Floor cleaning appliance, and floor cleaning system comprising a floor cleaning appliance

Abstract

The present invention relates to a floor cleaning appliance comprising: a chassis (110) for travelling over a floor surface (108); a cleaning device (118) having at least one cleaning tool (120) for cleaning the floor surface (108); a control device (144) for controlling the floor cleaning appliance (100); an operator station (132) for a user; and an operating device (136) for the user, the operating device being coupled to the control device (144), wherein the floor cleaning appliance (100) is designed both to be self-propelled and self-steering for an autonomous operating mode and to be user-guided for a user-guided operating mode, with the user occupying the operator station (132) and using the operating device (136). In order to provide such a floor cleaning appliance having improved operational safety, according to the invention the floor cleaning appliance (100) comprises a safety device (162) which is coupled to the control device (144) and comprises at least one sensor element (164, 166), wherein a signal from the at least one sensor element (164, 166) is indicative of the presence of the user at the operator station (132), wherein an autonomous operating mode can be carried out only when the operator station (132) is unoccupied by a user. The invention also relates to a floor cleaning system comprising a floor cleaning appliance.

Description

[0001] 39995. Nuclear power plant. P110PC

[0002] December 30, 2025

[0003] FLOOR CLEANING DEVICE AND FLOOR CLEANING SYSTEM WITH A FLOOR CLEANING DEVICE

[0004] The present invention relates to a floor cleaning device comprising a chassis for movement on a floor surface, a cleaning device with at least one cleaning tool for cleaning the floor surface, a control device for controlling the floor cleaning device, an operator station for a user and an operating device for a user which is coupled to the control device, wherein the floor cleaning device is designed to be both self-propelled and self-steering for an autonomous operating mode and user-guided for a user-guided operating mode, with the operator station occupied by the user and using the operating device.

[0005] Furthermore, the invention relates to a floor cleaning system comprising a floor cleaning device of the type described above and a docking station at which the floor cleaning device can assume a docking position.

[0006] The aforementioned floor cleaning machine, designed, for example, as a scrubber-dryer, can be used to clean floor surfaces in user-guided operating mode. In this mode, the user interacts with the control unit via the operating device to operate the chassis and cleaning mechanism. The control unit can be electronic and / or mechanical for user-guided operation. A preferred embodiment, for example, uses an electronic control unit where user instructions are digitally recorded and implemented. A workstation, such as a seat or a standing platform, is provided for the user. Alternatively, an autonomous operating mode can be used, in which the floor cleaning machine moves across the floor surface automatically. For example, it is conceivable that the machine autonomously follows a previously programmed cleaning path.

[0007] The object of the present invention is to further develop a floor cleaning device and a floor cleaning system of the type mentioned above, which exhibits higher operational reliability. 39995. AKW. P110PC

[0008] December 30, 2025

[0009] - 2 - This problem is solved in a generic floor cleaning device according to the invention by the fact that the floor cleaning device comprises a safety device coupled to the control unit, which includes at least one sensor element, wherein a signal of the at least one sensor element is indicative of the presence of the user at the operating station, wherein an autonomous operating mode is only feasible if the operating station is free of a user.

[0010] In the floor cleaning device according to the invention, the safety device ensures that no user occupies the operator's position during autonomous operation, as this is not necessary for autonomous operation, and "rides along" on the floor cleaning device. Unwanted rides by persons who are not direct users (e.g., trained users) of the floor cleaning device are thus also prevented.

[0011] For example, when autonomous operating mode is activated, the system first checks whether a user is present at the operator station. Only when the safety device has ensured that no user is at the operator station is autonomous operating mode initiated.

[0012] There may be defined exceptions to the above-mentioned characteristic of the floor cleaning device. For example, the user's presence may be temporarily tolerated during an undocking maneuver from the docking station and / or during a docking maneuver at the docking station in autonomous operating mode. This will be discussed further below.

[0013] Advantageously, the sensor system comprises two or more different sensor elements whose signals can be evaluated independently. The autonomous operating mode is only possible if the signals from both sensor elements indicate that the operator's station is clear. This allows the sensor elements to evaluate the data complementarily, thereby increasing the operational reliability of the floor cleaning device.

[0014] It may be provided that the operator station includes a seat or a standing area for the user and that at least one sensor element of the safety device is provided, based on the signal of which, indicative of the user's presence at the operator station, it can be determined whether the user is seated or standing on the standing area. 39995. Nuclear power plant. P110PC

[0015] December 30, 2025

[0016] - 3 - is displayed. This allows for a constructively simple determination of whether a user is present at the operator station.

[0017] For example, a sensor element is provided to detect when the seat or support surface is under load. Alternatively or additionally, a sensor element is provided to detect when the seat or support surface is unloaded. This is achieved, for example, through binary evaluation with threshold testing. The first sensor element, for instance, provides a signal when loaded, while the second sensor element provides no signal when loaded. Conversely, the second sensor element provides a signal when unloaded, while the first sensor element provides no signal when unloaded.

[0018] The sensor element(s) are designed, for example, as force sensors.

[0019] The user-guided operating mode is preferably only executable if it can be determined, based on the at least one sensor element, that the user is applying pressure to the seat or the standing surface. This ensures that the user is in the prescribed position at the operating station during the user-guided operating mode.

[0020] To take up the operator's position, the user is provided with access, for example, in the sense of an entry point to climb onto the floor cleaning machine.

