Passive Mapping Using a Floor Cleaning Machine

• US 20090216449A1
• Filed: 02/02/2009
• Published: 08/27/2009
• Est. Priority Date: 02/01/2008
• Status: Abandoned Application

• Current Assignee: Tennant Company
• Original Assignee: Tennant Company
• Inventors: Li, Eric C., Erko, Robert J.
• Application Number:
  US12/364,148
• Publication Number:
  US 20090216449A1
• Time in Patent Office: Days
• US Class Current: 701/300
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: G05D 1/0261 using magnetic plots
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/028 using a RF signal

Abstract

A floor cleaning machine having a passive mapping system for determining position information associated with a plurality of RFID tags dispersed within a floor field during a floor cleaning process. The passive mapping system defines a floor map based on position information collected from the plurality of RFID tags. The floor map may be communicated to a remote map server and be utilized by a second floor cleaning machine during a different floor cleaning process. The mapping system can periodically update the floor map based on information collected during subsequent floor cleaning processes. The information may include RFID tag movement or replacement. In one embodiment, a remote mapping system communicates with a floor cleaning machine via wireless communication.

Claims

1. A portable floor cleaning machine performing a method for map generation to facilitate object localization within an environment comprising:

providing a plurality of tags having fixed positions within the environment, with each of said plurality of tags including a defined identification structure;

providing a reader upon a portable floor cleaning machine, said reader for detecting the tags and reading at least some information of the defined identification structures;

while performing a floor cleaning process with the portable floor cleaning machine, determining position information of the plurality of tags; and

defining a map of the environment based on said determining.

2. The method of claim 1 wherein the portable floor machine performs scrubbing, sweeping, buffing, polishing, burnishing or vacuuming.

3. The method of claim 1 wherein said defining a map utilizes an accumulation of data provided during multiple applications of said portable machine within the environment.

4. The method of claim 1 further comprising:

communicating the map to a remote location server.

5. The method of claim 1 further comprising:

downloading position information relating to the plurality of tags during machine operation.

6. The method of claim 5 wherein information related to a cleaning processes associated with a given area to be cleaned is stored within tags within or near said given area.

7. A portable floor cleaning machine comprising:

a portable chassis carrying a floor-engaging tool to perform a cleaning process upon a floor surface;

an RFID reader attached to said portable chassis for interrogating a plurality of RFID tags dispersed upon the floor surface; and

a mapping engine utilizing position information derived from said RFID reader to create a map of a facility as the portable chassis traverses the floor surface during the cleaning process.

8. The machine of claim 7 further comprising:

communication means for conveying the map to a remote location.

9. The machine of claim 8 wherein the remote location includes a mapping system accessible via the Internet during a subsequent cleaning process.

10. The machine of claim 7 wherein the map is periodically updated during subsequent cleaning sessions.

11. The machine of claim 7 wherein the map is updated when the mapping engine determines a change of RFID tag location as compared to an earlier map.

12. The machine of claim 7 wherein the mapping engine includes software stored on a controller of the machine.

13. A method of mapping a floor field containing RFID tags comprising:

providing a floor cleaning machine adapted to perform a cleaning process as the floor cleaning machine traverses the floor field;

simultaneously with said cleaning process, acquiring position data or identification data or both associated with a plurality of RFID tags on the floor field as each of said plurality of RFID tags comes into view of an RFID reader on said floor cleaning machine; and

utilizing said position data or identification data or both to define a map of said floor field, said map permitting localization of a machine traversing the floor field.

14. The method of claim 13 wherein said map defining is a passive process not under routine control of a operator of the floor cleaning machine.

15. The method of claim 13 wherein said map defining incorporates an accumulation of RFID tag data determined during multiple passes of said floor cleaning machine across the floor field.

16. The method of claim 13 further comprising:

locating a position of a second floor cleaning machine within the floor field based on said map.

17. The method of claim 13 further comprising:

updating the map during or after a subsequent floor cleaning process as new RFID tags within the floor field are detected.

18. The method of claim 13 further comprising:

updating the map during or after a subsequent floor cleaning process as one or more of the plurality of RFID are moved within the floor field.

19. The method of claim 13 further comprising:

communicating the map to a remote map server.

20. The method of claim 19 further comprising:

communicating map information from the remote server to a second floor cleaning machine operating within the floor field.