Floor treatment system

Abstract

A floor treatment system (1000) includes a robotic support frame (200) configured to couple (C) with a stand-alone hand-held floor treatment device (100) and to support (S) the hand-held floor treatment device in combination to form a semi-autonomous floor treatment device (300). The floor treatment system according to the present application may allow easy control to achieve a desired balance between manpower and automation while ensuring efficient and reliable operation.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to floor treatment systems and methods for treating floors. BACKGROUND

[0002] Various types of floor treatment systems and methods aim to maintain and enhance the cleanliness, appearance, durability, and / or safety of various floor material types. The most common floor treatment activity includes floor cleaning. Floor cleaning systems are generally aimed at removing dirt, debris, stains, and / or improving hygiene. Examples of floor cleaning activities can include sweeping, vacuuming, mopping, scrubbing, and the like. Wet floor cleaning involves the use of liquids, such as water, cleaning agents, and / or disinfectants, on the floor. In addition to floor cleaning, floor treatment can include other or further activities, such as waxing, polishing, caulking, and / or patching.

[0003] Floor treatment technology, particularly floor cleaning, is constantly evolving. Despite the progress, the primary way of cleaning floors remains the traditional mop and bucket. The traditional method provides full manual control over the cleaning process, allowing for targeting of specific areas and adaptability to various floor types. However, the traditional method can be very time-consuming, requiring significant physical exertion, and sometimes results in inconsistent cleaning quality, especially in larger spaces.

[0004] Machine-assisted floor cleaning, such as hand-held scrubbers and vacuum cleaners, improve upon the traditional cleaning by increasing time efficiency, reducing physical strain, and providing more consistent cleaning over large areas. However, these manually operated machines still require the user to be present and can lack adaptability. In principle, autonomous floor cleaning robots can provide fully automatic, hands-free operation, capable of routine cleaning with minimal human intervention. However, despite the progress in navigation and operation capabilities, these robots can still exhibit limitations in determining the optimal cleaning pattern.

[0005] Semi-autonomous floor treatment devices and systems can operate with a certain degree of automation, but also with a certain degree of human intervention or supervision. Advantageously, semi-autonomous devices can combine the convenience of automation with the oversight and control of manual operation. In the context of semi-autonomous cleaning systems, “teach and repeat” is a concept in which a human operator first “teaches” a robot a specific cleaning route or task by manually guiding the robot or programming a path into the robot’s system. Once this initial setup is complete, the robot is able to autonomously “repeat” the task without further human intervention. However, it can still be relatively difficult or time-consuming for a human to teach a machine to perform each cleaning task.

[0006] There is still a need for further improvements of known floor treatment systems, in particular allowing to easily control the desired balance between manpower and automation, while ensuring efficient and reliable operation. Utility content

[0007] Aspects of the present disclosure relate to a floor treatment system comprising a robotic support frame, which is able to solve or at least partially mitigate the problems set out above.

[0008] The floor treatment system comprises a robotic support frame configured to couple with and support a stand-alone hand-held floor treatment device in combination to form a semi-autonomous floor treatment device.

[0009] The robotic support frame comprises coupling means configured to reversibly couple and decouple with a corresponding part of the hand-held floor treatment device.

[0010] The robotic support frame comprises a support structure configured to support a guide portion of the hand-held floor treatment device in an upright configuration.

[0011] The floor treatment system comprises the hand-held floor treatment device having a bottom portion, a guide portion having a handle portion, and a joint means between the bottom portion and the guide portion allowing the guide portion to pivot relative to the bottom portion when the hand-held floor treatment device is decoupled from the robotic support frame, wherein the robotic support frame is configured to support the guide portion to prevent pivoting when forming the semi-autonomous floor treatment device.

[0012] The robotic support frame comprises a frame structure defining an inner frame spacing configured to enable the hand-held floor treatment device to be accommodated inside a perimeter of the frame structure.

[0013] The frame structure comprises one or more U-shaped frame portions configured to form a partially open perimeter around a corresponding portion of the hand-held floor treatment device.

[0014] The frame structure has an open side, thereby allowing the hand-held floor treatment device to be pushed into the frame structure from the open side without the need to lift the hand-held floor treatment device off the floor.

[0015] The robotic support frame includes an enclosure mechanism configured to selectively: leave the open side of the robotic support frame open to enable the walk-behind floor treatment device to access the frame structure interior, or close the open side of the robotic support frame with the enclosure mechanism to support the walk-behind floor treatment device with the walk-behind floor treatment device inside the frame structure.

[0016] The frame structure has a bottom side opening for allowing the walk-behind floor treatment device to directly contact and treat the underlying floor while forming part of the semi-autonomous floor treatment device.

[0017] The floor treatment system includes the walk-behind floor treatment device having at least one tool configured to engage the floor both when the walk-behind floor treatment device is separated from the robotic support frame and when the walk-behind floor treatment device is combined with the robotic support frame to form the semi-autonomous floor treatment device.

[0018] The walk-behind floor treatment device includes a bottom portion having one or more pairs of counter-rotating and / or counter-reciprocating tools for treatment of the floor.

[0019] The walk-behind floor treatment device, when separated from the robotic support frame, is configured as a purely manually operated floor treatment device requiring manual operation of the walk-behind floor treatment device by a user when treating a first floor area; wherein the semi-autonomous floor treatment device is configured to selectively switch between: a manual operation mode in which the semi-autonomous floor treatment device is manually operable to treat a second floor area, at which time the semi-autonomous floor treatment device is manually operated by a user; and an autonomous operation mode in which the semi-autonomous floor treatment device is configured to autonomously treat a third floor area without requiring manual operation.

[0020] The robotic support frame includes one or more sensors configured to sense and / or map the environment during the manual operation mode and during the autonomous operation mode; at least one motor connected to a propulsion device and / or a steering device; and a controller configured to control the at least one motor to propel and / or steer the semi-autonomous floor treatment device during the autonomous operation mode based at least in part on previous sensing and / or mapping of the environment during the manual operation mode and based at least in part on current sensing and / or mapping of the environment during the autonomous operation mode.

[0021] The semi-autonomous floor treatment device is configured to autonomously treat a floor area different from the floor area treated during the manual operation mode based on extrapolation from the path traveled during the manual operation mode.

[0022] During the manual operation mode, the semi-autonomous floor treatment device records a path traveled by the semi-autonomous floor treatment device, and wherein during the autonomous operation mode, the semi-autonomous floor treatment device is configured to determine a treatment area based on extrapolation and / or on the path traveled during the manual operation mode.

[0023] The semi-autonomous floor treatment device is configured to recognize that the path traveled during the manual operation mode forms at least a partial boundary of an area, and is configured to determine that the area enclosed by the path is to be autonomously treated during the autonomous operation mode.

[0024] During the autonomous operation mode, the semi-autonomous floor treatment device is configured to return to a predetermined location after completion of the autonomous treatment.

[0025] The semi-autonomous floor treatment device is configured to autonomously generate a treatment plan for the autonomous operation mode based on environmental features detected during the manual operation mode.

[0026] The semi-autonomous floor treatment device is configured to determine an area to be autonomously treated based on a combination of the path traveled during the manual operation mode and on ambient environmental features detected by sensors of the semi-autonomous floor treatment device.

[0027] The semi-autonomous floor treatment device is configured to autonomously treat an area determined by extending the path traveled during the manual operation mode to cover additional areas extrapolated from mapping data collected during the manual operation mode.

[0028] The semi-autonomous floor treatment device is configured to extrapolate an area to be autonomously treated based on a shape and size of an area partially treated during the manual operation mode.

[0029] The semi-autonomous floor treatment device is configured to utilize data collected during the manual operation mode to autonomously navigate the environment during the autonomous operation mode.

[0030] The robotic support frame is configured to wirelessly communicate with the hand-held floor treatment device to control operation of the hand-held floor treatment device during the autonomous operation mode.

[0031] The robotic support frame includes at least one battery configured to power the robotic support frame independently of the hand-held floor treatment device.

[0032] The robot support frame is configured to receive power from the walk-behind floor treatment device when coupled thereto; and / or to supply power to the walk-behind floor treatment device when coupled thereto.

[0033] The walk-behind floor treatment device comprises an add-on control element configured to receive control signals from the robot support frame during the autonomous mode of operation and to control operation of the walk-behind floor treatment device.

[0034] The add-on control element comprises an actuator configured to actuate a control element of the walk-behind floor treatment device based on the control signals received from the robot support frame.

[0035] The robot support frame is configured to automatically switch between the manual mode of operation and the autonomous mode of operation based on detecting whether a user is operating the walk-behind floor treatment device.

[0036] The robot support frame is further adapted to function as a cleaning cart comprising one or more storage compartments for cleaning supplies.

[0037] The robot support frame comprises at least one movable support structure connected to the frame structure via a connection mechanism, wherein the connection mechanism enables the support structure to move between a support configuration in which the support structure is configured to support a guiding portion of the walk-behind floor treatment device and an open configuration in which the walk-behind floor treatment device can be engaged with or disengaged from the robot support frame.

