Autonomous navigational system for floor preparation and maintenance equipment

• US 10,328,577 B2
• Filed: 04/19/2017
• Issued: 06/25/2019
• Est. Priority Date: 04/19/2016
• Status: Active Grant

• Current Assignee: Xiaoyu Abrasive Inc.
• Original Assignee: Xiaoyu Abrasive Inc.
• Inventors: Lawrence, Michael, Guo, Penglai, Rowe, Patrick, Batavia, Parag
• Primary Examiner(s): Patel, Shardul D
• Application Number:
  US15/491,938
• Publication Number:
  US 20170297202A1
• Time in Patent Office: 797 Days
• Field of Search: 701 25, 700245, 901 1, 901 47
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G05D 1/0219 ensuring the processing of the whole working surface
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

According to embodiments of the present disclosure is an automatic floor preparation or maintenance system. The system uses a laser rangefinder to map a workspace, while a path planning module uses the map to determine a path for the concrete polishing vehicle to travel. A propulsion system moves the vehicle along the determined path. A user interface allows an operator to remotely monitor the autonomous operations.

Claims

1. A floor preparation or maintenance system, comprising:

a sensor arrangement for generating a map of an area to be prepared or maintained, wherein the map is generated prior to movement of a concrete polishing or grinding machine and is not modified during the movement of the concrete polishing or grinding machine;

a device for storing the map and a plan based on the map, wherein the plan includes a coverage pattern for the concrete polishing or grinding machine, wherein the coverage pattern includes a plurality of lanes comprising at least two lanes that overlap; and

the concrete polishing or grinding machine for preparing or maintaining a floor in accordance with the plan.

2. The floor preparation or maintenance system of claim 1, wherein the concrete polishing or grinding machine comprises at least one actuator and at least one encoder connected to each wheel of the concrete polishing or grinding machine.

3. The floor preparation or maintenance system of claim 1, wherein the floor preparation or maintenance system further comprises a navigation system configured to interact with the sensor arrangement to generate the coverage pattern for the map.

4. The floor preparation or maintenance system of claim 1, wherein the navigation system is further configured to control operation and speed of polishing heads on the concrete polishing or grinding machine.

5. The floor preparation or maintenance system of claim 3, wherein the navigation system is further configured, through interaction with the sensor arrangement, to detect obstacles in the coverage pattern of the map.

6. The floor preparation or maintenance system of claim 3, wherein the navigation system is further configured to interact with status indicator lights and beacons and data outputs on the concrete polishing or grinding machine.

7. The floor preparation or maintenance system of claim 1, wherein preparing or maintaining the floor includes one or more of grinding, sealing, polishing, and finishing the floor.

8. The floor preparation or maintenance system of claim 2, wherein the at least one actuator causes rotation of a corresponding wheel and the at least one encoder records the rotation of the corresponding wheel to determine one or more of a position, a heading, and a speed of the concrete polishing or grinding machine.

9. The floor preparation or maintenance system of claim 1, wherein the floor preparation or maintenance system further comprises a laser rangefinder disposed on a continuous pan table or in proximity to a spinning mirror, wherein the laser rangefinder is used to determine one or more of a position, a heading, and a speed of the concrete polishing or grinding machine.

10. The floor preparation or maintenance system of claim 8, wherein the floor preparation or maintenance system further comprises a laser rangefinder, wherein:

the at least one encoder records relative information relating to one or more of the position, the heading, and the speed of the concrete polishing or grinding machine;

the laser rangefinder records absolute information relating to one or more of the position, the heading, and the speed of the concrete polishing or grinding machine; and

the relative information and the absolute information are used to determine one or more of the position, the heading, and the speed of the concrete polishing or grinding machine.

11. A method for operating a floor preparation or maintenance system, comprising:

generating, using a sensor arrangement, a map of an area to be prepared or maintained, wherein the map is generated prior to movement of a concrete polishing or grinding machine and is not modified during the movement of the concrete polishing or grinding machine;

storing, in a device, the map and a plan based on the map, wherein the plan includes a coverage pattern for the concrete polishing or grinding machine, wherein the coverage pattern includes a plurality of lanes comprising at least two lanes that overlap; and

preparing or maintaining, using the concrete polishing or grinding machine, a floor in accordance with the plan.

12. The method of claim 11, wherein the concrete polishing or grinding machine comprises at least one actuator and at least one encoder connected to each wheel of the concrete polishing or grinding machine.

13. The method of claim 11, wherein the method further comprises interacting with the sensor arrangement to generate the coverage pattern for the map.

14. The method of claim 11, wherein the method further comprises controlling operation and speed of polishing heads on the concrete polishing or grinding machine.

15. The method of claim 13, wherein the method further comprises detecting, through interaction with the sensor arrangement, obstacles in the coverage pattern of the map.

16. The method of claim 13, wherein the method further comprises interacting with status indicator lights and beacons and data outputs on the concrete polishing or grinding machine.

17. The method of claim 11, wherein preparing or maintaining the floor includes one or more of grinding, sealing, polishing, and finishing the floor.

18. The method of claim 12, wherein the method further comprises causing, using the at least one actuator, rotation of a corresponding wheel and recording, using the at least one encoder, the rotation of the corresponding wheel to determine one or more of a position, a heading, and a speed of the concrete polishing or grinding machine.

19. The method of claim 11, wherein the method further comprises using a laser rangefinder to determine one or more of a position, a heading, and a speed of the concrete polishing or grinding machine, wherein the laser rangefinder is disposed on a continuous pan table or in proximity to a spinning mirror.

20. The method of claim 18, wherein the method further comprises:

recording, using the at least one encoder, relative information relating to one or more of the position, the heading, and the speed of the concrete polishing or grinding machine;

recording, using the laser rangefinder, absolute information relating to one or more of the position, the heading, and the speed of the concrete polishing or grinding machine; and

determining, based on the relative information and the absolute information, one or more of the position, the heading, and the speed of the concrete polishing or grinding machine.