METHOD AND DEVICE FOR WIPING UP A LIQUID COLLECTION

Description

[0001] The invention relates to a method for controlling a mobile, self-driving device, in particular a floor cleaning device, such as a vacuum and / or sweeping and mopping robot, for wiping up a liquid accumulation, as well as a mobile, self-driving device that is controlled according to such a method.

[0002] Mobile, self-driving devices such as robotic vacuum cleaners are designed to autonomously clean as much of the floor area as possible. In particular, robotic vacuum cleaners are intended to relieve users of the task of regularly removing dust and dirt from the floor. In addition to simple vacuuming, there is a growing demand from users for wet cleaning after dry cleaning. For this purpose, cleaning robots are used that are equipped with a mopping function in addition to the vacuuming function, meaning they can both vacuum and mop the floor. These combination vacuum-mop devices usually have a dry cleaning module at the front with a suction nozzle for sweeping and vacuuming, and a wet cleaning module at the rear. The suction nozzle often features a rubber or sealing lip that extends to the floor, pushing dust ahead and enhancing the sweeping action.

[0003] A robotic vacuum cleaner is revealed in WO 2022 / 170722 A1.

[0004] However, there is a risk that the sealing lip will push liquids on the floor, such as puddles, spills, or spilled drinks, ahead of it or spread them across the floor as a thin film. While the wet cleaning module can mop up the spread liquid, there is a risk that unsightly traces of the liquid will remain on the floor. This can occur, for example, if the wet cleaning module is not wider than the dry cleaning module on both sides, if the robot does not travel in a straight line (e.g., when turning), or if the robot cannot reach every area with the wet cleaning module due to environmental conditions (e.g., room corners, near obstacles, or at the base station when docking).There is also a risk that the robot's drive units will roll over wet areas and contaminate the floor with tracks due to damp wheels.

[0005] Furthermore, there is a risk that the robot will partially suck up the liquid, causing it to enter a dust container, mix with dust, and potentially become trapped in the filter or damage internal components.

[0006] To circumvent this problem, some robots place the wet cleaning module at the front (in the direction of travel). However, this means the floor is mopped before dusting. As a result, dirt accumulates quickly on the mop pad, rapidly reducing its cleaning effectiveness and requiring frequent replacement or cleaning by the user.

[0007] The object of the invention is to provide a method for wiping up a liquid accumulation with a mobile, self-propelled device, which avoids the aforementioned disadvantages and in particular reduces the dangers of unwanted distribution of liquids, while simultaneously providing effective wiping up of liquids.

[0008] This problem is solved by a method for controlling a mobile, self-driving device with the features of claim 1 and by a mobile, self-driving device with the features of claim 9. Advantageous embodiments and further developments are the subject of the dependent claims.

[0009] According to the invention, a method for controlling a mobile, self-driving device, in particular a floor cleaning device, such as a vacuum and / or sweeping and mopping robot, for wiping up a liquid accumulation comprises the following method steps: Driving forward over a floor area intended for cleaning with the device in the direction of travel and cleaning the floor area with a dry cleaning module and / or a wet cleaning module of the device, detecting the liquid accumulation in a wet area in the direction of travel in front of the device, ending the forward movement before the wet area and turning the device substantially 180°, driving backward over the wet area in the direction of travel of the device and wiping up the liquid accumulation with the wet cleaning module.

[0010] In this case, the system prevents the dry cleaning module from becoming soiled and / or clogged by liquid accumulation on the floor by having the machine clean areas with liquids in reverse. This allows the wet cleaning module to collect the liquids before they can reach the dry cleaning module. The wet cleaning module thus creates a dry path before the dry cleaning module traverses this dry path. In dry areas, where there is consequently no liquid accumulation, the machine cleans in a forward-moving manner, specifically first with the dry cleaning module and then with the wet cleaning module for a final clean.

[0011] Preferably, the dry cleaning module is positioned at the front of the device as it moves forward, and the wet cleaning module is positioned at the rear. If the device detects liquid in its path, it stops moving forward before touching the liquid. The device then rotates approximately 180° on the spot and continues moving backward, ensuring that the wet cleaning module, and not the dry cleaning module, comes into contact with the liquid first.

[0012] By reversing the device's direction of travel before reaching the liquid accumulation, the liquid can be safely removed from the floor without being spread around the room. Components of the device that come into contact with dust, such as the suction nozzle, sealing lip, brush roller, side brushes, drive wheels, and / or dust container with filter, do not come into contact with the liquid and remain dry. This prevents, or significantly reduces, the risk of the dust and liquid collecting with the device sticking together. The device's movement and cleaning behavior are thus advantageously adapted to the specific situation.

