Cleaning apparatus

Abstract

The present invention relates to a cleaning device (1) comprising at least one housing (2), at least one cleaning tool (3), and at least one tracked drive (4), wherein the cleaning device (1) is designed and configured for autonomous movement in an indoor environment (5), wherein the housing (2) has at least one ventilation opening (8), wherein the tracked drive (4) has at least one guide unit (9) and at least one running element (10), and wherein the running element (10) rotates together with the guide unit (9). A cleaning device (1) that ensures reliable movement in different indoor environments is achieved by making the arrangement of the guide unit (9) relative to the housing variable.

Description

[0001] The invention relates to a cleaning device comprising at least one housing, at least one cleaning tool, and at least one tracked drive. The cleaning device is designed and configured for autonomous movement in an indoor environment, being driven by the tracked drive. The tracked drive has at least one guide unit and at least one running element, wherein the running element rotates with the guide unit. The housing has at least one ventilation opening for the inflow and / or outflow of air.

[0002] Cleaning devices of this type are known in the prior art in a variety of configurations. Such cleaning devices are, for example, designed as robotic vacuum cleaners, robotic mops, or robotic vacuum and mops. Typically, such cleaning devices have at least one control unit, which includes at least one data processing unit and, together with a sensor unit, ensures autonomous navigation of the cleaning device in the work environment and controls the execution of tasks. The cleaning device preferably has at least one sensor unit with at least one optical sensor to acquire environmental data from the interior.

[0003] For movement within indoor environments, a cleaning device typically has a drive unit with multiple drive wheels or tracks. A track drive, for example, has at least one guide unit and a running element, such as a belt, that is rotatable on the guide unit. Cleaning devices known from the prior art can already move with high reliability in a wide variety of indoor environments using such drive units.

[0004] Nevertheless, there is always a need to optimize the reliability of the movement of cleaning equipment in indoor environments, especially when overcoming obstacles.

[0005] The invention is therefore based on the objective of providing a cleaning device in which reliable movement in different indoor environments, especially with existing obstacles, is ensured.

[0006] The aforementioned problem is solved in a cleaning device of the generic type with the features of the characterizing part of claim 1, namely by making an arrangement of the guide unit relative to the housing changeable.

[0007] The cleaning device has at least one housing in and on which, for example, the components of the cleaning device are arranged. At least one cleaning tool, e.g., a cleaning brush and / or a suction unit, is attached to the housing. The cleaning device is designed, for example, as a robotic vacuum cleaner, a robotic mop, or a robotic vacuum cleaner and mop.

[0008] Furthermore, the cleaning device preferably has at least one energy storage device, which is designed to supply power to the cleaning device, in particular to the control unit and especially to at least one cleaning tool, and is electrically connected within the housing. For example, the energy storage device is designed as a battery with at least one cell, in particular a plurality of cells.

[0009] The cleaning device is designed and configured for autonomous movement within an indoor environment. This autonomous movement, including navigation, is handled, for example, by a control unit located within the housing. The control unit incorporates multiple sensors to enable autonomous movement. Preferably, the control unit includes at least one data processing unit with at least one processor and at least one memory module.

[0010] The cleaning device is moved by at least one track drive, which acts primarily between the cleaning device and the surface of the interior environment. The track drive comprises at least one guide unit and at least one running element. The running element is preferably rotatably arranged on the guide unit. For example, the running element is designed as a belt, track, chain, or mesh. The surface of the running element is, for example, smooth or at least partially or completely profiled. Advantageously, the running element is replaceable, particularly without tools. The running element rotates around the guide unit in such a way that the rotation of the running element causes the cleaning element to move. The guide unit comprises, for example, at least one fixed and / or at least one movable guide body.In particular, it is provided that the running element rotates at least partially relative to the guide unit and / or rotates at least partially with the guide unit. For the purposes of the present invention, the term "crawler drive" refers to drives in which a fully enclosed running element rotates on a guide unit.

[0011] The track drive preferably has a longitudinal extent, particularly parallel to a direction of travel, that is greater than its extent in a lateral and a vertical direction. The cleaning device most preferably has exactly two track drives.

