Cleaning apparatus, base apparatus for cleaning apparatus, and cleaning system

Abstract

The present invention relates to a basic unit (1) for a cleaning device (2), comprising at least one housing (3), at least one control unit (4), and at least one drive unit (5), wherein the basic unit (1) is designed and configured to move autonomously in a cleaning environment (6). A basic unit with increased functionality and efficient cleaning task performance is achieved by providing at least one work module interface (7) for connection to at least one work module (8), and by designing and configuring the control unit (4) to influence at least one movement parameter of the basic unit (1), at least during movement in the cleaning environment (6), depending on a work module connected to the work module interface.

Description

[0001] The invention relates to a cleaning device, a base unit for a cleaning device, and a cleaning system. The base unit for a cleaning device comprises at least one housing, at least one control unit, and at least one drive unit. The base unit, in particular, includes a first cleaning tool or is designed without a cleaning tool. The base unit is designed and configured to move autonomously within a cleaning environment. Furthermore, the invention relates to a cleaning system comprising at least one first base unit of an autonomous cleaning device, at least one second base unit of a handheld cleaning device, and at least one working module.

[0002] Handheld and autonomous cleaning devices, as well as base units for such cleaning devices, are known in the prior art in a multitude of configurations. Autonomous cleaning devices, or their base units, are advantageously designed to move autonomously within a cleaning environment and perform cleaning tasks. Examples of autonomous cleaning devices include robotic vacuum cleaners, robotic mops, and robotic vacuum and mop units. Typically, such autonomous cleaning devices have at least one control unit that uses multiple sensors to ensure navigation of the cleaning device within the work environment and to control the execution of cleaning tasks.

[0003] However, the cleaning devices and basic equipment known from the state of the art often have the disadvantage that the range of functions with regard to the cleaning tasks to be performed is limited and a user has to have several cleaning devices available for different cleaning tasks.

[0004] The present invention is therefore based on the objective of providing a basic unit for a cleaning device, a cleaning device and a cleaning system, in which the range of functions is increased and the efficient completion of cleaning tasks is ensured.

[0005] The aforementioned problem is solved in a basic device according to the preamble of claim 1 with the features of the characterizing part of claim 1, namely in that the basic device has at least one working module interface for connecting to at least one working module. The control unit is designed and configured to influence at least one movement parameter of the basic device during movement in the cleaning environment as a function of a working module coupled to the working module interface.

[0006] The aforementioned problem is further solved in a cleaning device according to the preamble of claim 3 with the features of the characterizing part of claim 3, namely in that the basic device has at least one working module interface, and that at least one working module can be detachably connected to the working module interface.

[0007] The basic unit according to claims 1 and 3 is a basic unit of an autonomous cleaning device, which can also be referred to as the first basic unit or basic unit of the first type.

[0008] Furthermore, the aforementioned problem is solved with a cleaning system comprising at least a first basic unit of an autonomous cleaning device, at least a second basic unit of a hand-held cleaning device and at least one working module, according to claim 5.

[0009] Within the scope of the invention, it is provided both that the basic unit, in particular the first basic unit and / or the second basic unit, has a first cleaning tool, for example a suction unit or a cleaning brush, and that the basic unit, in particular the first basic unit and / or the second basic unit, does not have its own cleaning tool, and is therefore advantageously designed without a cleaning tool. The first basic unit and / or the second basic unit in particular has at least one energy storage device.

[0010] The first basic unit comprises a housing with at least one drive unit. The drive unit includes, for example, at least two drive wheels with which the control unit can propel the basic unit. The drive wheels are preferably arranged on the underside of the housing. In particular, the housing has at least one or exactly two support rollers to support the housing on the surface of the cleaning environment. Furthermore, the first basic unit has at least one sensor unit with which environmental data can be acquired. For example, the environmental data can be used for navigation.

[0011] It is also preferably intended that the housing of the first basic device is designed in the form of a humanoid or animaloid robot.

[0012] The second base unit comprises at least one housing with at least one handle. The handle is positioned so that it can be used to handle the base unit or the cleaning device, for example, to move it across a surface within the cleaning environment. For example, the housing of the second base unit has the shape of a handheld vacuum cleaner. In particular, the second base unit is provided to have at least one control unit. The control unit allows, for example, the control of functions of a work module and / or the evaluation of data transmitted by the work module, such as sensor data.

