Floor cleaning system with a floor cleaning device and method for operating a floor cleaning system

Abstract

The present invention relates to a floor cleaning system (100) and a method for operating a floor cleaning system (100). Under the guidance of a user (138), a movement path (140, 180) can be created in a learning operating mode, which can be automatically processed by the floor cleaning device (102) of the floor cleaning system (100) in a repeat operating mode. An interaction event can be triggered to transfer an infrastructure device (122, 126) from a first state to a second state. For this purpose, a state change signal is transmitted from a transmitting unit of the floor cleaning device (102) to a receiving unit of the infrastructure device. The infrastructure device (122, 126) is arranged in the movement path (140, 180) and, in particular, physically blocks it.The user (138) defines the interaction event position-related via a user interface (152, 198) in the teach-in operating mode and / or when editing the movement path (140, 180) after the teach-in operating mode.

Description

The present invention relates to a floor cleaning system comprising a self-propelled and self-steering floor cleaning appliance having a chassis for moving on the floor surface, a control unit, a locating unit for determining a position of the floor cleaning appliance in an environment, a cleaning unit for cleaning the floor surface and an operating unit, wherein the floor cleaning system further comprises a user interface which is coupled to the control unit, and a storage unit in which a map of the environment is storable or stored, wherein the floor cleaning appliance is designed and configured to create a movement path storable in the storage unit under manual guidance of a user on the operating unit in a teaching operating mode, wherein the cleaning path may have an interaction event and to assume a repetition operating mode, in which the floor cleaning appliance automatically processes the movement path and initiates the interaction event.With the floor cleaning device of such a floor cleaning system, which is described, for example, in WO 2023 / 001389 A1, autonomous cleaning of the floor surface can be carried out. In this case, the movement path is a cleaning path in which at least one cleaning unit of the floor cleaning appliance is in engagement with the floor surface. The movement path can alternatively be a transport path in which the floor cleaning appliance moves within its movement without being cleaned, for example for empty travel from a parking location to the work location and / or back.The floor cleaning system in WO 2023 / 001 389 A1 mentioned above is designed in particular for professional cleaning tasks, wherein the floor cleaning appliance is designed as a scrubber vacuum machine. The user is provided as a "human interface" to a certain extent, which traverses the movement path in the teaching operating mode (teaching mode) with the floor cleaning appliance and sets the use of at least one cleaning unit. It is possible to define interaction events which are stored in the movement path. Interaction events are, for example, the actuation of a horn in order to inform persons in the environment of the floor cleaning appliance. In the repeat operating mode (repeat mode), the floor cleaning appliance can automatically travel the previously stored movement path under the control of the control unit and in particular execute interaction events. Interaction events are position related and are executed at the position defined by the user in the teaching operating mode. The navigation is carried out on the basis of the map stored in the memory unit and the localization unit, so that the position of the floor cleaning appliance in its environment can be referenced to a position in the map, and vice versa.The present invention further relates to a method for operating a cleaning system, in particular of the type described above.The floor cleaning system mentioned at the beginning has proven its worth in practice. It would be desirable to make this more versatile.It is the object of the present invention to provide a generic floor cleaning system and a method for operating a floor cleaning system which is more versatile in use.This object is achieved in a floor cleaning system of the type mentioned at the beginning according to the invention in that the floor cleaning device further comprises a transmitting unit arranged on the floor cleaning device or comprised by the same and a receiving unit arranged on a control unit of an infrastructure device or coupled to the same, which receiving unit is preferably unambiguously coupled to the transmitting unit via a communication connection, wherein the infrastructure device is arranged in the movement path, in particular physically blocking the latter, wherein the user defines the interaction event in a position-related manner via the user interface in the learning operating mode and / or when processing the movement path after the learning operating mode, which receiving unit comprises the transmission of a state change signal from the transmitting unit to the receiving unit at least in the repetition operating mode, for transferring the infrastructure device from a first state to a second state, depending on the state change signal.Furthermore, the present invention is achieved by a method for operating the floor cleaning system of the type described above, wherein the user defines the interaction event in a position-related manner via the user interface in the learning operating mode and / or when processing the movement path after the learning operating mode, a state change signal is transmitted from the transmitting unit to the receiving unit as a component of the interaction event, at least in the repeating operating mode, and the infrastructure device is transferred from a first state to a second state, depending on the state change signal.Advantageous exemplary embodiments of the method according to the invention result from the advantageous embodiments of the floor cleaning system according to the invention explained below. Accordingly, all system features may be implemented in terms of method. The advantages and effects explained below with reference to the example of the floor cleaning system according to the invention are likewise achieved when the method is carried out.In the floor cleaning system according to the invention, it is possible to control the infrastructure device via the transmitting unit and the receiving unit coupled to the transmitting unit. The infrastructure device, of which at least one can be arranged in the environment and in the movement path, can in particular physically block the movement path and thereby restrict a movement of the floor cleaning appliance in the repeat operating mode without the possibility of activation. For example, the infrastructure device is a gate in the movement path, in particular a rolling gate in professional applications, which can assume a closed state and an open state. If the roller door assumes the closed state, it blocks the path of the floor cleaning appliance. However, the solution according to the invention makes it possible to transfer the rolling gate from the closed state to the open state, so that the floor cleaning appliance can continue and travel the movement path as intended.According to the present invention, the user is used as a "human interface" and defines the interaction event while the movement path is recorded in the teaching operating mode. Alternatively or additionally, it may be possible to edit the movement path after the teaching operating mode. The