Cleaning robot and method for operating a cleaning robot when cleaning the cleaning robot

Abstract

A cleaning robot (100) for cleaning a surface is described. The cleaning robot (100) comprises: a cleaning unit (106) designed to be moved across the surface; an electrically operated actuator (204) designed to act on the cleaning unit (106) in a surface cleaning mode in order to clean the surface; a drive (101) designed to move the cleaning robot (100) across the surface to be cleaned; and an electrical energy storage device (201) designed to store and provide electrical energy for operating the actuator (204). The cleaning robot (100) is designed to be arranged at a service station (150); wherein the service station (150) comprises a cleaning device (153, 256, 257) designed to clean the cleaning robot (100); wherein the service station (150) has an electrical energy source (251, 252, 351, 401).The cleaning robot (100) further comprises a control unit (130) configured to cause the actuator (204) of the cleaning robot (100) to act on the cleaning device (153, 256, 257) of the service station (150) in a robot cleaning mode in order to clean the cleaning robot (100); wherein the actuator (204) is operated in the robot cleaning mode with electrical power from the energy source (251, 252, 351, 401) of the service station (150).

Description

[0001] The invention relates to a cleaning robot and / or a service station for a cleaning robot, wherein the service station is configured to clean the cleaning robot. Furthermore, the invention relates to methods for operating a cleaning robot and / or a service station.

[0002] A cleaning robot, particularly a vacuum robot, typically has a suction nozzle with a suction mouth, through which impurities or dirt, especially dirt particles, are sucked up from a surface to be cleaned using an air stream. The air stream can be generated by a fan. The air stream transports the dirt particles from the suction mouth, via a suction channel, into a dirt collection container of the cleaning robot.

[0003] A service station can be provided for emptying the collection container, wherein the cleaning robot can be arranged at the service station to then empty the collection container. The service station can be configured to clean the cleaning robot, wherein cleaning the cleaning robot can include, for example, emptying the collection container, wiping the housing of the cleaning robot, and / or cleaning one or more wipes of the cleaning robot (configured for wet operation).

[0004] This document deals with the technical task of achieving particularly efficient and / or thorough cleaning of a cleaning robot by a service station.

[0005] The problem is solved by the subject matter of the individual independent patent claims. Advantageous embodiments are defined in particular in the dependent patent claims, described in the following description, or illustrated in the accompanying drawings.

[0006] According to one aspect, a cleaning robot for cleaning a surface (e.g., a floor) is described. The cleaning robot can be configured to move independently over the surface to be cleaned. The cleaning robot comprises a cleaning unit configured to be moved over the surface. The cleaning unit can have a suction nozzle and, if appropriate, a brush roller. Alternatively or additionally, the cleaning unit can comprise a liquid valve and / or a wiping cloth or a wiping cloth holder.

[0007] The cleaning robot further comprises an electrically operated actuator configured to act on the cleaning unit in a surface cleaning mode to clean a surface (located beneath the cleaning unit). The cleaning robot can be operated in the surface cleaning mode when the cleaning robot is moved over the surface to be cleaned (e.g., by the drive of the cleaning robot). In the surface cleaning mode, the cleaning robot is typically located away from the service station of the cleaning robot.

[0008] Furthermore, the cleaning robot comprises an electrical energy storage device configured to store electrical energy for operating the actuator (and, if applicable, for operating the drive) and to provide it as needed. The energy storage device can have a specific maximum possible discharge power for operating the actuator. The energy storage device can comprise a rechargeable battery (such as a lithium-ion battery). The electrical energy storage device can be the sole source of electrical energy integrated into the cleaning robot for operating the actuator.

[0009] The cleaning robot is designed (possibly autonomously) to be positioned at the service station. For example, the cleaning robot can be designed to drive independently to the service station (e.g., to a parking platform of the service station). The service station includes a cleaning device (e.g., with a suction nozzle) configured to clean the cleaning robot.

[0010] The service station also includes an electrical power source. Examples of electrical power sources for the service station include: • a 230 V power supply configured to be coupled to a 230 V AC supply network to provide electrical energy for operating the service station. The electrical power provided by this energy source is typically greater than 500 W or greater than 1 kW. • a DC interface, in particular a USB-C interface, designed to provide a low-voltage DC current. The electrical power provided by this energy source is typically 240 W or less or 120 W or less. • an electrical energy storage device (e.g. with a rechargeable battery and / or with a storage capacitor).

[0011] The cleaning robot comprises a control unit (e.g., with a processor) configured to cause the actuator of the cleaning robot to act on the cleaning device of the service station in a robot cleaning mode in order to clean the cleaning robot. The robot cleaning mode can be executed (possibly only) when the cleaning robot is arranged at the service station (in particular on the parking platform of the service station). During operation in the robot cleaning mode, the actuator can be operated (in particular directly) with electrical power from the energy source of the service station (possibly alternatively or in addition to electrical power from the energy storage device of the cleaning robot). This enables particularly efficient and reliable cleaning of the cleaning robot (without the need to install an actuator in the service station).

[0012] As already explained above, the electrically operated actuator of the cleaning robot can comprise a fan which is designed to cause a suction air flow through the cleaning unit of the cleaning robot in the area cleaning mode (in order to vacuum the area to be cleaned) and to cause a suction air flow through the cleaning device of the service station in the robot cleaning mode (in order to empty the collection container of the cleaning robot).

[0013] Alternatively or additionally, the electrically operated actuator of the cleaning robot can be designed to convey liquid through the cleaning unit of the cleaning robot (e.g. through a liquid valve) onto the surface in the surface cleaning mode and to convey liquid through the cleaning device of the service station onto the cleaning robot, in particular onto the housing of the cleaning robot (e.g. on the top side of the cleaning robot) and / or onto the underside of a wiping cloth of the cleaning robot, in the robot cleaning mode.

[0014] This allows the cleaning robot to clean particularly thoroughly.

[0015] The control unit can be configured to supply the actuator of the cleaning robot with electrical power from the service station's power source and from the cleaning robot's electrical energy storage device in the robot cleaning mode. The electrical power can correspond to the sum of the electrical power from the service station's power source and the electrical power from the cleaning robot's electrical energy storage device. Thus, the actuator's power can be significantly increased to further improve the cleaning quality.

[0016] The cleaning robot can have at least one electrically conductive contact element configured to form an electrically conductive (galvanic) connection with a corresponding electrically conductive contact element of the service station when the cleaning robot is arranged at the service station. The contact elements can each be configured as a metallic contact plate. Typically, the cleaning robot and the service station each have two corresponding electrically conductive contact elements to provide two electrically conductive (galvanic) connections (e.g., for a charging process for charging the electrical energy storage device of the cleaning robot).

[0017] The control unit can be configured to cause the actuator of the cleaning robot to be operated (in particular directly) in the robot cleaning mode with electrical power and / or with electrical current, which is provided during the robot cleaning mode (in particular during the operation of the actuator of the cleaning robot to effect the robot cleaning mode) via the electrically conductive contact element of the cleaning robot (from the energy source of the service station). This allows for a particularly reliable energy supply to the actuator of the cleaning robot during the robot cleaning mode.

[0018] As already explained above, the electrical energy storage device of the cleaning robot can have a maximum possible discharge power. The control unit can be configured to cause the actuator of the cleaning robot to be operated in the robot cleaning mode by drawing, in particular, additional electrical power from the energy source of the service station with an electrical power that exceeds the maximum possible discharge power of the electrical energy storage device of the cleaning robot, in particular by a factor of 1.2 or more, or a factor of 1.5 or more, or a factor of 2 or more.

