Method for controlling an autonomously moving bo-type cleaning device, computer program product and floor cleaning device for carrying out the method

Abstract

The invention relates to a method (1) for controlling a floor cleaning device (2), in which a floor cleaning device (2) moving over a floor surface (3) is provided with a floor cleaning element (4) adjustable relative to the floor surface (3), wherein the floor cleaning element (4) is moved into a cleaning position (5), wherein the floor cleaning element (4) is moved into a position (10) raised from the floor surface (3) when the floor cleaning device (2) detects a first distance (8) between itself and an obstacle (9) located in the direction of travel (6) in front of the floor cleaning device (2), wherein the floor cleaning element (4) is moved back from the raised position (10) to the cleaning position (5) when the floor cleaning device (2) detects a second distance (11) between itself and the obstacle (9) that is smaller than the first distance (8), wherein the floor cleaning device (2) moves in a direction that deviates from the direction of travel (6),further direction of travel (12). The invention also relates to a computer program product and a floor cleaning device (2) for carrying out the method (1).

Description

[0001] The invention relates to a method for controlling an autonomously moving floor cleaning device according to the preamble of claim 1. The invention also relates in particular to a computer program product and a floor cleaning device for carrying out the method.

[0002] Methods for controlling autonomously moving floor cleaning devices of this type are described, for example, in US 2002 / 0011813 A1, US 2019 / 0290089 A1, WO 01 / 82766 A2, EP 3 482 669 A1, and DE 10 2017 126 414 A1. A disadvantage of these methods is that unwanted dirt residues remain, particularly in hard-to-reach areas of a floor surface to be cleaned, for example, around walls or wall corners.

[0003] The object of the invention is therefore to provide an improved or at least a different method for controlling autonomously moving floor cleaning devices. In particular, a computer program product and a floor cleaning device for implementing the method are to be provided.

[0004] In the present invention, this object is achieved in particular by the subject matter of the independent claims. Advantageous embodiments are the subject matter of the dependent claims and the description and figures.

[0005] The basic idea of ​​the invention is to first raise a floor cleaning element of a floor cleaning device at a certain distance in front of an obstacle and only then lower it again when the floor cleaning device has reached the obstacle.

[0006] Specifically, within the scope of the method for controlling an autonomously moving floor cleaning device, in particular a mopping robot, furthermore in particular a wet and / or dry cleaning robot, it is provided that a floor cleaning device that moves autonomously across a floor surface is provided with a floor cleaning element that is adjustable relative to the floor surface. The floor cleaning device initially adjusts the floor cleaning element to a cleaning position in which it is supported in contact with the floor surface and moves in a direction of travel, so that the floor surface is cleaned along a travel path.Furthermore, it is provided that when the floor cleaning device detects a first distance between itself and an obstacle located in front of the floor cleaning device in the direction of travel, in particular a wall or a wall corner, it adjusts the floor cleaning element into a position raised from the floor surface and continues to move in the direction of travel. It is essential that when the floor cleaning device encounters said obstacle and / or detects a second distance, smaller in magnitude than the first distance, between itself and the obstacle located in front of the floor cleaning device in the direction of travel, it adjusts the floor cleaning element from the raised position back to the cleaning position and continues to move in a further direction of travel that deviates from the direction of travel.

[0007] This ensures that dirt located on the floor surface between the first and second distances is not pushed all the way up to the obstacle with the floor cleaning element and possibly left there, but is pulled away from it. Furthermore, it can be achieved that collected coarse dirt loosely adhering to the floor cleaning element, which has accumulated on the floor cleaning element during a previous cleaning of the floor surface, particularly on a front edge and / or on an underside of the floor cleaning element, is deposited / dropped in a predetermined position in front of the obstacle, in which position the said first distance is set between the floor cleaning device and the obstacle, since experience has shown that coarse dirt falls off the floor cleaning element when the floor cleaning element is adjusted to the position raised from the floor surface.The floor cleaning device can then move over the coarse dirt that has fallen off, as well as any dirt located between the first and second distances, with the floor cleaning element raised. The floor cleaning element is then lowered back onto the floor surface in a further position closer to the obstacle, in which the floor cleaning device is in contact with the obstacle and / or the second distance is set between itself and the obstacle. This allows the dirt and coarse dirt to be cleaned off. In summary, this effectively prevents dirt edges, especially in hard-to-reach areas of the floor.

