Floor cleaning system comprising a floor cleaning device, and method for operating a floor cleaning system

Abstract

The invention relates to a floor cleaning system (100) and to a method for operating a floor cleaning system (100). A movement path (140, 180) which can be automatically traversed by the floor cleaning device (102) of the floor cleaning system (100) in a repetition operating mode can be generated in a training operating mode while a user (138) carries out a guiding process. An interaction event can be triggered in order to convert an infrastructure device (122, 126) from a first state to a second state. For this purpose, a state change signal is transmitted from a transmission unit of the floor cleaning device (102) to a receiving unit of the infrastructure device. The infrastructure device (122, 126) is located in the movement path (140, 180) and blocks the movement path, in particular physically. The user (138) defines the interaction event in a position-based manner via a user interface (152, 198) in the training operating mode and / or while editing the movement path (140, 180) after the training operating mode.

Description

[0001] FLOOR CLEANING SYSTEM WITH A FLOOR CLEANING DEVICE AND METHOD FOR OPERATING A FLOOR CLEANING SYSTEM

[0002] The present invention relates to a floor cleaning system comprising a self-propelled and self-steering floor cleaning device, having a chassis for moving on the floor surface, a control unit, a localization unit for determining a position of the floor cleaning device in an environment, a cleaning unit for cleaning the floor surface, and an operating unit, wherein the floor cleaning system further comprises a user interface coupled to the control unit and a storage unit in which a map of the environment can be stored or is stored, wherein the floor cleaning device is designed and configured to create a movement path storable in the storage unit under manual guidance of a user at the operating unit in a learning operating mode, wherein the movement path can include an interaction event, and to enter a repeat operating mode,in which the floor cleaning device automatically processes the movement path and triggers the interaction event.

[0003] With the floor cleaning device of such a floor cleaning system, which is described, for example, in WO 2023 / 001389 A1, autonomous cleaning of the floor surface can be performed. In this case, the movement path is a cleaning path in which at least one cleaning unit of the floor cleaning device engages the floor surface. Alternatively, the movement path can be a transport path in which the floor cleaning device moves within its movement without cleaning, for example, for empty runs from a storage location to the work site and / or back.

[0004] The floor cleaning system in the aforementioned WO 2023 / 001389 A1 is designed particularly for professional cleaning tasks, with the floor cleaning device being configured as a scrubber-dryer. The user is intended as a "human interface," in effect, who travels the movement path with the floor cleaning device in teach-in mode and configures the use of at least one cleaning unit. It is possible to define interaction events that are stored in the movement path. Interaction events include, for example, the activation of a horn to alert people in the vicinity to the floor cleaning device. In repeat mode, the floor cleaning device can automatically travel the previously stored movement path under the control of the control unit and, in particular, execute interaction events.Interaction events are position-based and are executed at the position defined by the user in the teach-in operating mode. Navigation is performed using the map stored in the memory unit and the localization unit, so that the position of the floor cleaning device in its environment can be referenced to a position in the map, and vice versa.

[0005] The present invention further relates to a method for operating a cleaning system, in particular of the type described above.

[0006] The floor cleaning system mentioned above has proven itself in practice. It would be desirable to make it more versatile.

[0007] The object of the present invention is to provide a generic floor cleaning system and a method for operating a floor cleaning system that can be used in a more versatile manner.

[0008] This object is achieved according to the invention in a floor cleaning system of the type mentioned at the outset in that the floor cleaning device further comprises a transmitting unit arranged on the floor cleaning device or encompassed by the latter and a receiving unit arranged on a control unit of an infrastructure device or coupled thereto, which is preferably uniquely coupled to the transmitting unit via a communication connection, wherein the infrastructure device is arranged in the movement path, in particular physically blocking it, wherein the user defines the interaction event position-related via the user interface in the teach-in operating mode and / or when processing the movement path after the teach-in operating mode, which comprises the transmission of a state change signal from the transmitting unit to the receiving unit at least in the repeat operating mode,for transferring the infrastructure facility from a first state to a second state, depending on the state change signal.,

[0009] Furthermore, the present invention is achieved by a method for operating the floor cleaning system of the type described above, wherein the user defines the interaction event position-related via the user interface in the teach-in operating mode and / or when processing the movement path after the teach-in operating mode, a state change signal is sent as a component of the interaction event from the transmitting unit to the receiving unit, at least in the repeat operating mode, and the infrastructure facility is transferred from a first state to a second state depending on the state change signal. Advantageous embodiments of the method according to the invention result from the advantageous embodiments of the floor cleaning system according to the invention explained below. Accordingly, all system features can be implemented in the method.The advantages and effects explained below using the example of the floor cleaning system according to the invention are also achieved when the method is carried out.

[0010] The floor cleaning system according to the invention provides the option of controlling the infrastructure device via the transmitting unit and the receiving unit coupled to it. The infrastructure device, at least one of which can be located in the surrounding area and in the movement path, can, in particular, physically block the movement path and thereby restrict movement of the floor cleaning device in repeat operating mode without the possibility of control. For example, the infrastructure device is a gate in the movement path, in particular a roller shutter door in professional applications, which can assume a closed state and an open state. If the roller shutter assumes the closed state, it blocks the path of the floor cleaning device.However, the solution according to the invention makes it possible to transfer the roller shutter from the closed state to the open state so that the floor cleaning device can continue and travel along the path of movement as intended.

[0011] According to the present invention, the user acts as a "human interface" and defines the interaction event, while the movement path is recorded in the learning mode. Alternatively or additionally, it may be possible to edit the movement path after the learning mode. Editing may include, for example, adding at least one interaction event to its definition, modifying it, and / or deleting it. In practice, it has been shown that a robust and functionally reliable design of the floor cleaning system can be achieved through the communication connection, in particular a radio communication connection between the transmitting unit and the receiving unit.

