U.S. patent application number 10/020746 was filed with the patent office on 2002-09-12 for controlled self operated vacuum cleaning system.
Invention is credited to Reed, Norman F..
Application Number | 20020124343 10/020746 |
Document ID | / |
Family ID | 25144449 |
Filed Date | 2002-09-12 |
United States Patent
Application |
20020124343 |
Kind Code |
A1 |
Reed, Norman F. |
September 12, 2002 |
Controlled self operated vacuum cleaning system
Abstract
A controlled self operating vacuum cleaning system which
comprises a stationary housing for the storage of a mobile vacuum
cleaner apparatus and where the housing is provided with an
automatically openable and closable closure allowing exit and entry
of the mobile vacuum cleaner unit. The mobile unit is driven by an
internal drive motor which is powered by one or more batteries
carried by the mobile vacuum cleaner unit. At preestablished times
and preestablished time intervals, the closure of the housing will
automatically open providing for ingress and egress and the mobile
vacuum cleaner unit will exit and randomly clean the carpet of a
certain specified area for a predetermined time period. The mobile
vacuum cleaner unit is provided with obstacle detectors for causing
the mobile unit to move beyond an obstacle, if it contacts an
obstacle, as well as detectors for detecting the edge of a
staircase and the edge of a carpet to cause the mobile unit to
remain on the carpeted area. Upon return to the housing after the
predetermined time interval, the mobile vacuum cleaner unit is
automatically connected to a recharging electrical circuit for
recharging the batteries of the mobile vacuum cleaner unit and
simultaneously an additional vacuum dirt collection system causes
evacuation of the dirt collected by the mobile cleaner unit.
Inventors: |
Reed, Norman F.;
(Carpinteria, CA) |
Correspondence
Address: |
Robert J. Schaap
21241 Ventura Blvd., Ste. 188
Woodland Hills
CA
91364
US
|
Family ID: |
25144449 |
Appl. No.: |
10/020746 |
Filed: |
December 11, 2001 |
Related U.S. Patent Documents
|
|
|
|
|
|
Application
Number |
Filing Date |
Patent Number |
|
|
10020746 |
Dec 11, 2001 |
|
|
|
09541189 |
Apr 3, 2000 |
|
|
|
6327741 |
|
|
|
|
09541189 |
Apr 3, 2000 |
|
|
|
08788424 |
Jan 27, 1997 |
|
|
|
6076226 |
|
|
|
|
Current U.S.
Class: |
15/319 ;
15/339 |
Current CPC
Class: |
A47L 9/2852 20130101;
A47L 9/009 20130101; G05D 2201/0215 20130101; G05D 1/0227 20130101;
A47L 2201/022 20130101; A47L 5/28 20130101; A47L 5/30 20130101;
A47L 9/2805 20130101; A47L 9/0009 20130101; G05D 1/12 20130101;
A47L 2201/04 20130101; A47L 9/106 20130101; A47L 9/2884 20130101;
A47L 9/2857 20130101; G05D 1/0225 20130101; A47L 9/2836 20130101;
A47L 9/2894 20130101; A47L 2201/024 20130101; H02J 7/0045 20130101;
A47L 9/2873 20130101 |
Class at
Publication: |
15/319 ;
15/339 |
International
Class: |
A47L 009/28 |
Claims
Having thus described the invention, what I desire to claim and
secure by Letters Patent is:
1. An automatically operable vacuum cleaning apparatus capable of
movement in a specified area at predetermined time intervals, said
cleaning apparatus comprising: a) a mobile cleaning apparatus
having a body which is powered for driving movement in the
specified area and in a non-controlled randomly operated path; b)
drive means in said body for generating a powered movement and
driving the mobile cleaning apparatus in the specified area; c)
contact means associated with said body which is actuated when the
body contacts a fixed structure; and d) control means operatively
connected to said contact means and said drive means to cause said
drive means to alter the driving movement of the apparatus in
another non-controlled randomly generated path which is different
from the path followed by the apparatus when contacting the fixed
structure until the apparatus thereby moves beyond the fixed
structure.
2. The automatically operable vacuum cleaning apparatus of claim 1
further characterized in that said contact means comprise a
plurality of spaced apart contacts which, are separately actuated
when the body contacts a fixed structure in the region of the
contact, and that the contact means which is actuated will cause a
drive movement different than if another contact means is
actuated.
3. The automatically operable vacuum cleaning apparatus of claim 1
further characterized in that said contact means comprises a
shiftable bumper on said body and which will actuate a sensor
associated with that bumper when the bumper contacts a fixed
structure.
4. The automatically operable vacuum cleaning apparatus of claim 1
further characterized in that the drive means comprises a drive
motor mounted in the body and which is connected to wheels on the
body for positively driving same.
5. The automatically operable vacuum cleaning apparatus of claim 4
further characterized in that the drive motor is a bi-directional
drive motor to enable the drive motor to drive the apparatus in a
forward direction and in a rearward direction.
6. The automatically operable vacuum cleaning apparatus of claim 5
further characterized in that a pair of drive wheels are mounted on
said body and a separate drive motor is connected to each of said
drive wheels.
7. An automatically operable vacuum cleaning apparatus capable of
movement in a specified area at predetermined time intervals, said
cleaning apparatus comprising: a) a movable cleaning apparatus body
which is powered for movement in the specified area; b) drive means
carried with said body for causing a powered movement of the
apparatus body in the specified area; c) control means associated
with the body for energizing the drive means and causing the
apparatus to move in the specified area under its own control and
without any external drive control at predetermine time
intervals.
8. The automatically operable vacuum cleaning apparatus of claim 7
further characterized in that said control means comprises a
microprocessor which is programmed to cause the energization of the
drive means at specified time intervals.
9. The automatically operable vacuum cleaning apparatus of claim 8
further characterized in that said drive means comprises a drive
motor means in said body, and wheels on said body operatively
connected to said drive motor means and where the control means is
operatively connected to the drive motor means to cause
energization at the selected time intervals.
10. The automatically operable vacuum cleaning apparatus of claim 9
further characterized in that a pair of drive wheels are mounted on
said body and a separate drive motor is connected to each of said
drive wheels.
11. The automatically operable vacuum cleaning apparatus of claim 7
further characterized in that: a) contact means is associated with
said body and which is actuated when the body contacts a fixed
structure; and b) said control means is operatively connected to
said contact means and said drive means to cause said drive mens to
alter the driving movement of the apparatus and thereby move the
apparatus beyond the fixed structure.
12. The automatically operable vacuum cleaning apparatus of claim
11 further characterized in that said control means comprises a
plurality of spaced apart contacts which are separately actuated
when the body contacts a fixed structure in the region of the
contact, and that the contact means which is actuated will cause a
drive movement different than if another contact means is
actuated.
13. The automatically operable vacuum cleaning apparatus of claim
12 further characterized in that said contact means comprises a
shiftable bumper on said body and which will actuate a sensor
associated with that bumper when the bumper contacts a fixed
structure.
14. An automatically operable vacuum cleaning system with automatic
recharging means for recharging a source of stored energy forming
part of the apparatus, said vacuum cleaning system comprising: a) a
movable cleaning apparatus body which is powered for movement; b)
drive means in said body for causing powered movement of the
apparatus body; c) a battery source of power carried by said
apparatus body and being connected to the drive means for causing
the powered movement; d) a housing for storage of said apparatus
body when not in use; and e) recharging means associated with said
housing for automatically connecting to said battery source of
power without any manual intervention when said apparatus is moved
into said housing to thereby automatically recharge the battery
source of power.
15. The automatically operable vacuum cleaning system of claim 14
further characterized in that said recharging means is located
within said housing.
16. The automatically operable vacuum cleaning system of claim 15
further characterized in that said recharging means comprises
electrical contactors in said housing and cooperating electrical
contactors on said apparatus body which automatically connect to
one another when the body is moved into the housing, and conductor
means connecting the contactors on the body to the battery source
of power.
17. The automatically operable vacuum cleaning system of claim 16
further characterized in that the homing means is associated with
said body to cause the contactors on the body to become
electrically connected to the contactors on the housing when the
body is moved into the housing.
18. The automatically operable vacuum cleaning system of claim 14
further characterized in that the drive means causes powered
movement in a specified and limited area, and control means is
operatively connected to said drive means to cause the battery
source of power to energize the drive means and thereby cause the
apparatus to move in the specified area under its own control
without any manual guidance thereof.
19. The automatically operable vacuum cleaning system of claim 18
further characterized in that: a) contact means is associated with
said body which is actuated when the body contacts a fixed
structure, and b) control means is operatively connected to said
contact means and said drive means to cause said drive means to
alter the driving movement of the apparatus and thereby move beyond
the fixed structure.
20. The automatically operable vacuum cleaning system of claim 19
further characterized in that said contact means comprises a
plurality of spaced apart contacts which are separately actuated
when the body contacts a fixed structure in the region of the
contact, and that the contact means which is actuated will cause a
drive movement different than if another contact means is
actuated.
