18 which is located on the floor surface 12. The contamination 18 can be of different nature, for example solid or liquid. In the present example, the contamination 18 is small enough that it can be driven over by the floor cleaning device 10 for cleaning purposes.

In the present case, the floor cleaning device 10 comprises a housing 20, on which a chassis 22 is arranged on the bottom, for moving on the floor surface 12.

Position and orientation information such as “bottom”, “below”, “top”, “above” or the like are related to the intended use of the floor cleaning device 10. Here, the floor cleaning device 10 stands on the floor surface 12, which can be viewed as horizontally aligned, for example. A contact plane of the floor cleaning device 10 can coincide with a floor plane defined by the floor surface 12.

Position and orientation information such as “front”, “back” or the like are related to a main direction of movement 24 of the floor cleaning device 10. The floor cleaning device 10 moves in the main direction of movement 24 in a straight line.

The floor cleaning device 10 includes at least one cleaning tool 26 for cleaning the floor surface 12. In the present example, a sweeping-suction unit 28 is provided as a cleaning tool 26, which includes a roller brush for sweeping away dirt and a suction unit for increasing the cleaning performance.

The floor cleaning device 10 further includes a control device 30 for controlling the operation. The control device 30 is or includes, for example, a microprocessor that can execute an application program. The application program is, for example, stored in a storage unit 32 of the floor cleaning device 10, which could also be integrated into the control device 30.

To detect and examine the environment and in particular the examination objects 14, the floor cleaning device 10 comprises a detection sensor device 34 and an examination sensor device 36, hereinafter simplified as sensor devices 34 and 36, respectively.

In the present case, the sensor device 34 is a camera device 38. The camera device 38 comprises at least one optical camera and is designed in the floor cleaning device 10 as a color camera with depth information (RGB-D camera device).

The camera device 38 is arranged on the front 40 of the floor cleaning device 10 in relation to the main direction of movement 24. A detection area 42 detects an environment arranged in front of the floor cleaning device 10 in the main direction of movement 24 and in particular sections of the floor surface 12.

The camera device 38 provides a detection signal to the control device 30 to which it is coupled.

An examination object 14 is captured via the camera device 38. Based on the detection signal, the control device 30 can determine the relative position of the examination object 14 and the floor cleaning device 10. In the present example, the examination object 14 is the contamination 18. It is assumed that the texture 16 was already recorded by the camera device 38 at an earlier point in time and the relative position to the floor cleaning device 10 was determined.

Via the sensor device 34 it is therefore possible to provide position information relating to the relative position in relation to an examination object 14. This position information can be used to spatially relate a detected examination object 14 to the sensor device 36. The floor cleaning device 10 therefore knows where an examination object 14 to be examined with the sensor device 36 can be found.

The sensor device 36 is provided in order to examine the examination object 14 in more detail. In the present example, the examination object 14 is the texture 16 which was previously recorded via the camera device 38. In contrast, the contamination 18 as the examination object 14 is examined at a later point in time in the present example.

The sensor device 36 is designed as an optical spectroscopic device 46 and includes, for example, a material sensor 48.

The material sensor 48 is positioned near the front 40, in particular on an underside 50 of the housing 20. A detection area 52 is directed downwards towards the bottom surface 12 and, in the present example, is essentially formed at points. The examination object 14 is examined using the material sensor 48, which transmits a relevant examination signal to the control device 30 coupled to it.

The control device 30 can determine the material of the examination object 14 based on the examination signal. In particular, a large number of different materials are stored in the storage unit 32, linked to relevant data, which are formed by or based on the examination signal. Depending on the examination signal, the control device 30 can read from the storage unit 32 which material the examination object 14 comprises.

Depending on the material determined, in a preferred embodiment of the invention, a cleaning behavior of the floor cleaning device 10 for the floor surface 12 can be adjusted.

During operation of the floor cleaning device 10, it is advantageous if examination objects 14 are first detected via the sensor device 34 during the cleaning movement of the floor cleaning device 10 and, by using the position information, then examined via the sensor device 36.

For example, the detected examination object 14, whose position relative to the floor cleaning device 10 is known, is approached and specifically examined with the sensor device 36.

Alternatively or additionally, it can be provided that at least one sensor device 34, 36 is movably held on the floor cleaning device 10 and a drive unit can be controlled by the control device 30 to move the sensor device 34, 36.

