Robot, system and method for cleaning a surface

Abstract

A robot (100, 204, 308, 402, 502) with a housing (102, 214, 312, 408, 506), with a drive unit (104, 216, 314, 410, 508), with a battery (106, 219, 317, 418, 511) and with a control unit (108, 218, 316, 412, 510) is described, wherein the robot (100, 204, 308, 402, 502) is characterized in that a connecting element (110, 220, 332, 414) is provided for connection with a hand cleaning device (210, 310, 404, 504). Furthermore, a system (200, 300, 400, 500) for cleaning a surface (202, 302) with a robot (100, 204, 308, 402, 502) and with a hand cleaning device (210, 310, 404, 504) and a method for operating a system (200, 300, 400, 500) are described.

Description

[0001] The present disclosure relates to a robot comprising a housing, a drive mechanism, a battery, and a control device. The present disclosure further relates to a system for cleaning a surface, comprising a robot comprising a housing, a drive mechanism, and a control device, and a handheld cleaning device. Also disclosed is a method for operating a system for cleaning a surface.

[0002] Cleaning devices, in particular household appliances with a cleaning function such as vacuuming or mopping, are known from the prior art. Such household appliances can be designed as handheld cleaning devices, floor-standing devices, or autonomously moving robots.

[0003] A handheld cleaning device can, in particular, comprise a main unit, a handle, and an attachment with a cleaning unit. The attachment can, for example, be in the form of a suction unit or a mop unit, with the handle located on the main unit beyond the attachment. Thus, the entire handheld cleaning device is moved by hand during use.

[0004] In a ground-mounted unit, the main unit and the attachment are connected via a hose and a pipe, in particular a telescopic pipe, with the handle being integrated into the pipe and thus positioned between the main unit and the attachment. When using the ground-mounted unit, the attachment is moved along the ground using the pipe or a handle attached to the pipe, and the main unit is pulled along behind it, if necessary, in stages, via the hose.

[0005] State-of-the-art robots typically have a cleaning unit, a drive system, a battery and a control unit integrated into a housing, and the robot can move independently across the floor and clean it through automatic control.

[0006] Many households have both a cleaning robot and handheld cleaning devices, such as vacuum cleaners or mops, which are used separately, side by side. This means the user has to manage two devices that largely exist independently, resulting in double the maintenance effort, for example, for the main brush, changing the filter bags, etc. Furthermore, handheld cleaning devices are often well-adapted to the user's needs, whereas robots, due to their limited space, often only partially meet user requirements. Additionally, robots and handheld cleaning devices are designed and manufactured separately by household appliance manufacturers, and similar requirements exist for these separate products. Thus, several components are developed, produced, and maintained independently, such as the main brush including the motor and gearbox, and the blower motor.This leads to high costs in development and production.

[0007] Against this background, the present invention aims to improve known cleaning devices, in particular to increase user-friendliness while maintaining at least equivalent cleaning results.

[0008] The aforementioned task is solved by a robot with a housing, a drive system, a battery and a control unit by providing a connecting element for connection to a hand cleaning device.

[0009] The aforementioned problem is further solved by a system for cleaning a surface, comprising a robot with a housing, a drive mechanism and a control device, in particular a robot according to the present disclosure and a hand cleaning device, in that the robot has a connecting element, the hand cleaning device has a connecting counterpart element, and the connecting element and the connecting counterpart element are connectable to each other.

[0010] The aforementioned problem is further solved according to the invention by a method for operating a system for cleaning a surface according to the present disclosure, in that a hand cleaning device and a robot are connected to each other, and that the hand cleaning device is automatically controlled by the robot.

[0011] This creates a synergistic combination of robot and handheld cleaning device. The handheld cleaning device, for example, a handheld vacuum cleaner or mop, is used for cleaning and is operated either manually by a user or by the robot itself. The robot may not have a cleaning function of its own and can therefore be designed more simply without a cleaning unit, resulting in less maintenance. For the manufacturer, it is advantageous that separate devices are developed for driving and cleaning, thus reducing redundancy in development and production.

[0012] Further advantages include: low robot maintenance requirements, simplified and automated operation, good cleaning results thanks to the spatial separation of the robot's drive system and the movable cleaning unit on the handheld cleaning device; little to no height requirements for the robot's housing, as cleaning under furnishings is performed by the handheld cleaning device, providing additional space for batteries and, if necessary, dirt storage, as well as for carrying interchangeable attachments on the robot; automated cleaning results on par with manual cleaning; no duplicate development, production, warehousing, etc. for incompatible devices.

[0013] The robot's drive system preferably includes an electric motor that can be powered by a battery or accumulator of the robot.

[0014] The control device preferably comprises a processor and a storage medium. In particular, a computer program with instructions can be stored on the storage medium, the execution of which by the processor causes the robot to carry out an operating procedure, especially an operating procedure according to the present disclosure. A database containing information can be stored on the storage medium. Examples of such information are: information for the robot's navigation, information for the robot's navigation with a handheld cleaning device connected to the robot, information for a cleaning process by a handheld cleaning device connected to the robot, sensor data, and limit values ​​for cleaning and / or navigation parameters, although this list is not exhaustive.

