Base station for a self-propelled floor cleaning device and method for cleaning a floor using such a floor cleaning device

Abstract

Method for cleaning a floor (11) by means of a self-propelled floor cleaning device (1), wherein a base station (7) is provided and the floor cleaning device (1) automatically moves to the base station (7), wherein the floor cleaning device (1) furthermore receives a cleaning tool (13) and / or cleaning agent, such as cleaning fluid, in the base station (7) for cleaning different areas of the floor (11), characterized in that the receipt of the cleaning tool (13) and / or the cleaning agent in the base station (7) is carried out according to and, if necessary, in accordance with a stain detection.

Description

[0001] The invention initially relates to a method according to the features of the preamble of claim 1. Furthermore, the invention relates to a base station according to the features of the preamble of claim 3. Self-propelled devices of the type in question are known, in particular in the form of robot-like cleaning devices for cleaning a floor, more particularly in the household sector. In the case of vacuum cleaners and / or sweepers, in particular in the household sector, these are designed for the autonomous cleaning of floors. For this purpose, such cleaning devices have electrically operated suction / blower units and / or electric motor-driven brushes and / or bristle rollers. The power supply of the self-propelled device is more preferably provided by rechargeable batteries carried in the device and accordingly by it. For charging the same, and possibly alsoalso for the disposal of the dirt collected in a container internal to the device, it is further known to assign the device a preferably stationary base station, which is further preferably connected to the household power supply. It is also known in this regard that the device finds the base station automatically, for example as a result of radio and / or light signals, and in particular as a result of radio communication between the base station and the floor cleaning device. The request to move to the base station can be made automatically, for example via radio communication between the base station and the device, and this can also be dependent on the fill level of the device's dirt container and / or the charge level of the batteries. User intervention in the form of a command is also possible in this regard. Solutions are also known in which the floor cleaning device switches off after completion of a job to be carried out, e.g.cleaning a floor area, the base station automatically moves to the cleaning station.

[0002] From EP 1 759 965 A1 it is known that the floor cleaning device for cleaning different areas of the floor accommodates a cleaning tool and / or cleaning agent, such as cleaning fluid, stored there in the base station.

[0003] DE 10 256 089 A1 discloses a base station in which a floor cleaning device can be cleaned entirely. US 5,613,261 A discloses a floor cleaning device with a variety of different cleaning tools that can be raised or lowered.

[0004] The object of further improving a method of the type in question is firstly achieved by the subject matter of claim 1, wherein the accommodation of the cleaning tool and / or the cleaning agent in the base station is carried out according to and, if appropriate, in accordance with a stain detection.

[0005] Adapted to different cleaning tasks such as steam cleaning or vacuuming the floor to be cleaned, the self-propelled floor cleaning device can be equipped with adapted cleaning tools and / or with cleaning agents that support floor cleaning or cleaning tools for applying cleaning agents to the floor. For this purpose, the floor cleaning device is preferably equipped with means for detecting or identifying different floor areas, in particular different floor coverings. In this regard, it is known to equip the floor cleaning device with a floor covering sensor, for example, comprising an ultrasonic sensor directed at the floor.Depending on the floor area covered, the floor cleaning device preferably moves automatically to the base station if the cleaning tool carried along by the floor cleaning device is not suitable or not sufficiently suitable for the floor area covered, in order to pick up a cleaning tool designed for the floor area in question in the base station. In one embodiment, this picked up cleaning tool is picked up in addition to the cleaning tool already provided on the floor cleaning device, possibly by deactivating the cleaning tool that is, for example, permanently installed in the floor cleaning device. Alternatively, the cleaning tools are exchanged in the base station by placing the carried cleaning tool in the base station and picking up the new cleaning tool held in the base station by the floor cleaning device.With regard to the cleaning tool, in a preferred embodiment, it is a brush, e.g., a pot or plate brush, furthermore a bristle roller, and possibly also a cleaning tool for applying cleaning agents, such as, e.g., cleaning fluid, furthermore also in the form of foam or paste. Particularly in the case of a foam- or paste-like cleaning agent, it is further preferred that a foam nozzle or a paste application device, for example, be additionally included as a cleaning tool. A cleaning tool for applying a cleaning agent is, for example, a dispensing device with a dispensing opening directed toward the floor to be cleaned, furthermore, for example, in the form of an atomizer, dispenser, or a pressurized spray cartridge.

