Mop attachment for a floor cleaner

Description

[0001] The present invention relates to a wiping device for a floor cleaner. In particular, the invention relates to a selectively activatable wiping device.

[0002] A floor cleaner is designed to move autonomously across a floor surface, cleaning it as it goes. Cleaning can be done dry, using a vacuum system to remove dust and dirt particles. Alternatively, it can be wet-cleaned, for which a cleaning pad is attached to the floor cleaner. This pad is moved across the floor surface as the cleaner moves. The pad can be moistened with cleaning fluid using a dispenser.

[0003] For example, CN 213 665 092 U proposes an automatic floor cleaner with an oscillating mop plate for wet cleaning a floor.

[0004] In a typical household, not every floor surface is suitable for damp cleaning. For example, a parquet floor can be advantageously cleaned first dry and then damp, while a carpet should only be cleaned dry. Other surfaces, such as a highly delicate carpet, should not be cleaned at all. Furthermore, experience has shown that damp cleaning does not produce equally good cleaning results on all surfaces. Thus, damp cleaning of some floors may be insufficient or require an excessively long cleaning time.

[0005] US 2004 / 154123A1 discloses a floor cleaner with a mopping device. The floor cleaner is not intended for automatic floor cleaning, but is to be operated by a person, namely a driver.

[0006] US 2021 / 228 050 A1 discloses a wiping device for a floor cleaner which, during operation, exerts pressure on a wiping plate against the floor. For maintenance purposes, the wiping plate of the device can be moved to a second position.

[0007] KR 2019 / 0 000 894 A discloses a floor cleaner that allows conclusions to be drawn about the floor condition from the driving speed and its drive power.

[0008] CN 113 133 722 A discloses a wiping device according to the preamble of claim 1.

[0009] One of the problems underlying the present invention is to provide an improved technique for controlling the wet cleaning of a floor surface. The invention solves this problem by means of the subject matter of the independent claims. Dependent claims describe preferred embodiments.

[0010] According to a first aspect, a wiping device for a floor cleaner comprises a wiping plate for cleaning a floor surface; a linkage; and a drive for moving the wiping plate relative to the floor cleaner. According to the invention, the linkage is configured to move the wiping plate laterally relative to the floor cleaner, i.e., in a horizontal direction transverse to the direction of travel, and simultaneously in a vertical direction, so that the wiping plate is pressed against the floor surface with a first force in a first lateral position and with a second force in a second lateral position, wherein the first force is greater than the second force and both forces are greater than zero.

[0011] The mop head can be pressed with varying degrees of pressure against different floor surfaces, allowing for more or less intensive wet cleaning depending on the pressure applied. In particular, the pressure can be adjusted according to the surface's characteristics. This allows for gentle yet thorough wet cleaning of floors with varying textures by adjusting the pressure accordingly. The mop head can also be lifted to zero pressure to stop the wet cleaning process.

[0012] The linkage is preferably configured to move the wiper plate along a curve that couples a horizontal movement of the wiper plate with a vertical movement. Along one direction of travel, the wiper plate is preferably stationary. By moving the wiper plate laterally along the curve, it can simultaneously be raised or lowered, or pressed against the ground surface with varying degrees of force, so that a suitable contact force of the wiper plate on the surface can be easily adjusted. The coupling can be partially or fully self-locking, so that the vertical contact force no longer needs to be supported by the drive once a predetermined lateral position is reached. For this purpose, the curve along which the wiper plate is movable can include a horizontal section or a saddle point.

[0013] The linkage can include a cam guide comprising a groove and a T-nut slidably mounted in the groove. The groove can extend along the curve, and the curve can lie in a vertical plane perpendicular to the direction of travel of the floor cleaner. Preferably, the linkage is configured to maintain a constant orientation of the wiper plate along a predetermined lateral displacement path, so that the wiper plate moves parallel to the floor cleaner. For this purpose, two or more parallel cam guides can be provided between the floor cleaner and the wiper plate. The curves of the grooves of different cam guides can correspond to one another.

[0014] The lateral adjustability of the mop head can serve other purposes as well. In particular, the mop head can be moved closer to a right or left edge of the floor cleaner, so that the floor area in the vicinity of a lateral obstacle, such as a piece of furniture or a wall, can be cleaned more effectively and without edges.

