Method for determining a route for a floor cleaning machine - Patents.com

Abstract

To provide a method for determining a route for a floor cleaning machine in a total area.SOLUTION: The method for determining a route for a floor cleaning machine in a total area is illustrated and described, wherein the floor cleaning machine comprises a cleaning element that can be activated for engagement with a floor surface, wherein a transport path is determined in a first step, wherein the total area comprises the transport path, wherein the transport path extends between a first and a second start / end area, wherein the cleaning element is deactivated during a movement of the floor cleaning machine along the transport path, wherein a work area is determined in a second step, wherein the total area comprises the work area, wherein the work area comprises at least one of the start / end areas, wherein the cleaning element is activated during a movement of the floor cleaning machine along a work path within the work area, wherein the route comprises the transport path.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a method for determining a route for a floor cleaner in an area, the floor cleaner including cleaning elements that can be actuated to engage a floor surface. [Background technology]

[0002] Such a method is used to determine a route for a floor cleaning machine, for example for the purpose of cleaning large floor surfaces in public buildings or supermarkets. In this case, the overall area is the area in which one or more floor surfaces to be cleaned are present. Within this overall area, the floor cleaning machine can move along a transport path to the soiled floor surface to be cleaned or between several such floor surfaces to be cleaned. While the floor cleaning machine moves along the transport path, the cleaning elements are deactivated, which allows the floor cleaning machine to quickly reach several different floor surfaces to be cleaned. The one or more floor surfaces to be cleaned, also called working areas, can be cleaned by the floor cleaning machine along a freely determinable working path. While the floor cleaning machine moves along the working path, the cleaning elements are activated at least along a section of the working path, which allows the floor surface to be cleaned to be cleaned.

[0003] For example, DE 10 2017 109 880 A1 describes how a model of the surrounding environment is first imported into the robot, and then an operator inputs a desired path for the robot into the imported model of the environment, including specifying in which subsection of the path the cleaning unit of the robot should be activated.

[0004] When determining a route for the floor cleaning machine, it is desirable for the operator to determine a route depending on the location and arrangement of one or more work areas to be cleaned, such that the one or more work areas can be controlled and cleaned by the floor cleaning machine as time-efficiently and cost-effectively as possible. Summary of the Invention [Problem to be solved by the invention]

[0005] It is therefore an object of the invention to improve the method mentioned at the beginning in such a way that one or more work areas are controlled and cleaned by a floor cleaning machine in a time-efficient and cost-effective manner. [Means for solving the problem]

[0006] The above problem is solved by a method for determining a route for a floor cleaning machine in an overall area, the floor cleaning machine comprising cleaning elements that can be activated to engage a floor surface, in a first step determining a transport path, the overall area comprising the transport path, the transport path extending between a first start / end area and a second start / end area, the cleaning elements being deactivated while the floor cleaning machine is moving along the transport path, in a second step determining a working area, the overall area comprising the working area, the working area comprising at least one of the start / end areas, the cleaning elements being activated while the floor cleaning machine is moving along the working path within the working area, and the route comprising the transport path.

[0007] This determines a route that allows one or more desired work areas to be controlled and cleaned as time-efficiently and cost-effectively as possible. By determining a route that includes only a transport path that extends to a start / end area that is located in the work area to be cleaned, it is possible to determine a route that guides the floor cleaning machine along a predetermined path to the floor surface to be cleaned, and at the same time provide the floor cleaning machine with the ability to independently or autonomously determine the work path during cleaning of the work area.

[0008] Preferably, the floor cleaning machine is a vacuum cleaner, a suction cleaner or a floor mopping machine.

[0009] The transport path is determined, for example, via an interface of the floor cleaning machine, by first inputting the spatial coordinates of the first and second start / end areas and then inputting the intermediate stations that should be on the way of the transport path. The inputting can be performed, for example, in a floor plan that is graphically displayed by the interface and that includes the work areas to be cleaned.

[0010] The working path is determined, for example, independently by the floor cleaning machine, and the surrounding environment of the floor cleaning machine is preferably detected by a sensor, a sensor assembly, or a sensor system. Furthermore, the working path is determined, for example, by inputting, via an interface of the floor cleaning machine, the spatial coordinates of the first and second start / end areas first, and then inputting the intermediate stations that should be on the way of the working path. The inputting can be performed, for example, in a floor plan that is graphically displayed by the interface and includes the working area to be cleaned.

[0011] The start / end areas are predefined areas within the overall area, and each two of these predefined areas define a transport path, whereby the start and end of each transport path are spatially defined as part of the route. Each of the start / end areas can be located, for example, within the floor surface to be cleaned or within the working area, such that the start / end area specifies, for example, the start of the transport path in a direction away from the floor surface to be cleaned or specifies the end of the transport path in a direction towards the floor surface to be cleaned. Alternatively, each of the start / end areas can be located, for example, outside the floor area to be cleaned or the working area, such that the start / end area specifies, for example, the start of the transport path in a direction towards the floor surface to be cleaned or specifies the end of the transport path in a direction away from the floor surface to be cleaned.