[0015] Preferably, the robot does not have a cleaning unit, in particular no blower motor, no brush, and no wet cleaning unit. Alternatively, the robot may have a cleaning unit for performing a first cleaning function, a connection element for data transmission with a handheld cleaning device, and a control device configured to control, in particular navigate, a handheld cleaning device connected to the robot via the connection element in such a way that the handheld cleaning device performs a second cleaning function, wherein the first cleaning function of the robot and the second cleaning function of the handheld cleaning device complement each other.

[0016] In addition, a handheld cleaning device is designed as a handheld cleaning device of the type mentioned above, wherein the cleaning unit includes, for example, a suction unit, a blower motor, and a dirt collection element. Alternatively or additionally, the cleaning unit of the handheld cleaning device can include a liquid container, a vibrating plate with a wiping element, and a collection container for dirty liquid. Furthermore, the cleaning unit can be designed for steam cleaning. In a specific example, the handheld cleaning device is designed as a battery-powered handheld vacuum cleaner.

[0017] The robot can have an interface designed for communication with an external computing unit, such as a smartphone. Preferably, this interface is configured for wireless communication, for example via Bluetooth, WLAN, or WiFi. This allows the robot or system to be controlled remotely. Smartphone control also increases user-friendliness.

[0018] The automatic control of the hand cleaning device by the robot can include steering, raising and lowering, rotating, controlling the electric motor, the unit and / or a cleaning unit of the hand cleaning device, or a combination thereof.

[0019] The following describes various embodiments of the robot, the system, and the method, with each embodiment applying independently to the robot, the system, and the method, respectively. Furthermore, the individual embodiments can be combined with one another as desired.

[0020] In one embodiment, the connecting element is designed for a detachable mechanical connection with the hand cleaning device.

[0021] This allows the handheld cleaning device, which can be connected to the robot, to be used without the robot, for example by a user directly by hand. This makes the handheld cleaning device more versatile.

[0022] Preferably, the connecting element is designed such that a wide variety of commercially available hand-held cleaning devices can be connected to the robot. The connecting element can be configured as either a female or male connector to allow it to be connected to a corresponding counterpart on the hand-held cleaning device.

[0023] Examples of a connecting element designed for a detachable mechanical connection include: snap-in element, plug-in element, clamping element, screw element such as a threaded profile, although this list is not exhaustive.

[0024] A locking element may be provided with or in addition to the connecting element to fix and / or secure the connection between the robot and the hand cleaning device.

[0025] In one embodiment, the connecting element is provided for a communication link with the hand cleaning device.

[0026] This allows data transmission between the robot and a handheld cleaning device connected to the robot via the connecting element. This improves the robot's control, particularly its navigation of the handheld cleaning device.

[0027] Preferably, the connecting element includes electrical or electronic components configured to receive data via the communication link. Alternatively or additionally, the connecting element may include electrical or electronic components configured to transmit or send data from the control unit via the communication link. The electrical components may be configured for bidirectional communication with a handheld cleaning device attached to the robot.

[0028] In a particular embodiment, the connecting element is designed for both a detachable mechanical connection to the handheld cleaning device and a wireless communication connection to the handheld cleaning device. This allows the mechanical and communication connections to be managed separately. For example, the mechanical connection can be disconnected while the communication connection remains active. Such a configuration can be helpful, for instance, if the robot uses sensor data from the handheld cleaning device after disconnecting the mechanical connection to decide whether to return to its charging station.

[0029] Examples of components of the connecting element that are suitable for a communication connection with a hand cleaning device are: components of a Bluetooth, WiFi or WLAN module, electrical contacts, plug module.

[0030] To enable communication with the handheld cleaning device, the connecting element can be a serial interface, which allows interaction between handheld vacuum cleaner and robot, preferably across multiple device generations.

[0031] In one embodiment, a steering device is provided, wherein the steering device is designed to steer the hand cleaning device connected to the connecting element, and wherein the steering device is designed to effect at least one axial movement and / or at least one rotational movement of the hand cleaning device relative to the housing.

[0032] This allows the already highly developed and stable guidance system of a robot to be used for steering a handheld cleaning device attached to the robot. The steering mechanism can then rotate the connected handheld cleaning device, as well as raise and lower it. The combination of axial and rotational movements increases the system's range of motion, enabling it to clean particularly difficult-to-reach areas such as corners, steps, etc., more effectively than a single-piece cleaning device.

[0033] The steering device can be designed to execute several types of movement simultaneously or in combination. An example of this is a combination of rotating the hand cleaning device around its own axis with rotating the hand cleaning device around a pivot point outside the device, for example, to achieve raising and lowering.

[0034] Preferably, the connecting element allows movement caused by the steering direction. In particular, the connecting element and the steering device can be designed to interact. For example, the connection to a handheld cleaning device attached to the robot can allow movement caused by the steering device. An additional locking mechanism for securely fixing the handheld cleaning device to the robot can be provided.

[0035] In a specific example, the connecting element is designed for a pivoting connection, and the steering device is configured to pivot, turn, and / or rotate the hand cleaning device connected to the robot via the connecting element. Alternatively or additionally, the connecting element can allow for a vertical displacement of the hand cleaning device relative to the robot housing, and the steering device can be configured to rotate the hand cleaning device about its longitudinal axis and / or move it vertically.