[0019] Alternatively or additionally, the control unit can be configured to operate the actuator in the area cleaning mode with an electrical power that does not exceed a first power value, in particular the maximum possible discharge power of the energy storage device of the cleaning robot. Furthermore, the control unit can be configured to operate the actuator in the robot cleaning mode by drawing, in particular additional, electrical power from the energy source of the service station with an electrical power that has a second power value that is higher, in particular by a factor of 1.2 or more, or a factor of 1.5 or more, or a factor of 2 or more, than the first power value.

[0020] By increasing the electrical power required to operate the actuator, the cleaning quality can be further improved.

[0021] The cleaning robot may comprise a switching element (e.g. with one or more semiconductor-based switches and / or with one or more relays) which is designed to couple the electrical (supply) connection of the actuator of the cleaning robot to the energy storage device of the cleaning robot and / or to the electrically conductive contact element of the cleaning robot for connecting the energy source of the service station.

[0022] The control unit can be configured to cause the switching element, in the area cleaning mode, to couple the electrical connection of the actuator to the energy storage device of the cleaning robot (so that the actuator is operated (possibly solely) with electrical power from the energy storage device of the cleaning robot). Furthermore, the control unit can be configured to cause the switching element, in the robot cleaning mode, to couple the electrical connection of the actuator to the electrically conductive contact element of the cleaning robot (so that the actuator is operated (possibly solely) with electrical power from the energy source of the service station). This can ensure a particularly reliable energy supply to the actuator of the cleaning robot.

[0023] The control unit can be configured to operate the actuator in robot cleaning mode without drawing electrical power from the cleaning robot's electrical energy storage (particularly if it detects that the service station's power source includes a 230 V mains connection). This allows for particularly gentle cleaning of the cleaning robot (without placing a strain on the cleaning robot's energy storage).

[0024] According to a further aspect, a system is described that comprises a cleaning robot configured as described in this document. The system further comprises a service station, wherein the service station comprises a cleaning device configured to clean the cleaning robot, and wherein the service station comprises an electrical energy source.

[0025] As already explained above, the electrically operated actuator of the cleaning robot can comprise a fan, and the cleaning unit of the cleaning robot can comprise a suction nozzle. The cleaning robot can comprise a collection container for dirt particles, and the fan of the cleaning robot can be configured, in the surface cleaning mode, to create a suction air flow by which dirt particles are transported from the surface to be cleaned through the suction nozzle of the cleaning robot into the collection container of the cleaning robot.

[0026] The cleaning device of the service station can have a suction port for vacuuming the collection container of the cleaning robot. Furthermore, the service station can include a collection container for dirt particles, and the blower of the cleaning robot can be configured, in robot cleaning mode, to create a suction air flow that transports dirt particles from the collection container of the cleaning robot through the suction port of the service station into the collection container of the service station.

[0027] This allows for particularly efficient and thorough vacuuming of the cleaning robot’s collection container.

[0028] As already explained above, the cleaning robot can have an electrically conductive contact element, and the service station can have a corresponding electrically conductive contact element which is designed to form an electrically conductive connection with the electrically conductive contact element of the cleaning robot when the cleaning robot is arranged at the service station (in particular on the storage area of ​​the service station).

[0029] In the robot cleaning mode, the system can be configured to provide electrical power and / or electrical current from the service station's energy source for operating the cleaning robot's actuator via the electrically conductive connection formed by the contact elements. Thus, the operating performance of the cleaning robot's actuator can be increased in a particularly reliable manner during the robot cleaning mode.

[0030] In a preferred example, the service station itself does not include a dedicated actuator (in particular, a fan) configured to act on the service station's cleaning device to clean the cleaning robot. This allows for a particularly efficient system to be provided.

[0031] According to another aspect, a method for operating a cleaning robot is described. The method comprises causing the actuator of the cleaning robot to act on the cleaning device of the service station in a robot cleaning mode to clean the cleaning robot, wherein the actuator is operated (in particular directly) with electrical power from the energy source of the service station in the robot cleaning mode (while the actuator is operated in the robot cleaning mode).

[0032] According to a further aspect, a service station for a cleaning robot is described. The service station comprises a cleaning device (e.g., with a suction nozzle) for cleaning a cleaning robot arranged at the service station (in particular, standing on the parking platform of the service station). The service station further comprises an electrically operated actuator (e.g., a blower) configured to act on the cleaning device of the service station in order to clean the cleaning robot arranged at the service station. Furthermore, the service station comprises an electrically conductive contact element for the (electrically conductive) connection of the electrical energy storage device of the cleaning robot arranged at the service station.

[0033] The service station further comprises a control unit (e.g., with a processor) configured to cause the actuator to be operated in a robot cleaning mode (when the cleaning robot is arranged at the service station for cleaning), in particular directly, via the electrically conductive contact element with electrical power from the electrical energy storage device of the cleaning robot. The electrical power from the electrical energy storage device of the cleaning robot can be provided via the electrically conductive contact element while the actuator of the service station is operated in the robot cleaning mode.

[0034] The service station may comprise no, one, or multiple station-specific energy sources, each configured to provide the maximum possible electrical power. Examples of energy sources include a DC interface (for connecting an external charger) and / or an energy storage device (such as a rechargeable battery).

[0035] The control unit can be configured to cause the actuator of the service station to be operated in the robot cleaning mode by drawing electrical power from the electrical energy storage device of the cleaning robot with an electrical power that exceeds, in particular by 10% or more, the maximum possible electrical power of the zero, one or more station-specific energy sources.

[0036] By increasing the operating performance of the service station actuator, the cleaning quality can be increased in an efficient and reliable manner.

[0037] The service station can comprise a switching element (with one or more semiconductor-based switches and / or with one or more relays) configured to couple or decouple an electrical (supply) connection of the actuator of the service station to the electrically conductive contact element. The control unit can be configured to cause the switching element to couple the electrical connection of the actuator to the electrically conductive contact element of the service station in the robot cleaning mode. Thus, the (possibly partial or complete) energy supply of the actuator of the service station can be effected by the energy storage device of the cleaning robot in a particularly reliable manner.

[0038] The service station can comprise a DC interface, in particular a USB-C interface, which is designed to provide a low-voltage DC current (which is provided, for example, by an external charger). The control unit can be configured to provide electrical power from the DC interface to the electrically conductive contact element in a charging mode, in particular to charge the electrical energy storage device of the cleaning robot. Furthermore, the control unit can be configured to supply the actuator with electrical power in the robot cleaning mode, which is provided (possibly among other things) by or via the DC interface.

[0039] The switching element of the service station can be configured to couple the DC voltage interface to or decouple it from the electrical connection of the actuator of the service station. The control unit can be configured to cause the switching element to couple the electrical connection of the actuator to the DC voltage interface in the robot cleaning mode.

[0040] The switching element can further be configured to couple the DC voltage interface to the electrically conductive contact element for electrically contacting the electrical energy storage device of the cleaning robot, or to decouple it therefrom. The control unit can be configured to cause the switching element to couple the DC voltage interface to the electrically conductive contact element in the charging mode, and in particular to decouple it from the electrical connection of the actuator.

[0041] This makes it possible to use electrical power provided via the DC interface to operate the service station's actuator, as well as additional electrical power provided by the cleaning robot's energy storage system. This further improves the cleaning quality of the cleaning robot.