[0015] The linkage is preferably designed to press the mop plate onto the floor surface with a variety of different forces, depending on its lateral position relative to the floor cleaner. A predetermined number of different contact forces can be provided, for example, approximately 5, 10, or 20 different forces. In a further embodiment, the contact force can be continuously controlled.

[0016] The curve can include an initial section where the contact force of the mop head on the floor surface is zero, regardless of the mop head's lateral position, and no wet cleaning of the floor surface takes place. The mop head can be lifted from the floor surface during this initial section, resulting in a predetermined gap between the mop head and the floor surface.

[0017] The curve can include a second section in which there is a preferably monotonic relationship between the lateral position of the wiper plate and the force with which it is pressed against the floor surface. Optionally, the curve includes two second sections at opposite ends of the first section. Relationships between the horizontal position and the vertical contact force can be mirror images of each other in the second sections. In particular, the vertical contact force in the second sections can increase the further the wiper plate is from a central position.

[0018] Preferably, a control device is provided which is configured to control the force with which the mop plate is pressed against the floor surface, depending on the surface's characteristics. This control can be achieved by adjusting the lateral position of the mop plate. The surface characteristics can be determined, for example, by means of a dedicated sensor or based on optical scanning with an existing camera. In a further embodiment, the characteristics of a section of the floor surface are stored in a map memory, and the floor cleaner is configured to determine its own position relative to an object in the map memory.

[0019] The control device can be configured to determine the condition of the floor surface with respect to the relationship between the floor cleaner's travel speed and the drive power acting on a drive wheel of the floor cleaner. For this purpose, a drive wheel of the floor cleaner can be electrically driven, and the resulting electrical power consumption can be determined. The travel speed can be determined by a positioning system that establishes the floor cleaner's position on the floor surface, for example, using a SLAM method. The positioning system can include a sensor for scanning the floor cleaner's surroundings, such as a camera or a LiDAR sensor.

[0020] In a further embodiment, the linkage is configured to move the wiper plate from the first position, through the second position, into a third position; in this third position, the wiper plate is lifted from the floor surface. In this position, it is possible to remove the wiper plate from the linkage or a wiper pad from the wiper plate.

[0021] Another aspect of a floor cleaner is the mopping device described herein. The floor cleaner can be configured to clean a floor surface using this device. To do this, the mopping plate can be moved from a central position to a right or left position and lowered onto the floor surface. The contact pressure of the mopping plate on the floor surface can be controlled by moving the plate to a suitable position laterally. The floor surface can then be cleaned in a meandering pattern, taking into account the lateral direction in which the mopping plate is moved, in order to clean the entire floor surface.

[0022] According to yet another aspect, a method for controlling a wiping device described herein on a floor cleaner comprises steps of determining the properties of a floor surface on which the floor cleaner travels; and of moving the mopping plate laterally relative to the floor cleaner, i.e., in a horizontal direction perpendicular to the direction of travel, and simultaneously in a vertical direction depending on the determined properties of the floor surface, in order to press the mopping plate onto the floor surface with a force that is associated with the properties.

[0023] The method can be carried out using a floor cleaner with a wiping device described herein. The floor cleaner can include a processing unit for controlling the method. This processing unit can include a programmable microcomputer or microcontroller, and the method can be in the form of a computer program product with program code. The computer program product can also be stored on a computer-readable data carrier. Features or advantages of the method can be transferred to the wiping device or the floor cleaner, or vice versa.

[0024] The invention will now be described in more detail with reference to the accompanying figures, in which: Figure 1 shows a floor cleaner with a mopping device; Figure 2 shows a mopping device for a floor cleaner; Figure 3 shows a mopping device for a floor cleaner in a further embodiment; Figure 4 shows a mopping device in various positions in cross-sections; Figure 5 shows a mopping device in various positions in longitudinal sections; Figure 6 shows a schematic relationship between horizontal and vertical positions of a mopping plate on a mopping device; and Figure 7 shows a flowchart of a method for controlling a mopping device represent. Sub-figures designated by numbers and lowercase letters are assigned to the respective numerically indicated figure. For example, Figure 1 sub-figures 1a and 1b.