[0012] A transport path is specified once and can be called up for any route afterwards. Furthermore, preferably, one start / end area forms the start of each working path and one start / end area forms the end of each working path, so that the start and end of each working path are spatially defined as part of a route. Preferably, in start / end areas that are located within the working area, the cleaning elements are respectively activated or deactivated, and in start / end areas that are located outside the working area or outside the working area, the deactivated cleaning elements are respectively not reactivated. If a start / end area is located outside one or more working areas, this start / end area often defines the start or end of a route.

[0013] Preferably, the overall area comprises one building. Furthermore, the transport path is preferably arranged inside the building. This allows for an automatic transport of the floor cleaning machine inside the building. Alternatively, the transport path may be arranged outside the building. This allows for transport of the floor cleaning machine between two buildings for example. Furthermore, a working area is preferably arranged inside the building. This allows for cleaning of the building or a part of a building by the floor cleaning machine. Preferably, the working area is arranged outside the building. This allows for cleaning of an area adjacent to the building by the floor cleaning machine. Preferably, the working area is a room or part of a room inside the building. This allows for cleaning of the room or part of a room.

[0014] Preferably, the cleaning element comprises a cleaning head, and preferably in this case the floor cleaner is configured such that when the cleaning element is activated the cleaning head is lowered to and possibly pressed against the floor surface to be cleaned, and when the cleaning head is deactivated the cleaning head is lifted or moved away from the floor surface to be cleaned.

[0015] In one embodiment, in the third step, a working path in the working area is determined. For example, the working path is determined as described above. Preferably, the route includes the working path. This allows a route to be determined that allows the working area to be controlled and cleaned in a particularly time-efficient and cost-effective manner without the need for user intervention. In this case, a route is determined that includes the working path and thus allows the transport path and the working path to be combined into one overall path.

[0016] Preferably, the order in time of the first step, the second step and the third step is not prescribed. Rather, the first step, the second step and the third step can be performed in any conceivable order or can be performed in parallel with each other in time. For example, the first step is performed in time before the floor cleaning machine moves along the conveying path. Furthermore, the second step is additionally performed before the floor cleaning machine moves along the conveying path. More preferably, alternatively, the second step is performed in time during or after the floor cleaning machine moves along the conveying path. Preferably, the third step is additionally performed before the floor cleaning machine moves along the conveying path. More preferably, alternatively, the third step is performed in time during or after the floor cleaning machine moves along the conveying path. This provides for different orders of the method steps and thus a flexible method.

[0017] In one embodiment, in the first step, at least one further transport path is determined. Preferably, the total area includes each of the further transport paths. Furthermore, preferably, each of the further transport paths extends between a first further start / end area and a second further start / end area, respectively. Furthermore, while the floor cleaning machine is moving along each of the further transport paths, the cleaning element is deactivated.

[0018] Furthermore, in a second step, at least one further working area is determined, and the total area includes each of the further working areas. Furthermore, preferably, each of the further working areas includes at least one of the further start / end areas. Furthermore, inter alia, the cleaning element is at least temporarily activated while the floor cleaner moves along the respective further working path within each of the further working areas. Preferably, each of the further working areas is a room.

[0019] Preferably, the building comprises at least one of the further working areas. Moreover, the overall area is preferably a building. Preferably, at least one of the further working areas is a room or a part of a room, respectively, in the building. Preferably, the route comprises each of the further transport paths. This makes it possible to provide a route with at least two transport paths. This allows the working area to be controlled by the floor cleaner in a time-efficient manner without further user intervention, starting from the further working area or the supply facility, in particular from the filling station, and / or from a service station, such as for example a water exchange station and / or a dust collection disposal station. The floor cleaner can move further in time in the direction of the further working area or the supply facility, in particular the filling station, after cleaning the working area. This allows for complex construction of routes consisting of several transport paths, whereby it is possible to reach several working areas.

[0020] In one embodiment, in the third step, each of the further working paths in the respective further working area is determined. In a further embodiment, in the third step, at least one of the further working paths in the respective further working area is determined. Preferably, the route includes each of the further working paths, in particular each of the determined further working paths. This allows a route to be determined that allows a particularly time-efficient and cost-effective control and cleaning of a plurality of working areas without requiring further user intervention. In this case, preferably, a route is determined that includes at least two transport paths and at least two working paths, and thus allows the combination of at least two transport paths and at least two working paths into one overall route. This allows for more complex route structures consisting of multiple transport paths and multiple working paths, whereby it is possible to reach and clean a plurality of working areas.

[0021] If the cleaning elements are only activated while the floor cleaning machine is moving along a section of the working path, the cleaning elements are deactivated while the floor cleaning machine is moving along the remaining section of the working path, which also allows the floor cleaning machine to move quickly along the remaining section of the working path, in particular to reach the floor surface to be cleaned. Preferably, the cleaning elements are deactivated while the floor cleaning machine is moving at least along the working path or one of the further working paths. In other words, at least one working path or cleaning path can also be used for a transport run of the floor cleaning machine or can be circulated only partially to allow an optimal short transport route.

[0022] In one embodiment, the transport path and / or each of the further transport paths are determined by learning, which makes it possible to easily determine the transport path and / or each of the further transport paths before the floor cleaning machine moves along the transport path and / or each of the further transport paths.

