Outdoor home cleaning robot—system and method

• US 9,114,440 B1
• Filed: 05/02/2013
• Issued: 08/25/2015
• Est. Priority Date: 05/02/2013
• Status: Expired due to Fees

• Current Assignee: Eusebio G. Hernandez, Michael A. Colucci
• Original Assignee: Eusebio G. Hernandez, Michael A. Colucci
• Inventors: Colucci, Michael A., Hernandez, Eusebio G.
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): Moyer, Dale
• Application Number:
  US13/886,265
• Time in Patent Office: 845 Days
• US Class Current: 1/1
• CPC Class Codes: A47L 2201/00 Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
• CPC Class Codes: A47L 2201/024 Emptying dust or waste liquid containers
• CPC Class Codes: A47L 2201/026 Refilling cleaning liquid containers
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: B08B 3/024 Cleaning by means of spray elements moving over the surface to be cleaned
• CPC Class Codes: B25J 11/0085 Cleaning
• CPC Class Codes: B25J 19/005 using batteries, e.g. as a back-up power source
• CPC Class Codes: B25J 5/00 Manipulators mounted on wheels or on carriages B25J1/00 takes precedence; programme-controlled manipulators B25J9/00 ; vehicle aspects B60, B62, e.g. remote-controlled steering for motor vehicles B62D1/24; control of position of vehicles G05D1/00
• CPC Class Codes: B25J 9/1676 Avoiding collision or forbidden zones
• CPC Class Codes: B60S 3/04 for exteriors of land vehicles B60S3/002, B60S3/004 take precedence; specially adapted for railway vehicles B60S3/006
• CPC Class Codes: G05B 2219/40298 Manipulator on vehicle, wheels, mobile
• CPC Class Codes: G05B 2219/40383 Correction, modification program by detection type workpiece
• CPC Class Codes: G05B 2219/45071 Aircraft, airplane, ship cleaning manipulator, paint stripping
• 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 1/0246 using a video camera in combination with image processing means

Abstract

A hardware and software method, system and apparatus comprising an autonomous all weather outdoor cleaning robot designed to identify, and clean various outdoor household objects including but not limited to personal automobiles and other vehicles. The robot autonomously navigates to a designated area and scans the vehicle or object to determine the optimum cleaning routine. The robot learns its working environment by comparing scanned vehicles and outdoor objects with its existing database for future reference. The robot also compares and stores navigation data, which correlate to areas previously visited to increase efficiency for future work by reducing travel and scanning times. The Present Invention focuses on autonomous outdoor cleaning multi-purpose robots. The robots utilize microprocessors to control cleaning, navigation and perception. More specifically, the robots use multi-segmented arms to perform needful chores. Even more specifically, a robot can adapt and learn from its environment while performing useful tasks.

Claims

1. A method of autonomously cleaning and maintaining a pre-determined variety of objects located in a prescribed area either indoors or outdoors using a robot comprising computer software or firmware,

wherein the robot utilizes batteries to generate electricity, dispensers containing fluids to clean the variety of objects, sensors to recognize and identify the variety of objects to be cleaned or maintained, and driver motors to move a multi-segmented arm and to allow the robot to move through a prescribed area, and

wherein the robot performs the following steps without human interaction:

a) after receiving a sufficient charge, automatically leaving an external docking station with which the robot is docked;

b) automatically navigating to the prescribed area;

c) automatically scanning the prescribed area to find the variety of objects to be cleaned or maintained;

d) automatically recognizing and identifying each object of the variety of objects to be cleaned or maintained;

e) automatically cleaning or maintaining each object of the variety of objects to be cleaned or maintained with a movable segmented arm assembly having spray nozzles that spray liquid, and using a set of pre-programmed instructions; and

f) automatically returning to and mating with the docking station for recharging and replenishment of soap, water, and solvents when all of the variety of objects have been cleaned or maintained; and

wherein, prior to leaving the external docking station, the robot software or firmware;

