Floor-cleaning device and method for controlling a floor-cleaning device

Abstract

To provide a floor cleaning device having higher operation safety.SOLUTION: A self-propelled, self-steering floor-cleaning device (10), comprising at least one functional unit (16) and a control unit for controlling the at least one functional unit (16), wherein the at least one functional unit (16) comprises a traveling gear (20) for traveling on a floor surface (12), at least one cleaning tool (22) for cleaning the floor surface (12), and a sensor unit (34) for detecting the surroundings of the floor-cleaning device (10), in particular during travel, the control unit determines, depending on at least one signal of the sensor unit (34), that an obstacle is located on or at the floor surface (12).SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a self-propelled, self-steering floor cleaning device comprising at least one functional unit and a control unit for controlling at least one of the at least one functional unit, wherein the at least one functional unit comprises a running gear for running on a floor surface, at least one cleaning tool for cleaning the floor surface, and a sensor unit for detecting the surroundings of the floor cleaning device, particularly while moving, and the control unit determines that an obstacle is located on or at the floor surface depending on at least one signal of the sensor unit.

[0002] The present invention also relates to a method of controlling a self-propelled, self-steering floor cleaning machine, especially of the type described above. [Background technology]

[0003] Autonomous cleaning of a floor surface can be carried out using a floor cleaning device of the type mentioned at the beginning. For this purpose, the floor cleaning device travels over the floor surface. At least one cleaning tool, for example, comprises a cleaning roller or a disc brush to separate dirt from the floor surface. To improve the cleaning performance, the floor surface can be subjected to a cleaning liquid, preferably water. To improve the cleaning performance, cleaning chemicals can be added. The mixture of dirt and cleaning liquid can be picked up from the floor surface by the cleaning tool and transferred to a waste liquid tank.

[0004] It is known that in autonomous floor cleaning devices, a sensor unit detects the surroundings for positioning and / or navigation purposes, and thus the sensor unit may comprise or form the navigation unit, or vice versa.

[0005] The floor cleaning device will, for example, determine which travel path the floor cleaning device will take depending on the presence of obstacles. Obstacles may be located on or at the floor surface; in the latter case, these obstacles may, for example, be the boundaries of the floor surface. Summary of the Invention [Problem to be solved by the invention]

[0006] The object of the present invention is to provide a floor cleaning device of that type which has greater operational safety. [Means for solving the problem]

[0007] In a floor cleaning device of the type mentioned at the outset, this object is achieved according to the invention in that the control unit classifies the obstacles with respect to people and objects, and the control unit controls at least one functional unit depending on the classification of the recognized obstacle.

[0008] The control unit of the floor cleaning device according to the present invention is configured and designed to classify the obstacle as a person or as a different type of obstacle, i.e., object. The classification can be performed within the scope of information detectable by the sensor unit, and it is therefore understood that an obstacle is classified as a person, in particular when the obstacle is a person with at least a certain probability. At least one functional unit is controlled depending on the classification. This allows the floor cleaning device to adapt its behavior depending on the situation to the type of obstacle. In particular, functional safety requirements can be preferably set higher when the obstacle is a person rather than a different type of obstacle, such as an object.

[0009] Obstacles can be classified as more than just people and objects.

[0010] Advantageously, the control unit controls the running gear when a person is detected to maintain a safe distance from the person, the safe distance being preferably predetermined and may be a minimum distance.

[0011] The current distance from the person to the floor cleaning device may be increased.

[0012] Advantageously, the control unit controls the travel gear to reduce the travel speed of the floor cleaning device or stop the floor cleaning device when a person is detected.

[0013] For example, the control unit may control the running gear to stop for a predetermined time when a person is detected, which may be understood to mean in particular that the running gear does not operate for the predetermined time.

[0014] For example, when a person is detected, the control unit may control the running gear to increase the running speed in order to maintain a preferably predetermined safe distance from the person as quickly as possible.

[0015] In the case of a person it may be advantageous to maintain a safe distance, whereas in the case of an obstacle in the form of an object it may be advantageous to move as close as possible to the obstacle in order to clean the floor surface at said obstacle.

[0016] The control unit may conveniently control the running gear to run towards an object when an object is detected, for cleaning the floor surface proximate to the object. In this case, the floor cleaning device may advantageously run to at least within a maximum distance from the object to clean the floor surface proximate to the object, for example proximate an edge. It will be appreciated that the at least one cleaning tool is preferably operated in this embodiment.

