Self-propelled, self-steering floor cleaning device and floor cleaning system

Abstract

The present invention relates to a self-propelled, self-steering floor cleaning apparatus comprising a travelling device (20) for travelling on a floor surface (16), at least one cleaning device (24) for cleaning the floor surface (16), a control device (22) and a sensor device (38), the control device (22) being configured and arranged to position or navigate the floor cleaning apparatus (10) in an environment in response to at least one signal from the sensor device (38), the sensor device (38) being configured as a stereo camera system (60) on a front side (42) of the floor cleaning apparatus (10) with respect to a forward direction (40) of the floor cleaning apparatus. The floor cleaning system (12) comprises a first distance measuring unit (58) configured as or comprising a stereo camera system (60) and a second distance measuring unit (78) configured as or comprising a scanning unit (80) with structured light, wherein an observation area (76) of the first distance measuring unit (58) and an observation area (86) of the second distance measuring unit (78) are directed in a forward direction (40) of the floor cleaning device (10) and overlap, and the second distance measuring unit (78) is arranged above the first distance measuring unit (58) in relation to the height direction (66) on the floor cleaning device (10). The present invention also relates to a floor cleaning system (12).

Description

[Technical Field]

[0001] The present invention relates to a self-propelled self-steering floor cleaning device comprising a travel device for traveling on a floor surface, at least one cleaning device for cleaning the floor surface, a control device, and a sensor device, wherein the control device is formed and configured to position and / or navigate the floor cleaning device within an environment in accordance with at least one signal from the sensor device. [Background Art]

[0002] The present invention further relates to a floor cleaning system comprising a floor cleaning device and a docking station.

[0003] Such a floor cleaning device can be used to perform autonomous cleaning of a floor surface. For this purpose, a floor cleaning device having a travel device travels over the floor surface under the control of a control unit. The cleaning device can be used to separate dirt from the floor surface, preferably to pick it up therefrom. For example, a storage container for cleaning liquid for wetting the floor surface is provided. The cleaning device may, for example, comprise at least one cleaning roller or disc brush for separating dirt. A mixture of dirt and cleaning liquid may, for example, be picked up by a vacuum strip and transferred into a dirty liquid container.

[0004] It is known that a sensor device may comprise various types of sensor units for detecting the surroundings. These sensor units include, for example, cameras such as RGB cameras, infrared sensor units, ultrasonic sensor units, stereo camera systems, and scanning units using, for example, laser scanners. In practice, with respect to the functional reliability of the floor cleaning device that is to be ensured, it is necessary to implement a required number of scanning units, while it is also necessary to implement as few scanning units as possible to keep technical requirements to a minimum.

[0005] It is known that various types of sensor units are provided on self-propelled, self-steering floor cleaning devices. For example, this is described in WO 2021 / 026649 A1, in which a scanning unit that is close to the floor at the front and a stereo camera system that is positioned above are located at the front of the floor cleaning device.

[0006] EP 2 764 812 B1 describes a floor cleaning device having two stereo camera systems at the front and multiple ultrasonic sensor units positioned close to the floor. [Prior art documents] [Patent Documents]

[0007] [Patent Document 1] WO 2021 / 026649 A1 [Patent Document 2] EP 2 764 812 B1 [Overview of the project] [Problems that the invention aims to solve]

[0008] The object of the present invention is to provide a general floor cleaning device and floor cleaning system that can achieve higher operational reliability. [Means for solving the problem]

[0009] In the type of floor cleaning device described at the beginning, this objective is achieved, in accordance with the present invention, by comprising a sensor device located in front of the floor cleaning device with respect to the forward direction of the floor cleaning device, comprising a first distance measuring unit configured as a stereo camera system or comprising such a stereo camera system, and a second distance measuring unit configured as a scanning unit having structured light or comprising such a scanning unit, wherein the observation area of ​​the first distance measuring unit and the observation area of ​​the second distance measuring unit are oriented in the forward direction of the floor cleaning device and overlap, and the second distance measuring unit is positioned above the first distance measuring unit with respect to the height direction on the floor cleaning device.

[0010] The floor cleaning device according to the present invention is provided with a scanning unit having structured light and a stereo camera system. The observation areas of both distance measuring units overlap, which can be understood as meaning an intersection of observation areas. The control unit can evaluate the information from the two distance measuring units, preferably supplementing and / or checking the validity of the information. Depth information obtained by the scanning unit can preferably be supplemented by information from the stereo camera system, the viewing distance of the stereo camera system is usually less than the viewing distance of the scanning unit. By positioning the scanning unit above the stereo camera system, objects positioned in the forward direction in front of the floor cleaning device can be reliably detected, for example, the travel path of the floor cleaning device can be controlled based on this. Furthermore, for example, structures closer to the floor can be evaluated via the stereo camera system, and / or the small-scale positioning and / or navigation behavior of the floor cleaning device can be improved.

[0011] Positional and orientation information such as "upward" and "downward" refers in this case to the proper use of the floor cleaning device. In this use, the floor cleaning device can stand on the floor surface in particular via the traveling device that defines the contact surface, and the plane of the floor surface coincides with the contact surface. In this case, the floor surface can be considered to be oriented horizontally in a non-limiting manner, for example. In this case, "forward direction" refers in particular to the main direction of movement of the floor cleaning device when traveling on the floor surface in the intended use. In this case, "front side" can include in particular the portion of the floor cleaning device that is in the transition area from the front to the upper side of the floor cleaning device. In this case, "height direction" refers to the direction intersecting the floor surface, in particular to the direction perpendicular to the floor surface. Lateral offsets can exist between the components of the floor cleaning device that are spaced apart from each other in the vertical direction.

[0012] The scanning unit may be, for example, a laser scanning unit (LiDAR system) or a radar scanning unit (radar system). It is preferable to use a laser scanning unit having structured visible and / or invisible light for detecting objects. In this case, for example, a light section method is used in which light is emitted into a predetermined plane (observation surface).

[0013] The scanning unit having structured light may be a laser scanning unit or a radar scanning unit, as repeatedly mentioned below, for example, as in this embodiment.

[0014] In a preferred embodiment of the present invention, the scanning unit is a multilayer scanning unit formed to emit structured light onto multiple different observation surfaces. Structured light can be emitted into multiple distinct planes to generate more accurate information about the properties of the surroundings.