[0008] Conveniently, the adjustment of the floor cleaning element into the raised position and / or into the cleaning position is carried out while the floor cleaning device is moving. It can also be provided that the floor cleaning device stops in order to adjust the floor cleaning element into the raised position and / or into the cleaning position.

[0009] It is also advisable for the floor cleaning element to be completely lifted off the floor surface in the raised position and positioned at a distance from it. This ensures that the floor cleaning element has no contact with the floor surface, preventing dirt from being cleaned. This has the advantage that dirt is not pushed onto the obstacle.

[0010] It is also expedient if the floor cleaning element is provided at least partially raised from the floor surface in the raised position. Partially raised expediently means that the floor cleaning element is at least partially raised from the floor surface and at the same time is at least partially supported on the floor surface. For example, only one edge, in particular a front edge located at the front as viewed in the direction of travel, of at least one cleaning pad of the floor cleaning element made of a textile dry cleaning fabric or a textile wet cleaning fabric can be raised from the floor surface, while another edge, in particular a rear edge opposite the front edge, continues to be supported on the floor surface. As a result, the floor cleaning element is always in contact with the floor surface, in contrast to when it is completely raised from the floor surface.This allows different raised positions of the floor cleaning element to be realized, so that the described method can be tailored to the specific requirements of dry or wet cleaning, for example.

[0011] It may also be expedient if the floor cleaning element, in the raised position, is adjusted parallel to the floor surface, in particular in a vertical direction perpendicular to the floor surface, and / or tilted at an angle relative to the floor surface, in particular so that an angle in a range of greater than 0° up to and including 60° is formed between the floor cleaning element and the floor surface. This allows the floor cleaning element to be adjusted to different positions in which dirt on the floor surface is not or practically not cleaned off.

[0012] It is also expedient if the floor cleaning element, once adjusted to the raised position, is adjusted laterally with respect to the direction of travel such that, in a disengaged position, it projects laterally or transversely beyond an outer housing of the floor cleaning device with respect to the direction of travel. Furthermore, if the floor cleaning device strikes the said obstacle and / or the floor cleaning device determines the said second distance between itself and the obstacle located in front of the floor cleaning device in the direction of travel, the floor cleaning element can first be lowered from the raised position onto the floor surface and only then moved laterally back from the laterally disengaged position into the cleaning position. This allows dirt to be effectively cleaned even if the floor cleaning element does not project beyond an outer housing of the floor cleaning device in a non-disengaged position.This has the advantage that a suitably equipped floor cleaning device can be used relatively flexibly and at the same time achieves a satisfactory cleaning result.

[0013] In an advantageous further development, the movement of the floor cleaning device in the direction of travel enables the floor cleaning device to move forward. Furthermore, the movement of the floor cleaning device in the further direction of travel enables the floor cleaning device to move backward in the opposite direction to the forward movement. As a result, within the scope of the described method, the floor cleaning device initially moves forward toward an obstacle. As soon as it encounters said obstacle and / or determines the second distance between itself and the obstacle, it moves in the opposite direction, i.e., backward, away from the obstacle. One can at least imagine that the floor cleaning device stops in order to switch from forward to reverse.

[0014] It can also be provided that the floor cleaning device approaches an obstacle by moving it in the direction of travel. Moving away from the obstacle can be achieved by moving the floor cleaning device in a different direction, in particular by moving the floor cleaning device in the opposite direction to the direction of travel. This allows the floor cleaning device to either move forward toward an obstacle and then reverse away from it, or move backward toward an obstacle and then move away from it. This allows the floor cleaning device to be used even more flexibly.

[0015] It is further expedient if the floor cleaning element is provided at the front of the floor cleaning device in the direction of travel, in particular on an underside of the floor cleaning device facing the floor surface. Furthermore, it can be provided that the floor cleaning element is provided at the rear of the floor cleaning device in the direction of travel, in particular on an underside of the floor cleaning device facing the floor surface. Furthermore, it can be provided that the floor cleaning element is provided laterally on the floor cleaning device with respect to the direction of travel, in particular on an underside of the floor cleaning device facing the floor surface. This allows the floor cleaning device to carry out the described method either in forward or reverse travel. A laterally arranged floor cleaning element can also be advantageous, since it is then possible for the floor cleaning device to carry out the described method in forward and reverse travel.In particular, when the floor cleaning element is provided at the rear of the floor cleaning device in the direction of travel, the above-described lateral adjustment of a square-shaped floor cleaning element can be advantageous because it allows an outer housing of the floor cleaning device to be designed round or D-shaped, which has a positive effect on the driving characteristics of the floor cleaning device.