[0042] The control unit can be configured to determine the state of charge of the electrical energy storage device of the cleaning robot (e.g., based on the voltage at the energy storage device of the cleaning robot). Depending on the determined state of charge of the electrical energy storage device of the cleaning robot, it can then be determined whether or not the actuator of the service station is supplied with electrical power from the electrical energy storage device of the cleaning robot in the robot cleaning mode. In particular, the control unit can be configured to cause the actuator of the service station to be supplied with electrical power from the electrical energy storage device of the cleaning robot in the robot cleaning mode if the state of charge of the electrical energy storage device of the cleaning robot is greater than a state of charge threshold.On the other hand, it can be ensured that the actuator in the robot cleaning mode is not supplied with electrical power from the electrical energy storage of the cleaning robot if the state of charge of the electrical energy storage of the cleaning robot is less than the state of charge threshold.

[0043] In this way, the operating performance of the service station actuator can be increased in a particularly gentle manner (especially with reduced load on the cleaning robot's energy storage unit).

[0044] The control unit can be configured to cause the electrical energy storage device of the cleaning robot to be charged in a charging mode prior to the robot cleaning mode if it is detected that the state of charge is less than the state of charge threshold. If it is then detected that the state of charge is greater than the state of charge threshold as a result of the charging, it can cause the actuator of the service station to be supplied with electrical power from the electrical energy storage device of the cleaning robot in the subsequent robot cleaning mode. In this way, the operating performance of the actuator of the service station can be increased in a particularly gentle manner (in particular with reduced load on the energy storage device of the cleaning robot).

[0045] The control unit can be configured to prevent a charging process for charging the electrical energy storage device of the cleaning robot using electrical power provided by a power source of the service station during robot cleaning mode. This reliably ensures that the actuator of the service station can be operated at the highest possible power in robot cleaning mode.

[0046] The service station can be configured to be equipped with different amounts of zero, one, or more station-specific energy sources, wherein the different amounts of station-specific energy sources are limited to different maximum possible electrical powers. The different amounts of one or more station-specific energy sources can each comprise none, one, or more, of • a 230 V power supply unit designed to be coupled to a 230 V AC supply network to provide electrical energy for the operation of the service station; • a DC interface, in particular a USB-C interface, which is designed to provide a DC current with a low DC voltage (e.g. using an external charger); and / or • an electrical energy storage device (e.g. a rechargeable battery).

[0047] The control unit can be configured to determine the maximum possible electrical power of the station's own energy sources installed in the service station. Depending on the determined maximum possible electrical power, it can then be enabled or disabled that the actuator is operated in robot cleaning mode with electrical power from the cleaning robot's electrical energy storage device. For example, it can be enabled that the actuator is operated in robot cleaning mode with electrical power from the cleaning robot's electrical energy storage device if the maximum possible electrical power of the station's own energy sources installed in the service station is equal to or less than a power threshold.On the other hand, it can be ensured that the actuator in the robot cleaning mode is not operated with electrical power from the electrical energy storage of the cleaning robot if the maximum possible electrical power of the amount of station-specific energy sources installed in the service station is greater than the power threshold.

[0048] In this way, the operating performance of the service station actuator can be increased in a particularly gentle manner (with reduced load on the cleaning robot's energy storage).

[0049] As already explained above, the electrically operated actuator of the service station can comprise a blower. The cleaning robot can comprise a collection container for dirt particles, and the cleaning device of the service station can have a suction port for vacuuming the collection container of the cleaning robot. Furthermore, the service station can comprise a collection container for dirt particles. In the robot cleaning mode, the blower of the service station can be configured to create a suction air flow, by which dirt particles are transported from the collection container of the cleaning robot through the suction port of the service station into the collection container of the service station.

[0050] According to another aspect, a system is described that includes a cleaning robot with an electrical energy storage device. The system further includes a service station configured as described in this document.

[0051] According to a further aspect, a method for operating a service station for a cleaning robot is described. The method comprises causing the actuator of the service station to be operated and / or supplied with electrical power from the electrical energy storage device of the cleaning robot via the electrically conductive contact element in a robot cleaning mode. The electrical power from the electrical energy storage device of the cleaning robot can be provided via the electrically conductive contact element while the actuator of the service station is being operated.

[0052] It should be noted that any aspects of the cleaning robot described in this document and / or the service station described in this document and / or the system described in this document and / or the methods described in this document can be combined in a variety of ways. In particular, the features of the patent claims can be combined in a variety of ways.

[0053] The invention will be described in more detail below with reference to exemplary embodiments shown in the accompanying drawings. Fig. 1a and Fig. 1b shows an exemplary cleaning robot in different perspective views; Fig. 1c exemplary components of a cleaning robot; Fig. 1d an exemplary service station for a cleaning robot; Fig. 2a shows an exemplary cleaning robot with a switching element for directly coupling the fan to an external power source; Fig. 2b an exemplary system consisting of a cleaning robot and a service station; Fig. 2c an exemplary energy supply of the cleaning robot's blower with electrical power from the service station; Fig. 3a an exemplary service station with a switching element for adjusting the power supply of the fan of the service station; Fig. 3b an exemplary combined power supply from the cleaning robot and from an external power source; Fig. 3c an example of a sole power supply from the cleaning robot; Fig. 4 an exemplary service station with an integrated electrical energy storage unit; Fig. 5a is a flowchart of an exemplary method for providing electrical power for cleaning a cleaning robot at a service station; and Fig. 5b is a flowchart of an exemplary method for providing electrical power for cleaning a cleaning robot at a service station.

[0054] As stated at the beginning, this document deals with the efficient and thorough cleaning of a cleaning robot at a service station. In this context, Fig. 1a the top 121 and Fig. 1b the underside 122 of a cleaning robot 100, in particular a vacuum robot.

[0055] During vacuuming operation of the cleaning robot 100, the underside 122 faces the floor to be cleaned or the surface of a cleaning area, such as a room, to be cleaned. The underside 122 of the cleaning robot 100 typically has one or more drive units 101 (e.g., with one or more drive wheels), by means of which the cleaning robot 100 can be moved independently to clean different areas of a floor. Furthermore, the cleaning robot 100 can have one or more guide and / or support elements 104 (e.g., non-driven wheels) that enable stable movement of the cleaning robot 100 over the floor to be cleaned. In addition, a cleaning robot 100 typically comprises one or more cleaning units 106 (in particular, suction nozzles) that are configured to clean the floor beneath the cleaning robot 100.

[0056] A cleaning unit 106 (in particular a suction nozzle) may include a brush roller 102 configured to rotate about a rotation axis, wherein the rotation axis is typically arranged parallel to the underside 122 of the cleaning robot 100. The brush roller 102 may be used to mechanically remove dust and / or contaminants from the floor to be cleaned, so that the dust and / or contaminants can be sucked into the suction mouth 107 of the cleaning unit 106 with increased reliability.

[0057] A user interface can be arranged on the top side 121 of the cleaning robot 100, which allows a user of the cleaning robot 100 to make control inputs. Furthermore, the cleaning robot 100 can comprise a bumper 105 on a side wall 123 (e.g., on a side wall 123 in the front area of ​​the cleaning robot 100). A bumper sensor can be arranged on the bumper 105 and is configured to capture sensor data indicating whether or not the cleaning robot 100 has encountered an obstacle in the direction of movement 120. Triggering the bumper sensor (due to the deflection of the bumper 105) by an obstacle can, for example, cause the cleaning robot 100 to rotate about its vertical or vertical axis, which is perpendicular to the floor, and thereby change the direction of movement 120 in order to avoid the obstacle.The cleaning robot 100 typically has a collection container 140, which can be inserted into a container recess of the cleaning robot 100 or removed from the container recess of the cleaning robot 100.

