METHOD FOR CLEANING A FLOOR SURFACE WITH A FLOOR CLEANING MACHINE

Description

[0001] The present invention relates to a method for cleaning a floor surface with a floor cleaning machine.

[0002] Methods for cleaning floor surfaces using floor cleaning machines are known. In these methods, a floor cleaning machine is usually moved with a chassis over the floor surface to be cleaned, and a cleaning device attached to the chassis is moved into a working position in which the cleaning device engages the floor surface to be cleaned, so that when the floor cleaning machine is moved over the floor surface to be cleaned, the surface is cleaned.

[0003] Especially when the floor cleaning machine operates autonomously, it is desirable to define the area to be cleaned before cleaning a floor surface and then ensure safe cleaning of the floor surface. It is desirable that this can be done in a particularly user-friendly and efficient manner. For example, US patent number 5,568,589 describes a self-propelled cleaning machine that moves along a wall, thus defining a cleaning area.

[0004] The object of the present invention is to determine the area of ​​a floor surface to be cleaned in a user-friendly and efficient manner and to ensure safe cleaning of the floor surface. Taking into account US patent number 5,568,589, the object is to ensure efficient movement of the floor cleaning machine.

[0005] According to the invention, the above object is achieved by a method having the features of patent claim 1.

[0006] The method is provided for cleaning a floor surface using a floor cleaning machine having a chassis for moving the floor cleaning machine over the floor surface to be cleaned and having a cleaning device attached to the chassis, which can be moved into a working position in which the cleaning device engages with the floor surface to be cleaned. The method comprises moving the floor cleaning machine over the floor surface to be cleaned along a closed first learning path. The method also comprises determining a first working area having at least a portion of the floor surface to be cleaned and having a predetermined geometric shape, wherein the extent of the first working area is determined by the closed first learning path. The method further comprises determining a first working path within the first working area.The method further comprises moving the floor cleaning machine along the first working path, wherein the cleaning device is in the working position at least in sections of the first working path. Furthermore, the method comprises detecting the surroundings of the floor cleaning machine while moving the floor cleaning machine along the first working path such that, if an obstacle is located on the first working path, the obstacle is detected by the floor cleaning machine. Finally, if an obstacle is located on the first working path, the method comprises changing the first working path at least in sections such that the floor cleaning machine does not collide with the obstacle.

[0007] The method is provided for cleaning the floor surface with the floor cleaning machine having the chassis for moving the floor cleaning machine over the floor surface to be cleaned and with the cleaning device attached to the chassis, which can be moved into a working position in which the cleaning device engages with the floor surface to be cleaned. Preferably, the cleaning device can be moved into and out of the working position. In particular, the cleaning device can be moved from a transport position into the working position and from the working position into the transport position. Preferably, the cleaning device does not engage with the floor surface to be cleaned in the transport position, so that efficient movement of the floor cleaning machine to, over and from the floor surface to be cleaned can be ensured.

[0008] The method comprises moving the floor cleaning machine over the floor area to be cleaned along the closed first learning path. The floor cleaning machine can, for example, be moved by an operator of the floor cleaning machine along the first learning path, thus enabling a customized shape and arrangement of the first learning path. The fact that the first learning path is closed can be achieved by having a start of the first learning path and an end of the first learning path adjacent to one another. In the context of the present invention, a closed learning path is also understood to mean a learning path whose start and end are not adjacent to one another, but are separated by a distance that is less than a maximum distance. The maximum distance can, for example, be 1 m.

[0009] The method further comprises determining the first working area, comprising at least the section of the floor surface to be cleaned, with the predetermined geometric shape, wherein the extent of the first working area is determined by the closed first learning path. Preferably, the first working area is an area of ​​the floor surface that is to be cleaned during cleaning of the floor surface and is cleaned during cleaning. Particularly preferably, the first working area comprises an area of ​​the floor surface that is to be cleaned during cleaning of the floor surface and is larger than this area. In particular, the first working area is determined before the floor surface is cleaned. The first working area has a predetermined geometric shape. The predetermined geometric shape ensures that the working area can be less complex than the first learning path.Particularly when the first learning path can be described by a large number of spatial coordinates, the number of spatial coordinates for describing the predefined geometric figure can be significantly lower than the number of spatial coordinates required for the exact description of the first learning path. In particular, the predefined geometric figure of the first work area can significantly reduce the computational effort. This is particularly advantageous for determining the first work path and / or the first transport path within the first work area, since the determination can be based on a comparatively less complex figure of the first work area. The predefined geometric figure is preferably a polygon, such as a triangle, a quadrilateral, a pentagon, or a hexagon.Alternatively, the predetermined geometric figure can also be a closed, in particular oval, curve, such as a circle or an ellipse. The extent of the first working area is determined by the closed first learning path. In particular, the extent of the first working area is determined by the closed first learning path such that the first learning path is arranged within the first working area. Preferably, the first learning path defines a minimum extent of the first working area. Determining the extent of the first working area by the closed first learning path can be achieved in that the extent of the first working area is defined by an outline of the area with which the cleaning device would intervene during the movement of the floor cleaning machine along the first learning path if the cleaning device were in the working position.Particularly preferably, the extent of the first work area comprises the dimensions of the first work area in two directions perpendicular to each other and parallel to the floor surface to be cleaned. Particularly preferably, the first learning path is arranged within the first work area.

[0010] In the event that the beginning of the first learning path is not adjacent to the end of the first learning path, the extent of the first working area can be defined by an outline of the area with which the cleaning device would intervene during the movement of the floor cleaning machine along the first learning path and during a movement between the end of the first learning path and the beginning of the first learning path if the cleaning device were in the working position and the floor cleaning machine were to be moved on a direct path from the end of the first learning path to the beginning of the first learning path.

[0011] The method further comprises determining the first working path within the first working area. Determining the first working path within the first working area enables the preliminary definition of the first working path, which can be modified as necessary in the further method. The first working path is preferably arranged within the first working area. In particular, it can be provided that first a section of the first working path is determined, then the movement of the floor cleaning machine along this section of the first working path is commenced, and then a further section of the first working path is determined.

[0012] The method preferably also includes moving the cleaning device into the working position. As already described, it is preferably provided that the cleaning device can be moved from the transport position into the working position and from the working position into the transport position. Particularly preferably, the cleaning device is moved automatically by the floor cleaning machine from the transport position into the working position and from the working position into the transport position. In particular, the floor cleaning machine can have a processor configured to move the cleaning device from the transport position into the working position and from the working position into the transport position.In addition, a computer program can be provided which comprises instructions which, when the computer program is executed by a computer, in particular a computer of the floor cleaning machine, cause the computer to move the cleaning device from the transport position into the working position and from the working position into the transport position.

