Cleaning robot for cleaning the loading space of a means of transport

Abstract

The present application relates to a cleaning robot (5) for cleaning a loading space (3) of a means of transport (2), said cleaning robot comprising: a frame (24); a chassis (25); a cleaning unit (26); and a sensor device (27), the chassis (25) comprising two crawler tracks (31) that can be driven independently of one another, the cleaning unit (26) comprising a plurality of cleaning nozzles (33) for discharging a cleaning liquid, the sensor device (27) comprising at least one distance sensor (29) which is provided and designed to detect information relating to distances between the cleaning robot (5) and walls (38) that are opposite one another and laterally delimit the loading space (3) and to transmit said information to a data-processing device, the data-processing device being provided and designed to process the information and to control the chassis (25) in such a way that the crawler tracks are temporarily driven differently so that the cleaning robot (5) can be rotated about its vertical axis (35).

Description

Cleaning robot for cleaning the cargo area of ​​a means of transport Description

[0001] The present application relates to a cleaning robot for cleaning a loading space of a means of transport according to claim 1.

[0002] The cleaning robot comprises a frame, a chassis arranged on the frame, and a cleaning unit arranged on the frame. The frame forms a supporting structure of the cleaning robot to which individual working elements of the cleaning robot, for example, the chassis and the cleaning unit, are attached. The frame can be formed, for example, from assembled metal profiles, in particular screwed and / or welded together.

[0003] The cleaning robot can be designed and configured, in particular, for the autonomous or automatic cleaning of a particular cargo space. "Autonomous" or "automatic" in the context of this application means that the cleaning of the cargo space itself takes place without the assistance of a user. For example, it is conceivable for a user to manually select a cleaning program according to which the cargo space is to be cleaned. This cleaning program defines operating parameters for the cleaning robot for cleaning the cargo space, for example, a temperature of the cleaning fluid, a quantity of fluid to be dispensed, and / or a concentration of a cleaning agent in the cleaning fluid. The cleaning robot can then clean the cargo space without further user intervention and thus operates independently or automatically within the meaning of the present application.

[0004] For this purpose, it is particularly advantageous if the cleaning robot has a control unit that can be used to control the cleaning robot for automatic cleaning of a particular cargo space. In particular, the control unit can be used to set at least one operating parameter of the cleaning robot for automatic cleaning, for example, the amount of cleaning fluid to be dispensed, the pressure at which the cleaning fluid is sprayed, or the temperature of the cleaning fluid.

[0005] The chassis is designed and configured to allow the cleaning robot to move on a surface. The chassis can, in particular, be equipped with two Crawler tracks are arranged parallel to and spaced from each other on the underside of the support frame and are in direct contact with the ground. The crawler tracks can, for example, comprise a self-contained conveyor belt or a self-contained track chain that is mounted for rotational drive, thus enabling the cleaning robot to move as a whole relative to the ground.

[0006] The cleaning unit is used to dispense cleaning fluid, which is used to clean the cargo space. As such, the cleaning unit can have a plurality of cleaning nozzles for spraying the cleaning fluid. The cleaning nozzles can be distributed along the frame of the cleaning robot and aligned differently to apply cleaning fluid, for example, to side walls, a cargo space floor, a cargo space ceiling, and / or a front wall of the respective means of transport.

[0007] The cleaning robot can preferably be intended and configured to clean the loading spaces of trucks or semi-trailers. The means of transport can accordingly be, in particular, a truck or a semi-trailer for a truck. The loading space is typically spatially delimited by walls, in particular a loading space floor, a loading space ceiling, side walls, and an end wall, wherein the loading space floor, the loading space ceiling, and the walls together preferably have the shape of a cuboid. One of the walls, typically opposite the end wall, is designed to be openable, for example by means of pivoting doors, so that cargo, for example in the form of solid objects, can be brought into and removed from the loading space. For the purpose of transport, the openable wall is typically closed, and the respective load is secured in the loading space.

[0008] Cleaning the cargo space can comprise one or more cleaning operations. A cleaning operation can, in particular, comprise a movement of the cleaning robot, first forward in a main direction of the cleaning robot along the entire length of the cargo space and then back against the main direction along the entire length of the cargo space. Depending on the level of soiling in the cargo space, multiple cleaning operations may be required to achieve the desired level of cleanliness in the cargo space. State of the art

[0009] It is already known in the prior art to use a cleaning robot for cleaning the cargo space of a means of transport. Reference is made to published patent application DE 102019 004 959 A1. To carry out a cleaning process, the cleaning robot is moved into the cargo space of the means of transport, whereupon the cleaning robot can be moved within the cargo space by means of its own drive. The surfaces of the walls of the means of transport are typically cleaned by applying a cleaning fluid that is sprayed using cleaning nozzles. As the cleaning robot moves along a longitudinal axis of the cargo space, all areas of the walls of the means of transport are thus exposed to the cleaning fluid, so that the entire cargo space is cleaned. Once cleaning is complete, the cleaning robot is removed from the cargo space.

[0010] A generic cleaning robot is also known from US 2019 / 0023234 A1.

[0011] Since in most cases the loading space of a respective means of transport is elongated, in order to completely travel through a loading space the cleaning robot must travel along its entire length. In this case the cleaning robot initially travels from a first end of the loading space, at which the doors of the loading space are typically arranged and the loading space can be opened in this way, straight ahead in a main direction of the cleaning robot to an opposite second end of the loading space. The latter is typically formed by an end wall of the means of transport. The cleaning robot then travels backwards, i.e. opposite to its main direction, back towards the first end of the loading space and finally leaves the loading space at the first end.In order to ensure that the cleaning robot is centered over the entire length of the loading space and, in particular, does not collide with the side walls of the means of transport, it is necessary to guide the cleaning robot within the loading space between the side walls and, if necessary, to align it.

[0012] For this purpose, it is conceivable to position the cleaning robot particularly carefully at a first end of the loading space before starting a cleaning process and to align it precisely so that the main direction along which the cleaning robot moves is aligned exactly parallel to a longitudinal axis of the loading space. This procedure However, this typically requires manual assistance from a person who can perform the necessary alignment. Nevertheless, error-free alignment cannot be guaranteed, which, due to the typically large length of a cargo space, can at least negatively impact the cleaning process and thus lead to poorer cleaning results. In particular, even a few degrees deviation of the main direction from the longitudinal axis of the cargo space can be enough to negatively impact the cleaning process. It is also conceivable that the alignment of the cleaning robot changes during an automatically performed cleaning process, for example, due to slippage occurring between the chassis and the cargo space floor.

[0013] To guide a cleaning robot in a cargo hold, it is known to mechanically align and guide the cleaning robot along the side walls of the transport vehicle using a guide device. For this purpose, the guide device can have lateral arms that are in contact with the side walls of the transport vehicle via guide rollers, thereby ensuring continuous centering of the cleaning robot within the cargo hold. However, this is particularly disadvantageous in that the physical contact of the guide device with the side walls of the transport vehicle can result in contamination of the side walls, for example, in the introduction of germs, which negatively impacts the cleaning result. Task

[0014] The present application is therefore based on the object of providing a cleaning robot whose guidance within the loading space to be cleaned is improved. Solution

[0015] The underlying object is achieved according to the invention by means of a cleaning robot having the features of claim 1. Advantageous embodiments emerge from the associated subclaims.

