EP3122224A1

EP3122224A1 - Method for cleaning a floor surface and floor-cleaning device

Info

Publication number: EP3122224A1
Application number: EP14711798.0A
Authority: EP
Inventors: Jürgen Walz; Christian Hofner; Barbara PFISTER; Carsten ECKART
Original assignee: Alfred Kaercher SE and Co KG
Current assignee: Alfred Kaercher SE and Co KG
Priority date: 2014-03-24
Filing date: 2014-03-24
Publication date: 2017-02-01
Anticipated expiration: 2034-03-24
Also published as: WO2015144202A1; US10390674B2; CN106163360A; US20170007091A1; DK3122224T3; EP3122224B1; CN106163360B

Abstract

The invention relates to a method for cleaning a floor surface with a floor-cleaning device. In said method, a first image of a floor surface section before cleaning is created by an optical detection unit during the cleaning movement of the floor-cleaning device over the floor surface, the floor-cleaning device is moved with at least one cleaning module over the floor surface section, which is cleaned, a second image of the floor surface section is created by an optical detection unit after cleaning, and the images are compared with each other in order to check the cleaning result. The invention further relates to a floor-cleaning device for performing the method.

Description

PROCESS FOR CLEANING A FLOOR AREA

AND FLOOR CLEANER

The invention relates to a method for cleaning a floor surface with a floor cleaning device.

Moreover, the invention relates to a floor cleaning device for carrying out the method. The floor cleaning device may be a self-propelled and self-steering floor cleaning device, with which an autonomous cleaning of the floor surface is feasible. Alternatively or additionally, the floor cleaning device can be operated by an operator, which is in particular a hand-held floor cleaning device or a ride-floor cleaning device. Accordingly, the present invention also relates to a floor cleaning apparatus which enables both the autonomous cleaning of the floor surface and the cleaning under the control of an operator. The operation by the operator can also be done remotely, for example, from a remote control.

The present invention relates to the field of control of the cleaning result. It is desirable to determine whether the cleaning of the bottom surface has been done satisfactorily (hereinafter referred to as "sufficiently good cleaning").

It is known to create a map of the floor surface to be cleaned prior to cleaning and to store the degree of contamination of the floor surface in a position-dependent manner. For example, a method is described in US 5,613,261, in which depending on the stored degree of soiling an intensive cleaning with heavy pollution or only a basic cleaning with normal pollution can be performed. DE 10 2011 006 062 AI also describes a position-dependent storage of the degree of contamination of the floor surface.

In EP 1 967 116 AI a method is described in which the degree of contamination of the bottom surface is stored during a cleaning process position-dependent. In a later processing, the direction of travel and the processing intensity of a suction unit and a cleaning brush can be controlled depending on the degree of contamination.

DE 20 2011 051 936 Ul describes a device for cleaning windows, facade elements, solar modules and the like. In the region of a cleaning head, a sensor device for detecting the soiling state of the surface to be cleaned is arranged. With the sensor device, such as an optical camera, and the cleaning effect can be monitored.

Object of the present invention is to provide a method for cleaning a floor surface with a floor cleaning device and a floor cleaning device for performing the method, with a structurally simple way a good cleaning result can be achieved.

This object is achieved by a method for cleaning a floor surface with a floor cleaning device, in which method during the cleaning movement of the floor cleaning device over the bottom surface with an optical detection unit a first recording of a bottom surface section is created before cleaning, the floor cleaning device with at least one cleaning unit over moves the bottom surface portion and this is cleaned, is created with an optical detection unit, a second recording of the bottom surface portion after cleaning and the images to control the cleaning result are compared. In the method according to the invention, the cleaning result during the current cleaning operation can be determined, in which the floor cleaning device moves automatically over the bottom surface or is moved by an operator on this. With at least one optical detection unit, two images of a bottom surface section are created. A first image is taken before cleaning the bottom surface section. The first shot may be temporarily stored, for example, in a storage unit of the floor cleaner. With at least one cleaning unit then the bottom surface section is cleaned. A second image of the bottom surface section is created after cleaning with the at least one detection unit and compared with the first image. Already during the ongoing cleaning of the bottom surface can be determined from the recordings, whether the cleaning result is satisfactory and a sufficiently good cleaning has been achieved. This gives the possibility to remedy an inadequate cleaning at an early stage. In particular, it is immediately possible to carry out a new cleaning of the surface area which has not been cleaned sufficiently well. The method according to the invention thereby offers the possibility that after completion of the cleaning of the bottom surface, a check can be omitted as to whether the cleaning result is satisfactory. Cleaning operations can be carried out faster. In a corresponding manner, a position-dependent storage of the degree of contamination before starting the cleaning operation, as known from the prior art, can be avoided. Instead, you can start immediately with the processing of the floor surface and the cleaning result can be checked during the ongoing cleaning. This also allows cleaning jobs to be carried out quickly. Position errors, which can occur when the floor cleaning device is localized on the floor surface, are given significantly less importance by the method according to the invention than by the methods described in the prior art. Because the recording of the bottom surface section can be made at relatively short successive times, there is a high degree of safety in determining the position of the floor cleaning device and, accordingly, certainty. This means that the same floor surface section has been recorded in both pictures. Accordingly, position inaccuracies when making a complete dirt map of the floor surfaces are more pronounced and more frequent positional control is required. This reduces the cleaning speed and thereby prolongs the cleaning process. Accordingly, with the aid of the method according to the invention, a quick cleaning of the bottom surface can be achieved with simple checking. The present method is also very suitable for the documentation of the cleaning result, for example, that have been performed satisfactory to a contractor cleaning jobs.

