System comprising a cleaning robot and a base station for regenerating the cleaning robot

Abstract

A system (300) comprising a cleaning robot (100) and a base station (250) for the cleaning robot (100) is described, wherein the cleaning robot (100) has at least one mopping element (109) that can be moved between a lowered position, in which the mopping element (109) touches the floor on which the cleaning robot (100) stands, and a position raised above the floor. The base station (250) has a regeneration tray (206) with a regeneration element (207) for regenerating the mopping element (109), and the base station (250) is designed to be placed on the floor traversed by the cleaning robot (100).The base station (250) and the cleaning robot (100) are designed such that the cleaning robot (100) can dock at the base station (250) while moving on the floor and can position the wiping element (109) in the raised position above the regeneration tray (206), in particular above the regeneration element (207) in the regeneration tray (206).

Description

[0001] The invention relates to a cleaning robot and a base station, wherein the base station is configured to regenerate one or more wiping elements of the cleaning robot.

[0002] A cleaning robot can be used to autonomously clean a surface, especially the floor in a household. Between operating phases, the cleaning robot can be located in or at a base station where, for example, the cleaning robot's electrical energy storage is charged, and / or where, for example, the cleaning robot's collection container is emptied, especially by vacuuming, and / or where, for example, one or more of the cleaning robot's mopping elements are regenerated.

[0003] This document addresses the technical challenge of achieving reliable regeneration of one or more wiping elements of a cleaning robot, even with a base station that has a relatively low height, particularly in order to be able to place the base station in the base area of ​​a kitchen cabinet.

[0004] The problem is solved by the subject matter of the independent patent claim. Advantageous embodiments are defined in particular in the dependent patent claims, described in the following description, or illustrated in the accompanying drawing.

[0005] According to one aspect, a system comprising a cleaning robot and a base station for the cleaning robot is described. The cleaning robot has at least one wiping element (in particular, at least one wiping pad) that can be moved between a lowered position, in which the wiping element touches the floor on which the cleaning robot stands, and a position raised above the floor. In the raised position, the wiping element can be positioned, for example, 5 mm or more, or 10 mm or more above the floor. The cleaning robot may optionally have several, in particular exactly two, wiping elements. The cleaning robot can be configured to operate the one or more wiping elements in the lowered position during operation in order to wipe the floor over which the cleaning robot travels. Each of the one or more wiping elements can be driven to rotate about a rotation axis perpendicular to the floor.

[0006] The base station is designed to be placed on the floor traversed by the cleaning robot. The cleaning robot can dock with the base station, for example, to charge its electrical energy storage device. The base station can be configured to regenerate, particularly by cleaning, one or more of the cleaning robot's wiping elements. For this purpose, the base station has a regeneration tray with at least one regeneration element for regenerating the wiping element. The base station can have exactly one regeneration element for each of the cleaning robot's wiping elements, with each regeneration element being arranged in the regeneration tray. The regeneration tray can be configured to collect cleaning fluid, particularly water, used to regenerate the one or more wiping elements.The cleaning fluid can be drained from the regeneration tank, in particular pumped out, and can be directed from the base station, e.g., to a wastewater pipe.

[0007] The base station and the cleaning robot are designed such that the cleaning robot can (always) dock at the base station while moving on the floor, thereby positioning the mopping element, which is in the raised position, above the regeneration tray, in particular above the regeneration element within the regeneration tray. Specifically, one or more mopping elements can be positioned above the regeneration tray.

[0008] The base station and the cleaning robot can be designed in such a way that: the cleaning robot always touches the floor on which the base station stands when docking; and / or the cleaning robot does not drive onto a ramp of the base station when docking (preferably the base station does not have a ramp); and / or the cleaning robot, when docked, stands directly on the floor and not on a ramp of the base station; and / or the cleaning robot, when docked, only covers the regeneration tray.

[0009] The regeneration tray of the base station preferably covers an area of ​​the floor that is at most 30%, in particular at most 20%, larger than the area of ​​the floor covered by the one or more, in particular all, wiping elements of the cleaning robot.