[0013] The method further comprises moving the floor cleaning machine along the first working path, wherein the cleaning device is in the working position at least in sections of the first working path. In particular, the movement of the floor cleaning machine within the first working area is limited by the extent of the first working area, so that the shape and arrangement of the first learning path limits the movement of the floor cleaning machine within the first working area. The first working path is preferably selected such that the cleaning device engages the entire first working area during cleaning of the first working area. However, obstacles may be provided, such as a wall of a building, so that only a partial area of ​​the first working area is cleaned. In particular, the first working path may at least partially comprise the first learning path.The fact that the first work path has the closed first learning path at least in sections can be achieved by having a section of the first work path extend along the entire first learning path. Alternatively, the fact that the first work path has the closed first learning path at least in sections can also be achieved by having the first work path and the first learning path overlap each other at several points.

[0014] The method also includes detecting the surroundings of the floor cleaning machine while the floor cleaning machine is moving along the first working path such that, if an obstacle is located on the first working path, the obstacle is detected by the floor cleaning machine. As already described, the method includes determining the first working path within the first working area. The first working path can initially be determined such that, if the floor cleaning machine were to move along the entire first working path without changing it, the floor cleaning machine would collide with an obstacle. Since the floor cleaning machine preferably detects the obstacle using at least one sensor of the floor cleaning machine, such a collision can be avoided.

[0015] Finally, if an obstacle is located on the first working path, the method includes modifying the first working path, at least in sections, so that the floor cleaning machine does not collide with the obstacle. By modifying the first working path, at least in sections, so that the floor cleaning machine does not collide with the obstacle, safe cleaning of the floor surface can be ensured.

[0016] The floor cleaning machine is therefore moved along the first learning path, which in turn determines the extent of the first working area. Thus, depending on the movement of the floor cleaning machine and the resulting arrangement and shape of the learning path, the extent of the first working area can be determined, allowing a user to particularly easily influence the arrangement and shape of the first working area by moving the floor cleaning machine. In particular, the first working area is defined by its predetermined geometric shape and its extent, which in turn is determined by the first learning path, so that moving the floor cleaning machine within the entire first working area to determine the first working area is unnecessary, allowing the first working area to be determined particularly efficiently.

[0017] In summary, it can be stated that an area of ​​the floor surface to be cleaned can be determined in a user-friendly and efficient manner and that safe cleaning of the floor surface can be ensured.

[0018] As already described, a section of the first working path can extend along the entire first learning path. In particular, if a section of the first working path extends along the entire first learning path, it can be provided that a working path section of the first working path is arranged offset inwards with respect to the first learning path, wherein the working path section arranged offset inwards extends at least partially parallel to the first learning path. The working path section arranged offset inwards can particularly preferably ensure that the floor surface is completely cleaned, even in regions of the ends of sections of the first working path that run parallel to one another. Further working path sections of the first working path are preferably arranged offset inwards with respect to one another.In addition, for each learning path, an inwardly offset work path section of a corresponding work path can be provided.

[0019] In addition, a circumferential first section of the first working path can be arranged such that this section surrounds the outside of the remaining first working path. In particular, a circumferential second section of the first working path can be arranged such that this section is arranged within the circumferential first section and in turn surrounds the outside of the remaining first working path, i.e. the first working path except for the circumferential first section and the circumferential second section. In this case, the circumferential first section and the circumferential second section can extend parallel to one another at least in sections. By means of the circumferential second section, it can be particularly preferably ensured that the floor surface is completely cleaned, even in regions of the ends of sections of the first working path that run parallel to one another.

[0020] According to the invention, the method further comprises determining a first transport path in the first work area, moving the cleaning device into a transport position, and moving the floor cleaning machine along the first transport path, wherein the cleaning device is in the transport position at least in sections of the first transport path. Determining the first transport path in the first work area enables efficient movement of the floor cleaning machine within the first work area, in particular in the event that, in addition to cleaning the first work area, cleaning of a further work area, such as a second work area, is provided. Moving the floor cleaning machine along a transport path can be understood as moving the floor cleaning machine from a first end to a second end of the transport path.Alternatively, moving the floor cleaning machine along a transport path can also be understood as moving the floor cleaning machine from the first end of the transport path to a predetermined first point on the transport path, or as moving the floor cleaning machine from a predetermined second point on the transport path to the second end of the transport path. Alternatively, the floor cleaning machine can also be moved along the transport path such that the floor cleaning machine is moved from the predetermined first point on the transport path to the predetermined second point on the transport path.For example, when the floor cleaning machine is at the first point and / or at the second point, the cleaning device can be moved into the working position and / or into the transport position so that the floor cleaning machine can start and / or finish a cleaning process at the first point and / or at the second point.

[0021] According to the invention, the method further comprises moving the floor cleaning machine over the floor area to be cleaned along a closed second learning path, determining a second working area having at least a portion of the floor area to be cleaned with a predetermined geometric shape, wherein the extent of the second working area is determined by the closed second learning path, determining a second working path within the second working area, moving the floor cleaning machine along the second working path, wherein the cleaning device is in the working position at least in portions of the second working path, detecting the surroundings of the floor cleaning machine while moving the floor cleaning machine along the second working path such that, if an obstacle is located on the second working path, the obstacle is detected by the floor cleaning machine, and then,If an obstacle is located on the second working path, changing the second working path, at least in sections, so that the floor cleaning machine does not collide with the obstacle. The features, technical effects, and / or advantages described in connection with the first learning path, the first working area, and the first working path also apply at least analogously to the second learning path, the second working area, and the second working path, so that a corresponding repetition is omitted here.