The advantage of the floor cleaning device 10, for example, is that a combination of the sensory information from the sensor devices 34 and 36 can be created and evaluated. Examination objects 14 are first recorded and then specifically examined for their material in order, for example, to adjust the cleaning behavior. In particular, it is possible to determine whether the examination object 14 is a foreign object delt, such as the contamination 18, or an intrinsic property of the floor, namely the floor material, as with the texture 16. On the one hand, this offers the possibility of adapting the cleaning behavior with the aim of the best possible cleaning to remove the contamination 18. On the other hand, there is the possibility of adapting a recording of the cleaning behavior to the condition of the floor surface 12.

Adaptable cleaning parameters can be, for example, the selection of a cleaning tool 26, the setting of a cleaning performance, the amount of cleaning liquid carried, the dosage of a cleaning chemical carried, the adjustment of a cleaning path or even avoiding running over the object 14 to be examined. In the latter case, for example, examination objects 14 that are too large are not driven over. The same applies, for example, to examination objects 14 that cannot be cleaned or removed with the cleaning tool 26 carried due to the nature of the material or for which there is a risk that they will spread or become stuck on the floor surface 12 in an undesirable manner.

The floor cleaning device 10 can ( 3 ) a display unit 56 and an input unit 58 for a user 60 include. The display unit 56 and the input unit 58 can be integrated into one another, for example in the form of a touchscreen, and/or are arranged, for example, on the top of the housing 20.

The control device 30 can provide the user 60 on the display unit 56 with at least one suggestion for a determined material of the examination object 14. The user 60 can confirm the suggested material via the input unit 58. Related data linking the material to the information based on the examination signal can be stored in the storage unit 32. This makes it possible to create a library of different materials in the storage unit 32, so to speak.

In the event that the material of the examination object 14 cannot be determined by the control device 30, a corresponding note can be provided on the display unit 56. The user 60 can specify the material via the input unit 58. In this case too, the material is stored in the storage unit 32.

The floor cleaning device 10 can be designed to be self-learning. Newly learned materials can preferably also be stored in the storage unit 32 without any user intervention. This is conceivable, for example, in the case that previously recognized materials are combined with one another and (re)recognized as a new material. This material can be included in the library as a representative of the material class in a training data set. For this purpose, a predetermined or predefinable threshold value of the distance to the assigned material class can be defined.

It is conceivable to use an exploration trip over the floor surface 12 in order to determine material changes, even if the material of an examination object 14 is not known to the floor cleaning device 10.

The floor cleaning device 10 can, on its own, form a floor cleaning system according to the invention.

Alternatively or additionally, the floor cleaning device 10 can be part of a floor cleaning system according to the invention, designated by reference number 62, which is in 3 is shown schematically in a preferred embodiment. In the floor cleaning system 62, a data processing device 64 is provided which is arranged spatially away from the floor cleaning device 10 and which, in the present example, comprises a storage unit 66 which functionally corresponds to the storage unit 32 for storing the materials.

A display unit 56 and an input unit 58 are also provided for the user 60. Communication links 68 of the floor cleaning device 10 and the data processing device 64 enable an exchange of information, in particular with the storage unit 66, the display unit 56 and the input unit 58.

As in the example explained above, suggestions for materials can be made to the user 60 on the display unit 56 of the data processing device 64. The feedback from the user 60 can be provided via the input unit 58 of the data processing device 64.

It is of course conceivable that the storage unit 66 is spatially distant from the data processing device 64. For example, this accesses an in 3 memory unit marked with the reference number 66 ', which in turn is part of a data processing device marked with the reference number 64'.

The floor cleaning device 10 can have a plurality of identical or functionally identical sensors r devices 34 and / or 36 include. With regard to the sensor device 36, this is in 2 shown schematically. Therein, several identical sensor devices 36 are shown in a regular arrangement near the front 40. The arrangement is linear, so that the floor surface 12 can be examined in a linear manner essentially over the entire width of the floor cleaning device 10. When the floor cleaning device 10 is moving, the floor surface 12 can be examined over its entire surface.

At least one sensor device 34, 36 can be positioned off-center with respect to a central longitudinal plane 70, as is the case for the sensor device 36 in FIG 2 is shown. Such positioning can prove to be advantageous for contour travel, for example wall tracking travel.

It is advantageous to position the sensor device 34, 36 in front of the cleaning tool in relation to the main direction of movement 24.

The 4 and 5 show a floor cleaning device according to the invention, designated overall by reference number 72, in a preferred embodiment. Identical reference numbers are used for identical or identical features and components of the floor cleaning devices 10, 72. The advantages that can be achieved with the floor cleaning device 10 can also be achieved with the floor cleaning device 72. Only the essential differences are discussed.