The cleaning direction preferably runs in the longitudinal direction of the floor cleaning device.

It is advantageous if a camera, in particular a digital camera, is used as the optical detection unit, and if the images are images of the bottom surface section. By way of the at least one optical detection unit designed as a camera, spatially resolved images of the bottom surface section can be created. Dirt before or the absence of contamination after cleaning the bottom surface portion can be easily detected.

It proves to be advantageous if two optical detection units are used to create the first recording and the second recording, wherein the first detection unit is provided for creating the first recording and, based on a cleaning direction, the at least one cleaning unit upstream of the bottom surface is directed, and wherein the second detection unit is provided for creating the second recording and the at least one cleaning unit is directed downstream of the bottom surface. Before cleaning the bottom surface section, a receptacle can be created with the first detection unit (for example, a camera), wherein the detection unit is directed onto a bottom surface section arranged in the cleaning direction in front of the cleaning unit. To the cleaning of the bottom surface portion, the second shot with the second detection unit (for example, a camera) is created. The second detection unit is directed to a directed in the cleaning direction behind the cleaning unit bottom surface portion. The respective recorded bottom surface section is identical. Between the preparation of the two shots, the floor cleaning device has moved over the floor surface.

Alternatively or additionally, it can be provided that an optical detection unit is used which creates the first recording and the second recording. In particular, both images can be created at successive times with only one detection unit.

In the case of the last-mentioned advantageous embodiment, it can be provided that the detection unit has or provides a field of vision which is directed both in front of the at least one cleaning unit and behind it, with respect to the cleaning direction.

Alternatively or additionally, it is favorable if at least one optical detection unit is movably mounted on the floor cleaning appliance, and if the detection unit is moved relative to the floor cleaning appliance after the first shot for creating the second shot has been taken. For example, the first image is first created and then the detection unit is pivoted, rotated or displaced relative to the floor cleaning device, whereupon the second image is created. In particular, the detection unit is rotatable about at least one axis of rotation perpendicular to the cleaning direction and perpendicular to a contact plane and / or parallel to a contact plane. The touch level of the floor cleaning device coincides with the level of the floor surface. The axis of rotation may in particular be aligned vertically or horizontally.

It can be provided that the comparison of the recordings of a floor cleaning device on this itself or by a remote control leading or controlling operator is made, as will be discussed below.

Alternatively or additionally, it is advantageous if the comparison of the recordings of a control unit of the floor cleaning device or from a spatially away from the floor cleaning device remote control unit (for example, a remote control) is made and at a reference unit, at least when there is no sufficiently good cleaning of the bottom surface section , a corresponding note is provided. In the control unit, for example, image processing algorithms are stored executable, which allow an automatic comparison of the images. Also in the control unit can be stored at least one criterion that allows a classification of the cleaning result as sufficiently good or not sufficiently good. At least if the cleaning has not been carried out sufficiently well, an indication can be provided at the reference unit. The hint may be considered by an operator as a suggestion or order to again clean the bottom surface portion.

If the control unit is arranged to compare the recordings in the remote control, the recordings can be transmitted to them via cooperating communication units.

Also control commands of the operator in the remote control can be transmitted via the communication units.

The reference can be stored, preferably linked to a position information of the bottom surface section, wherein the position of the floor cleaning device is determined on the floor surface. For the purpose of documentation, it is particularly advantageous to store an indication that a sufficiently good cleaning has not taken place. Preferably, the note is stored linked to the position information. As a result, the bottom surface section, if necessary, visited again and cleaned again become. A position-dependent storage of the note is also for the purpose of documentation advantage.

It can be provided that the indication is provided to a reference unit of the floor cleaning appliance and / or stored in a storage unit of the floor cleaning appliance. In particular, in a hand-held floor cleaning device, the operator can be pointed to the hint unit that the bottom surface section should be cleaned again.

Alternatively or additionally, it can be provided that a reference unit arranged spatially away from the floor cleaning appliance and / or a storage unit arranged spatially away from the floor cleaning appliance is used. For example, the floor cleaning device can be controlled by a remote remote control in which the hint unit is arranged. An operator can remotely control the floor cleaning device and trigger a further cleaning of the floor surface section.

The hinting unit is preferably in particular a visual display unit which comprises, for example, an image display.

A storage of the hint, preferably linked with a position information of the bottom surface portion, is preferably also carried out when a sufficiently good cleaning has taken place. It can thereby be documented that the bottom surface section has been cleaned sufficiently well and that, for example, a cleaning job has been carried out according to the order.

