Method of operating floor cleaning device and floor cleaning device

Abstract

The invention relates to a method for operating a floor cleaning device, the floor cleaning device having at least one housing, at least one cleaning tool and at least one sensor for capturing vibrations, the floor cleaning device being designed and arranged to autonomously move in a cleaning environment and perform a cleaning task, wherein at least the following method steps are included: during operation of the floor cleaning device, at least one vibration measurement value (1) is captured by means of the sensor, the vibration measurement value is compared with at least one reference value, and at least one contact parameter between the cleaning tool and the surface to be cleaned is adjusted as a function of the result of the comparison.

Description

Technical Field

[0001] The present invention relates to a method for operating a floor cleaning device and more specifically to a floor cleaning device for implementing the disclosed method. The floor cleaning device comprises at least one housing and at least one cleaning tool. The floor cleaning device is designed and arranged to move autonomously in a cleaning environment and perform cleaning tasks. Background Art

[0002] Such floor cleaning devices are known in the prior art in various embodiments and are used to automatically clean cleaning environments in private and commercial areas. The floor cleaning device is designed as, for example, a vacuuming robot, a mopping robot or a vacuuming and mopping robot. In order to clean the surface of the cleaning environment, i.e. the floor covering, the cleaning tool must be in contact with the surface when the floor cleaning device moves. Different floor coverings in the cleaning environment may have different mechanical interactions with the cleaning tool. This interaction may affect the cleaning result, which may not be satisfactory in all areas of the cleaning environment. Summary of the invention

[0003] The invention is therefore based on the object of providing a method for operating a floor cleaning device and a floor cleaning device which ensures an optimal cleaning result on a variety of floor coverings.

[0004] The above object is achieved by the method of the present invention comprising at least the following method steps:

[0005] - capturing at least one vibration measurement using a sensor during operation of the floor cleaning device,

[0006] - comparing the vibration measurement value with at least one reference value,

[0007] - Depending on the result of the comparison, at least one contact parameter between the cleaning tool and the surface to be cleaned is adjusted.

[0008] The floor cleaning device used to preferably implement the method is, for example, a vacuum robot, a mopping robot or a vacuum mopping robot. The floor cleaning device has at least one housing. At least one drive wheel, preferably at least or exactly two drive wheels, is provided on the lower side of the housing for moving the floor cleaning device in the cleaning environment. The floor cleaning device further comprises at least one cleaning tool, preferably at least or exactly two cleaning tools or at least or exactly three cleaning tools. For example, the cleaning tool is configured as a mop, a brush or multiple brushes. Preferably, the floor cleaning device is set to include at least two cleaning tools, i.e., preferably a mop and at least one brush, preferably multiple brushes. Preferably, the mop comprises at least one mop floor and at least one mop cover, preferably made of textile or foam material.

[0009] For example, the first cleaning tool is arranged in the front area of ​​the housing along the direction of travel, and the second cleaning tool is arranged in the rear area along the direction of travel. For example, a brush or brushes are arranged in the front area of ​​the floor cleaning device along the direction of travel, and a mop is arranged in the rear area of ​​the housing along the direction of travel.

[0010] For example, the cleaning tool or cleaning tools are arranged on or in the housing such that the cleaning tool can be lifted or placed on the surface to be cleaned.

[0011] For example, the mop is designed and arranged on the floor cleaning device such that the mop is capable of performing an oscillating, circling and / or swinging motion at least during operation to achieve cleaning purposes.

[0012] The floor cleaning device further includes at least one sensor for capturing vibrations. The sensor is designed as, for example, a vibration sensor or an acceleration sensor. The sensor is preferably connected to a control device of the floor cleaning device. The control device includes, for example, at least one processor and at least one memory. The control device includes, for example, one or more computing devices, the one or more computing devices including one or more processors and a memory, the memory having a non-transitory computer-readable medium having software instructions stored thereon, and when executed by the one or more processors, the software instructions cause the one or more processors to perform steps including the method described herein. It is also provided that there are multiple sensors for capturing vibrations. Preferably, the sensor is arranged in or on the housing. Specifically, it is provided that the sensor is arranged in the central area of ​​the housing of the floor cleaning device, for example, longitudinally arranged between two cleaning tools. It is also provided that the sensor is arranged in the front area of ​​the floor cleaning device along the direction of travel, for example, the area of ​​the cleaning tool arranged there.

[0013] The floor cleaning device is configured to autonomously navigate in a cleaning environment and perform cleaning tasks. For example, the floor cleaning device has a plurality of navigation sensors. Preferably, the navigation sensors are connected to the control device. Advantageously, navigation in the cleaning environment and / or control of the cleaning program are performed by the control device.

[0014] According to the method of the invention, provision is made for at least one vibration measurement to be first captured with the sensor during operation of the floor cleaning device. Preferably, provision is made for a plurality of vibration measurements to be acquired during the step of acquiring with the sensor.