[0013] The control unit of the first and / or second base unit comprises, for example, at least one data processing unit with at least one processor and, in particular, non-volatile memory. The control unit of the first base unit is designed and configured to control the movement of the base unit or the cleaning device within a cleaning environment. Preferably, the first and / or second base unit has at least one data interface. The data interface is preferably a wireless interface, such as Bluetooth or WLAN.

[0014] The housing of the first basic unit and / or the second basic unit has at least one working module interface. The working module interface has, for example, at least one electrical interface, e.g., with at least two contacts. In particular, the working module interface has at least one mechanical interface for mechanical connection to the working module. The mechanical interface is designed, for example, for, in particular, automatic, locking and / or magnetic coupling. In particular, the working module interface is designed for positive-locking interaction with the mating interface. Preferably, the working module interface and / or the mating interface have mechanical coding means to allow assembly for specific combinations of working modules and basic units. Connecting a basic unit results, in particular, in an extension of the basic form of the basic unit.

[0015] The work module interface is located on the housing and / or at least partially or completely within the housing. A work module that can be coupled to the work module interface, for example, has a work module housing. The work module has at least one mating interface for coupling to a work module interface. Advantageously, the mating interface has at least one electrical mating interface and / or at least one mechanical mating interface. In particular, it is provided that the work module has at least one work module interface for coupling another work module to a work module. It is then provided that, for example, two work modules can be coupled to a first basic unit or to a second basic unit.

[0016] For example, the work module has at least one energy storage device and / or at least one drive unit. The drive unit of the work module serves, in particular, to enable the work module to move autonomously within the cleaning environment. For example, the work module is designed to move towards the base unit for connection. The drive unit of the work module has, for example, at least two drive wheels or two drive belts. The energy storage device serves, for example, to operate the tool or cleaning tool of the work module and / or to operate a drive unit of the work module. If the work module has its own energy storage device, this has the advantage that the energy storage devices in multiple work modules can be charged separately. This allows different work modules to be used in quick succession.It is also specifically intended that the energy storage of the working module will be used wholly or partially to supply energy to the first and / or second basic unit.

[0017] The work module has, for example, at least or exactly one support element, e.g., at least one support roller, to be supported against a surface in the cleaning environment.

[0018] However, it is also possible for a work module to be held at a distance from the ground by the base unit or to be guided on the ground. Power transmission then occurs, for example, via the work module interface.

[0019] Preferably, the work module comprises at least one tool, in particular at least one cleaning tool. The cleaning tool is, for example, a suction unit, at least one brush, in particular a rotating brush, or at least one wiping cloth, in particular with a holder for a wiping cloth. For example, a work module comprises work module sensors, such as distance sensors and / or tilt sensors.

[0020] According to the invention with respect to claim 1 or as an embodiment of claim 3, the control unit of the first basic device is designed and configured to influence at least one movement parameter of the basic device during movement in the cleaning environment, depending on a work module coupled to the work module interface. Preferably, independent movement parameters are used by the control unit for each work module.

[0021] For example, the control unit automatically recognizes a work module connected to the work module interface, or a specific type of work module connected to the work module interface, and at least one driving parameter is influenced or adjusted. For instance, modified navigation may be necessary if the external shape of the base module or the cleaning device has changed, requiring, for example, a modified corner navigation.

[0022] According to one embodiment, the movement parameter is preferably a movement speed. In particular, the movement speed is reduced or increased depending on the working module. For example, a maximum speed is stored for each working module. Alternatively or additionally, the influenced driving parameter is a driving behavior of the base unit or the cleaning unit around obstacles, especially corners. For example, corner areas are approached with a different radius, or the turning behavior of the base unit is adjusted.Alternatively or additionally, it is also provided that driving behavior on steps in the cleaning environment and / or the approach angle to steps and obstacles and / or the size of restricted zones in the vicinity of the base unit and / or at least one threshold value for a safety distance to be maintained and / or at least one threshold value for at least one sensor value are influenced as driving parameters. If the movement parameter is, for example, the change of a threshold value for at least one sensor value, this can include increasing or decreasing a standard distance to an obstacle depending on the working device.