[0017] In a preferred embodiment of the present invention, the at least one functional unit comprises an indicator unit having at least one visual and / or audio actuator. For example, a flashing light and / or a light is provided as the visual actuator and / or a speaker is provided as the audio actuator. The visual actuator can be a display unit of the floor cleaning device, which display unit is arranged, for example, on an operating unit.

[0018] The control unit controls the indicator unit when a person is detected, and preferably provides at least one indicator, which may for example be audio and / or visual, said indicator being capable of indicating in particular that a person has been detected.

[0019] Advantageously, the at least one indicator is clearly perceptible to the person at least within a maximum distance from the floor cleaning device.

[0020] The control unit may advantageously control at least one cleaning tool to reduce power when the person is detected, which allows, for example, to reduce noise emissions of the floor cleaning device in the presence of people for the sake of their health.

[0021] The control unit may be adapted to power off or temporarily stop the operation of the cleaning tool, particularly when the running gear is stopped.

[0022] Advantageously, the control unit determines whether the obstacle is stationary or moving relative to the floor surface depending on the at least one signal from the sensor unit, and the control unit controls the at least one functional unit depending on whether the obstacle is stationary or moving. This allows the floor cleaning device to achieve particularly diverse behavior depending on the situation. For example, the floor cleaning device may determine that the obstacle is moving away from the travel path and therefore may be able to omit reducing the travel speed.

[0023] Controlling at least one functional unit in the case of an existing classification, for example to maintain a safe distance, to vary the distance, to vary the travel speed, to vary the power of the cleaning tool and / or to control the indicator unit, can depend, for example, on whether the obstacle is moving, as explained above. For example, such control is performed in the case of a moving person but not in the case of a stationary person. Alternatively or additionally, this can be applied to objects.

[0024] Preferably, a movement threshold can be defined to determine movement, and movements below the threshold are not considered "movement" in the above sense, and only movements above the threshold are considered to be said "movement".

[0025] Optionally, in a floor cleaning device of the type mentioned in the introduction, the control unit can be adapted to determine whether the obstacle is stationary or moving relative to the floor surface depending on the at least one signal of the sensor unit, and the control unit can be adapted to control the at least one functional unit depending on whether the obstacle is stationary or moving. In the context of the present disclosure, this justifies an independent invention. The classification of obstacles into people and objects is only optional and not required for the present invention, but is nevertheless preferred.

[0026] Advantageously, the floor cleaning device comprises an operating unit, via which the type of control of the at least one functional unit can be configured by an operator depending on the classification of the obstacle and / or the movement of the obstacle, e.g., the operator can specify how the floor cleaning device should behave in case of a person or object being detected and / or in case of a moving obstacle.

[0027] The operating unit may in particular be a functional unit of the floor cleaning device. The operating unit may be located on the floor cleaning device. Alternatively or additionally, a spatially remote operating unit may be provided which can be communicatively connected to the floor cleaning device via a wireless and / or wired communication interface.

[0028] The control unit advantageously controls the travel gear to reduce the travel speed of the floor cleaning device when there is a distance from an obstacle that is within a maximum distance, for example in the case of an obstacle that has not yet been classified, before a different situation-dependent behavior of the floor cleaning device is determined, for example in one of the ways described above.

[0029] It has already been mentioned that the floor cleaning device may comprise a navigation unit, for example the sensor unit comprises or forms the navigation unit or vice versa.

[0030] Different spatial resolutions of the surroundings of the floor cleaning apparatus can be achieved via the sensor units, and the control unit advantageously controls the sensor units to increase the spatial resolution of the surroundings when there is a distance from an obstacle within a maximum distance. For example, in a situation where the floor cleaning apparatus is located at a bottleneck or near an obstacle, the resolution is increased to improve the location and / or navigation of the floor cleaning apparatus. In contrast, for example, when there are no obstacles, for example, outside the maximum distance, the resolution of the surroundings may not be as high, but may be sufficient to reliably perform cleaning tasks, location, and / or navigation. By increasing the resolution, the floor cleaning apparatus can preferably navigate very accurately and close to obstacles for cleaning near the object.

