Floor treatment system and method

Abstract

A floor treatment system (1000) comprises a robotic support frame (200) configured to couple (C) with, and support (S), a stand-alone hand-guided floor treatment device (100) to form, in combination, a semi-autonomous floor treatment device (300). The floor treatment system (1000) enables treating a first floor area (A1) by a user (U) operating the hand-guided floor treatment device (100) without the robotic support frame (200); treating a second floor area (A2) by the user operating the hand-guided floor treatment device (100) coupled to the robotic support frame (200); and treating a third floor area (A3) autonomously by the treatment device (300) without the user.

Description

[0001] Title: FLOOR TREATMENT SYSTEM AND METHOD

[0002] TECHNICAL FIELD AND BACKGROUND

[0003] The present disclosure relates to floor treatment systems and methods for the treatment of floors.

[0004] Various types of floor treatment systems and methods aim to maintain and enhance the cleanliness, appearance, durability, and / or safety of various flooring types. The most prominent floor treatment activity includes floor cleaning. Floor cleaning systems are typically aimed at the removal of dirt, debris, stains, and / or the improvement of hygiene. Examples of floor cleaning activities may include sweeping, vacuuming, mopping, scrubbing, et cetera. Wet floor cleaning involves the use of liquids on the floor, such as water, cleaning agents, and / or disinfectants. Besides floor cleaning, the treatment of floors may include other or further activities such as waxing, polishing, sealing, and / or refinishing.

[0005] The development of floor treatment technology, in particular floor cleaning, is ever ongoing. Despite advances, the predominant way of cleaning floors still consists of the traditional mop and bucket. The traditional method provides complete manual control over the cleaning process, allowing for specific area targeting and adaptability to various floor types. However, the traditional method may be time-consuming, require significant physical exertion, and sometimes lead to inconsistent cleaning quality, especially in larger spaces.

[0006] Machine-assisted floor cleaning, such as hand-guided scrubbers and vacuum cleaners, improve upon traditional cleaning by enhancing its time -efficiency, reducing physical strain, and providing more consistent cleaning over large areas. However, these manually operated machines still require user presence and may lack adaptability. Autonomous floor cleaning robots can, in principle, provide fully automated, hands-free operation, capable of routine cleaning with minimal human intervention. However, despite advances in navigation and operational capabilities, these robots may still exhibit limitations in determining optimal cleaning patterns. Semi-autonomous floor treatment devices and systems may operate with a degree of automation but may also use a level of human intervention or supervision. Advantageously, semi-autonomous devices may combine the convenience of automation with the oversight and control of manual operation. In the context of semi-autonomous cleaning systems, “teach and repeat” is a concept where a human operator first 'teaches' the robot a specific cleaning route or task by either manually guiding it or programming the path into its system. Once this initial setup is done, the robot is capable of 'repeating' the task autonomously without further human intervention. However, it may still be relatively difficult or time-consuming for a human to teach the machine each cleaning task.

[0007] There remains a need for further improvements of known floor treatment systems, in particular to allow easy control of reaching a desired balance between human effort and automation while ensuring efficient and reliable operation.

[0008] SUMMARY

[0009] Aspects of the present disclosure relate to a floor treatment system comprising a robotic support frame configured to couple with, and support, a hand-guided floor treatment device to form, in combination, a semi-autonomous floor treatment device. In general, it will be appreciated that the robotic support frame, as disclosed herein, may provide modular intelligence to any (non-intelligent) hand-guided floor treatment device. Other or further aspects relate to the use of the floor treatment system, wherein a first floor area is treated by a user operating the hand-guided floor treatment device without the robotic support frame; a second floor area is treated by the user operating the hand-guided floor treatment device coupled to the robotic support frame; and a third floor area is treated autonomously by the treatment device without the user. Advantageously, a user may manually operate the stand-alone hand-guided floor treatment device, separate from the robotic support frame. In this configuration, the hand-guided floor treatment device may be relatively maneuverable and easily operated without the robotic support frame. Furthermore, the user may easily couple the hand-guided floor treatment device to the robotic support frame to transform the hand-guided floor treatment device into a semi-autonomous floor treatment device. For example, the robotic support frame may allow the user to easily push the hand-guided treatment device into an open side of a U-shaped frame, without having to lift the heavy device. In the coupled configuration, the hand-guided floor treatment device may still be operated manually, e.g. using the handle of the hand-guided floor treatment device, and / or the combined device may operate autonomously. The autonomous operation may be based on the manual operation. For example, the user can easily determine an area to be treated by performing a partial treatment of a sub-area, and let the floor treatment device finish the rest of the treatment autonomously while the user performs other tasks. For example, the semi-autonomous floor treatment device may infer the rest of an area to be cleaned autonomously based on a cleaning pattern of the user cleaning a partial area. When the device is finished with the autonomous treatment, the user may easily decouple the hand-guided floor treatment device from the robotic support frame and continue manual treatment, e.g. of any remaining areas which could not be reached by the semi-autonomous floor treatment device. It will thus be appreciated that the present systems and methods may allow easy control of reaching a desired balance between human effort and automation while ensuring efficient and reliable operation.

[0010] BRIEF DESCRIPTION OF DRAWINGS

[0011] These and other features, aspects, and advantages of the apparatus, systems and methods of the present disclosure will become better understood from the following description, appended claims, and accompanying drawing wherein:

[0012] FIGs 1A and IB illustrates a respective side-view of a floor treatment system comprising a robotic support frame configured to support and couple with a hand-guided floor treatment device to form a semi- autonomous treatment system;

[0013] FIGs 2A and 2B illustrate a perspective view of the floor treatment system and semi-autonomous floor treatment device;

[0014] FIG 3 A illustrates further aspects in a top-down view of the semi- autonomous floor treatment device with a top part of the frame structure holding a guide part of the hand-guided floor treatment device;

[0015] FIG 3B illustrates further aspects in a view of a bottom part of the frame structure holding a bottom part of the hand-guided floor treatment device;

[0016] FIGs 4A and 4B illustrate further aspects for coupling and / or supporting a hand-guided floor treatment device;

[0017] FIGs 5 and 6 illustrate further aspects of sensors and control of the semi-autonomous floor treatment device;

[0018] FIGs 7A - 7C illustrate various ways of using the floor treatment system;

[0019] FIGs 8A - 8C illustrate operation of the semi-autonomous floor treatment device for treating an extended area;

[0020] FIGs 9A - 90 illustrate operation of the semi-autonomous floor treatment device for treating an hall-way.

[0021] DESCRIPTION OF EMBODIMENTS

[0022] Terminology used for describing particular embodiments is not intended to be limiting of the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The term "and / or" includes any and all combinations of one or more of the associated listed items. It will be understood that the terms "comprises" and / or "comprising" specify the presence of stated features but do not preclude the presence or addition of one or more other features. It will be further understood that when a particular step of a method is referred to as subsequent to another step, it can directly follow said other step or one or more intermediate steps may be carried out before carrying out the particular step, unless specified otherwise. Likewise it will be understood that when a connection between structures or components is described, this connection may be established directly or through intermediate structures or components unless specified otherwise.

[0023] The invention is described more fully hereinafter with reference to the accompanying drawings, in which embodiments of the invention are shown. In the drawings, the absolute and relative sizes of systems, components, layers, and regions may be exaggerated for clarity. Embodiments may be described with reference to schematic and / or crosssection illustrations of possibly idealized embodiments and intermediate structures of the invention. In the description and drawings, like numbers refer to like elements throughout. Relative terms as well as derivatives thereof should be construed to refer to the orientation as then described or as shown in the drawing under discussion. These relative terms are for convenience of description and do not require that the system be constructed or operated in a particular orientation unless stated otherwise.

[0024] FIGs 1A illustrates a floor treatment system 1000 comprising a robotic support frame 200 and a hand-guided floor treatment device 100. FIG IB illustrates how the robotic support frame 200 may coupling with the hand-guided floor treatment device 100 may form a semi-autonomous treatment system 300. FIGs 2A and 2B illustrate a perspective view of the floor treatment system 1000 and semi-autonomous floor treatment device 300.