editing can comprise, for example, the addition of at least one interaction event to its definition, its change and / or its deletion. In practice, it has been found that the communication connection, in particular a radio communication connection between the transmitting unit and the receiving unit, can achieve a robust and functionally reliable configuration of the floor cleaning system.The coupling between the transmitting unit and the receiving unit can be unambiguous, in particular one-to-one.In practice, it may prove to be particularly advantageous if the transmitting unit and the receiving unit have already been coupled to one another when the teaching operating mode is executed by the user. This is advantageous, for example, when a plurality of infrastructure devices are present in the environment. The respective receiving units can be coupled in advance to the transmitting unit, for example at a central setup site such as, for example, in a maintenance room or in a workshop, and can be arranged, for example, subsequently on the control unit of the infrastructure device or integrated therein. Information relating to the respective receiving unit can preferably be stored in the memory unit.In the present case, the coupling can be understood to mean, for example, a pairing process in which identification numbers of the transmitting unit and at least one receiving unit are exchanged or stored in the respective unit in such a way that these units can reliably communicate with one another. In this case, in particular all pairing methods familiar to the skilled person are conceivable. For example, units based on WiFi and / or Bluetooth prove to be advantageous for the radio infrastructure. In a particular embodiment of the invention, an ESP-NOW protocol is used, for example.The coupling of the transmitting unit to at least one receiving unit before the learning operating mode is advantageous, for example, in order to avoid any delays during the learning operating mode and / or any confusion that could arise on the user side as a result of a plurality of receiving units being arranged in the range of the transmitting unit and possibly an erroneous assignment to the desired infrastructure device to be actuated could occur. In this respect, the present invention advantageously proposes carrying out the coupling of the transmitting unit and the receiving unit before the learning operating mode. Alternatively or additionally to the possibility of doing this at a separate set-up site, it can be provided that the transmitting unit is brought to one or more receiving units on the respective infrastructure device before the teaching operating mode and is coupled to the latter there. This possibility has proven to be advantageous, for example, if the transmitter unit can be detachably connected to the floor cleaning appliance. As a result, the floor cleaning appliance does not have to be moved in the environment. Alternatively, it is possible to move the floor cleaning appliance before the teaching operating mode, for example during a "pairing trip", for pairing to the respective infrastructure device.However, the present invention is not limited to coupling the transmitting unit to the receiving unit, as explained above.EP 3 416 017 B1 describes a system comprising a vehicle which moves automatically within an environment and a door located in the environment. A detection means of the vehicle receives an optical and / or electronic code of the door in order to transmit a control command to an actuator of the door.CN 106 313 114 A describes a robot which is in a radio connection with a receiver of a control unit of a roller shutter.Further documents in which a movement of a robot in an environment with infrastructure devices is described are US 2012 / 165 984 A1, JP 2011-076149 A and EP 3 985 218 A1.It can be provided that the receiving unit or the control unit ignores the state change signal after reception when the infrastructure device assumes the second state. If, for example, the need to transfer the infrastructure device from the first state to the second state is dispensed with, and if this is known to the receiving unit or the control unit, the state change signal can be ignored.It can be favorable in particular if the floor cleaning appliance is designed and configured to transmit, in the repeat operating mode, after prior teaching by the user in the teaching operating mode, the change-of-state signal for transferring the infra-breaking structure device from the first state into the second state, to traverse, pass or use the infrastructure device on the movement path, and subsequently to transmit a further change-of-state signal for transferring the infrastructure device from the second state into the first state. For example, the infrastructure device in the form of a gate or a door blocks the movement path. The embodiment described here allows the floor cleaning appliance to transfer the door or the door from a closed state to an open state, to traverse it and then to transfer it again from the open state to the closed state. Another example provides, for example, as infrastructure equipment a monitoring equipment which is transferred from an alarm state to a release state by the floor cleaning appliance, is passed through and is subsequently transferred back to the alarm state.The state change signal and the further state change signal can be different from one another, for example. This can be more advantageous in particular than the use of identical signals, as are used, for example, in a simple pulse control.The infrastructure device can be or comprise, for example, a door, in particular a rolling door, or a door, and the state change signal can be an opening signal or a closing signal. This has already been discussed. The closing signal is in particular the mentioned further state change signal.The infrastructure device may be, for example, a monitoring device for monitoring the environment, and the state change signal may be a deactivation signal or an activation signal. This has already been indicated. The activation signal is in particular the further state change signal mentioned. The monitoring device can comprise, for example, a light barrier or a camera which triggers an alarm when the floor cleaning appliance is detected in an alarm state, for which reason the monitoring device is to be advantageously deactivated for transferring to a release state.Alternatively or additionally, the infrastructure device can be, for example, a transport device, in particular an elevator, and the state change signal can be a start signal or a stop signal. The stop signal is in particular the mentioned further state change signal. This offers the possibility for the floor cleaning appliance to use the transport device. For example, the elevator can be used for moving between building levels.A plurality of infrastructure devices can occur in combination with one another and can be part of the floor cleaning system. For example, an elevator is provided as a transport device and, in addition, an elevator door is provided as a further infrastructure device in order to be able to use the transport device.According to the foregoing, it follows that the floor cleaning system can comprise at least one infrastructure device, in particular a plurality of infrastructure devices. These can be identical or different.In a structurally simple embodiment, the floor cleaning appliance can comprise the storage unit and / or comprise or form the user interface.In a preferred embodiment of the invention, the floor cleaning system can comprise a portable auxiliary device, which is arranged externally to the floor cleaning