Floor-cleaning system, and method for operating a floor-cleaning system

Abstract

The invention also relates to a method for operating a floor-cleaning system (100; 184; 190) comprising: a floor-cleaning appliance (102; 192) having at least one cleaning tool (120), a control unit (118), and at least one spectroscopic sensor device (130); and a memory unit (128, 182). In said method: during operation of the floor-cleaning appliance (102; 192), an object (108) to be examined located in a detection area (148) can be detected by means of the at least one sensor device (130) and examination information relating thereto can be made available to the control unit (118); a material of the object (108) to be examined can be determined by the control unit (118) on the basis of the examination information, in particular with a view to adapting the cleaning behaviour of the floor-cleaning appliance (102; 192); a calibration element (168) of the floor-cleaning system (100; 184; 190) can be detected by the at least one sensor device (130) and control calibration information, which can be used as a basis for determining the material, can be ascertained by the control unit (118); reference calibration information for the at least one sensor device (130) is stored in the memory unit (128, 182) and the control unit (118) compares the reference calibration information with the control calibration information; and the control unit (118) takes at least one corrective measure in the event of a deviation of the control calibration information from the reference calibration information.

Description

[0001] FLOOR CLEANING SYSTEM AND METHOD FOR OPERATING A FLOOR CLEANING SYSTEM

[0002] The present invention relates to a floor cleaning system comprising a floor cleaning device with at least one cleaning tool, a control unit and at least one spectroscopic sensor device, wherein an object to be examined arranged in a detection area can be detected via the at least one sensor device during operation of the floor cleaning device and relevant examination information can be provided to the control unit, on the basis of which a material of the object to be examined can be determined by the control unit, in particular with regard to an adaptation of the cleaning behavior of the floor cleaning device.

[0003] Furthermore, the present invention relates to a method for operating a floor cleaning system, in particular with a floor cleaning device of the type described above.

[0004] Floor cleaning systems with floor cleaning devices are known in which, during the cleaning movement, an object under examination can be detected and the material of the object under examination can be determined using a spectroscopic sensor device. For example, WO 2018 / 202301 A1 describes a floor cleaning device with a spectroscopic detection device that can determine the material of the floor and the type of contamination. Based on this, the cleaning behavior of the floor cleaning device can be adapted.

[0005] Another floor cleaning device with a spectroscopic device is described, for example, in DE 10 2014 106 975 A1. Here, the type of floor surface is determined using a multi-channel spectroscopy device.

[0006] DE 10 2018 200 719 A1 discloses an automatic floor cleaner. Light is emitted with a predetermined light spectrum onto a surface to be cleaned. Reflected light is detected, and an intensity profile of the detected light is determined within a predetermined light spectrum. The condition of the surface is determined based on a comparison of the intensity profile with a predetermined intensity profile.

[0007] A method and a device for surface classification using spectroscopic methods are disclosed in EP 1 677 099 A1.

[0008] In conventional devices and methods, intensities within the spectrum are compared, for example, with reference intensities stored in a memory unit of the floor cleaning device. In practice, it has been shown that the identification of materials is fundamentally possible, but can be difficult, especially during extended operation of the floor cleaning device. It would therefore be desirable to improve the identification of materials.

[0009] The object of the present invention is to provide a floor cleaning system and a method for operating a floor cleaning system with which an improved determination of a material of an object under investigation is possible, in particular with regard to an improved cleaning performance of a floor cleaning device used.

[0010] This object is achieved by a floor cleaning system according to the invention, comprising a floor cleaning device with at least one cleaning tool, a control unit and at least one spectroscopic sensor device and a storage unit, wherein:

[0011] - an object to be examined arranged in a detection area can be detected via the at least one sensor device during operation of the floor cleaning device and relevant examination information can be provided to the control unit;

[0012] - the control unit can determine a material of the object under investigation on the basis of the examination information, in particular with a view to adapting the cleaning behaviour of the floor cleaning device;

[0013] - a calibration element of the floor cleaning system can be detected by the at least one sensor device and control calibration information, which can be used as a basis for determining the material, can be determined by the control unit;

[0014] - reference calibration information for the at least one sensor device is stored in the storage unit and the control unit compares the reference calibration information with the control calibration information; and

[0015] - the control unit takes at least one corrective action in the event of a deviation of the control calibration information from the reference calibration information.

[0016] The floor cleaning system according to the invention provides at least one sensor device, in particular an optical spectroscopic sensor device. The object under investigation can be detected, and related examination information can be provided to the control unit. A calibration element of the floor cleaning system can be detected by the at least one sensor device, and related control calibration information can be determined by the control unit, since the nature of the calibration element is known to the control unit. Based on the control calibration information, it is particularly possible to use a comparison measurement for the measurement on the object under investigation in order to determine its material more reliably than with a conventional measurement based solely on an intensity comparison with a reference intensity, as is known from the prior art.The invention takes into account the consideration that the nature of the sensor device could change, for example, during operation or the service life of the floor cleaning device, so that relying on intensities could lead to erroneous results. In contrast, the possibility of a comparative measurement using the control calibration information makes it possible to detect any deterioration of the at least one sensor device, which can be taken into account by the control unit when determining the material of the object under examination. The comparative measurement can, for example, be carried out by means of an absorption of an intensity of examination light on the object under examination, as will be discussed later. In addition, the present invention provides for reference calibration information to be stored in the memory unit.This reference calibration information, for example, was determined and stored at the factory during production of the floor cleaning device and is used for comparison with the control calibration information. This takes into account the consideration that the quality of the calibration element could also change during operation or over the service life of the floor cleaning system. The reference calibration information therefore makes it possible to determine whether the control calibration information is valid enough to reliably determine the material. In the event of a discrepancy between the calibration information, the control unit can initiate at least one control measure. This preferably offers the opportunity to eliminate any causes for insufficient control calibration information, which in turn has a positive effect on the control unit's determination of the material.As a result, this allows for more reliable material identification. Given that the identification is primarily based on adjusting the cleaning behavior, a better cleaning result can be achieved.

[0017] It is understood that a deviation between the calibration information is only considered as such if the differences between the calibration information exceed a specified or specifiable threshold. A difference smaller than the threshold, on the other hand, is considered to be within a tolerance range.

[0018] The object of investigation can be contamination on or around the floor surface.

[0019] Alternatively or additionally, the object of investigation can be the soil surface or the soil material itself.

[0020] The adjustment of the cleaning behavior can, for example, comprise an adjustment of at least one of the following: a change in a travel path of the floor cleaning device, a change in a cleaning performance of the at least one cleaning tool (for example by means of a change in a speed of a drive motor) and / or an adjustment of a dosage of a cleaning fluid or a cleaning chemical.

[0021] It can be provided that an operator is interactively guided to one or more corrective actions by the control unit by means of a notification and / or using a workflow. Taking the corrective action can thus be or include the request for assistance from the operator, for example, cleaning. For the purpose of guidance, the floor cleaning system can, for example, include a notification unit controlled by the control unit, which displays instructions for the operator.

[0022] An application program can be executed by the control unit. The application program can be stored, for example, in the memory unit. The memory unit can be integrated into the control unit or comprised by it. The control unit, for example, comprises a microcomputer or is configured as such.

