Robotic vacuum cleaner with side brush moving in spiral pattern

• US 10,045,675 B2
• Filed: 12/19/2013
• Issued: 08/14/2018
• Est. Priority Date: 12/19/2013
• Status: Active Grant

• Current Assignee: Aktiebolaget Electrolux
• Original Assignee: Aktiebolaget Electrolux
• Inventors: Haegermarck, Anders
• Primary Examiner(s): Van Nugyen, Dung
• Application Number:
  US15/101,212
• Publication Number:
  US 20160302638A1
• Time in Patent Office: 1,699 Days
• 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 11/4038 Disk shaped surface treating tools
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: A47L 2201/06 Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
• CPC Class Codes: A47L 9/0488 Combinations or arrangements of several tools, e.g. edge cleaning tools
• CPC Class Codes: G05D 1/0219 ensuring the processing of the whole working surface
• CPC Class Codes: G05D 1/0238 using obstacle or wall sensors G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93
• CPC Class Codes: G05D 1/0248 in combination with a laser lasers per se H01S

Abstract

A robotic cleaning device having a main body, an opening in a bottom side of the main body for removing debris from an area to be cleaned, a brush adjacent to the opening and a propulsion system configured to move the robotic cleaning device across the area. The robotic cleaning device may further include a positioning system having an obstacle detecting device configured to detect obstacles and a processing unit. The obstacle detecting device is configured to record positional data, and the processing unit is configured to generate a cleaning pattern from the positional data, the cleaning pattern including at least one spiral pattern having an outer periphery. The spiral pattern is arranged so that the robotic cleaning device spirals inwards from the outer periphery towards a center of the spiral pattern, and the brush faces the outer periphery while the robotic cleaning device follows the spiral pattern.

Claims

1. A robotic cleaning device comprising:

a main body;

an opening arranged in a bottom side of the main body for removing debris from an area to be cleaned;

a brush arranged adjacent to the opening;

a propulsion system configured to move the robotic cleaning device across the area; and

a positioning system comprising an obstacle detecting device configured to detect obstacles and a processing unit, the obstacle detecting device being configured to record positional data;

wherein the processing unit is configured to;

generate a cleaning pattern from the positional data, the cleaning pattern having a single spiral pattern,

determine a number of double cleaning movements the single spiral pattern would cause,

split up the single spiral pattern into a plurality of spiral patterns to minimize the number of double cleaning movements, each of the spiral patterns having an outer periphery and being arranged so that, during the cleaning, the robotic cleaning device spirals itself inwards from the outer periphery towards a centre of each of the spiral patterns, wherein the brush is arranged to face the outer periphery while the robotic cleaning device follows each of the spiral patterns.

2. The robotic cleaning device according to claim 1, wherein the brush is a rotating brush arranged at a periphery of the body and extending at least partially outside a periphery of the body.

3. The robotic cleaning device according to claim 1, wherein the positional data is recorded while the robotic cleaning device is following a periphery of the area.

4. The robotic cleaning device according to claim 2, wherein the rotating brush is configured to rotate in the same direction as each of the spiral patterns.

5. The robotic cleaning device according to claim 1, wherein the brush is arranged on a horizontally protruding portion of the body.

6. The robotic cleaning device according to claim 1, wherein each of the spiral patterns comprises an angular shaped spiral pattern.

7. The robotic cleaning device according to claim 1, wherein the brush is arranged on a right side of the opening as seen in a direction of movement of the robotic cleaning device and wherein each of the spiral patterns is a left-hand spiral pattern.

8. The robotic cleaning device according to claim 1, wherein the brush is arranged on a left side of the opening as seen in a direction of movement of the robotic cleaning device and wherein each of the spiral patterns is a right-hand spiral pattern.

9. The robotic cleaning device according to claim 1, wherein the cleaning pattern comprises communication paths that interconnect each of the spiral patterns.

10. A method of operating a robotic cleaning device comprising the steps of:

generating positional data of an area by an obstacle detecting device;

defining a cleaning pattern from the generated positional data by a processing unit, the cleaning pattern having a single spiral pattern;

determining a number of double cleaning movements the single spiral pattern would cause;

splitting up, by the processing unit, the single spiral pattern into a plurality of spiral patterns by minimizing the number of double cleaning movements, each of the spiral patterns having an outer periphery and being arranged so that, during the cleaning, the robotic cleaning device spirals itself inwards from the outer periphery towards a centre of each of the spiral patterns; and

moving the robotic cleaning device along each of the spiral patterns, the movement being controlled by the processing unit, so that a side brush of the robotic cleaning device is facing an outer periphery of each of the spiral patterns, while the robotic cleaning device is moving along each of the spiral patterns.

11. The method according to claim 10, wherein the positional data is generated by having the robotic cleaning device follow a periphery of the area.

12. The method according claim 10, further comprising recognizing obstacles within the area to be cleaned, recording the obstacles and placing them in within the positional data, and defining the cleaning patterns based on the generated positional data comprising the recorded obstacles.