Floor cleaning system, floor cleaning device, and method of operating a floor cleaning system or floor cleaning device

Abstract

The present invention relates to a floor cleaning system comprising a self-propelled and self-steering floor cleaning apparatus (10), at least one controllable display unit (48) and at least one storage unit (40, 100), the floor cleaning apparatus (10) comprising a running gear (18) for running on a floor surface (14), a control unit (20), a sensor unit (38), at least one cleaning unit (22) and an operating unit (44), the environment being detectable by means of the sensor unit (38) for positioning and / or navigating the floor cleaning apparatus (10), in particular during movement, and a cleaning path (68) for the floor cleaning apparatus (10) is stored in the at least one storage unit (40) together with respective information regarding the route and the use of the preferably at least one cleaning unit (22). A cleaning task can be specified by a user (70) on the operating unit (44) and can be automatically processed by the floor cleaning apparatus (10) by linking two or more cleaning paths (68) to be stored in and processed consecutively, at least one characteristic landmark (64) detectable by means of the sensor unit (38) is stored in the storage unit (40) and associated with the two or more cleaning paths (68), a start position and / or an end position of each cleaning path (68) is defined on or at the landmark (64), and a selection of the cleaning path (68) associated with each of the landmarks (64) can be offered to the user (70) on the at least one display unit (48). The invention further relates to a floor cleaning apparatus and a method of operating a floor cleaning system or a floor cleaning apparatus.

Description

[Technical Field]

[0001] The present invention relates to a floor cleaning system comprising a self-propelled and self-steering floor cleaning device, at least one controllable display unit and at least one storage unit, wherein the floor cleaning device comprises a running gear for running on a floor surface, a control unit, a sensor unit, at least one cleaning unit and an operation unit, wherein the environment can be detected using the sensor unit in order to position and / or navigate the floor cleaning device, in particular during movement, and a cleaning path for the floor cleaning device is stored in the at least one storage unit together with respective information regarding the route and the use of preferably at least one cleaning unit.

[0002] Furthermore, the present invention relates to a floor cleaning device of a floor cleaning system of the type described above.

[0003] The present invention further relates to a floor cleaning system and a method for controlling a floor cleaning device. [Background technology]

[0004] The floor cleaning device described above allows autonomous performance of cleaning tasks. In this case, the floor cleaning device can move over a floor surface and clean the floor surface according to information stored in a cleaning path. The cleaning path can include information about the route to be covered and, in particular, the use of at least one cleaning unit. For example, it can store information about which cleaning unit to operate and the cleaning performance (e.g., motor drive power and / or cleaning liquid metering) to clean the floor surface.

[0005] Floor cleaning devices are known in which a cleaning path previously traversed by a user can be stored in a teach-in operating mode and then automatically repeated by the floor cleaning device. Summary of the Invention [Problem to be solved by the invention]

[0006] It is an object of the present invention to provide a floor cleaning system, a floor cleaning device and a method of operating a floor cleaning system or a floor cleaning device that allows for specifying cleaning tasks in a more user-friendly way. [Means for solving the problem]

[0007] In a floor cleaning system of the aforementioned type, this object is achieved according to the present invention in that a cleaning task can be specified by a user on the operating unit and can be automatically processed by the floor cleaning device by linking two or more cleaning paths to be processed successively, at least one characteristic landmark that can be detected using the sensor unit is stored in the storage unit and associated with two or more cleaning paths, the start and / or end positions of each cleaning path are defined on or at said landmark, and a selection of the cleaning paths associated with each of said landmarks can be offered to the user on the at least one display unit.

[0008] The floor cleaning system according to the present invention provides the possibility of linking cleaning paths to each other to create a cleaning task. Two or more cleaning paths as components of the cleaning task can be sequentially traversed by the floor cleaning device, and the floor surface can be cleaned in each case. At least one characteristic landmark is stored in the at least one storage unit for "organization," so to speak, to enable spatial positioning of the cleaning paths in the environment of the floor cleaning device. Two or more cleaning paths are associated with the landmark, and the start and / or end positions of each are defined at or near the landmark. Based on the provided information, the cleaning task can be created in a user-friendly manner. For example, cleaning paths can be linked to each other so that the end position of a first cleaning path and the start position of a next cleaning path are located at the same landmark. Preferably, it is possible to create complex cleaning tasks that span multiple, arbitrarily existing landmarks, for example, if several rooms or even floors can be traveled. The spatial relationship between the at least one landmark and the cleaning path preferably ensures accurate navigation and / or positioning of the floor cleaning device. This is because the position adjustment can be repeated.

[0009] In this case, "at a landmark" can be understood in particular as "close to" the landmark. "Close to" can be defined, for example, by a specified or specifiable distance, for example, a radius of about 5 m around the landmark. All that is required is that the landmark can be detected by the sensor unit, and based on this, the floor cleaning device can determine that it is positioned on or at the landmark.

[0010] The operation of the floor cleaning device is controlled in particular by the control unit, which can be operatively connected to the sensor unit and controls the running gear, and which can be coupled to the at least one display unit, the at least one storage unit, and the at least one cleaning unit.

[0011] In particular, two or more characteristic landmarks that can be detected using the sensor unit can be stored in the storage unit, and two or more cleaning paths can be associated with at least one landmark, with at least one cleaning path associated with each landmark. A start position and / or an end position of each cleaning path can be defined for each landmark. A selection of the cleaning paths associated with each landmark can preferably be provided to the user on the at least one display unit. In this embodiment, cleaning paths of different landmarks can be combined in a user-friendly manner to form a cleaning task. In this case, it is particularly conceivable that a cleaning path leads from one landmark to another different landmark, as will be described below.

[0012] According to the above, several landmarks can be stored in the storage unit. Each landmark can, for example, indicate at least one of the following: exactly one room of the environment, at least one room of the environment, a section within a room of the environment, or at least one floor. In the latter case, for example, each floor can be provided with a landmark for identifying this floor. It is conceivable that the floor cleaning device can automatically approach different floors, preferably via at least one ramp and / or at least one elevator. The landmarks relating to each floor are, for example, connected to each other via a transport path that does not involve cleaning (e.g., by traveling in an elevator), and the use of a cleaning path, for example, when traveling on a ramp, is also conceivable.

[0013] Advantageously, the floor cleaning system comprises at least one landmark, preferably configured as a marker element that can be detected visually and / or electrically and / or electromagnetically by the sensor unit. In practice, it has been shown that the use of artificial marker elements proves reliable for detection by the sensor unit. In this case, preferably, a unique marker element is used that can be unambiguously identified as such by the floor cleaning device.

[0014] With regard to the visual design of the sensor unit, it has proven to be particularly advantageous if the marker elements are optically detectable.

[0015] For example, the marker element is a matrix code (eg, an ArUco marker element) or a bar code.

[0016] Preferably, when multiple landmarks are present, all landmarks are "artificial" marker elements as described above.

[0017] At least one distinctive feature of the environment of the floor cleaning device can be used as a landmark. For example, this can be a prominent feature of the room in which the floor cleaning device is located. Such a feature can be, for example, the boundary of the room or an object within the room.

[0018] The cleaning tasks can preferably be stored, in particular mutably, in the at least one storage unit, and the stored cleaning tasks can be repeatedly retrieved and processed by the user.

[0019] The at least one landmark may, for example, be stored in a map of the environment.

[0020] A map of the environment may be stored in the storage unit in association with at least one landmark, and the cleaning path associated with the landmark may be stored in the map. In the present case, this may be understood to mean, in particular, that the location of the landmark in the map and the association between this landmark and the cleaning path are stored, and that the travel route does not necessarily have to be visually displayed in a local map. The use of the map allows the complexity of the representation of the environment in the storage unit to be minimized. The landmarks form, so to speak, "anchor points" in the map for the at least one cleaning path associated with the landmark. Navigation and / or positioning in the environment is facilitated by the map.