[0023] According to the invention, it has been recognized that for efficient cleaning, it is advantageous if the driving behavior of the cleaning device is specifically adapted to the working module or the tool provided in the working module, in particular the cleaning tool. The control unit therefore adjusts at least one driving parameter depending on the coupled working module. For example, a different driving speed is required for a cleaning process with a wiping unit than for a cleaning process with a vacuum unit.

[0024] According to the invention, it has also been recognized that cleaning devices with a first basic unit, which already includes at least one first cleaning tool, can be further developed by providing the basic unit with at least one working module interface, and by enabling at least one working module to be detachably connected to, or being detachably connected to, the working module interface. The first basic unit already includes a first cleaning tool, for example, a cleaning brush and / or a suction unit. According to the invention, the range of functions of such a cleaning device with a first basic unit can be increased by means of a working module interface. The additional cleaning tool of the working module can, for example, influence the cleaning performance or the cleaning quality of the cleaning device. Furthermore, additional or different cleaning tasks can be performed.

[0025] For example, a work module with another suction unit, perhaps with a different filter category, can be attached to a cleaning device with a primary unit that already has a suction unit, in order to achieve better suction results. Alternatively, it is possible to connect another work module with an additional brush or a tool specifically designed for a particular surface in the cleaning environment, such as a polishing tool. The work module interface of the primary unit is designed as described.

[0026] The cleaning system according to the invention comprises at least one first basic unit of an autonomous cleaning device, at least one second basic unit of a handheld cleaning device, and at least one working module. It is also provided that, instead of the first basic unit, a cleaning device with a first basic unit, in particular according to claim 3, is included. The first basic unit and / or the second basic unit are configured as described. The first basic unit comprises, in particular, at least one housing, at least one control unit, and at least one drive unit. The first basic unit is designed for autonomous movement in a cleaning environment. If the first basic unit has a cleaning tool, it is also designed, in particular, for performing cleaning tasks. The first basic unit and the second basic unit each have at least one working module interface. This allows the working module to be connected to the second basic unit.A variety of different work modules can be coupled both with the work module interface of the first basic unit to create an autonomous cleaning device and with the work module interface of the second basic unit to create a hand-held cleaning device.

[0027] This dual-use capability offers the user the advantage that only one base unit and a limited number of work modules are required to perform a variety of cleaning tasks or to expand and modify the functionalities of the cleaning system using a multitude of work modules. The work modules are designed for use with both autonomous cleaning devices and handheld cleaning devices such as attachments. As previously described, it is specifically intended that the first and / or second base unit may not include a cleaning tool, or that the first and / or second base unit may include at least one cleaning tool, so that a second cleaning tool is provided by the work module.

[0028] The cleaning system offers the advantage that the work modules compatible with the second base unit for a handheld cleaning device are also compatible with the first base unit for an autonomous cleaning device, so that a single work module can be used to assemble both a handheld cleaning device and an autonomous cleaning device. Preferably, the cleaning system comprises a variety of different work modules.

[0029] It has proven particularly advantageous with regard to the described cleaning devices or cleaning system if the base unit, in particular the first base unit and / or the second base unit, is provided with at least one suction motor and / or at least part of a suction channel and / or at least one cleaning brush and / or an energy storage device and / or at least one dirt collection container and / or at least one filter. Alternatively or additionally, at least one sensor unit and / or at least one drop sensor is arranged, particularly in the first base unit. For example, the work module interface has an interface for a suction channel, so that, for example, dirt collected by a work module can be transferred to a dirt collection container in the base unit or to a filter in the base unit.

[0030] Furthermore, the navigation of an autonomous cleaning device with an attached work module may require the use of additional sensors or a sensor unit. According to the invention, such sensor units or sensors, for example, a fall sensor, are therefore arranged in the work module. These are then only connected to the control unit of the base device, for example via the work module interface, when they are actually required. The presence of the sensors allows the control unit of the base device to recognize, for example, that navigation taking into account data from the additionally identified sensors is necessary.

