Trainable Multi-Mode Floor Cleaning Device

• US 20110004342A1
• Filed: 06/11/2010
• Published: 01/06/2011
• Est. Priority Date: 06/11/2009
• Status: Active Grant

• Current Assignee: SC Johnson & Son Incorporated
• Original Assignee: SC Johnson & Son Incorporated
• Inventors: Allen, Bob, Larson, Ted, Knopow, Jeremy F., Carter, Everett F. JR., Curtis, David
• Granted Patent: US 8,774,970 B2
• Time in Patent Office: Days
• US Class Current: 700/253
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: A47L 5/28 Suction cleaners with handles and nozzles fixed on the casings, e.g. wheeled suction cleaners with steering handle A47L5/24 takes precedence
• CPC Class Codes: G05B 15/02 electric
• CPC Class Codes: G05B 2219/45098 Vacuum cleaning robot
• CPC Class Codes: G05D 1/0221 involving a learning process
• CPC Class Codes: G05D 1/0225 involving docking at a fixed facility, e.g. base station or loading bay parking aids B62D15/027
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• 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 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00

Abstract

A floor cleaning device that is manually trainable for subsequent automatic operation. Prior to automatic operation, a user trains the cleaning device by manually manipulating the device through one or more desired cleaning paths. After training of the device, the device is configured to automatically initiate subsequent cleaning operations in accordance with the trained routine(s). Preferably, the training routine includes user specification of one of a number of cleaning modalities that are supported by the flooring cleaning device. In addition to automatic navigation, the floor cleaning device is configured to initiate a desired cleaning modality as a function of the device'"'"'s position with respect to one or more of the trained routine(s).

Claims

1. A floor cleaning device that autonomously traverses an area to be cleaned, the floor cleaning device comprising:

a housing;

a drive mechanism attached to the housing for propelling the floor cleaning device across a floor; and

a controller in communication with the drive mechanism for controlling movement of the floor cleaning device across the floor;

the controller having a training mode wherein manual user manipulation of the floor cleaning device defines a cleaning route and a cleaning mode wherein the controller initiates the cleaning route automatically.

2. The floor cleaning device of claim 1 further comprising a memory storage device for retaining the cleaning route.

3. The floor cleaning device of claim 1 further comprising more than one cleaning apparatus wherein each cleaning apparatus is associated with at least one of a plurality of floor materials.

4. The floor cleaning device of claim 3 further comprising an input that is selectable by the user to associate a cleaning apparatus with a cleaning route.

5. The floor cleaning device of claim 3 wherein the cleaning apparatus is associated with at least one of a touchless cleaning system and a replaceable cleaning member.

6. The floor cleaning device of claim 3 wherein at least one of the more than one floor cleaning apparatus includes a number of cleaning solutions that are one of replaceable or refillable.

7. The floor cleaning device of claim 1 wherein the controller is configured to initiate operation of selected components of a cleaning apparatus with respect to a first floor surface and initiate operation of other selected components of the cleaning apparatus with respect to a second floor surface.

8. The floor cleaning device of claim 1 further comprising a navigation system in communication with the controller for determining a position of the floor cleaning device relative to the area to be cleaned.

9. The floor cleaning device of claim 8 wherein the navigation system further comprises at least one of a communication system that wirelessly communicates between the floor cleaning device and a beacon, a beacon that is locally positioned relative to the floor cleaning device, and the navigation system is configured to communicate with one of a global positioning system that is remote from the area to be cleaned and a Wi-Fi system associated with the area to be cleaned.

10. The floor cleaning device of claim 1 wherein the controller further comprises a power management system configured to interrupt the cleaning route to return the floor cleaning device to a cradle when a power system of the floor cleaning device is inadequately powered to continue the current cleaning route and return the floor cleaning device to a cradle.

11. A method of controlling operation of a floor cleaning device configured for autonomous operation, the method comprising:

training the floor cleaning device with a cleaning route by manually manipulating the floor cleaning device through the cleaning route; and

automatically initiating the cleaning route at selected intervals after the floor cleaning device has been trained.

12. The method of claim 11 wherein training the floor cleaning device further comprises associating a cleaning route with a cleaning modality.

13. The method of claim 12 wherein the cleaning modality is further defined as at least one of an air cleaning debris removal modality, a touchless application of a cleaning solution, and an application of a fabric cleaner to a floor.

14. The method of claim 13 further comprising providing an indication of at least one of a level of the cleaning solution, a level of debris collection, and a condition of a filter associated with debris collection.

15. The method of claim 11 wherein training the floor cleaning device further comprises scheduling autonomous execution of the cleaning route wherein scheduling the autonomous execution of the cleaning route includes scheduling operation of the cleaning device in an area of a cleaning environment when the area is unoccupied.

16. An autonomous cleaning device comprising:

a frame;

a first cleaning system supported by the frame for providing a first cleaning mode;

a second cleaning system supported by the frame for providing a second cleaning mode that is different than the first cleaning mode; and

a controller configured to control operation of the autonomous cleaning device and initiate operation of the first cleaning system for a first cleaning path and initiate operation of the second cleaning system for a second cleaning path.

17. The autonomous cleaning device of claim 16 wherein the first cleaning path and the second cleaning path are at least one of determined by manual manipulation of the autonomous cleaning device by a user and connected so that the first cleaning system and the second cleaning system can be sequentially initiated.

18. The autonomous cleaning device of claim 16 further comprising at least one of a number of cleaning solutions that are at least one of interchangeable or refillable and a refillable device for dispensing fluids that includes a plurality of cleaning solutions in a unitary package for application to multiple surfaces.

19. The autonomous cleaning device of claim 16 further comprising means for removing particulate debris in a manner wherein there is no direct contact with the underlying surface being cleaned by the means for removing particulate debris other than a burst of air.

20. A method of controlling movement of an autonomous device comprising:

assigning waypoints along a desired travel path of the autonomous device;

automatically initiating movement of the autonomous device along the desired travel path;

detecting a deviation from the desired travel path;

determining a tangent arc line between a current position and a waypoint; and

assessing whether the device can attain travel along the tangent arc to obtain a desired orientation of the device at the waypoint.

21. The method of claim 20 further comprising at least one of manually moving the autonomous device along the desired travel path and manually assigning waypoints, automatically initiating operation of a cleaning implement during movement of the autonomous device, deviating travel of the autonomous device from the desired travel path when the waypoint cannot be traversed, deviating travel of the autonomous device from the desired travel path when the desired orientation of the device at the waypoint cannot be attained via travel along the determined tangent arc, and determining the tangent arc line as a function of at least one of the maneuverability of the autonomous device and obstructions associated with an operating environment.