[0058] Furthermore, a cleaning robot 100 typically has one or more environment sensors 110 (see Fig. 1c), which are configured to capture environmental or sensor data relating to the environment of the cleaning robot 100. The one or more environmental sensors 110 can include: one or more image cameras, one or more ultrasonic sensors, one or more tactile and / or optical distance sensors, one or more acoustic sensors, one or more temperature sensors, one or more lidar and / or radar sensors, etc. A control unit 130 of the cleaning robot 100 can be configured to determine digital map information relating to the cleaning area to be cleaned based on the environmental data and, if necessary, to store it on a storage unit 111 of the cleaning robot 100. The cleaning robot 100 can use the digital map information to independently orient itself within the cleaning area (e.g., within a room) and / or to determine a route for cleaning the cleaning area.

[0059] Fig. Figure 1c shows a Cartesian coordinate system with a longitudinal axis (i.e., an x-axis), a transverse axis (i.e., a y-axis), and a vertical axis (i.e., a z-axis). The direction of movement 120 of the cleaning robot 100 typically corresponds to the longitudinal axis. The rotation axis of the brush roller 102 typically runs along the transverse axis.

[0060] To increase comfort, as exemplified in Fig. 1d, a service station 150 for a cleaning robot 100 can be provided. The service station 150 can have a (relatively large) collection container 151 into which dirt particles from the collection container 140 of the cleaning robot 100 can be received. The cleaning robot 100 can be placed at the service station 150 for this purpose. The cleaning robot 100 can in particular be placed on a parking platform 154 for the cleaning robot 100, wherein the parking platform 154 can have a shape that enables a clear and / or defined positioning of the cleaning robot 100 on the parking platform 154 of the service station 150.

[0061] The service station 150 may have one or more electrical (i.e., electrically conductive) contact elements 152 configured to establish one or more electrically conductive connections with one or more corresponding electrical contact elements 202 of the cleaning robot 100 when the cleaning robot 100 is arranged on the parking platform 154 of the service station 100. Electrical current for charging the electrical energy storage device of the cleaning robot 100 can be provided via the one or more electrical contact elements 152.

[0062] The service station 150 can further comprise a suction port 153 that is fluidly connected to the collection container 151 of the service station 150. The suction port 153 can be positioned at a suction opening 213 of the collection container 140 of the cleaning robot 100 when the cleaning robot 100 is arranged on the parking platform 154 of the service station 150. A suction air flow can then be effected through the suction port 153 of the service station 150 in order to transfer, in particular to suck, dirt particles from the collection container 140 of the cleaning robot 100 into the collection container 151 of the service station 150. Thus, the collection container 140 of the cleaning robot 100 can be automatically emptied to enable the cleaning robot 100 to resume vacuuming.

[0063] It should be noted that emptying the collection container 140 of the cleaning robot 100 by the service station 150 is only one example of cleaning the cleaning robot 100. The service station 100 may optionally include one or more actuators (not shown) that perform one or more cleaning functions, such as cleaning the housing of the cleaning robot 100 and / or cleaning one or more wipes of the cleaning robot 100.

[0064] Fig. Figure 2a shows further details of an exemplary cleaning robot 100. In particular, Fig. 2a shows an exemplary electrical contact element 202 of the cleaning robot 100, which can form an electrically conductive connection with a corresponding contact element 152 of the service station 150 when the cleaning robot 100 is arranged at the service station 150. Typically, the service station 150 and the cleaning robot 100 each have two contact elements 202, 152 (for transmitting a direct current). The individual electrical contact elements 202 can each be connected to the electrical energy storage device 201 of the cleaning robot 100 via an electrical (supply) line 207, so that the energy storage device 201 can be charged when the cleaning robot 100 is arranged at the service station 150.

[0065] Fig. 2a further illustrates how, in a surface cleaning mode of the cleaning robot 100, the fan 204 of the cleaning robot 100, which is configured, for example, as a radial fan, can generate a suction air flow 211 that is configured to suck dirt particles through the suction mouth 107 into the collection container 140. The fan 204 can be arranged behind a filter unit 205 of the collection container 140 with respect to the flow direction of the suction air flow 211. The suction air flow 211 can be directed out of the cleaning robot 100 downstream of the fan 204 via an air opening 206.

[0066] The collection container 140 can have a suction opening 213 on the underside 122 of the cleaning robot 100, at which the suction mouth 153 of the service station 150 can be arranged in order to clean the collection container 140 (in a robot cleaning mode). Alternatively or additionally, the collection container 140 can be cleaned, i.e., vacuumed, via the suction mouth 107 of the cleaning robot 100. In other words, the suction mouth 107 of the cleaning robot 100 can optionally be used as a suction opening (and the suction mouth 153 of the service station 150 can, in this case, be arranged at the suction mouth 107 of the cleaning robot 100). The suction opening 213 can be configured to be automatically opened by a suction air flow for cleaning the collection container 140.

[0067] The cleaning robot 100 can be configured to use the blower 204 of the cleaning robot 100 to generate the suction air flow for vacuuming the collection container 140 of the cleaning robot 100. For this purpose, the cleaning robot 100 can have a suction air opening 214 on the underside 122 of the cleaning robot 100, wherein the suction air opening 214 is preferably arranged in the immediate vicinity of the blower 204. The blower 204 of the cleaning robot 100 can be configured (in the robot cleaning mode) to generate a suction air flow for vacuuming the collection container 140, which is directed via the suction air opening 214 to the collection container 151 of the service station 150.

[0068] The cleaning robot 100 can further be configured to block the filter unit 205 of the collection container 140 of the cleaning robot 100 using a blocking element 215, so that essentially no more suction air passes through the filter unit 205 of the collection container 140 of the cleaning robot 100. By blocking the filter unit 205 of the collection container 140 of the cleaning robot 100, a significant suction air flow can be efficiently achieved via the suction air opening 214 of the cleaning robot 100 when the collection container 140 is to be vacuumed (in the robot cleaning mode).

[0069] The suction air opening 214 can be designed such that the suction air opening 214 is closed during the suction operation of the cleaning robot 100 (ie in the area cleaning mode), and / or that the suction air opening 214 is open when the collection container 140 of the cleaning robot 100 is to be emptied (ie in the robot cleaning mode).

[0070] The Fig. The cleaning robot 100 shown in Figure 2a further comprises a switching element 203, which can be controlled by the control unit 130 of the cleaning robot 100. The switching element 203 is designed to selectively connect the power supply connection of the blower 204 (i.e., generally of the actuator) to the electrical energy storage device 201 of the cleaning robot 100 (so that the blower 204 is supplied with electrical energy from the energy storage device 201 during cleaning operation, i.e., in the surface cleaning mode, of the cleaning robot 100) or to the supply line 207 (so that the blower 204 can be or is supplied (in particular directly) with electrical energy from the service station 150 for vacuuming the collection container 140 of the cleaning robot 100, i.e., in the robot cleaning mode).

[0071] Fig. 2b shows an exemplary system 250 comprising the cleaning robot 100 and the service station 150. The cleaning robot 100 is arranged on the parking platform 154 of the service station 150. The service station 150 can have a power supply 251, via which the service station 150 can be connected to a power connection 252 (e.g., to a 230 V power connection 252). Electrical power 253 for charging the energy storage device 201 of the cleaning robot 100 can then be provided via the power connection 252 and the power supply 251.

[0072] The service station 150 includes a dirt channel 257, which runs between the suction mouth 153 and the collection container 151 of the service station 150 and is configured to guide dirt particles from the collection container 140 of the cleaning robot 100 into the collection container 151 of the service station 150. The service station 150 further includes a suction channel 256, which is configured to fluidly couple the suction air opening 214 of the cleaning robot 100 to a filter unit 255 of the collection container 151 of the service station 150 when the cleaning robot 100 is arranged on the parking platform 154 of the service station 150.

