Surface treatment system

Abstract

The invention relates to a surface treatment system for treating, in particular for cleaning, a surface, in particular a floor surface, comprising a surface treatment device with a base part configured to act on the surface to be treated, and with a guide part, in particular an elongated guide part, which is detachably connected to the base part and configured for manually moving the base part over the surface to be treated, and a robot device which is detachably connectable to the base part of the surface treatment device and configured for autonomously moving the base part over the surface to be treated, wherein the surface treatment system is transferable between an autonomous use configuration and a manual use configuration, wherein in the autonomous use configuration the guide part is separated from the base part and the robot device is detachably connected to the base part,to enable autonomous movement of the floor part over the area to be treated, and wherein in the manual use configuration the robot device is separated from the area treatment device to enable manual movement of the floor part over the area to be treated by means of the guide part.

Description

The invention relates to a surface treatment system for treating a surface, in particular for cleaning a floor surface.A surface treatment device is known from DE 10 2013 215 198 A1. The known surface treatment device is provided for machining a floor surface and has a base part and an elongated guide part. The bottom part is adapted to act on the surface to be treated. The elongated guide part is connected to the base part and is configured for manually moving the base part over the base surface to be treated. The known surface treatment device permits manual use only.It is an object of the invention to provide a surface treatment system which offers advantages over the prior art.This object is achieved by providing a surface treatment system having the features of claim 1. Advantageous refinements are specified in the dependent claims. The wording of the claims is made the subject matter of the description by reference.The surface treatment system according to the invention has a surface treatment apparatus and a robot device. The surface treatment apparatus has a bottom part and a guide part. The bottom part is adapted to act on the surface to be treated. The guide part is detachably connected to the base part and is configured for manually moving the base part over the surface to be treated. The robot device is detachably connectable to the bottom part of the surface treatment device. The robot device is configured to autonomously move the base part over the surface to be treated. The surface treatment system according to the invention can be transferred between an autonomous use configuration and a manual use configuration. In the autonomous use configuration, the guide part is separated from the bottom part and the robot device is detachably connected to the bottom part. In the manual use configuration, the robot device is separated from the bottom part and the guide part is / remains detachably connected to the bottom part. The autonomous use configuration enables autonomous movement of the base part (and of the robot device connected thereto) over the surface to be treated, in particular autonomous treatment of the surface. The manual use configuration instead provides for manual movement of the base part by means of the guide part over the surface to be treated. The surface treatment system according to the invention can consequently be used in a manner adapted to a respective treatment situation. For example, smaller surfaces and / or surfaces unsuitable for autonomous treatment may be treated in the manual use configuration of the surface treatment system. Larger surfaces and / or surfaces unsuitable for manual treatment can be treated in the autonomous use configuration of the surface treatment system. Depending on the dimensions of the guide part and the robot device, the surface treatment system has more compact dimensions in the autonomous use configuration than in the manual use configuration or vice versa. If the robot device has compact dimensions compared to the guide part, in the autonomous use configuration, those points of the surface which are not accessible or are difficult to reach with the connected guide part (in the manual use configuration) can also be treated. If the guide part has compact dimensions compared to the robot device, those locations of the surface which are not accessible or are difficult to reach with the connected robot device (in the autonomous use configuration) can also be treated in the manual use configuration. By the possible use of one and the same surface treatment system both for autonomous and for manual treatment, it is possible to dispense with the provision of two separate surface treatment devices, namely a manual / manually guided surface treatment device and an autonomous surface treatment device. This saves on apparatus complexity. In addition, time and / or personnel can be saved. The solution according to the invention is moreover lasting and overall allows a cost reduction.The surface treatment system according to the invention is configured for treating a surface. Preferably, the surface treatment system serves for cleaning a floor surface, preferably for cleaning a floor surface in a building.The bottom part is adapted to act on the surface to be treated. Preferably, the base part abuts the surface to be treated during use, i.e. both in the manual use configuration and in the autonomous use configuration. In particular, the base part rests on the floor surface to be treated / cleaned. The base part can also be referred to as a treatment head.The guide part serves for the manual movement of the base part. For this purpose, the guide part is detachably connectable to the base part (in the autonomous use configuration) or detachably connected (in the manual use configuration). In one embodiment, the guide part is rigidly connected to the base part. In a further embodiment, the guide part is connected to the base part such that it can be moved relative to the base part, preferably in a rotationally and / or pivotably movable manner. The guide part is detachably connected to the base part and is consequently replaceable with the robot device. The releasable connection between the guide part and the base part can be configured in any manner suitable for the present purpose. The guide part can also be referred to as a hand guide part. The guide part is preferably elongated. More preferably, the guide member is elongated between a first end and a second end. Preferably, the first end is configured for, in particular indirectly or directly, connection to the base part. Preferably, the second end is configured for handling by an operator.The robot device is configured to autonomously move the base part over the surface to be treated. In one configuration, the robot device is configured to drive the autonomous movement. In one configuration, the robot device is configured alternatively or additionally to steer the autonomous movement. In one configuration, the robot device is alternatively or additionally configured for controlling, in particular the autonomous movement driven and / or steered by means of the base part. In a further embodiment, the robot device is alternatively or additionally configured to control and / or switch at least one function, in particular a treatment function, of the surface treatment system and / or of the base part. Autonomous means in particular independently, automatically and / or without control, in particular the speed and / or direction, of the movement by an operator. Autonomous surface treatment devices are already known to the person skilled in the art in the form of vacuum cleaner robots or wiping robots. A specific device of the robot device for autonomously moving the base part is preferably based on technologies known from there and is consequently not the focus of the present invention. The robotic device is detachably connected to the floor part in the autonomous use configuration. The detachable connection of the robot device to the base part preferably comprises at least one mechanical operative connection. Alternatively or additionally to the mechanical operative connection, the said connection can comprise at least one electrical, fluid-conducting, signal-technology and / or data-technology operative connection between the robot device and the base part and / or between the robot device and the guide part. In one configuration, the robot device is configured for autonomously forming and / or releasing the detachable connection to the base part. In other words, this configuration allows the robot device to be coupled to the base part and / or allows the robot device to be decoupled from the base part without the intervention of an operator.In one embodiment of the invention, the base part has a tool device with at least one driven tool for acting on the surface to be treated. In one embodiment, the base part has a drive device for generating propulsion, which assists or brings about the manual movement and / or the autonomous movement of the base part. The drive device preferably has a drive motor, for example in the form of an electric motor. The drive device preferably has at least one drive element, for example a drive wheel, a drive roller or the like. In a preferred embodiment, the at least one driven tool is configured to generate said propulsion in the driven state. The at least one tool can be configured in one part or in multiple parts. Preferably, the tool device and / or the at least one tool is removable from the base part. In different embodiments, the tool device is designed differently, for example as a grinding, polishing or scrubbing device. The at least one driven tool can be, in particular, a grinding, polishing or scouring tool. In the driven state, the tool moves relative to the base part, wherein in particular a translatory, rotating, oscillating, oscillating and / or eccentric driven movement can be provided. In one embodiment, the at least one tool is a roller having an outer circumferential surface for acting on the surface to be treated. In a further embodiment, the tool is plate-shaped, in particular a plate tool, having an end face for acting on the surface to be treated. In different embodiments, the end face and / or the disk tool have different contours, in particular a round, preferably circular, oval, angular, polygonal, preferably rectangular, star-shaped or other contour. In one configuration, the at least one tool, in particular its end face, is movable in a driven manner relative to the base part in such a way that a portion of the surface to be treated swept over by the tool moved relative to the base part, in particular its end face, has a round, preferably circular, oval, angular, polygonal, preferably rectangular, star-shaped or other contour. Said propulsion is generated by the driven movement of the at least one tool. Surface treatment devices having a tool device which has at least one driven tool for generating propulsion are known to the person skilled in the art, for example from the prior art as initially discussed. In one embodiment, the advancement assists in manually moving the base portion in the manual use configuration. Alternatively or additionally, the propulsion assists the autonomous movement of the floor part in the autonomous use configuration. Depending on how much the propulsion is dimensioned, the respective movement can be effected not only supported but instead. As a result, in the autonomous use configuration, a separate drive device on the robot device can be dispensed with. This allows a particularly simple construction of the surface treatment system. In the manual use configuration, manual movement is facilitated by a sufficiently large amount of propulsion such that only manual steering but no manual driving of the movement is required.In a further embodiment of the invention, the tool device has two disk-shaped tools driven in