Autonomous canister vacuum cleaner

• US 20020174506A1
• Filed: 03/15/2002
• Published: 11/28/2002
• Est. Priority Date: 03/16/2001
• Status: Active Grant

• Current Assignee: Vision Robotics Corporation
• Original Assignee: Vision Robotics Corporation
• Inventors: Wallach, Bret A., Koselka, Harvey A., Gollaher, David L.
• Granted Patent: US 6,925,679 B2
• Time in Patent Office: Days
• US Class Current: 15/319
• 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 5/36 Suction cleaners with hose between nozzle and casing; Suction cleaners for fixing on staircases; Suction cleaners for carrying on the back
• CPC Class Codes: A47L 9/009 Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
• CPC Class Codes: A47L 9/02 Nozzles suction nozzles for fluid transport B65G51/00
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0251 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision stereoscopic image analysis H04N13/00; depth recovery from images G06T7/593
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0257 using a radar radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931
• CPC Class Codes: G05D 1/028 using a RF signal
• CPC Class Codes: G05D 1/0291 Fleet control monitoring fleets in traffic control systems for road vehicles G08G1/127, G08G1/127

Abstract

An autonomous canister vacuum cleaner has a cleaning head module, a vacuum fan module separated from the cleaning module, and a hose assembly connecting the cleaning head module with the vacuum fan module. The vacuum fan module includes a controller that performs navigation and control functions for both the vacuum fan module and the cleaning head module. Alternatively, the controller may be separated from the vacuum fan module and the cleaning head module, and can be mobile. The vacuum fan module and the cleaning head module each include a drive mechanism for propulsion. The cleaning head module includes a cleaning brush assembly that can be motorized or air driven. The cleaning head module may also include a microcontroller that communicates with the controller.

Claims

1. An autonomous canister vacuum cleaner, comprising:

a cleaning head module;

a fan module separated from the cleaning module, wherein the fan module includes a controller that performs navigation functions; and

a hose connecting the cleaning head module with the fan module.

2. The autonomous canister vacuum cleaner defined in claim 1, wherein each of the cleaning head module and the fan module include a drive mechanism providing mobility.

3. The autonomous canister vacuum cleaner defined in claim 1, wherein the controller receives sensor input data from at least one of camera, sonar, lidar or infrared sensor.

4. The autonomous canister vacuum cleaner defined in claim 2, wherein the controller provides control signals to the drive mechanism in the cleaning head module via a wire assembly incorporated into or run adjacent to the hose.

5. The autonomous canister vacuum cleaner defined in claim 4, wherein the fan module provides electrical power to the cleaning head module via the wire assembly.

6. The autonomous canister vacuum cleaner defined in claim 2, wherein the controller provides control signals to the drive mechanism in the cleaning head module via a wireless transmitter and receiver assembly.

7. The autonomous canister vacuum cleaner defined in claim 1, wherein the cleaning head module includes a cleaning brush assembly having at least one cleaning brush.

8. The autonomous canister vacuum cleaner defined in claim 7, wherein the cleaning head module further includes a motor to provide power to rotate the cleaning brush.

9. The autonomous canister vacuum cleaner defined in claim 7, wherein rotational movement of the cleaning brush is driven by air.

10. The autonomous canister vacuum cleaner defined in claim 7, wherein the cleaning brush does not rotate.

11. The autonomous canister vacuum cleaner defined in claim 1, wherein the cleaning head module includes one or more motors for providing power to a drive mechanism that provides mobility.

12. The autonomous canister vacuum cleaner defined in claim 11, wherein the cleaning head module includes one or more encoders to provide data to the controller, wherein the data is associated with rotational movement of each drive motor.

13. The autonomous canister vacuum cleaner defined in claim 11, wherein the drive mechanism includes drive wheels on at least one of the fan module and cleaning head module.

14. The autonomous canister vacuum cleaner defined in claim 11, wherein the drive mechanism includes a tread system on at least one of the fan module and cleaning head module.

15. The autonomous canister vacuum cleaner defined in claim 11, wherein the controller provides control signals to the motors in the cleaning head module via a wireless transmitter and receiver assembly.

16. The autonomous canister vacuum cleaner defined in claim 1, wherein the cleaning head module includes one or more acoustic dirt sensors, ultrasonic distance sensors, moisture sensors, mold sensor or mechanical touch sensors providing data to the controller.

17. The autonomous canister vacuum cleaner defined in claim 1, wherein the cleaning head module includes at least one weight configured to maintain the cleaning head module in a position that is in substantially parallel contact with a surface to be cleaned.

18. The autonomous canister vacuum cleaner defined in claim 1, wherein the fan module includes a power cord for connection to a power outlet.

19. The autonomous canister vacuum cleaner defined in claim 18, wherein the fan module includes one or more sensors providing data to the controller, wherein the data is associated with tracking the position of the power cord.

20. The autonomous canister vacuum cleaner defined in claim 1, wherein the fan module includes a rechargeable battery.

21. The autonomous canister vacuum cleaner defined in claim 1, wherein the fan module includes a fuel cell.

22. The autonomous canister vacuum cleaner defined in claim 1, wherein the navigation functions include localization.

23. The autonomous canister vacuum cleaner defined in claim 22, wherein localization includes tracking the cleaning head module.

24. The autonomous canister vacuum cleaner defined in claim 1, wherein the fan module includes an electric motor for driving a fan.

26. The autonomous canister vacuum cleaner defined in claim 25, wherein the fan module includes an electric motor for driving a fan.

27. The autonomous canister vacuum cleaner defined in claim 25, wherein the power cord is extended and retracted as the fan module moves.

