Controlled self operated vacuum cleaning system

• US 6,327,741 B1
• Filed: 04/03/2000
• Issued: 12/11/2001
• Est. Priority Date: 01/27/1997
• Status: Expired due to Fees

• Current Assignee: Robert J. Schaap
• Original Assignee: Robert J. Schaap
• Inventors: Reed, Norman F.
• Primary Examiner(s): MOORE, CHRISTOPHER K
• Application Number:
  US09/541,189
• Time in Patent Office: 617 Days
• Field of Search: 153/19, 153/401
• US Class Current: 15/319
• CPC Class Codes: A47L 2201/022 Recharging of batteries
• CPC Class Codes: A47L 2201/024 Emptying dust or waste liquid containers
• 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: A47L 5/30 with driven dust-loosening tools, e.g. rotating brushes
• CPC Class Codes: A47L 9/0009 Storing devices winding devices for electric cables A47L9/26; Supports, stands or holders
• CPC Class Codes: A47L 9/009 Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
• CPC Class Codes: A47L 9/106 Dust removal
• CPC Class Codes: A47L 9/2805 Parameters or conditions being sensed
• CPC Class Codes: A47L 9/2836 characterised by the parts which are controlled
• CPC Class Codes: A47L 9/2852 Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
• CPC Class Codes: A47L 9/2857 User input or output elements for control, e.g. buttons, switches or displays
• CPC Class Codes: A47L 9/2873 Docking units or charging stations for autonomous or robotic vacuum cleaners A47L2201/02
• CPC Class Codes: A47L 9/2884 Details of arrangements of batteries or their installation
• CPC Class Codes: A47L 9/2894 Details related to signal transmission in suction cleaners
• 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 1/0227 using mechanical sensing means, e.g. for sensing treated area
• CPC Class Codes: G05D 1/12 Target-seeking control
• CPC Class Codes: H02J 7/0045 concerning the insertion or the connection of the batteries

Abstract

A controlled self operating vacuum cleaning system which comprises a stationary housing for the storage of a mobile vacuum cleaner apparatus and where the housing is provided with an automatically openable and closable closure allowing exit and entry of the mobile vacuum cleaner unit. The mobile unit is driven by an internal drive motor which is powered by one or more batteries carried by the mobile vacuum cleaner unit. At preestablished times and preestablished time intervals, the closure of the housing will automatically open providing for ingress and egress and the mobile vacuum cleaner unit will exit and randomly clean the carpet of a certain specified area for a predetermined time period. The mobile vacuum cleaner unit is provided with obstacle detectors for causing the mobile unit to move beyond an obstacle, if it contacts an obstacle, as well as detectors for detecting the edge of a staircase and the edge of a carpet to cause the mobile unit to remain on the carpeted area. Upon return to the housing after the predetermined time interval, the mobile vacuum cleaner unit is automatically connected to a recharging electrical circuit for recharging the batteries of the mobile vacuum cleaner unit and simultaneously an additional vacuum dirt collection system causes evacuation of the dirt collected by the mobile cleaner unit.

Claims

1. An automatically operable vacuum cleaning apparatus capable of movement in a specified area, said cleaning apparatus comprising:

a) a mobile cleaning apparatus having a body which is powered for driving movement in the specified area and in a non-controlled randomly operated path;

b) drive means in said body for generating a powered movement and driving the mobile cleaning apparatus in the specified area;

c) sensor means associated with said body which is actuated when the sensor means detects a fixed obstruction; and

d) control means operatively connected to said sensor means and said drive means to control the drive means for altering the driving movement of the apparatus in another non-controlled randomly generated path which is different from the path followed by the apparatus when first sensing the fixed obstruction and where the apparatus will automatically assume different random paths until the sensor means no longer senses the fixed obstruction thereby allowing the apparatus to adopt a path which does avoid the obstruction allowing the apparatus to thereby move beyond the fixed obstruction.

2. The automatically operable vacuum cleaning apparatus of claim 1 further characterized in that said sensor means comprises a plurality of spaced apart sensors which are separately actuated when the sensor detects a fixed obstruction in the region of the sensor, and that the sensor which is actuated will cause a drive movement different than if another sensor is actuated.

3. The automatically operable vacuum cleaning apparatus of claim 1 further characterized in that said sensor means comprises a shiftable bumper on said body and which will actuate a contact switch associated with that bumper when the bumper contacts a fixed obstruction.