[0015] For example, the observation surface of the second distance measuring unit is oriented diagonally downward onto the floor surface. In this way, unevenness in the floor surface, especially subtle steps or steep slopes, can be reliably detected. The cliff sensor can be formed in particular by the second distance measuring unit. The observation surface is preferably not darkened by the front side of the floor cleaning device, so that objects positioned laterally in an intersecting direction intersecting the forward direction can also be detected.

[0016] The angle between the floor surface and the observation surface can be, for example, about 20° to 70°, preferably about 30° to 60°.

[0017] Alternatively or additionally, the observation surface of the second distance measuring unit can be oriented parallel to the floor surface. In this way, preferably, objects located behind the floor cleaning device can be detected not only in the forward direction but also in the lateral direction. Preferably, 360° detection is possible.

[0018] When an observation surface parallel to the floor is used, it may be advantageous to position the second distance measuring unit as high as possible within the front area.

[0019] It can be found that it is advantageous if at least one optical axis of the first distance measuring unit is oriented parallel to the floor surface. In particular, the optical axis of the camera in the stereo camera system or the axis of the coordinate system defined by the stereo camera system can be considered an optical axis.

[0020] The observation surface of the first distance measuring unit can be configured to form an angle with the floor surface of approximately ±30° or less, preferably approximately ±15° or less, for example, ±5° or less.

[0021] In particular, the observation surface of the first distance measuring unit can be oriented parallel to or perpendicular to the floor surface. The observation surface is defined, for example, by the optical axes of the two cameras of the stereo camera system.

[0022] By oriented parallel to the floor surface, the structure of an object oriented perpendicular to the floor surface, particularly perpendicular to the floor surface, can be reliably detected. When the observation surface is oriented perpendicular to the floor surface, structures oriented at an angle to the floor surface, particularly parallel to the floor surface, can be reliably detected.

[0023] A camera comprising two or more cameras with which the direction (length and angle) to an object point can be determined by triangulation can particularly be regarded as a stereo camera system. Corresponding cameras can create image data sets that can be combined to form a stereoscopic image. Said cameras may be of different designs. For example, at least one camera may be a TOF (time of flight) camera. Said cameras may have sensitivity in the visible spectrum and / or infrared spectrum. Said stereo camera system may comprise a projection device for emitting light, for example structured light, to the surroundings in order to improve measurement results. For example, a dot pattern, a line pattern or a grid pattern is projected onto the surroundings. Said projected light is preferably in the infrared spectrum, and projection light in the visible spectrum is also conceivable.

[0024] Said stereo camera system can form an optical measurement system in which information on the position of said object point is directly evaluated. Alternatively, the signal of said stereo camera system may be supplied to said control unit, and said evaluation may be performed by said control unit.

[0025] Said sensor device comprises a third distance measurement unit on said front side, and it may be advantageous that said third distance measurement unit is oriented in said forward direction and comprises an observation area that overlaps with the observation area of said first distance measurement unit and / or the observation area of said second distance measurement unit. Further information about the surroundings can be collected via said third distance measurement unit, and the provided information can supplement existing information and / or be used for validity checking of said information.

[0026] With respect to the height direction, it is preferable that said third distance measurement unit is arranged below said second distance measurement unit and / or above said first distance measurement unit.

[0027] It turns out to be advantageous if said third distance measurement unit is configured as a stereo camera system.

[0028] It may be advantageous if at least one optical axis of the third distance measuring unit is aligned parallel to the floor surface.

[0029] The observation surface of the third distance measuring unit can be configured to form an angle of approximately ±30° or less, preferably approximately ±15° or less, for example, ±5° or less, with respect to the floor surface.

[0030] In particular, the observation surface of the third distance measuring unit can be oriented perpendicular to or parallel to the floor surface.

[0031] In relation to the first distance measuring unit, the above description concerning the optical axis and the observation surface is to be referenced.

[0032] In stereo cameras, each camera defines a stereo base, and these cameras are spaced apart from each other along the stereo base.

[0033] In a preferred embodiment of the present invention, the first distance measuring unit and the third distance measuring unit each include a stereo base, the stereo bases forming an angle of 45° or more, preferably 90° or approximately 90°, with respect to each other.

[0034] Such embodiments allow for more reliable detection of specific repeating structures having a preferred orientation. For example, if a repeating structure is oriented parallel to the stereo base of one of the distance measuring units (and repeated particularly perpendicular to the stereo base so as to intersect the stereo base), this structure cannot be detected equally well by this distance measuring unit. However, the structure can be reliably detected by another distance measuring unit oriented at an angle. In this way, information from both distance measuring units can be supplemented, and any artifacts that may occur during measurement by the distance measuring units can be tampered with using the second distance measuring unit.

[0035] In particular, a 90° angle between the stereo bases, where one stereo base is aligned parallel to the floor and the other stereo base is aligned perpendicular to the floor, may be advantageous. For example, this provides the possibility of reliably detecting vertically elongated objects such as columns, pipes, and rails using the horizontally aligned stereo camera system. Horizontally oriented objects such as barrier gates, edges, and barrier tapes can be reliably detected using the vertically oriented distance measuring unit.

[0036] The first distance measuring unit and the third distance measuring unit can be arranged in a T-shape or an inverted T-shape in the observation direction toward the front.

[0037] The observation surface of the first distance measuring unit or the observation surface of the third distance measuring unit can be made to coincide with the central vertical cross-section of the floor cleaning device.

[0038] The observation surface can be configured to form an angle of approximately ±30° or less, preferably approximately ±15° or less, for example, ±5° or less, with respect to the floor surface having the central longitudinal cross-section.

[0039] An optional "third" distance measuring unit was described above. An optional "fourth" distance measuring unit will be described below. It goes without saying that the terms "third" and "fourth" are merely used to simplify the understanding of this explanation. Since the two distance measuring units can be provided independently of each other, for example, if the "third" distance measuring unit described above is not provided, the distance measuring unit referred to below as the "fourth" can be used as the "third" distance measuring unit.

[0040] The sensor device may be advantageous if it includes a fourth distance measuring unit on the front side, the fourth distance measuring unit being positioned below the first distance measuring unit with respect to the height direction and configured as or comprising a scanning unit having structured light, and the observation area of ​​the fourth distance measuring unit overlaps with the observation area of ​​the first distance measuring unit and / or the observation area of ​​the second distance measuring unit. The surroundings can be detected in spatial depth, in particular, via the scanning unit, preferably a laser scanning unit. Information from the other distance measuring units (including the third distance measuring unit, if present) can be supplemented and / or checked for validity. Positioning the scanning unit below the other distance measuring unit may be advantageous with respect to small tolerance chains, as the scanning unit is positioned closer to the traveling device. This provides the possibility of detecting preferably relatively useful information about the surroundings. For example, the scanning unit may be positioned on the chassis of the floor cleaning device, and the traveling device may also be held on the chassis.

