Floor cleaning machine and method for operating a floor cleaning machine

Abstract

A floor cleaning machine (1) is shown and described, comprising a machine housing (3), a cleaning fluid reservoir (7), a dirty fluid reservoir (5) which is housed in the machine housing (3), a chassis (9) with wheels (11, 13) which supports the machine housing (3) and is designed such that the floor cleaning machine (1) can be moved over a floor surface (15) to be cleaned, a cleaning device (27) with cleaning elements (29), a device (31) for applying cleaning fluid from the cleaning fluid reservoir (7) to the floor surface (15) to be cleaned, which is designed such that the cleaning fluid is applied in such a way that the cleaning fluid reaches the area of ​​the cleaning device (27), and a dirty fluid collection device (41) which extends perpendicular to the longitudinal axis (21) and parallel to the floor surface (15) to be cleaned.wherein the dirt liquid collection device (41) is designed to collect the liquid located on the floor surface (15) to be cleaned, so that it can be conveyed to the dirt liquid container (5), wherein the dirt liquid collection device (41) is arranged on the machine housing (3) on the side of the rear wheel (11) facing away from the front wheel (13) as viewed along the longitudinal axis (21), and wherein the dirt liquid collection device (41) is slidably mounted on the machine housing (3) between a retracted position and an extended position, and wherein, in the retracted position, the dirt liquid collection device (41) is closer to the at least one rear wheel (11) as viewed along the longitudinal axis (21) than in the extended position.

Description

[0001] The present invention relates to a floor cleaning machine, comprising a machine housing that extends along a longitudinal axis of the floor cleaning machine between a front end and a rear end, comprising a cleaning fluid container that is accommodated in the machine housing, comprising a dirty fluid container that is accommodated in the machine housing, comprising a chassis with wheels that supports the machine housing and is designed such that the floor cleaning machine can be moved over a floor surface to be cleaned, wherein the chassis has at least one front wheel and at least one rear wheel that are spaced apart from one another along the longitudinal axis, wherein the chassis is designed to be steerable so that a direction of travel along which the floor cleaning machine moves over the floor surface to be cleaned can be changed, comprising a cleaning device with cleaning elements that are designedto engage the floor surface to be cleaned when the floor cleaning machine is moved over the floor surface to be cleaned, with a device for applying cleaning fluid from the cleaning fluid container to the floor surface to be cleaned, which is designed such that the cleaning fluid is applied in such a way that the cleaning fluid reaches the area of ​​the cleaning device, and with a dirty fluid receiving device that extends perpendicular to the longitudinal axis and parallel to the floor surface to be cleaned, and wherein the dirty fluid receiving device is designed to receive fluid located on the floor surface to be cleaned so that it can be conveyed to the dirty fluid container. Furthermore, the present invention relates to a method for operating such a floor cleaning machine.

[0002] Such floor cleaning machines are known from the prior art. During operation of such machines, cleaning fluid, such as fresh water, is applied from the cleaning fluid container to the floor surface to be cleaned using the device provided for this purpose. The cleaning elements engage with the floor surface to loosen dirt from it in cooperation with the cleaning fluid. With the aid of the dirty fluid collection device, which can be designed, for example, as a suction cup, the previously applied cleaning fluid, which is laden with dirt after the cleaning elements engage with the floor surface, thus becoming dirty fluid, is collected again and transferred to the dirty fluid container.

[0003] These scrubber-dryers can be designed as walk-behind or ride-on machines. They can also be designed as autonomous cleaning robots, meaning no operator is directly monitoring their operation.

[0004] However, the following problems may arise when operating such machines.

[0005] The dirty liquid collection device, usually the squeegee, extends at least across the entire width of the floor cleaning machine and often also extends laterally to ensure that any dirty liquid applied to the floor surface to be cleaned is completely collected and transported to the dirty liquid container. A lateral projection across the width of the cleaning device is particularly necessary to ensure that the dirty liquid collection device covers the entire area in which the cleaning device has distributed dirty liquid, even when cornering.

[0006] The dirty fluid collection device is mounted behind the rear wheels, as seen in the direction of travel. This means that when the machine corners in one direction, the dirty fluid collection device swings outward on the side of the machine facing away from the inside of the curve. This can cause problems if the machine is traveling along an object such as a shelf or a wall and then needs to be moved sideways away from it.