[0012] The coupling between the transmitting unit and the receiving unit can be unambiguous, in particular one-to-one.

[0013] In practice, it can prove particularly advantageous if the transmitting unit and the receiving unit have already been coupled to one another when the user executes the teach-in operating mode. This is advantageous, for example, when several infrastructure facilities are present in the vicinity. The respective receiving units can be coupled to the transmitting unit in advance, for example at a central setup location such as a maintenance room or workshop, and can then be arranged on the control unit of the infrastructure facility or integrated into it. Information relating to the respective receiving unit can preferably be stored in the memory unit.

[0014] In this case, coupling can be understood, for example, as a "pairing" process in which identification numbers of the transmitting unit and at least one receiving unit are exchanged or stored in the respective unit in such a way that these units can reliably communicate with each other. In particular, all pairing methods familiar to the person skilled in the art are conceivable. For the radio infrastructure, units based on Wi-Fi and / or Bluetooth, for example, have proven advantageous. In a particular embodiment of the invention, an ESP-NOW protocol is used, for example.

[0015] Coupling the transmitting unit with at least one receiving unit prior to the teach-in operating mode is advantageous, for example, to avoid any delays during the teach-in operating mode and / or any confusion that could arise for the user due to multiple receiving units being located within range of the transmitting unit, potentially resulting in incorrect assignment to the desired infrastructure facility to be operated. In this respect, the present invention advantageously proposes coupling the transmitting unit and the receiving unit prior to the teach-in operating mode. Alternatively or in addition to the possibility of doing this at a separate setup station, it can be provided that the transmitting unit is brought to one or more receiving units at the respective infrastructure facility and coupled there prior to the teach-in operating mode.This option proves advantageous, for example, when the transmitter unit can be detachably connected to the floor cleaning device. This eliminates the need to move the floor cleaning device around the area. Alternatively, the floor cleaning device can be moved to the respective infrastructure facility before entering the teach-in mode, for example, during a "pairing run" to pair it.

[0016] However, the present invention is not limited to a coupling of the transmitting unit to the receiving unit, as explained above. EP 3 416 017 B1 describes a system comprising a vehicle that moves autonomously within an environment and a door located in the environment. A detection means of the vehicle receives an optical and / or electronic code from the door in order to transmit a control command to an actuator of the door.

[0017] CN 106313114 A describes a robot that is in radio communication with a receiver of a control unit of a roller shutter door.

[0018] Other publications describing the movement of a robot in an environment with infrastructure facilities are US 2012 / 0165984 A1, JP 2011-076149 A and EP 3 985 218 A1.

[0019] It can be provided that the receiving unit or the control unit ignores the state change signal upon receipt if the infrastructure device enters the second state. For example, if there is no longer any need to transfer the infrastructure device from the first to the second state, and this is known to the receiving unit or the control unit, the state change signal can be ignored.

[0020] It can be particularly advantageous if the floor cleaning device is designed and configured, in the repeat operating mode, after prior learning by the user in the learning operating mode, to transmit the state change signal for transferring the infrastructure facility from the first state to the second state, to traverse, pass through, or use the infrastructure facility on the movement path, and then to transmit another state change signal to transfer the infrastructure facility from the second state to the first state. For example, the infrastructure facility in the form of a gate or door blocks the movement path. The embodiment described here allows the floor cleaning device to transfer the gate or door from a closed state to an open state, to traverse it, and then to transfer it from the open state to the closed state again.Another example, for example, provides for a monitoring device as an infrastructure facility, which is transferred by the floor cleaning device from an alarm state to a release state, passed through and then transferred back to the alarm state.

[0021] For example, the state change signal and the further state change signal can be different from each other. This can be particularly advantageous than using identical signals, such as those used in a simple pulse control.

[0022] The infrastructure facility can, for example, be or comprise a gate, in particular a rolling gate, or a door, and the state change signal can be an opening signal or a closing signal. This has already been discussed. The closing signal is, in particular, the aforementioned further state change signal.

[0023] The infrastructure device can, for example, be a monitoring device for monitoring the environment, and the state change signal can be a deactivation signal or an activation signal. This has already been indicated. The activation signal is, in particular, the aforementioned further state change signal. The monitoring device can, for example, comprise a light barrier or a camera that triggers an alarm upon detecting the floor cleaning device in an alarm state. Therefore, the monitoring device is advantageously deactivated to transfer it to an enable state.

[0024] Alternatively or additionally, the infrastructure facility can be, for example, a transport facility, in particular an elevator, and the state change signal can be a start signal or a stop signal. The stop signal is, in particular, the aforementioned additional state change signal. This offers the possibility for the floor cleaning device to use the transport facility. For example, the elevator can be used to move between building levels.

[0025] Several infrastructure facilities can be combined and form part of the floor cleaning system. For example, an elevator is provided as a transport facility, and an elevator door is provided as an additional infrastructure facility to enable the use of the transport facility.

[0026] Based on the above, it follows that the floor cleaning system may comprise at least one infrastructure facility, in particular several infrastructure facilities. These may be identical or different.

[0027] In a structurally simple configuration, the floor cleaning device can comprise the storage unit and / or comprise or form the user interface. In a preferred embodiment of the invention, the floor cleaning system can comprise a portable add-on device arranged externally to the floor cleaning device, on which a user application program is stored in an executable manner and which includes the user interface. The add-on device is, in particular, a smartphone or a tablet computer. The user interface is formed, for example, by a touchscreen of the add-on device, with the function of an input unit and a display unit.

[0028] The use of the additional device can be advantageous if the interaction event is defined after the teach-in operating mode as explained above and / or an existing definition is changed.