device and on which a user application program is stored in an executable manner and which comprises the user interface. The accessory device is in particular a smartphone or a tablet computer. The user interface is formed, for example, by a touchscreen of the accessory device, with the function of an input unit and a display unit.The use of the accessory device may be advantageous if the interaction event is defined after the learning operating mode as explained above and / or an existing definition is changed.The position in which the interaction event is triggered can preferably be defined by an interaction zone, wherein the state change signal is emitted in the repetition operating mode when the floor cleaning appliance is arranged within the interaction zone, in particular when entering the interaction zone. By using an interaction zone, it can preferably be ensured that the receiving unit is arranged in a range of the transmitting unit in order to be able to receive the state change signal. Furthermore, the interaction zone can be advantageous in order to use a time period which the floor cleaning appliance travels in this zone to the infrastructure device, so that it already assumes the second state when the floor cleaning appliance reaches the infrastructure device. For example, a roller gate is thereby timely transferred into the open state, so that the floor cleaning device can pass through the roller gate without waiting.It is conceivable that the interaction zone is automatically created when creating the interaction event. It can have, for example, a predefined shape, size and / or position around the current position of the floor cleaning appliance.The interaction zone can have a size of approximately 2 m 2 to 20 m 2 for example, preferably approximately 5 m 2 to 15 m 2.The shape of the interaction zone can advantageously be predefined via the user interface.Alternatively or additionally, the size of the interaction zone can be advantageously predefinable via the user interface.Alternatively or additionally, the position of the interaction zone can be advantageously predefinable via the user interface.The condition of the interaction zone, for example its shape, size and / or position, advantageously depends on a travel speed of the floor cleaning appliance and / or a course of the movement path. This is advantageous in particular if it is to be ensured that the infrastructure device already assumes the second state when the floor cleaning appliance reaches it."Predeterminable" can in the present case comprise in particular "predetermined".The interaction zone can be processed by the user in a favorable manner, for example in the teaching operating mode and / or thereafter. Preferably, processing via the user interface is provided on a touch-sensitive touch screen.The change of state signal is advantageously only emitted when the floor cleaning appliance is located within the interaction zone. This may serve the purpose of ensuring that the state change signal can be received by the receiving unit.The state change signal can advantageously be transmitted multiple times by the transmission unit. For example, it is provided that the state change signal is transmitted periodically and / or for a predeterminable period of time. It is conceivable here that after the first transmission and a predeterminable waiting time, the periodic transmission takes place. The multiple transmission has the purpose of ensuring, for example, that the receiving unit actually receives the state change signal. Furthermore, possible changes in state of the infrastructure device, which may be triggered by persons, may be taken into account. For example, when an opening signal for opening a gate is sent and a person present in the environment closes the gate again, the gate is restored to the opening state by the state change signal sent again.It can be advantageous if information relating to at least one infrastructure device is stored in the storage unit and if the user selects the infrastructure device to which the change-of-state signal is to be transmitted in the learning operating mode for defining the interaction event at the user interface. For example, information relating to the receiving unit on the infrastructure device can be stored in the storage unit during the coupling to the transmitting unit. In the learning operating mode, the user can, for example, select the desired infrastructure device which is intended to undergo a change of state via a touchscreen of the user interface. Intuitive use is possible, for example, by using predictive designations and / or symbols for infrastructure devices.The transmitting unit may be a transmitting and receiving unit, and the receiving unit may be a receiving and transmitting unit for bidirectional communication of the transmitting unit with the receiving unit.In particular, an identification signal can be emitted periodically by the receiving unit. The identification signal can be advantageously received by the transmitter unit. As a result, the floor cleaning appliance knows that it is located within range of the receiving unit and thus of the infrastructure device, and it can be assumed that the receiving unit can in turn receive a transmitted state change signal.It is understood that the transmitting unit can be operatively connected to the control unit of the floor cleaning appliance or can be integrated therein.The identification signal is preferably a so-called "heartbeat" signal when the transmission unit is already coupled to the reception unit.A definition of the interaction event in the learning operating mode via the user interface may be possible, for example, in one embodiment of the invention only if the transmission unit receives the identification signal. This preferably ensures that the receiving unit in turn receives the state change signal of the transmitting unit.If no coupling has yet taken place before the learning operating mode, the identification signal can be a so-called "light fire" signal in order to inform the receiving unit, wherein a pairing process is subsequently carried out in the learning operating mode. Subsequently, the identification signal may be the above-mentioned "heartbeat" signal.In the learning operating mode, in one embodiment of the invention, after receiving the identification signal, the user can be provided, via the user interface, with an indication, for example, that the infrastructure device is located in the vicinity, connected with a request as to whether an interaction event for the infrastructure device is to be learned. The user can be presented spontaneously to create the interaction event. The indication is output, for example, optically via a pop-up at the user interface and / or acoustically.The interaction zone which has already been discussed can be defined, for example, as that region in which the identification signal can be received by the transmission unit.In the repeat operating mode, the transmission unit transmits the state change signal, for example, only if the identification signal has been detected beforehand. In addition, it can be provided, for example, that the floor cleaning device must additionally be located in the interaction zone.It can be advantageous if an acknowledgement signal is transmitted to the transmitting unit by the receiving unit after the state change signal is received. This allows verification that the infrastructure device is transferred from the first state into the second state in order to ensure proper execution of the repetition operating mode.In a favorable embodiment of the invention, the receiving unit can transmit a state signal to the