Method for operating a floor cleaning device and floor cleaning device

Abstract

The present invention relates to a method for operating a floor cleaning device, wherein the floor cleaning device has at least one housing, at least one cleaning tool, and at least one sensor for detecting vibrations, wherein the floor cleaning device is designed and configured to move autonomously in a cleaning environment and to carry out cleaning tasks, wherein at least the following method steps are included: - detecting at least one vibration measurement value with the sensor during operation of the floor cleaning device, - comparing the vibration measurement value with at least one reference value, - adjusting at least one contact parameter between the cleaning tool and a surface to be cleaned depending on the result of the comparison.

Description

[0001] The invention relates to methods for operating a floor cleaning device and to a floor cleaning device, in particular for carrying out the disclosed method. The floor cleaning device comprises at least one housing and at least one cleaning tool. The floor cleaning device is designed and configured to move autonomously within a cleaning environment and to perform cleaning tasks.

[0002] Such floor cleaning devices are known in the prior art in a variety of designs and are used for the automated cleaning of cleaning environments in both private and commercial areas. The floor cleaning device is designed, for example, as a vacuum robot, a mop robot, or a vacuum and mop robot. To clean a surface in the cleaning environment—a floor covering—the cleaning tool must be in contact with the surface while the floor cleaning device moves. Different floor coverings in a cleaning environment can have different mechanical interactions with the cleaning tool. This interaction can influence the cleaning result, which may then not be satisfactory in all areas of the cleaning environment.

[0003] The invention is therefore based on the object of providing a method for operating a floor cleaning device and a floor cleaning device that ensures optimal cleaning results on many types of floor coverings.

[0004] The above-mentioned object is achieved in a method according to the invention in that at least the following method steps are included: Recording at least one vibration measurement value with the sensor during operation of the floor cleaning device, comparing the vibration measurement value with at least one reference value, adjusting at least one contact parameter between the cleaning tool and a surface to be cleaned depending on the result of the comparison.

[0005] The floor cleaning device with which the method is preferably carried out is, for example, a vacuum robot, mop robot, or vacuum and mop robot. The floor cleaning device has at least one housing. On the underside of the housing, at least one drive wheel, preferably at least or exactly two drive wheels, is provided for moving the floor cleaning device in the cleaning environment. The floor cleaning device further has at least one cleaning tool, preferably at least or exactly two or at least or exactly three cleaning tools. The cleaning tool is designed, for example, as a wiper, brush, or a plurality of brushes. It is preferably provided that the floor cleaning device has at least two cleaning tools, namely preferably a wiper and at least one brush, preferably a plurality of brushes.A wiper preferably has at least one wiper plate and at least one wiper cover, preferably made of textile or foam.

[0006] For example, a first cleaning tool is arranged in the front area of ​​the housing, as seen in the direction of travel, and a second cleaning tool is arranged in the rear area. For example, a brush or a plurality of brushes is arranged in the front area of ​​the floor cleaning device, as seen in the direction of travel, and a wiper is arranged in the rear area of ​​the housing, as seen in the direction of travel.

[0007] The cleaning tool or tools are arranged, for example, on or in the housing in such a way that a cleaning tool can be lifted off a surface to be cleaned or placed onto it.

[0008] The wiper is, for example, designed and arranged on the floor cleaning device in such a way that it can perform oscillating, circular and / or swinging movements for the purpose of cleaning, at least during operation.

[0009] The floor cleaning device further comprises at least one sensor for detecting vibrations. The sensor is designed, for example, as a vibration sensor or an acceleration sensor. The sensor is preferably connected to a control device of the floor cleaning device. The control device has, for example, at least one processor and at least one memory. It is also provided that a plurality of sensors for detecting vibrations are present. The sensor is preferably arranged in or on the housing. In particular, it is provided that the sensor is arranged in a central region of the housing of the floor cleaning device, for example in the longitudinal direction between two cleaning tools. It is also provided that the sensor is arranged in the front region of the floor cleaning device in the direction of travel, for example in the region of the cleaning tool arranged there.

[0010] The floor cleaning device is designed to move autonomously within a cleaning environment and perform cleaning tasks. For example, the floor cleaning device has a plurality of navigation sensors. The navigation sensors are preferably connected to the control device. Navigation within the cleaning environment and / or control of cleaning programs are advantageously carried out by means of the control device.

[0011] According to the method according to the invention, at least one vibration measurement value is initially recorded with the sensor during operation of the floor cleaning device. Preferably, a plurality of vibration measurement values ​​are recorded during the recording step with the sensor.

[0012] Especially with cleaning tools designed as wipers, contact between the surface of a floor covering and the cleaning tool during operation can cause the entire floor cleaning device to vibrate unintentionally. This vibration of the floor cleaning device's housing is advantageously detected by the sensor.