[0029] The position in which the interaction event is triggered can preferably be defined by an interaction zone, wherein the state change signal is transmitted in repeat operating mode when the floor cleaning device is arranged within the interaction zone, in particular when entering the interaction zone. By using an interaction zone, it can preferably be ensured that the receiving unit is arranged within range of the transmitting unit in order to be able to receive the state change signal. Furthermore, the interaction zone can be advantageous in order to utilize a period of time that the floor cleaning device travels within this zone to the infrastructure facility, so that the infrastructure facility already assumes the second state when the floor cleaning device reaches the infrastructure facility. For example, a roller shutter door is thereby transferred to the open state in time so that the floor cleaning device can pass through the roller shutter door without waiting.

[0030] It is conceivable that the interaction zone is created automatically when the interaction event is created. For example, it can have a predefined shape, size, and / or location around the current position of the floor cleaning device.

[0031] The interaction zone can, for example, have a size of approximately 2 m 2 up to 20 m 2 preferably approximately 5 m 2 up to 15 m 2 .

[0032] Advantageously, the shape of the interaction zone can be specified via the user interface.

[0033] Alternatively or additionally, the size of the interaction zone can advantageously be specified via the user interface. Alternatively or additionally, the location of the interaction zone can advantageously be specified via the user interface.

[0034] The nature of the interaction zone, for example, its shape, size, and / or location, preferably depends on the travel speed of the floor cleaning device and / or the course of its movement path. This is particularly advantageous if it is necessary to ensure that the infrastructure facility already assumes the second state when the floor cleaning device reaches it.

[0035] In this case, “specifiable” may include, in particular, “specified”.

[0036] The interaction zone can be conveniently edited by the user, for example, during and / or after the teach-in operating mode. Editing is preferably provided via the user interface on a touchscreen.

[0037] The state change signal is advantageously only transmitted when the floor cleaning device is located within the interaction zone. This can serve to ensure that the state change signal can be received by the receiving unit.

[0038] The state change signal can advantageously be transmitted multiple times by the transmitting unit. For example, it is provided that the state change signal is transmitted periodically and / or for a predefined period of time. It is conceivable that the periodic transmission occurs after the initial transmission and a predefined waiting time. The purpose of the multiple transmissions is, for example, to ensure that the receiving unit actually receives the state change signal. Furthermore, any state changes of the infrastructure facility that may be triggered by people can be taken into account. For example, if an opening signal is sent to open a gate and a person present in the vicinity closes the gate again, the gate is returned to the open state by the re-transmitted state change signal.

[0039] It can be advantageous if information relating to at least one infrastructure facility is stored in the memory unit and if, in the learning mode, the user selects the infrastructure facility to which the state change signal is to be transmitted to define the interaction event on the user interface. For example, information relating to the receiving unit on the infrastructure facility can be stored in the memory unit upon coupling with the transmitting unit. In the learning mode, the user can, for example, use a touchscreen on the user interface to select the desired infrastructure facility that is to undergo a state change. Intuitive use is made possible, for example, by using concise labels and / or symbols for infrastructure facilities.

[0040] The transmitting unit may be a transmitting and receiving unit, and the receiving unit may be a transmitting and receiving unit, for bidirectional communication of the transmitting unit with the receiving unit.

[0041] In particular, the receiving unit can periodically emit an identification signal. The identification signal can advantageously be received by the transmitting unit. This lets the floor cleaning device know that it is within range of the receiving unit and thus of the infrastructure facility, and it can assume that the receiving unit, in turn, can receive a transmitted status change signal.

[0042] It is understood that the transmitting unit may be operatively connected to the control unit of the floor cleaning device or may be integrated into it.

[0043] The identification signal is preferably a so-called "heartbeat" signal if the transmitting unit is already coupled to the receiving unit.

[0044] For example, in one embodiment of the invention, defining the interaction event in the teach-in operating mode via the user interface may only be possible if the transmitting unit receives the identification signal. This preferably ensures that the receiving unit, in turn, receives the state change signal from the transmitting unit.

[0045] If no pairing has yet occurred prior to the learning operating mode, the identification signal can be a so-called "beacon" signal to draw attention to the receiving unit, with a pairing process subsequently being carried out in the learning operating mode. Following this, the identification signal can be the aforementioned "heartbeat" signal. In the learning operating mode, in one embodiment of the invention, after receiving the identification signal, the user can be provided with a notification via the user interface that the infrastructure facility is nearby, for example, along with a request as to whether an interaction event should be learned for the infrastructure facility. The user can be spontaneously offered the opportunity to create the interaction event. The notification is output, for example, visually via a pop-up on the user interface and / or acoustically.

[0046] The interaction zone, which has already been discussed, can be defined, for example, as the area in which the identification signal can be received by the transmitting unit.

[0047] In repeat mode, for example, the transmitting unit only transmits the status change signal if the identification signal has been previously detected. In addition, it may be necessary, for example, for the floor cleaning device to also be located in the interaction zone.

[0048] It may be advantageous for the receiving unit to transmit an acknowledgment signal to the transmitting unit after receiving the state change signal. This allows verification that the infrastructure device is transitioning from the first to the second state to ensure proper operation of the repeat operating mode.

[0049] In a favorable embodiment of the invention, the receiving unit can, for example, transmit a status signal to the transmitting unit indicating whether the infrastructure facility is in the first or second state. In the case of a gate, for example, a limit switch element is read and the relevant information is transmitted to the transmitting unit. The control unit of the floor cleaning device can, for example, decide that no opening signal is transmitted if the gate is already in the open state. Alternatively, the opening signal can still be transmitted, since a person may have closed the gate in the meantime. Corresponding embodiments can apply to other types of infrastructure facilities.

[0050] Information relating to at least one infrastructure facility is advantageously stored in the memory unit. This information relates, for example, to the type and / or properties of the infrastructure facility, in particular with regard to transitioning from the first state to the second state and / or vice versa. This information advantageously forms the basis for the content and / or transmission of the state change signal. It is conceivable, for example, that the type of infrastructure facility, a time for opening a gate or door, a time for closing a gate or door, software drivers for interacting with the control unit of the infrastructure facility, or the like are stored.