[0012] For example, in addition to the crawler drive, the cleaning device has at least one support element, such as at least one support roller, or several support elements. The crawler drive is, for example, located below the housing and / or at least partially inside the housing and / or to the side of the housing.

[0013] According to the invention, the arrangement of the guide unit relative to the housing is modifiable. In contrast to the prior art, the guide unit is therefore movable relative to the housing. For example, it is held movable in at least one, at least two, at least three, or at least four degrees of freedom. Preferably, all available degrees of freedom can be locked independently of one another. For example, the guide unit can be rotated or pivoted about at least one axis, or at least two, or at least three axes, and / or displaced translationally along at least one axis. For example, the rotation about one or all axes can be locked, and / or the displacement along an axis can be locked.

[0014] The variable arrangement of the guide unit relative to the housing allows the crawler drive to adapt flexibly to the terrain and, if necessary, align itself with the terrain or obstacles. Variable arrangement as described in the present invention includes both free movement in one or more degrees of freedom or axes, including locking in any position, and active movement, e.g., with a servo motor, in one or more degrees of freedom or axes, including locking in any position. Preferably, switching between free movement and active movement is possible in at least one or more degrees of freedom, e.g., by appropriate control via the control unit.Preferably, in at least one degree of freedom or in several degrees of freedom, a limited spring movement is possible in that degree of freedom when a locking mechanism is engaged. In particular, the arrangement can be changed in steps or continuously.

[0015] Free movement in all degrees of freedom is particularly advantageous when moving across dry or wet floors or low-pile carpets. This ensures that the machine's weight is distributed evenly across the track drive. Unevenness in the floor can be compensated for by the movement of the guide unit. Furthermore, the track element maintains consistent pressure on the indoor surface.

[0016] According to a first embodiment of the cleaning device, it has proven particularly advantageous to have at least two crawler drives. The crawler drives are arranged, for example, side by side, one behind the other, or offset from each other on the housing. The crawler drives are mounted independently of each other on the housing. In particular, the two crawler drives can be controlled independently of the control unit, especially with regard to both the speed and direction of movement. The crawler drives are designed such that the arrangement of the guide units relative to the housing can be changed independently of each other.

[0017] A particularly preferred embodiment of the cleaning device provides that at least one orientation of the guide unit relative to the housing is adjustable. Here, the orientation is distinguished from the position of the guide unit relative to the housing. The orientation is, for example, at least one angle between the guide unit and the retaining element, or at least one angle between the guide unit and the housing. The angle can be formed in both the longitudinal and transverse directions of the guide unit. The guide unit is thus, in particular, tiltable relative to the housing. Preferably, the tilting occurs freely or actively in all degrees of freedom.

[0018] The retaining element connects the guide unit to the housing, for example. Preferably, at least one longitudinal or transverse angle between the guide unit and a retaining element is adjustable. In particular, the guide unit is rotatable relative to the housing with or without the retaining element. It is especially preferred that the guide unit is tiltable only at a transverse angle relative to the housing.

[0019] It has also proven particularly advantageous if the guide unit is pivotably mounted. As described above, pivotability about a longitudinal angle and / or a transverse angle is preferred, as is pivotability about a longitudinal axis of the mounting element. In particular, the guide unit is pivotable about at least or exactly one axis, or at least or exactly two axes, or at least or exactly three axes. By pivoting about a longitudinal axis of the mounting element, the guide unit pivots, for example, in an imaginary plane that is essentially parallel to the underside of the housing. This allows, for example, two guide units of two crawler drives on one housing to be positioned at an angle to each other. This is advantageous, for example, for rotational movements of the cleaning device or when an obstacle needs to be pushed.

[0020] A particularly advantageous feature is that the arrangement of the track drive relative to the housing can be modified to increase or decrease the contact area of ​​the track drive with the surface. For example, if the guide unit is pivoted by a transverse angle, either so that part of the guide unit is located within the housing or so that the housing is lifted from the surface, the maneuverability of the cleaning device is also increased, as the contact area of ​​the track drive with the surface is reduced. This allows, for example, easy turning on the spot.

