Floor cleaning system and method for operating floor cleaning system
Patent Information
- Application Number
- CN202280098241.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2022-07-20
- Publication Date
- 2025-02-18
Smart Images
Figure CN119486643A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to a floor cleaning system, which includes a floor cleaning device having at least one cleaning tool, a control unit and at least one spectroscopy sensor device, wherein during operation of the floor cleaning device, a detected object arranged in a detection area can be detected via the at least one sensor device, and relevant detection information can be provided to the control unit, in particular, in order to adaptively adjust the cleaning behavior of the floor cleaning device, the control unit can determine the material of the detected object based on the detection information.
[0002] Furthermore, the invention relates to a method for operating a floor cleaning system, in particular a floor cleaning system having a floor cleaning device of the type described above. Background Art
[0003] Floor cleaning systems with floor cleaning devices are known, in which the detected object can be detected during the cleaning movement via a sensor device, in particular a spectroscopic sensor device, and the material of the detected object can be determined. For example, WO2018 / 202301 A1 describes a floor cleaning device with a spectroscopic detection device, with which the material and type of dirt on the floor can be ascertained. On this basis, the cleaning behavior of the floor cleaning device can be adaptively adjusted.
[0004] A further floor cleaning device with a spectroscopic device is described, for example, in DE 10 2014 106 975 A1. In this case, the type of floor surface is determined via a multi-channel spectroscopic device.
[0005] DE 10 2018 200 719 A1 discloses an automatic floor cleaning machine. Light is emitted onto a base surface to be cleaned in a predetermined spectrum. The reflected light is detected, and an intensity curve of the detected light in the predetermined spectrum is determined. Based on a comparison of the intensity curve with a predetermined intensity curve, the properties of the base surface are determined.
[0006] EP 1 677 099 A1 discloses a method and a device for classifying surfaces by means of spectroscopic measures.
[0007] In conventional devices and methods, the intensity within the spectrum is compared with a reference intensity stored in a storage unit of the floor cleaning device, for example. Practice has shown that, in principle, the material can be determined, but difficulties may arise, especially when the floor cleaning device is running for a long time. Therefore, it is desirable to improve the determination of the material. Summary of the invention
[0008] The object of the present invention is to provide a floor cleaning system and a method for operating a floor cleaning system, by means of which an improved determination of the material of the detected object can be achieved, in particular in order to improve the cleaning performance of the floor cleaning device used.
[0009] This object is achieved by a floor cleaning system according to the invention, comprising a floor cleaning device and a storage unit, the floor cleaning device having at least one cleaning tool, a control unit, and at least one optical sensor device, wherein: - during operation of the floor cleaning device, a detection object arranged in the detection area can be detected via at least one sensor device, and relevant detection information can be provided to the control unit; - In particular, in order to adaptively adjust the cleaning performance of the floor cleaning device, the control unit can determine the material of the detected object based on the detection information; - a calibration element of the floor cleaning system can be detected by at least one sensor device, and control calibration information that can serve as a basis for material determination can be obtained by the control unit; - reference calibration information for at least one sensor device is stored in the storage unit, and the control unit compares the reference calibration information with the control calibration information; and -When the controlled calibration information deviates from the reference calibration information, the control unit takes at least one corrective action.
[0010] In the floor cleaning system according to the invention, at least one optical sensor device, in particular spectroscopy, is provided. The object to be detected can be detected and the relevant detection information can be provided to the control unit. The calibration element of the floor cleaning system can be detected by means of at least one sensor device, and the control unit can obtain the relevant control calibration information, because the control unit knows the characteristics of the calibration element. Based on the control calibration information, it is particularly possible to measure the object to be detected by comparative measurement, so that the determination of the material of the object to be detected will be more reliable than in the case of traditional measurement, which is only based on the intensity comparison with the reference intensity, which is known from the prior art. The following consideration is incorporated into the present invention, that is, the characteristics of the sensor device may change, for example, during the operation or service life of the floor cleaning device, so that relying on the intensity may lead to erroneous results. In contrast, the feasible scheme of comparative measurement via control calibration information can identify the possible deterioration of at least one sensor device, and the control unit can take this aspect into account when determining the material of the object to be detected. For example, the comparative measurement can be performed by means of the degree of absorption of the intensity of the detection light on the object to be detected, which will be discussed later.
[0011] Additionally, it is also provided in the present invention that reference calibration information is stored in a storage unit. This reference calibration information has been determined and stored by the factory, for example, when the floor cleaning device is manufactured, and is used to compare with the control calibration information. The following consideration is incorporated therein, namely, the characteristics of the calibration element may also change during the operation or service life of the floor cleaning system. Therefore, the reference calibration information allows to find out whether the control calibration information is still effective enough for reliable determination of the material. In the event of deviations between the calibration information, the control unit can take at least one control measure. This preferably provides the elimination of possible causes of insufficient control calibration information, which in turn has a positive impact on determining the material by the control unit. The result is that this allows more reliable determination of the material. Considering that the determination is preferably used as the basis for adaptively adjusting the cleaning behavior, better cleaning results can be achieved.
[0012] It should be understood that the deviation between the calibration information is considered as a deviation only when the difference between the calibration information exceeds a given or given threshold value. In contrast, a difference less than the threshold value is considered to be within the tolerance range.
[0013] The detected object may be dirt at or on the floor surface.
[0014] Alternatively or additionally, the object to be investigated may be the floor surface or the floor material itself.
[0015] Adaptive adjustment of the cleaning behavior may, for example, include adaptive adjustment of at least one of the following: changing the movement path of the floor cleaning device, changing the cleaning performance of at least one cleaning tool (for example by changing the rotational speed of the drive motor) and / or adaptive adjustment of the dosage of the cleaning liquid or cleaning chemical.
[0016] It can be provided that the control unit interactively guides the operator to take one or more corrective measures by means of prompts and / or by using a workflow. In this way, the corrective measures taken can be or include a request for support from the operator, such as cleaning. For the purpose of guidance, the floor cleaning system can, for example, include a prompt unit that can be driven by the control unit and outputs prompts to the operator on the prompt unit.
[0017] The application program may be executable by the control unit. The application program may be stored in a storage unit, for example. The storage unit may be integrated into the control unit, or may also be included by the control unit. The control unit may include a microcomputer, for example, or be designed as a microcomputer.
[0018] The prompt unit has already been discussed. At least one corrective measure can, for example, include outputting a prompt to the operator to clean the sensor device. This takes into account the fact that dirt may adhere to the sensor device, which may have a negative impact on the detection of the probed object and / or the calibration element. In the present case, in particular, "cleaning the cover" for cleaning the sensor device can also be understood as "cleaning the sensor device", the cover covering the sensor device, for example as protection against dirt.
[0019] At least one corrective measure can, for example, include outputting a note to the operator to clean the calibration element. This takes into account that the calibration element can become contaminated, for example when it is exposed to the outside, just like the sensor device. The control calibration information determined on this basis deviates from the reference calibration information.
[0020] At least one corrective measure may include, for example, outputting a prompt to the operator to replace the calibration element. For example, when cleaning the calibration element does not lead to the desired effect, replacement is considered.
[0021] At least two of the above three corrective measures may be takeable and executable in the order described.