[0051] As already explained, multiple receiving units can be provided that are or can be coupled to the transmitting unit, wherein the state change signal is a unicast signal that is directed to and receivable by only one receiving unit. Thus, the transmitting unit addresses the one receiving unit.

[0052] Alternatively, the state change signal may be a multicast signal or broadcast signal that is directed to and receivable by two or more or all receiving units.

[0053] As part of the multicast signal or broadcast signal, an identification number, such as a MAC address, can be transmitted to a specific receiving unit, which interprets the state change signal as being directed to it, while the remaining receiving unit(s) ignore the state change signal. In this way, the same functionality as with a unicast signal can be implemented.

[0054] The transmitter unit can be detachably connected to the floor cleaning device. This allows, for example, the transmitter unit to be easily connected to the receiver unit at a setup station remotely from the floor cleaning device and then connected to the floor cleaning device. The receiver unit can preferably be connected to the control unit of the infrastructure facility or integrated into it.

[0055] Alternatively, the transmitter unit can be permanently integrated into the floor cleaning device.

[0056] The floor cleaning device can comprise a sensor unit for detecting a state of the infrastructure facility, in particular the first state and / or the second state. It can be provided that the state change signal for transferring the infrastructure facility from the first state to the second state is only emitted if the determined state corresponds to the first state. Similarly, it can be provided that the (further) state change signal for transferring the infrastructure facility from the second state to the first state is only emitted if the determined state corresponds to the second state. The sensor unit can comprise all sensor elements familiar to the person skilled in the art that enable monitoring of the environment of the floor cleaning device.

[0057] The movement path can be a cleaning path where the cleaning unit is in engagement with the floor surface. Alternatively, the movement path can be a transport path where the cleaning unit is out of operation.

[0058] The following description of a preferred embodiment of the invention, in conjunction with the drawings, serves to explain the invention in more detail. The method according to the invention can be carried out in a preferred embodiment using the floor cleaning system described below. They show:

[0059] Figure 1: a schematic representation of the floor cleaning system according to the invention in a preferred embodiment with a floor cleaning device and a user during the learning operating mode;

[0060] Figure 2: a schematic representation of an environment that is to be driven through with the floor cleaning device and in this example has three rooms; and

[0061] Figure 3: a schematic representation of a user interface of the floor cleaning system of Figure 1 during the learning mode of operation.

[0062] The drawing shows a preferred embodiment of a floor cleaning system according to the invention, designated overall by reference numeral 100.

[0063] The floor cleaning system comprises a floor cleaning device 102, which in this case is configured as a scrubber-drier 104. The floor cleaning device 102 serves to clean a floor surface 106 within an environment 108. In the present non-limiting example, the environment 108 comprises, for example, three rooms 110, 112, and 114, which are separated from one another by walls 116. In the present example, a passage 118 is formed between the rooms 110 and 112. A corresponding passage 120 is formed between the rooms 112 and 114. The floor cleaning system 100 comprises an infrastructure facility 122, in this case configured as a gate and in particular as a roller gate 124. The roller gate 124 is arranged at the passage 118 in order to selectively close it in a closed state or to open it in an open state.

[0064] In the present example, another infrastructure facility 126 in the form of a roller shutter 128 is arranged at the passage 120. Roller shutters 124 and 128 are functionally identical, so their functionality will be described below using the example of roller shutter 124.

[0065] The roller shutter 124 includes interconnected slats 130 that can be stored in a housing 132 when the roller shutter 124 is in the open position. In the closed position, the slats 130 block the passage 118.

[0066] The roller shutter 124 comprises a drive unit 134 for driving, in a conventional manner, a shaft on which the slats 130 are mounted. Furthermore, the roller shutter 124 comprises a control unit 136 that is operatively connected to the drive unit 134. The control unit 136 can open or close the roller shutter 124.

[0067] The floor cleaning device 102 is a user-guided floor cleaning device that can be moved by a user 138 within the environment 108. Furthermore, the floor cleaning device 102 is designed to be self-propelled and self-steering in order to move autonomously within the environment 108 and, in particular, to perform cleaning tasks therein.

[0068] The scrubber-drier 104 is a floor cleaning device 102 for professional cleaning applications. To achieve the best possible cleaning results on the one hand and the safe execution of cleaning tasks during autonomous operation of the floor cleaning device 102 on the other, it is provided that a movement path 140 is taught by the user 138 in a teach-in mode. The movement path 140 is, in particular, a cleaning path for cleaning the floor surface 106. Alternatively, however, it can also be, at least in sections, a transport path of the floor cleaning device 102 (empty run).

[0069] After the learning process, the floor cleaning device 102 is able to autonomously follow a learned movement path 140 in a repeat mode without the presence of the user 138 and, in particular, to carry out a cleaning task.

[0070] The floor cleaning device 102 comprises a chassis 142 with at least one drivable wheel for moving on the floor surface 106. At least one cleaning unit 144 is provided for cleaning the floor surface 106, in this case, for example, a floor cleaning head 146 with at least one cleaning tool (e.g., a cleaning brush), as well as a suction device 148 for suctioning dirty liquid from the floor surface 106.

[0071] The floor cleaning device 102 further comprises an operating unit 150 for the user 138. The floor cleaning device 102 is guided in the learning operating mode using the operating unit 150.

[0072] In this case, a user interface 152 of the floor cleaning system 100 is arranged on the operating unit 150 (Figure 3). The user interface 152 comprises an input unit 154 and a display unit 156 with a controllable optical image display. The units 154, 156 are implemented in this case by means of a touchscreen 158.