[0031] According to a further embodiment of the base unit, the cleaning device, and the cleaning system, the control unit is designed and configured to control the base unit, in particular the first base unit, such that the base unit covers the same area in the cleaning environment with a first working module and then with a second working module. The first working module is, for example, a working module with a vacuum unit, and the second working module is, for example, a working module with a mopping unit. The control unit preferably controls the automated connection and disconnection of the first and second working modules at the working module interface. Furthermore, the control unit controls the cleaning device in the cleaning environment in such a way that the same area is first vacuumed and then mopped.For example, it is envisaged that the area is traversed by the first work module and by the second work module using an identical or a different cleaning path. Preferably, it is envisaged that position data is recorded while the area is traversed by the first work module, and that this position data is then used for navigation when traversing the area with the second work module.

[0032] To increase the stability of the cleaning device during use, a further embodiment of the basic unit, the cleaning device, or the cleaning system provides that the working module independently supports itself against the surface of the cleaning environment during operation. The working module preferably has at least one support element that rests against the surface during use. For example, the support element is designed as a support roller or support wheel. Preferably, at least or exactly two, or at least or exactly three, or at least or exactly four support elements are provided.

[0033] In a further embodiment of the basic device, cleaning device, or cleaning system, it is particularly preferred that the working module comprises at least one cleaning tool, for example, a suction unit and / or a wiping unit and / or an air purifier and / or a polishing unit and / or an actuating unit with gripping arms and / or manipulators. It is also particularly preferred that the working module be configured as an air humidifier and / or room fragrance unit.

[0034] Furthermore, it is specifically provided that a work module includes a tool for edge cleaning, a baseboard cleaner, a blower unit for blowing out corners, or another cleaning tool. Preferably, the basic unit or the work module has at least one blow-out area from which air flows during operation. In particular, it is provided that an air deflector is arranged or formed at the blow-out area, e.g., to blow out corners.

[0035] The basic device, the cleaning device, or the cleaning system can be further developed by including a working module designed as a wiping unit with at least one carrier plate for a cleaning cloth, in particular with a cleaning cloth, and at least one tank for cleaning fluid. Preferably, at least one fluid channel is provided through which cleaning fluid can be conveyed from the tank to the cleaning cloth. Preferably, the working module also includes at least one energy storage device and / or at least part of a suction channel.

[0036] A working module designed as a suction unit for a base unit, a cleaning device, or a cleaning system comprises at least a portion of a suction channel and at least one cleaning brush. The cleaning brush is preferably rotatable, for example, by means of at least one electric motor. Preferably, the cleaning brush is height-adjustable within the working module. The portion of the suction channel is connected, for example, to the working module interface, allowing the suction channel to be connected to the suction channel of a base unit. For example, the suction channel interacts with at least one suction motor arranged in the working module and / or in the base unit. In particular, the working module is provided to have at least one dirt collection container and / or at least one energy storage device.

[0037] Another embodiment of the base unit, cleaning device, or cleaning system provides that the work module interface has at least one electrical interface, particularly for supplying power to the work module, and / or that the work module interface has at least one data and / or signal interface. The electrical interface allows, for example, the transmission of an operating voltage from the base unit to the work module. The electrical interface is designed, for example, as a contact-based or inductive interface. The data and / or signal interface is designed, for example, as a contact-based interface, such as contact pads or connectors. Alternatively or additionally, the data and / or signal interface is designed as a wireless interface.

[0038] In particular, the connection to a base unit can be simplified according to a further embodiment of the base unit, cleaning device, or cleaning system by locating the work module interface in a side wall area, especially on an outer surface, of the base unit's housing. Specifically, the mating interface of the work module is also located in a side wall area of ​​the work module housing. This allows the base unit, especially the first and / or second base unit, to move towards the work module on the surface of the cleaning environment and connect to it, particularly automatically, as it approaches. For example, the cleaning device housing has a substantially U-shaped recess in which the work module can be at least partially or completely accommodated. The work module interface is located in this recess.

[0039] Alternatively, the work module interface is provided that it is located at least partially or completely on an inner surface of the housing or at least partially or completely within the housing. For example, the base unit, in particular the first base unit and / or the second base unit, has at least one recess into which the work module, which, for example, has the form of an insert cassette, can be inserted. The work module interface is located in the recess. Preferably, the work module can be inserted into the base unit from a top surface, preferably at an angle between 20° and 90° to a top surface of the base unit. For example, the housing of the base unit has a closed frame into which the work module can be inserted.Preferably, the recess extends completely through the housing from top to bottom, allowing the working module to pass through the housing and operate on the underside, for example with a cleaning tool. Such a working module is advantageously usable, particularly manually, as part of the cleaning system in a first or second base unit.