[0021] When multiple landmarks exist, multiple maps can be provided where each landmark is stored along with one or more cleaning paths associated with that landmark.

[0022] Cleaning and / or transport routes that run between different landmarks can link the maps together. In this way, the maps can be joined together like puzzle pieces to form a composite map, where cleaning and / or transport routes that traverse these individual maps can be stored in the composite map.

[0023] A composite map can be stored in the storage unit, and at least one landmark and the cleaning path associated with this landmark can be stored in the composite map, in this way the system detects as comprehensive information as possible about the environment.

[0024] Two or more landmarks and the cleaning paths associated with those landmarks are conveniently stored in the composite map.

[0025] All landmarks can be stored in the composite map.

[0026] A cleaning path may be provided associated with the at least one landmark and may have a start and end location at the landmark.

[0027] Alternatively or additionally, a cleaning path can be provided that has a start location at one landmark and an end location at another landmark, in which case, for example, a cleaning task can be defined across two or more landmarks.

[0028] A cleaning path or transport path may always begin and always end at a landmark, but not necessarily at the same landmark.

[0029] For example, if a cleaning path or a transport path runs between landmarks and at least one of the landmarks is stored in two maps, the maps can be combined.

[0030] Alternatively or additionally, it may be possible to combine maps, for example, if at least some of the features of the environment (hereinafter also referred to as "view areas") correspond in each map. This may preferably also be possible without landmarks that can be stored in two or more maps and used as "anchor points".

[0031] The landmarks and / or the cleaning routes can be selected, for example, by touching them within the map representation. For example, when a landmark is selected, the cleaning route and / or transport route associated with the landmark can be displayed. Preferably, for routes that run between different landmarks, both of the respective landmarks are displayed.

[0032] In particular, the representation of the cleaning path may also include, either directly or after pre-selection of the cleaning path by a user, information about at least one landmark associated with the cleaning path.

[0033] The floor cleaning device can be manually operated by a user.

[0034] For example, the floor cleaning device can be guided by a user from a current start location to a landmark from which the cleaning task is to be started, e.g., the current start location being where the cleaning task is to be created.

[0035] The floor cleaning device may be capable of being guided by the user from a landmark to a parking location after completing the cleaning task.

[0036] The floor cleaning device may be capable of being guided by the user from a first landmark where the cleaning path ends to another landmark where another cleaning path begins, such that navigation between different landmarks may be controlled by the user and not the floor cleaning device itself.

[0037] The floor cleaning device may be adapted to automatically move from a current starting location to a landmark where the cleaning task is to begin.

[0038] The floor cleaning device may be adapted to automatically move from the landmark to a parking location after completing the cleaning task.

[0039] It may prove advantageous for the floor cleaning device, when processing the cleaning task, to move from a first landmark where the cleaning task ends to another landmark where another cleaning path begins. Such empty runs or transport runs may in particular be performed automatically by the floor cleaning device.

[0040] The possibility of providing transport paths has already been discussed.

[0041] It can be advantageous if in the at least one storage unit at least one transport path is stored that is linked to at least one landmark without the use of the at least one cleaning unit, the at least one landmark being able to be specified by the user, in particular as a component of the cleaning task, the transport path serving to pass through an area of ​​the environment without cleaning, for example to reach a second cleaning path from a first cleaning path.

[0042] The transport path extends, for example, from a current starting position to a landmark at which the cleaning task can be performed.

[0043] The transport path may extend, for example, from a cleaning path or a landmark where the cleaning task ends to a parking location.

[0044] The transport path may extend, for example, from a first landmark where a cleaning path ends to another landmark where another cleaning path begins, in which case the transport path may be used in particular for empty runs between landmarks within the cleaning task.

[0045] At least one display unit may be a touch-sensitive display unit, e.g., a touch screen is used here to receive input from the user, which may allow, for example, selection of a displayed cleaning path to create the cleaning task.

[0046] Preferably, the display unit at least partially forms the operating unit, for example together with the above-mentioned touch panel.

[0047] For user-friendly handling, it is advantageous if a graphical user interface can be provided to the user on the display unit for locating saved landmarks and / or saved cleaning paths, for example, each landmark and / or each cleaning path can have a distinctive name, making it easier for the user to locate said name.

[0048] For example, when using a touch screen, the graphical user interface may include common input elements such as text fields, selection lists, icons, pictograms, virtual buttons (soft keys), and the like.

[0049] Voice control of the floor cleaning device may also be provided, particularly for finding a cleaning path, finding landmarks, and / or creating cleaning tasks.

[0050] A map of the environment may be displayed to the user on the display unit for selection of landmarks and / or saved cleaning routes shown on the map. For example, the map may be a "simple" map or a composite map as described above.

[0051] During the teach-in process, the user can preferably be assisted by the floor cleaning device in guiding the user, for example by being notified if the user gets too close to an obstacle or boundary of the floor surface, thereby making steering more difficult or impossible.

[0052] Advantageously, a graphical user interface can be provided to the user on the display unit to represent landmarks and / or saved cleaning routes, in particular depending on a previous search, which landmarks and / or cleaning routes are represented, for example, by text information or virtual buttons (e.g. as icons) and can preferably be selected by the user.

[0053] Preferably, cleaning paths can be selected on the user interface using names and / or icons and can be shown in a manner that can be linked to the cleaning task. For example, the cleaning task can be created by successively selecting cleaning paths. The depiction of each cleaning path can include, for example, the name of the cleaning path and preferably graphical information about the course of the path.

[0054] The cleaning path may preferably be displayed tied to a selected landmark, for example after selecting or searching for a landmark, the cleaning path associated with this landmark is displayed.

[0055] For example, cleaning routes that are not associated with the landmark may be hidden or shown as not selectable (in the latter case, the cleaning routes are shown but, for example, not offered for selection). Limiting the possible selections to cleaning routes that are assigned to the landmark makes operation easier for the user.

[0056] When a cleaning path is selected on the display unit, information about at least one alternative cleaning path can be provided, for example, the alternative cleaning path starts at an end position of the selected cleaning path, or the selected cleaning path starts at an end position of the alternative cleaning path, which makes it easier for the user to associate a cleaning path with the cleaning task.

[0057] The at least one cleaning path may be created external to the floor cleaning device by a user in a data processing device and stored in the storage unit.

[0058] Advantageously, the floor cleaning device can be designed and configured to create and store at least one cleaning path under the guidance of the user on the operating unit in a teach-in operating mode. During teach-in, the user guides the floor cleaning device along a desired route and adjusts the at least one cleaning unit, possibly in different ways, according to the desired cleaning. This information can be saved in the cleaning path and repeated during processing.

[0059] After the creation of the cleaning path, an adaptation of the cleaning path, e.g., the route, can be provided, where optimization is considered, e.g., with regard to coverage area, kinematic boundary conditions, collision avoidance to maintain edge proximity, safety requirements, and / or the best possible cleaning result, e.g., unrealistic and redundant movements are eliminated during the teach-in.

[0060] In the teach-in operating mode, the route of the cleaning path can be automatically assigned to the section of the floor surface recognized by the floor cleaning device and / or the section of the floor surface traversed along its periphery by the user, in particular to cover the entire area. Sections, such as free areas, do not need to be completely traversed by the user during the teach-in. For example, the free area can be detected by the floor cleaning device itself, or the user can move the floor cleaning device along the periphery of the free area. The route can be automatically modified by the floor cleaning device to fill the free area.

[0061] The free area can optionally include at least one obstacle, the location of which can be taken into account when determining the route. The area boundaries of the sections can be automatically closed, for example, by the user linking start and end commands.

[0062] When a section of the floor surface is covered with a route, the floor cleaning apparatus can advantageously determine how large (eg, in square metres) the section has.