[0073] User inputs on the touchscreen 158 are transmitted to a control unit 160 of the floor cleaning device 102. Conversely, the control unit 160 can control the display unit 156.

[0074] The floor cleaning device 102 further comprises a memory unit 162, which is coupled to the control unit 160 or can be comprised thereof. In particular, a map 164 of the environment 108 is stored in the memory unit 162. The map 164 can be created during a learning or exploration run, during the learning operating mode, and / or specified by the user 138. Features in the environment 108 are provided with identical reference numerals in the map 164.

[0075] For navigation in the environment 108, the floor cleaning device 102 includes a localization unit 166, which is operatively connected to the control unit 160. The localization unit 166 can be configured in a manner familiar to those skilled in the art to detect features of the environment 108. For example, the localization unit 166 includes a LiDAR 168. Using the map 164 and the localization unit 166, the floor cleaning device 102 can navigate in the environment 108 and thereby reference a corresponding location on the map 164, and vice versa.

[0076] For communication with and control of the infrastructure device 122, the floor cleaning system 100 comprises a transmitting unit 170 and a receiving unit 172. In the present embodiment, the transmitting unit 170 is a transmitting and receiving unit, and the receiving unit 172 is a transmitting and receiving unit. Accordingly, not only can signals be sent from the transmitting unit 170 to the receiving unit 172, but conversely, signals can also be sent from the receiving unit 172 to the transmitting unit 170. Bidirectional communication is possible.

[0077] The units 170, 172 are advantageously designed as modules that can transmit signals via a wireless connection. In particular, the units 170, 172 have, for example, Wi-Fi and / or Bluetooth functionality. In a preferred embodiment, the units 170, 172 use an ESP-NOW protocol. For example, the units 170, 172 comprise or are ESP32-C2 controllers. As an alternative to the ESP32-C2 controller, units 170, 172 of the type nRF24L01 can be used, for example.

[0078] Transmission of unicast signals, multicast signals and / or broadcast signals is conceivable.

[0079] The transmitting unit 170 can be detachably connected to the floor cleaning device 102. For this purpose, the transmitting unit 170 is designed, for example, as a plug-in module or the like, which can be placed in a corresponding receptacle 174 of the floor cleaning device 102. The transmitting unit 170 is operatively connected to the control unit 160 for bidirectional data exchange. The control unit 160 can control the transmitting unit 170 to emit a signal. Conversely, information based on a received signal can be transmitted from the transmitting unit 170 to the control unit 160.

[0080] Correspondingly, it may be advantageous if the receiving unit 172 is designed as a plug-in module that can be detachably connected to the control unit 136. A corresponding receptacle 176 can also be provided for this purpose. The receiving unit 172 is operatively connected to the control unit 136, preferably for a bidirectional data exchange, as already explained using the example of the transmitting unit 170 and the control unit 160.

[0081] The design as plug-in modules, for example, has the advantage that the transmitting unit 170 and the receiving unit 172 can be coupled to each other even before the learning operating mode. During this pairing process, it is provided, for example, that the units 170, 172 are coupled spatially separate from the floor cleaning device 102 and the roller shutter 124, for example, at a setup station. The receiving unit 172 transmits, for example, a "beacon" signal, which is checked and accepted by the transmitting unit 170. During this data exchange, the corresponding identification numbers, such as MAC addresses, are exchanged. Subsequently, the units 170, 172 can send signals to each other in the coupled state. The signals include, in particular, a state change signal from the transmitting unit 170 and an identification signal in the form of a "heartbeat" signal from the receiving unit 172.

[0082] In the present example, the floor cleaning system includes, but is not limited to, at least one docking station 178 for the floor cleaning device 102. At the docking station 178, for example, an electric battery of the floor cleaning device 102 can be charged, a fresh water tank can be filled, and a dirty water tank can be emptied. In the present case, a docking station 178 is provided in each of the rooms 110, 112, and 114.

[0083] Figure 2 shows the movement of the floor cleaning device 102 by the user 138 in the learning operating mode. The display unit 156 of the user interface 152 in Figure 3 shows the map 164 of the room 110 in which the user 138 is located at that time. It is assumed, without limitation, that the movement path leads from the docking station 178 in room 110 to the docking station 178 in room 112. At the same time, cleaning is performed, with the cleaning unit 144 engaging the floor surface 106.

[0084] In Figure 2, the movement path 140 is shown as a meandering example. Reference numeral 180 symbolizes that the user 138 wants to guide the floor cleaning device to the docking station 178 in room 112, although the exact course of the movement path is not shown and the representation is only symbolic.

[0085] The roller shutter 124 represents a physical obstacle for the floor cleaning device 102 when the repeat mode of operation is subsequently executed, as it assumes the closed state because it blocks the movement path 140. This means that the cleaning task cannot be performed. To enable this, the roller shutter 124 can be transferred to an open state so that the floor cleaning device 102 can traverse the passage 118 and, accordingly, traverse the infrastructure facility 122 on the movement path 140 / 180.

[0086] During the teach-in process, the user 138 moves the floor cleaning device 102 close to the roller shutter 124. The user then defines a position-related interaction event. The interaction event comprises the transmission of a state change signal from the transmitting unit 170 to the receiving unit 172. The state change signal serves to transfer the roller shutter 124 from a first state, in this case the closed state, to a second state, in this case the open state. At least during the repeat operating mode, the state change signal is transmitted to transfer the roller shutter 124 from the first state to the second state depending on the state change signal. Preferably, the state change signal is also transmitted during the teach-in operating mode. Alternatively, the user 138 could open the roller shutter 124 manually, for example, via the control unit 136.

[0087] The definition of the interaction event is performed by the user via the user interface 152. This is symbolized in Figure 3.