[0022] The prompting unit may include, for example, a controllable display unit, in particular with a graphic display, and / or a loudspeaker. Thus, the prompting may be output visually and / or acoustically.
[0023] The floor cleaning system can include, for example, an additional device, in particular a portable device, which is in communication connection with the floor cleaning device or can be placed in communication connection, and the additional device includes a prompt unit. The additional device can be, for example, a smart phone, a smart watch or a tablet computer.
[0024] It can be provided that the prompt to clean the calibration element and / or the prompt to replace the calibration element is only provided after the prompt to clean the at least one sensor device has been provided, the calibration element has been further tested and when the further control calibration information is compared with the reference calibration information, it is found that they deviate from one another. For example, the operator is first advised to clean the at least one sensor device and then, after retesting the calibration element and comparing the calibration information, the prompt to clean and / or replace the calibration element is issued.
[0025] In a similar manner, it can be provided that a prompt to replace the calibration element is provided only after a prompt to clean the sensor device and / or a prompt to clean the calibration element has been provided, the calibration element has been further checked, and when the further control calibration information is compared with the reference calibration information, it is found that they deviate from one another. In this case, for example, the operator is first advised to clean the sensor device and / or the calibration element. After a new check of the calibration information has revealed a deviation, the operator is then advised to replace the calibration element.
[0026] It may be advantageous if the floor cleaning system comprises a cleaning tool for the at least one sensor device, and the corrective measure comprises activating the cleaning tool to clean the at least one sensor device. This provides, for example, the possibility of automatically cleaning the at least one sensor device triggered by the control unit. For example, it is conceivable to brush, wipe and / or blow the at least one sensor device clean. For example, a cleaning tool for cleaning floor surfaces may be used to clean the calibration element. Alternatively or in addition, other types of cleaning tools may be used.
[0027] In a similar manner it may be advantageous if the floor cleaning system comprises a cleaning tool for the calibration element and the corrective measure comprises activating the cleaning tool to clean the calibration element. In this case, preferably there is also the possibility of triggering automatic cleaning of the calibration element by the control unit. As mentioned above, the cleaning tool may be a cleaning tool for cleaning floor surfaces or may be another type of cleaning tool.
[0028] It can be provided that the floor cleaning system comprises a replacement tool for the calibration element and that the corrective measure comprises activating the replacement tool to replace the calibration element. This provides the possibility of automatically replacing the calibration element triggered by the control unit and without operator assistance.
[0029] It can be provided that after carrying out at least one corrective measure, in particular replacing the calibration element, a further test of the calibration element is carried out and a further comparison of further control calibration information with the reference calibration information is carried out, wherein, in the event of a deviation of the calibration information from one another, the determination of the material of the object under investigation during operation of the floor cleaning device is stopped and / or regarded as implausible. If the replacement of the calibration element does not lead to a correspondence between the control calibration information and the reference calibration information, the control unit can assume that the material of the object under investigation cannot be determined with the desired accuracy or even leads to erroneous results. In this case, it is provided, for example, that the material determination is stopped during the cleaning of the floor surface.
[0030] The detection of the calibration element and the comparison of the calibration information can be preferably performed autonomously by the floor cleaning device or alternatively or additionally triggered by an operator according to at least one of the following: - Before the floor cleaning equipment starts running -After the floor cleaning equipment has finished its operation; - when the floor cleaning device occupies a docking position at the docking station; - During cleaning of floor surfaces; - at regular intervals; -At random times. For example, it can be provided that the calibration is controlled at the start of operation. If no deviations are found between the calibration information, the measurement of the object under investigation during operation is deemed to be credible and is carried out until the calibration is controlled again at the restart of operation.
[0031] The floor cleaning system can include a prompt unit that can be controlled by the control unit and on which prompts can be provided to the operator to position the calibration element within the detection area of the sensor device and / or to transfer the floor cleaning device to a docking position of a docking station including the calibration element for detecting the calibration element.
[0032] It can be provided that the detection of the calibration element by means of the at least one sensor device leads to the determination of control calibration information by the control unit.
[0033] At least one sensor device preferably comprises a light emitting element for illuminating the probe object and / or the calibration element with a probe light. For example, the probe light may be in the range of the visible spectrum, in the infrared range (infrared to far infrared) and / or in the ultraviolet range. The spectrum may be discrete or continuous.
[0034] In particular, the at least one sensor device can comprise a diffractive or refractive optical element for spectrally decomposing the probe light.
[0035] The at least one sensing device preferably comprises at least one image sensor having a one-dimensional or two-dimensional array of pixels, the pixels being indicative of one or more wavelengths or energies of the detecting light.
[0036] A recess is preferably formed on the floor cleaning device, in which at least one sensor device is arranged, wherein the floor cleaning device comprises a cover element for the recess which is transparent to the probe light. This prevents dirt on the underside of the floor cleaning device from coming into contact with the sensor device, wherein the at least one sensor device can preferably be positioned directly above the probed object and / or the calibration element.
[0037] The at least one sensor device can be arranged, for example, at at least one of the following locations: - Underside of floor cleaning equipment; - at or near the front side of the floor cleaning device with respect to the main direction of movement of the floor cleaning device; - With respect to a main direction of movement of the floor cleaning device, in front of a cleaning tool of the floor cleaning device.
[0038] It should be understood that the positioning and directional instructions refer to the floor cleaning device being placed on a floor surface and being able to move straight forward along a main direction of motion for the intended use of the floor cleaning device.
[0039] For the comparison measurement already mentioned, it is advantageously provided that the control unit calculates the degree of absorption of the detection light by the detected object when the material is known in the following way, i.e., the control unit knows the negative logarithm of the ratio of the intensity I measured during the measurement to the comparison intensity, wherein the comparison intensity I0 originates from the control calibration information (Abs = -log(I / I0)).
[0040] When evaluating the information by the control unit, various data pre-processing and data post-processing measures can be used.
[0041] The reference calibration information may be factory calibration information stored in the storage unit by the factory.
[0042] The reference calibration information may be stored in the storage unit in a modifiable manner, for example, the factory calibration information is replaced by the control calibration information representing the new reference.
[0043] It can be provided that the calibration element is included in the floor cleaning device. Alternatively, it can be provided that the calibration element is separate from the floor cleaning device.
[0044] In particular, the calibration element can be or include a white standard.
[0045] A calibration assembly can be provided with a plurality of calibration elements arranged one above the other in layers, wherein the calibration element arranged on the upper side can be removed and the calibration element located underneath can be exposed. For example, the calibration elements are in the form of films and can be peeled off one after the other. This allows contaminated or damaged calibration elements to be removed in a simple manner in a user-friendly manner and expose the calibration element located underneath.
[0046] The calibration element can be designed in the form of a plate, for example.
[0047] It is contemplated that the calibration element may be turned over so that the contaminated or damaged side is removed from the inspection area and the clean side of the calibration element is placed within the inspection area.
[0048] The calibration element can be held on the floor cleaning device, for example, in such a way that it can be moved via an adjustment device. It is conceivable that the calibration element can be transferred manually and / or by means of a drive device from a parking position into a use position, in which the calibration element is arranged in the detection area of the at least one sensor device. The adjustment device allows, for example, the calibration element to be pivoted and / or moved. The movement can be triggered by an operator or by a control unit.