[0040] It is particularly preferred that the work module interface is arranged on the front or rear of the housing in one direction of movement of the base unit, in particular the first base unit and / or the second base unit. In this way, the work module can operate in a forward or backward direction during a cleaning step.

[0041] Another embodiment of the base unit, cleaning device, or cleaning system provides that the control unit is designed and configured to cause the base unit, in particular the first base unit, to approach at least one work module for connection at the work module interface. Preferably, the work module has a detection means, for example, an optical detection means or a radio detection means, which can be used by the base unit to determine its position and / or orientation. Preferably, the work module interface is designed such that at least a mechanical connection is established when the base unit approaches the work module or vice versa. Preferably, the control unit is designed and configured to detect the work module in the cleaning environment.In particular, the work module has a drive unit and is designed and equipped to move towards the base unit, at least from a base station.

[0042] The invention further relates to a base with an interface for receiving the base unit and for receiving at least two working modules. In this way, the working modules can be charged separately from the base unit, and the working module can extend from the base to connect with any working module stored in the base.

[0043] Furthermore, the invention relates to a method for operating a basic unit of an autonomous cleaning device, particularly according to one of the described embodiments. The method comprises at least the steps of recognizing a working module and influencing at least one or a plurality of driving parameters by the control unit.

[0044] Unless explicitly excluded, the specifications for the configuration of a basic unit, a working module or a working module interface apply to all variants of basic units, in particular to the first basic unit and the second basic unit, as well as to all working modules and working module interfaces.

[0045] Further advantageous embodiments of the invention will become apparent from the following description of the figures and the dependent subclaims.

[0046] They show: Fig. 1 shows an embodiment of a basic unit of an autonomous cleaning device with one working module in a perspective view; Fig. 2 shows another embodiment of a basic unit of an autonomous cleaning device with two working modules in a side view; Fig. 3a shows an embodiment of a cleaning system in an uncoupled state; Fig. 3b shows an embodiment of a cleaning system in a coupled state; Fig. 4 shows another embodiment of a basic unit of an autonomous cleaning device with one working module in a side view; Fig. 5 shows an embodiment of a basic unit of a manual cleaning device with one working module in a side view; Fig. 6 shows an embodiment of a working module in a side view; and Fig. 7 shows an embodiment of a method as a schematic sequence.

[0047] In the various figures of the drawing, identical parts are always labelled with the same reference symbols.

[0048] The following description claims that the invention is not limited to the exemplary embodiments and not to all or several features of the described combinations of features; rather, each individual partial feature of the exemplary embodiment(s) is also significant for the subject matter of the invention, independent of all other partial features described in connection therewith, both on its own and in combination with any features of another exemplary embodiment.

[0049] Fig. 1 Figure 1 shows an embodiment of a basic unit 1, which can be combined with a working module 8, also shown, to form an autonomous cleaning device 2. The basic unit 1 is a first basic unit 1. The basic unit 1 has a housing 3, a control unit 4, and a drive unit 5. In this embodiment, the drive unit 5 has two drive wheels. The basic unit 1 is designed and configured to move autonomously within a cleaning environment 6. The basic unit 1 has a working module interface 7 to which a working module 8 can be attached. The working module 8 has a corresponding interface 9. The working module interface 7 and the corresponding interface 9 are designed such that a mechanical, an electrical, and a data connection is established between the basic unit 1 and the working module 8.In this embodiment, the cleaning tool 12 of the working module 8 is designed as a wiping unit with a carrier plate 10 for a cleaning cloth. The basic unit 1 according to . Fig. 1 It does not have its own cleaning tool. To control autonomous movement in the cleaning environment 6, the basic unit 1 has a sensor unit 26 with which environmental data can be acquired.

[0050] The control unit 4 of the base unit 1 is designed and configured to influence at least one movement parameter of the base unit 1 during movement in the cleaning environment 6, depending on the work module 8 connected to the work module interface 7. For this purpose, the... Fig. 6 The schematically depicted procedures are carried out. First, the control unit 4 detects 101 a work module 8 connected to the work module interface 7 or the type of connected work module 8. Subsequently, the control unit 4 influences 102 or changes at least one movement parameter, e.g., driving behavior at corners or obstacles.