It is favorable if in the case that the floor cleaning device is a self-propelled and self-steering floor cleaning device and no sufficiently good cleaning of the bottom surface section is done, the bottom surface section is cleaned again, with an optical detection unit a further recording of the bottom surface section after the re-cleaning is created and this is compared with the first recording and / or the second recording to control the cleaning result. The control unit can trigger a further cleaning of the bottom surface portion, which can be controlled by the further recording of the optical detection unit. For example, after the first cleaning of the bottom surface portion, the floor cleaning apparatus returns against the original cleaning direction, and once again cleans over the bottom surface portion in the cleaning direction.

It can be provided that at least the second receptacle is displayed on a display unit of the floor cleaning device or on a spatially remote from the floor cleaning device display unit (for example, a remote control). Preferably, both images are displayed on the display unit. An operator guiding or remotely controlling the floor cleaning device can recognize and evaluate the cleaning result directly on the basis of the second recording or by comparing the recordings.

Alternatively or additionally it can be provided that with a control unit of the floor cleaning device or with a spatially remote from this control unit (such as a remote control), a comparison of recordings is made and based on an indication on the display unit can be displayed that a sufficiently good cleaning takes place is. On the basis of the note, the operator can determine the satisfactory cleaning of the bottom surface section.

The hint can be stored in a memory unit as explained above.

As mentioned, the display unit and / or the storage unit can also be arranged in the remote control room. It is advantageous if the position of the floor cleaning device is determined on the bottom surface and images of the bottom surface section are linked with position information if a reference image of the bottom surface section in the cleaned state is stored linked to a position information in a memory unit and if the second image is compared with the reference image Checks to see if the floor area section can be considered sufficiently clean. This allows an even better control of the cleaning result. In a first-time learning trip of the floor cleaning device on the cleaned and especially regarded as clean floor surface reference shots of floor surface sections can be created. The reference images may be stored in a memory unit linked to position information. The storage unit may be arranged in the floor cleaning device or in a remote from this remote control. The second image, combined with a position information, can be compared with the reference image of the same floor surface section. As a result, it can be determined that the cleaning result is not only sufficiently good, but also a determination can be made as to whether the floor surface can be regarded as sufficiently clean.

Preferably, the process is performed during all or substantially all of the cleaning of the bottom surface. Gradually, bottom surface portions of the bottom surface can be controlled for sufficiently good cleaning.

As already mentioned, a self-propelled and self-steering floor cleaning device can be used to autonomously clean the floor surface.

As a floor cleaning device, a hand-held floor cleaning device or a ride-on floor cleaning device can be used. As a cleaning unit, for example, a suction unit, a sweeping unit, a scrubbing unit and / or a dirt receiving unit can be used.

The object stated in the introduction is achieved by a floor cleaning device for carrying out one of the aforementioned methods, comprising a landing gear for moving on a floor surface, at least one cleaning unit for cleaning the floor surface and at least one optical detection unit, wherein during the cleaning movement of the floor cleaning device on the floor surface with the at least one optical detection unit, a first receptacle of a bottom surface portion before the cleaning can be created, the floor cleaning device with the at least cleaning unit over the bottom surface portion movable and this is cleanable, and with the at least one optical detection unit a second recording of the bottom surface portion can be created after cleaning, wherein the images to control the cleaning result are comparable.

The advantages that can already be achieved in connection with the explanation of the method according to the invention can likewise be achieved by using the floor cleaning appliance. In this regard, reference may be made to the above explanations. In a corresponding manner, reference is made in connection with the below-mentioned advantageous embodiments of the floor cleaning appliance according to the invention to the above-described advantageous embodiments of the method according to the invention.

The at least one optical detection unit is preferably a camera, in particular a digital camera, and the images are conveniently images of the bottom surface portion.

It is advantageous if the floor cleaning device comprises two optical detection units, in particular two cameras, in order to produce the first recording and the second recording, wherein the first detection unit for generating providing the first receptacle is provided and, based on a cleaning direction, the at least one cleaning unit is directed upstream of the bottom surface, and wherein the second detection unit is provided for creating the second receptacle and the at least one cleaning unit downstream directed to the bottom surface.

It can be provided that the first recording and the second recording can be created with the same optical detection unit.

For example, at least one optical detection unit is movably mounted on the floor cleaning device, and the detection unit is movable relative to the floor cleaning device after the first shot has been taken and the second shot taken.

The floor cleaning device preferably has a control unit for comparing the recordings, and an indication unit is at least when there is no sufficiently good cleaning of the bottom surface portion, an indication provided.

The indication can, preferably linked with a position information of the bottom surface section, be storable in a storage unit, wherein the position of the floor cleaning device on the bottom surface can be determined by means of a localization unit.

In particular, the control unit and the localization unit may form an integrated unit, for example the localization unit is integrated in the control unit. In a corresponding manner, the storage unit can be integrated in the control unit. Preferably, the control unit, the storage unit and the location unit form an integrated unit.

The floor cleaning device may comprise a hinting unit, to which the hint can be provided, and / or a memory unit in which the hint can preferably be linked to the position information. The floor cleaning device may include a communication unit, via which the reference to a spatially remote from the floor cleaning device notifying unit and / or storage unit is transferable. The transmission takes place, for example, via a communication unit of a remote control to a control unit of the same, and from there to the reference unit and / or memory unit.

The hinting unit is preferably a display unit and in particular comprises an image display.

It proves to be favorable if storage can also be carried out if a sufficiently good cleaning has taken place. Preferably, in this case, the hint is linked to a position information of the bottom surface section stored.