[0049] The presence of the calibration element in the detection region and / or the use of the aforementioned adjustment device is preferably automatically detectable, thereby enabling control calibration information to be determined preferably without the assistance of an operator.
[0050] A cover element can be provided for the calibration element which is transparent to the probing light of the at least one sensor device. This preferably prevents dirt from entering the sensor device. The cover element can be cleaned in a simple manner.
[0051] The floor cleaning system may include two or more sensor devices, wherein the detection information of at least two sensor devices is used by the control unit to determine the material of the detected object. This enables a more reliable determination of the material, for example by checking for consistent results when using these sensor devices or performing an averaging of their measurements.
[0052] The control unit may be configured to weight the detection information of different types of sensor devices or multiple channels of a sensor device to different degrees. For example, one sensor device may be considered more "trustworthy" than another sensor device.
[0053] Advantageously, information relating to the material of the object under investigation is stored and / or can be stored in the storage unit in association with data associated with the at least one sensor device, which data are formed by or are based on the investigation information.
[0054] "Material" in the present context may be a single material, for example within the context of a chemical element, a chemical group or a class of materials, such as "solid organic material", "aqueous material", etc.
[0055] It can be provided that the floor cleaning device comprises a storage unit and constitutes a floor cleaning system. In particular, for example, no external storage unit is provided.
[0056] It can be provided that the floor cleaning system comprises a storage unit which is arranged spatially remote from the floor cleaning device, in particular as a component of or associated with a data processing device which is spatially remotely located. The data processing device can be a single computer or can be a plurality of computers or servers, for example a cloud. The storage unit can be integrated into the data processing device.
[0057] The communication unit preferably enables an exchange of information between the data processing device and / or the memory unit and the floor cleaning appliance.
[0058] In a preferred embodiment, the floor cleaning system comprises a display unit and an input unit for an operator, wherein a prompt can be provided on the display unit to confirm the material of the detected object obtained via the input unit. For example, at least one suggestion about the material can be made to the operator. For example, the confirmation is used to associate the material with data based on the detection information.
[0059] For example, a reminder of unknown materials can be provided on the display unit, wherein the operator marks the material on the input unit and the relevant information can be stored in the memory unit. In this way, the operator can teach the floor cleaning system and can store additional "known" materials in the memory unit to a certain extent.
[0060] The display unit and the input unit can be included in the floor cleaning device. Alternatively or additionally, it can be provided that the display unit and / or the input unit of the spatially remote data processing device and / or the external additional device is provided.
[0061] Advantageously, an application program executable by the control device can be updated via a communication connection to an external data processing device.
[0062] The content of the storage unit of the floor cleaning device is advantageously updateable. It is provided in particular that, via a communication connection with an external data processing device, the content with information about the material of the detected object can be updated with additional information and / or correction information about the material of the detected object stored in a storage unit arranged remotely in space. This provides, for example, an improved control unit for determining the material. For example, the data is stored in a cloud of storage units similar to that stored in a "library" in order to gradually improve a floor cleaning system or multiple floor cleaning systems. The information can be transmitted to the floor cleaning device wirelessly and / or wired.
[0063] Conversely, information from the floor cleaning system can be provided to an external data processing device in order to expand the database with additional information.
[0064] It is advantageous for the use of a "universal" library of materials that the factory reference calibration information can be calculated retroactively from the on-site calibration information (e.g. during operation) so that new measured values can be referenced to the existing library. This allows a universal library and surface identification even when the surface is not learned on site.
[0065] The floor cleaning system is preferably designed to be self-learning, wherein newly learned material can be stored in a storage unit.
[0066] The floor cleaning device can be configured to be self-propelled and self-steering so as to perform autonomous cleaning of the floor surface. In particular, the floor cleaning device is a cleaning robot.
[0067] Alternatively or additionally, the floor cleaning device can be manually guided.
[0068] The at least one cleaning tool may be or include at least one of or a combination of: a sweeping unit, a suction unit, a wiping unit, or a scrubbing unit.
[0069] In a preferred embodiment of the present invention, the floor cleaning system may include a docking station for the floor cleaning device, in particular for conveying consumable components to the floor cleaning device and / or discharging used components from the floor cleaning device when the floor cleaning device occupies a docking position at the docking station. Alternatively, it can be provided that the docking station is only used to receive the floor cleaning device in a parked position.
[0070] For example, the docking station may include a calibration element.
[0071] The docking station can include a placement element on which the floor cleaning device can be placed in the docking position, wherein the calibration element is arranged at the placement element or surrounded by the placement element and is preferably positioned completely within the detection area of the sensor device. When the floor cleaning device is in the docking position, a defined positioning relative to the floor cleaning device can be ensured due to the positioning of the placement element. This allows for the same environmental conditions for the comparability of the measurements on the calibration element.
[0072] The calibration element can be formed, for example, by coloring the placement element. Alternatively, the calibration element can be formed separately from the placement element and connected to the placement element.
[0073] The calibration element can, for example, protrude beyond the placement element in the direction of the sensor device. This can preferably achieve the smallest possible distance between the sensor device and the calibration element and, for example, minimize the influence of extraneous light.
[0074] The calibration element can advantageously be detachably connectable to the docking station so that the calibration element can be replaced.
[0075] On the placement element, for example, a calibration assembly with a plurality of calibration elements can be arranged, which is formed, for example, by stacking stickers or sheets one above the other. The sticker can be peeled off, thereby exposing other calibration elements and / or the sheet is turned over.
[0076] The docking station can, for example, include a movable cover element which covers the calibration element in a closed position, wherein when the floor cleaning device is moved into the docking position, the cover element can be moved into an open position in order to expose the calibration element. When moved into the docking position, the cover element is moved into the open position and thus exposes the calibration element. When the floor cleaning device is not present, the cover element assumes the closed position, thereby protecting the calibration element from dirt.
[0077] The floor cleaning system can include a preferably controllable opening unit, which is used to transfer the cover element to the open position. For example, the docking situation of the floor cleaning device is detected and the opening unit is activated based on this.
[0078] It can be provided that when the floor cleaning device is transferred into the docking position, the calibration element can be cleaned by means of at least one cleaning tool. In this way, dirt that may adhere is removed, wherein no additional cleaning tool is needed.
[0079] As mentioned above, the present invention also relates to a method. The method for operating a floor cleaning system, in particular a floor cleaning system of the above type, according to the present invention comprises: - detecting an object to be detected arranged in the detection area by means of at least one sensor device and providing relevant detection information to the control unit; - determining the material of the object under investigation based on the investigation information by means of the control unit; - detecting the calibration element by means of at least one sensor device, wherein a control calibration information serving as a basis for material determination is determined by the control unit; - comparing the control calibration information with reference calibration information for at least one sensor device stored in a memory unit by means of the control unit; and - taking at least one corrective action by the control unit when the controlled calibration information deviates from the reference calibration information.
[0080] The advantages already mentioned in connection with the floor cleaning system according to the invention can also be achieved when implementing the method. Reference is made in this respect to the above statements.
[0081] Advantageous embodiments of the method according to the invention result from advantageous embodiments of the floor cleaning system according to the invention. In this respect, reference is made to the above statements. BRIEF DESCRIPTION OF THE DRAWINGS
[0082] The following description of the preferred embodiments of the present invention is used to explain the present invention in more detail in conjunction with the accompanying drawings.