[0016] The cleaning robot according to the invention comprises a frame, a A chassis arranged on the frame and a cleaning unit arranged on the frame. The cleaning robot also includes a sensor device.

[0017] The cleaning unit comprises a plurality of cleaning nozzles, by means of which cleaning fluid can be applied. For example, the cleaning fluid can be sprayed by means of the cleaning nozzles under the application of pressure, wherein in particular the cleaning fluid is applied to walls of the means of transport that spatially delimit the loading space of the means of transport. The cleaning unit can be designed such that cleaning nozzles are aligned in all directions, viewed in a plane oriented perpendicular to a longitudinal axis of the loading space, so that, as a result of the operation of the cleaning unit, both side walls and a loading space floor and ceiling of the means of transport can be exposed to the cleaning fluid. Selective activation or deactivation of individual or multiple cleaning nozzles is also conceivable, for example by using one or more valves.This is explained separately below as an advantageous embodiment.

[0018] The chassis comprises two independently drivable crawler tracks and is thus designed as a crawler chassis. The crawler tracks are aligned next to each other and parallel to each other in the main direction of the cleaning robot. This means that the cleaning robot can be moved in the main direction by means of synchronous operation of the two crawler tracks. The crawler tracks can be driven in both directions, so that the cleaning robot can move forwards in the main direction as well as backwards against the main direction. During synchronous operation of the crawler tracks, the orientation of the main direction does not change. The option of driving the crawler tracks independently of each other and, in particular, asynchronously, also opens up the possibility of changing the orientation of the cleaning robot. For example, the two crawler tracks can be driven in opposite directions or one crawler can be driven at a higher speed than the other.It is also conceivable for only one of the crawlers to be driven while the other crawler remains stationary. Such operating modes cause the cleaning robot to rotate around a vertical axis, which is accompanied by a change in the orientation of the cleaning robot's main direction. Thus, the chassis can be operated like a tank's control system.

[0019] The sensor device comprises at least one distance sensor, which is provided and configured to detect information regarding a distance of the cleaning robot to a lateral wall of the transport means. Preferably, the sensor device comprises at least two distance sensors, each of which is assigned to a side of the cleaning robot and aligned with the respective side. In this way, the distances of the cleaning robot to both opposite lateral walls. The at least one distance sensor can be formed, for example, by an ultrasonic sensor or a radar sensor. In this way, it is possible to detect a lateral distance of the cleaning robot from a wall of the transport means on a left side relative to the main direction of the cleaning robot as well as on a right side relative to the main direction of the cleaning robot.

[0020] The information acquired by the distance sensor can be transmitted to a data processing device. This can be configured locally on the frame of the cleaning robot or spatially separate from the rest of the cleaning robot. In particular, it is conceivable for the data processing device to be configured, for example, in the form of an industrial PC on the frame of the cleaning robot, for example within a waterproof housing. It is also conceivable for the data processing device to be configured as part of a control unit of the cleaning robot. Alternatively, it is also conceivable for the data processing device to be arranged decentrally and to be accessible, for example, via a local network or the Internet. The cleaning robot, for example, can also have a transmitting / receiving unit to exchange information with the data processing device.

[0021] The data processing device is provided and configured to process the information acquired by the sensor device and to control the chassis directly or indirectly depending on the acquired information. In the case of indirect control, the latter can be carried out via a control unit of the cleaning robot, wherein the data processing device can be designed as part of the control unit. The chassis is controlled in such a way that the crawler tracks are driven differently, at least temporarily, so that the cleaning robot can rotate about its vertical axis. This creates the possibility of changing the main direction of the cleaning robot in the manner described above. This direction is the same as the direction in which the cleaning robot travels when the crawler tracks are driven synchronously during its forward travel. In particular, the orientation of the main direction of the cleaning robot can be relative to the longitudinal axis of the respective loading space.A change in the orientation of the main direction, i.e., a rotation of the cleaning robot around its vertical axis, can occur, particularly before the start of a cleaning process, in order to align the cleaning robot as precisely as possible relative to the loading space, i.e., to align the orientation of the main axis as parallel as possible to a longitudinal axis of the loading space. Nevertheless, it is entirely conceivable that a correction of the orientation of the Main direction is repeated during the cleaning process. For this purpose, it can be particularly advantageous if the information from the at least one distance sensor is continuously processed by the data processing device, so that any changes in the distances to the side walls of the means of transport can be detected and counteracted by rotating the cleaning robot. Particularly preferably, the chassis is controlled in such a way that the cleaning robot is centered between the side walls of the loading space, i.e., the distances of the cleaning robot from the left side wall and the right side wall are at least substantially equal.

[0022] The cleaning robot according to the invention has many advantages. In particular, it is possible to align the cleaning robot contactlessly, i.e., without physical contact with the side walls of the means of transport, relative to the loading space or the longitudinal axis of the loading space. The problem of aligning the cleaning robot described in the prior art is thus eliminated, as is the problem of a possible deterioration in the cleaning result due to contact of guide elements or the like with the side walls of the means of transport. In this way, a cleaning process can be carried out particularly easily, without there being any risk of collisions between the cleaning robot and the walls of the means of transport. Likewise, there is no risk of unintentional contamination of the loading space by any guide devices.

[0023] In an advantageous embodiment of the cleaning robot according to the invention, the sensor device comprises further sensors, in particular further distance sensors, which are suitable for monitoring the environment of the cleaning robot. Preferably, at least one sensor in the form of a distance sensor is oriented forward in the main direction of the cleaning robot and / or at least one sensor in the form of a distance sensor is oriented backward, opposite the main direction of the cleaning robot. In this way, obstacles, for example, can be detected which could lead to the movement of the cleaning robot being stopped and the system initially waiting for the obstacle to be removed. In this way, an unintentional collision of the cleaning robot with objects and thus damage to the cleaning robot can be ruled out.Furthermore, a distance sensor aligned forward in the main direction enables the cleaning robot to automatically stop when it reaches a front wall of the transport vehicle. This makes it particularly easy to operate the cleaning robot fully automatically, with the cleaning robot initially performing a Drives forward to the end wall of the means of transport and, in a second phase of the cleaning process, reverses until it finally leaves the loading space at the end opposite the end wall.

[0024] Furthermore, it can be particularly advantageous if at least one sensor of the sensor device is formed by a pressure sensor or a flow sensor for detecting information relating to a pressure or a mass flow of the cleaning fluid. Particularly preferably, the sensor device comprises both a sensor formed by a pressure sensor and a sensor formed by a flow sensor. By means of such sensors, it is possible, for example, to detect a malfunction in the operation of the cleaning robot. Thus, for example, a sensor formed upstream of a pressure sensor can detect that the pressure at which cleaning fluid is sprayed by means of the cleaning nozzles is below the operating parameter set for the cleaning robot. If such a pressure drop is detected, a malfunction can be concluded, which must then be remedied.In this way, a cleaning process or cleaning operation performed by the cleaning robot can be monitored particularly well. Such a sensor also makes it possible to verify the effectiveness of a change in at least one operating parameter of the cleaning robot. Thus, it is conceivable that, to remove localized soiling in the cargo space, the application rate of the cleaning fluid could be temporarily increased during a cleaning process, so that more cleaning fluid is applied to the soiling. Using a sensor designed as a flow sensor, the effectiveness of a change in the flow rate, which is implemented, for example, by a control unit, can be tracked.