[0015] Particularly in the case of a cleaning tool designed as a mop, contact of the surface of the floor covering with the cleaning tool during operation can lead to vibrations of the entire floor cleaning device in an undesirable manner. Such vibrations of the housing of the floor cleaning device are advantageously captured using sensors.

[0016] Subsequently, the at least one vibration measurement value or the captured vibration measurement values ​​are compared with at least one reference value or reference values. The reference value can be, for example, a threshold value or a tolerance range. The reference value is preferably a fixed reference value, in particular the same for all floor coverings and therefore independent of the floor covering. This makes it possible, for example, to always achieve a maximum possible contact force at which the vibration is still below the reference value. Alternatively, it is also provided that, for example, the reference value used for the comparison depends on the floor covering, i.e. the surface to be cleaned, over which the floor cleaning device is moved.

[0017] According to the result of the comparison, at least one contact parameter between the cleaning tool and the surface to be cleaned is then adjusted. The adjustment may involve increasing, decreasing or maintaining the current contact parameter. If, for example, the sensor does not capture or only captures very low vibrations below a threshold value as a reference value, at least one contact parameter is increased. If the captured vibration measurement value or multiple vibration measurement values ​​are above the threshold value as a reference value, the contact parameter is reduced. For example, if the comparison of the measured vibration value or multiple vibration values ​​shows that they are within a tolerance range as a reference value or within a certain range near the threshold value, the current contact parameter is maintained.

[0018] The contact parameter is, for example, the contact force and / or contact area of ​​the cleaning tool on the surface to be cleaned and / or the amount of liquid between the cleaning tool and the surface to be cleaned. Therefore, when adjusting the contact parameter, it is set to, for example, increase, decrease or maintain the contact force and / or contact area of ​​the cleaning tool. It is also set to, for example, increase the amount of liquid between the cleaning tool and the surface to be cleaned by adding water and / or detergent.

[0019] When describing the adjustment of at least one contact parameter, the adjustment of at least two or at least three or all contact parameters should also be disclosed. It is also provided that one contact parameter is increased during the adjustment and another contact parameter is reduced during the adjustment. For example, it is provided that the contact force is reduced while the fluid volume is increased at the same time.

[0020] Preferably, the method is performed until the vibration measurement value is below a threshold value serving as a reference value or is within a tolerance range. For example, it is provided that the method is performed at least once after each start-up of the floor cleaning device. For example, it is also provided that the method is performed at least once when the control device detects a change in the type of the surface to be cleaned (i.e. the floor covering) or when a predetermined percentage change or a predetermined absolute value change of the captured vibration measurement value or multiple vibration measurement values ​​occurs.

[0021] Compared to the prior art, the invention has the following advantages: The contact parameters that influence the vibrations of the floor cleaning device during operation are adjusted during operation specifically according to the surface of the cleaning environment to always ensure the best possible contact parameters and thus achieve the best possible cleaning result, such as the highest possible contact pressure. For example, according to the invention, an iterative approximation of the best possible contact parameter, such as the maximum possible contact force or contact area, is carried out for each type of floor, at which a preferably fixed reference value is just cut or reached. In this way, the cleaning is optimized for each floor covering. Thus, the contact parameters or the contact parameter are adaptively adjusted or changed according to the floor covering during operation.

[0022] According to one embodiment of the method, the setting comprises at least the following further method step: at least one cleaning program is selected from a plurality of cleaning programs according to the adjusted contact parameter or according to the type of adjustment. The floor cleaning device is then operated with the selected cleaning program. For example, if the contact parameter is maintained during the adjustment, a normal, time-saving cleaning program, such as a cleaning program with a simple path strategy, can be continued or started. In such a cleaning program, for example, each location in the cleaning environment is only passed once for cleaning purposes.

[0023] Therefore, it has been proved that the following situation is particularly advantageous: for the type of surface to be cleaned, if the selection considers whether the contact parameter is reduced or increased during adjustment and / or whether the contact parameter existing after adjustment reaches a predetermined threshold and / or whether the desired cleaning result can be achieved using the contact parameter existing after adjustment. If, for example, the contact parameter is the contact pressure, and the contact pressure is reduced as part of the adjustment to reduce vibration during the first operation of the method, then, in the case of considering the type of surface to be cleaned, as part of the selection, it is checked whether the desired cleaning result can be achieved using the contact pressure existing after the adjustment, or, for example, whether the contact pressure reaches a predetermined threshold. If this is the case, for example, a normal cleaning program using a common travel strategy is activated. On the other hand, if it is determined that reducing the contact pressure to reduce vibration is not enough to achieve a sufficient cleaning effect, an intensive cleaning program is selected, for example, wherein specifically at least one position in the cleaning environment, at least one area in the cleaning environment, or the entire cleaning environment is passed twice. The intensive cleaning program can also include, for example, a slower travel speed. It is also set to select a cleaning program only for one area in the cleaning environment or for a predetermined time.

[0024] For example, a check is carried out by comparing reference values ​​measured in a laboratory or simulated reference values, which are kept available in particular by the control device of the floor cleaning device, to see whether the desired cleaning result can be achieved for the type of surface to be cleaned with the contact parameter or contact parameters existing after the adjustment.

