Machine and method using graphic data for treating a surface

• US 5,086,535 A
• Filed: 10/22/1990
• Issued: 02/11/1992
• Est. Priority Date: 10/22/1990
• Status: Expired due to Fees

• Current Assignee: Racine Industries, Inc.
• Original Assignee: Racine Industries, Inc.
• Inventors: Rench, Geoffrey B., Grossmeyer, Mark
• Primary Examiner(s): MOORE, CHRISTOPHER K
• Application Number:
  US07/600,848
• Time in Patent Office: 477 Days
• Field of Search: 15/319, 15/339, 15/340.1, 15/340.2, 901/1, 180/167, 180/169, 180/168
• US Class Current: 15/319
• CPC Class Codes: A47L 11/4011 Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
• CPC Class Codes: A47L 11/4061 Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection

Abstract

A machine for treating a surface area within a boundary perimeter includes a self propelled chassis having a surface treating device mounted on it. A computing section is mounted on the chassis and a powered wheel (or each of plural powered wheels) has a motor module for receiving command signals from the computing section. A position sensor is coupled to the computing section for generating a feedback signal representing the actual position of the machine. A data loading device coacts with the computing section for transmitting data to such computing section. A data file stores graphic data developed from a graphic depiction representing the surface area to be treated as well as other data developed in other ways. The data file coacts with the computing section and transmits graphic and other data to it. The computing section is arranged for processing the data and the feedback signal and responsively generating command signals directed to each motor module. Such modules, and the motors controlled thereby, propel the machine over the surface area selected to be treated. A method for treating a surface area is also disclosed.

Claims

1. A machine for treating a surface area within a boundary perimeter and including:

a steerable self-propelled chassis having a surface treating device mounted thereon;

a computing section mounted on the chassis;

a plurality of powered wheels mounted on the chassis each having a motor module for receiving command signals from the computing section;

a position sensor coupled to the computing section for generating a feedback signal representing the actual position of the machine;

a data file storing graphic data developed from a graphic depiction representing the surface area to be treated;

a data loading device for transferring graphic data from the data file to the computing section;

the computing section processing the feedback signal and the graphic data and responsively generating command signals directed to the motor modules, thereby propelling the machine for steered travel over the surface area for treatment thereof.

2. The machine of claim 1 wherein the graphic depiction is a blueprint of the surface area and wherein the graphic data is developed usinga cursor and a magnetic pickup board.

3. The machine of claim 1 wherein the graphic depiction is a drawing of the surface area rendered in lines which contrast sharply with the drawing background and wherein the graphic data is developed by scanning such drawing to detect and digitize the locations of such lines.

4. The machine of claim 1 wherein the graphic depiction is developed by imaging the surface area upon a light-sensitive surface.

5. The machine of claim 1 wherein the data loading device includes a machine-readable portable medium insertable into the machine and having the graphic data embedded therein.

7. The machine of claim 1 wherein the data loading device includes a modem coupled to the computing section by a telephone line for transferring such graphic data to the machine.

6. The machine of claim 6 wherein the graphic data is magnetically embedded in the portable medium.

8. A carpet vacuuming machine for treating selected surface areas of carpet and including:

a steerable self-propelled chassis having a carpet vacuuming device mounted thereon;

a computing section mounted on the chassis;

a plurality of powered wheels mounted on the chassis, each such wheel having a motor module for receiving command signals from the computing section and propelling the machine for steered travel to a commanded position;

a position sensor coupled to the computing section for generating a feedback signal representing the actual position of the machine;

an error alarm section coupled to the computing section for generating an error signal when the commanded position of the machine and the actual position of the machine differ;

a keypad coupled to the computing section for permitting the manual entry of data into such computing section;

a data file storing graphic data developed from a graphic depiction representing the carpeted area;

a data loading device for transferring graphic data from the data file to the computing section;

the computing section being arranged for processing the feedback signal and the graphic data transmitted to the computing section and responsively generating command signals directed to the motor modules, thereby propelling the machine for steered travel areas and vacuum cleaning such areas.

9. The machine of claim 8 wherein the starting point is pre-identified and is consistently the same starting point for the particular surface area to be treated.

10. The machine of claim 8 wherein the carpeted area has a wall along at least one boundary thereof, wherein such wall has a passive device mounted thereon with information encoded therein, wherein the position sensor has a scanning capability and wherein the starting point is identified when the position sensor scans such information-encoded device.

11. The machine of claim 8 wherein the carpeted area is within a room, wherein such room has at least two active devices mounted therein, wherein each such active device emits signals representing encoded information and wherein the starting point is identified when the position sensor detects signals emitted from each of such active devices.

12. A method for using a carpet vacuuming machine having carpet vacuuming means, a computing section and machine-propelling motor modules to vacuum selected surface areas of carpet within a room and

including, in either order, the steps of:

developing a first set of digitized data from a graphic depiction of the carpet area to be vacuumed, such data including coordinates representing main traffic areas and secondary traffic areas;

developing a second set of digitized data which represents an overall vacuuming cycle and the cleaning regimen within such cycle by which both such traffic areas are to be vacuumed;

and further including the steps of;

loading the first and the second sets of digitized data into the computing section;

developing a third set of digitized data which represents the day within such overall vacuuming cycle on which vacuuming is then being initiated and loading such third set of digitized dat into the computing section;

processing the first, second and third sets of digitized data and responsively generating command signals directed to the motor modules, thereby propelling the machine over selected traffic areas and vacuum cleaning such areas in accordance with the cleaning regimen.

13. The method of claim 12 wherein the step of developing a third set of digitized data includes the steps of:

developing digitized data which represnts the day within such overall vacuuming cycle on which vacuuming is then being initiated;

selecting an intensity at which selected surface areas of carpet are to be vacuumed; and

,

loading such third set of digitized data into the computing section.

14. The method of claim 12 wherein the processing step further includes processing the feedback signal.

15. The method of claim 12 wherein the machine includes a keypad and the third set of digitized data is developed by entering a date on a keypad.

16. The method of claim 12 wherein the data file has routing heuristics and machine parameters stored therein.

17. The method of claim 16 wherein the first set of digitized data is developed from a blueprint of the carpeted area to be vacuumed.

18. A robotic carpet cleaning machine having computerized control means, embedded programs and data for guiding said machine over a carpeted area to be cleaned, the improvement wherein such data includes graphic data developed from a pictorial representation of the area.

19. The improvement of claim 18 wherein the pictorial representation includes main and secondary traffic areas.

20. The improvement of claim 19 wherein the machine cleans carpet by vacuuming and the data includes data representing an overall vacuuming cycle and a cleaning regiment within such voerall cycle by which such main and secondary traffic areas are to be vacuumed.

21. The improvement of claim 18 wherein the pictorial representation is a blueprint of the area and the graphic data is developed using a cursor and magnetic pickup board.

22. In a method for using a self-propelled robotic machine for vacuuming an area of carpet and including the steps of developing a computer program controlling the travel movements of such machine, the improvement in the method comprising, in either order, the steps of:

developing a first set of digitized data from a graphic depiction of the carpet area;

developing a second set of digitized data representing an overall vacuuming cycle and a cleaning regiment within such overall cycle;

and further including the steps of;

processing the first and second sets of digitized data; and

,

responsively generating command signals directed to motor modules to propel the machine over the area, thereby cleaning carpet.

23. The method of claim 22 wherein the first set of digitized data includes coordinates representing main traffic areas and secondary traffic areas.

24. The method of claim 23 wherein such main and secondary traffic areas are vacuumed in accordance with the cleaning regimen.