[0025] Figure 1 shows a floor cleaner 100 with a mopping device 105. Figure 1a shows the floor cleaner 100 and Figure 1bThe mopping device 105. The floor cleaner 100 is preferably designed to automatically clean a floor surface 110. For this purpose, it includes drive wheels 115, which can be driven by means of associated drives, and optional support wheels 120. When traveling straight ahead, the floor cleaner 100 moves along a direction of travel 125 parallel to its own longitudinal axis.

[0026] At the front of the vehicle, in the direction of travel 125, is a first cleaning device 130 for dry cleaning, and at the rear of the vehicle, in the direction of travel 125, is a second cleaning device 135 for wet cleaning. The first cleaning device 130 can, for example, include a brush roller and / or a suction device. The cleaning devices 130 and 135 can also be positioned differently on the floor cleaner 100 than shown.

[0027] The second cleaning device 135 is preferably designed as a wiping device 105 and may include a tank 145 for holding a cleaning fluid. A wiping pad 155 may be attached to a wiping plate 150 on the underside of the wiping device 105. The wiping pad 155 may comprise a cloth or a cushion that can be attached directly to the wiping plate 150 or by means of a frame. The wiping device 105 is designed to be removable from the floor cleaner 100. For this purpose, the floor cleaner 100 and the wiping device 105 each include a positive and a negative prism guide 140, respectively, which can be inserted into one another.

[0028] In this context, the term "wiping pad 155" refers to an element designed to be guided across the floor surface 100 to collect dirt. The wipeping pad 155 is typically moist or can be moistened by means of liquid from a dispenser of the floor cleaner 100. Preferably, the wipeping pad 155 is designed so that it can be easily attached to or removed from the cleaning plate 150. For this purpose, a mounting frame, a mounting plate, or a hook-and-loop fastener may be provided on the wipeping pad 155. A corresponding mounting device may be provided on the cleaning plate 150. The wipeping pad 155 may be designed for single or multiple use. Optionally, the wipeping pad 155 may also be washed or otherwise cleaned before further use on the floor cleaner 100. The wipeping pad 155 may also be referred to as a cleaning pad or cleaning cloth.

[0029] Preferably, a control device 160 is provided to control the operation of the floor cleaner 100. The control device 160 can control the movement of the floor cleaner 100 relative to the floor surface 110 by controlling a drive power acting on a drive wheel 115. The drive wheel 115 is preferably driven by an electric drive, which may include an electric motor, optionally with a gearbox.

[0030] It is proposed to design the wiping device 105 such that the wiping plate 150 can be moved laterally relative to the floor cleaner 100, i.e., in a horizontal direction perpendicular to the direction of travel 125, while simultaneously moving the wiping plate 150 vertically. The movement should occur such that the wiping plate 150 is lifted from the floor surface 110 in a first position shown, and is lowered onto the floor surface 110 when moved laterally to the left or right into a second position. A reverse design is also possible.

[0031] Figure 2 shows a wiping device 105 for a floor cleaner 100 in a first embodiment. Figure 2a shows an upper section 205 and Figure 2b a lower section 210 of the wiping device 105.

[0032] The wiper plate 150 is attached to the floor cleaner 100 by means of a linkage 215. In this example, the linkage 215 is attached at the top to the tank 145, which can be connected to the floor cleaner 100 via the prism guides 140. Below, the linkage 215 is shown directly connected to the wiper plate 150.

[0033] The linkage 215 comprises three cam guides, each with a groove 220 and a T-nut 225 that is slidable in the groove 220. The cam guides are arranged offset along the direction of travel 125 and are essentially identical in construction. In another embodiment, only one cam guide may be provided. The T-nuts 225 can each be guided in the groove 220 by means of a sliding fit or, as shown, by means of a wheel 230. The groove 220 is preferably open in the horizontal direction so that it can transmit forces in both vertical directions to the T-nut 225. In the case of multiple grooves 220, the openings of two of the grooves 220 are preferably located in opposite horizontal directions so that the lower section 210 can be securely held against the upper section 205 by means of the cam guides.

[0034] The linkage 215 further comprises a drive 235, which can be configured in various ways. In the illustrated embodiment, the drive 235 comprises a rack 240 and a gear 245, which can be driven by an electric motor 250 and an optional gearbox 255. In this example, the rack 240 adjoins an optional web 260 extending vertically along the longitudinal direction of the floor cleaner 100. An element of the lower section 210 can bear against the web 260 vertically, in the direction of travel 125, or opposite to the direction of travel 125, thus providing further improved guidance to the upper section 205. The gear 245 can also bear axially against the web 260. The web 260 can be configured as the rear face of the third groove 220.