21. The automatically operable vacuum cleaning apparatus of claim
20 further characterized in that each said contact means comprises
a shiftable bumper on said body and which will actuate a sensor
associated with that bumper when the bumper contacts a fixed
structure.
22. An automatically operable vacuum cleaning system with a
stationary debris collection station capable of receiving debris
collected by a movable carpet cleaner apparatus and temporarily
stored in a temporary storage chamber of the apparatus, said
apparatus comprising: a) a movable cleaning apparatus body which is
powered for movement; b) drive means in said body causing powered
movement of the apparatus body; c) a temporary storage means
carried by said apparatus for collecting debris picked-up by the
apparatus during a cleaning operation; d) valve means associated
with said apparatus body for being openable to discharge the debris
collected in the temporary storage means; and e) a stationary
debris collection station in a housing for said apparatus body and
automatically removing debris from the temporary storage area when
the movable apparatus body is stored in said housing.
23. The automatically operable vacuum cleaning system of claim 22
further characterized in that said apparatus body comprises a means
for creating a vacuum therein to draw debris collected by the
apparatus body into the temporary storage area.
24. The automatically operable vacuum cleaning system of claim 22
further characterized in that said stationary debris collection
system comprises an arm which is movable when the body is stored
within the housing and includes a head and connectable to the valve
means of said apparatus body for withdrawing debris temporarily
stored in the temporary storage means.
25. The automatically operable vacuum cleaning system of claim 24
further characterized- in that said stationary debris collection
system further comprises a storage chamber for holding the debris
withdrawn from the temporary storage means.
26. An automatically operable vacuum cleaning system which enables
a mobile unit to be moved into and out of a housing for that mobile
unit, said apparatus comprising: a) a mobile cleaning unit which is
self-powered for movement; b) drive means in said mobile unit for
randomly driving said mobile unit in a selected area; c) a housing
means for temporarily storing said mobile unit when not in use; d)
door means on said housing and being automatically openable upon
initiation of a cleaning cycle which is preprogrammed into said
housing and allowing said mobile unit to exit said housing; and e)
a means enabling said mobile unit on its own power to re-enter said
housing after a cleaning cycle and to enable closing of the door on
said housing.
27. The automatically operable vacuum cleaning system of claim 26
further characterized in that said system comprises a programmable
timer which allows a user of the system to program a vacuum
cleaning start and a vacuum cleaning end.
28. The automatically operable vacuum cleaning system of claim 26
further characterized in that said mobile unit comprises drive
wheels and drive motors therein for driving the mobile unit in a
random path during a cleaning operation.
29. The automatically operable vacuum cleaning system of claim 26
further characterized in that said housing has recharging means for
automatically recharging the mobile unit when it returns to the
housing after the cleaning cycle.
30. The automatically operable vacuum cleaning system of claim 29
further characterized in that said housing comprises means for
automatically removing any debris collected by the mobile unit when
the mobile unit re-enters the housing after a cleaning
operation.
31. An automatically operable vacuum cleaning apparatus capable of
movement in a specified area at predetermined time intervals and
which is capable of avoiding driving into and over a drop-off, said
apparatus comprising: a) a mobile cleaning apparatus having a body
which is powered for driving movement in the specified area; b)
drive means in said body for generating a powered movement and
driving the mobile cleaning apparatus in the specified area; c) a
sensor capable of sensing a floor surface and being adapted for
vertical shifting movement in response to variations in said floor
surface; and d) a driving control means for causing said drive
means to move the mobile unit away from a drop-off in the floor
surface sensed by said sensing means.
32. The automatically operable vacuum cleaning apparatus of claim
30 further characterized in that said sensing means comprises an
arm capable of riding on or being spaced from a floor surface in
very close proximity thereto.
33. The automatically operable vacuum cleaning system of claim 31
further characterized in that said drive means comprises a pair of
drive wheels and with a separate motor driving each of said drive
wheels, said driving correction means being operable to cause
selected energization and de-energization of the separate drive
motors in response to detection of a drop-off.
34. The automatically operable vacuum cleaning system of claim 33
further characterized in that said body is provided with contact
means actuated when the body contacts a fixed structure and a
control means connected to the contact means and to the drive means
to cause the drive means to alter driving movement of the mobile
unit in a path which is different from that previously followed by
the mobile unit when contacting a fixed structure.
35. The automatically operable vacuum cleaning system of claim 34
further characterized in that said mobile unit moves in a
non-controlled randomly generated path.
36. An automatically operable vacuum cleaning system with means for
cleaning a mobile unit forming part of said system upon completion
of a cleaning cycle, said vacuum cleaning system comprising: a) a
movable mobile unit which is powered for movement in a selected
area for creating a vacuum cleaning of that area; b) drive means in
said mobile unit for causing powered movement of said mobile unit;
c) means in said mobile unit for creating a vacuum and withdrawing
debris from a floor surface and storing same in said mobile unit;
d) a housing for storage of said mobile unit when not in a cleaning
operation; and e) a means for automatically removing any debris
collected from said mobile unit upon completion of a cleaning
operation and when said mobile unit is located within said
housing.
37. The automatically operable vacuum cleaning system of claim 36
further characterized in that said debris collection means
comprises an arm which automatically moves to the mobile unit and
connects to the mobile unit upon entry of the mobile unit into the
housing and thereupon withdraws any debris collected by the mobile
unit during a vacuum cleaning operation.
Description
BACKGROUND OF THE INVENTION
[0001] 1. Field of the Invention
[0002] This invention relates in general to certain new and useful
improvements in vacuum cleaner systems and more particularly, to a
vacuum cleaning system which is automatically operable at
preselected times and for preselected time intervals requiring
little or no manual intervention.
[0003] 2. Brief Description of the Related Art
[0004] Although electrically operated carpet and rug cleaning
vacuum cleaners have been commercially available for more than
fifty years, very few significant advances have been made in the
art of these vacuum cleaners. The advances made since the inception
of the original vacuum cleaner are generally involved in superior
motors, better brushes and to a large degree, enhanced aesthetics.
However, in essentially all cases, commercially available rug and
carpet vacuum cleaners still require a substantial amount of manual
attention in both operation and periodic maintenance.
[0005] In essentially all cases, one must manually remove the
vacuum cleaner from a storage location, such as a garage or a
closet, plug the vacuum cleaner into a source of electrical power
and physically move the vacuum cleaner across a selected carpet
area. When the user has finished cleaning a selected area, the user
must then disconnect and wind up the electrical cord and carry the
vacuum cleaner to the same storage location. Frequently, the user
must remove the debris collection bag and empty the same and then
reinstall the bag into the vacuum cleaner. Thus, a great deal of
manual intervention is necessarily required in the cleaning of a
carpet or a rug.
[0006] There has been one proposal for a somewhat automatically
operable vacuum cleaner set forth in U.S. Pat. No. 5,341,540 dated
Aug. 30, 1994 to Soupert, et al. The apparatus in the Soupert, et
al. patent, which is described as an autonomous apparatus for the
automatic cleaning of ground areas is essentially a preprogrammed,
controlled vacuum cleaner operating much in the same manner as a
numeric controlled tool or a computer controlled tool. In Soupert,
et al., the vacuum cleaner is pre-programmed with a series of
instructions stored in a computer memory in the apparatus. The
apparatus is then caused to move in a prescribed path and only in
that prescribed path relative to a fixed reference beam. In fact,
the apparatus can only operate in response to location control from
that fixed reference beam.
[0007] Although the device in the Soupert, et al. patent does have
means for moving on its own stored source of power, it does not
have means to exit a housing at a prescribed time and randomly
cover an entire carpeted area and does not have other features as
for example, recharging, automatically cleaning of the debris from
the vacuum cleaner and the like.
[0008] There have also been developed in the prior art various
types of bumper obstacle detection sensors. One such bumper
obstacle detection sensor is described in U.S. Pat. No. 4,968,878
dated Nov. 6, 1990 to Pong et al. This obstacle detector system in
the Pong et al. apparatus relies upon transceiver directed light
beams and reflectors for detecting the presence of an obstacle.
U.S. Pat. No. 5,208,521 dated May 4, 1993 to Aoyama discloses a
control system for a self moving vehicle which is actually in the
nature of a vacuum cleaner for the cleaning of carpeted areas.
However, the Aoyama patent is primarily concerned with the control
system itself for purposes of correcting yaw, speed of the device,
etc. A complex feedback and error signal control means is used to
achieve this precise control. To this extent, Aoyama does disclose
a self moving vacuum cleaner, although the vacuum cleaner must move
in response to pre-programmed control signals for control of
direction and the like, but beyond this is not automatically
operable, as such.
[0009] There have also been many robotic-type apparatus used for
performing a variety of tasks. One such robotic apparatus is
described as a robotic decontamination apparatus in U.S. Pat. No.
5,147,002 dated Sep. 15, 1992 to Hughes. This apparatus is
specifically designed to decontaminate an area which would be
hazardous to the presence of a human being and thus, must be
robotically controlled. However, there has not been any effective
robotically controlled vacuum cleaner, or for that matter any
vacuum cleaner having automatic features, except for those
described herein.