[0025] In a particularly advantageous embodiment, at least one sensor of the sensor device is formed by an optical sensor, for example, a camera. The use of an acoustic sensor, for example, a radar sensor, is also conceivable. Using such a sensor, the cargo space or the walls of the means of transport (including the cargo space floor, cargo space ceiling, and end wall) that define the cargo space can be monitored during a cleaning process. For example, it is conceivable that soiling could be detected, obstacles identified, or other influences detected that can be taken into account for controlling the cleaning robot.

[0026] In principle, it is particularly advantageous for the processing of information collected by one or more sensors if the collected information can be transmitted to the data processing device and processed by it. In this embodiment, the data processing device is provided and configured to directly or indirectly adjust and / or at least temporarily change at least one operating parameter of the cleaning robot depending on the processed information, for example and in particular during the execution of a cleaning process. Thus, in the example described above, for example, a discharge rate of the cleaning fluid, a temperature of the cleaning fluid, a pressure at which the cleaning fluid is sprayed, and the like can be temporarily changed in order to react to conditions within the cargo space that were detected by at least one sensor. This allows the overall cleaning of the cargo space to be optimized.Furthermore, a cleaning process can be carried out specifically according to needs. For example, if localized contamination is detected, an increased amount of cleaning fluid need only be applied temporarily to the area of ​​the contamination, but not to the rest of the cargo space. In such a case, the operating parameter "amount of cleaning fluid applied" would advantageously only be changed temporarily during a cleaning process. The change to at least one operating parameter occurs automatically based on the recorded information, so that the cargo space is cleaned independently or automatically without user intervention.

[0027] In a particularly advantageous embodiment, at least one operating parameter of the cleaning robot, which can be set indirectly (for example via a control unit) or directly by means of the data processing device, is formed by one of the following: Alignment of at least one cleaning nozzle; Application pressure of a cleaning fluid at at least one cleaning nozzle; Application rate of the cleaning fluid at at least one cleaning nozzle; Activation state of at least one cleaning nozzle; Distance of at least one cleaning nozzle from a wall of the loading space; Temperature of the cleaning fluid; Movement speed of the cleaning robot; Concentration of a cleaning agent in the cleaning liquid; Distance of the cleaning robot from a wall of the loading area.

[0028] These operating parameters are particularly well-suited for adjusting the cleaning performance of the robot cleaner to meet specific needs. However, additional operating parameters are also conceivable.

[0029] In a further advantageous embodiment of the cleaning robot according to the invention, at least one cleaning nozzle can be moved directly or indirectly by a motor. Preferably, a plurality of cleaning nozzles, more preferably all cleaning nozzles, can be moved in this way. In the case of a direct movement, it is conceivable for a cleaning nozzle to interact with an electric drive that changes the orientation of the cleaning nozzle. However, an indirect movement of one or more cleaning nozzles is particularly advantageous, with, for example, a plurality of cleaning nozzles being arranged on a common nozzle bar. This nozzle bar, in turn, interacts with a drive by means of which the nozzle bar can be rotated about its longitudinal axis, so that the orientations of the cleaning nozzles assigned to it are changed as a result of the rotation of the nozzle bar.This design has the advantage that the spray direction of the cleaning fluid can be influenced. This is particularly important for different phases of a cleaning process. For example, during a first phase, the cleaning robot moves forward in its main direction within the loading space and the cleaning nozzles can be aligned such that they spray the cleaning fluid "diagonally forwards". In a second phase of the cleaning process, in which the cleaning robot moves backwards against the main direction, it is expedient, however, for the cleaning nozzles to be aligned at an opposite angle ("diagonally backwards") so that the cleaning fluid is driven towards the first end of the means of transport, from which the cleaning robot entered the loading space and at which the cleaning robot leaves the loading space again at the end of the cleaning process.In this way, the cleaning fluid can be substantially removed from the cargo space and can exit from the cargo space at the first end.

[0030] As already explained above by way of example, it can be particularly advantageous if the cleaning unit comprises a plurality of nozzle bars, with each nozzle bar being arranged with a plurality of cleaning nozzles. In order to change the discharge direction of the cleaning nozzles in which the cleaning fluid is sprayed, each nozzle bar is preferably motor-rotatable about its longitudinal axis. The resulting advantages have already been explained above.

[0031] In a further advantageous embodiment of the cleaning robot, the cleaning unit comprises at least one valve, preferably a plurality of valves, by means of which the flow of cleaning fluid to at least some of the cleaning nozzles can be adjusted. Thus, for example, it is conceivable that some of the cleaning nozzles are not supplied with cleaning fluid at least temporarily during a cleaning process and, accordingly, no cleaning fluid is sprayed at these cleaning nozzles. It is also conceivable that different cleaning nozzles are operated differently such that the application quantities of cleaning fluid sprayed at these cleaning nozzles are different. In this way, the cleaning robot can be operated particularly in line with requirements, since the application of cleaning fluid can be adjusted and changed locally as needed.

[0032] In a particularly preferred embodiment, the cleaning robot comprises a control unit. The control unit can comprise the data processing device, by means of which, in particular, the information acquired by the sensors can be processed. It is also conceivable for the data processing device to be designed separately from the control unit, wherein in this embodiment, the control unit is connected to the data processing device in a data-transmitting manner. The control unit is provided and configured to receive information processed by the data processing device and to control the cleaning robot depending on this information. The control unit is preferably arranged directly on a frame of the cleaning robot.Furthermore, the control unit can also be provided and configured to adjust operating parameters of the cleaning robot, for example, depending on a cleaning program selected by a user. The operating parameters can be set to initial or standard values ​​to perform automatic cleaning, whereby a deviation from these initial or standard values ​​can be made depending on information acquired by the at least one sensor. For this purpose, the information is processed in the manner described by the data processing device.

[0033] Finally, a particularly advantageous embodiment of the cleaning robot may include at least one transversely oriented, preferably elongated, nozzle bar arranged at an upper end of the frame. More preferably, this nozzle bar can be movable vertically relative to the frame while maintaining the orientation of its longitudinal axis, which is preferably oriented parallel to the loading space floor. This embodiment of the cleaning robot enables particularly easy cleaning of the end wall of the transport vehicle at the second end of the loading space, which is opposite the end at which the cleaning robot enters the loading space. This means that, for example, while the cleaning robot is moving towards the second end (forward travel in the main direction), the cleaning unit can spray the loading space ceiling, side walls, and floor of the transport vehicle with cleaning fluid. As soon as the cleaning robot reaches the end wall of the transport vehicle, the forward movement is stopped, causing the cleaning robot to come to a halt. The stop or halt can occur as a result of processing information from a forward-facing distance sensor.In this position, where the cleaning robot can be positioned, for example, between 10 cm and 60 cm from the bulkhead, the bulkhead can now be sprayed with cleaning fluid using the transversely oriented nozzle bar. To do this, the nozzle bar, along with the cleaning nozzles arranged on it, is moved vertically downwards from the upper end of the frame. Preferably, the cleaning nozzles are or will be aligned in such a way that they are suitable for spraying the bulkhead with cleaning fluid. Preferably, the nozzle bar is moved to a lower end of the frame before the movement is reversed and the nozzle bar is moved back to the original upper end of the frame.The nozzle bar can now be rotated around its longitudinal axis, and the orientation of the cleaning nozzles can be changed again, so that in the second phase of the cleaning process, in which the cleaning robot moves backward against the main direction toward the first end of the cargo space, the nozzle bar is again set up to spray the cargo space ceiling. Using the appropriately designed cleaning robot, it is therefore particularly easy to apply cleaning fluid to all walls of the vehicle and thus clean them. Examples of implementation