[0038] The ambient environment feature is a wall.

[0039] The connection mechanism is a pivotable mechanism and / or a translatable mechanism.

[0040] The support structure is a bracket and / or a support arm.

[0041] Aspects of the present disclosure relate to a floor treatment system including a robotic support frame configured to couple with and support a walk-behind floor treatment device in combination to form a semi-autonomous floor treatment device. Generally, it should be appreciated that the robotic support frame as disclosed herein can provide modular intelligence to any (non-smart) walk-behind floor treatment device. Other or additional aspects design for use of the floor treatment system in which: a first floor area is treated by a user operating a walk-behind floor treatment device without the robotic support frame; a second floor area is treated by the user operating the walk-behind floor treatment device coupled with the robotic support frame; and a third floor area is autonomously treated by the treatment device without the user. Advantageously, the user can manually operate a standalone walk-behind floor treatment device separate from the robotic support frame. In this configuration, the walk-behind floor treatment device can be relatively maneuverable and easy to operate without the robotic support frame. Further, the user can easily couple the walk-behind floor treatment device to the robotic support frame to transform the walk-behind floor treatment device into a semi-autonomous floor treatment device. For example, the robotic support frame can allow the user to easily push the walk-behind treatment device into the open side of the U-shaped frame without having to lift the heavy device. In the coupled configuration, the walk-behind floor treatment device can still be manually operated (e.g., using the handle of the walk-behind floor treatment device), and / or the combined device can be autonomously operated. The autonomous operation can be based on the manual operation. For example, the user can easily determine the area to be treated by partially treating a sub-area and let the floor treatment device autonomously complete the remaining treatment while the user performs other tasks. For example, the semi-autonomous floor treatment device can infer the remaining portion of the area to be autonomously cleaned based on the cleaning pattern of the user cleaning the partial area. When the device completes the autonomous treatment, the user can easily decouple the walk-behind floor treatment device from the robotic support frame and continue with manual treatment of any remaining areas that, for example, the semi-autonomous floor treatment device cannot reach. Thus, it should be appreciated that the present systems and methods can allow for easy control to reach a desired balance between human power and automation while ensuring efficient and reliable operation. BRIEF DESCRIPTION OF DRAWINGS

[0042] These and other features, aspects, and advantages of the devices, systems, and methods of the present disclosure will become better understood with reference to the following description, appended claims, and accompanying drawings, in which:

[0043] FIG. 1A and FIG. 1B A respective side view of a floor treatment system including a robotic support frame configured to support and couple with a walk-behind floor treatment device to form a semi-autonomous treatment system is shown;

[0044] FIG. 2A and FIG. 2B A perspective view of a floor treatment system and a semi-autonomous floor treatment device is shown;

[0045] FIG. 3A A top view of a semi-autonomous floor treatment device is shown, with a top portion of the frame structure holding a guide portion of a walk-behind floor treatment device;

[0046] FIG. 3B A view of a bottom portion of the frame structure holding a bottom portion of the walk-behind floor treatment device is shown;

[0047] FIG. 4A and FIG. 4B Additional aspects for coupling and / or supporting a walk-behind floor treatment device are shown;

[0048] FIG. 5A to FIG. 5C and FIG. 6A to FIG. 6F Additional aspects of sensors and controls of a semi-autonomous floor treatment device are shown;

[0049] FIG. 7A to FIG. 7C Various ways of using a floor treatment system are shown;

[0050] FIG. 8A to FIG. 8C Operation of a semi-autonomous floor treatment device for treating an extended area is shown.

[0051] FIG. 9A to FIG. 9C Operation of a semi-autonomous floor treatment device for treating a hallway is shown. DETAILED DESCRIPTION

[0052] Terms used to describe particular embodiments are not intended to limit the present application. As used herein, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. The term “and / or” includes any and all combinations of one or more of the associated listed items. It will be understood that the terms “comprises” and / or “comprising,” when used in this specification, specify the presence of stated features, but do not preclude the presence or addition of one or more other features. It will be further understood that when a particular step of a method is referred to as a subsequent step of another step, it can directly follow that other step, or one or more intervening steps can be performed before the particular step, unless otherwise indicated. Likewise, it will be understood that when describing a connection between structures or components, such a connection can be established directly or through intervening structures or components, unless otherwise indicated.

[0053] The present disclosure is described more fully hereinafter with reference to the accompanying drawings, in which embodiments of the disclosure are shown. In the drawings, the absolute and relative sizes of systems, components, layers, and regions can be exaggerated for clarity. Embodiments can be described with reference to schematic illustrations of possible implementations and intermediate structures of the present disclosure. In the description and drawings, like reference numerals are used to refer to like elements throughout. Relative terms and / or phrases are used herein for the purpose of facilitating description of the subject matter. Such relative terms and / or phrases are not required to be used in a particular orientation, unless otherwise stated or indicated by context.

[0054] FIG. 1A A floor treatment system 1000 is shown, including a robotic support frame 200 and a walk-behind floor treatment device 100. FIG. 1B A robotic support frame 200 is shown how it can be coupled with a walk-behind floor treatment device 100 to form a semi-autonomous floor treatment device 300. FIG. 2A and FIG. 2B A perspective view of a floor treatment system 1000 and a semi-autonomous floor treatment device 300 is shown.

[0055] As described herein, a floor treatment system 1000 includes a robotic support frame 200. The robotic support frame 200 is configured to couple C with a walk-behind floor treatment device 100. Together, the robotic support frame 200 coupled with the walk-behind floor treatment device 100 forms a semi-autonomous floor treatment device 300. Preferably, the robotic support frame 200 includes a coupling device 261 configured to reversibly couple C and uncouple with a corresponding portion of the walk-behind floor treatment device 100, i.e., a second coupling element 161, which will be described further below. Thus, it should be understood that the walk-behind floor treatment device 100 can be uncoupled and separated from the robotic support frame 200 so as to be operated manually (non-autonomously) only; or, the walk-behind floor treatment device 100 can be coupled to the robotic support frame 200 to form a semi-autonomous floor treatment device 300, which can be operated autonomously (e.g., based on prior user input).

[0056] In some embodiments, the robotic support frame 200 is a universal frame, capable of accommodating various different types of walk-behind floor treatment devices, and capable of transforming each different type of walk-behind floor treatment device into a corresponding semi-autonomous floor treatment device 300. For example, the robotic support frame 200 can be provided with a coupling device configured to engage any portion of an (already existing) walk-behind floor treatment device 100. Advantageously, the robotic support frame 200 can thus be used to transform an existing walk-behind floor treatment device without the need to modify the existing device.

[0057] In other or further embodiments, the robotic support frame 200 can be adapted to couple with a particular type or class of treatment device (in particular, a walk-behind floor treatment device). For example, the robotic support frame 200 comprises a coupling device 261 that is adapted to engage a particular corresponding part of the walk-behind floor treatment device 100 (i.e., the second coupling element 161, which will be further described below). The corresponding part can be part of an existing treatment device, or an existing or new treatment device can be retrofitted with the corresponding part to allow for coupling.

[0058] Preferably, the coupling device comprises at least one mechanical coupling that is configured to hold the floor treatment device 100 when the semi-autonomous floor treatment device 300 is operating autonomously. For example, the mechanical coupling is configured to be strong enough to pull, push and / or steer the floor treatment device 100 when the robotic support frame 200 is moving autonomously. In one embodiment, the robotic support frame 200 comprises a first coupling element (i.e., the coupling device 261), and the walk-behind floor treatment device 100 comprises a second coupling element 161, wherein the first coupling element is configured to reversibly couple with the second coupling element 161. For example, at least a portion of the second coupling element 161 fits inside the first coupling element, or vice versa. Preferably, one or both of the first coupling element and the second coupling element comprises a locking device that is configured to reversibly lock and unlock the connection between the first coupling element and the second coupling element.

[0059] Other or further (mechanical) coupling devices are also conceivable, such as magnetic coupling, snap-fit coupling, latching and lock mechanism, spring-loaded connector, clamping mechanism, bayonet mount, etc. Combinations are also conceivable. For example, the mechanical coupling can comprise a combination of an easy-to-form connection device (such as magnetic coupling and / or snap-fit coupling) with a more secure connection device (such as one or more of a latching and lock mechanism, spring-loaded connector, clamping mechanism, bayonet mount, etc.).

[0060] The walk-behind floor treatment device 100 generally includes a bottom portion 110 configured to operate on a floor and a guide portion 120 connected to the bottom portion. The guide portion 120 is configured to allow a user to easily employ the device. For example, the guide portion 120 extends upward from the bottom portion 110 such that a user can hold the guide portion 120 without bending over. During normal operation, a user will typically stand or walk behind the floor treatment device 100 while holding the handle portion 121. For example, the handle portion can be held at an angle relative to a vertical axis. A user operating the walk-behind floor treatment device 100 can generally control the device while holding the handle portion 121. For example, the user can push, pull, and / or steer the floor treatment device 100. In some embodiments, the walk-behind floor treatment device 100 can also include propulsion means, for example by electrically powered wheels and / or as a result of one or more tools 111 under the bottom portion 110 operating on the floor. For example, rotation of a pair of brushes can at least generate a support force that can help a user more easily propel the walk-behind floor treatment device 100.