opposite directions, in particular disk tools. The disk-shaped tools are each driven to rotate about an axis of rotation relative to the base part. In one embodiment, the axes of rotation of the disk-shaped tools are orthogonal to the surface to be treated and / or parallel to one another. In a further embodiment, the axes of rotation are slightly inclined starting from a parallel orientation. This inclination is, for example, from 0.5° to 5°. The said propulsion can thereby be generated in a particularly simple and reliable manner.In a further embodiment of the invention, the robot device is connected to the tool device in the autonomous use configuration and is configured to control the propulsion of the at least one driven tool in order to control the autonomous movement of the base part by means of the control of the propulsion. This allows a particularly simple construction of the surface treatment system to be achieved. In one configuration, the robot device is configured to control an amount of propulsion (propulsion force and / or propulsion speed). In a further embodiment, the robot device is alternatively or additionally configured to control a direction of propulsion (propulsion direction). In the first case, a separate drive device for driving the autonomous movement can be dispensed with. In the second case mentioned, alternatively or additionally a separate steering device for steering the autonomous movement can be dispensed with. The connection provided for the purpose of control between the robot device and the tool device comprises a mechanical operative connection in one embodiment. In a further embodiment, the said connection alternatively or additionally comprises a signal-related and / or data-related operative connection.In a further embodiment of the invention, the surface treatment device has a bearing device by means of which the guide part and the base part are connected to one another such that they can be moved relative to one another, wherein a direction of the manual movement of the base part can be controlled via a relative movement between the base part and the guide part. In one embodiment, the base part and the guide part are connected to one another by means of the bearing device such that they can be pivoted and / or rotated relative to one another. In this case, the relative movement is a pivoting movement and / or a rotational movement. Preferably, the bearing device is configured such that, by means of an action on the guide part, the base part is rotatable about its vertical axis parallel to the surface to be treated in order to control the direction of the manual movement. The said effect can be in particular a rotational movement of the guide part about its longitudinal axis and / or a rotational movement of the guide part. In one embodiment, the bearing device allows the guide part to be pivoted in at least one pivot plane. In one configuration, the guide part is pivotable relative to the base part by at least 10°, preferably by at least 30°, further preferably by at least 45°, further preferably by at least 60°, further preferably by at least 90°, further preferably by at least 120°, further preferably by at least 150°, further preferably by at least 180° within said pivot plane. In a further embodiment, the bearing device allows the guide part to be pivoted in at least two, in particular orthogonal, pivoting planes. In one configuration, the guide part is pivotable relative to the base part by at least 10°, preferably by at least 30°, further preferably by at least 45°, further preferably by at least 60°, further preferably by at least 90°, further preferably by at least 120°, further preferably by at least 150°, further preferably by at least 180°, within a first pivot plane of said two pivot planes. In one configuration, the guide part is pivotable relative to the base part by at least 10°, preferably by at least 30°, further preferably by at least 45°, further preferably by at least 60°, further preferably by at least 90°, further preferably by at least 120°, further preferably by at least 150°, further preferably by at least 180°, within a second pivot plane of said two pivot planes. Preferably, the guide part is simultaneously pivotable at least within the first pivot plane and the second pivot plane, in particular in any desired angular combinations of the aforementioned angular ranges. In one configuration, the guide part is at least pivotably movable in one direction, for example rearward, forward and / or laterally, by at least 10°, preferably by at least 30°, further preferably by at least 45°, further preferably by at least 60°, further preferably by up to 90°, at least in one pivot plane with respect to an imaginary or actually insertable vertical orientation of the guide part. In a further embodiment, the bearing device allows a pivot movement of the guide part which runs circumferentially in all directions relative to the base part. Preferably, the guide part is circumferential and with respect to an imaginary or actually insertable vertical orientation of the guide part is rotationally adjusted in all directions by at least 10°, preferably by at least 30°, more preferably by at least 45°, more preferably by at least 60°, more preferably by up to 90°. The direction of the manual movement of the base part is preferably controllable via a pivoting movement and / or rotational movement of the guide part. If no (translatory) movement of the base part takes place, an orientation of the base part can be controlled via the said pivoting and / or rotational movement.In a further embodiment of the invention, the bearing device forms a gimbal connection between the guide part and the base part, whereby by means of a rotation of the guide part about its longitudinal axis the base part can be rotated about its vertical axis and resting on the surface in a rotation plane parallel to the surface to be treated, in order to control the direction of the manual movement of the base part. In one configuration, the base part is rotatable about its vertical axis by at least 10°, preferably by at least 30°, more preferably by at least 45°, more preferably by at least 60°, more preferably by at least 90°, more preferably by at least 120°, more preferably by at least 150°, more preferably by at least 180°, more preferably by at least 210°, more preferably by at least 240°, more preferably by at least 270°, more preferably by at least 300°, more preferably by at least 330°, more preferably by at least 360°. The gimbal connection between the guide part and the base part allows a particularly easy maneuverability of the base part with a simultaneously simple construction of the bearing device. The gimbal connection allows the base part to be rotated parallel to the surface to be treated so as to rest thereon by rotating the guide part about its longitudinal axis. In the manual use configuration, the rotation of the guide member about the longitudinal axis is performed by the operator. In order to form the gimbal connection, the bearing device can basically be designed in a wide variety of ways. In one embodiment, the bearing device is a cardan joint with two orthogonal joint axes. The said joint axes can be formed by structural elements or can be axes in the geometrical sense. In a further embodiment, the gimbal connection is a solid joint, a spring joint or the like.In a further embodiment of the invention, the robot device has a drive device which is configured to drive the autonomous movement. By providing the robot device with the drive device, a drive device assigned to the surface treatment device can be dispensed with. The surface treatment device can accordingly be of simple construction. Preferably, the drive device has a drive motor and at least one drive element. The drive motor is preferably an electric motor. The at least one drive element is preferably a drive wheel. Alternatively or additionally, a drive roller may be present as the drive element. In one configuration, the drive device of the robot device is formed by a tool device having at least one driven tool, wherein the at least one driven tool is configured to act on the surface to be treated and is further configured to generate a propulsion in the driven state, which propulsion brings about the autonomous movement. With regard to the design of the drive device as a tool device and the design of the at least driven tool, the discussion relating to the design of the tool device of the base part applies, in a putative manner.In a further embodiment of the invention, the robot device has a steering device which is configured to steer the autonomous movement. By providing the robot device with the steering device, a separate steering device on the surface treatment device can be dispensed with. This allows a simple construction of the surface treatment device. If the robot device also has a / the drive device, the steering device is preferably integrated into the drive device, for example in the form of a drive wheel that is steerable with respect to its orientation or a steerable drive roller. Alternatively or additionally, at least two drive elements, for example drive wheels or drive rollers, which can be driven in different rotational directions and / or at different speeds, can be present for directing the movement. If the autonomous movement is driven via a device of the surface treatment appliance, for example via a / the tool device provided with a propulsion function, it is possible to dispense with controlling the propulsion direction for the purpose of steering. This allows a simplified construction of the tool device of the base part. The steering (the direction) of the autonomous movement instead takes place by means of the steering device of the upper spinner configured for this purpose. This can have, for example, a wheel that can be steered or a roller that can be steered.In a further embodiment of the invention, a battery device is provided and is configured to supply the robot device and / or the surface treatment appliance with electrical operating energy. The battery device makes it possible to dispense with a cable-bound power supply of the surface treatment system. The omission of a corresponding electric cable improves maneuverability and simplifies the use of the surface treatment system. In one configuration, the robot device has the battery device. In a further embodiment, the surface treatment appliance has the battery device. In a further embodiment, the battery device is partially assigned to the robot device and partially assigned to the surface treatment device.In a further embodiment of the invention, the battery device has a first battery arranged on the surface treatment appliance. The first battery serves to supply power to the surface treatment device. In one configuration, the first battery is attached to the base part and also serves to supply power to the robot device in the autonomous use configuration.In a further embodiment of the invention, the battery device has a second battery arranged on the robot device. The second battery serves to supply power to the robot device. In one configuration, the second battery alternatively or additionally serves for supplying energy to the base part in the autonomous use configuration. If the surface treatment device has a / the first battery, the second battery can serve as an additional battery or replacement battery for the first battery or vice versa. The first battery may be configured to charge the second battery and / or vice versa.In a further embodiment of the invention, the first battery and the second battery can be attached to the robot device and the surface treatment device in an interchangeable manner. In other words, the first battery may be used instead of the second battery, and vice versa. Preferably, the first battery and the second battery have identical dimensions, identical electrical connections and / or technical specifications.In a further embodiment of the invention, a liquid receiving device is provided and is configured to receive liquid from the surface to be treated. In one embodiment, the