[0007] In this context, it should be noted that the term "object" within the meaning of the present application is to be understood as encompassing any type of element extending away from a floor surface to be cleaned. Accordingly, in addition to furnishings such as furniture, this term also includes other objects that may only be temporarily arranged on the floor surface to be cleaned. Furthermore, in the context of the present application, this term also includes vertically extending walls.

[0008] In order to solve this problem, it is also known from the prior art, such as from JP3267483B2, to attach the dirty liquid collecting device to the machine housing of the floor cleaning machine so that it can be pivoted about a vertical axis, so that it can be pivoted away when it comes into contact with an object when cornering.

[0009] However, it cannot be ruled out that the contact between the lateral end of the dirty liquid collection device and the object in question may cause damage to the latter.

[0010] This problem of swiveling out is particularly relevant for autonomously operated floor cleaning machines. Since these are not monitored by an operator, the operator cannot immediately assess whether contact between the dirty liquid collection device and the object with which its side end may come into contact will cause damage.

[0011] Therefore, in autonomously operated floor cleaning machines, it is imperative to avoid such contact between the dirty liquid collection device and an object located to the side of the floor cleaning machine. Therefore, in autonomously operated floor cleaning machines, it is not possible to reduce the problem of contact with objects located to the side by pivoting the dirty liquid collection device around a vertical axis on the machine housing, allowing it to be dispensed from the central position upon contact with the object against slight resistance.

[0012] Based on the prior art, the present invention is therefore based on the object of providing a floor cleaning machine whose dirty liquid collecting device is mounted in such a way that it can travel laterally close to objects and yet curves away from the object are possible without contact between the dirty liquid collecting device and the objects in question.

[0013] According to the invention, this object is achieved by a floor cleaning machine, comprising a machine housing which extends along a longitudinal axis of the floor cleaning machine between a front end and a rear end, comprising a cleaning liquid container which is accommodated in the machine housing, comprising a dirty liquid container which is accommodated in the machine housing, comprising a chassis with wheels which carries the machine housing and is designed such that the floor cleaning machine can be moved over a floor surface to be cleaned, wherein the chassis has at least one front wheel and at least one rear wheel which are spaced apart from one another along the longitudinal axis, wherein the chassis is designed to be steerable so that a direction of travel along which the floor cleaning machine moves over the floor surface to be cleaned can be changed, comprising a cleaning device with cleaning elements which are designedto engage with the floor surface to be cleaned when the floor cleaning machine is moved over the floor surface to be cleaned, with a device for applying cleaning fluid from the cleaning fluid container to the floor surface to be cleaned, which is designed such that the cleaning fluid is applied in such a way that the cleaning fluid reaches the area of ​​the cleaning device, and with a dirty fluid receiving device which extends perpendicular to the longitudinal axis and parallel to the floor surface to be cleaned, wherein the dirty fluid receiving device is designed to receive fluid located on the floor surface to be cleaned so that it can be conveyed to the dirty fluid container,wherein the dirty liquid receiving device is arranged on the machine housing on the side of the rear wheel facing away from the front wheel, as viewed along the longitudinal axis, and wherein the dirty liquid receiving device is displaceably mounted on the machine housing between a retracted position and an extended position, and wherein the dirty liquid receiving device is closer to the at least one rear wheel in the retracted position along the longitudinal axis than in the extended position.

[0014] Accordingly, the floor cleaning machine according to the invention also has a chassis with at least one front wheel and at least one rear wheel, which supports a machine housing in which, among other things, a cleaning fluid container and a dirty fluid container are accommodated. In a preferred embodiment, the chassis has two independently driven rear wheels and at least one adjustable front wheel. However, it is also conceivable to provide one or two actively steerable front wheels. In particular, the present invention is not limited to a specific type of steerability configuration.

[0015] A cleaning device with cleaning elements is also mounted on the chassis. These cleaning elements can engage the floor surface to be cleaned, over which the floor cleaning machine can be moved using the chassis. Furthermore, a cleaning device is attached to the machine housing. This cleaning device has cleaning elements that can engage the floor surface to be cleaned when the floor cleaning machine is moved over it using the chassis. Furthermore, with a corresponding device, which can be designed, for example, as a nozzle arrangement, cleaning fluid can be applied from the cleaning fluid container to the floor surface to be cleaned in such a way that it reaches the area of ​​the cleaning device.