[0025] According to one embodiment of the method, it has been found to be particularly advantageous that, if the contact parameter is a contact force, a cleaning program is selected during the selection in which at least one predetermined location or area in the cleaning environment or the entire cleaning environment is passed over at least twice if the contact parameter decreases during the adjustment and / or if the contact parameter falls below a predetermined threshold value. This always ensures that, despite the decrease in the contact pressure, an optimal cleaning result is achieved by selecting the correct cleaning program.

[0026] It is also particularly advantageous if, according to a further embodiment of the method, at least one location, area or the entire cleaning environment is passed over twice in different directions. These directions are offset from each other, for example, by an angle, preferably by about 90°. For example, the two passes ensure that sufficient cleaning is achieved even with low contact pressures and / or that the cleaning tool, in particular the mop, is able to loosen even stubborn stains.

[0027] According to a further embodiment of the method, the contact parameter, in particular the contact force or the contact surface, is adjusted in predefined steps. In particular, the contact force is increased or decreased, for example, in predefined steps. It is set that the individual steps always have the same amount, or that the individual steps have different amounts. After the adjustment, the method is advantageously implemented again to check whether the vibrations that subsequently occur continue to exceed a predetermined threshold value, for example as a reference value. If this is the case, further adjustments are made. Thus, the contact parameter, for example the contact force, is adapted to the method for each floor covering in such a way that the maximum possible contact parameter, for example the maximum possible contact force, of the cleaning tool, in particular the mop, can be selected while avoiding unwanted vibrations.

[0028] In addition, as an alternative, it is also specifically set to adjust the contact parameter according to a defined percentage step, for example, always by 10%. Further alternatively, the adjustment of the contact parameter is set to have a fixed mathematical relationship with the deviation of the vibration measurement value or at least one of the vibration measurement values ​​relative to the reference value. For example, if the vibration measurement value exceeds the reference value, for example, by 10%, the contact force is set to be reduced by 5%, or if it exceeds the reference value by 20%, it is reduced by 10%.

[0029] In order to always ensure that at least the operation is performed with the optimal contact parameters, according to a further embodiment of the method, each operation of the floor cleaning device is set to be performed with predetermined contact parameters and the method is repeatedly performed until the vibration measurement value is below a threshold value or falls within a tolerance range. After startup, the predetermined contact parameter (i.e. the initial contact parameter) is, for example, a maximum contact parameter, in particular a maximum contact force or a maximum contact area. As long as the vibration measurement value exceeds the threshold value or is outside the tolerance range, in each run of the method, in particular in a step, at least one contact parameter, for example the contact pressure, is reduced until the measured vibration is below the threshold value. This ensures that there is always an optimal contact parameter, in particular a contact force, for each floor covering.

[0030] According to a further embodiment of the method, the contact parameter is adjusted only for predetermined areas in the cleaning environment or the contact parameter is adjusted only for predetermined times. For example, if an area of ​​the cleaning environment in which a certain floor covering is present is known, the control unit evaluates this situation and causes the contact parameter to be adjusted only until the floor cleaning device moves again out of the area with the floor covering. It is provided that when the floor cleaning device leaves the area, the method is again carried out to adjust the contact parameter to the floor covering outside the area.

[0031] It is also set that after the predetermined time has passed, the predetermined contact parameter (i.e., the initial contact parameter) is reset, and the method is performed at least once from beginning to end. It is further set that when entering a predefined area of ​​the cleaning environment, the predetermined contact parameter, such as the maximum contact force, is reset, and the method is performed at least once from beginning to end. It is also set that when leaving the area, at least one contact parameter, such as the contact pressure, is reset to a maximum value.

[0032] Furthermore, it is provided that the adjustment of the contact parameter is performed only for a predetermined time, for example the remaining running time of the cleaning program. This may be necessary, for example, because the coefficient of friction between the cleaning tool and the surface to be cleaned may change during operation, for example, due to a reduction in the amount of liquid between the cleaning tool and the surface. In order to take this into account, when the contact parameter is, for example, the contact force or the contact surface, the contact parameter is changed, in particular until the end of the cleaning process. It is also provided that after the end of the time, the previous contact parameter is reset, and the method is performed at least once from beginning to end.

[0033] In particular, in order to always ensure operation with optimal contact parameters, according to a further embodiment, it is provided that the capturing and comparing method steps are repeated at least at predetermined time intervals and / or under event control. For example, the method is implemented once every 30 seconds during operation. In particular, the process is repeated until the vibration measurement value is below a threshold value or falls within a tolerance range.

[0034] However, it is also provided that the method can be started on an event-controlled basis, for example, when the floor cleaning device detects a new floor covering. Another event can be that the captured vibration measurement value exceeds the chronologically previous vibration measurement value in percentage or absolute value, in particular above a threshold value. Thus, in particular, it is contemplated that the capturing and comparing are performed continuously during operation and that an adjustment is only performed when a measured vibration value has a predetermined deviation from a reference value or a last measured vibration value. For example, the method is implemented depending on the position of the floor cleaning device in the cleaning environment.