Of course, it can be provided that recordings of the bottom surface section can also be stored in a memory unit, preferably linked to a respective position information. The storage unit can be a storage unit encompassed by the floor cleaning appliance or a storage unit arranged spatially therefrom, for example the storage unit of a remote control room.

It is advantageous if the floor cleaning device is a self-propelled and self-steering floor cleaning device and that if no sufficiently good cleaning of the bottom surface portion is done, the bottom surface portion is again cleaned, with the at least one optical detection unit, a further recording of the bottom surface portion after the repeated cleaning can be created and this is comparable to the first recording and / or the second recording for controlling the cleaning result.

The floor cleaning device may comprise a display unit, on which at least the second recording can be displayed. Alternatively or additionally, the floor cleaning device may have a control unit for comparing the recordings, wherein based on the comparison, an indication on the display unit can be displayed that a sufficiently good cleaning has taken place.

The position of the floor cleaning device on the floor surface can preferably be determined by means of a localization unit, and the recordings of the floor surface section can be linked to position information. In a storage unit, a reference receptacle of the bottom surface section in the cleaned state can be stored linked with position information, and the second receptacle can be comparable to the reference receptacle for checking whether the bottom surface section can be regarded as sufficiently clean. The storage unit may be included in the floor cleaning device or spatially spaced therefrom, for example in a remote control for the floor cleaning device.

The floor cleaning device may be a self-propelled and self-steering floor cleaning device with which an autonomous cleaning of the floor surface is feasible.

Alternatively or additionally, the floor cleaning device may be a hand-held floor cleaning device or a ride-on floor cleaning device.

The at least one cleaning unit may be or include a suction unit, a sweeping unit, a scrubbing unit and / or a dirt collecting unit.

The following description of preferred embodiments of the invention is used in conjunction with the drawings for a more detailed explanation of the invention. The below-explained advantageous embodiments of the floor cleaning device according to the invention each allow the implementation of the method according to the invention. Show it : a schematic side view of a floor cleaning device according to the invention; a plan view of the floor cleaning device of Figure 1 at a first time in the cleaning of a floor surface, wherein the floor cleaning device moves in a cleaning direction; a representation corresponding to Figure 2A at a later time of cleaning the bottom surface; a schematic block diagram of the floor cleaning device of Figure 1 and an optional existing, spatially separated from the floor cleaning device remote control for the floor cleaning device; a schematic side view of a second preferred embodiment of the floor cleaning device according to the invention and a schematic side view of a third preferred imple mentation of the floor cleaning device according to the invention

FIG. 1 shows, in a schematic representation, a floor cleaning device according to the invention, which is designated by the reference numeral 10. The floor cleaning appliance 10 is presently configured as a scrubbing machine and comprises a chassis 12 for moving on a floor surface 14 to be cleaned. For cleaning the floor surface 14, the floor cleaning appliance 10 comprises at least one cleaning unit 38. The cleaning unit 38 comprises in the present case

Scrubbing unit 16 and a dirt receiving unit 18. The dirt unit 16 allows the cleaning of the bottom surface 14 with at least one roller brush, not shown in the drawing, wherein the bottom surface 14 for Increase the cleaning effect with a cleaning liquid, especially water, is moistened. The mixture of detached soil and cleaning liquid is received by the soil collecting unit 18 from the bottom surface 14.

The floor cleaning device 10 is configured here as a hand-held floor cleaning device that can be performed by an operator, not shown, on an operating unit 20. In addition, the floor cleaning device 10 is designed to be self-steering and self-propelled. Without the presence of an operator, the bottom surface 14 can be cleaned autonomously.

Further, it is advantageous if the floor cleaning device 10 can be remotely controlled by an operator (not shown) located at a remote control 42. The bottom surface 14 can be cleaned by remote control of the floor cleaning device 10.

When cleaning the bottom surface 14, the floor cleaning device 10 is usually moved along a cleaning direction 22. The cleaning direction 22 corresponds to a longitudinal direction of the floor cleaning device 10. In the case of its straight-ahead movement over the floor surface 14, the floor cleaning device 10 moves in the cleaning direction 22.

FIG. 3 schematically shows a block diagram of the floor cleaning appliance 10. The floor cleaning appliance 10 comprises a control unit 24, a first optical detection unit 26 and a second optical detection unit 28. Furthermore, a location unit 30 is provided and the control unit 20. The floor cleaning appliance 10 also has a memory unit 34 and an indicating unit 36. The pointing unit 36 comprises in particular a visual display unit, preferably with an image display. By the reference numeral 38, the at least one cleaning unit of the floor cleaning device 10 comprising the scrubbing unit 16 and the dirt receiving unit 18 is designated. Optionally, a communication unit 40 is provided in order to formations to the spatially arranged by the floor cleaning device 10 remote control 42 to transmit.

The detection units 26, 28 are in operative connection with the control unit 24. Inclusion of bottom surface portions of the bottom surface 14, will be discussed below, can be transferred to the control unit 24. The control unit is also operatively connected to the memory unit 34, which could also be integrated into the control unit 24.

In a corresponding manner, the control unit 24 is in operative connection with the localization unit 30, which could also be integrated in the control unit 24.