[0023] In one embodiment, the learning comprises a traversal of each of the transport paths and / or the further transport paths by the floor cleaning machine, during which the user moves the floor cleaning machine along the transport path and a sequence of each corresponding position in the overall area is recorded. This allows the determination of the transport path and / or each of the further transport paths by the floor cleaning machine without importing an environment model into the floor cleaning machine. Alternatively, input of the transport path and / or each of the further transport paths can be implemented via an interface, in particular a touch screen. This further allows the determination of the transport path and / or each of the further transport paths depending on the spatial conditions and obstacles actually present. Furthermore, input of the transport path and / or each of the further transport paths via an interface allows a particularly user-friendly determination of the transport path and / or each of the further transport paths. Preferably, the transport path and / or each of the further transport paths can be traversed at least partially in the opposite direction or in both directions during different time intervals, respectively. The direction in which the floor cleaning machine should traverse the transport path and / or each of the further transport paths can be determined automatically or independently by the floor cleaning machine, for example by an operator via an interface, respectively. Alternatively or additionally, the learning includes mapping of the surrounding environment, in particular the surrounding environment of the transport path and / or each of the further transport paths. This ensures or enables automatic route planning for the transport path and / or each of the further transport paths. This also allows the floor cleaning machine to better image the surrounding environment and automatically calculate future routes.

[0024] Preferably, the working area and / or each of the further working areas are determined by learning or independently by the floor cleaning machine, which allows the working area and / or each of the further working areas to be determined before the floor cleaning machine moves through the working area and / or each of the further working areas, or allows the working area and / or each of the further working areas to be determined, inter alia automatically or independently, while the floor cleaning machine moves along the working path and / or each of the further working paths.

[0025] Preferably, the learning comprises patrolling the working area and / or each of the further working areas by the floor cleaning machine. This allows the working area and / or each of the further working areas to be determined by patrolling the working area and / or each of the further working areas by the floor cleaning machine without importing an environment model into the floor cleaning machine. Furthermore, this allows the working area and / or each of the further working areas to be determined depending on the actually existing spatial conditions and obstacles. Furthermore, it can be implemented to input the working area and / or each of the further working areas via an interface, in particular a touch screen. By inputting the working area and / or each of the further working areas via an interface, this is implemented in a particularly user-friendly manner. Alternatively or additionally, the learning comprises a mapping of the environment, in particular the environment of the working area and / or each of the further working areas or the environment of the floor cleaning machine in the working area and / or each of the further working areas, for example a shelf or a wall in the working area and / or each of the further working areas. This ensures or enables an automatic route planning for the working area and / or each of the further working areas. This also allows the floor cleaner to better image the surrounding environment and automatically calculate future routes.

[0026] In one embodiment, the independently determining comprises detecting the surrounding environment of the floor cleaning machine. By detecting the surrounding environment of the floor cleaning machine, the working path and / or each of the further working paths and thus the route can be determined according to short-term changing spatial conditions and obstacles or newly added obstacles. Preferably, the surrounding environment is detected by one or more collision sensors of the floor cleaning machine. This provides a reliable embodiment. Alternatively or additionally, the surrounding environment is preferably detected by one or more ultrasonic sensors and / or infrared sensors and / or laser sensors and / or 3D scanners. This provides a particularly accurate detection of the surrounding environment. Alternatively or additionally, the independently determining comprises mapping the working area. This allows a shortened cleaning process with substantially no cleaning gaps.

[0027] In one embodiment, the working path and / or each of the further working paths are determined by learning or independently by the floor cleaning machine. This allows the working path and / or each of the further working paths to be determined before the floor cleaning machine moves along the working path and / or each of the further working paths, or alternatively allows the working path and / or each of the further working paths to be determined, inter alia, automatically or independently, while the floor cleaning machine moves along the working path and / or each of the further working paths. Preferably, the working path and / or each of the further working paths can be traversed at least partially in opposite directions or in both directions, respectively, during different time intervals. The direction in which the working path and / or each of the further working paths should be traversed by the floor cleaning machine can be determined automatically or independently, respectively, for example by an operator via an interface or by the floor cleaning machine.

[0028] In one embodiment, the learning comprises traversing the working path and / or each of the further working paths by the floor cleaning machine. This allows the working path and / or each of the further working paths to be determined without importing an environmental model into the floor cleaning machine by traversing the working path and / or each of the further working paths. This further allows the working path and / or each of the further working paths to be determined depending on the actually existing spatial conditions and obstacles. Furthermore, it can be implemented to input the working path and / or each of the further working paths via an interface, in particular a touch screen. By inputting the working path and / or each of the further working paths via an interface, this is implemented in a particularly user-friendly manner. Alternatively or additionally, the learning comprises a mapping of the surrounding environment, in particular a mapping of the surrounding environment of the working path and / or each of the further working paths. This ensures or enables an automatic route planning for the working path and / or each of the further working paths. This also allows the floor cleaning machine to better image the surrounding environment and to automatically calculate future routes.

[0029] In one embodiment, the independently determining comprises detecting the surrounding environment of the floor cleaning machine. By detecting the surrounding environment of the floor cleaning machine, the working path and / or the further working path and thus the route can be determined according to the short-term changing spatial conditions and obstacles or newly added obstacles. Preferably, the surrounding environment is detected by one or more collision sensors of the floor cleaning machine. This provides a reliable embodiment. Alternatively or additionally, the surrounding environment is preferably detected by one or more ultrasonic sensors and / or infrared sensors and / or laser sensors and / or 3D scanners. This provides a particularly accurate detection of the surrounding environment. Alternatively or additionally, the independently determining comprises mapping the working area. This allows a shortened cleaning process with substantially no cleaning gaps.