[0025] As described herein, the floor treatment system 1000 comprises a robotic support frame 200. The robotic support frame 200 is configured to couple “C” with a hand-guided floor treatment device 100. In combination, the robotic support frame 200 coupled with the hand-guided floor treatment device 100 forms a semi-autonomous floor treatment device 300. Preferably, the robotic support frame 200 comprises coupling means 261 configured to reversibly couple “C” with, and decouple from, a respective part 161 of the hand-guided floor treatment device 100. So, it will be understood that the hand-guided floor treatment device 100 may be decoupled and separated from the robotic support frame 200 to be operated only manually (not autonomously); or the hand-guided floor treatment device 100 may be coupled to the robotic support frame 200 to form the semi-autonomous treatment system 300, which may operate autonomously, e.g. based on previous user input.

[0026] In some embodiments, the robotic support frame 200 is a universal frame, capable of accommodating various different types of hand- guided floor treatment devices and transforming each of the different types of hand-guided floor treatment devices into a respective semi-autonomous floor treatment device 300. For example, the robotic support frame 200 may be provided with coupling means configured to engage any part of a (previous existing) hand-guided floor treatment device 100. Advantageously, the robotic support frame 200 may thus be used to transform existing hand- guided floor treatment devices, without requiring adaptation of the existing device.

[0027] In other or further embodiments, the robotic support frame 200 may be adapted to couple with a specific type or class of treatment devices, in particular hand-guided floor treatment devices. For example, the robotic support frame 200 comprises coupling means 261 which are adapted to engage a specific corresponding part 161 of the hand-guided floor treatment device 100. The corresponding part 161 may be a part of an existing treatment device, or the existing or new treatment device may be adapted with the corresponding part 161 to allow the coupling.

[0028] Preferably, the coupling means comprises at least one mechanical coupling configured to hold the floor treatment device 100 while the treatment system 300 operates autonomously. For example, the mechanical coupling is configured, e.g. sufficiently strong, to drag, push and / or steer the floor treatment device 100 when the robotic support frame 200 moves autonomously. In one embodiment, robotic support frame 200 comprises a first coupling element 261 and the hand-guided floor treatment device 100 comprises a second coupling element 161, wherein the first coupling element 261 is configured to reversibly couple with the second coupling element 161. For example, at least a part of the second coupling element 161 fits inside the first coupling element 261, or vice versa. Preferably, one or both of the first and second coupling elements 161,162 comprise a locking means, configured to reversibly lock and unlock a connection there between.

[0029] Also other or further (mechanical) coupling means can be envisaged such as magnetic coupling, snap-fit coupling, a latch and lock mechanism; spring-loaded connectors; a clamping mechanism, bayonet mounts, et cetera. Also combinations can be envisaged. For example, the mechanical coupling may include a combination of an easily formed connection means, such as a magnetic coupling and / or snap-fit coupling, with a more secure connection means such as one or more of a latch and lock mechanism, spring-loaded connectors, a clamping mechanism, bayonet mounts, et cetera.

[0030] A hand-guided floor treatment device 100 typically comprises a bottom part 110, which is configured to operate on the floor, and a guide part 120 connected to the bottom part. The guide part 120 is configured to allow a user to easily handle the device. For example, the guide part 120 extends upwards from the bottom part 110, so that the user can hold the guide part 120 without having to bend over. During normal operation, the user will typically be standing or walking behind the floor treatment device 100 while holding a handle part 121. For example, the handle part may be held at an angle with respect to a vertical axis. A user operating the hand- guided floor treatment device 100, may generally control the device while holding the handle part 121. For example, the user may push, pull, and / or steer the floor treatment device 100. In some embodiments, the hand-guided floor treatment device 100 may also comprise a means of propulsion, e.g. by motorized wheels and / or as a result of one or more tools 111 below the bottom part 110 operating on the floor. For example, rotation of a pair of brushes may cause at least a supporting force which may help a user to more easily propel the hand-guided floor treatment device 100.

[0031] In some embodiments, the hand-guided floor treatment device 100 comprises a joint arrangement 130 between the bottom part 110 and the guide part 120. This may allowing the guide part 120 to be pivoted at least in forward (treating) direction. More preferably, the hand-guided floor treatment device 100 has a joint arrangement 130 which also permits pivoting the guide part 120 in a sideways direction, transverse to the forward (treatment) direction. Most preferably, the joint arrangement 130 is capable of transmitting of torque from the guide part 120 to bottom part 110. For example, the joint arrangement 130 comprises a universal joint, cardan joint, other flexible joint, e.g. spring.

[0032] Preferably, the robotic support frame 200 is configured to, not only form a coupling “C”, but also support “S” the hand-guided floor treatment device 100. In one embodiment, e.g. as shown, the robotic support frame 200 is configured to support a relatively tall, upright standing, hand- guided floor treatment device 100, and prevent that the floor treatment device 100 may fall over while it is autonomously maneuvered by the robotic support frame 200. For example, the robotic support frame 200 forms a robotic scaffold around the hand-guided floor treatment device 100. Most preferably, the robotic support frame 200 comprises a support structure 212,262 configured to (at least partially) support “S” a guide part 120 of the hand-guided floor treatment device 100 in an upright configuration. For example, a height of the robotic support frame 200 and / or support structure 212,262 may be at least thirty percent of a height of the hand-guided floor treatment device 100 with the guide part 120 extending upwards (e.g. vertically or at an angle up to forty five degrees), preferably at least forty percent, e.g. up to fifty or sixty percent, or more. For example, the robotic support frame 200 may be relatively high, e.g. at least fifty centimeter from the floor, at least eighty centimeter, e.g. up to one meter, or higher. In some embodiments, the robotic support frame 200 is configured to support “S” the guide part 120 against pivoting (in any direction). For example, when the guide part 120 is connected to the bottom part 110 via a joint arrangement 130, the guide part 120 can be kept upright and / or at a specific angle. By providing a robotic support frame 200 capable of supporting the hand- guided floor treatment device 100 including the guide part 120 in a normal operating position, this may allow the user to use the handle part 121 of the hand-guided floor treatment device 100 while manually operating the semi- autonomous floor treatment device 300.

[0033] In some embodiments, the robotic support frame 200 comprises a frame structure 210 defining an inner frame spacing 210s, 210b configured to accommodate the hand-guided floor treatment device 100 at least partially, or fully, inside (a perimeter of) the frame structure 210. For example, as illustrate in FIG 2B, the lower frame part 211 of the frame structure 210, may accommodate the bottom part 110 of the hand-guided floor treatment device 100 and an upper part 212 of the frame structure 210 may accommodate the guide part 120 of the hand-guided floor treatment device 100. While the present figures illustrate the upper part 212 is connected to the lower part 211 by a set of intermediate parts 213, e.g. vertical posts, also any other connecting structure may be used to form an open or closed frame structure. For example, instead of an open frame structure with vertical posts, the frame may comprise an overall U-shape also at the intermediate parts 213 of the frame.

[0034] In some embodiments, the frame structure 210 has an open side 210o, preferably at a backside of the robotic support frame 200, allowing the hand-guided floor treatment device 100 to be pushed from said open side 210o into the frame structure 210, preferably without lifting the hand- guided floor treatment device 100 off the floor “F”. By partially enclosing the hand-guided floor treatment device 100, e.g. from the front side, and the left and right sides, a steady support may be formed. In one embodiment, the frame structure 210 comprises one or more U-shaped frame parts 211,212 configured to form a partially open perimeter around respective parts 110,120 of the hand-guided floor treatment device 100. By shaping the frame structure 210 as a half-open or U-shaped frame, this may allow a user to easily push the floor treatment device inside the robotic support frame 200, e.g. while normally operating the hand-guided floor treatment device 100. Preferably, the user does not need to lift the hand-guided floor treatment device 100 to combine or separate the floor treatment device to or from the robotic support frame 200. For example, the frame structure 210 may be completely open from the backside. Alternatively, it may be envisaged that the frame structure 210 comprises, e.g. at the bottom side, a ledge or ramp, where the hand-guided floor treatment device 100 can be (easily) lifted over this structure hurdle into the support frame.