[0023] The notification unit has already been discussed. The at least one corrective action can, for example, include issuing a notification to an operator to clean the sensor device. This takes into account the fact that dirt can accumulate on the sensor device, which could negatively impact the detection of the object under investigation and / or the calibration element. In this case, "cleaning the sensor device" can also be considered, in particular, "cleaning a cover" of the sensor device, which covers the sensor device, for example, as protection against dirt.

[0024] The at least one corrective action can, for example, include issuing a notification to the operator to clean the calibration element. This takes into account the consideration that the calibration element, for example if it is exposed, could be contaminated just like the sensor device. The control calibration information determined on this basis then deviates from the reference calibration information. The at least one corrective action can, for example, include issuing a notification to the operator to replace the calibration element. Replacement is considered, for example, if cleaning the calibration element does not lead to the desired result.

[0025] At least two of the three corrective actions listed above can be implemented and implemented in the order described.

[0026] The notification unit can, for example, comprise a controllable display unit, in particular with an image display, and / or a loudspeaker. Accordingly, notifications can be provided visually and / or acoustically.

[0027] The floor cleaning system can, for example, comprise a particularly portable additional device that is connected to the floor cleaning device or can be connected to it and that includes the notification unit. The additional device is, for example, a smartphone, a smartwatch, or a tablet computer.

[0028] It can be provided that the instruction regarding cleaning the calibration element and / or the instruction regarding replacing the calibration element is only provided after the instruction regarding cleaning the at least one sensor device has been provided, a further detection of the calibration element has taken place, and a deviation from each other has been determined upon comparison of further control calibration information with the reference calibration information. For example, the operator is first suggested to clean the at least one sensor device before a instruction regarding cleaning and / or replacing the calibration element is issued after the calibration element has been detected again and the calibration information has been compared.

[0029] Similarly, it can be provided that the notification to replace the calibration element is only provided after the notification to clean the sensor device and / or the notification to clean the calibration element has been provided, a further detection of the calibration element has taken place, and a further comparison of further control calibration information with the reference calibration information has determined a deviation between them. For example, the operator is initially suggested to clean the sensor device and / or the calibration element. After a further check for a deviation between the calibration information, the operator is suggested to replace the calibration element.

[0030] It may be advantageous if the floor cleaning system includes a cleaning tool for the at least one sensor device, and if the corrective measure includes activating the cleaning tool to clean the at least one sensor device. This offers, for example, the possibility of automatic cleaning of the at least one sensor device triggered by the control unit. For example, brushing, wiping, and / or blowing off the at least one sensor device is conceivable. For example, the cleaning tool for cleaning the floor surface can be used to clean the calibration element. Alternatively or additionally, a different type of cleaning tool can be used.

[0031] Similarly, it may be advantageous if the floor cleaning system includes a cleaning tool for the calibration element, and if the corrective action includes activating the cleaning tool to clean the calibration element. In this case, it is preferably also possible for the control unit to trigger automatic cleaning of the calibration element. The cleaning tool can be the cleaning tool for cleaning the floor surface, as in the case described above, or a different type of cleaning tool.

[0032] It can be provided that the floor cleaning system comprises a replacement tool for the calibration element and that the corrective measure comprises activating the replacement tool for replacing the calibration element. This offers the possibility of automatic replacement of the calibration element, triggered by the control unit and without intervention by the operator. It can be provided that after carrying out at least one corrective measure, in particular a replacement of the calibration element, a further detection of the calibration element takes place and a further comparison of further control calibration information with the reference calibration information is carried out, wherein in the event of a deviation between the calibration information, a determination of the material of the object under investigation during operation of the floor cleaning device is omitted and / or is regarded as untrustworthy.If even replacing the calibration element does not result in the control calibration information matching the reference calibration information, the control unit may assume that the material determination of the object under test cannot be performed with the desired accuracy or may even lead to an incorrect result. In this case, for example, it is planned to omit material determination while the floor surface is being cleaned.

[0033] The detection of the calibration element and the comparison of the calibration information can preferably be carried out automatically by the floor cleaning device or alternatively or additionally, triggered by an operator, according to at least one of the following:

[0034] - before starting operation of the floor cleaning device;

[0035] - after the floor cleaning device has finished operating;

[0036] - when the floor cleaning device is in a docking position at a docking station;

[0037] - while cleaning the floor surface;

[0038] - at regular intervals;

[0039] - at random times.

[0040] For example, a calibration check may be planned upon commencement of operation. If no discrepancies between the calibration information are detected, measurements on test objects during operation are considered trustworthy and will be performed until the calibration is checked again upon resumption of operation.

[0041] The floor cleaning system can comprise an indication unit which can be controlled by the control unit and on which an indication can be provided to the operator to position the calibration element in the detection range of the sensor device and / or to transfer the floor cleaning device into a docking position at a docking station which comprises the calibration element in order to detect the calibration element.

[0042] It can be provided that the detection of the calibration element by the at least one sensor device already leads to the determination of the control calibration information by the control unit.

[0043] The at least one sensor device preferably comprises a light-emitting element for illuminating the object under examination and / or the calibration element with examination light. Examination light can, for example, be in the visible spectrum, the infrared (IR to far-IR), and / or the UV range. The spectrum can be discrete or continuous.

[0044] The at least one sensor device can in particular comprise a diffractive or refractive optical element for the spectral decomposition of examination light.

[0045] The at least one sensor device preferably comprises at least one image sensor with a one-dimensional or two-dimensional array of pixels, which may be indicative of one or more wavelengths or an energy of the examination light.

[0046] A recess is preferably formed on the floor cleaning device in which the at least one sensor device is arranged. The floor cleaning device comprises a cover element for the recess that is transparent to the examination light. This prevents dirt from reaching the sensor device on the underside of the floor cleaning device, and the at least one sensor device can preferably be positioned directly above the object under examination and / or the calibration element.

[0047] The at least one sensor device can, for example, be arranged at at least one of the following positions: - -on ​​an underside of the floor cleaning device;

[0048] - on or near a front of the floor cleaning device, in relation to its main direction of movement;

[0049] - in front of at least one cleaning tool of the floor cleaning device, relative to its main direction of movement.

[0050] It is understood that position and orientation information refers to the intended use of the floor cleaning device, which can stand on the floor surface and move in a straight line along the main direction of movement.

[0051] Advantageously, for the aforementioned comparison measurement, the control unit calculates an absorption of examination light by the object under investigation when determining the material by determining the negative logarithm of the ratio of a measured intensity I during the measurement to a comparison intensity, wherein the comparison intensity Io originates from the control calibration information (Abs = -log(I / Io)).

[0052] When evaluating the information by the control unit, different methods of data preprocessing and data postprocessing can be used.

[0053] The reference calibration information may be factory calibration information stored in the storage unit at the factory.

[0054] The reference calibration information can be stored in the memory unit in a changeable manner. For example, the factory calibration information is replaced by the control calibration information, which represents the new reference.

[0055] The calibration element can be included in the floor cleaning device. Alternatively, the calibration element can be separate from the floor cleaning device. The calibration element can, in particular, be a white standard or include one.