[0006] Stains on the floor or floor covering are usually identified by a difference in color and / or gloss compared to the surroundings and are also generally localized. These differences in color and / or gloss can be detected by sensors. In this regard, gloss sensors, for example, from DE 602 19 792 T2 and color sensors, such as from DE 37 41 940 C2, are known. In particular, geometric or recurring patterns in the floor, especially in the floor covering, lead to a difference in color and / or gloss that is detected by the sensor(s). However, using a predefined algorithm, the constant measurement of a fixed geometric or recurring pattern is recognized, so that, for example, a particularly regular change from light to dark or from matte to glossy or vice versa at a recurring, uniform interval is not detected as a stain.Preferably, only spontaneous or singular changes in color and / or gloss are recognized as stains within the meaning of the invention.

[0007] It is also preferred that the floor cleaning device carries out its own mapping of the surroundings, more preferably storing the cartography created in a non-volatile memory of the device. The mapping is preferably carried out during an initial learning and orientation run, more preferably with the aid of an all-round distance measurement. Furthermore, the mapping of the surroundings can also take place during a user-guided learning run, e.g. as a result of remote control of the floor cleaning device. The created cartography provides a schematic image of the floor plan areas of the surroundings to be traversed by the floor cleaning device. Advantageously, a detected stain is at least temporarily noted in the cartography, particularly during the mapping and / or during normal floor cleaning work, so that the floor cleaning device is able to automatically approach the base station and, if necessary,carried out cleaning tool or cleaning agent change or pickup, to specifically drive to this stain area in order to remove the stain with the picked up cleaning tool and / or cleaning agent. The stain is preferably entered in the cartography at a mathematically somewhat larger extent of around 5% to 50% of the surface area of ​​the stain in order to compensate for any localization errors and measurement inaccuracies. The stain marking is preferably deleted from the cartography after cleaning and, if necessary, checking using the device's sensors. Alternatively, permanent storage of the stain coordinates in the cartography is also possible, particularly when a constantly recurring stain area is detected, e.g. in the building entrance area. With this type of permanent storage, the floor cleaning device can immediately start cleaning with a tool orApply cleaning agent to the stained area and clean it.

[0008] If a detected spot or a plurality of detected spots is at least temporarily noted in the map, in a preferred embodiment this spot is specifically targeted in a separate cleaning program and, more preferably, deleted from the map after cleaning. Thus, targeted mechanical spot cleaning is preferred, particularly for hard floors, more preferably using a cleaning tool held in the base station and picked up by the floor cleaning device, e.g. a brush, in particular a disc brush or cup brush, more preferably with harder bristles than the usual cleaning tool of the floor cleaning device, more preferably e.g.equipped with bristles with integrated cleaning chemicals (coating outside or inside using hollow fiber), further preferably a cleaning tool with alternating direction of rotation in the cleaning device or also preferably a cleaning tool in the form of a rotating pad similar to a polishing disc made of fabric, fleece, felt or even lambskin.

[0009] To clean a stained floor area, cleaning agents, for example cleaning liquids, can also be used, which are preferably kept ready by the base station and picked up by the floor cleaning device as needed, and in particular chemical cleaning agents in liquid or thickened form such as solids or gels. For example, a cleaning agent in powder form that is to be applied to the stained floor area is also provided according to DE 39 27 975 A1. Such a cleaning agent, as well as other liquid cleaning agents, are further preferably stored in a cartridge or the like, for preferential spraying onto the stained floor area, furthermore possibly with repeated use of the cartridge, i.e. the cartridge is returned to the base station after the stain has been removed, so that the cartridge is ready for the next stain cleaning process.Furthermore, such a cartridge can also be designed for single-use. Dispenser-type containers for cleaning agents can also be stored in the base station and picked up by the floor cleaning device when needed.