[0021] The floor cleaning device preferably includes a locking element that can be moved from a closed position, in which user access to the operating station from the outside is blocked, to an open position, in which access is granted to the user, and vice versa. The locking element can, for example, prevent unauthorized access to the floor cleaning device. If the user takes up the operating station correctly, the locking element preferably prevents the user from falling from the floor cleaning device.

[0022] It is understood that the floor cleaning device is being used as intended and that the user has no intention of misusing it, for example by circumventing the locking mechanism.

[0023] A sensor element of the safety device is advantageously arranged on the locking element, whereby the signal of the sensor element can be used to determine whether the 39995. AKW. P110PC

[0024] December 30, 2025

[0025] - 4 - The locking element assumes either the locked or the open position, whereby the autonomous operating mode can only be executed when the locking element is in the locked position. The locking element, when in the locked position, is intended to prevent a user (or any other person) from climbing onto the floor cleaning device when the autonomous operating mode is executed or started.

[0026] In particular, an ongoing autonomous operating mode is stopped when the locking element is moved from the locked position to the open position. An exception may be provided, for example, during an undocking and / or docking maneuver of the floor cleaning device.

[0027] The user-guided operating mode can be executed regardless of whether the locking element is in the locked or open position. For example, if it is detected that the seat or the surface at the operator's station is under load, the system assumes the user is present. In user-guided operating mode, the locking element can be open, giving the user, for example, a better view of the floor and / or a cleaning tool.

[0028] The locking element, in a structurally simple design, can be, for example, a barrier that is pivotally or slidably mounted on the housing of the floor cleaning device to move from the locked position to the open position. A damping element can be provided for a gentle closing of the barrier, preferably preventing a user from becoming trapped. Preferably, the damping element can also assist in opening the barrier.

[0029] At least one sensor element at the operator station (for example, for the seat or the installation surface) and at the locking element are preferably evaluated cumulatively to ensure the absence of the user for the execution of the autonomous operating mode.

[0030] To increase the operational reliability of the floor cleaning device, it is advantageous for the floor cleaning device to be deactivated if the presence of a user at the operating station is detected during autonomous operation, preferably by providing at least one sensor element as described above. 39995. AKW. P110PC

[0031] December 30, 2025

[0032] - 5 - Advantageously, in user-guided operating mode, a cleaning path can be taught to the floor cleaning device and stored in its memory (teach mode). In autonomous operating mode, the cleaning path can be executed repeatedly (repeat mode). In non-autonomous mode, the cleaning path is taught and stored. Subsequently, the cleaning path can be executed autonomously. It is understood that multiple cleaning paths can be stored, which can preferably be linked together to form routes.

[0033] The repeat mode is conveniently activated by the user at the operator's station via the control unit, in particular a touch-sensitive input device (e.g., a touchscreen). The repeat mode starts after a predefined period of time and / or after verification that the operator's station is clear. For example, the user starts the repeat mode at the operator's station and leaves the floor cleaning machine, which is detected by the sensor. Only then is the repeat mode executed. For example, it is verified that the seat or the platform is unoccupied and that the locking mechanism is closed. The predefined period of time can be, for example, several seconds.

[0034] In this context, "predetermined" preferably includes "predeterminable".

[0035] The safety device preferably includes at least one stop control element, the activation of which temporarily puts the floor cleaning device into an interruption mode. The stop control element is useful, for example, to temporarily interrupt the operation, particularly autonomous operation. This might be necessary, for instance, to perform minor maintenance on the floor cleaning device or to remove an obstacle from the cleaning path.

[0036] Activating the stop control interrupts the journey. However, the cleaning system and dirt collection system, for example, remain in operation.

[0037] The at least one stop control element is preferably located on the outside of the housing of the floor cleaning device so that it can be easily reached by a user. 39995. AKW. P110PC

[0038] December 30, 2025

[0039] - 6 - For example, at least one stop control is located on the rear of the floor cleaning machine, relative to one of the main directions of movement of the floor cleaning machine. The main direction of movement is, for example, when traveling straight ahead. Positioning it at the rear is advantageous because the floor cleaning machine usually travels forward in autonomous operating mode, and this means the user does not have to step into the cleaning path to activate the stop control. The user can approach the floor cleaning machine from behind to activate it.

[0040] For example, a stop control element is located on or near the front of the floor cleaning device, for example on the control panel.

[0041] Alternatively or additionally, for example a stop control element is arranged on a left side of the floor cleaning device, in relation to its main direction of movement.

[0042] Alternatively or additionally, for example a stop control element is arranged on a right side of the floor cleaning device, in relation to its main direction of movement.

[0043] The floor cleaning machine enters interrupt mode, for example, for a predetermined period. Operation resumes if the stop button is not pressed again before the end of this period. If the stop button is pressed again within this period, the interrupt mode resumes, specifically for another predetermined period. This results in an interrupt behavior inverse to a dead man's switch, where a control must be repeatedly pressed to maintain operation.

[0044] The duration can be approximately 30 seconds or more, for example, about 60 seconds.

[0045] Alternatively, the floor cleaning device can enter interrupt mode, for example, as long as the stop control is activated, pressed or held. Operation resumes when the control is released.

