Controlling system for self-propelled floor cleaning vehicles

• US 5,650,702 A
• Filed: 07/03/1995
• Issued: 07/22/1997
• Est. Priority Date: 07/07/1994
• Status: Expired due to Term

• Current Assignee: SC Johnson & Son Incorporated
• Original Assignee: SC Johnson & Son Incorporated
• Inventors: Azumi, Yasuhiro
• Primary Examiner(s): Ro, Bentsu
• Application Number:
  US08/498,708
• Time in Patent Office: 750 Days
• Field of Search: 318/580, 318/587, 318/139, 318/268, 318/272, 318/480, 15/300.1, 15/319, 15/327.1, 15/340.1
• US Class Current: 318/587
• 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 9/2815 using optical detectors
• CPC Class Codes: A47L 9/2847 Surface treating elements
• CPC Class Codes: A47L 9/2852 Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
• CPC Class Codes: Y02B 40/00 Technologies aiming at improving the efficiency of home appliances, e.g. induction cooking or efficient technologies for refrigerators, freezers or dish washers

Abstract

This invention provides an improved method and system for controlling a self-propelled floor cleaning vehicle characterized by the fact that the vehicle has excellent cleaning performance. This method is applied to a floor cleaning vehicle that follows a guidance line located on the floor. It detects the level of dirt or scratching present on the floor and it controls the running speed of the floor cleaning vehicle corresponding to the amount of the dirt or scratching detected. It is thus able to modify the cleaning and polishing/buffing operation in response to the amount of dirt or scratching on the floor.

Claims

1. In an improved controlling system for a self-propelled floor cleaning vehicle equipped with a drive means for driving said vehicle, a floor cleaning means, a speed controller means that controls the speed of the drive means and a means for steering the vehicle along a preselected path defined by a guidance line on a floor surface to be cleaned, the improvement which comprises a sensing means associated with the vehicle for sensing a level of dirt or scratching on the floor surface over which the vehicle passes wherein the sensing means cooperates with the speed controller means to adjust the speed of the drive means relative to the level of dirt or scratching sensed on the floor surface over which the vehicle passes.

2. The improved system of claim 1 wherein the sensing means comprises a light source directed at the floor surface and a light receiving means oriented to receive reflected light from the floor surface so that the intensity of reflected light from the floor surface can be measured and correlated with the level of dirt or scratching present on the floor surface.

3. The improved system of claim 2 wherein the light source emits light of a first wavelength that is capable of exciting a luminous material located on the floor surface to emit light of a second wavelength wherein the intensity of the light of the second wavelength reflected from the floor surface is measured by the light receiving means.

4. The improved system of claim 3 wherein the guidance line contains the luminous material, the light receiving means comprises more than one light-receiving element and each light-receiving element is positioned on the vehicle to receive reflected light from the guidance line.

5. The improved system of claim 4 wherein the light receiving means also cooperates with the steering means to cause the vehicle to follow the guidance line by steering the vehicle so that it maintains the light receiving elements over the guidance line.

6. The improved system of claim 5 wherein the floor cleaning means has a speed controlling means and the sensing means also cooperates with the speed controlling means of the floor cleaning means to adjust the speed of floor cleaning means relative to the level of dirt or scratching sensed on the floor surface over which the vehicle passes.

7. The improved system of claim 4 wherein the light receiving means further comprises, in addition to the light-receiving elements that are to receive reflected light from the guidance line, at least one light receiving element on each side of the guidance line that is to receive reflected light from the floor surface that is not covered by the guidance line and wherein the intensity of the light received from the guidance line is compared with the intensity of the light received from the other light-receiving elements and the steering means is controlled by this comparison to correct the travel of the vehicle.

8. The improved system of claim 7 wherein the light receiving means also cooperates with the steering means to steer the vehicle so that it maintains those light receiving elements that are to receive light from the guidance line over the guidance line and thus causes the vehicle to follow the guidance line.

9. The improved system of claim 7 wherein the floor cleaning means has a speed controlling means and the sensing means also cooperates with the speed controlling means of the floor cleaning means to adjust the speed of floor cleaning means relative to the level of dirt or scratching sensed on the floor surface over which the vehicle passes.

10. The improved system of claim 4 wherein the floor cleaning means has a speed controlling means and the sensing means also cooperates with the speed controlling means of the floor cleaning means to adjust the speed of floor cleaning means relative to the level of dirt or scratching sensed on the floor surface over which the vehicle passes.