transmitting unit, for example, as to whether the infrastructure device assumes the first state or the second state. In the case of a gate, for example, an end position switching element is read out and the information relating to this is transmitted to the transmitting unit. The control unit of the floor cleaning appliance can, for example, decide that no opening signal is transmitted when the door already assumes the open state. Alternatively, the opening signal can nevertheless be transmitted, since in the meantime a person might possibly have closed the gate. Corresponding explanations can apply to different infrastructure devices.Information relating to at least one infrastructure device is advantageously stored in the storage unit. This information relates, for example, to the type and / or the properties of the infrastructure device, in particular with respect to the transfer from the first state to the second state and / or vice versa. This information is advantageously used as a basis for the content and / or the shipment of the state change signal. It is conceivable, for example, that the type of infrastructure device, a time for opening a gate or a door, a time for closing a gate or a door, software drivers for interaction with the control unit of the infrastructure device or the like are stored.As already explained, a plurality of receiving units can be provided which are coupled or can be coupled to the transmitting unit, wherein the state change signal is a unicast signal which is directed to and receivable by only one receiving unit. This causes the one receiving unit to be addressed by the transmitting unit.Alternatively, the state change signal may be a multicast signal or broadcast signal directed to and receivable by two or more or all of the receiving units.As a component of the multicast signal or the broadcast signal, for example, an identification number, for example a MAC address, can be transmitted to a specific receiving unit, which interprets the state change signal as being directed to it, whereas the remaining receiving unit(s) ignores / ignore the state change signal. In this way, the same functionality as a unicast signal can be implemented.The transmitting unit can be detachably connectable to the floor cleaning appliance. This makes it possible, for example, to couple the transmitting unit to the receiving unit in a user-friendly manner and remote from the floor cleaning appliance at a setup site and then to connect it to the floor cleaning appliance. The receiving unit can preferably be coupled to the control unit of the infrastructure device or integrated into the latter.Alternatively, the transmitting unit can be integrated in an unreleasable manner into the floor cleaning appliance, for example.The floor cleaning appliance can comprise a sensor unit for detecting a state of the infrastructure device, in particular the first state and / or the second state. It can be provided that the state change signal for transferring the infrastructure device from the first state to the second state is only emitted if the ascertained state corresponds to the first state. In a corresponding manner, it can be provided that the (further) state change signal for transferring the infrastructure device from the second state into the first state is only emitted if the ascertained state corresponds to the second state. The sensor unit can comprise all sensor elements familiar to the person skilled in the art, which enable the monitoring of the environment of the floor cleaning appliance.The movement path may be a cleaning path in which the cleaning unit is engaged with the floor surface. Alternatively, the movement path may be a transport path in which the cleaning unit is out of operation.The following description of a preferred embodiment of the invention serves to explain the invention in more detail in conjunction with the drawing. With the floor cleaning system described below, the method according to the invention can be carried out in a preferred embodiment. The following are shown: FIG. 1 : shows a schematic illustration of the floor cleaning system according to the invention in a preferred embodiment with a floor cleaning appliance and a user during the teaching operating mode; FIG. 2 : shows a schematic illustration of an environment which is to be traveled on by the floor cleaning appliance and has three spaces in the present example; and FIG. 3 : shows a schematic illustration of a user interface of the floor cleaning system from FIG. 1 during the teaching operating mode.The drawing shows a floor cleaning system according to the invention, denoted overall by the reference symbol 100, in a preferred embodiment.The floor cleaning system comprises a floor cleaning appliance 102, which is designed in the present case as a scrubber vacuum machine 104. The floor cleaning device 102 serves for cleaning a floor surface 106 within an environment 108. In the present non-limiting example, environment 108 includes, for example, three spaces 110, 112, and 114 separated from each other by walls 116. In the present example, a passage 118 is formed between the spaces 110 and 112. Between the spaces 112 and 114 a corresponding passage 120 is formed.The floor cleaning system 100 comprises an infrastructure device 122, in the present case configured as a door and in particular as a rolling door 124. The rolling gate 124 is disposed on the passage 118 to selectively close it in a closing state or release it in an opening state.A further infrastructure device 126 in the form of a roller shutter 128 is arranged on the passage 120 in the present example. The rolling gates 124 and 128 are functionally the same in the present case, so that the mode of operation is described below by way of example using the example of the rolling gate 124.The rolling door 124 comprises interconnected slats 130 which can be stored in a housing 132 when the rolling door 124 assumes the open state. In the closed state, the vanes 130 block the passage 118.The rolling gate 124 comprises a drive unit 134 for driving a shaft in a manner known per se, on which the slats 130 are held. The rolling door 124 further comprises a control unit 136 which is operatively connected to the drive unit 134. The roller door 124 can be opened or closed via the control unit 136.The floor cleaning device 102 is in the present case a user-guided floor cleaning device which can be moved by a user 138 in the environment 108. In addition, the floor cleaning appliance 102 is self-driving and self-steering designed in order to move autonomously in the environment 108 and in particular to carry out cleaning tasks therein.The scrubber vacuum machine 104 is a floor cleaner 102 for professional cleaning implements. With regard to the best possible cleaning result on the one hand and a safe execution of cleaning tasks during autonomous operation of the floor cleaning appliance 102 on the other hand, it is provided that a movement path 140 is taught by the user 138 in a teaching operating mode (teaching mode). The movement path 140 is, in particular, a cleaning path for cleaning the floor surface 106. Alternatively, however, it can also be, at least in sections, a transport path of the floor cleaning device 102 (empty travel).After the teaching, the floor cleaning appliance 102 is able to drive off a taught movement path 140 autonomously without the presence of the user 138 in a repetition operating mode (repeat mode) and in the process in particular to perform a cleaning task.For moving on the floor surface 106, the floor cleaning device 102 comprises a chassis 142 with at least one drivable wheel. At least one cleaning unit 144 is provided for