Application of localization, positioning and navigation systems for robotic enabled mobile products

• US 8,452,450 B2
• Filed: 04/24/2009
• Issued: 05/28/2013
• Est. Priority Date: 04/24/2008
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: Evolution Robotics Inc. (iRobot Corporation)
• Inventors: Dooley, Michael, Pirjanian, Paolo, Romanov, Nikolai, Chiu, Lihu, Di Bernardo, Enrico, Stout, Michael, Brisson, Gabriel
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): MOYER, DALE S
• Application Number:
  US12/429,963
• Publication Number:
  US 20090281661A1
• Time in Patent Office: 1,495 Days
• Field of Search: 318/568.12, 700245-264, 901/46, 901/50
• US Class Current: 700/258
• CPC Class Codes: A47L 11/24 Floor-sweeping machines, motor-driven
• 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 11/4036 Parts or details of the surface treating tools
• 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 2201/022 Recharging of batteries
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: A47L 9/2873 Docking units or charging stations for autonomous or robotic vacuum cleaners A47L2201/02
• CPC Class Codes: B60L 1/003 to auxiliary motors, e.g. for pumps, compressors
• CPC Class Codes: B60L 15/20 for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
• CPC Class Codes: B60L 15/2036 Electric differentials, e.g. for supporting steering vehicles
• CPC Class Codes: B60L 2200/40 Working vehicles
• CPC Class Codes: B60L 2220/44 Wheel Hub motors, i.e. integrated in the wheel hub
• CPC Class Codes: B60L 2240/14 Acceleration
• CPC Class Codes: B60L 2240/32 Driving direction
• CPC Class Codes: B60L 2240/421 Speed
• CPC Class Codes: B60L 2240/423 Torque
• CPC Class Codes: B60L 2240/461 Speed
• CPC Class Codes: B60L 2240/463 Torque
• CPC Class Codes: B60L 2240/465 Slip
• CPC Class Codes: B60L 2240/62 Vehicle position
• CPC Class Codes: B60L 2250/16 : by display
• CPC Class Codes: B60L 2260/32 : Auto pilot mode
• CPC Class Codes: B60L 3/106 : for maintaining or recovering the adhesion of the drive wheels
• CPC Class Codes: B60L 50/52 : characterised by DC-motors
• CPC Class Codes: B60L 50/66 : Arrangements of batteries
• CPC Class Codes: B60L 53/14 : Conductive energy transfer
• CPC Class Codes: B60L 58/21 : having the same nominal voltage
• CPC Class Codes: G05D 1/0219 : ensuring the processing of the whole working surface
• CPC Class Codes: G05D 1/0234 : using optical markers or beacons optical beacons per se G01S1/70
• CPC Class Codes: Y02T 10/64 : Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/70 : Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 10/7072 : Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
• CPC Class Codes: Y02T 10/72 : Electric energy management in electromobility
• CPC Class Codes: Y02T 90/14 : Plug-in electric vehicles
• CPC Class Codes: Y02T 90/16 : Information or communication technologies improving the operation of electric vehicles

Abstract

A robotic cleaner includes a cleaning assembly for cleaning a surface and a main robot body. The main robot body houses a drive system to cause movement of the robotic cleaner and a microcontroller to control the movement of the robotic cleaner. The cleaning assembly is located in front of the drive system and a width of the cleaning assembly is greater than a width of the main robot body. A robotic cleaning system includes a main robot body and a plurality of cleaning assemblies for cleaning a surface. The main robot body houses a drive system to cause movement of the robotic cleaner and a microcontroller to control the movement of the robotic cleaner. The cleaning assembly is located in front of the drive system and each of the cleaning assemblies is detachable from the main robot body and each of the cleaning assemblies has a unique cleaning function.

Claims

1. A robotic cleaner for cleaning a surface with a cleaning cloth, the robotic cleaner comprising:

a main robot body comprising;

a drive system configured to drive the robotic cleaner in a forward direction toward the surface to be cleaned; and

a microcontroller configured to control the movement of the robotic cleaner;

a cleaning assembly connected at a front end of the main robot body whereby the cleaning assembly is in front of the main robot body when driven in the forward direction;

wherein the cleaning assembly is configured to detachably hold the cleaning cloth;

wherein the cleaning assembly comprises a cleaning pad configured to press the cleaning cloth against the surface to be cleaned; and

at least one drop sensor connected to the cleaning assembly, each drop sensor comprising a member configured to move a direction substantially perpendicular to the surface to be cleaned;

wherein the member is configured to apply pressure to the cleaning cloth and to protrude outward with respect to the cleaning pad when at least a portion of the cleaning cloth losses contact with the surface to be cleaned.

2. The robotic cleaner of claim 1, wherein the cleaning assembly is characterized by a first width perpendicular to the forward direction of the robotic cleaner, wherein the main robot body is characterized by a second width perpendicular to the forward direction of the robotic cleaner, and wherein the first width is greater than the second width.

3. The robotic cleaner of claim 1, wherein the cleaning assembly is detachably connected to the main robot body.

4. The robotic cleaner of claim 3, further comprising a locking mechanism to lock the cleaning assembly to the main robot body.

5. The robotic cleaner of claim 1, further comprising an electrical interface coupling the cleaning assembly to the main robot body, the electrical interface configured to provide sensor data from the at least one drop sensor from the cleaning assembly to the main robot body.

6. The robotic cleaner of claim 1, wherein the main robot body comprises a drop sensor at a back end of the main robot body.

7. The robotic cleaner of claim 1, wherein the cleaning cloth is a dry cloth.

8. The robotic cleaner of claim 1, wherein the cleaning cloth is a wet cloth.

9. The robotic cleaner of claim 1, further comprising a current sensor coupled to the microcontroller and the drive system comprising a motor;

wherein the microcontroller is configured to identify interference between the robotic cleaner and an obstacle based, in part, on changes in a current drawn by the motor.

10. The robotic cleaner of claim 1, further comprising a gyroscope coupled to the microcontroller;

wherein the microcontroller is configured to identify interference between the robotic cleaner and an obstacle based, in part, on changes in orientation of the robotic cleaner sensed by the gyroscope.

11. The robotic cleaner of claim 1, further comprising an accelerometer coupled to the microcontroller;

wherein the microcontroller is configured to identify interference between the robotic cleaner and an obstacle based, in part, on changes in velocity of the robotic cleaner sensed by the accelerometer.

12. The robotic cleaner of claim 1, further comprising at least one retractable bumper connected to the main robot body via the cleaning assembly, wherein the at least one retractable bumper is configured to:

extend in front of the cleaning cloth when not in contact with an obstacle, and

retract behind the cleaning cloth when in contact with an obstacle.

13. The robotic cleaner of claim 1, wherein the microcontroller is configured to drive the robotic cleaner along a wall with the cleaning assembly maintaining pressure against the wall.

14. The robotic cleaner of claim 1, wherein the microcontroller is configured to drive the robotic cleaner perpendicular against a wall.

15. The robotic cleaner of claim 14, wherein the microcontroller is configured to:

rotate the robotic cleaner ninety degrees after driving the robotic cleaner perpendicular against the wall; and

then drive the robotic cleaner parallel to the wall.

16. The robotic cleaner of claim 1, further comprising one or more light detectors;

wherein the robotic cleaner is configured to;

determine its position in response to the light detectors; and

navigate based on the determined position.

17. The robotic cleaner of claim 1, wherein the microcontroller is configured to automatically navigate to a docking station.

18. The robotic cleaner of claim 17, further configured to be charged at the docking station.