U.S. patent application number 15/240991 was filed with the patent office on 2017-02-23 for mobile robotic cleaner.
The applicant listed for this patent is Nilfisk, Inc.. Invention is credited to John Black, Stephen Klopp, Kipp Knutson, Donald Joseph Legatt, Stuart McDonald, Dave Wood.
Application Number | 20170049288 15/240991 |
Document ID | / |
Family ID | 58051930 |
Filed Date | 2017-02-23 |
United States Patent
Application |
20170049288 |
Kind Code |
A1 |
Knutson; Kipp ; et
al. |
February 23, 2017 |
MOBILE ROBOTIC CLEANER
Abstract
A control system for a robotic floor cleaning machine configured
to perform a cleaning operation along a cleaning path can comprise
a controller, and a plurality of sensors. The controller can be
configured to control autonomous movement of the robotic floor
cleaning machine along the cleaning path and autonomous performance
of the cleaning operation. The plurality of sensors can be
configured to sense a location of the robotic floor cleaning
machine relative to surroundings of the robotic floor cleaning
machine. At least two sensors from the plurality of sensors are
configured to locate the robotic floor cleaning machine in
overlapping areas of the surroundings.
Inventors: |
Knutson; Kipp; (Plymouth,
MN) ; McDonald; Stuart; (Minnetonka, MN) ;
Klopp; Stephen; (Champlin, MN) ; Black; John;
(Plymouth, MN) ; Wood; Dave; (Plymouth, MN)
; Legatt; Donald Joseph; (St. Michael, MN) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Nilfisk, Inc. |
Plymouth |
MN |
US |
|
|
Family ID: |
58051930 |
Appl. No.: |
15/240991 |
Filed: |
August 18, 2016 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
62206673 |
Aug 18, 2015 |
|
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|
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
A47L 11/4088 20130101;
A47L 11/4036 20130101; A47L 11/4008 20130101; A47L 11/4011
20130101; A47L 11/4016 20130101; A47L 2201/06 20130101; A47L
11/4083 20130101; A47L 2201/04 20130101; A47L 11/4044 20130101;
A47L 11/305 20130101; A47L 11/4061 20130101; A47L 11/4066
20130101 |
International
Class: |
A47L 11/40 20060101
A47L011/40; A47L 11/24 20060101 A47L011/24; A47L 11/30 20060101
A47L011/30 |
Claims
1. A control system for a robotic floor cleaning machine configured
to perform a cleaning operation along a cleaning path, the control
system comprising: a controller configured to control autonomous
movement of the robotic floor cleaning machine along the cleaning
path and autonomous performance of the cleaning operation; and a
plurality of sensors configured to sense a location of the robotic
floor cleaning machine relative to surroundings of the robotic
floor cleaning machine; wherein at least two sensors from the
plurality of sensors are configured to locate the robotic floor
cleaning machine in overlapping areas of the surroundings.
2. The control system of claim 1, wherein the plurality of sensors
are selected from the group comprising: laser sensors, sonar
sensors, stereo camera sensors, infrared sensors, capacitive
sensors, and wheel position sensor sensors.
3. The control system of claim 2, wherein the at least two sensors
comprise: a dirt sensor configured to detect objects alongside the
machine along the cleaning path; and a capacitance sensor
configured to detect objects alongside the machine above the
cleaning path.
4. The control system of claim 2, wherein the at least two sensors
comprise: a laser scanner configured to map the surroundings
alongside the machine; and an optical sensor configured to visually
record the surroundings alongside the machine.
5. The control system of claim 2, wherein the at least two sensors
comprise: an object recognition sensor configured to view the
presence of objects in the surroundings; and an optical sensor
configured to visually record the surrounding alongside the
machine.
6. The control system of claim 2, wherein the at least two sensors
comprise: a wheel position sensor configured to determine a
distance the machine has moved in the surroundings; and a laser
sensor configured to sense a distance between the machine and an
object in the surroundings.
7. The control system of claim 2, wherein the controller further
comprises: a chassis configured to move along the cleaning path; a
cleaning mechanism mounted to the chassis to perform the cleaning
operation; means for facilitating the autonomous performance of the
cleaning operation; and means for facilitating the autonomous
movement of the chassis.
8. The control system of claim 7, wherein the means for
facilitating autonomous performance of the cleaning operation
comprises a debris sensor in communication with the controller and
positioned to determine debris in the cleaning path for comparison
to a baseline reference.
9. The control system of claim 8, wherein the means for
facilitating autonomous performance of the cleaning operation
further comprises a pre-cleaning operation cleaning medium coupled
to a front end of the chassis, wherein the debris sensor is located
on the pre-cleaning operation cleaning medium.
10. The control system of claim 8, wherein the means for
facilitating autonomous performance of the cleaning operation
further comprises a post-cleaning operation cleaning medium coupled
to a rear end of the chassis, wherein the debris sensor is located
on the post-cleaning operation cleaning medium.
11. The control system of claim 7, wherein the means for
facilitating autonomous performance of the cleaning operation
comprises an object recognition sensor comprising a camera in
communication with the controller, wherein the controller is
configured to compare images of objects from the camera to a
database of reference images to identify the objects.
12. The control system of claim 7, wherein the means for
facilitating autonomous performance of the cleaning operation
comprises a surface recognition sensor comprising a sensor in
communication with the controller and configured to recognize a
texture of a surface to be cleaned.
13. The control system of claim 7, wherein the means for
facilitating autonomous performance of the cleaning operation
comprises a vibration sensor in communication with the controller
and configured to recognize disruptions in the movement of the
chassis.
14. The control system of claim 7, wherein the means for
facilitating autonomous performance of the cleaning operation
comprises a sensor for the cleaning mechanism in communication with
the control system and configured to determine the presence of a
cleaning medium connected to the cleaning mechanism.
15. The control system of claim 7, wherein the means for
facilitating autonomous performance of the cleaning operation
comprises a pre-sprayer in communication with the control system
and mounted to a front end of the chassis to spray into the
cleaning path.
16. The control system of claim 7, wherein the controller includes
a clock and the control system can perform different cleaning
operations based on a time of the clock.
17. The control system of claim 7, wherein the controller includes
a display and the control system is configured to provide an
indication of a magnitude of a parameter required for completing
the cleaning operation.
18. The control system of claim 7, wherein the controller includes
an electronic communication device and the control system is
configured to communicate a route for the cleaning path to another
robotic floor cleaning machine.
19. The control system of claim 7, further comprising a status
indicator in communication with the control system for providing a
visual indication of a status of the robotic floor cleaning
machine.
20. The control system of claim 7, further comprising a portable
device configured to wirelessly communicate with the control system
and display a status of the robotic floor cleaning machine.
21. The control system of claim 7, further comprising a projector
coupled to the chassis to project an indication of the cleaning
path on a surface to be cleaned.
22. The control system of claim 7, wherein the controller further
comprises a display visually indicating a route of the cleaning
path.
23. The control system of claim 7, wherein the controller can vary
a route for the cleaning path in a predefined area to avoid
generating wear patterns.
24. The control system of claim 7, wherein the controller can vary
a distance of a route of the cleaning path from a fixed object to
avoid generating wear patterns.
25. The control system of claim 7, wherein the controller can vary
an overlap of the cleaning path in a route of the cleaning path to
avoid generating wear patterns.
26. The control system of claim 7, wherein the controller includes
a clock and the control system can provide a time indicator
correlating to a length of time for completing a route of the
cleaning path.
27. The control system of claim 7, wherein the controller includes
a graphical display that is configured to provide an indication of
a magnitude of a parameter required for completing the cleaning
operation.
28. The control system of claim 7, wherein the controller includes
a sensor for determining the presence of objects in a route of the
cleaning path, wherein the control system can make navigation
decisions based on a frequency of the objects in the cleaning
path.
29. The control system of claim 7, wherein the controller can
receive inputs for a size of the chassis that can be used to
determine a route for the cleaning path.
30. The control system of claim 7, further comprising: a propulsion
system connected to the chassis to provide movement of the chassis
along a cleaning path; a liquid system mounted to the chassis to
provide cleaning liquid to the primary cleaning mechanism; and a
recovery system mounted to the chassis to recover liquid from the
cleaning operation.
31. The control system of claim 30, wherein the controller can
learn a route for the cleaning path via manual operation of the
propulsion system.
32. The control system of claim 30, wherein the controller can
determine a route for a cleaning area within a perimeter determined
via manual operation of the propulsion system.
33. The control system of claim 30, wherein the means for
facilitating autonomous performance of the cleaning operation
comprises a sensor for the liquid recovery system in communication
with the control system.
34. The control system of claim 33, further comprising a recovery
tank for the recovery system, wherein the sensor for the liquid
recovery system comprises a liquid level sensor for the recovery
tank.
35. The control system of claim 33, wherein the sensor for the
liquid recovery system comprises an olfactory sensor for the
recovery tank.
36. The control system of claim 33, wherein the sensor for the
liquid recovery system is configured to determine the presence of a
squeegee blade connected to the liquid recovery system.
Description
CLAIM OF PRIORITY
[0001] This application is related and claims priority to U.S.
Provisional Application No. 62/206,673, filed on Aug. 18, 2015 and
entitled "MOBILE ROBOTIC CLEANER," the entirety of which is
incorporated herein by reference.
