Autonomous cleaning system

• US 9,828,094 B2
• Filed: 07/26/2015
• Issued: 11/28/2017
• Est. Priority Date: 07/26/2015
• Status: Expired due to Fees

• Current Assignee: John B. Mcmillion
• Original Assignee: John B. Mcmillion
• Inventors: McMillion, John Benjamin
• Primary Examiner(s): Dager, Jonathan M
• Application Number:
  US14/809,276
• Publication Number:
  US 20170023947A1
• Time in Patent Office: 856 Days
• Field of Search: None
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64D 1/22 Taking-up articles from earth's surface
• CPC Class Codes: B64U 10/16 with five or more distinct rotor axes, e.g. octocopters
• CPC Class Codes: B64U 50/38 by wireless transmission
• CPC Class Codes: B64U 80/25 for recharging batteries; for refuelling
• CPC Class Codes: B64U 80/40 for two or more UAVs
• CPC Class Codes: B64U 80/70 in containers B64U80/60 takes precedence
• CPC Class Codes: D06F 29/00 Combinations of a washing machine with other separate apparatus in a common frame or the like, e.g. with rinsing apparatus
• CPC Class Codes: G05D 1/0094 involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target

Abstract

This disclosure describes a plurality of unmanned vehicles configured to complete cleaning tasks with little or no human involvement by identifying objects, operating washing/drying cleaning machine(s) as needed, and transporting objects to and from cleaning machine(s). The unmanned vehicles may also return objects to designated locations after cleaning, or simply arrange objects within rooms based on an ideal room arrangement state.

Claims

1. A system for completing indoor cleaning tasks autonomously, comprising:

a plurality of unmanned vehicles, each of the plurality of unmanned vehicles configured to complete one or more steps of the cleaning task;

one or more cleaning machines for when the cleaning task includes steps for cleaning objects inside the cleaning machine;

a mission control system, comprising;

a processor; and

a memory coupled to the processor and storing program instructions that when executed by the processor cause the processor to at least;

receive parameters for the cleaning task;

determine and provide one or more steps and status for the cleaning task;

command one or more of the plurality of unmanned vehicles to complete one or more steps of the cleaning task; and

command one or more cleaning machines to complete one or more steps of the cleaning task if the cleaning machine is automated and the cleaning task includes steps for cleaning objects inside the cleaning machine;

wherein the unmanned vehicle, in response to receiving commands and steps for the cleaning task, are further configured to at least;

perform the commands and complete one or more of the steps of the cleaning task;

wherein any automated cleaning machine, in response to receiving commands and steps for the cleaning task, are further configured to at least;

perform the commands and complete one or more steps of the cleaning task.

2. The system of claim 1, further comprising extensible pole attachments for the unmanned vehicles to interact with objects or control surfaces while performing one or more steps of the cleaning task, comprising:

an extensible pole;

a rotation joint; and

variously ending with a shape or control mechanism designed for the desired interaction.

3. The system of claim 1, further comprising remote computing resources for processing computing requests for the system;

or for supporting requests by one or more system users.

4. The system of claim 1, wherein the plurality of the unmanned vehicles are further comprised of unmanned aerial vehicles and optionally unmanned ground vehicles;

wherein the unmanned vehicles are further comprising;

a network interface;

a plurality of sensors;

a processor; and

a memory coupled to the processor and storing program instructions that when executed by the processor cause the processor to at least;

receive commands from the mission control system and respond by performing the commands and completing one or more steps of the cleaning task;

wherein one or more of the unmanned vehicles are further comprised of an object control system coupled to a vehicle housing body, wherein the object control system is further comprised of an extensible/retractable tether and/or object control arms, each ending with a pivotally coupled primary grasper mechanism comprising;

a rotation joint; and

a plurality of mechanical fingers for forming a grasping formation around objects, attachments, or control surfaces while performing one or more steps of the cleaning task.

5. The system of claim 1, wherein the mission control system is further comprised of a network interface coupled to an enclosed computing system that provides the structural base of a larger housing enclosure for unmanned aerial vehicles;

upon which is coupled a plurality of stackable vehicle bays;

wherein each stackable vehicle bay is stacked upon and coupled to the vehicle bay or housing base below it;

wherein each vehicle bay comprises;

a front door that opens down;

an inner tray that slides out of the vehicle bay as to provide sufficient clearances for aerial launches/landings for the aerial vehicle being housed, and provides a resting floor surface for the aerial vehicle being housed;

wherein the resting floor surface of the inner tray is further comprised of a power recharging transmitter for providing power recharging transmission upon connection with the feet of a resting aerial vehicle; and

a manual ejection toggle button that opens/closes the door and ejects/retracts the inner tray;

wherein the larger housing enclosure is further comprised of a removable top lid coupled to the top of the uppermost vehicle bay, wherein the top lid may be removed to expand the vehicle capacity of the housing enclosure with additional stackable vehicle bays;

wherein attachment points, for connecting extensible pole attachments, are coupled to the rear side of the top lid.