[0010] In a preferred embodiment, the selection of the cleaning tool and / or cleaning agent suitable for stain removal is carried out based on an analysis of the floor covering properties surrounding the stain (e.g., hard floor or soft floor, such as carpet) and / or depending on the color and / or gloss level of the stain, wherein comparison values ​​are more preferably stored on the device and / or base station side, based on which a targeted selection of the cleaning tool and / or cleaning agent is carried out. In a preferred embodiment, the recorded values ​​(floor covering properties, color and / or gloss level values) are automatically transmitted by the cleaning device to the base station, more preferably together with a command to offer a corresponding cleaning tool and / or cleaning agent. Alternatively, the cleaning device automatically transmits the tool or cleaning agent requirement after a corresponding analysis.Data transmission is preferably contactless, more preferably by coded radio or light transmission.

[0011] Further preferably, for stain treatment, e.g. on a carpet, a cleaning agent can be picked up from the base station, which cleaning agent is applied to the stain, if necessary using a separate application tool that is also picked up. If a contact time is specified for the cleaning agent, it is further preferred that the cleaning device, if necessary after replacing the cartridge containing the cleaning agent and, if necessary, the application tool at the base station, cleans the stain area treated with the cleaning agent in the usual cleaning mode, i.e. with the usual cleaning tool that is preferably always arranged on the cleaning device, if necessary using a suction fan.

[0012] The cleaning device preferably moves to the floor areas marked on the map for stain cleaning automatically, e.g., after completing a normal cleaning run. Alternatively, the user can manually activate the spot cleaning mode, after which the cleaning device moves to the stains specifically as marked on the map. The success of the spot cleaning is checked using the sensors described above. Depending on this, the cleaning device can be moved over several times (by moving the cleaning device back and forth or rotating the cleaning device on the spot). If the number of stained floor areas marked on the map is too large, the cleaning device will preferably automatically reapply cleaning agents, particularly cleaning agents.

[0013] With regard to the base station, it is intended that a changing device for offering different cleaning tools is arranged in an underfloor space between the parking level and a station floor and that the changing device is designed in the manner of a carousel.

[0014] In addition to the base station being designed as a charging and / or disposal station, the base station preferably has at least one cleaning tool or agent that can be picked up by the cleaning device. Thus, the self-propelled floor cleaning device can be provided with a cleaning tool that is preferably optimally adapted to the floor covering, preferably adapted to different areas of the floor to be cleaned, and / or with a cleaning agent that supports floor cleaning, or a cleaning tool for applying cleaning agent to the floor. In a preferred embodiment, the cleaning tool is a brush, e.g. a pot brush or a disc brush, a bristle roller, and possibly a cleaning tool for applying cleaning agents, such as aCleaning fluid, also in the form of foam or paste, wherein, particularly in the case of a foam or paste-like cleaning agent, a foam nozzle or a paste application device is preferably additionally included as a cleaning tool. A cleaning tool for applying a cleaning agent is, for example, a dispensing device with a dispensing opening directed toward the floor to be cleaned, furthermore, for example, in the form of an atomizer, dispenser, or a pressurized spray cartridge.

[0015] A variety of different cleaning tools and / or cleaning agents are available.

[0016] The cleaning tools stored are, for example, a brush, in particular a disc brush or cup brush, more preferably with harder bristles than the usual cleaning tool of the floor cleaning device, more preferably equipped with bristles with integrated cleaning chemicals (coating on the outside or inside using hollow fiber), more preferably a cleaning tool with alternating directions of rotation in the cleaning device or also preferably a cleaning tool in the form of a rotating pad similar to a polishing disc made of fabric, fleece, felt or lambskin. Furthermore, alternatively or preferably in combination with this, cleaning agents, e.g. cleaning fluids, are kept in stock and are picked up by the floor cleaning device as needed, and more particularly chemical cleaning agents in liquid or thickened form such as solids or gel. For example, furthermore,a powdered cleaning agent according to DE 39 27 975 A1 is provided for application to the stained floor area. Such a cleaning agent, as well as other liquid cleaning agents, are further preferably stored in a cartridge or the like for preferential spraying onto the stained floor area, furthermore possibly with repeated use of the cartridge, i.e., the cartridge is returned to the base station after the stain has been removed, so that the cartridge is ready for the next stain cleaning process. Furthermore, such a cartridge can also be designed for single use. In addition, dispenser-like dispensing containers for cleaning agents can be stored in the base station and picked up by the floor cleaning device when needed.