[0041] The observation surface of the fourth distance measuring unit is preferably oriented parallel to the floor surface.

[0042] With respect to the height, the distance from the second distance measuring unit to the first distance measuring unit can be made approximately equal to the distance from the fourth distance measuring unit to the first distance measuring unit. This is convenient for the observation area of ​​the first distance measuring unit to overlap with another observation area.

[0043] The sensor device preferably comprises at least one additional distance measuring unit, which is configured as a scanning unit having structured light, particularly a laser scanning unit, or comprises such scanning unit. The additional scanning unit is positioned, in particular, on the rear side of the floor cleaning device with respect to the forward direction. Additional information about the periphery of the floor cleaning device can be obtained via the rear scanning unit.

[0044] The observation area of ​​the scanning unit is preferably oriented parallel to the floor surface, and the observation area preferably defines a common observation surface with the observation area of ​​the fourth distance measuring unit described above.

[0045] The front and rear scanning units are advantageously arranged diametrically opposite each other on the floor cleaning device. Here, for example, it may be advantageous if the corresponding scanning units are located within a corner area, for example, if the front scanning unit is positioned to the left front and the rear scanning unit to the right rear, or if the front scanning unit is positioned to the right front and the rear scanning unit to the left rear.

[0046] The observation areas of the scanning unit, when combined with each other, preferably enable 360° or approximately 360° full-circumference monitoring of the floor cleaning device. In this way, particularly high operational reliability of the floor cleaning device can be achieved.

[0047] It may be advantageous for the sensor device to include at least one additional distance measuring unit positioned to the left or right of the floor cleaning device with respect to the forward direction, and to include an observation area positioned to the left or right of the floor cleaning device and facing the floor surface. Here, it is understood that the distance measuring unit positioned on the left side has an observation area for the left side, and the distance measuring unit positioned on the right side has an observation area for the right side. The at least one additional distance measuring unit can improve operational reliability. The lateral area of ​​the floor cleaning device can be further monitored, which is particularly advantageous when the direction of travel changes to the left or right.

[0048] Advantageously, two additional distance measuring units are provided, once on the left side and once on the right side. The distance measuring units are preferably formed to be symmetrical with respect to the central longitudinal section of the floor cleaning device.

[0049] In a preferred embodiment of the present invention, the at least one additional distance measuring unit takes the form of a stereo camera system. For example, this provides the possibility of monitoring the vicinity of the floor cleaning device in particular, with respect to high functional safety when the direction of travel changes.

[0050] The remote area of ​​the floor cleaning device can preferably be monitored by scanning units located on the upper front, the bottom front, and the bottom rear.

[0051] The observation area of ​​at least one other distance measuring unit overlaps, for example, with the observation area of ​​the first distance measuring unit and / or the second distance measuring unit. Furthermore, it can provide overlap with the field of view of the third distance measuring unit and / or the fourth distance measuring unit and / or the other rear distance measuring unit.

[0052] The observation area of ​​the at least one other distance measuring unit may intersect, for example, the lane of the floor cleaning device on the floor surface. The "lane" may include an area of ​​the floor surface resulting from projecting the housing of the floor cleaning device onto the floor surface without taking into account cleaning units such as cleaning tools.

[0053] The desirable diversity and different fields of view of different sensor units, particularly the distance measuring units described above, allow for the addition and / or validation of information such as measurement data, which helps to improve the operational reliability of the floor cleaning device. For example, artifacts such as ghost points, ghost edges, and ghost obstacles can be significantly reduced. Because the floor cleaning device is less prone to failure, its cleaning performance can be improved.

[0054] For the purposes described above, alternatively or additionally, the sensor device is advantageously provided to include at least one ultrasonic measuring unit for emitting ultrasonic waves into the surroundings and receiving ultrasonic waves reflected from the surroundings. Ultrasonic waves enable reliable detection of low-reflectivity objects, such as glass.

[0055] In particular, the ultrasonic measuring unit having the ultrasonic sensor that emits in the forward direction can be positioned on the front side. For example, the ultrasonic waves are emitted substantially parallel to the floor surface. It is preferable that the ultrasonic measuring unit be positioned as close as possible to the first distance measuring unit in order to supplement and / or validate the information obtained from the first distance measuring unit.

[0056] It may be advantageous to provide at least one ultrasonic measuring unit comprising two ultrasonic sensors arranged adjacent to each other. The ultrasonic sensors are preferably located within a common receptacle on the housing of the floor cleaning device. As a result of the paired arrangement of ultrasonic sensors thus achieved, better measurement results can actually be achieved. For example, crosstalk between the ultrasonic sensors of the measuring unit is monitored and evaluated. Successful crosstalk provides monitoring to confirm that both ultrasonic sensors are functioning. When there is no crosstalk, a malfunction of the ultrasonic sensor can be detected. The paired arrangement of ultrasonic sensors allows for monitoring of detection areas particularly close to the floor cleaning device.

[0057] The ultrasonic measurement unit may include three or more ultrasonic sensors, for example, three ultrasonic sensors, arranged adjacent to each other to generate a wider detection area.

[0058] The ultrasonic measuring units of the floor cleaning device can preferably be controlled separately from each other. In this case, the measuring units can operate synchronously or separately, for example, in a clock-based manner.

[0059] The measuring unit can preferably be controlled according to the floor cleaning device and / or the detected ambient movement parameters. For example, it may be operated according to the movement speed and / or direction of movement. For example, the ultrasonic measuring unit may be targeted to check and / or supplement any information from the other distance measuring unit.

[0060] For example, it may be advantageous for the ultrasonic measuring unit to be located on the front and / or left and / or right sides of the floor cleaning device. For example, the ultrasonic measuring unit may be located on the left and right sides of the floor cleaning device, in the front side of the side wall portion, for example, in an area adjacent to the transition area to the front or in an area on the transition area. Advantageously, at least one ultrasonic measuring unit may be located on the rear side, and / or in the rear side of the left and right side wall portions of the floor cleaning device, for example, in an area adjacent to the transition area to the rear or in an area on the transition area.