[0010] There has been a need for an effective robotic-type cleaning
apparatus which can actually operate on its own, without manual
intervention, and which will not damage or destroy other furniture
or items which may be in the path of the robotic-type cleaning
apparatus. Further, there has been a need for an apparatus of this
type which would not allow for inadvertent destruction of itself,
as for example, by means of falling off of steps, drop-offs, or the
like. Such an apparatus would find highly effective use for those
parties desiring to clean a selected area while the party may not
even be present in that selected area.
[0011] A robotic-type cleaning apparatus which is essentially self
operating without any substantial manual intervention could be used
highly effectively in commercial institutions, such as hotels and
the like. In addition, such an apparatus would find highly
effective widespread home use in that home users who are occupied,
for example, during the daylight hours with school, employment, or
the like, could self-program the cleaning apparatus to operate in
their absence and without a fear of attendant damage to furniture
or other items within the environment.
OBJECTS OF THE INVENTION
[0012] It is, therefore, one of the primary objects of the present
invention to provide a substantially fully automated vacuum
cleaning system for the cleaning of rugs and carpets and which
requires only periodic manual intervention on a limited basis.
[0013] It is another object of the present invention to provide a
substantially fully automated carpet cleaning system of the type
stated which include a bumper operated sensory control system for
detecting and avoiding obstacles in a carpet cleaning
operation.
[0014] It is a further object of the present invention to provide a
substantially fully automated vacuum cleaning system of the type
stated which allows for random movement across a selected area and
which thereby effectively covers the entire area and does not
require pre-programming for direction, speed and the like.
[0015] It is an additional object of the present invention to
provide a substantially fully automated vacuum cleaning system of
the type stated which allows a self controlled and self moving
vacuum cleaning apparatus to exit a housing, clean a selected area
for a predetermined time interval and at predetermined times and
automatically return to the housing without any manual
intervention.
[0016] It is another salient object to provide an automatic vacuum
cleaning system of the type stated which includes auxiliary
features for automatic recharging of stored energy power systems
and automatic removal of debris collected by the self moving vacuum
cleaning apparatus.
[0017] It is still another object of the present invention to
provide a substantially fully automated carpet vacuum cleaning
system which can be constructed at a relatively low cost and is
highly reliable and effective in operation.
[0018] It is yet another object of the present invention to provide
a method for conducting carpet cleaning operations on an automated
basis with little or no manual intervention except for a periodic
maintenance and debris removal.
[0019] With the above and other objects in view, my invention
resides in the novel features of form, construction, arrangement
and combination of parts and components presently described and
pointed out in the claims.
BRIEF SUMMARY OF THE INVENTION
[0020] The present invention relates in general terms to a
substantially fully automated carpet cleaning system which is
effectively pre-programmed to operate at a selected time and for a
selected time interval without any manual intervention whatsoever.
The carpet cleaning system comprises a self powered and self moving
carpet cleaning apparatus, commonly referred to as a "vehicle" or
"mobile unit" which will move randomly across an entire carpeted
area and clean the same during this pre-programmed and
predetermined time interval.
[0021] The carpet cleaning system of the present invention is
primarily designed for the cleaning of carpets although the term
"carpet" is used in a broad sense to include rugs and other fabric
material floor coverings. Moreover, it should be understood that
the system of the present invention is easily adaptable to the
cleaning of other floor areas, such as non-carpeted work areas and
the like.
[0022] The vacuum cleaning system of the present invention includes
a stationary housing for the storage of a self moving and self
controlled vacuum cleaning apparatus, sometimes referred to as a
vehicle, as aforesaid, or as a mobile vacuum cleaner unit. The
housing is provided with an openable and a closable door which will
automatically open at the preselected time interval and allow the
vacuum cleaner vehicle to perform a cleaning operation. Upon return
of the vacuum cleaner vehicle to the housing, the door will then
close, in a manner to be hereinafter described in more detail.
[0023] The mobile vacuum cleaner unit is comprised of an outer
casing which contains one or more drive motors for driving
rotatable drive wheels and a stored source of electrical power,
such as one or more batteries. The batteries are sufficient to
drive the self powered vehicle through the predetermined carpet
cleaning time cycle and are capable of being recharged, in a manner
to also be hereinafter described in more detail. The casing or body
of the self moving vacuum cleaner unit is further provided with
relays, a control circuit and the like for the complete operation
of the vacuum cleaner vehicle.
[0024] The mobile vacuum cleaner unit is also provided with sensory
means for detecting the presence of an obstacle. In a preferred
embodiment, the sensory means are bumper controlled sensory means
which cause the vehicle to alter its movement path when contacting
a fixed obstacle. Thus, if the mobile vacuum cleaner unit should
contact a piece of furniture, its driving movement will
automatically stop. A control mechanism will cause an immediate
change in driving direction, such as a reverse driving and then a
change in direction, to cause the vacuum cleaner vehicle to leave
the area of the obstruction.
[0025] It has been found in connection with the present invention
that a random cleaning pattern is effective to cover an entire
carpeted area, much in the same manner as pool cleaners randomly
clean a surface of a swimming pool, in a specific time period. The
mobile vacuum cleaner unit will generally traverse substantially
all of the surface area of the carpet which requires cleaning
except for those portions which are covered by obstacles.
[0026] The mobile vacuum cleaner unit of the present invention is
also provided with other sensors to insure that the vehicle remains
only on the carpeted area. Thus, for example, sensors on the
vehicle will detect the edge of a carpet and thereby change the
direction of movement of the vehicle to cause the vehicle to remain
only on the carpeted area. Stairwell and depression detection means
is also provided to preclude the vehicle from driving down a
stairwell or otherwise a potentially damaging drop-off.
[0027] The mobile vacuum cleaning unit includes a storage area for
the temporary storage of the debris, such as the dust and dirt
which is collected during a vacuum cleaning operation. The housing
also contains a debris collection station. Thus, when the mobile
vacuum cleaner unit moves back into the housing and the door to the
housing closes, the debris collection station automatically causes
a suction tube to be connected to the temporary debris collection
member in the vehicle and removes the debris from the vehicle so
that it is available for the next cleaning operation. Periodically,
the debris collected by the collection station in the housing must
be cleaned. Beyond this, and any needed repair-type maintenance,
the system is effectively self operating.
[0028] The housing also includes a recharging mechanism. When the
mobile unit returns to the housing, a sensory mechanism causes
automatic alignment of the vehicle so that a recharging connection
on the vehicle will automatically align with and connect to a
recharging connector on the housing. In this way, the battery
source of power in the mobile unit will be automatically recharged
when the unit enters the housing.
[0029] The advantages of this type of carpet cleaning system are
quite substantial. In areas such as hotels, the mobile unit can be
programmed to clean preselected areas during night periods where
most of the occupants of the hotel are sleeping. This eliminates a
manual chore which previously required a substantial manpower. In a
multi-floor hotel with substantial square footage, numerous carpet
cleaning personnel were required to daily clean the floors. In this
case, a limited number of these carpet cleaning systems can perform
the same task, thereby freeing personnel for other occupations or
jobs.
[0030] In the case of home use, the immediate benefits are obvious
in that with a family where the adult people are occupied during
the daytime, as for example, in working occupations, school or the
like, the carpet cleaning operation can take place automatically,
thus freeing the occupants of this household from this otherwise
daily and time consuming task.
[0031] This invention possesses many other advantages and has other
purposes which will become more fully apparent from a consideration
of the forms in which it may be embodied. A practical embodiment of
the system and the method of cleaning carpets on an automated basis
is illustrated in the accompanying drawings and described in the
following detailed description. However, it should be understood
that these drawings and the following detailed description are set
forth only for purposes of illustrating the general principles of
the invention and are not to be taken in a limiting sense.
