MOBILE ROBOTIC CLEANER

• US 20170049288A1
• Filed: 08/18/2016
• Published: 02/23/2017
• Est. Priority Date: 08/18/2015
• Status: Abandoned Application

• Current Assignee: Nilfisk A/S (Nilfisk Holding A/S)
• Original Assignee: Nilfisk, Inc. (Nilfisk Holding A/S)
• Inventors: Knutson, Kipp, McDonald, Stuart, Klopp, Stephen, Black, John, Wood, Dave, Legatt, Donald Joseph
• Application Number:
  US15/240,991
• Publication Number:
  US 20170049288A1
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: A47L 11/305 the tools being disc brushes
• CPC Class Codes: A47L 11/4008 Arrangements of switches, indicators or the like
• 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 11/4016 specially adapted for collecting fluids
• CPC Class Codes: A47L 11/4036 Parts or details of the surface treating tools
• CPC Class Codes: A47L 11/4044 Vacuuming or pick-up tools; Squeegees
• 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 11/4066 Propulsion of the whole machine
• CPC Class Codes: A47L 11/4083 Liquid supply reservoirs; Preparation of the agents, e.g. mixing devices
• CPC Class Codes: A47L 11/4088 Supply pumps; Spraying devices; Supply conduits
• 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

Abstract

A control system for a robotic floor cleaning machine configured to perform a cleaning operation along a cleaning path can comprise a controller, and a plurality of sensors. The controller can be configured to control autonomous movement of the robotic floor cleaning machine along the cleaning path and autonomous performance of the cleaning operation. The plurality of sensors can be configured to sense a location of the robotic floor cleaning machine relative to surroundings of the robotic floor cleaning machine. At least two sensors from the plurality of sensors are configured to locate the robotic floor cleaning machine in overlapping areas of the surroundings.

Claims

1. A control system for a robotic floor cleaning machine configured to perform a cleaning operation along a cleaning path, the control system comprising:

a controller configured to control autonomous movement of the robotic floor cleaning machine along the cleaning path and autonomous performance of the cleaning operation; and

a plurality of sensors configured to sense a location of the robotic floor cleaning machine relative to surroundings of the robotic floor cleaning machine;

wherein at least two sensors from the plurality of sensors are configured to locate the robotic floor cleaning machine in overlapping areas of the surroundings.

2. The control system of claim 1, wherein the plurality of sensors are selected from the group comprising:

laser sensors, sonar sensors, stereo camera sensors, infrared sensors, capacitive sensors, and wheel position sensor sensors.

3. The control system of claim 2, wherein the at least two sensors comprise:

a dirt sensor configured to detect objects alongside the machine along the cleaning path; and

a capacitance sensor configured to detect objects alongside the machine above the cleaning path.

4. The control system of claim 2, wherein the at least two sensors comprise:

a laser scanner configured to map the surroundings alongside the machine; and

an optical sensor configured to visually record the surroundings alongside the machine.

5. The control system of claim 2, wherein the at least two sensors comprise:

an object recognition sensor configured to view the presence of objects in the surroundings; and

an optical sensor configured to visually record the surrounding alongside the machine.

6. The control system of claim 2, wherein the at least two sensors comprise:

a wheel position sensor configured to determine a distance the machine has moved in the surroundings; and

a laser sensor configured to sense a distance between the machine and an object in the surroundings.

7. The control system of claim 2, wherein the controller further comprises:

a chassis configured to move along the cleaning path;

a cleaning mechanism mounted to the chassis to perform the cleaning operation;

means for facilitating the autonomous performance of the cleaning operation; and

means for facilitating the autonomous movement of the chassis.

8. The control system of claim 7, wherein the means for facilitating autonomous performance of the cleaning operation comprises a debris sensor in communication with the controller and positioned to determine debris in the cleaning path for comparison to a baseline reference.

9. The control system of claim 8, wherein the means for facilitating autonomous performance of the cleaning operation further comprises a pre-cleaning operation cleaning medium coupled to a front end of the chassis, wherein the debris sensor is located on the pre-cleaning operation cleaning medium.