[0035] In some embodiments, the robotic support frame 200 comprises a closing mechanism 262. The closing mechanism 262 is configured to selectively open up the open side 210o of the robotic support frame 200 for bringing the hand-guided floor treatment device 100 inside the frame structure 210; or close off the open side 210o of the robotic support frame 200 for supporting S the hand-guided floor treatment device 100 by the closing mechanism 262 with the hand-guided floor treatment device 100 inside the frame structure 210. For example, the closing mechanism 262 may be operable by a user, or an automated mechanism. In one embodiment, e.g. as shown, the closing mechanism 262 comprises a strap configured to fit around part of the hand-guided floor treatment device 100, preferably around the guide part 120. For example, the strap 262 may comprise hook and loop fasteners (e.g. Velcro) to allow for easy fastening and unfastening. Alternatively, or additionally, the closing mechanism may comprises a strap and buckle mechanism for easy and secure fastening. Alternatively, or in addition, to a strap, also other mechanisms, such as a door (or pair of doors) may be envisaged. Alternatively, or additionally, to supporting the guide part 120, one or more closing mechanisms may also be provided to support and / or engage the bottom part 110, or any other part, of the hand-guided floor treatment device 100. The closing mechanism 262 may also be used to couple to the hand-guided floor treatment device 100 alternatively, or in addition to the coupling means 261. It may also be envisaged to omit the closing mechanism 262. For example, the hand-guided floor treatment device 100 may be self-supporting, e.g. able to support its guide part 120 in an upright position by locking the joint arrangement 130.

[0036] In a preferred embodiment, the frame structure 210 has a bottomside opening 210b for allowing the hand-guided floor treatment device 100 to directly treat a floor beneath while forming part of the semi-autonomous floor treatment device 300. For example, the hand-guided floor treatment device 100 may support directly on the floor while forming part of the semi- autonomous floor treatment device 300. Accordingly, the hand-guided floor treatment device 100 may operate on the floor, while being supported and guided by the robotic support frame 200.

[0037] In some embodiments, the hand-guided floor treatment device 100 comprises at least one tool 111 configured to engage the floor “F”. Typically, the hand-guided floor treatment device 100 comprises a motor (not shown) for driving the at least one tool. Preferably, the motor for driving the at least one tool 111 is arranged in the hand-guided floor treatment device 100, most preferably in the bottom part 110. In one embodiment, the at least one tool comprises a rotating and / or reciprocating brush or pad. In a preferred embodiment, e.g. as shown, the hand-guided floor treatment device 100 is a hand-guided floor scrubber, also referred to as an automatic scrubber or auto scrubber. Preferably, the at least one tool 111 is configured to engage the floor “F” both when the hand-guided floor treatment device 100 is used as standalone device, separated from the robotic support frame 200; and also when the hand-guided floor treatment device 100 is combined with the robotic support frame 200 to form the semi-autonomous floor treatment device 300.

[0038] In some embodiments, the hand-guided floor treatment device 100 has at least two tools, preferably one or more pairs of counter-rotating and / or counter-reciprocating tools 111, e.g. placed symmetrically left and right from the middle of the bottom part 110. See, for example, FIG 3B. In the present context, this can have the particular advantage that forces, in particular sideways forced, exerted by the interaction of the tools on the floor may be cancelled, allowing more easy steering by the robotic support frame 200. For example, sideways forces may be canceled by placing the tools symmetrically on the left and right side of the machine.

[0039] Alternatively, or in addition to an actuated tool 111, the hand- guided floor treatment device 100 may also have other or further tools or components configured to engage the floor “F”, preferably in both the standalone and combined configuration. For example, a squeegee and / or suction element may be provided to engage the floor, preferably behind the at least one tool in a treatment direction. In a preferred embodiment, the hand- guided floor treatment device 100 forms a scrubber-drier. A scrubber-drier may be used for wet cleaning of a floor. For example, the hand-guided floor treatment device 100 comprises a liquid supply 112 and / or liquid intake 113. In one embodiment, the liquid intake 113 comprises at least one squeegee configured to collect liquid from the floor. In another or further embodiment, the liquid intake 113 comprises, or couples to, a suction motor (not shown) configured to suck up liquid from the floor. For example, the suction motor is configured to form a vacuum between a pair of squeegee blades sucking up liquid from the floor.

[0040] In some embodiments, the hand-guided floor treatment device 100 comprises at least one clean liquid container 122. For example, the clean liquid container 122 may provide clean liquid to a liquid supply 112, which is preferably arranged on the bottom part 110, e.g. at or near the at least one tool. In other or further embodiments, the hand-guided floor treatment device 100 comprises at least one waste liquid container 123. For example, the waste liquid container 123 may receive waste liquid from the liquid intake 113. Alternatively, or in addition to being operable as a wet cleaning device, the hand-guided floor treatment device 100 may be operable as a dry floor cleaning device. For example, the hand-guided floor treatment device 100 may switch between different modes of operation.

[0041] In some embodiments, the guide part 120 comprises at least one liquid tank, preferably two liquid tanks 121,122, for supplying liquid to the floor and / or taking up liquid from the floor. Preferably, the robotic support frame 200 is thus configured to (at least partially) support the guide part 120 with a weight of the at least one liquid tank filled with liquid. One or both liquid tanks may also be arranged on the bottom part.

[0042] Preferably, the hand-guided floor treatment device 100 is self- sufficient, e.g. able to operate independently of the robotic support frame 200. For example, the at least one treatment tool 111, liquid supply 112, and / or liquid uptake 113 may be (exclusively) arranged as part of the hand- guided floor treatment device 100. In this case, the robotic support frame 200 itself does not require any treatment tools or supplies. For example, the robotic support frame 200 does not need to have any tools, such as brushes or pads, for operating on the floor; nor does it need any liquid supply, liquid intake, or liquid storage. Alternatively, the robotic support frame 200 may itself also comprise features to help the hand-guided floor treatment device 100 perform its task. For example, the robotic support frame 200 may comprise one or more containers to carry liquids, e.g. cleaning liquid and / or waste liquid, which may be supplied to, or retrieved from, the hand-guided floor treatment device 100.

[0043] In some embodiments (not shown), the robotic support frame as described herein may be adapted to (double) function also as a cleaning cart. Advantageously, a user may couple the hand-guided floor treatment device 100 to the robotic support frame 200, take cleaning or other supplies carried from the support frame 200 embodied as a cleaning cart, and perform their own activities, such as cleaning, using the taken supplies, while the semi- autonomous floor treatment device 300 autonomously treats, e.g. cleans, an area using the hand-guided floor treatment device 100 coupled to the robotic support frame 200. In one embodiment, the robotic support frame 200 is adapted to additionally function as a cleaning cart, comprising one or more storage compartments for cleaning supplies. For example, the robotic support frame 200 may be adapted to transport various cleaning supplies including receptacles such as drawers, shelves, bags, containers; and cleaning tools such as a mop or broom, sponges, et cetera. For example, the robotic support frame comprises typical elements of a cleaning cart such as one or more of a storage compartment, shelves, drawer, (lockable) cabinet, mop and broom holder, wringer, charging station, et cetera. On the sides of the cart, there may clips or hooks for holding long-handled tools like mops, brooms, and dustpans. There may even be a section or bag attached to the cart for collecting trash or used linens.

[0044] In a preferred embodiment, the hand-guided floor treatment device 100 is battery-powered. For example, the hand-guided floor treatment device 100 has at least one battery (not specifically shown) arranged on the bottom part 110 and / or guide part 120. Preferably, the batter is removable and / or easily replaceable. The battery may be used to power one or more of a motor for driving the at least one tool 111, a suction motor for sucking up liquid, a pump for controlling liquid supply, a controller for controlling each of said components, et cetera. In another or further embodiment, the robotic support frame 200 is (also) battery- powered. In a preferred embodiment, the robotic support frame 200 has at least one battery 270 (e.g. illustrated in FIG 2A), capable of providing the robotic support frame 200 with power independent of the hand-guided floor treatment device 100. Alternatively, or additionally, power may be supplied to the robotic support frame 200 from a battery on the hand-guided floor treatment device 100, or vice versa. In some embodiments, the same type of battery may be used on the hand-guided floor treatment device 100 and robotic support frame 200. In this way, batteries may be easily exchanged between the treatment device 100 and the robotic support frame 200.

[0045] Preferably, the hand-guided floor treatment device 100 and robotic support frame 200 are each capable of operating independently. Alternatively, or additionally, the hand-guided floor treatment device 100 may be electrically coupled to the robotic support frame 200. In one embodiment, the robotic support frame 200 is configured to receive power from the hand-guided floor treatment device 100. For example, the hand- guided floor treatment device 100 comprises at least one battery which may power and / or recharge the robotic support frame 200 during autonomous operation. In another or further embodiment, the hand-guided floor treatment device 100 is configured to receive power from the robotic support frame 200. For example, the robotic support frame 200 comprises at least one battery which may power and / or recharge the hand-guided floor treatment device 100 during autonomous operation.

