Floor cleaning machine and method for controlling a floor cleaning machine
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Solution Overview
Problem
Existing autonomous floor cleaning devices lack operational reliability, particularly when encountering obstacles, especially humans, leading to potential safety risks and inefficiencies in navigation and cleaning performance.
Innovation Solution
The device classifies obstacles as persons or objects using sensor data, activating appropriate functional units such as notification systems, adjusting speed, distance, and cleaning tools to ensure safety and efficiency, and employs adaptive navigation strategies to overcome obstacles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If the floor cleaning device uses a sensor unit to detect obstacles autonomously, then navigation capability is improved, but operational reliability deteriorates due to inability to distinguish between persons and objects
Solution Approach 1:
The control unit changes operational parameters based on obstacle classification: when a person is detected, the device activates notification units (optical/acoustic actuators), adjusts cleaning tool power levels, and modifies navigation behavior. These parameter changes resolve the contradiction by enabling autonomous operation while maintaining reliability through adaptive responses to different obstacle types.
Solution Approach 2:
The obstacle detection system is segmented into classification categories (persons vs. objects). This segmentation allows the control unit to apply different operational modes for different obstacle types, improving reliability while maintaining autonomous navigation capability.
2Object-affected harmful factors
If the floor cleaning device maintains a safe distance from detected persons, then safety is improved, but cleaning performance deteriorates due to reduced access to cleaning areas
Solution Approach 1:
The device dynamically adjusts its distance from detected persons based on the situation. The control unit can maintain a safe distance when persons are present while still allowing cleaning operations to proceed in areas where persons are not present. This dynamic adjustment resolves the contradiction between safety and cleaning performance.
Solution Approach 2:
Different operational behaviors are applied in different spatial zones: in zones where persons are detected, the device maintains safe distance and activates notification units; in zones without persons, the device operates at full cleaning performance. This local differentiation resolves the safety-performance contradiction.
3Object-affected harmful factors
If the floor cleaning device reduces travel speed when a person is detected, then safety is improved, but productivity deteriorates due to slower cleaning coverage
Solution Approach 1:
The device uses periodic notification signals (optical and acoustic actuators) when persons are detected, rather than continuously reducing speed. This periodic notification maintains safety awareness while allowing the device to maintain more efficient travel patterns, resolving the contradiction between safety and productivity.
Solution Approach 2:
The control unit selectively changes the travel speed parameter based on the specific situation: reducing speed only when necessary for safety while maintaining higher speeds in safe zones. This selective parameter adjustment maintains both safety and productivity.
4Reliability
If the floor cleaning device activates notification units when a person is detected, then operational reliability is improved, but device complexity increases due to additional functional units
Solution Approach 1:
The notification units (optical and acoustic actuators) serve multiple functions: they notify persons of the device's presence, indicate detection status, and can serve as communication interfaces. This multi-functionality justifies the added complexity by providing multiple benefits from a single functional addition.
Solution Approach 2:
The control unit automatically manages the notification units based on sensor input, enabling the system to self-regulate its communication behavior without external intervention. This self-service capability maintains reliability while minimizing the need for additional complex control systems.
Data Source
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AI summary
The invention relates to a self-propelled and self-steering floor cleaning apparatus comprising at least one functional unit (16) and a control unit (18) for controlling at least one functional unit (16), wherein the at least one functional unit (16) comprises a running gear (20) for travelling on a floor surface (12), at least one cleaning tool (22) for cleaning the floor surface (12), and a sensor unit (34) for detecting the surroundings of the floor cleaning apparatus (10), in particular during movement, and wherein the control unit (18) determines, depending on at least one signal of the sensor unit (34), that an obstacle (62) is located on or at the floor surface (12). In order to provide a floor cleaning apparatus of the type in question which has a higher operational reliability, according to the invention: the control unit (18) classifies the obstacles (62) with respect to persons (64) and objects (66); and the control unit (18) controls at least one functional unit (16) depending on the classification of a detected obstacle (62). The invention also relates to a method for controlling a self-driving and self-steering floor cleaning apparatus.