[0030] Preferably, one or more maps are generated and, for example, temporarily stored in the floor cleaning machine. Preferably, one or more maps, for example, for the transport path, the working area, and / or the working path, respectively, are generated and, for example, temporarily stored in the floor cleaning machine. This allows the maps to be more easily updated and maintained in the future.

[0031] In one embodiment, one of the start / end regions coincides with one of the further start / end regions, making it possible to provide a consistent route including at least two transport paths.

[0032] In one embodiment, one of the start / end areas includes a supply facility, in particular a filling station, and / or a service station, such as for example a water exchange station and / or a dust disposal station. For example, the supply facility is a full-service docking station for the floor cleaning machine. Preferably, the supply facility includes a facility for discharging water, in particular dirty water, from the floor cleaning machine. Preferably, the supply facility includes a facility for refilling the floor cleaning machine with water, in particular clean water. Preferably, the supply facility includes a facility for cleaning the tank of the floor cleaning machine. Preferably, the supply facility includes a dirt container for the floor cleaning machine, in particular a vacuum cleaner. Preferably, the dust can be automatically discharged from the vacuum cleaner into the dirt container. This makes it possible to provide different supply facilities in the overall area for the floor cleaning machine. Preferably, at least one of the start / end areas includes a supply facility, in particular a filling station, and / or at least one of the further start / end areas includes a respective supply facility, in particular a respective filling station. Preferably, at least one of the feed facilities in at least one of the start / end areas and at least one of the further start / end areas is a feed facility for waste disposal and at least one of the feed facilities in at least one of the start / end areas and at least one of the further start / end areas is a filling station. This makes it possible to provide a route that allows the floor cleaning machine to clean the working area and to move the floor cleaning machine from the working area to the feed facility or to move the floor cleaning machine from the feed facility to the working area. Preferably, at least one of the start / end areas includes multiple feed facilities, in particular multiple filling stations, and / or at least one of the further start / end areas includes multiple feed facilities, in particular multiple filling stations each. This makes it possible to provide a route that allows multiple floor cleaning machines to be filled en route in one of the start / end areas and / or in one of the further start / end areas.

[0033] In one embodiment, along the route, the remaining distance of the route is determined and the remaining distance corresponding to the remaining charge of the floor cleaning machine, in particular the remaining charge or capacity of the battery, and / or the remaining charge or capacity of the water of the floor cleaning machine, in particular the remaining charge or capacity of the clean water and / or the remaining charge or capacity of the dirty water, and / or the remaining charge or state of filling of a container, such as a dust container, of the floor cleaning machine is determined. The remaining distance of the route and the remaining distance corresponding to the remaining charge of the floor cleaning machine, in particular the remaining charge of the battery and / or the remaining charge of the clean water and / or the remaining charge of the dirty water and / or the remaining charge of the dust container are compared with each other. Preferably, the route is divided into a number of route sections. Preferably, at the start of each route section, the remaining distance of the route at the start of each route section and a remaining distance corresponding to the remaining charge of the floor cleaning machine at the start of each route section, in particular the remaining charge of the battery and / or the remaining charge of purified water and / or the remaining charge of waste water and / or the remaining charge of the dust collection container, are determined, and the remaining distance of the route at the start of each route section and the remaining distance corresponding to the remaining charge of the floor cleaning machine at the start of each route section, in particular the remaining charge of the battery and / or the remaining charge of purified water and / or the remaining charge of waste water and / or the remaining charge of the dust collection container, are compared with each other.

[0034] For example, if the remaining distance of the route is longer than the remaining distance corresponding to the remaining charge of the floor cleaning machine, in particular the remaining charge of the battery and / or the remaining charge of the clean water and / or the remaining charge of the dirty water and / or the remaining charge of the dust collecting container, the supply facility with the shortest distance from the floor cleaning machine among the multiple supply facilities in the entire area, in particular the filling station with the shortest distance from the floor cleaning machine among the multiple filling stations, is identified. Preferably, in this case, the remaining route is changed so as to extend to the start / end area including the supply facility with the shortest distance from the floor cleaning machine. Furthermore, for example, if the remaining distance of the route is shorter than the remaining distance corresponding to the remaining charge of the floor cleaning machine, in particular the remaining charge of the battery and / or the remaining charge of the clean water and / or the remaining charge of the dirty water and / or the remaining charge of the dust collecting container, the route is not changed. This allows, for example, the floor cleaning machine to circulate along a route unhindered or, if this is not possible, to avoid having to interrupt the cleaning run mid-route because, for example, the battery charge is too low and / or the clean water load is insufficient and / or the dirty water load is too high and / or the dust collection bin is too high.