[0016] In a particularly preferred embodiment, at least one cleaning pad of the floor cleaning element, realized by a textile dry cleaning fabric or a textile wet cleaning fabric, is rotated or provided in a rotatable manner. The at least one cleaning pad expediently rotates relative to the floor surface to be cleaned and / or relative to an outer housing of the floor cleaning device. When a cleaning pad is operated in a rotating manner, it can be advantageous if the cleaning pad is arranged at the rear or front of the floor cleaning device in the direction of travel and projects beyond an outer housing of the floor cleaning device.

[0017] It is also expedient for the floor cleaning device, when it encounters said obstacle and / or detects said second distance, to press the floor cleaning element against said obstacle. This allows the floor surface to be cleaned without leaving a dirt border, thus providing a satisfactory cleaning result.

[0018] The invention may comprise the alternative or additional further basic idea of ​​specifying a computer program product comprising instructions that, when the program or computer program product is executed by a processing unit of a floor cleaning device, cause the device to execute the method described above. This allows the method described above to be implemented in software. A storage medium readable by said processing unit of the floor cleaning device can also be expediently provided, which comprises instructions that, when executed by said processing unit of the floor cleaning device, cause the device to execute the method according to the preceding description.

[0019] The invention may further comprise the alternative or additional further basic idea of ​​specifying a floor cleaning device, in particular a mopping robot, more particularly a wet and / or dry cleaning robot, for carrying out the method described above. The floor cleaning device may be equipped with a computing unit configured to execute the computer program product described above. This provides an embodiment for a floor cleaning device that can carry out the described method.

[0020] In this case, it may be expedient for the floor cleaning element to have at least one cleaning pad made of a textile dry cleaning fabric or a textile wet cleaning fabric, in particular a flexible or rigid cleaning pad, as well as a carrier plate supporting the same, in particular a plate-shaped carrier plate. This provides a preferred embodiment for a floor cleaning element, whereby corresponding cleaning pads can be provided cost-effectively, so that the described method can be implemented cost-effectively.

[0021] It is also expedient if the floor cleaning element extends at least as far as the outer housing of the floor cleaning device. Alternatively, the floor cleaning element can extend beyond the outer housing of the floor cleaning device in the direction of travel and / or laterally or transversely relative to the direction of travel. This provides a preferred embodiment or a preferred position for a floor cleaning element. With a suitable floor cleaning element, a floor surface can be cleaned without a dirt edge, especially along walls or in a wall corner.

[0022] It can be expediently provided that the floor cleaning device has an adjustment device for adjusting the floor cleaning element between a cleaning position and a raised position spaced therefrom and / or a laterally or transversely disengaged position with respect to a direction of travel of the floor cleaning device. In this case, it can be provided that the adjustment device is implemented either by a lifting device similar to a lifting platform and / or by an inclination device. This provides preferred embodiments of an adjustment device for a floor cleaning device for carrying out the described method.

[0023] In order to achieve parallel adjustment of the floor cleaning element relative to the floor surface, said lifting platform-like lifting device can have two levers, each articulated on a support plate of the floor cleaning element. The levers are expediently each arranged on a sliding part of the lifting device, which are mounted displaceably relative to each other in a common longitudinal guide of the lifting device arranged on the floor cleaning device and are connected via a coupling element of the lifting device that can be driven by an actuator.

[0024] In order to achieve an angular adjustment of the floor cleaning element relative to the floor surface, said tilting device can have a lever articulated on a support plate of the floor cleaning element. This lever is further advantageously arranged on a sliding part of the tilting device, which is displaceably mounted in a longitudinal guide of the tilting device arranged on the floor cleaning device and can be driven by an actuator via a coupling element. The tilting device further advantageously has at least one pivot bearing arranged on the support plate of the floor cleaning element, via which the support plate is pivotably mounted on the floor cleaning device.