[0061] Overall, it is advantageous to monitor the surroundings when the direction of travel changes from side to side during forward movement via the ultrasonic measuring unit.

[0062] It may be advantageous if the radiation direction of the ultrasonic sensor of at least one of the ultrasonic measuring units is oriented diagonally upward so as to be away from the floor surface. In practice, it has been found that interference effects can be reduced in this way, for example. The angle between the radiation direction of the ultrasonic sensor and the floor surface can be, for example, about 10° to 40°.

[0063] The ultrasonic sensor may include, for example, a beamforming element. This beamforming element is configured, for example, to be conical in shape in order to form a sound field and / or to suppress the effects of interference.

[0064] In a preferred embodiment, the sensor device may include at least one time-of-flight (TOF) distance measuring unit. The TOF distance measuring unit may be preferably located on the front side and may have a forward-oriented observation area. The TOF distance measuring unit may be useful for detecting, for example, obstacles in front, surfaces with low reflectivity, and / or the inclination of the floor surface.

[0065] The floor cleaning device is provided with at least one connecting element for supplying consumables necessary for performing cleaning work to the floor cleaning device, and it is preferable that the at least one connecting element is located on the front side. For example, the cleaning fluid and / or electrical energy for the battery of the floor cleaning device can be supplied via the connecting element.

[0066] In a preferred embodiment of the present invention, the at least one connecting element is positioned between the first distance measuring unit and the second distance measuring unit in the height direction.

[0067] At least the first distance measuring unit may be located within the front-facing sensor area, and the at least one connecting element may be located within the front-facing connection area, with the sensor area positioned at the front, offset rearward from the connection area. This facilitates docking the floor cleaning device via the at least one connecting element, and the distance measuring unit is protected from the rear by the offset.

[0068] As mentioned at the beginning, the present invention also relates to a floor cleaning system.

[0069] The floor cleaning system according to the present invention comprises a floor cleaning device of the type described above having at least one connecting element, and a docking station for the floor cleaning device, the docking station comprising at least one connecting element for supplying consumables to the floor cleaning device, and the at least one connecting element of the floor cleaning device and the at least one connecting element of the docking station being coupled to each other at the docking position of the floor cleaning device on the docking station.

[0070] The advantages already described in connection with the description of the floor cleaning device can also be achieved in the floor cleaning system according to the present invention. Advantageous embodiments of the floor cleaning system according to the present invention are derived from advantageous embodiments of the floor cleaning device according to the present invention. See the above description.

[0071] The following description of preferred embodiments of the present invention, together with the drawings, will help to illustrate the invention in more detail. [Brief explanation of the drawing]

[0072] [Figure 1] A perspective view of a floor cleaning device according to the present invention in a preferred embodiment. [Figure 2] Front view of the floor cleaning device in Figure 1. [Figure 3] Enlarged view of detail A in Figure 2. [Figure 4] A perspective view of the floor cleaning device shown in Figure 1, which has two observation areas for the distance measuring unit. [Figure 5] A perspective view of the floor cleaning device in Figure 1, which has two observation areas of a separate distance measuring unit. [Figure 6] Figure 1 shows plan views of the four observation areas of the floor cleaning device, lane, and distance measuring unit. [Figure 7] Figure 6 shows the observation direction indicated by arrow 7, with the floor cleaning device shown from the left, and the observation surface of the scanning unit also shown. [Figure 8] A plan view of a floor cleaning device, showing the observation area of ​​the scanning unit. [Figure 9]A plan view of a floor cleaning device, showing the observation area of ​​the ultrasonic measurement unit. [Figure 10] A schematic diagram of the floor cleaning system according to the present invention, comprising a floor cleaning device and a docking station. [Modes for carrying out the invention]

[0073] The drawings show an advantageous embodiment of a floor cleaning device according to the present invention, which is shown as a whole by reference numeral 10. The floor cleaning device 10 is schematically shown in Figure 10 and is part of a preferred embodiment of a floor cleaning system 12 according to the present invention, which includes a docking station 14 in addition to the floor cleaning device 10.

[0074] The floor cleaning device 10 is configured to be self-propelled and self-steering, allowing for autonomous cleaning of the floor surface 16. In particular, the floor cleaning device 10 forms a cleaning robot.

[0075] The floor cleaning device 10 comprises a housing 18 having a traveling device 20 positioned on the underside for traveling on the floor surface 16. To control its operation, the floor cleaning device 10 includes a control device 22 (Figures 1 and 10).

[0076] To clean the floor surface 16, the floor cleaning device 10 includes a cleaning device 24. The cleaning device 24 includes a cleaning tool in the form of a floor cleaning head 26 having a cleaning roller (not shown), a side brush 28, and a suction strip 30.

[0077] Furthermore, a storage container 32 for cleaning solution, particularly water, is provided to wet the floor surface 16. The dirt is separated from the floor surface 16 with a cleaning tool. The mixture of cleaning solution and dirt is picked up by a suction strip 30 and transferred into a waste liquid container 34.

[0078] To supply electrical energy, the floor cleaning device 10 includes at least one rechargeable, in particular, battery 36.

[0079] Therefore, the floor cleaning device 10 is a scrubber vacuum. However, the present invention is not limited to this type of floor cleaning device.

[0080] For positioning and / or navigation within its surroundings, the floor cleaning device 10 includes a sensor device 38 operably connected to a control device 22. The sensor device 38 comprises a plurality of sensor units, as described below.

[0081] In response to at least one signal from the sensor device 38, the control device 22 can control the floor cleaning device 10, for example, to perform cleaning tasks. For example, it can detect obstacles, stop the floor cleaning device 10 as needed, or have it bypass obstacles.

[0082] Multiple sensor units help ensure that the surroundings are monitored as completely as possible. Of particular importance here is monitoring the surroundings in the forward direction 40 that the floor cleaning device 10 can travel on the floor surface 16 during its intended use. The forward direction 40 may be oriented, for example, along the main direction of movement during straight-line travel. It is also important to monitor for changes in the direction of travel from side to side during forward travel.

[0083] Please refer to the explanation given at the beginning regarding the position and orientation specifications. Hereafter, it is assumed that the floor cleaning device 10 is positioned as intended via the traveling device 20 on the floor surface 16, and that the floor surface 16 can be oriented horizontally in particular.