BRIEF DESCRIPTION OF THE DRAWINGS
[0032] Having thus described the invention in general terms,
reference will now be made to the accompanying drawings in
which:
[0033] FIG. 1 is a perspective view of a stationary housing forming
part of the vacuum cleaning system of the present invention;
[0034] FIG. 2 is a side elevational view of the stationary housing
with a side panel of the housing removed and showing the components
in the interior thereof as well as a mobile carpet cleaning unit
forming part of the system stored therein;
[0035] FIG. 3 is a front elevational view of the stationary housing
of FIGS. 1 and 2, with the front door thereof removed and also
showing the mobile carpet cleaning unit forming a part of this
system, stored within the housing;
[0036] FIG. 4 is a perspective view of the mobile carpet cleaning
vehicle unit forming part of the system of the present
invention;
[0037] FIG. 5 is a top plan view largely broken away and showing
the interior portion of the mobile carpet cleaning unit of the
present invention;
[0038] FIG. 6 is a side elevational view, largely broken away, of
the mobile carpet cleaning unit of the present invention;
[0039] FIG. 7 is a fragmentary, somewhat schematic side elevational
view of a portion of the debris collection and removal system used
in the mobile carpet cleaning unit;
[0040] FIG. 8 is a fragmentary side elevational view showing a
portion of a stationary vacuum cleaning system for removing debris
from the mobile unit and forming part of the housing of the present
invention;
[0041] FIG. 9 is a fragmentary perspective view showing part of an
obstruction sensory system forming part of the mobile unit in the
present invention;
[0042] FIG. 10 is a perspective view of a drop-off sensory
mechanism forming part of the mobile unit of the present
invention;
[0043] FIG. 11 is a side elevational view, partially in section,
and showing a portion of the obstruction sensory system of the
invention;
[0044] FIG. 12 is a schematic electrical circuit view showing the
electrical circuit used for accomplishing homing functions of the
mobile unit;
[0045] FIGS. 13A and 13B are truth tables showing high and low
conditions in response to the detection of a homing beacon;
[0046] FIG. 14 is an schematic electronic circuit diagram showing
the electronic components forming part of the housing of the
present invention;
[0047] FIG. 15 is a schematic electronic circuit diagram showing
the electronic components and portions of the mechanical assembly
forming part of the vehicle mobile unit of the present
invention;
[0048] FIG. 16 is a schematic chart showing the sequence of
operation when the vehicle unit contacts an obstruction on the
left-hand side thereof;
[0049] FIG. 17 is a schematic chart showing the sequence of
operations when the vehicle unit contacts an obstruction on the
right-hand side thereof;
[0050] FIG. 18 is a schematic chart showing the sequence of
operations when the vehicle unit detects an obstacle on both sides
thereof;
[0051] FIG. 19 is a schematic chart showing the sequence of
operations when the vehicle unit contacts an obstruction for an
extended period of time; and
[0052] FIG. 20 is a schematic chart showing a sequence of
operations on the housing of the vehicle unit in the housing
forming a part of the system of the present invention.
DETAILED DESCRIPTION
[0053] Referring now in more detail and by reference characters to
the drawings which illustrate a preferred embodiment of the present
invention, C designates a carpet cleaning system comprising a main
housing or cabinet 20 for receiving a vacuum cleaning vehicle or
"cleaner apparatus" or so-called "mobile unit" 22. Located within
the housing 20 is a battery recharging mechanism 24 which is
hereinafter described in more detail and a debris collection
station 26, as shown in FIG. 2 and which is also hereinafter
described in more detail.
[0054] The cabinet 20 is comprised of an outer housing 28 having an
openable and closable segmented front door 30 which can be opened
and closed to permit ingress and egress of the mobile vacuum
cleaner unit 22. The outer housing 28 is comprised of a back wall
32 and a pair of transversely extending spaced apart end walls 34
and together with a top wall 35 and a bottom wall 36 along with the
front door 30 to form an interior compartment 38.
[0055] The cabinet 20 is also provided in the interior compartment
38 with a shelf 39 for supporting the debris collection station 26
in the manner as best illustrated in FIG. 2 of the drawings. It is
not necessary in connection with the present invention to have a
bottom wall, such as the bottom wall 36 since the entire cabinet 20
could rest entirely on a carpet surface if desired. If the bottom
wall 36 is provided, however, it should also include a slight front
ramp or beveled edge (not shown) in order to enable the mobile unit
22 to enter into and exit the interior compartment 38 without
sensing the bottom wall 36 as an obstruction.
[0056] The front door 30 of the cabinet 20 is preferably, although
not necessarily, a segmented door, that is, comprised of a
plurality of horizontally located slats or ribs which allow the
door to bend and travel through an arcuate path. In the embodiment
of the invention, as illustrated, the front door 30 is capable of
moving along a trackway 40 located on the underside of the top wall
35 and a corresponding channel 42 located adjacent to the interior
surface of the back wall 32. Thus, as the front door 30 opens, it
will move through an arcuate path along the trackway 40 and into
the channel 42 adjacent the back wall, as shown in FIG. 2, When the
door moves to the closed position, it will follow the reverse path
and move to the fully closed position, as best shown in FIG. 2 of
the drawings.
[0057] The front door 30 is operated by a door motor mechanism 44,
as best shown in FIGS. 2 and 3 of the drawings. The door motor
mechanism 44 comprises a small AC operated drive motor 45 which
drives a connecting linkage arrangement 46, including door rollers
47, for raising and lowering the door in a conventional manner.
Mechanisms of this type are frequently used on a larger scale for
raising and lowering garage doors. Accordingly, this mechanism is
neither illustrated nor described in any further detail herein.
[0058] The door operating mechanism, as shown in FIGS. 2 and 3,
will also include door pressure rollers or so-called guide rollers
48 for guiding the movement of the door during its opening and
closing movements. Further, door position switches 49 are also
located adjacent the trackway in order to detect the position of
the door and ensure proper opening and closing movement. The door
position switches 49 are also operable to effectively stop the
movement of the motor 45 when the door has reached the fully opened
and fully closed positions. Finally, a manually operable door
switch 50 and a duty switch 51 are also located on the top wall of
the cabinet, as best shown in FIGS. 2 and 3 of the drawings.
[0059] It should be understood in connection with the present
invention that other types of door arrangements could be used.
Thus, a hingedly mounted door with a linkage mechanism to open and
close a hingedly mounted door could also be provided. Again,
mechanisms of this type are frequently used as gate openers and are
commercially available.
[0060] As indicated previously, a manually operable door switch 50
and the main duty switch 51 are located on the top wall 35 of the
housing 20. However, the system of the present invention is adapted
for automatic operation. For this purpose, a multi-day programmable
timer 55 is employed, as, for example, a seven-day programmable
timer. This timer would be manually setable by a user of the system
to cause the mobile unit to exit and perform a carpet cleaning
operation on selected days and/or at selected times and moreover,
for selectable time periods of cleaning. In this way, the entire
system is automatically operable. The programmer timer is a simple
device which can be easily programmed by setting dial switches or
the like, much in the same manner as a programmable water sprinkler
system.
[0061] Also located within the interior compartment 38 are the
electrical components used in the operation of the cleaning system
C. Certain of these electrical components will include, for
example, a circuit box 52 which houses the circuit boards and other
electrical circuitry used in the operation of the system. Fuses,
sensors, transmitters and the =like would also be located in this
circuit box 52. Included within the circuit box 52 is a central
processing unit 53 which may contain motor driving circuits and the
like.
[0062] The cabinet 20 could be a basic housing for the components
of the system as described herein. However, it should also be
understood that the cabinet itself could be made into a piece of
furniture or otherwise, it could form a part of another piece of
furniture. Thus, the entire cleaning system would not consume a
great deal of storage space, such as closet space which is
sometimes at a premium in certain dwelling establishments.
[0063] The mobile self driven vacuum cleaner unit 22 is more fully
illustrated in FIGS. 4-11 and 15 of the drawings and comprises an
outer casing or so-called vehicle chassis 54 mounted on a main
frame. The frame itself is not shown in any detail in the drawings
and actually may be integrated with the actual casing or vehicle
chassis 54. The outer casing 54 and the main frame are typically a
single unit and may be an integrated unit, if desired. Furthermore,
this casing and the main frame together are frequently referred to
as a "body".
[0064] A conventional vacuum cleaner chassis could be employed and
modified for use in the present invention. Further, some of the
components which are conventionally found in vacuum cleaners will
only be briefly mentioned herein since, to that extent,
conventionally employed components can be used in the mobile
cleaner apparatus 22. For example, brush rollers of the type
conventionally used in vacuum cleaners will be described to the
extent that they exist in the mobile unit of the present invention,
but the actual construction of such brush rollers will not be
described.
[0065] The mobile vacuum cleaner unit 22 comprises a pair of drive
wheels 58 which are driven by one ore more battery powered DC drive
motors 60, as best shown in FIG. 5 of the drawings. In the
embodiment of the invention as illustrated, a separate drive motor
60 is used for driving each of the individual drive wheels 58 so
that the two can be operated either in tandem or individually at
different speeds and in different directions. In the embodiment of
the invention as shown, a separate drive motor 60 is provided for
driving each wheel 58. This type of separate drive motor
arrangement is preferred in that it easily and inexpensively
provides driving control over each of the individual drive
wheels.
[0066] The drive motors 60 are preferably powered by means of one
or more rechargeable batteries 62 mounted within the chassis 54.
These batteries could be wet-celled batteries if required, although
dry-celled batteries are preferred in order to eliminate any
potential damage by virtue of the use of a battery fluid. The
batteries 62 are provided with and connected to a recharging plug
64 (as best shown in FIG. 3) for periodically recharging of the
batteries after a self cleaning operation by the mobile unit 22
with the battery recharging mechanism 24.
[0067] The recharging plug 64 on the mobile unit is operated in
conjunction with a battery recharger circuit 66 and a power supply
68 which are also connected to or form part of the battery
recharging mechanism 24. The recharger circuit 66 and power supply
68 are also mounted on the shelf 39 within the housing 20, as best
shown in FIG. 3 of the drawings. This battery recharging plug 64 is
adapted for releasable connection to a recharging assembly 70
having a front nose portion or probe (frequently referred to as a
"socket") 72 which receives and causes a recharging coupling to the
recharging plug 64. Thus, when the mobile unit enters into the
housing 20 in the manner as shown in FIG. 2, the nose 72 will
automatically connect to the recharging connector 64 on the mobile
unit and thereby enable a recharging of the batteries in the mobile
unit. For this purpose, the battery recharger 66 is electrically
connected to the recharging connector 70 by means of electrical
conductors (not shown).