[0046] Alternatively, the floor cleaning device is restarted, for example, by pressing the stop control again to end the interruption mode. 39995. Nuclear power plant. P110PC

[0047] December 30, 2025

[0048] - 7 - It may be provided that the floor cleaning device, particularly in user-guided operating mode, can be temporarily put into an interruption mode and / or restarted by the user using the control unit, in particular a touch-sensitive input unit of the control unit. The functionality may correspond to that achieved via the aforementioned stop control element.

[0049] If the floor cleaning device has been operating autonomously, the autonomous operation is preferably not terminated by pressing the stop control or by the user's input via the control device and the resulting entry into interrupt mode.

[0050] It may be possible for the user to put the floor cleaning device into pause mode at the operator's station via the control unit, in particular a touch-sensitive input unit, during interrupted operation. For this purpose, for example, logging into the floor cleaning device by entering an authentication identifier is required.

[0051] In pause mode, the floor cleaning device is, for example, taken out of operation, specifically out of autonomous operation, whereby the cleaning unit, dirt collection device, and any other functional units are also deactivated. In pause mode, for example, operation will not resume after the preset time has elapsed or by pressing the stop button again.

[0052] Starting from pause mode, operation can be resumed, for example, by the user restarting the floor cleaning device at the operating station via the control unit, in particular a touch-sensitive input unit.

[0053] It may be provided that the user can retrieve status information about the floor cleaning device at the operator's station via the control device, in particular a touch-sensitive input unit, during interrupt mode and / or pause mode. In interrupt mode and / or pause mode, which, for example, temporarily suspends autonomous operation, the user's presence at the operator's station may be (temporarily) tolerated. For example, it is provided that smaller 39995. AKW. P110PC

[0054] December 30, 2025

[0055] - 8 - To perform maintenance work by retrieving status information without completely shutting down the operation of the floor cleaning device. This could include, for example, viewing an error report, information on the contamination of a navigation device (Lidar, etc.), or similar information.

[0056] It may be possible to configure the system so that, in interrupt mode, operation is aborted via the control unit and the floor cleaning device is autonomously sent to a desired position. This position could be, for example, a docking position at the docking station or a defined safety position.

[0057] The resumption of operation from interrupted mode preferably occurs with a predetermined time delay, which may be, for example, a few seconds. This applies particularly if the floor cleaning device must be restarted by pressing the stop control again, as mentioned above.

[0058] The operating mode set before the interruption mode is preferably retained.

[0059] It is advantageous if the user can set an emergency operating mode at the operator's station via the control unit, particularly a touch-sensitive input device, in which the floor cleaning machine's travel distance, duration, and / or speed are limited to a predefined value. In emergency operating mode, the floor cleaning machine can be moved autonomously and / or by the user to another position, although this is only possible to a limited extent and the travel distance, duration, or speed is restricted. For example, a path blocked by the floor cleaning machine can be cleared, or a response can be made to a hazardous situation in the vicinity, such as moving the floor cleaning machine to a safe location.

[0060] Conveniently, the emergency operating mode can be set independently of the previously used mode (autonomous operating mode, user-guided operating mode, interruption mode, pause mode and / or floor cleaning device out of operation).

[0061] The safety device preferably includes at least one emergency stop control element, the activation of which shuts down the floor cleaning device. For example, 39995. AKW. P110PC

[0062] December 30, 2025

[0063] - 9 -Restarting the system cannot be done without further ado, but only, for example, by qualified maintenance personnel. Alternatively, a user can continue operation, for example, by acting on the emergency stop control element, for example, if it is designed as an emergency stop switch.

[0064] The at least one emergency stop control element is preferably located on the outside of the housing of the floor cleaning device so that it is easily accessible.

[0065] For example, an emergency stop control element is located on or near the front of the floor cleaning device, for example on the control panel.

[0066] Alternatively or additionally, for example an emergency stop control element is arranged on a rear side of the floor cleaning device, relative to a main direction of movement of the floor cleaning device.

[0067] Alternatively or additionally, for example an emergency stop control element is arranged on a left side of the floor cleaning device, in relation to its main direction of movement.

[0068] Alternatively or additionally, for example an emergency stop control element is arranged on a right side of the floor cleaning device, in relation to its main direction of movement.

[0069] Two or more emergency stop controls are preferably independent of each other.

[0070] The floor cleaning device can be designed as a scrubber-dryer, comprising a reservoir for cleaning fluid, a dirty fluid container and a dirt collection device for collecting soiled cleaning fluid from the floor surface and transferring it to the dirty fluid container.

[0071] As mentioned at the outset, the present invention also relates to a floor cleaning system comprising a floor cleaning device and a docking station. The aforementioned problem is solved according to the invention in that the floor cleaning device is a floor cleaning device of the type described above and that the floor cleaning device, in a docking maneuver, moves into a docking position at the 39995. AKW. P110PC

[0072] December 30, 2025

[0073] - 10- Docking station is movable and can be moved from the docking station in an undocking maneuver from the docking position.

[0074] The advantages and effects that can be achieved with the floor cleaning device according to the invention can also be implemented in the floor cleaning system. Advantageous embodiments of the floor cleaning system according to the invention result from advantageous embodiments of the floor cleaning device according to the invention. Reference is made to the above descriptions.

[0075] It may be possible – as already indicated – for the undocking and / or docking maneuver to be performed in autonomous operating mode even when a user is present at the operator's station. This means that the undocking and / or docking maneuver can be carried out with the user present, particularly within a predefined distance of the floor cleaning machine from the docking station, for a predefined travel distance, and / or for a predefined travel duration. For example, it is intended that undocking and / or docking is performed, or can be performed, independently of the user's presence in autonomous operating mode, for instance, to ensure that the floor cleaning machine docks and undocks reliably.