[0036] This allows the handheld cleaning device to be steered in a manner similar to manual steering by a user. By rotating the handheld cleaning device around its longitudinal axis, the attachment changes its spatial orientation and steers in a specific direction.

[0037] Preferably, the robot has at least one drive wheel, preferably two drive wheels, and pushes or pulls the handheld cleaning device, analogous to vacuuming by hand. The connecting element allows the handheld cleaning device to rotate relative to the robot's housing. If the robot is equipped with two drive wheels, these can rotate at different speeds to steer the handheld cleaning device around a curve or corner. This allows the use of drive systems from known robots.

[0038] By equipping the robot with two drive wheels, the system, consisting of the robot and an attached handheld cleaning device, maintains stable contact with the surface to be cleaned via three contact points or surfaces: the drive wheels and the attachment. This design allows the robot to have broad support on the floor to absorb forces that occur, for example, when using a handheld cleaning device designed as a vacuum mop.

[0039] To guide a robot-mounted handheld cleaning device as close to the floor as possible, for example, to clean under low furniture such as beds or sofas, and / or to position the handheld cleaning device as upright as possible in confined spaces and for tight turns, the robot's connecting element and / or steering mechanism can be height-adjustable. The highest position can also serve as the parking position for the handheld cleaning device on the robot, thus enabling ergonomic handling for the user. Furthermore, sensors can be moved using this height-adjustable connecting element or steering mechanism, allowing them to be used at different heights. For example, an LDS / LiDAR can detect obstacles and boundaries at different levels, while ToF and camera sensors can change their viewing angle and / or range.This enables the robot to have better spatial "vision" and thus better navigation.

[0040] Alternatively, the steering device can be designed to steer the robot or the robot with the hand cleaning device relative to a reference point arranged on the attachment of the hand cleaning device.

[0041] Thus, the pivot point for navigation is located at the attachment, and the robot can essentially move in a circular motion around this point. The robot can have at least one drive wheel, or possibly only one, which is mounted to rotate perpendicular to the ground.

[0042] The advantage here is that the system, with the robot and the handheld cleaning device, is more maneuverable. Furthermore, this eliminates the need for a swiveling connecting element. To achieve stability on the floor, swiveling support rollers can be used on the robot, in addition to the swiveling drive wheel, to create a defined contact surface on the area to be cleaned, together with the drive wheel and the attachment of the handheld cleaning device.

[0043] By equipping the robot with a steering device, a swiveling connecting element, and at least one drive wheel rotatable perpendicular to the floor, a level of flexibility similar to manually guiding a handheld cleaning device can be achieved, particularly enabling access to hard-to-reach areas. This results in an overall improvement in cleaning performance compared to existing cleaning robots.

[0044] In one embodiment of the robot or system, the control device is configured to determine a control signal based on information acquired by at least one sensor, the control signal being used to control the drive system, the battery and / or the steering device, or to control the hand cleaning device.

[0045] In a corresponding embodiment of the method, it is provided that information determined by a sensor is received, that a control signal is determined by the robot on the basis of the received information, wherein the control signal is intended for controlling the robot, in particular a drive system, a battery and / or a steering device of the robot, or for controlling the hand cleaning device, and that the control signal is taken into account in the automatic control of the hand cleaning device by the robot.

[0046] This allows the robot to be controlled depending on the recorded parameter values, so that control can be adapted to the robot's environment and to the conditions of the actual context in which the robot is located.

[0047] Examples of sensors include: LDS / LiDAR sensor, bumper, wall-following sensor, crash sensor, Time of Flight (ToF) sensor, 3D ToF sensor, camera, ultrasonic sensor, and this list is not exhaustive. Such sensors can capture information such as object recognition data, data about the area to be cleaned or the floor the robot is to travel over, distance values, or image data; this list is also not exhaustive.

[0048] At least one sensor can be mounted on the robot. Generally, placing sensors on the robot has the advantage that they can then be positioned where information can be meaningfully acquired. For example, a bumper sensor can be located at the rear of the robot, while a Time-of-Flight or 3D Time-of-Flight sensor can be sensibly placed on a lower part of the robot's housing to capture information about the floor and its irregularities over which the robot travels. Depending on the design of the handheld cleaning device and its connection to the robot, an LDS / LiDAR sensor can be positioned on the robot in such a way that the connected device causes no or minimal interference with the detection field.

[0049] Alternatively or additionally, at least one sensor can be arranged on the handheld cleaning device that can be used with the robot. Information acquired by a sensor arranged on the handheld cleaning device can then be transmitted to the robot's control unit via the connecting element, in particular via a communication link through the connecting element.

[0050] Equipping both the robot and the handheld cleaning device with sensors offers the advantage of providing potentially supplementary information for controlling the robot and / or the handheld cleaning device, thus improving the overall control system. Furthermore, different types of sensors can be used, allowing for a greater variety of information to be gathered and incorporated into the control process.