TECHNICAL FIELD
[0002] The present patent application relates generally to a
cleaning apparatus. More specifically, the present patent
application relates, but not by way of limitation, to various
features of a mobile robotic cleaner for autonomous floor
cleaning.
BACKGROUND
[0003] Industrial and commercial floors are cleaned on a regular
basis for aesthetic and sanitary purposes. There are many types of
industrial and commercial floors ranging from hard surfaces such as
concrete, terrazzo, wood, and the like, which can be found in
factories, schools, hospitals, and the like, to softer surfaces
such as carpeted floors found in restaurants and offices. Different
types of floor cleaning equipment such as scrubbers, sweepers, and
extractors, have been developed to properly clean and maintain
these different floor surfaces.
[0004] For example, a typical industrial or commercial scrubber is
a walk-behind or drivable, self-propelled, wet process machine that
applies a liquid cleaning solution from an on-board cleaning
solution tank onto the floor through nozzles. Rotating brushes
forming part of the scrubber agitate the solution to loosen dirt
and grime adhering to the floor. The dirt and grime become
suspended in the solution, which is collected by a vacuum squeegee
fixed to a rearward portion of the scrubber and deposited into an
onboard recovery tank.
[0005] Floor cleaning units can also be designed as unmanned,
robotic units that operate autonomously. However, there are
particular challenges in automating the cleaning process of an
autonomous scrubber, particularly for large, industrial or
commercial floor cleaning systems that can be employed unsupervised
in areas where there is pedestrian traffic. In addition to
providing an adequate guidance or navigation system that prevents
the unmanned, robotic unit from engaging objects or entering
prohibited areas, the cleaning operation itself must be managed to
ensure the unmanned, robotic unit is actually performing as
intended.
Overview
[0006] The present inventors have recognized, among other things,
that a problem to be solved with autonomous or robotic floor
cleaning equipment is the failure of such equipment to recognize
its surroundings and adequately react to changes in those
surroundings. The present inventors have also recognized that a
problem to be solved with autonomous or robotic floor cleaning
equipment is the failure of such equipment to recognize and react
to deficiencies of the cleaning operation being performed.
[0007] The present subject matter can help provide a solution to
these and other problems such as by providing a robotic or
autonomous cleaning machine that can utilize a control system to
accurately detect when the cleaning machine may collide with an
object. Thus, in order to operate properly, the robotic cleaning
machine should be able to detect objects directly ahead of the
cleaning machine, including ahead of the left forward and the right
forward edges of the cleaning machine. Robotic cleaning machines
should not only be able to detect objects, but they also should be
able to process the information regarding object detection in
sufficient time to avoid the object. Mapping of a workspace is also
a desirable feature, which can allow the robotic cleaning machine
to clean along a desired route.
[0008] The present subject matter can help provide a solution to
these and other problems such as by providing a robotic or
autonomous cleaning machine that can include a control system to
monitor the status of the cleaning operation. For example, the
control system can include sensors to determine the presence of a
scrubbing pad, a squeegee, level sensors to determine the level of
clean and dirty cleaning liquid, moisture sensors to determine the
presence of un-vacuumed cleaning liquid behind the machine,
vibration sensors, object recognition sensors and the like.
[0009] In an example, a control system for a robotic floor cleaning
machine configured to perform a cleaning operation along a cleaning
path can comprise a controller, and a plurality of sensors. The
controller can be configured to control autonomous movement of the
robotic floor cleaning machine along the cleaning path and
autonomous performance of the cleaning operation. The plurality of
sensors can be configured to sense a location of the robotic floor
cleaning machine relative to surroundings of the robotic floor
cleaning machine. At least two sensors from the plurality of
sensors are configured to locate the robotic floor cleaning machine
in overlapping areas of the surroundings.
[0010] In another example, a robotic floor cleaning machine can
comprise a chassis, a propulsion system, a primary cleaning
mechanism, a control system, and means for facilitating autonomous
performance of a cleaning operation. The propulsion system can be
connected to the chassis to provide movement of the chassis along a
cleaning path. The primary cleaning mechanism can be mounted to the
chassis to perform the cleaning operation. The control system can
be mounted to the robotic floor cleaning machine to control
autonomous movement of the chassis and autonomous performance of
the cleaning operation. Furthermore, the robotic floor cleaning
machine can comprise a liquid system mounted to the chassis to
provide cleaning liquid to the cleaning operation, and a recovery
system mounted to the chassis to recover liquid from the cleaning
operation.
[0011] In yet another example, a robotic floor cleaning machine can
comprise a chassis, a propulsion system, a primary cleaning
mechanism, a control system, and means for facilitating autonomous
movement of the chassis. The propulsion system can be connected to
the chassis to provide movement of the chassis along a cleaning
path. The primary cleaning mechanism can be mounted to the chassis
to perform a cleaning operation. The control system can be mounted
to the robotic floor cleaning machine to control the autonomous
movement of the chassis and autonomous performance of the cleaning
operation. Furthermore, the robotic floor cleaning machine can
comprise a liquid system mounted to the chassis to provide cleaning
liquid to the cleaning operation, and a recovery system mounted to
the chassis to recover liquid from the cleaning operation.
BRIEF DESCRIPTION OF THE DRAWINGS
[0012] FIG. 1 is a front perspective view of a robotic floor
cleaning machine having optical sensors, distance sensors, a laser
scanner and a status light system.
[0013] FIG. 2 is a rear perspective view of the robotic floor
cleaning machine of FIG. 1 showing a control panel, an operator
platform and a trailing mop pad.
[0014] FIG. 3 is a side view of the robotic floor cleaning machine
of FIGS. 1 and 2 showing various sensors and cleaning devices that
can be added to the robotic floor cleaning machine to facilitate
autonomous operation and cleaning of the robotic floor cleaning
machine.
[0015] FIG. 4A is an exploded view of the robotic floor cleaning
machine of FIG. 3 showing the location of the various sensors and
cleaning devices.
[0016] FIG. 4B is an exploded view of a wheel encoder for a wheel
of the robotic floor cleaning machine shown in FIG. 4A.
[0017] FIG. 5 is a schematic diagram of the control panel for the
robotic floor cleaning machine of FIGS. 2 and 3 showing a graphical
user interface panel and a wirelessly connected remote device.
DETAILED DESCRIPTION
[0018] FIG. 1 is a front perspective view of floor cleaning machine
10 having optical sensors 12A and 12B, distance sensors 14A and
14B, and a status light system 16. FIG. 2 is a rear perspective
view of floor cleaning machine 10 of FIG. 1 showing control panel
18, operator platform 20, and trailing mop system 22. Machine 10
can include chassis 24 to which wheels 26A, 26B and 28 can be
connected. Chassis 24 can support various cleaning devices, such as
trailing mop system 22, scrubber 30 and squeegee 32. Chassis 24 can
be connected to or form part of platform 20. Control panel 18 can
be in electronic communication with remote device 33. FIGS. 1 and 2
are discussed concurrently.
[0019] Floor cleaning machine 10 can be configured to clean, treat,
scrub, or polish a floor surface, or perform other similar actions
using, for example, trailing mop system 22, scrubber 30 and
squeegee 32. An operator can stand on platform 20 and control
machine 10 using control panel 18 and steering wheel 34.
Alternatively, optical sensors 12A and 12B and distance sensors 14A
and 14B, as well as laser scanner 36 and personnel sensors 37A-37C,
can allow machine 10 to autonomously drive itself. The present
application describes various features that can be used to
facilitate autonomous cleaning and autonomous driving of machine
10. The features described in the present application can be
applied to any type of floor cleaning equipment, such as scrubbers,
sweepers, and extractors, whether autonomous or user operated.
[0020] Platform 10 can support the weight of an operator in a
standing position. In other examples, machine 10 can be configured
to accommodate a sitting operator. Machine 10 can be of a three
wheel design having two wheels 26A and 26B generally behind the
center of gravity of machine 10 and one wheel 28 in front of the
center of gravity. In an example, platform 20 can be located behind
the center of gravity. Front wheel 28 can be both a steered wheel
and a driven wheel. Front wheel 28 can have a device for
determining the angular position of the driving direction about the
steering axis. In an example, rear wheels 26A and 26B are not
driven but have one or more devices, such as encoders 27A and 27B,
respectively, for determining speed of rotation each wheel. In an
example, rear wheels 26A and 26B are not driven but have one or
more devices such as an encoder for determining speed of rotation
each wheel. The angular position of each wheel 26A, 26B, and the
angular position and steering angle of wheel 28 can be used to
determine the position of machine 10 relative to objects sensed by
optical sensors 12A and 12B and distance sensors 14A and 14B, as
well as laser scanner 36 in mapping an environment of machine 10.
For example, FIG. 4B shows encoder 27B as having counter wheel 29
and optical scanner 31. Optical scanner 31 can count timing or tick
marks on counter wheel 29 to determine how many revolutions wheel
26B has made when mounted on spindle 33, which can be translated by
electronics within control panel 18 to a distance traveled by
machine 10, such as by using the diameter of wheel 26.
[0021] Machine 10 can be electrically operated and can include a
battery (e.g., battery 74 of FIG. 4A) for powering the various
components of machine 10. Motors within machine 10 (not shown) or
steering wheel 34 can be used to turn wheel 28. Additionally, wheel
28 can be connected to a prime mover, such as an electric motor
(e.g., motor 56 of FIG. 4A), that provides propulsive force to
machine 10.