[0084] With respect to the forward direction 40, the floor cleaning device 10 has a front side 42, a rear side 44, a left side 46, a right side 48, and an upper side 50. Adjacent sides 42-50 can define transition zones with respect to each other. For example, transition zones 52 are formed between the left side 46 and the front side 42, and between the right side 48 and the front side 42, respectively. At the rear, the side wall portions 54 are adjacent to the transition zones 52 on the left and right sides.

[0085] A transition area 56 is formed between the front side 42 and the upper side 50.

[0086] The transition area can be formed by the same housing component or a different housing component of the housing 18.

[0087] The sensor device 38 includes a first distance measuring unit 58 as a sensor unit, and the first distance measuring unit 58 is configured as a stereo camera system 60 (hereafter referred to as stereo camera 60).

[0088] The stereo camera 60 is positioned on the front side 42. In this example, the stereo camera 60 is positioned on the front side 42 within a sensor area 62 that is offset rearward from the connection area 64, which will be described later.

[0089] With respect to the height direction 66, the stereo camera 60 is positioned within the central area of ​​the floor cleaning device 10, in this example, within a range of approximately 40% to 60% of the height.

[0090] The stereo camera 60 is oriented such that the corresponding optical axis 68 of camera 70 of the stereo camera 60 is aligned parallel to the floor surface 16 (Figure 7). In this embodiment, the observation surface 72 of the stereo camera 60 is also oriented parallel to the floor surface 16, and the observation surface 72 is defined by the paths of the optical axes 68 of both cameras 70.

[0091] The stereo camera 60 further includes a projection device 74 for projecting structured light (e.g., a dot pattern, line pattern, or grid pattern) to improve the measurement results. The stereo camera 60 also has an RGB camera 75 for recording a two-dimensional image.

[0092] The stereo camera 60 may have sensitivity in the visible range and / or the infrared range.

[0093] Camera 70 of the stereo camera 60 defines a stereo base, which in this example runs within the observation surface 72. In this example, the stereo base is positioned parallel to the floor surface 16.

[0094] Figures 4, 6, and 7 show the observation area 76 of the stereo camera 60, which runs in the forward direction 40 and extends forward.

[0095] At the front 42, the floor cleaning device 10 includes a second distance measuring unit 78 configured as a scanning unit 80 having structured light, and more specifically as a lidar system 82. The lidar system 82 is positioned above the stereo camera 60 with respect to the height direction 66, and in this embodiment, within a range of approximately 70% to 90% of the height of the floor cleaning device 10.

[0096] The LiDAR system 82 emits structured light in the forward direction 40 onto the observation surface 84. The observation surface 84 forms an observation area 86 that overlaps with the observation area 76.

[0097] In this example, the observation area 86 also extends to the left and right beyond the floor cleaning device 10 (Figure 8).

[0098] In this embodiment, the observation surface 84 is inclined at an angle of approximately 30° to 40° relative to the floor surface 16 (Figure 7).

[0099] Due to its long-range detection capability, the LiDAR system 82 can reliably detect surrounding objects. Nearby areas can be checked more accurately using the stereo camera 60. Because the observation area 86 is inclined relative to the floor surface 16, the LiDAR system 82 can be used, in this example, to detect particularly steep slopes and can function as a cliff sensor.

[0100] Alternatively, or in addition to the scanning unit 80, the floor cleaning device 10 according to the present invention may include a distance measuring unit schematically shown in Figure 7, which may be a second distance measuring unit within the scope of the meaning of this disclosure and be assigned reference numeral 88. The distance measuring unit 88 is, in particular, a scanning unit 90 configured as a lidar system, specifically a multilayer scanning unit formed to emit structured light onto a plurality of different observation surfaces 91, 92.

[0101] The observation surface 91 is oriented, for example, parallel to the floor surface 16, preferably allowing the area around the floor cleaning device 10 to be monitored at a circumferential angle of 360° or approximately 360°. The observation surface 92 may be oriented at an inclination with respect to the floor surface 16, for example, as the observation surface 84.

[0102] It is understood that the scanning unit 90 may have more observation surfaces than just the two observation surfaces from which structured light is emitted.

[0103] In this example, the sensor device 38 includes a third distance measuring unit 94 as another sensor unit configured as a stereo camera system 96 (hereinafter referred to as stereo camera 96). The stereo camera 96 ​​is preferably configured to be identical or functionally identical to the stereo camera 60. In this example, the stereo camera 96 ​​includes an optical axis 98 and a camera 100, defining an observation surface 102. The stereo camera 96 ​​includes a projection device 104 and an RGB camera 105. The stereo camera 96 ​​has an observation area 106 oriented in the forward direction 40, and the observation area 106 overlaps with observation areas 76 and 86 and extends forward.

[0104] The optical axis 98 is aligned parallel to the floor surface 16. In this embodiment, the observation surface 102 is oriented perpendicular to the floor surface 16. The observation surface 102 is located within the central vertical section 103 of the floor cleaning device 10.

[0105] The stereo camera 96 ​​includes a sensor base that moves within the observation surface 102.

[0106] The sensor bases of stereo cameras 60 and 96 are aligned at an angle to each other, with the angle being 90° in this example (Figures 2 and 3).

[0107] Such an arrangement of stereo cameras 60 and 96 is advantageous for better recognizing objects having horizontal and vertical structures. Objects with vertical structures can be better recognized via stereo camera 60, and objects with horizontal structures can be better recognized via stereo camera 96. Based on the signals from the two stereo cameras 60 and 96, the control device 38 can filter out ghost points, ghost edges, and / or ghost obstacles.

[0108] In this example, the stereo camera 96 ​​is positioned above the stereo camera 60 and below the LiDAR system 82 in the height direction 66. In the front plan view 42, the stereo cameras 60 and 96 are positioned in an inverted T shape relative to each other.

[0109] To further monitor the surroundings, the sensor device 38 includes a sensor unit in the form of a fourth distance measuring unit 108 configured as a scanning unit 110 with structured light, specifically as a lidar system 112. The lidar system 112 is positioned at the front 42, below the stereo camera 96 ​​with respect to the height 66. In particular, as can be seen from Figure 2, the lidar system 112 is positioned to the left front of the floor cleaning device 10. In this example, the lidar system 112 is positioned close to the floor surface on the chassis 114, which also holds the running gear 20 in relation to a small tolerance chain.

[0110] The lidar system 112 emits structured light onto the observation surface 116, and in this example, the structured light is oriented parallel to the floor surface 16. The lidar system 112 as a whole has an observation area 118 that overlaps with the observation areas 76, 86, and 106.