cleaning the floor surface 106, in the present case for example a floor cleaning head 146 with at least one cleaning tool (for example a cleaning brush), and a suction device 148 for suctioning dirty liquid from the floor surface 106.The floor cleaning appliance 102 further comprises an operating unit 150 for the user 138. The floor cleaning device 102 is guided on the operating unit 150 in the teaching operating mode.In the present case, a user interface 152 of the floor cleaning system 100 is arranged on the operating unit 150 (FIG. 3 ). The user interface 152 comprises an input unit 154 and a display unit 156 with a controllable optical image display. The units 154, 156 are implemented in the present case by means of a touchscreen 158.User inputs on the touch screen 158 are transmitted to a control unit 160 of the floor cleaning appliance 102. Conversely, the control unit 160 may control the display unit 156.The floor cleaning appliance 102 further comprises a storage unit 162 which is coupled to the control unit 160 or can be comprised thereby. In particular, a map 164 of the environment 108 is stored in the storage unit 162. The map 164 may be created during a learning or exploration trip, during the learning mode of operation, and / or may be specified by the user 138. Features in environment 108 are labeled with identical reference numbers in map 164.For navigation in the environment 108, the floor cleaning appliance 102 comprises a locating unit 166 which is operatively connected to the control unit 160. The localization unit 166 can be configured in a manner familiar to the skilled person to capture features of the environment 108. For example, the locating unit 166 includes a LiDAR 168.Based on the map 164 and the localization unit 166, the floor cleaning device 102 may navigate the environment 108 and thereby reference a corresponding location in the map 164, and vice versa.For communication with and for controlling the infrastructure device 122, the floor cleaning system 100 comprises a transmitting unit 170 and a receiving unit 172. In the present exemplary embodiment, the transmitting unit 170 is a transmitting and receiving unit, and the receiving unit 172 is a receiving and transmitting unit. Accordingly, not only signals from the transmitting unit 170 may be transmitted to the receiving unit 172, but conversely, signals from the receiving unit 172 may be transmitted to the transmitting unit 170. Bidirectional communication is possible.The units 170, 172 are advantageously designed as modules which can transmit signals via a radio connection. In particular, the units 170, 172 have, for example, WiFi and / or Bluetooth functionality. In a preferred embodiment, the units 170, 172 utilize an ESP-NOW protocol. For example, the units 170, 172 include or are ESP32-C2 controllers. Alternatively to the ESP32-C2 controller, units 170, 172, for example, of the type nRF24L01 can be used.A transmission of unicast signals, multicast signals and / or broadcast signals is conceivable.The transmitting unit 170 can be detachably connected to the floor cleaning appliance 102. For this purpose, the transmitting unit 170 is configured, for example, as a plug-in module or the like, which can be placed in a corresponding receptacle 174 of the floor cleaning appliance 102. The transmission unit 170 is operatively connected to the control unit 160 for bidirectional data exchange. The control unit 160 may control the transmission unit 170 to emit a signal. Conversely, information based on a received signal can be transmitted from the transmitting unit 170 to the control unit 160.In a corresponding manner, it can be favorable if the receiving unit 172 is designed as a plug-in module, which can be detachably connected to the control unit 136. A corresponding receptacle 176 can also be provided for this purpose.The receiving unit 172 is operatively connected to the control unit 136, preferably for a bidirectional data exchange, as has already been explained using the example of the transmitting unit 170 and the control unit 160.The embodiment as plug-in modules has the advantage, for example, that the transmitting unit 170 and the receiving unit 172 can be coupled to one another already before the learning operating mode. In this pairing process, it is provided, for example, that the units 170, 172 are coupled spatially separately from the floor cleaning appliance 102 and from the roller gate 124, for example, at a setup site. The receiving unit 172, for example, sends a beacon signal which is checked and accepted by the transmitting unit 170. During this data exchange, the corresponding identification numbers, such as MAC addresses, are exchanged. Subsequently, the units 170, 172 can send signals to one another in a coupled state. The signals comprise in particular a state change signal on the part of the transmitting unit 170 and an identification signal in the form of a "heartbeat" signal of the receiving unit 172.In the present example, the floor cleaning system includes, but is not limited to, at least one docking station 178 for the floor cleaning appliance 102. At the docking station 178, for example, an electrical battery of the floor cleaning appliance 102 can be charged, a fresh water tank can be filled and a dirty water tank can be emptied. In the present case, a docking station 178 is provided in each of the spaces 110, 112 and 114.FIG. 2 shows the guidance of the floor cleaning appliance 102 by the user 138 in the teaching operating mode. The display unit 156 of the user interface 152 in FIG. 3 shows the map 164 of the room 110 in which the user 138 is located at this time. It is believed, not by way of limitation, that the path of travel from docking station 178 in space 110 to docking station 178 in space 112. At the same time, cleaning is performed with the cleaning unit 144 engaged with the bottom surface 106.In FIG. 2, the movement path 140 is illustrated in meandering form by way of example. The reference numeral 180 represents that the user 138 would like to guide the floor cleaning device to the docking station 178 in the room 112, wherein the exact course of the movement path is not shown and the representation is only symbolic.The roller gate 124 provides a physical obstacle to the floor cleaning appliance 102 when the repetitive operation mode is subsequently executed when it assumes the closed state because it blocks the movement path 140. This means that the cleaning task cannot be carried out. To enable this, the roller gate 124 may be placed in an open state to allow the floor cleaning appliance 102 to traverse the passageway 118 and, accordingly, traverse the infrastructure equipment 122 along the travel path 140 / 180.During teaching, the user 138 moves the floor cleaning appliance 102 in the vicinity of the roller shutter 124. The user then defines a position-related interaction event. The interaction event comprises the transmission of a state change signal from the transmission unit 170 to the reception unit 172. The purpose of the state change signal is to transfer the rolling gate 124 from a first state, in the present case the closed state, to a second state, in the present case the open state. At least during the repeat operating mode, the state change signal is transmitted to transition the rolling gate 124 from the first state to the second state depending on the state change signal. Preferably, it is also provided in the teaching operating mode that the state change signal is transmitted. Alternatively, the user 138 could open the roll gate 124 manually via the controller 136, for example.The definition of the interaction event is made by the user via the user