[0022] Scrubber 30 can be configured to provide a cleaning action
to the floor, such rotary disc, orbital or cylindrical cleaning.
Fluid from a liquid cleaning system disposed within main cowling 40
can be dispensed by machine 10 to facilitate scrubbing performed by
scrubber 30. A liquid system can include a liquid storage tank, a
pump system, and spray nozzles, as discussed below. Squeegee 32 can
be used to corral or wipe dirty fluid behind scrubber 30 and can be
connected to a recovery system having a tank (e.g., tank 70 of FIG.
4A) disposed within main cowling 40. A recovery system can include
a suction tube (e.g., hose 64), a suction motor (e.g., motor 68),
and a storage tank (e.g., tank 70).
[0023] Optical sensors 12A and 12B, distance sensors 14A and 14B,
and laser scanner 36, as well as the other sensors described
herein, can be collectively referred to as a guidance or navigation
system for machine 10 when operatively connected to electronics
within control panel 18 as described herein. Machine 10 can also
include other types of sensor to facilitate autonomous guidance,
such as ambient light sensors. Optical sensors 12A and 12B can
comprise video cameras that can record the environment of machine
10. Distance sensors 14A and 14B can comprise active ultrasonic
sonar sensors or laser sensors that can generate high-frequency
sound waves and evaluate the echo which is received back by the
sensor, measuring the time interval between sending the signal and
receiving the echo to determine the distance to an object. Distance
sensors 14A and 14B, as well as other sensors, can be configured to
sense changes in elevation so as to be able to detect stairs,
ledges or other drop-offs. As such, electronics in control panel 18
can be configured to steer machine 10 away from potential hazards
associated with drop-offs from stairs, steps, ledges and the like.
Laser scanner 36 can generate three-dimensional data of the space
around machine 10. Personnel sensors 37A-37C can be configured as
capacitance sensors to detect the presence of people out from
machine 10. Personnel sensors 37A-37C can distinguish between a
solid object and a fluid or liquid filled object, such as a human,
in order to make decisions concerning the navigation
procedures.
[0024] Furthermore, optical sensors 12A and 12B, distance sensors
14A and 14B, laser scanner 36, wheel encoders 27A and 27B, and
personnel sensors 37A-37C, as well as the various other sensors,
cameras or input devices described herein, can be configured to
provide redundant or overlapping input to the navigation system of
the electronics of control panel 18 regarding the surroundings of
machine 10. For example, two or more of optical sensors 12A and
12B, distance sensors 14A and 14B, laser scanner 36, wheel encoders
27A and 27B, and personnel sensors 37A-37C, as well as the various
other sensors, cameras or input devices described herein, can be
configured to provide the navigation system with distance data to
the same object, shape information to the same object, depth
information to the same object or other information. As such,
control panel 18 and the navigation system will have multiple
reference points to build a map for navigation of machine 10 and to
prevent machine 10 from entering areas or impacting objects that
machine 10 should not enter or impact.
[0025] Control panel 18 can be connected to electronics that can be
programmed to generate mapping of locations that machine 10 has
visited. Thus, as machine 10 is used throughout a facility, control
panel 18 can add new places to the map and continuously refine the
mapping of existing places, using the angular position of wheels
26A, 26B and 28. Machine 10 can use optical sensors 12A and 12B,
distance sensors 14A and 14B, and laser scanner 36 to recognize the
surroundings of machine 10 to place machine 10 into the mapped
area. Both two-dimensional and three-dimensional mapping can be
logged into memory of electronics connected to control panel 18.
Thus, routes for the cleaning paths of vehicle 10 can be recorded
in the mapped area for various cleaning operations. Machine 10 can
provide an indication to an operator regarding the status of the
location of machine 10 relative to the mapped area. For example,
status light system 16 can light up in a particular pattern or
color to indicate that machine 10 is in a known location, is
currently mapping a new location, is paused, or some other such
indication.
[0026] Status light system 16 can be provided to communicate
various statuses of machine 10 to the operator, other personnel or
other pedestrians in the line-of sight of machine 10 and status
light system 16. Status light system 16 can include one or more
visual indicators, such as light-emitting diodes (LEDs) or other
light sources. The light bulbs can be positioned behind lens 37 to
convey information to people in proximity of machine 10. For
example, a solid white light can indicate that the machine is ready
for operation, green can indicate that machine 10 is actively and
correctly performing a cleaning operation, a flashing blue light on
one side of machine 10 can indicate that machine 10 is about to
make a turn to the side of the flashing blue light, a yellow light
can indicate that machine 10 has stopped the cleaning process
because of a detected or sensed condition, and a red light can
indicate that machine 10 is malfunctioning. Other types of
indicators can also be used to convey information to close-by
people, such as digital text displays or audio alarms from a
loudspeaker, such as voice prompts and horn sounds. Status light
system 16 can be connected to electronics within control panel 18
to receive information from sensors in machine 10 to provide
predictive turning information to bystanders. For example, if an
object is sensed in the path of machine 10 and control panel 18
calculates that the path of machine 10 needs to be rerouted, status
light system 16 can be used to provide information to a bystander
that machine 10 will be changing path.
[0027] While machine 10 is in a robot or autonomous operating mode,
it can be desirable to monitor and facilitate the driving and
cleaning operations being executed by the various systems of
machine 10. During user operation of machine 10, an operator drives
machine 10 to maintain the cleaning path and avoid colliding with
stationary and moving objects that are or can potentially become in
the driving path of machine 10. Likewise, during user operation of
machine 10, an operator is present to utilize sensory input to
monitor the cleaning process, such as by watching for small objects
in the cleaning path or observing torn squeegees or failing scrub
pads. However, during autonomous operation, machine 10 can include
various sensing and monitoring equipment as well as various
supplementary cleaning equipment to ensure machine 10 autonomously
drives in a safe manner and to ensure the cleaning operation
continues in a proper and efficient manner. Machine 10 can include
remote device 33 that can be carried by a remote operator of
machine 10 to receive updates on the operation of machine 10 from
control panel 18, or directly from a sensor, or to provide command
instructions to control panel 18 or machine 10. For example, fob 90
of FIG. 5 can communicate with control panel 18 via a wireless
connection to convey information via indicators 92A, 92B and 92C or
provide instructions via button 93.
[0028] In an example, trailing mop system 22 can be used to absorb
residual moisture left behind by squeegee 32, if any. For example,
squeegee 32 may become compromised such that dirty water from
scrubber 30 is not properly transferred to the recovery system by
squeegee 32. As such, in the case of autonomous operation of
machine 10, it might not become noticed by an operator not at the
site of machine 10 that liquid is being left behind. As such
trailing mop system 22 can be used to absorb undesirable liquid
trailing behind machine 10 during operation. Furthermore, trailing
mop system 22 can include a sensor (e.g., dirt sensor 44A of FIGS.
3 and 4) that can alert machine 10 or an operator having remote
device 33 in electronic communication with machine 10 of the
presence of liquid in trailing mop system 22. As such, a remote
operator of machine 10 can be alerted to the possible compromise of
a squeegee blade (e.g. blade 66 of FIG. 4A) in squeegee 32.
[0029] As will be discussed in greater detail with reference to
FIGS. 2-5, machine 10 can be outfitted with a variety of different
instruments, systems, sensors and devices to enable and improve the
autonomous operation of machine 10. Examples of machine 10
described herein can improve the efficiency of the cleaning or
treating operation such as by reducing or eliminating deficient
cleaning procedures and executing a consistent cleaning or treating
operation, free of variability that can be introduced from
procedure imperfections or operator error or variability.
Furthermore, examples of machine 10 described herein can improve
the efficiency and operation of navigation instructions provided to
machine 10 to improve the safety, reliability and cleaning or
treating performance of machine 10.
[0030] FIG. 3 is a side view of floor cleaning machine 10 of FIGS.
1 and 2 showing various sensors and cleaning devices that can be
used to automate operation and cleaning of floor cleaning machine
10. FIG. 4A is an exploded view of floor cleaning machine 10 of
FIG. 3 showing the location of the various sensors and cleaning
devices. FIG. 4B is an exploded view of wheel encoder 27B for wheel
26B of robotic floor cleaning machine 10 shown in FIG. 4A.
[0031] In addition to trailing mop system 22, machine 10 can
include various supplementary cleaning devices, such as front mop
38 and sprayer 41. Machine 10 can also include various hardware and
sensors to facilitate and monitor the cleaning and driving
operations of machine 10, such as projector 42, dirt sensors 44A
and 44B, object recognition sensor 46, floor type sensor 48,
vibration sensor 50, cleaning media sensor 52, and squeegee sensor
54. As shown in FIG. 4A, machine 10 can also include tank level
sensor 80 and tank condition sensor 82.