[0010] This describes a system with a base station and a cleaning robot, in which the cleaning robot is not lifted even when docked to the base station, and thus has the same overall height as when the cleaning robot is in cleaning mode.

[0011] The base station and the cleaning robot preferably each have a total height from the floor of 15 cm or less, particularly 10 cm or less, especially when the cleaning robot is docked to the base station. This allows for a system that enables reliable regeneration of the cleaning robot's one or more wiping elements and can be flexibly and space-savingly arranged in the base of a kitchen cabinet.

[0012] The regeneration tray is typically bounded by a side wall that extends from the floor to a specific wall height (e.g., between 5 and 15 mm). The cleaning robot is preferably designed such that, in the raised position, the mopping element has a height above the floor that is equal to or (by a maximum of 25%) greater than the wall height of the regeneration tray's side wall. This ensures particularly reliable and efficient docking with the base station.

[0013] The system can be configured to move the wiping element and the regeneration element towards each other for a regeneration process (especially a cleaning process) so that the regeneration element touches the underside of the wiping element facing the floor. In particular, the base station can be configured to lift the regeneration element for the regeneration process and thereby move it towards the wiping element. The base station can, for example, be connected to a water supply line via a fluid-conducting connection, with the water in the supply line having a specific pressure. Furthermore, the base station can be designed such that the regeneration element is lifted, in particular solely, by the water pressure in the supply line.By raising one or more regeneration elements of the base station, a particularly efficient and reliable regeneration of one or more wiping elements of the cleaning robot can be achieved.

[0014] The system can be configured to effect a relative movement, particularly a relative rotation, between the wiping element and the regeneration element during a regeneration process (especially a cleaning process). The base station can be configured to cause one or more regeneration elements to rotate around a rotation axis perpendicular to the floor during the regeneration process. Alternatively or additionally, the cleaning robot can be configured to cause one or more wiping elements to rotate around a rotation axis perpendicular to the floor during the regeneration process. This ensures particularly reliable regeneration of the one or more wiping elements.

[0015] The base station can be configured to perform a regeneration process, particularly a cleaning process, by spraying cleaning fluid, especially water, onto the underside of the wiper elements facing the floor through one or more nozzles of the one or more regeneration elements, and / or by mechanically engaging one or more cams of the one or more regeneration elements on the underside of the wiper elements. This ensures particularly reliable regeneration of the one or more wiper elements.

[0016] The system, in particular a control unit of the base station and / or the cleaning robot, may be configured to determine that the cleaning robot is docked to the base station. In this context, the control unit may be configured to obtain docking information indicating that: the electrical supply interface of the base station is electrically connected to the complementary charging interface of the cleaning robot; and / or a charging current is provided by the base station to charge an electrical energy storage device of the cleaning robot; and / or a docking sensor of the base station and / or the cleaning robot has detected the docking of the cleaning robot to the base station.

[0017] Based on the docking information, it can be determined efficiently and reliably that the cleaning robot is docked at the base station.

[0018] In response to the setting, the regeneration element of the base station can initiate a regeneration process for the cleaning robot's wiping element. This ensures particularly reliable regeneration of one or more of the cleaning robot's wiping elements.

[0019] The control unit can be configured to initiate a drying process for the wiping element by holding it in a raised position above the regeneration tray, without any physical contact between the regeneration element and the wiping element. This allows for particularly thorough regeneration of one or more wiping elements of the cleaning robot.

[0020] The cleaning robot can be trained to initiate a docking process from the base station in such a way that: the wiping element remains in the raised state as long as the wiping element is at least partially positioned above the regeneration tray; and the wiping element is moved into the lowered state when, in particular as soon as, the wiping element is no longer positioned above the regeneration tray.

[0021] This ensures reliable undocking of the cleaning robot after a regeneration process.

[0022] It should be noted that any aspect of the system described in this document can be combined with one another in a variety of ways and / or arbitrarily. In particular, the features of the patent claims can be combined with one another in a variety of ways and / or arbitrarily.