[0051] Fig. 2 shows a further embodiment of a basic unit 1 - a first basic unit 1 - for an autonomous cleaning device 2 (see e.g. Fig. 3b ) as well as two different working modules 8. The basic unit 1 comprises a housing 3, a control unit 4, and a drive unit 5. The housing 3 is supported on the surface by two support elements 18, here support rollers. Furthermore, the basic unit 1 comprises a first cleaning tool 11, here in the form of a suction unit with a suction motor 19, part of a suction channel 20, a

[0052] The basic unit 1 includes a dirt collection container 21 and a cleaning brush 11. It has an energy storage device 22, in this case a battery. The basic unit 1 is designed and configured to move autonomously within a cleaning environment 6 and to perform cleaning tasks. The basic unit 1 has at least one work module interface 7, to which a work module 8 can be detachably connected with a corresponding interface 9.

[0053] Fig. 2 shows two different work modules 8, each with a corresponding counterpart interface 9 to the work module interface 7, as well as a second cleaning tool 12. This is in accordance with Fig. 2 The upper working module 8 has a cleaning tool 12, here in the form of a carrier plate 10 with a cleaning cloth 10a attached to it. In its assembled state, the working module 8 is held by the base unit 1 and guided over the surface with the cleaning cloth 10a. A second working module 8 – according to Fig. 2 Below, a second cleaning tool 12 in the form of a polishing brush is shown. The working module 8 is supported independently on a surface in the cleaning environment 6 by four support elements 13, in this case support rollers.

[0054] Fig. 3a and Fig. 3b show an embodiment of a cleaning system 13, which includes a first basic unit 1 of an autonomous cleaning device 2 - such as also according to Fig. 1 - , a second basic unit 14 of a hand-held cleaning device 15 as well as a plurality of different working modules 8. Fig. 3a shows the elements of cleaning system 3 in their unconnected state, Fig. 3b Figure 1 shows the basic units 1, 14 connected to cleaning units 2, 15, each with a working module 8. In cleaning unit 15, the working module 8 therefore forms the attachment of a hand cleaning unit.

[0055] The first basic unit 1 comprises – as already described for the further embodiments – a housing 3, a control unit 4, a drive unit 5, a support element 18, and a sensor unit 26. The first basic unit 1 is designed and configured to move autonomously within a cleaning environment 6 and to perform cleaning tasks. In this embodiment, the first basic unit 1 does not have its own cleaning tool. However, it is preferably also provided that the first basic unit has a first cleaning tool 11, which, for example, as in Fig. 2 The first basic unit 1 and the second basic unit 14 each have a working module interface 7, which is designed for connection to a counterpart interface 9 of the respective working module 8.

[0056] Due to the identical work module interface 7, both the first basic unit 1 and the second basic unit 14 can be connected to a work module 8. This dual usability of work modules 8 represents an advantage over the prior art. The first basic unit 1 is designed and configured to autonomously approach a work module 8 located in a base station 16 and to couple the work module interface 7 with the counterpart interface 9, in particular by proximity.

[0057] The second base unit 14 can be manually moved by a user to the respective work module 8 in order to connect a work module 8 at the work module interface 7. In this embodiment, the second base unit 14 has a handle 17 and a support element 18 in the form of a support roller, which rests on a surface. The work module 8 on the two base units 1, 14 according to Fig. 3b is guided over the substrate only by means of the cleaning cloth 10a, otherwise force is transmitted via the working module interface 7 to the basic unit 1,14.

[0058] According to Fig. 3a The three work modules 8a, 8b, and 8c each have different cleaning tools 12. The first work module 8a has a cleaning tool 12 designed as a suction unit, for example with a suction channel, a suction motor, a dirt collection container, and an energy storage device 22. The second work module 8b has a cleaning tool 12 in the form of a wiping unit with a cloth carrier 10 and a cleaning cloth 10a – see also Fig. 2 The cleaning cloth 10a is connected to a tank 24 for cleaning fluid via a fluid channel 23 and can thus be moistened. The third working module 8c has an air purification unit as its cleaning tool 12. An additional fall sensor 27 is arranged on the underside of the working module 8c. The data from the fall sensor 27 can be transmitted to the base unit 1,14 via the counterpart interface 9 and the working module interface 7, so that a control unit 4 of the base unit 1,14 can process this data.