10. The control system of claim 8, wherein the means for facilitating autonomous performance of the cleaning operation further comprises a post-cleaning operation cleaning medium coupled to a rear end of the chassis, wherein the debris sensor is located on the post-cleaning operation cleaning medium.

11. The control system of claim 7, wherein the means for facilitating autonomous performance of the cleaning operation comprises an object recognition sensor comprising a camera in communication with the controller, wherein the controller is configured to compare images of objects from the camera to a database of reference images to identify the objects.

12. The control system of claim 7, wherein the means for facilitating autonomous performance of the cleaning operation comprises a surface recognition sensor comprising a sensor in communication with the controller and configured to recognize a texture of a surface to be cleaned.

13. The control system of claim 7, wherein the means for facilitating autonomous performance of the cleaning operation comprises a vibration sensor in communication with the controller and configured to recognize disruptions in the movement of the chassis.

14. The control system of claim 7, wherein the means for facilitating autonomous performance of the cleaning operation comprises a sensor for the cleaning mechanism in communication with the control system and configured to determine the presence of a cleaning medium connected to the cleaning mechanism.

15. The control system of claim 7, wherein the means for facilitating autonomous performance of the cleaning operation comprises a pre-sprayer in communication with the control system and mounted to a front end of the chassis to spray into the cleaning path.

16. The control system of claim 7, wherein the controller includes a clock and the control system can perform different cleaning operations based on a time of the clock.

17. The control system of claim 7, wherein the controller includes a display and the control system is configured to provide an indication of a magnitude of a parameter required for completing the cleaning operation.

18. The control system of claim 7, wherein the controller includes an electronic communication device and the control system is configured to communicate a route for the cleaning path to another robotic floor cleaning machine.

19. The control system of claim 7, further comprising a status indicator in communication with the control system for providing a visual indication of a status of the robotic floor cleaning machine.

20. The control system of claim 7, further comprising a portable device configured to wirelessly communicate with the control system and display a status of the robotic floor cleaning machine.

21. The control system of claim 7, further comprising a projector coupled to the chassis to project an indication of the cleaning path on a surface to be cleaned.

22. The control system of claim 7, wherein the controller further comprises a display visually indicating a route of the cleaning path.

23. The control system of claim 7, wherein the controller can vary a route for the cleaning path in a predefined area to avoid generating wear patterns.

24. The control system of claim 7, wherein the controller can vary a distance of a route of the cleaning path from a fixed object to avoid generating wear patterns.

25. The control system of claim 7, wherein the controller can vary an overlap of the cleaning path in a route of the cleaning path to avoid generating wear patterns.

26. The control system of claim 7, wherein the controller includes a clock and the control system can provide a time indicator correlating to a length of time for completing a route of the cleaning path.

27. The control system of claim 7, wherein the controller includes a graphical display that is configured to provide an indication of a magnitude of a parameter required for completing the cleaning operation.

28. The control system of claim 7, wherein the controller includes a sensor for determining the presence of objects in a route of the cleaning path, wherein the control system can make navigation decisions based on a frequency of the objects in the cleaning path.

29. The control system of claim 7, wherein the controller can receive inputs for a size of the chassis that can be used to determine a route for the cleaning path.

30. The control system of claim 7, further comprising:

a propulsion system connected to the chassis to provide movement of the chassis along a cleaning path;

a liquid system mounted to the chassis to provide cleaning liquid to the primary cleaning mechanism; and

a recovery system mounted to the chassis to recover liquid from the cleaning operation.

31. The control system of claim 30, wherein the controller can learn a route for the cleaning path via manual operation of the propulsion system.

32. The control system of claim 30, wherein the controller can determine a route for a cleaning area within a perimeter determined via manual operation of the propulsion system.

33. The control system of claim 30, wherein the means for facilitating autonomous performance of the cleaning operation comprises a sensor for the liquid recovery system in communication with the control system.

34. The control system of claim 33, further comprising a recovery tank for the recovery system, wherein the sensor for the liquid recovery system comprises a liquid level sensor for the recovery tank.

35. The control system of claim 33, wherein the sensor for the liquid recovery system comprises an olfactory sensor for the recovery tank.

36. The control system of claim 33, wherein the sensor for the liquid recovery system is configured to determine the presence of a squeegee blade connected to the liquid recovery system.