[0035] The grooves 220, the rack 240, and the web 260 preferably run parallel to each other in pairs and are further preferably congruently shaped. In particular, the three elements 220, 240, and 260 can each follow a curved path that extends transversely to the direction of travel 125 and in a vertical direction. The path is designed such that the wiper plate 150 can be moved laterally along the path relative to the upper section 205 of the wiping device 105, whereby a vertical distance between the wiper plate 150 and the floor surface 110 changes depending on the lateral position. In a further embodiment, the paths are selected such that the alignment of the wiper plate 150 relative to the floor surface 110 or the floor cleaner 100 occurs in a predetermined manner via the lateral movement.

[0036] Preferably, a first position is provided in which the mop plate 150 can be located substantially centrally to the floor cleaner 100, and a second position is offset laterally relative to the first position. More preferably, two second positions are provided, located on opposite sides with respect to the first position. In the first position, the mop plate 150 is lifted from the floor surface 110, and in the second position, it is lowered onto the floor surface 110.

[0037] In the first position, the cleaning plate 150 can be located essentially in the center of the floor cleaner 100 and perform no cleaning function on the floor surface 110. By moving the cleaning plate 150 to the right or left, it can be lowered onto the floor surface 110 and simultaneously brought closer to a lateral boundary of the floor cleaner 100. Preferably, in the second position, the cleaning plate 150, deflected laterally, reaches a lateral outline of the floor cleaner 100 or even extends beyond it. In this way, the floor surface 110 can be cleaned very close to a lateral obstacle of the floor cleaner 100, which may, for example, be a wall or a piece of furniture.

[0038] Alternatively, the wiper plate 150 can be moved to a left or right second position, allowing for improved cleaning of the floor area 110 around obstacles located to the left or right. This simplifies the path of the floor cleaner 100 across the floor area 110. Complete cleaning of a larger floor area 110 may require a shorter travel distance and / or a shorter cleaning time.

[0039] Additionally, a third position can be provided, which lies beyond a second position in relation to the first. In the third position, the mop plate 150 is again lifted from the floor surface 110; furthermore, the mop plate 150 preferably projects beyond a lateral boundary of the floor cleaner 100 in the area of ​​the mopping device 105. The lateral boundary in the area of ​​the mopping device need not necessarily correspond to the lateral outline, which also includes an element of the floor cleaner 100 located even further laterally. In the third position, a section of the mop plate 150 preferably projects laterally beyond the floor cleaner 100.

[0040] The mop plate 150 or a cleaning element attached to the mop plate 150 can be easily removed or attached without lifting or turning the floor cleaner 100 off the floor surface 110. This allows for quick, easy, and hygienic cleaning element changes. The floor surface 110 cannot be accidentally soiled by the cleaning element. An operator does not need to touch the cleaning element on a dirty or wet area. A third position may also be provided, located on the opposite side with respect to the direction of travel 125, so that the second positions are situated between the third positions.

[0041] In positions other than the third, removal of the mop plate 150 or the cleaning pad 155 may be prevented, for example by a mechanical locking device. The locking device can be opened for removal, for example by manually operating a button or latch. The button or latch may be inaccessible if the mop plate is in a position other than the third, at least while the floor cleaner 100 is on the floor surface 110.

[0042] In a particularly preferred embodiment, a locking device is provided which opens automatically in the third position. The locking device can, for example, comprise a vertical pin that engages in corresponding recesses of the cleaning element and the wiper plate 150, thus preventing disengagement. The pin can be attached to a further cam block that engages in a further groove, the groove preferably being located on the floor cleaner 100. The further groove can be shaped such that, in the third position, the cam block pulls the pin out of one of the recesses to allow removal of the cleaning element. In one embodiment, the cleaning element is integrated with the wiper plate 150. The cleaning element can include a cleaning pad or be designed to accommodate a cleaning pad.The removal of the wiping fleece 155 from the wiping plate 150 is preferably carried out in a lateral direction.

[0043] Figure 3 shows a wiping device 105 for a floor cleaner 100 in a further embodiment. Figure 3a shows an upper section 205 and Figure 3b a lower section 210 of the wiping device 105.