[0059] In the exemplary embodiments of the Fig. 1, 2 , 3a and 3b The working module interface 7 is always located in a side wall area 25 on an outer surface of the housing 3. The mating interfaces 9 are also located in side wall areas.

[0060] Fig. 4 Disclosing an embodiment of a base unit 1 with a working module 8, which can be assembled to form an autonomous cleaning unit 2, the working module interface 7 is formed in a recess in the housing 3, allowing a working module 8 to be inserted into the housing 3 from above. The working module 8 is designed as an insert cassette. When inserted, the working module 8 with the cleaning tool 12 extends through the housing 3 of the base unit 1 and can interact with the cleaning environment 6 at the underside of the housing 3. The first base unit 1 with the working module 1 can be combined with the second base unit 14 according to the Fig. 5 a cleaning system 13 according to Fig. 3a and 3b form. The work module 8 according to Fig. 4 und 5 can be used in both a first basic unit 1 and a second basic unit 14.

[0061] Fig. 5 discloses a second basic unit 14 of a hand-held cleaning device 15. The basic unit 14 has the features already described in relation to Fig. 3a and 3b The working module 8 has been described previously, and reference is made to this description. The working module 8 can be manually inserted from above into a recess in the housing 3 and connects to the working module interface 7 located in the recess. When inserted, the working module 8, with the cleaning tool 12, extends through the housing 3 of the base unit 14 and can interact with the cleaning environment 6 on the underside of the housing 3. The working module 8 has an energy storage device 22.

[0062] Fig. 6 Figure 1 shows an embodiment of a work module 8 with a cleaning tool 12. The work module 8 has a mating interface 9. Unlike the previously described embodiments of work modules 8, this work module 8 has a work module interface 7 for connection to another work module 8. Both work modules 8 can then be connected to a base unit 1 or a base unit 14.

[0063] Fig. 7 Figure 100 shows the schematic flow of a process 100, which is carried out, for example, by the control unit 4 of a base unit 1. The process 100 serves to operate a base unit 1 of an autonomous cleaning device 2, particularly according to one of the described embodiments. The process 100 comprises at least the steps of recognizing 101 a working module and influencing 102 at least one or more driving parameters by the control unit 4. For details of the process, reference is made to the descriptions of this functionality of the base unit.

[0064] The invention is not limited to the embodiments illustrated and described, but also encompasses all embodiments that have the same effect within the meaning of the invention. It is expressly emphasized that the embodiments are not limited to all features in combination; rather, each individual feature can have inventive significance independently of all other features. Furthermore, the invention is not yet limited to the combination of features defined in claim 1, but can also be defined by any other combination of specific features from all disclosed individual features.

[0065] This means that, in principle, virtually any individual feature of claim 1 can be omitted or replaced by at least one individual feature disclosed elsewhere in the application. Bezugszeichenliste

[0066] 1 First base unit 2 Autonomous cleaning unit 3 Housing 4 Control unit 5 Drive unit 6 Cleaning environment 7 Working module interface 8 Working module 9 Counter interface 10 Carrier plate 10a Cleaning cloth 11 First cleaning tool 12 Second cleaning tool 13 Cleaning system 14 Second base unit 15 Handheld cleaning unit 16 Base station 17 Handle 18 Support element 19 Suction motor 20 Suction channel 21 Dirt collection container 22 Energy storage 23 Fluid channel 24 Tank 25 Side wall area 26 Sensor unit 27 Fall sensor 100 Method 101 Detect 102 Influence

Claims

1. Basic unit (1) for a cleaning device (2), comprising at least one housing (3), at least one control unit (4) and at least one drive unit (5), wherein the basic unit (1) is designed and configured to move autonomously in a cleaning environment (6), characterized by the fact that at least one work module interface (7) for connecting to at least one work module (8) is available, and the control unit (4) is designed and configured to influence at least one movement parameter of the basic unit (1) at least during movement in the cleaning environment (6) depending on a work module (8) coupled to the work module interface (7) (102).

2. Basic device (1) according to claim 1, characterized by the fact thatthe movement parameter is a driving speed, driving behavior at obstacles, especially at corners, driving behavior at steps, an approach angle at steps and obstacles, the size of restricted areas in the vicinity of the basic unit (1), at least one threshold value for a safety distance to be maintained and / or at least one threshold value for at least one sensor value.