Inputs of an operator on the operating unit 20 can be transmitted to the control unit 24 and evaluated by the latter.

The control unit 24 can control the chassis 12 and the cleaning unit 38.

In a corresponding manner, the control unit 24 can drive the hint unit 36.

The control unit 24 may control the communication unit 40 to transmit data and / or information to the remote control 42. Conversely, the communication unit 40 may receive data and / or information and forward it to the control unit 24.

The remote control 42 comprises a control unit 44 and, in operative connection with this, an operating unit 46, a memory unit 48, an information unit (in particular comprising a display unit) 50 and a communication unit 52. The communication unit 52 cooperates with the communication unit 40 for transmitting data and / or information. The memory unit 48 could also be integrated in the control unit 44. The reference unit 50 can be activated by the control unit 44. Inputs of an operator on the operating unit 46 can be transmitted to the control unit 44 and transmitted via the communication unit 52 to the floor cleaning device 10, if this is remotely controllable as explained above.

The optical detection units 26, 28 are preferably cameras 54, 56, in particular digital cameras. The cameras 54, 56 are fixed, for example, to a housing 58 of the floor cleaning appliance 10 (FIG. 1), for example, near the floor. However, they could be arranged on the floor cleaning device in a different way and / or in different positions. It is essential in the present case that with the camera 54, based on the cleaning direction 22, a cleaning unit 38 upstream floor surface portion 60 can be detected. Accordingly, a field of view 62 of the camera 54 is directed to the bottom surface 14. An image of the bottom surface section 60 acquired by the camera 54 can be supplied to the control unit 24 and stored in the storage unit 34.

It is also essential that the camera 56 is directed to a bottom surface portion 64, which, based on the cleaning direction 22, downstream of the cleaning unit 38. A field of view 66 of the camera 56 is accordingly directed to the bottom surface 14. An image of the bottom surface portion 64 taken with the camera 56 may be supplied to the control unit 24 and also stored in the storage unit 34.

When the floor cleaning apparatus 10 is moved, the bottom surface portion 64 may coincide with the bottom surface portion 60 at a previous time. Subsequently, the bottom surface section 60 will be discussed, from which images are taken at different times. If the floor cleaning appliance 10 moves over the floor surface, this in particular gives the possibility of creating an image of the floor surface section 60 with the camera 54, subsequently cleaning it with the cleaning unit 38 during cleaning of the floor surface 14 and then a second image of the floor surface section 60 (i.e., at a later time) with the camera 56. This is illustrated in FIGS. 2A and 2B, wherein the floor cleaning device 10 has moved relative to the floor surface 14 and thus relative to the floor surface section 60. Figure 2A shows the bottom surface portion 60 before cleaning, and Figure 2B shows the bottom surface portion 60 after cleaning.

For the sake of simplification, it is initially assumed that the floor cleaning appliance 10 carries out an autonomous cleaning of the floor area 14. During cleaning of the bottom surface 14, a first image of the bottom surface portion 60 to be cleaned is picked up and stored in the storage unit 34 (FIG. 2A). The floor cleaning device 10 is moved over the bottom surface portion 60, and this is cleaned. Subsequently, a second image of the bottom surface portion 60 is taken (Figure 2B). Preferably, the second image is also stored in the storage unit 34.

The control unit 24 may compare the two images with each other to control the cleaning result for the bottom surface portion 60. For this purpose, for example, image processing algorithms can be stored executable in the control unit and at least one criterion by means of which it can be determined whether a sufficiently good cleaning of the bottom surface section 60 has taken place.

During the current cleaning operation, the cleaning result is controlled, wherein the bottom surface 14 sections, floor surface section for floor surface section, is examined. This will be explained using the example of the bottom surface section 60. If a sufficiently good cleaning has taken place, a corresponding indication for the bottom surface section 60 is preferably stored in the storage unit 34. The hint is preferably stored associated with position information for the bottom surface portion 60. The position information can be provided by means of the localization unit 30, with which the position of the floor cleaning appliance 10 on the floor surface 14 can be ascertained.

If the control unit 24 determines that the bottom surface section 60 has not been sufficiently cleaned, it is also preferably stored in the memory unit 34, in particular linked to position information for the bottom surface section 60. In this case and in the case explained above, the storage of the corresponding note on the documentation of the cleaning result. For example, the documentation can be used to verify that a cleaning job has been performed satisfactorily.

If cleaning is not sufficiently good, the floor cleaning device 10 stops, counteracts the cleaning direction 22 and cleans the floor surface section 60 again. After the repeated cleaning of the bottom surface portion 60, another image of the same is taken with the camera 56 and compared with the first and / or the second image. The control unit 24 determines by comparison whether the bottom surface portion 60 has now been cleaned sufficiently well. If so, a corresponding indication, as explained above, can be stored in the memory unit 34. If necessary, it can be provided that the bottom surface section 60 is cleaned once more.

The control of the cleaning result is feasible during the cleaning of the bottom surface 14. For a reliable cleaning of the bottom surface 14, only relatively little time is required for this reason. In particular, it is not necessary, before the start of cleaning the degree of contamination the bottom surface 14 position dependent to determine and store, as described in the prior art.