[0046] In some embodiments, the hand-guided floor treatment device 100, when separated from the robotic support frame 200, is configured as an exclusively manually operable floor treatment device. In other words, the hand-guided floor treatment device 100 may require the constant presence of a user to manually operate the hand-guided floor treatment device 100 while treating a respective floor area. Alternatively, the hand-guided floor treatment device 100 may itself also comprise one or more autonomous functions.

[0047] In some embodiments, the semi-autonomous floor treatment device 300 is configured to selectively switch between a manual mode of operation and an autonomous mode of operation. In the manual mode of operation the semi-autonomous floor treatment device 300 is manually operable to treat a floor area while a user manually operates the semi- autonomous floor treatment device 300. For example, in the manual mode of operation “Mm”, the (constant) presence of a user “U” may be required to operate the semi-autonomous floor treatment device 300 while it is treating. For example, the treatment of an area may be fully determined by the user while manually operating the device. In the autonomous mode of operation “Ma”, the semi-autonomous floor treatment device 300 is configured to treat a floor area autonomously, without manual operation. For example, in the autonomous mode of operation “Ma” there is no requirement for any user to operate the semi-autonomous floor treatment device 300 while it is treating. While the treatment operation is ongoing, the treatment area and / or other treating parameters may be fully determined by the device itself, although this determination may be partially or fully based on previous (or intermittent) user input.

[0048] In some embodiments, the robotic support frame 200 comprises at least one sensor 241,242 configured to sense and / or map an environment during the manual mode of operation and / or during the autonomous mode of operation. Preferably, the robotic support frame 200 comprises a LIDAR device 241. Advantageously, the LIDAR device 241 may be used to map a surrounding environments (walls, obstacles, et cetera), e.g. up to ten meters, or up to twenty-five meters, or more. Alternatively, or in addition, also short range sensors may be provided on the robotic support frame 200, e.g. one or more ultrasound sensors (not shown), typically capable of sensing up to around one meter around the frame. Preferably, the robotic support frame 200 also comprises an edge detector 242, e.g. camera. Advantageously, the edge detector 242 may detect an edge or cliff, such as stairs, and prevent the semi-autonomous floor treatment device 300 from falling into an abyss. Of course also any other or further sensors and / or machine learning may be used to observe and / or map the environment.

[0049] In some embodiments, the robotic support frame 200 comprises a controller 250 configured to control operation of the semi-autonomous floor treatment device 300, e.g. in the autonomous mode of operation. The controller 250 may also be configured to record operation in the manual mode of operation. In one embodiment, the controller 250 is configured to control a propulsion and / or steering of the semi-autonomous floor treatment device 300, e.g. by controlling at least one propulsion motor 220 driving a respective wheel 231 of the robotic support frame 200. For example, the controller 250 may receive input from one or more sensors 241,242 to determine the propulsion and / or steering during an autonomous mode of operation. Also other or further sensors may be used, e.g. any one or more of the sensors 241 - 245 described later with reference to FI s 5 and 6.

[0050] Preferably, the robotic support frame 200 comprises a user interface, e.g. button 251, configured to selectively switch between the manual mode of operation and autonomous mode of operation. Alternatively, or additionally, the robotic support frame 200 may automatically switch between the different modes of operation. For example, the controller 250 may automatically switch to manual mode of operation when it is detected that a user grabs the hand-guided floor treatment device 100. For example, the controller 250 may automatically switch to autonomous mode of operation when the user lets go of the hand-guided floor treatment device 100. In some embodiments, the robotic support frame 200, e.g. controller 250, is configured to control operation of the hand-guided floor treatment device 100, and / or the hand-guided floor treatment device 100 is configured to control operation of the robotic support frame 200. Preferably, control signals are sent / received between the robotic support frame 200 and hand-guided floor treatment device 100 wirelessly. Alternatively, or additionally, a data cable may be connected between the robotic support frame 200 and hand-guided floor treatment device 100.

[0051] In some embodiments, the robotic support frame 200 is configured to send a control signal and / or information to the hand-guided floor treatment device 100. Preferably, the robotic support frame 200 is capable of controllably turning off the hand-guided floor treatment device 100, e.g. when finished with its autonomous operation. It may be relatively easy to adapt an existing hand-guided floor treatment device 100 to include a control mechanism for turning on / off power and / or start / stop operation. For example, the power may be turned off by inserting a controllable switch somewhere in the power supply of the hand-guided floor treatment device 100. Alternatively, or additionally, the hand-guided floor treatment device 100 may be provided and / or retrofitted with a (wireless) control interface and / or control port for receiving control signals and / or information. For example, an existing hand-guided floor treatment device 100 may be controlled using a retrofit control element 151 as described in further detail below with reference to FIG 5A. Besides turning on / off the power and / or start / stop operation, these or other control elements or interfaces may allow also other or further control signals to be sent to the hand-guided floor treatment device 100, e.g. controlling one or more aspects of the hand- guided floor treatment device 100 such as a scrubbing intensity (e.g. rotation and / or reciprocating motion velocity), water supply (e.g. on / off or amount of liquid per unit time), water suction (e.g. on / off and / or intensity), steering (e.g. controlling rotation of left / right side brushes), et cetera. In other or further embodiments, the robotic support frame 200 is configured to receive a control signal and / or information from the hand- guided floor treatment device 100. For example, the hand-guided floor treatment device 100 may control one or more aspects of the autonomous operation. Alternatively, or additionally, the hand-guided floor treatment device 100 may send status information about its operation, which may be used in the autonomous operation of the robotic support frame 200. For example, an amount of (remaining) cleaning liquid and / or (recovered) waste liquid may be signaled to the robotic support frame 200.

[0052] One or more of the mechanical, electrical, and data connections between the hand-guided floor treatment device 100 and robotic support frame 200 may be integrated and / or co-dependent. For example, a power cable (e.g. plug and / or socket) may be included in the mechanical connection elements such that an electrical contact is formed when establishing the mechanical connection. Alternatively, or additionally, a data cable may be included in the mechanical connection such that a data contact is formed when establishing the mechanical connection. Forming a mechanical connection may also trigger forming a wireless connection between the hand-guided floor treatment device 100 and robotic support frame 200.

[0053] In some embodiments, the robotic support frame 200 comprises at least one actuator 220 configured to actuate the hand-guided floor treatment device 100 and / or floor. In one embodiment, the at least one actuator 220 comprises a motor for driving a respective one or more wheels 231 of the robotic support frame 200. Alternatively, or in addition to controlling wheels on the robotic support frame 200, it may also be envisaged to control a propulsion exerted by the hand-guided floor treatment device 100, e.g. (partial) propulsion and / or engagement by the at least one tool. In another or further embodiment, the at least one actuator 220 is configured to determine a steering of the robotic support frame 200. In a preferred embodiment, e.g. as illustrated in FIGs 2A and 2B, the robotic support frame 200 comprises a left wheel 23 IL and a right wheel 231R, each having an independent driving capability. For example, a left side motor 220L may drive the left wheel 23 IL and a right side motor 220R may drive the right wheel 231R. Steering may be effected by driving the wheels with different velocity and / or torque. The robotic support frame 200 may also have further wheels, e.g. a front support wheel as shown in FIGs 1A and IB.

[0054] FIG 3A illustrates further aspects in top-down view of the semi- autonomous floor treatment device 300 with a top part 212 of the frame structure holding a guide part 120 of the hand-guided floor treatment device. FIG 3B illustrates further aspects in a view of a bottom part 211 of the frame structure holding a bottom part 120 of the hand-guided floor treatment device. In some embodiments, e.g. as shown, the robotic support frame 200 comprises a set of rollers 211w arranged around a perimeter of the frame structure. Advantageously, the rollers 211w may prevent the robotic support frame 200 from bumping into surrounding walls and / or obstacles. For example, the rollers 211w are arranged to maintain a minimum distance “Dw” between the sides of the frame (e.g. the side wheels 231), and surrounding walls (not shown). In other or further embodiments, the robotic support frame 200 comprises a resilient structure, e.g. bumper, which may soften any possible impact of the frame into surrounding objects.