[0023] The invention will now be described in more detail with reference to exemplary embodiments illustrated in the accompanying drawing. These show: Figures 1a and 1b show exemplary cleaning robots in different perspective views; Figure 1c shows exemplary components of a cleaning robot; Figure 1b shows an exemplary sectional view through a cleaning robot; Figure 2a shows a cleaning robot arranged at the base unit of a base station; Figures 2b to 2c show different views of a base station arranged in the base of a kitchen cabinet; Figures 2d and 2e show a base station with a regeneration tray for regenerating the one or more wiping elements of a cleaning robot; Figures 3a and 3b show a cleaning robot with a wiping element that can be lifted from the floor to be cleaned; and Figures 3c to 3e show different states when a cleaning robot is docked at a base station.

[0024] As stated at the outset, this document deals with the reliable regeneration of one or more wiping elements of a cleaning robot by a base station with a relatively low profile. In this context, we demonstrate Fig. 1a the top 121 and Fig. 1b the underside 122 of a cleaning robot 100, in particular a vacuum robot.

[0025] The underside 122 of the cleaning robot 100 faces the floor or area to be cleaned, such as a room in a household, during vacuuming operation. The underside 122 of the cleaning robot 100 typically has one or more drive units 101 (with one or more drive wheels) that allow the cleaning robot 100 to move independently to clean different areas of a floor. Furthermore, the cleaning robot 100 may have one or more guide and / or support elements 104 (e.g., non-driven wheels) that enable stable movement of the cleaning robot 100 across the floor to be cleaned. In addition, a cleaning robot 100 typically includes one or more cleaning units 106 (in particular, suction nozzles), each configured to clean the floor beneath the cleaning robot 100.

[0026] A cleaning unit 106 (in particular a suction nozzle) can have a brush roller 102 designed to rotate about an axis of rotation, the axis of rotation typically being arranged parallel to the underside 122 of the cleaning robot 100. The brush roller 102 can be used to mechanically loosen dust and / or contaminants from the floor to be cleaned, so that the dust and / or contaminants can be sucked into the suction opening 107 of the cleaning unit 106 with increased reliability.

[0027] On the underside 122 of the cleaning robot 100, one or more wiping elements 109, in particular wiping pads, can be arranged, each configured to wipe the floor to be cleaned. The cleaning robot 100 can have a water supply unit (not shown) configured to supply one or more wiping elements 109 with cleaning water.

[0028] A user interface can be arranged on the top surface 121 of the cleaning robot 100, enabling a user of the cleaning robot 100 to make control inputs. Furthermore, the cleaning robot 100 can include a bumper 105 on a side wall 123 (e.g., on a side wall 123 in the front area of ​​the cleaning robot 100), wherein a collision sensor can be arranged on the bumper 105, which is configured to acquire sensor data indicating whether the cleaning robot 100 is moving in the direction of movement 120 (see Fig. 1c ) has collided with an obstacle or not. The triggering of the collision sensor by an obstacle (due to the deflection of the bumper 105) can, for example, cause the cleaning robot 100 to rotate around its vertical axis, which is perpendicular to the ground, and thereby change its direction of movement 120 in order to avoid the obstacle.

[0029] Furthermore, a cleaning robot 100 typically has one or more environmental sensors 110 (see Fig. 1c ), which are each configured to acquire environmental and / or sensor data relating to the environment of the cleaning robot 100. The one or more environmental sensors 110 can include: one or more cameras, one or more ultrasonic sensors, one or more tactile and / or optical distance sensors, one or more acoustic sensors, one or more temperature sensors, one or more lidar and / or radar sensors, etc. A control unit 130 of the cleaning robot 100 can be configured to determine digital map information relating to the cleaning area based on the environmental data and, if necessary, to store it on a storage unit 111 of the cleaning robot 100. The cleaning robot 100 can use the digital map information to orient itself independently within the cleaning area (e.g., within a room) and / or to determine a route for cleaning the cleaning area.