Preferably, a reference receptacle of the bottom surface section 60 is stored in the storage unit 34 associated with position information. The reference shot was made, for example, during a learning trip with the floor cleaning device 10 on the bottom surface 14, as this had a clean state. In addition to the method described above, this provides the possibility of determining whether the bottom surface section 60 can be considered sufficiently clean by comparing the second image of the bottom surface section 60 (in the cleaned state). This makes it possible to determine whether the sufficiently good cleaning has led to a cleaning of the bottom surface section 60.

Hereinafter, it is assumed that an operator guides the floor cleaning apparatus 10 over the floor surface 14 for cleaning. Also in this case, a first image and a second image are picked up from the bottom surface portion 60 and compared with each other. For example, the control unit 24 displays both images on the pointing unit 36 (the pointing unit 36 is arranged, for example, on the operating unit 20). This allows the operator to visually determine whether a sufficiently good cleaning of the bottom surface portion 60 has occurred. If not, the operator can reset and make another cleaning of the bottom surface portion 14.

It may alternatively or additionally be provided that the control unit 24 as in the autonomous cleaning performs an automatic comparison of the two images of the bottom surface portion 60. The control unit 24 can provide the operator at the notification unit 36 with an indication of the cleaning result. At least then, if no sufficiently good cleaning has taken place, a corresponding note is provided. Preferably, a corresponding indication is provided even with a sufficiently good cleaning. This also allows the operator not to be satisfied. Detect dividing cleanings and, if necessary, perform a repeated cleaning.

Even with hand-guided operation of the floor cleaning appliance 10, an indication relating to the cleaning result, which results from the comparison of the images by the control unit 24, is conveniently stored in the storage unit 34. Preferably, the note is also stored here linked to a position information for the bottom surface portion 60.

Even with hand-guided operation of the floor cleaning device 10, the cleaning result for the entire floor surface 14 can be stored for the purpose of documentation.

Alternatively or additionally, it can be provided with hand-guided operation of the floor cleaning appliance 10 that indications as to whether the floor surface section 60 has been cleaned sufficiently well can be transmitted to the remote control 42. The notes can be stored in particular in their memory unit 48. At least notes are stored if no sufficiently good cleaning has taken place. Preferably, a corresponding note is stored even with sufficiently good cleaning. The notes are preferably stored linked with a position information of the bottom surface portion 60, which can also be transmitted to the remote control 42.

Of course, it can also be provided for autonomous cleaning operation of the floor cleaning appliance 10 that corresponding instructions are transmitted to the remote control room 42 and stored there. It is also possible that the images taken with the cameras 54, 56 are stored in the storage unit 48.

It may even be provided that the comparison of the images is made by the control unit 44 and not by the control unit 24. In this case, instructions can be transmitted from the control unit 44 to the floor cleaning system. advises 10 to reset, and again to clean the bottom surface portion 60.

Hereinafter, it will be appreciated that the floor cleaning apparatus 10 is controlled by an operator at the remote control room 42 for cleaning the floor surface 14. The operator can control the movement of the floor cleaning device 10 via the operating unit 46. The images of the bottom surface portion 60 before cleaning and after cleaning are preferably transferred to the control unit 44. The images can be displayed on the hint unit 50, so that the operator can control the cleaning result and, if necessary, perform a further cleaning of the bottom surface portion 60.

It can also be provided that the control unit 44 performs an automatic comparison of the images of the bottom surface portion 60 and the operator at the remote control 42 provides an indication at least then, if no sufficiently good cleaning is done. Preferably, the indication is provided even with sufficiently good cleaning of the bottom surface portion 60. The note is displayed in particular at the hint unit 50. In the memory unit 48, the hint, preferably linked with a position information, can be stored.

It can also be provided that the control unit 24 makes a comparison of the images and transmits an indication of the cleaning result to the remote control 42.

Advantageous embodiments of the method according to the invention have been explained above using the example of the floor cleaning device 10, which may be self-propelled and self-steering and / or may be hand-operated and / or remotely controlled. Of course, it can be provided that advantageous embodiments of the method with only self-propelled and self-steering, only hand-held or only remotely controlled erten floor cleaning devices can be performed. The application on ride-on floor cleaning equipment is conceivable.

Figures 4 and 5 show examples of self-propelled and self-steering floor cleaning devices for carrying out advantageous embodiments of the method. Reference is made to the above statements, which are valid accordingly.

Figure 5 shows schematically a floor cleaning device 70, which is designed as a sweeping-suction robot. For identical or equivalent features of the floor cleaning devices 10 and 70 identical reference numerals are used. The achievable with the floor cleaning device 10 advantages can also be achieved with the floor cleaning device 70.

In the floor cleaning device 70, the cleaning unit 38 comprises a sweeping unit, not shown in the drawing, with which the bottom surface 14 can be swept. Further, the cleaning unit 38 includes a suction unit, also not shown, with the swept dirt can be sucked.

Also in the floor cleaning device 70, the cameras 54, 56 are present and, for example, held on the housing 58.

FIG. 4 shows, in a schematic representation, an advantageous embodiment of a floor cleaning appliance according to the invention, designated by the reference numeral 80. Also in this case, identical reference numerals are used for the same or equivalent features or components of the floor cleaning devices 10, 80. The achievable with the floor cleaning device 10 advantages can also be achieved with the floor cleaning device 80.