g) automatically determines the electric charge level of the batteries;

h) automatically determines the level of fluids in the dispensers;

i) automatically determines whether the sensors are operating properly; and

j) automatically determines whether the driver motors are operating properly,

and wherein,

i) if the electric charge level of all the batteries are below preset desired levels in a database;

or

ii) if the levels of all fluids in the dispensers are below preset desired levels in the database;

or

iii) if all the sensors are not operating properly;

or

iv) if all the driver motors are not operating properly, then the robot'"'"'s software or firmware will not instruct the robot to leave the external docking station, and an error message will be displayed.

2. The method of claim 1, wherein a plurality of monuments, which are able to be detected by the sensors, are manually placed in positions leading to the prescribed area prior to the robot leaving the external docking station.

3. The method of claim 2, wherein after the robot leaves the external docking station, the software or firmware causes the robot to perform the steps of:

a) detecting the plurality of monuments;

b) identifying each of the plurality of monuments;

c) determining the location of each of the plurality of monuments;

d) calculating a path from a present position to the location of each of the plurality of monuments a sequence recorded in the database; and

e) moving to each of the plurality of monuments along the calculated path.

4. The method of claim 3, wherein the software or firmware further causes the robot to perform the steps of detecting and avoiding obstacles while moving in the paths to the plurality of monuments.

5. The method of claim 3, wherein when the robot moves to the last of the plurality of monuments in the sequence, it has arrived at the prescribed area.

6. The method of claim 1, wherein the step of automatically recognizing and identifying each object of the variety of objects to be cleaned or maintained utilizes pattern recognition computer programs contained within the software or firmware.

7. The method of claim 6, wherein the computer software or firmware instructs the robot to use its sensors to scan each object of the variety of objects to be cleaned or maintained from a plurality of viewing positions, such that the scan data from each of the plurality of viewing positions is representative of a side of the particular object to be cleaned or maintained.

8. The method of claim 7, wherein the automatic cleaning or maintaining each of the variety of objects is accomplished by cleaning or maintaining all of the plurality of sides of said object.

9. The method of claim 8, wherein once cleaning or maintaining has begun, the software or firmware periodically and automatically performs the step of determining the level of fluids in the dispensers.

10. The method of claim 9, wherein should the level of fluid in any dispenser fall below a preset desired level in the database, the software or firmware will automatically cause the robot to perform the steps of:

a) returning to the docking station;

b) replenishing the fluid in the dispenser to said desired level;

c) returning to the prescribed area; and

d) completing its cleaning or maintenance of all of the variety of objects to be cleaned or maintained.

11. A system for autonomously cleaning and maintaining a pre-determined variety of objects located in a prescribed area either indoors or outdoors using a robot comprising computer software or firmware, a movable multi-segmented robotic arm assembly, batteries, fluid dispensers, drive motors, and sensors, wherein said system further comprises:

a) a storage device that stores an electronic database containing entries capable of being represented by numeric descriptors;

b) a display device;

c) a device that permits user input; and

d) a processor programmed to;

i) determine the charge level in the batteries;

ii) determine to levels of fluids in the dispensers;

iii) determine whether the sensors are operating properly;

iv) cause the drive motors to move the robot in a prescribed path;

v) cause the robot to move away from an external docking station;

vi) cause the robot to move to the prescribed area;

vii) cause the robot to utilize the sensors to scan the prescribed area to find the variety of objects to be cleaned or maintained;

viii) recognize and identify each object of the variety of objects to be cleaned or maintained;

ix) cause each object of the variety of objects to be cleaned or maintained with the movable multi-segmented arm assembly having spray nozzles that spray liquid, and using a set of pre-programmed instructions; and

x) cause the robot to return to and mate with the docking station for recharging and replenishment of soap, water, and solvents when all of the variety of objects have been cleaned or maintained.