[0061] In some embodiments, the walk-behind floor treatment device 100 includes a joint device 130 between the bottom portion 110 and the guide portion 120. This can allow the guide portion 120 to pivot at least in a forward (treatment) direction. More preferably, the walk-behind floor treatment device 100 has a joint device 130 that also permits the guide portion 120 to pivot in a lateral direction transverse to the forward (treatment) direction. Most preferably, the joint device 130 is capable of transmitting torque from the guide portion 120 to the bottom portion 110. For example, the joint device 130 includes a universal joint, a cardan joint, other flexible joint (e.g. spring).

[0062] Preferably, the robot support frame 200 is configured to not only form the connection C but also support the hand-held floor handling device 100. In one embodiment, for example, as shown, the robot support frame 200 is configured to support the relatively tall, upright hand-held floor handling device 100 and prevent the floor handling device 100 from tipping over when autonomously operated by the robot support frame 200. For example, the robot support frame 200 forms a robot bracket around the hand-held floor handling device 100. Most preferably, the robot support frame 200 includes a support structure (i.e., the U-shaped frame portion 212, the closure mechanism 262, which will be further described below) configured to (at least partially) support the guide portion 120 of the upright hand-held floor handling device 100. For example, the height of the robot support frame 200 and / or support structure (i.e., the U-shaped frame portion 212, the closure mechanism 262, which will be further described below) can be at least 30 percent, preferably at least 40 percent, for example up to 50 percent or 60 percent or more of the height of the hand-held floor handling device 100, wherein the guide portion 120 extends upward (e.g., vertically or at an angle of up to 45 degrees). For example, the robot support frame 200 can be relatively high, for example at least 50 centimeters, at least 80 centimeters, for example up to one meter or more above the floor. In some embodiments, the robot support frame 200 is configured to support the guide portion 120 to prevent pivoting (in any direction). For example, when the guide portion 120 is connected to the bottom portion 110 via the connector 130, the guide portion 120 can remain upright and / or at a specific angle. By providing a robot support frame 200 capable of supporting the hand-held floor handling device 100, including the guide portion 120, in a normal operating position, this allows a user to manually operate the semi-autonomous floor handling device 300 while using the handle portion 121 of the hand-held floor handling device 100.

[0063] In some embodiments, the robot support frame 200 includes a frame structure 210 defining intraframe spacings 210s, 210b, the intraframe spacing being configured to at least partially or completely accommodate the hand-held floor handling device 100 within the perimeter of the frame structure 210. For example, as FIG. 2BAs shown, the lower portion 211 of the frame structure 210 can accommodate the bottom portion 110 of the walk-behind floor treatment device 100, and the upper portion of the frame structure 210 (i.e., the U-shaped frame portion 212, which will be described further below) can accommodate the guide portion 120 of the walk-behind floor treatment device 100. While the drawings show the upper portion (i.e., the U-shaped frame portion 212) connected to the lower portion 211 by a set of intermediate portions 213 (e.g., vertical uprights), any other connecting structure can be used to form an open or closed frame structure. For example, instead of an open frame structure with vertical uprights, the frame can also include a monolithic U-shape at the intermediate portions 213 of the frame.

[0064] In some embodiments, the frame structure 210 has an open side 210o, which is preferably at the rear side of the robotic support frame 200, allowing the walk-behind floor treatment device 100 to be pushed into the frame structure 210 from said open side 210o, preferably without the need to lift the walk-behind floor treatment device 100 off the floor F. By partially enclosing (e.g., from the front side and both sides) the walk-behind floor treatment device 100, a stable support can be formed. In one embodiment, the frame structure 210 includes one or more U-shaped frame portions (i.e., the lower portion 211 of the U-shape, the U-shaped frame portion 212) configured to form a partially open perimeter around the respective portions (i.e., the bottom portion 110, the guide portion 120) of the walk-behind floor treatment device 100. By shaping the frame structure 210 as a semi-open or U-shaped frame, this can allow a user to easily push the floor treatment device inside the robotic support frame 200, for example, while normally operating the walk-behind floor treatment device 100. Preferably, the user does not need to lift the walk-behind floor treatment device 100 to assemble or disassemble the floor treatment device to or from the robotic support frame 200. For example, the frame structure 210 can be completely open from the rear side. Alternatively, it is conceivable that the frame structure 210 includes a ledge or ramp, for example, at the bottom side, where the walk-behind floor treatment device 100 can be (easily) lifted over the structural obstacle to enter the support frame.

[0065] In some embodiments, the robotic support frame 200 comprises a closure mechanism 262. The closure mechanism 262 is configured to selectively open the open side 210o of the robotic support frame 200 to place the walk-behind floor treatment device 100 inside the frame structure 210; or to close the open side 210o of the robotic support frame 200 by the closure mechanism 262 to support the walk-behind floor treatment device 100 in case the walk-behind floor treatment device 100 is inside the frame structure 210. For example, the closure mechanism 262 can be operable by a user or an automated mechanism. In one embodiment, for example, as shown, the closure mechanism 262 comprises a strap configured to fit around a portion of the walk-behind floor treatment device 100, preferably around the guide portion 120. For example, the strap can comprise Velcro (e.g. magic tape) to allow easy fastening and unfastening. Alternatively or additionally, the closure mechanism can comprise a strap and buckle mechanism for easy and secure fastening. Alternatively or in addition to the strap, other mechanisms can also be envisaged, such as a door (or a pair of doors). Alternatively or additionally, to support the guide portion 120, one or more closure mechanisms can also be provided to support and / or engage the bottom portion 110 or any other portion of the walk-behind floor treatment device 100. Alternatively or in addition to the coupling device 261, the closure mechanism 262 can also be used to couple to the walk-behind floor treatment device 100. It is also envisaged that the closure mechanism 262 is omitted. For example, the walk-behind floor treatment device 100 can be self-supporting, e.g. capable of supporting the guide portion 120 of the walk-behind floor treatment device in an upright position by the locking joint device 130.

[0066] In a preferred embodiment, the frame structure 210 has a bottom side opening (i.e. frame inner spacing 210b) for allowing the walk-behind floor treatment device 100 to directly treat the underlying floor while forming part of the semi-autonomous floor treatment device 300. For example, the walk-behind floor treatment device 100 can be directly supported on the floor while forming part of the semi-autonomous floor treatment device 300. Accordingly, the walk-behind floor treatment device 100 can be operated on the floor while being supported and guided by the robotic support frame 200.

[0067] In some embodiments, the walk-behind floor treatment device 100 comprises at least one tool 111 configured to engage the floor F. Typically, the walk-behind floor treatment device 100 comprises an electric motor (not shown) for driving the at least one tool. Preferably, the electric motor for driving the at least one tool 111 is arranged in the walk-behind floor treatment device 100, most preferably in the bottom portion 110. In one embodiment, the at least one tool comprises a rotating and / or reciprocating brush or pad. In a preferred embodiment, the walk-behind floor treatment device 100 is a walk-behind floor scrubber, also referred to as an automated scrubber or automatic scrubber, for example as shown. Preferably, the at least one tool 111 is configured to engage the floor F when the walk-behind floor treatment device 100 is used as a stand-alone device separate from the robotic support frame 200 as well as when the walk-behind floor treatment device 100 is combined with the robotic support frame 200 to form the semi-autonomous floor treatment device 300.

[0068] In some embodiments, the walk-behind floor treatment device 100 has at least two tools, preferably one or more pairs of counter-rotating and / or counter-reciprocating tools 111, for example placed symmetrically left and right from the middle of the bottom portion 110. See for example FIG. 3B In this context, this can have the particular advantage that forces, in particular lateral forces, exerted by the interaction of the tools on the floor can be eliminated, thereby allowing the robotic support frame 200 to turn more easily. For example, lateral forces can be eliminated by placing the tools symmetrically on the left and right sides of the machine.

[0069] Alternatively or in addition to the actuated tools 111, the walk-behind floor treatment device 100 can have further or additional tools or components configured to engage the floor F, preferably both in the stand-alone configuration and in the combined configuration. For example, a squeegee and / or a suction element can be provided to engage the floor, preferably behind the at least one tool in the treatment direction. In a preferred embodiment, the walk-behind floor treatment device 100 forms a scrub-dry all-in-one. The scrub-dry all-in-one can be used for wet cleaning of the floor. For example, the walk-behind floor treatment device 100 comprises a liquid supply 112 and / or a liquid intake 113. In one embodiment, the liquid intake 113 comprises at least one squeegee configured to collect liquid from the floor. In another or additional embodiment, the liquid intake 113 comprises or is coupled to a suction motor (not shown) configured to suck liquid from the floor. For example, the suction motor is configured to create a vacuum between a pair of squeegee blades to suck liquid from the floor.