[0030] Fig. 1c Figure 1 shows a Cartesian coordinate system with a longitudinal axis (i.e., an x-axis), a transverse axis (i.e., a y-axis), and a vertical axis (i.e., a z-axis). The direction of movement 120 of the cleaning device 100 typically corresponds to the longitudinal axis. The axis of rotation of the brush roller 102 typically runs along the transverse axis.

[0031] Fig. 1d Figure 1 shows a sectional view of the cleaning robot 100 within a plane defined by the longitudinal and vertical axes. The arrows indicate the flow path of the suction air from the surface to be cleaned, through the suction nozzle 107, past the cleaning roller 102, through a suction channel 142, and into the collection container 140. The collection container 140 has a filter unit 141, which retains the dirt particles in the suction air within the container. The blower (not shown), which generates the suction airflow, is located downstream of the filter unit 141.

[0032] Fig. 2a The figure shows the base unit 200 of an example base station 250 for a cleaning robot 100. The base station 250 can be configured (as shown in the example in Fig. 2b The base station 250 (as shown) is to be arranged in the plinth area 211 of a kitchen cabinet 210 (of a fitted kitchen). For this purpose, the base station 250 can have a height (along the vertical axis) of 15 cm or less. The base station 250 can include the base unit 200 and a container unit 220, which can be arranged side by side on the floor on which the cleaning robot 100 moves. This reduces the required overall height of the base station 250.

[0033] The container unit 220 can be configured to hold a dust bag. The base unit 200 can be configured to be fluidly connected to the collection container 140 of the cleaning robot 100 via a suction channel 201 when the cleaning robot 100 is located at the base station 250, particularly at the base unit 200. Furthermore, the base station 250 can be configured to generate a suction airflow by means of a blower (not shown) designed to draw dirt particles from the collection container 140 via the suction channel 201 in order to empty the collection container 140. The blower can be located in the base unit 200 or in the container unit 220.

[0034] The base unit 200 can have a connecting channel 202 through which the base unit 200, in particular the suction channel 201 of the base unit 200, can be fluidly connected to the container unit 220, in particular to the inlet opening of the dust bag arranged in the container unit 220. Furthermore, the base unit 200 can have one or more conduit channels 203 through which the base unit 200 can be fluidly connected to a water connection, in particular to a fixed water connection of a supply network. Additionally, one or more further conduit channels can be provided to fluidly connect the base unit 200 to a water drain, so that wastewater can be drained from the base unit 200, in particular without user intervention.

[0035] Fig. 2c Figure 1 illustrates how the cleaning robot 100 travels to the base unit 200 located in the plinth area 211 of a kitchen cabinet 210 in order to dock with the base unit 200, in particular with the suction channel 201 of the base unit 200, for the purpose of charging its electrical energy storage, for the purpose of emptying the collection container 140, and / or for the purpose of regenerating its one or more wiping elements 109.

[0036] In the Figuren 2d und 2e Further details of an exemplary base unit 200 are shown. The base unit 200 can have an electrical supply interface 204 configured to make electrically conductive contact with a complementary charging interface of the cleaning robot 100 when the cleaning robot 100 is docked to the base unit 200. The electrical energy storage of the cleaning robot 100 can then be charged via the supply interface 204. Furthermore, the base unit 200 can have a docking sensor configured to detect whether the cleaning robot 100 is docked to the base unit 200 or not. The base unit 200 can also have a tank nozzle 205 configured to make fluid-conducting contact with a complementary tank interface on the cleaning robot 100 when the cleaning robot 100 is docked to the base unit 200.The liquid tank of the cleaning robot 100, from which the one or more wiping elements 109 are each supplied with wiping water, can then be supplied with fresh water via the tank nozzle 205.

[0037] Furthermore, the base unit 200 can have a regeneration tray 206 configured to regenerate, and in particular clean, the one or more wiping elements 109 (especially wiping pads) of the cleaning robot 100 when the cleaning robot 100 is docked to the base unit 200. The regeneration tray 206 extends from the base unit 200 towards the docked cleaning robot 100, such that the one or more wiping elements 109 of the cleaning robot 100 are arranged above the regeneration tray 206 when the cleaning robot 100 is docked to the base unit 200. A regeneration element 207 can be arranged in the regeneration tray 106 for each individual wiping element 109 of the cleaning robot 100, each element being configured to regenerate, and in particular clean, the corresponding wiping element 109.