[0013] The at least one vibration measurement value or the recorded vibration measurement values ​​are then compared with at least one reference value or a plurality of reference values. The reference value can be, for example, a threshold value or a tolerance range. The reference value is preferably a fixed reference value, in particular the same for all floor coverings and thus independent of the floor covering. This makes it possible, for example, to always achieve the greatest possible contact force while still falling below the reference value for the vibration. Alternatively, it is also provided, for example, that the reference value used for the comparison depends on the floor covering, i.e. the surface to be cleaned, on which the floor cleaning device moves.

[0014] Subsequently, depending on the result of the comparison, at least one contact parameter between the cleaning tool and the surface to be cleaned is adjusted. The adjustment can involve increasing, reducing, or maintaining the current contact parameter. At least one contact parameter is increased if, for example, no vibrations or only very slight vibrations below a threshold value as a reference value have been detected with the sensor. A contact parameter is reduced, for example, if the detected vibration measurement value(s) is(are) above a threshold value as a reference value. The current contact parameter is maintained, for example, if the comparison of the vibration measurement value(s) shows that it(s) is / are within a tolerance range as a reference value or in a specific range around a threshold value.

[0015] The contact parameter is, for example, a contact force and / or a contact area of ​​the cleaning tool on a surface to be cleaned and / or a fluid quantity between the cleaning tool and the surface to be cleaned. When adjusting the contact parameter, it is therefore intended, for example, to increase, reduce, or maintain the contact force and / or the contact area of ​​a cleaning tool. Furthermore, it is intended to increase the fluid quantity between the cleaning tool and the surface to be cleaned, for example, by adding water and / or a cleaning agent.

[0016] When an adjustment of at least one contact parameter is described, this also includes the disclosure that at least two, at least three, or all contact parameters are adjusted. It is also contemplated that one contact parameter is increased during the adjustment and another contact parameter is simultaneously reduced during the adjustment. For example, it is contemplated that the contact force is reduced while the fluid quantity is increased.

[0017] Preferably, the method is executed until the vibration measurement values ​​fall below a threshold value as a reference value or are within a tolerance range. For example, the method is executed at least once after each commissioning of the floor cleaning device. For example, the method is also executed at least once if the control device detects a change in the type of surface to be cleaned—the floor covering—or a predetermined percentage or predetermined absolute change in the recorded vibration measurement value(s) occurs.

[0018] The invention has the advantage over the prior art that contact parameters that influence vibrations of the floor cleaning device during operation, particularly depending on the surface of the cleaning environment, are adjusted during operation in order to always ensure optimal contact parameters to achieve the best possible cleaning result, e.g., the highest possible contact force. For example, according to the invention, an iterative approximation to the best possible contact parameter, e.g., the greatest possible contact force or contact area, is carried out for each floor type, at which a, preferably fixed, reference value is just undershot or reached. This optimizes cleaning for each type of floor covering. The contact parameters are therefore adaptively adjusted or changed during operation depending on the floor covering.

[0019] According to one embodiment of the method, it is provided that at least the method further comprises the step of selecting at least one cleaning program from a plurality of cleaning programs depending on the adjusted contact parameter or depending on the type of adjustment. The floor cleaning device is then operated with the selected cleaning program. If, for example, the contact parameter is retained during the adjustment, a normal, time-saving cleaning program, for example with a simple path strategy, can be continued or started. In such a cleaning program, for example, each location in the cleaning environment is only passed over once for cleaning purposes.

[0020] It has therefore proven particularly advantageous if, during the selection, it is taken into account whether the contact parameter was reduced or increased during the adjustment and / or whether the contact parameter present after the adjustment reaches a predetermined threshold value and / or whether a desired cleaning result can be achieved with the contact parameter present after the adjustment for the type of surface to be cleaned. If, for example, the contact parameter is the contact pressure and this was reduced during a first run of the method as part of the adjustment in order to reduce vibrations, a subsequent check is carried out as part of the selection whether a desired cleaning result can be achieved with the contact pressure present after the adjustment, taking into account the type of surface to be cleaned, or, for example, whether the contact pressure reaches a predetermined threshold value.If this is the case, the normal cleaning program with the usual driving strategy is activated, for example. If, however, it is determined that the contact force reduced to reduce vibrations is no longer sufficient to achieve an adequate cleaning effect, an intensive cleaning program is selected, for example, which involves driving over at least one location in the cleaning environment, at least one zone within the cleaning environment, or the entire cleaning environment at least twice. The intensive cleaning program can, for example, also include a slower driving speed. It is also possible for a cleaning program to be selected only for one zone within the cleaning environment or for a predetermined period of time.

[0021] The check as to whether a desired cleaning result can be achieved with the contact parameter(s) available after adjustment for the type of surface to be cleaned is carried out, for example, by comparison with reference values ​​measured or simulated in the laboratory, which are provided in particular by the control device of the floor cleaning device.