6. The system of claim 1, further comprising system support sensors;

wherein each of the plurality of unmanned vehicles are further configured to capture sensory input and provide the sensory input to the mission control system;

wherein sensors placed in one or more rooms within a home are configured to capture and provide sensory input to the mission control system.

7. The system of claim 1, wherein one or more of the cleaning machines, if the cleaning machines are automated, are further comprising:

a network interface;

a processor; and

a memory coupled to the processor and storing program instructions that when executed by the processor cause the processor to at least;

receive commands from the mission control system and respond by performing the commands and completing one or more steps of the cleaning task with automation systems and/or automated machine control mechanisms;

wherein the automated machine control mechanisms provide mechanical means for the automated cleaning machine to mechanically control a cleaning cycle feature in response to the commands from the mission control system;

wherein the automated cleaning machine is further comprised of integrated soap reservoirs and automated soap dispensers for dispensing soap automatically if the cleaning machine performs washing cleaning cycles.

8. The system of claim 1, wherein the program instructions for the mission control system, that when executed by the processor further cause the processor to at least:

determine, based at least in part on the sensory input, at least one property of one or more objects, obstacles, or other features of the home environment; and

further determine, based at least in part on this information, steps of the cleaning task;

wherein the steps of the cleaning task further comprises;

navigation paths for one or more of the unmanned vehicles;

commands for performing one or more steps of the cleaning task; and

any attachments or cleaning machine needed to perform one or more of the commands.

9. The system of claim 1, wherein the unmanned vehicles are further configured to load or unload the cleaning machine as one or more steps of the object cleaning task, comprising:

navigating along a navigation path to the next object or loading area;

extending an appropriate grasper to the object;

grasping the object;

capturing weight sensory data of the attached object;

fully lifting the object if within payload parameters;

navigating along the navigation path with the object to a designated drop location; and

releasing the object into a cavity opening of the cleaning machine or onto the designated drop location;

then continuing to next step or command.

10. The system of claim 1, wherein the unmanned vehicles are further configured to operate control surfaces of a non-automated cleaning machine by controlling one or more extensible pole attachments to press buttons, turn dials, pull open or push close lids, trays, or doors;

and transport cleaning supplies from a supply location to the cavity opening of the cleaning machine.

11. The system of claim 1, wherein the unmanned vehicles are further configured to perform an object rearrangement cleaning task, comprising:

navigating along a navigation path to the next assigned object;

extending an appropriate grasper to the object;

grasping the object;

capturing weight sensory data of the attached object;

fully lifting the object if within payload parameters;

navigating along the navigation path with the object to a designated drop location; and

releasing the object at the designated drop location;

then continuing to next step or command.

12. A computer-implemented method, comprising:

under control of one or more computing systems configured with executable instructions, receiving an event trigger to perform the indoor cleaning task for the system of claim 1;

determining a status of the system;

determining steps of the cleaning task;

commanding one or more of the plurality of unmanned vehicles, and any automated cleaning machines, to perform one or more steps of the cleaning task or status check.

13. The computer-implemented method of claim 12, wherein one or more unmanned vehicles have requested an identification or other property of an object to plan or to perform one or more steps of the cleaning task;

to at least provide the identification of the object; and

whether the object is appropriate for the cleaning task.

14. The computer-implemented method of claim 12, wherein each of the plurality of the unmanned vehicles, while capturing sensory input for the status check or while performing one or more steps of the cleaning task, maps the home environment as the unmanned vehicle travels;

identifies the position of the unmanned vehicle within 3D space as the unmanned vehicle travels; and

adjusts the navigation path of the unmanned vehicle around obstacles if detected by the vehicle'"'"'s sensory input, or by another sensor connected to the autonomous cleaning system.

15. The computer-implemented method of claim 12, wherein the mission control system adjusts one or more steps of the cleaning task, or operational parameters for the autonomous cleaning system, based on one or more user preferences.

16. A computer-implemented method, comprising:

under control of one or more computing systems configured with executable instructions, receiving a request from a user or another system in the mission control system of claim 1;

determining or delegating a determination of a result for the request from the mission control system, and responding to the requestor with the result.

17. The computer-implemented method of claim 16, wherein the mission control system integrates with other systems through application programming interfaces (APIs).

18. The computer-implemented method of claim 16, wherein the mission control system provides digital content to an app;

wherein the mission control system receives configuration parameters from the app for a cleaning task.

19. The computer-implemented method of claim 18, wherein users use the app on a mobile device to capture configuration parameters for the cleaning task;

or capture ideal object arrangement states within a home;

wherein users use the app to share captured ideal object arrangement states within a social network, or with other owners of the system;

wherein shared ideal object arrangement states from other system owners are imported into the owner'"'"'s system to provide configuration parameters for the cleaning task.

20. The computer-implemented method of claim 19, wherein the objects captured in imagery of the shared ideal object arrangement state are identified, and if not found within the home, linked for purchase through the app to complete the ideal object arrangement state.