[0038] The regeneration tray 206 typically has a side wall 208 that surrounds the one or more regeneration elements 207 and is designed to retain the liquid used to regenerate the one or more wiping elements 109 within the regeneration tray 206. The side wall 208 preferably has the greatest possible wall height (along the vertical axis, i.e., the z-axis, which is perpendicular to the floor) to reliably retain the cleaning liquid. Conversely, it is advantageous to use a side wall 208 with the smallest possible wall height to allow reliable docking of the cleaning robot 100 to the base unit 200 even when the base unit 200 is located in the plinth area 211 of a kitchen cabinet 210.

[0039] Figuren 3a and 3bFigure 1 shows an exemplary cleaning robot 100, which is configured to selectively lift one or more wiping elements 109. The one or more wiping elements 109 can, in particular, be moved into a lowered position and, if necessary, held there, as exemplified in Figure 1. Fig. 3a The lowered position can be used for mopping a floor and / or for regenerating the one or more mopping elements 109 in the regeneration tray 206 of the base station 250. Furthermore, the one or more mopping elements 109 can be moved into and held in a raised position, as shown in the example in Fig. 3b The raised position can be used by the cleaning robot 100 to move over an area (e.g., with a carpet) that is not to be mopped. Furthermore, the raised position can be used by the cleaning robot 100 for docking and undocking from the base station 250, in order to position the one or more mopping elements 109 over the regeneration tray 206 of the base station 250 without the use of a ramp.

[0040] Figuren 3c bis 3e This illustrates an example docking process of a System 300, which includes a Base Station 250 and a Cleaning Robot 100. As shown in Fig. 3c As shown, the cleaning robot 100 moves the one or more wiping elements 109 into the raised position before reaching the regeneration tray 206 of the base station 250. The cleaning robot 100 can then move the one or more wiping elements 109 over the side wall 208 of the regeneration tray 206 and place them over the one or more regeneration elements 207 (see Fig. 3d ).

[0041] When it is detected that the cleaning robot 100 is correctly docked to the base station 250, and thus the one or more mopping elements 109 are positioned over the corresponding one or more regeneration elements 207, regeneration of the one or more mopping elements 109 can be initiated. For this purpose, the one or more mopping elements 109 can be lowered and / or the one or more regeneration elements 207 can be raised so that the one or more regeneration elements 207 are in mechanical contact with the corresponding one or more mopping elements 109.

[0042] Cleaning fluid can be introduced into the corresponding one or more wiper elements 109 through nozzles in the one or more regeneration elements 207. Alternatively or additionally, a relative movement between a wiper element 109 and the corresponding regeneration element 207 can be effected (by rotating the one or more regeneration elements 207 and / or by rotating the one or more wiper elements 109) in order to effect mechanical cleaning of the one or more wiper elements 109 (e.g. by cams on the one or more regeneration elements 207).

[0043] Following a regeneration process, the one or more wiping elements 109 can remain in the raised position, e.g., to dry them. Furthermore, the cleaning robot 100 can be undocked while the one or more wiping elements 109 are in the raised position.

[0044] This document describes a base station 250 that enables a cleaning robot 100 to clean its one or more cleaning elements 109 at a base station 250, which is, for example, integrated into the plinth area 211 of a kitchen unit, without having to drive up a ramp. The base station 250, in particular the base unit 200, has a relatively flat extension (i.e., a regeneration tray 206) over which the robot 100 can position its one or more raised cleaning elements 109. For cleaning the one or more cleaning elements 109, the remaining height difference between the one or more cleaning elements 109 and the cleaning mechanism 207 (i.e., the one or more regeneration elements) is reduced so that the cleaning mechanism 207 can engage with the one or more cleaning elements 109.After cleaning, the distance between the one or more wiping elements 109 and the cleaning mechanism 207 is reset to the initial value, so that the robot 100 can leave the base station 250 - at ground level - unhindered.