[0017] The cleaning tools and / or cleaning agents are held in a magazine-like manner for individual presentation to the cleaning device, for example, with the magazine being designed in the form of a carousel. The mechanical or electromechanical exchange, in particular of the cleaning tool, is preferably carried out using a method similar to that known from machine tools, for example using a conical connection, a device-side drill chuck, a Velcro connection, a bayonet connection, or a threaded connection. Thus, for example, the cleaning tool to be accommodated in the base station can be coupled to the floor cleaning device by screwing it in using the motor that drives the cleaning tool in the floor cleaning device.The additional cleaning tool can be deposited after cleaning or deposited during a change of cleaning tool in the base station in the reverse order. Coupling or uncoupling can also occur, for example, during access via a ramp on the base station. In the case of cleaning agents, these can be stored in dispensers or troughs in the base station and wet the cleaning tool on the floor cleaning device before the cleaning cycle.

[0018] The invention is explained in more detail below with reference to the accompanying drawing, which represents only one exemplary embodiment. It shows: Fig. 1 a floor cleaning device in perspective view; Fig. 2 the floor cleaning device in perspective view with a view of the underside of the device; Fig. 3 the cleaning device in the position associated with a base station shown schematically in a longitudinal section; Fig. 4 one of the Fig. 3 corresponding representation, concerning an intermediate position in the course of a cleaning tool holder; Fig. 5 a follow-up to Fig. 4, concerning a position after completion of the cleaning tool intake; Fig. 6 the schematic floor plan of a room with the base station and cleaning device arranged therein, schematically showing the usual cleaning path of the cleaning device; Fig. 7 in schematic representation a cartography of the room automatically created by the cleaning device with noted therein, during the cleaning according to Fig. 6 identified stained floor area; Fig. 8 one of the Fig. 6 corresponding representation, but with targeted approach to the patchy ground area noted in the cartography.

[0019] It is presented and described first with reference to Fig. 1 shows a floor cleaning device 1 in the form of a vacuum and / or sweeping robot, further in the form of an autonomously operating household sweeping and cleaning device. This device has a chassis that supports, on the underside facing the floor 11 to be cleaned, electric-motor-driven travel wheels 2, as well as preferably a bristle roller 3 that protrudes beyond the lower edge of the chassis floor 5 and is also electric-motor-driven. The chassis is covered by a device hood 4, with the cleaning device 1 having a circular outline.

[0020] Regarding the design of the cleaning device, reference is made, for example, to DE 102 43 257 A1. The content of this patent application is hereby incorporated in its entirety into the disclosure of the present invention, also for the purpose of incorporating features of this patent application into the claims of the present invention.

[0021] The brush roller 3 of the device 1 penetrates the chassis floor 5 in the area of ​​a floor cutout 6 forming a sweeping mouth. In a preferred embodiment of the cleaning device 1 as a suction device, this cutout also forms a suction mouth. Typically, an electric motor-driven fan arranged in the device 1 serves to generate a suction air flow; this fan is not shown in the illustrations.

[0022] In the cleaning device 1, a dust collection chamber is further preferably provided, which is suitable for filtering out and collecting dirt and dust particles thrown in via the bristle roller 3 and possibly transported via a suction air stream.

[0023] The cleaning device 1 has a preferred travel direction r. With reference to this travel direction r, a receptacle for a separate cleaning tool 13 is formed rearward of the bristle roller 3 or the floor cutout 6 through which the bristle roller 3 passes, for which purpose a corresponding cutout 14 is provided on the chassis floor. Centrally assigned to this cutout 14, the cleaning device 1 has a cleaning tool receptacle 15, which in the illustrated embodiment is designed like a drill chuck. An electric motor (not shown) on the device acts on the shaft 16 of the receptacle 15 to rotate the shaft 16 in one or the other direction of rotation.

[0024] Furthermore, a sensor 17 is provided on the chassis floor in the area between the bristle roller 3 and the cutout 14 for a cleaning tool 13 to be accommodated. This sensor is preferably a gloss and / or color sensor of the type described above, which, in the operating position of the cleaning device 1, is directed toward the floor 11 to be traveled over and preferably cleaned.