[0031] Optionally, in a floor cleaning device of the type mentioned at the beginning, different spatial resolutions of the surroundings of the floor cleaning device can be achieved via the sensor units, and the control unit can control the sensor units to increase the spatial resolution of the surroundings when there is a distance from an obstacle within a maximum distance. In the context of the present disclosure, this justifies an independent invention. The classification of obstacles into people and objects is only optional and not required for the present invention, but is nevertheless preferred.

[0032] Advantageously, the spatial resolution is only temporarily increased so that the spatial resolution is reduced again depending on a predetermined criterion, for example the resolution is only increased until the distance from the obstacle to the floor cleaning device exceeds the maximum distance and / or after a predetermined time has elapsed.

[0033] In this context, "predetermined" can also mean, inter alia, "predeterminable."

[0034] In a preferred embodiment of the invention, the floor cleaning device comprises a storage unit in which at least one travel path, in particular a cleaning path, to be traveled by the floor cleaning device is stored, which can be predefined by an operator, can be trained (taught) by an operator or can be created by the floor cleaning device itself.

[0035] The control unit advantageously determines, based on at least one signal of the sensor unit, that the floor cleaning device cannot follow the travel path due to an obstacle and controls at least one functional unit to perform an alternative behavior in this case, which allows the floor cleaning device to adapt its situation-dependent behavior to situations in particular where a previously unknown obstacle blocks the travel path and thereby restricts the floor cleaning device in its freedom of movement.

[0036] Via said at least one alternative behaviour, said floor cleaning device may in particular try to extricate itself from said situation.

[0037] Preferably, multiple alternative behaviors can be provided, and the most appropriate behavior can be selected depending on the situation the floor cleaning device finds itself in and / or depending on which protection area of ​​the sensor unit is violated. Alternatively or additionally, a "set" of alternative behaviors can be provided, and the alternative behaviors can be weighted with respect to the fastest and / or most likely release of the floor cleaning device from the situation.

[0038] For example, the alternative behavior may include an avoidance move, in which case the floor cleaning device moves toward a position on the travel path that is, for example, upstream or downstream of the current position on the travel path. For example, the floor cleaning device may return to a point on the travel path that the floor cleaning device has already passed. Starting from that point, the floor cleaning device may attempt to adapt the travel path, preferably around the obstacle, so that continuation on the travel path is possible. Alternatively, starting from that position, the floor cleaning device may navigate to a downstream position on the travel path, around the obstacle, and continue movement on the path.

[0039] The avoidance maneuver preferably depends on the location of the obstacle relative to the floor cleaning device. For example, the avoidance maneuver may involve running away from the obstacle, which may be backward, forward, and / or side to side away from the obstacle. Movements in the opposite direction along the travel path from which the floor cleaning device came may be weighted more heavily since this movement is known.

[0040] Alternatively or additionally, the avoidance maneuver may include a rotation in place away from the obstacle.

[0041] The alternative behavior may comprise providing an indicator by means of an indicator unit, which may be a functional unit of the floor cleaning device, for example having at least one visual and / or audio actuator, for example indicating that the floor cleaning device is unable to follow the travel path, the indicator being particularly directed towards at least one person in the vicinity.

[0042] The alternative behavior can include, for example, increasing the spatial resolution of the surroundings that can be achieved by the sensor unit, where a different spatial resolution of the surroundings of the floor cleaning device can be achieved by the sensor unit. As explained above, for example, this increased resolution can enable more accurate navigation. Based on this increased resolution, the floor cleaning device can advantageously determine its position more accurately. Advantageously, based on this, it can continue its movement along the travel path.

[0043] The floor cleaning device preferably comprises a communication unit, which may be a functional unit, for example, via which a message can be provided to a receiver located spatially far away from the floor cleaning device if the floor cleaning device is unable to follow the travel path and / or if the floor cleaning device is unable to free itself from its position by an evasive movement.

[0044] The receiver can be a natural person and / or an automatic receiver, e.g., a data processing device. The data processing device can be centrally located or spatially distributed, e.g., as a cloud service. For example, the status of the floor cleaning device is stored in the data processing device. Actions can be, e.g., automated and / or initiated by the operator, to release the floor cleaning device.

[0045] The floor cleaning device advantageously comprises a communication unit, which may be a functional unit, via which an operator located spatially far away from the floor cleaning device can preferably initiate a communication connection with the floor cleaning device, for example to check the surroundings of the floor cleaning device and / or to release the floor cleaning device from its position by actively controlling the floor cleaning device.