[0045] The cleaning robot 100 is designed to lift its one or more mopping elements 109 from the floor and hold them at a defined height when no contact between the one or more mopping elements 109 and the floor is desired. This function can be used when the robot 100 needs to cross carpets, and / or when the one or more mopping elements 109 need to air dry while stationary at a base station 250.

[0046] The base station 250 has a flat, tray- and / or trough-like extension (i.e., a regeneration tray 206) at the front, over which the robot 100 positions its one or more raised wiping elements 109 when docked. The cleaning mechanism 207 in the extension (in particular, in the regeneration tray 206) of the base station 250 is located directly beneath the one or more wiping elements 109 of the cleaning robot 100 when docked. Water used in cleaning the one or more wiping elements 109 can collect in the tray-shaped extension (in particular, in the regeneration tray 206) before being pumped out. The base station 250 can have one or more water connections (fresh water and / or wastewater).

[0047] To keep the size of the base station 250 compact, the fan used to empty the collection container 140 of the cleaning robot 100 at the base station 250, and / or the dust bag in which the removed dust and dirt are collected, can be located outside the base unit 200 of the base station 250 in a separate (container) unit 220. The cleaning robot 100 and the base station 250 can be configured to communicate with each other directly or, for example, via a smart home environment.

[0048] The base station 250 can be designed such that the cleaning mechanism 207 can be raised and lowered. When the robot 100 approaches or leaves the base station 250, the cleaning mechanism 207 is lowered and has no contact with the robot 100 or with the one or more wiping elements 109 of the robot 100. During the cleaning of the one or more wiping elements 109 on the base station 250, the cleaning mechanism 207 can be raised to be in direct mechanical contact with the one or more wiping elements 109.

[0049] The cleaning mechanism 207 can have one or more fixed, water-carrying nozzles with a nubbed shape. The one or more wiping elements 109 located on the robot 100 can be rotated over this fixed cleaning mechanism 207 by their own rotation, thus performing mechanical work on the textile of the one or more wiping elements 109 and / or rinsing water at all points of the one or more wiping elements 109. Alternatively or additionally, the cleaning mechanism 207 for each wiping element 109 can be designed as a rotating disc equipped with water-carrying nubs. This design allows the one or more wiping elements 109 on the robot 100 to remain stationary in their raised position while the cleaning of the one or more wiping elements 109 is carried out.

[0050] The lifting movement of the cleaning mechanism 207 can be achieved by a screw mechanism, so that the cleaning mechanism 207 can be raised and lowered by the rotation of a motor (e.g., coupled to the rotation of the rotatable cleaning mechanism 207). Alternatively or additionally, one or more other actuators can also directly or indirectly effect the lifting movement via a mechanism. Alternatively or additionally, the cleaning mechanism 207 can be designed such that the water pressure of the water used for cleaning raises the cleaning mechanism 207, and it lowers again automatically after the water is turned off.

[0051] The base station 250 can be integrated into the plinth area 211 of a kitchen unit. This allows the cleaning robot 100 and the base station 250 to be permanently and discreetly positioned, yet remain ready for use at all times. The robot 100 accesses the base station 250 through an opening in the plinth panel of the plinth area 211. This opening can be permanently open or, if necessary, selectively opened by an actuator when the robot 100 leaves or returns to the base station 250. The robot 100 and the base station 250 can have a similar height, allowing them to be positioned in a plinth area 211 that is, for example, 10 cm high or less.

[0052] When approaching the base station 250, e.g., after completing a cleaning cycle, or when leaving the base station 250, e.g., at the start of a cleaning cycle, the cleaning robot 100 raises its one or more wiping elements 109. The one or more raised wiping elements 109 overcome the edge of the side wall 208 of the base station extension (especially the regeneration tray 206) without touching it, or they only lightly touch it with the textile fabric of the one or more wiping elements 109. There is then no significant additional resistance to the robot 100's movement.