[0068] Mounted within the forward end of the mobile unit 22 is a
cleaning brush 76 which extends through an elongate slot 78 formed
in the bottom of the chassis or mobile unit cabinet 54. The
cleaning brush can be conveniently journaled on the sides of the
chassis. Furthermore, the cleaning brush 76 is conventionally
provided with bristles 82, as best shown in FIGS. 5 and 6 of the
drawings. Mounted at one end of the driven and rotatable cleaning
or so-called "agitator" brush 76 is a drive pulley 78 and which is
connected to a suitable roller drive motor 80 by means of a drive
belt 83, again all as best shown in FIGS. 5 and 6 of the
drawings.
[0069] It should be understood that the drive motor 80 can be
powered by the same battery source of power 62. However, separate
batteries could also be provided for operating the roller drive
motor 80, which is a DC drive motor. Although the vacuum cleaner is
provided with a cleaning brush or so-called "agitator brush 76",
driven by a separate agitator brush motor 80, it should also be
understood that the agitator brush 76 could be driven by any one of
the drive motors 60, if desired. The agitator brush motor 80 is
typically a small electric battery powered motor. For this purpose,
the motor 80 should be driven from the same battery source of power
62.
[0070] Although only a pair of drive wheels 58 are illustrated in
the drawings, it should be understood that additional idler wheels
or castors could be employed on the apparatus. In one embodiment,
the apparatus is constructed so that the combination of the
cleaning roller and the pair of drive wheels is sufficient to
stabilize the apparatus during movement.
[0071] The mobile vacuum cleaning unit 22 is also provided with a
temporary storage compartment 90 which operates in conjunction with
the debris collection station, or so-called stationary vacuum
device 26, in the main housing 20, as hereinafter described. The
temporary storage compartment 90 is formed by a continuous
enclosing wall 92, and an upper guide plate 94 and which is in
communication with the drive roller cleaning agitator brush 76.
Thus, as debris is collected from the carpet, a vacuum created in
the storage compartment 90 will cause any dust or debris to move
into the storage compartment 90. A vacuum is formed in the storage
compartment 90 by means of a suction fan 96 operable by a suitable
electric motor 98. Again, the same motor 80 which drives the
cleaning brush 76 could be used for operating the suction fan 96,
if desired. The suction fan 96 is surrounded by a shroud 99, which
forms a debris collecting area, and the latter, having openings
therein for effectively creating a vacuum through the storage
compartment and shroud 98, as hereinafter described. In this way,
the dust and debris collected by the agitator brush 76 is moved
into the storage compartment 90.
[0072] Located in front of the shroud 99 is a filter cage 100 and
also holds a filter 102, such as a replaceable conventional filter
cloth. In this way, none of the debris which is drawn into the
waste chamber 90 can be drawn into the suction fan motor 98.
[0073] The debris collection station 26 includes a stationary
vacuum cleaner canister 91 and which is mounted on the horizontally
disposed shelf 39 mounted within the housing 20, as best shown in
FIGS. 2 and 3. The vacuum cleaner canister 91 is provided with an
internal chamber and an internal vacuum motor and fan arrangement
(not shown) required for creation of the vacuum. However, any
conventional means for forming the vacuum in the canister 91 may be
employed in accordance with the present invention.
[0074] A debris outlet 104 on the mobile unit 22 comprises an
opening 106 formed in the chassis and which is covered by a rubber
flapper-type valve 108. The rubber flapper-type valve or so-called
"flapper" may also be provided with an outwardly struck tab 110 for
purposes presently more fully appearing and as best shown in FIG.
4.
[0075] The debris collection station 26 within the housing 20 is
provided with a flexible tube 114 connected to a source of vacuum
within the canister 91 (see FIGS. 2 and 8). Moreover, the vacuum
tube 114 is connected at its outer end to a rigid arm 116 having a
perpendicularly arranged stub section 118 terminating in a debris
collection inlet 120, as best shown in both FIGS. 2 and 8 of the
drawings. The debris collection inlet 120 is surrounded by a rubber
ring or seal 122, as also shown in FIGS. 2 and 8.
[0076] When the mobile cleaning unit 22 is moved into the housing
20, the debris collection station will be automatically energized
through the control system, as hereinafter described. This debris
collection station 26 includes a somewhat universal pivot 124
having a plurality of mechanical hose position switches 126 which
detect and provide information as to the knowledge of the rigid arm
116 which is often referred to as a "mechanical hosed". An
extendable gear motor assembly 128 is comprised of a screw-type
jack arrangement 130 and an electric drive motor 132. As the motor
132 is energized by the control system, the screw jack arrangement
130 will cause a lowering of the rigid arm 116 and the stub section
118 such that the debris collection inlet 120 will move toward the
flapper value 108 and debris outlet 104 in the mobile unit. As this
occurs, the flapper valve 108 is caused to open by a suction or
vacuum created through the vacuum tube or vacuum hose 114 and the
rigid arm 116 and stub arm 118. This will cause a removal of debris
temporarily stored in the chamber 90 of the mobile unit and cause a
relocation of this debris in a storage chamber (not shown) in the
stationary vacuum unit 91.
[0077] The operation of removing the debris from the mobile unit
and relocating same in the stationary vacuum unit 91 is caused by a
sensory arrangement on the mobile unit and on the housing. As an
example, when the mobile unit reaches the nested position as shown
in FIG. 2, it connects with the cabinet connector. This will cause
a signal to the microprocessor to thereupon enable operation of the
debris collection station 26.
[0078] It should also be understood that discharge of debris from
the mobile unit could be initiated by causing energization of the
fan 96 in the reverse direction, and thereupon causing air to blow
the debris in the canister 91 outwardly through the debris outlet
104 of the mobile unit. It can be seen that energization of the fan
96 in the reverse direction will cause an air flow through the
shroud 98 and filter arrangement.
[0079] The aforesaid construction is highly effective in that it
only requires the mobile unit to maintain a relatively small
temporary debris storage area. This is due to the fact that the
storage area 91 will be cleaned and the debris will be removed
therefrom on each occasion when the mobile unit returns to the main
housing 20 or otherwise on a periodic basis. In addition, the
debris collection station 26 may be sufficiently large so that it
only requires cleaning and emptying on an occasional periodic
basis. As a simple example, the mobile unit may be operated for
seven to ten days, or more, and the debris from the mobile unit
collected in the main stationary vacuum cleaner station chamber 91
such that only very infrequent cleaning of the chamber 91 is
required. Moreover, the cannister 91 may be conveniently removable
from the shelf 39 for purposes of emptying the same on a periodic
basis.
[0080] The universal pivot mechanism 124, as shown in FIGS. 2 and
8, is also operable with the plurality of position switches 126 and
which will control the operation of the electric motor 132. Thus,
after the rigid arm 116 is raised to a certain position, it will
contact one of the position switches 126 which will, in turn, cause
a de-energization of the motor 132. It should also be understood
that the motor 132 will be operable from a suitable source of
electrical current supplied to the main housing 20, as hereinafter
described.
[0081] The stub 118 is provided on each of its opposite sides with
positioning guides 136, or so-called "feelers", as best shown in
FIGS. 2 and 3 of the drawings. These positioning guides 136 will
bear against a pair of upstanding locating rods 138 (see FIGS. 2, 3
and 4) located on the vehicle chassis 54. Thus, as the stub 118 is
lowered, the positioning guides 136 will bear against the interior
surface of these locating rods 138 and cause the debris collection
inlet to be properly oriented with respect to the outlet 108.
[0082] It can be seen that this universal pivot assembly, as best
shown in FIGS. 2 and 3, allows the stub 118 and ring seal 122 and
hence the inlet to be moved from side to side, in order to
compensate for the varying angles that the mobile unit may achieve
when homing into the housing. Moreover, this assembly also allows
for correction of the vertical positioning of the stub 118 when
positioning with respect to the outlet 104. The flapper valve 104
is opened when the mechanical assembly, including the stub 118 is
shifted downwardly, by pressing against the guide arms 138. These
guide arms 138 are mounted in such manner that they also operate as
feeler switches which sense the downward movement of the hose
assembly toward the opening 104. These feelers could be arranged to
cause energization of the electric motor 98 and hence the fan 96,
if desired.
[0083] The mobile unit may also be provided on the chassis 56 with
a pair of upstanding homing arms 142. These homing arms could also
be electrically connected to the drive motor 60, causing selective
energization and de-energization of these drive motors 60 to
thereby further guide the mobile unit into a homing position. Also,
additional infrared detectors 143 could be mounted at the upper end
of these arms 142.
[0084] In addition to the foregoing, the stationary vacuum source
within the cabinet 20 can also be activated in order to cause a
suction and hence an opening of the flapper valve 100 through the
action of the guide arms 138. The rubber ring seal 108 will allow a
tight-fitting disposition around the debris outlet 104 thereby
maximizing the air flow through the filter and waste chamber. In
this respect, the shroud 98 may also operate as a filter, as
well.