interface 152. This is symbolized in FIG. 3.Information about the scroll gate 124 has been stored in the storage unit 162 with the pairing of the units 170, 172. The scroll gate 124 as infrastructure device 122 can be "laid up" in the memory unit 162 to a certain extent by being provided with a name and a corresponding symbol 182, for example, in order to enable the user 138 to be operated intuitively.In FIG. 3, it is symbolically represented by an arrow 184 upward that the event for opening the gate can be taught.The interaction event provides that the state change signal is transmitted in order to open the rolling gate 124. Subsequently, the user 138 may traverse the passageway 118 with the floor cleaning appliance 102. The user is then located in the room 112.To close the scroll gate 124 again, the user may define another interaction event via the user interface 152. This is done in accordance with the above-described manner by driving the rolling gate 124 by transmitting another state change signal. Depending on the further state change signal, the rolling gate 124 is again transferred from the second state to the first state, i.e. from the open state to the closed state.In this case, the symbol 182 for learning could show, for example, a downward pointing arrow 184.It is understood that provision can be made for the rolling gate 124 to remain open after passing. In this case, it is not necessary to define a further interaction event.The position of the interaction event is advantageously defined via an interaction zone 186. The interaction zone 186 may have a size of approximately 2 m 2 to 20 m 2 for example. It is conceivable that the interaction zone 186 depends on the speed of the floor cleaning appliance 102 and / or the course of the movement path 140 with regard to its size, its shape and / or its position.The purpose of the interaction zone 186 is to be able to reliably change the state of the rolling gate 124 so that the passage 118 is cleared when the rolling gate 124 is reached.For this purpose, it is advantageous, for example, if the change of state signal is transmitted when driving over the interaction zone 186. This allows the time for the floor cleaning appliance 102 to move to open the roller door 124 to be used.The state change signal can advantageously be repeated and in particular periodically repeated. This may be advantageous to ensure that the rolling gate 124 is open. It is conceivable, for example, that after the first shipment of the state change signal and opening of the rolling gate 124, a further person closes the rolling gate 124 again, so that it has to be opened again.It is conceivable that after an initial waiting time, a periodic transmission of the state change signal takes place.The interaction zone 186 can preferably be processed by the user 138 via the user interface 152, for example in terms of size / shape and / or position. Processing is preferably also possible after the teaching operating mode via the user interface 152.The size / shape and / or position of the interaction zone 186 is selected, for example, such that it is ensured that the receiving unit 172 can receive the state change signal.As already mentioned, the receiving unit 172 can transmit an identification signal in the coupled state. The definition of the interaction event by the user 138 is possible in one example only when the identification signal has been received by the transmission unit 170 and a relevant notification has been provided to the user 138 via the user interface 152. This is an indication for the user 138 that the receiving unit 172 is within range and the state change signal can be reliably received by the receiving unit 172.It can be provided that the interaction zone 186 is defined as that region in which the identification signal can be received.In one embodiment of the invention, the interaction event can also be defined after the learning of the movement path 140. For example, the user 138 first learns the movement path 140 and the cleaning task associated therewith for the floor cleaning appliance 102. The interaction event can then be added to the movement path 140 and stored. In this case, the position of the interaction event is also defined, which can include, in particular, the definition of the interaction zone 186. A possible change of the interaction zone has already been discussed.It can be provided that the interaction event can be defined only when the identification signal is received by the transmission unit 170. For example, symbol 182 is only displayed when units 170, 172 are within radio range of each other.The decisive factor for whether the state change signal can be received by the receiving unit 172 or the identification signal can be received by the transmitting unit 170 can be, for example, whether the respective signal at the receiver is above a predefinable signal strength.The (further) state change signal after passing the roller shutter 124 is advantageously emitted within an interaction zone 188, which can be defined and / or processed in a corresponding manner as the interaction zone 186. Preferably, the further state change signal is also repeated to ensure that the rolling gate 124 is again transferred to the closed state (first state).In the repeat operating mode, the floor cleaning appliance 102 moves automatically along the predefined movement path 140. The interaction event is carried out to open the rolling gate 124. It can be provided in particular that it is first ensured that the identification signal of the receiving unit 172 can be received. On the other hand, it is possible that the state change signal is transmitted regardless of whether the identification signal can be received.It can be provided that a state signal is transmitted from the receiving unit 172 to the transmitting unit 170, which state the rolling gate 124 assumes. For example, when the transmission unit 170 receives a state signal indicating that the rolling door 124 is in the open state, transmission of the state change signal may be omitted.Furthermore, it is conceivable for the floor cleaning appliance 102 to have a sensor unit 190 in order to detect the state of the roller shutter 124 as an infrastructure device 122, in particular the first state and / or the second state. For example, the state change signal for opening the rolling door 124 is transmitted only when it is determined by the sensor unit 190 that the rolling door 124 assumes the closed state. The same applies to the further state change signal which is transmitted for closing the rolling gate 124.In the storage unit 162, information related to the infrastructure facility 122 may be stored. This information is stored, for example, when the units 170, 172 are coupled.The information relates, for example, to the type of infrastructure device 122 as a rolling door, in particular to the type of rolling door 124 and to its properties. These characteristics refer to, for example, times required to open or close the roller shutter 124. Further, the information may include software drivers, for example. The information can be used as a basis for the content and / or the transmission of the state change signal, with a view to executing the procedure as smoothly as possible during the movement of the floor cleaning appliance along the movement path 140.The explanations made in connection with the infrastructure device 122 apply correspondingly to the infrastructure device 126, in the present case the rolling gate 128. Reference is made to the above explanations.For example, it is provided that the movement path 140 from the user 138 also leads into the space 114 during teaching after the space 112, so