[0044] Unlike the one in Figure 2 In the illustrated embodiment, the drive 235 here comprises, for example, a linear guide 305, which may include a belt drive or a spindle drive, with a slide 310 that can be moved laterally along a straight line, and a pin 315 that can engage vertically in the slide 310. The connection between the pin 315 and the slide 310 may allow a certain amount of vertical play.

[0045] Furthermore, the cleaning pad 155 can be removed from the cleaning plate 150 by pulling it out or pushing it in laterally. A connection similar to the prism guides 140 can be formed between the cleaning plate 150 and the cleaning pad 155. A manual or automatic locking device 320, which can be open or closed, can be provided to secure the cleaning pad 155 to the cleaning plate 150. When the locking device 320 is closed, the cleaning pad 155 is held to the cleaning plate 150, or the cleaning plate 150 is held to the pivot 215. After opening the locking device 320, the cleaning pad 155 – with or without the cleaning plate 150 – can be removed from the floor cleaner 100.A manual locking device 320 may include a lever or button, preferably accessible on the upper side of a section of the mop plate 150 that projects beyond the lateral boundary of the floor cleaner 100 when the mop plate 150 is in the third position. If the mop plate 150 is in any other position, the lever or button may not be accessible to a user. An automatic locking device 320 may be open without user intervention when the mop plate 150 is in the third position and closed otherwise.

[0046] The illustrated automatic locking device 320 comprises a pin 270 that extends through recesses in the wiper plate 150 and the wiper pad 155, thus preventing lateral relative movement by means of a positive locking mechanism. The pin 270 is, by way of example, connected to a further cam guide comprising a groove 275 and a cam block 280 guided in the groove 275. The groove 275 extends laterally along the floor cleaner 100 and is curved vertically such that it pulls the pin 270 out of the wiper pad 155 when the wiper plate 150 is in the third position. In all other positions, the pin 270 can be retracted.

[0047] The function of the depicted locking device 320 in conjunction with the movement of the wiper plate 150 relative to the floor cleaner 100 is now described with reference to the Figure 4 and 5 more precisely described. Figure 4shows cross-sections through a wiping device 105 on a floor cleaner 100 and Figure 5 This shows corresponding longitudinal sections. Section planes of subfigures 5 are shown in corresponding subfigures 4 (B - B).

[0048] In Figure 4a and 5a The wiper plate 150 is in the third position. Figure 5This position is designated as position III. The pin 270 is raised so that the wiping pad 155 can be pulled laterally out of its guide on the wiping plate 150. Simultaneously, the wiping plate 150 is raised so that the wiping pad 155 is preferably lifted as far as possible from the floor surface 110. In the illustrated embodiment, the wiping plate 150 is held parallel to the floor surface 110; in another embodiment, the edge of the wiping plate 150 that lies in the direction in which the wiping plate 150 is laterally displaced relative to the first position can be raised higher than the other edge.

[0049] In Figure 4b , 5b The wiper plate 150, relative to the direction of travel 125, is in the left second position, in Figure 5This position is designated as II-L. The pin 270 is lowered and locks the wiping cloth 155 to the wiping plate 150. The wiping plate 150 is lowered so that the wiping cloth 155 is in contact with the floor surface 110 and preferably lies flat on the floor surface 110 with its underside.

[0050] In Figure 4c , 5c The wiping plate 150 is in the first position, preferably essentially centered on a longitudinal axis of the floor cleaner 100. Figure 5This position is designated as position I. The pin 270 is lowered and the wiper plate 150 is raised so that the wiper pad 155 has no contact with the floor surface 110. The wiper pad 155 is preferably held horizontally above the floor surface 110. In one embodiment, the wiper plate 150 is raised just far enough that the wiper pad 155 has reliably lost contact with the floor surface 110. Generally, the wiper plate 150 can be raised so far that a predetermined distance is established between the wiper pad 155 and the floor surface 110, for example, approximately 5 mm or approximately 10 mm. In a particularly preferred embodiment, one underside of the wiper pad is essentially flush with the underside of the floor cleaner 100. In the second position, the wiper plate 150 can be raised less than in the third position (see Figure 1). Fig. 4a , 5a ).