[0032] During a cleaning operation of machine 10, motor 56 of a
propulsion system can be actuated to roll wheel 28 along the floor
surface to be cleaned. While machine 10 is rolling on wheels 26A,
26B and 28, motor 58 of scrubber 30 can be activated to rotate
scrubbing pad 60. Cleaning solution or liquid can be added to a
storage space within main cowling 40 through cap 62. Cleaning
solution or liquid can be dispensed from within main cowling 40 to
the area of scrubbing pad 60 via an actuator valve system (not
shown), preferably to an area forward of scrubbing pad 60. Suction
hose 64 can be connected to squeegee 32 to vacuum up dirty cleaning
solution behind scrubbing pad 60 and in front of the squeegee blade
66. Vacuum motor 68 draws the dirty cleaning solution into tank 70.
Vacuum motor 68 can also be used to pump dirty cleaning solution
out of tank 70 via hose 72. Motors 56, 58 and 68 can receive power
from battery 74. Electronics within control panel 18 can be used to
operate motors 56, 58 and 68. The electronics within control panel
18 can also be used to operate various sensors and devices on
machine 10 to ensure that the dispensing system, scrubber 30,
squeegee 32 and the recovery system are functioning correctly and
performing a proper cleaning operation.
[0033] As discussed above, trailing mop system 22 can be used as a
supplementary recovery system for squeegee 32. Trailing mop system
22 can include another cleaning medium such, as a chamois,
absorbent roller, sponge, mop, microfiber, or other absorbent
material that can contact the floor behind blade 66 of squeegee 32
to wipe any water or fluid that may be left behind. Trialing mop
system 22 can include frame member 65 to which the cleaning medium
can be mounted. Frame member 65 can have a width approximately as
wide as scrubber 30 or squeegee 32. However, frame member 65 can be
as wide as the width of machine 10 and the distance between wheels
26A and 26B. Trailing mop system 22 and frame member 65 can be
mounted to chassis 24 in any suitable manner, either in a fixed
manner or an adjustable manner. Trailing mop system 22 can be
connected to a motor mechanism (not shown) and can be raised and
lowered automatically by a user-initiated input at control panel
18. In other examples, trailing mop system 22 can be raised or
lowered manually, or added and removed from chassis 24
manually.
[0034] Sensor 44A can be provided on or in trailing mop system 22
to determine a moisture level in the cleaning medium or absorbent
material. Sensor 44A can be mounted to frame member 65 or can be
embedded within the cleaning medium. Sensor 44A can be configured
as a moisture sensor, such as by including a pair of electrodes
having a resistivity or capacitance that changes as more or less
water is present. Sensor 44A can have a sensitivity level
configured to indicate if squeegee 32 is trailing excessive water,
which can be an indication of a freed or compromised squeegee blade
66. For example, sensor 44A can send a moisture signal to control
panel 18 and electronics within control panel 18 can be programmed
to trigger an alarm (e.g., on remote device 33) for an operator of
machine 10 at a threshold that would be above incidental moisture
left behind by squeegee 32.
[0035] Sensor 44A can also be configured as a dirt sensor to help
electronics within control panel 18 make decisions about the
cleaning operation. Sensor 44B can be provided at front mop 38 to
sense dirt in front of machine 10. Sensors 44A and 44B can be
configured as microphones to detect dirt, as is known in the art.
Sensors 44A and 44B can also be configured as optical sensors or
cameras to view or visually determine the presence of dirt.
[0036] With both of sensors 44A and 44B, dirt sensing can take
place both before and after machine 10 passes over an area.
Comparisons can be made between a before and an after condition to
determine a level of cleanliness of the floor and if additional
cleaning is needed. For example, an image (e.g., a visible spectrum
image, an image outside of humanly visible spectrum, a spectroscopy
image) taken by sensor 44B (or object recognition sensor 46) can be
compared with an image taken by sensor 44A to determine how
effective scrubber 30 and squeegee 32 are currently performing. The
dirt sensing method can also comprise comparing an image with a
known baseline image, which can be a reference image of the actual
floor that machine 10 is cleaning. For example, an image of a clean
floor surface stored in memory within control panel 18 or object
recognition sensor 46 can be compared with real time images taken
by rear sensor 44B.
[0037] Electronics within control panel 18 can be programmed to
ignore variables or imperfections in the floor, such as from
painted stripes or grout lines. Comparisons between the before or
reference image and the after image can be made either continuously
in real-time or intermittently over programmed intervals to
determine the cleanliness of the floor. For example, a dark area in
the before image can indicate a dirty area that needs to be
cleaned. If the dark area remains in the after image, control panel
18 can trigger an operator alarm (e.g., on remote device 33).
[0038] Also, if a dirty area is detected in front of machine 10,
electronics within control panel 18 can take corrective action in a
predictive manner. If control panel 18 detects a dirty area ahead
of machine 10, control panel can adjust the cleaning operation to
be performed by scrubber 30, squeegee 32 or a liquid system. For
example, control panel 18 can increase the scrub pressure or
quantity of liquid from the liquid system, can increase the
concentration of detergent in the cleaning solution, or can slow
down the speed of machine 10 to potentially rectify the dirty floor
detected by front sensor 44B.
[0039] Front mop 38 can be connected to chassis 24 to remove
objects from the cleaning path of machine 10. Some objects, such as
paper clip, scrap of paper, etc., may be too small to be detected
by the navigation system and are not necessary to be avoided, e.g.
machine 10 does not need to be rerouted around the object. These
types of small objects can, however, become trapped under blade 66
of squeegee 32 and cause water trailing. Front mop 38 can include a
cleaning medium, such as a dry mop, broom, damp mop, microfiber,
etc. that is can be mounted at the front of chassis 24 in front of
scrubber 30 to sweep this small debris before scrubbing. Front mop
38 can be connected to a vacuum system, such as that provided by
suction motor 68, or some other collection system to collect debris
caught by front mop 38.
[0040] Front mop 38 can include frame member 67 to which the
cleaning medium can be mounted. Front mop can be connected to
chassis 24 via any suitable connection, either in a fixed manner or
an adjustable manner. Frame member 67 and the cleaning medium can
have a width at least as wide as scrubber 30 or squeegee 32. Frame
member 67 can also be as wide as the width of machine 10 and the
distance between wheels 26A and 26B. However, frame member 67 and
the cleaning medium can be configured to be significantly wider
than machine 10. A wide mop can be used to complete a pre-sweep
operation task more quickly. A mop wider than scrubber 30 or
machine 10 can be used to reduce the number of passes required by
machine 10 to clean the area. For example, a mop twice as wide as
scrubber 30 can be used to sweep the floor in approximately half
the time it would take scrubber 30 to clean the same floor area.
Additionally, a pre-sweep operation can be conducted at higher
speeds of machine 10 as compared to cleaning operations.
[0041] In some examples, front mop 38 can be connected to a motor
mechanism (not shown) and can be raised and lowered automatically
by a user-initiated input at control panel 18. In other examples,
front mop 38 can be raised or lowered manually, or added and
removed from chassis 24 manually.
[0042] Pre-cleaning or sweeping can be performed with front mop 38
as a separate operation prior to scrubbing. Front mop 38 can be
ejected or lifted upon completion so scrubbing can be started. In
one example, machine 10 can be programmed to perform a pre-sweep of
the entire floor area that is to be cleaned. The operator of
machine 10 can then remove front mop 38 (or raise front mop 38 from
the floor for storage onboard machine 10) and the collected debris
before machine 10 is programmed for cleaning using scrubber 03. In
another example, front mop 38 can be connected to a vacuum system
or some other system to remove the debris and store it for later
disposal. Similarly a wheel driven (unpowered) cylindrical sweeper,
or motor driven sweeper, or vacuumized debris recovery system can
also be used.
[0043] Machine 10 can include object recognition sensor 46, which
can provide the ability to recognize what an object is (e.g., a
person, pallet of parts, etc.), not just an obstacle that will
require a new route. Object recognition sensor 46 can take a
picture or image of an object and communicate the image to control
panel 18. In an example, control panel 18 can communicate with the
Internet or a local area network via a wireless communication
network to access a library or database of reference images of
known objects for comparison. Electronics within control panel 18
can compare the image obtained by object recognition sensor 46 to
images in the reference database. Objects can be compared to
determine whether it should be cleaned, should be avoided, or
whether an operator should be notified. For example, the database
can be provided with images of objects that should be picked-up by
machine 10, such as wood chips or paperclips, and objects that
should be avoided for later recovery by an operator, such as
manufactured parts or coinage. In an example, object recognition
sensor 46 comprises a camera that can take images of an object in
front of machine 10. If objects are identified that are not in the
library, control panel 18 can direct machine 10 to pick-up the
object, or, if identified objects are in the library, control panel
18 can direct machine 10 to not pick-up the object. If an object
has been identified for not being picked-up, control panel 18 can
send a signal to remote device 33 to notify a remote operator that
there is an object in the cleaning path that needs to be safely
recovered. Control panel 18 can also reroute machine 10 around the
object to continue the cleaning operation. Control panel 18 can
later direct machine 10 to the location of the identified object to
again attempt to clean that portion of the floor.
[0044] Machine 10 can include various sensors or devices for
detecting whether or not various cleaning instruments, components,
sensors or other devices are attached to machine 10. For example,
machine 10 can include cleaning media sensor 52. In the illustrated
example, cleaning media sensor 52 can be located on a non-rotating
component, such as pad housing 76 or a pad skirt, in close
proximity to pad 60. Media sensor 52 can be in electronic
communication with control panel 18 and can send a signal to
control panel 18 if pad 60 is not detected. If control panel 18
receives an indication that pad 60 is not present, which can
indicate pad 60 was not mounted to housing 76, not mounted properly
to housing 76 or has become separated or partially separated from
housing 76 during the cleaning operation, control panel 18 can send
a wireless signal to remote device 33 to notify a remote operator
of machine 10. Additionally, control panel 18 can stop operation of
one or both of scrubber 30 and machine 10.