[0070] In some embodiments, the walk-behind floor treatment device 100 comprises at least one cleaning liquid container 122. For example, the cleaning liquid container 122 can provide cleaning liquid to the liquid supply 112, which is preferably arranged on the bottom portion 110, e.g. at or near the at least one tool. In other or additional embodiments, the walk-behind floor treatment device 100 comprises at least one waste liquid container 123. For example, the waste liquid container 123 can receive waste liquid from the liquid suction 113. Alternatively or in addition to being operable as a wet cleaning device, the walk-behind floor treatment device 100 can also be operable as a dry floor cleaning device. For example, the walk-behind floor treatment device 100 can be switchable between different modes of operation.

[0071] In some embodiments, the guidance portion 120 comprises at least one liquid sump, preferably two liquid sumps 122, 123, for supplying liquid to the floor and / or suctioning liquid from the floor. Preferably, the robot support frame 200 is thus configured to (at least partially) support the weight of the guidance portion 120 and its at least one liquid sump filled with liquid. It is also possible to arrange one or both liquid sumps on the bottom portion.

[0072] Preferably, the walk-behind floor treatment device 100 is self-sufficient, e.g. operable independently from the robot support frame 200. For example, the at least one treatment tool 111, the liquid supply 112 and / or the liquid suction 113 can (exclusively) be arranged as part of the walk-behind floor treatment device 100. In this case, the robot support frame 200 itself does not need any treatment tools or supplies. For example, the robot support frame 200 does not need to have any tools for operating on the floor, such as a brush or a pad; it also does not need any liquid supply, liquid suction or liquid storage. Alternatively, the robot support frame 200 itself can also comprise features that help the walk-behind floor treatment device 100 to perform its tasks. For example, the robot support frame 200 can comprise one or more containers to carry liquid, e.g. cleaning liquid and / or waste liquid, which can be supplied to or recovered from the walk-behind floor treatment device 100.

[0073] In some embodiments (not shown), the robot support frame as described herein can be adapted to (also) function as a cleaning cart. Advantageously, a user can couple the walk-behind floor treatment device 100 to the robot support frame 200, remove cleaning or other supplies carried by the support frame 200 implemented as a cleaning cart, and perform their own activities (such as cleaning) using the removed supplies, while the semi-autonomous floor treatment device 300 autonomously treats (e.g., cleans) the area using the walk-behind floor treatment device 100 coupled to the robot support frame 200. For example, the robot support frame can be adapted to transport various cleaning supplies, including: receptacles such as drawers, shelves, bags, containers; and cleaning tools such as mops or brooms, sponges, etc. For example, the robot support frame includes one or more of the typical elements of a cleaning cart, such as one or more of storage compartments, shelves, drawers, (lockable) cabinets, mop and broom holders, wringer, charging station, etc. There can be clips or hooks on the sides of the cart for holding long-handled tools such as mops, brooms, and dustpans. There can even be a section or bag attached to the cart for collecting trash or used bed linens.

[0074] In preferred embodiments, the walk-behind floor treatment device 100 is battery powered. For example, the walk-behind floor treatment device 100 has at least one battery (not specifically shown) disposed on the bottom portion 110 and / or the guide portion 120. Preferably, the battery is removable and / or easily replaceable. The battery can be used to power one or more of: a motor for driving the at least one tool 111, a suction motor for drawing up liquid, a pump for controlling the supply of liquid, a controller for controlling each of the components, etc. In another or further embodiment, the robot support frame 200 is (also) battery powered. In preferred embodiments, the robot support frame 200 has at least one battery 270 (e.g. FIG. 2A Alternatively or additionally, power can be supplied from the battery on the walk-behind floor treatment device 100 to the robot support frame 200, or vice versa. In some embodiments, the same type of battery can be used on the walk-behind floor treatment device 100 and the robot support frame 200. In this way, the battery can be easily exchanged between the floor treatment device 100 and the robot support frame 200.

[0075] Preferably, the walk-behind floor treatment device 100 and the robotic support frame 200 are each independently operable. Alternatively or additionally, the walk-behind floor treatment device 100 can be electrically coupled to the robotic support frame 200. In one embodiment, the robotic support frame 200 is configured to receive electrical power from the walk-behind floor treatment device 100. For example, the walk-behind floor treatment device 100 comprises at least one battery, which can power and / or recharge the robotic support frame 200 during autonomous operation. In another or additional embodiment, the walk-behind floor treatment device 100 is configured to receive electrical power from the robotic support frame 200. For example, the robotic support frame 200 comprises at least one battery, which can power and / or recharge the walk-behind floor treatment device 100 during autonomous operation.

[0076] In some embodiments, the walk-behind floor treatment device 100 is configured as a purely manually operated floor treatment device when detached from the robotic support frame 200. In other words, the walk-behind floor treatment device 100 can require the continuous presence of a user to manually operate the walk-behind floor treatment device 100 when treating a respective floor area. Alternatively, the walk-behind floor treatment device 100 can also comprise one or more autonomous functions itself.

[0077] In some embodiments, the semi-autonomous floor treatment device 300 is configured to selectively switch between a manual operation mode and an autonomous operation mode. In the manual operation mode, the semi-autonomous floor treatment device 300 is manually operable to treat a floor area, at which time a user manually operates the semi-autonomous floor treatment device 300. For example, in the manual operation mode Mm, the user U can be required to be present (continuously) to operate the semi-autonomous floor treatment device 300 while it is treating. For example, the treatment of an area can be entirely determined by the user while manually operating the device. In the autonomous operation mode Ma, the semi-autonomous floor treatment device 300 is configured to autonomously treat a floor area without manual operation. For example, in the autonomous operation mode Ma, no user is required to operate the semi-autonomous floor treatment device 300 while it is treating. The treatment area and / or other treatment parameters can be entirely determined by the device itself while the treatment operation is ongoing, but the determination can be based partly or entirely on previous (or intermittent) user input.

[0078] In some embodiments, the robot support frame 200 comprises at least one sensor 241, 242 configured to sense and / or map the environment during the manual mode of operation and / or during the autonomous mode of operation. Preferably, the robot support frame 200 comprises a radar device 241. Advantageously, the radar device 241 can be used to map a map of the surrounding environment (walls, obstacles, etc.) for example for distances of up to ten meters, or up to twenty-five meters or more. Alternatively or additionally, a short-range sensor can also be provided on the robot support frame 200, for example one or more ultrasonic sensors (not shown) which are typically able to sense distances of up to about one meter around the frame. Preferably, the robot support frame 200 further comprises an edge detector 242, for example a camera. Advantageously, the edge detector 242 can detect edges or cliffs (such as stairs) and prevent the semi-autonomous floor treatment device 300 from falling into a deep. Of course, any other or further sensors and / or machine learning can also be used to observe and / or map the environment.

[0079] In some embodiments, the robot support frame 200 comprises a controller 250 configured to control the operation of the semi-autonomous floor treatment device 300, for example in the autonomous mode of operation. The controller 250 can also be configured to record the operation in the manual mode of operation. In one embodiment, the controller 250 is configured to control the propulsion and / or steering of the semi-autonomous floor treatment device 300, for example by controlling at least one propulsion motor 220 driving a respective wheel 231 of the robot support frame 200. For example, the controller 250 can receive input from one or more sensors 241, 242 to determine the propulsion and / or steering during the autonomous mode of operation. Other or further sensors can also be used, for example any of the sensors 241-245 described later with reference to Fig. 3. FIG. 5A to FIG. 5C and FIG. 6A to FIG. 6F any one or more of the sensors 241-245 described.

[0080] Preferably, the robotic support frame 200 comprises a user interface, e.g. a button 251, configured to selectively switch between a manual and an autonomous mode of operation. Alternatively or additionally, the robotic support frame 200 can automatically switch between different modes of operation. For example, the controller 250 can automatically switch to the manual mode of operation when it detects that a user has grabbed the walk-behind floor treatment device 100. For example, the controller 250 can automatically switch to the autonomous mode of operation when it detects that a user has released the walk-behind floor treatment device 100. In some embodiments, the robotic support frame 200, e.g. the controller 250, is configured to control the operation of the walk-behind floor treatment device 100 and / or the walk-behind floor treatment device 100 is configured to control the operation of the robotic support frame 200. Preferably, control signals are wirelessly transmitted / received between the robotic support frame 200 and the walk-behind floor treatment device 100. Alternatively or additionally, a data cable can be connected between the robotic support frame 200 and the walk-behind floor treatment device 100.