[0035] In one embodiment, the transport path and / or each of the further transport paths and / or each of the working paths and / or each of the further working paths are stored in the floor cleaning machine and a route is combined from the stored transport paths and / or each of the stored further transport paths and / or each of the stored working paths and / or each of the stored further working paths. By storing at least one transport path and / or at least one working path, at least one stored route section can be used for different complex routes, which route sections can be combined by the user later by selecting them from the memory. Preferably, the operator determines the working area or selects it from a set of several working areas, and the floor cleaning machine combines these or, based on the determined or selected working area, in particular intelligently, when determining the route, determines which transport paths are required to clean the determined or selected working area, determines in what order, e.g. in what direction the determined or selected working area and the required transport paths should be traversed, and determines which supply facilities or intermediate points on the route are utilized or traversed as part of the route of the floor cleaning machine for filling and / or water exchange and / or dust disposal. In this case, the floor cleaning machine preferably independently selects the transport paths and the supply facilities, in particular the service areas.

[0036] In the following, an embodiment of the method according to the invention is explained on the basis of schematic diagrams which are merely examples. [Brief description of the drawings]

[0037] [Figure 1] FIG. 1 is a schematic diagram of one embodiment of the method according to the present invention. [Diagram 2] 1 is a flow chart of one embodiment of a method according to the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0038] FIG. 1 shows a schematic diagram of one embodiment of a method according to the invention for determining a route 1 for a floor cleaning machine in a general area 2. The method according to the invention is provided for a floor cleaning machine, the floor cleaning machine comprising cleaning elements which can be actuated to engage a floor surface. In a preferred embodiment, the general area 2 comprises a building with a number of rooms. Furthermore, FIG. 1 shows a transport path 3 and six further transport paths 3', 3", 3"', 3"", 3""', 3""" as well as a start / end area 5 and further start / end areas 5', 5", 5"', 5"", 5""', 5""". Furthermore, FIG. 1 shows a working area 7 and five further working areas 7', 7", 7"', 7"", 7""' as well as a working path 9 and five further working paths 9', 9", 9"', 9"", 9""'. In the example described herein, the transport paths 3, 3', 3"', 3"", 3""', 3""" extend partly between the rooms, with part of the start / end area 5, 5', 5", 5"', 5"", 5""', 5""" in each one of the rooms. Finally, in this example, the working paths 9', 9", 9"', 9"", 9""' extend along the floor surface to be cleaned in each one of the rooms. Figure 2 shows a flow chart of one embodiment of the method according to the invention, showing a first step 101, a second step 102 and an optional third step 103 (dashed line).

[0039] In a first step 101, the transport path 3 and six further transport paths 3', 3", 3"', 3"", 3""', 3""" are determined (see FIG. 1). In the embodiment described herein, this determination is performed by learning, by a user navigating together with the floor cleaning machine along each of the transport paths 3, 3', 3", 3"', 3"", 3""', 3""" and in the course of this, the spatial coordinates for the transport paths 3, 3', 3", 3"', 3"", 3""', 3""" and 3""" are recorded by the floor cleaning machine. Alternatively, it is also possible to determine the transport paths 3, 3', 3", 3"', 3"", 3""', 3""", for example by inputting spatial coordinates into an interface of the floor cleaning machine, in which case the spatial coordinates themselves define a number of different points along the transport path 3 and the six further transport paths 3', 3", 3"', 3"", 3""', 3""". ​​In this case, the overall area 2 comprises the transport path 3 and the six further transport paths 3', 3", 3"', 3"", 3""', 3""". ​​The transport paths 3 extend between a first start / end area 5 and a second start / end area 5. Further, each of the further transport paths 3', 3", 3"', 3"", 3""', 3""" extends between the first further start / end area 5', 5", 5"', 5"", 5""', 5""" and the second further start / end area 5', 5", 5"', 5"", 5""', 5""". Each of the transport path 3 and the further transport paths 3', 3", 3"', 3"", 3""', 3""" are each positioned such that the floor sweeper can move towards or away from the floor surface to be cleaned in the room as it circulates along route 1.

[0040] While the floor cleaner moves along the transport path 3 and each of the six further transport paths 3', 3", 3"', 3"", 3""', 3""", the cleaning elements are deactivated.

[0041] In a second step 102, working area 7 and five further working areas 7', 7", 7"', 7"", and 7""' are determined. In this case, total area 2 includes working area 7 and each of the five further working areas 7', 7", 7"', 7"", and 7""'. In the example described herein, working areas 7, 7', 7", 7"', 7"", and 7""' are respectively located within multiple rooms of a building. Working area 7 includes one of start / end areas 5 and each of the further working areas 7', 7", 7"', 7"", and 7""' includes at least one of the further start / end areas 5', 5", 5"', 5"", 5""', and 5""' respectively.