[0045] Likewise, machine 10 can include squeegee sensor 54. In the
illustrated example, sensor 54 can be located on a frame member of
squeegee 32, such as squeegee cover 78, in close proximity to blade
66. Sensor 54 can be in electronic communication with control panel
18 and can send a signal to control panel 18 if blade 66 is not
detected. Also, squeegee sensor 54 can be configured to sense if
all of squeegee 32 detaches from machine 10 at corresponding
mounting hardware. If control panel 18 receives an indication that
blade 66 is not present, which can mean blade 66 was not mounted to
cover 78, not mounted properly to cover 78 or has become separated
or partially separated from cover 78 during the cleaning operation,
control panel 18 can send a wireless signal to remote device 33 to
notify a remote operator of machine 10. Additionally, control panel
18 can stop operation of one or both of squeegee 32 and machine
10.
[0046] Sensors 52 and 54 can comprise a proximity sensor of any
known variety, such as capacitive-, Doppler-, eddy current-,
inductive-, laser-, magnetic- and optical-based sensors. Sensors 52
and 54 can be configured to directly sense the cleaning component
directly or can be configured to detect an operable component
mounted to the cleaning component, such as a reflector or magnet.
Sensors 52 and 54 can also be mounted to view or contact the
cleaning component through a window in the structural member of
machine 10 to which they are mounted.
[0047] The recovery system can also include one or more sensors to
facilitate operation of the recovery system. For example, tank
level sensor 80 and tank condition sensor 82 can be included in the
recovery system to communicate information to control panel 18.
Tank level sensor 80 can determine the level of liquid or dirty
cleaning solution in recovery tank 70. Sensor 80 can determine if
tank 70 is full or nearly full. Additionally, sensor 80 can be
configured to provide indications of the level of tank 70 as it
progresses from being empty to full. In various examples, sensor 80
can determine the level at a plurality of discrete levels or at
continuous levels. In an example, sensor 80 can comprise a
conventional fluid level sensor, such as an ultrasonic sensor, a
capacitive sensor, an optical interface sensor, or a microwave
sensor. Sensor 80 and control panel 18 can also be configured to
estimate a time remaining before recovery tank 70 is full. In an
example, control panel 18 can reduce or shut-off the flow of dirty
cleaning solution to tank 70 before activating the closure of a
shut-off valve in recovery tank 70 if control panel 18 receives a
signal from sensor 80 indicating tank 70 is nearly full or full.
Control panel 18 can send a wireless signal to remote device 33 to
notify a remote operator of machine 10 that tank 70 is full.
Additionally, control panel 18 can stop operation of machine 10 if
tank 70 is indicated by sensor 80 as being full. In another
example, sensor 80 or an additional sensor can be positioned on
tank 70 to determine the level of cleaning solution remaining
within tank 70.
[0048] In another example, sensor 80 can be configured as a dirt
sensor for recovered liquid. In such an example, sensor 80 can be
configured to detect the level of dirt in the solution, such as by
determining how much light can pass through the recovered liquid.
Electronics within control panel 18 can compare the signal from
sensor 80 to a threshold cleanliness level stored in memory in
control panel 18. If excessively dirty water is sensed, control
panel 18 can take corrective action in a reactive manner. If
control panel 18 detects dirty water, control panel can adjust the
cleaning operation to be performed by machine 10. For example,
control panel 18 can adjust the route of the cleaning path so that
machine 10 makes an additional pass of the dirty area. Control
panel 18 can be configured to determine if enough cleaning solution
remains in tank 70 to complete a cleaning operation.
[0049] Tank condition sensor 82 can be attached to tank 70 to
evaluate a condition of tank 70, such as the cleanliness of tank
70. Sensor 82 can provide an indication at control panel 18 as to
whether or not tank 70 needs to be cleaned. In an example, sensor
82 can be an olfactory sensor that can determine when odor levels
reach or exceed a predetermined threshold. In another example,
sensor 82 can be configured as a capacitive sensor positioned on
the outside of tank 70 near a drain and can sense if dirt, grime or
debris is building up inside tank 70 near the drain. In one
scenario, machine 10 could autonomously park itself in a cleaning
closet after completing a cleaning operation and have recovery tank
70 full of dirty cleaning solution, which, after a period of time
can begin to have an undesirable or unpleasant smell. Sensor 82 can
be used to alert an operator to this condition so that recovery
tank 70 can be cleaned.
[0050] Machine 10 can be provided with vibration sensor 50 that can
be configured to detect potential fault conditions. In an example,
vibration sensor 50 can be configured as a microphone that can
detect changes in sound that may indicate a fault condition. For
example, a microphone can listen for loud or unusual sounds that
may be correlated to an object impacting machine 10, grinding of
pad 60, vibration from an offset pad 60, splashing cleaning
solution or the like. Sounds monitored by sensor 50 can be compared
to a library of sound recordings of various fault conditions for
comparison. The library of fault condition sound recordings can be
stored in memory in control panel 18 or can be stored remotely in a
database (e.g., the Internet or a local area network) that control
panel 18 can access via a wireless communicate signal. Sensor 50
can monitor for operation of machine 10 that falls outside of a
sound or vibration signature that corresponds to steady state
operation. For example, a fault condition might be a vibration
frequency that would match vibration of scrubber 30 if pad 60 is
off center. Vibration sensor 50 can also be positioned and
configured to sense loading of platform 20. If control panel 18
detects that a passenger has boarded machine 10 during autonomous
operation, control panel 18 can be configured to cease operating
until the load has been removed.
[0051] In another example, vibration sensor 50 can be configured as
an accelerometer or other vibration sensor that can detect changes
in vibration that may indicate a fault condition. Vibration sensor
50 can be connected to chassis 24 to monitor for undesirable
acceleration of machine 10. For example, vibration sensor 50 can
monitor for unnecessary or undue acceleration of machine 10 along
the cleaning path, which may provide an indication of an
undesirable cleaning speed, or vibration sensor 50 can monitor for
acceleration of machine 10 in an undesirable direction, such as an
upward acceleration when machine 10 impacts a bump. Detected fault
conditions can be transmitted to remote device 33 to provide a
remote operator an indication that a fault condition may have
occurred. Additionally, control panel 18 can stop operation of
machine 10 if a sound or vibration is sensed that may be
detrimental to machine 10 or the cleaning operation.
[0052] Machine 10 can include floor type sensor 48 that can enable
control panel 18 to distinguish between different floor surfaces.
For example, sensor 48 can be configured to distinguish between
floor surfaces of different textures, such as smooth or rough, or
resiliency, such as hard or soft. Smooth or hard surfaces can be
indicative of concrete or tile, while rough or soft surfaces can be
indicative of carpet or turf. In various examples, sensor 48 can
comprise a vision system, a sonar sensor, a laser, or other known
sensing methods that can be used to distinguish floor types. For
example, sensor 48 can measure the reflection of an initial signal
to determine a magnitude of the initial signal that is returned to
sensor 48, with lower magnitudes of reflected signal possibly
indicating softer or rougher surfaces. Signals from sensor 48 can
be compared by control panel 18 to a library of known floor type
signals that can be stored in control panel 18 or a remote database
for comparison over a wireless communication signal. Control panel
18 can include instructions for reacting to signals from sensor 48
indicating sensed floor types. For example, control panel 18 can be
programmed to prevent machine 10 from entering a carpeted area when
set-up for scrubbing of a hard floor such as concrete. Control
panel 18 can send a signal to remote device 33 if it is determined
that machine 10 has entered an undesirable or unauthorized area.
Additionally, control panel 18 can stop operation of machine 10 if
machine 10 enters an area having a floor type that machine 10 has
been instructed to avoid.
[0053] Machine 10 can include sprayer 41 for operating machine 10
in, for example, a carpet pre-spray mode. A carpet pre-spray mode
can be used for pre-spraying carpet prior to cleaning with scrubber
30 or extraction with a vacuum system in examples where a vacuum
cleaning system is employed in place of or combination with
scrubber 30. Sprayer 41 can be connected to a tank of liquid that
can be sprayed onto the floor in front of machine 10 via a nozzle
or the like with the use of a pump. In an example, sprayer 41 can
use the same liquid as the liquid system stored in the tank within
main cowling 40 and can use the same pump as the liquid system uses
for providing cleaning solution or liquid to scrubber 30. In
another example, machine 10 can use the aforementioned liquid
system to perform the pre-spraying operation. Sprayer 41 can also
be connected to a detergent tank within the liquid system of
machine 10 to apply detergent during the pre-spraying operation.
However, sprayer 41 can be used to apply clear water without
detergent to perform a clean water rinse.
[0054] Pre-spray PS applied by sprayer 41 can be applied along the
intended cleaning or extraction path. Machine 10 can follow the
intended path before the cleaning or extraction process at a faster
or slower pace than what is conducted during the subsequent
cleaning or extraction process. Autonomous pre-spraying can
facilitate the cleaning operation because pre-spraying can be a
difficult operation to manually perform. For example, it can
sometimes be difficult for an operator to see where the subsequent
paths of machine 10 should be because the pre-spraying dampens and
darkens the entire carpeted area, making it difficult to see where
the next pre-spraying path should be or making the entire path for
subsequent cleaning operation more difficult to see. The
pre-spraying operation can save labor expense by freeing the
operator to do other tasks while the pre-spraying operation is
autonomously performed. Additionally, autonomous performance of the
pre-spraying operation can reduce the total time to perform the
pre-spraying operation by more precisely executing the pre-spray
route, e.g., avoiding double spraying of portion of the floor that
can sometimes occur during manual pre-spraying operations.