[0055] FIGs 4A and 4B illustrate a preferred embodiment for establishing a coupling “C” and / or support “S” between a hand-guided floor treatment device 100 and a robotic support frame 200 to form a semi- autonomous floor treatment device 300. In some embodiments, the robotic support frame 200 comprises a support bracket 260 configured to couple with and / or support part of the hand-guided floor treatment device 100. For example, the support bracket 260 forms part of, or couples to, the frame structure 210. It will be understood that aspects of the coupling and / or support as described with reference to FIGs 4A and 4B may be combined with any of the embodiments described herein. Conversely, it will be understood that the hand-guided floor treatment device 100 and the robotic support frame 200, as shown in FIGs 4A and 4B, may have the same or similar features as described with any of the embodiments described herein. For example, while not explicitly indicated here, the robotic support frame 200 may comprise a similar controller 250, one or more sensors 241 - 245, one or more motors 220, battery 270, et cetera.

[0056] In some embodiments, the support bracket 260 comprises coupling means 261 configured to reversibly couple “C” with, and decouple from, a respective part 161 of the hand-guided floor treatment device 100. In one embodiment, the support bracket 260 defines an opening or hole 260h configured to accommodate at least part of the hand-guided floor treatment device 100 inside a perimeter of the support bracket 260. In another or further embodiment, the coupling means 261 is formed by an inner profile of the support bracket 260 forming an opening or hole 260h configured to fit around a respective part of the hand-guided floor treatment device 100, preferably a bottom side of the guide part 120.

[0057] In some embodiments, the support bracket 260 comprises a support structure 212,262 configured to support “S” a guide part 120 of the hand-guided floor treatment device 100 in an upright configuration. For example, the inner circumference of the support bracket 260 is shaped to fit around and / or support a bottom part of the guide part 120. In one embodiment, the hand-guided floor treatment device 100 comprises a coupling means 161, e.g. particular shape or outer profile at the bottom of the guide part 120, which fits the inner profile of the support bracket 260, or vice versa. For example, the outer profile of the guide part 120 is provided with indentations and / or protrusions, which are complementary to protrusions and / or indentations provided along the inner profile of the support bracket 260. In some embodiments, the outer profile at the lower portion of the guide part 120 may additionally function to allow space for folding up the bottom part 110 with respect to the guide part 120. For example, indentations and / or protrusions on the guide part 120 may match corresponding protrusions and / or indentations on the bottom part 110.

[0058] In some embodiments, the support bracket 260 comprises a U- shaped frame part configured to form a partially open perimeter around a respective part of the hand-guided floor treatment device 100, in particular around the guide part 120. In other or further embodiments, the support bracket 260 has an open side 260o, allowing the hand-guided floor treatment device 100 to be pushed from said open side 210o into the support bracket 260, preferably without lifting the hand-guided floor treatment device 100 off the floor. Preferably, the open side 260o widens towards the entry side, e.g. forming a funnel. This may allow more easily finding the entrance, e.g. when pushing the bottom side of the guide part 120 and / or pole connecting the bottom side to the bottom part of the hand-guided floor treatment device 100, into the support bracket 260.

[0059] In some embodiments, the support bracket 260 comprises or forms a closing mechanism 262 configured to selectively open up the open side 260o of the support bracket 260 for bringing the hand-guided floor treatment device 100 inside the frame structure 210, or close off the open side 260o of the support bracket 260 for supporting S the hand-guided floor treatment device 100 by the closing mechanism 262 with the hand-guided floor treatment device 100 inside the frame structure 210.

[0060] In some embodiments, the support bracket 260 is moveable for selectively fixating or releasing the hand-guided floor treatment device 100 to / from the robotic support frame 200. In one embodiment, the support bracket 260 is connected to a rest of the frame structure 210 via a hinge mechanism 263. For example, the hinge mechanism 263 allows the support bracket 260 to be pivoted down, for allowing the hand-guided floor treatment device 100 to be pushed inside and / or released; and pivoted up for fixating the hand-guided floor treatment device 100, preferably fixating the guide part 120 against pivoting.

[0061] In some embodiments, the support bracket 260 is provided with a biasing means providing a restoring force pushing the support bracket 260 upwards. For example, the hinge mechanism 263 is provided with springs to pivot the support bracket 260 upwards. In this way, the support bracket 260 may automatically fixate the hand-guided floor treatment device 100 when it is brought inside the support bracket 260. Alternatively, the user may pull up the support bracket 260, e.g. by hand or foot. In other or further embodiments, the support bracket 260 is provided with a user operable control means for controlling the closing mechanism 262. Preferably, the control means comprises a foot pedal 262f. For example, the user may push the foot pedal down to easily release the hand-guided floor treatment device 100 from the robotic support frame 200, without having to bend over. Similarly, the foot pedal may also be pushed down to open the closing mechanism 262 and allow the hand-guided floor treatment device 100 to be pushed inside. Alternatively, or additionally, the support bracket 260 may be pushed down automatically, when the hand-guided floor treatment device 100 is pushed into the support bracket 260. In one embodiment, the support bracket 260 has a structure around the opening 260o which, when pushed from the side by the lower part of the guide part 120, tends to force the support bracket 260 down. For example, the support bracket 260 has an extended structure facing the hand-guided floor treatment device 100, e.g. at the backside of the robotic support frame 200. Preferably, the extended structure has a downward slope towards the point of entry. In this way, the lower side of the guide part 120 may easily push down the support bracket 260 when the hand-guided floor treatment device 100 is pushed into the robotic support frame 200. While the present figures illustrate a preferred mechanism for easily coupling and uncoupling the hand-guided floor treatment device 100, it will be understood that also other or further mechanisms may be envisaged. For example, instead of pivoting the support bracket 260 downward, the support bracket or other accommodating space / structure may be fixed and the guide part 120 pivoted upward. In some embodiments, the support bracket 260 and guide part 120 may be provided with respective magnetic and / or magnetizable parts. These may improve coupling, e.g. alternatively, or in addition, to biasing means. Alternatively, or in addition to a support bracket, it can also be envisaged to support the hand-guided floor treatment device 100, e.g. guide part 120, with a structure enclosing the guide part. In one embodiment, the guide part 120 is supported by one or more arms extending from the robotic support frame 200. In another or further embodiment, the robotic support frame 200 is provided with a pair of extendable and / or rotatable arms which may be manually and / or automatically actuated to enclose around a part of the hand-guided floor treatment device 100, e.g. around the guide part 120. For example, the arms may be held together by a clasping mechanism or magnets, or any other securing mechanism.

[0062] FIGs 5A - 5C illustrate a perspective view, front view, and side view, respectively, of another embodiment of a floor treatment system 1000 comprising a robotic support frame 200 configured to couple with, and support, a stand-alone hand-guided floor treatment device 100 to form, in combination, a semi-autonomous floor treatment device 300. FIGs 6A - 6F illustrate respective sensor ranges.

[0063] In one embodiment, the robotic support frame 200 comprises a LIDAR device 241. As illustrated in FIGs 6A and 6B, the LIDAR device 241 may be used to provide a relatively wide scan of the environment around the robotic support frame 200. For example, this may allow mapping of the environment, e.g. determining reference markers such as wall and / or obstacles during manual and / or autonomous modes of operation.

[0064] In another or further embodiment, the robotic support frame 200 comprises one or more (depth) cameras 242. In general, one or more cameras 242 may be used to recognize objects and / or further map the environment and / or prevent collision / falling. As illustrated in FIGs 6C and 6D, the cameras may be facing forward. This may allow determining further features of the environment in the forward direction. Also other or further cameras may be provided, e.g. facing sideways. In some embodiments, the cameras may be facing downwards and / or upwards. For example, the downwards and / or upwards facing camera(s) may be used as edge detector(s), e.g. to prevent the semi-autonomous floor treatment device 300 from falling down stairs and / or bumping into tables. In other or further embodiments, one or more cameras may also be used alternatively, or in addition, to the LIDAR device 241 for mapping the environment.

[0065] In another or further embodiment, the robotic support frame 200 comprises one or more ultrasonic sensors 243. In general, one or more ultrasonic sensors 243 may be used to detect the presence object and / or persons in the immediate proximity to the semi-autonomous floor treatment device 300. As illustrated in FIG 6E, the ultrasonic sensors 243 may be placed around the frame to provide detection on all sides. For example, if a person or object is detected in proximity, a steering and / or propulsion may be adjusted to avoid collision.