[0035] In particular according to the described embodiments, the invention further relates to a floor cleaning device which is preferably designed and arranged to carry out the method according to the described embodiments.

[0036] The floor cleaning device has at least one housing, at least one cleaning tool and at least one sensor for capturing vibrations. In addition, the floor cleaning device is designed and arranged to move autonomously in a cleaning environment and perform cleaning tasks.

[0037] The floor cleaning device is characterized in that at least one contact parameter between the cleaning tool and the surface to be cleaned, such as contact force and / or contact surface and / or liquid amount, can be adjusted according to the vibration captured by the sensor. Preferably, the floor cleaning device comprises at least one control unit, with which the contact parameter can be adjusted according to the captured vibration. Preferably, the contact parameter is changed so that the vibration captured by the sensor is below a threshold or within a tolerance range. Further embodiments of the adjustment of the contact parameter produce results similar to those described in the method according to the invention.

[0038] Particularly preferably, according to a further embodiment of the floor cleaning device, at least one adjuster (adjustment mechanism or adjustment device) is provided to adjust the contact parameter. The adjustment device comprises at least one belt, in particular a toothed belt, and at least one device for converting a lateral movement into a vertical movement, such as a first screw device. The contact parameter, for example the contact force or the contact surface, can be changed by rotating the first screw device. Preferably, the contact pressure of the cleaning tool can be adjusted by means of the adjustment device. The rotation of the first screw device can be achieved by means of the belt. The first screw device is arranged, for example, on a bolt by means of an external thread on the cleaning tool.

[0039] The belt of the adjustment device is preferably guided in the housing of the floor cleaning device. The belt interacts with the first screw device so that, depending on the direction of rotation of the belt, the first screw device can be moved, in particular on the thread. The rotation of the first screw device means a change in the contact parameter, for example the contact force. The belt is driven, for example, by a drive device, such as a motor. The drive device can be controlled by the control device of the floor cleaning device. For example, the first screw device comprises at least two or at least four nuts with external teeth, each nut being guided on an associated bolt with an external thread on the cleaning tool. The external teeth of the nuts advantageously cooperate with the belt, in particular a toothed belt.

[0040] According to a further embodiment of the floor cleaning device, it has proven to be particularly advantageous if the setting of the escape height of at least one drive wheel of the floor cleaning device from the housing can also be influenced by the belt via at least one second screw device. Thus, by rotating the belt by means of the drive device, not only can the contact parameter, such as the contact force or the contact surface, be changed, but also the escape height of at least one drive wheel, preferably all drive wheels, from the housing can be adjusted. This simultaneously raises and lowers the housing relative to the surface to be cleaned. This is particularly advantageous if, for example, a carpet edge or the like must be overcome. Both the housing and the cleaning tool can be raised and lowered simultaneously.

[0041] For example, in order to achieve different changes in the lifting and lowering of the housing and the cleaning tool, according to a further embodiment of the floor cleaning device, the thread pitches of the first screw device and the second screw device are set to be different. Both screw devices are driven by the same belt, but the different thread pitches of the screw devices will result in different changes in the position on the housing or on the cleaning tool.

[0042] The present invention further relates to a floor cleaning device, the floor cleaning device comprising at least one housing, at least one cleaning tool and at least one driving wheel, the floor cleaning device being configured and adapted to autonomously move in a cleaning environment and perform cleaning tasks, wherein the driving wheel is supported on the housing so that the escape height of the driving wheel from the housing can be adjusted. The floor cleaning device is characterized in that the cleaning tool is movably supported on the housing so that the cleaning tool can move toward and away from a surface to be cleaned in the cleaning environment, and the cleaning tool is coupled to the driving wheel (specifically a suspension of the driving wheel) so that when the escape height of the driving wheel changes, the cleaning tool also moves toward or away from the surface to be cleaned.

[0043] For example, the drive wheel is held on the housing by a suspension, wherein the suspension is configured to be able to influence the suspension so that the drive wheel protrudes more or less from the housing relative to the bottom of the housing. The suspension is preferably coupled to the cleaning suspension of the cleaning tool so that when the drive wheel (preferably all drive wheels) moves in the height direction, the cleaning tool also moves in the direction of the surface to be cleaned or in a direction away from the surface to be cleaned.

[0044] The coupling of the drive wheel suspension, in particular the suspension of all drive wheels, to the cleaning suspension is preferably mechanical or electromechanical. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Further advantageous embodiments of the invention are evident from the following description of the drawings and the dependent claims.

[0046] Figure 1 is a diagram of an example of a floor cleaning device;

[0047] Figure 2 is a flow chart of an example of a schematic sequence of a method according to the present invention;

[0048] Figure 3 is a diagram of an embodiment of a floor cleaning apparatus in at least partial view from above;

[0049] Figure 4 is based on Figure 3 A partial side view of an embodiment of;

[0050] Figure 5 is a diagram of a simplified computer system 500 according to some embodiments of the present disclosure.