[0081] In some embodiments, the robotic support frame 200 is configured to transmit control signals and / or information to the walk-behind floor treatment device 100. Preferably, the robotic support frame 200 is able to controllably turn off the walk-behind floor treatment device 100, e.g. when it has completed its autonomous operation. It can be relatively easy to retrofit an existing walk-behind floor treatment device 100 to comprise a control mechanism for turning power on / off and / or starting / stopping operation. For example, power can be turned off by inserting a controllable switch somewhere in the power supply of the walk-behind floor treatment device 100. Alternatively or additionally, the walk-behind floor treatment device 100 can be provided and / or retrofitted with a (wireless) control interface and / or control port for receiving control signals and / or information. For example, an existing walk-behind floor treatment device 100 can be controlled using the retrofit control element 151 as described in further detail below. FIG. 5A Further to turning power on / off and / or starting / stopping operation, these or other control elements or interfaces can also allow other or additional control signals to be transmitted to the walk-behind floor treatment device 100, e.g. to control one or more aspects of the walk-behind floor treatment device 100, such as scrubbing intensity (e.g. rotation and / or reciprocation speed), water supply (e.g. on / off or liquid volume per unit of time), water suction (e.g. on / off and / or intensity), steering (e.g. control rotation of left / right side brushes), etc.

[0082] In other or further embodiments, the robotic support frame 200 is configured to receive control signals and / or information from the walk-behind floor treatment device 100. For example, the walk-behind floor treatment device 100 can control one or more aspects of the autonomous operation. Alternatively or additionally, the walk-behind floor treatment device 100 can send status information about its operation, which can be used in the autonomous operation of the robotic support frame 200. For example, the amount of (remaining) cleaning liquid and / or (recycled) waste liquid can be signaled to the robotic support frame 200.

[0083] One or more of the mechanical, electrical and data connections between the walk-behind floor treatment device 100 and the robotic support frame 200 can be integrated and / or dependent on each other. For example, an electrical power cable (e.g. plug and / or socket) can be included in the mechanical connection element, such that an electrical contact is formed when the mechanical connection is established. Alternatively or additionally, a data cable can be included in the mechanical connection, such that a data contact is formed when the mechanical connection is established. Establishing the mechanical connection can also trigger the formation of a wireless connection between the walk-behind floor treatment device 100 and the robotic support frame 200.

[0084] In some embodiments, the robotic support frame 200 comprises at least one actuator (i.e. motor 220) configured to actuate the walk-behind floor treatment device 100 and / or the floor. In one embodiment, the at least one actuator comprises a motor for driving the respective wheel 231 of the robotic support frame 200. Alternatively or in addition to controlling the wheels on the robotic support frame 200, it can also be envisaged to control the propulsion exerted by the walk-behind floor treatment device 100, e.g. (part of) the propulsion and / or engagement of at least one tool. In another or further embodiment, the at least one actuator is configured to determine the steering of the robotic support frame 200.

[0085] In preferred embodiments, for example as shown in FIG. 2A and FIG. 2B The robotic support frame 200 comprises a left wheel 231L and a right wheel 231R, each having independent driving capabilities. For example, a left motor 220L can drive the left wheel 231L and a right motor 220R can drive the right wheel 231R. Steering can be achieved by driving the wheels at different speeds and / or torques. The robotic support frame 200 can also have further wheels, for example front support wheels as shown in FIG. 1A and FIG. 1B

[0086] FIG. 3A ​Another aspect is shown in a top view of the semi-autonomous floor treatment device 300, in which the upper part of the frame structure (i.e., the U-shaped frame part 212) holds the guide part 120 of the hand-held floor treatment device. FIG. 3B A view of the lower portion 211 of the frame structure holding the bottom of the hand-held floor handling device shows another aspect. In some embodiments, for example, as shown, the robot support frame 200 includes a set of rollers 211w arranged around the perimeter of the frame structure. Advantageously, the rollers 211w can prevent the robot support frame 200 from colliding with surrounding walls and / or obstacles. For example, the rollers 211w are arranged to maintain a minimum distance Dw between the sides of the frame (e.g., side wheels 231) and the surrounding walls (not shown). In other or additional embodiments, the robot support frame 200 includes resilient structures, such as protective pads, which can mitigate any possible impact of the frame on surrounding objects.

[0087] FIG. 4A and FIG. 4B A preferred embodiment is shown for establishing a connection C and / or support S between a hand-held floor treatment device 100 and a robotic support frame 200 to form a semi-autonomous floor treatment device 300. In some embodiments, the robotic support frame 200 includes a support bracket 260 configured to connect to and / or support a portion of the hand-held floor treatment device 100. For example, the support bracket 260 forms part of or is connected to a frame structure 210. It should be understood that references... FIG. 4A and FIG. 4B The described aspects of the connections and / or supports can be combined with any of the embodiments described herein. Conversely, it should be understood that, as FIG. 4A and FIG. 4B The illustrated hand-held floor handling device 100 and robot support frame 200 may have the same or similar features as any embodiment described herein. For example, although not explicitly stated herein, the robot support frame 200 may include a similar controller 250, one or more sensors 241-245, one or more motors 220, battery 270, etc.

[0088] In some embodiments, the support stand 260 comprises a coupling device 261 configured to reversibly couple C and uncouple with a corresponding portion of the walk-behind floor treatment device 100, i.e. the second coupling element 161. In one embodiment, the support stand 260 defines an opening or hole 260h configured to accommodate at least a portion of the walk-behind floor treatment device 100 inside the periphery of the support stand 260. In another or further embodiment, the coupling device 261 is formed by the inner contour of the support stand 260 forming the opening or hole 260h configured to fit around a corresponding portion of the walk-behind floor treatment device 100, preferably the bottom side of the guide portion 120.

[0089] In some embodiments, the support stand 260 comprises a support structure, i.e. the U-shaped frame portion 212, the closure mechanism 262, configured to support S the guide portion 120 of the walk-behind floor treatment device 100 in the stand-up configuration. For example, the inner periphery of the support stand 260 is shaped to fit around and / or support the bottom portion of the guide portion 120. In one embodiment, the walk-behind floor treatment device 100 comprises a coupling device, i.e. the second coupling element 161, for example a specific shape or outer contour at the bottom of the guide portion 120, which fits the inner contour of the support stand 260, or vice versa. For example, the outer contour of the guide portion 120 is provided with notches and / or protrusions, which complement the protrusions and / or notches provided along the inner contour of the support stand 260. In some embodiments, the outer contour at the lower portion of the guide portion 120 can additionally function as a space allowing folding the bottom portion 110 relative to the guide portion 120. For example, the notches and / or protrusions on the guide portion 120 can match corresponding protrusions and / or notches on the bottom portion 110.

[0090] In some embodiments, the support stand 260 comprises a U-shaped frame portion configured to form a partially open periphery around a corresponding portion of the walk-behind floor treatment device 100, in particular around the guide portion 120. In other or further embodiments, the support stand 260 has an open side 260o allowing pushing the walk-behind floor treatment device 100 into the support stand 260 from said open side 210o, preferably without the need to lift the walk-behind floor treatment device 100 off the floor. Preferably, the open side 260o widens towards the entry side, for example forming a funnel. This can allow easier access, for example when pushing the bottom side of the guide portion 120 and / or a rod connecting the bottom side to the bottom portion of the walk-behind floor treatment device 100 into the support stand 260.

[0091] In some embodiments, the support bracket 260 comprises or forms a closure mechanism 262 configured to selectively: leave the open side 260o of the support bracket 260 open to enable access to the interior of the frame structure 210 by the walk-behind floor treatment device 100; or close the open side 260o of the support bracket 260 by the closure mechanism 262 to support the walk-behind floor treatment device 100 in the event that the walk-behind floor treatment device 100 is inside the frame structure 210.

[0092] In some embodiments, the support bracket 260 is movable to selectively secure the walk-behind floor treatment device 100 to / from the robotic support frame 200. In one embodiment, the support bracket 260 is connected to the rest of the frame structure 210 via a hinged mechanism 263. For example, the hinged mechanism 263 allows the support bracket 260 to pivot downwards to allow the walk-behind floor treatment device 100 to be pushed in and / or released; and upwards to secure the walk-behind floor treatment device 100, preferably the guide portion 120, against pivoting.

[0093] In some embodiments, the support bracket 260 is provided with a biasing device that provides a restoring force that urges the support bracket 260 upwards. For example, the hinged mechanism 263 is provided with a spring to pivot the support bracket 260 upwards. In this way, the support bracket 260 can automatically secure the walk-behind floor treatment device 100 when the walk-behind floor treatment device 100 is placed inside the support bracket 260. Alternatively, the user can pull the support bracket 260 upwards, for example with a hand or foot. In other or additional embodiments, the support bracket 260 is provided with a user-operable control device for controlling the closure mechanism 262. Preferably, the control device comprises a foot pedal 262f. For example, the user can push the foot pedal downwards, thereby easily releasing the walk-behind floor treatment device 100 from the robotic support frame 200 without having to bend over. Similarly, the foot pedal can also be pushed downwards to open the closure mechanism 262 and allow the walk-behind floor treatment device 100 to be pushed in. Alternatively or additionally, the support bracket 260 can be automatically pushed downwards when the walk-behind floor treatment device 100 is pushed into the support bracket 260. In one embodiment, the support bracket 260 has a structure around the opening 260o that tends to force the support bracket 260 downwards when the lower portion of the guide portion 120 pushes the structure from the side. For example, the support bracket 260 has an extension facing the walk-behind floor treatment device 100, for example at the rear side of the robotic support frame 200. Preferably, the extension has a downward slope towards the entry point. In this way, the underside of the guide portion 120 can easily push the support bracket 260 downwards when the walk-behind floor treatment device 100 is pushed into the robotic support frame 200.