[0066] In another or further embodiment, the robotic support frame 200 comprises one or more sing point laser sensors 244. These may work similar as a LIDAR, but in a fixed direction. As illustrated in FIG 6F, the laser sensors 244 may be pointing downward, e.g. used as edge detectors. For example, the laser sensors 244 may be used in addition, or alternative, to the cameras 242. In another or further embodiment, the robotic support frame 200 comprises one or more collision sensors 245. In general, collision sensor(s) 245 may be used to detect collision of the frame with an object or person. For example, the collision sensor(s) 245 may be embedded in a (resilient) bumper arranged around a circumference of the robotic support frame 200 Preferably, upon detection of a collision, propulsion may be halted and / or the propulsion may be reversed (driving backwards).

[0067] In some embodiments, the robotic support frame 200 comprises a user interface, e.g. button 251. For example, the user interface may be operable to switch the robotic support frame 200 between different modes of operation, such as manual or autonomous mode.

[0068] In some embodiments, the floor treatment system 1000 comprises a retrofit control element 151 configured to control the hand-guided floor treatment device 100. In one embodiment, the retrofit control element 151 is configured to receive control instructions from the robotic support frame 200 and exert control over one or more aspects of the hand-guided floor treatment device 100. Advantageously, the retrofit control element 151 can be used to provide retrofit control over any existing hand-guided floor treatment device 100.

[0069] In one embodiment, the retrofit control element 151 comprises an actuator configured to actuate a control element of the hand-guided floor treatment device 100. Alternatively, or additionally, the retrofit control element 151 may also control parts of the hand-guided floor treatment device 100 using other control signals, e.g. connected to a control port of the hand-guided floor treatment device 100. In another or further embodiment, the retrofit control element 151 comprises communication unit configured to receive control signals (preferably wirelessly) from the robotic support frame 200. Similarly, the robotic support frame 200 may comprise a corresponding communication unit to send control signals to the retrofit control element 151. Control signals may also be sent from the retrofit control element 151 to the robotic support frame 200. In another or further embodiment, the retrofit control element 151 comprises a controller configured to control the actuator based on the received control signals. Preferably, the retrofit control element 151 comprises its own battery. In this way, the retrofit control element 151 may operate independently of any power from the hand- guided floor treatment device 100 and / or robotic support frame 200.

[0070] In the embodiment shown, the hand-guided floor treatment device 100 comprises a control lever 12 Ih arranged on the handle part 121. The retrofit control element 151 may be arranged to fit over at least part of the control lever 12 Ih and configured to actuate the control lever 12 Ih based on control signals received from the robotic support frame 200. For example, the control lever 12 Ih may be pressed, causing the hand-guided floor treatment device 100 to activate one or more aspects of the floor treatment. For example, the control lever 12 Ih may be released, causing the hand- guided floor treatment device 100 to deactivate one or more aspects of the floor treatment. Of course also other or further (retrofit) control elements may be envisaged, adapted to control any existing control elements of the hand-guided floor treatment device 100. For example, a retrofit control element may be configured to push an existing button and / or flip an existing switch of the hand-guided floor treatment device 100.

[0071] Preferably, the retrofit control element 151 receives control instructions wirelessly from the robotic support frame 200. This may allow easily coupling / decoupling the hand-guided floor treatment device 100 to / from the robotic support frame 200 without having to connect any wires. Alternatively, the retrofit control element 151 may be connected with wiring to the robotic support frame 200. For example, the retrofit control element 151 may be easily removable.

[0072] Preferably, the control lever 12 Ih or other existing control element of the hand-guided floor treatment device 100 is still operable by a user while the retrofit control element 151 is placed. For example, the control lever 12 Ih may be partially covered by the retrofit control element 151 and partially accessible; or the user may actuate the control lever 12 Ih or other existing control of the hand-guided floor treatment device 100 through the retrofit control element 151; or the retrofit control element 151 may be removable.

[0073] It will be understood that aspects of the control and / or sensors as described with reference to FIGs 5 and 6 may be combined with any of the embodiments described herein. For example, any one or more of the sensors 241 - 245 and / or retrofit control element 151 may be used in any of the embodiments described herein. Conversely, it will be understood that the hand-guided floor treatment device 100 and the robotic support frame 200, as shown in these figures, may have the same or similar features as described with any of the embodiments described herein. For example, the robotic support frame 200 as shown in FIGs 5 and 6 may have a similar support bracket 260 as shown in FIGs 4A and 4B; and / or similar coupling structure 261, and / or support structure 212,262 as shown in FIGs 1 - 3. For example, FIG 5C illustrates part of a foot pedal 262f, which may be similar to that of FIGs 4A and 4B.

[0074] FIGs 7A - 70 illustrate various ways of using the floor treatment system 1000. For example, FIG 7A illustrates a user “U” treating a first floor area “Al” by operating the hand-guided floor treatment device 100 without the robotic support frame 200. For example, FIG 7B illustrates the user “U” treating a second floor area “A2” by operating the treatment system 300 comprising the hand-guided floor treatment device 100 coupled to the robotic support frame 200. For example, FIG 7C illustrates the semi- autonomous floor treatment device 300 autonomously cleaning a third floor area “A3” without requiring the user “U”.

[0075] In some embodiments, the hand-guided floor treatment device 100, separate from the robotic support frame 200, is configured as an exclusively manually operable floor treatment device requiring constant user operation for manually treating a first floor area “Al”. In other or further embodiments, the robotic support frame 200 is configured to couple “C” with the hand-guided floor treatment device 100 to transform the exclusively manually operable floor treatment device into a semi- autonomous floor treatment device 300. For example, the semi-autonomous floor treatment device 300 is capable of a manual mode of operation “Mm” and an autonomous mode of operation “Ma”. In the manual mode of operation “Mm”, a user operates the device to treat a second floor area “A2”. In the autonomous mode of operation “Ma” the device autonomously treats a third floor area “A3” without a user manually operating the device.

[0076] Aspects of the present disclosure may be embodied as a method of using of the floor treatment system 1000 as described herein. In one embodiment, the use comprises treating a first floor area “Al” by a user “U” operating (e.g. hand-guiding) the hand-guided floor treatment device 100 without the robotic support frame 200. In another or further embodiment, the use comprises coupling the hand-guided floor treatment device 100 to the robotic support frame 200. In another or further embodiment, the use comprises treating a second floor area “A2” by the user operating (e.g. handguiding) the hand-guided floor treatment device 100 coupled to the robotic support frame 200. In this case, the semi-autonomous floor treatment device 300 may be configured in a manual mode of operation “Mm”. In another or further embodiment, the use comprises treating a third floor area “A3” autonomously by the treatment device 300 without the user. In this case, the semi-autonomous floor treatment device 300 may be configured in an autonomous mode of operation “Ma”. For example, the user “U” can leave the device 300, e.g. to perform other (treating) tasks, while the device autonomously treats the area “A3”. In another or further embodiment, the use comprises uncoupling the hand-guided floor treatment device 100 from the robotic support frame 200. In another or further embodiment, the use comprises (further) treating fourth area without the robotic support frame 200. Of course this routine may be repeated. In some embodiments, it may also be envisaged to omit some steps. For example, the semi-autonomous floor treatment device 300 may start treating a respective area “A3” autonomously without the user immediately after the hand-guided floor treatment device 100 is coupled to the robotic support frame 200. For example, the semi-autonomous floor treatment device 300 may determine a specific area to be cleaned without requiring a user to teach the device.

[0077] In a preferred embodiment, the area “A3”, to be treated by the treatment system 300 autonomously, is based on the area “A2”, treated previously by the user operating the treatment system 300. In some embodiments, a user may teach the treatment system 300 an area to be treated by performing a full treatment operation, i.e. treat the entire area. Once the treatment system 300 has been taught the full area to be treated, the treatment system 300 may autonomously repeat the treatment operation of the same area. For example, the area may be treated autonomously (without the user) at a next treatment cycle (e.g. the next day or week) based on a stored path or area, as performed previously by the user. This method of semi-autonomous treatment may be referred to as “teach and repeat”.