[0076] The user can be provided with a control element for the undocking and / or docking maneuver at the operating device, for example, a touch-sensitive input unit (such as a touchscreen). Activating this element initiates autonomous undocking and / or docking. In this case, which occurs, for example, before the start of teach mode (beginning after leaving the docking station) or after the end of teach mode (ending before the docking station), the user's presence can be tolerated.

[0077] After undocking, the floor cleaning device in the above example is in user-guided operating mode for teaching.

[0078] At the end of the teaching process, the user is asked, for example via the touchscreen, whether the cleaning path, including docking, should be saved. This is only possible, for instance, if the floor cleaning device is close enough to the docking station. If the cleaning path is saved, for example, normal39995. AKW. P110PC

[0079] December 30, 2025

[0080] - 11 - can be operated in a user-guided manner. The docking maneuver can be triggered, for example, with a user present, by pressing the control element on the touchscreen.

[0081] The following description of preferred embodiments of the invention, in conjunction with the drawing, serves to explain the invention in more detail. The drawing shows:

[0082] Figure 1: the floor cleaning device according to the invention in a preferred embodiment in a side view;

[0083] Figure 2: the floor cleaning device from Figure 1 in a perspective view with an open battery compartment;

[0084] Figure 3: the floor cleaning system according to the invention in schematic representation, comprising the floor cleaning device from Figure 1 and a docking station, wherein the floor cleaning device assumes a docking position;

[0085] Figure 4: a representation of the system according to Figure 3 during a dodging or docking maneuver; and

[0086] Figure 5: the system according to Figure 3 after the undocking maneuver or before the docking maneuver.

[0087] The drawing shows a preferred embodiment of a floor cleaning device according to the invention, designated by reference numeral 100. The floor cleaning device 100 is part of a floor cleaning system 102 according to the invention, which further comprises a docking station 104 and is shown schematically in Figures 3 to 5.

[0088] In the present case, the floor cleaning device 100 is designed as a scrubber-dryer 106, with which a floor area 108 can be cleaned.

[0089] For the process on the floor surface 108, the floor cleaning device 100 comprises a chassis 110, which includes drive wheels 112 (the drawing shows only one drive wheel 112) and a steering wheel 114. The drive wheels can be driven by a drive unit 116. 39995. AKW. P110PC

[0090] December 30, 2025

[0091] - 12 - A cleaning device 118 is provided for cleaning the floor surface 108, comprising at least one cleaning tool 120. In this case, the cleaning tools 120 are disc brushes 122 (only one shown in Figure 1) and a side brush 124. Roller brushes, for example, could be provided instead of the disc brushes 122.

[0092] The floor cleaning device 100 further comprises a reservoir 126 for a cleaning fluid, in particular water, a dirt collection device 128, and a dirty fluid container 130. During cleaning, the floor surface 108 is moistened with the cleaning fluid. The dirt is loosened by means of the cleaning tools 120. The dirty fluid is collected by the dirt collection device 128 and transferred to the dirty fluid container 130.

[0093] The floor cleaning device 100 can be operated both in a user-guided manner by a user not shown in the drawing and autonomously, whereby for the latter purpose it is designed to be self-steering and self-driving and the cleaning device 118, the dirt collection device 128 and the supply of cleaning fluid are also controllable.

[0094] A control station 132 is provided for the user, which includes a seat 134. The floor cleaning device 100 is therefore a ride-on device. Alternatively, it could, for example, be a stand-on device with a platform for the user.

[0095] Furthermore, an operating device 136 is provided, which includes a steering wheel 138 for specifying the direction of travel, as well as a combined input and output unit 140, in this case designed as a touchscreen 142.

[0096] The floor cleaning device 100 comprises a control unit 144, a storage unit 146 and a navigation unit 148. A steering unit 150, which includes a steering actuator, is assigned to the steering wheel 114.

[0097] In user-guided operating mode, the user occupies operator station 132 and sits on seat 134.

[0098] The control unit 136 also includes a pedal 152 for acceleration. Without actuation of the pedal 152, the floor cleaning device 100 brakes. Alternatively, a further pedal 154 can be provided for braking, as shown in Figure 2. The commands of the 39995. AKW. P110PC

[0099] December 30, 2025

[0100] - 13 - at least one pedal 152, 154 is processed by the control unit 144 to control the drive unit 116 and a brake unit 156. Steering is via the steering wheel 138, in this case in "steer-by-wire" mode, whereby inputs are processed by the control unit 144 and transmitted to the steering unit 150 for the steering wheel 114.

[0101] Further operating instructions, in particular concerning the cleaning device 118, the supply of cleaning fluid and the dirt collection device 128, can be made in particular via the touchscreen 142.

[0102] Electrical energy is provided by means of an energy storage device 158, which in this case comprises a plurality of rechargeable batteries 160.

[0103] The floor cleaning device 100 can operate autonomously under control by the control unit 144. For example, a predefined cleaning path is stored in the memory unit 146, which is followed autonomously. The cleaning path can contain a cleaning operation in which the cleaning tools 120 are engaged with the floor surface 108. It is also conceivable that the cleaning tools 120 are at least temporarily out of engagement with the floor surface 108.