[0034] The invention is explained in more detail below using an exemplary embodiment illustrated in the figures. It shows: Fig. 1 : A vertical longitudinal section through a set comprising a Cleaning station and a means of transport, Fig. 2: A horizontal longitudinal section through the set according to Figure 1, Fig. 3: A perspective view of a cleaning station, Fig. 4: A front view of the cleaning station according to Figure 3, Fig. 5: A vertical longitudinal section through the cleaning station according to Figure 3, Fig. 6: A perspective view of a cleaning robot, Fig. 7: A front view of the cleaning robot according to Figure 6, Fig. 8: A side view of the cleaning robot according to Figure 6.

[0035] An embodiment illustrated in Figures 1 to 8 comprises a cleaning station 1 comprising a cleaning robot 5 for cleaning a loading space 3 of a means of transport 2. In the example shown, the means of transport 2 is formed by a semi-trailer whose loading space 3 is awaiting cleaning. For this purpose, the means of transport 2 is positioned relative to the cleaning station 1 such that the cleaning robot 5 can enter the loading space 3 of the means of transport 2. The cleaning robot 5 is provided and configured to carry out the cleaning of the loading space 3 independently or automatically, i.e., in particular, without the intervention of a user of the cleaning station 1.

[0036] The cleaning station 1, which is particularly clear from Figures 1 to 5, comprises a support frame 4, which forms a platform 7 at an end facing away from a base 13. The platform 7 is thus spaced from the base 13, wherein the platform 7 forms a flat driving plane that is oriented at least substantially parallel to a surface of the base 13. The arrangement of the platform 7 in the manner described enables the cleaning robot 5, which is mounted on the platform 7, to step from the platform 7 into the loading space 3 of the means of transport 2 without overcoming a height difference, wherein the platform 7 and a loading space floor 39 of the means of transport 2 are at least at a similar, preferably at the same, height level.

[0037] The cleaning station 1 further comprises a garage 8, in which the cleaning robot 5 can be stored in a parked position when not in use. The garage 8 comprises a plurality of side walls 16, a floor 14, and a roof 15, these elements together spatially enclosing an interior space 17 of the garage 8. Towards a front side of the garage 8, the interior space 17 is further delimited by a side wall 16 formed by an openable space-delimiting element 18. The space-delimiting element 18 can be selectively moved between an open position and a closed position. In the example shown, the space-delimiting element 18 is formed by a roller shutter-like roller door which, when the space-delimiting element 18 is in its open position, is stored rolled up in a storage box 47. When in its closed position, the space-delimiting element secures 18 protects the interior of the garage 8 against unauthorized access. In the example shown, the floor 14 of the garage 8 is formed by the platform 7, so that the floor 14 of the garage 8 continues to an outer area 42 of the platform 7 without creating a height difference. This allows the cleaning robot 5 to move out of the garage 8 without having to climb or descend a step, ramp, or the like.

[0038] The support frame 4 of the cleaning station 1 has a plurality of stand elements 11, by means of which the cleaning station 1 as a whole is placed and stored on the base 13 in a support plane 12. As explained above, the platform 7 is oriented parallel to the support plane 12. As a result of the provision of the distance between the support plane 12 and the platform 7, an intermediate space 43 is created between the platform 7 and the support plane 12, in which, in the example shown, a liquid supply 9 is arranged, among other things. This comprises a plurality of liquid tanks 19, 20, 21 and at least one pump 22. A first liquid tank 19 is formed by a water tank and, in the example shown, serves to supply fresh water. The first liquid tank 19 can, for example, be equipped with a supply connection (not shown), by means of which the liquid tank 19 can be connected to an external supply line so that it can be filled with fresh water, for example from a municipal water supply. Furthermore, the liquid supply 9 has a second liquid tank 20, which here is formed by a cleaning liquid tank. As such, the second liquid tank 20 serves to hold a cleaning liquid that is intended to be dispensed into the loading space 3 by means of the cleaning robot 5. The third liquid tank 21 serves as a cleaning agent tank for holding the cleaning agent, which is typically formed from a specific chemical formulation. The cleaning liquid that is held in the second liquid tank 20 is typically formed from a mixture that contains recaptured cleaning liquid that was previously dispensed by the cleaning robot 5 and then recaptured by the collecting device 49, as well as, if applicable.fresh cleaning agent. The cleaning robot 5 is supplied with the cleaning fluid from the second fluid tank 20, which is fluidly connected to the cleaning robot 5 via a fluid line 23. The pump 22 interacts with this fluid line 23, so that it is suitable for pumping the cleaning fluid stored in the fluid tank 20 through the fluid line 23 to the cleaning robot 5, where the cleaning fluid is ultimately sprayed.

[0039] The cleaning station 1 further comprises a collecting device 49, which in the example shown comprises several individual collecting containers 10, which serve to collect and recirculate cleaning fluid discharged during a cleaning process of the transport means 2. For this purpose, the individual collecting containers 10 are each arranged at a height below an upper travel level of the platform 7. Furthermore, the travel level of the platform 7, on which the cleaning robot 5 can travel, is formed by a grating, so that discharged cleaning fluid can flow downward through the grating and thus be fed to the collecting device 49.

[0040] The cleaning station 1 can further comprise a treatment device 56 to which the collected cleaning fluid can be fed, in particular by means of a pump. The treatment device 56 can treat the cleaning fluid in such a way that it is at least partially suitable for carrying out a further cleaning process. The treatment can, in particular, comprise filtering the cleaning fluid of solids using one or more filters. The portion of the treated cleaning fluid suitable for further use is then fed to the second fluid tank 20. As explained above, cleaning agent can also be fed to this fluid tank 20.

[0041] The cleaning station 1 further comprises a power supply (not shown in the figures), by means of which the cleaning station 1 in general and the cleaning robot 5 in particular can be supplied with electrical energy. This supply can be provided indirectly and / or directly, with the intermediate storage of a certain amount of electrical energy, for example, by means of a battery, being particularly conceivable. The power supply comprises a supply connection (also not shown), to which an external supply line can be connected.

[0042] In addition, the cleaning station 1 comprises a control unit 6, which is here fixedly arranged on a side wall 16 of the garage 8. The control unit 6 is designed and provided to control the cleaning station 1 in general and the cleaning robot 5 in particular. For this purpose, the control unit 6 is connected to the cleaning robot 5 by means of at least one data connection in a data-transmitting manner. This connection can be either wired or wireless. In the example shown, the cleaning robot 5 is connected to the rest of the cleaning station 1 in addition to the liquid line 23 by means of a further supply line (not shown in the figures), wherein the cleaning robot 5 can be supplied with Supply line can be used to supply electrical energy provided by the power supply and also to exchange data with the control unit 6.