[0021] Alternatively or additionally, it is provided that at least one position of the guide unit relative to the housing is adjustable. This position of the guide unit relative to the housing is, for example, a position within a plane parallel to the underside of the housing, or the height at which a retaining element connected to the guide unit extends from the housing. This position thus changes the arrangement of the guide unit under the housing and / or the distance between the guide unit and the housing. Preferably, the position of the guide unit is adjustable in steps or continuously. When changing the position of the guide unit relative to the housing, a translational movement of the guide unit preferably occurs, during which, in particular, the orientation, e.g., a tilt or swivel angle, remains unchanged. Preferably, the guide unit is connected to the housing via the retaining element.The retaining element preferably projects from the housing essentially orthogonally to a bottom surface. It is also provided that the distance between two guide units is adjustable, for example to change the axis width of a cleaning device.

[0022] To ensure smooth approach of the cleaning device to thresholds or carpet edges, a further embodiment of the cleaning device provides that the guide unit is at least partially movable in and out of the housing. If multiple guide units are present, at least one of them is movable in or out of the housing. This allows the guide unit, and thus also its running element, to be positioned relative to a carpet edge or threshold without the housing moving away from the surface, thereby ensuring smooth traversal of low obstacles. Alternatively, the guide unit is arranged at least partially or completely beside the housing, allowing it to pivot into and out of a lateral area adjacent to the housing.

[0023] It has proven particularly advantageous for the smooth movement of the cleaning device if the arrangement of the guide unit – actively or passively – can be changed relative to the housing while the device is moving via the crawler drive. The position or arrangement of the guide unit relative to the housing can therefore be changed while moving, i.e., while in motion. This allows the cleaning device to dynamically adapt to different conditions and obstacles in the interior environment while in motion.

[0024] In order to influence, for example, the depth of penetration of brushes, sealing lips, or plastic edges on high-pile carpets, a further embodiment of the cleaning device provides that the arrangement of the guide unit can be modified such that, by means of the track drive, at least part of the cleaning device's housing can be lifted from the surface and / or lowered towards a surface. For example, the guide unit is tilted relative to the housing, or its position is changed, so that a front or rear part of the housing is raised or lowered. When lifted, for example, the housing is positioned at an angle to an imaginary horizontal surface, particularly in such a way that the penetration of a cleaning brush is reduced. Consequently, the working height of a cleaning tool can be advantageously adjusted by changing the arrangement.Preferably, the control unit is designed such that a part of the cleaning device is raised by changing the arrangement, for example by pivoting about a pivot axis, until the desired input current of a motor of a cleaning tool is reached.

[0025] For example, if multiple guide units are present on a crawler drive, it is provided that at least one of the guide units can be positioned in such a way that a part of the housing is moved by means of the crawler drive. It is also provided that all guide units can be controlled together or independently of each other to raise or lower the housing.

[0026] In a track drive, the guide unit and the running element rotate together. This interaction occurs, for example, at least partially through sliding friction or by common rotation. It is provided that at least one guide unit has at least one drive means to move the running element. According to one embodiment of the cleaning device, a guide unit has at least one guide body and at least one drive means. The guide body is, in particular, designed as a roller. For example, the guide body is driven by a rotating element, so that the guide body also constitutes the drive means. However, it is also provided that a first part of the guide body is driven to move the running element, and a second part of the guide body only guides the running element, for example, by the running element sliding on the second part or by the second part rotating with the running element.For example, the guide body has a roller with a centrally arranged gear, the gear being driven to move the running element, and the roller guiding the running element.

[0027] Preferably, the guide unit comprises at least two guide bodies, and the running element is guided by the guide bodies. For example, the guide bodies are designed as rollers. Preferably, the guide bodies are arranged at a distance from each other. The guide unit is mounted, preferably centrally, between the two guide bodies. Advantageously, a retaining element, particularly centrally located, is connected to the guide unit between the two guide bodies. Preferably, the distance and orientation of the guide bodies relative to each other are adjustable. For example, a spring element is arranged between the two guide bodies. At least one of the guide bodies has, for example, a drive element to drive the running element.