[0055] Machine 10 can include projector 42 that can be configured
to project a route of the cleaning path on the floor surface to be
cleaned. Projector 42 can be configured to project a laser, LED, or
other light source onto the floor ahead of machine 10 to show the
intended path of machine 10. The intended path can be projected a
short distance (e.g., 2-10 feet/0.61-3.05 m) in front of machine 10
as machine 10 moves along the intended path of the route. Projector
42 can thus facilitate autonomous movement of machine 10 by warning
pedestrians and other bystanders of the route that machine 10 is
taking. Light beam LB can be projected to the left or right of
machine 10 as a turn is approached to notify pedestrians of a
forthcoming movement of machine 10.
[0056] Remote device 33 can be configured to communicate with
control panel 18 and provide a remote operator of machine 10 with
information regarding the operation and status of machine 10,
including the liquid system, scrubber 30, squeegee 32, the recovery
system and the navigation system, as is discussed in greater detail
with reference to FIG. 5. Remote device 33 can also be configured
to provide a command input to control panel 18 to stop or change
operation of machine 10 or the cleaning operation.
[0057] FIG. 5 is a schematic diagram of control panel 18 for floor
cleaning machine 10 of FIGS. 2 and 3 showing graphical user
interface panel 84, status bar 86, wireless communication link 88
and wirelessly connected portable fob 90 having indicator lights
92A, 92B and 92C.
[0058] As discussed above, control panel 18 can be configured to
operate the various sub-systems, components, sensors and devices of
machine 18 from a single location where an operator can stand on
platform 20. Control panel 18 therefore can include various
hardware and software components for operating machine 10. For
example, control panel 18 can include user interface devices,
processors, memory and the like for receiving input from various
items, such a signals from sensors 44A, 44B, 46, 48, 50, 52, 54, 80
and 82, and providing output to various items, such as fob 90 and
motors 56, 58 and 68. Control panel 18 can include various forms of
digital memory for storing the various libraries and databases
described herein, as well as programming for executing various
cleaning instructions and commands, as described herein. In one
example, control panel 18 is can include a portable computing
device, such as a tablet computer, as the operator interface. The
portable computing device can be configured to have complete or
partial control over the operations of machine 10.
[0059] Control panel 18 can include a wireless hub, such as
wireless communication link 88, that permits control panel 18 to
communicate with devices external to machine 10. Communication link
88 allows control panel 18 to access data and control other devices
or autonomous machines.
[0060] In one example, wireless communication link 88 communicates
with a wireless local area network that permits communication with
a local database or server at the location of machine 10 (e.g.,
within the same facility). In another example, wireless
communication link 88 can be a Bluetooth communication device. In
another example, wireless communication link 88 is able to connect
to the Internet via various public or private signals, such as
cellular or 4G networks and the like. Likewise, wireless
communication link 88 can be configured to communicate directly
with remote device 33 and fob 90, or indirectly, such as through a
network or Internet connection.
[0061] Fob 90 can comprise a portable device that can be carried by
an operator of machine 10 while machine 10 is operating
autonomously. In an example, fob 90 is sized and shaped to be small
enough to fit into a pocket of an operator of machine 10. As such,
fob 90 and wireless communication link 88 can transmit information
between each other over a distance so that the operator can leave
the immediate vicinity of machine 10 to do other activities, such
as in the same facility as machine 10. In examples, fob 90
communicates with Bluetooth or a wireless local area network.
[0062] In the example of FIG. 5, fob 90 is configured as a
pocket-sized device having three visual indicator lights 92A, 92B
and 92C and button 93. In an example, light 92A can be a green
light, light 92B can be a yellow light, and light 92C can be a red
light. Lights 92A, 92B and 92C can be activated by control panel 18
to indicate various statuses of machine 10. For example, a solid
green light can indicate machine 10 is operating properly as
desired, a red light can indicate that machine 10 has stopped
operating and cannot continue without operator interaction, and a
yellow light can indicate that machine 10 has encountered a
condition that needs operator attention, but that machine 10 can
continue to operate. In other examples, lights 92A, 92B and 92C can
blink in predetermined patterns to provide more specific
information, such as a potentially failed blade 66, a potentially
failed pad 60 or a full recovery tank 70. Lights 92A, 92B and 92C
can also be turned on to indicate that a cleaning operation has
been completed. Additionally, lights 92A, 92B and 92C can be turned
on to provide information relating to the autonomous navigation of
machine 10, such as to provide information that an object is
blocking the cleaning path route, that machine 10 is lost, or that
machine 10 is stalled.
[0063] Fob 90 can also include button 93 or other interface
components to allow an operator of machine 10 to remotely stop
operation of machine 10. Although explained with reference to
remote device 33 comprising fob 90, other portable remote devices
can be used with control panel 18 and machine 10. In other examples
of portable device 33, a handheld or mobile computing device, such
as a phone, notebook computer or tablet computer can be used to
communicate explicit, textual information to the operator regarding
the state of machine 10 or the cleaning operation. In various
examples, fob 90 includes a graphical display that can show
pictures taken by a camera on machine 10. For example, object
recognition sensor 46 can take a picture of an obstruction in front
of machine 10 for display on fob 90 for a remote operator to
evaluate.
[0064] Control panel 18 can visually communicate the intended route
for the cleaning path of machine 10 using graphical user interface
(GUI) panel 84. GUI panel 84 can comprise a touch screen as is
known in the art, a liquid crystal display or any similar digital
or analog screen for communicating information. GUI panel 84 can
include indicia in the form of a map, an icon, text, or other
identifiable representation. For example, GUI panel 84 can
graphically show a representation of cleaning route 94 using
machine icon 96 relative to walls 98 and objects 100. GUI panel 84
can allow for an operator to choose between multiple routes, such
as route 94 and an alternative route.
[0065] A route for machine 10, can be programmed by a plurality of
different methods. In one example, in a "copy-cat" mode, machine 10
can learn a route by copying the exact route driven by an operator
using platform 20 and steering wheel 34. For example, control panel
18 can learn the turns of route 94, such as the seven legs of route
94 shown in FIG. 5. Control panel 18 can be programmed to copy
cleaning operation steps initiated by an operator during the
"copy-cat" mode, such as doubles-scrub actions or changes in
cleaning fluid flow rate. Control panel 18, however, can include
programming to smooth out the path driven by the operator. For
example, control panel 18 can take out slight drifting or
back-and-forth driving patterns of the operator, or fill in any
missed areas by the operator. Control panel 18 can also optimize
the overlap of adjacent legs of the cleaning path forming each
route to minimize double cleaning and ensure complete cleaning
coverage.
[0066] In another example, in a "fill-in" mode, control panel 18
can generate a route for cleaning the interior area of a perimeter
determined by the operator. The operator can drive machine 10
around the outer boundaries of an area and control panel can
optimize the route for machine 10 to clean that area. For example,
machine 10 could be ridden by an operator adjacent walls 98 in FIG.
5 to form a rectangular shaped perimeter and control panel could
generate the cleaning route, such as by generating the seven legs
of route 94 shown in FIG. 5. The operator can also program one or
more islands 102 into the area that are no-go or "keep out" zones
for machine 10. Thus, because machine 10 will have driven the
demarcation lines for the route, machine 10 will also know the
distances between the boundaries of the demarcated area and can
determine the optimal route and overlap for each leg of the
cleaning path route. Control panel 18 can provide feedback
confirming that the area within the perimeter has been mapped, such
as by lighting up status light system 36.
[0067] Whether machine 10 utilizes a "copy-cat" mode or a "fill-in"
mode can be a user selected option on control panel 18. Control
panel 18 can execute the "copy-cat" mode or a "fill-in" modes by
utilizing the two-dimensional and three-dimensional mapping
conducted by optical sensors 12A and 12B, distance sensors 14A and
14B, and laser scanner 36 described above, as well as the
positional data obtained for wheels 26A, 26B and 28. Thus, the
location of objects detected by optical sensors 12A and 12B,
distance sensors 14A and 14B, and laser scanner 36 can be plotted
relative to the location of machine 10 using the positional wheel
information.
[0068] For rooms or areas that are repetitively cleaned, control
panel 18 can be programmed to minimize or mitigate the risk of
machine 10 imparting repetitive wear damage to the floor to be
cleaned. In one example, control panel 18 can be programmed to plot
route 94 along walls 98 a random distance from walls 98 to form
buffer zone 104. Machine 10 can be programmed to nominally space
cleaning route 94 a distance of approximately 2 inches (.about.5
cm) from walls 98, e.g., buffer zone 104 is approximately 2 inches
(.about.5 cm) wide. If the nominal spacing is repeated during
subsequent cleaning operations, over time a distinct line can begin
to form between the cleaned and un-cleaned area showing the
cleaning path. Thus, control panel 18 can be programmed to vary the
nominal spacing distance in successive cleaning operations.
Cleaning route 94 can be varied inside and outside of the nominal
spacing distance. For example, the first time machine 10 cleans a
room, the nominal spacing distance can be used; the next time
machine 10 cleans that same room, the cleaning path can be moved to
be spaced approximately 1.75 inches (.about.4.5 cm) from the wall;
in the next cleaning operation, the cleaning path can be moved to
be spaced approximately 2.5 inches (.about.5.7 cm) from the walls;
and so on.