[0022] In this embodiment of the method, the floor cleaning machine can also be moved over the floor area to be cleaned along a closed first learning path, and a first working area comprising at least a portion of the floor area to be cleaned is determined with a predetermined geometric shape, wherein the extent of the first working area is determined by the closed first learning path. The floor cleaning machine is then moved over the floor area to be cleaned along a closed second learning path, and a second working area comprising at least a portion of the floor area to be cleaned is determined with a predetermined geometric shape, wherein the extent of the second working area is determined by the closed second learning path.Finally, the cleaning device is moved into the working position, and the floor cleaning machine is moved within the first working area along a first working path, which may at least partially comprise the closed first learning path, and within the second working area along a second working path, which may at least partially comprise the closed second learning path. Similar to what is described here, the floor cleaning machine can also be moved along any number of closed learning paths, and any number of working areas, each forming at least one section of the floor area to be cleaned, can be defined with a predetermined geometric shape, wherein the extent of each working area is determined by one of the closed learning paths.The cleaning device can then be moved into the working position, and the floor cleaning machine can be moved sequentially within each of the work areas along a corresponding work path, which can comprise at least some sections of one of the closed learning paths. In particular, it is provided that the floor cleaning machine is moved sequentially along a subset of the work paths. In particular, the subset of the work paths can change, in particular on consecutive days and / or depending on the level of soiling of the corresponding work areas, so that the floor cleaning machine is moved sequentially along different subsets of the work paths.For example, the floor cleaning machine can be moved along a closed first learning path, along a closed second learning path, and along a closed third learning path, and a first working area forming at least a portion of the floor surface to be cleaned, a second working area forming at least a portion of the floor surface to be cleaned, and a third working area forming at least a portion of the floor surface to be cleaned can be determined. In this case, the extent of the first working area is determined by the closed first learning path, the extent of the second working area is determined by the closed second learning path, and the extent of the third working area is determined by the closed third learning path. In particular, if multiple working areas are provided, two working areas of the multiple working areas can overlap at least in sections.In particular, two adjacent work areas may overlap at least in part.

[0023] According to the invention, the method further comprises determining a second transport path in the second work area, moving the cleaning device into a transport position, and moving the floor cleaning machine along the second transport path, wherein the cleaning device is in the transport position at least in sections of the second transport path. The features, technical effects, and / or advantages described in connection with the first transport path also apply at least analogously to the second transport path, so that a corresponding repetition is omitted here.

[0024] According to the invention, the method further comprises determining a connecting path that connects the first transport path and the second transport path, moving the cleaning device into a transport position, and moving the floor cleaning machine along the connecting path, wherein the cleaning device is in the transport position at least in sections of the connecting path. Determining the connecting path and moving the floor cleaning machine along the connecting path that connects the first transport path and the second transport path enables efficient movement of the floor cleaning machine between the first work area and the second work area.

[0025] Compared to US patent number 5,568,589, claim 1 differs in particular in that claim 1 defines that the method further comprises the following step: determining a first transport path in the first working area, bringing the cleaning device into a transport position, and moving the floor cleaning machine along the first transport path, wherein the cleaning device is in the transport position at least in sections of the first transport path, wherein the method further comprises the following steps: moving the floor cleaning machine over the floor area to be cleaned along a closed second learning path, determining a second working area comprising at least a section of the floor area to be cleaned with a predetermined geometric shape, wherein the extent of the second working area is determined by the closed second learning path,Determining a second working path within the second working area, moving the floor cleaning machine along the second working path, wherein the cleaning device is in the working position at least in sections of the second working path, detecting the surroundings of the floor cleaning machine while moving the floor cleaning machine along the second working path such that, if an obstacle is located on the second working path, the obstacle is detected by the floor cleaning machine, and if an obstacle is located on the second working path, changing the second working path at least in sections such that the floor cleaning machine does not collide with the obstacle, wherein the method further comprises the following step: determining a second transport path in the second working area, moving the cleaning device into a transport position, and moving the floor cleaning machine along the second transport path,wherein the cleaning device is in the transport position at least in sections of the second transport path, the method further comprising the following step: determining a first connecting path connecting the first transport path and the second transport path, bringing the cleaning device into a transport position, and moving the floor cleaning machine along the connecting path, wherein the cleaning device is in the transport position at least in sections of the connecting path.

[0026] The technical effect resulting from this difference is that an efficient movement of the floor cleaning machine is ensured, inter alia because the connecting path according to the invention ensures that the floor cleaning machine can be moved efficiently between the first working area and the second working area.

[0027] As already described, the floor cleaning machine can be moved along any number of closed learning paths and any number of work areas forming at least a section of the floor surface to be cleaned can be determined, wherein the extent of each work area is determined by one of the closed learning paths. In each work area, a transport path can be determined and the floor cleaning machine can be moved along each transport path while the cleaning device is moved into the transport position. If multiple work areas are provided, two work areas of the multiple work areas can be referred to as adjacent work areas. Two work areas are referred to as adjacent work areas in particular if no further work area of ​​the multiple work areas is arranged between the two work areas.In particular, at least one connecting path can be determined, wherein each connecting path of the at least one connecting path preferably connects two transport paths to one another. In particular, each connecting path of the at least one connecting path can connect two transport paths to one another, wherein a first transport path of the two transport paths is arranged in a first working area and a second transport path of the two transport paths is arranged in a second working area, and the first working area and the second working area are adjacent working areas.Thus, when the floor cleaning machine is to be moved from a first work area to a second work area which are not adjacent work areas, the floor cleaning machine can be moved along at least one transport path and along at least two connecting paths from the first work area to the second work area while the cleaning device is brought into the transport position, without the at least one work area which is arranged between the first work area and the second work area and has the at least one transport path being cleaned.

[0028] Preferably, the movement of the floor cleaning machine along each working path, each transport path, and each connecting path is carried out automatically by the floor cleaning machine. In particular, the floor cleaning machine can have a processor configured to move the floor cleaning machine along each working path, each transport path, and each connecting path. Furthermore, a computer program can be provided that includes instructions that, when executed by a computer, in particular a computer of the floor cleaning machine, cause the computer to move the floor cleaning machine along each working path, each transport path, and each connecting path.

[0029] In one embodiment, the method further comprises detecting the environment of the floor cleaning machine during the movement of the floor cleaning machine along the closed first learning path and / or detecting the environment of the floor cleaning machine during the movement of the floor cleaning machine along the closed second learning path and / or detecting the environment of the floor cleaning machine during the movement of the floor cleaning machine along the closed third learning path, and creating a map representing the detected environment of the floor cleaning machine based on the detected environment of the floor cleaning machine.The map representing the detected environment of the floor cleaning machine can be taken into account when determining the first working path, the second working path, the first transport path, the second transport path, and / or the connecting path, so that an advantageous shape and arrangement of the first working path, the second working path, the first transport path, the second transport path, and / or the connecting path enables efficient movement of the floor cleaning machine. In particular, if multiple closed learning paths are provided, the environment of the floor cleaning machine can be detected during the movement of the floor cleaning machine along each of the learning paths, and a map representing the detected environment of the floor cleaning machine can be created based on the detected environment of the floor cleaning machine.The map can be taken into account in determining each working path, each transport path, and / or each connecting path, so that an efficient movement of the floor cleaning machine is enabled by an advantageous shape and arrangement of each working path, each transport path, and / or each connecting path.