[0028] For example, the distance between the guide bodies corresponds approximately to the diameter of a guide body. It is possible for a guide unit to comprise one guide body and one drive element, but also for a guide unit to comprise two guide bodies and two drive elements.

[0029] If the guide element is inclined about a transverse axis, for example, to remove the housing at least partially from a surface, the force transmission to the surface preferably only occurs via one of the guide bodies, since contact with the surface only exists in the area of ​​this guide body.

[0030] To advantageously improve the contact pressure of the track unit with the ground, a further embodiment provides that the guide unit has at least one clamping unit, and that the clamping unit allows for changes to the external shape and / or tension of the running element, for example, between two guide bodies. In particular, the clamping unit is designed as at least one or at least two intermediate rollers between two guide rollers. The movable intermediate roller(s) allow, for example, changes to the external shape of the track drive or the tension of the running element, such as a belt. Increasing the flexibility of the running element by reducing the tension, for example, enables a larger wrap angle for traversing obstacles.The larger wrapping surface provides more adhesion between the running element and the obstacle, allowing the cleaning device to move more easily over the obstacle.

[0031] A further advantage of a further embodiment of the cleaning device is that at least part of the guide unit is spring-mounted. For example, the guide unit is spring-mounted relative to the housing. In particular, it is provided that a retaining element with which the guide unit is attached to the housing has at least one spring element, for example, a spring. For example, the retaining element is itself resiliently compressible. In particular, the spring action of the spring element can be locked and released.

[0032] For the weight distribution of the cleaning device, it has proven advantageous if the track drive, or multiple track drives, are arranged along the cleaning device's center of gravity line. A center of gravity line of the housing is, for example, an imaginary line formed by the intersection of an imaginary plane containing the center of gravity and the underside of the housing. Specifically, it is provided that two guide bodies are present, and that both guide bodies are arranged outside the center of gravity line, e.g., in front of and behind it. By arranging the track drive on the center of gravity line, the cleaning device can be raised or lowered with minimal effort by means of a track drive, particularly by adjusting the guide unit, without requiring the application of high torque.

[0033] To facilitate driving over obstacles, a further embodiment provides that the guide unit has at least one approach angle at at least one end. Preferably, at least one approach angle is formed at both opposite end faces of the guide unit. The approach angle represents a section inclined, for example, relative to a flat underside and / or a flat top surface of the crawler drive. By forming the approach angle, for example, by means of a plurality of guide rollers, driving over obstacles with the crawler drive can be improved. For example, the inclination of the approach angle is between 15° and 60° relative to a flat underside of the crawler drive.

[0034] Finally, according to a further embodiment, at least one control unit is provided, and this control unit is designed to initiate a change in the arrangement of the guide unit depending on at least one detected obstacle. For example, the control unit, together with a sensor unit, detects an obstacle in the interior environment that the cleaning device must overcome. To prepare for approaching the obstacle, the control unit prepares the cleaning device and changes the arrangement and / or position of at least one guide unit depending on the type and size of the obstacle.

[0035] Further advantageous embodiments of the invention will become apparent from the following description of the figures and the dependent subclaims.

[0036] They show: Fig. 1 shows a first embodiment of a cleaning device in side view, Figs. 2a-2ce show an embodiment of a crawler drive in three different states, Fig. 3 shows a second embodiment of a cleaning device in side view, Fig. 4 shows a third embodiment of a cleaning device in side view, Fig. 5 shows a fourth embodiment of a cleaning device in side view, and Fig. 6 shows a further embodiment of a crawler drive.

[0037] In the various figures of the drawing, identical parts are always labelled with the same reference symbols.

[0038] 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.