[0016] Finally, a dirty fluid collection device, which can be designed, for example, in the form of a suction cup, is arranged on the machine housing in such a way that it is located on the side of the rear wheel facing away from the front wheel, as viewed along the longitudinal axis defined by the machine housing. The dirty fluid collection device is thus mounted near the rear end and, as viewed in the direction of travel of the machine, behind the rear wheels.

[0017] The dirty liquid collection device is designed to collect the dirty liquid present on the floor surface to be cleaned. In a preferred embodiment, this can be achieved by the dirty liquid collection device having a suction volume that is open across the entire width of the dirty liquid collection device relative to the floor surface to be cleaned and is also connected to the dirty liquid container. A suction device generates a pressure in the dirty liquid container that is lower than the ambient pressure, i.e., a negative pressure, so that an air flow is generated from the suction volume into the dirty liquid container, entraining the dirty liquid and thus conveying it into the dirty liquid container.

[0018] According to the invention, it is further provided that the dirty liquid receiving device is displaceably mounted on the machine housing between a retracted position and an extended position, wherein the dirty liquid receiving device in the retracted position along the longitudinal axis which is defined by the machine housing and extends between the front and the rear end, which is closer to the at least one rear wheel than in the extended position.

[0019] According to the invention, the dirty liquid collection device can therefore be moved, preferably parallel to the longitudinal axis. If the floor cleaning machine according to the invention is moved at a short lateral distance along an object, such as a shelf or a wall, and is to corner away from this object, the dirty liquid collection device is moved from the extended to the retracted position, which results in it only pivoting towards the object to a lesser extent when the floor cleaning machine corners away from the object.

[0020] However, if the floor cleaning machine is not moved at a short lateral distance to an object and is to make a turn, the dirty liquid collection device remains in the extended position to ensure that when the floor cleaning machine makes the turn, the entire area on the outside of the curve that was previously swept over by the cleaning device and therefore contains dirty liquid is also covered by the dirty liquid collection device.

[0021] The ability of the dirty liquid collection device to move between two positions along the longitudinal axis allows the floor cleaning machine to move along an object at a short lateral distance and, from there, to corner without the floor cleaning machine or its dirty liquid collection device coming into contact with the object. The floor cleaning machine according to the invention can thus move closer to objects than is the case with prior art machines, while still meeting the safety requirements.

[0022] In a preferred embodiment of the present invention, a drive device is provided that is designed to drive at least one wheel of the chassis. In this case, it is not necessary for a user to push or pull the machine; instead, the machine can move independently.

[0023] Furthermore, a drive, preferably a linear drive, is provided, which is designed to move the dirt collection device between the retracted and extended positions. Using this drive, the dirty fluid collection device can then either be controlled by a user or automatically moved from the extended to the retracted position and vice versa when cornering.

[0024] In a further preferred embodiment, a sensor arrangement is provided which is designed to detect a distance perpendicular to the longitudinal axis between the machine housing and an object which, viewed along the longitudinal axis, is arranged to the side of the floor cleaning machine. This makes it possible to automatically detect whether a minimum lateral distance to an object has been undercut, at which the dirty liquid collection device comes into contact with this object when cornering. In a further preferred embodiment, this can be displayed to a user. However, it is also possible for a corresponding signal to be processed accordingly by a control unit of the floor cleaning machine.

[0025] Furthermore, it is preferred if a control unit is provided which is in signal communication with the sensor arrangement and which is connected to the drive, wherein the control unit is configured to control the drive such that the dirty liquid collection device is moved into the retracted position when a distance detected by the sensor arrangement falls below a predetermined threshold value. In this embodiment, the dirty liquid collection device is therefore automatically moved from the extended to the retracted position when a certain minimum distance to a laterally arranged object is undershot.

[0026] In a preferred embodiment, the floor cleaning machine is designed as a so-called robot, wherein the control unit is configured to determine a route and control the floor cleaning machine such that it follows the route. Especially when the floor cleaning machine is designed as a robot, the problem of contact between the dirty liquid collecting device and objects arranged laterally to the floor cleaning machine is particularly problematic, as already explained, because no user can immediately assess whether such contact will lead to damage. Therefore, with such robots, it is particularly advantageous if the movement of the dirty liquid collecting device between the extended and retracted positions is automated, as already described, with the aid of a drive and a sensor arrangement.