[0056] A calibration arrangement can be provided with a plurality of calibration elements arranged in layers one above the other, wherein the calibration element arranged on top is removable and the calibration element underneath is exposed. For example, the calibration elements are foil-shaped and can be peeled off one after the other. A dirty or damaged calibration element can thus be easily removed in a user-friendly manner, and the calibration element underneath can be exposed.

[0057] The calibration element can, for example, be plate-shaped.

[0058] It is conceivable that the calibration element can be turned over in order to remove a dirty or damaged side from the detection area and to bring the clean side of the calibration element into the detection area.

[0059] The calibration element can be movably mounted on the floor cleaning device, for example, via an adjustment device. It is conceivable that the calibration element can be moved manually and / or by means of a drive from a parked position to an operating position, in which the calibration element is arranged within the detection range of the at least one sensor device. The adjustment device allows, for example, pivoting and / or moving the calibration element. The movement can be initiated by an operator or by the control unit.

[0060] The presence of the calibration element in the detection area and / or the use of the above-mentioned adjustment device is preferably automatically detectable, whereby the control calibration information can preferably be determined without the intervention of the operator.

[0061] A cover element for the calibration element that is transparent to the examination light of the at least one sensor device can be provided. This preferably prevents dirt from entering the sensor device. The cover element can be easily cleaned.

[0062] The floor cleaning system can comprise two or more sensor devices, with the control unit using analysis information from at least two sensor devices to determine the material of the object under investigation. This enables more reliable material determination, for example, by checking for consistent results using the sensor devices or by averaging their measurements.

[0063] The control unit can be configured to assign different weights to the examination information from different sensor devices or to the channels of a sensor device. For example, one sensor device can be considered more "trustworthy" than another.

[0064] Advantageously, information relating to materials of objects to be examined is stored and / or can be stored in the storage unit, linked to relevant data of the at least one sensor device, which are formed by the examination information or are based thereon.

[0065] "Material" in this case may be a single material, for example in the sense of a chemical element, a chemical group or a class of materials, such as "solid organic material", "aqueous material" or the like.

[0066] The floor cleaning device may include the storage unit and form the floor cleaning system. In particular, no external storage unit is provided, for example.

[0067] The floor cleaning system may include a storage unit located spatially remote from the floor cleaning device, particularly as a component of or linked to a spatially remote data processing device. The data processing device may be a single computer or a plurality of computers or servers, for example, a cloud. The storage unit may be integrated into the data processing device.

[0068] Communication units preferably enable an exchange of information between the data processing device and / or the storage unit and the floor cleaning device.

[0069] In a preferred embodiment, the floor cleaning system comprises a display unit and an input unit for a user, wherein a prompt can be provided on the display unit to confirm a determined material for the object under investigation via the input unit. For example, at least one suggestion for the material can be presented to the operator. The confirmation serves, for example, to link the material to the data based on the investigation information.

[0070] For example, a message can be provided on the display unit indicating that a material could not be detected. The operator uses the input unit to specify the material, and the relevant information can be stored in the memory unit. This allows the operator to train the floor cleaning system and, in a sense, store additional "known" materials in the memory unit.

[0071] The display unit and the input unit can be included in the floor cleaning device. Alternatively or additionally, a spatially remote display unit and / or input unit can be provided, for example, in the data processing device and / or the external auxiliary device.

[0072] An application program executable by the control unit can advantageously be updated via a communication connection with an external data processing device.

[0073] The content of a storage unit of the floor cleaning device is advantageously updatable. In particular, it is provided that the content can be updated with information concerning materials of objects under examination via a communication connection to an external data processing device with additional and / or corrective information concerning materials of objects under examination, which information is stored in a spatially remote storage unit. This offers, for example, the possibility of improving the control unit's ability to identify materials. For example, data is stored in a cloud in the storage unit similar to a "library" in order to successively improve the floor cleaning system or multiple floor cleaning systems. Information can be transmitted wirelessly and / or wired to the floor cleaning device.

[0074] Conversely, information from the floor cleaning system can be provided to the external data processing facility to expand the library with additional information.

[0075] For the use of a "universal" material library, it is advantageous if on-site calibration information (e.g., in operation) can be used to calculate back to, for example, factory-made reference calibration information, to enable referencing of new measured values ​​to the existing library. This preferably enables a universal library and soil recognition even without the need to learn soils on-site.

[0076] The floor cleaning system is preferably designed to be self-learning, whereby newly learned materials can be stored in the memory unit.

[0077] The floor cleaning device can be self-propelled and self-steering to perform autonomous cleaning of the floor surface. The floor cleaning device is, in particular, a cleaning robot.

[0078] Alternatively or additionally, the floor cleaning device can be hand-held. The at least one cleaning tool can be or comprise at least one or a combination of the following: a sweeping unit, a vacuuming unit, a mopping unit, or a scrubbing unit.

[0079] In a preferred embodiment of the invention, the floor cleaning system can comprise a docking station for the floor cleaning device, in particular for supplying a consumable component to the floor cleaning device and / or for removing a used component from the floor cleaning device when the floor cleaning device assumes a docking position at the docking station. Alternatively, the docking station can be provided solely for receiving the floor cleaning device in a parking position.

[0080] The docking station can, for example, include the calibration element.

[0081] The docking station can comprise a support element on which the floor cleaning device rests in a docking position. The calibration element is arranged in the support element or encompassed by it and is preferably positioned completely within the detection range of the sensor device. By positioning it on the support element, a defined position relative to the floor cleaning device can be ensured when the device is in the docking position.

[0082] This allows for the same environmental conditions with regard to comparability of the measurements on the calibration element.

[0083] The calibration element can be formed, for example, by coloring the mounting element. Alternatively, the calibration element can be formed separately from the mounting element and connected to it.

[0084] The calibration element can, for example, extend beyond the mounting element in the direction of the sensor device. This preferably allows the smallest possible distance between the sensor device and the calibration element to be achieved and, for example, minimizes the influence of extraneous light. The calibration element can advantageously be detachably connected to the docking station, allowing the calibration element to be replaced.

[0085] A calibration arrangement comprising a plurality of calibration elements, formed, for example, by superimposed stickers or plates, can be arranged on the support element. The stickers can be removed, thereby exposing another calibration element and / or turning a plate over.

[0086] The docking station can, for example, comprise a movable cover element that covers the calibration element in a closed position. When the floor cleaning device is moved into the docking position, the cover element can be moved into an open position to expose the calibration element. When the floor cleaning device is moved into the docking position, the cover element is moved into the open position, thereby exposing the calibration element. When the floor cleaning device is not present, the cover element assumes the closed position, protecting the calibration element from dirt.

[0087] The floor cleaning system can include a preferably controllable opening unit for moving the cover element into the open position. For example, the docking of the floor cleaning device is detected, and the opening unit is activated based on this.

[0088] The calibration element can be cleaned using at least one cleaning tool when the floor cleaning device is moved into the docking position. Any dirt deposits are removed in this way, and no additional cleaning tool is required.