[0022] According to one embodiment of the method, it has proven particularly advantageous, especially when the contact parameter is a contact pressure, to select a cleaning program in which at least one predetermined location or zone in the cleaning environment, or the entire cleaning environment, is passed over at least twice when the contact parameter is reduced during adjustment and / or when the contact parameter falls below a predetermined threshold. This always ensures that, despite a reduction in the contact pressure, an optimal cleaning result is achieved by selecting the correct cleaning program.

[0023] It is also particularly advantageous if, according to a further embodiment of the method, the two passes over at least one location, a zone in the cleaning environment, or the entire cleaning environment are performed in different directions. The directions are offset from each other, for example, at an angle, preferably of approximately 90°. The double pass ensures that sufficient cleaning is achieved even with low contact force and / or that even stubborn dirt is removed by the cleaning tool, in particular, for example, a wiper.

[0024] According to a further embodiment of the method, the contact parameter, in particular the contact pressure or the contact surface, is adjusted in predefined steps. In particular, the contact pressure is increased or reduced, for example, in predefined steps. The steps are always of the same amount or have different amounts. After an adjustment, the method is advantageously carried out again to check whether the vibrations then present continue to exceed, for example, a predetermined threshold value as a reference value. If this is the case, a further adjustment is carried out. The contact parameter, for example the contact pressure, is therefore adaptively adjusted for each floor covering using the method so that a maximum possible contact parameter, e.g.a maximum possible contact force of the cleaning tool, in particular a wiper, is selected, but at the same time undesirable vibrations are avoided.

[0025] Furthermore, it is also provided, as an alternative, that the contact parameter is adjusted in defined percentage increments, for example, always by 10%. Furthermore, as an alternative, it is provided that the adjustment of the contact parameter is mathematically related to the measured vibration value or a deviation of at least one of the measured vibration values ​​from a reference value. For example, if the vibration value exceeds a reference value by 10%, it is provided that the contact force is reduced by 5%, or, for example, by 10% if the reference value is exceeded by 20%.

[0026] In order to always ensure operation with at least one optimal contact parameter, a further embodiment of the method provides that each operation of the floor cleaning device takes place with a predetermined contact parameter, and that the method is repeated until the measured vibration value falls below a threshold value or within a tolerance range. The predetermined contact parameter - initial contact parameter - after commissioning is, for example, a maximum contact parameter, in particular a maximum contact force or a maximum contact area. As long as the measured vibration value exceeds a threshold value or lies outside a tolerance range, at least one contact parameter, for example the contact force, is reduced during each method run, in particular stepwise, until the measured vibrations fall below the threshold value.This ensures that an optimal contact parameter, in particular a contact pressure, is always available for each floor covering.

[0027] A further embodiment of the method provides for the contact parameter to be adjusted only for a predetermined zone in the cleaning environment or for the contact parameter to be adjusted only for a predetermined period of time. For example, if the zones of the cleaning environment in which a specific floor covering is present are known, the control unit evaluates this and ensures that the contact parameter is adjusted only until the floor cleaning device moves out of the area with this floor covering. The method is then repeated upon leaving the zone to adjust the contact parameter to the floor covering outside the zone.

[0028] It is also provided that after a predetermined period of time, the preset contact parameter—the initial contact parameter—is reset, and the process is run through at least once. Furthermore, it is provided that upon entering a predefined zone of the cleaning environment, the predetermined contact parameter, for example, a maximum contact force, is reset, and the process is run through at least once. It is also provided that at least one contact parameter, for example, the contact force, is reset to a maximum value upon leaving a zone.

[0029] Furthermore, it is provided that the contact parameter is only adjusted for a predetermined time, for example for the remaining running time of the cleaning program. This may be necessary, for example, because the coefficient of friction between the cleaning tool and the surface to be cleaned can change during operation, for example due to the amount of liquid between the cleaning tool and the surface decreasing. To take this into account, the contact parameter is changed, in particular until the end of cleaning, if it concerns, for example, the contact force or the contact area. It is also provided that after the time has elapsed, a previous contact parameter is reset and the process is run through at least once.

[0030] In particular, to ensure that operation always occurs with optimal contact parameters, a further embodiment provides that at least the method steps of detection and calibration are repeated at predetermined time intervals and / or in an event-driven manner. For example, the method is performed every 30 seconds during operation. In particular, the method is repeated until the measured vibration value falls below a threshold or falls within a tolerance range.

[0031] However, it is also envisaged that the method can be started in an event-controlled manner, for example when the floor cleaning device detects a new floor covering. Another event could be that a recorded vibration measurement value exceeds a previous vibration measurement value in percentage or absolute terms, in particular above a threshold value. It is therefore particularly envisaged that recording and comparison take place continuously during operation, and that adjustment only takes place when there is a predetermined deviation of the vibration measurement value from a reference value or a previously measured vibration measurement value. For example, the method is carried out depending on the position of the floor cleaning device in the cleaning environment.

[0032] The invention further relates to a floor cleaning device, in particular according to the described embodiments, which is preferably designed and configured to carry out a method according to the described embodiments.