In the floor cleaning device 72, a spectroscopic 2D imager 74 is provided as the examination sensor device 36 instead of the material sensor 48. The imager 74 supplies spectroscopic information as an examination signal, based on which the control device 30 can determine the material of the examination object 14.

The imager 74 is arranged on the front 40, with the detection area 52 directed in front of the floor cleaning device 72 in the main direction of movement 24, and can completely or at least partially overlap with the detection area 42 of the sensor device 34.

6 shows a schematic representation of a process of a preferred exemplary embodiment of the method according to the invention in several variants. In a first equipment option 01 of the floor cleaning device, the sensor device 34 is, for example, a 2D or 3D camera device 38 and the sensor device 36 is at least one material sensor 48, preferably several material sensors 48.

Using the camera device 38, an examination object 14 is captured in a step S1 and the relative position to the floor cleaning device is determined. The position can be estimated using a back projection of the ground level. The examination object 14 can be a soil material such as the texture 14 or a contamination 18.

In the following step S2, the floor cleaning device 10 is positioned so that the examination object 14 is optimally arranged in the detection area 52, if possible. For example, the material sensor 48 is positioned directly above the examination object 14. The examination object 14 is examined.

In a subsequent step S3, a sensor data analysis is carried out in the control device 30 based on the detection signal and the examination signal to determine the material of the examination object 14 and for the spatial location of the examination object 14, preferably including material edges with a spatial relationship to the floor cleaning device 10. Also when determining the material of the Examination object 14, data from the sensor device 34 can be used.

In the case of sensor data fusion, which applies not only to equipment option 01 but also to the other equipment options 02 to 04, for example, texture and/or color information is taken from the image of the camera device 38 and material information is taken from the data of the material sensor 48. The combination of both types of information in a feature vector assigned to the examination object 14 enables a reliable classification of its material. Both pieces of information are evaluated in a classification algorithm.

Subsequently, in step S4, a check is carried out as to whether the examination can be viewed as sufficiently valid. For example, a threshold value can be defined that describes a distance between the determined material and a material class.

If the examination is considered valid, a material property of the examination object 14 can be stored in the storage unit 32 in a subsequent step S5.

In particular, step S5 could be optional.

In a subsequent step S6, for example, the cleaning behavior can be adjusted.

In the case of a different equipment option O2, the floor cleaning device includes a 2D or 3D camera device 38 as a sensor device 34 and a spectral 2D imager as a sensor device 36. In a step T1, an examination object 14 can be recognized with the camera device 38 and the imager and the relative position to the floor cleaning device can be determined. In the subsequent step T2, the examination object 14 is examined using the 2D imager. The following steps are the same as the first option. The same applies to the following options O3.

With the equipment option O3, a 2D or 3D camera device 38 is used as the sensor device 34 and a multispectral 2D lidar is used as the sensor device 36. In a subsequent step U1, the examination object 14 is captured via the camera device 38 and the relative position to the floor cleaning device 10 is determined. In the subsequent step U2, the relative position is determined using the 2D lidar and the examination object 14 is examined.

The O4 equipment option uses a combined sensor device for detection and examination in the form of a multispectral 3D lidar and/or a 3D mm-wave radar. In a step V1, the examination object is recognized and examined using the lidar and/or radar 14 and its relative position to the floor cleaning device is determined. The process continues with step S4.

If the material of the examination object 14 cannot be determined with sufficient validity in step S4 with a respective option O1 to O4, the cleaning behavior is preferably set, for example, such that the examination object is avoided and in particular is not run over (S7). The user 60 can be asked for a classification and then corresponding information about the material mentioned by the user can be stored, for example in the storage unit 32 (S8). Alternatively or additionally, the storage unit 66 can be used.