[0046] In a preferred embodiment, said floor cleaning device may advantageously be a scrubber vacuum.

[0047] As mentioned at the outset, the invention also relates to a method, the object of which is to provide a method for controlling a self-propelled, self-steering floor cleaning device, which allows for increased operational reliability.

[0048] The method according to the invention for controlling a floor cleaning device, in particular of the type mentioned above, comprises: - detecting the surroundings of the floor cleaning device by means of a sensor unit, in particular while moving over the floor surface; - determining by a control unit that an obstacle is located on or in said floor surface; - classifying obstacles with respect to people and objects by said control unit; - controlling at least one functional unit of the floor cleaning device depending on the classification of the detected obstacle; Includes:

[0049] The advantages already mentioned in connection with the description of the floor cleaning device according to the invention can also be achieved by applying the method, advantageous exemplary embodiments of the method according to the invention result from advantageous embodiments of the floor cleaning device according to the invention, in which respect reference can be made to the above description.

[0050] The following description of preferred embodiments of the invention, taken in conjunction with the drawings, will serve to explain the invention in more detail. [Brief explanation of the drawings]

[0051] [Figure 1] 1 is a perspective view of a preferred embodiment of a floor cleaning device according to the present invention; [Figure 2] 2 is a schematic diagram of the floor cleaning device of FIG. 1 with different types of obstacles, an operator, and a data processing device. DETAILED DESCRIPTION OF THE INVENTION

[0052] 1 shows an advantageous embodiment of a floor cleaning device according to the invention, generally designated by the reference numeral 10. The floor cleaning device 10 is configured to be self-propelled and self-steering, forming in particular a cleaning robot capable of autonomously cleaning a floor surface 12.

[0053] Floor cleaning device 10 comprises a housing 14 having a plurality of functional units 16 disposed thereon, and a control unit 18 for controlling at least one of functional units 16 .

[0054] The control unit 18 may comprise or be formed as at least one computer. At least one microprocessor may be provided with software executable on or stored on said microprocessor. The control unit 18 may comprise various safety circuits.

[0055] A running gear 20 for running on the floor surface 12 is provided as a functional unit 16 on the underside of the housing 14.

[0056] Another functional unit 16 is a cleaning tool 22. In this example, the cleaning tool 22 comprises a floor cleaning head 24 having a cleaning roller (not shown), a suction strip 26, and a side broom 28.

[0057] The floor cleaning device 10 comprises, on the housing 14, a storage container 30 for a cleaning liquid, in particular water, for wetting the floor surface 12. The cleaning tool 22 can be used to separate dirt from the floor surface 12, which can be transferred via the suction strip 26 into a waste liquid container 32 under the influence of a suction unit (not shown).

[0058] Thus, although floor cleaning device 10 is a scrubber vacuum in this example, the present invention is not limited to scrubber vacuums.

[0059] A sensor unit 34, operatively connected to the control unit 18, is provided as another functional unit 16. The sensor unit 34 allows the surroundings of the floor cleaning device 10 to be detected, in particular during movement of the floor cleaning device 10, especially during a cleaning movement.

[0060] In this example, the sensor unit 34 comprises a plurality of sensor elements, each of which can detect a part of the surroundings, such as a lidar sensor 36, a stereo camera 38, and an ultrasonic sensor 40. The signals of the sensor unit 34 can be provided to the control unit 18, which evaluates the signals for positioning and / or navigation purposes.

[0061] An indicator unit 42 is provided as another functional unit 16. In this example, the indicator unit 42 comprises a visual actuator 44 configured as a flashing light 46 and an audible actuator 48 configured as a speaker 50. A display unit of the floor cleaning device 10, for example on an operating unit, can also be a visual actuator.

[0062] As further functional units 16, the floor cleaning device 10 comprises an operating unit 52 for an operator, a storage unit 54, and a communication unit 56.

[0063] At least the running gear 20 and the cleaning tool 22 may be controlled by the control unit 18 in response to an evaluation of the signal of the sensor unit 34, as will be explained below.

[0064] A plurality of cleaning paths 58, including travel paths for the floor cleaning device 10 over the floor surface 12, are preferably stored in the storage unit 54. Additionally, a map 60 of the surroundings is advantageously stored in the storage unit 54.