[0025] In summary, the invention expediently relates to a method for controlling a floor cleaning device, in which a floor cleaning device moving over a floor surface is provided with a floor cleaning element that is adjustable relative to the floor surface, wherein the floor cleaning element is adjusted into a cleaning position, wherein the floor cleaning element, when the floor cleaning device determines a first distance between itself and an obstacle located in front of the floor cleaning device in the direction of travel, is adjusted into a position raised from the floor surface, wherein the floor cleaning element, when the floor cleaning device determines a second distance between itself and the obstacle that is smaller than the first distance, is adjusted back from the raised position into the cleaning position, wherein the floor cleaning device moves in a further direction of travel that deviates from the direction of travel.The invention further relates to a computer program product and a floor cleaning device for carrying out the described method.

[0026] Further important features and advantages of the invention emerge from the subclaims, from the drawings and from the associated description of the figures based on the drawings.

[0027] It is understood that the features mentioned above and those to be explained below can be used not only in the combination specified in each case, but also in other combinations or on their own, without departing from the scope of the present invention.

[0028] Preferred embodiments of the invention are illustrated in the drawings and are explained in more detail in the following description, wherein the same reference numerals refer to the same or similar or functionally identical components.

[0029] They show, schematically Fig. 1 shows a sequence of several individual images illustrating the method according to the invention in accordance with a preferred embodiment, Fig. 2 shows a further sequence of several individual images illustrating the method according to the invention in accordance with a preferred, further embodiment, Fig. 3 shows a perspective view of a floor cleaning device according to a preferred embodiment, viewed obliquely from below, so that its floor cleaning element can be seen, Fig. 4 shows the floor cleaning element of the floor cleaning device from Fig. 3 and an adjustment device of the floor cleaning device designed to adjust the same Fig. 3 , Fig. 5 in a perspective view a floor cleaning device according to a preferred, further embodiment with a view obliquely from below, so that its floor cleaning element can be seen and finally Fig. 6 the floor cleaning element of the floor cleaning device from Fig. 5and an adjustment device of the floor cleaning device designed to adjust the same Fig. 5 .

[0030] The figures show an autonomously moving floor cleaning device, labeled as a whole with the reference number 2, which is used to remove dirt from a floor surface 3 along a travel path 7. Preferred areas of application are indoor spaces, for example residential and office spaces. Depending on the intended use, the floor cleaning device 2 can be implemented as a wet cleaning robot and / or a dry cleaning robot. The floor cleaning device 2 has an outer housing 17 and a floor cleaning element 4 arranged on its underside 20, the latter having a carrier plate 21 to which at least one cleaning pad 13, implemented as a textile dry cleaning fabric or a textile wet cleaning fabric, is attached, which carries out the actual cleaning of the floor surface 3, see in particular the Fig. 4 and 6 .

[0031] In Fig. 1 In a sequence of several individual images I-VI, essential steps of a method 1 for controlling the floor cleaning device 2 according to a preferred embodiment are illustrated. In a sequence from top to bottom, it can be seen that, within the scope of method 1, the floor cleaning device 2, which moves autonomously across the floor surface 3, is first provided with a floor cleaning element 4 that is adjustable relative to the floor surface 3. Initially, the floor cleaning element 4 is adjusted or actuated into a so-called cleaning position 5, in which it is supported in contact with the floor surface 3. The floor cleaning device 2 moves forward in a direction of travel 6 indicated by a simple arrow in a forward travel 18. In this way, the floor surface 3 can be cleaned along the said travel path 7, see individual images I, II.

[0032] Furthermore, Fig. 1It can be seen, see in particular individual image III, that as soon as the floor cleaning device 2 determines a first distance 8 between itself and an obstacle 9 located in front of the floor cleaning device 2 in the direction of travel 6, for example a wall or a wall corner, the floor cleaning element 4 is adjusted parallel to the floor surface 3 in a height direction 16 that is perpendicular to the floor surface 3. As a result, the floor cleaning element 4 is actuated into a position 10 completely lifted off the floor surface 3, so that it has no contact with the floor surface 3. The floor cleaning device 2 continues to move unchanged in the direction of travel 6 or at least stops briefly and then continues to move in the direction of travel 6.It can at least be imagined that sensors mounted on the floor cleaning device 2, such as ultrasonic sensors or the like, as well as a computing device arranged on the floor cleaning device 2, are used to determine the said first distance 8, wherein the sensors provide a sensor distance signal, in particular by means of a runtime measurement, which is evaluated by the computing device.