[0039] Fig. 1 Figure 1 shows a first embodiment of a cleaning device 1 in a side view. The cleaning device 1 has a housing 2 and a cleaning tool 3 in the form of a suction unit with a brush. The cleaning device 1 is designed here as a vacuum robot. The cleaning device 1 has two track drives 4 with which the cleaning device 1 can move within the interior environment 5. In the illustrated side view, only one of the track drives 4 is shown, which is why only this one track drive 4 will be described below. For autonomous movement within the interior environment 5, the cleaning device 1 has a control unit 6. An energy storage device 7 is arranged inside the housing 2 for power supply. The housing 2 of the cleaning device 1 also has at least one ventilation opening 8, which is designed at least for expelling suction air. At least part of the surface of the ventilation opening 8 is also used for heat dissipation from the housing 2.Used for the intake of air for cooling purposes.

[0040] Each track drive 4 has a guide unit 9. Each guide unit 9 has a running element 10, here in the form of a belt. The running element 10 is rotatably held on the guide unit 9. In this embodiment, each guide unit 9 comprises two guide bodies 9a in the form of guide rollers, which are arranged spaced apart from each other in the longitudinal direction of the guide unit 9. One of the guide bodies 9a is driven and thus serves as the drive means for the running element 10. According to the invention, the arrangement of the guide units 9 relative to the housing 2 is changeable, as shown in particular below with reference to the Figuren 2a bis 2c is described.

[0041] Fig. 2a bis 2c show a caterpillar drive 4 for a cleaning device 1, for example according to one of the embodiments of the Fig. 1 , 3 , 4 or 5 . According to Fig. 2a bis 2c The track drive 4 has a guide unit 9 with two guide bodies 9a in the form of rollers. The guide unit 9 is attached to the housing 2 of the cleaning device 1 by a retaining element 11. The retaining element 11 is connected to the guide unit 9 approximately midway between the two guide bodies 9a, so that the guide unit 9 can be moved about a pivot axis R formed by the retaining element 11. A movement about the pivot axis R would allow the guide unit to be moved laterally, a movement about axis A would allow it to rotate relative to the housing, and a movement about axis B would allow the guide unit 9 to be moved longitudinally. Axis B represents the longitudinal axis of the guide unit.

[0042] The retaining element 11 has according to Fig. 2a bis 2c a spring means 12, so that the guide unit 9 springs in the direction of the double arrow according to Fig. 2a and 2bis movable relative to housing 2. Furthermore, the position of the guide unit 9 is along the straight double arrow in Fig. 2a and 2b The guide unit 9 is adjustable so that the distance to the underside of the housing 2 can be changed by a translational movement. The crawler drives 4 are designed such that the arrangement of the guide unit 9 relative to the housing 2 can be, for example, freely changed, locked, or actively adjusted.

[0043] In a first state according to Fig. 2a The full travel of the spring element 12 is released, allowing the guide unit 9 to spring towards and away from the housing 2. Furthermore, free rotation about the pivot axis R is also allowed, so that the orientation of the guide unit 9 relative to the housing 2 can be freely changed, for example, when the cleaning device 1 encounters an obstacle 16 (see figure). Fig. 4 ) in the interior environment 5. For example, swiveling around axes A and B is locked. The guide unit 9 can therefore remain in the state according to Fig. 2a both in terms of the position of the guide unit 9 and in terms of the orientation of the guide unit 9 around the pivot axis R, they can move freely.

[0044] In the second state according to Fig. 2b The orientation of the guide unit 9 relative to the housing 2 has been changed, namely by an angle α (transverse angle - see Fig. 2a The position between the guide unit 9 and the housing 2 or axis A has been changed. Furthermore, rotation about the pivot axis R of the guide unit 9 is locked in the position shown, so that only the spring element 12 of the retaining element 11 can compress. The orientation of the cleaning device 1 has not changed. By pivoting about the pivot axis R, the cleaning device 1 rests on the surface shown. Fig. 2b rear guide body 9a of the crawler drive 4. This simplifies, for example, rotation on the spot or driving onto flat obstacles.

[0045] Fig. 2c shows a third state of the crawler drive 4, in which the guide unit 9 is pivoted about the pivot axis R and locked. In the Fig. 2 In the depicted state, all degrees of freedom are locked.