surface treatment device has the liquid receiving device. In a further embodiment, the robot device has the liquid receiving device. In a further embodiment, the liquid receiving device is arranged partially on the surface treatment device and partially on the robot device. The liquid receiving device allows the reception of liquid, in particular in the form of dirty water, foam and / or a mixture of liquid and solid constituents, from the surface to be treated.In a further embodiment of the invention, the liquid receiving device has at least one liquid receiver, at least one liquid suction source and / or at least one liquid collecting container, wherein the at least one liquid receiver is configured to suck in the liquid to be received, wherein the at least one liquid suction source is configured to generate a negative pressure for sucking in the liquid to be received, and wherein the at least one liquid collecting container is configured to collect the liquid to be received. The at least one liquid receptacle, the at least one liquid suction source and the at least one liquid collecting container can each be arranged either on the surface treatment device or on the robot device. In addition, it is conceivable and possible for the liquid receiving device to have a plurality of liquid receivers, a plurality of liquid suction sources and / or a plurality of liquid collecting containers, wherein in each case one of the said components can be arranged on the surface treatment device and a further component of the same type can be arranged on the robot device. In a preferred embodiment, the liquid collecting container is attached, preferably in a removable manner, to the guide part of the surface treatment device and a further liquid collecting container is attached to the robot device. Further preferably, the liquid receptacle is attached to the base part. In this case, attachment of the liquid receptacle arranged behind the base part in the direction of the movement is preferred. In one configuration, the liquid suction source is attached to the guide part, preferably at a lower end of the guide part facing the base part. In a further embodiment, the liquid suction source is attached to the base part. In a further embodiment, a further liquid suction source is attached to the robot device. It is preferably true that components of the liquid receiving device which are arranged on the guide part and can be used in the manual use configuration are unusable in the autonomous use configuration-as a result of the guide part then being separated-and are replaceable with respect to their function by similar components of the liquid receiving device which are attached to the robot device, and vice versa.In a further embodiment of the invention, the robot device has at least one component of the liquid receiving device. Said component can be the / a / a further liquid receptacle, the / a / a further liquid suction source and / or the / a / a further liquid collecting container.In a further embodiment of the invention, a liquid dispensing device is provided and is configured for dispensing liquid onto the surface to be treated. The liquid dispensing device allows in particular the dispensing of fresh water and / or a cleaning liquid onto the floor surface to be treated. In one embodiment, the surface treatment device has the liquid dispensing device. In a further embodiment, the robot device has the liquid delivery device. In a further embodiment, the liquid delivery device is arranged partially on the surface treatment device and partially on the robot device.In a further embodiment of the invention, the liquid dispensing device has at least one liquid outlet, at least one liquid pressure source and / or at least one liquid storage container, wherein the at least one liquid outlet is configured for the direct dispensing of the liquid onto the surface, wherein the at least one liquid pressure source is configured for generating an overpressure for conveying the liquid to be dispensed, and wherein the at least one liquid storage container is configured for storing the liquid to be dispensed. The at least one liquid outlet, the at least one liquid pressure source and / or the at least one liquid storage container can each be arranged either on the surface treatment device or on the robot device. It is also conceivable and possible for the liquid dispensing device to have in each case a plurality of liquid outlets, a plurality of liquid pressure sources and / or a plurality of liquid storage containers. In this case, one of the components mentioned can be arranged on the surface treatment device and another component of the same type can be arranged on the robot device. In a preferred embodiment, the liquid outlet is arranged on the base part. If the base part has a tool device with at least one driven tool, the liquid outlet is preferably arranged in the immediate vicinity of the driven tool, for example in front of the tool. If the driven tool is a rotating tool, the liquid outlet is alternatively or additionally preferably centrally through an axis of rotation of the rotating tool. In this case, the liquid to be dispensed can be guided radially further outwards starting from the central axis of rotation, in particular under the effect of centrifugal force, for example by channels of the rotating tool provided for this purpose. In one embodiment, the dispensing of the liquid in front of the tool can be switched on in addition to the central dispensing, for example to remove heavy soiling, or vice versa. In a preferred embodiment, the liquid storage container is attached to the guide part and a further liquid storage container is attached to the robot device. If a liquid pressure source is present, it is preferably arranged on the guide part, wherein a further liquid pressure source can be arranged on the robot device. In one configuration, the liquid pressure source is arranged on the robot device. In one embodiment, no liquid pressure source is present and the liquid to be dispensed is conveyed from the liquid reservoir to the liquid outlet solely by the force of gravity. In this case, a switching valve, in particular a switching valve that can be actuated mechanically and / or electrically, is preferably present for controlling the discharge of the liquid. In addition, embodiments are conceivable and possible in which the switching valve is present in addition to the liquid pressure source. In one embodiment, instead of the liquid pressure source, there is at least one on / the switching valve for controlling the discharge of the liquid. It is preferably true that components of the liquid dispensing device which are arranged on the guide part and can be used in the manual use configuration are unusable in the autonomous use configuration-as a result of the guide part then being separated-and are replaceable with respect to their function by similar components of the liquid dispensing device which are attached to the robot device, and vice versa.In a further embodiment of the invention, the robot device has at least one component of the liquid delivery device. Said component can be the / one / one further liquid outlet, the / one / one further liquid pressure source and / or the / one / one further liquid storage container.In a further embodiment of the invention, a particle receiving device is provided and is configured to receive particles from the surface to be treated. The particles mentioned can be, for example, dry, moist or wet particles, and a mixture of particles and liquid. The particle receiving device allows in particular the reception of dirt particles from the floor surface to be cleaned. In one embodiment, the particle receiving device is a suction device which is configured to suck up the particles. In a further embodiment, the particle receiving device is a sweeping device which is configured to sweep the particles. Of course, a combined suction and sweeping device is also conceivable and possible. In one embodiment, the surface treatment device has the particle receiving device. In a further embodiment, the robot device has the particle receiving device. In a further embodiment, the particle receiving device is arranged partially on the surface treatment device and partially on the robot device.In a further embodiment of the invention, the particle receiving device has at least one particle receiver, at least one particle suction source and / or at least one particle collecting container, wherein the at least one particle receiver is configured for sucking in and / or sweeping in the particles to be received, wherein the at least one particle suction source is configured for generating a negative pressure for sucking in the particles to be received, and wherein the at least one particle collecting container is configured for collecting the particles to be received. The at least one particle receptacle, the at least one particle suction source and / or the at least one particle collecting container can be arranged in each case either on the surface treatment device or on the robot device. In one embodiment, the particle receptacle device has a plurality of particle receptacles, a plurality of particle suction sources and / or a plurality of particle collecting containers. In this case, one of the components mentioned can be arranged on the surface treatment device and another component of the same type can be arranged on the robot device. In a preferred embodiment, the particle receptacle is arranged on the base part. Further preferably, the particle receptacle is mounted in front of the base part in the direction of movement. Preferably, the particle collecting container is attached to the base part. This is advantageous in particular if the particle receptacle is configured alternatively or additionally to the sweeping of the particles to be received. In this case, it is ensured that the particles to be cleaned can be received directly in the region of the base part. If a particle suction source is present, it is preferably attached to the guide part, attachment to a lower end of the guide part facing the base part being preferred. If the surface treatment system has a liquid receptacle with a liquid suction source, the latter preferably also functions as a particle suction source or vice versa. A simplified construction can thereby be achieved. It is preferably true that components of the particle receiving device which are arranged on the guide part and can be used in the manual use configuration are unusable in the autonomous use configuration-as a result of the guide part then being separated-and are replaceable with respect to their function by similar components of the particle receiving device which are attached to the robot device, and vice versa.In a further embodiment of the invention, the robot device has at least one component of the particle receiving device. Said component can be the / a / a further particle receptacle, the / a / a further particle suction source and / or the / a / a further particle collecting container.In a further embodiment of the invention, the surface treatment system has a sensor device and / or a navigation device and / or a processor device. The sensor device is configured to acquire the surface and / or environment to be treated and to generate sensor data which represent the surface and / or environment to be treated. The navigation device is configured to acquire a position of the robot device and to generate navigation data representing the position. The processor device is configured to control the autonomous movement, in particular depending on the sensor data and the navigation data. The detection of the surface to be treated and / or of the environment allows obstacle detection in particular. The detection of the position serves to localize the robot device on and / or relative to the surface to be treated. Depending on the sensor data and the navigation data, the autonomous movement can be controlled by means of the process device. In one configuration, the robot device has the sensor device and / or the navigation device and / or the processor