[0051] In one embodiment, at least two sensors can be provided, a first sensor for detecting proprioceptive signals and a second sensor for detecting exteroceptive signals. Proprioceptive signals are understood to be signals that the robot, hand cleaning device, or system derives from its own movement or position, depending on the arrangement of the proprioceptive sensor. To detect these signals, the first sensor can be configured, for example, as an odometry sensor, an accelerometer, a gyroscope, or an optical flow sensor. Exteroceptive signals are understood to be signals that the robot, hand cleaning device, or system detects from external stimuli, depending on the arrangement of the exteroceptive sensor.To detect these signals, the second sensor can be designed, for example, as a laser sensor, a camera, or an ultrasonic sensor. Such sensors can be used to determine the environment surrounding the robot, the handheld cleaning device, or the system.

[0052] When one of the at least two sensors is arranged on the handheld cleaning device and one of the at least two sensors is arranged on the robot, the connecting element of the robot and the corresponding connecting element of the handheld cleaning device are preferably provided for a communication link through which sensor data can be transmitted. This allows either the control unit of the robot or the control unit of the handheld cleaning device to jointly evaluate the respective sensor data.

[0053] Preferably, the robot's control unit is configured to create a map of the system's environment using a SLAM methodology. The robot's control unit can create the map based on data output by at least two sensors, or based on proprioceptive and exteroceptive data.

[0054] SLAM stands for "simultaneous localization and mapping" and is a research area within robotics. It deals with the challenge of creating a map of the environment without a given map and with an unknown position of the robot. The SLAM methodology consists of several steps. First, data about the environment is collected via the second sensor for capturing exteroceptive signals. Then, the robot is moved so that its movement is measured via the first sensor for capturing proprioceptive signals. Using the map of the environment previously recorded by the second sensor, the control unit then determines the position of the robot, system, or the attachment of the handheld cleaning device within the map, based on the data from the first sensor.The environment is then scanned again using the second sensor, and any deviations from the position determined by the first sensor are identified. Based on these measurements, the position of the system, the handheld cleaning device, the robot, and / or the handheld cleaning device's attachment is calculated. This calculation method ensures that the calculated position shows only minimal or no deviation from the actual position of the system, the handheld cleaning device, the robot, and / or the handheld cleaning device's attachment.

[0055] In one embodiment of the robot or system, it is provided that an energy connection is provided for connection to an energy source, in particular to a charging station, that the energy connection is connected to the connecting element, and that the connecting element is designed for energy transfer to the hand cleaning device.

[0056] In a corresponding embodiment of the method, it is provided that the hand cleaning device is supplied with energy by the robot, or that the robot is supplied with energy by the hand cleaning device.

[0057] This allows the robot to power the handheld cleaning device or its functional components. Handheld cleaning devices are often equipped with a relatively small battery or energy storage unit to facilitate handling. The robot in question can thus compensate for the small battery size of the handheld cleaning device, extending the operating time and range of the system, including both the robot and the handheld cleaning device.

[0058] For this purpose, the connecting element for linking to a handheld cleaning device can have a power connection for linking the robot's battery to the power storage device of the handheld cleaning device. Alternatively or additionally, the connecting element for linking to a handheld cleaning device can be configured to transfer energy from a power storage device of the handheld cleaning device to the robot's battery, so that a mutual power supply can take place depending on the charge level of the respective power storage devices or batteries.

[0059] In one embodiment of the robot or system, a dirt storage unit is provided, and a connection is provided for linking the dirt storage unit to a dirt outlet of the hand cleaning device, wherein the connection is designed for transferring dirt from the hand cleaning device to the dirt storage unit.

[0060] In a corresponding embodiment of the method, it is provided that dirt is transferred from the hand-held cleaning device to the robot and stored on the robot.

[0061] This allows the storage capacity for dirt to be expanded, thus extending the range of the system with the handheld cleaning device and the robot.

[0062] The robot's dirt collection system can be designed as an extension of the dirt collection system of the handheld cleaning device. The connection for linking the dirt collection system to a dirt outlet of the handheld cleaning device can be part of the connecting element.

[0063] In one embodiment, it is provided that a cleaning function of the handheld cleaning device is automatically controlled by the robot.

[0064] This allows the cleaning function, implemented by the handheld cleaning device, to be synchronized with the robot's navigation centrally via the robot, for example through its control unit.

[0065] In a specific example, the handheld cleaning device can transmit information, such as battery capacity or charge level, to the robot's control unit via the connection. The robot can then send commands via the connection to the handheld cleaning device to regulate suction power or suction levels. Additionally, the robot's control unit can consider further information, such as sensor data, to determine the control commands for the handheld cleaning device.

[0066] In one embodiment, the hand cleaning device is automatically driven or steered by the robot.

[0067] This allows the system to be used with the robot and the handheld cleaning device for autonomous cleaning. The handheld cleaning device can perform a cleaning function, while the robot can handle navigation, driving, or guiding the handheld cleaning device.

[0068] A wide variety of dynamics and concepts are conceivable for steering, driving, and navigating the hand cleaning device with the robot. Specific examples include steering the hand cleaning device with rotation around its own longitudinal axis and rotating the robot around the hand cleaning device. Movements relative to other reference points or other types of movement, such as translations, are also possible and can be combined.

[0069] In one embodiment, it is provided that a cleaning process is carried out by vacuuming and / or a wet cleaning process.

