AUTONOMOUS CLEANING SYSTEM

• US 20170023947A1
• Filed: 07/26/2015
• Published: 01/26/2017
• Est. Priority Date: 07/26/2015
• Status: Active Grant

• Current Assignee: John Benjamin Mcmillion
• Original Assignee: John Benjamin Mcmillion
• Inventors: McMillion, John Benjamin
• Granted Patent: US 9,828,094 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64D 1/22 Taking-up articles from earth's surface
• CPC Class Codes: B64U 10/16 with five or more distinct rotor axes, e.g. octocopters
• CPC Class Codes: B64U 50/38 by wireless transmission
• CPC Class Codes: B64U 80/25 for recharging batteries; for refuelling
• CPC Class Codes: B64U 80/40 for two or more UAVs
• CPC Class Codes: B64U 80/70 in containers B64U80/60 takes precedence
• CPC Class Codes: D06F 29/00 Combinations of a washing machine with other separate apparatus in a common frame or the like, e.g. with rinsing apparatus
• CPC Class Codes: G05D 1/0094 involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target

Abstract

This disclosure describes a plurality of unmanned vehicles configured to complete cleaning tasks with little or no human involvement by identifying objects, operating washing/drying cleaning machine(s) as needed, and transporting objects to and from cleaning machine(s). The unmanned vehicles may also return objects to designated locations after cleaning, or simply arrange objects within rooms based on an ideal room arrangement state.

Claims

1. A system for completing indoor cleaning tasks autonomously, comprising:

a plurality of unmanned vehicles, each of the plurality of unmanned vehicles configured to complete one or more steps of a cleaning task;

one or more cleaning machines for when a cleaning task includes steps for cleaning objects inside a cleaning machine;

a mission control system, comprising;

a processor; and

a memory coupled to the processor and storing program instructions that when executed by the processor cause the processors to at least;

receive parameters for a cleaning task;

determine and provide one or more steps and status for a cleaning task;

command one or more of the plurality of unmanned vehicles to complete one or more steps of a cleaning task; and

command one or more cleaning machines to complete one or more steps of a cleaning task if the cleaning machine is automated and the cleaning task includes steps for cleaning objects inside a cleaning machine;

wherein the unmanned vehicle(s), in response to receiving commands and steps for a cleaning task, are further configured to at least;

perform the commands and complete one or more of the steps of the cleaning task;

wherein any automated cleaning machine(s), in response to receiving commands and steps for a cleaning task, are further configured to at least;

perform the commands and complete one or more steps of the cleaning task.

2. The system of claim 1, further comprising extensible pole attachments for the unmanned vehicles to interact with objects or control surfaces while performing one or more steps of a cleaning task, comprising:

an extensible pole;

a rotation joint; and

variously ending with a shape or control mechanism designed for the desired interaction.

3. The system of claim 1, further comprising remote computing resources for processing computing requests for the system;

or for supporting requests by one or more system users.

4. The system of claim 1, wherein the plurality of the unmanned vehicles are further comprised of unmanned aerial vehicles and optionally unmanned ground vehicles;

wherein the unmanned vehicles are further comprising;

a network interface;

a plurality of sensors;

a processor; and

a memory coupled to the processor and storing program instructions that when executed by the processor cause the processors to at least;

receive commands from the mission control system and respond by performing the commands and completing one or more steps of a cleaning task;

wherein one or more of the unmanned vehicles are further comprised of an object control system coupled to the vehicle housing body, wherein the object control system is further comprised of an extensible/retractable tether and/or object control arms, each ending with a pivotally coupled primary grasper mechanism comprising;

a rotation joint; and

a plurality of mechanical fingers for forming a grasping formation around objects, attachments, or control surfaces while performing one or more steps of a cleaning task.

5. The system of claim 1, wherein the mission control system is further comprised of a network interface coupled to an enclosed computing system that provides the structural base of a larger housing enclosure for unmanned aerial vehicles;

upon which is coupled a plurality of stackable vehicle bays;

wherein each stackable vehicle bay is stacked upon and coupled to the vehicle bay or housing base below it;

wherein each vehicle bay comprises;

a front door that opens down;

an inner tray that slides out of the vehicle bay as to provide sufficient clearances for aerial launches/landings for the aerial vehicle being housed, and provides a resting floor surface for the aerial vehicle being housed;

wherein the resting floor surface of the inner tray is further comprised of a power recharging transmitter for providing power recharging transmission upon connection with the feet of a resting aerial vehicle; and

a manual ejection toggle button that opens/closes the door and ejects/retracts the inner tray;

wherein the larger housing enclosure is further comprised of a removable top lid coupled to the top of the uppermost vehicle bay, wherein the top lid may be removed to expand the vehicle capacity of the housing enclosure with additional stackable vehicle bays;

wherein attachment points, for connecting extensible pole attachments, are coupled to the rear side of the top lid.