[0030] In particular, when one or more obstacles are arranged on the work area in such a way that the first learning path and / or the second learning path circumvents the obstacle or the more obstacles, the map can be taken into account when determining the first work path, the second work path, the first transport path, the second transport path and / or the connecting path, thus enabling efficient movement of the floor cleaning machine.

[0031] In particular, the surroundings of the floor cleaning machine can also be newly recorded during the movement of the floor cleaning machine along the first working path, the second working path, the first transport path, the second transport path, and / or the connecting path, and thus taken into account during the movement of the floor cleaning machine along the first working path, the second working path, the first transport path, the second transport path, and / or the connecting path, thus preventing a collision even when the surroundings of the floor cleaning machine change. The previously created map can then be modified such that the map represents the newly recorded surroundings of the floor cleaning machine.

[0032] The map representing the newly detected environment of the floor cleaning machine can be taken into account when determining the first working path, the second working path, the first transport path, the second transport path, and / or the connecting path, so that an advantageous shape and arrangement of the first working path, the second working path, the first transport path, the second transport path, and / or the connecting path enables efficient movement of the floor cleaning machine, even when the environment of the floor cleaning machine changes. The environment of the floor cleaning machine is preferably detected using at least one sensor of the floor cleaning machine. In particular, the environment of the floor cleaning machine is detected using at least one ultrasonic sensor and / or at least one infrared sensor and / or at least one laser sensor.Each sensor of the at least one sensor can be a sensor of a camera and / or a scanner. In particular, each sensor of the at least one sensor can be a sensor of a 3D sensor and / or a 3D camera and / or a 3D scanner.

[0033] In one embodiment, the method further comprises adding the first work area and / or the second work area to the map, such that the first work area and / or the second work area is / are represented in the map. In particular, if the first work area and / or the second work area is / are represented in the map, the first work area and / or the second work area can be taken into account when determining the first work path, the second work path, the first transport path, the second transport path, and / or the connecting path.

[0034] In one embodiment, the method further comprises adding the first work path and / or the second work path to the map, such that the first work path and / or the second work path is / are represented in the map. In particular, if the first work path and / or the second work path is / are represented in the map, the first work path and / or the second work path can be taken into account when determining the first work area, the second work area, the first transport path, the second transport path, and / or the connecting path.

[0035] In one embodiment, the method further comprises adding the first transport path and / or the second transport path to the map, such that the first transport path and / or the second transport path is / are represented in the map. In particular, if the first transport path and / or the second transport path is / are represented in the map, the first transport path and / or the second transport path can be taken into account when determining the first working path, the second working path, and / or the connecting path.

[0036] In one embodiment, the method further comprises adding the connection path to the map so that the connection path is represented in the map. In particular, if the connection path is represented in the map, the connection path can be taken into account when determining the first work path, the second work path, the first transport path, and / or the second transport path.

[0037] Particularly preferably, the surroundings of the floor cleaning machine are recorded and the map representing the recorded surroundings of the floor cleaning machine is created while the floor cleaning machine is moved over the floor area to be cleaned along at least one learning path, such as the first, second and / or third learning path. Subsequently, at least one extension is preferably determined, wherein each extension defines a work area and is determined by a corresponding learning path. Preferably, a transport path is determined in each work area. In particular, a work path is subsequently determined in each work area, which work path can at least partially comprise the learning path arranged in the same work area.

[0038] In particular, the processor can be configured orthe computer program comprises instructions which, when the computer program is executed by the computer, in particular the computer of the floor cleaning machine, cause the computer to record the surroundings of the floor cleaning machine, to create the map representing the recorded surroundings of the floor cleaning machine, to store the created map in a data memory of the floor cleaning machine, to determine the at least one extent and to store it in the data memory of the floor cleaning machine, to determine the at least one working area and to store it in the data memory of the floor cleaning machine, to determine the at least one transport path and to store it in the data memory of the floor cleaning machine, to determine the at least one working path and to store it in the data memory of the floor cleaning machine and to determine the at least one connection path and to store it in the data memory of the floor cleaning machine.In particular, the processor can be configured or the computer program can comprise instructions which, when the computer program is executed by the computer, in particular the computer of the floor cleaning machine, cause the computer to carry out the method steps described in connection with the present invention.

[0039] Further features, advantages, and possible applications of the present invention will become apparent from the following description of the exemplary embodiments and the figures. All described and / or illustrated features, individually and in any combination, constitute the subject matter of the invention, regardless of their composition in the individual claims or their references. In the figures, the same reference numerals continue to represent the same or similar objects. Figure 1 shows a schematic plan view of a first floor surface to be cleaned, which can be cleaned with a first embodiment of a method according to the invention. Figure 2 shows a schematic plan view of the Figure 1 shown first floor area to be cleaned. Figure 3 shows a schematic plan view of the Figure 1 shown first floor area to be cleaned. Figure 4 shows a schematic plan view of the Figure 1 shown first floor area to be cleaned. Figure 5 shows a schematic plan view of a second floor area to be cleaned, which can be cleaned using a second embodiment of the method according to the invention. Figure 6 shows a schematic plan view of a third floor area to be cleaned, which can be cleaned using a third embodiment of the method according to the invention. Figure 7 shows a schematic plan view of the Figure 6shown third floor area to be cleaned, on which a first obstacle is arranged. Figure 8 shows a schematic plan view of the Figure 6 shown third floor area to be cleaned, on which a second obstacle is arranged. Figure 9 shows a schematic plan view of the Figure 6 shown third floor area to be cleaned, on which a third obstacle is arranged.

[0040] Figure 1 shows a schematic plan view of a first floor surface 1 to be cleaned, which can be cleaned with a first embodiment of a method according to the invention. A floor cleaning machine 3 is shown in Figure 1shown symbolized by an arrow. The floor cleaning machine 3 has a chassis and a cleaning device. The chassis ensures that the floor cleaning machine 3 can be moved over the first floor surface 1 to be cleaned. The cleaning device is attached to the chassis and can be moved into and out of a working position. In the working position, the cleaning device engages with the first floor surface 1 to be cleaned, so that the latter can be cleaned when the floor cleaning machine 3 is moved over the first floor surface 1 to be cleaned. The cleaning device can be moved from a transport position into the working position and from the working position into the transport position.In the transport position, the cleaning device does not engage with the first floor surface 1 to be cleaned, thus enabling efficient movement of the floor cleaning machine 3 to, from and over the first floor surface 1 to be cleaned.