[0070] This allows for the achievement of a desired cleaning result, depending on the handheld cleaning device used. The connecting element can be designed for multiple handheld cleaning devices with different cleaning functions, which can then be used simultaneously or alternately on the robot. Alternatively or additionally, the connecting element can be designed for connection to a handheld cleaning device that is configured for multiple different cleaning functions, such as simultaneous vacuuming and wet cleaning. Furthermore, the robot's control unit can be designed to control the multifunctional handheld cleaning device and / or the multiple handheld cleaning devices with individual cleaning functions. This increases the robot's versatility.

[0071] Alternatively or additionally, the robot or its connecting element can be designed for automatic exchange of the hand cleaning device. This can be achieved, for example, by the hand cleaning device having an automatically actuated unlocking and / or locking mechanism. Furthermore, the robot can be designed for automatic maneuvering of the hand cleaning device and automatic connection or coupling with another hand cleaning device. Hand cleaning devices that are not currently in use can be carried by the robot in a passive state, during which no cleaning function is performed or activated. Alternatively or additionally, a hand cleaning device that is not currently in use can be stored separately in a stationary magazine.

[0072] Further features and embodiments of the system with the robot and the hand-held cleaning device are disclosed below.

[0073] In one embodiment of the system, the connecting element of the robot and the connecting counterpart of the hand cleaning device are designed for a detachable mechanical connection.

[0074] In one embodiment of the system, the hand cleaning device is provided with a control unit, and the connecting element is provided for a communication link between the control unit of the robot and the control unit of the hand cleaning device.

[0075] In one embodiment of the system, the robot is provided to have a steering device, wherein the steering device is designed to steer the hand cleaning device when the hand cleaning device is connected to the robot by connecting the connecting element to the connecting counterpart element, and wherein the steering device is designed to effect an axial movement and / or a rotational movement of the hand cleaning device relative to the housing of the robot.

[0076] In one embodiment of the system, at least one sensor is provided, and the robot's control device is configured to determine a control signal based on information acquired by the at least one sensor, wherein the control signal is intended for controlling the robot, in particular the drive, battery and / or steering device of the robot, or wherein the control signal is intended for controlling the hand cleaning device.

[0077] In one embodiment of the system, the at least one sensor comprises a sensor arranged on the robot. The arrangement of the at least one sensor on the robot can be selected such that the at least one sensor is unaffected by connecting the robot to the handheld cleaning device.

[0078] In one embodiment of the system, the at least one sensor comprises a sensor arranged on the hand cleaning device.

[0079] The robot's control unit can be configured to determine a control signal based on the received information. Alternatively, the robot's control unit can be configured to transmit the control signal to the control unit of the handheld cleaning device via the connecting element.

[0080] In one embodiment of the system, the handheld cleaning device has a battery, and the robot and the handheld cleaning device share a common battery management system. The control unit of the handheld cleaning device can be configured to manage its battery, the control unit of the robot can be configured to manage its battery, and the control units of the handheld cleaning device and the robot can be configured to synchronize their battery management and the management of the robot's battery.

[0081] In addition, a shared battery management system is provided by the control unit of the handheld cleaning device and the control unit of the robot. Furthermore, the batteries of the robot and the handheld cleaning device can supply power to each other. In one embodiment of the system, a charging station is provided, which is designed to supply power to the robot and / or the handheld cleaning device. For this purpose, the charging station can have one power connection for the robot and one power connection for the handheld cleaning device. Alternatively, the charging station can have a single power connection that is suitable for both the robot and the handheld cleaning device.

[0082] In one embodiment of the system, the hand cleaning device has a dirt outlet, the robot has a dirt reservoir, and the hand cleaning device and the robot each have a connection for linking the dirt reservoir to a dirt outlet, the connection being designed to transfer dirt from the hand cleaning device to the dirt reservoir.

[0083] In one embodiment of the system, the hand cleaning device is provided to have a suction unit and / or means for wet cleaning.

[0084] In one embodiment of the system, the hand-held cleaning device comprises a base unit and at least one attachment unit, and the robot has at least one further connecting element designed for detachable mechanical connection with the at least one attachment unit.

[0085] A computer program with instructions is disclosed, the execution of which by a processor of a control device of a robot according to the present disclosure causes the performance of a procedure according to the present disclosure.

[0086] Further features and advantages of the robot, the system, and the method will become apparent from the following description of exemplary embodiments, with reference to the accompanying drawing. The drawing shows... Fig. 1 an embodiment of a robot; Fig. 2 a first embodiment of a system for cleaning a surface; Fig. 3 a further embodiment of a system for cleaning a surface in a first state and in a second state; Fig. 4 a further embodiment of a system for cleaning a surface; Fig. 5 a further embodiment of a system for cleaning a surface; Fig. 6 an embodiment of navigation of the system from the Fig. 5 in a corner of the room; Fig. 7 an example of movement for the system from the Fig. 5 ; Fig. 8 shows a further embodiment of a navigation system from the Fig. 5 in a corner of the room.

[0087] Fig. 1 Figure 1 shows an embodiment of a robot 100. The robot 100 comprises a housing 102, a drive unit 104, a battery 106, and a control unit 108. Furthermore, a connecting element 110 is provided for connecting it to a handheld cleaning device.

[0088] Fig. 2 Figure 1 shows a first embodiment of a system 200 for cleaning a surface 202. The system 200 comprises a robot 204 with wheels 206, 208 and a hand cleaning device 210 with a handle 212.

