Floor cleaning apparatus and method for controlling a floor cleaning apparatus
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Solution Overview
Problem
Existing self-propelled and self-steering floor cleaning apparatuses lack operational safety, particularly in navigating around obstacles and interacting with humans, as they do not effectively classify and respond to persons and objects in their environment.
Innovation Solution
The apparatus includes a control unit that classifies obstacles as persons or objects using sensor data, adjusting its behavior by controlling the running gear, cleaning tools, and indicator units to maintain safety distances, reduce noise, and adapt cleaning strategies based on classifications, ensuring higher operational safety.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the floor cleaning apparatus uses basic obstacle detection for navigation, then the device complexity is low, but the operational safety is insufficient when encountering persons or objects
Solution Approach 1:
The control unit segments obstacle classification into distinct categories (persons vs. objects) based on sensor data analysis. This segmentation enables differentiated response strategies for different obstacle types, improving operational safety without requiring complete system redesign.
Solution Approach 2:
The control system dynamically adjusts its behavior based on real-time obstacle classification. When a person is detected, the apparatus modifies its cleaning pattern, speed, or direction dynamically, rather than following a fixed navigation algorithm, thereby enhancing safety adaptability.
2Reliability
If the control unit classifies obstacles and adjusts cleaning behavior dynamically, then the operational safety improves, but the cleaning productivity decreases due to frequent behavior adjustments
Solution Approach 1:
The control unit applies partial action by adjusting only specific cleaning parameters (such as local area cleaning or reduced speed near detected persons) rather than halting entire cleaning operations. This maintains overall productivity while ensuring safety in critical zones.
Solution Approach 2:
The apparatus applies local quality by modifying cleaning behavior only in the immediate vicinity of detected persons or sensitive objects, while maintaining normal cleaning operations in other areas. This localized adaptation preserves overall cleaning efficiency while ensuring safety where needed.
3Reliability
If the sensor unit continuously monitors the environment for obstacle classification, then the operational safety increases, but the energy consumption increases
Solution Approach 1:
The sensor unit operates periodically rather than continuously, scanning the environment at regular intervals during movement. This periodic monitoring maintains adequate situational awareness for safety while significantly reducing energy consumption compared to continuous operation.
Solution Approach 2:
The control unit performs preliminary obstacle detection and classification before initiating cleaning actions in specific zones. By detecting and classifying obstacles in advance, the system can plan safe cleaning paths without requiring constant sensor activation during the entire cleaning cycle.
Data Source
AI summary
The invention relates to a self-propelled and self-steering floor cleaning apparatus comprising at least one functional unit and a control unit for controlling at least one functional unit, wherein the at least one functional unit comprises a running gear for traveling on a floor surface, at least one cleaning tool for cleaning the floor surface and a sensor unit for detecting the surroundings of the floor cleaning apparatus, in particular during movement, and wherein the control unit determines that an obstacle is located on or at the floor surface depending on at least one signal of the sensor unit. In order to provide a floor cleaning apparatus of the type in question which has a higher operational reliability, in accordance with the invention: the control unit classifies the obstacles with respect to persons and objects; and the control unit controls at least one functional unit depending on the classification of a detected obstacle. The invention also relates to a method for controlling a self-propelled and self-steering floor cleaning apparatus.