[0046] In the Fig. 1 In the depicted state, the guide unit 9 is partially retracted into the housing 2, thus simplifying the operation of the cleaning device 1 on carpet edges or thresholds without changing the distance between the housing 2 and the floor. The contact area of ​​the track drive 4 with the floor is reduced. The cleaning device 1 has multiple support rollers 14 on its underside, which, in addition to the track drives 4, provide support for the cleaning device 1 within the interior environment 5. The cleaning device 1 has a sensor unit 13 equipped with a laser distance sensor. Environmental data can be acquired with the sensor unit 13 to enable navigation of the cleaning device 1 within the interior environment 5 via the control unit 6.

[0047] The changing of the arrangement of the guide unit 9 relative to the housing 2 is carried out in all embodiments according to Fig. 1 , 3 , 4 and 5preferably during movement by means of the tracked drive 4, so that the cleaning device 1 can react dynamically to obstacles in the interior environment 5.

[0048] Fig. 3 Figure 1 shows a second embodiment of a cleaning device 1 in side view. The cleaning device 1 has a plurality of support rollers 14 on its underside, which support the cleaning device 1 in the interior environment 5. In this embodiment, the crawler drives 4 are arranged laterally next to the housing 2 and, in addition to the guide unit 9 with two guide bodies 9a spaced apart from each other, have a clamping unit 15 arranged between the guide bodies 9a, here with two clamping rollers 15a. The clamping unit 15 can be moved towards and away from the running element 10 in such a way that the tension of the running element 10 between the guide bodies 9a can be changed. Furthermore, the clamping unit 15 is designed to move relative to the guide unit 9 in such a way that the outer shape of the running element 10 can be changed. For example, the clamping unit 15 can be adjusted according to Fig. 3 The two guide bodies 9a are pressed downwards to such an extent that the cleaning device 1 is supported only by the clamping unit 15 or the clamping rollers 15a. This allows, for example, the cleaning device 1 to rotate on the spot. The crawler drive 4 is essentially the same as described above. Fig. 2a bis 2c described, designed so that the guide unit 9 can be pivoted about the pivot axis R.

[0049] Fig. 4 shows a third embodiment of a cleaning device 1, which is essentially like the embodiment of the Fig. 1 is trained, so that in that respect the description of the Fig. 1 as well as reference is made to 2a to 2c. In this embodiment of the cleaning device 1, the crawler drives 4 are located laterally next to the housing 2 of the cleaning device 1. It is clearly visible according to Fig. 4 The running element 10, in the form of a belt with an enlarged wrap-around area, wraps around the obstacle 16, allowing the cleaning device 1 to move forward without stopping despite the obstacle 16. The adjustable track drive 4 enables direct passage over thresholds up to 20 mm high, for example. It can also traverse flat chair legs and similar objects.

[0050] Fig. 5 A fourth embodiment of a cleaning device 1 is shown, which is essentially the same as the embodiment of the Fig. 1 is trained, so that in that respect the description of the Fig. 1 as well as reference is made to 2a to 2c.

[0051] The track drives 4 are arranged laterally next to the housing 2. The arrangement of the guide unit 9 relative to the housing 2 has been actively changed by pivoting the guide unit 9 about the pivot axis R such that the front part of the housing 2 of the cleaning device 1 has been lifted from the surface of the interior environment 5 by means of the track drive 4. In this embodiment, this sets a working height for the cleaning tool 3 such that the cleaning tool 3 is located at the upper end of the carpet fibers 17. By adjusting the working height, the brush of the cleaning tool 2 penetrates less deeply into the carpet 17.

[0052] Fig. 6 Figure 4 shows another embodiment of a crawler drive 4. The function of the crawler drive 4 corresponds to that for the Fig. 2a bis 2c described function. The crawler drive is, for example, for cleaning equipment 1 according to one of the embodiments of the Fig. 1 , 3 4 or 5 In this embodiment, the guide unit 9 forms an angle β with the flat underside of the running element at both opposite ends in the longitudinal direction of the crawler drive 4, thereby improving the ability to drive onto edges. To form the angle β, the guide unit 9 has additional guide rollers 19.

