Trainable multi-mode floor cleaning device

• US 8,774,970 B2
• Filed: 06/11/2010
• Issued: 07/08/2014
• Est. Priority Date: 06/11/2009
• Status: Active Grant

• Current Assignee: SC Johnson & Son Incorporated
• Original Assignee: SC Johnson & Son Incorporated
• Inventors: Knopow, Jeremy F., Curtis, David, Larson, Ted, Allen, Bob, Carter, Everett F. Jr.
• Primary Examiner(s): Trammell, James
• Assistant Examiner(s): Malhotra, Sanjeev
• Application Number:
  US12/813,717
• Publication Number:
  US 20110004342A1
• Time in Patent Office: 1,488 Days
• Field of Search: 700/245, 701/1, 15/42, 15/83, 15/98, 153/19, 153/20, 153/25, 153/31, 153/39, 153/53, 153/85, 340/540, 422/5, 553/45
• 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 at least one sensor and 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 alternate cleaning modes defined by operation of alternate cleaning apparatus supported by the floor cleaning modes wherein the controller initiates the cleaning route and respective cleaning modes automatically, and automatically deviates from the cleaning route and returns to the cleaning route, in response to signals from the at least one sensor to avoid unexpected obstructions that would result in unacceptable changes in elevation of the work area.

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 alternate cleaning apparatus is associated with one of a touchless cleaning system and a replaceable cleaning member respectively.

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 respective 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 wireless fidelity (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. The floor cleaning device of claim 8 wherein the controller is configured to receive waypoint information during the training mode and determine a tangent arc line between the position of the floor cleaning device relative to the area to be cleaned at a given instance and an adjacent waypoint during the automatic operation of the floor cleaning device along the cleaning route.