[0051] Reference numerals list

[0052] 1 Floor cleaning equipment

[0053] 2 Housing

[0054] 3 Cleaning tools

[0055] 3a Mop

[0056] 3b Cleaning brush

[0057] 4. Clean environment

[0058] 4a Surface

[0059] 5 Drive wheels

[0060] 6 Adjustment device

[0061] 7 belts

[0062] 8 First screw device

[0063] 8a Nut

[0064] 9. Drive device

[0065] 10 Second screw device

[0066] 10a Nut

[0067] 10b Bolt

[0068] 11 Swivel arm

[0069] 12 Pivot bearing

[0070] 13. Compression spring

[0071] 100 Methods

[0072] 101 Capture

[0073] 102 Comparison

[0074] 103 Adjustment

[0075] 104 Choice DETAILED DESCRIPTION

[0076] In the various figures of the drawings, like parts are always provided with like reference numerals.

[0077] With regard to the following description, it is claimed that the invention is not limited to the embodiments and therefore not to all or several of the features of the described combinations of features. On the contrary, each individual local feature of this / each embodiment is equally important for the subject matter of the invention, each individual local feature being independent of all other local features described in relation to it and also described in combination with any features of other embodiments.

[0078] Figure 1 An embodiment of a floor cleaning device 1 in a side view is shown. The floor cleaning device 1 has at least one housing 2. The floor cleaning device 1 has two cleaning tools 3, namely a mop 3a and a cleaning brush 3b. The mop 3a can be raised and lowered via an adjustment device 6 so that, for example, the contact pressure can be adjusted. In addition, the floor cleaning device 1 has a dust suction device that is not shown in more detail. A sensor (not shown) for capturing vibrations is arranged in the housing 2 of the floor cleaning device 1, which is designed as a vibration sensor in the present embodiment. The floor cleaning device 1 is designed and arranged to move autonomously in a cleaning environment 4 and perform cleaning tasks. The cleaning tool 3 can be used to clean a surface 4a to be cleaned in the cleaning environment 4. For movement, the floor cleaning device 1 has two drive wheels 5 protruding from the housing 2.

[0079] Figure 2 For example, according to Figure 1 or Figure 3 1 . An exemplary embodiment of a method 100 for operating a floor cleaning device 1 is shown in FIG. 1 . According to the method 100, during operation of the floor cleaning device 1, a plurality of vibration measurement values ​​are first captured 101 using the sensor. Subsequently, these vibration measurement values ​​are compared 102 with at least one tolerance range as a reference value. For example, the tolerance range is kept available in a memory of a control device of the floor cleaning device 1.

[0080] Based on the result of the comparison 102, an adjustment 103 is performed on at least one contact parameter of the cleaning tool 3 and the surface to be cleaned 4a, such as the contact force. Figure 1 In the embodiment shown, an adjustment 103 of the contact force of the mop 3a is advantageously performed.

[0081] exist Figure 2 In the embodiment of the method shown, a cleaning program is also selected 104 from a plurality of cleaning programs after the adjustment 103 if the contact parameter, in particular the contact force, has been reduced and after the reduction is below a predetermined threshold value. Furthermore, in the present embodiment, after the adjustment 103, the method 100 is re-executed in order to check whether the adjustment 103 leads to a reduction in vibrations of the floor cleaning device 1.

[0082] In accordance with Figure 2 In the embodiment of the invention, the floor cleaning device 1 is started with the maximum contact force as the contact parameter and the method 100 is then repeatedly performed until the vibration measurement value captured by the sensor is within a tolerance range as a reference value.

[0083] Figure 3 and Figure 4 A further embodiment of a floor cleaning device 1 is shown in an at least partial representation. Figure 3 An exemplary embodiment with an at least partially open housing 2 is shown from above. Figure 4 An embodiment of a floor cleaning device 1 is shown in a partially cut-away side view in a partial representation of the components. Figure 3 and Figure 4 In the embodiment of the present invention, the floor cleaning device 1 has at least one cleaning tool 3 in the form of a mop 3a. The mop 3a has a mopping floor, on which a replaceable mop cover can be arranged. The mop 3a is movably held on the housing 2 along with the mopping floor.

[0084] The floor cleaning device 1 has an adjustment device 6 for adjusting the contact parameter, here the contact force of the cleaning tool 3 in the form of a mop 3a. The adjustment device 6 has a belt 7 (in this case a toothed belt) and a first screw device 8. The first screw device 8 has four nuts 8a with external teeth, each nut 8a being arranged on a bolt with external threads attached to the mopping floor. The belt 7 can be driven by a drive device 9 in the form of a motor. When the belt 7 is driven by the drive device 9, the nuts 8a of the first screw device 8 are rotated, so that the cleaning tool 3 (in this case the mop 3a and the mopping floor) moves relative to the housing 2, i.e. is raised and lowered relative to the surface to be cleaned 4a, whereby the contact force of the cleaning tool 3 on the surface to be cleaned 4a can be adjusted (see Figure 1 ).