28. The autonomous canister vacuum cleaner defined in claim 25, wherein the cleaning head module includes one or more sensors providing data to the controller.

29. The autonomous canister vacuum cleaner defined in claim 28, wherein at least one of the one or more sensors is configured to track the power cord position.

30. The autonomous canister vacuum cleaner defined in claim 28, wherein the one or more sensors include one or more encoders, acoustic dirt sensors, ultrasonic distance sensors, moisture sensors, mold sensor or mechanical touch sensors.

31. The autonomous canister vacuum cleaner defined in claim 25, wherein the fan module provides power to the cleaning head module via a wire assembly extending axially along the hose.

32. The autonomous canister vacuum cleaner defined in claim 25, wherein the fan module includes a removable container for collecting dirt, dust and/or debris removed by the cleaning head module.

33. The autonomous canister vacuum cleaner defined in claim 25, wherein the cleaning head module includes a cleaning brush assembly having at least one cleaning brush.

34. The autonomous canister vacuum cleaner defined in claim 25, wherein the cleaning head module further includes a drive system having at least a propulsion mechanism.

35. The autonomous canister vacuum cleaner defined in claim 34, wherein the cleaning head module further includes a steering mechanism to direct the motion of the cleaning head.

36. The autonomous canister vacuum cleaner defined in claim 34, wherein the controller sends control signals to at least one motor in the cleaning head module.

37. The autonomous canister vacuum cleaner defined in claim 33, wherein the cleaning head module further includes a motor to provide power to rotate the cleaning brush.

38. The autonomous canister vacuum cleaner defined in claim 33, wherein rotational movement of the cleaning brush is driven by air.

39. The autonomous canister vacuum cleaner defined in claim 33, wherein the cleaning brush is stationary.

40. The autonomous canister vacuum cleaner defined in claim 25, wherein the fan module includes a drive system having at least a propulsion mechanism and a steering mechanism to direct the motion of the fan module.

41. The autonomous canister vacuum cleaner defined in claim 40, wherein the controller sends control signals to at least one motor in the propulsion mechanism.

42. The autonomous canister vacuum cleaner defined in claim 25, wherein the navigation functions include localization and tracking.

25. An autonomous canister vacuum cleaner, comprising:

a cleaning head module;

a fan module separated from the cleaning module, wherein the fan module includes a controller having navigation functions;

a hose connecting the cleaning head module with the fan module; and

a power cord for connecting the fan module to a power outlet, thereby providing power to the fan module.

43. An autonomous canister vacuum cleaner system comprising:

a cleaning head module;

a fan module separated from the cleaning module and having an electric motor to drive a fan;

a hose connecting the cleaning head module with the fan module and transferring dust from the cleaning head module to the fan module; and

a controller module including a controller and providing navigation control signals to the fan module.

44. The system defined in claim 43, wherein the cleaning head module, fan module, and hose together form a vacuum cleaner, and the controller module is at a location separate from the cleaning head module and the fan module.

45. The system defined in claim 43, wherein the controller module provides navigation control signals to the cleaning head module.

46. The system defined in claim 44, wherein the controller module is mobile.

47. The system defined in claim 43, wherein the controller module is configured to perform localization and tracking functions for the fan module and the cleaning head module.

48. The system defined in claim 43, wherein the controller module includes one or more sensors providing data to the controller.

49. The system defined in claim 48, wherein the one or more sensors include at least one of camera, sonar, lidar or infrared sensor.

50. An autonomous canister vacuum cleaner method, comprising:

powering the fan module;

connecting a cleaning head module to a fan module via a hose;

performing navigation functions at the fan module; and

propelling each of the cleaning head module and the fan module to move across a surface to be cleaned and according to results of the navigation functions.

51. The method defined in claim 50, wherein performing the navigation functions includes localizing the fan module.

52. The method defined in claim 51, wherein localizing further includes tracking the cleaning head module.

53. The method defined in claim 50, additionally comprising receiving sensor input data at the fan module from at least one of camera, sonar, lidar or infrared sensor.

54. The method defined in claim 50, wherein propelling the cleaning head module includes moving a cleaning brush assembly having at least one cleaning brush.

55. The method defined in claim 54, further comprising rotating the cleaning brush.

56. The method defined in claim 50, further comprising wirelessly providing control signals from the fan module to the cleaning head module.

57. The method defined in claim 50, further comprising providing control signals from the fan module to the cleaning head module via a wire assembly extending axially along the hose.

58. The method defined in claim 57, further comprising providing power from the fan module to the cleaning head module via the wire assembly.

59. The method defined in claim 54, further comprising rotating the cleaning brush by air flow.

60. The method defined in claim 54, wherein the cleaning brush is stationary.

61. The method defined in claim 50, further comprising providing encoder data, indicative of movement of the cleaning head module, to the fan module.

62. The method defined in claim 50, further comprising providing sensor data from one or more acoustic dirt sensors, ultrasonic distance sensors, moisture sensors, mold sensors or mechanical touch sensors in the cleaning head module to the fan module.

63. The method defined in claim 50, further comprising providing at least one weight in the cleaning head module to maintain a position that is in substantially parallel contact with a surface to be cleaned.

64. The method defined in claim 50, further comprising connecting a power cord at the fan module to a power outlet.

65. The method defined in claim 64, further comprising extending and retracting the power cord as the fan module moves.

66. The method defined in claim 65, further comprising:

tracking the power cord position; and

providing sensor data indicative of the power cord position to a controller located in the fan module.

67. The method defined in claim 50, wherein powering the fan module comprises receiving power from a power source internal to the fan module.