[0042] In the embodiment illustrated herein, the working area 7 includes one of the start / end areas 5 and one of the further start / end areas 5', and the start / end area 5 included in the working area 7 and the further start / end area 5' included in the working area 7 are coincident or located at the same location within the overall area 2. In other words, one of the start / end areas 5 and one of the further start / end areas 5' are located within the working area 7, and the working path 9 starts and ends at the same location within the working area 7. The same applies to the respective arrangement of the further start / end areas 5', 5', 5'', 5'"', 5""', 5""" in the further working areas 7', 7", 7"', 7"", 7""', as follows: the further working area 7' comprises two of the further start / end areas 5', 5", and the further start / end areas 5', 5" comprised in the further working area 7' are coincident or are arranged at the same location within the overall area 2. Further, the further working area 7" comprises two of the further start / end areas 5", 5"' and the further start / end areas 5", 5"' comprised in the further working area 7" are coincident or are arranged at the same location within the overall area 2. Further, the further working area 7"' comprises two of the further start / end areas 5"', 5"", and the further start / end areas 5"', 5"" comprised in the further working area 7"' are arranged at locations spaced apart from each other in the further working area 7"'. Preferably, the further start / end areas 5''', 5''" are located at diagonal corners of the further working area 7''' as shown in FIG. 1, thereby making it possible to start cleaning in one of the further start / end areas 5''', 5''" and stop cleaning in the other of the further start / end areas 5''', 5''", thus making it possible to efficiently clean, for example, a room 7''' having two entrances and exits. Furthermore, the further working area 7''" comprises two of the further start / end areas 5''", and 5''''', and the further start / end areas 5''", and 5''''' included in the further working area 7''" are coincident or located in the same location within the overall area 2.Finally, the further working area 7''''' includes two of the further start / end areas 5''''', 5'''''', and the further start / end areas 5''''', 5'''''' included in the further working area 7''''' are coincident or located in the same location within the overall area 2.

[0043] The cleaning elements are at least partially activated while the floor cleaner moves along the working path 9 in the working area 7 and while it moves along the further working paths 9', 9", 9"', 9"", 9""' in each of the five further working areas 7', 7", 7"', 7"", 7""', respectively. However, it is also conceivable to have the cleaning elements activated permanently. As shown in Figure 1, the working path 9 and the further working paths 9', 9", 9"", 9""' are closed paths, the further working path 9"' is a working path with mutually different start and end points or mutually different further start / end areas 5"', 5"".

[0044] In an optional third step 103, the working path 9 in the working area 7 and each of the further working paths 9', 9", 9"', 9"", 9""' in each of the further working areas 7', 7", 7"', 7"", 7""' are determined. For example, the working path 9 and each of the further working paths 9', 9", 9"', 9"", 9""' are determined by learning, in particular by traversing the working path 9 and / or each of the further working paths 9', 9", 9"', 9"", 9""' by the floor cleaning machine and / or by inputting the working path 9 and / or each of the further working paths 9', 9", 9"', 9"", 9""' via an interface, in particular a touch screen. Alternatively, the working path 9 and each of the further working paths 9', 9", 9"', 9"", 9""' may be determined independently by the floor cleaning machine, for example by the floor cleaning machine detecting its own surroundings. Preferably, the surrounding environment is detected by one or more collision sensors or 3D sensors of the floor cleaner. Alternatively or additionally, the surrounding environment is preferably detected by one or more ultrasonic sensors and / or infrared sensors and / or laser sensors. Alternatively or additionally, the independently determining includes mapping the working area, which allows for a shortened cleaning process with substantially no cleaning gaps.

[0045] Preferably, first the conveying path 3 and each of the further conveying paths 3', 3", 3"', 3"", 3""', 3""" are determined or learned, then the working area 7 and each of the further working areas 7', 7", 7"', 7"", 7""' are determined, and finally the working path 9 and each of the further working paths 9', 9", 9"', 9"", 9""' are determined or learned. However, alternatively, first the conveying path 3 and each of the further conveying paths 3', 3", 3"', 3"", 3""', 3""", the working area 7 and each of the further working areas 7', 7", 7"', 7"", 7""' and the working area 8 are determined or learned. It is also contemplated to determine or learn, and preferably temporarily store, any combination of work path 9 and further work paths 9', 9", 9"', 9"", 9""', and then to determine or learn, and preferably temporarily store, any further combination of conveying path 3 and further conveying paths 3', 3", 3"', 3"", 3""', 3""", working area 7 and further work areas 7', 7", 7"', 7"", 7""', working path 9 and further work paths 9', 9", 9"', 9"", 9""'. This makes it possible to arbitrarily change, for example expand, complex routes.

[0046] In the embodiment shown in this specification, route 1 includes a conveying path 3 and each of the further conveying paths 3', 3", 3"', 3"", 3""' and 3""", and a working path 9 and each of the further working paths 9', 9", 9"', 9"", and 9""'.

[0047] The route 1 shown in Figure 1 is arranged in the following order with respect to movement of the floor cleaning machine: further conveying path 3''''''-further working path 9'''''-further conveying path 3'''''-further working path 9''''-further conveying path 3''''-further working path 9'''-further conveying path 3''-further working path 9''-further conveying path 3''-further working path 9'-further conveying path 3'-working path 9-conveying path 3.

[0048] However, alternatively, the movement of the floor cleaner can be in the opposite direction.

[0049] The transport path 3 and each of the further transport paths 3', 3", 3"', 3"", 3""', 3""" are provided for a "transport run" of the floor cleaning machine, i.e. for moving the floor cleaning machine within the overall area 2 with the cleaning elements not activated. Furthermore, the working path 9 and each of the further working paths 9', 9", 9"', 9"", 9""' are provided for a "cleaning run" of the floor cleaning machine, i.e. for moving the floor cleaning machine within the overall area 2 with the cleaning elements at least partially activated. Each of the working path 9 and each of the further working paths 9', 9", 9"', 9"", 9""' can also be understood as a cleaning path.