[0027] Further preferably, the dirty liquid collection device is pivotably mounted on the machine housing about a vertical axis that extends relative to the machine housing such that, during operation, it extends perpendicular to the floor surface to be cleaned. This allows the dirty liquid collection device to deflect laterally if it comes into contact with an object.

[0028] In a further preferred embodiment, the dirty liquid collection device is movable between a lowered and a raised position, wherein the dirty liquid collection device is closer to a floor surface to be cleaned in the lowered position than in the raised position, and wherein the dirty liquid collection device preferably rests against the floor surface to be cleaned in the lowered position. This makes it possible for the dirty liquid collection device to be moved into a non-operating position in which it is spaced apart from the floor surface to be cleaned and in which the floor surface cannot be damaged during travel over a floor surface.

[0029] Furthermore, it is preferred that the cleaning device has a first width measured perpendicular to the longitudinal axis, and the dirty liquid receiving device has a second width measured perpendicular to the longitudinal axis, wherein the second width is greater than or equal to the first width. As already explained, this ensures that, when cornering, the dirty liquid receiving device covers the entire area of ​​the floor surface to be cleaned that was also engaged by the cleaning device and on which dirt liquid is present.

[0030] In a preferred embodiment, the dirty liquid receiving device is designed as a so-called suction foot and has a base body from which a front and a rear suction lip extend, which extend transversely to the longitudinal axis and are spaced apart from one another in the direction of the longitudinal axis, so that a suction volume is formed between the suction lips and the base body, wherein the suction lips are designed such that a lower edge comes into contact with the floor surface to be cleaned and wherein a connecting line is provided which extends between the base body and the dirty liquid container, so that the suction volume and the dirty liquid container are in fluid communication with one another.In a further preferred manner, a suction device is connected to the dirty liquid container so that it can be pressurized, which in turn can generate an air flow from the suction volume through the connecting line into the dirty liquid container, which entrains the dirty liquid from the suction volume into the dirty liquid container.

[0031] Furthermore, it is preferred that an operating unit is mounted on the machine housing, which has operating elements that can be actuated by a user, wherein the operating unit can be moved between a retracted position and an extended position, viewed along the longitudinal axis, wherein the operating unit, viewed along the longitudinal axis, is closer to the front end in the retracted position than in the extended position.

[0032] Firstly, it should be noted that the concept of an operating unit that can be moved along the longitudinal axis between two mutually offset positions is an independently inventive concept that can be used in floor cleaning machines regardless of the mobility of the dirty liquid collecting device.

[0033] If the control unit can be moved between a retracted and an extended position, either manually or with the help of a drive unit, this can prevent the control unit from coming into contact with objects in the area of ​​the floor cleaning machine, especially when cornering. This is achieved by moving the control unit into the retracted position in such situations, possibly automatically using the drive unit. However, the extended position is advantageous when the machine is being operated by a user, as the control unit then projects further beyond the rear end of the machine housing and the user can stand further away from the rear end, thus reducing the risk of coming into contact with the dirty liquid collection device and possibly damaging it.

[0034] In a further aspect of the present invention, the above object is achieved by a method for operating a floor cleaning machine according to one of the previously described embodiments, the method comprising the following steps: Moving the floor cleaning machine over a floor area to be cleaned, detecting a distance perpendicular to the longitudinal axis between the machine housing and an object which, viewed along the longitudinal axis, is arranged to the side of the floor cleaning machine, and if the distance detected by the sensor arrangement falls below a predetermined threshold value, controlling a drive so that the dirty liquid collecting device is moved into the retracted position.

[0035] The present invention will now be described with reference to a drawing which merely represents a preferred embodiment, in which Figure 1 shows a side view of an embodiment of a floor cleaning machine according to the invention with the operating unit in the retracted position, Figure 2 shows a side view of the embodiment of a floor cleaning machine according to the invention Figure 1 with the control unit in the extended position, Figure 3 shows an enlarged side view of the embodiment of a floor cleaning machine according to the invention from Figure 1 with the dirty liquid collecting device in the extended position and in the lowered position, Figure 4 shows an enlarged side view of the embodiment of a floor cleaning machine according to the invention from Figure 1 with the dirty liquid collecting device in the retracted position and in the lowered position, Figure 5 shows an enlarged side view of the embodiment of a floor cleaning machine according to the invention from Figure 1with the dirty liquid collecting device in the retracted position and in the raised position, Figure 6 shows a perspective view from below of the dirty liquid collecting device of the embodiment of a floor cleaning machine according to the invention from Figure 1 Figure 7 shows a plan view of the embodiment of a floor cleaning machine according to the invention from Figure 1 with the dirty liquid collecting device in the extended position and Figure 8 shows a plan view of the embodiment of a floor cleaning machine according to the invention from Figure 1 with the dirty liquid collecting device in the retracted position.