[0073] To vacuum the collection container 140 of the cleaning robot 100, as exemplified in Fig. 2c, the fan 204 of the cleaning robot 100 is operated to create a suction air flow 261 that flows through the open suction air opening 214 of the cleaning robot 100, through the suction channel 256 of the service station 150, and through the filter unit 255 of the collection container 151 of the service station 150. From the collection container 151 of the service station 150, the suction air flow 261 runs through the suction and / or dirt channel 257 of the service station 150 and through the suction opening 213 of the collection container 140 of the cleaning robot 100. Using the suction air flow 261, dirt particles can thus be sucked from the collection container 140 of the cleaning robot 100 to the collection container 151 of the service station 150. The suction air flow 261 is advantageously generated directly by the fan 204 of the cleaning robot 100, so that no separate fan needs to be installed in the service station 150.

[0074] The suction air flow 261 used for vacuuming the collection container 140 of the cleaning robot 100 should typically have a higher volume flow than the suction air flow during the cleaning operation of the cleaning robot 100. For this purpose, the fan 204 of the cleaning robot 100 can be designed for a relatively high suction power, which is, for example, by a factor of 1.2 or more, or 1.5 or more, or 2 or more, higher than the suction power during the cleaning operation (ie in the area cleaning mode) of the cleaning robot 100.

[0075] Operating the blower 204 with increased suction power typically requires the provision of a correspondingly increased electrical power, which may not be able to be provided by the electrical energy storage device 201 of the cleaning robot 100. The switching element 203 of the cleaning robot 100 can cause the electrical power for operating the blower 204 to be drawn at least partially or completely via the service station 150 and / or from the mains connection 252. For this purpose, the blower 204 can be electrically coupled (in particular directly) to the supply line 207 by the switching element 203, so that the supply current 253 from the service station 150 can be used (in particular directly) to operate the blower 204. This allows for particularly efficient and reliable vacuuming of the collection container 140 of the cleaning robot 100.

[0076] Thus, a system 250 is described in which the cleaning robot 100 draws power 253 from a service station, in particular a suction station, 150 in order to operate the blower 204 of the cleaning robot 100 at increased power during suction of the collection container 140, in particular the dust box, of the cleaning robot 100. The cleaning robot 100 can be a vacuum and / or sweeping robot that can have an optional wet cleaning module. The cleaning robot 100 has a suction blower 204 for sucking in dust particles and optionally a brush roller 102 for sweeping in larger particles. Collected dust and dirt are stored in the collection container 140 of the cleaning robot 100.

[0077] The collection container 140 can be automatically emptied at a service station 150 with a suction function when the cleaning robot 100 returns to the service station 150 after completing a cleaning job. In the service station 150, a relatively large-volume collection container 151 (e.g., in the form of a dust bag) serves to store dirt and dust outside the cleaning robot 100 and allows for extended time intervals before a user must dispose of the dust.

[0078] Automatic emptying at the service station 150 takes place through a first opening 213 (i.e., via a suction opening) on ​​the cleaning robot 100, which, for example, represents an additional outlet of the collection container 140. An emptying flap can be arranged at this first opening 213, through which the stored dust and dirt is drawn into a channel 257 of the service station 150 and from there transported to the collection container 151 of the service station 150. The air flow 261 required for this can be generated by the fan 204 of the cleaning robot 100, which sucks in the air 261 through a second opening 214 (i.e., through a suction air opening) on ​​the cleaning robot 100 from a corresponding channel 256 in the service station 150. The blower 204 in the cleaning robot 100 thus sucks in air 261 from the collection container 140 of the cleaning robot 100 via a detour via the service station 150.Stored dust is thereby moved, in particular vacuumed, from the collection container 140 of the cleaning robot 100 into the collection container 151 of the service station 150.

[0079] While the cleaning robot 100 performs a cleaning of the floor (such as in Fig. 2a), the suction fan 204 of the cleaning robot 100 is supplied with electrical energy (typically solely and / or exclusively) by the (rechargeable) energy storage device 201 of the cleaning robot 100. Depending on the cleaning situation or setting, the fan 204 can be operated continuously during cleaning operation with, for example, 20 W to 60 W. In special cases, such as corner cleaning, the fan 204 can also be operated briefly with more power, e.g., 100 W. In other cases, an excessively high power level of the fan 204 should preferably be avoided in order to be able to provide a sufficiently long running time of the cleaning robot 100 between charging processes for charging the energy storage device 201. During the cleaning operation of the cleaning robot 100, i.e.During the area cleaning mode, the collection container 140 of the cleaning robot 100 is directly connected to the blower 204, so that an air flow 211 is drawn from the suction mouth 107 of the cleaning robot 100, through the collection container 140, and through the filter unit 205 of the collection container 140 to the blower 204.

[0080] If the cleaning robot 100 returns to the service station 150 after completion of a cleaning job or when a low charge level of the energy storage device 201 is detected, the energy storage device 201 of the cleaning robot 100 can be charged by the power supply 251, 252 of the service station 150 (see. Fig. 2b). During a pure charging process, the suction fan 204 of the cleaning robot 100 is typically inactive and no air flow 211, 261 is generated in the cleaning robot 100 and / or in the service station 150.

[0081] To empty the collection container 140 of the cleaning robot 100 at the service station 150, a suction process can be initiated. During this process, the openings 213, 214 on the underside 122 of the cleaning robot 100 can be used to redirect the suction air flow 261 generated by the suction fan 204 through the service station 150 (see FIG. Fig. 2c). Air 261 is sucked in through the opening 214 on the blower 204. The air stream 261, together with dust and dirt from the collection container 140, leaves the cleaning robot 100 through the additional outlet 213 of the collection container 140. A connection between the collection container 140 of the cleaning robot 100 and the blower 204 is closed. Secondary air can be drawn through the suction mouth 107 of the cleaning robot 100, which enables an improved cleaning effect for cleaning the collection container 140. Alternatively or additionally, secondary air can be drawn through an additional valve (not shown) in the collection container 140.

[0082] During the vacuuming process, the blower 204 is preferably no longer supplied with electrical energy by the cleaning robot 100, in particular by the energy storage device 201 of the cleaning robot 100, but rather by the service station 150. This allows the blower 204 to be operated at a higher power than in the general cleaning mode of the cleaning robot 100. Depending on the design of the blower 204, the power (for the robot cleaning mode) can be set, in particular regulated, to two to five times the power of the blower 204 in cleaning mode (i.e., in the surface cleaning mode). For example, a power of up to 350 W can be achieved in order to ensure reliable emptying of the collection container 140 of the cleaning robot 100.

[0083] If necessary, during the vacuuming process, in addition to the power supply 251, 252 provided by the service station 150, the energy storage device 201 of the cleaning robot 100 can be switched on to operate the suction fan 204. This can occur in particular if the power supply 251, 252 of the service station 150 has a power limitation that is below the power requirement of the fan 204 of the cleaning robot 100 for vacuuming operation (i.e., for the robot cleaning mode).

[0084] The measures described in this document can be applied not only to a service station 150 with a suction function, but also to a service station with a wet cleaning or wet service function. The power supply 251, 252 of the service station 150 can supply one or more actuators of the cleaning robot 100 with (possibly additional) electrical power. In particular, a higher electrical power can be provided than is available solely from the energy storage device 201 of the cleaning robot 100. Thus, the one or more actuators of the cleaning robot 100 can be operated with increased electrical power in order to improve the (self-)cleaning performance. Example actuators are: a motor for a rotating or vibrating wiping cloth (i.e., wiping pad), a water pump, or a drying fan.The aspects described in this document for a blower 204 are generally applicable to an electrically operated actuator of the cleaning robot 100.