[0050] In the start / end area 5 and the further start / end areas 5',5"',5"",5""',5""",5""" the movement of the floor cleaning machine along the transport path 3 or along each of the six further transport paths 3',3",3"',3"",3""',3""",3""" respectively starts or ends, as well as the movement of the floor cleaning machine along the working path 9 or along each of the further working paths 9',9",9"',9"",9""' respectively. The start / end area 5 and the further start / end areas 5',5"',5"',5"",5""',5""" can also be referred to as start / end zones. Preferably, the cleaning elements are respectively activated or deactivated here. It is also possible that the start / end area 5 and the further start / end areas 5',5"',5"',5"",5""',5""" respectively define only the start or end of a route. For example, start / end region 5, which is located outside working area 7 and each of the five further working areas 7', 7", 7"', 7"", and 7""', defines the end of route 1, and start / end region 5""", which is located outside working area 7 and each of the five further working areas 7', 7", 7"', 7"", and 7""', defines the start of route 1.

[0051] In the embodiments shown herein, the transport path 3 and / or each of the further transport paths 3', 3", 3"', 3"", 3""', 3""" are determined by learning. In this case, learning comprises circulating the transport path 3 and each of the further transport paths 3', 3", 3"', 3"", 3""', 3""" by the floor cleaning machine. Alternatively, in the embodiments shown herein, learning comprises inputting the transport path 3 and / or each of the further transport paths 3', 3", 3"', 3"", 3""', 3""" via an interface.

[0052] Here, the working path 9 and each of the further working paths 9', 9", 9"', 9"", 9""' are determined independently by the floor cleaning machine. In this case, determining independently comprises detecting the ambient environment of the floor cleaning machine. Alternatively, in the embodiment illustrated herein, the working path 9 and each of the further working paths 9', 9", 9"', 9"", 9""' are determined by learning. In this case, learning comprises cycling through the working path 9 and each of the further working paths 9', 9", 9"', 9"", 9""' by the floor cleaning machine and / or inputting the working path 9 and each of the further working paths 9', 9", 9"', 9"", 9""' via an interface.

[0053] Preferably, in this embodiment it is provided that, on the one hand, the conveying path 3 and each of the further conveying paths 3', 3", 3"', 3"", 3""', 3""", and, on the other hand, the working path 9 and each of the further working paths 9', 9", 9"', 9"", 9""' are programmable separately from one another, in particular by an operator of the floor cleaning machine.

[0054] In this embodiment, one of the start / end areas 5 and one of the further start / end areas 5""" are arranged outside the working area 7 and the further working areas 7', 7", 7"', 7"", and 7""'. Furthermore, one of the start / end areas 5 and one of the further start / end areas 5""" coincide or one of the start / end areas 5 and one of the further start / end areas 5""" are arranged at the same location within the overall area 2. In this case, one of the start / end areas 5 and one of the further start / end areas 5""" include a filling station, in particular a battery charging station, and / or a service station, such as, for example, a water exchange station and / or a dust disposal station.

[0055] Further, along route 1, the remaining distance of route 1 is determined and the remaining distance corresponding to the remaining charge of the floor cleaning machine, in particular the remaining charge or remaining capacity of the battery, and / or the remaining charge or remaining capacity of the water of the floor cleaning machine, in particular the remaining charge or remaining capacity of purified water and / or the remaining charge or remaining capacity of dirty water, and / or the remaining charge or remaining state of a dust collection container of a container such as a dust collection container of the floor cleaning machine are determined, and the remaining distance of route 1 and the remaining distance corresponding to the remaining charge of the floor cleaning machine are compared with each other.

[0056] Finally, a direction specification of the route 1 is contemplated, in particular a direction specification of the transport path 3 and the further transport paths 3', 3", 3"', 3"", 3""', 3""", i.e. a so-called transport run with direction specification is contemplated. In other words, the direction 11, 11' of the route 1 can be determined, for example, by an operator at the interface or independently by the floor cleaning machine. Direction specification means, for example, that during a transport run, the floor cleaning machine may only travel along the corresponding transport paths 3, 3', 3", 3"', 3"", 3""', 3""" in the specified direction. The route 1 shown in FIG. 1 is arranged in the following order with respect to the movement of the floor cleaning machine, namely: a further start / end area 5'''''' located outside the working area 7 and the further working areas 7',7'',7''',7'''',7''''' - a further start / end area 5'''''' inside the further working area 7''''' - a further start / end area 5'''''' inside the further working area 7'''' - a further start / end area 5'''''' inside the further working area 7'''' - a further start / end area 5'''''' inside the further working area 7'''' - a further start / end area 5'''''' inside the further working area 7'''' - a further start / end area 5"' inside the further working area 7"' - a further start / end area 5"' inside the further working area 7" - a further start / end area 5" inside the further working area 7" - a further start / end area 5" inside the further working area 7' - a further start / end area 5' inside the further working area 7' - a further start / end area 5' inside the working area 7 - a start / end area 5 inside the working area 7 - a start / end area 5 arranged outside the working area 7 and the further working areas 7',7"',7"",7""'. However, alternatively, it is also possible for the movement of the floor cleaning machine to be in the opposite direction.