[0036] Like the Figures 1 and 2As can be seen, the exemplary embodiment of a floor cleaning machine 1 according to the invention has a machine housing 3 in which a dirty liquid container 5 and a cleaning liquid container 7 are accommodated. Furthermore, the floor cleaning machine 1 has a chassis 9 which has two rear wheels 11 and a front wheel 13 which can be pivoted about a vertical axis, so that the floor cleaning machine 1 is designed to be moved by means of the chassis 9 over a floor surface 15 to be cleaned. The two rear wheels 11 are driven independently of one another, so that the floor cleaning machine 1 can be steered by selecting the speeds of the two rear wheels 11. As an alternative to a design with independently driven rear wheels 11, it is also conceivable for the front wheel 13 to be designed to be actively steerable. In any case, the present invention is not limited to a specific design for achieving the steerable.

[0037] Furthermore, the floor cleaning machine 1 is provided with a drive device 17 coupled to the rear wheels 9 in such a way that they are rotationally driven by the drive device 17, so that the floor cleaning machine 1 can move independently over a floor surface 15 to be cleaned. As already mentioned, the two rear wheels 11 can be driven at different speeds.

[0038] Furthermore, the floor cleaning machine 1 has an operating unit 19, which is arranged in the upper area of ​​the machine housing 3 and has a plurality of operating elements that can be operated by a user. As can be seen from the comparison of the Figures 1 and 2 As can be seen from the figure, the control unit 19 can be switched between Figure 1 shown retracted position and one in Figure 2The machine housing 3 extends along a longitudinal axis 21 from a front end 23 to a rear end 25, and in the extended position the control unit 19 is further away from the front end 23 than in the retracted position. In particular, the control unit protrudes in the extended position (see Figure 2 ) further beyond the rear end 25 of the machine housing 3 than in the retracted position ( Figure 1 ) is the case. In a preferred embodiment, a drive unit is provided which is designed to move the operating unit 19 between the retracted position and the extended position by means of a motor. However, it is also conceivable for this movement to be carried out manually by a user.

[0039] When the control unit 19 is in the extended position, a user walking behind machine 1 to operate it can reach the controls provided therein more easily than is the case when the control unit 19 is in the retracted position. In particular, when the control unit 19 is in the extended position, the user does not have to step as close to the rear end 25 of the floor cleaning machine 1 to operate it, thus avoiding the possibility of the user, in particular with their feet, coming into the working area of ​​the floor cleaning machine 1.

[0040] The preferred embodiment of a floor cleaning machine 1 shown here is designed as an autonomous cleaning machine, i.e. as a so-called floor cleaning robot, which is capable of automatically determining a route and traveling along this route over the floor area 15 to be cleaned. During autonomous operation, it is advantageous if the control unit 19 is in the retracted position, since it then does not protrude as far beyond the machine housing 3 and the risk of the control unit 19 coming into contact with objects in the vicinity of the floor cleaning machine 1 during steering maneuvers is minimized.

[0041] It should be noted at this point that the present invention is not limited to autonomous floor cleaning machines and / or those where the user must walk behind the machine. Rather, the present invention also extends to floor cleaning machines where the user can sit on the machine during operation, i.e., so-called ride-on machines.

[0042] How to continue the Figures 1 and 2As can be seen, the floor cleaning machine 1 has a cleaning device 27 with cleaning elements 29 in the form of bristles of a roller brush (not shown in detail), wherein the roller brush is driven in rotation so that the bristles 29 can come into engagement with the floor surface 15 to be cleaned when the floor cleaning machine 1 is moved over the floor surface 15. In addition, in the area of ​​the cleaning device 27, a device 31, preferably in the form of nozzles, is provided, which is connected to the cleaning liquid container 7 and is designed to apply cleaning liquid in the area of ​​the cleaning device 27 to the floor surface 15 to be cleaned.