device. In one embodiment, the surface treatment device has the sensor device and / or the navigation device and / or the processor device. Of course, an arrangement of the aforementioned devices distributed over the robot device and the surface treatment device is also conceivable and possible. In one configuration, the processor device is configured to record and / or document operating parameters of the autonomous use configuration. For example, the area treated, a function used, resources used, or the like may be recorded and / or documented. Such a recording and / or documentation is advantageous with regard to a future planning of the surface treatment, a detection of treatment patterns, contamination patterns, malfunctions, wear and / or the like. In one embodiment, the processor device is configured to provide data for an evaluation unit, which can be, for example, a computer, a tablet PC or a smartphone. Such provision of data allows control, observation and / or control of autonomous use. The data are preferably provided wirelessly via radio, WiFi or a mobile data network. In one embodiment, the surface treatment system has an antenna unit for data transmission, which is preferably arranged on the robot device and is set up for the aforementioned purpose.In a further embodiment of the invention, the sensor device has at least one camera system, a radar system, a lidar system and / or an ultrasonic system. By means of said systems, comprehensive and reliable detection of the surface and / or the environment can take place both in the near field and in the far field.In a further embodiment of the invention, the processor device is configured to control at least one treatment function, in particular depending on the sensor data and / or the navigation data, wherein the treatment function is in particular a tool function, a liquid-receiving function, a liquid-dispensing function and / or a particle-receiving function. By means of the processor device for controlling the at least one treatment function, the surface can be treated autonomously. For example, the treatment function can be activated, deactivated and / or controlled with respect to its intensity autonomously by means of the processor device, in particular depending on the sensor data and / or the navigation data. If the surface treatment system has a tool device, its function (the tool function) can be controlled autonomously. If the surface treatment system has a liquid receiving device, its function (the liquid receiving function) can be controlled autonomously. If the surface treatment system has a liquid dispensing device, its function (the liquid dispensing function) can be controlled autonomously. If the surface treatment system has a particle receiving device, its function (particle receiving function) can be controlled autonomously. In one embodiment, the sensor device is configured to detect a degree of soiling of the surface to be treated. The processor device is preferably configured to control the at least one treatment function and / or the autonomous movement as a function of the detected degree of contamination. For example, it is possible to suck in first, then wiped or first wiped and then sucked in. In one configuration, the sensor device is arranged on the surface treatment device and is configured to detect the surface to be treated and / or its environment during a manual movement, i.e. in the manual use configuration. In this embodiment, the processor device is preferably configured to control the autonomous movement and / or at least one treatment function as a function of the surface and / or environment detected during the manual movement. In this way, the autonomous movement can be taught ("teaching"). In one embodiment, the sensor device is detachably connectable or connected to the surface treatment device. As a result, surface treatment devices already on the market can be retrofitted in a simple manner.In a further embodiment of the invention, the guide part is detachably connected to the base part by means of a connecting device in the manual use configuration. The connecting device can have any configuration suitable for the present purpose.In a further embodiment of the invention, the robot device is connected to the base part by means of the connecting device in the autonomous use configuration. In this embodiment, the connecting device consequently also permits a connection of the robot device to the base part. A further simplified construction can thereby be achieved.Further advantages and features of the invention are evident from the claims and from the following description of preferred exemplary embodiments of the invention, which are illustrated on the basis of the drawings. FIG. 1 shows a schematic side view of an embodiment of a surface treatment system according to the invention with a surface treatment device and a robot device, wherein the surface treatment system adopts a manual use configuration, FIG. 2 shows the surface treatment system according to FIG. 1 in an autonomous use configuration, FIG. 3 is a schematic bottom view of a base part of the surface treatment device with a view to a tool device, FIG. 4 shows a schematic front view of the tool device of the base part, FIG. 5 shows a schematically simplified block diagram of the surface treatment system for illustrating further features, FIG. 6 shows a further block diagram of the robot device for illustrating further features, FIGS. 7 to 10 show further block diagrams of the surface treatment system for illustrating further features, FIG. 11 is a schematic side view of the surface treatment apparatus with further details for illustrating the structure and the functioning of a liquid receiving device and a liquid dispensing device, FIGS. 12 to 16 show different perspective views of the surface treatment system in the manual use configuration for illustrating the mobility of the surface treatment device on the surface to be treated, and FIG. 17 is a schematic perspective view illustrating further features of the surface treatment system in the autonomous use configuration; and FIG. 18 is a side view of the surface treatment system in the autonomous use configuration.According to FIG. 1, a surface treatment system 1 for treating a surface F is provided. In the embodiment shown, the surface treatment system 1 is a surface cleaning system for cleaning the surface F. The surface to be cleaned is a floor surface B in the present case, so that a floor cleaning system can also be referred to.The surface treatment system 1 has a surface treatment apparatus 2 and a robot device 5. The surface treatment device 2 and the robot device 5 are shown schematically in simplified form in the present case. This applies in particular to the robot device 5. the shape and dimensions thereof also in relation to the surface treatment device 2 are to be understood as purely schematic.The surface treatment device 2 has a base part 3 and a guide part 4. The surface treatment device 2 can also be referred to as a floor cleaning device in the embodiment shown.The base part 3 is configured to act on the surface F to be treated, in the present case the base surface B. The guide part 4 is elongated and, in the configuration shown in FIG. 1, is detachably connected to the base part 3. The guide part 4 is arranged for manually moving the bottom part 3 over the surface F to be treated. In the present case, the longitudinally extended guide part 4 has handles 41 at one end, at its end facing away from the base part 3. At its end facing away from the handles 41, the guide part 4 is detachably connected to the base part 3. In the present case, a pivotable connection described in more detail is provided. In principle, however, a rigid connection between the guide part 4 and the base part 3 is also conceivable.The robot device 5 is detachably connectable to the base part 3 of the surface treatment device 2 in the configuration shown in FIG. 1 and is configured to autonomously move the base part 3 over the surface F to be treated.The surface treatment system 1 is shown in a manual use configuration in FIG. 1. In this manual use configuration, the robot device 5 is separated from the surface treatment apparatus 2. The manual use configuration allows manual movement of the base part 3 by means of the guide part 4. For manual movement, an operator engages the guide part 4, in the present case the handles 41, in order to move the base part 3 over the surface F in the desired or required manner, for example by pulling, pushing or other actions on the guide part 4.In FIG. 2, the surface treatment system 1 is shown in an autonomous use configuration. In the autonomous use configuration, the guide part 4 is separated from the bottom part 3 and the robot device 5 is detachably connected to the bottom part 3.The said connection between the robot device 5 and the base part 3 is schematically illustrated in FIG. 2 by means of an arrow and is denoted by the reference symbol C. The autonomous use configuration provides autonomous movement of the floor part 3 over the surface F to be treated by means of the robot device 5. The robot device 5 acts on the floor part via the connection C for this purpose.The connection C comprises at least one mechanical operative connection. In other words, the connection C forms at least one indirect mechanical connection between the robot device 5 and the base part 3.It is understood that the connection C can alternatively or additionally have at least one electrical, fluid-conducting, signal-technical and / or data-technical connection to the said mechanical operative connection. This depends on the specific configuration of the surface treatment device 2 and / or the robot device 5.The surface treatment system 1 is transferable between the manual use configuration (FIG. 1 ) and the autonomous use configuration (FIG. 2 ). To change from the manual use configuration to the autonomous use configuration, the connection between the guide part 4 and the floor part 3 is released, i.e. the guide part 4 is separated from the floor part 3, and the robot device 5 is connected to the floor part 3 via the connection C. To switch from the autonomous use configuration to the manual use configuration, the connection C between the robot device 5 and the base part 3 is released, i.e. the robot device 5 is separated from the base part 3 and the guide part 4 is connected to the base part 3, whereby the surface treatment apparatus 2 can be used manually independently of the robot device 5.In the embodiment shown, the guide part 4 is detachably connected to the base part 3 by means of a connecting device 7 in the manual use configuration. The connecting device 7 can have any configuration suitable for the present purpose. For example, the connecting device 7 can have a screw connection, plug connection, latching connection, bolt connection or the like and can be detached and reconnected without tools or by a suitable tool. At least one mechanical operative connection is formed via the connecting device 7. The connecting device 7 can additionally be configured to form any electrical, fluid-conducting, signal-technology and / or data-technology connection between the base part 3 and the guide part 4 (in the manual use configuration) or the robot device 5 (in the autonomous use configuration). In the embodiment shown, the robot device 5 is detachably connected to the base part 3 by means of said connecting device 7 in the autonomous use configuration. In FIG. 2, the arrow symbolizing the connection C does not directly attack the connection device 7 solely for drawing reasons. In this case, the connecting device 7 is configured to form at least one mechanical operative connection between the base part 3 and the guide part 4 (in the manual use configuration) or the robot device 5 (in the autonomous use configuration). The connecting device 7 can additionally be configured to form any electrical, fluid-conducting, signal-technology and / or data-technology connection between the base part 3 and the guide part 4 (in the manual use configuration) or the robot device 5 (in the autonomous