[0053] The higher the one or more wiping elements 109 of the cleaning robot 100 can be raised, the higher the side wall 208 of the base station attachment, in particular the regeneration tray 206, can be. The cleaning robot 100 can be designed to lift the one or more wiping elements 109 from the floor by, for example, 10 mm or more. This allows the cleaning mechanism 207 to be reliably installed in the attachment, especially in the regeneration tray 206, and provides a sufficiently large collection volume for the dirty water generated during cleaning.

[0054] During cleaning, in addition to rinsing the one or more wiping elements 109 with fresh water, increased mechanical contact is preferably established between the cleaning mechanism 207 and the one or more wiping elements 109. For this purpose, the one or more wiping elements 109 of the robot 100 can be lowered, e.g., until the nubs of the cleaning mechanism 207 engage in the textile of the one or more wiping elements 109. Alternatively or additionally, the cleaning mechanism 207 of the base station 250 can be raised by the corresponding amount.

[0055] To prevent the cleaning robot 100 from lowering one or more mopping elements 109 before reaching its final parking position at the base station 250, and / or to prevent the base station 250 from raising the cleaning mechanism 207 before the robot 100 is fully docked, cleaning can be initiated only when the robot 100 has reliably reached its target parking position. This can be achieved by generating a signal, for example, when the robot 100 makes contact with both charging contacts 204 on the base station 250 and a charging current is flowing, and / or when one or more other sensors report correct positioning.

[0056] The measures described in this document make it possible to position a base station 250 and a robot 100 with full functionality, i.e., including the regeneration of the one or more wiping elements 109 of the cleaning robot 100, in the plinth area 211 of a kitchen unit, even if this area is only as high as, or only slightly higher than, the robot 100 itself. A rotating cleaning mechanism 207 on the base station 250 enables particularly reliable rinsing and / or mechanical cleaning of the one or more wiping elements 109. The use of a liftable cleaning mechanism 207 allows for the lifting of the one or more wiping elements 109 in a particularly efficient manner (with exactly two defined end positions, without intermediate positions).Lifting the cleaning mechanism 207 using water pressure is particularly advantageous for fixed water connections, as no additional actuators need to be installed and the existing water pressure makes the use of a pump unnecessary.

[0057] The present invention is not limited to the embodiments shown. In particular, it should be noted that the description and the figures are intended only to illustrate the principle of the system described in this document. Bezugszeichenliste

[0058] 100 Cleaning robot 101 Drive unit 102 Brush roller 104 Guide and / or support element 105 Bumper 106 Cleaning unit / Suction nozzle 107 Suction mouth 109 Wiping element 110 Environmental sensor 111 Storage unit 120 Direction of movement / Longitudinal direction 121 Top 122 Bottom 123 Side wall 130 Control unit 140 Collection container 141 Filter unit 142 Suction channel 200 Base unit (base station) 201 Suction channel 202 Connection channel 203 Cable channel 204 Electrical supply interface 205 Tank inlet 206 Regeneration tray 207 Regeneration element 208 Side wall 210 Kitchen cabinet 211 Base area 220 Container unit (base station) 250 Base station 300 System

Claims

1. System (300) comprising a cleaning robot (100) and a base station (250) for the cleaning robot (100); wherein - the cleaning robot (100) has at least one mopping element (109) that can be moved between a lowered position, in which the mopping element (109) touches a floor on which the cleaning robot (100) stands, and a position raised from the floor; - the base station (250) has a regeneration tray (206) with a regeneration element (207) for regenerating the mopping element (109); - the base station (250) is designed to be placed on the floor traversed by the cleaning robot (100);and - the base station (250) and the cleaning robot (100) are designed such that the cleaning robot (100) can dock at the base station (250) while moving on the floor and can position the wiping element (109) in the raised position above the regeneration tray (206), in particular above the regeneration element (207) in the regeneration tray (206).