[0063] Advantageously, based on the latter information in particular, a notification can be provided to the user on the at least one display unit, for example regarding the amount of consumables (e.g., electrical energy and / or cleaning liquid) required to clean the section. The user can take this information into account for planning a cleaning task and ensure that a sufficient supply of the consumables is carried to perform the cleaning task. Alternatively or additionally, a notification can be provided as to whether the current amount of consumables carried by the floor cleaning device is sufficient to clean the section. For example, the user can be informed that the amount carried is insufficient and that the consumables should be replenished before performing the cleaning task.

[0064] In particular, in the advantageous embodiment of the previous paragraph, the floor cleaning device may advantageously determine the amount of the at least one consumable material based on previous actual consumption during the cleaning pass, which may be done, for example, by directly measuring consumption and / or relative to a maximum supply of the consumable material (e.g. a fully charged battery or a full supply of cleaning fluid).

[0065] The determination can be performed, for example, by taking into account model values, which can be, for example, a standard consumption of a cleaning process, a resource-saving eco-consumption, an intensive consumption with high cleaning performance, etc.

[0066] For example, the model values ​​can be used to make predictions as to the area that can still be cleaned by the floor cleaning device with the current supply of consumables (e.g., calculation: Maximum supply amount - Actual consumption amount = Current supply amount; based on this, the area that can still be cleaned can be determined based on the model values, e.g., at a typical cleaning speed).

[0067] It may therefore be advantageous for the floor cleaning device to determine the cleaning route (e.g., in meters) still possible or the size of the area still to be cleaned (e.g., in square meters) based on the model values ​​and the supply amount of the at least one consumable material during the teach-in, and provide information about this to the user on the at least one display unit.

[0068] The floor cleaning device may be configured to provide the user with a notification during the teach-in that a route can be automatically assigned to the section of the floor surface that the user has detected using the sensor unit.

[0069] The cleaning path may preferably not be limited to just the route of the floor cleaning apparatus across the floor surface on which at least one cleaning unit is operated.

[0070] For example, the cleaning path may have one or more segments, at least one cleaning unit is operated on at least one segment, and at least one of the following also applies to the cleaning path: Different types of cleaning units may be activated or deactivated at or within different segments of the cleaning path. For example, the floor surface may be cleaned in different ways at different locations, e.g., along different segments or within different sections of a segment. In each case, a different cleaning unit may be activated, e.g., a floor cleaning head, a side brush, or a squeegee in the case of a scrubber vacuum. There is at least one segment in which the cleaning unit is not activated. For example, within the cleaning path there may be transport segments in which the cleaning unit does not clean the floor surface, and in which the cleaning unit is activated or at least switched off so that it does not act on the floor surface. - The path and assignable sections of the floor surface, e.g. sections of the floor surface that can be automatically assigned a color as described above (which can be called fill-in segments for example), are saved in the cleaning path, e.g. the fact that a particular segment is a fill-in segment is saved in the cleaning path. At least one interaction between the floor cleaning device and the environment is stored in the cleaning path. In this case, this can be understood to mean, in particular, that the floor cleaning device can interact with a person in the environment. The interaction event can be, for example, an audio and / or visual notification output by the floor cleaning device. By means of the notification, a person can become aware of the floor cleaning device.

[0071] In the teach-in of a cleaning path as described above, segments within the cleaning path as described above can preferably be connected to each other as desired by the user. Interaction events such as the floor path and assignable sections can also be saved. Furthermore, it is understood that transport segments, or segments, or sections of segments on which different cleaning units are operated can be saved in the cleaning path.

[0072] During the teach-in, the user can preferably issue specifications to the operating unit in a teach-in operating mode. For example, starting up a cleaning unit results in a cleaning segment, running when the cleaning unit is deactivated results in a transport segment, and / or a fill-in specification results in a fill-in segment. Depending on the specifications, different types of segments can be created by the floor cleaning device, preferably within the cleaning path, for example, transport segments, cleaning segments (without fill-in), fill-in segments, cleaning segments (without fill-in), fill-in segments, transport segments, etc., all taught via teach-in. Any type of segment can be taught in this way within a cleaning path, optionally with at least one interaction event. In this case, the segments are preferably connected to each other based on the user's specifications for the cleaning path, especially without active intervention or binding by the user.

[0073] Considering the above advantageous embodiments, it can be seen that the floor cleaning system is particularly versatile. Thus, within a cleaning path, different drive and / or operating modes and / or events can be combined as desired, without the need to form separate cleaning paths for this purpose, which also proves advantageous in terms of handling, taking into account the fact that the otherwise complex management of multiple paths can be avoided.

[0074] The above mentioned path characteristics can preferably be defined both by the teach-in and by externally defining the cleaning path outside the floor cleaning device.

[0075] Preferably, in the method for the floor cleaning device, a notification can be output to the user on the at least one display unit to position the floor cleaning device at a landmark so that the landmark can be recognized by the sensor unit, which is used, for example, to ensure a correct starting position at the start of the cleaning task.

[0076] When the landmark is detected, processing of a cleaning task can be triggered, for example, starting at the landmark.

[0077] Preferably, when at least one landmark is detected, information about the cleaning path associated with the landmark can be displayed on the display unit, preferably for creating the cleaning task. For example, when a landmark is detected, the floor cleaning apparatus automatically provides the user with an appropriate cleaning path linked to the landmark.

[0078] When the floor cleaning device is being guided by the user, notifications regarding the cleaning path associated with the landmarks can advantageously be provided on the display unit when at least one landmark is detected by the sensor unit.

[0079] Advantageously, the floor cleaning system comprises at least one docking station for the floor cleaning device to assume a defined position at a docking location. In a simple embodiment, the docking station can be a parking station where the floor cleaning device is parked or stopped in an automatic manner. "Docking" can in particular be performed contactlessly at the parking station, without requiring physical contact between the docking station and the floor cleaning device.

[0080] Advantageously, said at least one docking station comprises or forms a landmark, in particular said marker element being arranged on or formed by said docking station.

[0081] At least one consumable material, such as electrical energy and / or cleaning liquid, required to process the cleaning task can preferably be supplied to the floor cleaning device by the at least one docking station. The consumable material can also be referred to as a resource.

[0082] Preferably, used consumables of the floor cleaning device, such as dirty liquid received from the floor surface, can be received by the at least one docking station.

[0083] Of course, the docking station and the floor cleaning device may be provided with corresponding connecting elements that mate at the docking position to perform the above-mentioned tasks, as known to those skilled in the art.

[0084] Advantageously, the floor cleaning device can be designed such that at each docking station at least one usable consumable material is supplied in sufficient quantity for the next cleaning pass and / or used consumable material is removed if necessary, thus ensuring that sufficient resources are available for the cleaning pass to be processed and / or used resources are removed from the floor cleaning device.

[0085] The floor cleaning device is advantageously designed to visit the at least one docking station during the processing of the cleaning task if the processing requires the supply of at least one consumable material and / or the discharge of at least one consumable material. For example, it is conceivable that before the start of the cleaning task or during processing by the floor cleaning device, an automatic check is made to see if the required consumable material is sufficient or if it should be supplied. The same applies to the removal of used consumable material. The check can be made, for example, during the processing of a cleaning path. If necessary, the processing of the cleaning path is interrupted. The check can be made between successive cleaning paths so that the floor cleaning device starts a new cleaning path only when consumable materials have been replenished or removed.

[0086] If necessary, the floor cleaning device can deviate from its predetermined route to reach a docking station.

[0087] It can be advantageous if the at least one cleaning station can be directed into the cleaning path according to specifications to supply at least one consumable material and / or to unload at least one used consumable material.Already during the teach-in or during external planning of the cleaning path, the user can plan the required resources and save this in the cleaning path and / or the cleaning task.