[0043] In the example shown, the control unit 6 comprises a data processing device suitable for electronically processing the information provided. This can, in particular, be information acquired by various sensors, which are explained separately below. In the example shown, the processing of this information is used, among other things, to control the cleaning robot 5 as needed using the control unit 6 and thus to influence a cleaning process in the cargo space 3 of the means of transport 2.

[0044] In the example shown, an input device 44 and a display device 45 are installed together with the control unit 6 in the combined form of a touch display. In this way, a user of the cleaning station 1 can make inputs that relate to at least one cleaning process, or possibly an entire cleaning process. For example, it is conceivable that the display device 45 shows the user options for various cleaning programs that the user can select alternatively. Depending on the selection of a cleaning program, the control unit 6 then controls the cleaning robot 5 for at least one cleaning process of the loading space 3. The various cleaning programs can, for example, require different operating parameters of the cleaning robot 5, so that cleaning is carried out automatically in different ways depending on the selection of the cleaning program.

[0045] The cleaning station 1 further comprises a signaling system 48, which is connected laterally to a side wall 16 of the garage 8 in the manner of a traffic light. The signaling system 48 can be used for various purposes. In particular, it serves to visually indicate to the driver of a respective means of transport 2 when a parking position relative to the cleaning station 1 has been reached. It is understood that the means of transport 2 must be positioned relative to the cleaning station 1 in such a way that the cleaning robot 5 can drive into the loading space 3 of the means of transport 2 from the platform 7. In particular, it is advantageous if there is only a slight, preferably no, difference between the height of a loading space floor 39 of the loading space 3 to be cleaned and the height of the driving plane of the platform 7.

[0046] To protect the support frame 4 from an unintentional impact by a means of transport 2 moving into its parking position, it can also be advantageous if the cleaning station 1 has an impact device (not shown in the figures). This is arranged relative to the support frame 4 in such a way that the means of transport 2, when approaching the cleaning station 1, first comes into contact with the impact device before colliding with the support frame 4. The impact device can be anchored in a subsurface, for example by means of a foundation. However, in order to be able to set up and operate the cleaning station as flexibly as possible without structural changes to the subsurface, it is particularly advantageous if the impact device is stabilized by the dead weight of the means of transport 2. For this purpose, the impact device can in particular comprise a battering ram, the end of which is connected to an elongated base plate.The latter is oriented relative to the support frame 4 in such a way that the transport means 2 drives onto the base plate when taking up a parking position at the cleaning station 1 and thereby fixes the impact device as a whole relative to the base 13 by forming a frictional connection.

[0047] Furthermore, in the example shown, the signaling system 48 makes it possible to visually indicate to the driver of the means of transport 2 a height difference between the height of the loading space floor 39 of the means of transport 2 and the height of the driving level of the platform 7. For the reasons already mentioned above, this height difference should be minimal, preferably zero, so that the cleaning robot 5 does not have to overcome any height when crossing from the platform 7 into the loading space 3. The height of the loading space floor 39 can be adjusted to the height of the platform 7, in particular, by the means of transport 7, so that the driver can make the adjustment taking into account the signal displayed by the signaling system 48.

[0048] Furthermore, the cleaning station 1 has two door holders 54, one of which is arranged on each side of the platform 7. The door holders 54 serve to lock the doors 55 of the means of transport 2 in their open position when present. This is particularly evident from Figure 1. Due to the extension of the platform 7 into its outer area 42, it is possible to position the doors 55 of the means of transport 2, when present in their open position, to the side of the platform 7 and thus make them accessible for cleaning by the cleaning robot 5. For this purpose, the cleaning robot 5 is positioned outside the garage 8 in the outer area 42 of the platform 7 and activated in such a way that the doors 55 arranged to the side of the platform 7 are exposed to the cleaning fluid and are thereby cleaned. Door holders 54 serve to lock the doors 55 during cleaning so that cleaning can be carried out reliably. In particular, the door holders 54 can each have a suction cup, by means of which a respective door 55 can be grasped on an outer side by applying a negative pressure. The door holders 54 can be arranged on the support frame 4 in a force-transmitting manner and thus divert forces generated when the doors 55 are locked into the support frame 4. The door holders 54 are preferably arranged such that they are suitable for locking the doors 55 when an opening angle of approximately 90° is present.

[0049] The cleaning station 1 further comprises a sensor 46, which in the example shown is formed by a camera. This sensor 46 is arranged on a front edge 30 of the roof 15 of the garage 8. It is oriented forward toward a front end of the cleaning station 1 or toward the means of transport 2, so that it is suitable for detecting optical information relating to the means of transport 2 and the loading space 3. The sensor 46 is connected in a data-transmitting manner to the data processing device, which, as described above, is embodied as part of the control unit 6 in the example shown. In this way, it is possible to transmit information detected by the sensor 46 to the data processing device and to process it by the latter.

[0050] In particular, the sensor 46 is provided and configured to detect at least one identification feature of the means of transport 2. In the example shown, the sensor 46 is configured to optically detect a license plate number of the means of transport 2, wherein the license plate number serves as an identification feature of the means of transport 2. The information detected in this way is compared by the data processing device with data already available for the same means of transport 2, which data is stored in a database. In the example shown, this database is not implemented locally as part of the data processing device, but is located in the "cloud," with data being exchanged between the database and the data processing device via the Internet.The database contains data that contain an assignment of the vehicle registration number optically detected by the sensor 46 to the means of transport 2, so that in connection with a cleaning of the loading space 3 of the means of transport 2 to be carried out, it is known which means of transport 2 is involved.

[0051] The identification of the means of transport 2 carried out in this way is recorded in the Furthermore, it is used to create a cleaning certificate after the cleaning of cargo space 3 has been completed, which documents the completed cleaning This cleaning certificate is then assigned to the identified means of transport 2 and documented in a database. This can, for example, be the same database from which the vehicle registration number is assigned to the means of transport 2. This type of data processing creates the possibility, in particular, of accessing the cleaning certificate at any time by accessing a user account of a respective customer for the means of transport 2, which belongs to a customer's fleet, and in this way of proving, upon request, for example to an inspection authority, the successful cleaning of the loading area 3.

[0052] Furthermore, the identification of the affected means of transport 2 can be useful in order to control the cleaning robot 5 in a targeted manner for at least one upcoming cleaning process. For example, it is conceivable that the database for the identified means of transport 2 contains information about the type of means of transport 2 and the type of contamination to be expected in the cargo space 3. For example, the means of transport 2 was last used to transport food, which results in certain requirements for cleaning the cargo space 3. Thus, as a result of the identification of the means of transport 2, at least one operating parameter of the cleaning robot 5 can be automatically set for at least one cleaning process, so that the cleaning process can be adapted to the expected contamination and, if necessary, to a predetermined cleaning objective.For example, it is conceivable that for cleaning a cargo space 3 in which food was previously transported, the cleaning fluid applied by the cleaning robot 5 is heated to a specific temperature in order to effectively remove expected contamination of the cargo space 3. It is also conceivable that cleaning is carried out with a view to the next cargo to be transported.