[0085] Using the blower 204 of the cleaning robot 100 for suction at the service station 150 allows for a service station 150 without a blower. The blower 204 of the cleaning robot 100 can thus be used for multiple tasks, and the costs and installation space of the service station 150 can be reduced. Supplying the robot blower 204 with power 253 from the service station 150 allows access to a higher power of the blower 204 during a suction process (i.e., in robot cleaning mode). At the same time, the energy storage device 201 of the cleaning robot can be protected.

[0086] In the Fig. 3a to 3c illustrate a system 250 comprising a cleaning robot 100 and a service station 150, in which the energy storage device 201 of the cleaning robot 100 is used to supply electrical energy to one or more actuators 304, in particular a fan, of the service station 150. The service station 150 may, for example, have an external power supply 351 (such as a charger) that can be connected to the service station 150 via a DC interface 356, such as a USB-C interface, in order to supply the service station 150 with electrical energy from a mains connection 252. The external power supply 351 may have a relatively low power limitation (e.g., 240 W or less), which may be insufficient for operating the one or more actuators 304 of the service station 150.

[0087] The service station 150 can be configured, alternatively or additionally to the power supply 351 of the service station 150, to draw electrical energy from the energy storage device 201 of the cleaning robot 100. For this purpose, the service station 150 can have a switching element 240 configured to control an actuator 304, in particular the fan, of the service station 150. • with the power supply 351 or with the energy interface 356; and / or • to connect to the electrical contact element 152 for electrically contacting the cleaning robot 100. This allows the actuator 304 to be efficiently operated at a relatively high power, e.g., to enable thorough cleaning of the cleaning robot 100, e.g., vacuuming of the collection container 140 of the cleaning robot 100. The switching element 240 can be controlled by a control unit 330 of the service station 150.

[0088] The service station 150 may optionally have its own (rechargeable) energy storage device 401, as shown for example in Fig. 4. The switching element 240 of the service station 150 can be configured to alternatively or additionally couple the actuator (e.g., the fan) 304 of the service station 150 to the energy storage device 401 in order to further increase the power of the actuator 304.

[0089] In the Fig. 3a to 3c, a service station 150 is shown which has a fan 304 as an actuator which is configured to generate a suction air flow 261 by which dirt particles are sucked from the collection container 140 of the cleaning robot 100, via the suction opening 213, through the suction channel 257 of the service station 150 into the collection container 151 of the service station 150.

[0090] A system 250 is thus described in which a cleaning robot 100 provides power 353 from its energy storage device 201 for a service station 150 in order to be able to operate the blower 304 of the service station 150 with additional electrical power during a vacuuming of its collection container 140, ie during the robot cleaning mode, e.g. in addition to the electrical power available from the power supply 351 of the service station 150.

[0091] The automatic emptying at the service station 150 is carried out by an integrated suction fan 304 of the service station 150. An emptying flap can be present on the collection container 140 of the cleaning robot 100, through which the collected dust and dirt is drawn into a channel 257 of the service station 150 and from there transported to the dust container 151 of the service station 150.

[0092] The service station 150 can be configured such that the service station 150 is not directly connected to the 230 V supply network, but draws power from a power supply 351 (e.g., a USB-C DC power supply) with a reduced voltage (e.g., 10 V - 30 V). For example, up to approximately 150 W of electrical power is available to the service station 150. The power 253 provided by the power supply 351 can be used to charge the energy storage device 201 of the cleaning robot 100 after a cleaning run (in a charging mode).

[0093] The use of a low-voltage DC power supply 351 makes the use of the Service Station 150 more flexible and independent of the availability of a 230 V mains supply. This also allows for possible applications in the environment of 12 V, 24 V, or 48 V on-board electrical systems (e.g., mobile homes, boats), where such a power supply 351 can provide the necessary (DC) voltage for the operation of the Service Station 150.

[0094] The power supply unit 351 is not tied to the service station 150 thanks to the universal connector 356 (e.g., USB-C), but can also be detached from it and used for other applications, e.g., to charge other mobile devices (mobile phones, tablets, notebooks, etc.). The ability to connect the power supply unit 351 directly to the cleaning robot 100—i.e., the cleaning robot 100 itself has a power supply socket 356 (e.g., a USB-C socket)—allows the cleaning robot 100 to be operated or charged even without the service station 150.

[0095] A suction fan 304 with a DC motor (e.g., a BLDC fan, i.e., a fan with a brushless DC motor) may be installed in the service station 150. The fan 304 may have a higher rated power than can be provided by the power supply 351 of the service station 150 (i.e., via the interface 356).

[0096] In order to achieve improved cleaning performance during the vacuuming of the collection container 140 of the cleaning robot 100, the suction fan 304 of the service station 150 can be powered during the vacuuming process, ie in the robot cleaning mode, both by the power supply 351 of the service station 150 and by the energy storage 201 of the cleaning robot 100 (as in Fig. 3b). Using a corresponding switching element 240, the two current or voltage sources can be connected as parallel or serial energy sources, thus making more power available to the suction fan 304. In contrast to operating the fan 304 of the service station 150 solely by means of the power supply 351, the suction takes place with an increased air volume and with an increased negative pressure, thus achieving more effective emptying and cleaning of the collection container 140 of the cleaning robot 100.

[0097] Compared to a service station 150 with a standard suction fan 304 and a 230 V mains connection 251, 252, the advantage of using a USB-C power supply 351 results, which leads to wider and simplified availability (e.g. as a spare part) and improved use of common parts across different variants of the cleaning robot 100.

[0098] In order to be able to use the maximum power of the power supply 351 during the vacuuming process, the charging of the energy storage device 201 of the cleaning robot 100 can be suspended during the vacuuming, ie in the robot cleaning mode, and can be continued again after the vacuuming process has ended.

[0099] Connecting the energy storage device 201 to the power supply of the suction fan 304 of the service station 150 also allows the service station 150 to be operated (at least temporarily) without its own power supply. It is conceivable that the DC power supply 351 is not connected to the service station 150, and the suction of the collection container 140 of the cleaning robot 100 can still be carried out. In this case, the energy storage device 201 of the cleaning robot 100 supplies the fan 304 of the service station 150 alone, so that the fan 304 remains usable (at reduced power) (as in, for example, Fig. 3c).

[0100] Furthermore, to protect the energy storage device 201 of the cleaning robot 100, vacuuming can be enabled only using the power supply 251, 351 of the service station 150, particularly when the energy storage device 201 of the cleaning robot 100 has a (too) low charge level (less than a charge level threshold). This procedure can prevent the energy storage device 201 of the cleaning robot 100 from being over-stressed or discharged too deeply or critically. Once the vacuuming process is complete, the energy storage device 201 of the cleaning robot 100 can be recharged normally and used without restrictions, e.g., during the next vacuuming operation. Alternatively, the energy storage device 201 of the cleaning robot 100 can also be charged first, ie before the collection container 140 of the cleaning robot 100 is vacuumed, before the collection container 140 of the cleaning robot 100 is subsequently vacuumed.