[0057] The individual components of the route 1 shown in FIG. 1, i.e. the transport path 3, the further transport paths 3', 3", 3"', 3"", 3""', 3""", the working path 9 and the further working paths 9', 9", 9"', 9"", 9""', can be temporarily stored, for example, in the interface or in the floor cleaning machine and then used to determine different complex routes. For example, a further route can be determined which comprises the transport path 3 and the working path 9. This route can be determined in such a way that the floor cleaning machine first travels over the transport path 3, then the working path 9 and then the transport path 3. By combining the route and the further route in one overall route, it is possible, for example, to take into account higher cleaning requirements in the working area 7 compared to the further working area 7', 7", 7"', 7"", 7""', because with such an overall route the working area 7 is cleaned twice as often as the further working areas 7', 7", 7"', 7"", 7""'.

[0058] For example, it is also contemplated that the operator determines or sets in the floor cleaning machine at least one subset consisting of the working area 7 and the further working areas 7', 7", 7"', 7"", 7""' and that the floor cleaning machine independently determines, for this determined or set working area 7, 7', 7", 7"', 7"", 7""', the transport paths 3, 3', 3", 3"', 3"", 3""', 3""" and the start / end areas 5, 5', 5", 5"', 5"", 5""', 5""" required for cleaning the working areas 7, 7', 7", 7"', 7"", 7""', respectively, with corresponding supply facilities or intermediate filling points, in particular filling stations or service stations such as, for example, a water exchange station and / or a dust disposal station. [Explanation of symbols]

[0059] 1 Route 2 Whole area 3. Transport Route 3',3”,3”',3””,3””',3””” Further transport routes 5 Start / end area 5',5”,5”',5””,5””',5””” More start / end regions 7 Working area 7',7”,7”',7””,7””' More working space 9. Work Path 9',9”,9”',9””,9””' Further work paths 11,11' Route Direction 101 First Step 102 Second Step 103 Third Step

Claims

1. A method for determining a route (1) for a floor cleaning machine in an overall area (2), comprising: The floor cleaning machine includes a cleaning element operable to engage a floor surface; In a first step (101), a transport path (3) is determined, said overall area (2) includes said transport path (3), said transport path (3) extends between a first start / end area (5) and a second start / end area (5), and while said floor cleaning machine is moving along said transport path (3), said cleaning elements are deactivated, In a second step (102), a working area (7) not including said transport path (3) is determined, said overall area (2) including said working area (7), said working area (7) including at least one of said start / end areas (5), said cleaning elements being at least temporarily activated while said floor cleaning machine is moving along a working path (9) in said working area (7), The route (1) includes the transport path (3), in said first step (101), determining at least one further transport path (3'), said overall area (2) comprising each of said further transport paths (3'), each of said further transport paths (3') respectively extending between a first further start / end area (5') and a second further start / end area (5'), said cleaning elements being deactivated while said floor cleaning machine is moving along each of said further transport paths (3'), in said second step (102), determining at least one further working area (7') not including said further transport path (3'), said overall area (2) including each of said further working areas (7'), each of said further working areas (7') including at least one of said further start / end areas (5'), said cleaning elements being at least temporarily activated while said floor cleaning machine is moving along a respective further working path (9') within each of said further working areas (7'), the route (1) includes each of the further transport paths (3'), said working area (7) comprises another one of said further start / end areas (5'); method.

2. In a third step (103), determining the working path (9) within the working area (7), The route (1) includes the working path (9), The method of claim 1.

3. In a third step (103), determining each of said further working paths (9') within each of said further working areas (7'), The route (1) includes each of the further working paths (9'), 3. The method according to claim 1 or 2.

4. determining each of the transport paths (3) and / or the further transport paths (3′) by learning, 4. The method according to any one of claims 1 to 3.

5. The learning includes: - circulating each of the transport paths (3) and / or the further transport paths (3') by the floor cleaning machine; and / or inputting said transport path (3) and / or each of said further transport paths (3') via an interface, Including, The method of claim 4.

6. The working path (9) and / or each of the further working paths (9') are determined by learning or independently by the floor cleaning machine, 6. The method according to any one of claims 1 to 5.

7. The learning includes: - circulating each of the working paths (9) and / or the further working paths (9') by the floor cleaning machine; and / or inputting said working path (9) and / or each of said further working paths (9') via an interface, Including, The method of claim 6.

8. said independently determining including detecting an ambient environment of said floor cleaning machine; The method of claim 6.

9. one of the start / end regions (5) and one of the further start / end regions (5') coincide; 9. The method according to any one of claims 1 to 8.

10. one of said start / end areas (5) includes a supply facility, in particular a filling station, 10. The method according to any one of claims 1 to 9.

11. determining a remaining distance along the route (1) and a remaining distance corresponding to a remaining charge of the floor cleaning machine; comparing the remaining distance of the route (1) with the remaining distance corresponding to the remaining amount of filling of the floor cleaning machine; 11. The method according to any one of claims 1 to 10.

12. storing said transport path (3) and / or each of said further transport paths (3') and / or each of said working paths (9) and / or each of said further working paths (9') in said floor cleaning machine, combining one route (1) from each of the stored conveying paths (3) and / or each of the stored further conveying paths (3') and / or each of the stored working paths (9) and / or each of the stored further working paths (9'), 12. The method according to any one of claims 1 to 11.

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