Method of operating a floor cleaning device and floor cleaning device

Abstract

The present invention relates to a Method for operating a floor cleaning device, wherein the floor cleaning device has at least one housing, at least one cleaning tool, and at least one sensor for capturing vibrations, wherein the floor cleaning device is designed and set up to move autonomously in a cleaning environment and to perform cleaning tasks, wherein at least the following method steps are included:Capturing at least one vibration measurement value with the sensor during operation of the floor cleaning device (1),Comparing of the vibration measurement value with at least one reference value,Adjusting at least one contact parameter between the cleaning tool and a surface to be cleaned depending on the result of the comparison.

What is claimed is: 
     
         1 . A method for operating a floor cleaning device, wherein the floor cleaning device has at least one housing, at least one cleaning tool, and at least one sensor for capturing vibrations, wherein the floor cleaning device is designed and set up to move autonomously in a cleaning environment and to perform cleaning tasks,
 wherein at least the following method steps are included:   capturing at least one vibration measurement value with the sensor during operation of the floor cleaning device;   comparing the vibration measurement value with at least one reference value; and   adjusting at least one contact parameter between the cleaning tool and a surface to be cleaned depending on the result of the comparison.   
     
     
         2 . The method according to  claim 1 , wherein the contact parameter is a contact force and/or a contact area and/or an amount of liquid between the cleaning tool and the surface to be cleaned. 
     
     
         3 . The method according to  claim 1 , further comprising at least the following method step:
 selecting a cleaning program from a plurality of cleaning programs depending on the contact parameter present after adjusting and operating the floor cleaning device with the selected cleaning program.   
     
     
         4 . The method according to  claim 3 , wherein the selection takes into account whether the contact parameter was reduced or increased during the adjustment and/or whether the contact parameter present after the adjustment reaches a predetermined threshold value and/or whether a desired cleaning result can be achieved with the contact parameter present after the adjustment for the type of surface to be cleaned. 
     
     
         5 . The method according to  claim 3 , wherein in the selection, a cleaning program is selected in which at least one predetermined location in the cleaning environment is passed over at least twice if the contact parameter was reduced in the adjustment and/or if the contact parameter falls below a predetermined threshold value. 
     
     
         6 . The method according to  claim 5 , wherein passing over twice takes place in differing directions. 
     
     
         7 . The method according to  claim 1 , wherein the adjustment of the contact parameter takes place in predefined steps. 
     
     
         8 . Method according to  claim 1 , wherein each operation of the floor cleaning device starts with at least one predetermined contact parameter, and in that the steps of capturing, comparing and adjusting are performed repeatedly until the vibration measurement value falls below a threshold value or falls within a tolerance range. 
     
     
         9 . The method according to  claim 1 , wherein the adjustment of the contact parameter is made for a predetermined zone in the cleaning environment and/or that the adjustment of the contact parameter is made for a predetermined time. 
     
     
         10 . The method according to  claim 1 , wherein at least the method steps capturing and comparing are repeated at predetermined time intervals and/or event-controlled. 
     
     
         11 . A floor cleaning device, comprising
 at least one housing,   at least one cleaning tool and   at least one sensor for capturing vibrations,   one or more computing devices including one or more processors and non-transitory computer readable mediums having stored thereon software instructions that, when executed by the one or more processors, cause the one or more processors to execute the steps comprising   causing the floor cleaning device to move autonomously in a cleaning environment;   capturing at least one vibration measurement value with the sensor during operation of the floor cleaning device;   comparing the vibration measurement value with at least one reference value; and   adjusting at least one contact parameter between the cleaning tool and a surface to be cleaned depending on the result of the comparison.   
     
     
         12 . A floor cleaning device, comprising at least one housing, at least one cleaning tool and at least one sensor for capturing vibrations, wherein the floor cleaning device is designed and set up to move autonomously in a cleaning environment and to perform cleaning tasks, wherein at least one contact parameter between the cleaning tool and a surface to be cleaned can be adjusted as a function of at least one vibration measurement value that can be captured with the sensor. 
     
     
         13 . The floor cleaning device according to  claim 12 , wherein at least one adjustor is provided for adjusting the contact parameter, the adjustor comprises at least one belt and at least one first converting means for converting lateral movement into vertical movement, that the contact parameter is changeable by a rotation of the first converting means, and that a rotation of the first converting means is effectable with the belt. 
     
     
         14 . The floor cleaning device according to  claim 13 , wherein an exit height of at least one drive wheel of the floor cleaning device from the housing can also be influenced with the belt via at least one second converting means for converting lateral movement into vertical movement. 
     
     
         15 . The floor cleaning device according to  claim 13  wherein the first and second converting means for converting lateral movement into vertical movement are first and second screws. 
     
     
         16 . The floor cleaning device according to  claim 15 , wherein a thread pitch of the first screw and the second screw are different. 
     
     
         17 . A floor cleaning device, comprising at least one housing, at least one cleaning tool and at least one drive wheel, wherein the floor cleaning device is designed and arranged to move autonomously in a cleaning environment and to perform cleaning tasks, wherein the drive wheel is held on the housing in such a way that an exit height of the drive wheel from the housing can be adjusted, characterized in that the cleaning tool is movably held on the housing such that the cleaning tool is movable toward and away from a surface to be cleaned of the cleaning environment, and in that the cleaning tool and the drive wheel are coupled such that when an exit height of the drive wheel is changed, the cleaning tool is also moved toward or away from the surface to be cleaned.