[0101] The service station 150 may itself have an electrical energy storage device 401 (e.g., a battery and / or a capacitor) that can be charged by the power supply 351, 251 of the service station 150 (e.g., when the cleaning robot 100 is not at the service station 150 during a cleaning job and the energy from the power supply 351, 251 can thus be used). Furthermore, the energy storage device 401 can be made available for load peaks. Such an energy storage device 401 can additionally support the suction (which generally lasts no more than 10 seconds), i.e., a third energy source can be integrated. Alternatively, the suction can be powered solely by the energy storage device 401 of the service station 150 and by the energy storage device 201 of the cleaning robot 100 (the power supply via the power supply unit 351 can then be decoupled from this process).

[0102] By providing an energy storage device 401 within the service station 150, the suction power can be further increased. Furthermore, wireless operation of the service station 150 can be enabled. Furthermore, the energy storage device 201 of the cleaning robot 100 can be charged with electrical energy from the energy storage device 401 of the service station 150.

[0103] The energy storage device 401 of the service station 150 may optionally be designed as a removable battery that can be replaced by a user as needed (and that can optionally be charged with an external charger).

[0104] The service station 150 may optionally have a charging interface for charging a battery-operated device (e.g., a cordless vacuum cleaner). The device connected to the charging interface can then be used as an additional energy source for vacuuming the collection container 140 of the cleaning robot 100.

[0105] The control unit 330 can be configured to determine the charge levels of a number of different energy storage devices 201, 401 that are available as energy sources for a suction process. The individual energy storage devices 201, 401 can then be used for the suction process or not depending on the respective charge level. If necessary, only the one or more energy storage devices 201, 401 that have a charge level equal to or greater than a charge level threshold can be used. If necessary, only the one or more energy storage devices 201, 401 that have the relatively highest charge level can be used for the suction process.

[0106] As already explained above, the measures described in this document can be applied not only to a service station 150 with a suction function, but also, for example, to a service station with a wet cleaning or wet service function. The one or more additional energy sources 201, 401 can support the functions of cleaning the wipes or filling / emptying liquid containers if the required electrical power for the one or more actuators 304 of the service station 150 exceeds the available power of the power supply from the power supply unit 351.

[0107] As in the Fig. 1b and Fig. 1c, the cleaning robot 100 may comprise at least one (electrically conductive) contact element 209 configured to be coupled to a corresponding (electrically conductive) contact element 159 of the service station 150 (when the cleaning robot 100 is arranged at the service station 150) in order to provide a (wired) communication connection.

[0108] The communication connection can be used (particularly in the robot cleaning mode) for communication between the control unit 130 of the cleaning robot 100 and the control unit 330 of the service station 150. The control unit 330 of the service station 150 can, for example, be configured to use the communication connection to activate or deactivate the actuator 204 of the cleaning robot 100 and / or to switch the switching element 203 of the cleaning robot 100. Similarly, the control unit 130 of the cleaning robot 100 can be configured to use the communication connection to switch the switching element 240 of the service station 150.

[0109] Fig. 5a shows a flowchart of an exemplary (computer-implemented) method 510 for operating a cleaning robot 100 for cleaning a surface. The cleaning robot 100 comprises a cleaning unit 106, which is configured to be moved across the surface (e.g., by a drive 101 of the cleaning robot 100). The cleaning unit 106 can have a suction mouth 107. The cleaning robot 100 further comprises an electrically operated actuator 204 (in particular a fan), which is configured to act on the cleaning unit 106 in a surface cleaning mode in order to clean a surface. In particular, the fan can cause a suction air flow 211 through the suction mouth 107 of the cleaning robot 100.

[0110] The cleaning robot 100 further comprises an electrical energy storage device 201 (in particular a rechargeable battery) which is configured to store and (when needed) provide electrical energy for the operation of the actuator 204.

[0111] The cleaning robot 100 is designed to be arranged at a service station 150. If necessary, the cleaning robot 100 can automatically travel to the service station 150 (e.g., to a storage area 154 of the service station 150). The service station 150 comprises a cleaning device 153, 256, 257 (e.g., a suction nozzle 153 for vacuuming the collection container 140 of the cleaning robot 100), which is configured to clean the cleaning robot 100. Furthermore, the service station 150 comprises an electrical energy source 251, 252, 351, 401 (e.g., a power connection).

[0112] The method 510 comprises causing 511 the actuator 204 of the cleaning robot 100 to act on the cleaning device 153, 256, 257 (in particular on the suction mouth 153) of the service station 150 in a robot cleaning mode in order to clean the cleaning robot 100 (in particular to empty the collection container 140 of the cleaning robot 100). In this case, the actuator 204 is operated in the robot cleaning mode (in particular directly) with electrical power from the energy source 251, 252, 351, 401 of the service station 150 (so that the actuator 204 can be operated at a higher power, thereby increasing the cleaning quality for cleaning the cleaning robot 100).

[0113] Fig.5b shows a flowchart of an exemplary (computer-implemented) method 520 for operating a service station 150 for a cleaning robot 100. The service station 150 comprises a cleaning device 153, 256, 257 (e.g., a suction mouth 153) for cleaning a cleaning robot 100 arranged at the service station 150 (in particular, standing on the storage surface 153).

[0114] The service station 150 comprises an electrically operated actuator 304 (e.g., a fan) configured to act on the cleaning device 153, 256, 257 of the service station 150 to clean the cleaning robot 100. Furthermore, the service station 150 comprises an electrically conductive contact element 152 (e.g., a contact plate) for (electrically conductively) connecting the electrical energy storage device 201 of the cleaning robot 100 arranged at the service station 150 to the service station 150. In a charging mode, the energy storage device 201 of the cleaning robot 100 can be charged via the contact element 152.

[0115] The method 520 includes causing 521 the actuator 304 to be operated in a robot cleaning mode (in particular directly) via the electrically conductive contact element 152 with electrical power from the electrical energy storage device 201 of the cleaning robot 150 (so that the actuator 304 can be operated with higher power, thereby increasing the cleaning quality for cleaning the cleaning robot 100). The electrical power from the energy storage device 201 of the cleaning robot 150 can be provided while the actuator 304 is operated in the cleaning mode.

[0116] The present invention is not limited to the embodiments shown. In particular, it should be noted that the description and the figures are intended only to illustrate the principle of the cleaning robot described in this document and / or the service station described in this document and / or the system described in this document and / or the methods described in this document. List of reference symbols 100 cleaning robots 101 Drive unit 102 Brush roller 104 Guide and / or support element 105 bumpers 106 Cleaning unit / suction nozzle 107 Suction mouth 110 Environment sensor 111 Storage unit 120 Direction of movement / longitudinal direction 121 top 122 subpage 123 side wall 130 Control unit 140 collection containers / dust boxes 150 service stations 151 collection containers 152 electrical / electrically conductive contact element 153 Suction mouth 154 Parking platform 159 Contact element (communication) 201 Energy storage 202 electrical / electrically conductive contact part 203 switching element 204 Actuator / Blower 205 filter unit 206 Exhaust air opening 207 Supply line from contact element 208 Supply line from energy storage 209 Contact element (communication) 211 Suction air 213 Suction opening 214 Suction air opening 215 Blocking element (filter unit) 240 switching element 250 system 251 power supply 252 mains connection 253 Power supply current 255 filter unit 256 suction channel 257 Suction air duct 261 Suction air 304 Actuator / Blower 330 control unit 351 power supply 353 Robot Power 356 interface 401 Energy storage 510, 520 procedures 511, 512 Process step