use configuration).In an embodiment not shown in the figures, the robot device 5 and the base part 3 are detachably connected to one another via an alternative or additional connecting device in the autonomous use configuration.In the embodiment shown, the surface treatment device 2 has a tool device 30, which is arranged on the base part 3 in the present case. The tool device 30 has at least one driven tool 31. The tool 31 is adapted to act on the surface F to be treated. In the present case, the at least one tool 31 serves for cleaning, in particular for scouring, the floor surface B.In the embodiment shown, the tool device 30 also has a drive motor 32 for driving the at least one tool 31. The drive motor 32 is arranged in the present case in a housing (without reference sign) of the base part 3.In the embodiment shown, the tool device 30 has two driven tools 31. The tools 31 are in the present case each designed as disk tools 33. As shown in FIGS. 3 and 4, the disk tools 33 are driven in opposite directions about a rotation axis R. With respect to the plane of the drawing of FIG. 3, the left plate tool 33 rotates counterclockwise, the right plate tool 33 rotates clockwise. The disk tools 33 are provided with bristles (without reference numerals). The disk tools 33 can therefore also be referred to as disk brushes. It is understood that a design of the disk tools that differs therefrom is also possible without bristles and instead, for example, with a pad in each case.In the embodiment shown, the tool device 30 is configured to generate a propulsion V (see in particular FIG. 3 ) in the driven state of the at least one tool 31.In an embodiment not shown in the figures, said propulsion is not generated, for example, by means of the tool device, but by means of a drive device which is configured for this purpose and is arranged on the base part and which has, for example, a drive wheel, a drive roller or the like.In the embodiment shown, the propulsion V is achieved by a slight oblique positioning of the axes of rotation R of the disk tools 33 (see FIG. 4 ). The axes of rotation R are each inclined toward one another by an angle α starting from the orthogonal to the ground surface B. Accordingly, the disk tools 33 are also inclined by the said angle α relative to the base surface B. In the driven state of the disk tools 33, said inclination causes an unequal distribution of the sliding friction with the bottom surface B in the circumferential direction of the disk tools 33.The propulsion can be influenced in particular by the inclination of the axes of rotation R, the nature of the disk tools 33, the rotational speed of the disk tools 33 and the friction conditions between the disk tools 33 and the floor surface B, and can be more or less strongly pronounced. In one embodiment, the propulsion is designed such that it brings about the manual movement and / or the autonomous movement. In this case, no further manual or other effort is required for driving the manual movement and / or the autonomous movement. In a further embodiment, the propulsion V is designed such that it merely supports the respective movement. In this case, in the manual use configuration, the operator needs to apply less force to drive the movement. The same applies, mutatismutatistically, in the autonomous use configuration.In an embodiment not shown in the figures, the axes of rotation of the disk tools are parallel to one another and orthogonal to the floor surface B. The orthogonal alignment results in a sliding friction with the floor surface B that is distributed equally in the circumferential direction of the disk tools 33.It is understood that the tool device 30 can have only a single disk tool or more than two disk tools instead of the two disk tools 33 shown. In addition, the at least one driven tool 31 can be designed alternatively, for example as a roller brush with a horizontal axis of rotation. Furthermore, embodiments with a non-rotationally driven tool are conceivable and possible, for example oscillating tools, eccentric tools or the like.In the embodiment shown, the robot device 5 is connected to the tool device 30 in the autonomous use configuration and is configured to control the propulsion V of the at least one driven tool 31. By means of the control of the propulsion V, the autonomous movement is (indirectly) controlled. The robot device 5 is configured to control the propulsion V according to magnitude and / or direction. In the present case, both a control of the amount, i.e. of the strength of the propulsion V or of the propulsion speed, and a control of the propulsion direction are possible. For this purpose, the robot device 5 can actuate, for example, the drive motor 32 for increasing or decreasing the rotational speed of the two disk tools 33. In addition, a reversal of the direction of rotation is conceivable and possible. In order to control the direction of propulsion V, the rotational speeds and / or rotational directions of disk tools 33 may be controlled independently of one another. In addition, it is conceivable and possible for the robot device 5 to be configured to adjust the inclination of the rotational axes R. By adjusting the inclination in this way, a control of the propulsion speed and / or the propulsion direction can be effected.In the embodiment shown, the robot device 5 has a drive device 51 (see FIG. 5 ) which is configured to drive the autonomous movement. The drive device 51 is provided in the present case in addition to the tool device 30, which likewise functions as a drive. If the tool device 30 is configured to generate a sufficiently strong propulsion that not only supports but brings about the autonomous movement, the drive device 51 can be dispensed with. The drive device 51 is depicted generically in FIG. 5 and can have any configuration suitable for the present purpose. For example, the drive device 51 can have a drive motor and at least one drive element driven by means of the drive motor, which can be designed, for example, as a drive wheel, drive roller or drive chain. By means of said drive element, forces and torques required for the autonomous movement can be transmitted from the robot device to the floor surface B.In the present case, the robot device 5 additionally has a steering device 52, which is depicted generically in FIG. 5. The steering device 52 serves to steer the autonomous movement. In other words, the steering device 52 is configured to control the direction of the autonomous movement, whereas the drive device 51 serves to control the speed of the autonomous movement. The steering device 52 may have any configuration suitable for the present purpose. For example, the steering device 52 can have an actuating drive and a steering element. The steering element can be, for example, a steering roller, a steering roller or the like. Said steering element can be controlled by means of the actuator for the purpose of directional control.If control of the direction of the autonomous movement via the tool device 30 is provided, the steering device 52 can be dispensed with. In addition, it is conceivable and possible for the speed of the autonomous movement to be effected via actuation of the tool device 30 and for the direction of the autonomous movement to be controlled via the steering device 52. Alternatively, embodiments are provided in which the drive device 51 of the robot device 5 controls the speed of the autonomous movement, wherein the direction is effected via a control of the tool device 30, for example via an adjustment of the axes of rotation R controlled by means of the robot device 5.In the embodiment shown, the surface treatment system 1, in the present case specifically the robot device 5, also has a sensor device 53, a navigation device 54 and a processor device 55. Said devices are depicted generically in Fig. 5.The sensor device 53 is configured to acquire the surface F to be treated and / or its environment E and to generate sensor data representing the surface F to be treated and / or the environment E of the surface treatment system 1. The navigation device 54 is configured to acquire a position of the robot device 5 on the surface B to be treated and to generate navigation data representing the position. The processor device 55 is configured in the present case to control the autonomous movement as a function of the sensor data of the sensor device 53 and the navigation data of the navigation device 54. The sensor device 53, the navigation device 54, and the processor device 55 may have any configuration suitable for the present purpose. Devices for the autonomous control of robot devices for the automated treatment of surfaces are known to the person skilled in the art, for example in the field of vacuum cleaner robots or wiping robots. The robot device 5 preferably makes use of these known technologies. Therefore, further details in this regard and / or the further configuration of the sensor device 53, the navigation device 54 and / or the processor device 55 need not be discussed in greater detail here. The further construction of the sensor device 53 is explained in the following merely by way of example.The sensor device 53 in the present case has a camera system 531, a radar system 532, a lidar system 533 and an ultrasonic system 534. Said systems of the sensor device 53 are shown generically in FIG. 6 and are configured in a manner known to the person skilled in the art for detecting the surface F to be treated and / or the environment E. The detection can take place in the near field and / or in the far field.In the embodiment shown, the surface treatment system 1 also has a battery device 100 (see FIG. 7 ). The battery device 100 is configured to supply the robot device 5 and / or the surface treatment device 2 with electrical operating energy. The battery device 100 allows a wireless power supply of the surface treatment system 1. the battery device 100 serves in the present case to supply the tool device 30, the drive device 51, the steering device 52, the sensor device 53, the navigation device 54 and the processor device 55. If the surface treatment system 1 has further electrically operated components, they are preferably also supplied with energy by means of the battery device 100.In the embodiment shown, the battery device 100 comprises a first battery 101 and a second battery 102. The first battery 101 is arranged on the surface treatment device 2 in the present case. In particular, the first battery 101 is attached to the bottom part 3 in the present case (see FIGS. 1, 2 ). The second battery 102 is attached to the robot device 5.In the manual use configuration, the first battery 101 serves to power the surface treatment device 2 (without the robot device 5 then being separated). The robot device 5 can be supplied with power for standby operation by the second battery 102 in the manual use configuration. In the autonomous use configuration, the robot device 5 is supplied with energy in the present case by means of the second battery 102. The energy supply of the base part 3 is then effected (as before) by means of the first battery 101. Of course, a distributed or supplementary energy supply in the autonomous use configuration is also conceivable and possible. In this case, the energy supply of the base part 3 can take place at least partially via the second battery 102. The energy supply of the robot device 5 can be effected at least partially via the first battery 101.In the embodiment shown, the first battery 101 and the second battery 102 are each rechargeable. A removable attachment is also provided.In the embodiment shown, the surface treatment system 1 also has a liquid receiving device 200 (see FIG. 8 ). The liquid receiving device 200 is configured to receive liquid from the surface F to be treated. In the present case, the liquid receiving device 200 serves in particular for receiving dirty water from the floor surface B.The liquid receiving device 200 in the present case has a liquid receiver 201, a liquid suction source 202 and a liquid collecting container 203. These components are shown generically