[0013] A mobile, self-propelled device is understood to be, in particular, a floor cleaning device that can autonomously clean floor surfaces, for example, in the home. This includes, among other things, vacuuming and / or sweeping and mopping robots. Specifically, a mobile, self-propelled device is a combination device capable of both dry and wet cleaning. These devices operate (during cleaning mode) preferably with little or no user intervention. For example, the device automatically moves to a designated room to clean the floor according to a pre-programmed cleaning strategy.

[0014] To take all individual environmental characteristics into account, an exploratory drive with the mobile, self-propelled device is preferably carried out. An exploratory drive is understood to be, in particular, a reconnaissance drive suitable for exploring a soil area to be cultivated, looking for obstacles, spatial layout, and similar features. The aim of an exploratory drive is, in particular, to be able to assess and / or document the conditions of the soil cultivation area to be worked.

[0015] After the exploration run, the mobile, self-driving device knows its surroundings and can share this information with the user in the form of an environmental map, for example, in an app (cleaning app) on a mobile device. The user can then interact with the mobile, self-driving device via this environmental map. The user can conveniently view information in the environmental map and, if necessary, modify and / or adjust it.

[0016] A site map is understood to be any map suitable for depicting the area surrounding the soil cultivation area, including all its obstacles and objects. For example, the site map shows the soil cultivation area, including any furniture and walls within it, in a sketchy manner.

[0017] The map of the environment, including obstacles, is preferably displayed in the app on a portable accessory. This serves, in particular, to visualize potential user interaction. An accessory, in this context, refers specifically to any device that is portable by a user, located outside the mobile, self-driving device, and is specifically external to and / or separate from the mobile, self-driving device, and is capable of displaying, providing, transmitting, and / or transferring data, such as a mobile phone, smartphone, tablet, and / or computer or laptop.

[0018] The portable accessory has an app installed, specifically the cleaning app, which facilitates communication between the mobile, self-driving device and the accessory. This app primarily enables a visualization of the cleaning area, i.e., the living space or apartment to be cleaned, particularly the interior. The app preferably displays the area to be cleaned as a map.

[0019] A liquid accumulation is understood to mean, in particular, any accumulation on the ground that contains at least components of a moist substance. This includes, in particular, puddles, spilled drinks, damp or wet footprints, urine from pets, and / or overflowing sinks, showers, or bathtubs.

[0020] The term "forward movement" refers specifically to the movement of the device during cleaning or driving operations on dry areas of the floor. The device travels with its front section leading along the designated paths. The rear section follows the front section in its movement. Specifically, the front section traverses the floor to be cleaned first, before the rear section passes over it.

[0021] Reverse movement in the direction of travel refers specifically to any movement where the direction of travel remains the same, but the device is moving in reverse. The path and, in particular, the direction of the intended path do not change. The device continues along its path. However, it reverses direction while moving along this path, so that it now travels backward instead of forward. The device performs the reverse movement with its rear section leading, with the front section following behind. The rear section therefore traverses the floor to be cleaned first, before the front section passes it.

[0022] A dry cleaning module is specifically a module of the device designed for dry cleaning, i.e., intended for vacuuming and / or sweeping. For example, the dry cleaning module features a suction nozzle with a brush roller and sealing lip, as well as a side brush at a front corner of the housing.

[0023] A wet cleaning module is specifically a module of the device designed for wet cleaning, particularly mopping. For example, the wet cleaning module includes a mopping unit, such as a wiper cloth / pad, and optionally a reservoir, such as a fresh water tank containing cleaning fluid. The wiper unit can be moistened with the cleaning fluid or, if there is no reservoir, externally. The use of multiple wiper cloths / pads is also possible. These can be motorized so that they move relative to the device. In addition to flat wiper cloths / pads, cylindrical wiper rollers rotating around a horizontal axis can also be used. To prevent the wiper unit from coming into excessive contact with dirt on the floor during operation, the width of the wet cleaning module is preferably equal to or less than the width of the dry cleaning module.