[0085] The mobile unit also comprises a pair of on-board infrared
sensors or so-called detectors 140 and which are, in turn, secured
to the chassis 54. These infrared sensors operate in conjunction
with an infrared homecoming beacon mechanism 144 within the housing
20, as best shown in FIG. 2. The infrared homecoming beacon
operates in conjunction with an infrared signal generating
mechanism 146 mounted within the housing and the front surface of
which may serve as a bumper for engaging the forward end of the
mobile unit, as also shown in FIG. 2.
[0086] Upon completion of a duty cycle or so-called "cleaning
cycle", the infrared homecoming beacon, which may be in the form of
light emitting diodes, will generate infrared signals. As these
signals are detected by the on-board infrared sensors 140, the
mobile unit will be instructed to immediately return to the
cabinet. Moreover, the infrared beams which are generated by the
beacon 144 will cause the mobile unit to move into the cabinet in
substantially the precise desired orientation so that it aligns
properly for connection to other components, as hereinbefore and
hereinafter described.
[0087] When the mobile unit has reached its so-called "home" or
"nesting" position, as illustrated in FIGS. 2 and 3, the battery
source of power 62 will be automatically energized through the
recharging socket 72. In this case, the recharging plug 64 is
adapted to engage and to extend into the charge receptacle of this
socket 72 mounted within the housing, as also best shown in FIG. 2.
Thus, it is not necessary for the mobile unit to be precisely
aligned inasmuch as the charge receptacle is somewhat funnel-shaped
and will guide the charging plug directly into the funnel-shaped
charge receptacle socket 72.
[0088] By reference to FIG. 4, it can be seen that the charge plug
64 is mounted on a frusto-conically shaped section 152 on the
mobile unit and is connected to the battery 62 by means of a cable
154.
[0089] If for some inexplicable reason, the on-board infrared
sensors on the mobile unit did not detect the homing beam emitted
by the infrared beacon in the housing, there would be no cause for
concern since the battery source of power 62 would ultimately drain
and the mobile unit would halt so that the user thereof could
manually reposition the mobile unit in the housing, if
required.
[0090] When the infrared beam is generated by the beacon 144 to
enable a homing of the mobile unit 22, the mobile unit will cross
the homing beacon beam. That beam will, in turn, be detected by one
or both of the infrared sensors 140. If the infrared homing beam is
detected by the right-hand sensor 140, power will be cut to the
right drive wheel 58. In like manner, if the beam is detected only
by the left sensor 140, power will be temporarily cut to the left
drive wheel 58. This will cause the mobile unit to turn towards the
infrared homing beacon. When both detectors sense the homing
beacon, no signal is sent to relays controlling either of the drive
wheels and the unit will then move toward the housing. If the
mobile unit happens to veer too far to the right, only the left
sensor will sense the presence of the beam and the left wheel will
temporarily stop rotating, again until both sensors or detectors
further sense the homing infrared beam, at which point, motion is
restarted again.
[0091] FIGS. 9-11 more fully illustrate an obstruction detection
system 160 forming part of the mobile unit 22. The obstruction
detection system in this embodiment of the invention relies upon a
pair of bumper pads 162 at the forward end of the mobile unit
vehicle as shown in FIG. 4. These bumper pads 162 usually include a
soft flexible exterior surface, such as a foam exterior surface to
preclude any marring or other damage to a piece of furniture or
other item, if they should engage such other item.
[0092] Located immediately behind each of the bumper pads 162 are
bumper contacts 164 (FIG. 9) which are electrically connected to
relays and which, in turn, control the motors 60 operating the
drive wheels 58. These contacts are, in turn, electrically wired
together and to electrical relays which are contained within an
electrical circuitry box 226 as hereinafter described, (see FIG.
15) and located within the chassis 54 of the mobile unit 22. If the
mobile unit should be traveling in a generally forward direction
and one of the bumper pads 162 contacts an obstruction, such as a
piece of furniture, it will immediately close the associated
contact 164 thereby opening the relay to the drive motor 60
associated with that bumper pad 162. Thus, if the right bumper pad
162 contacts the obstruction, the left bumper remains neutral. The
right drive motor 60 will reverse direction and cause the mobile
unit 22 to move in a different angulated direction. This will
potentially enable the mobile unit to move beyond the obstruction
which it contacted. In like manner, if the left bumper pad 162
contacts an obstruction, the same action will take place except on
the left-hand side of the mobile unit. This operation is described
in more detail hereinafter.
[0093] If both bumper pads should engage an obstruction,
substantially at the same time, then relays to both drive motors 60
will be de-energized thereby momentarily stopping movement of the
mobile unit. One of the drive motors will then be caused to reverse
in direction so that the mobile unit again moves in a different
direction. Even though the mobile unit may engage the same
obstruction on a few subsequent occasions, continued operation of
the obstruction detection system will ultimately cause the mobile
unit to move in a path sufficiently different from that which would
again cause engagement with the same obstruction. Moreover, due to
the fact that there is a soft covering on the front surface of the
bumper pads 162, there is little or no chance of any damage to a
piece of furniture or other item which may constitute the
obstruction.
[0094] Closely associated with the obstruction detection system 160
is a drop-off detection system 166 which is more fully illustrated
in FIG. 10 of the drawings. The drop-off detection system 166
comprises a somewhat U-shaped sensing member 168 which is loosely
retained in eyelets 170 mounted on the sides of one or both of the
bumpers 162. In this respect, it should be understood that a
separate drop-off detecting mechanism will normally be located on
each of the opposite bumpers 162 on the mobile vehicle. The
detecting member 168 will normally remain in a position very
closely located to the ground surface on which the unit is riding.
Moreover, the U-shaped member 168 is provided with an upper
retaining arm 172 limiting the downward movement of the detecting
member 168. Moreover, it can be observed that each of the drop-off
detectors 166 are located toward the forward end of the mobile unit
in advance of the driving wheels 58.
[0095] If the mobile unit should be moving toward an area where
there is a drop-off, as for example, in a set of stairs, or even a
single stair, the detector member 168 will immediately sense a drop
in that the lower portion thereof which normally engages the ground
surface will be caused to lower even further. As this occurs, the
retaining arm 172 will engage a screw contact 174 which will
immediately de-energize both of the electric drive motors 60 and
thereby immediately stop rotation of the drive wheels 58.
Thereafter, the control circuitry will cause a sequence of
operations which are similar to those when the mobile unit contacts
an obstruction. However, the control circuitry could be configured
to cause a reversal of the drive motors 60 and hence the drive
wheels 58 to cause the mobile unit to move away from the drop-off,
if desired. Further, one of the motors will then be operated while
the other is temporarily halted so that the mobile unit will move
into a different path. If the mobile unit should still move toward
the drop-off, the same sequence of actions will take place as when
an obstruction is contacted, until the mobile unit is sufficiently
angulated to a different path so that it avoids the drop-off.
[0096] By further reference to FIGS. 9 and 10, it can be seen that
the drop-off detection system 166 and the obstruction detection
system 160 are both electrically connected together. By reference
to FIG. 11, it can also be seen that a tie-down cord 176 is used to
anchor the bumper pads in a suspended fashion around the contacts
in such manner that they do not engage the contacts until an
obstruction is engaged. The tie-down is preferably an electrically
non-conductive nylon string or the like. In this construction, the
bumper pads will be spaced from the electrical contact, such as the
contacts 164, until they engage an obstruction and this obstruction
causes the movement of the bumpers into electrical engagement with
the contacts.
[0097] But with reference to the drop-off detection system 166, the
height of the drop-off connectors can be adjusted by means of an
adjustment bolts, as hereinafter described, to thereby raise or
lower the position of the bumper pad and thereby adjust the normal
riding position of the drop-off detection.
[0098] A tie-down mechanism 180 is more fully illustrated in FIG.
11 of the drawings and shows the relationship of the bumper pad 162
relative to the front portion of the chassis 54. It can be seen
that the bumper pad 162 is spaced from the chassis 54 by means of
compressible springs 182 between the chassis 54 and bumper pad 162.
Each spring is, in turn, secured to the bumper contacts 164.
Moreover, it can be seen that tie-down cable 176 effectively holds
the bumper pads in a suspended position around the various contacts
but spaced apart from the contacts.
[0099] FIG. 12 illustrates in schematic format, a NAND gate
arrangement which causes the operation of the drive motors 60 and
hence the drive wheels 58 in response to operation by the infrared
homing detectors 143. FIG. 13 more specifically illustrates a first
NAND gate 190 which receives an input from the right homing
detector 143 designated by "R-143" in FIG. 13. A second NAND gate
192 receives an input directly from the left infrared homing
detector 143 designated as "L-143" in FIG. 13. Moreover, the NAND
190 receives an input from the left homing detector L-143 and the
NAND gate 192 similarly receives an input from the output of the
NAND gate 190, but does not receive an input directly from the
right-hand homing detector R-143.
[0100] There is a further NAND gate 194 which receives an input
from the right-hand detector R-143 and from the output of the NAND
gate 190, as also shown in FIG. 12.