[0089] The robot 204 comprises a housing 214, a drive unit 216, a control unit 218, a battery 219, and a connecting element 220. The hand cleaning device 210 comprises a connecting element 222. The connecting element 220 of the robot 204 and the connecting element 222 of the hand cleaning device 210 can be connected to each other.

[0090] Additionally, the robot 204 has a locking element 224 for locking the hand cleaning device 210 to the robot 204. The locking element 224 is designed such that it allows movement of the hand cleaning device 210 relative to the housing 214 of the robot 204, for example, rotation or translation.

[0091] In addition, the robot 204 has a sensor 226 in the form of a LIDAR sensor with a detection field 228. The sensor 226 is arranged on the housing 214 of the robot 204 in such a way that, in the illustrated state of the system, in which the hand cleaning device 210 and the robot 204 are connected to each other via the connecting element 220, detection beyond the hand cleaning device 210 is possible.

[0092] Fig. 3 shows a further embodiment of a system 300 for cleaning a surface 302 in a first state 304 (upper region of the Fig. 3 ) and in a second state 306 (lower area of ​​the Fig. 3 ).

[0093] System 300 comprises a robot 308 and a hand cleaning device 310. The robot 308 includes a housing 312, a drive unit 314, a control unit 316, a battery 317, wheels 318, 320, 322, a first sensor 324 with a first detection field 326, a second sensor 328 with a second detection field 330, and a connecting element 332.

[0094] The hand-held cleaning device 310 comprises a main unit 334, a handle 336, and an attachment 338 with a cleaning unit 340, which is designed for both dry and wet cleaning. The hand-held cleaning device 310 also includes a connecting element 342. The connecting element 332 of the robot 308 and the connecting element 342 of the hand-held cleaning device 310 can be connected to each other.

[0095] The connecting element 332 of the robot 308 has steering devices 344, 346 in the form of telescopically extendable elements, which enable movement of the hand cleaning device 310 relative to the housing 312 of the robot 308. This movement can be accomplished with a rotational component and with a translational component.

[0096] Between the first state 304 of system 300, which is located in the upper area of ​​the Fig. 3 is shown, and the second state 306 of system 300, which is located in the lower region of the Fig. 3 As shown, the steering devices 344, 346 of the robot 308 were at least partially extended and sometimes cause an axial or horizontal movement of the attachment 338 of the hand cleaning device 310 relative to the floor 302. This axial movement corresponds to a distance Δ(348). The magnitude of the distance Δ(348) can be controlled by adjusting the telescopically extendable elements or the steering device. For example, movements of low amplitude or with a relatively small distance Δ(348) can be selected to clean confined spaces.

[0097] The first sensor 324 and the second sensor 328 on the robot 308 are arranged in the extension of the connecting element 332 of the robot 308, so that when the connecting element 332 is moved, the detection fields 326, 330 of the sensors 324, 328 are moved along with it.

[0098] Fig. 4 Figure 4 shows another embodiment of a system 400 for cleaning a surface. The system 400 comprises a robot 402, a hand cleaning device 404, and a charging station 406. The robot 402 and the charging station 406 are each shown with the hand cleaning device 404 in a dashed line to indicate a pickup position.

[0099] The robot 402 has a housing 408, a drive unit 410, a control unit 412, a first connecting element 414 for connection with the hand cleaning device 404 and a second connecting element 416 for connection with the charging station 406 and a battery 418.

[0100] The hand cleaning device 404 has a battery 420, a first connecting element 422 for connection with the robot 402 and a second connecting element 424 for connection with the charging station 406.

[0101] The charging station 406 has a connecting element 426 for connecting to both the robot 402 and the handheld cleaning device 404, as well as a power connection 428 for connecting to the mains power supply. Thus, the charging station 406 is designed to supply power to the robot 402 and the handheld cleaning device 404.

[0102] The robot 402 is configured to automatically dock at the charging station 406 to recharge its battery 318 and also uses the station as a parking space when not in use. Additionally, the handheld cleaning device 404 is designed to be powered by the robot 402, or by the robot 402's battery, to recharge its own battery 320, or to dock at the charging station 406.

[0103] The robot 402, the hand cleaning device 404 and, if applicable, the charging station 406 can have a common battery management system and supply each other with power during a cleaning process in order to achieve optimal operating times.

[0104] Fig. 5 Figure 5 shows a fourth embodiment of a system 500 for cleaning a surface. The system 500 comprises a robot 502 and a hand cleaning device 504.

[0105] The robot 502 has a housing 506, a drive unit 508, a control unit 510, a battery 511, wheels 512, 514 and a connecting element.

[0106] The hand-held cleaning device 504 comprises a main unit 516, a handle 518, and an attachment 520 with a cleaning unit 522, which is designed for both dry and wet cleaning. The hand-held cleaning device 504 has an elongated shape with a longitudinal axis 524 and a connecting element.

[0107] The connecting element of the robot 502 and the connecting element of the hand cleaning device 504 can be connected to each other and due to the design in the Fig. 5 The perspectives shown were not shown.

[0108] The robot 502 has a steering device 526 which enables both a rotation 528 of the hand cleaning device 504 about the longitudinal axis 524 of the hand cleaning device 504 and a rotation 530 of the hand cleaning device 504 to a point 531 or a combination of both rotational movements 528, 530.