[0024] The device can detect the liquid accumulation. Preferably, a detection device is provided on the device for this purpose, which is configured to detect a liquid accumulation in a damp area and is arranged in a front area of ​​the device. The damp area is, in particular, the floor area that encompasses the liquid accumulation. The front area of ​​the device is, in particular, the front of the device, i.e., the side of the device that faces forward in the direction of travel and forward movement during normal operation. The detection device is, for example, a sensor that can evaluate information from the environment and is capable of detecting liquids on the floor before the device comes into contact with them. For example, the sensor is a forward-facing camera that can identify shiny surfaces, for instance, by means of image analysis and object recognition.Alternatively, the detection device is a humidity sensor located at the front of the underside of the device, which can detect a locally increasing humidity level.

[0025] A rotation of the device by substantially 180° refers specifically to a complete reversal of the device on the spot, particularly a reversal from a front to a rear and from a rear to a front (in the direction of travel), i.e., a half turn around its own axis. The device thus performs a 180° turn and subsequently faces backward. It is not strictly necessary for the device to rotate by exactly 180°. Deviations are acceptable as long as the device can continue moving backward along its intended path after the rotation. Deviations from the path intended for dry cleaning are also possible, for example, to completely treat a liquid accumulation.

[0026] In an advantageous embodiment, the cleaning fluid supply to the wet cleaning module is active during forward movement of the device and inactive during reverse movement. For example, in active mode, the mopping unit is moistened with cleaning fluid from the reservoir, while in inactive mode, moistening from its own reservoir stops when the device moves backward. By picking up the accumulated liquid from the floor, the mopping unit is already sufficiently moistened, so no additional cleaning fluid needs to be supplied by the device. Depending on the size of the accumulated liquid, the cleaning fluid supply to the mopping unit can be reactivated after a predetermined time.

[0027] In a further advantageous embodiment, the device performs the reverse movement in the direction of travel with unilateral rotational movements of up to 90°, for example, by 30° to 90°, if the wet area is located on one side of the reverse direction. If, in particular, the width of the wet cleaning module does not cover all contact points of the device with the floor, for example, the drive wheels, support rollers, and / or the dry cleaning module, then a straight reverse movement is not optimal for collecting the liquid. Instead, the device travels a short distance, preferably corresponding to half to a maximum of the full length of the mopping unit, before rotating on the spot to allow the mopping unit to wipe to the side of the actual travel path. Finally, the device rotates back again and, upon reaching the reverse direction, can travel a further distance in the direction of the liquid accumulation.

[0028] If the device is moving along a path adjacent to a liquid accumulation and therefore reaches the liquid accumulation approximately tangentially, the device rotates only in one direction during its reverse movement, specifically to the side of the liquid accumulation. However, if the liquid accumulation is not located to the side of the device but approximately centrally, i.e., particularly if the liquid accumulation is near a wall while the device is moving along the wall, or if the device is in transit, the device performs a rotation of 30° to 90° on the spot to wipe in both directions before reversing again. Preferably, the device performs the reverse movement in the direction of travel with rotations of 30° to 90° to each side relative to the reverse movement if the wet area is located on both sides of the reverse movement.

[0029] In another advantageous embodiment, the reverse movement comprises the following steps: straight-line backward movement of a first short distance towards the wet area, wherein the first short distance preferably corresponds to half to a maximum of the full length of the wet cleaning module, at one point one-sided or two-sided rotation of the device by 30° to 90°, rotation of the device back to its original starting position before the rotation, and continuation in straight-line backward movement of a second short distance into the wet area, wherein the second short distance preferably corresponds to half to a maximum of the full length of the wet cleaning module.

[0030] The process steps of rotating, reversing, and continuing are preferably repeated until the wet area has been traversed. This prevents liquid from the accumulated liquid from bypassing the wiper unit and coming into contact with the drive wheels or suction nozzle.

[0031] If the wet cleaning module on the device has a width that covers all contact points of the device with the floor, i.e., the mopping unit is wide, then lateral rotation when reversing is unnecessary and the device performs a continuous, straight reverse movement.

[0032] In a further advantageous embodiment, the length of the wet zone in the direction of travel is determined upon detection of the liquid accumulation before the device rotates. Thus, the distance the device must reverse to completely traverse the wet zone is determined in advance, directly upon detection of the liquid accumulation, for example, by a camera and image processing.

[0033] In an alternative embodiment, the presence of a liquid accumulation is checked after traversing the wet area over predetermined distances by having the device rotate backwards in the direction of travel while moving forwards and determining whether the liquid accumulation is still present. Thus, after a defined distance, for example 0.5 m, the device rotates forwards again and checks once more whether a liquid accumulation is still detected.