[0041] Figure 1 shows a closed first learning path 5, which extends from a beginning 7 of the first learning path 5 to an end 9 of the first learning path 5. An end region 11 is shown, to which the beginning 7 of the first learning path 5 is adjacent and in which the floor cleaning machine 3 and the end 9 of the first learning path 5 are arranged. The first floor area 1 to be cleaned is delimited by a boundary line 13, which in the present example is defined by a wall of a building.

[0042] Figure 2 shows a schematic plan view of the Figure 1shown first floor area 1 to be cleaned. A closed second learning path 15 extends from a beginning 17 of the second learning path 15 to an end 19 of the second learning path 15. Furthermore, Figure 2 a first work area 21 and a second work area 23. Figure 3 shows a schematic plan view of the Figure 1 shown first floor area to be cleaned 1. In Figure 3 Additionally, a first transport path 25 and a second transport path 27 are shown. Figure 4 shows a schematic plan view of the Figure 1 shown first floor area to be cleaned 1. In Figure 4 In addition, a first connecting path 28 is shown, which connects the first transport path 25 and the second transport path 27.

[0043] First, the floor cleaning machine 3 is moved over the first floor surface 1 to be cleaned, along the closed first learning path 5 and along the closed second learning path 15. The first working area 21 and the second working area 23 are determined. The first working area 21 and the second working area 23 each comprise a section of the first floor surface 1 to be cleaned. The first working area 21 and the second working area 23 each have a predetermined geometric figure, each of which is a quadrilateral. The first working area 21 and the second working area 23 are each determined such that the extent of the first working area 21 is determined by the closed first learning path 5 and the extent of the second working area 23 is determined by the closed second learning path 15.

[0044] Furthermore, the first transport path 25 in the first work area 21 and the second transport path 27 in the second work area 23 are determined. The first transport path 25 is arranged within the first learning path 5, and the second transport path 27 is arranged within the second learning path 15. Once the first transport path 25 and the second transport path 27 are determined, the first connecting path 28 is determined, which connects the first transport path 25 and the second transport path 27.

[0045] In addition, a first working path is determined within the first working area 21 and a second working path is determined within the second working area 23. The cleaning device is moved into the working position, and the floor cleaning machine 3 is moved within the first working area 21 along the first working path. The cleaning device is in the working position at least in sections of the first working path. While the floor cleaning machine 3 is moving along the first working path, the surroundings of the floor cleaning machine 3 are detected such that, if an obstacle is located on the first working path, the obstacle is detected by the floor cleaning machine. If an obstacle is located on the first working path, the first working path is changed, at least in sections, so that the floor cleaning machine does not collide with the obstacle.After the floor cleaning machine 3 has moved along the first working path, the cleaning device is moved into the transport position, and the floor cleaning machine 3 is moved along the first transport path 25, along the first connecting path 28, and to the second transport path 27. The floor cleaning machine 3 is moved along the second transport path 27 to one end of the second transport path 27 or to a point on the transport path 27. The cleaning device is in the transport position at least in sections of the first transport path 25, the first connecting path 28, and the second transport path 27.

[0046] The cleaning device is then moved into the working position, and the floor cleaning machine 3 is moved within the second working area 23 along the second working path. The cleaning device is in the working position at least in sections of the second working path. While the floor cleaning machine 3 is moving along the second working path, the surroundings of the floor cleaning machine 3 are detected such that, if an obstacle is located on the second working path, the obstacle is detected by the floor cleaning machine. If an obstacle is located on the second working path, the second working path is changed, at least in sections, so that the floor cleaning machine does not collide with the obstacle.

[0047] In the Figures 1 to 4In the example shown, there is neither an obstacle on the first working path nor an obstacle on the second working path, so that neither a change to the first working path nor a change to the second working path is necessary.

[0048] Furthermore, the environment of the floor cleaning machine 3 is recorded during the movement of the floor cleaning machine 3 along the closed first learning path 5 and during the movement of the floor cleaning machine 3 along the closed second learning path 15. A map is created based on the recorded environment of the floor cleaning machine 3, so that the recorded environment of the floor cleaning machine 3 is represented in the map. In the Figures 1 to 4 In the example shown, the detected environment of the floor cleaning machine 3 is the wall of the building. The wall of the building is in the Figures 1 to 4represented as boundary line 13. The first work area 21 and the second work area 23 are added to the map. The first work area 21 and the second work area 23 can be represented in the map. Likewise, the first transport path 25 and the second transport path 27 are added to the map and can be represented in the map. Furthermore, the first connecting path 28 is added to the map and can be represented in the map. In a similar manner, the first work path and / or the second work path can also be added to the map so that the first work path and / or the second work path is represented in the map.The map representing the detected environment of the floor cleaning machine can be taken into account when determining the first working path, the second working path, the first transport path 25, the second transport path 27 and / or the first connecting path 28, so that an advantageous shape and arrangement of the first working path, the second working path, the first transport path 25, the second transport path 27 and / or the first connecting path 28 enables efficient movement of the floor cleaning machine.

[0049] Figure 5 shows a schematic plan view of a second floor area 1 to be cleaned, which essentially corresponds to the one shown in the Figures 1 to 4 shown first floor area 1 and by a Figure 5 the additional floor area shown on the right.

[0050] Figure 5shows the closed first learning path 5, which extends from the beginning 7 of the first learning path 5 to the end 9 of the first learning path 5. In addition, Figure 5 the closed second learning path 15, which extends from the beginning 17 of the second learning path 15 to the end 19 of the second learning path 15. In addition, Figure 5a closed third learning path 37, which extends from a start 39 of the third learning path 37 to an end 41 of the third learning path 37. The second floor area 1 to be cleaned is delimited by a boundary line 13, which in the present example is defined by a wall of a building. In addition to the first work area 21 and the second work area 23, a third work area 43 is shown. Also shown are the first transport path 25, the second transport path 27, and a third transport path 45. Furthermore, the first connecting path 28 and a second connecting path 47 are shown. The first connecting path 28 connects the first transport path 25 and the second transport path 27 to one another, and the second connecting path 47 connects the first transport path 25 and the third transport path 45 to one another.