[0111] The observation area 118 extends over a circular angle of approximately 270°, allowing for the detection of objects to the left rear of the floor cleaning device 10, to the left adjacent to the floor cleaning device 10, and to the right adjacent to the floor cleaning device 10 (Figure 8).

[0112] Objects located far from the floor cleaning device 10 can be detected, in particular, by the lidar system 112. Closer areas are further monitored using stereo cameras 60 and 96.

[0113] With respect to the height 66, the stereo camera 60 is located at approximately the same distance from the lidar systems 112 and 82 in order to monitor the dead space near the front 42 between the observation surface 84 and the observation surface 116 in the best possible way (Figure 7).

[0114] The sensor device 38 includes another distance measuring unit 120, configured as a scanning unit 122 having structured light, and more specifically as a lidar system 124, as another sensor unit. The lidar system 124 emits light onto the observation surface 126, which is preferably aligned with the observation surface 116 and oriented parallel to the floor surface 16.

[0115] The observation area 128 of the LiDAR system 124 extends over a range of approximately 270°, allowing for the detection of objects to the right rear of the floor cleaning device 10, to the right adjacent to the floor cleaning device 10, and to the left rear of the floor cleaning device 10 (Figure 8).

[0116] The rider system 124 is positioned diametrically relative to the rider system 112 on the floor cleaning device 10, and in this example, is positioned particularly to the left rear, preferably on the chassis 114. Figures 2 and 8 show the corresponding positions with dashed lines.

[0117] 360° omnidirectional monitoring of the floor cleaning device 10 can be performed via two distance measuring units 108 and 120.

[0118] The sensor device 38 includes distance measuring units 130 and 134, which are separate sensor units configured as stereo camera systems 132 or 136 (hereinafter referred to as stereo cameras 132 and 136).

[0119] The stereo camera 132 is positioned on the left rear and upper part of the floor cleaning device 10, near the transition area 138 between the left side 46 and the rear side 44. The observation area 140 is oriented to the left and onto the floor surface 16, extending forward. The observation area 140 overlaps with observation areas 76, 86, 106 and 118, and in this example intersects with the lane 142 of the floor cleaning device 10 (Figure 6).

[0120] The stereo camera 132 is particularly useful for monitoring the surroundings when the direction of travel changes to the left.

[0121] In a corresponding manner, the stereo camera 136 is positioned on the upper right rear side near the transition area 138 between the right side 48 and the rear side 44. The observation area 144 is oriented to the right and onto the floor surface 16, extending forward. The observation area 144 overlaps with observation areas 76, 86, 106, 118, and 128, and in this example intersects with lane 142.

[0122] The stereo camera 136 is particularly useful for monitoring the surroundings when the direction of travel changes to the right.

[0123] The stereo cameras 132 and 136 are formed so as to be symmetrical with respect to the central vertical section 103.

[0124] To further monitor the surroundings, the sensor device 38 includes a sensor unit in the form of an ultrasonic measuring unit 146. In this embodiment, a plurality of ultrasonic measuring units 146 are provided, and the plurality of ultrasonic measuring units 146 are arranged particularly on the front side 42, on the transition area 52, and on the side wall portion 54.

[0125] The ultrasonic measurement unit 146 is positioned on the front side 42 and, in this example, on the central longitudinal section 103. Preferably, the ultrasonic sensor 148 of this measurement unit 146 is positioned between the stereo camera 60 and the stereo camera 96 ​​(Figures 2 and 3). The ultrasonic sensor 148 generates a lobe-shaped ultrasonic field 150 (Figure 9) directed in the forward direction 40.

[0126] In this embodiment, another measurement unit 146 is characterized in that it comprises ultrasonic sensors 152 and 153, respectively, arranged adjacent to each other in a pair, and is located within a common receptacle 154. The paired arrangement of ultrasonic sensors 152 and 153 allows for the detection of a failure in either sensor by monitoring crosstalk. Furthermore, it has been found that arranging ultrasonic sensors 152 and 153 in a pair allows for better monitoring of particularly nearby areas.

[0127] The corresponding measuring unit 146, which has two ultrasonic sensors 152 and 153, essentially generates a funnel-shaped ultrasonic field 156 (Figure 9).

[0128] It can be found that it is advantageous for the radiation directions of the ultrasonic sensors 152 and 153 to be oriented diagonally upward so as to be away from the floor surface 16. In practice, it has been found that this reduces the effects of interference. The angle between the radiation direction and the floor surface can be, for example, about 10° to 40°.

[0129] A first measuring unit 146 having two ultrasonic sensors 152 and 153 is positioned on the front side 42. Another measuring unit 146 having two sensors is positioned on the left front and right front transition areas 52, respectively. Two measuring units 146 having two sensors (of which only one recess for receiving the measuring unit 146 is shown in Figures 2 and 3) are positioned downstream of the left side wall portion 54 of 46 and downstream of the right side wall portion 54 of 48.

[0130] The measuring units 146, one on the side wall portion 54 and the other on the transition area 52, are formed so as to be symmetrical with respect to the central longitudinal section 103.

[0131] The areas in front, to the left, and to the right of the floor cleaning device 10 can be reliably monitored via the ultrasonic measuring unit 146 (Figure 9).

[0132] The floor cleaning system 12 will be discussed later. The floor cleaning system 12 includes the connection area 64 already described. A connection element 158 ​​for supplying cleaning fluid and another connection element 160 for supplying electrical energy are located on the connection area 64. The connection elements 158 and 160 are located behind the cover 162.

[0133] When the floor cleaning device 10 moves to the docking position on the docking station 14, the connecting elements 158 and 160 can be coupled to the corresponding connecting elements 164 or 166 on the docking station 14 (Figure 10). This allows for filling of the storage container 32 and charging of the battery 36. During docking, the cover 162 is preferably opened automatically.

[0134] The front stereo camera 96 ​​and ultrasonic measuring unit 146 are positioned within the sensor area 62, similar to the stereo camera 60, and offset from the connection area 64. In this way, the sensor unit is protected even when the floor cleaning device 10 is docked.

[0135] The connection area 64 is located above the sensor area 62 and below the lidar system 82.

[0136] The floor cleaning device 10 is equipped with another connecting element 168, which, in the docking position, connects to a corresponding connecting element 170 of the docking station 14. The waste liquid container 34 can be emptied via the connecting elements 168 and 170 in the docking position.