[0034] Alternatively, the device can have appropriate sensors on its back that are suitable for detecting liquids in order to determine the end of the liquid accumulation.

[0035] Once the liquid accumulation is no longer detectable, i.e., the wet area has ended, the device can continue its journey forward.

[0036] The invention further relates to a mobile, self-driving device, in particular a floor cleaning device, such as a vacuuming and / or sweeping and mopping robot, for wiping up a liquid accumulation, wherein the device comprises the following: a drive device for driving over a floor surface to be cleaned, a dry cleaning module for dry cleaning of the floor surface, which is arranged in a forward direction of travel in a front area of ​​the device, a wet cleaning module for wet cleaning of the floor surface, which is arranged in a forward direction of travel in a rear area of ​​the device, a detection device which is configured to detect a liquid accumulation in a damp area and which is arranged in a front area of ​​the device, and a processing device which is configured, upon detection of the liquid accumulation, to rotate the device in front of the liquid accumulation by substantially 180° and to drive over the damp area in reverse in the direction of travel.

[0037] Any features, designs, embodiments and advantages relating to the method also apply in connection with the device according to the invention, and vice versa.

[0038] In an advantageous embodiment, the device comprises a further detection device configured to detect the accumulation of liquid in the wet area, and which is arranged in a rear section of the device. This advantageously allows an end to the wet area to be determined, so that the device can resume its forward movement after traversing the wet area.

[0039] In a further advantageous embodiment, the wet cleaning module comprises at least one wiping unit and one container unit, wherein the wiping unit is moistened with liquid from the container unit in an active mode, and a liquid supply from the container unit to the wiping unit is suspended in an inactive mode.

[0040] The invention is explained in more detail with reference to the following examples. These examples show: Figures 1A, 1B: each schematic views of an embodiment of a mobile, self-driving device that can be controlled by means of a method according to the invention; Figures 2A - 2C: each schematic views of an embodiment of a control method according to the invention with steps of 180° rotation; Figures 3A - 3D: each schematic views of an embodiment of a control method according to the invention with unilateral rotary-wipe movements; Figures 4A - 4C: each schematic views of an embodiment of a control method according to the invention without rotary-wipe movements; Figures 5A - 5C: each schematic views of an embodiment of a control method according to the invention with bilateral rotary-wipe movements; and Figure 6 a schematic flowchart relating to the control method according to the invention.

[0041] Figur 1AFigure 10 shows a three-dimensional view of a mobile, self-driving device 10, in particular a vacuum-mop combination device or a vacuum-mop robot intended for autonomous floor cleaning. Figur 1B shows a bottom view of the vacuuming and mopping robot. Figur 1A The robot has a dry cleaning module 1 in a front section 5, which extends over a specific width. The dry cleaning module 1 includes a suction nozzle 1a with a brush roller and a side brush 1b at a front corner of the housing. In a rear section 6 of the robot is a wet cleaning module 2, which includes at least one mopping cloth or pad that can be moistened with cleaning fluid from a reservoir unit of the robot or externally. To prevent the mopping cloth from coming into excessive contact with dirt on the floor, the width of the mopping cloth is equal to or less than the width of the dry cleaning module 1.

[0042] In a central area, the robot has a drive unit, in particular drive wheels 3, for traversing a floor surface to be cleaned. At least one sensor 4 is arranged at the front, which can evaluate information from the environment and is particularly suitable for detecting accumulations of liquid on the floor before the robot comes into contact with them, i.e., before driving through them. The sensor 4 is, for example, a forward-facing camera that identifies shiny surfaces, particularly by means of image evaluation and object recognition, or a humidity sensor in the front area of ​​the robot's underside that detects a locally increasing humidity level.

[0043] Furthermore, the robot has a processing unit (not shown) designed to rotate the device by approximately 180° in front of the liquid accumulation upon detection and to move backwards through the wet area in the direction of travel. Thus, if the robot detects a liquid accumulation, for example a puddle, with its sensor 4, it stops its forward movement before touching the liquid.

[0044] The robot's driving behavior after a detected liquid accumulation 7 is described in the Figures 2A to 2C depicted.