[0051] The floor cleaning machine 3 is moved over the second floor surface 1 to be cleaned along the closed first learning path 5, along the closed second learning path 15, and along the closed third learning path 37. The first working area 21, the second working area 23, and the third working area 43 are determined. The first working area 21, the second working area 23, and the third working area 43 each comprise a section of the second floor surface 1 to be cleaned. The first working area 21, the second working area 23, and the third working area 43 each comprise a predetermined geometric figure, each of which is a quadrilateral.The first work area 21, the second work area 23 and the third work area 43 are each determined such that the extent of the first work area 21 is determined by the closed first learning path 5, the extent of the second work area 23 is determined by the closed second learning path 15 and the extent of the third work area 43 is determined by the closed third learning path 37.

[0052] The first transport path 25 is determined in the first work area 21, the second transport path 27 is determined in the second work area 23, and the third transport path 45 is determined in the third work area 43. The first transport path 25 is located within the first learning path 5, the second transport path 27 is located within the second learning path 15, and the third transport path 45 is located within the third learning path 37. When the first transport path 25 and the second transport path 27 are determined, the first connecting path 28 is determined. In addition, the second connecting path 47 is determined when the first transport path 25 and the third transport path 45 are determined.

[0053] Furthermore, the first working path within the first working area 21, the second working path within the second working area 23, and a third working path within the third working area 43 are determined. The cleaning device 3 is moved into the working position, and the floor cleaning machine 3 is moved within the first working area 21 along the first working path. The cleaning device is in the working position at least in sections of the first working path. While the floor cleaning machine 3 is moving along the first working path, the surroundings of the floor cleaning machine 3 are detected such that, if an obstacle is located on the first working path, the obstacle is detected by the floor cleaning machine. If an obstacle is located on the first working path, the first working path is changed, at least in sections, so that the floor cleaning machine does not collide with the obstacle.

[0054] After the floor cleaning machine 3 has moved along the first working path, the cleaning device is moved into the transport position, and the floor cleaning machine 3 is moved along the first transport path 25, along the connecting path 28, and to the second transport path 27. The floor cleaning machine 3 is moved along the second transport path 27 to one end of the second transport path 27 or to a point on the transport path 27. The cleaning device is in the transport position at least in sections of the first transport path 25, the first connecting path 28, and the second transport path 27.

[0055] The cleaning device is then moved into the working position, and the floor cleaning machine 3 is moved within the second working area 23 along the second working path. The cleaning device is in the working position at least in sections of the second working path. While the floor cleaning machine 3 is moving along the second working path, the surroundings of the floor cleaning machine 3 are detected such that, if an obstacle is located on the second working path, the obstacle is detected by the floor cleaning machine. If an obstacle is located on the second working path, the second working path is changed, at least in sections, so that the floor cleaning machine does not collide with the obstacle.

[0056] Once the floor cleaning machine 3 has been moved along the second working path, the cleaning device is moved into the transport position, and the floor cleaning machine 3 is moved along the second transport path 27, along the first connecting path 28, along the first transport path 25, along the second connecting path 47, and to the third transport path 45. The floor cleaning machine 3 is moved along the third transport path 45 to one end of the third transport path 45 or to a point on the third transport path 45. The cleaning device is in the transport position at least in sections of the second transport path 27, the first connecting path 28, the first transport path 25, the second connecting path 47, and the third transport path 45.

[0057] The cleaning device is then moved into the working position, and the floor cleaning machine 3 is moved within the third working area 43 along the third working path. The cleaning device is in the working position at least in sections of the third working path. While the floor cleaning machine 3 is moving along the third working path, the surroundings of the floor cleaning machine 3 are detected such that, if an obstacle is located on the third working path, the obstacle is detected by the floor cleaning machine. If an obstacle is located on the third working path, the third working path is changed, at least in sections, so that the floor cleaning machine does not collide with the obstacle.

[0058] In the Figures 1 to 4In the example shown, no obstacle is located on the first working path, on the second working path, or on the third working path, so that no change to the first working path, no change to the second working path, and no change to the third working path is necessary.

[0059] Furthermore, the environment of the floor cleaning machine 3 is recorded during the movement of the floor cleaning machine 3 along the closed first learning path 5, during the movement of the floor cleaning machine 3 along the closed second learning path 15, and during the movement of the floor cleaning machine 3 along the closed third learning path 37. A map is created based on the recorded environment of the floor cleaning machine 3, so that the recorded environment of the floor cleaning machine 3 is represented in the map. In the Figure 5In the example shown, the detected environment of the floor cleaning machine 3 is the wall of the building. The wall of the building is in Figure 5represented as boundary line 13. The first work area 21, the second work area 23 and the third work area 43 are added to the map. The first work area 21, the second work area 23 and the third work area 43 can be represented in the map. Likewise, the first transport path 25, the second transport path 27 and the third transport path 45 are added to the map and can be represented in the map. Furthermore, the first connecting path 28 and the second connecting path 47 are added to the map and can be represented in the map. In a similar way, the first work path and / or the second work path and / or the third work path can also be added to the map so that the first work path and / or the second work path and / or the third work path is represented in the map.The map representing the detected environment of the floor cleaning machine can be taken into account when determining the first working path, the second working path, the third working path, the first transport path 25, the second transport path 27, the third transport path 45, the first connecting path 28 and / or the second connecting path 47, so that an advantageous shape and arrangement of the first working path, the second working path, the third working path, the first transport path 25, the second transport path 27, the third transport path 45, the first connecting path 28 and / or the second connecting path 47 enables efficient movement of the floor cleaning machine.

[0060] Figure 6 shows a schematic plan view of a third floor surface 1 to be cleaned, which can be cleaned with a second embodiment of the method according to the invention. The floor cleaning machine 3 is in Figure 6symbolized by an arrow. The closed first learning path 5 is shown. The third floor area 1 to be cleaned is bounded by the boundary line 13, which in this example is defined by a wall of a building. Three sections 29 of the first work path are shown.

[0061] First, the floor cleaning machine 3 is moved over the third floor area 1 to be cleaned along the closed first learning path 5. The first working area 21 is determined. In the example shown, the first working area 21 forms the entire third floor area 1 to be cleaned. The first working area 21 has a predetermined geometric shape, which is a quadrilateral. The first working area 21 is determined such that the extent of the first working area 21 is determined by the closed first learning path 5.