[0083] Figure 1 : shows a perspective view of a floor cleaning system according to a preferred embodiment of the present invention;
[0084] Figure 2 : Shows Figure 1 A perspective view of a floor cleaning device of a floor cleaning system;
[0085] Figure 3 : Shows Figure 1 Another perspective view of the floor cleaning system;
[0086] Figure 4 : Shows Figure 1 A schematic block diagram of a floor cleaning system;
[0087] Figure 5 : shows along Figure 1 Partially cut as viewed from the direction of arrow “5” Figure 1 Detailed drawings of the floor cleaning system;
[0088] Figure 6 : It is a schematic diagram showing a sensor device of a floor cleaning system according to the present invention in an installed state;
[0089] Figure 7 : shows the operation Figure 1 A method flow chart of a floor cleaning system;
[0090] Figure 8 : Shows the explanation Figure 1 A flow chart of the working method of the floor cleaning system;
[0091] Fig. 9 : A perspective view showing another preferred embodiment of the floor cleaning system according to the present invention; and
[0092] Fig.10 : Shows Fig. 9 A perspective view of a docking station for a floor cleaning system. DETAILED DESCRIPTION
[0093] Figures 1 to 5 An advantageous embodiment of a floor cleaning system according to the invention, with which the method according to the invention can be carried out, is generally designated by reference numeral 100. The floor cleaning system 100 comprises a floor cleaning device 102 and a docking station 104 for the floor cleaning device 102.
[0094] Currently, the floor cleaning device 102 is designed as a self-propelled and self-steering cleaning robot, with which autonomous cleaning of the floor surface 106 can be performed.
[0095] On the floor surface 106 there may be an object 108 to be detected, for example in the form of dirt 110. Alternatively or additionally, the object 108 to be detected may also be a ground surface forming the floor surface 106. Reference numeral 112 denotes a texture detected as the object 108 to be detected.
[0096] The material of the detected object 108 can preferably be determined by means of the floor cleaning system 100. This is done in order to adapt the cleaning behavior of the floor cleaning device 102, which can include, for example, adapting the movement path, the performance of the cleaning tool, the dosage of the cleaning fluid or cleaning chemicals.
[0097] Floor cleaning device 102 includes a housing 114 on which is retained a travel mechanism 116 for movement over floor surface 106 .
[0098] The control unit 118 controls and / or regulates the operation of the floor cleaning device 102 ( Figure 4 ).
[0099] At least one cleaning tool 120 is provided for cleaning the floor surface 106 . In the present case, the floor cleaning device 100 comprises a sweeping and suction unit 122 , a wiping unit 124 and a side broom 126 as the cleaning tool 120 .
[0100] In addition, the floor cleaning device 102 also includes a storage unit 128 and a sensor device 130. In order to communicate with external facilities, a communication unit 132 is also provided. It should be understood that these units 118, 128, 130 and 132 may be fully or partially nested and integrated, or may contain each other.
[0101] The sensor device 130 is designed as an optical sensor device for spectroscopy. Figure 3 and Figure 5 It is clearly visible that the sensor device is arranged near the front side 134 of the floor cleaning device 102 with respect to the main movement direction 136. Here, the sensor device 130 is positioned at a depression 140 extending upward from the bottom side 138 of the housing 114. The depression is shaft-shaped, wherein the sensor device 130 is arranged offset upward away from the bottom side 138.
[0102] The sensor device 130 comprises at least one light emitting element 142, a diffractive or refractive optical element 144 and a detector 146 comprising a pixel array. The probe light emitted by the light emitting element 142 propagates in a detection area 148 and is directed downwards, ie towards the floor surface 106 in a cleaning operation.
[0103] The reflected and scattered probe light is detected and spectrally decomposed by the optical element 144. The individual spectral components reach the detector 146. The sensor device 130 provides the control unit 118 with the probe information.
[0104] Based on the detection information, the control unit 118 can learn the material of the detected object 108. For this purpose, the storage unit 128 preferably stores a large number of materials associated with data based on or formed by the detection information. As described above, this allows the control unit 118 to classify the detected object 108 in terms of material.
[0105] Figure 6 The schematic diagram shows different types of possible designs of the sensor device 130 of the floor cleaning system 100 according to the invention. The design shown there can be used for the floor cleaning device 102, for example.
[0106] according to Figure 6 The sensor device 130 comprises one or more sensors 152 on a circuit board 150, which are used as detectors 146. The one or more sensors 152 are, for example, spectrally selective and detect probe light in wavelength ranges that differ from one another. The sensor device is likewise arranged in a recess 140, which is formed, for example, in the housing 114. In the present case, the light-emitting element 142 is integrated into the sensor 152.
[0107] The cover element 154, which is transparent for the detection light, covers the sensor device 130 from below and prevents dirt from entering the depression 140 and thus preventing the sensor device 130 from being contaminated. Preferably, the cover element 154 can be cleaned in a simple manner by an operator and / or a cleaning tool.
[0108] Cleaning of cover element 154 is considered cleaning of sensor device 130 .
[0109] Especially from Figure 3 and Figure 5 It can be seen that the depression 140 is positioned next to a charging contact 156 of the floor cleaning device 102. A further charging contact 156 is provided, which in the present case is positioned spaced apart from the first-mentioned charging contact 156 in the transverse direction of the floor cleaning device 102. Electrical energy can be supplied to the floor cleaning device 102 via the charging contact 156.
[0110] The sensor device 130 is arranged in the present case in front of the sweeping roller 158 of the sweeper-suction unit 122 with respect to the main direction of movement 136 . Furthermore, the sensor device 130 is positioned outside the effective area of the side broom 126 .
[0111] During operation of the floor cleaning device, the detected object is detected before the floor cleaning device moves over the detected object 108 with the cleaning tool 120 or before the detected object is swept by the side broom 126. The control unit 118 can adjust the best possible cleaning behavior based on the material of the detected object that is known.
[0112] The docking station 104 is provided for the floor cleaning device 102 to receive the floor cleaning device 102 when the operation is interrupted. Figure 1 and Figure 5 In the defined docking position shown in . In this docking position, for example, consumable components can be transported or used components can be discharged. For example, consumable components are necessary for the operation of floor cleaning device 102.
[0113] In the present example, the docking station 104 comprises a substantially plate-shaped placement element 160 . In the present case, the placement element 160 has a recess 162 for receiving the cleaning tool 120 .
[0114] The charging contact 164 is designed to be coupled to the charging contact 156 when the floor cleaning device 102 is in the docking position. In the docking position, electrical energy can be supplied via the charging contacts 164 , 156 for charging a battery 166 of the floor cleaning device 102 .
[0115] It is conceivable that occupation of the docking position is detected in that charging contacts 156 , 164 are coupled to one another.
[0116] In order to reliably determine the material of the object under investigation 108 , the sensor device 130 is calibrated. The initial calibration is performed in particular when the floor cleaning device 102 is manufactured by the factory, and the reference calibration information is stored in the memory unit 128 by the factory.
[0117] In the floor cleaning system 100 , it is advantageous that the state of the sensor device 130 can be monitored in order to accurately determine the material of the object under investigation 108 and corrective measures can be taken if necessary.