[0065] The surroundings of the floor cleaning apparatus 10 may be detected by the sensor unit 34. In particular, obstacles 62 (e.g., boundaries) on or at the floor surface 12 may be detected. Exemplary obstacles 62 are shown in FIG. 2 in the form of a person 64 and an object 66, one of which is a boundary of the floor surface 12.

[0066] The control unit 18 is configured and designed to classify the obstacle 62 with respect to at least a person 64 and an object 66. Depending on the classification, at least one functional unit 16, in particular the running gear 20 and / or at least one cleaning tool 22, can be controlled by the control unit 18.

[0067] In this way, the floor cleaning device 10 has a high operational safety, and in particular the situation-dependent behavior can be adapted in the presence of a person 64 so that injury to the person 64 is avoided.

[0068] For example, the running gear 20 may be controlled such that a predetermined safe distance from the person 64 must be maintained when the person 64 is detected. For example, a current distance that is less than the safe distance may be specifically increased.

[0069] When a person 64 is detected, for example, the travel speed of the floor cleaning device 10 may be reduced or the floor cleaning device 10 may be stopped entirely. For example, the floor cleaning device 10 may be stopped for a predetermined period of time and the travel gear 20 may be deactivated specifically for this purpose.

[0070] When a person 64 is detected, it may be advantageous to provide a visual and / or audible indicator via the actuators 44, 48 to make the person 64 aware of the floor cleaning device 10. The indicator may, for example, indicate that a person 64 has been detected.

[0071] When a person 64 is detected, at least one cleaning tool 22 may be controlled to reduce power, thereby reducing the noise emissions of the floor cleaning apparatus 12 .

[0072] When an object 66 is detected, the running gear 20 can be controlled to move the floor cleaning device 10 up to the object 66, or at least within a maximum distance from the object 66. This has the purpose of being able to clean the floor surface 12 close to the object, for example close to an edge, for good cleaning results.

[0073] In particular, the at least one cleaning tool 22 may be powered off when the running gear 20 is stopped.

[0074] When a person 64 is detected, the travel speed of the floor cleaning device 10 may be temporarily increased, for example, to increase the distance from the person 64 until the distance exceeds, for example, a predetermined safe distance.

[0075] As already mentioned, the control unit 18 may represent an independent invention if it determines whether the obstacle 62 is stationary, regardless of classification, depending on the signal of the sensor unit 34. For example, the control unit 18 controls at least one functional unit 16 depending on whether the obstacle 62 is stationary or moving.

[0076] For example, a stationary person 64 may not be treated differently than a stationary object 66. The floor cleaning apparatus 10 may, for example, vary travel speed, maintain a safe distance, vary distance, adapt cleaning tool power, and / or output indicators only in the case of a moving obstacle 62, but this is omitted in the case of a stationary obstacle 62. This may apply to a person 64 and / or an object 66.

[0077] Via the operating unit 52, the operator can preferably configure the type of control of the at least one functional unit 16 depending on the classification of the obstacle 62 and / or the movement of the obstacle 62. For this purpose, the operator can interact with the floor cleaning device 10 via the operating unit 52.

[0078] 2 shows an operator 68 that is spatially remote from the floor cleaning apparatus 10. For example, the operator 68 can configure the behavior of the floor cleaning apparatus 10 via a spatially remote operation unit 70 that can establish a wireless and / or wired communication connection with the communication unit 56. Inputs by the operator 68 can be transmitted to and processed by the floor cleaning apparatus 10.

[0079] When the distance from an obstacle is within a maximum distance, the travel speed can be reduced, which can be useful, for example, to move as close as possible to the object 66 to clean close to the object.

[0080] Different resolutions of the surroundings can preferably be achieved via the sensor unit 34. The surroundings can be detected with different "sharpness", so to speak. When there is a distance from an obstacle 62, particularly an object 66 within a maximum distance, the sensor unit 34 can be controlled to increase the spatial resolution of the surroundings.

[0081] This provides, for example, the possibility of being able to navigate precisely and in close proximity to tight spots and / or obstacles 62 while maintaining high operational reliability.

[0082] The spatial resolution may be increased only temporarily, for example, until the distance from the obstacle 62 exceeds a maximum distance and / or until a predetermined time has elapsed.