[0069] In additional examples, control panel 18 can be programmed
to add similar slight variation to the entire path of route 94, not
just those portions along wall 98. For example, a small, random
lateral offset 106 can be added to route 94 of the cleaning path to
one or the other side of the middle of route 94 to avoid visible
wear patterns from forming in regularly cleaned areas.
[0070] As discussed above, control panel 18 can be programmed to
use optical sensors 12A and 12B, distance sensors 14A and 14B, and
laser scanner 36 to guide machine 10 autonomously. As such, machine
10 can be programmed to always know where it is within a particular
building or facility. Control panel 18 can be programmed to
recognize the same objects or type of object repeatedly recognized
as being in a cleaning area or in the cleaning path. For example,
using input from object recognition sensor 46, control panel 18 can
catalogue the frequency that a particular object, such as object
100 or walls 98, is in the cleaning area in the same place. Thus,
control panel 18 can learn where permanent objects such as walls or
semi-permanent objects, such as vending machines, are located vs.
where movable objects, such as chairs, are located. For objects
that control panel 18 recognizes as having not moved from previous
cleaning operations, control panel 18 can execute the cleaning path
route without alteration. For objects that control panel 18
recognizes as typically being in the same place, but not currently
in place, control panel 18 can decide to clean the space that is
not currently occupied. As an illustration of this example, control
panel 18 can recognize that tables in a cafeteria are typically
there and can accordingly execute a cleaning path route that
travels between the tables. However, if control panel 18 recognizes
that one or more of the tables are not present, control panel can
recognize that the tables are not present and can make a decision
to change the route of the cleaning path to include cleaning the
areas where the tables typically reside. For objects that control
panel 18 recognizes are in random locations for each cleaning
operation, control panel 18 can recognize that these are
potentially moving objects and can continue conducting the desired
cleaning operation until the recognized object comes within a
buffer zone of machine 10, as can be implemented using sensors 12A
and 12B, distance sensors 14A and 14B, and laser scanner 36. If the
identified moving object enters the machine buffer zone, control
panel 18 can slow down movement of machine 10 and eventually stop
machine 10 if the identified moving object continues to obstruct
the cleaning path. Control panel 18 can be programmed to restart
the cleaning operation, after a delay period, if the identified
moving object is no longer detected. Alternatively, after the delay
period, if the identified moving object remains in the cleaning
path, control panel 18 can instruct machine 10 to move around the
object and restart the cleaning operation along the route (e.g.,
route 94) of the cleaning path on the other side of the object. As
an illustration of this example, control panel 18 can recognize
that a forklift typically operates in a warehouse and can therefore
recognize that the forklift may be moving in and out of the
cleaning path route, or may be temporarily parked on a single
location for a period of time; control panel 18 can therefore take
appropriate action to continue the cleaning operation without
having to completely stop or wait for operator interaction as the
forklift operates in the presence of machine 10.
[0071] Control panel 10 can be programmed to perform different
actions depending on where it is located, what day of the week the
cleaning operation is being performed, or what time of day the
cleaning operation is being performed. For example, after machine
10 recognizes where it is at, as previously discussed, control
panel 18 can be programmed to change the cleaning operation based
on a time of day. For example, if control panel 18 recognizes that
machine 10 is located in a warehouse during workday hours, say from
7:00 am to 6:00 pm, control panel 18 can be programmed to conduct a
quick cleaning operation that dispenses the least amount of
moisture on the floor and takes the least amount of time. However,
if control panel 18 recognizes that machine 10 is located in a
warehouse during non-workday hours, say from 6:00 pm to 7:00 am,
control panel 18 can be programmed to conduct a more thorough
cleaning operation that might be slower and dispenses a greater
amount of moisture on the floor. Factors that can be adjusted by
control panel 18 to adjust the speed and thoroughness of the
cleaning operation can include flow rate of the cleaning solution,
brush pressure, speed of machine 10, use of cleaning additives,
etc. Furthermore, control panel 18 can be configured to self-start
a particular cleaning operation at scheduled times and intervals.
For example, the aforementioned quick cleaning operation can be
programmed into control panel 18 to be autonomously executed at
2:00 pm during a break period of a workday, while the
aforementioned more thorough cleaning operation can be programmed
into control panel 18 to be autonomously executed at 2:00 am while
the warehouse is unoccupied.
[0072] In another example, machine 10 can park itself in a docking
station. The docking station can be configured to autonomously
reload machine 10 for additional operations. For example, the
docking station can be configured to wirelessly or with wires
recharge battery 74, fill battery 74, fill the solution tank within
cowling 40, drain recovery tank 70, rinse recovery tank 70, clean
and/or change cleaning mediums, such as pad 60, fill a detergent
tank, and perform other maintenance or diagnostic procedures.
[0073] Control panel 18 can be programmed to provide status updates
to an operator of machine 10 at GUI panel 84. For example, at least
one of the amount of time, the amount of solution, or the battery
capacity needed to complete a selected cleaning operation can be
displayed at status bar 86. GUI panel 84 can also provide an
indication of there is sufficient time, such as before workday
hours begin, to complete the selected cleaning operation, or
sufficient battery power or cleaning solution to complete the
selected cleaning operation. As such, control panel 18 can be
operatively coupled to battery 74, tank 70, the tank within main
cowling 40 and other sensors of machine 10 and GUI panel 84.
[0074] Additionally, control panel 18 can be programmed to provide
remote device 33, such as fob 90, a status update, including a
project completion status or estimate. Control panel 18 can
estimate how much time will be required to complete the selected
cleaning operation and can communicate to fob 90 an indication that
the cleaning operation is complete, such as by flashing all three
of lights 92A-92C or flashing all three of lights 92A-92C.
Additionally, control panel 18 can provide a warning that the
cleaning operation is about to be complete, such as by flashing one
or more of lights 92A-92C at preset amount of time, such as five
minute, before the cleaning operation is complete. The completion
warning can allow the operator of machine 10 time to travel to
machine 10 so that the operator can arrive before or at the time
machine 10 will be ceasing operation. Remote device 33 can also be
configured to vibrate or produce an audible sound to alert a remote
operator of machine 10 to a condition of the driving or cleaning
process.
[0075] Control panel 18 can be programmed to coordinate operation
of machine 10 with other robotic floor cleaning machines. In an
example, control panel 18 can include hardware to permit machine 10
to transmit a signal that scans for signals from other machines
using similar hardware in a similar control panel as control panel
18. Once the machines recognize each other, they can be programmed
to communicate and exchange information. For example, control panel
18 can include a Bluetooth transmitter, or another wireless
communication device, to recognize when there are one or more
additional floor cleaning machines operating in a common area so
that control panel 18 can coordinate execution of the cleaning
operation with the other machines. In an example, the route (e.g.,
route 94) of the cleaning path can be divided between machines to
expedite execution of the cleaning operation, e.g., reduce the time
it takes to carry out the cleaning operation. In an example, the
entire cleaning plan can be shared amongst all of the machines, or
only a portion of the route of the cleaning path can be
communicated to particular machines for cleaning only a portion of
the total area to be cleaned. The communication between machines
can ensure that the machines do not interfere with operation of
each other. For example, each machine can have only a portion of
the route of the cleaning path so that they do not collide along
the route. Also, the communication between machines can actively
communicate to prevent collisions, such as by actively
communicating the location of each connected machine to every other
machine with a common frame of reference, such as the floor surface
to be cleaned or the route of the cleaning path. The location of
each machine can be transmitted in coordinate form or the like for
plotting or locating in the mapped area.
[0076] Additionally, machine 10 can be configured to operate with
other autonomous guided vehicle (AGV) systems that are different
than machine 10. As such, control panel 18 can include various
communication systems for transmitting and receiving information
using a plurality of protocols. For example, other vehicles, such
as fork trucks, delivery vehicles, etc., might be working or
operating in the same area as machine 10. Control panel 18 can be
used to communicate the location of machine 10 to these vehicles in
a format those vehicles can use to make adjustments to their
operation, e.g., avoid collisions, engage a vehicle-passing
protocol, etc. Likewise, control panel 18 can adjust the operation
of machine 10 to avoid collision with other AGVs.
[0077] Vehicle 10 can be provided with the navigation system
described herein as a modular kit. Optical sensors 12A and 12B,
distance sensors 14A and 14B and laser scanner 36, as well as the
other sensors and devices described herein, can be connected to
vehicle 10 using releasable couplers, such as suction cups, ball
and socket couplers and the like, such that the devices can be
attached to different machines. Likewise, the electronics of
control panel 18 and other components and wiring of machine 10 and
the navigation system can be provided with wire harnesses and
connectors that allow for quick and easy physical and electrical
installation of components to a machine. Control panel 18 can be
programmed to utilize optical sensors 12A and 12B, distance sensors
14A and 14B and laser scanner 36 with different machines. In
particular, the various geometric footprints, envelopes and
dimensions of any particular machine can be entered into memory in
control panel 18. For example, the different length, width, and
height dimensions, wheel configurations (e.g., wheel base), and
cleaning deck configurations (e.g., deck width) can entered and
stored into control panel 18 to change how the navigation software
within control panel 18 determines the navigation and cleaning
commands, such as turning radius and distances from objects.