[0043] In addition, side brushes 33 are provided in the area of ​​the front wheel 13, which can also engage with the floor surface 15 to be cleaned and which are driven in rotation in order to convey dirt located in the side area of ​​the travel path of the floor cleaning machine 1 towards the center.

[0044] Since the exemplary embodiment of a floor cleaning machine 1 according to the invention described here is designed as a robot, it has a sensor arrangement comprising a plurality of distance sensors 35, which are connected via signal lines 37 to a control unit 39 of the floor cleaning machine 1, wherein the control unit 39 is in turn connected to the drive device 17 of the floor cleaning machine 1 such that the control unit 39 can control the drive device 17. In addition, the control unit 39 is also connected to a servomotor (not shown), via which the steering angle of the front wheel 13 can be adjusted. The control unit 39 is thus designed to autonomously control the movement of the floor cleaning machine 1 over the floor surface 15 to be cleaned.With the help of the sensors 35 attached to the machine housing 3, it is possible to detect, among other things, whether there are objects such as furniture or walls to the side of the floor cleaning machine 1 and how far they are from them.

[0045] Finally, in the area of ​​the rear end 25 of the machine housing 3 of the floor cleaning machine 1, a dirty liquid collecting device 41 is provided, which is shown in detail in Figures 3 to 6 and is designed as a suction foot arrangement in the present embodiment.

[0046] As these figures in particular show, the dirty liquid collecting device 41 has a base body 43 from which a front suction lip 45 and a rear suction lip 47 extend downward, wherein the suction lips 45, 47 extend transversely to the longitudinal axis 21 and are spaced apart from one another in the direction of the longitudinal axis 21. The base body 43 and the suction lips 45, 47 delimit a suction volume 49 that is open to the floor surface 15 to be cleaned, but is closed when the lower edges of the suction lips 45, 47 come into contact with the floor surface 15 to be cleaned.

[0047] A connection (not shown) is provided on the base body 43, so that the dirty liquid container 5 is connected to the suction volume 49 via a connecting line (not shown). The dirty liquid container 5 is in turn connected to a suction device 51, so that a lower pressure than the ambient pressure can be generated inside the dirty liquid container 5, so that an air flow can be generated from the suction volume 49 into the dirty liquid container 5, through which the dirty liquid located on the floor surface 15 to be cleaned is then entrained and conveyed into the dirty liquid container 5.

[0048] The dirty liquid collecting device 41 is mounted via its base body 43 on a guide rod 53, which in turn is mounted on a holder 57 so as to be pivotable about a pivot axis 55. The holder 57, in turn, can be displaced by motor along a guide rail 61 essentially parallel to the floor surface 15 to be cleaned and also parallel to the longitudinal axis 21 relative to the machine housing 3 with the aid of a linear drive 59, wherein the linear drive 59 is connected to the control unit 39 in a manner not shown. With the aid of the linear drive 59, the dirty liquid collecting device 41 can thus be moved parallel to the longitudinal axis 21 between a retracted position ( Figures 4 and 5 ) and an extended position ( Figure 3 ) procedure.

[0049] By means of the linear drive 59, the dirty liquid collecting device 41 in the form of the suction foot can be moved into the Figure 3shown extended position, in which the dirty liquid collecting device 41 extends further beyond the rear end 25 of the machine housing 3, ie the dirty liquid collecting device 41 is, seen along the longitudinal axis 21, further away from the rear wheel 11 than in the Figures 4 and 5 shown retracted position, which is achieved by retracting the linear drive 59 so that the holder 57 holding the guide rod 53 is moved along the guide rail 61 towards the rear wheel 11.

[0050] This occurs initially up to the point where an obliquely extending stop surface 65 provided at the end 63 of the guide rod 53 remote from the dirty liquid receiving device 41 comes into contact with a support element in the form of a bearing 67 (see Figure 4). When the linear drive 59 is then retracted further, the stop surface 65 moves along the bearing 67, so that the guide rod 53 is pivoted about the pivot axis 55 and the end of the guide rod 53 carrying the dirty liquid collecting device 41 moves from a lowered position ( Figure 4 ) into a raised position ( Figure 5 ) in which the dirty liquid collecting device 41 is further away from the floor surface 15 to be cleaned than in the lowered position.