[0033] The floor cleaning device comprises at least one housing, at least one cleaning tool, and at least one sensor for detecting vibrations. Furthermore, the floor cleaning device is designed and configured to move autonomously within a cleaning environment and perform cleaning tasks.

[0034] The floor cleaning device is characterized in that at least one contact parameter, for example a contact force and / or a contact surface and / or a quantity of liquid between the cleaning tool and a surface to be cleaned, can be adjusted depending on a vibration detected by the sensor. The floor cleaning device preferably has at least one control unit with which the contact parameter can be adjusted depending on the detected vibration. Preferably, the contact parameter is varied such that the vibration detected by the sensor is below a threshold value or within a tolerance range. Further embodiments of the adjustment of the contact parameter will emerge analogously from the description of the method according to the invention.

[0035] According to a further embodiment of the floor cleaning device, it is particularly preferred that at least one adjustment means is provided for adjusting the contact parameter. The adjustment means comprises at least one belt, in particular a toothed belt, and at least one first screw means. The contact parameter, for example a contact force or contact surface, can be changed by rotating the first screw means. The contact force of the cleaning tool can preferably be adjusted using the adjustment means. Rotation of the screw means can be effected using the belt. The first screw means is arranged, for example, on a bolt with an external thread on the cleaning tool.

[0036] The belt of the adjustment means is preferably guided within the housing of the floor cleaning device. The belt interacts with the first screw means such that, depending on the direction of rotation of the belt, the first screw means is movable, in particular on a thread. Rotation of the first screw means changes the contact parameter, for example the contact pressure. The belt is driven, for example, by a drive means, for example a motor. The drive means can be controlled by the control device of the floor cleaning device. For example, the first screw means comprises at least two or at least four nuts with external teeth, each of which is guided on an associated bolt with an external thread on the cleaning tool. The external teeth of the nuts advantageously interact with the belt, in particular a toothed belt.

[0037] According to a further embodiment of the floor cleaning device, it has proven particularly advantageous if the belt, via at least a second screw means, also influences the exit height of at least one drive wheel of the floor cleaning device from the housing. By rotating the belt with the drive means, not only can the contact parameter, for example the contact force or the contact surface, be changed, but also the exit height of at least one, preferably all, drive wheels from the housing can be adjusted. As a result, the housing is simultaneously raised or lowered relative to the surface to be cleaned. This is particularly advantageous when, for example, carpet edges or similar objects have to be overcome. Both the housing and the cleaning tool can be raised or lowered at the same time.

[0038] For example, to achieve different changes in the raising or lowering of the housing and the raising or lowering of the cleaning tool, a further embodiment of the floor cleaning device provides for a different thread pitch of the first screw and the second screw. Both screw devices are driven by the same belt, but the different thread pitches of the screw devices result in different positional changes on the housing and the cleaning tool, respectively.

[0039] The invention further relates to a floor cleaning device comprising at least one housing, at least one cleaning tool and at least one drive wheel, wherein the floor cleaning device is designed and configured to move autonomously in a cleaning environment and to perform cleaning tasks, wherein the drive wheel is held on the housing in such a way that an exit height of the drive wheel from the housing is variable.The floor cleaning device is characterized in that the cleaning tool is movably held on the housing in such a way that the cleaning tool can be moved towards and away from a surface of the cleaning environment to be cleaned, and in that the cleaning tool and the drive wheel, in particular a suspension of the drive wheel, are coupled in such a way that when an exit height of the drive wheel changes, the cleaning tool is also moved towards or away from the surface to be cleaned.

[0040] For example, the drive wheel is mounted on the housing by a suspension, wherein the suspension is designed such that the suspension can be influenced such that the drive wheel protrudes further or closer from the housing relative to an underside of the housing. The suspension is preferably coupled to a cleaning suspension of the cleaning tool such that upon vertical movement of the drive wheel, preferably of all drive wheels, the cleaning tool also moves toward or away from the surface to be cleaned.

[0041] The coupling of the suspension of the drive wheel, in particular the suspensions of all drive wheels, and the cleaning suspension is preferably mechanically or electromechanically designed.

[0042] Further advantageous embodiments of the invention emerge from the following description of the figures and the dependent subclaims.

[0043] They show: Fig. 1 shows an embodiment of a floor cleaning device, Fig. 2 shows an embodiment of a schematic sequence of a method according to the invention, Fig. 3 shows an embodiment of a floor cleaning device in at least a partial view from above, Fig. 4 shows the embodiment according to Fig. 3 in partial side view, and Fig. 5 is a diagram of a simplified computer system 500 in accordance with some embodiments of the present disclosure.

[0044] In the various figures of the drawing, identical parts are always provided with the same reference symbols.

[0045] With regard to the following description, it is claimed that the invention is not limited to the exemplary embodiments and not to all or several features of described combinations of features, but rather each individual partial feature of the / each exemplary embodiment is also important for the subject matter of the invention, even independently of all other partial features described in connection therewith, and also in combination with any features of another exemplary embodiment.