Reference symbol list

10

Floor cleaning device

12

floor area

14

object of investigation

16

texture

18

pollution

20

Housing

22

landing gear

24

Main direction of movement

26

Cleaning tool

28

Sweeping-suction unit

30

Control device

32

Storage unit

34

Detection sensor device

36

Examination sensor device

38

Camera setup

40

front

42

Detection area

46

Spectroscopic facility

48

Material sensor

50

bottom

52

Detection area

56

Display unit

58

Input unit

60

user

62

Floor cleaning system

64

Data processing device

66

Storage unit

68

communication link

70

Central longitudinal plane

72

Floor cleaning device

74

Imager

QUOTES INCLUDED IN THE DESCRIPTION

This list of documents listed by the applicant was 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 102018200719 A1 [0006]
• WO 2018202301 A1 [0007]

Claims (27)

Self-propelled and self-steering floor cleaning device (10, 72), comprising a chassis (22) for moving on the floor surface (12), at least one cleaning tool (26) for cleaning the floor surface (12), a control device (30) and at least one sensor device (34, 36), in particular optical, coupled to the control device (30) with at least one detection area (42, 52) directed towards the floor surface (12), wherein by means of a detection sensor device (34) of the at least one sensor device (34, 36), an examination object (14) on the floor surface (12) can be spatially detected and a corresponding detection signal can be provided, which is indicative of a relative position of the floor cleaning device (10, 72) and the examination object (14), and wherein the examination object (14) can be examined by means of an examination sensor device (36) of the at least one sensor device (34, 36) and a related examination signal can be provided which is indicative of a material of the examination object (14), and preferably by means of the Control device (30) a cleaning behavior for the floor surface (12) can be adjusted based on the determined material of the examination object (14). Floor cleaning device (10, 72). Claim 1 , characterized in that the detection signal and the examination signal can be provided simultaneously by means of the at least one sensor device (34, 36). Floor cleaning device (10, 72). Claim 1 or 2 , characterized in that depending on the determined relative position, the chassis (22) can be controlled to move the floor cleaning device (10, 72) specifically in the direction of the examination object (14) in order to examine it to provide the examination signal. Floor cleaning device (10, 72) according to one of the preceding claims, characterized in that the detection and/or examination of the examination object (14) can be carried out during the cleaning movement of the floor cleaning device (10, 72) over the floor surface (12). Floor cleaning device (10, 72) according to one of the preceding claims, characterized in that the floor cleaning device (10, 72) with the examination sensor device (36) can be positioned above the examination object (14) in order to examine it. Floor cleaning device (10, 72) according to one of the preceding claims, characterized in that the examination sensor device (36) is movably arranged on the floor cleaning device (10, 72) and that a drive unit of the sensor device can be controlled depending on the determined relative position, the examination To move the sensor device (36) in a targeted manner in order to align the detection area (42, 52) with the examination object (14). Floor cleaning device (10, 72) according to one of the preceding claims, characterized in that based on the determined material it can be determined by the control device (30) whether the object to be examined (14) is a contamination (18) of the floor surface (12) or the floor . Floor cleaning device (10, 72) according to one of the preceding claims, characterized in that the cleaning behavior is adaptable based on the material determined, in particular with regard to a removal of the examination object (14) from the floor surface (12), in particular at least one of the following The following can be adjusted: selection of a cleaning tool (26), adjustment of the cleaning power, amount of cleaning liquid, dosage of a cleaning chemical, adjustment of the cleaning path, avoiding running over the object to be examined (14). Floor cleaning device (10, 72) according to one of the preceding claims, characterized in that the detection signal is indicative of a size and/or shape of the examination object (14) and that the cleaning behavior can be adjusted based on the determined size and/or shape. Floor cleaning device (10, 72) according to one of the preceding claims, characterized in that the detection sensor device (34) and the examination sensor device (36) are of different types, the detection signal being provided by means of the detection sensor device (34) and by means of the The examination signal can be provided in a different examination sensor device (36). Floor cleaning device (10, 72) according to one of the Claims 1 until 9 , characterized in that the at least one sensor device (34, 36) is designed as a combined detection and examination sensor device for spatially detecting the examination object (14) and providing the detection signal and for examining the examination object (14) and providing the examination signal , or that the combined sensor device is a combination ned detection and examination signal which is indicative of the relative position of the examination object (14) and the floor cleaning device (10, 72) and of the material of the examination object (14). Floor cleaning device (10, 72) according to one of the preceding claims, characterized in that the examination sensor device (36) is designed as or comprises an optical spectroscopic sensor device (46), one of the following preferably being provided: - a multispectral camera, especially with 2D imager (74); - a 2D spectral lidar device; - a 3D spectral lidar device; - a UHF sensor device/mm-wave sensor device. Floor cleaning device (10, 72) according