When floor cleaning device 80, in this case also a scrubbing machine, instead of the two detection units 26, 28 only an optical detection unit 82 is used. The detection unit 82 is configured as Camera 84, in particular digital camera. The camera 84 has a field of view 86 which is directed to the bottom surface 14.

The camera 84 is held movable on the floor cleaning device 80. In particular, the camera 84 is rotatably mounted about a rotation axis 88. For rotating the camera 84, the floor cleaning device 80 has a drive unit 90, which can be activated by the control unit 24.

The axis of rotation 88 is oriented perpendicular to a contact plane defined by the chassis 12, which touch level coincides with the plane of the bottom surface 14. With horizontal bottom surface 14, the axis of rotation 88 is thereby vertically aligned.

In the floor cleaning device 80 both images of the bottom surface portion 60 are created with the camera 84. The first image of the bottom surface portion 60 before cleaning is created by the field of view 86 is directed to an area in the cleaning direction 22 upstream of the cleaning unit 38 on the bottom surface 14 (right in Figure 4).

After picking up the first image, the camera 84 is rotated so that the field of view is directed onto a downstream in cleaning direction 22 the cleaning unit 38 portion on the bottom surface 14. It is taken after cleaning the bottom surface portion 60, the second image of the same. This is shown on the left in FIG. The field of view after the cleaning of the bottom surface portion is indicated by the reference numeral 86 'and the bottom surface portion after the cleaning is indicated by the reference numeral 60'. This makes it possible to carry out the method according to the invention with only one camera 84.

Alternatively or in addition to the possibility of rotation about the axis of rotation 88, it may be provided that the camera 84 is rotatable about an axis of rotation 89. The axis of rotation 89 is aligned perpendicular to the cleaning direction 22 and parallel to the touch plane (in Figure 4 horizontally and perpendicular to the plane). For rotating the camera 84, a drive unit not shown in the drawing can be provided, which can be controlled by the control unit 24.

In another advantageous embodiment, not shown in the drawing, it can be provided that the field of view of the camera used is so large that it extends on the bottom surface 14 from a section lying in front of the cleaning unit 38 to a section located behind the cleaning unit 38 ( in each case based on the cleaning direction 22). A movable camera 84 can be saved.

Claims

PATENT CLAIMS

1. Method for cleaning a floor surface with a floor cleaning device, in which method, during the cleaning movement of the floor cleaning device over the floor surface, a first recording of a floor surface section is created with an optical detection unit before cleaning, the floor cleaning device moves over the floor surface section with at least one cleaning unit and this is cleaned, a second recording of the floor surface section is taken after cleaning with an optical recording unit and the recordings are compared with one another to check the cleaning result.

2. The method according to claim 1, characterized in that a camera, in particular a digital camera, is used as the optical detection unit, and that the recordings are images of the floor surface section.

3. The method according to claim 1 or 2, characterized in that two optical detection units are used to create the first recording and the second recording, the first detection unit being provided for creating the first recording and, based on a cleaning direction, the at least a cleaning unit is directed upstream of the floor surface, and wherein the second detection unit is provided for creating the second recording and is directed downstream of the at least one cleaning unit towards the floor surface.

4. Method according to one of the preceding claims, characterized in that an optical detection unit is used which creates the first recording and the second recording.

5. The method according to any one of the preceding claims, characterized in that at least one optical detection unit is movably mounted on the floor cleaning device, and that the detection unit is moved relative to the floor cleaning device after the first recording has been created to create the second recording.

6. Method according to one of the preceding claims, characterized in that the comparison of the recordings is carried out by a control unit of the floor cleaning device or by a control unit arranged spatially away from the floor cleaning device and on an indication unit at least if the floor surface section has not been cleaned sufficiently well, a corresponding note is provided and / or preferably stored linked to position information of the floor surface section, the position of the floor cleaning device on the floor surface being determined.

7. The method according to claim 6, characterized in that the notice is provided on a notice unit of the floor cleaning device and / or is stored in a storage unit of the floor cleaning device.

8. The method according to claim 6 or 7, characterized in that an indication unit arranged spatially away from the floor cleaning device and / or a storage unit arranged spatially away from the floor cleaning device is used.

9. The method according to any one of claims 6 to 8, characterized in that storage is also carried out if sufficiently good cleaning has taken place.

10. The method according to one of the preceding claims, characterized in that in the case that the floor cleaning device is a self-propelled and self-steering floor cleaning device and no sufficient After the floor surface section has been thoroughly cleaned, the floor surface section is cleaned again, a further recording of the floor surface section is created with an optical detection unit after the repeated cleaning and this is compared with the first recording and/or the second recording to check the cleaning result.

11. The method according to any one of the preceding claims, characterized in that at least the second recording is displayed on a display unit of the floor cleaning device or on a display unit arranged spatially away from the floor cleaning device and / or that with a control unit of the floor cleaning device or with a control unit arranged spatially away from it Control unit a comparison of the recordings is made and based on this an indication can be displayed on the display unit that a sufficiently good cleaning has been carried out.