Claims

[1] Cleaning robot (100) for cleaning a surface; wherein the cleaning robot (100) comprises, - a cleaning unit (106) designed to be moved over the surface; - an electrically operated actuator (204) configured to act on the cleaning unit (106) in a surface cleaning mode to clean the surface; - an electrical energy storage device (201) configured to store and provide electrical energy for operating the actuator (204); wherein the cleaning robot (100) is configured to be arranged at a service station (150); wherein the service station (150) comprises a cleaning device (153, 256, 257) configured to clean the cleaning robot (100); wherein the service station (150) has at least one electrical energy source (251, 252, 351, 401); and - a control unit (130) configured to cause the actuator (204) of the cleaning robot (100) to act on the cleaning device (153, 256, 257) of the service station (150) in a robot cleaning mode to clean the cleaning robot (100); wherein the actuator (204) is operated in the robot cleaning mode with electrical power from the energy source (251, 252, 351, 401) of the service station (150). [2] Cleaning robot (100) according to claim 1, wherein the electrically operated actuator (204) of the cleaning robot (100) comprises a fan which is designed to cause a suction air flow (211) through the cleaning unit (106) of the cleaning robot (100) in the area cleaning mode and a suction air flow (261) through the cleaning device (153, 256, 257) of the service station (150) in the robot cleaning mode. [3] Cleaning robot (100) according to one of the preceding claims, wherein the electrically operated actuator (204) of the cleaning robot (100) is designed to convey liquid through the cleaning unit (106) of the cleaning robot (100) onto the surface in the surface cleaning mode and to convey liquid through the cleaning device (153, 256, 257) of the service station (150) onto the cleaning robot (100), in particular onto a housing of the cleaning robot (100), in the robot cleaning mode. [4] Cleaning robot (100) according to one of the preceding claims, wherein the control unit (130) is arranged to cause the actuator (204) of the cleaning robot (100) to be powered by electric power in the robot cleaning mode - from the energy source (251, 252, 351, 401) of the service station (150); and - is supplied by the electrical energy storage device (201) of the cleaning robot (100). [5] Cleaning robot (100) according to one of the preceding claims, wherein - the cleaning robot (100) has an electrically conductive contact element (202) which is designed to form an electrically conductive connection with a corresponding electrically conductive contact element (152) of the service station (150) when the cleaning robot (100) is arranged at the service station (150); and - the control unit (130) is configured to cause the actuator (204) of the cleaning robot (100) to be operated in the robot cleaning mode with electrical power and / or with an electrical current (253) which is provided during the robot cleaning mode via the electrically conductive contact element (202) of the cleaning robot (100). [6] Cleaning robot (100) according to one of the preceding claims, wherein - the electrical energy storage device (201) of the cleaning robot (100) has a maximum possible discharge power; and - the control unit (130) is configured to cause the actuator (204) of the cleaning robot (100) to be operated in the robot cleaning mode by drawing, in particular, additional electrical power from the energy source (251, 252, 351, 401) of the service station (150) with an electrical power which exceeds, in particular by a factor of 1.2 or more, the maximum possible discharge power of the electrical energy storage device (201) of the cleaning robot (100). [7] Cleaning robot (100) according to one of the preceding claims, wherein - the cleaning robot (100) comprises a switching element (203) which is designed to couple an electrical connection of the actuator (204) to the energy storage device (201) of the cleaning robot (100) or to an electrically conductive contact element (202) of the cleaning robot (100) for connecting the energy source (251, 252, 351, 401) of the service station (150); and - the control unit (130) is set up, - to cause the switching element (203) in the surface cleaning mode to couple the electrical connection of the actuator (204) to the energy storage device (201) of the cleaning robot (100); and - to cause the switching element (203) in the robot cleaning mode to couple the electrical connection of the actuator (204) to the electrically conductive contact element (202) of the cleaning robot (100). [8] Cleaning robot (100) according to one of the preceding claims, wherein the control unit (130) is arranged - to operate the actuator (204) in the surface cleaning mode with an electrical power that does not exceed a first power value, in particular a maximum possible discharge power of the energy storage device (201) of the cleaning robot (100); and - to operate the actuator (204) in the robot cleaning mode by obtaining, in particular additional, electrical power from the energy source (251, 252, 351, 401) of the service station (150) with an electrical power having a second power value that is higher, in particular by a factor of 1.2 or more, than the first power value. [9] Cleaning robot (100) according to one of the preceding claims, wherein the control unit (130) is configured to operate the actuator (204) in the robot cleaning mode without drawing electrical power from the electrical energy storage device (201) of the cleaning robot (100). [10] System (250) which includes - a cleaning robot (100) according to one of the preceding claims; and - a service station (150); wherein the service station (150) comprises a cleaning device (153, 256, 257) configured to clean the cleaning robot (100); wherein the service station (150) has at least one electrical energy source (251, 252, 351, 401). [11] System (250) according to claim 10, wherein - the electrically operated actuator (204) of the cleaning robot (100) comprises a fan; - the cleaning unit (106) of the cleaning robot (100) comprises a suction mouth (107); - the cleaning robot (100) comprises a collecting container (140) for dirt particles; - the fan (204) of the cleaning robot (100) is designed in the surface cleaning mode to cause a suction air flow (211) by which dirt particles are transported from the surface through the suction mouth (107) of the cleaning robot (100) into the collection container (140) of the cleaning robot (100); - the cleaning device (153, 256, 257) of the service station (150) has a suction mouth (153) for sucking the collecting container (140) of the cleaning robot (100); - the service station (150) comprises a collecting container (151) for dirt particles; and - the fan (204) of the cleaning robot (100) is designed in the robot cleaning mode to cause a suction air flow (261) by which dirt particles are conveyed from the collection container (140) of the cleaning robot (100) through the suction mouth (153) of the service station (150) into the collection container (151) of the service station (150). [12] System (250) according to one of claims 10 to 11, wherein the electrical energy source (251, 252, 351, 401) of the service station (150) comprises - a 230 V power supply (251) designed to be coupled to a 230 V AC supply network to provide electrical energy for operating the service station (150); - a DC voltage interface (356), in particular a USB-C interface, which is designed to provide a DC current with a low DC voltage; and / or - an electrical energy storage device (401). [13] System (250) according to one of claims 10 to 12, wherein - the cleaning robot (100) has an electrically conductive contact element (202); - the service station (150) has a corresponding electrically conductive contact element (152) which is designed to form an electrically conductive connection with the electrically conductive contact element (202) of the cleaning robot (100) when the cleaning robot (100) is arranged at the service station (150); and - the system (250) is designed to provide, in the robot cleaning mode, electrical power and / or an electrical current from the energy source (251, 252, 351, 401) of the service station (150) for operating the actuator (204) of the cleaning robot (100) via the electrically conductive connection formed by the contact elements (202, 152). [14] System (250) according to one of claims 10 to 13, wherein the service station (150) does not have its own actuator (304) which is designed to act on the cleaning device (153, 256, 257) of the service station (150) in order to clean the cleaning robot (100). [15] Method (510) for operating a cleaning robot (100); wherein the cleaning robot (100) comprises - a cleaning unit (106) designed to be moved over the surface; - an electrically operated actuator (204) configured to act on the cleaning unit (106) in a surface cleaning mode to clean the surface; and - an electrical energy storage device (201) configured to store and provide electrical energy for operating the actuator (204); wherein the cleaning robot (100) is configured to be arranged at a service station (150); wherein the service station (150) comprises a cleaning device (153, 256, 257) configured to clean the cleaning robot (100); wherein the service station (150) has an electrical energy source (251, 252, 351, 401); and wherein the method (510) comprises - causing (511) the actuator (204) of the cleaning robot (100) to act on the cleaning device (153, 256, 257) of the service station (150) in a robot cleaning mode to clean the cleaning robot (100); wherein the actuator (204) is operated in the robot cleaning mode with electrical power from the energy source (251, 252, 351, 401) of the service station (150).

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