[0062] In addition, a first working path with three sections 29 is determined within the first working area 21. The cleaning device is moved into the working position, and the floor cleaning machine 3 is moved within the first working area 21 along the first working path. The cleaning device is in the working position at least in sections of the first working path. While the floor cleaning machine 3 is moving along the first working path, the surroundings of the floor cleaning machine 3 are detected such that, if an obstacle is located on the first working path, the obstacle is detected by the floor cleaning machine. If an obstacle is located on the first working path, the first working path is changed, at least in sections, such that the floor cleaning machine does not collide with the obstacle. Figure 6In the example shown, there is no obstacle on the first working path, so that a change to the first working path is not necessary.

[0063] In the Figure 6 In the example shown, the first work path comprises the entire closed first learning path 5, so that a section 49 of the first work path extends along the entire first learning path 5. The first learning path 5 and the first work path are basically two different paths. However, in the example shown in Figure 6In the example shown, it is provided that a section of the first working path coincides with the first learning path 5. After the floor cleaning machine 3 has been moved along the closed first learning path 5, the cleaning device is brought into the working position and the floor cleaning machine 3 is moved along the first working path by first moving the floor cleaning machine 3 along the entire first learning path 5. By moving the floor cleaning machine 3 with the cleaning device brought into the working position along the first working path by first moving the floor cleaning machine 3 along the entire first learning path 5, it is ensured that the third floor surface 1 is completely cleaned, even in areas at the ends of the three sections 29 of the first working path.Next, the floor cleaning machine 3 is moved from the first learning path 5, which coincides with a section of the first working path and has already been traveled, to the path shown in . Figure 6 section 29 of the first working path shown on the left, as shown in Figure 6 symbolized by the curved arrow shown on the left. The floor cleaning machine 3 is then moved along the Figure 6 section 29 shown on the left is first moved downwards, at the lower end of the Figure 6 section 29 shown on the left, preferably with a rotation angle of approximately 180°, and then along the Figure 6 section 29 shown on the left. At the upper end of the Figure 6 The floor cleaning machine 3 is rotated, preferably with a rotation angle of approximately 120°, and towards the section 29 shown on the left Figure 6 section 29 of the first working path shown in the middle, as shown in Figure 6symbolized by the curved arrow shown in the middle. The floor cleaning machine is then moved along the Figure 6 section 29 shown in the middle from the upper end of the Figure 6 section 29 shown in the middle to the lower end of the Figure 6 section 29 shown in the middle. At the lower end of the Figure 6 the floor cleaning machine 3 is rotated, preferably with a rotation angle of approximately 120°, and towards the section 29 shown in the middle Figure 6 section 29 of the first working path shown on the right, as shown in Figure 6 symbolized by the curved arrow shown on the right. Next, the floor cleaning machine is moved along the Figure 6 section 29 shown on the right from the lower end of the Figure 6 section 29 shown on the right towards the upper end of the Figure 6 section 29 shown on the right.

[0064] In addition, the environment of the floor cleaning machine 3 is detected during the movement of the floor cleaning machine 3 along the closed first learning path 5. A map is created based on the detected environment of the floor cleaning machine 3, so that the detected environment of the floor cleaning machine 3 is represented in the map. In the Figure 6 In the example shown, the detected environment of the floor cleaning machine 3 is the wall of the building. The wall of the building is in Figure 6 represented as boundary line 13. The first work area 21 is added to the map. The first work area 21 can be represented on the map. Similarly, the sections 29 of the first work path are added to the map so that the sections 29 of the first work path are represented on the map.

[0065] Figure 7 shows a schematic plan view of the Figure 6shown third floor surface 1 to be cleaned, on which a first obstacle 31 is arranged, Figure 8 shows a schematic plan view of the Figure 6 shown third floor surface 1 to be cleaned, on which a second obstacle 33 is arranged and Figure 9 shows a schematic plan view of the Figure 6 shown third floor surface 1 to be cleaned, on which a third obstacle 35 is arranged.

[0066] As already mentioned in connection with Figure 6 described, the floor cleaning machine 3 is used in each of the Figures 7, 8 and 9In the examples shown, the robot is moved over the third floor area 1 to be cleaned along the closed first learning path 5. The first working area 21 is determined. In the example shown, the first working area 21 forms the entire third floor area 1 to be cleaned. The first working area 21 has a predetermined geometric shape, which is a quadrilateral. The first working area 21 is determined such that the extent of the first working area 21 is determined by the closed first learning path 5.

[0067] Furthermore, a first working path with three sections 29 is determined within the first working area 21, wherein the initially determined first working path is connected with the Figure 6determined first working path. The cleaning device is moved into the working position and the floor cleaning machine 3 is moved within the first working area 21 along the first working path. The cleaning device is in the working position at least in sections of the first working path. During the movement of the floor cleaning machine 3 along the first working path, the surroundings of the floor cleaning machine 3 are detected such that the obstacle 31, 33, 35 arranged on the first working path is detected by the floor cleaning machine. Since the corresponding obstacle 31, 33, 35 is detected by the floor cleaning machine, the first working path is changed at least in sections so that the floor cleaning machine does not collide with the obstacle. In the Figures 7, 8 and 9In the examples shown, a further section 51 of the first working path is changed so that the further section 51 guides the floor cleaning machine around the corresponding obstacle 31, 33, 35. In the Figure 9 In the example shown, a third section 53 of the first working path is also changed so that the third section 53 guides the floor cleaning machine around the third obstacle 35.

[0068] Since the first working path is changed at least in sections, a collision between the floor cleaning machine 3 and the obstacle 31, 33, 35 can be avoided during the movement of the floor cleaning machine 3 along the first working path. Depending on the arrangement and extent of the first obstacle 31, the second obstacle 33, or the third obstacle 35, the sections 29 of the first working path can be designed and arranged accordingly, so that the first working path is arranged in the first working area 21.

[0069] In the in the Figures 7 and 8 In the examples shown, the first working path comprises only a section of the closed first learning path 5, so that a section 49 of the first working path extends along the section of the first learning path 5. In the example shown in Figure 9In the example shown, the first working path again comprises the entire closed first learning path 5, so that a section of the first working path extends along the entire first learning path 5. After the floor cleaning machine 3 has been moved along the closed first learning path 5, the cleaning device is brought into the working position and the floor cleaning machine 3 is moved along the first working path by first moving the floor cleaning machine 3 along the entire first learning path 5, which coincides with a section of the first working path.By moving the floor cleaning machine 3 with the cleaning device in the working position along the first working path by first moving the floor cleaning machine 3 along the entire first learning path 5, it is ensured that the third floor surface 1 is completely cleaned, even in areas at the ends of the three sections 29 of the first working path.