4. The automatically operable vacuum cleaning apparatus of claim 1 further characterized in that said drive means comprises wheels mounted on said body and a bi-directional drive motor mounted in the body and which is connected to said wheels on the body for positively driving same in a forward and rearward direction.

5. The automatically operable vacuum cleaning apparatus of claim 4 further characterized in that the apparatus comprises a drop-off detector for detecting the presence of a drop-off and operates in conjunction with the control means to cause the apparatus to change to a direction which will avoid the drop-off.

6. The automatically operable vacuum cleaning apparatus of claim 1 further characterized in that the drive means comprises a pair of drive wheels which are mounted on said body and a separate bi-directional drive motor connected to and driving each of said drive wheels.

10. The automatically operable vacuum cleaning apparatus of claim 1 further characterized in that said sensor means comprises a plurality of spaced apart contacts which are separately actuated when the body contacts a fixed obstruction in the region of the contact, and that the contact which is actuated will cause a drive movement different than if another contact is actuated.

12. The automatically operable vacuum cleaning apparatus of claim 1 further characterized in that the drive means comprises a pair of wheels mounted on said body and a pair of bi-directional drive motors mounted in the body and which is connected said to wheels on the body for positively driving same and where the drive means will selectively cause operation of the drive motors to move the apparatus away from a drop-off.

13. The automatically operable vacuum cleaning apparatus of claim 1 further characterized in that the drive means comprises wheels mounted on the said body and a bi-directional drive motor mounted in the body and which is connected to said wheels on the body for causing a driving force to be applied to the wheels to allow the wheels to be driven in a plurality of different directions.

14. The automatically operable vacuum cleaning apparatus of claim 13 further characterized in that the apparatus comprises a drop-off detector for detecting the presence of a drop-off and operates in conjunction with the control means to cause the apparatus to change to a direction which will avoid the drop-off.

15. The automatically operable vacuum cleaning apparatus of claim 14 further characterized in that said wheels comprise a pair of drive wheels which are mounted on said body and a pair of separate bi-directional drive motors are mounted in said body with each one of said motors connected to a separate one of said drive wheels.

7. An automatically operable vacuum cleaning apparatus capable of movement in a specified area and which is capable of avoiding driving into and over a drop-off, said apparatus comprising:

a) a mobile cleaning apparatus having a body which is powered for driving movement in the specified area;

b) drive means in said body for generating a powered movement and driving the mobile cleaning apparatus in the specified area;

c) a sensor capable of sensing a floor surface and being associated with a floor surface detector comprising an arm and a generally U-shaped lower end presenting an arcuate surface for riding on a floor surface or being spaced from a floor surface in very close proximity thereto, and being adapted for shifting movement in response to variations in said floor surface; and

d) a driving control means for causing said drive means to move the mobile unit away from a drop-off in the floor surface as sensed by said sensor upon actuation of said control means in response to a drop-off signal from said sensor.

8. The automatically operable vacuum cleaning apparatus of claim 7 further characterized in that said U-shaped arcuate surface is capable of riding on or being spaced from a floor surface in very close proximity thereto and which is shiftable in response to variations in a floor surface which exceed a predetermined amount.

11. The automatically operable vacuum cleaning apparatus of claim 7 further characterized in that said drop-off detection means comprises a shiftable arm on said body and which will drop and thereby cause initiation of a drop-off signal when the apparatus approaches a drop-off causing the apparatus to move away from the drop-off.

9. An automatically operable vacuum cleaning apparatus capable of movement in a specified area, said cleaning apparatus comprising:

a) a mobile cleaning apparatus having a body which is powered for driving movement in the specified area and in a non-controlled randomly operated path;

b) drive means in said body for generating a powered movement and driving the mobile cleaning apparatus in the specified area;

c) sensor means associated with said body which is actuated when the sensor means senses a fixed obstruction;

d) control means operatively connected to said sensor means and said drive means to cause said drive means to alter the driving movement of the apparatus in another non-controlled randomly generated path which is different from the path followed by the apparatus when first sensing the fixed obstruction until the sensor means no longer senses the fixed obstruction thereby allowing the apparatus to move in a path beyond the fixed obstruction; and

e) drop-off detection means for detecting the presence of a drop-off and causing the apparatus to randomly alter its direction until it avoids the drop-off and thereby allowing the apparatus to travel in a path away from the drop-off.