[0137] The connecting element 168 is positioned below the sensor area 62 and above the LiDAR system 112 in this example, with respect to the height direction 66 (Figure 2). [Explanation of Symbols]

[0138] 10…Floor cleaning device 12…Floor cleaning system 14… Docking station 16…Floor surface 18… Housing 20... Running gear 22...Control device 24…Cleaning device 26... Floor cleaning head 28... Side brush 30... Suction strip 32…Reservoir 34... Contaminated liquid tank 36...battery 38...Sensor device 40…Forward 42…Front 44…Rear side 46...Left side 48…Right side 50... Upper side 52…Transition Zone 54...Side wall part 56…Transition Zone 58…First distance measuring unit 60…Stereo camera system 62...Sensor area 64…Connection area 66…Height direction 68... Optical axis 70... Camera 72… Observation surface 74…Projection device 75…RGB Camera 76…Observation Area 78…Second distance measuring unit 80... Scanning Unit 82... Rider System 84… Observation surface 86…Observation Area 88... Distance measuring unit 90... Scanning Unit 91… Observation surface 92… Observation surface 94...Third distance measuring unit 96…Stereo Camera System 98... Optical axis 100... Camera 102... Observation surface 103...Central vertical section 104…Projection device 105...RGB Camera 106…Observation Area 108...Fourth distance measuring unit 110... Scanning Unit 112... Rider System 114... Chassis 116… Observation surface 118…Observation Area 120... Distance measuring unit 122... Scanning Unit 124... Rider System 126… Observation surface 128…Observation area 130... Distance measuring unit 132…Stereo camera system 134... Distance measuring unit 136…Stereo camera system 138…Transition Zone 140…Observation area 142... lanes 144…Observation area 146… Ultrasonic measurement unit 148… Ultrasonic sensor 150... Ultrasonic field 152… Ultrasonic sensor 153... Ultrasonic sensor 154…Receptacle 156... Ultrasonic field 158...Connection element 160...Connection element 162...cover 164... Connection element 166...Connection element 168...Connection element 170...Connection element

Claims

1. A self-propelled, self-steering floor cleaning device comprising a traveling device (20) for traveling on a floor surface (16), at least one cleaning device (24) for cleaning the floor surface (16), a control device (22), and a sensor device (38), The control device (22) is formed and configured to position and / or navigate the floor cleaning device (10) in the environment in response to at least one signal from the sensor device (38), The sensor device (38) comprises a first distance measuring unit (58) configured as a stereo camera system (60) or equipped with the stereo camera system (60), and a second distance measuring unit (78) configured as a scanning unit (80) having structured light or equipped with the scanning unit (80), located on the front side (42) of the floor cleaning device (10) with respect to the forward direction (40) of the floor cleaning device. The observation area (76) of the first distance measuring unit (58) and the observation area (86) of the second distance measuring unit (78) overlap when oriented in the forward direction (40) of the floor cleaning device (10). The second distance measuring unit (78) is positioned above the first distance measuring unit (58) with respect to the height direction (66) on the floor cleaning device (10). The observation surfaces (84, 92) of the second distance measuring unit (78) are directed diagonally downward onto the floor surface (16), and the cliff sensor is formed by the second distance measuring unit. The sensor device (38) comprises two separate distance measuring units (130, 134) positioned on the left (46) and right (48) sides of the floor cleaning device (10) with respect to the forward direction (40), and each of the two separate distance measuring units (130, 134) comprises an observation area (140, 144) that extends forward and is directed toward the left and right sides of the floor cleaning device (10) and toward the floor surface (16), respectively. The two separate distance measuring units (130, 134) are each formed as a stereo camera system (132, 136), The observation areas (140, 144) of the two separate distance measuring units (130, 134) each overlap with the observation areas (76, 86) of the first distance measuring unit (58) and / or the second distance measuring unit (78). A self-propelled, self-steering floor cleaning device.

2. The floor cleaning apparatus according to claim 1, characterized in that the scanning unit (80) is a laser scanning unit or a radar scanning unit.

3. The floor cleaning apparatus according to claim 1 or 2, characterized in that the scanning unit (80) is a multilayer scanning unit (90) formed to emit structured light to a plurality of different observation surfaces (84, 91, 92).

4. The observation surface (91) of the second distance measuring unit (78) is oriented parallel to the floor surface (16). A floor cleaning device according to any one of claims 1 to 3, characterized by the following:

5. At least one optical axis (68) of the first distance measuring unit (58) is aligned parallel to the floor surface (16), and / or The observation surface (72) of the first distance measuring unit (58) is oriented parallel to the floor surface (16) or perpendicular to the floor surface (16). A floor cleaning device according to any one of claims 1 to 4, characterized by the following:

6. The floor cleaning device according to any one of claims 1 to 5, characterized in that the sensor device (38) is provided with a third distance measuring unit (94) on the front side (42), and the third distance measuring unit (94) is oriented in the forward direction (40) and has an observation area (106) that overlaps with the observation area (76) of the first distance measuring unit (58) and / or the observation area (86) of the second distance measuring unit (78).

7. The floor cleaning device according to claim 6, characterized in that the third distance measuring unit (94) is positioned below the second distance measuring unit (78) and / or above the first distance measuring unit (58) with respect to the height direction (66).

8. The floor cleaning device according to claim 6 or 7, characterized in that the third distance measuring unit (94) is configured as a stereo camera system (96).

9. At least one optical axis (68) of the third distance measuring unit (94) is aligned parallel to the floor surface (16), and / or The observation surface (102) of the third distance measuring unit (94) is oriented perpendicular to or parallel to the floor surface (16). A floor cleaning device according to any one of claims 6 to 8, characterized by the following:

10. The floor cleaning device according to any one of claims 6 to 9, characterized in that the first distance measuring unit (58) and the third distance measuring unit (94) each have a stereo base, and the stereo bases form an angle of 45° or more with respect to each other.

11. The floor cleaning device according to claim 10, characterized in that the stereo bases form an angle of 90° or approximately 90° with respect to each other.

12. The floor cleaning device according to any one of claims 6 to 11, characterized in that the third distance measuring unit (94) is configured as a stereo camera system (96) or comprises the stereo camera system (96), and has a T-shape arrangement or an inverted T-shape arrangement with the stereo camera system (60) formed by or provided by the first distance measuring unit (58) toward the front side (42) in the observation direction.