[0033] In Fig. 1It can further be seen, cf. in particular individual images IV-VI, that when the floor cleaning device 2 comes into contact with the said obstacle 9 and / or when it determines a second distance 11, which is smaller in magnitude than the first distance 8, between itself and the obstacle 9 located in front of the floor cleaning device 2 in the direction of travel 6, for which purpose the sensors explained above and a computing device can again be used, for example, the floor cleaning element 4 is moved back from the raised position 10 into the initial cleaning position 5 and moves in a further direction of travel 12 which deviates from the direction of travel 6 and is oriented in the opposite direction in the present case, in a reverse travel 19.This ensures that, in an area of ​​the floor surface 3 spanned between the first distance 8 and the second distance 11, dirt located on the floor surface 3 as well as collected coarse dirt loosely held on the floor cleaning element 4, which has accumulated on the floor cleaning element 4 during the cleaning of the floor surface 4, in particular on a front edge 14 and / or on an underside of a cleaning pad 13 of the floor cleaning element 4, is not pushed all the way to the obstacle 9 and possibly dropped there, but is removed from it. This has the advantage that unwanted dirt edges are efficiently removed even in hard-to-reach areas of the floor surface 3 and that no dirt is pressed against the obstacle 9.

[0034] The Fig. 2shows, in a sequence of several individual images I-VI, essential steps of a method 1 for controlling the floor cleaning device 2 according to a preferred further embodiment. The method 1 according to Fig. 2 differs from the method 1 discussed above according to Fig. 1merely in that the floor cleaning element 4 in the raised position 10 (cf. in particular individual images III, IV) is no longer completely lifted from the floor surface 3, but instead is only partially lifted from it, namely is inclined at an angle α of, for example, 10° with respect to the floor surface 3. As a result, although the floor cleaning element 4 is at least partially lifted from the floor surface 3, it simultaneously rests against it at least in sections. Purely by way of example, the said front edge 14 of the cleaning pad 13 of the floor cleaning element 4, which is at the front as viewed in the direction of travel 6, is spaced from the floor surface 3, while the said rear edge 15 of the cleaning pad 13 of the floor cleaning element 4 rests against the floor surface 3.At least theoretically, the floor cleaning element 4 can also be adjusted in a position inclined with respect to the floor surface 3 in the height direction 16 perpendicular to the floor surface 3 to such an extent that both the front edge 14 and the rear edge 15 of the cleaning pad 13 of the floor cleaning element 4 are spaced apart with respect to the floor surface 3, so that as a result the floor cleaning element 4 has no contact with the floor surface 3.

[0035] The Fig. 3 shows a floor cleaning device 2 according to a preferred embodiment, viewed obliquely from below and Fig. 4 the floor cleaning element 4 of the floor cleaning device 2 Fig. 3 in individual representation, so that an adjusting device 22 of the floor cleaning device 2, which is designed to adjust the floor cleaning element 4 between a cleaning position 5 and a spaced-apart, lifted position 10, can be seen from Fig. 3The adjustment device 22 according to Figs. 3 and 4 is realized by a lifting device 23 similar to a lifting platform, so that the Fig. 1 The described parallel adjustment of the floor cleaning element 4 can be realized in a vertical direction 16 perpendicular to the floor surface 3. The floor cleaning device 2 is expediently made of Fig. 1 equipped with a lifting device 23 similar to a lifting platform. In any case, the lifting device 23 similar to a lifting platform is characterized according to Figs. 3 and 4characterized in that, in order to realize a parallel adjustment of the floor cleaning element 4 with respect to the floor surface 3, it has two U-shaped levers 24, each articulated on the aforementioned support plate 21 of the floor cleaning element 4. The levers 24 are articulated on a side facing away from the support plate 21, for example, each on a T-shaped sliding part 25 of the lifting device 23, so that they can be adjusted rotationally both with respect to the support plate 21 and with respect to the respective sliding part 25. The sliding parts 25 are in turn arranged in a longitudinal guide 26 of the lifting device 23, which is arranged on the floor cleaning device 2 and which only in Fig. 4and is indicated there only by dashed lines, mounted displaceably relative to one another. The sliding parts 25 are further connected to one another via a coupling member 27 of the lifting device 23, in particular a threaded rod, which can be driven by an actuator 28, so that when the actuator 28 is active and drives the coupling member 27, a relative movement of the sliding parts 25 along the longitudinal guide 26 to one another is realized, which, via the levers 24, effects an adjustment of the floor cleaning element 4 in the height direction 16.