[0109] Furthermore, the wheels 512, 514 of the robot 502 are designed for both forward and reverse movement, so that the hand cleaning device 504 can also be moved by the robot 502 with a translational movement 532 relative to the floor. In addition, the wheels 512, 514 of the robot 502 are pivotable, so that the robot 502 can move laterally or perform transverse movements.

[0110] The robot 502 has a first sensor 534 for detecting proprioceptive signals, and the hand cleaning device 504 has a second sensor 536 for detecting exteroceptive signals. The connecting element of the robot 502 and the corresponding connecting element of the hand cleaning device 504 are designed for a communication link through which sensor data from the second sensor 536 can be transmitted to the control unit 510 of the robot 502. Furthermore, the control unit 510 of the robot 502 is configured to create a map of the environment of the system 500 using a SLAM methodology.

[0111] Fig. 6 shows an exemplary embodiment of a Navigation 600 of the System 500 from the Fig. 5 in a room corner 602, where the system and the room corner 602 are shown from a bird's-eye view. The room corner 602 is formed by a first wall section 604 and a second wall section 606.

[0112] In a first movement 608, the robot 502 moves by means of its wheels 512, 514 towards the first wall section 604 and the steering device 526 pivots the hand cleaning device 504 around its longitudinal axis towards the second wall section 606, until the attachment 520 of the hand cleaning device 504 has reached the corner of the room 602.

[0113] In a second movement 610, the robot 502 makes a lateral movement using its wheels 512, 514, so that the attachment 520 of the hand cleaning device 504 is driven along the first wall section 604.

[0114] In a third movement 612, the robot 502 moves backwards using its wheels 512, 514, i.e. in the direction opposite to the first wall section 604, and the steering device 526 swivels the hand cleaning device 504 in the direction opposite to the second wall section.

[0115] In a fourth movement 614, the robot 502 uses its wheels 512, 514 to make a lateral movement towards the second wall section 606, so that the attachment 520 of the hand cleaning device 504 is driven parallel to the path of the second movement.

[0116] Simultaneously with performing the movements described above, a functional unit of the hand cleaning device 504 is operated, for example a suction unit.

[0117] As a result, the floor is dry-cleaned right up to room corner 602.

[0118] Fig. 7 shows a movement example for the system from the Fig. 5 By equipping the robot 502 with swiveling wheels 512 and 514, the robot 502 is able to perform a rotational movement 700 about a pivot point 702 located on the attachment 520 of the hand cleaning device 504. In the specific case where the wheels 512 and 514 are swiveling both clockwise and counterclockwise, the robot 502 can accordingly perform the rotational movement 700 in both directions.

[0119] Fig. 8 shows another embodiment of a Navigation 800 of the System 500 from the Fig. 5 in a corner of room 802, where system 500 and corner of room 802 are shown from a bird's-eye view. Corner of room 802 is formed by a first wall section 804 and a second wall section 806.

[0120] Based on the in the Fig. 8 The illustrated example of a navigation 800 explains the ability of the robot 502 to perform a rotational movement around a rotation point 808, which is located on the attachment device 520 of the hand cleaning device 504.

[0121] In a first movement 810, the robot 502 moves by means of its wheels 512, 514, which are directed parallel to the longitudinal axis 524 of the hand cleaning device 504, in the direction of the first wall section 804, until the attachment 520 of the hand cleaning device 504 reaches the first wall section 804.

[0122] In a second movement 812, the robot 502 performs a rotational movement around a point on the attachment 520 until the system is arranged such that the longitudinal axis 524 of the hand cleaning device 504 is essentially parallel to the first wall section 804. For this purpose, the wheels 512, 514 of the robot 502 are pivoted clockwise (in the illustrated bird's-eye view).

[0123] In a third movement 814, the robot 502 moves forward with the wheels 512, 514 parallel to the longitudinal axis 524 of the hand cleaning device 504, until the attachment 520 reaches the corner of the room 802 to the second wall section 806.

[0124] In a fourth movement 816, the robot 502 performs a rotational movement around the point on the attachment 520 until the system is arranged such that the longitudinal axis 524 of the hand cleaning device 504 is essentially parallel to the second wall section 806. For this purpose, the wheels 512, 514 of the robot 502 are pivoted counterclockwise (in the illustrated bird's-eye view).

[0125] In a fifth movement 818, the robot 502 moves in reverse with the wheels 512, 514 parallel to the longitudinal axis 524 of the hand cleaning device 504, until the attachment 520 has moved away from the corner of the room 802 and along the second wall section 806.

[0126] As a result, the floor is dry-cleaned right up to the corner of room 802.

[0127] The movements, which are based on the Fig. 6 and 8 As explained above, the robot 502's control unit 510 controls the movements. This control is based, in part, on a map of the environment created using the SLAM methodology described above. This allows the robot to determine where the movements should begin and end in order to drive or steer the hand-held cleaning device 504 relative to the wall sections 804 and 806. Overall, a navigation route can be calculated using the map created with the SLAM methodology, thus enabling automated cleaning planning and execution.