[0046] Fig. 1shows an embodiment of a floor cleaning device 1 in side view. The floor cleaning device 1 has at least one housing 2. The floor cleaning device 1 has two cleaning tools 3, namely a wiper 3a and a cleaning brush 3b. The wiper 3a can be raised or lowered via an adjustment means 6, so that, for example, a contact pressure can be adjusted. The floor cleaning device 1 also has a suction device (not shown in detail). A sensor for detecting vibrations (not shown) is arranged in the housing 2 of the floor cleaning device 1 and is designed as a vibration sensor in this embodiment. The floor cleaning device 1 is designed and configured to move autonomously in a cleaning environment 4 and to perform cleaning tasks. The surface 4a to be cleaned in the cleaning environment 4 can be cleaned with the cleaning tools 3.For movement, the floor cleaning device 1 has two drive wheels 5 which protrude from the housing 2.

[0047] Fig. 2 shows an embodiment of a schematic sequence of a method 100 for operating a floor cleaning device 1, for example according to Fig. 1 or Fig. 3 According to method 100, a plurality of vibration measurement values ​​are first acquired 101 with the sensor during operation of floor cleaning device 1. Subsequently, the vibration measurement values ​​are compared 102 with at least one tolerance range as a reference value. The tolerance range is stored, for example, in a memory of a control device of floor cleaning device 1.

[0048] Depending on the result of the adjustment 102, an adjustment 103 of at least one contact parameter, for example the contact pressure, of a cleaning tool 3 and a surface 4a to be cleaned takes place. Fig. 1 In the exemplary embodiment shown, the contact pressure of the wiper 3a is advantageously adjusted 103.

[0049] In the Fig. 2 In the exemplary embodiment of the method illustrated, after the adjustment 103, a selection 104 of a cleaning program from a plurality of cleaning programs also takes place if the contact parameter, in particular a contact pressure, has been reduced and falls below a predetermined threshold value after the reduction. Furthermore, in this exemplary embodiment, after the adjustment 103, the method 100 is carried out again to check whether the adjustment 103 has led to a reduction in the vibrations on the floor cleaning device 1.

[0050] In the embodiment according to Fig. 2The floor cleaning device 1 is put into operation with a maximum contact force as the contact parameter, wherein the method 100 is then repeatedly carried out until the vibration measurement values ​​recorded with the sensor are within a tolerance range as a reference value.

[0051] Figs. 3 and 4 show a further embodiment of a floor cleaning device 1 in at least a partial representation. Fig. 3 shows the embodiment from above with at least partially opened housing 2. Fig. 4 shows the embodiment of a floor cleaning device 1 in a partially sectioned side view with partial representation of the components. According to the embodiment of the Figs. 3 and 4The floor cleaning device 1 has at least one cleaning tool 3 in the form of a wiper 3a. The wiper 3a has a wiper plate on which a replaceable wiper cover can be arranged. The wiper 3a or the wiper plate is movably mounted on the housing 2.

[0052] The floor cleaning device 1 has an adjustment means 6 for adjusting the contact parameter, here the contact pressure of the cleaning tool 3 in the form of the wiper 3a. The adjustment means 6 has a belt 7, here a toothed belt, and a first screw means 8. The first screw means 8 has four screw nuts 8a with external teeth, each arranged on a bolt with an external thread fastened to the wiper plate. The belt 7 is driven by a drive means 9 in the form of a motor. If the belt 7 is driven by the drive means 9, the screw nuts 8a of the first screw means 8 are rotated, whereby the cleaning tool 3, here the wiper 3a with the wiper plate, moves relative to the housing 2, namely raises or lowers it relative to a surface 4a to be cleaned, whereby the contact pressure of the cleaning tool 3 to the surface 4a to be cleaned (see Fig. 1 ) is adjustable.

[0053] Furthermore, in this embodiment, the adjustment means 6 has a second screw means 10 with two screw nuts 10a with external teeth. The screw nuts 10a are each guided on a bolt 10b with an external thread. By means of the second screw means 10, the exit height of the drive wheels 5 of the floor cleaning device 1 from the housing 2 and thus the distance of the housing 2 from the surface 4a to be cleaned can be adjusted. Because the first screw means 8 and the second screw means 10 are coupled to each other by the belt 7, the drive wheels 5 exit or enter the housing 2 simultaneously with the raising or lowering of the cleaning tool 3.

[0054] The drive wheels 5 are according to Fig. 4each held on a pivot arm 11, which can rotate about a pivot bearing 12. The pivot arm 11 is supported by a compression spring 13. The spring preload of the compression spring 13 and thus the exit height of the drive wheel 5 from the housing 2 is adjusted via the screw nuts 10a of the second screw means 10, by rotating these in the housing 2 using the belt 7, whereby the bolt 10b moves. The harder the compression springs 13 press downward, the more the floor cleaning device 1, including the cleaning tool 3, lifts off the surface 4a to be cleaned. The emergence of the drive wheels 5 from the housing 2 of the floor cleaning device 1 is important in order to drive onto carpet edges or other obstacles.At the same time, when moving up, for example onto a carpet edge, the wet wiper 3a should not touch the carpet, which is why the wiper 3a is lifted according to the same principle and via the same belt 7, namely by rotating the screw nuts 8a of the first screw means 8 with the belt 7.