to one of the preceding claims, characterized in that the detection sensor device (34) is designed as or comprises an optical camera device (38) with at least one camera, in particular one of the following being provided: - a camera device (38) for creating a 2D image; - a camera device (38) for creating a 3D image, in particular a stereo camera device; - a time-of-flight (TOF) camera device (38) for creating a depth image; - A camera device (38) for providing color information and depth information. Floor cleaning device (10, 72) according to one of the preceding claims, characterized in that the detection sensor device (34) is designed as an optical scanning device for spatial scanning of the environment or comprises such a device, in particular a lidar device. Floor cleaning device (10, 72) according to one of the preceding claims, characterized in that the at least one sensor device (34, 36) comprises two or more identical or similar sensor devices (34, 36), in particular two or more examination sensor devices (36). Floor cleaning device (10, 72) according to one of the preceding claims, characterized in that the sensor devices (34, 36) are arranged at a uniform distance from one another and/or in a line arrangement on the floor cleaning device (10, 72), in particular a combined detection area (42 , 52) can be provided over an entire or substantially entire width of the floor cleaning device (10, 72). Floor cleaning device (10, 72) according to one of the preceding claims, characterized in that the at least one sensor device (34, 36) is fixed immovably on the floor cleaning device (10, 72) or that the at least one sensor device (34, 36) is controlled by the control device (30) is movably held on the floor cleaning device (10, 72) by means of a drive unit. Floor cleaning device (10, 72) according to one of the preceding claims, characterized in that the detection area (42, 52) of the detection sensor device (34) is based on a main direction of movement (24) of the floor cleaning device (10, 72) on one of the floor cleaning device (10 , 72) upstream section of the floor surface (12) and / or the surroundings of the floor cleaning device (10, 72). Floor cleaning device (10, 72) according to one of the preceding claims, characterized in that the detection area (42, 52) of the examination sensor device (36) is directed towards a section of the floor surface (12) arranged below the floor cleaning device (10, 72). Floor cleaning device (10, 72) according to one of the preceding claims, characterized in that the detection area (42, 52) of the detection sensor device (34) has a larger spatial extent than the detection area (42, 52) of the examination sensor device (36) , in particular that the detection area (42, 52) of the examination sensor device (36) is formed at points. Floor cleaning device (10, 72) according to one of the preceding claims, characterized in that at least one of the following applies: - the at least one sensor device (34, 36) is at or close to a main direction of movement (24) of the floor cleaning device (10, 72). arranged on a front side (40); - the at least one sensor device (34, 36) is arranged off-center with respect to a central longitudinal plane (70); - The at least one sensor device (34, 36) is arranged in front of the at least one cleaning tool (26) in relation to a main direction of movement (24) of the floor cleaning device (10, 72). Floor cleaning system (62), comprising a floor cleaning device (10, 72) according to one of the preceding claims and a storage unit (32, 66) in which information relating to the Material from examination objects (14) linked to relevant data from the examination sensor device (36) are stored and/or can be stored, which are formed by or based on the examination signal. Floor cleaning system (62). Claim 22 , characterized in that the floor cleaning device (10, 72) comprises the storage unit (32, 66) and forms the floor cleaning system (62). Floor cleaning system (62). Claim 22 or 23 , characterized in that the floor cleaning system (62) comprises a storage unit (32, 66) arranged spatially distant from the floor cleaning device (10, 72), in particular as a component or linked to a data processing device (64) positioned spatially remotely, and communication elements (68) for Exchange of information between the storage unit (32, 66) and the floor cleaning device (10, 72). Floor cleaning system (62) according to one of the Claims 22 until 24 , characterized in that the floor cleaning system (62) is designed to be self-learning and newly learned materials can be stored in the storage unit (32, 66), for example during an exploration trip of the floor cleaning device (10, 72) on the floor surface (12). Floor cleaning system (62) according to one of the Claims 22 until 25 , characterized in that the floor cleaning system (62) comprises a display unit (56) and an input unit (58) for a user (60), wherein an indication of a determined material for the examination object (14) can be provided on the display unit (56). to confirm via the input unit (58) and/or an indication that a material could not be determined, the material being able to be specified by the user (60) via the input unit (58) and relevant information being stored in the storage unit (32, 66). is. Method for operating a floor cleaning device (10, 72), in particular according to one of Claims 1 until 21 , comprising: - spatially detecting, by means of a detection sensor device (34), an examination object (14) on the floor surface (12) and providing a relevant detection signal which is indicative of a relative position of the floor cleaning device (10, 72) and the examination object (14 ) is; - Examining, by means of an examination sensor device (36) of the examination object (14), and providing a relevant examination signal which is indicative of a material of the examination object (14); and, preferably, - setting, by means of a control device (30), a cleaning behavior for the floor surface (12) based on the determined material of the examination object (14).

Images