[0045] The robot follows its designated paths forward to clean the floor. If it detects a liquid accumulation 7 of any kind with sensor 4, it stops its forward movement before reaching the liquid without driving through it, as described in Figur 2AThe robot then rotates approximately 180° on the spot, so that its rear section 6 is now facing forward in the direction of travel and its front section 5 is now facing backward in the direction of travel, as shown in Figur 2B as shown. Now the robot approaches the liquid collection 7 backwards until the wet cleaning module makes contact with the liquid (see Figur 2C ), so that the wiping cloth can absorb the liquid from the liquid accumulation 7 before the robot drives over the liquid with its dry cleaning module.

[0046] If the width of the wet cleaning module 2 does not cover all contact points of the robot with the floor, especially the drive wheels 3 and the dry cleaning module 1, a simple, straight backward movement through the moisture is not suitable for mopping without risking smearing or spreading the liquid. In this case, the robot's movement pattern, which is described in the Figuren 3A bis 3D As shown, it is advantageous. Device 10 operates as shown in Figur 3AAs shown, the robot moves in a straight backward motion a short distance towards the wet area, or with its front end into the liquid collection 7, until the distance traveled corresponds to approximately half to a maximum of the full length of the wet cleaning module 2. The robot then stops and turns on the spot towards the wet area to allow the wet cleaning module 2 to wipe to the side of the robot's actual travel path (see Figur 3BHere, the robot rotates on the spot by approximately 30° to 90° relative to its actual axis of reverse movement, i.e., the direction of reverse motion. Immediately afterward, the robot rotates on the spot back to its starting position, i.e., back to its actual axis of reverse movement. Upon reaching the reverse direction, the robot travels a second short distance in a straight reverse motion into the wet area, as described in Figur 3C The second short section again corresponds to approximately half to a maximum of the full length of wet cleaning module 2. Here the robot stops and performs the 30° to 90° rotation, including the return rotation, a second time, as shown in 3D FigureThis is shown to further wipe up the liquid accumulation 7 in the wet area. The steps of moving intermittently into the wet area and then turning 30° to 90°, including turning back, are repeated until the wet area has been completely traversed. The robot then turns 180° forward again to clean the floor in the usual manner according to its cleaning task, with the dry cleaning module 1 leading the wet cleaning module 2.

[0047] If the robot moves along adjacent paths and reaches a wet area essentially tangentially, the process is described as follows: Figuren 3A bis 3DThis is carried out by the device rotating sideways in one direction, i.e., towards the wet area. If the wet cleaning module 2 on the robot has a width that covers all contact points of the robot with the floor, i.e., if the wet cleaning module 2 is comparatively wide, then the lateral rotation during the passage through the wet area when reversing is omitted, as described in the Figures 4A to 4C As shown, in this case, the robot performs a continuous, straight backward movement. After the wet area, the robot turns 180° forward again to continue cleaning the floor as intended, with dry cleaning module 1 facing wet cleaning module 2.

[0048] If the wet area is not located to the side of the robot, but almost centrally – for example, if the liquid accumulation is near a wall, or if the robot is in transit – and if the width of the wet cleaning module 2 is less than the robot's contact points with the floor, the robot performs a partial rotation of 30° to 90° for wiping in both directions relative to the axis of reverse movement before reversing again in sections. This movement behavior is described in the Figures 5A to 5C depicted. First, the robot travels a short distance into the wet area ( Figur 5A ). Then the robot rotates on the spot by 30° to 90° in one direction relative to the axis of travel during the reverse movement ( Figur 5B), in order to immediately return to the starting position. Now, at the same spot, a rotation of 30° to 90° in the opposite direction relative to the axis of travel of the backward movement takes place ( Figur 5C ), in order to immediately return to its starting position. It then continues moving in a straight reverse direction along its axis of travel for a second short distance into the wet area. This movement pattern with rotation on both sides is also performed if the robot cannot determine the lateral extent of the wet area.

[0049] The distance the robot must reverse is determined in advance by the detection device upon detecting the liquid accumulation. Alternatively, the robot turns forward after a predefined distance, for example, 0.5 meters, to check if a liquid accumulation is still detected. Another alternative is that the robot has an additional detection device on its back, opposite the front, to determine the end of the wet area. If the wet area is no longer detectable, the robot can continue its journey forward as usual and resume its cleaning task.

[0050] During its reverse movement, the robot stops moistening the mop pad of wet cleaning module 2 from its own reservoir to prevent excessive moisture in the pad and thus reduced liquid absorption from the floor. Subsequently, after passing through the wet area and rotating forward, the pump resumes moistening the mop pad.