[0055] Conversely, if the spring forces of the compression spring 13 are reduced by a rotation of the belt 7, the cleaning tool 3 also moves downwards and the contact pressure on the surface 4a to be cleaned is increased. This coupled system allows higher contact forces to be applied simultaneously to two cleaning tools 3 (see, for example, the embodiment according to Fig. 1 ) are guaranteed.

[0056] Fig. 5 shows a simplified computer system 500 in accordance with some embodiments of the present disclosure. Fig. 5shows a schematic representation of an embodiment of the computer system 500, which can perform some or all of the steps of the methods provided in various embodiments.

[0057] Computer system 500 is illustrated as including hardware elements that may be electrically coupled via a bus 505 or may otherwise communicate with each other. The hardware elements may include one or more processors 510, including, without limitation, one or more general-purpose processors and / or one or more special-purpose processors, one or more input devices 515, and one or more output devices 520. Computer system 500 may further include and / or be in communication with one or more non-volatile memory devices 525.

[0058] Computer system 500 may also include a communications subsystem 530. In some embodiments, computer system 500 further includes memory 535, which may comprise a RAM or ROM device, as described above.

[0059] Computer system 500 may also include software elements currently residing in memory 535, including an operating system 540, device drivers, executable libraries, and / or other code, such as one or more application programs 545, which may include computer programs provided by various embodiments and / or may be configured to implement methods and / or configure systems provided by other embodiments, as described herein.For example only, one or more operations described with respect to the methods discussed above may be implemented as code and / or instructions executable by a computer and / or a processor within a computer; in one aspect, such code and / or instructions may then be used to configure and / or adapt a general-purpose computer or other device to perform one or more operations in accordance with the described methods.

[0060] A set of these instructions and / or code may be stored on a non-transitory, computer-readable storage medium, such as the storage device(s) 525 described above. As mentioned above, in one aspect, some embodiments may utilize a computer system such as computer system 500 to perform methods in accordance with various embodiments of the technology. According to a number of embodiments, some or all of such methods are performed by computer system 500 in response to processor 510 executing one or more sequences of one or more instructions, which may be incorporated into operating system 540 and / or other code, such as an application program 545, contained in memory 535. Such instructions may be read into memory 535 from another computer-readable medium, such as one or more of storage device(s) 525.By way of example only, execution of the instruction sequences contained in memory 535 may cause processor(s) 510 to perform one or more of the methods described herein.

[0061] The terms "machine-readable medium" and "computer-readable medium," as used herein, refer to any medium involved in providing data that causes a machine to operate in a particular manner. In an embodiment implemented using computer system 500, various computer-readable media may be involved in providing instructions / code to processor(s) 510 for execution and / or may be used to store and / or transmit such instructions / code. In many implementations, a computer-readable medium is a physical and / or tangible storage medium. Such a medium may take the form of a non-transitory medium or a volatile medium. Non-transitory media includes, for example, optical and / or magnetic disks, such as storage device(s) 525.Volatile media include dynamic memory, such as RAM 535.

[0062] Communications subsystem 530 and / or its components generally receive signals, and bus 505 may then transport the signals and / or the data, instructions, etc., carried by the signals to memory 535, from which processor(s) 510 retrieves and executes the instructions. The instructions received from memory 535 may optionally be stored on a non-volatile storage device 525 before or after execution by processor(s) 510.