[0053] Furthermore, in the example shown, the sensor 46 is provided and configured to optically detect a height difference between the height of the loading space floor 36 and the height of the driving level of the platform 7 and to transmit the corresponding information to the data processing device. This is configured to process the information and subsequently provide the driver of the means of transport 2 with information, for example, by means of the signaling system 48, in order to provide the driver with feedback on the existing height difference. The driver is then able to adjust the height of the means of transport 2, for example, by means of a pneumatic system of the means of transport 2. The adjustment takes place preferably in such a way that there is ultimately no difference in height between the loading space floor 39 and the platform 7.

[0054] Finally, in the example shown, the sensor 46 is further provided and configured to optically detect the loading space 3 or walls 38, the loading space floor 39, and / or a loading space ceiling 40 of the means of transport 2. Information detected in this way is forwarded to the data processing device and processed by the latter, whereby objects in general, in particular obstacles, and / or dirt are detected. The latter can in particular be in the form of dirt present on surfaces of the walls 38, the loading space floor 39, and / or the loading space ceiling 40. The data processing device is provided and configured to process the detected information and to control the cleaning robot 5 depending on the information, i.e., as a result of its processing.

[0055] This control consists in particular in that at least one operating parameter of the cleaning robot 5 is set for at least one cleaning process of the cargo space 3 in question. For example, it is conceivable that local soiling is optically detected by means of the sensor 46 on a wall 38 of the means of transport 2 and, as a result of the processing of the information detected in this way, the cleaning robot 5 is controlled in such a way that it temporarily reduces its driving speed in the longitudinal direction of the cargo space 3 in the area of ​​the detected soiling. As a result, the application of cleaning fluid to the location of the local soiling is increased and the soiling is thus removed in a targeted manner. It is also conceivable that an application rate of the cleaning fluid that is applied locally in the area of ​​the soiling by the cleaning robot 5 ora cleaning nozzle 33 thereof is temporarily increased in order to apply more cleaning fluid to the soiling. In this way, in cooperation between the sensor 46 and the data processing device of the control unit 6, the cleaning robot 5 can be controlled as needed for a respective cleaning process. It is also possible to change at least one operating parameter of the cleaning robot 5 during the execution of a cleaning process and / or between different cleaning processes.

[0056] In the example shown, a sensor (not shown) is also a lidar. This sensor is used to measure the dimensions of the cargo space 3. The information thus obtained can be used to control the cleaning robot 5. to control the execution of the automatic cleaning and / or to set at least one operating parameter for at least one cleaning process.

[0057] It is also conceivable to use a sensor, which may be formed by a camera or a lidar, for example, to detect the level of contamination in the cargo space 3 after completion of each cleaning process. For example, it is conceivable that a sensor formed by a lidar could detect any remaining foreign objects or accumulations of liquid ("puddles") in the cargo space 3. If no contamination is detected, the cleaning is assessed as sufficient and the cleaning process is terminated. The result of such a "follow-up inspection" of the cargo space 3 can also be the subject of an automatically generated cleaning certificate, which not only documents that a prescribed cleaning was carried out, but also that the desired cleaning result was achieved. For this purpose, it is conceivable that, for example, specific requirements for the cleaning result are stored for an identified means of transport 2.The verification of these requirements can be subject to sensory recording using at least one sensor, whereby if the requirements are met, the cleaning certificate created can document the cleaning success.

[0058] In the event that a drive of the cleaning robot 5 is unexpectedly prevented from leaving the loading space 3 of a respective means of transport 2 under its own power, it is necessary to remove the cleaning robot 5 from the loading space 3 so that the means of transport 2 is free and can leave the cleaning station 1. Such a failure can be caused, for example, by a chassis 25 being damaged, a power failure, or the like. In order to reliably remove the cleaning robot 5 from the loading space 13, the cleaning station 1 in the example shown has a cable winch 52 arranged on the rear side wall 16 of the garage 8. The cable winch 52 has a bearing roller (not shown) on which a traction cable (not shown) is wound.This traction cable can be connected to the cleaning robot 5 in a force-transmitting manner, so that by means of a subsequent rotary drive of the bearing roller, the traction cable is wound onto the bearing roller, thereby pulling the cleaning robot 5 backwards out of the loading space 3, counter to its main direction 32. The cable winch 52 can be operated manually using a crank or motorized using an electric drive. To ensure continued functionality in the event of a failure of an external power supply, the cable winch 52 can be supplied with electrical energy by means of a battery.

[0059] Furthermore, in the example shown, the cleaning station 1 has a cleaning device 53, which is arranged on an underside of the roof 15 of the garage 8. The cleaning device 53 is intended to apply cleaning fluid to the cleaning robot 5 when it is in its parking position, in which the cleaning robot 5 is parked in the interior 17 of the garage 8, and thus to clean it. For this purpose, the cleaning device 53 can in particular have at least one cleaning nozzle, by means of which cleaning fluid can be sprayed onto the cleaning robot 5 from above. Rinsing with fresh water after the application of cleaning fluid is also conceivable and could be carried out using the cleaning device 53. The space boundary element 18 is preferably closed when the cleaning robot 5 is actively cleaning inside the garage 8.

[0060] As explained above, the cleaning of a respective cargo space 3 is carried out automatically or independently by means of the cleaning robot 5. This is particularly clearly shown in Figures 6 to 8. The cleaning robot 5 comprises a frame 24, which represents a supporting structure for the cleaning robot 5. Furthermore, the cleaning robot 5 comprises a chassis 25, which, in the example shown, comprises two crawler tracks 31 arranged side by side and oriented parallel to one another. The crawler tracks 31 each comprise a self-contained, circumferentially driven conveyor belt or track, so that the cleaning robot 5 as a whole can be moved relative to a surface using the crawler tracks 31. The crawler tracks 31 are arranged on an underside of the frame 24 facing the cargo space floor 38 and can be driven separately from one another, so that the cleaning robot 5 can be moved like a tank control system.In particular, a main direction 32 in which the cleaning robot 5 moves forward during synchronous operation of the crawler tracks 31 can be changed as a result of an asynchronous operation of the crawler tracks 31, wherein the cleaning robot 5 rotates about its vertical axis 35 in the course of this.

[0061] The cleaning robot 5 further comprises a cleaning unit 26, which is suitable for applying the cleaning fluid to the walls 38, the loading space floor 39, the loading space ceiling 40 and the doors 55 of the means of transport 2. For this purpose, the cleaning unit 26 comprises a plurality of cleaning nozzles 33, which are arranged distributed on the frame 24. The cleaning nozzles 33 are oriented at a front end of the cleaning robot 5, respectively to the sides or upwards and downwards, in order to apply the cleaning fluid to the respective corresponding surfaces of the loading space 3. In order to change the orientation of the cleaning nozzles 33 during a cleaning process, in the example shown, a plurality of Cleaning nozzles 33 are arranged on elongated nozzle bars 36, wherein the nozzle bars 36 are each pivotably mounted about a longitudinal axis 34. In the example shown, a nozzle bar 36 is assigned to each direction. In this way, it is possible, for example, during a forward movement of the cleaning robot 5 in the main direction 32, to operate the cleaning nozzles 33 in a first orientation relative to the walls 38, the loading space floor 39, and the loading space ceiling 40. After reaching an end wall 51 of the means of transport 2, the drive direction of the crawler tracks 31 is reversed, so that the cleaning robot 5 then moves backwards, opposite to the main direction 32, back towards the platform 7. In order to remove previously detached contaminants from the loading space 3, the nozzle bars 36 are pivoted about their respective longitudinal axes 34 before the start of the backward movement, so that the cleaning nozzles 33 are henceforth directed “towards the rear”.In this way, the continued operation of the cleaning nozzles 33, i.e. the spraying of the cleaning fluid, results in the contaminants being flushed out of the loading space 3 in the direction of the platform 7.