[0094] While the present figure illustrates a preferred mechanism for easily coupling and decoupling the walk-behind floor treatment device 100, it is understood that other or additional mechanisms can also be envisaged. For example, instead of pivoting the support bracket 260 downwards, the support bracket or other containing space / structure can be fixed and the guide portion 120 is pivoted upwards. In some embodiments, the support bracket 260 and the guide portion 120 can be provided with respective magnetic and / or magnetizable portions. These can improve the coupling, for example, alternatively or in addition to biasing means. Alternatively or in addition to the support bracket, it is also envisaged that the walk-behind floor treatment device 100, for example the guide portion 120, is supported with a structure that encloses the guide portion. In one embodiment, the guide portion 120 is supported by one or more arms extending from the robot support frame 200. In another or additional embodiment, the robot support frame 200 is provided with a pair of extendable and / or rotatable arms that can be manually and / or automatically actuated to enclose around a portion of the walk-behind floor treatment device 100, for example around the guide portion 120. The arms can be held together by a clasping mechanism or magnets or any other fastening mechanism, for example.

[0095] FIG. 5A to FIG. 5C A perspective view, a front view and a side view of another embodiment of a floor treatment system 1000 comprising a robot support frame 200 configured to couple with and support a stand-alone walk-behind floor treatment device 100 to form a semi-autonomous floor treatment device 300 are shown, respectively. FIG. 6A to FIG. 6F The respective sensor ranges are shown.

[0096] In one embodiment, the robot support frame 200 comprises a radar device 241. As FIG. 6A and FIG. 6B The radar device 241 can be used to provide a relatively wide scan of the environment around the robot support frame 200, for example. This can allow for environment mapping, for example determining reference markers such as walls and / or obstacles during manual and / or autonomous operation mode, for example.

[0097] In another or additional embodiment, the robot support frame 200 comprises one or more (depth) cameras 242. Generally, the one or more cameras 242 can be used to recognize objects, and / or to further map the environment and / or to prevent collisions / falls. As FIG. 6C and FIG. 6DAs shown, the camera can face forward. This can allow for determining further features of the environment in the forward direction. Other or further cameras can also be provided, e.g. side facing cameras. In some embodiments, the camera can face downwards and / or upwards. For example, a downwards and / or upwards facing camera can be used as an edge detector, e.g. to prevent the semi-autonomous floor treatment device 300 from falling down stairs and / or colliding with a table. In other or further embodiments, one or more cameras can be used to map the environment instead of or in addition to the radar device 241.

[0098] In another or further embodiment, the robot support frame 200 comprises one or more ultrasonic sensors 243. Generally, the one or more ultrasonic sensors 243 can be used to detect objects and / or persons in close proximity to the semi-autonomous floor treatment device 300. As shown, the ultrasonic sensors 243 can be placed around the frame to provide full azimuth detection. For example, if a person or object is detected in close proximity, the steering and / or propulsion can be adjusted to avoid a collision. FIG. 6E

[0099] In another or further embodiment, the robot support frame 200 comprises one or more single-point laser sensors 244. The single-point laser sensors can work similar to a radar, but the direction is fixed. As shown, the laser sensors 244 can point downwards, e.g. to be used as an edge detector. For example, the laser sensors 244 can be used in addition to or instead of the cameras 242. FIG. 6F

[0100] In another or further embodiment, the robot support frame 200 comprises one or more collision sensors 245. Generally, the collision sensors 245 can be used to detect a collision of the frame with an object or person. For example, the collision sensors 245 can be embedded in a (flexible) bumper pad arranged around the periphery of the robot support frame 200. Preferably, upon detection of a collision, the propulsion can be stopped and / or reversed (driven backwards).

[0101] In some embodiments, the robot support frame 200 comprises a user interface, e.g. a button 251. For example, the user interface can be operable to switch the robot support frame 200 between different operating modes, such as a manual or autonomous mode.

[0102] ​​In some embodiments, the floor treatment system 1000 comprises an add-on control element 151 configured to control the walk-behind floor treatment device 100. In one embodiment, the add-on control element 151 is configured to receive control instructions from the robotic support frame 200 and exert control over one or more aspects of the walk-behind floor treatment device 100. Advantageously, the add-on control element 151 can be used to provide retrofit control over any existing walk-behind floor treatment device 100.

[0103] In one embodiment, the add-on control element 151 comprises an actuator configured to actuate a control element of the walk-behind floor treatment device 100. Alternatively or additionally, the add-on control element 151 can also control parts of the walk-behind floor treatment device 100 using other control signals (e.g. connected to a control port of the walk-behind floor treatment device 100). In another or additional embodiment, the add-on control element 151 comprises a communication unit configured to receive control signals (preferably wirelessly) from the robotic support frame 200. Similarly, the robotic support frame 200 can comprise a corresponding communication unit to send control signals to the add-on control element 151. Control signals can also be sent from the add-on control element 151 to the robotic support frame 200. In another or additional embodiment, the add-on control element 151 comprises a controller configured to control the actuator based on the received control signals. Preferably, the add-on control element 151 comprises its own battery. In this way, the add-on control element 151 can operate independently of any power from the walk-behind floor treatment device 100 and / or the robotic support frame 200.

[0104] In the illustrated embodiment, the walk-behind floor treatment device 100 comprises a control lever 121h arranged on the handle portion 121. The add-on control element 151 can be arranged to fit over at least a portion of the control lever 121h and be configured to actuate the control lever 121h based on the control signals received from the robotic support frame 200. For example, the control lever 121h can be pressed down such that the walk-behind floor treatment device 100 enables one or more aspects of floor treatment. For example, the control lever 121h can be released such that the walk-behind floor treatment device 100 disables one or more aspects of floor treatment. Of course, other or additional (add-on) control elements can also be envisaged which are adapted to control any existing control elements of the walk-behind floor treatment device 100. For example, the add-on control element can be configured to press an existing button and / or to toggle an existing switch of the walk-behind floor treatment device 100.

[0105] Preferably, the add-on control element 151 receives control instructions wirelessly from the robotic support frame 200. This can allow the walk-behind floor treatment device 100 to be easily coupled to / uncoupled from the robotic support frame 200 without the need to connect any wires. Alternatively, the add-on control element 151 can be connected to the robotic support frame 200 by wiring. For example, the add-on control element 151 can be easily removable.

[0106] Preferably, when provided with the add-on control element 151, the control lever 121h or other existing control element of the walk-behind floor treatment device 100 is still operable by the user. For example, the control lever 121h can be partially covered by the add-on control element 151 and partially accessible; or, the user can actuate the control lever 121h or other existing control of the walk-behind floor treatment device 100 through the add-on control element 151; or, the add-on control element 151 can be removable.

[0107] It will be appreciated that aspects of the controls and / or sensors described with reference to FIG. 5A to FIG. 5C and FIG. 6A to FIG. 6F may be combined with any of the embodiments described herein. For example, any one or more of the sensors 241-245 and / or the add-on control element 151 can be used in any of the embodiments described herein. Conversely, it will be appreciated that the walk-behind floor treatment device 100 and the robotic support frame 200 as shown in these figures can have the same or similar features as any of the embodiments described herein. For example, the robotic support frame 200 as shown in FIG. 5A to FIG. 5C and FIG. 6A to FIG. 6F may have: a support carriage 260 similar to that shown in FIG. 4A and FIG. 4B ; and / or a coupling arrangement 261 and / or support structure (i.e. U-shaped frame portion 212, enclosure mechanism 262) similar to that shown in FIG. 1A to FIG. 3B . For example, FIG. 5C shows a portion of a foot pedal 262f which can be similar to the foot pedal shown in FIG. 4A and FIG. 4B .

[0108] FIG. 7A to FIG. 7C Various ways of using the floor treatment system 1000 are shown. For example, FIG. 7A shows a user U treating a first floor area Al by operating a walk-behind floor treatment device 100 without a robotic support frame 200. For example, FIG. 7B shows a user U treating a second floor area A2 by operating a treatment system comprising a walk-behind floor treatment device 100 coupled to a robotic support frame 200. For example, FIG. 7CIt is shown that the semi-autonomous floor treatment device 300 autonomously cleans the third floor area A3 without the need for the user U.

[0109] In some embodiments, the walk-behind floor treatment device 100, separate from the robotic support frame 200, is configured as a purely manually operated floor treatment device, which requires continuous user operation to manually treat the first floor area Al. In other or additional embodiments, the robotic support frame 200 is configured to couple C with the walk-behind floor treatment device 100 to transform the purely manually operated floor treatment device into the semi-autonomous floor treatment device 300. For example, the semi-autonomous floor treatment device 300 can be in a manual operation mode Mm and an autonomous operation mode Ma. In the manual operation mode Mm, the user operates the device to treat the second floor area A2. In the autonomous operation mode Ma, the device autonomously treats the third floor area A3 without the need for the user to manually operate the device.