[0083] The floor cleaning apparatus 10 can autonomously drive the cleaning path 58. In this case, a situation may arise in which the cleaning path 58 is blocked, for example due to an unexpected obstacle 62, such that the control unit 18 determines, based on the signal of the sensor unit 34, that the floor cleaning apparatus 10 cannot follow the cleaning path 58. In this case, an alternative behavior is advantageously provided and can be executed by the floor cleaning apparatus 10 alternatively or redundantly.

[0084] For example, the floor cleaning apparatus 10 may return to an upstream position on the cleaning path 58 and attempt to retrace the cleaning path 58 from there, going around the obstacle 62 .

[0085] Alternatively, floor cleaning device 10 may travel to a location on cleaning path 58 downstream from the current location, for example, navigating around obstacle 62.

[0086] At least one avoidance maneuver may be performed, such as driving forward, backward and / or left or right away from the obstacle 62, and / or turning in place away from the obstacle 62.

[0087] Alternatively or additionally, indicators may be provided, for example via actuators 44 and / or 48, to make floor cleaning device 10 particularly recognizable to personnel 64.

[0088] Alternatively or additionally, the spatial resolution of the surroundings may be increased, for example, via the sensor unit 34. This may, for example, enable the floor cleaning apparatus 10 to more accurately navigate and follow the cleaning path 58.

[0089] Alternatively or additionally, the message may be transmitted via the communication unit 56 to a spatially distant receiver 72. The receiver 72 may be, for example, a natural operator 68 and / or an automated receiver in the form of a data processing device 74, which may be, for example, cloud-based, as shown in FIG.

[0090] The message may include, for example, information that the floor cleaning device 10 is unable to follow the cleaning path 58 and / or is unable to free itself from its position by an evasive maneuver.

[0091] Status information regarding the contents of the messages may be stored in the data processing unit 74 .

[0092] The operator 68 can initiate a communication connection with the floor cleaning apparatus 10, for example, via the operation unit 70. For example, the operator 68 can check the surroundings using the sensor unit 34. The floor cleaning apparatus 10 can be released from its position under the control of the operator 68. [Explanation of symbols]

[0093] 10…Floor cleaning device 12...Floor 14. Housing 16...Functional unit 18...Control unit 20...Running gear 22...Cleaning tools 24...Floor cleaning head 26...Suction strips 28...Side broom 30...Reservoir 32...Sewage tank 34...Sensor unit 36... Lidar sensor 38...Stereo camera 40...Ultrasonic sensor 42...Indicator unit 44...Visual actuator 46...Flashlight 48...Hearing actuator 50...Speaker 52...Control unit 54...Storage Unit 56...Communication unit 58...Cleaning route 60...Map 62...Obstacle 64…people 66…object 68...Operator 70...Control unit 72...Receiver 74...Data processing device

Claims

1. A self-propelled, self-steering floor cleaning device comprising at least one functional unit (16) and a control unit (18) for controlling the at least one functional unit (16), the at least one functional unit (16) comprises a running gear (20) for running on a floor surface (12), at least one cleaning tool (22) for cleaning the floor surface (12), and a sensor unit (34) for detecting the surroundings of the floor cleaning device (10), particularly during movement; the control unit (18) determines, in response to at least one signal from the sensor unit (34), that an obstacle (62) is located on or at the floor surface (12); In a self-propelled, self-steering floor cleaning device, the control unit (18) classifying the obstacles (62) with respect to people (64) and objects (66); and The control unit (18) controls at least one functional unit (16) depending on the classification of the detected obstacle (62). A self-propelled, self-steering floor cleaning device characterized by:

2. 2. The floor cleaning device of claim 1, wherein the control unit (18) controls the running gear (20) when a person (64) is detected to preferably maintain a predetermined safe distance from the person (64) or increase the current distance.

3. 3. The floor cleaning device according to claim 1, wherein the control unit (18) controls the running gear (20) to reduce the running speed or stop the floor cleaning device (10) when a person (64) is detected.

4. 4. The floor cleaning device of claim 3, wherein the control unit (18) controls the running gear (20) to stop for a predetermined time when a person (64) is detected.

5. 5. The floor cleaning device of claim 1, wherein the control unit (18) controls the running gear (20) to run to within at least a maximum distance from the object (66) when an object is detected, in relation to cleaning the floor surface (12) adjacent to the object.

6. the at least one functional unit (16) comprises an indicator unit (42) having at least one visual and / or audible actuator (44, 48); and The control unit (18) controls the indicator unit (42) when the person (64) is detected, and in particular provides at least one indicator that indicates that a person has been detected.