[0104] The floor cleaning device 100 is designed to enter a teach mode. In teach mode, the user operates the floor cleaning device 100 in the desired manner. The learned cleaning path is stored in the memory unit 146.

[0105] The learned cleaning path can be repeated in a repeat mode, which is an autonomous operating mode. The floor cleaning device 100 follows the cleaning path autonomously without user intervention after the user has activated repeat mode.

[0106] Navigation within the environment is carried out using the navigation device 148. The control unit 144 is coupled to the navigation device 148, the storage device 146, the operating device 136, the drive device 116, the cleaning device 118, the dirt collection device 128, and the steering device 150. 39995.AKW.P110PC

[0107] December 30, 2025

[0108] - 14 - The navigation device 148 may include sensors for monitoring the environment of the floor cleaning device 100, for example optical sensors (e.g. camera, stereo camera, lidar, time-of-flight camera, IR sensors...), tactile sensors (bumpers or similar) and / or ultrasonic sensors.

[0109] To increase operational safety, the floor cleaning device 100 includes a safety device 162 coupled to the control unit 144.

[0110] The autonomous operating mode is only possible if the safety device 162 can determine that the operator station 132 is free of a user, i.e., no user is occupying the operator station 132. An exception, which will be discussed below, may be provided for, in particular, during undocking from and docking with the docking station 104.

[0111] The safety device comprises at least one sensor element. In this case, at least one sensor element is provided at seat 134, in particular two sensor elements 164, 166. The sensor elements 164, 166 are designed as force sensors.

[0112] The sensor elements 164 and 166 can be used to determine whether the seat 134 is occupied. The sensor elements 164 and 166 are evaluated redundantly. Sensor element 164 provides a signal when the seat 134 is occupied, and sensor element 166 provides no signal. Conversely, sensor element 166 provides a signal when the seat 134 is unoccupied, and sensor element 164 provides no signal.

[0113] As can be seen in Figure 2, the floor cleaning device 100 has an access point 168 for the user to climb onto the floor cleaning device 100 and take up the operating position 132. The access point 168 is designed as an entry.

[0114] A locking element 170, configured here as a barrier 172, is arranged at access point 168. The barrier 172 is arranged on a housing 174 of the floor cleaning device 100, in this case on the right side with respect to the main direction of movement 176.

[0115] The barrier 172 can assume a closed position as shown in Figure 2, in which access 168 to the operator station 132 is blocked. 39995. Nuclear power plant. P110PC

[0116] December 30, 2025

[0117] - 15- Starting from the closed position, the locking element 170 can be moved to an open position, indicated in Figure 1 by a dashed line 178. In the open position, access 168 is granted to the user. Conversely, the locking element 170 can be moved from the open position to the closed position.

[0118] The locking element 170 is movably mounted on the housing 174 and, in this case, is pivotally mounted about a pivot axis 180. Alternatively, a sliding mounting is conceivable, for example.

[0119] The movement of the locking element 170 during closing is damped by a damping element 182, shown schematically, which preferably prevents the user from being trapped. The damping element 182 advantageously also assists in opening the locking element 170.

[0120] The sensor device 162 includes a further sensor element 184 on the locking element 170. The sensor element 184, which is designed, for example, as a proximity sensor, can be used to determine whether the barrier 172 is closed.

[0121] The sensor elements 164, 166 and 184 can be evaluated cumulatively to determine whether the operator station 132 is occupied by the user or is free of the user.

[0122] The user-guided mode is executed when the user occupies the operator position 132 and controls the floor cleaning device 100 via the control unit 136. It may be stipulated that the system checks whether the seat 134 is occupied; if it is not, operating instructions at the control unit 136, for example, will not be received.

[0123] The user-guided operating mode can be executed, for example, regardless of whether the locking element 170 is in the closed or open position. For instance, the open position may be desirable for the user to provide a better view of the floor surface 108 and the side brush 124.

[0124] In contrast, subject to the exceptions mentioned below, autonomous operating mode is only possible if the operator station 132 is free of a user. In particular, it is cumulatively checked that the seat 134 is unoccupied and that the locking element 170 is in the closed position. 39995. AKW. P110PC

[0125] December 30, 2025

[0126] - 16-

[0127] This check can be performed before and during autonomous operation. For example, if it is detected during autonomous operation that seat 134 is occupied or that barrier 172 is opened, the autonomous operation of the floor cleaning device 100 is stopped. In each of the aforementioned cases, the control unit 144 assumes that the user is present at the operator station 132.

[0128] Accordingly, the signals from sensor elements 164, 166 and 184 are indicative of the presence of the user or, conversely, of the absence of the user.

[0129] The repeat mode has already been discussed. It may be intended that the repeat mode is started by the user at workstation 132 via the control unit 136, in particular the touchscreen 142. The repeat mode is started, for example, after a predetermined time period of, say, a few seconds.

[0130] Preferably, it is cumulatively checked that the operator station 132 is clear of the user, assuming that the user has left the operator station 132. The seat 134 is checked for unloaded status and the locking element 170 is checked for the closed position.

[0131] The undocking and docking of the floor cleaning device 100 is described below with reference to Figures 3 to 5.

[0132] A consumable component, such as cleaning fluid or electricity, can be supplied via the docking station 104, and dirty fluid can be discharged when the floor cleaning device 100 assumes the docking position (Figure 3).