[0063] The invention can also be described by the following aspects: 1. A method (100) for operating a floor cleaning device (1), wherein the floor cleaning device (1) has at least one housing (2), at least one cleaning tool (3, 3a, 3b), and at least one sensor for detecting vibrations, wherein the floor cleaning device (1) is designed and configured to move autonomously in a cleaning environment (4) and to perform cleaning tasks, comprising at least the following method steps: detecting (101) at least one vibration measurement value with the sensor during operation of the floor cleaning device (1), comparing (102) the vibration measurement value with at least one reference value, and adjusting (103) at least one contact parameter between the cleaning tool (3, 3a, 3b) and a surface (4a) to be cleaned depending on the result of the comparison (102). 2. A method (100) according to aspect 1, characterized in thatthat the contact parameter is a contact force and / or a contact surface and / or a quantity of liquid between the cleaning tool (3, 3a, 3b) and the surface (4a). 3. Method (100) according to aspect 1 or 2, characterized in that it further comprises at least the following method step: selecting (104) a cleaning program from a plurality of cleaning programs depending on the contact parameter present after the adjustment (103) and operating the floor cleaning device (1) with the selected cleaning program. 4. Method (100) according to aspect 3, characterized in that the selection (104) takes into accountwhether the contact parameter was reduced or increased during the adjustment (103) and / or whether the contact parameter present after the adjustment (103) reaches a predetermined threshold value and / or whether a desired cleaning result can be achieved with the contact parameter present after the adjustment (103) for the type of surface (4a) to be cleaned. 5. Method (100) according to aspect 3 or 4, characterized in that during the selection (104), a cleaning program is selected in which at least one predetermined location in the cleaning environment (4) is passed over at least twice if the contact parameter was reduced during the adjustment (103) and / or if the contact parameter falls below a predetermined threshold value. 6. Method (100) according to aspect 5, characterized in that the two passes over take place in mutually different directions. 7. Method (100) according to one of aspects 1 to 6, characterized inthat the adjustment (103) of the contact parameter takes place in predefined stages. 8. Method (100) according to one of aspects 1 to 7, characterized in that each operation of the floor cleaning device (1) begins with at least one predetermined contact parameter, and that the steps of detecting (101), adjusting (102), and adjusting (103) are repeatedly carried out until the vibration measurement value falls below a threshold value or falls within a tolerance range. 9. Method (100) according to one of aspects 1 to 8, characterized in that the adjustment (103) of the contact parameter takes place for a predetermined zone in the cleaning environment (4) and / or that the adjustment (103) of the contact parameter takes place for a predetermined time. 10. Method (100) according to one of aspects 1 to 9, characterized inthat at least the method steps of detecting (101) and comparing (102) are repeated at predetermined time intervals and / or in an event-controlled manner. 11. A floor cleaning device (1) comprising at least one housing (2), at least one cleaning tool (3), and at least one sensor for detecting vibrations, wherein the floor cleaning device (1) is designed and configured to move autonomously in a cleaning environment (4), characterized in that the floor cleaning device (1) is designed to carry out a method (100) according to one of aspects 1 to 10. 12. A floor cleaning device (1) comprising at least one housing (2), at least one cleaning tool (3, 3a, 3b), and at least one sensor for detecting vibrations, wherein the floor cleaning device (1) is designed and configured to move autonomously in a cleaning environment (4) and to perform cleaning tasks, characterized inthat at least one contact parameter between the cleaning tool (3, 3a, 3b) and the surface to be cleaned (4a) can be adjusted depending on at least one vibration measurement value that can be detected by the sensor. 13. Floor cleaning device (1) according to aspect 12, characterized in that at least one adjustment means (6) is provided to adjust the contact parameter, that the adjustment means (6) has at least one belt (7) and at least one first screw means (8), that the contact parameter can be changed by rotating the first screw means (8), and that rotation of the first screw means (8) can be effected with the belt (7). 14. Floor cleaning device (1) according to aspect 13, characterized in that with the belt (8) via at least one second screw means (10) an exit height of at least one drive wheel (5) of the floor cleaning device (1) from the housing (2) can also be influenced. 15. Floor cleaning device (1) according to aspect 14, characterized in thatthat a thread pitch of the first screw means (8) and the second screw means (10) are different. 16. Floor cleaning device (1), in particular according to one of aspects 11 to 15, comprising at least one housing (2), at least one cleaning tool (3), and at least one drive wheel (5), wherein the floor cleaning device (1) is designed and configured to move autonomously in a cleaning environment (4) and to perform cleaning tasks, wherein the drive wheel (5) is held on the housing (2) in such a way that an exit height of the drive wheel (5) from the housing (2) is variable, characterized in that the cleaning tool (3) is movably held on the housing (2) in such a way that the cleaning tool (3) can be moved toward and away from a surface (4a) to be cleaned in the cleaning environment (4), and that the cleaning tool (3) and the drive wheel (5) are coupled in such a way,that when an exit height of the drive wheel (5) is changed, the cleaning tool (3) is also moved towards or away from the surface (4a) to be cleaned.

[0064] The invention is not limited to the illustrated and described embodiments, but also encompasses all equivalent embodiments within the meaning of the invention. It is expressly emphasized that the embodiments are not limited to all features in combination; rather, each individual partial feature can also have an inventive significance in isolation from all other partial features. Furthermore, the invention is not yet limited to the combination of features defined in claim 1, but can also be defined by any other combination of specific features of all the individual features disclosed as a whole. This means that, in principle, practically every individual feature of claim 1 can be omitted or replaced by at least one individual feature disclosed elsewhere in the application. List of reference symbols

[0065] 1Floor cleaning device 2Housing 3Cleaning tool 3aWiper 3bCleaning brush 4Cleaning environment 4aSurface 5Drive wheel 6Adjustment device 7Belt 8First screw 8aScrew nut 9Drive device 10Second screw 10aScrew nut 10bBolt 11Pivot arm 12Pivot bearing 13Compression spring 100Procedure 101Capture 102Compare 103Adjust 104Selection

Claims

1. Method (100) for operating a floor cleaning device (1), wherein the floor cleaning device (1) has at least one housing (2), at least one cleaning tool (3, 3a, 3b), and at least one sensor for detecting vibrations, wherein the floor cleaning device (1) is designed and configured to move autonomously in a cleaning environment (4) and to carry out cleaning tasks, wherein at least the following method steps are included: - detecting (101) at least one vibration measurement value with the sensor during operation of the floor cleaning device (1), - comparing (102) the vibration measurement value with at least one reference value, - adapting (103) at least one contact parameter between the cleaning tool (3, 3a, 3b) and a surface to be cleaned (4a) depending on the result of the comparison (102).