in FIG. 8 and can in principle be attached either to the surface treatment device 2 or to the robot device 5. In addition, embodiments are conceivable and possible in which a plurality of liquid receptacles, a plurality of liquid suction containers and / or a plurality of liquid collecting containers are present. In this case, one of the components can be attached to the surface treatment device and the further component of the same type can be attached to the robot device.The liquid receptacle 201 is configured to suck in the liquid to be received. The liquid suction source 202 is configured to generate a negative pressure for sucking the liquid to be taken up. The liquid collecting container 203 is configured to collect the liquid to be received / received.In the embodiment shown, the liquid receptacle 201 or at least one of a plurality of liquid receptacles of the liquid receptacle device 200 is attached to the base part 3. The liquid receptacle 201 is attached behind the tool device 30 in the present case with respect to the advancement direction V. The liquid receptacle 201 can have any configuration suitable for the present purpose. Suitable designs are known to those skilled in the art. In the present case, the liquid receptacle 201 is designed as a suction strip with two sealing lips arranged at a distance (without reference numerals).The liquid suction source 202 or at least one of a plurality of liquid suction sources of the liquid receiving device 200 is attached to the guide part 4 in the present case. In particular, the liquid suction source 202 is arranged at an end of the guide part 4 facing away from the handles 41. Said end faces the base part 3 and can also be referred to as a lower end. The liquid suction source 202 may be of any configuration suitable for the present purpose, such configurations being known to those skilled in the art. In the present case, the liquid suction source 202 is a suction turbine.The liquid collecting container 203 or at least one of a plurality of liquid collecting containers of the liquid receiving device 200 is attached to the guide part 4 in the embodiment shown. Specifically, the liquid collecting container 203 is elongated and attached to the elongated guide member 4 in parallel with the same. At this time, the liquid collecting container 203 is longitudinally disposed between the handles 41 and the liquid suction source 202. The liquid collecting container 203 can also be referred to as a dirty water tank in the embodiment shown.It is understood that the liquid receptacle 201, the liquid suction source 202 and the liquid collecting container 203 are connected to one another in a fluid-conducting manner in order to be able to receive the liquid from the surface F. FIG. 11 shows, by way of example, a possibility of connecting said components in the manual use configuration, i.e. when the guide part 4 is detachably connected to the base part 3. This fluid-conducting connection allows a negative pressure application to the liquid collection container 203 generated by means of the liquid suction source 202. This and the liquid receptacle 201 are in the present case connected to one another in a fluid-conducting manner via a liquid receptacle line 204. The liquid receiving line 204 can be designed as a pipeline or hose line. Alternatively or additionally, the liquid receiving line 204 can be formed by other cross sections of the surface treatment device 2.In the exemplary embodiment shown, the liquid receptacle 201, the liquid suction source 202 and the liquid collecting container 203 are consequently arranged on the surface treatment device 2 in the manual use configuration. In an embodiment not shown in the figures, at least one of said components or another component of the liquid receiving device 200 is arranged on the robot device 5. For example, it is conceivable and possible for a further liquid collecting container to be arranged on the robot device 5 as a replacement for the liquid collecting container 203 and to be configured for collecting liquid in the autonomous use configuration. The same applies, mutatismutatistically, to a possible further liquid suction source arranged on the robot device 5 and / or further liquid receptacle of the liquid receptacle device.In the embodiment shown, the surface treatment system 1 also has a liquid dispensing device 300 (see FIG. 9 ) which is configured to dispense liquid onto the surface F to be treated. In particular, the liquid dispensing device 300 is configured in the present case for dispensing cleaning liquid onto the floor surface B to be cleaned. The cleaning liquid can be, for example, fresh water or a preparation of fresh water and cleaning agent.In the embodiment shown, the liquid dispensing device 300 has a liquid outlet 301 and a liquid storage container 303. The liquid outlet 301 is configured to directly discharge the liquid onto the surface F. The liquid storage container 303 is configured to store the liquid to be dispensed. In FIG. 9, a liquid pressure source 302 is also shown, which is configured to generate an overpressure for conveying the liquid to be dispensed. In particular, the liquid pressure source 302 is optional. Instead of conveying the liquid to be dispensed by means of the liquid pressure source 302, a gravity-driven conveying from the liquid storage container 303 in the direction of the liquid outlet 301 can be provided. Said components 301, 302, 303 of the liquid dispensing device 300 are depicted generically in FIG. 9 and can each have any configuration suitable for the present purpose. Suitable designs are known to those skilled in the art.The components of the liquid delivery device 300 can basically be attached either to the surface treatment device 2 or to the robot device 5. Embodiments are also conceivable and possible in which the liquid dispensing device has a plurality of liquid outlets, a plurality of liquid pressure sources and / or a plurality of liquid storage containers. In this case, one of the components can be arranged on the surface treatment device 2 and another component of the same type can be arranged on the robot device 5.In the exemplary embodiment shown here, the liquid outlet 301 or at least one of a plurality of liquid outlets of the liquid dispensing device 300 is arranged on the surface treatment device 2. Specifically, the liquid outlet 301 is disposed on the bottom part 3. In the embodiment shown, the liquid outlet 301 is arranged at any rate upstream of the liquid receptacle 201 with respect to the propulsion V. The liquid outlet 301 is positioned in the region of the driven tools 31 of the tool device 30. The liquid is thus applied to the surface F directly in the region of the moving tools 31. In an embodiment not shown in the figures, the liquid outlet 301 is coaxial with respect to the rotation axes R.The liquid storage container 303 or at least one of a plurality of liquid storage containers of the liquid dispensing device 300 is likewise arranged on the surface treatment device 2 in the present case. Specifically, the liquid reservoir 303 is attached to the elongated guide member 4. The liquid reservoir 303 is elongated parallel to the guide part 4. With respect to its longitudinal axis and / or the longitudinal axis L of the guide part 4, the liquid reservoir 303 is attached to the guide part 4 between the handles 41 and the liquid suction source 202. The liquid reservoir 303 is arranged on a side of the guide part 4 facing away from the liquid reservoir 203. This side is in the present case a rear side of the hand-held guide part 4. the liquid storage container 303 can also be referred to as a fresh water tank in the embodiment shown.In any event, in the exemplary embodiment shown in FIG. 11, no fluid pressure source is present in the manual use configuration. Instead, the liquid is transported from the liquid storage container 303 in the direction of the liquid outlet 301 by gravity. It is understood that the liquid outlet 301 and the liquid reservoir 303 are connected to one another in a fluid-conducting manner. In the present case, a liquid delivery line 304 is provided, which connects the liquid reservoir 303 and the liquid outlet 301 to one another. In particular, the liquid outlet 301 is formed by an orifice opening of the liquid discharge line 304 facing away from the liquid reservoir 303. The liquid delivery line 304 can be designed as a hose line, a pipeline and / or be formed by other cross sections of the surface treatment device 2. In order to control the discharge of the liquid from the liquid reservoir, a switching valve, not shown in detail, is provided in the embodiment shown.In any case, in the embodiment shown, the liquid outlet 301 and the liquid storage container 303 are arranged on the surface treatment device 2 in the manual use configuration. In an embodiment not shown in the figures, at least one of the components or a further component of the liquid delivery device 300 is arranged on the robot device 5. For example, the robot device 5 can have a further liquid reservoir, which in the autonomous use configuration serves as a replacement for the liquid reservoir 303, in order to also enable the dispensing of liquid onto the surface to be treated in the autonomous use configuration. The same applies, mutatismutatically, to a possible (further) liquid pressure source and / or further liquid outlet of the liquid delivery device arranged on the robot device 5.In the embodiment shown, the surface treatment system 1 also has a particle receiving device 400 (see FIG. 10 ) which is configured to receive particles from the surface F to be treated. Specifically, the particulate matter receiver 400 serves to receive solid dirt from the floor surface B. The reception may be performed by suction or sweeping or combined suction and sweeping. Said solid dirt can be, for example, dust, waste or sweepings, in each case in a dry, moist or wet state.In the present case, the particle receptacle device 400 has a particle receptacle 401, a particle suction source 402 and a particle collection container 403, which are each depicted generically in FIG. 10. The particle receptacle 401 serves in the present case for the suction of the particles to be received. The particle suction source 402 is used to generate a negative pressure for sucking the particles to be picked up. The particle collecting container 403 is configured to collect the particles to be collected. The particulate receptacle 401, the particulate suction source 402, and the particulate collection container 403 may each have any configuration suitable for the present purpose. For example, the particle receptacle can have a suction opening and / or a sweeping roller. The particle suction source can be designed as a suction turbine. The particle collection container 403 can be designed similarly to the liquid collection container 203.The said components of the particle receiving device 400 can be arranged either on the surface treatment device 2 or on the robot device 5. In addition, embodiments are conceivable and possible in which the particle receptacle device 400 has a plurality of particle receptacles 401, a plurality of particle suction sources 402 and / or a plurality of particle collecting containers 403. In this case, one of the components can be arranged on the surface treatment device 2 and another component of the same type can be arranged on the robot device 5.It is understood that the liquid receiving device 200, the liquid dispensing device 300 and the particle receiving device 400 are each optional. The same applies to the tool device 30 and the battery device 100. Consequently, in various embodiments, not all of the mentioned devices 30, 100, 200, 300, 400 are present. In addition, different embodiments have different combinations of the devices 30, 100, 200, 300, 400.In a preferred embodiment, as is shown in particular in FIG. 1, the surface treatment system 1 comprises the tool device 30, the battery device 100, the liquid receiving device 200 and the liquid dispensing device 300. In this case, the surface treatment system 1 is configured for wet scrubbing