[0089] As mentioned above, the present invention also relates to a method. A method according to the invention for operating a floor cleaning system, in particular of the type described above, comprises:

[0090] - detecting, by means of at least one sensor device, an object to be examined arranged in a detection area and providing relevant examination information to a control unit;

[0091] - Determining, by means of the control unit, a material of the object under investigation based on the investigation information;

[0092] - detecting, by means of the at least one sensor device, a calibration element, wherein the control unit determines control calibration information which forms the basis for determining the material;

[0093] - comparing, by means of the control unit, the control calibration information with a reference calibration information stored in a storage unit for the at least one sensor device; and

[0094] - Taking, by the control unit, at least one corrective action in case of a deviation of the control calibration information from the reference calibration information.

[0095] The advantages already mentioned in connection with the explanation of the floor cleaning system according to the invention can also be achieved by implementing the method. Reference can be made to the above explanations in this regard.

[0096] Advantageous embodiments of the method according to the invention result from advantageous embodiments of the floor cleaning system according to the invention. Reference is made to the above explanations in this regard.

[0097] The following description of preferred embodiments of the invention, taken in conjunction with the drawings, serves to explain the invention in more detail. They show:

[0098] Figure 1: a perspective view of a floor cleaning system according to the invention in a preferred embodiment;

[0099] Figure 2: a perspective view of a floor cleaning device of the floor cleaning system from Figure 1; Figure 3: another perspective view of the floor cleaning system from Figure 1;

[0100] Figure 4: a schematic block diagram of the floor cleaning system from Figure 1;

[0101] Figure 5: the floor cleaning system from Figure 1 in a detailed view, partially in section, viewed in the direction of arrow "5" in Figure 1;

[0102] Figure 6: a schematic representation of a sensor device of the floor cleaning system according to the invention in an installation situation;

[0103] Figure 7: a process flow of a method for operating the floor cleaning system from Figure 1;

[0104] Figure 8: a process flow illustrating the operation of the floor cleaning system of Figure 1;

[0105] Figure 9: a perspective view of another preferred embodiment of the floor cleaning system according to the invention; and

[0106] Figure 10: a perspective view of a docking station of the floor cleaning system from Figure 9.

[0107] Figures 1 to 5 refer to an advantageous embodiment of the floor cleaning system according to the invention, designated overall by reference numeral 100, with which a method according to the invention can be carried out. The floor cleaning system 100 comprises a floor cleaning device 102 and a docking station 104 for the floor cleaning device 102.

[0108] The floor cleaning device 102 is configured as a self-propelled and self-steering cleaning robot, which can autonomously clean a floor surface 106. Objects of investigation 108, for example, in the form of soiling 110, can be present on the floor surface 106. Alternatively or additionally, the floor forming the floor surface 106 can serve as the object of investigation 108. Reference numeral 112 denotes a texture that is examined as the object of investigation 108.

[0109] The material of the object under investigation 108 can preferably be determined using the floor cleaning system 100. This is done with a view to adapting the cleaning behavior of the floor cleaning device 102. The adaptation can include, for example, adjusting a travel path, the power of a cleaning tool, or the dosage of a cleaning fluid or cleaning chemical.

[0110] The floor cleaning device 102 comprises a housing 114 on which the chassis 116 is held for moving on the floor surface 106.

[0111] A control unit 118 controls and / or regulates the operation of the floor cleaning device 102 (Figure 4).

[0112] At least one cleaning tool 120 is provided for cleaning the floor surface 106. In the present case, the floor cleaning device 100 comprises a sweeping-vacuum unit 122, a mopping unit 124, and a side brush 126 as cleaning tools 120.

[0113] The floor cleaning device 102 further comprises a storage unit 128 and a sensor device 130. A communication unit 132 is provided for communication with external devices. It is understood that the units 118, 128, 130, and 132 could be fully or partially integrated into one another or encompassed by one another.

[0114] The sensor device 130 is configured as an optical spectroscopic sensor device. As is clear, for example, from Figures 3 and 5, the sensor device is arranged near a front side 134, relative to a main direction of movement 136, on the floor cleaning device 102. The sensor device 130 is positioned in a recess 140 extending upward from the underside 138 of the housing 114. The recess is shaft-shaped, with the sensor device 130 arranged offset upward from the underside 138.

[0115] The sensor device 130 comprises at least one luminous element 142, a diffractive or refractive optical element 144, and a detector 146, which comprises, for example, an array of pixels. Examination light emitted by the luminous element 142 propagates in a detection area 148 and is directed downward, ie, toward the floor surface 106 during cleaning operation.

[0116] Reflected and scattered examination light is captured and spectrally dispersed by the optical element 144. The individual spectral components reach the detector 146. The sensor device 130 provides examination information to the control unit 118.

[0117] Based on the examination information, the control unit 118 can determine a material of the examination object 108. For this purpose, a plurality of materials are preferably stored in the storage unit 128, linked to data based on or formed by the examination information. This allows the control unit 118 to classify the examination object 108 with regard to the material, as already explained above.

[0118] Figure 6 shows a schematic representation of what a different design of a sensor device 130 of a floor cleaning system 100 according to the invention could look like. The design shown there can be used, for example, in the floor cleaning device 102.

[0119] The sensor device 130 according to Figure 6 comprises one or more sensors 152 on an electrical circuit board 150, which act as detectors 146. The sensor(s) 152 are / are, for example, spectrally selective and detect examination light in mutually different wavelength ranges. The sensor device is also arranged in a recess 140, which is formed, for example, in the housing 114. In the present case, the luminous element 142 is integrated into the sensor 152.

[0120] A cover element 154, which is transparent to examination light, covers the sensor device 130 downwards and prevents the entry of dirt into the recess 140 and thus the contamination of the sensor device 130. Preferably, the cover element 154 can be easily cleaned by an operator and / or a cleaning tool.

[0121] Cleaning the cover element 154 is considered as cleaning the sensor device 130.

[0122] As can be seen particularly from Figures 3 and 5, the recess 140 is positioned laterally next to an electrical charging contact 156 of the floor cleaning device 102. A further charging contact 156 is provided, which in this case is positioned at a distance from the first-mentioned charging contact 156 in the transverse direction of the floor cleaning device 102. Electrical energy can be supplied to the floor cleaning device 102 via the charging contacts 156.

[0123] In this case, the sensor device 130 is arranged in front of a sweeping roller 158 of the sweeping-vacuum unit 122, relative to the main movement direction 136. Furthermore, the sensor device 130 is positioned outside the effective range of the side brush 126.

[0124] During operation of the floor cleaning device, the object under examination 108 is detected before it is passed over by the cleaning tools 120 or, in the case of the side brush 126, before it is detected by the side brush. Based on the determined material of the object under examination, the control unit 118 can adjust the optimal cleaning behavior.

[0125] The aforementioned docking station 104 is intended for the floor cleaning device 102 to be accommodated during operational interruptions. The floor cleaning device 102 can assume a defined docking position at the docking station 104, as shown in Figures 1 and 5. In the docking position, for example, a consumable component can be added or a used component can be removed. Consumable components are required, for example, for the operation of the floor cleaning device 102.