[0062] The application of the cleaning fluid by means of the cleaning nozzles 33 is illustrated in Figures 7 and 8 by means of spray cones 41. The adjustment of the nozzle bars 36 is motorized in the example shown, with each nozzle bar 36 being assigned an electric drive. The adjustability of the nozzle bars 36 – and thus the application direction of the cleaning nozzles 33 – is also advantageous for the targeted removal of localized soiling or dirt spots. This is due to the fact that such dirty spots can be sprayed with the cleaning fluid from different directions, whereby the respective dirty spot can be literally "scraped" off the respective surface according to the principle of a high-pressure cleaner. Thus, by changing the application direction of the cleaning fluid, a particularly high cleaning performance can be achieved.

[0063] Furthermore, the cleaning unit 26 comprises a plurality of valves (not shown in the figures) by means of which the supply of cleaning fluid to the individual nozzle bars 36 can be adjusted. The valves can be used both to throttle the flow rate of cleaning fluid and to completely shut off one or more nozzle bars 36. In this way, it is possible to apply cleaning fluid specifically to specific locations in the cargo space 3, for example, in the presence of heavy soiling on the surface of a wall 38 of the means of transport 2, which is not present in the same form on other walls 38.

[0064] Furthermore, it is particularly advantageous if an upper, transversely extending nozzle bar 50, which can be seen in Figure 8, is moved downwards along the frame 24 after reaching the end wall 51 of the means of transport 2 and before the direction of travel of the cleaning robot 5 is reversed. In this way, it is possible to apply cleaning fluid to the end wall 51 by means of cleaning nozzles 33 arranged on the said nozzle bar 50, and thereby also to clean the end wall 51. Accordingly, the cleaning robot 5 is designed such that the said nozzle bar 50 can be moved vertically along the frame 24, for example by means of a rotationally drivable threaded rod. Before the cleaning robot 5 begins to reverse, the nozzle bar 36 is moved upwards again so that it can continue to clean the load compartment ceiling 40 during the reverse movement.To change the orientation of the cleaning nozzles 33 arranged on the transverse nozzle bar 50, the latter interacts with an electric drive as described above, by means of which the nozzle bar 50 can be pivoted about its longitudinal axis 34. This allows the cleaning nozzles 33 to be aligned with the end wall 51, at least during the downward movement of the nozzle bar 50.

[0065] In the example shown, the cleaning robot 5 further comprises a control box 37, which can in particular accommodate a control unit 6. This is particularly advantageous if, in one embodiment, the control unit 6, which in the example shown is arranged on the support frame 4 or the garage 8, is arranged locally on the cleaning robot 5. Furthermore, the control box 37 can comprise additional switching devices for the local control of the cleaning robot 5.

[0066] The cleaning robot 5 further comprises a sensor device 27 which comprises a plurality of sensors 28. In particular, a plurality of the sensors 28 are formed by distance sensors 29, wherein in the example shown, two distance sensors 29 are arranged on each of the crawler tracks 31. This is particularly clear from Figure 6. The distance sensors 29 can, for example, also be arranged laterally on the frame 24. The aforementioned distance sensors 29 serve to detect a lateral distance of the cleaning robot 5 to the lateral walls 38 of the means of transport 2, i.e. both to the left side and to the right side of the cleaning robot 5. The distance sensors 29 are formed here by ultrasonic sensors. By determining the distances of the cleaning robot 5 to both sides relative to the lateral walls 38 of the means of transport 2, it is possible to align the cleaning robot 5 orthe main direction 32 of the cleaning robot 5 relative to a longitudinal axis of the loading space 3. The information acquired by the distance sensors 29 is transmitted to the data processing device and processed by the latter. During the travel of the cleaning robot 5 during a cleaning process of the cargo space 3, it must be ruled out that the cleaning robot 5 comes into contact with the walls 38 of the means of transport 2, in particular that it collides with them. Therefore, the orientation of the main direction 32 relative to the longitudinal axis of the cargo space 3 is important.

[0067] The information acquired by the distance sensors 29 is used to determine the orientation of the cleaning robot 5 within the loading space 3 and to correct it if necessary. Such a correction requires a rotation of the cleaning robot 5 about its vertical axis 35. To accomplish this, the information acquired by the distance sensors 29 is processed by the data processing device in the manner described above, and the chassis 25 is then controlled by the data processing device (here indirectly via the control unit 6) so that the crawler tracks 31 of the crawler track 25 of the cleaning robot 5 are operated asynchronously. For example, it is conceivable that only one of the crawler tracks 31 is driven while the other crawler track 31 remains stationary. It is also conceivable that the crawler tracks 31 are temporarily operated in opposite directions or at different speeds in the same direction.These and other conceivable concepts lead to a desired rotation of the cleaning robot 5 about the vertical axis 35 and thus to a change in the main direction 32 in which the cleaning robot 5 travels during synchronous operation of the crawler tracks 31. In this way, the cleaning robot 5 can be aligned particularly easily within the loading space 3 so that its travel during a cleaning process runs parallel to the longitudinal axis of the loading space 3. A continuous check of the distances of the cleaning robot 5 to the side walls 38 is conceivable, wherein a correction of the main direction 32 can be carried out repeatedly in the manner described. This makes it possible to align the cleaning robot 5 within the loading space 3 without having to establish physical contact with the side walls 38.Furthermore, it is particularly easy to position the cleaning robot 5 at least substantially centrally between the lateral walls 38 of the transport means 2, so that the lateral distances of the cleaning robot 5 from the walls 38 on both sides are at least substantially equal.

[0068] Furthermore, the sensor device 27 comprises further sensors 28, which are formed by distance sensors 29, but are not shown separately in the figures. In particular, a distance sensor 29 is arranged on a front side of the cleaning robot 5. arranged and oriented in the main direction 32 so that a distance of the cleaning robot 5 to an obstacle located in the main direction 32 of the cleaning robot 5 can be detected. In this way, the cleaning robot 5 can be positioned particularly easily relative to the front end wall 51 of the means of transport 2, wherein the cleaning robot 5 can be stopped in good time before a collision with the end wall 51. The sensor device 27 also has a distance sensor 29 which is oriented in the rear direction of the cleaning robot 5 and is also not shown separately in the figures. This can be advantageous in particular for assuming the parking position within the garage 8, wherein a distance of the cleaning robot 5 from the rear side wall 16 of the garage 8 can be detected.

