Home cleaning robot

• US 6,459,955 B1
• Filed: 11/17/2000
• Issued: 10/01/2002
• Est. Priority Date: 11/18/1999
• Status: Expired due to Fees

• Current Assignee: The Procter & Gamble Company
• Original Assignee: The Procter & Gamble Company
• Inventors: Heaton, Gary Gordon, Kirkpatrick, James Frederick, Stigall, James Randy, Radomyselski, Arseni Velerevich, France, Paul Amaat, Hortel, Thomas Charles, Bartsch, Eric Richard, Fisher, Charles William
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): Marc, McDieunel, Marc, McDieunel
• Application Number:
  US09/715,307
• Time in Patent Office: 683 Days
• Field of Search: 700/245, 700/247, 700/256, 700/259, 700/79, 700/83, 700/258, 318/587, 318/568.11, 318/568.16, 318/568.12, 701/22, 701/23, 701/25, 701/24, 701/206, 701/207, 701/225, 701/300, 701/26, 701/28, 701/217, 701/223, 342/457, 342/418, 180/167, 180/169, 340/990, 340/991, 340/995, 215/319
• US Class Current: 700/245
• 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 11/4061 Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: A47L 9/00 Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
• CPC Class Codes: A47L 9/0009 Storing devices winding devices for electric cables A47L9/26; Supports, stands or holders
• CPC Class Codes: A47L 9/009 Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
• CPC Class Codes: F24F 11/30 for purposes related to the operation of the system, e.g. for safety or monitoring
• CPC Class Codes: F24F 11/33 to fire, excessive heat or smoke
• CPC Class Codes: F24F 2110/50 Air quality properties
• CPC Class Codes: F24F 2221/42 Mobile autonomous air conditioner, e.g. robots
• CPC Class Codes: F24F 8/108 using dry filter elements
• CPC Class Codes: F24F 8/158 using active carbon
• CPC Class Codes: F24F 8/50 by odorisation
• CPC Class Codes: G05D 1/0221 involving a learning process
• CPC Class Codes: G05D 1/0227 using mechanical sensing means, e.g. for sensing treated area
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0253 extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow determining position or orientation from images G06T7/70
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0261 using magnetic plots
• CPC Class Codes: G05D 1/0272 : comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0274 : using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/028 : using a RF signal
• CPC Class Codes: Y02B 30/70 : Efficient control or regulation technologies, e.g. for control of refrigerant flow, motor or heating

Abstract

An autonomously movable cleaning robot comprising a platform and motive force to autonomously move the robot on a substantially horizontal surface having boundaries. The robot further has a computer processing unit for storing, receiving and transmitting data, and a cleaning implement operatively associated with the robot. The robot receives input data from an external source. The external source may be physical manipulation of the robot, remote control, or by triangulation from at least three external transmitters.

Claims

1. An autonomously, movable home cleaning robot comprising:

a) a platform;

b) a motive force attached to said platform, said motive force to autonomously move said platform on a substantially horizontal surface having boundaries;

c) a computer processing unit for storing, receiving and transmitting data, said computer processing unit attached to said platform;

d) a cleaning implement operatively associated with said platform; and

e) a power source connected to said motive force and said computer processing unit, whereby said computer processing unit directs horizontal movement of said platform within the boundaries of the horizontal surface based upon input data defining said boundaries, said input data being input to said robot by physical manipulation of said robot or by remote control.

8. A home cleaning robot according to claims 1, 3 or 5, further comprising a cover removably attached to said platform.

9. A home cleaning robot according to claims 1, 3 or 5, further comprising a ball support.

2. An autonomously, movable cleaning robot comprising:

a) a platform;

b) a motive force attached to said platform, said motive force to autonomously move said platform on a substantially horizontal surface having boundaries;

c) a computer processing unit for storing, receiving and transmitting data, said computer processing unit attached to said platform;

d) at least one sensor attached to said platform and capable of detecting an obstacle on the horizontal surface, said sensor providing input to said computer processing unit;

e) a cleaning implement operatively associated with said platform; and

f) a power source connected to said motive force and said computer processing unit, whereby said computer processing unit directs horizontal movement of said platform within the boundaries of the horizontal surface based upon input data received by physical manipulation of said robot or by remote control, wherein said input data are useful for manipulating said robot through a desired task.

3. A home cleaning robot according to claim 2, wherein said sensor interrupts said motion when said sensor senses an obstacle.

4. A autonomously, movable home cleaning robot comprising:

a) a platform;

b) a motive force attached to said platform, said motive force to autonomously move said platform on a substantially horizontal surface having boundaries;

c) a navigation system including a computer processing unit for receiving, storing and transmitting data, said navigation system receiving input about an environment that includes the horizontal surface and using the input to map said horizontal surface;

d) a cleaning implement operatively associated with said platform; and

e) a power source connected to said motive force and said navigation system, whereby said navigation system directs the movements of said platform in accordance with the map of said horizontal surface, said navigation system comprising a triangulation system including three fixed transmitters located within the environment, said computer processing unit using signals received from said transmitters to calculate a coordinate position of said robot within the boundaries of the surface, and generating a control signal to steer said robot in the direction of the next point of said stored coordinate system.

5. A home cleaning robot according to claim 4, wherein said navigation system includes a receiver for receiving input from the environment, said receiver sending input to said computer processing unit, whereby said computer processing unit using the input to map the horizontal surface.

6. A home cleaning robot according to claim 5, wherein said navigation system including a visual image processor and a camera attached to said robot, said system determining said robot'"'"'s orientation and position on the surface based upon an image of a ceiling above the surface, said system then generates control signals to steer said robot within the boundaries of the surface.

7. A home cleaning robot according to claim 5, wherein said navigation system includes a position identification apparatus that senses a distance traveled by said robot and a change in a direction of travel of said robot, said navigation system calculates a position of said robot in two-dimensional coordinates in response to the sensed distance and the sensed change in direction, and generates a position signal representative of said robot position.