that not only the rolling gate 124 but also the rolling gate 128 is to be passed. By way of example, no interaction zones are yet illustrated in FIGS. 2 and 3 for the interaction with the scroll gate 128, because the corresponding interaction event has not yet been taught by the user 138 and no interaction zones have been defined.In FIG. 3, no symbol 182 for the rolling gate 128 is shown schematically for this case, because it is not yet within range of the transmission unit 170 and no identification signal has yet been detected by the reception unit 172 at the rolling gate 128. It should be appreciated that the icon 182 associated with the scroll door 124 could look identical to the icon 182 for the scroll door 124. On the other hand, it can be provided that the user 138 can call and learn the already learned roll gate 128 via the user interface 152, even if no identification signal can yet be received by it.It can be provided that the state change signal is transmitted as a unicast signal, so that it is only received by the respective receiving unit 172 at the rolling gate 124 or at the rolling gate 128.Alternatively, the transmission of a multicast signal or broadcast signal can be provided, which can / can be received by both receiving units 172. It can be advantageous here if the identification number, for example the MAC address, of the receiving unit 172 to be addressed is part of the state change signal. The respective other receiving unit 172 can receive the signal, but does not feel addressed and ignores the signal.The floor cleaning system 100 can preferably comprise a portable auxiliary device 192, in the present case configured as a smartphone 194.The smartphone 194 stores a user application program, for example an app, in an executable manner. The touchscreen 196 of the smartphone 194 forms a user interface 198. The smartphone 194 is in communication with the floor cleaning appliance 102, for example via Bluetooth.Preferably, the user interface 198 provides the same opportunities for the user 138 to interact with the floor cleaning appliance 102. It is conceivable, for example, for post-processing of the taught movement path 140 and / or the definition of an interaction event and / or the definition of interaction zones 186, 188 to be carried out via the smartphone 194 after the teaching operating mode.List of reference characters100 Floor cleaning system 102 Floor cleaning device 104 Scrubber vacuum machine 106 Floor surface 108 Environment 110 Space 112 Space 114 Space 116 Wall 118 Passage 120 Passage 122 Infrastructure device 124 Roller door 126 Infrastructure device 128 Roller door 130 Slat 132 Housing 134 Drive unit 136 Control unit 138 User 140 Movement path 142 Chassis 144 Cleaning unit 146 Floor cleaning head 148 Suction device 150 Operating unit 152 User interface 154 Input unit 156 Display unit 158 Touch screen 160 Control unit 162 Storage unit 164 Map 166 Localization unit 168 LiDAR 170 Transmission unit 172 Reception unit 174 Receptacle 176 Receptacle 178 Docking station 180 Movement path 182 Symbol 184 Arrow 186 Interaction zone 188 Interaction zone 190 Sensor unit 192 Accessory 194 Smartphone 196 Touch screen 198 User interfaceReferences 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 citedWO 2023 / 001389 A1 [0002, 0003]EP 3 416 017 B1

[0017] CN 106 313 114 A

[0018] US 2012 / 165 984 A1

[0019] JP 2011-076149 A

[0019] EP 3 985 218 A1

[0019]

Claims

Floor cleaning system (100) comprising a self-propelled and self-steering floor cleaning appliance (102), having a chassis (142) for moving on the floor surface (106), a control unit (136, 160), a locating unit (166) for determining a position of the floor cleaning appliance (102) in an environment (108), a cleaning unit (144) for cleaning the floor surface (106) and an operating unit (150), a user interface (152, 198) which is coupled or couplable to the control unit (136, 160), and a storage unit (162) in which a map (164) of the environment (108) is storable or stored, wherein the floor cleaning appliance (102) is designed and configured, A method for creating a movement path (140, 180) storable in the storage unit (162) under manual guidance of a user (138) at the operating unit (150) in or after a learning operating mode, wherein the cleaning path can have an interaction event, and assume a repetition operating mode in which the floor cleaning device (102) automatically processes the movement path (140, 180) and triggers the interaction event, characterized in that the floor cleaning system (100) further comprises a transmitting unit (170) arranged at the floor cleaning device (102) and comprised by the same, and a receiving unit (172) arranged at a control unit (136, 160) of an infrastructure device (122, 126) or coupled thereto, which receiving unit is preferably clearly coupled to the transmitting unit (170) via a communication connection, wherein the infrastructure device (122, 126) in the movement path (140, 180), In particular, the latter is arranged in a physically blocking manner, wherein the user (138) defines the interaction event in a position-related manner via the user interface (152, 198) in the learning operating mode and / or during the processing of the movement path (140, 180) after the learning operating mode, which comprises the transmission of a state change signal from the transmitting unit (170) to the receiving unit (172) at least in the repeating operating mode, for transferring the infrastructure device (122, 126) from a first state to a second state depending on the state change signal.The floor cleaning system (100) according to claim 1, characterized in that the receiving unit (172) or the control unit (136, 160) ignores the state change signal after receiving when the infrastructure equipment (122, 126) assumes the second state.Floor cleaning system (100) according to claim 1 or 2, characterised in that the floor cleaning appliance (102) is designed and configured, in the repetition operating mode, after prior learning by the user (138) in the learning operating mode, to transmit the state change signal for transferring the infrastructure device (122, 126) from the first state to the second state, to traverse, pass or use the infrastructure device (122, 126) on the movement path (140, 180), and subsequently to transmit a further state change signal for transferring the infrastructure device (122, 126) from the second state to the first state, preferably in that the state change signal and the further state change signal are distinguishable from one another.Floor cleaning system (100) according to one of the preceding claims, characterized in that one of the following applies: - the infrastructure device (122, 126) is or comprises a door, in particular a rolling door (124, 128) or a door, and the state change signal is an opening signal or a closing signal. - the infrastructure device (122, 126) is a monitoring device for monitoring the environment (108), and the state change signal is a deactivation signal or an activation signal. - the infrastructure device (122, 126) is a transport device, in particular an elevator, and the state change signal is a start signal or a stop signal.Floor cleaning system (100) according to one of the preceding claims, characterized in that at least one of the following applies: - the floor cleaning system (100) comprises at least one infrastructure device (122, 126), in particular a plurality of infrastructure devices 8122, 126), - the floor cleaning appliance (102) comprises the storage unit (162) and / or comprises or forms the user interface (152, 198), - the floor cleaning system (100) comprises a portable auxiliary appliance (192) which