[0110] Aspects of the present disclosure can be implemented as a method of using a floor treatment system 1000 as described herein. In one embodiment, the use comprises treating the first floor area Al by the user U operating (e.g. manually guiding) the walk-behind floor treatment device 100 without the robotic support frame 200. In another or additional embodiment, the use comprises coupling the walk-behind floor treatment device 100 to the robotic support frame 200. In another or additional embodiment, the use comprises treating the second floor area A2 by the user operating (e.g. manually guiding) the walk-behind floor treatment device 100 coupled with the robotic support frame 200. In this case, the semi-autonomous floor treatment device 300 can be configured in the manual operation mode Mm. In another or additional embodiment, the use comprises autonomously treating the third floor area A3 by the treatment device 300 without the user. In this case, the semi-autonomous floor treatment device 300 can be configured in the autonomous operation mode Ma. For example, the user U can leave the device 300, e.g. to perform other (treatment) tasks, while the device autonomously treats the area A3. In another or additional embodiment, the use comprises uncoupling the walk-behind floor treatment device 100 from the robotic support frame 200. In another or additional embodiment, the use comprises (further) treating the fourth area without the robotic support frame 200. Of course, this routine can be repeated. In some embodiments, it can also be envisaged to omit some steps. For example, after the walk-behind floor treatment device 100 is coupled to the robotic support frame 200, the semi-autonomous floor treatment device 300 can immediately start autonomously treating the respective area A3 without the user. For example, the semi-autonomous floor treatment device 300 can determine the specific area to be cleaned without the need for the user to teach the device.

[0111] In preferred embodiments, the area A3 to be autonomously processed by the treatment system is based on an area A2 that was previously processed by the user operating the treatment system. In some embodiments, the user can teach the treatment system an area to be processed by performing a complete treatment operation (i.e., treating the entire area). Once the treatment system has been informed of the complete area to be processed, the treatment system can autonomously repeat the treatment operation on the same area. For example, the area can be autonomously processed (without a user) based on the stored path or area at the next treatment cycle (e.g., the next day or the following week) as the user previously performed. This semi-autonomous treatment method can be referred to as "teach and repeat."

[0112] While the teach and repeat method can save time for subsequent treatment operations, it is still relatively labor intensive because the user must meticulously perform a complete treatment operation for each new area. In other or additional embodiments, the treatment system can operate completely autonomously, e.g., completely independent of the user U. While a completely autonomous treatment system can reduce the workload of the user, the user's control over the treatment operation can be limited. For example, a completely autonomous treatment system can not benefit from the specific insights of the user U responsible for the treatment operation. Without user guidance, a completely autonomous treatment system can unnecessarily treat some areas and / or neglect treatment of other areas. Accordingly, there is a need for a treatment system that can operate semi-autonomously, e.g., that allows the user to easily determine an area to be treated without the user having to completely treat the area themselves.

[0113] Preferably, the user can teach the treatment system by performing a partial treatment operation on one sub-area A2 of a total area to be treated; and the treatment system can determine another sub-area A3 of the total area to be treated. In preferred embodiments, the area A3 autonomously processed by the treatment system is different than the area A2 processed by the user operating the treatment system. Most preferably, a relatively large portion of the area A3 is only a portion of the area A3, and not a portion of the area A2. For example, the area A3 is at least two, three, five, or more times larger than the area A2. The larger the area A3 autonomously processed compared to the area A2 manually processed by the user, the more time and / or effort the user can save. For example, advantageous embodiments of semi-autonomous treatment are disclosed in the following figures, in which the floor treatment device 300 determines (e.g., infers) another area A3 to be autonomously processed based on a previous different area A2 processed by the user.

[0114] FIG. 8A to FIG. 8COperation of the semi-autonomous floor treatment device 300 for treating an extended area is shown. In some embodiments, the semi-autonomous floor treatment device 300 extrapolates an area A3 to be autonomously treated based on an area A2 that the user has treated, either built-in and / or extrapolated, and / or based on a path P traversed by the semi-autonomous floor treatment device 300 during treatment of the second floor area A2, wherein the third floor area A3 is different from the second floor area A2. In one embodiment, the semi-autonomous floor treatment device 300 is configured to determine the path P traversed during treatment of the second floor area A2 upon the semi-autonomous floor treatment device 300 being switched to the manual mode of operation Mm. For example, the controller of the robotic support frame 200 is configured to record the path P based on sensor input of one or more sensors, such as radar. In another or further embodiment, the semi-autonomous floor treatment device 300 is configured to determine the third floor area A3 to be autonomously treated based on the path P.

[0115] In a preferred embodiment, the semi-autonomous floor treatment device 300 is configured to autonomously treat another area A3, for example as shown, corresponding to an area enclosed by the path P traversed by the semi-autonomous floor treatment device 300 when treating the previous area A2. For example, the previous area A2 is determined by the user operating the semi-autonomous floor treatment device 300 in the manual mode of operation Mm, while the other area A3 is determined by the semi-autonomous floor treatment device 300 (without the user) in the autonomous mode of operation Ma. Preferably, the path P is automatically recognized (e.g. by the controller of the robotic support frame 200) as forming a (partial) perimeter defining an at least partially enclosed area. Correspondingly, the area A3 to be autonomously treated can be automatically determined to correspond to the at least partially enclosed area. Alternatively, the user can signal to the robotic support frame 200, e.g. via its control interface, to initiate a specific cleaning routine. As should be appreciated, by manually delineating the perimeter of the area to be treated by actually cleaning the perimeter, the user can be provided with an efficient and effective way to set a specific area to be treated with minimal effort, especially for larger areas.

[0116] In some embodiments, the semi-autonomous floor treatment device 300 is configured to return to the initial point Pi of the path P after completing autonomous treatment of the area A3. For example, the initial point Pi can be the point at which the device is switched to the manual mode of operation Mm. In other or additional embodiments, the semi-autonomous floor treatment device 300 is configured to return to the final point Pf of the path P after completing autonomous treatment of the area A3. For example, the initial point Pi can be the point at which the device is switched to the autonomous mode of operation Ma. Of course, the points Pi, Pf can also coincide when the user delineates a complete perimeter, but this is not required. Returning to a specific point after completing autonomous treatment can be advantageous to allow the user to find and / or retrieve the equipment at a predetermined and / or predictable location.

[0117] FIG. 9A to FIG. 9C Operation of the semi-autonomous floor treatment device 300 for treating a hallway or corridor is illustrated. In a preferred embodiment, for example, as shown, the semi-autonomous floor treatment device 300 is configured to autonomously treat another area A3 that corresponds to an area around the path P traversed by the semi-autonomous floor treatment device 300 in treating the initial area A2. For example, the area A3 to be treated is on one or both sides of the path P delineated by the user U. For example, the area A3 to be treated is determined based on the surrounding wall W or based on a particular width around the path P. In one embodiment, the path P or second floor area A2 is determined by the user U traversing the hallway from the initial point Pi to the final point Pf of the path P while operating the semi-autonomous floor treatment device 300 in the manual mode of operation Mm. In another or additional embodiment, the area A3 is determined by the semi-autonomous floor treatment device 300 (without a user) in the autonomous mode of operation Ma by determining the area between the initial point Pi and the final point Pf and along one or more walls of the path P. Preferably, the path P is automatically recognized (e.g., by a controller of the robotic support frame 200) as forming a path along the hallway. For example, sensors on the robotic support frame 200 can detect the walls W of the hallway. Accordingly, the area A3 to be autonomously treated can be automatically determined to correspond to the area in the hallway between the initial point Pi and the final point Pf. As should be appreciated, the user can easily set a desired portion of the hallway without having to manually treat the entire area.

[0118] For purposes of clarity and brevity, features described herein are described as part of the same or separate embodiments, however, it is understood that the scope of the present disclosure can include embodiments having combinations of all or some of the features described. Alternatively or in addition to the areas to be autonomously processed being taught by a user teaching a robotic support frame to perform a processing operation, the areas to be autonomously processed can be taught in other ways. For example, a map of the areas to be processed can be transmitted to and / or retrieved by a communication unit of the robotic support frame. For example, the robotic support frame can recognize an area and initiate autonomous processing based on an earlier processing operation. Various elements of the embodiments discussed and illustrated provide certain advantages, such as easily switching between different ways of cleaning different areas. It will be appreciated that the present disclosure provides particular advantages for floor cleaning, and can be applied generally to any floor processing device or system.

[0119] In interpreting the appended claims, it should be understood that the word "comprise" does not exclude the presence of other elements than those claimed; the word "a" or "an" preceding the citation of a singular item does not exclude the presence of plural of such same item; any reference signs in the claims should not be construed as limiting the scope; the mere fact that different features are recited in mutually different dependent claims does not indicate that these features cannot be used in combination.