[0088] Conveniently, information about the roller shutter 124 has been stored in the storage unit 162 by coupling the units 170, 172. The roller shutter 124, as an infrastructure device 122, can be "created" in the storage unit 162, for example, by providing it with a name and a corresponding symbol 182 to enable intuitive operation by the user 138.

[0089] In Figure 3, an arrow 184 pointing upwards symbolically indicates that the event for opening the gate can be learned.

[0090] The interaction event provides for the transmission of the state change signal so that the roller shutter 124 is opened. The user 138 can then pass through the passage 118 with the floor cleaning device 102. The user is then located in room 112. To close the roller shutter 124 again, the user can define another interaction event via the user interface 152. This is done in a manner similar to that described above, by controlling the roller shutter 124 by transmitting another state change signal. Depending on the another state change signal, the roller shutter 124 is transferred back from the second state to the first state, i.e., from the open state to the closed state.

[0091] In this case, the teach-in symbol 182 could, for example, show a downward-pointing arrow 184.

[0092] It is understood that the roller shutter 124 may be configured to remain open after passage. In this case, it is not necessary to define another interaction event.

[0093] The position of the interaction event is advantageously defined by an interaction zone 186. The interaction zone 186 may, for example, have a size of approximately 2 m 2 up to 20 m 2 It is conceivable that the interaction zone 186 depends, in terms of its size, shape and / or position, on the speed of the floor cleaning device 102 and / or the course of the movement path 140.

[0094] The purpose of the interaction zone 186 is to be able to reliably change the state of the rolling gate 124 so that the passage 118 is released when the rolling gate 124 is reached.

[0095] For this purpose, it is advantageous, for example, if the state change signal is transmitted when entering the interaction zone 186. This makes it possible to use the time for the movement of the floor cleaning device 102 to open the roller shutter 124.

[0096] Conveniently, the state change signal can be repeated, particularly periodically. This can be advantageous to ensure that the roller shutter 124 is open. For example, it is conceivable that after the initial state change signal has been sent and the roller shutter 124 has been opened, another person closes the roller shutter 124 again, requiring it to be opened again.

[0097] It is conceivable that, after an initial waiting period, a periodic transmission of the state change signal occurs. The interaction zone 186 can preferably be edited by the user 138 via the user interface 152, for example, with regard to size / shape and / or position. Editing is preferably also possible after the teach-in operating mode via the user interface 152.

[0098] The size / shape and / or position of the interaction zone 186 is selected, for example, to ensure that the receiving unit 172 can receive the state change signal.

[0099] As already mentioned, the receiving unit 172 can transmit an identification signal in the coupled state. In one example, the definition of the interaction event by the user 138 is only possible once the identification signal has been received by the transmitting unit 170 and a corresponding indication has been provided to the user 138 via the user interface 152. This is an indication to the user 138 that the receiving unit 172 is within range and that the state change signal can be reliably received by the receiving unit 172.

[0100] It may be provided that the interaction zone 186 is defined as the area in which the identification signal can be received.

[0101] In one embodiment of the invention, the interaction event can also be defined after the movement path 140 has been learned. For example, the user 138 first learns the movement path 140 and the associated cleaning task for the floor cleaning device 102. The interaction event can then be added to the movement path 140 and saved. The position of the interaction event is also defined, which can include, in particular, the definition of the interaction zone 186. A possible change to the interaction zone has already been discussed.

[0102] It may be provided that the interaction event can only be defined when the identification signal is received by the transmitting unit 170. For example, the symbol 182 is only displayed when the units 170, 172 are within radio range of each other.

[0103] The decisive factor as to whether the state change signal can be received by the receiving unit 172 or the identification signal by the transmitting unit 170 can be, for example, whether the respective signal at the receiver is above a predeterminable signal strength.

[0104] The (further) state change signal after passing through the roller shutter 124 is advantageously emitted within an interaction zone 188, which can be defined and / or processed in a similar manner to the interaction zone 186. Preferably, the further state change signal is also repeated to ensure that the roller shutter 124 is returned to the closed state (first state).

[0105] In repeat mode, the floor cleaning device 102 moves automatically along the predefined movement path 140. The interaction event is executed to open the roller shutter 124. In particular, it may be provided that it is first ensured that the identification signal of the receiving unit 172 can be received. Alternatively, it is possible for the state change signal to be transmitted regardless of whether the identification signal can be received.

[0106] It can be provided that the receiving unit 172 transmits a status signal to the transmitting unit 170 indicating the current status of the roller shutter 124. For example, if the transmitting unit 170 receives a status signal with the information that the roller shutter 124 is in the open state, the transmission of the status change signal can be omitted.

[0107] Furthermore, it is conceivable for the floor cleaning device 102 to have a sensor unit 190 to detect the state of the roller shutter 124 as the infrastructure device 122, in particular the first state and / or the second state. For example, the state change signal for opening the roller shutter 124 is only transmitted if the sensor unit 190 determines that the roller shutter 124 is in the closed state. The same applies to the further state change signal transmitted for closing the roller shutter 124.

[0108] Information relating to the infrastructure facility 122 can be stored in the storage unit 162. This information is stored, for example, when the units 170, 172 are coupled.

[0109] The information relates, for example, to the type of infrastructure facility 122 as a rolling door, in particular the type of rolling door 124, and its properties. These properties relate, for example, to the times required to open or close the rolling door 124. Furthermore, the information can include, for example, software drivers. The information can be used as the basis for the content and / or transmission of the state change signal, with a view to ensuring the smoothest possible process when moving the floor cleaning device along the movement path 140.

[0110] The statements made in connection with infrastructure facility 122 apply accordingly to infrastructure facility 126, in this case the roller shutter 128. Reference is made to the above explanations.