[0088] Preferably, the floor cleaning device is designed to automatically determine, during the processing of the cleaning task, the amount of consumables required for this purpose depending on the remaining part of the cleaning task that is still to be processed, and, if necessary, receive the consumables at at least one docking station and / or discharge consumed parts, preferably avoiding receiving excessive consumables. In this way, cleaning tasks can be processed, for example, reliably and preferably in a time-saving manner. When the floor cleaning device determines, for example, that consumables are needed, the consumables can be received. In this case, advantageously, only enough consumables are received so that the cleaning path and / or the cleaning task can be processed, avoiding excessive receiving. This allows the cleaning to continue as quickly as possible, keeping unnecessary downtime at the docking station short. Advantageously, a sufficient buffer of consumables is provided so that the cleaning task can be reliably completed.

[0089] Supplying and / or removing consumables / consumed components prior to and / or after receipt at at least one docking station may be stored in the cleaning path.

[0090] The floor cleaning device may comprise at least one storage unit, in this way cleaning paths can be stored locally on the floor cleaning device.

[0091] In a preferred embodiment of the present invention, at least one storage unit may be positioned remotely from the floor cleaning device, so that the information to be or to be stored can be transmitted from the floor cleaning device to the storage unit and / or vice versa via a communication unit. For example, storage remotely from the floor cleaning device allows a cleaning path to be covered by different floor cleaning devices in a technically simple manner, and for this purpose, the cleaning path does not need to be stored in multiple floor cleaning devices. This is advantageous, for example, when switching between floor cleaning devices or in case of maintenance and / or breakdown of the floor cleaning device.

[0092] The floor cleaning device may comprise at least one display unit, which is preferably arranged on the operating unit and may for example form part of the operating unit or the entire operating unit.

[0093] In a preferred embodiment of the present invention, at least one display unit may be positioned remotely from the floor cleaning device, and image information may be transmitted from the floor cleaning device to the display unit via a communication unit, thus making it possible to create the cleaning task and / or the cleaning path in a spatially remote control room.

[0094] For example, the floor cleaning system comprises a data processing device with the display unit, which may be designed centrally or spatially distributed, for example via a cloud service.

[0095] The floor cleaning system may comprise a data processing device (central and / or cloud service) that includes the storage unit.

[0096] In a preferred embodiment of the invention, the floor cleaning device may be designed as a scrubber vacuum. Alternatively, the floor cleaning device may be a vacuum device, for example for dry cleaning of the floor surface.

[0097] The invention also relates to a floor cleaning device according to the invention, which is a floor cleaning device of a floor cleaning system of the type described above.Advantageous embodiments of said floor cleaning device according to the invention arise from the above description.

[0098] The floor cleaning device may in particular form the floor cleaning system.

[0099] As mentioned at the outset, the invention also relates to a method, which achieves the object set out at the outset by the fact that the method according to the invention for operating a floor cleaning system or a floor cleaning device is used, in which at least one characteristic landmark is stored in the storage unit, two or more cleaning paths are associated with the landmark, the start and / or end position of each cleaning path is defined on or at the landmark, cleaning is specified by a user on the operating unit by linking two or more cleaning paths to be processed consecutively, and the cleaning task is processed automatically by the floor cleaning device.

[0100] Advantageous exemplary embodiments of the method result from advantageous embodiments of the floor cleaning system and / or the floor cleaning device according to the invention.

[0101] 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]

[0102] [Figure 1] 1 is a perspective view of a floor cleaning device according to the present invention; [Figure 2] 2 is a schematic partial view of a floor cleaning system according to the present invention, comprising the floor cleaning device of FIG. 1; [Figure 3A] Schematic diagram of a map of the environment of the floor cleaning device in FIG. 1. [Figure 3B] Schematic representation of the combined map from the two maps of the floor cleaning device environment in Figure 1. [Figure 3C] 2 is a schematic diagram of each of the maps of the environment of the floor cleaning device of FIG. 1; [Figure 3D] 2 is a schematic diagram of each of the maps of the environment of the floor cleaning device of FIG. 1; [Figure 3E] Schematic of a composite map of the environment of the floor cleaning device in Figure 1. [Figure 4] 10 is a diagram of a display unit of a floor cleaning device with options to find landmarks and cleaning paths. [Figure 5] Another view of the display unit after selecting marker number 1 and choosing a cleaning path. [Figure 6] 10 is another view of the display unit for positioning the floor cleaning device on the marker. [Figure 7] 7 is a view corresponding to FIG. 6 after the marker has been detected by the floor cleaning device. [Figure 8] FIG. 10 is a schematic diagram for explaining teaching-in of a cleaning path. [Figure 9] FIG. 10 is another schematic diagram illustrating the teaching-in of the cleaning path. [Figure 10] FIG. 10 is another schematic diagram illustrating the teaching-in of the cleaning path. [Figure 11] 1 is a diagram of a floor cleaning system according to the invention, comprising a floor cleaning device according to the invention; DETAILED DESCRIPTION OF THE INVENTION

[0103] 1 shows an advantageous embodiment of a floor cleaning apparatus according to the present invention, generally designated by the reference numeral 10. The floor cleaning apparatus 10 can itself, without its further components, form a floor cleaning system according to the present invention in a preferred embodiment.

[0104] Alternatively or additionally, the floor cleaning apparatus 10 may be a component of another floor cleaning system 12 according to the present invention, as shown schematically in FIG. 2, and / or a floor cleaning system 120 according to the present invention, as shown schematically in FIG. 11 in a preferred embodiment.

[0105] The floor cleaning device 10 is designed to be self-propelled and self-steering, in particular forming a cleaning robot. Autonomous cleaning of a floor surface 14 can be performed using the floor cleaning device 10. The floor cleaning device 10 can in particular be used to cover a pre-stored cleaning path and clean the floor surface 14. The cleaning path can be taught in or specified in a teach-in operating mode (teach-in).

[0106] Reference is made to the above statements regarding any preferred components of the cleaning path, in particular the activated cleaning units, different activated cleaning units, and / or segments with or without interaction events.

[0107] As can be seen particularly in Figures 1, 2 and 11, floor cleaning device 10 includes a housing 16 having a running gear 18 disposed therebelow.

[0108] The position and orientation information pertains to the intended use of the floor cleaning device 10 , where the floor cleaning device 10 can stand on the floor surface 14 via the running gear 18 .

[0109] The floor cleaning apparatus 10 comprises a control unit 20 for controlling all processes. The floor cleaning apparatus 10 comprises a cleaning unit 22 for cleaning the floor surface 14. In this embodiment, the cleaning unit 22 comprises a floor cleaning head 24 having a roller brush (not shown in the drawings), a side broom 26, a suction strip 28, and a suction unit 30 for applying negative pressure to the suction strip 28.

[0110] The floor cleaning device 10 comprises a storage container 36 for a cleaning liquid, in particular water. The floor surface 14 is wetted with a mixture of water and, if applicable, cleaning chemicals. The soil is removed by the cleaning unit 22 and transferred via the suction strip 28 to the waste liquid container 34 under the action of the suction unit 30.

[0111] The floor cleaning device 10 includes a rechargeable battery 36 for power, among other things. Cleaning fluid and electrical energy are consumables or resources of the floor cleaning device. The used consumable is the dirty fluid received from the floor surface 14.

[0112] The floor cleaning apparatus 10 further includes a sensor unit 38, which may include, for example, at least one stereo camera system, a lidar system, and / or an ultrasonic system. Based on the at least one signal of the sensor unit 38, the control unit 20 can position and / or navigate the floor cleaning apparatus 10 within its environment.

[0113] The floor cleaning apparatus 10 further comprises a storage unit 40. In particular, characteristic landmarks and cleaning paths can be stored in the storage unit 40.