6. The floor cleaning device according to claim 1, wherein:

7. 7. The floor cleaning apparatus of claim 1, wherein the control unit (18) controls at least one cleaning tool (22) to reduce power when the person (64) is detected.

8. 8. The floor cleaning device according to claim 7, characterized in that the control unit (18) is adapted to power off or temporarily stop the operation of the cleaning tool (22), in particular when the running gear (20) is stopped.

9. the control unit (18) determining whether the obstacle (62) is stationary or moving relative to the floor surface (12) in response to the at least one signal of the sensor unit (34); and The control unit (18) controls at least one functional unit (16) depending on whether the obstacle (62) is stationary or moving.

9. A floor cleaning device according to any one of claims 1 to 8 or according to the preamble of claim 1.

10. 10. The floor cleaning device according to any one of claims 1 to 9, characterized in that the floor cleaning device (10) comprises an operating unit (52) via which the type of control of the at least one functional unit (16) can be configured by an operator (68) depending on the classification of the obstacle (62) and / or the movement of the obstacle (62).

11. 11. The floor cleaning device according to claim 1, wherein the control unit (18) controls the running gear (20) to reduce the running speed of the floor cleaning device (10) when the distance from an obstacle (62) is within a maximum distance.

12. different spatial resolutions around the floor cleaning device (10) are achievable via the sensor unit (34); The control unit (18) controls the sensor unit (34) when there is a distance from an obstacle (62) within a maximum distance to enhance spatial resolution of the surroundings.

12. A floor cleaning device according to any one of claims 1 to 11 or according to the preamble of claim 1.

13. 13. The floor cleaning device according to claim 12, wherein the spatial resolution is only temporarily increased, in particular until the distance from the obstacle (62) to the floor cleaning device (10) exceeds the maximum distance and / or after a predetermined time has elapsed.

14. the floor cleaning device (10) comprises a storage unit (54) in which at least one travel path, in particular a cleaning path (58), to be traveled by the floor cleaning device (10) is stored; and the control unit (18) determines, based on at least one signal from the sensor unit (34), that the floor cleaning device (10) cannot follow the travel path due to an obstacle (62), and controls at least one functional unit (16) to perform an alternative behavior in this case.

14. The floor cleaning device according to claim 1, wherein:

15. 15. The floor cleaning device of claim 14, wherein the alternative behavior includes performing an evasive maneuver, and the floor cleaning device (10) preferably heads to a position on the travel path that is upstream or downstream of the current position on the travel path.

16. The at least one avoidance movement comprises: Driving backwards or forwards and / or side to side away from said obstacle (62); and Rotating in place away from said obstacle (62).

16. The floor cleaning device of claim 15, comprising at least one of:

17. 17. A floor cleaning device according to any one of claims 14 to 16, wherein the alternative behaviour comprises providing an indicator via an indicator unit (42) having at least one visual and / or audible actuator (44, 48).

18. 18. A floor cleaning device as described in any one of claims 14 to 17, characterized in that the alternative behavior includes increasing the spatial resolution of the surroundings achievable by the sensor unit (34), and a different spatial resolution of the surroundings of the floor cleaning device (10) is achievable by the sensor unit (34).

19. 19. A floor cleaning device according to any one of claims 14 to 18, characterized in that the floor cleaning device (10) comprises a communication unit (56) configured to provide a message to a spatially distant receiver (72) when the floor cleaning device (10) is unable to follow the travel path and / or when the floor cleaning device (10) is unable to free itself from its position by an evasive movement.

20. 20. A floor cleaning device according to any one of claims 14 to 19, characterized in that the floor cleaning device (10) comprises a communication unit (56) configured to allow a spatially distant operator (68) to initiate a communication connection with the floor cleaning device (10), in particular with respect to checking the surroundings and / or releasing the floor cleaning device (10) from its position.

21. 1. A method of controlling a self-propelled, self-steering floor cleaning device, comprising: detecting the surroundings of the floor cleaning device by a sensor unit, particularly while moving over a floor surface; determining, by a control unit, that an obstacle is located on or at the floor surface; classifying obstacles with respect to people and objects by the control unit; controlling at least one functional unit of the floor cleaning device in response to the classification of the detected obstacle; A method comprising:

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