[0036] The Fig. 5 shows a floor cleaning device 2 according to a preferred, further embodiment with a view obliquely from below and Fig. 6 the floor cleaning element 4 of the floor cleaning device 2 Fig. 5in individual representation, so that here too one can see an adjusting device 22 designed to adjust the floor cleaning element 4 between a cleaning position 5 and a spaced-apart, raised position 10. This adjusting device 22 according to Figs. 5 and 6 is, in contrast to the adjustment device 22 according to Figs. 3 and 4 , realized by an inclination device 29 (angle adjustment device), with which the Fig. 2described, the angular adjustment of the floor cleaning element 4 by an angle α with respect to the floor surface 3 can be realized. The inclination device 29 has, by way of example, in order to be able to realize the angular adjustment of the floor cleaning element 4 considered with respect to the floor surface 3, two pivot bearings 35 arranged on the support plate 21 of the floor cleaning element 2, via which the support plate 21 or the floor cleaning element 4 is arranged in a pivot-adjustable manner on the floor cleaning device 2. The inclination device 29 also has a single, U-shaped lever 30, which is arranged on the one hand in an articulated manner on the support plate 21 of the floor cleaning element 4 and on the other hand in an articulated manner on a T-shaped sliding part 31 of the inclination device 29. As a result, the lever 30 can be rotationally adjusted both with respect to the support plate 21 and with respect to the sliding part 31.This sliding part 31 is arranged in a longitudinal guide 32 of the inclination device 29 on the floor cleaning device 2, which only . Fig. 6 and is only indicated there by dashed lines. The sliding part 31 is further connected to an actuator 34 via a coupling member 33 of the inclination device 29, in particular a threaded rod, so that when the actuator 34 is active and drives the coupling member 33, a relative movement of the sliding part 31 along the longitudinal guide 32 relative to the outer housing 17 of the floor cleaning device 2 is realized, which, via the lever 30, effects an angular pivoting adjustment of the floor cleaning element 4 with respect to the floor surface 3 by a predeterminable angle α. List of reference symbols

[0037] 1Procedure 2Floor cleaning device 3Floor surface 4Floor cleaning element 5Cleaning position 6Direction of travel 7Travel path 8First distance 9Obstacle 10Lifted position 11Second distance 12Further direction of travel 13Cleaning pad of the floor cleaning element 14Front edge of the cleaning pad 15Rear edge of the cleaning pad 16Elevation direction 17Outer housing of the floor cleaning device 18Forward travel of the floor cleaning device 19Reverse travel of the floor cleaning device 20Underside of the floor cleaning device 21Support plate of the floor cleaning element 22Adjustment device 23Lifting device 24Lever of the lifting device 25Sliding parts of the lifting device 26Longitudinal guide of the lifting device 27Coupling link of the lifting device 28Actuator of the lifting device 29Inclination device 30Lever of the Tilt device 31Sliding part of the tilt device 32Longitudinal guide of the tilt device 33Coupling link of the tilt device 34Actuator of the tilt device 35Pivot bearing of the tilt device

Claims

1. A method (1) for controlling an autonomously moving floor cleaning device (2), in particular a mopping robot, further in particular a wet and / or dry cleaning robot, - in which a floor cleaning device (2) that moves autonomously over a floor surface (3) is provided with a floor cleaning element (4) adjustable relative to the floor surface (3), - wherein the floor cleaning appliance (2) adjusts the floor cleaning element (4) into a cleaning position (5), in which the floor cleaning element (4) is supported on the floor surface (3) and the floor cleaning device itself moves in a direction of travel (6), so that the floor surface (3) is cleaned along a travel path (7), characterized in that the floor cleaning device (2), when it determines a first distance (8) between itself and an obstacle (9) located in front of the floor cleaning device (2) in the direction of travel (6), adjusts the floor cleaning element (4) into a position (10) raised from the floor surface (3) and the floor cleaning device itself continues to move in the direction of travel (6), the floor cleaning device (2), when it comes into contact with the said obstacle (9) and / or it determines a second distance (11), smaller than the first distance, between itself and the obstacle (9) located in front of the floor cleaning device (2) in the direction of travel (6), moves the floor cleaning element (4) from the raised position (10) back to the cleaning position (5) and the floor cleaning device itself moves in another direction of travel (12) that is different from the direction of travel (6).

2. The method (1) as claimed in claim 1, characterized in that the floor cleaning element (4) is provided in the raised position (10) completely raised from the floor surface (3).

3. The method (1) as claimed in claim 1, characterized in that the floor cleaning element (4) is provided in the raised position (10) partially raised from the floor surface (3).