[0051] In Figure 6A flowchart is shown illustrating the robot's movement when a liquid accumulation is present in its cleaning area. In step 101, the robot performs its cleaning task by moving forward. If the robot detects a liquid accumulation on the floor in front of it (step 102), a mopping procedure is initiated. For this, the robot rotates 180° on the spot in front of the liquid accumulation (step 103). The robot then approaches the liquid accumulation in reverse until the wet cleaning module, specifically the mopping pad, makes contact with the liquid accumulation (step 104). Upon contact, the robot rotates 30° to 90° on one or both sides and then returns to its starting position (position before the rotation) (step 105). Upon reaching the starting position, the robot reverses a short distance into the liquid accumulation (step 106).Steps 105 and 106 are repeated until the robot reaches the end of the liquid accumulation (step 107). At the end of the liquid accumulation, the robot turns 180° in a forward direction and continues its cleaning path in a forward direction (step 108).

Claims

1. Method for controlling a mobile, self-propelled device (10), in particular floor cleaning device, such as a suction and / or sweeping and mopping robot, for mopping up a liquid accumulation (7), wherein the method comprises the following: - navigating a floor area intended for cleaning in the direction of travel in the forward movement of the device (10) and cleaning the floor area with a dry-cleaning module (1) and / or a wet-cleaning module (2) of the device (10), - detecting the liquid accumulation (7) in the direction of travel in front of the device (10) in a wet area, - ending the forward movement in front of the wet area and rotating the device (10) about essentially 180°, - navigating the wet area in the backward movement in the direction of travel of the device (10) and mopping the liquid accumulation (7) with the wet-cleaning module (2).

2. Method according to claim 1, wherein in the forward movement in the direction of travel of the device (10) a cleaning liquid supply of the wet-cleaning module (2) is in an active mode and in the backward movement in the direction of travel of the device (10) a cleaning liquid supply of the wet-cleaning module (2) is in an inactive mode.

3. Method according to one of the preceding claims, wherein the device (10) executes the backward movement in the direction of travel with one-sided rotational movements about 30° to 90° with respect to the backward movement, if the wet area is located arranged on one side with respect to the backward movement.

4. Method according to one of the preceding claims, wherein the device (10) executes the backward movement in the direction of travel with two-sided rotational movements about in each case 30° to 90° with respect to the backward movement, if the wet area is located arranged on both sides with respect to the backward movement.

5. Method according to one of the preceding claims 3 or 4, wherein the backward movement comprises the following steps: - linear backward movement along a first short route toward the wet area, - at one position rotating the device (10) about 30° to 90° on one or both sides, - turning the device (10) back into its original starting position before the rotation, and - continuing the linear backward movement of a second short stretch into the wet area.

6. Method according to claim 5, wherein the steps of rotating, turning back and continuing are repeated until the wet area is traversed.

7. Method according to one of the preceding claims, wherein a length of the wet area in the direction of travel is determined before rotating the device (10) upon detection of the liquid accumulation (7).

8. Method according to one of the preceding claims 1 to 6, wherein after navigating the wet area according to predetermined routes a presence of the liquid accumulation (7) is checked, by the device (10) in the direction of travel in the forward movement turning back and determining whether the liquid accumulation is still present.

9. Mobile, self-propelled device (10), in particular floor cleaning device, such as a suction and / or wiping and mopping robot, for mopping a liquid accumulation (7), wherein the device (10) comprises the following: - a drive facility (3) for navigating a floor area to be cleaned, - a dry-cleaning module (1) for dry cleaning the floor area, which is arranged in the direction of travel in the forward movement in a front area (5) of the device (10), - a wet-cleaning module (2) for wet cleaning the floor area which is arranged in the direction of travel in the forward movement in a rear area (6) of the device (10), - a detection facility (4) which is designed to detect a liquid accumulation (7) in a wet area and which is arranged in a front area of the device (10), and characterised in that the device (10) comprises the following: - a processing facility which is designed, upon detection of the liquid accumulation (7), to rotate the device (10) before the liquid accumulation (8) about substantially 180° and to navigate the wet area in the backward movement in the direction of travel.

10. Mobile, self-driving device (10) according to claim 9, comprising a further detection facility, which is designed to detect the liquid accumulation (7) in the wet area and is arranged in a rear area of the device (10).

11. Mobile, self-propelled device (10) according to claim 9 or 10, wherein the wet-cleaning module (2) comprises at least a wiping unit and a container unit, wherein in an active mode the wiping unit is wet with liquid from the container unit and in an inactive mode a liquid supply of the container unit to the wiping unit is suspended.