[0085] Furthermore, in the present embodiment, the adjustment device 6 has a second screw device 10, which has two nuts 10a with external teeth. The nuts 10a are each guided on a bolt 10b with an external thread. By means of the second screw device 10, the escape height of the drive wheel 5 of the floor cleaning device 1 from the housing 2 can be adjusted, thereby adjusting the distance from the housing 2 to the surface 4a to be cleaned. Since the first screw device 8 and the second screw device 10 are coupled to each other via the belt 7, the drive wheel 5 moves out of or into the housing 2 while the cleaning tool 3 is raised or lowered.

[0086] like Figure 4 As shown, the drive wheels 5 are each held on a swivel arm 11 that can swivel about a swivel bearing 12. The swivel arm 11 is supported by a compression spring 13. The spring preload of the compression spring 13 and the resulting escape height of the drive wheel 5 from the housing 2 are adjusted via the nuts 10a of the second screw device 10 by rotating these nuts in the housing 2 with the help of the belt 7, so that the bolt 10b is moved. The more the compression spring 13 is pressed down, the more the floor cleaning device 1 together with the cleaning tool 3 is lifted from the surface to be cleaned 4a. It is important that the drive wheel 5 protrudes from the housing 2 of the floor cleaning device 1 so as to drive onto the edge of the carpet or other obstacles. At the same time, when driving upwards, for example on the edge of the carpet, the wet mop 3a should also not touch the carpet, which is why the mop 3a is lifted according to the same principle and via the same belt 7, i.e. by rotating the nuts 8a of the first screw device 8 with the belt 7.

[0087] Conversely, if the spring force of the compression spring 13 is reduced by the rotation of the belt 7, the cleaning tool 3 will also move downwards, thereby increasing the contact pressure on the surface to be cleaned 4a. This coupled system allows two cleaning tools 3 (see, for example, Figure 1 embodiment) ensures a higher contact force.

[0088] Figure 5 A simplified computer system 500 is illustrated according to some embodiments of the present disclosure. Figure 5A schematic illustration of one embodiment of a computer system 500 capable of executing some or all of the steps of the methods provided by various embodiments is provided.

[0089] The illustrated computer system 500 includes hardware elements that may be electrically coupled via a bus 505, or may be otherwise connected, as appropriate. These hardware elements may include one or more processors 510, including but not limited to one or more general purpose processors and / or one or more special purpose processors; one or more input devices 515; and one or more output devices 520. The computer system 500 may further include and / or be connected to one or more non-transitory storage devices 525.

[0090] The computer system 500 may also include a communication subsystem 530. In some embodiments, the computer system 500 will further include a working memory 535, which may include a RAM or ROM device as described above.

[0091] The computer system 500 may also include software elements, shown as currently located in the working memory 535, including an operating system 540, device drivers, executable libraries and / or other code, such as one or more application programs 545, which may include computer programs provided by various embodiments, and / or may be designed to implement methods provided by other embodiments and / or configure systems provided by other embodiments, as described herein. Merely by way of example, one or more processes described for the above methods may be implemented as code and / or instructions that can be executed by a computer and / or a processor within a computer; in one aspect, such code and / or instructions may then be used to configure and / or adapt a general purpose computer or other device to perform one or more operations according to the described methods.

[0092] The set of these instructions and / or codes may be stored on a non-transitory computer-readable storage medium, such as the storage device 525 described above. As described above, in one aspect, some embodiments may employ a computer system, such as computer system 500, to perform methods according to various embodiments of the present technology. According to one set of embodiments, some or all of the flows of such methods are performed by computer system 500 in response to processor 510 executing one or more sequences of one or more instructions, which may be incorporated into operating system 540 and / or other code, such as application program 545, contained in working memory 535. Such instructions may be read into working memory 535 from other computer-readable media, such as one or more storage devices in storage device 525. By way of example only, execution of the sequences of instructions contained in working memory 535 may cause processor 510 to perform one or more flows of the methods described herein.

[0093] As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any medium that participates in providing data that causes a machine to operate in a particular manner. In an embodiment implemented using computer system 500, various computer-readable media may be involved in providing instructions / code to processor 510 for execution and / or may be used to store and / or carry such instructions / code. In many implementations, computer-readable media are physical and / or tangible storage media. Such media may take the form of non-volatile media or volatile media. Non-volatile media include, for example, optical and / or magnetic disks, such as storage device 525. Volatile media include, but are not limited to, dynamic memory, such as working memory 535.

[0094] The communication subsystem 530 and / or its components will typically receive signals, and the bus 505 may then carry the signals and / or data, instructions, etc. carried by these signals to the working memory 535, from which the processor 510 retrieves and executes these instructions. The instructions received by the working memory 535 may optionally be stored on the non-transitory storage device 525 before or after execution by the processor 510.