[0118] Furthermore, it is advantageous that, in contrast to the spectroscopic methods known from the prior art, the intensity detected via the sensor device 130 is not compared with a reference intensity. Instead, a comparative measurement is performed in which the degree of absorption of the probe light by the probed object 108 is calculated.
[0119] In order to achieve the above advantages, the floor cleaning system 100 includes a calibration element 168. The calibration element 168 is preferably light-colored and is in particular configured as a white standard. Advantageously, the calibration element 168 is sized so that it can be fully detected by the detection area 148.
[0120] In the present example, the calibration element 168 is plate-shaped and is held on the docking station 104 in a detachable manner.
[0121] In the present example, the calibration element 168 is positioned laterally to one of the charging contacts 164. In this case, the docking station 104 comprises a base 170 that protrudes from the rest element 160, on which the charging contacts 164 are arranged and which accommodates the calibration element 168. As a result, the calibration element 168 protrudes from the rest element 160 in the direction of the sensor device 130, so that there is as little distance as possible from the sensor device 130 and the influence of extraneous light can also be largely or preferably completely suppressed.
[0122] If the floor cleaning device 102 is in the docked position, the sensor device 130 is arranged directly above the calibration element 168 . The detection region 148 can detect the calibration element 168 completely.
[0123] The sensor device 130 provides information to the control unit 118 , and the control unit obtains control calibration information based on the information.
[0124] The control calibration information is used for comparison measurements to determine the material of the probed object 108. In particular, the degree of absorption of the probe light is calculated by the control unit 118 by forming the negative logarithm of the ratio of the intensities measured at the probed object 108 and the calibration element 168 (-log(I / I0)).
[0125] For example, if the state of the sensor device 130 deteriorates over time, this deterioration affects the determination of the degree of absorption not only when measuring the object under investigation 108 but also when measuring the calibration element 168. In this way, the material of the object under investigation 108 can be determined regardless of the state of the sensor device 130. This enables a more reliable determination than conventional arrangements and methods in which the intensity is compared with a reference intensity in a storage unit.
[0126] However, over time, not only the condition of sensor device 130 deteriorates, for example due to contamination, but also the condition of calibration element 168. In particular, it is also possible that calibration element 168 may become contaminated and possibly damaged, for example scratched, for example when calibration element 168 is driven over.
[0127] In order to be able to determine the state of calibration element 168 , reference calibration information is used in storage unit 128 . In particular, it is possible to ascertain whether the comparison measurement is sufficiently effective to determine the material of object 108 under investigation.
[0128] To check the calibration information, for example always before starting operation, calibration element 168 is detected at successive points in time by means of sensor device 130. Control unit 118 creates corresponding control calibration information and compares it with reference calibration information.
[0129] If no deviations outside the tolerance range are detected here, the control unit 118 assumes that the calibration element 168 is in good condition and that the comparative measurement for determining the material of the object under investigation 108 is plausible.
[0130] If control unit 118 detects a deviation between the control calibration information and the reference calibration information, this is indicative of a deterioration in the condition of calibration element 168 or sensor device 130. In this case, control unit 118 initiates at least one corrective measure.
[0131] The corrective measures include, in particular, outputting instructions to the operator to clean sensor device 130 or a covering element for the sensor device, to clean calibration element 168 and, if necessary, to replace calibration element 168 .
[0132] Reference will be made in particular to Figure 7 Explain these corrective actions.
[0133] First, it should also be noted that the floor cleaning device 102 includes an optically and / or acoustically designed prompting unit 172. For example, the prompting unit includes a controllable display and a speaker for outputting visual and auditory prompts to the operator and is arranged on the housing 114 in this example.
[0134] Alternatively or additionally, the prompt of the control unit 118 may be provided, for example, to a prompt unit 174 of an external accessory device 176, which is designed in the present case as a smartphone 178. The prompt unit 174 includes, for example, a touch screen and a loudspeaker of the smartphone 178.
[0135] Figure 7 A preferred method flow for operating a floor cleaning system 100 according to a preferred embodiment of the method of the present invention is described, wherein the method flow is preceded by manufacturing the floor cleaning system 100 in step S1, calibrating it by the manufacturer and storing reference calibration information in step S2, and delivering the floor cleaning system 100 to an operator in step S3.
[0136] Step S4 includes calibrating or creating control calibration information when the floor cleaning device 102 occupies the docking position at the docking station 104 .
[0137] In a subsequent step S5, the control calibration information is checked for deviations from the reference calibration information. If there is no deviation within a given or given tolerance range, or if a possible deviation is acceptable, a specific calibration for the sensor device 130 is settled in a subsequent step S6. In a subsequent step S7, a measurement of the probed object 108 is performed during cleaning.
[0138] Afterwards, in step S8, the floor cleaning device 102 returns to the docking station 104. When the cleaning operation is restarted, calibration is performed again according to step S4.
[0139] If a deviation is detected in step S5, the control unit 118 takes a first corrective measure. In this case, in step S9, the operator is requested via a prompt to clean the sensor device 130 or the cover element.
[0140] In a subsequent step S10, the floor cleaning device 102 is transferred to the docking position. Alternatively, the floor cleaning device 102 can move autonomously to the docking station 104 and occupy the docking position. A subsequent step S11 corresponds to step S4, wherein calibration is performed in the docking position. Here, the calibration element 168 is re-detected and the control calibration information is obtained.
[0141] The subsequent step S12 corresponds to step S5. If there is no deviation or the deviation is acceptable, the method continues with step S6.
[0142] If it is confirmed in this step that there is a deviation between the calibration information, the control unit 118 takes further corrective measures. In step S13, the operator is requested to clean the calibration element 168 via a prompt.
[0143] The subsequent steps S14 and S15 correspond to the above-described steps S10 and S11. In particular, in step S15, calibration element 168 is detected again in order to determine further control calibration information.
[0144] Step S16 corresponds to steps S5 and S16 and performs: re-comparing the calibration information. If there is no deviation or the deviation is acceptable, the method continues with step S6.
[0145] If, on the other hand, a deviation is detected, the control unit 118 takes further corrective measures. In step S17 , the operator is requested to replace the calibration element 168 via a prompt.
[0146] The subsequent steps S18 and S19 correspond to the above steps S10 / S14 or S11 / S15. In particular, in step S19, the calibration element 168 is detected again and the control calibration information is obtained.
[0147] The subsequent step S20 corresponds to steps S5, S12 and S16. The calibration information is compared with each other. If there is no deviation or the deviation is acceptable, the method continues with step S6.
[0148] If, on the other hand, the calibration information is found to be deviating, the control unit 118 subsequently determines in step S21 that the knowledge of the material of the object under investigation 108 is no longer considered to be reliable and is therefore no longer executed. Optionally, a prompt is sent to the operator requesting service of the floor cleaning system 100 .
[0149] The subsequent step S22 corresponds to steps S11 , S15 and S18 . According to step S23 , during future cleaning, a cleaning stroke is performed without the sensor device 130 performing a measurement.
[0150] Optional modifications of the method are shown by means of dashed arrows. For example, the method can continue with step S13 or step S17 after step S5. For example, the method can continue with step S9 or step S13 or step S18.