[0051] In Figures 4d , 5dThe wiper plate 150 is in the right second position, which is opposite the left second position with respect to the first position and in Figure 5 This is designated as position II-R. Here too, the pin 270 is lowered and prevents the wiping cloth 155 from detaching from the wiping plate 150. In the vertical direction, the wiping plate 150 can be positioned as in the second position on the left (see figure). Fig. 4b , 5b In the horizontal direction, the wiper plate 150 is deflected to the right compared to the first position.

[0052] Figure 6Figure 600 shows an exemplary schematic relationship between the horizontal and vertical positions of a wiper plate 150 on a wiper device 105. A lateral position is indicated in the horizontal direction, and a vertical position of the wiper plate 150 is indicated in the vertical direction. Rhombuses denote exemplary horizontal and corresponding vertical positions. Predetermined positions are indicated by the symbols in Figure 600. Figure 5 The markings used are indicated. It should be noted that the course formed by the rhombuses can correspond to a curve along which the mop plate 150 is movable relative to the floor cleaner 100.

[0053] The wiper plate 150 is raised in the central position I relative to the wiping device 105. From there, it can be moved to the right or left within a predetermined range without changing its vertical position. Beyond this range, the vertical height of the wiper plate 150 above the floor surface 110 decreases monotonically. A linear relationship is assumed here; in another embodiment, a non-linear relationship may also exist, which, however, is preferably monotonic. In one embodiment, the curve in this range may have one or more saddle points, where a saddle point may correspond to a predetermined relationship between the horizontal and vertical position of the wiper plate 150. In this way, the vertical contact force of the wiper plate can be completely absorbed by the linkage 215 and does not act back on the drive for the wiper plate 150.

[0054] In the illustrated embodiment, movement of the wiper plate 150 to the right beyond position II-R is not possible. However, in the opposite direction, the wiper plate 150 can be moved beyond position II-L, during which time it is raised again. In the lifting region, there is again, by way of example, a linear relationship between the horizontal and vertical positions; in other embodiments, however, the relationship may also be non-linear. In the illustrated embodiment, the slope of the graph defined by the rhombuses is greater in this region than when lowering the wiper plate 150 between positions I and II-L.

[0055] Figure 7 Figure 1 shows a flowchart of a procedure 700 for controlling a wiping device 105 on a floor cleaner 100. The floor cleaner 100 can clean a predetermined floor area 110 either wet or dry.

[0056] In step 705, the floor cleaner 100 is moved on the floor surface 110. For this purpose, a drive wheel 115 can be subjected to a predetermined drive power, which can be provided by an electric motor.

[0057] In step 710, the condition of the floor surface 110 can be determined. For this purpose, the mop plate 150 can be brought into a predetermined vertical position and pressed onto the floor surface 110 with a predetermined force. Then, the drive power and the resulting speed of movement of the floor cleaner can be determined. The drive power can be approximated, for simplicity, by the electrical power of the electric motor. If the electric motor is operated at a known voltage, its electrical power can be determined as the product of the voltage and the electric current flowing through it, for which a current sensor can be provided. If the electric motor is operated at a known power, it may be sufficient to determine the speed of movement.

[0058] The movement speed of the floor cleaner 100 can be routinely determined as part of its control system. Optionally, the floor cleaner's position can be determined at different times. The movement speed can then be calculated based on the time difference and the geometric distance between these positions.

[0059] A ratio can be determined from the movement speed and the drive power, indicating how strongly the movement of the floor cleaner 100 is influenced by the nature of the floor surface 110. On a soft floor surface 110, for example, a long-pile carpet, the movement speed may be reduced more significantly than on a hard floor surface 110, such as parquet or linoleum, even with the same drive power. Different floor surfaces 110 with similar properties can be distinguished by performing the determinations in steps 705 and 710 with different vertical positions of the mop plate 150 or different contact forces. The determination of the surface properties can also be carried out or supported by another sensor. For example, a camera can be used to determine whether a carpet or a smooth surface is present.From this knowledge, an advantageous vertical position of the wiper plate 150 can be determined for steps 705 and 710.

[0060] In step 715, a cleaning mode can be determined depending on the specific condition of the surface. One example cleaning mode involves no cleaning at all, a second example cleaning mode involves dry cleaning, and a third involves wet cleaning. Depending on the specific condition, wet cleaning can be performed with varying contact pressures of the cleaning plate 150 against the substrate 110. The cleaning mode can also specify a processing time, processing speed, or the addition of cleaning fluid.