[0114] The floor cleaning apparatus 10 may also include a communications unit 42 via which information may be transmitted to and from the floor cleaning apparatus 10 wirelessly and / or via wired connections.

[0115] The floor cleaning device 10 further comprises an operating unit 44, which is arranged at the rear with respect to the forward direction 46. A controllable display unit 48 is provided, which may be part of or at least partially form the operating unit 44. This is shown diagrammatically in Figure 11 by dashed line 50.

[0116] In this example, the display unit 48 is designed to be touch-sensitive, and in particular is a touch screen 52 preferably having a colored image display, which allows receiving input from a user via a graphical user interface with familiar text fields or buttons (softkeys).

[0117] The floor cleaning apparatus 10 may have a notification unit 53 that is designed to be visual and / or audible, for example. For example, a speaker or a horn, and / or a flashing light or a headlight may be provided. Interaction events may be output by the notification unit 53 to alert people in the environment to the floor cleaning apparatus 10.

[0118] The floor cleaning system 12 includes at least one docking station 54, and preferably multiple docking stations. For example, Figure 3A shows four docking stations within a map 56 of the overall environment of the floor cleaning apparatus 10.

[0119] The floor cleaning device 10 is capable of assuming a docking position at each docking station 54 and thereby has a defined position in the environment relative to each docking station 54 .

[0120] When the floor cleaning apparatus 10 is in the docked position, electrical energy and cleaning liquid can be supplied as consumables via the docking station 54. For this purpose, a connection element 58 of the docking station 54 and a connection element 59 of the floor cleaning apparatus 10 are coupled to charge the battery 36 with electrical energy. In a corresponding manner, a connection element 61 of the floor cleaning apparatus 10 and a connection element 60 of the docking station 54 are coupled to supply cleaning liquid into the storage container 32.

[0121] As a used part, the dirty liquid can be drained and disposed of via the connecting element 62 of the floor cleaning device 10 and the connecting element 63 of the docking station 54 .

[0122] The floor cleaning system 12 includes distinctive landmarks 64 for use with the floor cleaning device 10 and the floor cleaning system 12 .

[0123] In this embodiment, each docking station 54 is provided with a distinctive landmark 64. In this example, the distinctive landmark 64 is designed as a marker element 66 (FIGS. 6 and 7), which is located on the side of the docking station 54 facing the floor cleaning device 10, and the distinctive landmark 64 consists of the marker element 66.

[0124] In the presently preferred embodiment, each docking station 54 is considered to comprise or form a landmark 64, for example constituted by a marker element 66. However, as explained above, this is merely optional. The landmark 64 can be provided independently of the docking station 54. A mixture of the two is also possible.

[0125] The combination of landmark 64 and docking station 54 can be coupled to an infrastructure, for example, and used where the docking station 54 can be set up, for example.

[0126] 3A-3E, the marker element 66 is considered to be included in the docking station 54. Departures from this can be made such that at least one landmark 64, for example a marker element 66 that is not included in the docking station 54, is used.

[0127] As mentioned above, at least one docking station 54 may be provided that serves to park the floor cleaning device 10 in a parking position, but does not allow for the provision and / or disposal of resources.

[0128] In this example, marker elements 66, referred to as "markers" in Figures 5 to 7 of the display unit 48, are optically detectable by the sensor unit 38. In this embodiment, the marker elements 66 are matrix codes, for example, ArUco matrix codes.

[0129] Because the marker elements 66 are unique, the floor cleaning device 10 can unambiguously state which docking station 54 is associated with each marker element 66 when it detects it. The marker elements 66, either alone or in combination with a docking station 54, are stored in the map 56. The location of each marker element 66 is stored (directly or indirectly) in the map 56.

[0130] In this example, the map 56 according to FIG. 3A represents the overall environment of the floor cleaning device 10 .

[0131] In this case, four docking stations 54 are provided as an example and are located in different areas of the environment, each docking station 54 having a clearly identifiable marker element 66, thereby forming a distinctive landmark 64.

[0132] The map 56 includes a total of four individual maps 561, 562, 564, and 565 shown in FIGS. 3B to 3D.

[0133] Maps 561 and 562 can then be combined into composite map 563 according to Figure 3B. Dashed line 566 in Figure 3B indicates the perimeter of map 561. However, off the page, the edge of map 561 runs along the boundary of the floor, as in Figures 3C and 3D. In this example, the offset of line 566 with respect to this boundary serves only to recognizably identify map 561.

[0134] Each of the maps 561 , 563 , 564 and 565 shows the environment of at least one marker element 66 .

[0135] The floor cleaning device 10 can navigate autonomously within the environment. One of the maps 56, 561-565 can be used here. The locations within the environment that the floor cleaning device 10 can identify in each map 56, 561-565 allow for a link between each map and the environment. This applies in particular to the marker elements 66 and the docking station 54, whose locations are known within each map 56, 561-565.

[0136] As already mentioned, cleaning paths previously stored in the storage unit 40 can be processed by the floor cleaning apparatus 10 and the floor surface 14 can be cleaned. Figures 4 and 5 show cleaning paths 68 in a schematic manner. It will be appreciated that in this example, symbols 72 associated with each saved cleaning path 68 can be displayed to the user 70 on the display unit 48 (Figure 11).

[0137] The cleaning path 68 includes information regarding the route of the floor cleaning apparatus 10 and preferably the use of at least one cleaning unit 22 .

[0138] Additionally, a transport path 74 (FIG. 5) can be stored, for example, in the storage unit 40. The transport path 74 can also be displayed, for example, by a symbol 72. The route is stored, for example, in the transport path 74. However, since no cleaning is provided, no information is stored about the cleaning unit 22, or information is stored that the cleaning unit 22 is not operational.

[0139] According to the invention, cleaning paths 68 are associated with marker elements 66 and this association is stored in the storage unit 40. As a result, it is known which marker element 66 defines the start and / or end position of which cleaning path 68.

[0140] In this case, the cleaning path 68 may start and end at the same marker element 66. Alternatively, for example, the cleaning path 68 may start at one marker element 66 and end at another different marker element 66.

[0141] 3A-3D show illustrative representations of the two examples described above. For example, cleaning path 68 is shown on maps 561, 564, and 565 starting from marker element 66 of docking station 54. In this case, the start and end locations are each defined at marker element 66 of docking station 54.

[0142] In contrast, two docking stations 54 are stored in the map 562. A cleaning path 68 has its start position at the marker element 66 of the docking station 54 shown at the top of the drawing and its end position at the marker element 66 of the docking station 54 shown at the bottom of the drawing, or vice versa. Thus, this cleaning path 68 runs between different marker elements 66.

[0143] Maps 561, 562 can be combined into composite map 563 in that the upper docking station 54 in the figure acts somewhat as an "anchor point" by means of which the connection between maps 561 and 562 is clearly defined. The anchor point facilitates combination. As mentioned above, combination may be preferably possible if at least some of the environmental features (visibility areas) match within each map.

[0144] Due to the limited field of view and range of the sensor unit 38, the right side of the map 562 is not covered.

[0145] 3E shows composite map 75 assembled from first map 751, second map 752, third map 753, and fourth map 754. Dashed or dashed-dotted lines 755, 756, 757, and 758 each encircle approximately the perimeter of maps 751-754, with deviations from floor boundaries being retained here for illustrative purposes, as in the previous example.

[0146] The docking station 54 (bottom center in FIG. 3E) with the marker element 66 is stored in the map 751 along with the cleaning path 68 that begins and ends at this docking station 54 .

[0147] The docking station 54 (center of FIG. 3E) with the marker element 66 and the cleaning path 68 that begins and ends at this docking station 54 are stored in the map 752.