[0070] After the floor cleaning machine 3 has been moved along the first learning path 5 with the cleaning device in the working position, the floor cleaning machine 3 is moved from the first learning path 5 to the corresponding one in the Figures 7, 8 and 9 section 29 of the first working path shown on the left, as indicated by the corresponding Figures 7, 8 and 9 symbolized by the curved arrow shown on the left. The floor cleaning machine 3 is then moved along the corresponding Figures 7, 8and 9 each section 29 shown on the left is first moved downwards, at the respective lower end of the corresponding Figures 7, 8 and 9 section 29 shown on the left, preferably with a rotation angle of approximately 180°, and then along the corresponding Figures 7, 8 and 9 section 29 shown on the left is moved upwards. At the respective upper end of the corresponding Figures 7, 8 and 9 The floor cleaning machine 3 is rotated, preferably with a rotation angle of approximately 120°, and towards the section 29 shown on the left Figures 7, 8 and 9 section 29 of the respective first working path shown in the middle, as shown by the corresponding Figures 7, 8 and 9 symbolized by the curved arrow shown in the middle. The floor cleaning machine is then moved along the corresponding Figures 7, 8 and 9each centrally shown section 29 from the upper end of the corresponding Figures 7, 8 and 9 of the section 29 shown in the middle towards the lower end of the corresponding Figures 7, 8 and 9 section 29 shown in the middle. At the lower end of the Figures 7, 8 and 9 The floor cleaning machine 3 is rotated, preferably with a rotation angle of approximately 120°, and towards the section 29 shown in the middle. Figures 7, 8 and 9 section 29 of the first working path shown on the right, as shown in the Figures 7, 8 and 9 symbolized by the curved arrow shown on the right. Next, the floor cleaning machine 3 is moved along the Figures 7, 8 and 9 section 29 shown on the right from the lower end of the Figures 7, 8 and 9section 29 shown on the right towards the upper end of the Figures 7, 8 and 9 section 29 shown on the right.

[0071] When the floor cleaning machine 3 is moved along the closed first learning path 5, the environment of the floor cleaning machine 3 is detected. The first obstacle 31, the second obstacle 33, and the third obstacle 35 are also detected. Based on the detected environment, a map representing the detected environment of the floor cleaning machine 3 is created. The detected environment of the floor cleaning machine 3 is the wall of the building as well as the first obstacle 31, the second obstacle 33, and the third obstacle 35.

Claims

1. A method for cleaning a floor surface (1) with a floor cleaning machine (3) having a chassis for moving the floor cleaning machine (3) over the floor surface (1) to be cleaned and having a cleaning device attached to the chassis, which cleaning device can be brought into a working position in which the cleaning device engages with the floor surface (1) to be cleaned, wherein the method comprises the following steps: moving the floor cleaning machine (3) over the floor surface (1) to be cleaned along a closed first learning path (5), determining a first working area (21) with a predetermined geometric figure having at least a portion of the floor surface (1) to be cleaned, wherein the extent of the first working area (21) is determined by the closed first learning path (5), determining a first working path within the first working area (21), moving the floor cleaning machine (3) along the first working path, wherein the cleaning device is in the working position at least in sections of the first working path, detecting the surroundings of the floor cleaning machine (3) during the moving of the floor cleaning machine (3) along the first working path such that, if an obstacle is located on the first working path, the obstacle is detected by the floor cleaning machine, and if an obstacle is located on the first working path, changing the first working path at least in sections such that the floor cleaning machine does not collide with the obstacle, wherein the method further comprises the following step: determining a first transport path (25) in the first working area (21), bringing the cleaning device into a transport position, and moving the floor cleaning machine (3) along the first transport path (25), wherein the cleaning device is in the transport position at least in sections of the first transport path (25), wherein the method also comprises the following steps: moving the floor cleaning machine (3) over the floor surface (1) to be cleaned along a closed second learning path (15), determining a second working area (23) with a predetermined geometric figure having at least a portion of the floor surface (1) to be cleaned, wherein the extent of the second working area (23) is determined by the closed second learning path (15), determining a second working path within the second working area (23), moving the floor cleaning machine (3) along the second working path, wherein the cleaning device is in the working position at least in sections of the second working path, detecting the surroundings of the floor cleaning machine (3) during the moving of the floor cleaning machine (3) along the second working path such that, if an obstacle is located on the second working path, the obstacle is detected by the floor cleaning machine, and if an obstacle is located on the second working path, changing the second working path at least in sections such that the floor cleaning machine does not collide with the obstacle, wherein the method further comprises the following step: determining a second transport path (27) in the second working area (23), bringing the cleaning device into a transport position, and moving the floor cleaning machine (3) along the second transport path (27), wherein the cleaning device is in the transport position at least in sections of the second transport path (25), wherein the method also comprises the following step: determining a first connection path (28) which connects the first transport path (25) and the second transport path (27) to one another, bringing the cleaning device into a transport position, and moving the floor cleaning machine (3) along the connection path (28), wherein the cleaning device is in the transport position at least in sections of the second connection path (28).

2. The method according to any one of the preceding claims, wherein the method further comprises the following steps: detecting the surroundings of the floor cleaning machine (3) during the moving of the floor cleaning machine (3) along the closed first learning path (5) and / or detecting of the surroundings of the floor cleaning machine (3) during the moving of the floor cleaning machine (3) along the closed second learning path (15), and creating a map representing the detected surroundings of the floor cleaning machine (3) based on the detected surroundings of the floor cleaning machine (3).

3. The method of claim 2, wherein the method further comprises the following step: adding the first working area (21) and / or the second working area (23) to the map such that the first working area (21) and / or the second working area (23) is represented in the map.

4. The method according to one of claims 2 and 3, wherein the method further comprises the following step: adding the first working path and / or the second working path to the map such that the first working path and / or the second working path is represented in the map.

5. The method according to one of claims 2 to 4, wherein the method further comprises the following step: adding the first transport paths (25) and / or the second transport path (27) to the map such that the first transport path (25) and / or the second transport path (27) is represented in the map.

6. The method according to one of claims 2 to 5, wherein the method further comprises the following step: adding the first connection path (28) to the map such that the connection path (28) is represented in the map.