Claims

1. Robot (100, 204, 308, 402, 502) - with a housing (102, 214, 312, 408, 506), - with a drive unit (104, 216, 314, 410, 508), - with a battery (106, 219, 317, 418, 511) and - with a control unit (108, 218, 316, 412, 510), characterized by - that a connecting element (110, 220, 332, 414) is provided for connection to a hand cleaning device (210, 310, 404, 504).

2. Robot (100, 204, 308, 402, 502) according to claim 1, characterized by - that the connecting element (110, 220, 332, 414) is designed for a detachable mechanical connection with the hand cleaning device (210, 310, 404, 504).

3. Robot (100, 204, 308, 402, 502) according to any one of the preceding claims, characterized by - that the connecting element (110, 220, 332, 414) is provided for a communication connection with the hand cleaning device (210, 310, 404, 504).

4. Robot (100, 204, 308, 402, 502) according to any one of the preceding claims, characterized by - that a steering device (344, 346, 526) is provided, - wherein the steering device (344, 346, 526) is designed to steer the hand cleaning device (210, 310, 404, 504) connected to the connecting element (110, 220, 332, 414), and - that the steering device (344, 346, 526) is designed to effect at least one axial movement and / or at least one rotational movement (528, 530, 700) of the hand cleaning device (210, 310, 404, 504) relative to the housing (102, 214, 312, 408, 506).

5. Robot (100, 204, 308, 402, 502) according to any one of the preceding claims, characterized by - thatthe control device (108, 218, 316, 412, 510) is configured to determine a control signal based on information acquired by at least one sensor (226, 324, 328, 534, 536), - wherein the control signal is intended for controlling the drive system (104, 216, 314, 410, 508), the battery (106, 219, 317, 418, 511) and / or the steering device (344, 346, 526), ​​or for controlling the hand cleaning device (210, 310, 404, 504).

6. Robot (100, 204, 308, 402, 502) according to any one of the preceding claims, characterized by - that an energy connection is provided for connection to an energy source, in particular to a charging station (406), - that the energy connection is connected to the connecting element (110, 220, 332, 414), and - that the connecting element (110, 220, 332, 414) is designed for energy transfer to the hand cleaning device (210, 310, 404, 504).

7. Robot (100, 204, 308, 402, 502) according to any one of the preceding claims, characterized by - that a dirt storage area is provided, - that a connection is provided for connecting the dirt storage unit to a dirt outlet of the hand cleaning device (210, 310, 404, 504), wherein the connection is designed for transferring dirt from the hand cleaning device (210, 310, 404, 504) to the dirt storage unit.

8. System (200, 300, 400, 500) for cleaning a surface (202, 302), - comprising a robot (100, 204, 308, 408, 506) having a housing (102, 214, 312, 408, 506), a drive unit (104, 216, 314, 410, 508) and a control unit (108, 218, 316, 412, 510), in particular comprising a robot (100, 204, 308, 402, 502) according to one of claims 1 to 7 and - comprising a hand cleaning device (210, 310, 404, 504), characterized by - that the robot (100, 204, 308, 402, 502) has a connecting element (110, 220, 332, 414), - that the hand cleaning device (210, 310, 404, 504) has a connecting element (222, 342, 422), and - that the connecting element (110, 220, 332, 414) and the connecting counterpart element (222, 342, 422) can be connected to each other.

9. Method for operating a system for cleaning a surface, in particular a system (200, 300, 400, 500) for cleaning a surface (202, 302) according to claim 8, characterized by - that a handheld cleaning device (210, 310, 404, 504) and a robot (100, 204, 308, 402, 502) can be connected together, - that the hand cleaning device (210, 310, 404, 504) is automatically controlled by the robot (100, 204, 308, 402, 502).

10. Method according to claim 9, characterized by - that a cleaning function of the hand cleaning device (210, 310, 404, 504) is automatically controlled by the robot (100, 204, 308, 402, 502).

11. Method according to claim 9 or 10, characterized by- that the hand cleaning device (210, 310, 404, 504) is automatically driven or steered by the robot (100, 204, 308, 402, 502).

12. Method according to any one of claims 9 to 11, characterized by - that information obtained by a sensor (226, 324, 328, 534, 536) is received, - that a control signal is determined by the robot (100, 204, 308, 402, 502) based on the received information, wherein the control signal is intended for controlling the robot (100, 204, 308, 402, 502), in particular a drive unit (104, 216, 314, 410, 508), a battery (106, 219, 317, 418, 511) and / or a steering device (344, 346, 526) of the robot (100, 204, 308, 402, 502), or for controlling the hand cleaning device (210, 310, 404, 504), and - that the control signal is taken into account during the automatic control of the hand cleaning device (210, 310, 404, 504) by the robot (100, 204, 308, 402, 502).

13. Method according to any one of claims 9 to 12, characterized by - that the hand cleaning device (210, 310, 404, 504) is powered by the robot (100, 204, 308, 402, 502), or - that the robot (100, 204, 308, 402, 502) is powered by the hand cleaning device (210, 310, 404, 504).

14. Method according to any one of claims 9 to 13, characterized by - that Dirt is transferred from the hand cleaning device (210, 310, 404, 504) to the robot (100, 204, 308, 402, 502) and stored on the robot (100, 204, 308, 402, 502).

15. Method according to any one of claims 9 to 14, characterized by - that A cleaning process is carried out by vacuuming and / or a wet cleaning process.

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