[0148] The two docking stations 54 mentioned above with their respective marker elements 66 as well as the cleaning paths 68 that start at one marker element 66 and end at another marker element 66 are stored in the map 753 .

[0149] The centrally shown docking station 54 and another docking station 54 (top left) with their respective marker elements 66 are stored in map 754, along with a cleaning path 68 that begins at one marker element 66 and ends at another marker element 66. The last-mentioned cleaning path 68 is preferably also stored in maps 752 and 753 in association with the central docking station 54 with its marker element 66.

[0150] From FIG. 3E, it can be seen that the routes of the cleaning paths 68 can each run in a serpentine manner, with two preferred directions of the serpentine paths being given here specifically, but not limitingly.

[0151] The visible areas in at least two of maps 751, 752, 753, and 754 overlap partially. The marker elements 66 of the central and bottom-center docking stations 54 are each stored in at least two maps 751, 752, 753, or 754 and can serve as reliable anchor points for combining with map 75.

[0152] Empty runs or transport runs between marker elements 66 are shown, for example, by transport path 74 and can be added to the cleaning task provided that no cleaning is required. This is shown, by way of example, in Figure 3E by transport path 74 extending between two docking stations 54 (center and bottom center). Transport paths 74 are preferably stored in maps 751, 752 and 753.

[0153] Using the floor cleaning apparatus 10 and floor cleaning system 12, cleaning paths 68 can be linked together in a user-friendly manner to define a cleaning task. This can be done in a user-friendly manner using the graphical user interface of the display unit 48 by selecting the desired cleaning path 68. Assigning each cleaning path 68 to a marker element 66 makes it easier for the user 70 to create a cleaning task by providing information about the start and end positions of each cleaning path 68 on one marker element 66 or another marker element 66.

[0154] The creation and initiation of a cleaning task will now be described by way of example, with particular reference to FIGS.

[0155] To create a cleaning task, the user 70 can call up on the display unit 48 an overview of the saved cleaning routes 68 using symbols 72. A search for marker elements 66 and / or cleaning routes 68 can be performed, for example, using a text field 76, thereby filtering the information saved in the storage unit 40.

[0156] It is understood that advantageously filtering via the transport path 74 may also be possible.

[0157] For example, each cleaning path 68 or transport path 74 has a distinctive, unique name. In Figure 4, some cleaning paths 68 are labeled simply as "Paths 1, 2, 3, 4," whereas Figure 5 shows this with a label such as "Supermarket 1," for example.

[0158] Each symbol 72 may represent a miniature representation of the cleaning path 68 or transport path 74, or the environment through which the cleaning path 68 or transport path 74 runs. In this way, selection of the cleaning path 68 or transport path 74 is made visually easier for the user 70.

[0159] It is also contemplated that a docking station 54 and at least one cleaning route 68 that is linked to the docking station 54 via a stored map may be selected. Alternatively or additionally, the cleaning route 68 may be selectable directly within the map.

[0160] In the example of Figure 4, the user 70 has filtered the list according to the marker element 66 of "Marker 1". Figure 5 shows the related results. In this example, three cleaning routes 68 are associated with Marker 1: "Supermarket 1", "Supermarket 2" and "Supermarket 3". Additionally, the transport routes 74 found are "Supermarket without cleaning" and "Transport".

[0161] By using symbols 72, user 70 selects the desired cleaning route, in this example "Supermarket 1" and "Supermarket 2", with "Supermarket 1" and "Supermarket 2" respectively numbered "1" and "2" attached to each symbol 72 in the order of their selection.

[0162] The selected marker element 66, "Marker 1", and the last selected cleaning path 68 are also shown on the display unit 48. Here, "Path ID: 23" corresponds to the cleaning path for "Supermarket 2". By confirming with button 78, the cleaning task including the two cleaning paths 68 can be saved and made available for processing. Alternatively or additionally, a transport path 74 can be selected.

[0163] For example, when each symbol 72 is selected, it may indicate whether the cleaning path 68 begins and / or ends at marker 1. If the start location is different from the end location, each other marker element ("marker") that defines the start or end location may be displayed. The above information may, for example, be a component of the image information of the symbol 72.

[0164] 5 shows in the bottom right corner a cleaning path 68 that cannot be selected after filtering the list. The corresponding symbol 72 is grayed out. The corresponding cleaning path 68 cannot start with the "marker 1" marker element 66 or end with the "marker 1" marker element 66. In this way, the user 70 is assisted in creating the cleaning task.

[0165] Even complex cleaning tasks can be defined in a user-friendly manner with the device 10 according to the invention and the system 12 according to the invention. Preferably, not only can cleaning paths 68 and transport paths 74 be linked to one another starting from marker elements 66, but, as explained, cleaning paths 68 and transport paths 74 can also be linked to other marker elements 66. In this way, for example, several rooms and several floors that can be reached, for example, via ramps, can be linked to one another.

[0166] To start the cleaning task, the user 70 receives a notification on the display unit 48 and positions the floor cleaning device 10 in front of the marker element 66 of "Marker 1" (FIG. 6). The objective is to detect the correct marker element 66 using the sensor unit 38 and to verify the position of the floor cleaning device 10. The detection of the marker element 66 is made visible to the user 70 on the display unit 48, as shown on the right side of FIG. 7. The cleaning task can be started by activating the button 78.

[0167] The possibility of using a docking station 54 may be taken into consideration in processing and / or planning a cleaning path 68. For example, consumables may be supplied or used materials may be discharged before or after processing a cleaning path 68. If, during processing of a cleaning task, the floor cleaning apparatus 10 determines that resources are insufficient, it may, for example, approach a nearby docking station 54 to supply consumables and, if necessary, discharge used materials.

[0168] The cleaning path 68 and the transport path 74 may, for example, be defined externally and transmitted to the storage unit 40 .

[0169] The floor cleaning apparatus 10 is advantageously operable in a teach-in mode of operation, allowing a user 70 to guide the floor cleaning apparatus 10 over the floor surface 14 to define each cleaning path 68. The routes are saved, along with information about which cleaning units 22 are to be activated, as are the transport paths 74.

[0170] The floor cleaning device 10 may be used to automatically assign routes to sections 80 of the floor surface 14 in order to clean the surface as much as possible, as will be described below with reference to Figures 8-10.

[0171] FIG. 8 illustrates a schematic of the teach-in process of the cleaning path 68 starting from the first docking station 54 .

[0172] First, floor cleaning device 10 is guided by user 70 along segment 82 between obstacles 83. When user 70 reaches section 80 at point 84, which represents a free area of ​​floor surface 14, user 70 moves floor cleaning device 10 along segment 85, following the perimeter of section 80.

[0173] Upon returning to point 84, floor cleaning apparatus 10 automatically fills section 80 with a travel path 86 for treating the entire surface of section 80. This route 86 is used as the basis for treating subsequent cleaning paths 68.

[0174] Starting at point 84, user 70 guides floor cleaning device 10 along segment 87 to second docking station 54 where cleaning path 68 terminates.

[0175] Thus, with the floor cleaning device 10 there is the possibility to combine segments 82, 87 that are fully predefined by the user 70 with segments 85 that are automatically or semi-automatically created within the cleaning path 68.

[0176] The floor cleaning apparatus 10 can detect a section 80 of the floor surface 14 by the sensor unit 38, automatically assign a route 86 to this section, and notify the user 70 of this on the display unit 48. After confirmation by the user 70, a route on the section 80 can be defined by the floor cleaning apparatus 10.

[0177] 9, user 70 starts from a starting location 90 and circles around a section 80 (segment 91) of floor surface 14. User 70 then travels along segment 92 to another section 80 of floor surface 14 and circles section 80 in segment 93. User 70 then travels along segment 94 to an ending location, in this example, starting location 90.