[0025] The cleaning device 1 is further provided with a sensor arrangement 18. This is arranged on top of the device hood 4 and is rotatable about a vertical axis x, which also represents the central vertical axis of the cleaning device 1. The sensor arrangement 18 preferably consists of a triangulation system, by means of which an all-round distance measurement (over 360° around the axis x) can be performed.

[0026] The triangulation system is preferably an optical system, wherein in one embodiment a transmitter is provided in the form of a light source, further in the form of an LED or laser diode, wherein the light source preferably emits monochromatic light, thus further visible light, but possibly also light invisible to humans, e.g. infrared light. The triangulation system also has a receiver, further preferably in the form of a light-sensitive element. This is, for example, a PSD element or also a CCD or CMOS element in a linear, i.e. one-dimensional design. Further preferably, a component of the receiver also includes a receiver lens, which is arranged upstream of the light-sensitive element.

[0027] With the help of the previously described sensor arrangement 18, obstacle detection is initially achieved, so that the cleaning device 1 can move collision-free on the floor 11 or in its surroundings. Furthermore, as further preferred, an all-round distance measurement of the surroundings—here, for example, of room R (cf. Fig. 6) - enables, whereby the distance values ​​to obstacles and walls in the environment determined in this way are used to create a cartography K of the environment, which cartography K is preferably stored and stored in the cleaning device 1.

[0028] The cartography K can also be created during a first, user-guided learning run of the cleaning device 1. Based on the stored cartography K and a scan of the surroundings, preferably using the sensor arrangement 18, the cleaning device 1 is able to clearly determine its own position in its surroundings or in the cartography K.

[0029] A base station 7 is assigned to the cleaning device 1. This serves in particular to charge the accumulators provided in the cleaning device 1, which supply power to the electric motors provided in the cleaning device 1 and, if necessary, to control electronics. Accordingly, the base station 7, which is preferably stationary and arranged on the floor 11, is provided with an electrical connection 8 for connection to the household electrical supply.

[0030] The charging of the robot-side batteries takes place in a docking position as shown in Fig. 3, in which electrical contacts on the base station side, preferably enclosed in a coupling, are electrically connected to counter contacts on the robot side.

[0031] In the illustrated embodiment, the base station 7 has a floor-side platform 9 with a parking level 10 formed thereby. This platform is designed so that the cleaning device 1 can automatically drive onto the parking level 10 as a result of its travel movements. The parking level 10 is raised above the floor 11 and can be automatically reached by the cleaning device 1 via a ramp 12. The platform 9 providing the parking level 10 preferably extends in a plane parallel to the floor 11.

[0032] In the space 20 below the floor, which is formed between the parking level 10 and a station floor 19, a changing device 21 for offering various cleaning tools 13 is arranged. This changing device 21 is initially designed like a carousel and is rotatable about a vertical axis y in the space 20 of the base station 7. In a preferred embodiment, this vertical axis y of the changing device 21 is aligned in the associated position of the cleaning device 1 with the base station 7 in an extension of the device-side axis x.

[0033] The changing device 21 initially has a storage disc 22, preferably circular in plan view. This storage disc is rotatable about the vertical axis y, in particular due to the frictional or positive engagement of a drive wheel 23 on the circumferential edge surface of the storage disc 22. The drive wheel 23 is rotatable about an axis parallel to the vertical axis y and is further driven by an electric motor 24 arranged in the underfloor space 20.

[0034] On the storage disc 22, receiving trays 25 are positioned evenly distributed around the vertical axis y, with their tray openings facing upwards. The receiving trays 25 preferably accommodate different cleaning tools 13, for example, cup brushes or disc brushes with different bristles, depending on their design. Each of these cleaning tools 13 has a central securing pin 26 that extends freely upwards toward the platform 9.

[0035] In the position in which the cleaning device 1 is assigned to the base station 7, in which the cleaning device 1 is parked on the parking level 10, its cleaning tool holder 15 and the chassis floor-side cutout 14 are assigned in vertical overlap with a platform-side access opening 27, which is preferably adapted in diameter and / or contour to the cutout 14 in the chassis floor 5, more preferably having a larger diameter compared to that. The parking-side access opening 27 is more preferably initially closed to allow the cleaning device 1 to drive over it, for which purpose, for example, a sliding closure 28 (not shown in detail) is provided, which can be displaced transversely to the driving direction of the cleaning device 1.