[0095] The present invention can also be described in the following aspects:

[0096] 1. A method (100) for operating a floor cleaning device (1), wherein the floor cleaning device (1) has at least one housing (2), at least one cleaning tool (3, 3a, 3b) and at least one sensor for capturing vibrations, wherein the floor cleaning device (1) is designed and arranged to move autonomously in a cleaning environment (4) and to perform a cleaning task,

[0097] The method comprises at least the following steps:

[0098] - capturing (101) at least one vibration measurement value with the sensor during operation of the floor cleaning device (1),

[0099] - comparing the vibration measurement value with at least one reference value (102),

[0100] - depending on the result of said comparison (102), adjusting (103) at least one contact parameter between said cleaning tool (3, 3a, 3b) and the surface to be cleaned (4a).

[0101] 2. The method (100) according to aspect 1 is characterized in that the contact parameter is the contact force and / or contact area and / or liquid volume between the cleaning tool (3, 3a, 3b) and the surface to be cleaned (4a).

[0102] 3. The method (100) according to aspect 1 or 2, characterized in that it further comprises at least the following method steps:

[0103] - selecting (104) a cleaning program from a plurality of cleaning programs according to the contact parameters existing after the adjustment (103) and operating the floor cleaning device (1) with the selected cleaning program.

[0104] 4. The method (100) according to aspect 3 is characterized in that, for the type of surface (4a) to be cleaned, the selection (104) takes into account whether the contact parameters decrease or increase during the adjustment (103) and / or whether the contact parameters existing after the adjustment (103) reach a predetermined threshold and / or whether the desired cleaning result can be achieved using the contact parameters existing after the adjustment (103).

[0105] 5. The method (100) according to aspect 3 or 4 is characterized in that, in the selection (104), if the contact parameter decreases in the adjustment (103) and / or if the contact parameter is lower than a predetermined threshold, a cleaning program is selected in which at least one predetermined position in the cleaning environment (4) is passed at least twice.

[0106] 6. The method (100) according to aspect 5, characterized in that two passes are performed in different directions.

[0107] 7. The method (100) according to any one of aspects 1 to 6, characterized in that the adjustment (103) of the contact parameters is performed in a predefined step size.

[0108] 8. A method (100) according to any one of aspects 1 to 7, characterized in that each operation of the floor cleaning device (1) starts with at least one predetermined contact parameter, and wherein the capturing (101), comparing (102) and adjusting (103) steps are repeated until the vibration measurement value is below a threshold or falls within a tolerance range.

[0109] 9. The method (100) according to any one of aspects 1 to 8 is characterized in that the adjustment (103) of the contact parameters is performed for a predetermined area in the cleaning environment (4), and / or the adjustment (103) of the contact parameters is performed for a predetermined time.

[0110] 10. The method (100) according to any one of aspects 1 to 9, characterized in that

[0111] The capturing (101) and comparing (102) method steps are repeated at least at predetermined time intervals and / or under event control.

[0112] 11. A floor cleaning device (1), comprising at least one housing (2), at least one cleaning tool (3) and at least one sensor for capturing vibrations, wherein the floor cleaning device (1) is designed and arranged to move autonomously in a cleaning environment (4), characterized in that the floor cleaning device (1) is configured to perform a method (100) according to any one of aspects 1 to 10.

[0113] 12. A floor cleaning device (1), comprising at least one housing (2), at least one cleaning tool (3, 3a, 3b) and at least one sensor for capturing vibrations, wherein the floor cleaning device (1) is designed and arranged to move autonomously in a cleaning environment (4) and perform cleaning tasks, characterized in that at least one contact parameter between the cleaning tool (3, 3a, 3b) and the surface to be cleaned (4a) can be adjusted based on at least one vibration measurement value that can be captured by the sensor.

[0114] 13. The floor cleaning device (1) according to aspect 12 is characterized in that at least one adjustment device (6) is provided for adjusting the contact parameters, the adjustment device (6) comprises at least one belt (7) and at least one first screw device (8), the contact parameters can be changed by rotating the first screw device (8), and the rotation of the first screw device (8) can be achieved using the belt (7).

[0115] 14. The floor cleaning device (1) according to aspect 13 is characterized in that the escape height of at least one drive wheel (5) of the floor cleaning device (1) from the housing (2) can also be influenced by the belt (7) via at least one second screw device (10).

[0116] 15. Floor cleaning device (1) according to aspect 14, characterized in that the thread pitches of the first screw means (8) and the second screw means (10) are different.

[0117] 16. Specifically according to one of aspects 11 to 15, the floor cleaning device (1) comprises at least one shell (2), at least one cleaning tool (3) and at least one driving wheel (5), wherein the floor cleaning device (1) is designed and arranged to move autonomously in a cleaning environment (4) and perform cleaning tasks, wherein the driving wheel (5) is retained on the shell (2) so that the escape height of the driving wheel (5) from the shell (2) can be adjusted, and is characterized in that the cleaning tool (3) is movably retained on the shell (2) so that the cleaning tool (3) can move toward and away from a surface (4a) to be cleaned in the cleaning environment (4), and the cleaning tool (3) is coupled to the driving wheel (5) so that when the escape height of the driving wheel (5) changes, the cleaning tool (3) also moves toward or away from the surface (4a) to be cleaned.