12. The system of claim 11, wherein the robot utilizes batteries to generate electricity, dispensers containing fluids to clean the variety of objects, sensors to recognize and identify the variety of objects to be cleaned or maintained, and driver motors to move the multi-segmented arm and to allow the robot to move through the prescribed area.

13. The system of claim 12 wherein, prior to leaving the external docking station, the processor:

a) automatically determines the electric charge level of the batteries;

b) automatically determines the level of fluids in the dispensers;

c) automatically determines whether the sensors are operating properly; and

d) automatically determines whether the driver motors are operating properly,

wherein,

i) if the electric charge level of all the batteries are below preset desired levels in a database;

or

ii) if the levels of all fluids in the dispensers are below preset desired levels in the database;

or

iii) if all the sensors are not operating properly;

or

iv) if all the driver motors are not operating properly, then the processor will not instruct the robot to leave the external docking station, and will cause an error message to be displayed.

14. The system of claim 13,

wherein the robot utilizes a plurality of monuments to be detected by the sensors;

wherein said plurality of monuments are manually placed in positions leading to the prescribed area prior to leaving the external docking station; and

wherein after the robot leaves the external docking station, the processor causes the robot to;

a) detect the plurality of monuments;

b) identify each of the plurality of monuments;

c) determine the location of each of the plurality of monuments;

d) calculate a path from a present position to the location of each of the plurality of monuments, via a sequence recorded in the database; and

e) move to each of the plurality of monuments along the calculated path.

15. The system of claim 14, wherein the processor further causes the robot to navigate to the prescribed area by detecting and avoiding obstacles while moving along the prescribed path to the plurality of monuments in sequence until it reaches the last of the plurality of monuments in the sequence.

16. The system of claim 11, wherein the processor utilizes pattern recognition computer software to identify each object and the variety of objects to be cleaned or maintained.

17. The system of claim 16, wherein the processor instructs the robot to use its sensors to scan each object of the variety of objects to be cleaned or maintained from a plurality of viewing positions, such that the scan data from each of the plurality of viewing positions is representative of a side of a particular object to be cleaned or maintained.

18. The system of claim 17, wherein the automatic cleaning or maintaining each of the variety of objects is accomplished by cleaning or maintaining all of the plurality of sides of said object.

19. The system of claim 18, wherein once cleaning or maintaining has begun, the processor periodically and automatically determines the level of fluids in the dispensers.

20. The system of claim 19, wherein should the level of fluid in any dispenser fall below a preset desired level in the database, the processor will automatically cause the robot to:

a) return to the docking station;

b) replenish the fluid in the dispenser to said desired level;

c) return to the prescribed area; and

d) complete its cleaning or maintenance of all of the variety of objects to be cleaned or maintained.

21. A system for autonomously cleaning and maintaining a pre-determined variety of objects located in a prescribed area either indoors or outdoors using a robot comprising computer software or firmware, a movable multi-segmented robotic arm assembly, batteries, fluid dispensers, drive motors, and sensors, wherein said system further comprises:

a) a means for storing an electronic database containing entries capable of being represented by numeric descriptors;

b) a display means;

c) a means for permitting user input; and

d) a means for electronically;

i) determining the charge level in the batteries;

ii) determining to levels of fluids in the dispensers;

iii) determining whether the sensors are operating properly;

iv) causing the drive motors to move the robot in a prescribed path;

v) causing the robot to move away from an external docking station;

vi) causing the robot to move to a prescribed area;

vii) causing the robot to utilize the sensors to scan the prescribed area to find the variety of objects to be cleaned or maintained;

viii) recognizing and identifying each object of the variety of objects to be cleaned or maintained;

ix) causing each object of the variety of objects to be cleaned or maintained with the movable multi-segmented arm assembly having spray nozzles that spray liquid, and using a set of pre-programmed instructions; and

x) causing the robot to return to and mate with the docking station for recharging and replenishment of soap, water, and solvents when all of the variety of objects have been cleaned or maintained.