[0036] In further vertical overlap with the through-opening 27, further in particular in central alignment with the same, one of the cleaning tools 13 held on the changing device 21 is positioned on the underside of the through-opening 27 such that the pin axis of the associated cleaning tool 13 lies in vertical extension of the device-side cleaning tool holder 15.

[0037] In order to receive a cleaning tool 13 offered by the base station 7 or the changing device 21, after the platform-side through-opening 27 has been released, the receiving tray 25 receiving the cleaning tool 13 is raised by means of a vertically acting lifting device 29 arranged in the underfloor space 20 of the base station 7. This lifting device 29 acts electromechanically, with preferably fork-like arms 30 penetrating the storage disc 22 in the area of ​​slot-like openings 31 against the downward-facing contact surface of the receiving tray 25 and, with further vertical displacement upwards, lifting the latter together with the inserted cleaning tool 13, passing through the through-opening 27 in the direction of the cleaning tool holder 15 of the cleaning device 1.In this case, the fixing pin 26 of the cleaning tool 13 is inserted into the drill chuck-like receptacle 15, after which, preferably automatically, more preferably as a result of a command transmitted to the cleaning device 1 via the base station 7, the fixing pin 26 is clamped in the receptacle 15 due to a drill chuck-like relative rotation. The separate cleaning tool 13, e.g., a cup brush, is then captively mounted on the cleaning device 1, wherein the electric motor of the cleaning device 1, acting on the receptacle 15, simultaneously serves as a drive motor for the rotary displacement, optionally alternating rotary displacement, of the cleaning tool 13 during the cleaning process of the floor 11.

[0038] Before the cleaning device 1 is moved away from the base station 7, the receiving tray 25 is moved vertically downwards again via the lifting device 29 for placement on the storage disc 22. Furthermore, the platform-side access opening 27 is then closed.

[0039] A separate cleaning tool 13, possibly already arranged on the cleaning device 1, can also be exchanged for another cleaning tool 13 according to the method described above. For this purpose, the cleaning tool 13 held in the cleaning device 1 is first placed in an empty, i.e., unused, receiving tray 25 using the lifting device 29. After rotation of the storage disc 22 about the vertical axis y, further in particular over a fixed, predetermined angular range, another cleaning tool 13 is ready for transfer to the cleaning device 1.

[0040] In a further preferred embodiment, the receiving trays 25 receiving the cleaning tools 13 also serve to receive cleaning agents, in particular cleaning liquids, and in particular to wet the bristles of the cleaning tools 13 designed as brushes.

[0041] For this purpose, the base station also has a reservoir 32 for the cleaning fluid. This reservoir can preferably be filled via a removable lid 33.

[0042] A pipe section of an electromechanical pump 34 is immersed in the storage container 32 or in the reservoir of the cleaning liquid, by means of which a preferably predetermined amount of cleaning liquid is conveyed into one or more receiving trays 25 via a supply line 35.

[0043] In one embodiment, the selection of the separate cleaning tool 13 depends on the type of floor covering preferably detected by floor sensors, for example, depending on whether the floor is hard or soft, and also on the cleaning or maintenance process to be performed. For example, a cleaning tool 13 can also be a polishing disc, particularly for polishing hard surfaces.

[0044] Further preferably, the selection and inclusion of a cleaning tool 13, and if necessary the change of the cleaning tool 13, takes place depending on a stain detection.

[0045] Thus, the cleaning device 1 detects during the usual cleaning, e.g. brush cleaning using the bristle roller 3 of a room R as shown in Fig. 6 via the chassis floor-side color and / or gloss sensor 17 due to spontaneous or singular color and / or gloss changes such a spot F on the floor 11. Due to the previously described sensor arrangement 18, the cleaning device 1 can localize itself within the stored cartography K. The detected spot is noted in the cartography K using the coordinates known to the device 1 (marking M in the cartography K according to Fig. 7). The cleaning device 1 continues to move in the space R according to a predetermined movement and / or cleaning strategy, for example along Fig. 6 shown driving lines 36 in order to approach the base station 7 at the end of the cleaning process.