[0111] For example, it is provided that the movement path 140 of the user 138, during the learning process, leads from the room 112 to the room 114, so that not only the roller shutter 124 has to be passed, but also the roller shutter 128. By way of example, no interaction zones are shown in Figures 2 and 3 for the interaction with the roller shutter 128 because the corresponding interaction event has not yet been learned by the user 138 and no interaction zones have been defined.

[0112] In Figure 3, no symbol 182 is schematically shown for the roller shutter 128 in this case because it is not yet within range of the transmitting unit 170 and no identification signal has yet been detected by the receiving unit 172 on the roller shutter 128. It is understood that the symbol 182 associated with the roller shutter 124 could look identical to the symbol 182 for the roller shutter 124. On the other hand, it can be provided that the user 138 can call up and program the already programed roller shutter 128 via the user interface 152, even if no identification signal can yet be received from it.

[0113] It can be provided that the state change signal is sent as a unicast signal so that it is only received by the respective receiving unit 172 on the roller door 124 or on the roller door 128.

[0114] Alternatively, the transmission of a multicast signal or broadcast signal can be provided, which can be received by both receiving units 172. It can be advantageous if the identification number, for example the MAC address, of the receiving unit 172 to be addressed is part of the state change signal. The other receiving unit 172 can receive the signal, but does not feel addressed and ignores it. The floor cleaning system 100 can preferably include a portable additional device 192, here embodied as a smartphone 194.

[0115] A user application program, such as an app, is stored on the smartphone 194 in an executable manner. The touchscreen 196 of the smartphone 194 forms a user interface 198. The smartphone 194 communicates with the floor cleaning device 102, for example, via Bluetooth.

[0116] Preferably, the user interface 198 offers the same possibilities for interaction for the user 138 with the floor cleaning device 102. For example, it is conceivable that a post-processing of the learned movement path 140 and / or the definition of an interaction event and / or the definition of interaction zones 186, 188 is carried out via the smartphone 194 after the learning operating mode.

[0117] List of reference symbols

[0118] Floor cleaning system Floor cleaning device Scrubber dryer Floor area Surroundings Room Room Room Wall

[0119] Passage Passage

[0120] Infrastructure facility roller shutter

[0121] Infrastructure Rolling door Slat Housing Drive unit Control unit User Movement path Chassis Cleaning unit Floor cleaning head

[0122] Extraction unit Operating unit User interface Input unit Display unit Touchscreen Control unit Storage unit Card

[0123] Localization unit LiDAR Transmitter unit Receiver unit Recording Recording

[0124] Docking station movement path symbol arrow

[0125] Interaction zone

[0126] Interaction zone

[0127] Sensor unit

[0128] Additional device smartphone touchscreen user interface

Claims

PATENT CLAIMS 1. Floor cleaning system (100), comprising a self-propelled and self-steering floor cleaning device (102), having a chassis (142) for moving on the floor surface (106), a control unit (136, 160), a localization unit (166) for determining a position of the floor cleaning device (102) in an environment (108), a cleaning unit (144) for cleaning the floor surface (106) and an operating unit (150), a user interface (152, 198) which is or can be coupled to the control unit (136, 160), and a storage unit (162) in which a map (164) of the environment (108) can be or is stored, wherein the floor cleaning device (102) is designed and configured, under manual guidance of a user (138) on the operating unit (150) in or after a learning operating mode to create a movement path (140, 180) storable in the storage unit (162), wherein the movement path may comprise an interaction event,and to enter a repeat operating mode in which the floor cleaning device (102) automatically processes the movement path (140, 180) and triggers the interaction event, characterized in that the floor cleaning system (100) further comprises a transmitting unit (170) arranged on the floor cleaning device (102) and encompassed by the latter, and a receiving unit (172) arranged on a control unit (136, 160) of an infrastructure device (122, 126) or coupled thereto, which is preferably uniquely coupled to the transmitting unit (170) via a communication connection, wherein the infrastructure device (122, 126) is arranged in the movement path (140, 180), in particular physically blocking it, wherein the user (138) can trigger the interaction event position-related via the user interface (152, 198) in the learning operating mode and / or when processing the movement path (140, 180) defined according to the teach-in operating mode,which comprises transmitting a state change signal from the transmitting unit (170) to the receiving unit (172) at least in the repeat operating mode, for, Transferring the infrastructure device (122, 126) from a first state to a second state depending on the state change signal.

2. Floor cleaning system (100) according to claim 1, characterized in that the receiving unit (172) or the control unit (136, 160) ignores the state change signal after receipt if the infrastructure device (122, 126) assumes the second state.

3. Floor cleaning system (100) according to claim 1 or 2, characterized in that the floor cleaning device (102) is designed and configured, in the repeat operating mode, after prior learning by the user (138) in the learning operating mode, to transmit the state change signal for transferring the infrastructure device (122, 126) from the first state to the second state, to traverse, pass through or use the infrastructure device (122, 126) on the movement path (140, 180), and then to transmit a further state change signal in order to transfer the infrastructure device (122, 126) from the second state to the first state, preferably that the state change signal and the further state change signal are distinguishable from one another.

4. Floor cleaning system (100) according to one of the preceding claims, characterized in that one of the following applies: the infrastructure device (122, 126) is or comprises a gate, in particular a roller shutter (124, 128), or a door, and the state change signal is an opening signal or a closing signal. the infrastructure device (122, 126) is a monitoring device for monitoring the environment (108), and the state change signal is a deactivation signal or an activation signal. the infrastructure device (122, 126) is a transport device, in particular an elevator, and the state change signal is a start signal or a stop signal.

5. Floor cleaning system (100) according to one of the preceding claims, characterized in that at least one of the following applies: the floor cleaning system (100) comprises at least one infrastructure facility (122, 126), in particular a plurality of infrastructure facilities (122, 126). the floor cleaning device (102) comprises the storage unit (162) and / or comprises or forms the user interface (152, 198). the floor cleaning system (100) comprises a portable additional device (192) arranged externally to the floor cleaning device (102), on which a user application program is stored in an executable manner and which comprises the user interface (198).