[0053] 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 also 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. 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

[0054] 1 Cleaning device 2 Housing 3 Cleaning tool 4 Crawler drive 5 Interior environment 6 Control unit 7 Energy storage 8 Ventilation opening 9 Guide unit 9a Guide body 10 Running element 11 Holding element 12 Spring element 13 Sensor unit 14 Support roller 15 Tensioning unit 15a Tension rollers 16 Obstacle 17 Carpet 18 Guide roller A-axis of rotation B-axis of rotation R-axis of rotation α-angle β-angle

Claims

1. Cleaning device (1) comprising at least one housing (2), at least one cleaning tool (3) and at least one crawler drive (4), wherein the cleaning device (1) is designed and configured for autonomous movement in an indoor environment (5), wherein the housing (2) has at least one ventilation opening (8), wherein the crawler drive (4) has at least one guide unit (9) and at least one running element (10), and wherein the running element (10) rotates together with the guide unit (9), characterized by the fact that The arrangement of the guide unit (9) relative to the housing can be changed.

2. Cleaning device (1) according to claim 1, characterized by the fact that at least two crawler drives (4) are present, in particular that the arrangement of the guide units (9) of the crawler drives (4) relative to the housing (2) can be changed independently of each other.

3. Cleaning device (1) according to claim 1 or 2, characterized by the fact thatat least one orientation of the guide unit (9) relative to the housing (2) is changeable, in particular that at least one angle (α) between the guide unit (9) and a retaining element (11) is changeable.

4. Cleaning device (1) according to one of claims 1 to 3, characterized by the fact that the guide unit is mounted to pivot about at least or exactly one axis (R) or at least or exactly two axes (R, A) or about at least or exactly three axes (R, A, B).

5. Cleaning device (1) according to one of claims 1 to 4, characterized by the fact that at least one position of the guide unit (9) relative to the housing (2) is changeable, in particular that the exit height of a retaining element (11) connected to the guide unit (9) from the housing (2) is changeable.

6. Cleaning device (4) according to one of claims 1 to 5, characterized by the fact thatthe guide unit (9) is at least partially movable into and out of the housing (2) and / or that the guide unit (9) is at least partially arranged next to the housing (2).

7. Cleaning device (1) according to one of claims 1 to 6, characterized by the fact that a change in the arrangement of the guide unit (9) relative to the housing (2) can take place during movement by means of the crawler drive (4).

8. Cleaning device (6) according to one of claims 1 to 7, characterized by the fact that the arrangement of the guide unit (9) is such that at least part of the housing (2) of the cleaning device (1) can be lifted off a surface or lowered towards a surface by means of the crawler drive (4) and / or that the arrangement of the guide unit (9) is such that a working height of a cleaning tool (3) is adjustable.

9. Cleaning device according to one of claims 1 to 8, characterized by the fact thatthe guidance unit (9) comprises at least one guide body (9a) and at least one drive means.

10. Cleaning device (1) according to claim 9, characterized by the fact that the guide unit (9) has at least two guide bodies (9a), and that the running element (10) is guided by the guide bodies (9a), in particular that the guide bodies (9a) are arranged spaced apart from each other.

11. Cleaning device (1) according to one of claims 1 to 10, characterized by the fact that at least one clamping unit (15) is included, and that the clamping unit (15) allows the external shape and / or tension of the running element (10) to be changed.

12. Cleaning device (1) according to one of claims 1 to 11, characterized by the fact that at least part of the guide unit (9) is spring-mounted, in particular that at least one spring element (12) is arranged on a retaining element (11).

13. Cleaning device (1) according to one of claims 1 to 12, characterized by the fact thatthe crawler drive (4) or a plurality of crawler drives (4) is / are arranged in the area of ​​a center of gravity line (S) of the cleaning device (1).

14. Cleaning device (1) according to one of claims 1 to 13, characterized by the fact that the guide unit (9) has at least one approach angle at at least one end side.

15. Cleaning device (1) according to one of claims 1 to 14, characterized by the fact that at least one control unit (6) is present, and the control unit (6) is designed to initiate a change in the arrangement of the guidance unit (9) depending on at least one detected obstacle (16).

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