[0069] Furthermore, in the example shown, the sensor device 27 comprises a further sensor 28, which here is formed by a combined temperature and humidity sensor. Using this sensor 28, it is possible to record information about the temperature prevailing in the cargo space 3 during a cleaning process, as well as the existing air humidity. This information is processed, in particular by means of the data processing device of the control unit 6, so that at least one operating parameter of the cleaning robot 5 can be changed depending on the recorded information. The recorded information can also be used to monitor the cleaning itself and thus ensure and document the quality of the cleaning. Corresponding data can be documented, for example, as part of the cleaning certificate described above.

[0070] Additional sensors 28 can, for example, be formed by a pressure sensor or a flow sensor, by means of which information concerning the cleaning fluid can be detected. This makes it possible to determine the flow rate of cleaning fluid being applied, for example, at a nozzle bar 36 or the pressure at which cleaning fluid is sprayed by means of the cleaning nozzles 33. This information can be used in control technology to modify the control of the cleaning robot 5 and to influence the aforementioned operating parameters accordingly. Likewise, malfunctions in the fluid supply 9 can be detected; for example, a sudden drop in the pressure or flow rate of the cleaning fluid can provide an indication of such a malfunction.

[0071] After the cleaning fluid has been successfully applied by means of the cleaning unit 26, it is conceivable that the loading space 3 is dried at the end of each cleaning. For this purpose, it is conceivable, for example, to use the cleaning nozzles 33 or separate air outlets to generate an air flow in particular on the loading space floor 39, if necessary also on the walls 38 and the loading compartment ceiling 40, whereby any remaining moisture resulting from the application of the cleaning fluid is dried off. List of reference symbols 1 cleaning station 2 means of transport 3 cargo space 4 supporting frames 5 cleaning robots Control unit 7 podium garage 9 Fluid supply 10 collection containers 11 Stand element 12 Uprising Level 13 Underground 14 Floor 15 Roof side wall 17 Interior 18 Room boundary element 19 Liquid tank 20 Liquid tank 21 Liquid tank 22 Pump 23 Liquid line 24 frames 25 chassis 26 Cleaning unit 27 Sensor device 28 Sensor 29 Distance sensor 30 Rand 31 crawler 32 Main direction 33 Cleaning nozzle 34 Longitudinal axis of nozzle bar 35 vertical axis 36 nozzle bar 37 Switch box 38 wall 39 Loading compartment floor 40 Load compartment ceiling 41 spray cones 42 Outdoor area podium 43 space 44 Input device 45 Display device 46 Sensor 47 storage box 48 Signal system 49 Reception facility 50 nozzle bar 51 front wall 52 cable winch 53 Cleaning device 54 Door bracket 55 Door Air treatment facility

Claims

Claims 1. A cleaning robot (5) for cleaning a loading space (3) of a means of transport (2), comprising a frame (24), a chassis (25) arranged on the frame (24), a cleaning unit (26) arranged on the frame (24), and a sensor device (27), wherein the chassis (25) is formed by a crawler track with two independently drivable crawlers (31), wherein the crawlers (31) are arranged next to one another and parallel to one another when viewed in the main direction (32) of the cleaning robot (5), wherein the cleaning unit (26) comprises a plurality of cleaning nozzles (33) for applying a cleaning fluid to walls (38) delimiting the loading space (3) of the respective means of transport (2), wherein the sensor device (27) comprises at least one distance sensor (29) which is provided and configured to receive information regarding distances of the cleaning robot (5) to opposite,to detect walls (38) laterally delimiting the loading space (3) of the respective means of transport (2) both on a left side, viewed in the main direction (32) of the cleaning robot (5), and on a right side of the cleaning robot (5), viewed in the main direction (32) of the cleaning robot (5), and to transmit the information to a data processing device, wherein the data processing device is provided and configured to process the information and to directly or indirectly control the chassis (25) depending on the detected information in such a way that the crawler tracks (31) are temporarily driven differently, so that the cleaning robot (5) can be rotated about its vertical axis (35) and the main direction (32) of the cleaning robot (5) can thereby be aligned relative to the respective loading space (3).

2. Cleaning robot (5) according to claim 1, characterized in that the Sensor device (27) further sensors (28), in particular distance sensors (29) which are suitable for observing an environment of the cleaning robot (5), wherein preferably at least one sensor (28) is directed forward in the main direction (32) of the cleaning robot (5) and / or at least one sensor (28) is directed backward opposite to the main direction (32) of the cleaning robot (5).

3. Cleaning robot (5) according to one of the preceding claims, characterized in that at least one sensor (28) of the sensor device (27) is formed by a pressure sensor or a flow sensor for detecting information relating to the cleaning liquid, wherein the detected information can be passed to the data processing device and processed therewith in such a way that disturbing influences relating to a liquid supply (9) can be determined.

4. Cleaning robot (5) according to one of the preceding claims, characterized in that the information detected by means of the sensors (29) can be transmitted to the data processing device and processed by this, wherein the data processing device is provided and configured to change, directly or indirectly, at least one operating parameter of the cleaning robot (5) at least temporarily depending on the processed information.

5. Cleaning robot (5) according to claim 4, characterized in that at least one operating parameter of the cleaning robot (5) is determined by a discharge direction of at least one cleaning nozzle (33); a discharge pressure of a cleaning fluid at at least one cleaning nozzle (33); a discharge quantity of the cleaning fluid at at least one cleaning nozzle (33); an activation state of at least one cleaning nozzle (33); a distance of at least one cleaning nozzle (33) from a wall (38) of the loading space (3); a temperature of the cleaning fluid; a movement speed of the cleaning robot (5); or a concentration of a cleaning agent in the cleaning liquid; a distance of the cleaning robot (5) from a wall (38) of the loading space (3); is formed.

6. Cleaning robot (5) according to one of the preceding claims, characterized in that at least one cleaning nozzle (33), preferably a plurality of cleaning nozzles (33), more preferably all cleaning nozzles (33) are directly or indirectly motor-driven, so that an application direction of the cleaning nozzle (33), in which the cleaning liquid is mainly applied by means of the cleaning nozzle (33), can be changed during a cleaning process.

7. Cleaning robot (5) according to one of the preceding claims, characterized in that the cleaning unit (26) comprises a plurality of nozzle bars (36, 50), wherein a plurality of cleaning nozzles (33) are arranged on each nozzle bar (36, 50), wherein the respective associated nozzle bar (36, 50) is rotatable by motor about its longitudinal axis (34) in order to change an application direction of the cleaning nozzles (33).

8. Cleaning robot (5) according to one of the preceding claims, characterized in that the cleaning unit (26) comprises a plurality of valves by means of which a flow of cleaning fluid to at least some of the cleaning nozzles (33) can be adjusted.

9. Cleaning robot (5) according to one of the preceding claims, characterized by a control unit (6), wherein the control unit (6) comprises the data processing device or is connected to the data processing device in a data-transmitting manner and is provided and configured to receive information processed by means of the data processing device and to control the cleaning robot (5) depending on the information.

10. Cleaning robot (5) according to one of the preceding claims, characterized by a transversely oriented nozzle bar (50) which is arranged at an upper end of the frame (24), wherein the nozzle bar (50), preferably while maintaining its orientation, at least during a Operation of the cleaning robot (5) relative to the frame (24) is movable in the vertical direction relative to the frame (24).

Images