[0126] In the present example, the docking station 104 comprises a substantially plate-shaped support element 160. The support element 160 has a recess 162 for receiving the cleaning tools 120.

[0127] Electrical charging contacts 164 are configured to couple with charging contacts 156 when floor cleaning device 102 assumes the docking position. In the docking position, electrical energy can be supplied via charging contacts 164, 156 to charge a battery 166 of floor cleaning device 102.

[0128] It is conceivable that the docking position is determined by the charging contacts 156, 164 coupling with each other.

[0129] The sensor device 130 is calibrated for reliable determination of the material of the test object 108. An initial calibration is performed, in particular, at the factory during the production of the floor cleaning device 102. Reference calibration information is stored in the memory unit 128 at the factory.

[0130] In the floor cleaning system 100, it is advantageous that the condition of the sensor device 130 can be monitored with a view to accurately determining the material of the object under investigation 108 and, if necessary, corrective measures can be taken.

[0131] Furthermore, it is advantageous that, unlike the spectroscopic method known from the prior art, no comparison of an intensity detected by the sensor device 130 with a reference intensity is performed. Instead, a comparative measurement is performed, in which an absorption of examination light by the object under examination 108 is calculated. To achieve the aforementioned advantages, the floor cleaning system 100 comprises a calibration element 168. The calibration element 168 is preferably bright and, in particular, designed as a white standard. Advantageously, the calibration element 168 is dimensioned such that it can be completely detected by the detection area 148.

[0132] In the present example, the calibration element 168 is plate-shaped and is detachably held on the docking station 104.

[0133] In the present example, the calibration element 168 is positioned laterally next to one of the charging contacts 164. The docking station 104 comprises a base 170 protruding from the mounting element 160, on which the charging contact 164 is arranged and which accommodates the calibration element 168. The calibration element 168 thus protrudes from the mounting element 160 in the direction of the sensor device 130, so that the distance to the sensor device 130 is as small as possible and the influence of extraneous light can be largely or preferably completely suppressed.

[0134] When the floor cleaning device 102 assumes the docking position, the sensor device 130 is arranged directly above the calibration element 168. The detection area 148 completely covers the calibration element 168.

[0135] The sensor device 130 provides the control unit 118 with information on the basis of which the control unit determines control calibration information.

[0136] The control calibration information is used for the comparison measurement to determine the material of the examination object 108. In particular, the control unit 118 calculates the absorption of examination light by forming the negative logarithm of a ratio of the intensities measured at the examination object 108 and at the calibration element 168 (-log(I / Io)). If, for example, the condition of the sensor device 130 deteriorates over time, this deterioration is incorporated into the determination of the absorption both in the measurement at the examination object 108 and at the calibration element 168. In this way, the material of the examination object 108 can be determined independently of the condition of the sensor device 130. This enables a more reliable determination than with conventional devices and methods, in which only an intensity comparison with a reference intensity in the storage unit is performed.

[0137] Over time, however, not only the condition of the sensor device 130 may deteriorate, for example due to contamination, but also the condition of the calibration element 168. Contamination of the calibration element 168 and possible damage, such as scratches, which could occur when driving over the calibration element 168, are also possible.

[0138] To determine the condition of the calibration element 168, the reference calibration information in the storage unit 128 is used. In particular, it is possible to determine whether the comparison measurement is valid enough to determine the material of the test object 108.

[0139] The calibration element 168 is detected by the sensor device 130 at successive points in time, for example, before the start of operation, to check the calibration information. The control unit 118 creates the corresponding control calibration information and compares the control calibration information with the reference calibration information.

[0140] If no deviation outside of a tolerance is detected, the control unit 118 assumes that the condition of the calibration element 168 is good and that the comparison measurement for determining the material of the test object 108 is reliable. If the control unit 118 detects a deviation between the control calibration information and the reference calibration information, this is indicative of a deterioration in the condition of the calibration element 168 or the sensor device 130. In this case, the control unit 118 takes at least one corrective action.

[0141] The corrective measures include, in particular, issuing instructions to an operator to clean the sensor device 130 or a cover element for it, to clean the calibration element 168 and, if necessary, to replace the calibration element 168.

[0142] These corrective measures are explained below, particularly with reference to Figure 7.

[0143] First, it should be noted that the floor cleaning device 102 includes a visual and / or acoustic indication unit 172. The indication unit includes, for example, a controllable display and a loudspeaker for visually and acoustically outputting instructions to the operator and, in the present example, is arranged on the housing 114.

[0144] Alternatively or additionally, instructions from the control unit 118 can be provided, for example, to an instruction unit 174 of an external auxiliary device 176, which in this case is configured as a smartphone 178. The instruction unit 174 comprises, for example, the touchscreen and a speaker of the smartphone 178.

[0145] Figure 7 describes a preferred method sequence for operating the floor cleaning system 100 according to the method according to the invention in a preferred embodiment, which is preceded by the production of the floor cleaning system 100 in step S1, the calibration at the manufacturer and the storage of the reference calibration information in step S2, and the delivery of the floor cleaning system 100 to the operator in step S3. Step S4 comprises the calibration or creation of the control calibration information when the floor cleaning device 102 assumes the docking position at the docking station 104.

[0146] In the subsequent step S5, a check is carried out to determine whether the control calibration information and the reference calibration information differ from each other. If this is not the case, within a specified or predeterminable tolerance, or if any deviation is acceptable, a specific calibration for the sensor device 130 is calculated in the subsequent step S6. In a subsequent step S7, measurements are performed on test objects 108 during cleaning.

[0147] Subsequently, the floor cleaning device 102 returns to the docking station 104 in step S8. When the cleaning operation is resumed, calibration is performed again according to step S4.

[0148] If a deviation is detected in step S5, the control unit 118 takes a first corrective action. In step S9, the operator is prompted via a message to clean the sensor device 130 or the cover element.

[0149] In a subsequent step S10, the floor cleaning device 102 is moved into the docking position. Alternatively, the floor cleaning device 102 can automatically move to the docking station 104 and assume the docking position. The subsequent step S11 corresponds to step S4, with calibration being performed in the docking position. During this process, the calibration element 168 is detected again, and the control calibration information is determined.

[0150] The subsequent step S12 corresponds to step S5. If there is no deviation or the deviation is acceptable, the method continues with step S6.

[0151] However, if a discrepancy between the calibration information is detected, the control unit 118 takes further corrective action. In step S13, the operator is prompted via a message to clean the calibration element 168.

[0152] The subsequent steps S14 and S15 correspond to the steps S10 and S11 described above, respectively. In particular, the calibration element 168 is detected again in step S15 to determine further control calibration information.

[0153] Step S16 corresponds to steps S5 and S16, and a further comparison of the calibration information is performed. If no deviation is present or acceptable, the process continues with step S6.

[0154] If, however, a deviation is detected, the control unit 118 takes further corrective action. In step S17, the operator is prompted via a message to replace the calibration element 168.

[0155] The subsequent steps S18 and S19 correspond to the above-described steps S10 / S14 and S11 / S15, respectively. In particular, in step S19, the calibration element 168 is detected again, and control calibration information is determined.