[0118] The invention is not limited to the embodiments shown and described, but also includes all embodiments having the same effect in the sense of the invention. It is particularly emphasized that these embodiments are not limited to all combinations of features. On the contrary, each individual sub-feature may also have an inventive significance when separated from all other sub-features. In addition, the invention is not limited to the combination of features defined in claim 1, but can also be defined by any other combination of certain features of all the individual features disclosed as a whole. This means that in principle, almost any individual feature in claim 1 can be omitted or replaced by at least one individual feature disclosed elsewhere in the application.

Claims

1. A method for operating a floor cleaning device, wherein: The floor cleaning device has at least one housing, at least one cleaning tool and at least one sensor for capturing vibrations, wherein the floor cleaning device is designed and arranged to move autonomously in a cleaning environment and to perform cleaning tasks, The method comprises at least the following steps: capturing at least one vibration measurement with the sensor during operation of the floor cleaning device; comparing the vibration measurement to at least one reference value; as well as Based on the result of the comparison, at least one contact parameter between the cleaning tool and the surface to be cleaned is adjusted.

2. The method according to claim 1, wherein: The contact parameter is the contact force and / or contact area and / or liquid volume between the cleaning tool and the surface to be cleaned.

3. The method according to claim 1, further comprising at least the following method steps: Depending on the contact parameters existing after the adjustment, a cleaning program is selected from a plurality of cleaning programs, and the floor cleaning device is operated with the selected cleaning program.

4. The method according to claim 3, wherein: For the type of surface to be cleaned, the selection takes into account whether the contact parameters decrease or increase during the adjustment and / or whether the contact parameters existing after the adjustment reach a predetermined threshold and / or whether the desired cleaning result can be achieved using the contact parameters existing after the adjustment.

5. The method according to claim 3, wherein: In the selection, if the contact parameter decreases during the adjustment and / or if the contact parameter is below a predetermined threshold value, a cleaning program is selected in which at least one predetermined location in the cleaning environment is passed by at least twice. The method according to claim 5 , wherein two passes are performed in different directions. The method of claim 1 , wherein the adjusting of the contact parameters is performed in predefined steps.

8. The method according to claim 1, wherein: Each operation of the floor cleaning device begins with at least one predetermined contact parameter, and wherein the capturing, comparing and adjusting steps are repeatedly performed until the vibration measurement value is below a threshold or falls within a tolerance range.

9. The method according to claim 1, wherein: The adjustment of the contact parameter is performed for a predetermined area in the cleaning environment, and / or the adjustment of the contact parameter is performed for a predetermined time.

10. The method according to claim 1, wherein: At least the capturing and comparing method steps are repeated at predetermined time intervals and / or under event control.

11. A floor cleaning device, comprising: at least one housing, at least one cleaning tool, and at least one sensor for capturing vibrations, One or more computing devices comprising one or more processors and a non-transitory computer-readable medium having software instructions stored thereon, which when executed by the one or more processors cause the one or more processors to perform steps comprising: causing the floor cleaning device to move autonomously in a cleaning environment; capturing at least one vibration measurement with the sensor during operation of the floor cleaning device; comparing the vibration measurement to at least one reference value; as well as Based on the result of the comparison, at least one contact parameter between the cleaning tool and the surface to be cleaned is adjusted.

12. A floor cleaning device, comprising at least one housing, at least one cleaning tool and at least one sensor for capturing vibrations, wherein the floor cleaning device is designed and arranged to move autonomously in a cleaning environment and perform cleaning tasks, wherein at least one contact parameter between the cleaning tool and the surface to be cleaned can be adjusted based on at least one vibration measurement value that can be captured using the sensor.

13. A floor cleaning device according to claim 12, wherein at least one adjuster is provided for adjusting the contact parameter, the adjuster includes at least one belt and at least one first conversion device for converting lateral movement into vertical movement, the contact parameter can be changed by rotating the first conversion device, and the rotation of the first conversion device can be achieved using the belt.

14. Floor cleaning device according to claim 13, wherein the escape height of at least one drive wheel of the floor cleaning device from the housing can also be influenced by the belt via at least one second conversion device for converting a lateral movement into a vertical movement.

15. The floor cleaning apparatus of claim 13, wherein the first and second conversion means for converting lateral movement into vertical movement are first and second screws.

16. The floor cleaning apparatus of claim 15, wherein the thread pitches of the first screw and the second screw are different.

17. A floor cleaning device, comprising at least one housing, at least one cleaning tool and at least one drive wheel, wherein the floor cleaning device is designed and arranged to move autonomously in a cleaning environment and perform cleaning tasks, wherein the drive wheel is held on the housing so that the escape height of the drive wheel from the housing can be adjusted, characterized in that The cleaning tool is movably held on the housing so that the cleaning tool can move toward and away from the surface to be cleaned in the cleaning environment, and the cleaning tool is coupled to the drive wheel so that when the escape height of the drive wheel changes, the cleaning tool also moves toward or away from the surface to be cleaned.

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