[0101] In accordance with this NAND gate arrangement of FIG. 13, it
is possible to set up truth tables which will control the driving
movement of the right-hand drive wheel, for this purpose designated
as R-58, or the left-hand drive wheel, for this purpose designated
as L-58, in FIGS. 13A and 13B of the F: drawings. In accordance
with the truth tables shown in FIGS. 13A and 13B, if a high "H" is
generated, the drive motor 60 for that drive wheel 58 will be
energized. In like manner, if a low "L" is generated, then an L
drive signal will discontinue power to the drive motor 60
associated with that particular drive wheel.
[0102] Returning again to FIG. 13A, it can be seen that if the
right-hand detector R-143 is positive, and the left-hand detector
L-143 is negative, a pair of lows L will result which will, in
turn, operate in a high H for motor operation of the right-hand
drive wheel. In like manner, if the right-hand detector R-143 is
negative, and the left-hand detector L-143 is positive, a high will
be generated and in which case, the right-hand motor will be
energized. The same holds true for the remaining two possibilities
in FIG. 13A.
[0103] Returning to FIG. 13B, it can also be seen that if the
detector R-143 and L-143 are both negative, lows L will be
generated and the left-hand motor 60 which drives the left drive
wheel L-58 will be energized. In like manner, if the right-hand
detector R-143 does not detect a homing signal but the left-hand
detector L-143 does detect a homing signal, then there will be a
low for the left-hand drive motor L-58 such that it will not be
energized. Again, the remaining two possibilities in the truth
table of FIG. 13B show a high or energization of the left-hand
drive motor L-58.
[0104] In short, when a detector on one side detects an infrared
signal, and the other side does not, then power to one motor will
be discontinued to turn the mobile unit. Thus, power to the right
drive motor is discontinued only when the right hand detector sees
an infrared beam. Power to the left drive motor is cut only when
the left detector sees an infrared beam. If both detectors detect
the infrared signals, both drive motors will remain powered. In all
other conditions, both wheels are powered. By following the truth
tables of FIGS. 13A and 13B, it can be seen how the drive motors 60
will cause movement of the drive wheels 58 to thereby cause the
mobile unit to change its drive path.
[0105] It can be seen that the AND gate circuit of FIG. 12 along
with the associated truth tables of FIGS. 13A and 13B control the
operation of the drive motors and hence, the guiding movement of
the mobile unit for purposes of homing the unit into the cabinet.
However, similar arrangements of this type could also be used for
driving the drive wheels in response to external conditions. As an
example, a similar AND gate arrangement, along with an associated
truth table, could be employed to control movement of the drive
wheels in response to the bumper pads engaging an obstruction.
Thus, if the left-bumper pad contacted at an obstructions, a
similar AND gate arrangement would cause operation of one of the
drive motors in preference to the other of the drive motors.
[0106] FIG. 14 represents a simplified schematic electrical diagram
showing connection of the major components forming part of the
housing 20 and FIG. 15 is a similar simplified schematic electrical
circuit view showing the connection of those components forming
part of the mobile unit 22 of the cleaning system of the present
invention. In this respect, it should be understood that many of
the components, as for example, a battery recharger, power supply,
relays and the like are conventional and are therefore neither
illustrated nor described in any detail herein. However, it is the
actual combination of these various components which does produce
the unique results in accordance with this invention.
[0107] Turning now to FIG. 14, it can be seen that the housing 20
includes the plurality of door position switches 49 (three as
shown) which detect and control the movement of the door 30. In the
preferred embodiment, three of the door positions switches 49 are
employed where one is used to control the closing and opening
position, the second is used for a duty cycle and the third is used
for maintenance. However, if desired, all three door positions
which could operate successively to control movement of the door
between the fully closed and fully opened positions. Thus, if all
three switches 49 are closed as the doors move to the opened
position, then the door motor 47 will automatically become
de-energized. In like manner, if the right-hand end of the three
switches 49, as illustrated in FIG. 14, is opened or otherwise
closed (depending upon the mode of connection) then the door 30
will have reached the fully closed position, as now shown in FIG.
14.
[0108] The electrical circuitry also includes a central processing
unit 200, which may be a microprocessor, which controls the
operation of the major components in the housing 20 and may also
control the mobile unit 22, as well, if desired, through remote
control. The central processing unit 200 operates in conjunction
with a plurality of relays, two of which are illustrated in FIG.
14, as hereinafter described. One of these relays is a timer relay
202 which controls the door motor 47. Moreover, connected to the
relay 202 is the programmable timer 55. In accordance with this
construction, the user of the system can program those times in
which it is desired to have the mobile unit automatically start a
cleaning operation and end a cleaning operation. In the same
respect, the user can program the amount of time during which a
cleaning cycle will last.
[0109] The microprocessor or central processing unit 200 could also
be used to control many of the operations of the mobile unit and
the overall housing. For example, the microprocessor could be used
to receive detect signals from bumper pads and the like or for that
matter detect or non-detect signals from the homing detectors. The
microprocessor would thereupon be used to control operation of the
drive motors 60. Again, the microprocessor could be used to perform
other control functions, as described herein.
[0110] The starting circuitry, which includes the door motor 47 and
the relay 202, as well as the timer 55, also includes the main duty
switch 51. In this way, it is possible to de-energize the entire
system by opening the duty switch 51 and leaving the same in the
opened position.
[0111] The housing is further provided with the door switch 50
which allows the user to temporarily hold the door 30 in a fully
opened position. This is desirable for cleaning and maintenance, as
well as to clean out the reservoir of the stationary debris
collection station 26.
[0112] The electronic circuitry in the main housing includes a
power supply 204 of generally conventional construction and which
is designed to operate the various components forming part of the
housing 20 at a pre-determined voltage level. Further, the power
supply, as well as some of the other components, are connected
directly to a conductor 206 for connection to a suitable source of
electrical power. In like manner, a battery recharger 208, is
connected directly to the charge receptacle or connector 70, and is
also connected directly to the power supply 204.
[0113] The stationary debris collection station 26 includes a fan
motor 210 operating a fan 212 to create the vacuum through the hose
or tube 114, as previously described. The fan motor 210 is
connected to a vacuum relay 214 operable by the central processing
unit 200 and which is also connected directly to the conductor 216
for receiving a source of electrical power, such as one hundred and
ten volt electrical power.
[0114] The arm 116 of the mechanical hose assembly is operable by
the motor 132, which is connected directly to the central
processing unit 200 and the actual position of which is controlled
by the mechanical position switches 126.
[0115] Finally, the infrared lighting emitting diode which
generates the homing beacon 144 is also connected directly to the
central processing unit 200 for controlling the operation when the
mobile unit has reached the nesting position. If desired, the light
emitting diode could be operated from a separate generator
connected directly to a relay, which is, in turn, operated by the
central processing unit 200.
[0116] It should be understood that the central housing 20 would
also include other electrical components normally conventionally
found in control circuits, as for example, twelve volt
transformers, battery control circuits and the like. However, these
components are essentially conventional and are therefore not
described in further detail herein. The control circuitry would
also include fuses and potentially other electrical control
elements.
[0117] The mobile unit control circuitry is set forth in FIG. 15
which also constitutes a simplified electrical circuitry diagram.
Certain switches and relays which form part of the circuitry, both
in the main housing 20 and in the mobile unit 22, have been deleted
from FIGS. 4-10 in order to maintain clarity. Furthermore, it
should be understood that other circuit arrangements could be used
in accordance with the present invention. Thus, and in this
respect, many of the components could be substituted by electronic
components which may-also be included within the central processing
unit, as hereinafter described.
[0118] The agitator brush 76 is operated by the agitator brush
motor 80 and the vacuum fan 96 is operated by the fan motor 98, as
previously described. A main power switch 220 may also be provided
on the mobile unit in order to temporarily stop any operation of
the mobile unit or to cause automatic starting of the operation of
this mobile unit. The mobile unit includes a relay 222 which is a
normally energized relay and operates in conjunction with a circuit
breaker and beeper combination 224. By reference to FIG. 15, it can
be seen that the circuit breaker is connected directly to the
battery source of power 62.
[0119] The mobile unit also includes its own central processing
unit 226 which, in effect, is somewhat of a slave to the central
processing unit 200. The central processing unit 226, as well as
the central processing unit 200 both operate as control units and
as motor drivers, as well. In this respect, the central processing
unit 226 controls the operation of the drive motors 60 in response
to inputs from the bumper switch contacts 164, as shown in FIG. 15
of the drawings.
[0120] The mobile unit has a connector board 230 which connects to
a similar connector board 232 on the cabinet 20, when the mobile
unit reaches a home or nested position within the cabinet 20, also
as shown in both FIGS. 14 and 16 of the drawings.