[0078] While the teach and repeat method may save time in the subsequent treatment operation, it is still relatively labor intensive, because the user has to meticulously perform the full treatment operation for each new area. In other or further embodiments, the treatment system 300 may operate fully autonomously, e.g. fully independent of the user “U”. While a fully autonomous treatment system 300 can alleviate the user’s work efforts, user control over the treatment operation may be limited. For example, the fully autonomous treatment system may not benefit from specific insights of the user “U” in charge of the treatment operation. Without user guidance, the fully autonomous treatment system may treat some areas unnecessarily and / or neglect treating of other areas. Accordingly, there is a need for a treating system 300 capable of operating semi-autonomously, e.g. allowing a user to easily determine an area to be treated, without requiring the user to fully treat the area themselves.

[0079] Preferably, the user may teach the treatment system 300 by performing a partial treatment operation of one subarea “A2” of a total area to be treated; and the treatment system 300 may determine another subarea “A3” of the total area to be treated. In a preferred embodiment, the area “A3” to be treated by the treatment system 300 autonomously, is different from the area “A2” treated by the user operating the treatment system 300. Most preferably, a relatively large fraction of the area “A3” is exclusively part of the area “A3”, and not part of the area “A2”. For example, the area “A3” is larger than the area “A2” by at least a factor two, three, five, or more. The larger the autonomously treated area “A3” compared to the manually treated area “A2”, the more user time and / or effort may be saved. For example, advantageous embodiments of semi-autonomous treatment are disclosed in the following figures, wherein the floor treatment device 300 determines, e.g. infers, a further area “A3” to be treated autonomously, based on a previous different area “A2” treated by the user.

[0080] FIGs 8A - 8C illustrate operation of the semi-autonomous floor treatment device 300 for treating an extended area. In some embodiments, the semi-autonomous floor treatment device 300 infers the area “A3” to be treated autonomously based on interpolating and / or extrapolating the area “A2” already treated by the user, and / or based on a path “P” traversed by the semi-autonomous floor treatment device 300 during the treatment of the second floor area “A2”, wherein the third floor area “A3” is different from the second floor area “A2”. In one embodiment, the semi-autonomous floor treatment device 300 is configured to determine a path “P” traversed during the treatment of the second floor area “A2” while the semi-autonomous floor treatment device 300 is switched to a manual mode of operation “Mm”. For example, a controller of the robotic support frame 200 is configured to record the path “P” based on sensor input of one or more sensors, such as LIDAR. In another or further embodiment, the semi-autonomous floor treatment device 300 is configured to determine the third floor area “A3” to be treated autonomously based on the path “P”.

[0081] In a preferred embodiment, e.g. as shown, the semi-autonomous floor treatment device 300 is configured to autonomously treat a further area “A3” corresponding to an area enclosed by a path “P” traversed by the semi-autonomous floor treatment device 300 while treating a previous area “A2”. For example, the previous area “A2” is determined by the user operating the semi-autonomous floor treatment device 300 in the manual mode of operation “Mm” and the further area “A3” is determined (without the user) by the semi-autonomous floor treatment device 300 in the autonomous mode of operation “Ma”. Preferably, the path “P” is automatically recognized (e.g. by a controller of the robotic support frame 200) as forming a (partial) circumference defining an at least partially enclosed area. Accordingly, it may be automatically determined that the area “A3” to be treated autonomously corresponds to the at least partially enclosed area. Alternatively, the user may send a signal to the robotic support frame 200, e.g. via its control interface, to start a specific cleaning routine. As will be appreciated, the manual tracing of a circumference of an area to be treated, by actually cleaning the circumference, may provide an effective and efficient way for the user to set a specific area to be treated with minimal effort, especially for larger areas.

[0082] In some embodiments, the semi-autonomous floor treatment device 300 is configured to return to an initial point “Pi” of the path “P” when finished with the autonomous treatment of the area “A3”. For example, the initial point “Pi” may be the point where the device was switched to the manual mode of operation “Mm”. In other or further embodiments, the semi-autonomous floor treatment device 300 is configured to return to an final point “Pi” the path “P” when finished with the autonomous treatment of the area “A3”. For example, the initial point “Pf’ may be the point where the device was switched to the autonomous mode of operation “Ma”. Of course the points “Pi”, “Pf’ may also coincide when the user traces a complete circumference, although this is not necessary. Returning to a specific point after completing the autonomous treatment may be advantageous to allow the user to find and / or pick up apparatus at a predetermined and / or predictable location. For example, during an autonomous mode of operation Ma, the semi-autonomous floor treatment device 300 is configured to return to a starting location, at which location a manual mode of operation Mm was stopped and the autonomous mode of operation Ma was initiated. This may allow the user to stop manual cleaning at any location, allow the machine to continue cleaning whatever remaining area may be autonomously determined by the machine (e.g. based on any of the criteria described herein); and allow the user to simply pick up the machine where they left it.

[0083] FIGs 9A - 9C illustrate operation of the semi-autonomous floor treatment device 300 for treating a hall-way or alley. In a preferred embodiment, e.g. as shown, the semi-autonomous floor treatment device 300 is configured to autonomously treat a further area “A3” corresponding to an area surrounding a path “P” traversed by the semi-autonomous floor treatment device 300 while treating an initial area “A2”. For example, the surrounding area “A3” to be treated lies on one or both sides of the path “P” traced by a user “U”. For example, the area “A3” to be treated is determined based on surrounding walls “W”, or based on a specific width around the path “P”. In one embodiment, the path “P” or second floor area “A2” is determined by the user “U” operating the semi-autonomous floor treatment device 300 in the manual mode of operation “Mm” while traversing a hallway from an initial point “Pi” of the path to a final point “Pf’ of the path “P”. In another or further embodiment, the area “A3” is determined (without the user) by the semi-autonomous floor treatment device 300 in the autonomous mode of operation “Ma” by determining an area between the initial point “Pi” and the final point “Pf’, and one or more walls along the path “P” Preferably, the path “P” is automatically recognized (e.g. by a controller of the robotic support frame 200) as forming a path along a hallway. For example, sensors on the robotic support frame 200 may detect the walls “W” of the hallway. Accordingly, it may be automatically determined that the area “A3” to be treated autonomously corresponds to the area in the hallway between the initial and final points “Pi”, “Pf’. As will be appreciated, the user can easily set a desired part of the hallway without having to treat the whole area manually.

[0084] For the purpose of clarity and a concise description, features are described herein as part of the same or separate embodiments, however, it will be appreciated that the scope of the invention may include embodiments having combinations of all or some of the features described. Alternatively, or in addition to teaching the robotic support frame an area to be autonomously treated by a user performing a treatment operation, the area to be autonomously treated may also be taught in other ways. For example, a map of the area to be treated by be sent to, and / or retrieved by a communication unit of the robotic support frame. For example, the robotic support frame may recognize an area and start autonomous treatment based on an earlier treatment operation. The various elements of the embodiments as discussed and shown offer certain advantages, such as easily switching between different ways of cleaning an area. It is appreciated that this disclosure offers particular advantages to floor cleaning, and in general can be applied for any floor treatment device or system. In interpreting the appended claims, it should be understood that the word "comprising" does not exclude the presence of other elements or acts than those listed in a given claim; the word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements; any reference signs in the claims do not limit their scope; several "means" may be represented by the same or different item(s) or implemented structure or function; any of the disclosed devices or portions thereof may be combined together or separated into further portions unless specifically stated otherwise.

Claims

CLAIMS1. A floor treatment system (1000) comprising a robotic support frame (200) configured to couple (C) with, and support (S), a stand-alone hand- guided floor treatment device (100) to form, in combination, a semi- autonomous floor treatment device (300).

2. The system (1000) according to claim 1, wherein the robotic support frame (200) comprises coupling means (261) configured to reversibly couple (C) with, and decouple from, a respective part (161) of the hand-guided floor treatment device (100).

3. The system (1000) according to any of the preceding claims, wherein the robotic support frame (200) comprises a support structure (212,262) configured to support (S) a guide part (120) of the hand-guided floor treatment device (100) in an upright configuration.

4. The system (1000) according to any of the preceding claims, comprising the hand-guided floor treatment device (100) having a bottom part (110), a guide part (120) having a handle part (121), and a joint arrangement (130) between the bottom part (110) and the guide part (120), allowing the guide part (120) to be pivoted with respect to the bottom part (110) when the hand-guided floor treatment device (100) is separate from the robotic support frame (200), wherein the robotic support frame (200) is configured to support (S) the guide part (120) against pivoting when forming the semi- autonomous floor treatment device (300).

5. The system (1000) according to any of the preceding claims, wherein the robotic support frame (200) comprises a frame structure (210) defining an inner frame spacing (210s,210b,260o) configured to accommodate the hand-guided floor treatment device (100) inside a perimeter of the framestructure (210).