3. Cleaning device (2) comprising at least one basic unit (1), wherein the basic unit (1) comprises at least one housing (3), at least one control unit (4), at least one drive unit (5) and at least one first cleaning tool (11), wherein the basic unit (1) is designed and configured to move autonomously in a cleaning environment (6), characterized by the fact that the basic unit (1) has at least one working module interface (7), and at least one working module (8) can be detachably connected to the working module interface (7).

4. Cleaning device (2) according to claim 3, characterized by the fact that at least one work module (8) is detachably connected at the work module interface (7), and the work module (8) has at least one second cleaning tool (12).

5. Cleaning system (13) comprising at least one first basic unit (1) of an autonomous cleaning device (2), at least one second basic unit (14) of a hand-held cleaning device (15) and at least one working module (8), wherein the first basic unit (1) comprises at least one housing (3), at least one control unit (4) and at least one drive unit (5), wherein the first basic unit (1) is designed and configured to move autonomously in a cleaning environment (6), and wherein the first basic unit (1) and the second basic unit (14) each have at least one working module interface (7) for connecting to the working module (8), such that the working module (8) can be coupled to the working module interface (7) of the first basic unit (1) and the second basic unit (14).

6. Cleaning device (2) or cleaning system (13) according to any one of the preceding claims, characterized by the fact thatthe control unit (4) is designed and configured to adapt at least one movement parameter of the first basic unit (1) depending on a coupled working module (8).

7. Basic unit (1), cleaning unit (2) or cleaning system (13) according to any of the preceding claims, characterized by the fact that the basic unit (1) has at least one suction motor (19) and / or at least one part of a suction channel (20) and / or at least one cleaning tool (12) and / or at least one energy storage unit (22) and / or at least one dirt collection container (21) and / or at least one filter and / or at least one sensor unit (26) and / or at least one fall sensor (27).

8. Basic unit (1), cleaning unit (2) or cleaning system (13) according to any of the preceding claims, characterized by the fact thatthe control unit (4) is designed and configured to control the basic unit (1) in such a way that the basic unit (1) covers an equal area in the cleaning environment (6) with a first working module (8,8a) and subsequently with a second working module (8,8b).

9. Basic unit (1), cleaning unit (2) or cleaning system (13) according to any of the preceding claims characterized by the fact that The working module (8) rests on the surface of the cleaning environment (6) during use.

10. Basic unit (1), cleaning unit (2) or cleaning system (13) according to any of the preceding claims characterized by the fact that the working module (8) is designed as a wiping unit, as an air humidifier and / or as an air purifier, as a polishing unit or as an actuating unit with gripping arms and / or manipulators.

11. Basic unit (1), cleaning unit (2) or cleaning system (13) according to any of the preceding claims characterized by the fact thata working module (8) designed as a wiping unit comprising at least one carrier plate (10) for a cleaning cloth (10a), in particular at least one cleaning cloth (10a), and at least one tank (24) for cleaning fluid, in particular further comprising at least one energy storage device (22) and / or at least one part of a suction channel (20).

12. Basic unit (1), cleaning unit (2) or cleaning system (13) according to any of the preceding claims characterized by the fact that a working module (8) designed as a suction unit comprising at least a part of a suction channel (20) and at least one cleaning brush, and in particular further comprising at least one suction motor (19) and / or at least one dirt collection container (21) and / or at least one energy storage device (22).

13. Basic unit (1), cleaning unit (2) or cleaning system (13) according to any of the preceding claims characterized by the fact thatthe working module interface (7) has at least one electrical interface at least for the power supply of the working module (8) and / or that the working module interface (7) has at least one data and / or signal interface.

14. Basic unit (1), cleaning unit (2) or cleaning system (13) according to any of the preceding claims characterized by the fact that the working module interface (7) is formed in a side wall area (25) of the housing (3), in particular in a direction of movement on a front or on a rear of the housing (3).

15. Basic unit (1), cleaning unit (2) or cleaning system (13) according to any of the preceding claims characterized by the fact thatthe control unit (4) is designed and configured to cause the basic unit (1) to move to at least one working module (8) for connection at the working module interface (7), in particular to detect the working module (8) in the cleaning environment (6).

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