[0121] The timing for operation of the various components is more
fully set forth in FIGS. 16-20 of the drawings. FIGS. 16 and 17
specifically illustrate the operation of causing the mobile unit to
move in different directions in response to contacting of an
obstruction. In this respect, the central processing unit 226 of
the mobile unit 22 includes a plurality of timing circuits which
control the driving of the motor 60 either in a forward or a
rearward direction or in a stall. Thus, if the left bumper contacts
an obstruction, it will cause an activation of the right drive
motor 60, a timer and a backup timer in the central processing
unit. The backup timer will thereupon reverse both drive wheels 58
for two time periods and will then return to forward rotation, as
shown in FIG. 16. The left wheel drive motor 60 will be activated
by the backup timer and reverse in direction for one time period,
as shown in FIG. 16. As a result, the mobile unit detects the
obstacle, backs up and then turns away from the obstacle.
[0122] The timing circuit of FIG. 17 shows a similar operation if
the right bumper detects that obstacle. In this case, the timing
arrangements are set forth for back up of the mobile unit and
turning away from the obstacle. In the diagrams as shown in FIGS.
16 and 17, the time periods are approximately each one second. The
back up times in actual operation, are shortened to approximately
one-half second every ninth time. This will increase the turning
times which eliminates repeating patterns and assists the mobile
unit in maneuvering out of a tight position when contacting a
plurality of obstructions.
[0123] FIG. 18 shows the timing arrangement when both bumpers
detect obstacles at essentially the same point in time. Here again,
the timing diagrams are self explanatory and show how the mobile
unit backs up and moves away from the obstruction.
[0124] FIG. 19 illustrates the timing arrangement when the mobile
unit detects an obstacle for an extended period of time, as for
example, if the mobile unit were in a tightly confined area with a
plurality of obstructions. Thus, if, for example, the left bumper
detects an obstacle, the right bumper remains neutral. The back up
timer will reverse both wheels for one time period and thereafter
resets. The right drive motor 60 will reverse the right drive wheel
for the same extended duration as the bumper detects the obstacle.
In this case, it can be seen, for example, that the right timer
will remain activated and cause right drive wheel to reverse
operation for four time periods. The left drive wheel will reverse
for one direction when activated by the left drive wheel back up
timer. As a result, the mobile unit will back up then keep turning
away from the obstacle until it is completely clear of the
obstacle.
[0125] FIG. 20 more fully illustrates the operations of the
components in the main cabinet 20. In this case, the main duty
switch will control the operation of the control cabinet by a
manual operation. A timer, such as the timer 52, will control the
desired cleaning time for each cleaning operation. In like manner,
the door motor 47 is similarly controlled by a timer which may be
included within the main processing unit 200. It can be observed
that the infrared homing beacon will be energized to cause a homing
operation of the mobile unit. If the mobile unit is in a cleaning
operation, upon detecting the homing beacon, the mobile unit will
immediately head to a homing position. As it reaches the home
position, it will automatically connect with the recharger 208.
Moreover, the automatic debris collection station 26 will be
operated and the hose 114 will be lowered to ultimately connect to
the mobile unit. The vacuum will then be turned on in the debris
collection station 24 in order to clean the contents of the
temporary storage compartment.
[0126] The carpet cleaning system C of the present invention is
highly effective to maintain and to clean carpeted areas on a
periodic basis, almost completely without any manual intervention
or supervision for extended periods of time. The carpet cleaning
system of the invention needs only the stationary cabinet and the
roving, or moving automated vacuum cleaner mobile unit for cleaning
relatively flat carpeted areas. Moreover, the stationary debris
collection station 26 removes all of the dust and debris which has
been picked-up by the mobile unit. Furthermore, a means is provided
for recharging the battery source of power 62 which operates the
various drive motors in the mobile unit.
[0127] The user of the present invention can set vacuum operation
start times and end times using the timer 52 mounted within the
cabinet 20. When a vacuum start time is obtained, the mobile unit
is fully charged with electrical power and cleaned so that debris
may be collected in the storage compartment of the debris
collection station 26. The mobile unit 22 will immediately become
energized and under its own power will immediately detach the
charge connector plug 64 from the charge receptacle 70. This will
enable the mobile unit to immediately move out under its own power
rearwardly from the cabinet onto the carpeted area to be cleaned.
At that point, the drive motors for the wheels will reverse
direction and enable the mobile unit to be moved over the carpeted
area and only guided by its on-board circuitry.
[0128] The mobile unit with move in a generally straight path until
it contacts an obstruction or an obstacle with its rather sensitive
obstruction detection system. At that point, the mobile unit will
reverse direction and turn to either the right or left, according
to its orientation set forth in the truth tables of FIGS. 13A and
13B. This creates a rather surprisingly thorough criss-cross
pattern which essentially covers the entire carpeted area to be
cleaned, much in the same manner as a conventional swimming pool
cleaner will traverse a swimming pool in a random path and still
clean the entire swimming pool surface area.
[0129] The mobile unit 22 also detects the obstructions, as
indicated, and moves in a direction to avoid those obstructions. In
addition, the mobile unit will detect the presence of a drop-off,
such as stairs, or for that matter an uncarpeted area, by sensing
irregularities in carpet height. At that point, the mobile unit
will again turn its direction and move in a different path.
[0130] When the pre-established time period for conducting a vacuum
cleaning operation ends, the infrared homing beacon 44 will be
energized in the cabinet 20 emitting an essentially invisible
infrared light beam across the carpeted area. The mobile unit will
almost inevitably be contacted by that infrared homing beam when
energized. Even if it does not immediately see the infrared homing
beam, it will continue to move in its random path until such time
as it does detect the infrared homecoming beam. At that point, the
drive motors 60 will be properly energized to drive the mobile unit
toward the cabinet 20.
[0131] When the mobile unit arrives at the cabinet, its recharging
plug 64 will immediately be guided into and extend into the
recharging receptacle 70. Moreover, all of the motors in the mobile
unit will then be automatically de-energized while the battery 62
is being recharged. Furthermore, in approximately one second after
return to its home position, and connection to the recharging
system, the mechanical hose assembly, previously described
comprising the flexible hose 144 will be lowered and connected to
the mobile unit at which point the stationary vacuum cleaner motor
210 in the station 26 is energized. This will, in turn, clean out
the debris and dust collected in the temporary storage compartment
90 of the mobile unit. After a predetermined time period, typically
about thirty seconds, the stationary vacuum motor in the station 26
will become de-energized and the entire hose assembly will retract
to its upper position. This will, in turn, leave the mobile unit 22
clear of any obstructions and free to recharge within the cabinet
until it is again energized at the next vacuum start period.
[0132] It is also possible to operate the cleaning system of the
present invention using a hand-held remote control unit. A
conventional television or a VCR remote control unit has literally
been found to be effective for this purpose. Thus, one could
initiate a start and end of a cleaning cycle with a remote control
system. In like manner, it is possible to control the actual
guiding of the mobile unit during driving activities by using
certain buttons or control elements which would cause a left or
right drive movement. As an example, the number "2" push button
switch could be used to control left-hand movement and the number
"3" push button switch could be used to control right-hand drive
movement. Further, if desired, a specially designed hand-held
remote control unit could be provided with the cleaning system of
the present invention.
[0133] The cleaning system of the present invention allows numerous
advantages over conventional vacuum cleaners, as well as other
automated cleaning systems. The use of the debris collection and
storage mechanism allows the mobile unit to be cleaned after each
carpet cleaning operation thereby reducing the size of the
temporary storage area. Not only does this decrease the overall
size of the mobile unit, but it concomitantly increases the
maneuverability and the ability of the mobile unit to move under
and behind a much greater number of obstacles. The small size of
the mobile unit also is less intrusive, thereby adding to its
appeal.
[0134] The programmable timer 52 with the cleaning system allows
the user to set a permanent vacuum schedule, including the start
time and end time. This will allow the mobile unit to vacuum a
selected area of an environment, even in the absence of the
user.
[0135] This system provides a unique advantage in that it permits
cleaning of a selected carpeted area in a commercial establishment
after closing hours. Moreover, and for a dwelling environment, it
allows the occupants of the dwelling to permit a cleaning operation
to be conducted in their absence, thereby freeing them of the
necessity to engage in a laborious periodic carpet cleaning
operation. Further, the carpet cleaning system of the present
invention is particularly effective for the elderly and disabled
who do not have the necessary ability or strength to engage in
continuous carpet cleaning operations.
[0136] The automatic homing system and the recharging system
previously described allows the mobile unit the advantage of
returning to its home position and to be recharged completely on
its own operation without any manual intervention. Further, even
the cleaning of the temporary storage area in the mobile unit
allows cleaning without any manual intervention. It is only
necessary for the user to periodically clean the debris collection
station 26 in the main housing 20.
[0137] Thus, there has been illustrated and described, a unique and
novel carpet cleaning system which utilizes a stationary housing
and a mobile carpet cleaning unit which requires no manual control
of the same during operation thereof. The present invention also
provides a unique method of cleaning carpeted areas without manual
intervention. The present invention thereby fulfills all of the
objects and advantages which have been sought. It should be
understood that many changes, modifications, variations and other
uses and applications will become apparent to those skilled in the
art after considering this specification and the accompanying
drawings. Therefore, any and all such changes, modifications,
variations and other uses and applications which do not depart from
the spirit and scope of the invention are deemed to be covered by
the invention.
* * * * *