[0156] The subsequent step S20 corresponds to steps S5, S12, and S16. The calibration information is compared. If no deviation is present or a deviation is acceptable, the process continues with step S6.

[0157] If, however, a deviation in the calibration information is detected, the control unit 118 subsequently determines in step S21 that determinations of the material of the object under investigation 108 are no longer considered trustworthy and will therefore no longer be performed. Optionally, a notification can be sent to the operator to request service for the floor cleaning system 100. The subsequent step S22 corresponds to steps S11, S15, and S18. Cleaning runs during future cleaning processes according to step S23 are performed without measurements from the sensor device 130.

[0158] Optional modifications of the method are indicated by dashed arrows. For example, the method can continue after step S5 with step S13 or step S17. For example, the method can continue after step S9 or step S13 or step S18.

[0159] As already mentioned, the floor cleaning device 102 can preferably communicate with a spatially remote data processing device, which is shown schematically in Figure 4 and designated by reference numeral 180. The data processing device 180 is coupled to a storage unit 182, which can be used together with or instead of the storage unit 128. The data processing device 180 can comprise a plurality of computers or servers and can be configured, for example, as a cloud.

[0160] A floor cleaning system 184 according to the invention comprises the data processing device 180 and the storage unit 182 as well as the floor cleaning device 102 and the docking station 104.

[0161] The additional device 176 can be part of both floor cleaning systems 100 and 184.

[0162] A multitude of materials linked to examination information or data based thereon are stored in the storage unit 182, organized, for example, in the manner of a "library." If a material cannot be found in the storage unit 128, the control unit 118 can query the storage unit 182.

[0163] Alternatively or additionally, the content of the storage unit 128 can be updated with information stored in the storage unit 182. This offers the possibility of transmitting information about new materials to the floor cleaning device 102, which, for example, are stored in the storage unit 182 by other users.

[0164] Conversely, it is possible for the floor cleaning device 102 to transmit information about new materials to the storage unit 182.

[0165] When determining the material of the object under investigation 108, the floor cleaning device 102 can optionally ask the operator for assistance.

[0166] For example, a hint is provided on a display unit of the hint unit(s) 172 and / or 174 to confirm a determined material for the object of investigation 108 via an input unit 186 or 188. For example, the operator can be presented with a plurality of suggestions for the material.

[0167] Alternatively, an indication can be provided that a material could not be determined. The operator can specify the material via input unit 186 or 188 and store related information in storage unit 128 or 182.

[0168] In the following, a comparative measurement and a determination of the material of the object under investigation 108 are discussed with reference in particular to Figure 8.

[0169] In a first step S1, a measurement is taken on the object under investigation.

[0170] If further sensor devices 130 are provided, measurements are preferably also taken on the object under investigation with these sensor devices 130 in optional steps S1' and S1", and a data vector is compiled from the measurements in an optional step S2, and if necessary, data post-processing is carried out in a step S3. A step S4 designates the detection of the calibration element 168 for the comparison measurement and provides a calibration value. A step S5 preferably comprises the formation of a reference value for the calibration value, for example by averaging.

[0171] In a subsequent step S6, the control unit can calculate the absorption in the spectroscopic measurement data.

[0172] Optionally, further data post-processing can be performed in a subsequent step S7. For example, with a plurality of sensor devices 130, an optional step S7' can be provided, which includes a different weighting of the measurement data from the various sensor devices or a different weighting of the measurement data from channels of a sensor device. This weighting can be incorporated, for example, in step S7.

[0173] Subsequently, the control unit can classify the material of the object under investigation 108 in a step S8. Based on this, the floor cleaning device can be controlled, for example, in step S9, and the cleaning behavior can be adjusted.

[0174] The control calibration information is preferably checked for deviations from the reference calibration information in a step S11 following step S5, as already described above. A decision can then be made, in particular in a step S12, as to whether the libraries of materials in the storage units 128 and / or 182 are applicable, which is assumed to be the case if there is no deviation.

[0175] The following steps S13 and S14 can be carried out individually or together.

[0176] Information can be determined from a "universal library" of data in storage unit 182 or the device-internal "individual library" in storage unit 128, which subsequently flows into a library in a step S15, which is incorporated into the classification of the material in step S8. In this case, it can be provided that an addition to the library made by the user in a step S16, for example, a confirmation of a suggested material or the specification of the material, flows into step S15 and is subsequently used additionally for the classification in a subsequent step S8 ("supervised learning" of the floor cleaning system 100).

[0177] Figure 9 shows a perspective schematic representation of a preferred embodiment of the floor cleaning system according to the invention, designated by reference numeral 190. Identical or equivalent features and components of the floor cleaning systems 100, 184, and 190 are designated by identical reference numerals. The advantages described above can also be achieved with the floor cleaning system 190. Only the essential differences will be discussed.

[0178] The floor cleaning system 190 comprises a hand-held floor cleaning device 192 and a docking station 194 for the same. The floor cleaning device 192 includes a handle element 196 for guidance by the operator, which is arranged, for example, on a handle 198. A battery-operated mop unit 124, for example, is provided as the cleaning tool 120. This mop unit 124, in this case, comprises two segmented cleaning rollers 200, although the number of cleaning rollers 200 could also vary.

[0179] The docking station 194 comprises the mounting element 160 on which the floor cleaning device 192 can be positioned during breaks in operation.

[0180] The calibration element 168 is provided on the mounting element, for example, configured as a plate-shaped body that can be releasably connected to the docking station 194. Alternatively, the mounting element 160 can be colored, for example.

[0181] In the docking position of the floor cleaning device 192 (not shown), the sensor device 130 is preferably arranged directly above the calibration element 168, which is positioned entirely within the detection area 148. The floor cleaning device 192 comprises a tank device 202 for storing a cleaning fluid, in particular water. A cleaning chemical to enhance the cleaning performance can be provided. Figure 9 shows a container of the cleaning chemical; the floor cleaning device 192 can comprise a container for the cleaning chemical.

[0182] An adaptation of the cleaning behavior depending on the determined material of the object under investigation 108 can include, for example, the dosage of the cleaning fluid and / or the cleaning chemical 204 and / or the adaptation of a speed of a drive 206 for the cleaning rollers 200.