11. The improved system of claim 3 wherein the floor cleaning means has a speed controlling means and the sensing means also cooperates with the speed controlling means of the floor cleaning means to adjust the speed of floor cleaning means relative to the level of dirt or scratching sensed on the floor surface over which the vehicle passes.

12. The improved system of claim 1 wherein the floor cleaning means has a speed controlling means and the sensing means also cooperates with the speed controlling means of the floor cleaning means to adjust the speed of floor cleaning means relative to the level of dirt or scratching sensed on the floor surface over which the vehicle passes.

13. In an improved method of guiding a self-propelled floor cleaning vehicle equipped with a drive means for driving said vehicle, a floor cleaning means, a speed controller means that controls the speed of the drive means and a means for steering the vehicle along a preselected path defined by a guidance line on a floor surface to be cleaned, the improvement which comprises the steps of

(I.) sensing a level of dirt or scratching on the floor surface over which the vehicle passes using a sensing means associated with the vehicle wherein the sensing means cooperates with the speed controller means;

and

(II.) adjusting the speed of the drive means relative to the level of dirt or scratching sensed on the floor surface over which the vehicle passes.

14. The improved method of claim 13 wherein the sensing means comprises a light source directed at the floor surface, a light receiving means oriented to receive reflected light from the floor surface at which the light is directed and a means by which the intensity of reflected light from the floor surface is compared with the intensity of the light source to determine the level of dirt or scratching present on the floor surface and Step (I) comprises

(A.) directing the light source at the floor surface;

(B.) measuring the intensity of reflected light from the floor surface; and

(C.) correlating the intensity of the reflected light with the level of dirt or scratching present on the floor surface.

15. The improved method of claim 14 wherein the light source emits light of a first wavelength that is capable of exciting a luminous material located on the floor surface to emit light of a second wavelength and Step (I)(B) comprises measuring the intensity of the light of the second wavelength reflected from the floor surface.

16. The improved method of claim 15 wherein the guidance line contains the luminous material, the light receiving means comprises more than one light-receiving element, each light-receiving element is positioned on the vehicle to receive reflected light from the guidance line and Step (I)(B) comprises the steps of

(1.) measuring the intensity value of the light reflected to each light-receiving element;

and

(2.) averaging the intensity values obtained to obtain an average intensity value of the reflected light from the floor surface.

17. The improved method of claim 16 wherein the light receiving means also cooperates with the steering means and, simultaneously with Steps (I) and (II), the following steps are carried out

(III.) comparing the intensity of the light detected by each of the light-receiving elements;

and

(IV.) steering the vehicle to follow the guidance line when the intensity of the reflected light received by at least one of the light-receiving elements changes significantly relative to the intensity values measured by the other light-receiving elements.

18. The improved method of claim 16 wherein the light receiving means further comprises, in addition to the light-receiving elements that are to receive reflected light from the guidance line, at least one light-receiving element on each side of the guidance line that is to receive reflected light from the floor surface that is not covered by the guidance line and wherein Step (I)(B) and (I)(C) comprise

(1.) measuring the intensity of the light reflected to each light receiving element located above the guidance line;

(2.) averaging the intensity value received in Step I(B)(1)to obtain an average intensity value of the reflected light from the guidance line on the floor surface;

(3.) measuring the intensity of the light reflected to each light receiving element located on the sides of the guidance line;

(4.) averaging the intensity value received in Step I(B)(3)to obtain an average intensity value of the reflected light from the floor surface outside of the guidance line; and

(5.) comparing the average intensity value of the reflected light from the guidance line with the average intensity value of the reflected light from the floor surface outside of the guidance line to obtain an intensity value difference; and

(C.) correlating the intensity value difference with the level of dirt or scratching present on the floor surface.

19. The improved method of claim 18 wherein the light receiving means also cooperates with the steering means and, simultaneously with Steps (I) and (II), the following steps are carried out

(III) comparing the average intensity of the light detected by the light-receiving elements situated over the guidance line with the average intensity of the light-receiving elements located each side of the guidance line;

and

(IV.) steering the vehicle to follow the guidance line when the intensity of the reflected light received by the light-receiving elements situated over the guidance line changes significantly relative to the intensity value received by the other light-receiving elements situated to be on one side or the other of the guidance line.