[0178] Segments 91 and 93 surrounding section 80 are recognized as free areas by floor cleaning apparatus 10 and can be automatically assigned routes 95 and 96, as shown in Figure 10. Alternatively, user 70 can trigger the assignment of routes 95, 96 to section 80. Cleaning of section 80 is accomplished in either case. Routes 95, 96 are saved in cleaning path 68 for later processing.

[0179] When a marker element 66 is detected as the floor cleaning device 10 is moved over the floor surface 14 by the user 70, information regarding the cleaning path 68 associated with the marker element 66 can be automatically displayed on the display unit 48.

[0180] 11, a display unit 98 and a storage unit 100 are provided spatially separated from the floor cleaning apparatus 10. The display unit 98 is shown as a display unit 98 of a data processing device 102, which may be, for example, a cloud service. The data processing device 102 further includes the storage unit 100.

[0181] Image information can be transmitted from the floor cleaning device 10 via the communications unit 42 for display on the display unit 98. For example, cleaning tasks can be created using the data processing device 102. The data processing device 102 can also be used to create the cleaning path 68 and the transport path 74.

[0182] In particular, information about the landmarks 64 and the cleaning paths 68 associated with the landmarks 64 may be stored in the storage unit 100. Data relating thereto may be transmitted to the floor cleaning apparatus 10 by the communications unit 42. Conversely, information may be stored in the storage unit 100 by the floor cleaning apparatus 10.

[0183] The use of an external storage unit 100 allows multiple floor cleaning devices to be used for cleaning tasks in a user-friendly manner without the need for data to be transmitted between the storage units 40 of the floor cleaning devices. [Explanation of symbols]

[0184] 10…Floor cleaning device 12, 120...Floor cleaning system 14...Floor 16…Housing 18...Running gear 20...Control unit 22...Cleaning unit 24...Floor cleaning head 26...Side brush 28...Suction strips 30...Suction unit 32...Reservoir 34...Sewage tank 36...Battery 38...Sensor unit 40...storage unit 42...Communication unit 44...Control unit 46...Forward 48...Display unit 50...dashed line 52...Touchscreen 54...Docking station 56...Map 561, 562, 564, 565…Map 563...Composite map 566...dashed line 58, 59, 60, 61, 62, 63...connecting elements 64...Landmark 66...marker element 68...Cleaning route 70...Users 72...symbol 74...Transportation route 75...Composite map 751, 752, 753, 754...Map 755, 756, 757, 758... line 76...Text field 78...Button 80...Section 82, 85, 87, 91, 92, 93, 94… segments 86, 95, 96... Route 83...Obstacle 84…point 90…Start position 98...Display unit 100...save units 102...Data processing device

Claims

1. A self-propelled, self-steering floor cleaning device (10); at least one controllable display unit (48); At least one storage unit (40, 100); A floor cleaning system comprising: The floor cleaning device (10) comprises a running gear (18) for running on a floor surface (14), a control unit (20), a sensor unit (38), at least one cleaning unit (22), and an operation unit (44); an environment can be sensed using the sensor unit (38) to position and / or navigate the floor cleaning device (10); cleaning paths (68) for the floor cleaning device (10) are stored in the at least one storage unit (40) together with respective information regarding the routes; a cleaning task can be specified by a user (70) on the operating unit (44) by linking two or more cleaning paths (68) to be processed consecutively, and the cleaning task can be processed automatically by the floor cleaning device (10); At least one characteristic landmark (64) detectable by the sensor unit (38) is stored in the storage unit (40) and associated with two or more cleaning paths (68), and a start position and / or an end position of each cleaning path (68) is defined on or at the landmark (64); a selection of the cleaning paths (68) associated with each of the landmarks (64) can be provided to the user (70) on the at least one display unit (48); Floor cleaning system.

2. A floor cleaning system as described in claim 1, wherein the environment is detectable using the sensor unit (38) to position and / or navigate the floor cleaning device (10) while in motion.

3. A floor cleaning system as described in claim 1 or 2, wherein a cleaning path (68) for the floor cleaning device (10) is stored in the at least one storage unit (40) together with respective information regarding the route and the use of at least one cleaning unit (22).

4. 4. The floor cleaning system of claim 1, wherein two or more characteristic landmarks (64) detectable using the sensor unit (38) are stored in the storage unit (40), and two or more cleaning paths (68) are associated with at least one landmark (64).

5. A floor cleaning system as described in any one of claims 1 to 4, comprising at least one landmark (64).

6. A floor cleaning system as described in claim 5, wherein the at least one landmark (64) is configured as a marker element (66) that is visually and / or electrically and / or electromagnetically detectable by the sensor unit (38).

7. A floor cleaning system as described in claim 6, wherein the marker element (66) is a matrix code or a barcode.

8. 8. A floor cleaning system according to any one of claims 1 to 7, characterized in that at least one distinctive feature of the environment of the floor cleaning device (10) is usable as a landmark (64).

9. 9. A floor cleaning system according to any one of claims 1 to 8, characterized in that the cleaning tasks are storable in the at least one storage unit (40, 100).

10. 10. The floor cleaning system of claim 1, wherein a map (56, 561, 562, 564, 565, 75, 751, 752, 753, 754) of the environment is associated with at least one landmark (64) and stored in the storage unit (40), and the cleaning path (68) associated with the landmark (64) is stored in the map (56, 561, 562, 564, 565, 75, 751, 752, 753, 754).

11. 11. The floor cleaning system of claim 1, wherein a composite map (56, 561, 562, 564, 565, 75, 751, 752, 753, 754) is stored in the storage unit (40), and the at least one landmark (64) and the cleaning path (68) associated with the landmark (64) are stored in the composite map (56, 561, 562, 564, 565, 75, 751, 752, 753, 754).

12. 12. A floor cleaning system as described in any one of claims 1 to 11, characterized in that a cleaning path (68) is provided in association with the at least one landmark (64), the cleaning path (68) having a start position at the landmark (64) and an end position thereof, and / or a cleaning path (68) having a start position at one landmark (64) and an end position at another landmark (64).

13. The floor cleaning device (10) is manually guided by a user (70); 13. The floor cleaning system according to claim 1, wherein:

14. At least one of the following: - the floor cleaning device (10) can be navigated by the user (70) from a current starting position to a landmark (64) from which the cleaning task is started; - the floor cleaning device (10) can be navigated by the user (70) from a landmark (64) to a parking location after completing the cleaning task; - the floor cleaning device (10) can be navigated by the user (70) from a first landmark (64) where a cleaning path (68) ends to another landmark (64) where another cleaning path (68) begins; at least one of the following applies; 14. The floor cleaning system of claim 13.

15. 15. A floor cleaning system as described in any one of claims 1 to 14, characterized in that at least one transport path (74) is stored in the at least one storage unit (40, 100) linked to at least one landmark (64) without the use of the at least one cleaning unit (22), and the at least one landmark (64) can be specified by the user (70).

16. A floor cleaning system as described in claim 15, wherein the at least one landmark (64) is specifiable by the user (70) as a component of the cleaning task.

17. At least one of the following: - a graphical user interface can be provided to the user (70) on the display unit (48) for locating saved landmarks (64) and / or saved cleaning paths (68); a map (56, 561, 562, 564, 565, 75, 751, 752, 753, 754) of the environment can be displayed to the user (70) on the display unit (48) for selecting landmarks (64) and / or saved cleaning paths (68) shown on the map; at least one of the following applies; 17. The floor cleaning system according to claim 1, wherein:

18. 18. A floor cleaning system as described in any one of claims 1 to 17, characterized in that a graphical user interface can be provided to the user (70) on the display unit (48) to show information about landmarks (64) and / or saved cleaning paths (68).

19. A floor cleaning system as described in any one of claims 1 to 17, characterized in that a graphical user interface can be provided to the user (70) on the display unit (48) to show information about landmarks (64) and / or saved cleaning routes (68) in response to previous searches and / or selections on a map (56, 561, 562, 564, 565, 75, 751, 752, 753, 754).

