Cleaning machine with collision prevention

• US 8,958,937 B2
• Filed: 03/12/2013
• Issued: 02/17/2015
• Est. Priority Date: 03/12/2013
• Status: Active Grant

• Current Assignee: Diversey Incorporated (Sealed Air)
• Original Assignee: Intellibot Robotics, LLC
• Inventors: Hillman, Henry L. Jr., Frack, Erick, Daly, Daniel M., Knuth, David M. Jr.
• Primary Examiner(s): Zanelli, Michael J
• Application Number:
  US13/797,065
• Publication Number:
  US 20140277868A1
• Time in Patent Office: 707 Days
• Field of Search: None
• US Class Current: 701/22
• CPC Class Codes: A47L 11/24 Floor-sweeping machines, motor-driven
• CPC Class Codes: A47L 11/28 Floor-scrubbing machines, motor-driven A47L11/29 takes precedence
• CPC Class Codes: A47L 11/4011 Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
• CPC Class Codes: B60L 15/10 for automatic control superimposed on human control to limit the acceleration of the vehicle, e.g. to prevent excessive motor current electric devices for safety purposes B60L3/00
• CPC Class Codes: B60L 15/20 for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
• CPC Class Codes: Y02T 10/64 Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/72 Electric energy management in electromobility

Abstract

A floor cleaning machine includes a set of obstacle sensors that detect when the machine is approaching an obstacle. If the obstacle is less than a threshold distance away from the machine, the machine may output an alert and override the operator'"'"'s command with a command to reduce the speed of the machine. If the obstacle is less than a minimum threshold distance away from the machine, the machine may come to a complete stop to prevent the collision.

Claims

1. A floor cleaning machine, comprising:

a drive wheel;

a motor that, in operation, causes the drive wheel to turn;

a speed controller that controls the motor;

one or more motion sensors that, in operation, detect a speed and a direction of movement of the machine;

one or more obstacle sensors that, in operation, detect data representative of an object that is external to the machine;

a processor, communicatively coupled to the speed controller and the sensors; and

a memory containing programming instructions that are configured to instruct the processor to;

receive an operator command to drive the machine;

receive the speed and direction of movement of the machine;

receive the data representative of the object;

determine a distance between the object and the machine;

use the speed, direction of movement and distance to determine whether the machine is expected to collide with the object and whether the machine is expected to collide with the object in less than a threshold time period; and

in response to determining that the machine is expected to collide with the object in less than the threshold time period, generate one or more instructions to override the operator command and reduce the speed of the machine.

2. The floor cleaning machine of claim 1, wherein the programming instructions are also configured to instruct the processor to:

determine whether the object is within a threshold distance away from the machine in the direction of movement; and

if the object is within the threshold distance away from the machine in the direction of movement, output an alert to an operator of the machine.

3. The floor cleaning machine of claim 1, wherein the programming instructions are also configured to instruct the processor to output an alert indicating that the operator command is being overridden and the speed of the machine is being reduced.

4. The floor cleaning machine of claim 1, wherein:

the programming instructions also comprise determining a maximum safe speed; and

the programming instructions that instruct the processor to issue a command to reduce the speed of the machine are configured to implement the maximum safe speed.

5. The floor cleaning machine of claim 1, wherein:

the programming instructions also comprise instructions to determine a new maximum speed; and

the programming instructions that instruct the processor to determine whether the machine is expected to collide with the object in less than the threshold time period comprise instructions to determine whether the speed of the machine exceeds the maximum speed, and if so the programming instructions that are configured to issue a command to reduce the speed of the machine will implement the maximum speed.

6. The floor cleaning machine of claim 1, wherein the programming instructions that are configured to instruct the processor to issue the command to reduce the speed of the machine comprise instructions to cause the controller to reduce the speed of the motor so that a speed of rotation of the drive wheel is reduced.

7. The floor cleaning machine of claim 1:

further comprising a brake; and

wherein the programming instructions that are configured to instruct the processor to issue the command to reduce the speed of the machine comprise instructions to cause the controller to apply the brake so that a speed of rotation of the drive wheel is reduced.

8. A floor cleaning machine, comprising:

a drive wheel;

a motor that, in operation, causes the drive wheel to turn;

a speed controller that controls the motor;

one or more motion sensors that, in operation, detect a speed and a direction of movement of the machine;

an obstacle sensor that, in operation, detects data representative of an object that is external to the machine;

a processor, communicatively coupled to the speed controller and the sensors; and

a memory containing programming instructions that are configured to instruct the processor to;

receive an operator command to drive the machine;

receive, from the obstacle sensor, data representative of an object within a range of the sensor;

determine that the direction of movement of the machine is consistent with a direction of the obstacle sensor;

in response to determining that the direction of movement of the machine is consistent with the direction of the obstacle sensor and receiving the data representative of the object;

generating an alert;

determining a maximum speed for the machine; and

issuing a command to the speed controller to override the operator command and reduce a speed of the machine to the determined maximum speed.

9. The floor cleaning machine of claim 8, wherein:

the programming instructions are also configured to instruct the processor to determine whether the object is within a threshold distance away from the machine; and

only issue the command to the speed controller to override the operator command if the object is within the threshold distance away from the machine.

10. The floor cleaning machine of claim 8, wherein the programming instructions that instruct the processor to issue the command to reduce the speed of the machine comprise instructions to cause the speed controller to reduce the speed of the motor so that a speed of rotation of the drive wheel is reduced.

11. The floor cleaning machine of claim 8:

further comprising a brake; and

wherein the programming instructions that instruct the processor to issue a command to reduce the speed of the machine comprise instructions to apply the brake so that a speed of rotation of the drive wheel is reduced.

12. The floor cleaning machine of claim 8, wherein the programming instructions are also configured to instruct the processor to:

determine whether a distance from the machine to the obstacle is less than a collision threshold; and

if so, set the maximum speed to zero.

13. The floor cleaning machine of claim 8:

further comprising a brake; and

wherein the programming instructions are also configured to instruct the processor to determine whether a distance from the machine to the obstacle is less than a collision threshold and if so, generate a command to apply the brake to stop rotation of the drive wheel.

14. A method of operating a floor cleaning machine, comprising, by a processor of the machine:

receiving an operator command to drive the machine;

receive, from an obstacle sensor of the machine, data representative of an object within a range of the sensor;

determining that a direction of movement of the machine is consistent with a direction of the obstacle sensor;

in response to receiving the data representative of the object and determining that the direction of movement of the machine is consistent with the direction of the obstacle sensor;

generating an alert;

determining a maximum speed for the machine; and

issuing a command to a drive controller to override the operator command and reduce a speed of the machine to the determined maximum speed.

15. The method of claim 14, further comprising, by the processor:

determining a distance between the object and the machine; and

using the distance in the determination of the maximum speed.

16. The method of claim 14, further comprising:

determining that the distance is less than a collision threshold; and

in response to determining that the distance is less than the collision threshold, setting the maximum speed to zero.

17. The method of claim 14, further comprising:

in response to determining that the distance is less than the collision threshold, applying a brake to a motor or drive wheel of the machine.

18. The method of claim 14, wherein issuing the command to reduce the speed of the machine comprises causing the drive controller to reduce the speed of a motor so that a speed of rotation of a drive wheel is reduced.