12. The method according to any one of the preceding claims, characterized in that the position of the floor cleaning device on the floor surface is determined and recordings of the floor surface section are linked to position information, that a reference recording of the floor surface section in the cleaned state is stored in a storage unit linked to position information and that the second recording is compared with the reference recording to check whether the floor surface section can be considered sufficiently clean.

Method according to one of the preceding claims, characterized in that the method is carried out during the entire or substantially entire cleaning of the floor surface.

14. Method according to one of the preceding claims, characterized in that a self-propelled and self-steering floor cleaning device is used.

15. The method according to any one of the preceding claims, characterized in that a hand-held floor cleaning device or a ride-on floor cleaning device is used.

16. Floor cleaning device for carrying out the method according to one of the preceding claims, comprising a chassis (12) for moving on a floor surface (14), at least one cleaning unit (38) for cleaning the floor surface (14) and at least one optical detection unit (26, 28 ; 82), wherein during the cleaning movement of the floor cleaning device (10; 70; 80) over the floor surface (14) with the at least one optical detection unit (26, 28; 82), a first recording of a floor surface section (60) can be created before cleaning , the floor cleaning device (10; 70; 80) with the at least cleaning unit (38) can be moved over the floor surface section (60) and this can be cleaned, and with the at least one optical detection unit (26, 28; 82) a second recording of the floor surface section (60 ) can be created after cleaning, with the recordings being comparable to each other to check the cleaning results.

17. Floor cleaning device according to claim 16, characterized in that the at least one optical detection unit (26, 28; 82) is a camera (54, 56; 84), in particular a digital camera, and that the recordings are images of the floor surface section (60).

18. Floor cleaning device according to claim 16 or 17, characterized in that the floor cleaning device (10; 70; 80) comprises two optical detection units (54, 56) in order to create the first recording and the second recording, the first detection unit (54) is intended for creating the first recording and, in relation to a cleaning supply direction (22), upstream of which at least one cleaning unit (38) is directed onto the floor surface (14), and wherein the second detection unit (56) is provided for creating the second recording and downstream of the at least one cleaning unit (38) onto the floor surface ( 14) is directed.

19. Floor cleaning device according to one of claims 16 to 18, characterized in that the first recording and the second recording can be created with the same optical detection unit (82).

20. Floor cleaning device according to one of the preceding claims,

characterized in that at least one optical detection unit (82) is movably mounted on the floor cleaning device (80), and in that the detection unit (82) is movable relative to the floor cleaning device (80) after creating the first recording and for creating the second recording.

21. Floor cleaning device according to one of claims 16 to 20, characterized in that the floor cleaning device (10; 70; 80) has a control unit (24) for comparing the recordings and that on an indication unit (36, 50) at least if none is sufficient good cleaning of the floor surface section (60) has been carried out, an indication can be provided and/or preferably linked to position information of the floor surface section (60) can be stored in a storage unit (34, 48), the position of the floor cleaning device (10; 70; 80) on the floor surface (14) can be determined by means of a localization unit (30).

22. Floor cleaning device according to claim 21, characterized in that the floor cleaning device (10; 70; 80) comprises a notice unit (36) on which the notice can be provided and / or a storage unit (34) in which the notice is preferably stored the position information can be stored linked.

23. Floor cleaning device according to claim 21 or 22, characterized in that the floor cleaning device (10) comprises a communication unit (40) via which the message is sent to a notification unit (50) and/or storage unit (48) which is spatially distant from the floor cleaning device (10). is transferable.

24. Floor cleaning device according to one of claims 21 to 23, characterized in that storage can also be carried out if the floor surface section (60) has been cleaned sufficiently well.

25. Floor cleaning device according to one of claims 16 to 24, characterized in that the floor cleaning device (10; 70; 80) is a self-propelled and self-steering floor cleaning device (10; 70; 80) and that if the floor surface section (60) is not cleaned sufficiently well has taken place, the floor surface section (60) can be cleaned again, with the at least one optical detection unit (28; 82) a further recording of the floor surface section (60) can be created after the repeated cleaning and this can be used with the first recording and / or the second recording Control of the cleaning results is comparable.

26. Floor cleaning device according to one of claims 16 to 25, characterized in that the floor cleaning device (10) comprises a display unit (36) on which at least the second recording can be displayed and / or that the floor cleaning device (10) has a control unit (24). Comparison of the recordings, whereby based on the comparison an indication can be displayed on the display unit (36) that a sufficiently good cleaning has been carried out.

27. Floor cleaning device according to one of claims 16 to 26, characterized in that the position of the floor cleaning device (10; 70; 80) on the floor surface (14) can be determined by means of a localization unit (30) and the recordings of the floor surface section (60) can be linked to position information, so that in a storage unit (34, 48) a reference recording of the floor surface section (60) in the cleaned state with position information can be stored linked and that the second recording is comparable to the reference recording for checking whether the floor surface section (60) can be considered sufficiently clean.

28. Floor cleaning device according to one of claims 16 to 27, characterized in that the floor cleaning device (10; 70; 80) is a self-propelled and self-steering floor cleaning device (10; 70; 80).

29. Floor cleaning device according to one of claims 16 to 28, characterized in that the floor cleaning device (10) is a hand-held floor cleaning device (10) or a ride-on floor cleaning device.