[0046] In the base station 7, the cleaning device 1 receives a cleaning tool 13 stored in the base station 7, more preferably a cleaning tool 13 suitable for cleaning the stained floor area without leaving any residue. The base station 7 presents the cleaning tool 13 to the cleaning device 1 following a corresponding rotational movement of the storage disc 22.

[0047] With the separate cleaning tool 13 picked up, the floor cleaning device 1 moves automatically and in a targeted manner according to the known coordinates of the marking M in the cartography K to the spot F on the floor 11 (cf. driving lines 37 in Fig.8) in order to mechanically treat the relevant floor area upon reaching the stain F, in particular as a result of a rotary movement of the cleaning tool 13, optionally superimposed on a movement of the cleaning device 1 in the direction of travel r and in the opposite direction of travel, further optionally with rotation of the cleaning device 1 on the spot. The success of the stain cleaning can be checked via the color and / or gloss sensor 17. If the stain is not sufficiently removed, another separate cleaning tool 13 is fetched from the base station 7 and / or a cleaning agent kept ready in the base station 7, e.g. stored in a cartridge or the like, is picked up.

[0048] Preferably, in targeted stain removal mode, the device 1 does not clean the floor areas located on the travel path to the stain and back to the base station 7. List of reference symbols 1 cleaning device 2 bicycles 3 bristle roller 4 Device cover 5 Chassis floor 6 Floor cutout 7 Base station 8 Electrical connection 9 Platform 10 parking levels 11 Floor 12 Ramp 13 Cleaning tools 14 Excerpt 15 Cleaning tool holder 16 Wave 17 Sensor 18 Sensor arrangement 19 Station floor 20 rooms 21 Changing device 22 Parking disc 23 Drive wheel 24 electric motor 25 receiving tray 26 fixing pins 27 Access opening 28 sliding closure 29 Lifting device 30 booms 31 Breakthrough 32 storage containers 33 lids 34 Pump 35 Supply line 36 driving lines 37 driving line r travel direction x axis y vertical axis F Fleck K Cartography M marking R Room

Claims

[1] Method for cleaning a floor (11) by means of an automatically movable floor cleaning device (1), wherein a base station (7) is provided and the floor cleaning device (1) moves automatically to the base station (7), wherein the floor cleaning device (1) further receives a cleaning tool (13) and / or cleaning agent, such as cleaning fluid, held there for cleaning different areas of the floor (11) in the base station (7), characterized by that the cleaning tool (13) and / or the cleaning agent is picked up in the base station (7) according to and, if necessary, in accordance with stain detection. [2] Method according to claim 1, characterized by that the floor cleaning device (1) carries out its own mapping of the environment and that a detected spot (F) is at least temporarily noted in the mapping. [3] Base station (7) for an automatically movable floor cleaning device (1), wherein the floor cleaning device (1) can automatically approach the base station (7) and a cleaning tool (13) and / or cleaning agent that can be picked up by the movable floor cleaning device (1) is stored in the base station (7), wherein the base station (7) further comprises a floor-side platform (9) with a parking level (10) formed thereby, characterized by that a changing device (21) for offering different cleaning tools (3) is arranged in an underfloor space (20) resulting between the parking level (10) and a station floor (19), and that the changing device (21) is designed like a carousel. [4] Base station according to claim 3, characterized by that a variety of different cleaning agents are available. [5] Base station according to one of claims 3 or 4, characterized bythat a cleaning tool (13) is a brush, for example a pot or plate brush or a bristle roller. [6] Base station according to one of claims 3 or 4, characterized by that the cleaning tool (13) is a dispensing device with a dispensing opening directed towards the floor to be cleaned, for example in the form of an atomizer, dispenser or a pressurized spray cartridge. [7] Base station according to one of claims 3 or 4, characterized by that the changing device (21) has a storage disc (22) which is circular in plan and is rotatable about a vertical axis Y. [8] Base station according to one of claims 3 to 7, characterized by that the changing device (21) is rotatable due to a frictional or positive engagement of a drive wheel (23) on a circumferential edge surface of the storage disc (22).

Images