2. System (300) according to claim 1, wherein - the regeneration trough (206) is bounded by a side wall (208) extending from the floor to a certain wall height; and - the cleaning robot (100) is designed such that the wiping element (109) in the raised position has a height above the floor that is equal to or greater than the wall height of the side wall (208) of the regeneration trough (206).

3. System (300) according to one of the preceding claims, wherein the base station (250) and the cleaning robot (100) are designed such that: - the cleaning robot (100) always touches the floor on which the base station (250) stands when docking with the base station (250); and / or - the cleaning robot (100) does not drive onto a ramp of the base station (250) when docking with the base station (250); and / or - the cleaning robot (100), when docked, stands directly on the floor or on a flat plate and / or mat and not on a ramp of the base station (250); and / or - the cleaning robot (100), when docked, only covers the regeneration tray (206).

4. System (300) according to one of the preceding claims, wherein the system (300) is configured to move the wiping element (109) and the regeneration element (207) towards each other for a regeneration process, such that the regeneration element (207) touches a bottom surface of the wiping element (109) facing the ground.

5. System (300) according to claim 4, wherein the base station (250) is configured to lift the regeneration element (207) for a regeneration process and thereby move it towards the wiping element (109).

6. System (300) according to claim 5, wherein the base station (250) is configured to be fluidly connected to a water supply line; wherein the water in the water supply line has a water pressure; and the base station (250) is designed such that the regeneration element (207), in particular alone, is raised by the water pressure of the water in the water supply line.

7. System (300) according to one of the preceding claims, wherein the system (300) is configured to effect a relative movement, in particular a relative rotation, between the wiping element (109) and the regeneration element (207) for a regeneration process.

8. System (300) according to claim 7, wherein the base station (250) is configured to cause a rotation of the regeneration element (207) about a rotation axis perpendicular to the ground for a regeneration process.

9. System (300) according to any one of claims 4 to 8, wherein the base station (250) is configured to effect a regeneration process by spraying cleaning fluid, in particular water, onto a bottom surface of the wiper element (107) facing the ground through one or more nozzles of the regeneration element (207); and / or by mechanically engaging one or more cams of the regeneration element (207) on the bottom surface of the wiper element (107).

10. System (300) according to one of the preceding claims, wherein the system (300), in particular a control unit of the base station (250) and / or the cleaning robot (100), is configured to: - determine that the cleaning robot (100) is docked to the base station (250); and - in response to the determination, cause the regeneration element (207) of the base station (250) to perform a regeneration process of the wiping element (109) of the cleaning robot (100).

11. System (300) according to claim 10, wherein the control unit is configured to: - determine docking information indicating that: - an electrical supply interface (204) is electrically conductively connected to a complementary charging interface of the cleaning robot (100); and / or: - a charging current for charging an electrical energy storage device of the cleaning robot (100) is provided by the base station (250); and / or: - a docking sensor of the base station (250) and / or the cleaning robot (100) has detected the docking of the cleaning robot (100) to the base station (250); and - determine, based on the docking information, that the cleaning robot (100) is docked to the base station (250).

12. System (300) according to one of claims 10 to 11, wherein the control unit is configured to effect a drying process of the wiper element (109) in which the wiper element (109) is held in the raised state above the regeneration tray (206) without any physical contact between the regeneration element (207) and the wiper element (109).

13. System (300) according to one of the preceding claims, wherein the regeneration tray (206) covers an area of ​​the floor which is at most 30%, in particular at most 20%, larger than the area of ​​the floor covered by the one or more, in particular all, wiping elements (109) of the cleaning robot (100).

14. System (300) according to one of the preceding claims, wherein the cleaning robot (100) is configured to cause, during a docking operation from the base station (250), that - the wiping element (109) remains in the raised state as long as the wiping element (109) is partially arranged above the regeneration tray (206); and - the wiping element (109) is moved into the lowered state when the wiping element (109) is no longer arranged above the regeneration tray (206).

15. System (300) according to one of the preceding claims, wherein the base station (250) and the cleaning robot (100) each have a total height from the floor of 15 cm or less, in particular of 10 cm or less, especially when the cleaning robot (100) is docked to the base station (250).

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