Floor cleaning apparatus and method for controlling a floor cleaning apparatus

Abstract

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.

What is claimed is: 
     
         1 . 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, and wherein the control unit determines, depending on at least one signal of the sensor unit, that an obstacle is located on or at the floor surface, wherein the control unit classifies the obstacles with respect to persons and objects, and wherein the control unit controls at least one functional unit depending on the classification of a detected obstacle. 
     
     
         2 . The floor cleaning apparatus in accordance with  claim 1 , wherein the control unit controls the running gear to maintain a predetermined safety distance from the person or increase the existing distance when a person is detected. 
     
     
         3 . The floor cleaning apparatus in accordance with  claim 1 , wherein the control unit controls the running gear to reduce a travel speed or stop the floor cleaning apparatus when a person is detected. 
     
     
         4 . The floor cleaning apparatus in accordance with  claim 3 , wherein the control unit controls the running gear to stop for a predetermined duration when a person is detected. 
     
     
         5 . The floor cleaning apparatus in accordance with  claim 1 , wherein, when an object is detected, the control unit controls the running gear to travel up to the object, at least up to within a maximum distance from the object, with regard to cleaning the floor surface close to the object. 
     
     
         6 . The floor cleaning apparatus in accordance with  claim 1 , wherein the at least one functional unit comprises an indicator unit having at least one visual and/or acoustic actuator, and wherein the control unit controls the indicator unit, to provide at least one indicator when the person is detected. 
     
     
         7 . The floor cleaning apparatus in accordance with  claim 6 , wherein the at least one indicator is indicative of a person being detected. 
     
     
         8 . The floor cleaning apparatus in accordance with  claim 1 , wherein the control unit controls at least one cleaning tool for reducing the power when the person is detected. 
     
     
         9 . The floor cleaning apparatus in accordance with  claim 8 , wherein the control unit, in particular when the running gear is at a standstill, switches off the cleaning tool or temporarily deactivates its operation. 
     
     
         10 . The floor cleaning apparatus in accordance with  claim 1 , wherein the control unit determines, depending on the at least one signal of the sensor unit, whether the obstacle is static or moving relative to the floor surface, and wherein the control unit controls at least one functional unit depending on whether the obstacle is static or moving. 
     
     
         11 . The floor cleaning apparatus in accordance with  claim 1 , wherein the floor cleaning apparatus comprises an operating unit via which the type of control of the at least one functional unit is configurable by an operator depending on the classification of the obstacle and/or a movement of the obstacle. 
     
     
         12 . The floor cleaning apparatus in accordance with  claim 1 , wherein the control unit controls the running gear, when a distance from an obstacle which lies within a maximum distance is present, to reduce the travel speed of the floor cleaning apparatus. 
     
     
         13 . The floor cleaning apparatus in accordance with  claim 1 , wherein different spatial resolutions of the surroundings of the floor cleaning apparatus are achievable via the sensor unit, wherein the control unit controls the sensor unit, when a distance from an obstacle which is within a maximum distance is present, to increase a spatial resolution of the surroundings. 
     
     
         14 . The floor cleaning apparatus in accordance with  claim 13 , wherein the spatial resolution is only temporarily increased, and/or after a predetermined period of time has elapsed. 
     
     
         15 . The floor cleaning apparatus in accordance with  claim 14 , wherein the spatial resolution is temporarily increased until the distance of the floor cleaning apparatus from the obstacle exceeds the maximum distance. 
     
     
         16 . The floor cleaning apparatus in accordance with  claim 1 , wherein the floor cleaning apparatus comprises a storage unit, in which at least one travel path to be traveled by the floor cleaning apparatus is stored, and wherein the control unit determines, on the basis of at least one signal of the sensor unit, that the floor cleaning apparatus is not able to follow the travel path due to an obstacle, wherein the control unit controls at least one functional unit in this case to carry out an alternative behavior. 
     
     
         17 . The floor cleaning apparatus in accordance with  claim 16 , wherein the alternative behavior comprises carrying out an evasive movement, wherein the floor cleaning apparatus preferably heads toward a position on the travel path which is upstream or downstream of the current position on the travel path. 
     
     
         18 . The floor cleaning apparatus in accordance with  claim 17 , wherein the at least one evasive movement comprises at least one of the following:
 traveling away from the obstacle, backward or forward and/or sideways,   rotating in place away from the obstacle.   
     
     
         19 . The floor cleaning apparatus in accordance with  claim 16 , wherein the alternative behavior comprises providing an indicator via an indicator unit having at least one visual and/or acoustic actuator. 
     
     
         20 . The floor cleaning apparatus in accordance with  claim 16 , wherein the alternative behavior comprises increasing a spatial resolution of the surroundings that is achievable by means of the sensor unit, wherein different spatial resolutions of the surroundings of the floor cleaning apparatus are achievable via the sensor unit. 
     
     
         21 . The floor cleaning apparatus in accordance with  claim 16 , wherein the floor cleaning apparatus comprises a communication unit, which is configured to provide a message to a spatially remote receiver if the floor cleaning apparatus is not able to follow the travel path and/or if the floor cleaning apparatus is not able to free itself from its position by means of evasive movements. 
     
     
         22 . The floor cleaning apparatus in accordance with  claim 16 , wherein the floor cleaning apparatus comprises a communication unit, which is configured to allow a spatially remote operator to enter into a communication connection with the floor cleaning apparatus, with regard to checking the surroundings by the operator and/or freeing the floor cleaning apparatus from its position by the operator. 
     
     
         23 . A method for controlling a self-propelled and self-steering floor cleaning apparatus, comprising:
 detecting, by means of a sensor unit, the surroundings of the floor cleaning apparatus, during movement over a floor surface;   determining, by means of a control unit, that an obstacle is located on or at the floor surface;   classifying, by means of the control unit, obstacles with respect to persons and objects; and   controlling at least one functional unit of the floor cleaning apparatus depending on the classification of a detected obstacle.