2. Method (100) according to claim 1, characterized in thatthe contact parameter is a contact force and / or a contact surface and / or a quantity of liquid between the cleaning tool (3, 3a, 3b) and the surface (4a).

3. Method (100) according to claim 1 or 2, characterized in that further comprising at least the following method step: - selecting (104) a cleaning program from a plurality of cleaning programs depending on the contact parameter present after the adaptation (103) and operating the floor cleaning device (1) with the selected cleaning program.

4. Method (100) according to claim 3, characterized in thatduring the selection (104) it is taken into account whether the contact parameter was reduced or increased during the adaptation (103) and / or whether the contact parameter present after the adaptation (103) reaches a predetermined threshold value and / or whether a desired cleaning result can be achieved with the contact parameter present after the adaptation (103) for the type of surface (4a) to be cleaned.

5. Method (100) according to claim 3 or 4, characterized in that in the selection (104) a cleaning program is selected in which at least one predetermined location in the cleaning environment (4) is passed over at least twice if the contact parameter was reduced during the adjustment (103) and / or if the contact parameter falls below a predetermined threshold value, in particular that the two passes over take place in different directions from one another.

6. Method (100) according to one of claims 1 to 5, characterized in thatthe adjustment (103) of the contact parameter takes place in predefined stages.

7. Method (100) according to one of claims 1 to 6, characterized in that each operation of the floor cleaning device (1) begins with at least one predetermined contact parameter, and that the steps of detecting (101), adjusting (102) and adjusting (103) are carried out repeatedly until the vibration measurement value falls below a threshold value or falls within a tolerance range.

8. Method (100) according to one of claims 1 to 7, characterized in that the adjustment (103) of the contact parameter is carried out for a predetermined zone in the cleaning environment (4) and / or that the adjustment (103) of the contact parameter is carried out for a predetermined time.

9. Method (100) according to one of claims 1 to 8, characterized in that at least the method steps of detecting (101) and comparing (102) are repeated at predetermined time intervals and / or event-controlled.

10. Floor cleaning device (1), comprising at least one housing (2), at least one cleaning tool (3) and at least one sensor for detecting vibrations, wherein the floor cleaning device (1) is designed and configured to move autonomously in a cleaning environment (4), characterized in that the floor cleaning device (1) is designed to carry out a method (100) according to one of claims 1 to 9.

11. Floor cleaning device (1), comprising at least one housing (2), at least one cleaning tool (3, 3a, 3b) and at least one sensor for detecting vibrations, wherein the floor cleaning device (1) is designed and configured to move autonomously in a cleaning environment (4) and to carry out cleaning tasks, characterized in thatat least one contact parameter between the cleaning tool (3, 3a, 3b) and the surface to be cleaned (4a) can be adjusted as a function of at least one vibration measurement value that can be detected by the sensor.

12. Floor cleaning device (1) according to claim 11, characterized in that at least one adjustment means (6) is provided to adapt the contact parameter, that the adjustment means (6) has at least one belt (7) and at least one first screw means (8), that the contact parameter can be changed by a rotation of the first screw means (8), and that a rotation of the first screw means (8) can be effected with the belt (7).

13. Floor cleaning device (1) according to claim 12, characterized in that with the belt (8) via at least one second screw means (10) an exit height of at least one drive wheel (5) of the floor cleaning device (1) from the housing (2) can also be influenced.

14. Floor cleaning device (1) according to claim 13, characterized in thata thread pitch of the first screw means (8) and the second screw means (10) are different.

15. Floor cleaning device (1), in particular according to one of claims 10 to 14, comprising at least one housing (2), at least one cleaning tool (3) and at least one drive wheel (5), wherein the floor cleaning device (1) is designed and configured to move autonomously in a cleaning environment (4) and to carry out cleaning tasks, wherein the drive wheel (5) is held on the housing (2) in such a way that an exit height of the drive wheel (5) from the housing (2) is variable, characterized in thatthe cleaning tool (3) is movably held on the housing (2) in such a way that the cleaning tool (3) can be moved towards and away from a surface (4a) to be cleaned in the cleaning environment (4), and that the cleaning tool (3) and the drive wheel (5) are coupled in such a way that when an exit height of the drive wheel (5) changes, the cleaning tool (3) is also moved towards or away from the surface (4a) to be cleaned.

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