[0151] As described, the floor cleaning device 102 can preferably communicate with a spatially remote data processing device, which in turn can communicate with the data processing device in a spatially remote manner. Figure 4 1 and is designated by reference numeral 180. The data processing device 180 is coupled to a storage unit 182, which can be used together with the storage unit 128 or can be used instead of the storage unit 128. The data processing device 180 can include a plurality of computers or servers and can be designed as a cloud, for example.
[0152] The floor cleaning system 184 according to the present invention includes a data processing device 180 and a storage unit 182 , and also includes a floor cleaning device 102 and a docking station 104 .
[0153] The additional equipment 176 may be an integral part of the floor cleaning system 100 or 184 .
[0154] In the storage unit 182 there are stored a plurality of materials associated with the exploration information or data based on the exploration information, organized for example in a "library". This provides the possibility for the control unit 118 to query the storage unit 182 if the material is not found in the storage unit 128.
[0155] Alternatively or additionally, the content of the memory unit 128 can be updated with information stored in the memory unit 182. This provides the possibility of transmitting information about new materials stored in the memory unit 182 by other operators to the floor cleaning device 102, for example.
[0156] Conversely, there is also the possibility that the floor cleaning device 102 transmits information about the new material to the storage unit 182 .
[0157] Upon learning the material of the object under investigation 108 , the floor cleaning device 102 may optionally seek support from an operator.
[0158] For example, a prompt is provided on the display unit of the prompt unit(s) 172 and / or 174 to confirm the learned material of the object under investigation 108 via the input unit 186 or 188. For example, a variety of suggestions regarding materials may be made to the operator.
[0159] Alternatively, a prompt that the material cannot be known may be provided. The operator may give the material via the input unit 186 or 188 , and the relevant information may be stored in the storage unit 128 or 182 .
[0160] The following will refer in particular to Figure 8 Comparative measurements and determination of the material of the object under investigation 108 are discussed.
[0161] In a first step S1 , a measurement is performed on the object under investigation.
[0162] If further sensor devices 130 are provided, the object to be investigated is preferably also measured with these further sensor devices 130 in optional steps S1 ′ and S1 ″, and a data vector is compiled from the measurement results in optional step S2 and, if necessary, data post-processing is performed in step S3 .
[0163] Step S4 represents testing the calibration element 168 for comparison measurement and providing the calibration value. Step S5 preferably comprises forming a reference value for the calibration value, for example by averaging.
[0164] In a subsequent step S6 , the control unit may calculate the degree of absorption from the spectroscopic measurement data.
[0165] Optionally, further data post-processing may be performed in a subsequent step S7. For example, in the case of multiple sensor devices 130, an optional step S7' may be provided, which includes weighting the measurement data from different sensor devices to different degrees, or weighting the measurement data from several channels of one sensor device to different degrees. For example, such weighting may be incorporated into step S7.
[0166] Subsequently, the control unit can classify the material of the detected object 108 in step S8. On this basis, for example, the floor cleaning device can be controlled in step S9 and the cleaning behavior can be adjusted adaptively.
[0167] As described, preferably after step S5, in step S11, the control calibration information is checked for deviations from the reference calibration information. In particular, in step S12, it can then be determined whether the material library in the storage unit 128 and / or 182 is available, taking this as a starting point if there are no deviations.
[0168] The subsequent steps S13 and S14 may be performed separately or together.
[0169] Information can be obtained from the "general library" of data in the storage unit 182 or the "proprietary library" inside the device in the storage unit 128, and then the information is collected in a library in step S15, and the library is included in the material classification in step S8. It can be provided that the operator's supplement to the library in step S16, such as confirmation of the suggested material or the provision of the material, is included in step S15 and subsequently supplemented in step S8 for classification ("supervised learning" of the floor cleaning system 100).
[0170] Fig. 9 A schematic perspective view of a preferred embodiment of a floor cleaning system according to the present invention is shown and is designated by reference numeral 190. Identical or functionally identical features and components of floor cleaning systems 100, 184 and 190 are designated by the same reference numerals. The above advantages can also be achieved with floor cleaning system 190. Only the main differences are discussed here.
[0171] The floor cleaning system 190 comprises a manually guided floor cleaning device 192 and a docking station 194. The floor cleaning device 192 comprises a handle element 196 for guiding by the operator, which is arranged, for example, on a rod 198. A wiping unit 124, which is operated, for example, by a battery, is provided as a cleaning tool 120 and comprises, in the present case, two cleaning rollers 200, which are segmented, wherein the number of cleaning rollers 200 may also be different.
[0172] The docking station 194 comprises a resting element 160 on which the floor cleaning device 192 can be positioned during breaks in operation.
[0173] The calibration element 168 is arranged on the placement element, is designed in the form of a plate, for example, and is detachably connected to the docking station 194. Alternatively, for example, a dyeing of the placement element 160 can be used.
[0174] In the docked position (not shown) of floor cleaning device 192 , sensor device 130 is preferably arranged directly above calibration element 168 , which is then positioned completely within detection region 148 .
[0175] The floor cleaning device 192 comprises a tank device 202 for storing a cleaning liquid, in particular water. Cleaning chemicals for improving the cleaning performance may be provided. Fig. 9 A reservoir of cleaning chemicals is shown; the floor cleaning equipment 192 may include a container for the cleaning chemicals.
[0176] The adaptation of the cleaning performance as a function of the known material of the object under investigation 108 can include, for example, an adaptation of the metering of the cleaning liquid and / or cleaning chemical 204 and / or of the rotational speed of the drive 206 of the cleaning roller 200 .
[0177] Reference numerals list
[0178] 100 Floor cleaning system
[0179] 102 Floor cleaning equipment
[0180] 104 Docking Station
[0181] 106 Floor Surface
[0182] 108 Exploration Object
[0183] 110 Dirt
[0184] 112 Textures
[0185] 114 Housing
[0186] 116 Travel mechanism
[0187] 118 Control Unit
[0188] 120 Cleaning tools
[0189] 122 Cleaning and suction unit
[0190] 124 Wiping Unit
[0191] 126 Side Broom
[0192] 128 memory cells
[0193] 130 Sensor device
[0194] 132 Communication Unit
[0195] 134 front side
[0196] 136 Main motion direction
[0197] 138 lower side
[0198] 140 Depression
[0199] 142 Light-emitting element
[0200] 144 Optical Components
[0201] 146 Detector
[0202] 148 Detection Area
[0203] 150 Circuit Board
[0204] 152 Sensors
[0205] 154 Covering elements
[0206] 156 Charging contact
[0207] 158 Cleaning roller
[0208] 160 Placing components
[0209] 162 Depression
[0210] 164 Charging contact
[0211] 166 Batteries
[0212] 168 Calibration element
[0213] 170 Base
[0214] 172 Prompt Unit
[0215] 174 Prompt Unit
[0216] 176 Additional Equipment
[0217] 178 Smartphone
[0218] 180 Data processing device
[0219] 182 storage units
[0220] 184 Floor Cleaning System
[0221] 186 Input Unit
[0222] 188 Input Unit
[0223] 190 Floor cleaning system
[0224] 192 Floor cleaning equipment
[0225] 194 Docking Station
[0226] 196 Handle element
[0227] 198 shots
[0228] 200 Cleaning Roller
[0229] 202 tank device
[0230] 204 Cleaning Chemicals
[0231] 206 Drive unit
Claims
1. A floor cleaning system (100; 184; 190), comprising a floor cleaning device (102; 192) and a storage unit (128, 182), wherein the floor cleaning device has at least one cleaning tool (120), a control unit (118) and at least one spectroscopy sensor device (130), wherein: - during operation of the floor cleaning device (102; 192), a detected object (108) arranged in a detection area (148) can be detected via the at least one sensor device (130), and relevant detection information can be provided to the control unit (118); - in particular, in order to adapt the cleaning behavior of the floor cleaning device (102; 192), the control unit (118) can determine the material of the detected object (108) based on the detection information; - a calibration element (168) of the floor cleaning system (100; 184; 190) can be detected by the at least one sensor device (130), and control calibration information that can serve as a basis for material determination can be obtained by the control unit (118); - reference calibration information for the at least one sensor device (130) is stored in the storage unit (128, 182), and the control unit (118) compares the reference calibration information with the control calibration information; and - When the control calibration information deviates from the reference calibration information, the control unit (118) takes at least one corrective action.