is arranged externally to the floor cleaning appliance (102) and on which a user application program is stored in an executable manner and which comprises the user interface (198).Floor cleaning system (100) according to one of the preceding claims, characterized in that the position at which the interaction event is triggered is defined by an interaction zone (186, 188), wherein the change of state signal is emitted in the repetition operating mode when the floor cleaning appliance (102) is arranged within the interaction zone (186, 188), in particular when entering the interaction zone (186, 188).Floor cleaning system (100) according to claim 6, characterized in that the interaction zone (186, 188) has a size of about 2 m 2?) to 20 m 2 preferably about 5 m 2 to 15 m 2.Floor cleaning system (100) according to claim 6 or 7, characterised in that at least one of the following applies: - the shape of the interaction zone (186, 188) can be predefined via the user interface (152, 198); - the size of the interaction zone (186, 188) can be predefined via the user interface (152, 198); - the position of the interaction zone (186, 188) can be predefined via the user interface (152, 198); - the condition of the interaction zone (186, 188) depends on a travel speed of the floor cleaning appliance (102) and / or a course of the movement path (140, 180).Floor cleaning system (100) according to one of Claims 6 to 8, characterized in that the change-of-state signal is transmitted only when the floor cleaning appliance (102) is located within the interaction zone (186, 188).Floor cleaning system (100) according to one of the preceding claims, characterized in that the state change signal can be transmitted multiple times by the transmission unit (170), in particular periodically and / or for a predeterminable period of time.Floor cleaning system (100) according to one of the preceding claims, characterized in that information relating to at least one infrastructure device (122, 126) is stored in the storage unit (162), and in that the user (138), in the learning operating mode, selects the interaction device (122, 126) to which the state change signal is to be transmitted in order to define the interaction event at the user interface (152, 198).Floor cleaning system (100) according to one of the preceding claims, characterized in that the transmitting unit (170) is a transmitting and receiving unit and in that the receiving unit (172) is a receiving and transmitting unit for bidirectional communication of the transmitting unit (170) with the receiving unit (172), and in that an identification signal can be emitted in particular periodically by the receiving unit (172).Floor cleaning system (100) according to claim 12, characterised in that a definition of the interaction event in the learning operating mode is possible via the user interface (152, 198) only if the transmitting unit (170) receives the identification signal.Floor cleaning system (100) according to claim 12 or 13, characterised in that in the learning operating mode after receiving the identification signal, an indication can be provided to the user (138) via the user interface (152, 198) that the infrastructure device (122, 126) is located in the vicinity, connected with a request as to whether an interaction event for the infrastructure device (122, 126) is to be learned.Floor cleaning system (100) according to one of claims 12 to 14 in combination with one of claims 6 to 9, characterised in that the interaction zone (186, 188) is defined as that region in which the identification signal can be received by the transmitting unit (170).Floor cleaning system (100) according to one of Claims 12 to 15, characterized in that, in the repetitive operating mode, the transmission unit (170) transmits the state change signal only if the identification signal has been detected beforehand.Floor cleaning system (100) according to one of the preceding claims, characterized in that an acknowledgement signal is transmitted to the transmitting unit (170) by the receiving unit (172) after the state change signal has been received.Floor cleaning system (100) according to one of the preceding claims, characterized in that a state signal is transmitted from the receiving unit (172) to the transmitting unit (170), whether the infrastructure device (122, 126) assumes the first state or the second state.Floor cleaning system (100) according to one of the preceding claims, characterized in that information relating to at least one infrastructure device (122, 126) relating to the type thereof and / or the properties thereof, in particular relating to the transfer from the first state to the second state and / or vice versa, is stored in the storage unit (162), wherein this information is used as a basis for the content and / or the shipment of the state change signal.Floor cleaning system (100) according to one of the preceding claims, characterized in that a plurality of receiving units (172) are provided, which are coupled or couplable to the transmitting unit (170), and in that one of the following is provided: - the state change signal is a unicast signal which is directed to and receivable by only one receiving unit (172). - the state change signal is a multicast signal or broadcast signal which is directed to and receivable by two or more or all receiving units (172).Floor cleaning system (100) according to claim 20, characterised in that as a component of the multicast signal or the broadcast signal an identification number of a specific receiving unit (172) is transmitted, which interprets the state change signal as being directed to it, whereas the remaining receiving unit(s) (172) ignores / ignores the state change signal.Floor cleaning system (100) according to one of the preceding claims, characterized in that the transmitting unit (170) can be detachably connected to the floor cleaning appliance (102) or is integrated in it in a non-detachable manner.Floor cleaning system (100) according to one of the preceding claims, characterized in that the floor cleaning appliance (102) comprises a sensor unit (190) for detecting a state of the infrastructure device (122, 126), in particular of the first state and / or of the second state, and in that the state change signal for transferring the infrastructure device (122, 126) from the first state to the second state is only emitted if the ascertained state corresponds to the first state, and / or in that the state change signal for transferring the infrastructure device (122, 126) from the second state to the first state is only emitted if the ascertained state corresponds to the second state.Floor cleaning system (100) according to one of the preceding claims, characterized in that the movement path (140, 180) is a cleaning path in which the cleaning unit (144) is in engagement with the floor surface (106), or in that the movement path (140, 180) is a transport path in which the cleaning unit (144) is out of operation.Method for operating the floor cleaning system (100) according to one of the preceding claims, wherein - the user (138) defines the interaction event in a position-related manner via the user interface (152, 198) in the learning operating mode and / or when processing the movement path (140, 180) according to the learning operating mode, - a state change signal is transmitted from the transmitting unit (170) to the receiving unit (172) as part of the interaction event, at least in the repetition operating mode, and - the infrastructure device (122, 126) is transferred from a first state to a second state, depending on the state change signal.

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