6. The system of claim 1, further comprising system support sensors;

wherein each of the plurality of unmanned vehicles are further configured to capture sensory input and provide the sensory input to the mission control system;

wherein sensors placed in one or more rooms within a home are configured to capture and provide sensory input to the mission control system.

7. The system of claim 1, wherein one or more of the cleaning machines, if the cleaning machines are automated, are further comprising:

a network interface;

a processor; and

a memory coupled to the processor and storing program instructions that when executed by the processor cause the processors to at least;

receive commands from the mission control system and respond by performing the commands and completing one or more steps of a cleaning task with automation systems and/or automated machine control mechanisms;

wherein the automated machine control mechanisms provide mechanical means for the automated cleaning machine to mechanically control its own door, lid, floor, trays, or other cleaning cycle features in response to the commands from the mission control system;

wherein an automated cleaning machine is further comprised of integrated soap reservoirs and automated soap dispensers for dispensing soap automatically if the cleaning machine performs washing cleaning cycles.

8. The system of claim 1, wherein the program instructions for the mission control system, that when executed by the processor further cause the processor to at least:

determine, based at least in part on the sensory input, at least one of an identification, location, or other property of one or more objects, obstacles, or other features of the home environment; and

further determine, based at least in part on this information, steps of a cleaning task;

wherein the steps of a cleaning task further comprises;

navigation paths for one or more of the unmanned vehicles;

commands for performing one or more steps of a cleaning task; and

any attachments or cleaning machine(s) needed to perform one or more of the commands.

9. The system of claim 1, wherein the unmanned vehicles are further configured to load or unload a cleaning machine as one or more steps of an object cleaning task, comprising:

navigating along the navigation path to the next object or loading area;

extending the appropriate grasper to the object;

grasping the object;

capturing the weight sensory data of the attached object;

fully lifting the object if within payload parameters;

navigating along the navigation path with the object to the designated drop location; and

releasing the object into the cavity opening of the cleaning machine or onto the designated drop location;

then continuing to next step or command.

10. The system of claim 1, wherein the unmanned vehicles are further configured to operate the control surfaces of a non-automated cleaning machine by controlling one or more extensible pole attachments to press buttons, turn dials, pull open or push close lids, trays, or doors;

and transport cleaning supplies from a supply location to the cavity opening of the cleaning machine.

11. The system of claim 1, wherein the unmanned vehicles are further configured to perform an object rearrangement cleaning task, comprising:

navigating along the navigation path to the next assigned object;

extending the appropriate grasper to the object;

grasping the object;

capturing the weight sensory data of the attached object;

fully lifting the object if within payload parameters;

navigating along the navigation path with the object to the designated drop location; and

releasing the object at the designated drop location;

then continuing to next step or command.

12. A computer-implemented method, comprising:

under control of one or more computing systems configured with executable instructions, receiving an event trigger to perform an indoor cleaning task for the system of claim 1;

determining the status of the system;

determining steps of the cleaning task;

commanding one or more of the plurality of unmanned vehicles, and any automated cleaning machines, to perform one or more steps of the cleaning task or status check.

13. A computer-implemented method of claim 12, wherein one or more unmanned vehicles have requested an identification or other property of an object to plan or to perform one or more steps of a cleaning task;

to at least provide an identification of the object;

and whether an object is appropriate for a cleaning task.

14. A computer-implemented method of claim 12, wherein each of the plurality of the unmanned vehicles, while capturing sensory input for a status check or while performing one or more steps of a cleaning task, maps the home environment as it travels;

identifies its own position within 3D space as it travels; and

adjusts its navigation path around obstacles if detected by the vehicle'"'"'s sensory input, or by another sensor connected to the autonomous cleaning system.

15. A computer-implemented method of claim 12, wherein the mission control system adjusts one or more steps of a cleaning task, or operational parameters for the autonomous cleaning system, based on one or more user preferences.

16. A computer-implemented method, comprising:

under control of one or more computing systems configured with executable instructions, receiving a request from a user or another system;

determining or delegating the determination of the result for the request, and responding to the requestor with the result.

17. A computer-implemented method of claim 16, wherein the mission control system integrates with other systems through application programming interfaces (APIs).

18. A computer-implemented method of claim 16, wherein the mission control system provides digital content to an app, website, or other similar system;

wherein the mission control system receives configuration parameters from an app or website for a cleaning task.

19. A computer-implemented method of claim 18, wherein the users use an app on their mobile device to capture configuration parameters for a cleaning task, or capture ideal object arrangement states within a home;

wherein the users use an app to share captured ideal object arrangement states within a social network, or with other owners of the system;

wherein shared ideal object arrangement states from other system owners are imported into an owner'"'"'s system to provide configuration parameters for a cleaning task.

20. A computer-implemented method of claim 19, wherein the objects captured in imagery of a shared ideal object arrangement state are identified, and if not found within the home, linked for purchase through an app or website to complete an ideal object arrangement state.