[0061] Furthermore, the design preferably includes a contact force of the mop plate 150, which can be determined in step 720. The contact force can be assigned to a vertical position of the mop plate 150 on the floor cleaner 100, and the vertical position can be assigned to a horizontal position, as described here, for example, with reference to Figure 6 is described.

[0062] In step 725, the mop plate 150 can be moved laterally to exert the predetermined contact force on the floor surface 110. A relationship between the vertical position of the mop plate 150 and the contact force exerted on the floor surface 110 may depend on the elastic properties of the mop plate 150 or a mop pad 155 connected to it. In a simple embodiment, however, an unchanging relationship can be assumed, so that a predetermined contact force can be assigned to a horizontal position of the mop plate 150. Reference sign

[0063] 100 Floor cleaner 105 Wiping device 110 Floor surface 115 Drive wheel 120 Support wheel 125 Direction of travel 130 First cleaning device 135 Second cleaning device, wiping device 140 Prism guide 145 Tank 150 Wiping plate 155 Wiping fleece 160 Control device 205 upper section 210 lower section 215 linkage 220 groove 225 T-nut 230 wheel 235 drive 240 rack 245 gear 250 electric motor 255 gearbox 260 web 270 Pin 275 Slot 280 Nut 305 Linear guide 310 Slide 315 Pin 320 Locking device 600 context 700 Procedure 705 Move floor cleaner on floor surface 710 Determine floor surface condition 715 Determine cleaning mode 720 Determine contact pressure 725 Move mop plate sideways to adjust contact pressure

Claims

1. Wiping apparatus (105) for a floor cleaner (100), wherein the wiping apparatus (105) comprises the following: - a wiping plate (150) for cleaning a floor area (110); - a drive (235) for moving the wiping plate (150) in relation to the floor cleaner (100) and - a linkage (215); characterised in that - the linkage (215) is configured to move the wiping plate (150) in relation to the floor cleaner (100) laterally, i.e. in a horizontal direction transversely in relation to the travel direction (125), and simultaneously to move it in the vertical direction, so that the wiping plate (150) is pressed against the floor area (110) - in a first lateral position by a first force and - in a second lateral position by a second force, - wherein the first force is greater than the second force and both forces are greater than zero.

2. Wiping apparatus (105) according to claim 1, wherein the linkage (215) is configured to displace the wiping plate (150) along a curve, which couples a horizontal movement to a vertical movement.

3. Wiping apparatus (105) according to claim 1 or 2, wherein the linkage (215) is configured to press the wiping plate (150) against the floor area (110) with a large number of different forces, as a function of its lateral position in relation to the floor cleaner (100).

4. Wiping apparatus (105) according to claim 3, wherein the curve comprises a first section, on which the wiping plate (150) is pressed against the floor area (110) with a constant force regardless of its lateral position.

5. Wiping apparatus (105) according to claim 3 or 4, wherein the curve comprises a second section, on which there is a monotonous relationship between the lateral position of the wiping plate (150) and the force with which it is pressed against the floor area (110).

6. Wiping apparatus (105) according to one of the preceding claims, further comprising a control apparatus (160), which is configured to control the force with which the wiping plate (150) is pressed against the floor area (110) as a function of a property of the floor area (110).

7. Wiping apparatus (105) according to claim 6, wherein the control apparatus (160) is configured to determine the property of the floor area (110) in relation to a relationship between a travel speed of the floor cleaner (100) and a drive power acting on a drive wheel (115) of the floor cleaner (100).

8. Wiping apparatus (105) according to one of the preceding claims, wherein the linkage (215) is configured to move the wiping plate (150) from the first position, beyond the second position, into a third position; wherein the wiping plate (150) in the third position is raised from the floor area (110).

9. Floor cleaner (100), comprising a wiping apparatus (105) according to one of the preceding claims.

10. Method (700) for controlling a wiping apparatus (105) according to one of claims 1 to 8 on a floor cleaner (100), wherein the method (700) comprises the following steps: - determining (710) a property of a floor area (110), on which the floor cleaner (100) is travelling; - displacing (725) the wiping plate (150) laterally in relation to the floor area (100), i.e. in a horizontal direction transversely in relation to the travel direction (125), and simultaneously in a vertical direction as a function of the determined property of the floor area (110), in order to press the wiping plate (150) against the floor area (110) with a force that is assigned (720) to the property.