20. 20. A floor cleaning system as described in any one of claims 1 to 19, characterized in that cleaning paths (68) are selectable on the user interface using names and / or symbols (72) and can be displayed in a manner that can be linked to the cleaning task.

21. 21. The floor cleaning system of any one of claims 1 to 20, wherein the cleaning path (68) is displayable linked to selected landmarks (64).

22. A floor cleaning system as described in claim 21, wherein cleaning paths (68) that are not associated with the landmark (64) are hidden or displayed as unselectable.

23. 23. A floor cleaning system as described in any one of claims 1 to 22, characterized in that the at least one cleaning path (68) can be created by a user (70) on a data processing device (102) external to the floor cleaning device (10) and stored in the at least one storage unit (40, 100).

24. 24. A floor cleaning system as described in any one of claims 1 to 23, characterized in that the floor cleaning device (10) is designed and configured to create and save at least one cleaning path (68) under the guidance of the user (70) on the operating unit (44) in a teach-in operating mode.

25. 25. The floor cleaning system of claim 24, wherein a route (86, 95, 96) of the cleaning path (68) can be automatically assigned to a section (80) of the floor surface (14) recognized by the floor cleaning device (10) and / or a section (80) of the floor surface (14) traversed along its periphery by the user (70).

26. A floor cleaning system as described in claim 24, characterized in that the route (86, 95, 96) of the cleaning path (68) can be automatically assigned to a section (80) of the floor surface (14) recognized by the floor cleaning device (10) and / or a section (80) of the floor surface (14) traversed along its periphery by the user (70) so as to cover the entire area.

27. ​​A floor cleaning system as described in any one of claims 1 to 26, characterized in that notifications can be provided to the user (70).

28. A floor cleaning system as described in any one of claims 1 to 26, characterized in that notification can be provided to the user (70) on the at least one display unit (48, 98) about the amount of consumables required to clean the section (80) and / or whether the current amount of consumables carried by the floor cleaning tool (10) is sufficient to clean the section (80).

29. The cleaning path (68) is adapted to have one or more segments, and at least one cleaning unit (22) is operated on at least one segment, and at least one of the following: - different types of cleaning units (22) are activated or deactivated in different segments of the cleaning path (68) or within each segment; - there is at least one segment in which the cleaning unit (22) is not in operation; - the paths and allocable sections of the floor surface are stored in the cleaning path (68); - at least one interaction event between said floor cleaning device (10) and said environment is stored in said cleaning path (68); applied to said cleaning path (68); 29. The floor cleaning system of any one of claims 1 to 28.

30. The cleaning path (68) is adapted to have one or more segments, at least one cleaning unit (22) is operated on at least one segment, and at least one of the following, namely: - different types of cleaning units (22) are activated or deactivated in different segments of the cleaning path (68) or within each segment; - there is at least one segment in which the cleaning unit (22) is not in operation; - the paths and allocable sections of the floor surface are stored in the cleaning path (68); - the cleaning path (68) stores audible and / or visual notifications to be output by the floor cleaning device (10); applied to said cleaning path (68); 29. The floor cleaning system of any one of claims 1 to 28.

31. 31. A floor cleaning system as described in any one of claims 1 to 30, characterized in that a notification can be output to the user (70) on the at least one display unit (48) in order to position the floor cleaning device (10) at a landmark (64) so ​​that it can be recognized using the sensor unit (38).

32. If at least one landmark (64) is detected, at least one of the following is true: - information relating to the cleaning path (68) associated with the landmarks (64) can be displayed on the display unit (48); - The processing of a cleaning task starting from said landmark (64) can be triggered. at least one of the following applies; 32. The floor cleaning system of claim 1, wherein:

33. If at least one landmark (64) is detected, at least one of the following is true: - information about the cleaning path (68) associated with the landmarks (64) can be displayed on the display unit (48) for creating the cleaning task; - The processing of a cleaning task starting from said landmark (64) can be triggered. at least one of the following applies; 32. The floor cleaning system of claim 1, wherein:

34. 34. A floor cleaning system as described in any one of claims 1 to 33, characterized in that when the floor cleaning device (10) is guided by the user (70), a notification regarding the cleaning path (68) associated with the landmark (64) can be provided to the display unit (48) when the at least one landmark (64) is detected by the sensor unit (38).

35. 35. The floor cleaning system of claim 1, wherein the floor cleaning system (12, 120) comprises at least one docking station (54) for the floor cleaning device (10) to assume a predetermined position at a docking position.

36. A floor cleaning system as described in claim 35, wherein at least one docking station (54) comprises or forms a landmark (64).

37. 37. A floor cleaning system as claimed in claim 35 or 36, characterized in that the floor cleaning device (10) can be supplied with consumables required to process the cleaning task and / or used parts of the floor cleaning implement (10) can be received via the at least one docking station (54).

38. 38. A floor cleaning system as described in any one of claims 35 to 37, characterized in that the floor cleaning device (10) is designed so that at each docking station (54) at least one usable element is supplied in a quantity sufficient for the next cleaning pass (68) and / or used elements are removed.

39. 39. A floor cleaning system as described in any one of claims 35 to 38, characterized in that the floor cleaning device (10) is designed to be able to visit the at least one docking station (54) during the processing of the cleaning task when the processing requires the supply of at least one consumable material and / or the discharge of at least one used element.

40. 40. A floor cleaning system as described in any one of claims 35 to 39, characterized in that the at least one docking station (54) can be directed into the cleaning path (68) according to specifications to supply at least one consumable material and / or to discharge at least one used element.

41. 41. A floor cleaning system according to any one of claims 35 to 40, characterized in that the floor cleaning device (10) is designed to automatically determine, during the processing of the cleaning task, the amount of consumables required for this purpose depending on the remaining part of the cleaning task that is still to be processed, and to receive the consumables at at least one docking station (54) and / or discharge consumed consumables, if necessary.

42. A floor cleaning system as described in claim 41, wherein receiving excess consumable materials is avoided.

43. 43. A floor cleaning system according to any one of claims 1 to 42, characterized in that the floor cleaning device (10) comprises at least one storage unit (40).

44. 44. A floor cleaning system as described in any one of claims 1 to 43, characterized in that at least one storage unit (100) is positioned remotely from the floor cleaning device (10), and information to be stored or to be stored can be transmitted from the floor cleaning device (10) to the storage unit (100) and / or vice versa via a communication unit (42).

45. A floor cleaning system as described in Claim 44, characterized in that the floor cleaning system (120) is provided with a data processing device (102) having the storage unit (100).

46. 46. ​​A floor cleaning system according to any one of claims 1 to 45, characterized in that the floor cleaning device (10) comprises at least one display unit (48).

47. 47. A floor cleaning system as described in any one of claims 1 to 46, characterized in that at least one display unit (98) is positioned remotely from the floor cleaning device (10), and image information can be transmitted from the floor cleaning device (10) to the display unit (98) via a communication unit (42).

48. A floor cleaning system as described in Claim 47, characterized in that the floor cleaning system (12) is provided with a data processing device (102) having the display unit (48).

49. 49. A floor cleaning device of a floor cleaning system according to the invention as claimed in any one of claims 1 to 48.

50. 50. A method for operating a floor cleaning system according to any one of claims 1 to 48 or a floor cleaning device according to claim 49, comprising the steps of: At least one distinctive landmark is stored in the storage unit, and two or more cleaning paths are associated with the landmark; a start position and / or an end position of each cleaning path is defined on or at the landmark; A cleaning task is specified by a user on the operating unit by linking two or more cleaning paths to be processed consecutively, and the cleaning task is automatically processed by the floor cleaning device. method.

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