Sensor cleaning system for an autonomous robot device, base station and corresponding method

• US 9,557,739 B2
• Filed: 12/09/2014
• Issued: 01/31/2017
• Est. Priority Date: 01/10/2014
• Status: Active Grant

• Current Assignee: Honda Research Institute Europe GmbH (Honda Motor Company)
• Original Assignee: Honda Research Institute Europe GmbH (Honda Motor Company)
• Inventors: Sendhoff, Bernhard, Einecke, Nils, Franzius, Mathias
• Primary Examiner(s): Luo, David S
• Application Number:
  US14/564,549
• Publication Number:
  US 20150198952A1
• Time in Patent Office: 784 Days
• Field of Search: 318/568.12, 318/568.11, 318/568.1
• US Class Current: 1/1
• CPC Class Codes: A01D 34/008 for automated or remotely controlled operation
• CPC Class Codes: B08B 1/12 Brushes
• CPC Class Codes: B08B 1/143 Wipes
• CPC Class Codes: B08B 3/02 Cleaning by the force of jets or sprays
• 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: G05D 1/0225 involving docking at a fixed facility, e.g. base station or loading bay parking aids B62D15/027
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/30 End effector
• CPC Class Codes: Y10S 901/46 Sensing device

Abstract

The inventive system comprises an autonomous robot device, a base station and a method operating the same. The autonomous robot device includes a sensor means, e.g. an optical sensor, and a propulsion means. The base station includes a cleaning means specifically adapted for cleaning the sensor means of the autonomous robot device. In a preferred embodiment the propulsion means of the autonomous robot device is configured to move the autonomous robot device in a manner suitable to generate a relative movement of the autonomous robot device with respect to the passive cleaning means arranged at the stationary base station to effect the cleaning of the sensor means of the autonomous robot device.

Claims

1. A system comprising:

an autonomous robot device, including a sensor means and a propulsion means; and

a base station,

wherein the base station is configured to charge an energy storage means or refill a fuel tank of the autonomous robot device and includes a cleaning means, and

wherein the cleaning means is configured to clean the sensor means of the autonomous robot device.

2. The system according to claim 1, wherein

the propulsion means is configured to move the autonomous robot device to generate a relative movement of the autonomous robot device including the sensor means with respect to the cleaning means to effect the cleaning of the sensor means.

3. The system according to claim 1, wherein

the propulsion means of the autonomous robot device is configured to move the autonomous robot device towards a first position at the base station for performing cleaning,

wherein the first position is different from a second position approached by the autonomous robot device for the charging of the autonomous robot device at the base station.

4. The system according to claim 1, wherein

the cleaning means is configured to effect a brushing or swiping motion across the sensor means when the autonomous robot device approaches or departs from the first position.

5. The system according to claim 1, wherein

the sensor means includes at least one camera.

6. The system according to claim 1, wherein

the autonomous robot device is a lawn mower.

7. The system according to claim 1, wherein

the cleaning means is configured to comprise a brush and/or a cleaning cloth and/or water and/or cleaning agents and/or pressurized gas.

8. The system according to claim 1, wherein

the autonomous robot device further comprises control means configured to actuate cleaning of the sensor means each time the autonomous robot device arrives at or departs from the base station.

9. The system according to claim 1, wherein

the autonomous robot device comprises control means configured to actuate cleaning of the sensor means according to a time schedule and/or upon user request and/or by a sensor state and/or based on sensed weather and/or based on a weather report.

10. The system according to claim 1, wherein

the control means is configured to use data acquired from the sensor means in order to control relative movement of the autonomous robot device for the cleaning of the sensor means.

11. A base station for an autonomous robot device, wherein

the base station includes a cleaning means,

wherein the cleaning means is configured to clean a sensor means of the autonomous robot device, and

wherein the base station is configured to charge an energy storage means or refill a fuel tank of the autonomous robot device.

12. The base station for an autonomous robot device according to claim 11, wherein

the base station includes the cleaning means operative to clean the sensor means when the autonomous robot device moves towards a first position for cleaning, and

the first position is different from a second position in which the autonomous robot device is charged at the base station.

13. The base station for an autonomous robot device according to claim 11, wherein

the cleaning means comprises a cleaning unit elastically supported at the base station.

14. Method for a system comprising an autonomous robot device, wherein the autonomous robot device includes a sensor means and a propulsion means, and the system further comprises a base station configured to charge an energy storage means or refill a fuel tank of the autonomous robot device and including a cleaning means,

the method comprising:

a step of moving the autonomous robot device to the base station for cleaning the sensor means, and

a step of cleaning the sensor means by the cleaning means.

15. The method according to claim 14, wherein

the step of cleaning includes moving the autonomous robot device relative to the cleaning means to effect the cleaning of the sensor means.

16. The method according to claim 14, wherein

the step of cleaning includes moving the autonomous robot device relative to the base station towards a first position at the base station of cleaning the sensor means,

wherein the first position is different to a second position at the base station for the charging of the autonomous robot device at the base station.

17. The method according to claim 14, wherein

the method further comprises a step of determining whether the sensor means is to be cleaned,

wherein in the step of determining it is determined that the sensor means is to be cleaned each time the autonomous robot device arrives at or departs from the base station, and/or

cleaning of the sensor means according to a time schedule, and/or

cleaning of the sensor means is based on a user request and/or based on a sensor state and/or based on a sensed weather and/or by a weather report.

18. The method according to claim 14, wherein

the step of cleaning uses data acquired from the sensor means in order to control the relative movement of the autonomous robot device for the cleaning of the sensor means.