[0133] The present embodiment envisages that the undocking maneuver be performed autonomously. In this embodiment, the presence of the user at operator station 132 during the undocking maneuver is tolerated.

[0134] For example, the user wants to teach a cleaning path in teach mode. The undocking maneuver begins autonomously after the user initiates it via touchscreen 142. Despite the load on seat 134 and even with barrier 172 open, the floor cleaning device 100 proceeds autonomously during the undocking maneuver. 39995. AKW. P110PC

[0135] December 30, 2025

[0136] - 17- Autonomous operation continues until the floor cleaning device 100 reaches a predetermined distance from the docking station 104. In Figures 4 and 5, this distance is symbolized by a dashed line 186. Figure 4 shows the floor cleaning device 100 during the undocking maneuver. Figure 5 shows that the undocking maneuver is complete and the floor cleaning device 100 is outside the predetermined distance. Under this condition, the autonomous operating mode ends automatically. The user can be notified of this via the touchscreen 142. The user then operates the floor cleaning device 100 in teach mode.

[0137] The docking maneuver after the initial setup can proceed in reverse. First, the user moves the floor cleaning device 100 in a user-guided manner until the specified distance is reached (Figure 5). The user can be given a corresponding notification via the touchscreen 142, or the control unit 144 can automatically stop the floor cleaning device 100.

[0138] For example, the user is asked via touchscreen 142 whether the cleaning path including docking should be saved.

[0139] Once the cleaning path is saved, the floor cleaning device 100 can be operated and moved in a normal user-guided manner.

[0140] It may be provided that an autonomous docking maneuver is started by actuating a control element on the touchscreen 142, whereby in this example the presence of the user at the operator station 132 is tolerated regardless of the loaded seat 134 and possibly open barrier 172 (Figures 4 and 5).

[0141] The repeat mode is started by the user via the control unit 136 and initiated with the specified time delay, during which time the floor cleaning device 100 is still in the docking position. The undocking and docking maneuvers are performed autonomously in repeat mode.

[0142] The distance of the floor cleaning device 100 from the docking station 104 can be determined, for example, using the navigation device 148.

[0143] Docking station 104 is located by means of the navigation device 148, for example, based on clearly recognizable contours and / or on at least one marker, e.g., in39995. AKW. P110PC

[0144] December 30, 2025

[0145] - 18- Form of an optical code, recognized. For example, from an operational safety perspective, it is conceivable that the user's presence at the operator station 132 is permitted, particularly during undocking and / or docking, if the docking station 104 is or is detected and / or the floor cleaning device 100 is close enough to the docking station 104.

[0146] The safety device 162 includes at least one emergency stop control element 188. When this element is activated, the floor cleaning device 100 is taken out of service, regardless of whether it is operating in user-guided or autonomous mode. For example, when the emergency stop control element 188 is activated, the movement is interrupted and the cleaning device 118 and the dirt collection device 128 are deactivated.

[0147] Two identically designed but independently reacting emergency stop operating elements 188 are provided here. The operating elements 188 are pushbuttons 190, in particular emergency stop switches. Preferably, the operating elements 188 are colored or marked with a signal color, in particular red.

[0148] The floor cleaning device 100 comprises, with respect to the main direction of movement 176, a push button 190 each near the front 192 at the control unit 136 and at the rear 194. The push buttons 190 are located on the top and outside of the housing 174 and can therefore be easily reached by bystanders.

[0149] Furthermore, the safety device 162 includes a stop control element 196, which in this case is also designed as a push button 198. The floor cleaning device 100 can be put into an interrupt mode using the stop control element 196. In interrupt mode, the travel is interrupted, while the cleaning unit 118 and the dirt collection unit 128 continue to operate.

[0150] The floor cleaning device 100 enters interrupt mode for a predetermined period of, for example, 60 seconds. Operation resumes if the stop control 196 is not pressed again before the end of this period. If the stop control 196 is pressed again within this period, the interrupt mode resumes, specifically for another predetermined period.

[0151] In an alternative version, the operation of the floor cleaning device 100 is continued by pressing the stop control element 196 again. 39995. AKW. P110PC

[0152] December 30, 2025

[0153] - 19 -

[0154] In an alternative version, the interrupt mode is maintained as long as the stop control 196 is activated.

[0155] Continued operation can be in an autonomous operating mode or a user-guided operating mode.

[0156] The push button 198 is located on the rear side 194, on the top and outside of the housing 174. This makes the push button 198 easily accessible to people. Positioning it on the rear side 194 is advantageous because the floor cleaning device 100 is usually moved or transported forwards.

[0157] The stop control element 196 is preferably colored or marked with a signal color (for example, blue) that differs from the color of the control elements 188.

[0158] The interrupt mode is used, for example, to carry out minor maintenance work or to remove an obstacle from the path of travel.

[0159] It may be possible for the user to put the floor cleaning device 100 into pause mode via the touchscreen 142 at the operator station during interrupt mode. In pause mode, the floor cleaning device 100 is taken out of operation, and the cleaning unit 118 and the dirt collection unit 128 are also deactivated. To enter pause mode, the user must log in to the floor cleaning device 100, for example by entering an authentication identifier on the touchscreen 142.

[0160] Starting from pause mode, operation can be resumed, for example, by the user restarting the floor cleaning device 100 via the touchscreen 142.