6. The system (1000) according to claim 5, wherein the frame structure (210) comprises one or more U-shaped frame parts (211,212) configured to form a partially open perimeter around respective parts (110,120) of the hand-guided floor treatment device (100).

7. The system (1000) according to claim 6, wherein the frame structure (210) has an open side (210o), allowing the hand-guided floor treatment device (100) to be pushed from said open side (210o) into the frame structure (210) without lifting the hand-guided floor treatment device (100) off the floor (F).

8. The system (1000) according to claim 7, wherein the robotic support frame (200) comprises a closing mechanism (262) configured to selectively open up the open side (2 lOo) of the robotic support frame (200) for bringing the hand-guided floor treatment device (100) inside the frame structure (210), or close off the open side (210o) of the robotic support frame (200) for supporting (S) the hand-guided floor treatment device (100) by the closing mechanism (262) with the hand-guided floor treatment device (100) inside the frame structure (210).

9. The system (1000) according to any of the preceding claims, wherein the frame structure (210) has a bottom-side opening (210b) for allowing the hand-guided floor treatment device (100) to directly contact and treat the floor (F) beneath while forming part of the semi-autonomous floor treatment device (300).

10. The system (1000) according to claim 9, comprising the hand-guided floor treatment device (100) with at least one tool (111) configured to engage the floor (F), both when the hand-guided floor treatment device (100) is separated from the robotic support frame (200), and when the hand-guided floor treatment device (100) is combined with the robotic support frame (200) to form the semi-autonomous floor treatment device (300).

11. The system (1000) according to claim 10, wherein the hand-guided floor treatment device (100) comprises a bottom part (110) with one or more pairs of counter-rotating and / or counter-reciprocating tools (111) for treatment of the floor (F).

12. The system (1000) according to any of the preceding claims, wherein the hand-guided floor treatment device (100), when separated from the robotic support frame (200), is configured as an exclusively manually operable floor treatment device, requiring a user (U) to manually operate the hand-guided floor treatment device (100) while treating a first floor area (Al); wherein the semi-autonomous floor treatment device (300) is configured to selectively switch between a manual mode of operation (Mm), in which the semi- autonomous floor treatment device (300) is manually operable to treat a second floor area (A2) while a user (U) manually operates the semi-autonomous floor treatment device (300); and an autonomous mode of operation (Ma), in which the semi- autonomous floor treatment device (300) is configured to treat a third floor area (A3) autonomously, without manual operation.

13. The system (1000) according to any of the preceding claims, wherein the robotic support frame (200) comprises one or more sensors (241-245) configured to sense and / or map an environment both during a manual mode of operation (Mm) and during an autonomous mode of operation (Ma), at least one motor (220) connected to a propulsion and / or steering means(23 IL, 231R), and a controller (250) configured to control the at least one motor (220) to propel and / or steer the semi-autonomous floor treatment device (300) during the autonomous mode of operation (Ma) based in part on the previous sensing and / or mapping of the environment during the manual mode of operation (Mm), and based in part on the current sensing and / or mapping of the environment during the autonomous mode of operation (Ma).

14. The system (1000) according to any of the preceding claims, wherein the semi-autonomous floor treatment device (300) is configured to autonomously treat a floor area (A3) different from a floor area (A2) treated during a manual mode of operation (Mm), based on inference from a path (P) traversed during the manual mode of operation (Mm).

15. The system (1000) according to any of the preceding claims, wherein during a manual mode of operation (Mm), the semi-autonomous floor treatment device (300) records a path (P) traversed by the device, and wherein during an autonomous mode of operation (Ma), the semi- autonomous floor treatment device (300) is configured to determine a treatment area (A3) based on extrapolating and / or interpolating the path (P) traversed during the manual mode of operation (Mm).

16. The system (1000) according to any of the preceding claims, wherein the semi-autonomous floor treatment device (300) is configured to recognize that a path (P) traversed during a manual mode of operation (Mm) forms at least a partial boundary of an area, and is configured to determine that thearea enclosed by the path (P) is to be treated autonomously during an autonomous mode of operation (Ma).

17. The system (1000) according to any of the preceding claims, wherein during an autonomous mode of operation (Ma), the semi-autonomous floor treatment device (300) is configured to return to a starting location, at which location a manual mode of operation (Mm) was stopped and the autonomous mode of operation (Ma) was initiatedr.

18. The system (1000) according to any of the preceding claims, wherein the semi-autonomous floor treatment device (300) is configured to autonomously generate a treatment plan for the autonomous mode of operation (Ma) based on environmental features detected during the manual mode of operation (Mm).

19. The system (1000) according to any of the preceding claims, wherein the semi-autonomous floor treatment device (300) is configured to determine an area (A3) to be treated autonomously based on a combination of a path (P) traversed during the manual mode of operation (Mm) and based on fixed and / or variable surrounding environmental obstacles, such as walls (W) or people, detected by its sensors (241-245) during autonomous mode of operation (Ma).

20. The system (1000) according to any of the preceding claims, wherein the semi-autonomous floor treatment device (300) is configured to autonomously treat an area (A3) determined by extending a path (P) traversed during the manual mode of operation (Mm) to cover additional areas inferred from mapping data collected during the manual mode of operation (Mm).

21. The system (1000) according to any of the preceding claims, wherein the semi-autonomous floor treatment device (300) is configured to infer an area (A3) to be treated autonomously based on a shape and size of the area partially treated during the manual mode of operation (Mm).

22. The system (1000) according to any of the preceding claims, wherein the semi-autonomous floor treatment device (300) is configured to utilize data collected during the manual mode of operation (Mm) to autonomously navigate environments during the autonomous mode of operation (Ma).

23. The system (1000) according to any of the preceding claims, wherein the robotic support frame (200) is configured to communicate wirelessly with the hand-guided floor treatment device (100) to control operation of the hand-guided floor treatment device (100) during an autonomous mode of operation (Ma).

24. The system (1000) according to any of the preceding claims, wherein the robotic support frame (200) comprises at least one battery (270) configured to power the robotic support frame (200) independently of the hand-guided floor treatment device (100).

25. The system (1000) according to any of the preceding claims, wherein the robotic support frame (200) is configured to receive power from the hand-guided floor treatment device (100) when coupled thereto; and / or configured to supply power to the hand-guided floor treatment device (100) when coupled thereto.

26. The system (1000) according to any of the preceding claims, wherein the hand-guided floor treatment device (100) comprises a retrofit control element (151) configured to receive control signals from the robotic supportframe (200) and to control operation of the hand-guided floor treatment device (100) during the autonomous mode of operation (Ma), wherein the retrofit control element (151) comprises an actuator configured to actuate a control element (12 Ih) of the hand-guided floor treatment device (100) based on control signals received from the robotic support frame (200).

27. The system (1000) according to any of the preceding claims, wherein the robotic support frame (200) is configured to automatically switch between a manual mode of operation (Mm) and an autonomous mode of operation (Ma) based on detecting whether a user (U) is operating the hand- guided floor treatment device (100).

28. The system (1000) according to any of the preceding claims, wherein the robotic support frame (200) comprises at least one moveable support structure, such as a bracket and / or support arm, connected to the frame structure (210) via a connection mechanism, such as a pivotable and / or translatable mechanism, wherein the connection mechanism enables the support structure to be moved between a support configuration, in which the support structure is configured to support a guide part (120) of the hand-guided floor treatment device (100), and an open configuration, in which the hand-guided floor treatment device (100) can be engaged or disengaged from the robotic support frame (200).

29. Use of the floor treatment system (1000) according to any of the preceding claims, the use comprising treating a first floor area (Al) by a user (U) operating the hand- guided floor treatment device (100) without the robotic support frame (200);treating a second floor area (A2) by the user operating the hand- guided floor treatment device (100) coupled to the robotic support frame (200); and treating a third floor area (A3) autonomously by the semi-autonomous floor treatment device (300) without the user.

30. The use according to the preceding claim, wherein the semi- autonomous floor treatment device (300) determines the third floor area (A3) to be treated autonomously based on interpolating and / or extrapolating the second floor area (A2) already treated by the user, and / or based on a path (P) traversed by the semi-autonomous floor treatment device (300) during the treatment of the second floor area (A2), wherein the third floor area (A3) is different from the second floor area (A2).

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