2. The floor cleaning system (100; 184; 190) according to claim 1, characterized in that: Adaptively adjusting the cleaning behavior includes adaptively adjusting at least one of the following: changing the moving path of the floor cleaning device (102; 192), changing the cleaning performance of the at least one cleaning tool (120), and adaptively adjusting the dosage of the cleaning liquid or cleaning chemicals (204).
3. The floor cleaning system (100; 184; 190) according to claim 1 or 2, characterized in that: The floor cleaning system (100; 184; 190) comprises a prompting unit (172, 174) controllable by the control unit (118), and the at least one corrective measure comprises outputting a prompt to an operator to perform at least one of the following measures: - Cleaning the sensor device (130) - cleaning the calibration element (168); - Replace the calibration element (168).
4. The floor cleaning system (100; 184; 190) according to claim 3, characterized in that: The display unit (172, 174) comprises a controllable display unit, in particular with a graphic display, and / or a loudspeaker.
5. The floor cleaning system (100; 184; 190) according to claim 3 or 4, characterized in that: The floor cleaning system (100; 184; 190) comprises an additional device (176), in particular a portable device, which is in communication connection with the floor cleaning device (102; 192) or can be placed in communication connection, and which comprises the prompting unit (172, 174), in particular a display unit and / or a loudspeaker.
6. The floor cleaning system (100; 184; 190) according to any one of claims 3 to 5, characterized in that: A prompt for cleaning the calibration element (168) and / or a prompt for replacing the calibration element (168) is provided only after a prompt for cleaning the sensor device (130) has been provided, the calibration element (168) has been further tested, and when further control calibration information is compared with the reference calibration information and it is found that they deviate from each other.
7. The floor cleaning system (100; 184; 190) according to any one of claims 3 to 6, characterized in that: A prompt to replace the calibration element (168) is provided only after a prompt to clean the sensor device (130) and / or a prompt to clean the calibration element (168) has been provided, the calibration element (168) has been further tested, and a further comparison of the further control calibration information with the reference calibration information has revealed that they deviate from each other.
8. The floor cleaning system (100; 184; 190) according to any one of the preceding claims, characterized in that: The floor cleaning system (100; 184; 190) includes a cleaning tool (120) for the at least one sensor device (130), and the corrective action includes activating the cleaning tool (120) to clean the at least one sensor device (130).
9. The floor cleaning system (100; 184; 190) according to any one of the preceding claims, characterized in that: The floor cleaning system (100; 184; 190) includes a cleaning tool (120) for the calibration element (168), and the corrective action includes activating the cleaning tool (120) to clean the calibration element (168).
10. The floor cleaning system (100; 184; 190) according to any one of the preceding claims, characterized in that The floor cleaning system (100; 184; 190) includes a replacement tool for the calibration element (168), and the corrective action includes activating the replacement tool to replace the calibration element.
11. The floor cleaning system (100; 184; 190) according to any one of claims 3 to 10, characterized in that: After carrying out at least one corrective measure, in particular replacing the calibration element (168), the calibration element (168) is further tested and a further comparison of further control calibration information with reference calibration information is performed, wherein, in the event of a deviation in the calibration information from one another, the material of the object under investigation (108) is stopped during operation of the floor cleaning device (102; 192) and / or is deemed unreliable.
12. The floor cleaning system (100; 184; 190) according to any one of the preceding claims, characterized in that The detection of the calibration element (168) and the comparison of the calibration information can be performed autonomously, in particular by the floor cleaning device (102; 192), according to at least one of the following: - before the floor cleaning device (102; 192) starts to operate; - after the floor cleaning device (102; 192) has finished operating; - when the floor cleaning device (102; 192) occupies a docking position at a docking station (104; 194); - during cleaning of a floor surface (106); - at regular intervals; -At random times.
13. The floor cleaning system (100; 184; 190) according to any one of the preceding claims, characterized in that: The floor cleaning system (100; 184; 190) comprises a prompting unit (172, 174) which can be driven by the control unit (118), and on which instructions can be provided to an operator to position the calibration element (168) within the detection area (148) of the sensor device (130) and / or to position the floor cleaning device (102; 192) is transferred to a docking position at a docking station (104; 194) comprising the calibration element (168) for detecting a prompt of the calibration element (168).
14. The floor cleaning system (100; 184; 190) according to any one of the preceding claims, characterized in that The at least one sensor device (130) comprises a light-emitting element (142) for illuminating the probed object (108) and / or the calibration element (168) with a probe light.
15. The floor cleaning system (100; 184; 190) according to any one of the preceding claims, characterized in that The at least one sensor device (130) comprises a diffractive or refracting optical element (144) for spectrally decomposing the probe light.
16. The floor cleaning system (100; 184; 190) according to any one of the preceding claims, characterized in that A recess (140, 162) is formed on a floor cleaning device (102; 192), the at least one sensor device (130) is arranged in the recess, and the floor cleaning device (102; 192) comprises a cover element (154) for the recess (140, 162) which is transparent to the probe light.
17. The floor cleaning system (100; 184; 190) according to any one of the preceding claims, characterized in that The at least one sensor device (130) is arranged at at least one of the following locations: - at the underside (138) of the floor cleaning device (102; 192); - at or near the front side (134) of the floor cleaning device (102; 192) with respect to a main direction of movement (136) of the floor cleaning device; - in front of at least one cleaning tool (120) of the floor cleaning device (102; 192) with respect to a main direction of movement (136) of the floor cleaning device.
18. The floor cleaning system (100; 184; 190) according to any one of the preceding claims, characterized in that The control unit (118) calculates the degree of absorption of the probe light by the probed object (108) when the material is known in the following manner, i.e., the control unit obtains the negative logarithm of the ratio of the intensity I measured during measurement to the comparison intensity I0, wherein the comparison intensity is derived from the control calibration information (Abs = -log(I / I0)).
19. The floor cleaning system (100; 184; 190) according to any one of the preceding claims, characterized in that The reference calibration information is factory calibration information stored in the storage unit (128, 182) by the factory.
20. The floor cleaning system (100; 184; 190) according to any one of the preceding claims, characterized in that The reference calibration information can be stored in the storage unit (128, 182) in a modifiable manner.
21. The floor cleaning system (100; 184; 190) according to any one of the preceding claims, characterized in that The calibration element (168) is included in the floor cleaning device (102; 192), or the calibration element (168) is separate from the floor cleaning device (102; 192).