[0183] List of reference symbols

[0184] 100 floor cleaning system

[0185] 102 Floor cleaning device

[0186] 104 Docking station

[0187] 106 floor area

[0188] 108 Subject of investigation

[0189] 110 Pollution

[0190] 112 Textur

[0191] 114 housings

[0192] 116 chassis

[0193] 118 Control unit

[0194] 120 cleaning tools

[0195] 122 Sweeping and suction unit

[0196] 124 Wiper unit

[0197] 126 side brushes

[0198] 128 storage unit

[0199] 130 Sensor device

[0200] 132 Communication unit

[0201] 134 Front

[0202] 136 Main direction of movement

[0203] 138 subpage

[0204] 140 Deepening

[0205] 142 light element

[0206] 144 optical element

[0207] 146 Detector

[0208] 148 detection range

[0209] 150 circuit boards

[0210] 152 Sensor

[0211] 154 Cover element

[0212] 156 Charging contact

[0213] 158 sweeping roller

[0214] 160 installation element

[0215] 162 Recess charging contact

[0216] battery

[0217] Calibration element

[0218] base

[0219] Information unit

[0220] Information unit

[0221] Additional device

[0222] smartphone

[0223] Data processing facility

[0224] storage unit

[0225] Floor cleaning system

[0226] Input unit

[0227] Input unit

[0228] Floor cleaning system

[0229] Floor cleaning device

[0230] Docking station

[0231] Handle element

[0232] stalk

[0233] cleaning roller

[0234] Tank facility

[0235] Cleaning chemical

[0236] drive

Claims

PATENT CLAIMS Floor cleaning system (100; 184; 190), comprising a floor cleaning device (102; 192) with at least one cleaning tool (120), a control unit (118) and at least one spectroscopic sensor device (130) and a storage unit (128, 182), wherein: during operation of the floor cleaning device (102; 192), an examination object (108) arranged in a detection area (148) can be detected via the at least one sensor device (130), and relevant examination information can be provided to the control unit (118); a material of the examination object (108) can be determined by the control unit (118) on the basis of the examination information, in particular with regard to adapting the cleaning behavior of the floor cleaning device (102; 192); a calibration element (168) of the floor cleaning system (100; 184; 190) can be detected by the at least one sensor device (130), and a control calibration information item, which can be used as a basis for determining the material, can be determined by the control unit (118); a reference calibration information item for the at least one sensor device (130) is stored in the memory unit (128, 182), and the control unit (118) compares the reference calibration information item with the control calibration information item; and the control unit (118) takes at least one corrective measure in the event of a deviation of the control calibration information item from the reference calibration information item. Floor cleaning system (100; 184; 190) according to claim 1, characterized in that the adaptation of the cleaning behavior comprises an adaptation of at least one of the following: a change in a travel path of the floor cleaning device (102; 192), a change in a cleaning performance of the at least one cleaning tool (120), a Adjusting a dosage of a cleaning fluid or a cleaning chemical (204). The floor cleaning system (100; 184; 190) according to claim 1 or 2, characterized in that the floor cleaning system (100; 184; 190) comprises an indication unit (172, 174) controllable by the control unit (118), and in that the at least one corrective measure comprises issuing an indication to an operator to perform at least one of the following measures: cleaning the sensor device (130); cleaning the calibration element (168); replacing the calibration element (168). The floor cleaning system (100; 184; 190) according to claim 3, characterized in that the indication unit (172, 174) comprises a controllable display unit, in particular with an image display, and / or a loudspeaker.The floor cleaning system (100; 184; 190) according to claim 3 or 4, characterized in that the floor cleaning system (100; 184; 190) comprises an additional device (176), in particular a portable one, which is in communication with the floor cleaning device (102; 192) or can be brought into communication with it, and which comprises the notification unit (172, 174), in particular the display unit and / or the loudspeaker. The floor cleaning system (100; 184; 190) according to one of claims 3 to 5, characterized in that the notification regarding cleaning the calibration element (168) and / or the notification regarding replacing the calibration element (168) is only provided after the notification regarding cleaning the sensor device (130) has been provided, a further detection of the calibration element (168) has taken place, and a comparison of further control calibration information with the reference calibration information has determined the deviation from each other. Floor cleaning system (100; 184; 190) according to one of claims 3 to 6, characterized in that the indication for replacing the calibration element (168) is only provided after the indication for cleaning the sensor device (130) and / or the indication for cleaning the calibration element (168) has been provided, a further detection of the calibration element (168) has taken place, and a further comparison of further control calibration information with the reference calibration information has determined their deviation from one another. Floor cleaning system (100; 184; 190) according to one of the preceding claims, characterized in that the floor cleaning system (100; 184; 190) comprises a cleaning tool (120) for the at least one sensor device (130), and in that the corrective measure comprises activating the cleaning tool (120) for cleaning the at least one sensor device (130).Floor cleaning system (100; 184; 190) according to one of the preceding claims, characterized in that the floor cleaning system (100; 184; 190) comprises a cleaning tool (120) for the calibration element (168), and in that the corrective measure comprises activating the cleaning tool (120) to clean the calibration element (168). Floor cleaning system (100; 184; 190) according to one of the preceding claims, characterized in that the floor cleaning system (100; 184; 190) comprises a replacement tool for the calibration element (168), and in that the corrective measure comprises activating the replacement tool to replace the calibration element.Floor cleaning system (100; 184; 190) according to one of claims 3 to 10, characterized in that after carrying out at least one corrective measure, in particular an exchange of the calibration element (168), a further detection of the calibration element (168) takes place and a further comparison of a further control calibration information with the. Reference calibration information is performed, wherein, in the event of a deviation of the calibration information from one another, a determination of the material of the object under investigation (108) during operation of the floor cleaning device (102; 192) is omitted and / or is considered unreliable. Floor cleaning system (100; 184; 190) according to one of the preceding claims, characterized in that the detection of the calibration element (168) and the comparison of the calibration information, in particular by the floor cleaning device (102; 192), can be carried out automatically according to at least one of the following: before the start of operation of the floor cleaning device (102; 192); after the end of operation of the floor cleaning device (102; 192); when the floor cleaning device (102; 192) assumes a docking position at a docking station (104; 194); during cleaning of the floor surface (106); at regular time intervals; at random times.Floor cleaning system (100; 184; 190) according to one of the preceding claims, characterized in that the floor cleaning system (100; 184; 190) comprises an indication unit (172, 174) which can be controlled by the control unit (118), and on which an indication can be provided to the operator to position the calibration element (168) in the detection range (148) of the sensor device (130) and / or to transfer the floor cleaning device (102; 192) for detecting the calibration element (168) into a docking position at a docking station (104; 194) which comprises the calibration element (168). Floor cleaning system (100; 184; 190) according to one of the preceding claims, characterized in that the at least one sensor device (130) has a lighting element (142) for illuminating the object to be examined. inspection object (108) and / or the calibration element (168) with examination light. Floor cleaning system (100; 184; 190) according to one of the preceding claims, characterized in that the at least one sensor device (130) comprises a diffractive or refractive optical element (144) for spectrally splitting examination light. Floor cleaning system (100; 184; 190) according to one of the preceding claims, characterized in that a recess (140, 162) is formed on the floor cleaning device (102; 192), in which recess the at least one sensor device (130) is arranged, and in that the floor cleaning device (102; 192) comprises a cover element (154) for the recess (140, 162) that is transparent to examination light.Floor cleaning system (100; 184; 190) according to one of the preceding claims, characterized in that the at least one sensor device (130) is arranged at at least one of the following positions: on an underside (138) of the floor cleaning device (102; 192); on or near a front side (134) of the floor cleaning device (102; 192), relative to its main direction of movement (136); in front of the at least one cleaning tool (120) of the floor cleaning device (102; 192), relative to its main direction of movement (136).Floor cleaning system (100; 184; 190) according to one of