[0161] Furthermore, in interrupt mode and / or pause mode, it may be provided that the user at the operator station 132 can retrieve status information about the floor cleaning device 100 via the touchscreen 142, as already explained. 39995. AKW. P110PC

[0162] December 30, 2025

[0163] - 20 - Furthermore, it may be provided that – advantageously independent of the previously selected operating mode – an emergency operating mode can be set by the user at the operator station 132. This serves, for example, to move the floor cleaning device 100 from a danger zone to a safe position under user guidance. In emergency operating mode, the floor cleaning device 100 is limited to a predetermined value, as explained, particularly with regard to the travel distance, travel time and / or speed.

[0164] It may be provided that monitoring is carried out to ensure that any covers, such as maintenance hatches on the housing 174 and / or the cleaning device 118, are closed in order to put the floor cleaning device 100 into operation. Monitoring is carried out, for example, by means of the navigation device 148, which may include a lidar capable of detecting the position of covers located externally on the housing 174 and / or on the cleaning device 118. 39995. Nuclear power plant. P110PC

[0165] December 30, 2025

[0166] - 21 - List of reference symbols

[0167] 100 floor cleaning device

[0168] 102 Floor cleaning system

[0169] 104 Docking station

[0170] 106 scrubber-dryer

[0171] 108 floor area

[0172] 110 chassis

[0173] 112 Drive wheel

[0174] 114 Swivel caster

[0175] 116 Drive unit

[0176] 118 Cleaning equipment

[0177] 120 cleaning tools

[0178] 122 plate brush

[0179] 124 side brushes

[0180] 126 storage containers

[0181] 128 Dirt collection device

[0182] 130 dirty water containers

[0183] 132 operator stations

[0184] 134 seats

[0185] 136 Control unit

[0186] 138 Steering wheel

[0187] 140 Input and output units

[0188] 142 Touchscreen

[0189] 144 Control unit

[0190] 146 Storage device

[0191] 148 Navigation system

[0192] 150 Steering device

[0193] 152 Pedal

[0194] 154 Pedal

[0195] 156 Brake system

[0196] 158 Energy storage device

[0197] 160 battery

[0198] 162 Safety device

[0199] 164 Sensor element 39995. Nuclear power plant. P110PC

[0200] December 30, 2025

[0201] - 22 - 166 Sensor element

[0202] 168 access

[0203] 170 locking element

[0204] 172 barrier

[0205] 174 cases

[0206] 176 Main direction of movement 178 Dashed line

[0207] 180° swivel axis

[0208] 182 Damping element

[0209] 184 Sensor element

[0210] 186 dashed line

[0211] 188 Emergency stop control element 190 Push button

[0212] 192 Front

[0213] 194 reverse

[0214] 196 Stop control

[0215] 198 snap fasteners

Claims

39995. Nuclear power plant. P110PC December 30, 2025 - 23 - PATENT CLAIMS 1. Floor cleaning device, including a chassis (110) for movement on a ground surface (108), a cleaning device (118) with at least one cleaning tool (120) for cleaning the floor surface (108), a control unit (144) for controlling the floor cleaning device (100), an operator station (132) for a user, and an operating device (136) for the user, which is coupled to the control device (144), wherein the floor cleaning device (100) is designed to be both self-propelled and self-steering for an autonomous operating mode and user-guided for a user-guided operating mode, with the user taking up the operator's seat (132) and using the operating device (136), characterized by the fact that The floor cleaning device (100) comprises a safety device (162) coupled to the control device (144), which includes at least one sensor element (164, 166), wherein a signal from the at least one sensor element (164, 166) is indicative of the presence of the user at the operating station (132), wherein an autonomous operating mode is only possible if the operating station (132) is free of a user.

2. Floor cleaning device according to claim 1, characterized by the fact that the sensor device comprises two or more different sensor elements (164, 166) whose signals can be evaluated independently of each other, and that the autonomous operating mode can only be executed if it is determined, based on the signals of both sensor elements (164, 166), that the operator station (132) is free of the user.

3. Floor cleaning device according to claim 1 or 2, characterized by the fact that The operator station (132) includes a seat (134) or a standing area for the user, and at least one sensor element (164, 166) of the safety device (162) is provided, based on whose signal, indicative of 39995. AKW. P110PC December 30, 2025 - 24 - the presence of the user at the operator station (132) can be determined, whether the user is seated (134) or standing on the installation area.

4. Floor cleaning device according to claim 3, characterized by the fact that a sensor element (164) is provided with which it can be determined that the seat (134) or the mounting surface is loaded and / or that a sensor element (166) is provided with which it can be determined that the seat (134) or the mounting surface is unloaded, wherein preferably the signals of both sensor elements (164, 166) can be evaluated redundantly.

5. Floor cleaning device according to claim 3 or 4, characterized by the fact that The user-guided operating mode can only be executed if it can be determined, based on the at least one sensor element (164, 166), that the user is putting weight on the seat (134) or the installation surface.

6. Floor cleaning device according to one of the preceding claims, characterized by the fact that the floor cleaning device (100) includes a locking element (170) which can be moved from a closed position, in which access (168) to the operator station (132) from the outside is blocked for a user, to an open position, in which access (168) is granted to the user, and vice versa.

7. Floor cleaning device according to claim 6, characterized by the fact that a sensor element (184) of the safety device is arranged on the locking element (170), wherein it can be determined from the signal of the sensor element (184) whether the locking element (170) is in the locked position or the open position, wherein the autonomous operating mode can only be executed if the locking element (170) is in the locked position.

