SELF-PROPELLED AND SELF-STEERING FLOOR CLEANING DEVICE AND METHOD FOR CLEANING A FLOOR SURFACE

摘要

The invention relates to a self-propelled and self-steering floor cleaning device comprising a cleaning device (34) with at least one cleaning unit (36, 38, 40) for cleaning a floor surface (14) of a room (12), wherein an obstacle (18, 124) arranged inside the room (12) is free from contact with the floor surface at least in some sections, wherein the floor cleaning device (10; 120) also comprises a transmission unit (84) for emitting radiation directed at the obstacle (18, 124) and the floor surface (14) in order to spatially scan the same, a detection unit (86) for detecting reflected radiation and providing a corresponding detection signal, a control unit (56) coupled to the detection unit (86) and an undercarriage (60) for moving on the floor surface (14), said undercarriage having a drive unit (64) coupled to the control unit (56), wherein the control unit (56) can determine on the basis of the detection signal whether there is an interspace (22, 130) between the obstacle (18, 124) and the floor surface (14), a floor surface section (108, 134) located underneath the obstacle (18, 124) is regarded as cleanable if this is the case and the drive unit (64) can be controlled to drive the floor cleaning device (10; 120) to clean the floor surface section (108, 134), wherein at least one cleaning unit (36, 38, 40) intervenes in the interspace (22, 130). The invention further relates to a method for cleaning a floor surface.