Robotic floor cleaning device with expandable wheels

• US 10,214,050 B1
• Filed: 03/02/2017
• Issued: 02/26/2019
• Est. Priority Date: 03/03/2016
• Status: Active Grant

• Current Assignee: Ai Incorprated
• Original Assignee: Al, Inc.
• Inventors: Ebrahimi Afrouzi, Ali, Fathi Djalali, Shahin
• Primary Examiner(s): Rocca, Joseph M
• Assistant Examiner(s): Williams, Maurice L
• Application Number:
  US15/447,623
• Time in Patent Office: 726 Days
• Field of Search: 301 5305, 301 122, 301 45
• CPC Class Codes: A47L 11/4011 Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
• CPC Class Codes: A47L 11/4066 Propulsion of the whole machine
• CPC Class Codes: A47L 11/4072 Arrangement of castors or wheels
• CPC Class Codes: A47L 2201/00 Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: A47L 9/009 Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
• CPC Class Codes: B60B 1/06 Wheels with compression spokes wheels of high resiliency B60B9/00
• CPC Class Codes: B60B 19/04 expansible
• CPC Class Codes: B60B 19/12 Roller-type wheels B60B19/06 takes precedence
• CPC Class Codes: B60B 9/28 with telescopic action

Abstract

A mobile robotic floor-cleaning device with wheels that may be expanded or contracted to suit various needs by rotating an inner shaft within the main housing of each wheel relative to the main housing. A series of rollers form the circumference of the wheels, and are connected to the inner shaft via a set of spokes. Rotation of the inner shaft relative to the main housing causes the spokes to pull the rollers in or push them out, changing the diameter and circumference of the wheel.

Claims

1. A mobile robotic floor-cleaning device comprising:

a chassis including a set of wheels, each wheel comprising;

a main housing with a series of apertures disposed radially thereabout;

an inner shaft disposed within the main housing rotatably coupled thereto;

a set of spokes distributed radially around the inner shaft and attached thereto at a first end, each spoke positioned within one of the series of apertures in the main housing;

a set of linkages distributed radially around the inner shaft and attached to a second end of the spokes, the linkages positioned within the apertures; and

,

a set of rollers distributed radially around the inner shaft and mounted on the linkages;

a motor to drive the wheels;

a battery to provide power to the robotic device; and

,

a controller in communication with the motor and wheels, the controller including a processor operable to control the motor and wheels to steer movement of the robotic device,

wherein the spokes, linkages and rollers can be moved from a first, contracted position in which the spokes are positioned at a first angle with respect to a radius line connecting the center of the inner shaft and the first end of the respective spoke and the linkages and rollers are pulled by the spokes towards the inner shaft, to a second, expanded position, in which the spokes are positioned at a second angle, greater than the first angle, with respect to the radius line connecting the center of the inner shaft and the first end of the respective spoke and the linkages and rollers are pushed outward from the inner shaft by clockwise or counter clockwise rotation of the inner shaft relative to the main housing.

2. The mobile robotic floor-cleaning device of claim 1 wherein a sleeve is provided around each aperture to limit the wear of the linkage and provide better support for guiding the linkage.

3. The mobile robotic floor-cleaning device of claim 1 wherein the spokes, linkages, and rollers may be maintained at any position between the first, contracted position and the second, expanded position.

4. The mobile robotic floor-cleaning device of claim 1 wherein the each wheel has between 10 and 20 aperture, spoke, linkage, and roller sets.

5. A mobile robotic floor-cleaning device comprising:

a chassis including a set of four wheels;

a motor to drive the wheels;

a central processing unit to control a movement path of the mobile robotic floor-cleaning device;

a floor-cleaning tool; and

a battery to power the motor;

wherein in the wheels are each comprised of;

a main housing with a series of apertures disposed radially thereabout;

an inner shaft disposed within the main housing rotatably coupled thereto;

a set of spokes distributed radially around the inner shaft and attached thereto at a first end, each spoke positioned within one of the series of apertures in the main housing;

a set of linkages distributed radially around the inner shaft and attached to a second end of the spokes, the linkages positioned within the apertures; and

,

a set of rollers distributed radially around the inner shaft and mounted on the linkages;

whereby the spokes, linkages and rollers can be moved from a first, contracted position in which the spokes are positioned at a first angle with respect to a radius line connecting the center of the inner shaft and the first end of the respective spoke and the linkages and rollers are pulled by the spokes towards the inner shaft, to a second, expanded position, in which the spokes are positioned at a second angle, greater than the first angle, with respect to the radius line connecting the center of the inner shaft and the first end of the respective spoke and the linkages and rollers are pushed outward from the inner shaft by clockwise or counter clockwise rotation of the inner shaft relative to the main housing.

6. The mobile robotic floor-cleaning device of claim 5 wherein a sleeve is provided around each aperture to limit the wear of the linkage and provide better support for guiding the linkage.

7. The mobile robotic floor-cleaning device of claim 5 wherein the spokes, linkages, and rollers may be maintained at any position between the first, contracted position and the second, expanded position.

8. The mobile robotic floor-cleaning device of claim 5 wherein the each wheel has between 10 and 20 aperture, spoke, linkage, and roller sets.

9. A mobile robotic floor-cleaning device comprising:

a chassis including a set of four wheels, each wheel including;

a main housing with a series of apertures disposed radially thereabout;

an inner shaft disposed within the main housing rotatably coupled thereto;

a set of spokes distributed radially around the inner shaft and attached thereto at a first end, each spoke positioned within one of the series of apertures in the main housing;

a set of linkages distributed radially around the inner shaft and attached to a second end of the spokes, the linkages positioned within the apertures; and

,

a set of rollers distributed radially around the inner shaft and mounted on the linkages;

a motor to drive the wheels;

a battery to provide power to the robotic device; and

,

a controller in communication with the motor and wheels, the controller including a processor operable to control the motor and wheels to steer movement of the robotic device;

whereby the spokes, linkages and rollers can be moved from a first, contracted position in which the spokes are positioned at a first angle with respect to a radius line connecting the center of the inner shaft and the first end of the respective spoke and the linkages and rollers are pulled by the spokes towards the inner shaft, to a second, expanded position, in which the spokes are positioned at a second angle, greater than the first angle, with respect to the radius line connecting the center of the inner shaft and the first end of the respective spoke and the linkages and rollers are pushed outward from the inner shaft by clockwise or counter clockwise rotation of the inner shaft relative to the main housing.

10. The mobile robotic floor-cleaning device of claim 9 wherein a sleeve is provided around each aperture to limit the wear of the linkage and provide better support for guiding the linkage.

11. The mobile robotic floor-cleaning device of claim 9 wherein the spokes, linkages, and rollers may be maintained at any position between the first, contracted position and the second, expanded position.

12. The mobile robotic floor-cleaning device of claim 9 wherein each wheel has between 10 and 20 aperture, spoke, linkage, and roller sets.