and suctioning of the floor surface B, so that it is also possible to refer to a scrubbing-suctioning system for wet cleaning of floor surface, in particular solid floor coverings in buildings.In the embodiment shown, the robot device 5 is configured to control at least one treatment function of the surface treatment system 1. Said treatment function can be a tool function of the tool device 30, a liquid receiving function of the liquid receiving device 200, a liquid dispensing function of the liquid dispensing device 300 and / or a particle receiving function of the particle receiving device 400. In other words, said devices 30, 200, 300 and / or 400 can be controlled autonomously by means of the robot device 5. In the autonomous use configuration, therefore, not only autonomous movement but instead autonomous treatment of the surface to be treated, in particular autonomous cleaning of the floor surface B, takes place.In the embodiment shown, the control of the at least one treatment function takes place as a function of the sensor data of the sensor device 53 and / or the navigation data of the navigation device 54 and by means of the processor device 55. For this purpose, the processor device 55 is connected by control technology to the tool device 30, the liquid receiving device 200, the liquid dispensing device 300 and / or the particle receiving device 400. The autonomous control of the treatment function can comprise an activation and deactivation. Moreover, autonomous control of the intensity of the respective treatment function is conceivable and possible.It is understood that autonomous control of treatment is not provided in each embodiment. For example, it is conceivable that the respective treatment function is activated manually by the operator by operating the respective device 30, 200, 300 and / or 400 and thereafter (only) an autonomous movement takes place by means of the robot device 5.In the embodiment shown, the surface treatment device 2 has a storage device 6 (see FIG. 1 ). The guide part 4 is connected to the base part 3 in a pivotable and / or rotatable manner relative to the base part 3 by means of the bearing device 6. The bearing device 6 allows control of the direction of movement of the base part 3 on the surface F to be treated.In the embodiment shown, the bearing device 6 forms a gimbal connection 61 between the guide part 4 and the base part 3. By means of the gimbal connection 61, the base part 3 can be rotated about its vertical axis H on the surface F to be treated by means of a rotation of the guide part 4 about its longitudinal axis L. In this case, the gimbal connection 61 allows a rotation of the base part 3 parallel to the surface F to be treated. In other words, the rotation takes place in a rotation plane (without reference sign) which is parallel to the surface F to be treated, in the present case the base surface B. This pivotability of the base part 3 is also given when the guide part 4 is inclined relative to a vertical, as is exemplarily shown in FIG. 1.In Figures 12 to 16, there is shown by way of example the maneuverability of the base 3 via the guide member 4, said figures referring to the manual use configuration. In detail: FIG. 12 shows a situation in which the bottom part 3 moves linearly in the direction of propulsion V over the ground surface B. The guide part 4 is inclined rearward with respect to the direction of propulsion V, so that an operator shown in FIGS. 12 to 16 can easily grip the handles 41 and walk behind the surface treatment appliance 2. Without rotation of the guide part 4, no change in the direction of movement of the base part 3 takes place. If the propulsion V is dimensioned sufficiently strongly, the operator does not have to apply any force for moving the base part 3-at least in the direction of the propulsion direction V. If the propulsion V serves merely as a support for the manual movement, an additional manual force in the longitudinal direction of the guide part 4 is required. In order to change the direction of movement, the operator can rotate the guide part 4 about its longitudinal axis L. This is done by the operator applying a torque to the handles 41.Such a situation is exemplarily shown in FIG. 13. There, the guide part 4 was rotated counterclockwise with respect to a viewing direction directed along the guide part 4 in the direction of the base part 3. This rotation of the guide part 4 causes a rotation of the base part 3 on the base surface B directed about the vertical axis H and in the counterclockwise direction.From the situation shown in Fig. 13, the operator can further rotate the bottom part 3 for changing the moving direction by further rotating the guide part 4 counterclockwise / more. As shown in FIG. 14, the base part 3 can be rotated by 180° in this way starting from the orientation shown in FIG. 12, so that the direction of movement initially pointing away from the operator now leads to the operator.The maneuverability of the base part 3 illustrated by way of example with reference to FIGS. 12 to 14 is also given when the guide part 4 is inclined laterally starting from the vertical (see FIG. 15 ).The above-described maneuverability of the floor part 3 allows a particularly simple and efficient cleaning of the floor surface B also along walls, as exemplarily shown in FIG. 16. The surface treatment device 2 can be guided easily and ergonomically along the wall W by a corresponding oblique position of the guide part 4 and on account of the propulsion V.As already explained, the surface treatment device 2 in the embodiment shown has the liquid receptacle 201 in the form of a suction strip. In order to ensure the most efficient possible absorption of the liquid, it is desirable for the liquid receptacle 201 to be arranged always behind the driven tools 31 during the movement of the base part 3 with respect to the direction of movement. In other words, it is desirable if the liquid receptacle 200 is always tracked to the tool device 30, which would not be ensured, for example, in the case of a mere retraction or a lateral displacement of the base part 3. The gimbal connection 61 allows a simple follow-up of the liquid receptacle 201 in cooperation with the propulsion V.Gimbal 61 may be of any configuration suitable for the present purpose. In the embodiment shown, the gimbal connection 61 includes a first hinge axis G 1 and a second hinge axis G 2. The first joint axis G 1 and the second joint axis G 2 are orthogonal. The first joint axis G 1 is in the present case pivotable together with the guide part 4 about the second joint axis G 2. The second articulation axis G 2 enables a pivot mobility of the guide part 4 in a vertical central longitudinal plane of the surface treatment device 2. the first articulation axis G 1 enables a pivot mobility in a pivot plane oriented orthogonally thereto, wherein this pivot plane is variable in its orientation relative to the vertical depending on the position of the guide part 4 about the second articulation axis G 2. The second joint axis G 2 is oriented horizontally. In the case of an exactly vertical orientation of the guide part 4, the first joint axis G 1 is also oriented horizontally in the present case. The configuration of the gimbal connection 61 with the first joint axis G 1 and the second joint axis G 2 shown here is to be understood as purely exemplary.The gimbal connection 61 in the present case allows a rotation of the base part 3 parallel to the base surface B by at least 45°, preferably at least 90°, further preferably at least 180°, even further preferably 270°.FIGS. 17 and 18 show the surface treatment system 1 in the autonomous use configuration, wherein in particular further features of the specific configuration of the robot device 5 can be seen.The robot device 5 in the present case has a housing 56, in and / or on which the further components of the robot device 5 are arranged. In this case, the shape of the housing 56 shown in FIGS. 17 and 18 is to be understood as exemplary.The housing 56 has in the present case a substantially cuboidal basic shape. The housing 56 has an upper side 561, a lower side 562, a front side 563, a rear side 564 and opposite outer sides 565. The upper side 561 and the lower side 562 are opposite to each other (vertically) along a vertical axis (without reference sign) of the robot device 5. The front side 563 and the rear side 564 are situated opposite one another (longitudinally and / or horizontally) along a longitudinal axis (without reference sign) of the robot device 5. The two outer sides 565 are situated opposite one another (laterally and / or horizontally) along a transverse axis (without reference numerals) of the robot device 5.In the embodiment shown, the housing 56 has a receiving recess A which is configured to receive the base part 3. The receiving recess A extends in the present case starting from the front side 563 in the direction of the rear side 564 and starting from the underside 562 in the direction of the upper side 561 of the housing.In the embodiment shown, the robot device 5 is detachably connected to the base part 3 by means of the connecting device 7. Details of the connecting device 7 are not (again) visible in FIGS. 17 and 18 and are not essential for the present invention. Reference is made to what has already been said about the connecting device 7.As is further shown in FIGS. 17 and 18, the drive device 51 of the robot device 5 in the present case has two drive wheels, wherein in the present case only one drive wheel 511 of the two drive wheels is visible in the figures. The drive wheels are arranged offset rearward in the present case with respect to the longitudinal axis of the robot device 5 starting from a center. In the autonomous use configuration shown, the weight of the robot device 5 is supported on the floor surface B on the one hand via the drive wheels and on the other hand via the base part 3, in particular the two disk tools 33.The drive device 51 with its drive wheels functions here simultaneously as a steering device 52. For driving the drive wheels, the drive device 51 in the present case has a drive motor 512. In the embodiment shown, this is arranged in the housing 56.In order to achieve the simplest possible construction, the drive wheels in the embodiment shown are not movable about a steering axis for steering purposes. Instead, the steering takes place via a separate control of the two drive wheels with different rotational speeds and / or rotational directions.The power supply of the drive motor 512 is effected via the second battery 102. In the embodiment shown, this is detachably attached to and / or in the housing 56 and is not visible in detail in FIGS. 17 and 18. For example, the second battery 102 can be insertable into the housing 56 along the transverse axis starting from the outer side of the housing 56, which is not visible in FIGS. 17 and 18. For this purpose, the housing 56 can have a receiving shaft or the like. However, it is also conceivable and possible for the second battery 102 to be fixedly integrated into the housing 56, so that partial dismantling of the housing 56 may be necessary for removal.In order to enable liquid to be absorbed from the floor surface B even in the autonomous use configuration shown, the robot device 5 in the present case has a (further) liquid collecting container 203' of the liquid receiving device 200.The liquid collection container 203' is inserted in the present case into a receiving recess of complementary configuration (without reference sign) of the housing 56. Said receiving recess extends starting from the upper side 561 in the direction of the lower side 562 and starting from the rear side 564 in the direction of the front side 563 and starting from the front outer side 565-in relation to the plane of the drawing of FIG. 17-in the direction of the rear outer side of the housing 56, which is not visible. The liquid collecting container 203' is of complementary design and supplements the cuboidal basic shape of the housing 56. This can be designed as a rotary closure or a hinged closure.In the autonomous