4. The method (1) as claimed in one of the preceding claims, characterized in that the floor cleaning element (4) in the raised position (10) is adjusted parallel with respect to the floor surface (3) and / or is tilted at an angle with respect to the floor surface (3), in particular in such a manner that an angle in a range from greater than 0° to 60° inclusively is formed between the floor cleaning element (4) and the floor surface (3).

5. The method (1) as claimed in one of the preceding claims, characterized in that - the floor cleaning element (4), when it has been adjusted into the raised position (10), is laterally adjusted with respect to the direction of travel (6) in such a manner that it protrudes in a disengaged position over an outer housing (17) of the floor cleaning device (2) laterally or transversely with respect to the direction of travel (6), and / or - the floor cleaning element (4), when the floor cleaning device (2) comes into contact with the said obstacle (9) and / or the floor cleaning device (2) determines the said second distance (11) between itself and the obstacle (9) located in front of the floor cleaning device (2) in the direction of travel (6), the floor cleaning element (4) is first lowered from the raised position (10) onto the floor surface (3) and only then is it laterally moved back from the laterally disengaged position into the cleaning position (5).

6. The method (1) as claimed in one of the preceding claims, characterized in that - the movement of the floor cleaning device (2) in the direction of travel (6) results in a forward travel (18) of the floor cleaning device (2), and / or - the movement of the floor cleaning device (2) in the other direction of travel (12) results in a backward travel (19) of the floor cleaning device (2) in the opposite direction to the forward travel (18).

7. The method (1) as claimed in one of the preceding claims, characterized in that - the floor cleaning device (2) approaches the obstacle by the floor cleaning device (2) moving in the direction of travel (6), and / or - the floor cleaning device (2) moves away from the obstacle by the floor cleaning device (2) moving in the other direction of travel (12), in particular by the floor cleaning device (2) moving in the opposite direction to the direction of travel (6).

8. The method (1) as claimed in one of the preceding claims, characterized in that - the floor cleaning element (4) is provided at the front of the floor cleaning device (2) in the direction of travel (6) and / or - the floor cleaning element (4) is provided at the rear of the floor cleaning device (2) in the direction of travel (6) and / or - the floor cleaning element (4) is provided on the side of the floor cleaning device (2) with respect to the direction of travel (6).

9. The method (1) as claimed in one of the preceding claims, characterized in that at least one cleaning pad (13) of the floor cleaning element (4) is rotated or is provided such that it can be rotated, the cleaning pad being made of a textile dry-cleaning fabric or a textile wet-cleaning fabric.

10. The method (1) as claimed in one of the preceding claims, characterized in that the floor cleaning device (2) presses the floor cleaning element (4) against the said obstacle (9) when the floor cleaning device (2) comes into contact with the said obstacle (9) and / or determines the said second distance (11).

11. A computer program product comprising commands that, when the program is executed by a computing unit of a floor cleaning device (2) cause said floor cleaning device to carry out the method (1) as claimed in one of the preceding claims 1 to 10.

12. A floor cleaning device (2), in particular a mopping robot, further in particular, a wet and / or dry cleaning robot, for carrying out the method (1) as claimed in one of claims 1 to 10 and / or with a computing unit for executing the computer program product as claimed in claim 11.

13. The floor cleaning device (2) as claimed in claim 12, characterized in that the floor cleaning element (4) has at least one cleaning pad (13) which is made of a textile dry-cleaning fabric or a textile wet-cleaning fabric, and also a carrier plate (21) supporting said cleaning pad.

14. The floor cleaning device (2) as claimed in claim 12 or 13, characterized in that the floor cleaning element (4) reaches at least as far as an outer housing (17) of the floor cleaning device (2), or that the floor cleaning element (4) protrudes beyond an outer housing (17) of the floor cleaning device (2) in the direction of travel (6) and / or laterally or transversely with respect to the direction of travel (6).

15. The floor cleaning device (2) as claimed in one of claims 12 to 14, characterized by an adjusting apparatus (22) for adjusting the floor cleaning element (4) between a cleaning position (5) and a raised position (10) spaced at a distance from the cleaning position and / or a position disengaged laterally or transversely with respect to a direction of travel (6) of the floor cleaning device (2), wherein the adjusting apparatus (22) is realized by a lifting facility (23) in the form of a lifting platform and / or an inclination facility (29).

Images