[0051] Finally, in the Figures 3 to 5 It can be seen that the dirty liquid collecting device 41 in the form of the squeegee can be pivoted about a vertical axis 69, which during operation, i.e. when the dirty liquid collecting device 41 is in the lowered position, runs essentially perpendicular to the floor surface 15 to be cleaned. Such a position, pivoted from a straight position of the squeegee, is shown in Figure 7which is evident from the fact that the free ends 71 ​​of the dirty liquid receiving device 41 have different positions seen along the longitudinal axis 21.

[0052] In addition, the Figures 7 and 8 It can also be seen that the width of the dirty liquid receiving device 41 is obviously greater than the width of the cleaning device 27, these widths being determined perpendicular to the longitudinal axis 21.

[0053] By moving the dirty liquid collecting device 41 between the extended position ( Figures 3 and 7 ) into the retracted position ( Figure 4 and 8 ) the following is achieved.

[0054] When the dirty liquid collecting device 41 is in the extended position and a cornering of the floor cleaning machine 1 along the arrow 73 in Figure 7 is to be executed, the Figure 7 right free end 71 of the dirty liquid collecting device 41 along the circular path 75, so that objects located in the area of ​​this circular path would collide with the free end 71. However, if the dirty liquid collecting device 41 is moved into the retracted position using the linear drive 59, as shown in Figure 8 As shown, the diameter of the circular path decreases noticeably, so that a curve as in Figure 7 and 8 indicated by the arrow 73, can still be carried out even if objects are arranged laterally relatively close to the floor cleaning machine 1.

[0055] Thus, during autonomous operation of the floor cleaning machine 1, the following process steps can be carried out with the help of the sensors 35 and the control unit 39: Moving the floor cleaning machine 1 over the floor area 15 to be cleaned with the aid of the drive device 17, detecting a distance perpendicular to the longitudinal axis 21 between the machine housing 3 and an object which, viewed along the longitudinal axis 21, is arranged to the side of the floor cleaning machine 1, and when the distance detected by the sensors 35 of the sensor arrangement falls below a predetermined threshold value, controlling the linear drive 59 so that the dirty liquid receiving device 41 is moved into the retracted position. List of reference symbols:

[0056] 1Floor cleaning machine 3Machine housing 5Dirt liquid container 7Cleaning liquid container 9Chassis 11Rear wheel 13Front wheel 15Floor area to be cleaned 17Drive 19Operating unit 21Longitudinal axis 23Front end 25Rear end 27Cleaning device 29Cleaning elements 31Device for dispensing cleaning liquid 33Side brush 35Sensors 37Signal line 39Control unit 41Dirt liquid collecting device 43Main body 45Front suction lip 47Rear suction lip 49Suction volume 51Suction device 53Guide rod 55Pivot axis 57Holder 59Linear drive 61Guide rail 63End of guide rod 65Stop surface 67Bearing 69Vertical axis 71Free end 73Direction Curve driving 75Circular track

Claims

1. A floor cleaning machine (1), comprising a machine housing (3) extending along a longitudinal axis (21) between a front end (23) and a rear end (25), comprising a cleaning liquid container (7), which is accommodated in the machine housing (3), comprising a dirty liquid container (5), which is accommodated in the machine housing (3), comprising a chassis (9) having wheels (11, 13), which carries the machine housing (3) and is designed in such a way that the floor cleaning machine (1) can be moved over a floor surface (15) to be cleaned, wherein the chassis (9) has at least one front wheel (13) and at least one rear wheel (11), which are spaced apart from one another along the longitudinal axis (21), wherein the chassis (9) is designed to be steerable, so that a direction of travel (73) along which the floor cleaning machine (1) moves over the floor surface (15) to be cleaned can be changed, comprising a cleaning device (27) having cleaning elements (29) which are designed to engage with the floor surface (15) to be cleaned when the floor cleaning machine (1) is moved over the floor surface (15) to be cleaned, comprising a device (31) for applying cleaning liquid from the cleaning liquid container (7) to the floor surface (15) to be cleaned, which is designed in such a way that the cleaning liquid is applied in such a way that the cleaning liquid reaches the region of the cleaning device (27), and comprising a dirty liquid receiving device (41), which extends perpendicular to the longitudinal axis (21) and parallel to the floor surface (15) to be cleaned, wherein the dirty liquid receiving device (41) is designed to receive liquid located on the floor surface (15) to be cleaned so that said liquid can be conveyed to the dirty liquid container (5), wherein the dirty liquid receiving device (41) is arranged on the machine housing (3) on the side of the rear wheel (11) facing away from the front wheel (13), as viewed along the longitudinal axis (21), and wherein the dirty liquid receiving device (41) is mounted on the machine housing (3) so as to be displaceable between a retracted position and an extended position, wherein the dirty liquid receiving device (41) is closer to the at least one rear wheel (11) in the retracted position than in the extended position as viewed along the longitudinal axis (21), characterized in that a drive, preferably a linear drive (59), is provided which is designed to move the dirty liquid receiving device (41) between the retracted and the extended position.