22. The floor cleaning system (100; 184; 190) according to any one of the preceding claims, characterized in that The calibration element (168) is or comprises a white standard.
23. The floor cleaning system (100; 184; 190) according to any one of the preceding claims, characterized in that A calibration arrangement is provided which has a plurality of calibration elements (168) arranged one above the other in a layered manner, wherein the calibration element (168) arranged on the upper side can be removed and the calibration element (168) located underneath can be exposed.
24. The floor cleaning system (100; 184; 190) according to any one of the preceding claims, characterized in that The calibration element (168) is designed in a plate shape.
25. A floor cleaning system (100; 184; 190) according to any one of the preceding claims, characterized in that The calibration element (168) is held on the floor cleaning device (102; 192) in a manner that allows it to be moved via an adjustment device and can be transferred manually and / or by means of a drive device (206) from a parking position to a use position, in which the calibration element (168) is arranged in a detection area (148) of the at least one sensor device (130).
26. The floor cleaning system (100; 184; 190) according to any one of the preceding claims, characterized in that The presence of the calibration element in a detection region (148) and / or the use of the adjustment device can be automatically detected.
27. A floor cleaning system (100; 184; 190) according to any one of the preceding claims, characterized in that A cover element (154) for the calibration element (168) is provided which is transparent to the probe light of the at least one sensor device (130).
28. The floor cleaning system (100; 184; 190) according to any one of the preceding claims, characterized in that The floor cleaning system (100; 184; 190) comprises two or more sensor devices (130), and the control unit (118) uses detection information of at least two sensor devices (130) to obtain the material of the detected object (108).
29. The floor cleaning system (100; 184; 190) according to claim 28, characterized in that: The control unit (118) is configured to weight detection information of different types of sensor devices (130) or multiple channels of a sensor device (130) to different degrees.
30. The floor cleaning system (100; 184; 190) according to any one of the preceding claims, characterized in that Information relating to the material of the object under investigation is stored and / or can be stored in the storage unit (128, 182) in association with data relating to the at least one sensor device (130), the data being formed by or based on the investigation information.
31. A floor cleaning system (100; 184; 190) according to any one of the preceding claims, characterized in that The floor cleaning device (102; 192) comprises the storage unit (128, 182).
32. The floor cleaning system (100; 184; 190) according to any one of the preceding claims, characterized in that The floor cleaning system (100; 184; 190) comprises a storage unit (128, 182) arranged spatially remote from a floor cleaning device (102; 192), in particular as a component of or associated with a data processing device (180) positioned spatially remote, and the floor cleaning system comprises a communication unit for exchanging information between the data processing device (180) and / or the storage unit (128, 182) and the floor cleaning device (102; 192).
33. The floor cleaning system (100; 184; 190) according to any one of the preceding claims, characterized in that The floor cleaning system (100; 184; 190) comprises a display unit and an input unit (186, 188) for an operator, wherein a prompt confirming the material of the detected object (108) obtained via the input unit (186, 188) and / or a prompt indicating that the material cannot be obtained can be provided on the display unit, wherein the operator can specify the material via the input unit (186, 188) and the relevant information can be stored in the storage unit (128, 182).
34. The floor cleaning system (100; 184; 190) according to any one of the preceding claims, characterized in that An application program executable by the control unit (118) can be updated via a communication connection with an external data processing device (180).
35. The floor cleaning system (100; 184; 190) according to any one of the preceding claims, characterized in that Via a communication connection with an external data processing device (180), the content of a storage unit (128, 182) of the floor cleaning device (102; 192) containing information about the material of the detected object can be updated with additional and / or corrective information about the material of the detected object stored in a storage unit (128, 182) arranged spatially remotely.
36. The floor cleaning system (100; 184; 190) according to any one of the preceding claims, characterized in that The floor cleaning system (100; 184; 190) is designed to be self-learning, wherein newly learned material can be stored in the storage unit (128, 182).
37. The floor cleaning system (100; 184; 190) according to any one of the preceding claims, characterized in that The floor cleaning device (102; 192) is configured to be self-propelled and self-steering.
38. The floor cleaning system (100; 184; 190) according to any one of the preceding claims, characterized in that The floor cleaning device (102; 192) is manually guided.
39. The floor cleaning system (100; 184; 190) according to any one of the preceding claims, characterized in that The at least one cleaning tool (120) is at least one of the following or a combination thereof or includes at least one of the following or a combination thereof: a sweeping unit, a suction unit, a wiping unit (124) or a scrubbing unit.
40. The floor cleaning system (100; 184; 190) according to any one of the preceding claims, characterized in that The floor cleaning system (100; 184; 190) comprises a docking station (104; 194) for the floor cleaning device (102; 192), in particular for conveying consumable components to the floor cleaning device (102; 192) and / or discharging used components from the floor cleaning device (102; 192) when the floor cleaning device (102; 192) occupies a docking position at the docking station (104; 194).
41. The floor cleaning system (100; 184; 190) according to claim 40, characterized in that: The docking station (104; 194) includes the calibration element (168).
42. The floor cleaning system (100; 184; 190) according to claim 40 or 41, characterized in that: The docking station (104; 194) comprises a placement element (160), on which the floor cleaning device (102; 192) is placed in a docking position, and the calibration element (168) is arranged on the placement element (160) or surrounded by the placement element and is preferably positioned completely within a detection area (148) of the sensor device (130).
43. The floor cleaning system (100; 184; 190) according to any one of claims 40 to 42, characterized in that: The calibration element (168) is detachably connectable to the docking station (104; 194).
44. The floor cleaning system (100; 184; 190) according to any one of claims 40 to 43, characterized in that: The docking station (104; 194) comprises a movable covering element (154) which covers the calibration element (168) in a closed position and is movable when the floor cleaning device (102; 192) when transferred to the docking position, the covering element (154) can be transferred to an open position to expose the calibration element (168), and / or the floor cleaning system (100; 184; 190) includes a preferably controllable opening unit for transferring the covering element to the open position.
45. The floor cleaning system (100; 184; 190) according to any one of the preceding claims, characterized in that When the floor cleaning device (102; 192) is transferred into the docking position, the calibration element (168) can be cleaned by means of the at least one cleaning tool (120).
46. Method for operating a floor cleaning system (100; 184; 190), in particular a floor cleaning system according to any one of the preceding claims, the method comprising: - detecting an object to be detected (108) arranged in a detection area (148) by means of at least one sensor device (130) and providing relevant detection information to a control unit (118); - determining the material of the object under investigation (108) based on the investigation information by means of the control unit (118); - detecting a calibration element (168) by means of the at least one sensor device (130), wherein control calibration information serving as a basis for material determination is determined by the control unit (118); - comparing the control calibration information with reference calibration information for the at least one sensor device (130) stored in a memory unit (128, 182) by means of the control unit (118); and - taking at least one corrective measure by the control unit (118) when the control calibration information deviates from the reference calibration information.
Citation Information
Patent Citations
Self-propelled cleaning device
DE102014106975A1
Automatic floor cleaning
DE102018200719A1
Method and apparatus for classification of surfaces
EP1677099A1
Floor-cleaning appliance and method for cleaning a floor surface
WO2018202301A1