Claims

1. A floor treatment system, characterized by, The floor treatment system (1000) comprises a robotic support frame (200) configured to couple (C) with and support (S) a standalone hand-held floor treatment device (100) to form a semi-autonomous floor treatment device (300).

2. The floor treatment system of claim 1, wherein, The robotic support frame (200) comprises a coupling device (261) configured to reversibly couple (C) and decouple from a corresponding portion of the hand-held floor treatment device (100).

3. The floor treatment system of claim 1, wherein, The robotic support frame (200) comprises a support structure configured to support (S) a guide portion (120) of the hand-held floor treatment device (100) in an upright configuration.

4. The floor treatment system of claim 1, wherein, The floor treatment system comprises the hand-held floor treatment device (100) having a base portion (110), a guide portion (120) having a handle portion (121), and a joint device (130) between the base portion (110) and the guide portion (120) allowing the guide portion (120) to pivot relative to the base portion (110) when the hand-held floor treatment device (100) is decoupled from the robotic support frame (200), wherein the robotic support frame (200) is configured to support (S) the guide portion (120) to prevent pivoting when forming the semi-autonomous floor treatment device (300).

5. The floor treatment system of claim 1, wherein, The robotic support frame (200) comprises a frame structure (210) defining an internal frame spacing (210s, 210b) configured to accommodate the hand-held floor treatment device (100) inside a perimeter of the frame structure (210).

6. The floor treatment system of claim 5, wherein, The frame structure (210) comprises one or more U-shaped frame portions configured to form a partially open perimeter around a corresponding portion of the hand-held floor treatment device (100).

7. The floor treatment system of claim 6, wherein, The frame structure (210) has an open side (210o) allowing the hand-held floor treatment device (100) to be pushed into the frame structure (210) from the open side (210o) without lifting the hand-held floor treatment device (100) off the floor (F).

8. The floor treatment system of claim 7, wherein, The robotic support frame (200) comprises a closure mechanism (262) configured to selectively: leave the open side (210o) of the robotic support frame (200) open to allow the hand-held floor treatment device (100) to enter inside the frame structure (210), or close the open side (210o) of the robotic support frame (200) by the closure mechanism (262) to support (S) the hand-held floor treatment device (100) when the hand-held floor treatment device (100) is inside the frame structure (210).

9. The floor treatment system of claim 5, wherein, The frame structure (210) has a bottom side opening for allowing the walk-behind floor treatment device (100) to directly contact and treat an underlying floor (F) while forming part of the semi-autonomous floor treatment device (300).

10. The floor treatment system of claim 9, wherein, The floor treatment system comprises the walk-behind floor treatment device (100) with at least one tool (111) configured to engage a floor (F) both when the walk-behind floor treatment device (100) is detached from the robotic support frame (200) and when the walk-behind floor treatment device (100) is combined with the robotic support frame (200) to form the semi-autonomous floor treatment device (300).

11. The floor treatment system of claim 10, wherein, The walk-behind floor treatment device (100) comprises a bottom portion (110) with one or more pairs of counter-rotating and / or counter-reciprocating tools for treatment of a floor (F).

12. The floor treatment system according to claim 1, characterized in that The walk-behind floor treatment device (100) is configured as a purely manually operated floor treatment device when detached from the robotic support frame (200), requiring a user (U) to manually operate the walk-behind floor treatment device (100) when treating a first floor area (Al); wherein the semi-autonomous floor treatment device (300) is configured to selectively switch between the following operating modes: a manual operating mode (Mm) in which the semi-autonomous floor treatment device (300) is manually operable to treat a second floor area (A2), at which time a user (U) manually operates the semi-autonomous floor treatment device (300); and an autonomous operating mode (Ma) in which the semi-autonomous floor treatment device (300) is configured to autonomously treat a third floor area (A3) without requiring manual operation.

13. The floor treatment system of claim 1, wherein, The robotic support frame (200) comprises one or more sensors configured to sense and / or map an environment during the manual operating mode (Mm) and during the autonomous operating mode (Ma), at least one motor (220) connected to a propulsion device and / or a steering device, and a controller (250) configured to control the at least one motor (220) to propel and / or steer the semi-autonomous floor treatment device (300) during the autonomous operating mode (Ma) based at least in part on a previous sensing and / or mapping of the environment during the manual operating mode (Mm) and based at least in part on a current sensing and / or mapping of the environment during the autonomous operating mode (Ma).

14. The floor treatment system of claim 1, wherein, The semi-autonomous floor treatment device (300) is configured to autonomously treat a floor area different from a floor area treated during the manual operating mode (Mm) based on an extrapolation from a path (P) traveled during the manual operating mode (Mm).

15. The floor treatment system of claim 1, wherein, During the manual mode of operation (Mm), the semi-autonomous floor treatment device (300) records a path (P) traveled by the semi-autonomous floor treatment device, and wherein, during the autonomous mode of operation (Ma), the semi-autonomous floor treatment device (300) is configured to determine a treatment area based on extrapolation and / or on the path (P) traveled during the manual mode of operation (Mm) being built-in.

16. The floor treatment system of claim 1, wherein, The semi-autonomous floor treatment device (300) is configured to recognize that the path (P) traveled during the manual mode of operation (Mm) forms at least a partial boundary of an area, and to determine that the area enclosed by the path (P) is to be autonomously treated during the autonomous mode of operation (Ma).

17. The floor treatment system of claim 1, wherein, During the autonomous mode of operation (Ma), the semi-autonomous floor treatment device (300) is configured to return to a predetermined location after completing autonomous treatment.

18. The floor treatment system of claim 1, wherein, The semi-autonomous floor treatment device (300) is configured to autonomously generate a treatment plan for the autonomous mode of operation (Ma) based on environmental features detected during the manual mode of operation (Mm).

19. The floor treatment system of claim 1, wherein, The semi-autonomous floor treatment device (300) is configured to determine an area to be autonomously treated based on both the path (P) traveled during the manual mode of operation (Mm) and on ambient environmental features detected by sensors of the semi-autonomous floor treatment device.

20. The floor treatment system of claim 1, wherein, The semi-autonomous floor treatment device (300) is configured to autonomously treat an area determined by extending the path (P) traveled during the manual mode of operation (Mm) to cover additional areas extrapolated from mapping data collected during the manual mode of operation (Mm).

21. The floor treatment system of claim 1, wherein, The semi-autonomous floor treatment device (300) is configured to extrapolate an area to be autonomously treated based on a shape and size of an area partially treated during the manual mode of operation (Mm).

22. The floor treatment system of claim 1, wherein, The semi-autonomous floor treatment device (300) is configured to utilize data collected during the manual mode of operation (Mm) to autonomously navigate the environment during the autonomous mode of operation (Ma).

23. The floor treatment system of claim 1, wherein, The robotic support frame (200) is configured to wirelessly communicate with the walk-behind floor treatment device (100) to control operation of the walk-behind floor treatment device (100) during the autonomous mode of operation (Ma).

24. The floor treatment system of claim 1, wherein, The robotic support frame (200) includes at least one battery (270) configured to power the robotic support frame (200) independently of the walk-behind floor treatment device (100).

25. The floor treatment system of claim 1, wherein, The robotic support frame (200) is configured to receive power from the walk-behind floor treatment device (100) when coupled to the walk-behind floor treatment device; and / or is configured to supply power to the walk-behind floor treatment device (100) when coupled to the walk-behind floor treatment device.

26. The floor treatment system of claim 1, wherein, The walk-behind floor treatment device (100) comprises an add-on control element (151) configured to receive control signals from the robot support frame (200) and control operation of the walk-behind floor treatment device (100) during an autonomous operation mode (Ma).

27. The floor treatment system of claim 26, wherein, The add-on control element (151) comprises an actuator configured to actuate a control element (121h) of the walk-behind floor treatment device (100) based on the control signals received from the robot support frame (200).

28. The floor treatment system of claim 1, wherein, The robot support frame (200) is configured to automatically switch between a manual operation mode (Mm) and an autonomous operation mode (Ma) based on detecting whether a user (U) is operating the walk-behind floor treatment device (100).

29. The floor treatment system of claim 1, wherein, The robot support frame (200) is further adapted to function as a cleaning cart comprising one or more storage compartments for cleaning supplies.

30. The floor treatment system of claim 5, wherein, The robot support frame (200) comprises at least one movable support structure connected to the frame structure (210) via a connection mechanism, wherein the connection mechanism enables the support structure to move between a support configuration in which the support structure is configured to support a guiding portion (120) of the walk-behind floor treatment device (100) and an open configuration in which the walk-behind floor treatment device (100) can be engaged with or disengaged from the robot support frame (200).

31. The floor treatment system of claim 19, wherein, The ambient environment feature is a wall (W).

32. The floor treatment system of claim 30, wherein, The connection mechanism is a pivotable mechanism and / or a translatable mechanism.

33. The floor treatment system of claim 30, wherein, The support structure is a bracket and / or a support arm.

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