2. The floor cleaning machine (1) according to claim 1, wherein a drive device (17) is provided which is designed to drive at least one wheel (11, 13) of the chassis (9).

3. The floor cleaning machine (1) according to claim 1 or 2, wherein a sensor arrangement (35) is provided which is designed to detect a distance perpendicular to the longitudinal axis (21) between the machine housing (3) and an object which, viewed along the longitudinal axis (21), is arranged to the side of the floor cleaning machine (1).

4. The floor cleaning machine (1) according to claim 3, wherein a control unit (39) is provided which is in signal connection with the sensor arrangement (35) and which is connected to the drive (59), wherein the control unit (39) is configured to control the drive (59) in such a way that the dirty liquid receiving device (41) is moved into the retracted position when a distance detected by the sensor arrangement (35) falls below a predetermined threshold value.

5. The floor cleaning machine (1) according to claim 4, wherein the control unit (39) is configured to determine a route and control the floor cleaning machine (1) so as to follow the route.

6. The floor cleaning machine (1) according to any one or more of claims 1 to 5, wherein the dirty liquid receiving device (41) is movable parallel to the longitudinal axis (21) relative to the machine housing (3).

7. The floor cleaning machine (1) according to any one or more of claims 1 to 6, wherein the dirty liquid receiving device (41) is mounted on the machine housing so as to be pivotable about a vertical axis which runs relative to the machine housing in such a way that it extends perpendicular to the floor surface to be cleaned during operation.

8. The floor cleaning machine (1) according to any one or more of claims 1 to 7, wherein the dirty liquid receiving device (41) is movable between a lowered and a raised position, wherein the dirty liquid receiving device (41) is closer to a floor surface (15) to be cleaned in the lowered position than in the raised position, and wherein the dirty liquid receiving device (41) preferably rests against the floor surface (15) to be cleaned in the lowered position.

9. The floor cleaning machine (1) according to any one or more of claims 1 to 8, wherein the cleaning device (27) has a first width measured perpendicular to the longitudinal axis (21), and wherein the dirty liquid receiving device (41) has a second width measured perpendicular to the longitudinal axis (21), and wherein the second width is greater than or equal to the first width.

10. The floor cleaning machine (1) according to any one or more of claims 1 to 9, wherein the dirty liquid receiving device (41) comprises a main body (43), from which a front and a rear suction lip (45, 47) extend away, which extend transversely to the longitudinal axis (21) and are spaced apart from one another in the direction of the longitudinal axis (21) in such a way that a suction volume (49) is formed between the suction lips (45, 47) and the base body (43), wherein the suction lips (45, 47) are designed to come into contact by a lower edge with the floor surface (15) to be cleaned, and wherein a connecting conduit is provided, which extends between the main body (43) and the dirty liquid container (5), so that the suction volume (49) and the dirty liquid container (5) are in fluid connection with one another.

11. The floor cleaning machine (1) according to any one or more of claims 1 to 10, wherein an operating unit (19) is mounted on the machine housing (3), which operating unit has operating elements that can be actuated by a user, wherein the operating unit (19) can be moved, as viewed along the longitudinal axis (21), between a retracted position and an extended position, wherein the operating unit (19), viewed along the longitudinal axis (21), is closer to the front end (23) in the retracted position than in the extended position.

12. A method for operating a floor cleaning machine (1) according to any one or more of claims 5 to 11 if dependent on claim 4, comprising the following steps: moving the floor cleaning machine (1) over a floor surface (15) to be cleaned, detecting a distance perpendicular to the longitudinal axis (21) between the machine housing (3) and an object arranged to the side of the floor cleaning machine (1) as viewed along the longitudinal axis, and, if the distance detected by the sensor arrangement (35) falls below a predetermined threshold value, activating a drive (59) so that the dirty liquid receiving device (41) is moved into the retracted position.

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