8. Floor cleaning device according to claim 6 or 7, characterized by the fact that The user-guided operating mode can be executed regardless of whether the locking element (170) is in the locked or open position. 39995. Nuclear power plant. P110PC December 30, 2025 - 25 - 9. Floor cleaning device according to one of claims 6 to 8, characterized by the fact that the locking element (170) is a barrier (172) which is pivotably or slidably mounted on a housing (174) of the floor cleaning device (100) to transfer from the locked position to the open position.

10. Floor cleaning device according to one of the preceding claims, characterized by the fact that The floor cleaning device (100) is taken out of service if the presence of the user at the operator station (132) is detected during the autonomous operating mode.

11. Floor cleaning device according to one of the preceding claims, characterized by the fact that with the floor cleaning device (100) in user-guided operating mode a cleaning path can be taught and stored in a memory device (146) of the floor cleaning device (100) (Teach mode), and with the floor cleaning device (100) in autonomous operating mode the cleaning path can be executed repeatedly (Repeat mode).

12. Floor cleaning device according to claim 11, characterized by the fact that the repeat mode can be triggered by the user at the operator station (132) via the operating device (136), in particular a touch-sensitive input unit (140), wherein the repeat mode is started after a predetermined time period and / or after verification that the operator station (132) is free of a user.

13. Floor cleaning device according to one of the preceding claims, characterized by the fact that The safety device (162) includes at least one stop control element (196) which, when activated, temporarily puts the floor cleaning device (100) into an interruption mode.

14. Floor cleaning device according to claim 13, characterized by the fact that 39995. Nuclear power plant. P110PC December 30, 2025 - 26 - that at least one stop control element (196) is arranged on the outside of a housing (174) of the floor cleaning device (100) and / or that the at least one stop control element (196) is arranged on a rear (194), on or near a front (192), on a left side and / or on a right side of the floor cleaning device (100), with respect to a main direction of movement (176) of the floor cleaning device (100).

15. Floor cleaning device according to claim 13 or 14, characterized by the fact that one of the following applies: The floor cleaning device (100) enters interrupt mode for a predetermined period of time, whereby operation continues if the stop control element (196) is not activated again before the expiry of the period of time; The floor cleaning device (100) enters interrupt mode as long as the stop control (196) is activated; The floor cleaning device (100) is restarted when the stop control element (196) is pressed again to end the interrupt mode.

16. Floor cleaning device according to one of the preceding claims, characterized by the fact that The floor cleaning device (100) can be temporarily put into an interruption mode and / or put back into operation by the user using the operating device (136), in particular a touch-sensitive input unit (140) of the operating device (136).

17. Floor cleaning device according to one of claims 13 to 16, characterized by the fact that The floor cleaning device (100) can be put into a pause mode by the user at the operator station (132) via the operating device (136), in particular a touch-sensitive input unit (140), during the interrupt mode and / or the pause mode, and / or the user can retrieve status information about the floor cleaning device (100) at the operator station (132) via the operating device (136), in particular a touch-sensitive input unit (140). 39995. AKW. P110PC December 30, 2025 - 27 - 18. Floor cleaning device according to one of claims 13 to 17, characterized by the fact that Operations will resume with a predetermined time delay.

19. Floor cleaning device according to one of the preceding claims, characterized by the fact that The user at the operator station (132) can set an emergency operating mode via the operating device (136), in particular a touch-sensitive input unit (140), whereby the floor cleaning device (100) is limited to a predetermined value with respect to the travel distance, travel time and / or speed.

20. Floor cleaning device according to one of the preceding claims, characterized by the fact that the safety device (162) includes at least one emergency stop control element (188) which, when activated, puts the floor cleaning device (100) out of service.

21. Floor cleaning device according to claim 20, characterized by the fact that that at least one emergency stop control element (188) is arranged on the outside of a housing (174) of the floor cleaning device (100).

22. Floor cleaning device according to claim 20 or 21 , characterized by the fact that an emergency stop control element (188) is arranged on or near a front (192), a rear (194), a left side and / or a right side of the floor cleaning device (100), with respect to a main direction of movement (176) of the floor cleaning device (100).

23. Floor cleaning device according to one of the preceding claims, characterized by the fact that The floor cleaning device (100) is designed as a scrubber-dryer (106), wherein the floor cleaning device (100) has a reservoir (126) for cleaning fluid, a dirt fluid reservoir (130) and a dirt collection device (128) for collecting soiled 39995. AKW. P110PC December 30, 2025 - 28 - Cleaning fluid from the floor surface (108) and transfer to the dirty fluid container (130) includes.

24. Floor cleaning system comprising a floor cleaning device (100) according to one of the preceding claims and a docking station (104), wherein the floor cleaning device (100) is movable into a docking position at the docking station (104) in a docking maneuver and is movable out of the docking position from the docking station (104) in an undocking maneuver.

25. Floor cleaning system according to claim 24, characterized by the fact that the undocking maneuver and / or the docking maneuver in autonomous operating mode can also be carried out when a user is positioned at the operator station (132), wherein the undocking maneuver and / or the docking maneuver can be carried out in particular within a predefinable distance of the floor cleaning device (100) from the docking station (104), for a predefinable travel distance and / or a predefinite travel duration of the floor cleaning device (100).

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