13. The floor cleaning device according to any one of claims 6 to 12, characterized in that the observation surface (72) of the first distance measuring unit (58) or the observation surface (102) of the third distance measuring unit (94) coincides with the central vertical cross section (103) of the floor cleaning device (10).

14. The front sensor device (38) (42) includes a fourth distance measuring unit (108), and the fourth distance measuring unit (108) is positioned below the first distance measuring unit (58) with respect to the height direction (66) and is configured as a scanning unit (122) having structured light or includes the scanning unit (122), The observation area (128) of the fourth distance measuring unit (108) overlaps with the observation area (76) of the first distance measuring unit (58) and / or the observation area (86) of the second distance measuring unit (78). A floor cleaning device according to any one of claims 1 to 13, characterized by the following:

15. The floor cleaning device according to claim 14, characterized in that, with respect to the height direction (66), the distance from the second distance measuring unit (78) to the first distance measuring unit (58) is approximately equal to the distance from the fourth distance measuring unit (108) to the first distance measuring unit (58).

16. The floor cleaning device according to claim 14 or 15, wherein the sensor device (38) comprises at least one other distance measuring unit (120), the at least one other distance measuring unit (120) is configured as a scanning unit (122) having structured light, or comprises the scanning unit (122) and is positioned on the rear side (44) of the floor cleaning device (10) with respect to the forward direction (40).

17. The scanning units (110, 122) are arranged on the front side (42) and the rear side (44) of the floor cleaning device (10) facing each other in the diametrical direction, and / or The observation area (118, 128) of the scanning unit (110, 122) enables 360° or approximately 360° full-circumference monitoring of the floor cleaning device (10). The floor cleaning device according to claim 16, characterized by the following:

18. The floor cleaning device according to any one of claims 1 to 17, characterized in that the two other distance measuring units (130, 134) are formed to be symmetrical with respect to the central longitudinal section (103) of the floor cleaning device (10).

19. The floor cleaning device according to any one of claims 1 to 18, characterized in that the sensor device (38) comprises at least one ultrasonic measuring unit (146).

20. The floor cleaning device according to claim 19, characterized in that an ultrasonic measuring unit (146) having an ultrasonic sensor (148) that emits in the forward direction (40) is arranged on the front side (42).

21. The floor cleaning device according to claim 19 or 20, characterized in that at least one ultrasonic measuring unit (146) is provided, comprising two ultrasonic sensors (152, 153) arranged adjacent to each other on the housing (18) of the floor cleaning device (10).

22. The floor cleaning device according to claim 21, characterized in that the two ultrasonic sensors (152, 153) are arranged within a common receptacle (154).

23. The floor cleaning device according to any one of claims 19 to 22, characterized in that the ultrasonic measuring unit (146) is arranged on the front side (42) and / or left side (46) and / or right side (48) of the floor cleaning device (10).

24. The floor cleaning device according to claim 23, characterized in that the ultrasonic measuring unit (146) is located in the area in front of the side wall portion (54) of the floor cleaning device (10) and / or is located on the rear side of the floor cleaning device (10).

25. The floor cleaning device according to any one of claims 19 to 24, characterized in that the radiation direction of the ultrasonic sensors (152, 153) of at least one ultrasonic measuring unit (146) is oriented diagonally upward so as to be away from the floor surface (16).

26. The floor cleaning device according to any one of claims 1 to 25, characterized in that the sensor device (38) comprises at least one time-of-flight (TOF) distance measuring unit.

27. ​​The floor cleaning device according to claim 26, characterized in that the at least one time-of-flight (TOF) distance measuring unit is positioned on the front side (42) and has an observation area oriented in the forward direction (40).

28. The floor cleaning device (10) is characterized in that it comprises at least one connecting element (158, 160) for supplying consumables necessary for performing cleaning work to the floor cleaning device (10), and the at least one connecting element (158, 160) is located on the front side (42), as described in any one of claims 1 to 27.

29. The floor cleaning device according to claim 28, characterized in that the at least one connecting element (158, 160) is arranged between the first distance measuring unit (58) and the second distance measuring unit (78) in the height direction (66).

30. At least the first distance measuring unit (58) is located within the sensor area (62) on the front side (42), and The at least one connecting element (158, 160) is positioned within the front (42) connecting area (64), and the sensor area (62) is positioned on the front (42) offset rearward from the connecting area (64). A floor cleaning device according to claim 28 or 29, characterized by the above.

31. A floor cleaning system comprising a floor cleaning device (10) according to any one of claims 28 to 30, and a docking station (14) for the floor cleaning device (10) having at least one connecting element (164, 166) for supplying consumables to the floor cleaning device (10), A floor cleaning system in which, at the docking position of the floor cleaning device (10) at the docking station (14), at least one connecting element (158, 160) of the floor cleaning device (10) and at least one connecting element (164, 166) of the docking station (14) are connected to each other.

32. A self-propelled, self-steering floor cleaning device comprising a traveling device (20) for traveling on a floor surface (16), at least one cleaning device (24) for cleaning the floor surface (16), a control device (22), and a sensor device (38), The control device (22) is formed and configured to position and / or navigate the floor cleaning device (10) in the environment in response to at least one signal from the sensor device (38), The sensor device (38) comprises a first distance measuring unit (58) configured as a stereo camera system (60) or equipped with the stereo camera system (60), and a second distance measuring unit (78) configured as a scanning unit (80) having structured light or equipped with the scanning unit (80), located on the front side (42) of the floor cleaning device (10) with respect to the forward direction (40) of the floor cleaning device. The observation area (76) of the first distance measuring unit (58) and the observation area (86) of the second distance measuring unit (78) overlap when oriented in the forward direction (40) of the floor cleaning device (10). The second distance measuring unit (78) is positioned above the first distance measuring unit (58) with respect to the height direction (66) on the floor cleaning device (10). The observation surfaces (84, 92) of the second distance measuring unit (78) are directed diagonally downward onto the floor surface (16), and the cliff sensor is formed by the second distance measuring unit. The sensor device (38) is equipped with a third distance measuring unit (94) on its front side (42), and the third distance measuring unit (94) is oriented in the forward direction (40) and has an observation area (106) that overlaps with the observation area (76) of the first distance measuring unit (58) and / or the observation area (86) of the second distance measuring unit (78). The first distance measuring unit (58) and the third distance measuring unit (94) each have a stereo base, and the stereo bases form an angle of 45° or more relative to each other. A self-propelled, self-steering floor cleaning device.

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