the preceding claims, characterized in that the control unit (118) calculates an absorption of examination light by the examination object (108) when determining the material by determining the negative logarithm of the ratio of a measured intensity I during the measurement to a comparison intensity Io, wherein the comparison intensity originates from the control calibration information (Abs = -log(I / Io)). The floor cleaning system (100; 184; 190) according to one of the preceding claims, characterized in that the reference calibration information is factory calibration information stored in the storage unit (128, 182) at the factory. The floor cleaning system (100; 184; 190) according to one of the preceding claims, characterized in that the reference calibration information can be modifiably stored in the storage unit (128, 182). The floor cleaning system (100; 184; 190) according to one of the preceding claims, characterized in that the calibration element (168) is included in the floor cleaning device (102; 192) or that the calibration element (168) is separate from the floor cleaning device (102; 192). Floor cleaning system (100; 184; 190) according to one of the preceding claims, characterized in that the calibration element (168) is or comprises a white standard.Floor cleaning system (100; 184; 190) according to one of the preceding claims, characterized in that a calibration arrangement with a plurality of calibration elements (168) arranged one above the other in layers is provided, wherein the respective calibration element (168) arranged on top is removable and the underlying calibration element (168) is exposed. Floor cleaning system (100; 184; 190) according to one of the preceding claims, characterized in that the calibration element (168) is plate-shaped. Floor cleaning system (100; 184; 190) according to one of the preceding claims, characterized in that the calibration element (168) is movable on the floor cleaning device (102; 192) via an adjustment device. is held and can be transferred manually and / or by means of a drive (206) from a parking position into an operating position in which the calibration element (168) is arranged in the detection range (148) of the at least one sensor device (130). Floor cleaning system (100; 184; 190) according to one of the preceding claims, characterized in that a presence of the calibration element in the detection range (148) and / or the use of the adjustment device can be automatically detected. Floor cleaning system (100; 184; 190) according to one of the preceding claims, characterized by a cover element (154) for the calibration element (168) that is transparent to examination light from the at least one sensor device (130).Floor cleaning system (100; 184; 190) according to one of the preceding claims, characterized in that the floor cleaning system (100; 184; 190) comprises two or more sensor devices (130), and in that the control unit (118) uses examination information from at least two sensor devices (130) to determine the material of the object under examination (108). Floor cleaning system (100; 184; 190) according to claim 28, characterized in that the control unit (118) is designed to weight examination information from different types of sensor devices (130) or the channels of a sensor device (130) differently.Floor cleaning system (100; 184; 190) according to one of the preceding claims, characterized in that in the storage unit (128, 182) information relating to materials of objects to be examined is stored and / or can be stored, linked to relevant data of the at least one sensor device (130), which are formed by the examination information or are based thereon. Floor cleaning system (100; 184; 190) according to one of the preceding claims, characterized in that the floor cleaning device (102; 192) comprises the storage unit (128, 182). Floor cleaning system (100; 184; 190) according to one of the preceding claims, characterized in that the floor cleaning system (100; 184; 190) comprises a storage unit (128, 182) arranged spatially remote from the floor cleaning device (102; 192), in particular as a component of or linked to a spatially remotely positioned data processing device (180), and communication units for exchanging information between the data processing device (180) and / or the storage unit (128, 182) and the floor cleaning device (102; 192).Floor cleaning system (100; 184; 190) according to one of the preceding claims, characterized in that the floor cleaning system (100; 184; 190) comprises a display unit and an input unit (186, 188) for an operator, wherein an indication can be provided on the display unit to confirm a determined material for the examination object (108) via the input unit (186, 188) and / or an indication that a material could not be determined, wherein the material can be specified by the operator via the input unit (186, 188) and related information can be stored in the storage unit (128, 182). Floor cleaning system (100; 184; 190) according to one of the preceding claims, characterized in that an application program executable by the control unit (118) can be updated via a communication connection with an external data processing device (180).Floor cleaning system (100; 184; 190) according to one of the preceding claims, characterized in that a content of a storage unit. (128, 182) of the floor cleaning device (102; 192) can be updated with information concerning materials of objects under examination via a communication connection to an external data processing device (180) with additional and / or corrective information concerning materials of objects under examination, which information is stored in a spatially remotely arranged storage unit (128, 182). Floor cleaning system (100; 184; 190) according to one of the preceding claims, characterized in that the floor cleaning system (100; 184; 190) is designed to be self-learning, and newly learned materials can be stored in the storage unit (128, 182). Floor cleaning system (100; 184; 190) according to one of the preceding claims, characterized in that the floor cleaning device (102; 192) is designed to be self-propelled and self-steering.Floor cleaning system (100; 184; 190) according to one of the preceding claims, characterized in that the floor cleaning device (102; 192) is hand-held. Floor cleaning system (100; 184; 190) according to one of the preceding claims, characterized in that the at least one cleaning tool (120) is or comprises at least one or a combination of the following: a sweeping unit, a suction unit, a wiping unit (124), or a scrubbing unit. Floor cleaning system (100; 184; 190) according to one of the preceding claims, characterized in that the floor cleaning system (100; 184; 190) comprises a docking station (104; 194) for the floor cleaning device (102; 192), in particular for supplying a consumable component to the floor cleaning device (102; 192) and / or for removing a used component from the floor cleaning device. (102; 192) when the floor cleaning device (102; 192) assumes a docking position at the docking station (104; 194). The floor cleaning system (100; 184; 190) according to claim 40, characterized in that the docking station (104; 194) comprises the calibration element (168). The floor cleaning system (100; 184; 190) according to claim 40 or 41, characterized in that the docking station (104; 194) comprises a support element (160) on which the floor cleaning device (102; 192) rests in a docking position, and in that the calibration element (168) is arranged on the support element (160) or encompassed by it and is preferably positioned completely within the detection range (148) of the sensor device (130). Floor cleaning system (100; 184; 190) according to one of claims 40 to 42, characterized in that the calibration element (168) is detachably connectable to the docking station (104; 194). Floor cleaning system (100; 184; 190) according to one of claims 40 to 43, characterized in that the docking station (104; 194) comprises a movable cover element (154) that covers the calibration element (168) in a closed position, and in that the cover element (154) can be transferred into an open position to expose the calibration element (168) when the floor cleaning device (102; 192) is transferred into the docking position, and / or in that the floor cleaning system (100; 184; 190) comprises a preferably controllable opening unit for transferring the cover element into the open position. Floor cleaning system (100; 184; 190) according to one of the preceding claims, characterized in that the calibration element (168) can be cleaned by means of the at least one cleaning tool (120) when the floor cleaning device (102; 192) is transferred into the docking position. Method for operating a floor cleaning system (100; 184; 190), in particular according to one of the preceding claims, comprising: Detecting, by means of at least one sensor device (130), an object to be examined (108) arranged in a detection area (148) and providing relevant examination information to a control unit (118); Determining, by means of the control unit (118), a material of the examination object (108) based on the examination information; detecting, by means of the at least one sensor device (130), a calibration element (168), wherein the control unit (118) determines control calibration information on which the determination of the material is based; Comparing, by means of the control unit (118), the control calibration information with a reference calibration information stored in a memory unit (128, 182) for the at least one sensor device (130); and Taking, by the control unit (118), at least one corrective action in the event of a deviation of the control calibration information from the reference calibration information.

Images