6. Floor cleaning system (100) according to one of the preceding claims, characterized in that the position at which the interaction event is triggered is defined by an interaction zone (186, 188), wherein the state change signal is transmitted in the repeat operating mode when the floor cleaning device (102) is arranged within the interaction zone (186, 188), in particular when entering the interaction zone (186, 188).

7. Floor cleaning system (100) according to claim 6, characterized in that the interaction zone (186, 188) has a size of approximately 2 m 2 up to 20 m 2 preferably approximately 5 m 2 up to 15 m 2 .

8. Floor cleaning system (100) according to claim 6 or 7, characterized in that at least one of the following applies: the shape of the interaction zone (186, 188) can be specified via the user interface (152, 198); the size of the interaction zone (186, 188) can be specified via the user interface (152, 198); the position of the interaction zone (186, 188) can be specified via the user interface (152, 198); the nature of the interaction zone (186, 188) depends on a travel speed of the floor cleaning device (102) and / or a course of the movement path (140, 180).

9. Floor cleaning system (100) according to one of claims 6 to 8, characterized in that the state change signal is only transmitted when the floor cleaning device (102) is located within the interaction zone (186, 188).

10. Floor cleaning system (100) according to one of the preceding claims, characterized in that the state change signal can be transmitted multiple times by the transmitting unit (170), in particular periodically and / or for a predeterminable period of time.

11. Floor cleaning system (100) according to one of the preceding claims, characterized in that information relating to at least one infrastructure device (122, 126) is stored in the memory unit (162) and in that the user (138) selects the interaction device (122, 126) to which the state change signal is to be transmitted in order to define the interaction event at the user interface (152, 198) in the learning operating mode.

12. Floor cleaning system (100) according to one of the preceding claims, characterized in that the transmitting unit (170) is a transmitting and receiving unit and that the receiving unit (172) is a receiving and transmitting unit for bidirectional communication of the transmitting unit (170) with the receiving unit (172), and that an identification signal can be emitted by the receiving unit (172), in particular periodically.

13. Floor cleaning system (IOO) according to claim 12, characterized in that a definition of the interaction event in the learning operating mode via the user interface (152, 198) is only possible if the transmitting unit (170) receives the identification signal.

14. Floor cleaning system (100) according to claim 12 or 13, characterized in that in the learning operating mode after receiving the identification signal, an indication can be provided to the user (138) via the user interface (152, 198) that the infrastructure device (122, 126) is located in the vicinity, connected to a Request whether an interaction event should be learned for the infrastructure device (122, 126).

15. Floor cleaning system (100) according to one of claims 12 to 14 in conjunction with one of claims 6 to 9, characterized in that the interaction zone (186, 188) is defined as the area in which the identification signal can be received by the transmitting unit (170).

16. Floor cleaning system (100) according to one of claims 12 to 15, characterized in that in the repeat operating mode, the state change signal is only transmitted by the transmitting unit (170) if the identification signal has previously been detected.

17. Floor cleaning system (100) according to one of the preceding claims, characterized in that an acknowledgment signal is transmitted from the receiving unit (172) to the transmitting unit (170) after receiving the state change signal.

18. Floor cleaning system (100) according to one of the preceding claims, characterized in that a status signal is transmitted from the receiving unit (172) to the transmitting unit (170) as to whether the infrastructure device (122, 126) assumes the first state or the second state.

19. Floor cleaning system (100) according to one of the preceding claims, characterized in that information relating to at least one infrastructure facility (122, 126) is stored in the memory unit (162) regarding its type and / or its properties, in particular with regard to the transfer from the first state to the second state and / or vice versa, said information being used as the basis for the content and / or the transmission of the state change signal.

20. Floor cleaning system (100) according to one of the preceding claims, characterized in that a plurality of receiving units (172) are provided which are or can be coupled to the transmitting unit (170), and that one of the following is provided: The state change signal is a unicast signal that is directed to and receivable by only one receiving unit (172). The state change signal is a multicast signal or broadcast signal that is directed to and receivable by two or more or all receiving units (172).

21. Floor cleaning system (100) according to claim 20, characterized in that as a component of the multicast signal or the broadcast signal an identification number of a specific receiving unit (172) is transmitted, which interprets the state change signal as being directed to it, whereas the remaining receiving unit(s) (172) ignore(s) the state change signal.

22. Floor cleaning system (100) according to one of the preceding claims, characterized in that the transmitting unit (170) is detachably connectable to the floor cleaning device (102) or is non-detachably integrated therein.

23. Floor cleaning system (100) according to one of the preceding claims, characterized in that the floor cleaning device (102) comprises a sensor unit (190) for detecting a state of the infrastructure device (122, 126), in particular the first state and / or the second state, and in that the state change signal for transferring the infrastructure device (122, 126) from the first state to the second state is only emitted if the determined state corresponds to the first state and / or in that the state change signal for transferring the infrastructure device (122, 126) from the second state to the first state is only emitted if the determined state corresponds to the second state.

24. Floor cleaning system (100) according to one of the preceding claims, characterized in that the movement path (140, 180) is a cleaning path in which the cleaning unit (144) is in engagement with the floor surface (106), or that the movement path (140, 180) is a transport path in which the cleaning unit (144) is out of operation.

25. A method for operating the floor cleaning system (100) according to any one of the preceding claims, wherein the user (138) defines the interaction event in a position-related manner via the user interface (152, 198) in the teach-in operating mode and / or when processing the movement path (140, 180) according to the teach-in operating mode, a state change signal is sent as part of the interaction event from the transmitting unit (170) to the receiving unit (172), at least in the repeat operating mode, and the infrastructure device (122, 126) is transferred from a first state to a second state depending on the state change signal.

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