use configuration, the liquid collecting container 203' of the robot device 5 is connected to the liquid receptacle 201 of the base part 3 via the liquid receiving line 204. For this purpose, the liquid-receiving line 204 is connected in a fluid-conducting manner at its end 2041 facing away from the liquid receptacle 201 to a connecting piece (without reference sign) of the robot device 5.As already explained, the liquid receiving device 200 has the liquid suction source 202 (see FIGS. 1, 11 ). The liquid suction source 202 is in the present case attached to the guide part 4 and generates the negative pressure required for suction of the liquid to be taken up in the manual use configuration. For generating negative pressure in the autonomous use configuration, the robot device 5 in the present case has a (further) liquid suction source 202'. In the embodiment shown, this is integrated into the housing 56 and therefore cannot be seen in detail in FIGS. 17 and 18.In order to also enable liquid to be dispensed onto the floor surface in the autonomous use configuration, the robot device 5 in the present case has a (further) liquid reservoir 303'. With regard to the design and arrangement of the liquid reservoir 303', the statements made already with respect to the liquid reservoir 203' apply, mutatismutantly.The liquid storage container 303' is connected in a fluid-conducting manner, not shown in detail, to the liquid outlet 301 of the liquid dispensing device 300 arranged in the present case on the base part 3. The liquid outlet 301 (see FIG. 11 ) is not seen in detail in FIGS. 17 and 18. The liquid reservoir 303' again has an openable container closure 3031.In the embodiment shown, the sensor device 53 is arranged on the front side 563 of the housing 56. This type of arrangement of the sensor device 53 is to be understood as exemplary.In the present case, the robot device 5 additionally has an antenna unit 541. In the embodiment shown, the antenna unit 541 is arranged on the upper side 561. The antenna unit 541 is used in particular for transmitting (transmitting and / or receiving) navigation data of the navigation device 54.As is further shown in FIGS. 17 and 18, the processor device 55 is also arranged in the housing 56 in the present case.References included in the specificationThis list of documents cited by the applicant has been produced in an automated manner and is only included for the better information of the reader. The list is not part of the German patent application or utility model application. The DPMA does not take any adhesion for any faults or omissions.Patent Literature citedDE 10 2013 215 198 A1

[0002]

Claims

Surface treatment system (1) for treating, in particular for cleaning, a surface (F), in particular a floor surface (B), comprising a surface treatment device (2) having a floor part (3) which is configured to act on the surface (F) to be treated, and having an, in particular elongated, guide part (4) which is detachably connected to the floor part (3) and is configured to manually move the floor part (3) over the surface (F) to be treated, and a robot device (5) which is detachably connectable to the floor part (3) of the surface treatment device (2) and is configured to autonomously move the floor part (3) over the surface (F) to be treated, wherein the surface treatment system (1) is transferable between an autonomous use configuration and a manual use configuration, wherein, in the autonomous use configuration, the guide part (4) is separated from the base part (3) and the robot device (5) is detachably connected to the base part (3) in order to enable autonomous movement of the base part (3) over the surface (F) to be treated, and wherein, in the manual use configuration, the robot device (5) is separated from the surface treatment device (2) in order to enable manual movement of the base part (3) over the surface (F) to be treated by means of the guide part (4).Surface treatment system (1) according to claim 1, characterised in that the base part (3) has a tool device (30) with at least one driven tool (31) for acting on the surface (F) to be treated, wherein the at least one driven tool (31) is configured to generate a propulsion (V) in the driven state, which at least assists the manual movement and / or the autonomous movement of the base part (3).Surface treatment system (1) according to claim 2, characterised in that the tool device (30) has two disc-shaped tools (33) driven in opposite directions, in particular disc tools.Surface treatment system (1) according to claim 2 or 3, characterised in that the robot device (5) is connected to the tool device (30) in the autonomous use configuration and is configured to control the propulsion (V) of the at least one driven tool (31) in order to control the autonomous movement of the base part (3) by means of the control of the propulsion (V).Surface treatment system (1) according to one of the preceding claims, characterized in that the surface treatment appliance (2) has a bearing device (6) by means of which the guide part (4) and the base part (3) are connected to one another such that they can be moved relative to one another, wherein a direction of the manual movement of the base part (3) can be controlled via a relative movement between the base part (3) and the guide part (4).Surface treatment system (1) according to claim 5, characterised in that the bearing device (6) forms a gimbal connection (61) between the guide part (4) and the base part (3), whereby by means of a rotation of the guide part (4) about its longitudinal axis (L) the base part (3) can be rotated in a manner resting on the surface (F) about its vertical axis (H) and in a rotation plane parallel to the surface (F) to be treated, in order to control the direction of the manual movement of the base part (3).Surface treatment system (1) according to one of the preceding claims, characterized in that the robot device (5) has a drive device (51) which is configured to drive the autonomous movement.Surface treatment system (1) according to one of the preceding claims, characterized in that the robot device (5) has a steering device (52) which is configured to steer the autonomous movement.Surface treatment system (1) according to one of the preceding claims, characterized in that a battery device (100) is present and is configured to supply the robot device (5) and / or the surface treatment appliance (2) with electrical operating energy.Surface treatment system (1) according to claim 9, characterised in that the battery device (100) has a first battery (101) arranged on the surface treatment appliance (2).Surface treatment system (1) according to claim 9 or 10, characterised in that the battery device (100) has a second battery (102) arranged on the robot device (5).The surface treatment system (1) according to claim 11, wherein the first battery (101) and the second battery (102) are interchangeably attachable to the robot device (5) and the surface treatment apparatus (2).Surface treatment system (1) according to one of the preceding claims, characterized in that a liquid receiving device (200) is present and is configured to receive liquid from the surface (F) to be treated.Surface treatment system (1) according to claim 13, characterised in that the liquid receiving device (200) comprises at least one liquid receiver (201), at least one liquid suction source (202) and / or at least one liquid collecting container (203), wherein the at least one liquid receiver (201) is configured to suck the liquid to be received, and wherein the at least one liquid suction source (202) is configured to generate a negative pressure for sucking the liquid to be received, and wherein the at least one liquid collecting container (203) is configured to collect the liquid to be received.Surface treatment system (1) according to claim 13 or 14, characterised in that the robot device (5) has at least one component (201, 202, 203) of the liquid receiving device (200), in particular a component (201, 202, 203) of a plurality of components of the same type of the liquid receiving device (200).Surface treatment system (1) according to one of the preceding claims, characterized in that a liquid dispensing device (300) is present and is configured for dispensing liquid onto the surface (F) to be treated.Surface treatment system (1) according to claim 16, characterised in that the liquid dispensing device (300) has at least one liquid outlet (301), at least one liquid pressure source (302) and / or at least one liquid storage container (303), wherein the at least one liquid outlet (301) is configured for directly dispensing the liquid onto the surface (F), wherein the at least one liquid pressure source (302) is configured for generating an overpressure for conveying the liquid to be dispensed, and wherein the at least one liquid storage container (303) is configured for storing the liquid to be dispensed.Surface treatment system (1) according to claim 16 or 17, characterised in that the robot device (5) has at least one component (301, 302, 303) of the liquid delivery device (300), in particular a component (301, 302, 303) of a plurality of components of the same type of the liquid delivery device (300).Surface treatment system (1) according to one of the preceding claims, characterized in that a particle receiving device (400) is present and is configured to receive particles from the surface (F) to be treated.Surface treatment system (1) according to claim 19, characterised in that the particle receiving device (400) has at least one particle receiver (401), at least one particle suction source (402) and / or at least one particle collecting container (403), wherein the at least one particle receiver (401) is configured to suck in the particles to be received, wherein the at least one particle suction source (402) is configured to generate a negative pressure for sucking in the particles to be received, and wherein the at least one particle collecting container (403) is configured to collect the particles to be received.Surface treatment system (1) according to claim 19 or 20, characterised in that the robot device (5) has at least one component (401, 402, 403) of the particle receiving device (400), in particular a component (401, 402, 403) of a plurality of components of the same type of the particle receiving device (400).Surface treatment system (1) according to one of the preceding claims, characterized in that the surface treatment system (1) has a sensor device (53), a navigation device (54) and / or a processor device (55), wherein the sensor device (53) is configured to acquire the surface (F) to be treated and / or the environment (E) thereof and to generate sensor data which represent the surface (F) to be treated and / or the environment (E), wherein the navigation device (54) is configured to acquire a position of the robot apparatus (5) and to generate navigation data which represent the position, and wherein the processor device (55) is configured to control the autonomous movement on the basis of the sensor data and / or the navigation data.Surface treatment system (1) according to Claim 22, characterized in that the sensor device (53) has at least one camera system (531), a radar system (532), a lidar system (533) and / or an ultrasound system (534).Surface treatment system (1) according to claim 22 or 23, characterised in that the process device (55) is configured to control at least one treatment function as a function of the sensor data and / or the navigation data, in particular wherein the treatment function is a tool function, a liquid receiving function, a liquid dispensing function and / or a particle receiving function.Surface treatment system (1) according to one of the preceding claims, characterized in that, in the manual use configuration, the guide part (4) is detachably connected to the base part (3) by means of a connecting device (7).Surface treatment system (1) according to claim 25, characterised in that in the autonomous use configuration the robot device (5) is connected to the base part (3) by means of the connecting device (7).

Images