Optical sensors 12A and 12B, distance sensors 14A and 14B and laser
scanner 36, as well as the other sensors and devices described
herein, can also be adapted to operate with different machines via
software or firmware configurations based on the entered
footprints, envelopes and dimensions. Control panel 18 can include
user input options to allow an operator to input the particular
parameters of a machine to be used with the modular navigation
system. Alternatively, control panel 18 can be automatically
updated, such as via firmware, with the particular parameters of a
machine from a technician or factory update to avoid data entry
errors.
[0078] The autonomous or robotic floor cleaning equipment described
herein provides advantages over manual systems and previous
autonomous systems. More efficient autonomous operation provided by
the systems and methods described herein can reduce labor costs by
allowing an operator of an autonomous cleaning machine to perform
other tasks while the autonomous machine operates. Additionally,
the cleaning operations can be more consistently or systematically
performed, such that spots are not missed or cleaning is
duplicated, thereby reducing or eliminating rework. Autonomous
machines can also be programmed to concentrate on high-use or
particularly dirty areas rather than manual operators that tend to
clean all areas equally, including those that have not been
dirtied. Autonomous cleaning system are particularly advantageous
for use in large open areas where the cleaning operation involves
long intervals of repeated, back-and-forth operations. The systems
and methods described herein facilitate and improve autonomous
navigation and autonomous cleaning operations to expand the
advantageous use of autonomous cleaning machines to other spaces
that are not as simply cleaned as open areas. For example, systems
and methods described herein allow the autonomous cleaning machine
to be used in tight spaces that may utilize unique, non-repetitive
route instructions or in spaces where pedestrian traffic might be
present. The systems and methods of autonomous navigation and
cleaning described herein can also reduce cleaning time of
autonomous machines be reducing the amount of time the autonomous
machine may be performing an ineffective cleaning operation, such
as when a cleaning pad or squeegee blade fails.
Various Notes & Examples
[0079] Example 1 can include or use subject matter such as an a
control system for a robotic floor cleaning machine configured to
perform a cleaning operation along a cleaning path, the control
system comprising: a controller configured to control autonomous
movement of the robotic floor cleaning machine along the cleaning
path and autonomous performance of the cleaning operation; and a
plurality of sensors configured to sense a location of the robotic
floor cleaning machine relative to surroundings of the robotic
floor cleaning machine; wherein at least two sensors from the
plurality of sensors are configured to locate the robotic floor
cleaning machine in overlapping areas of the surroundings.
[0080] Example 2 can include, or can optionally be combined with
the subject matter of Example 1, to optionally include a plurality
of sensors that can be selected from the group consisting of: laser
sensors, sonar sensors, stereo camera sensors, infrared sensors,
capacitive sensors, and wheel position sensor sensors.
[0081] Example 3 can include, or can optionally be combined with
the subject matter of one or any combination of Examples 1 or 2 to
optionally include at least two sensors that can comprise: a dirt
sensor configured to detect objects alongside the machine along the
cleaning path; and a capacitance sensor configured to detect
objects alongside the machine above the cleaning path.
[0082] Example 4 can include, or can optionally be combined with
the subject matter of one or any combination of Examples 1 through
3 to optionally include at least two sensors that can comprise: a
laser scanner configured to map the surroundings alongside the
machine; and an optical sensor configured to visually record the
surroundings alongside the machine.
[0083] Example 5 can include, or can optionally be combined with
the subject matter of one or any combination of Examples 1 through
5 to optionally include at least two sensors that can comprise: an
object recognition sensor configured to view the presence of
objects in the surroundings; and an optical sensor configured to
visually record the surrounding alongside the machine.
[0084] Example 6 can include, or can optionally be combined with
the subject matter of one or any combination of Examples 1 through
5 to optionally include at least two sensors that can comprise: a
wheel position sensor configured to determine a distance the
machine has moved in the surroundings; and a laser sensor
configured to sense a distance between the machine and an object in
the surroundings.
[0085] Example 7 can include, or can optionally be combined with
the subject matter of one or any combination of Examples 1 through
6 to optionally include a controller further comprising: a chassis
configured to move along the cleaning path; a cleaning mechanism
mounted to the chassis to perform the cleaning operation; means for
facilitating the autonomous performance of the cleaning operation;
and means for facilitating the autonomous movement of the
chassis.
[0086] Example 8 can include, or can optionally be combined with
the subject matter of one or any combination of Examples 1 through
7 to optionally include means for facilitating autonomous
performance of the cleaning operation that can comprise a debris
sensor in communication with the controller and positioned to
determine debris in the cleaning path for comparison to a baseline
reference.
[0087] Example 9 can include, or can optionally be combined with
the subject matter of one or any combination of Examples 1 through
8 to optionally include means for facilitating autonomous
performance of the cleaning operation that can further comprise a
pre-cleaning operation cleaning medium coupled to a front end of
the chassis, wherein the debris sensor is located on the
pre-cleaning operation cleaning medium.
[0088] Example 10 can include, or can optionally be combined with
the subject matter of one or any combination of Examples 1 through
9 to optionally include means for facilitating autonomous
performance of the cleaning operation that can further comprise a
post-cleaning operation cleaning medium coupled to a rear end of
the chassis, wherein the debris sensor is located on the
post-cleaning operation cleaning medium.
[0089] Example 11 can include, or can optionally be combined with
the subject matter of one or any combination of Examples 1 through
10 to optionally include means for facilitating autonomous
performance of the cleaning operation comprises an object
recognition sensor comprising a camera in communication with the
controller, wherein the controller is configured to compare images
of objects from the camera to a database of reference images to
identify the objects.
[0090] Example 12 can include, or can optionally be combined with
the subject matter of one or any combination of Examples 1 through
11 to optionally include means for facilitating autonomous
performance of the cleaning operation that can comprise a surface
recognition sensor comprising a sensor in communication with the
controller and configured to recognize a texture of a surface to be
cleaned.
[0091] Example 13 can include, or can optionally be combined with
the subject matter of one or any combination of Examples 1 through
12 to optionally include means for facilitating autonomous
performance of the cleaning operation that can comprise a vibration
sensor in communication with the controller and configured to
recognize disruptions in the movement of the chassis.
[0092] Example 14 can include, or can optionally be combined with
the subject matter of one or any combination of Examples 1 through
13 to optionally include means for facilitating autonomous
performance of the cleaning operation that can comprise a sensor
for the cleaning mechanism in communication with the control system
and configured to determine the presence of a cleaning medium
connected to the cleaning mechanism.
[0093] Example 15 can include, or can optionally be combined with
the subject matter of one or any combination of Examples 1 through
14 to optionally include means for facilitating autonomous
performance of the cleaning operation that can comprise a
pre-sprayer in communication with the control system and mounted to
a front end of the chassis to spray into the cleaning path.
[0094] Example 16 can include, or can optionally be combined with
the subject matter of one or any combination of Examples 1 through
15 to optionally include a controller that can include a clock and
the control system can perform different cleaning operations based
on a time of the clock.
[0095] Example 17 can include, or can optionally be combined with
the subject matter of one or any combination of Examples 1 through
16 to optionally include a controller that can include a display
and the control system is configured to provide an indication of a
magnitude of a parameter required for completing the cleaning
operation.
[0096] Example 18 can include, or can optionally be combined with
the subject matter of one or any combination of Examples 1 through
17 to optionally include a controller that can include an
electronic communication device and the control system is
configured to communicate a route for the cleaning path to another
robotic floor cleaning machine.
[0097] Example 19 can include, or can optionally be combined with
the subject matter of one or any combination of Examples 1 through
18 to optionally include a status indicator in communication with
the control system for providing a visual indication of a status of
the robotic floor cleaning machine.
[0098] Example 20 can include, or can optionally be combined with
the subject matter of one or any combination of Examples 1 through
19 to optionally include a portable device configured to wirelessly
communicate with the control system and display a status of the
robotic floor cleaning machine.
[0099] Example 21 can include, or can optionally be combined with
the subject matter of one or any combination of Examples 1 through
20 to optionally include a projector coupled to the chassis to
project an indication of the cleaning path on a surface to be
cleaned.
[0100] Example 22 can include, or can optionally be combined with
the subject matter of one or any combination of Examples 1 through
21 to optionally include a controller that can further comprise a
display visually indicating a route of the cleaning path.
[0101] Example 23 can include, or can optionally be combined with
the subject matter of one or any combination of Examples 1 through
22 to optionally include a controller that can vary a route for the
cleaning path in a predefined area to avoid generating wear
patterns.
[0102] Example 24 can include, or can optionally be combined with
the subject matter of one or any combination of Examples 1 through
23 to optionally include a controller that can vary a distance of a
route of the cleaning path from a fixed object to avoid generating
wear patterns.
[0103] Example 25 can include, or can optionally be combined with
the subject matter of one or any combination of Examples 1 through
24 to optionally include a controller that can vary an overlap of
the cleaning path in a route of the cleaning path to avoid
generating wear patterns.
[0104] Example 26 can include, or can optionally be combined with
the subject matter of one or any combination of Examples 1 through
25 to optionally include a clock and the control system that can
provide a time indicator correlating to a length of time for
completing a route of the cleaning path.
[0105] Example 27 can include, or can optionally be combined with
the subject matter of one or any combination of Examples 1 through
26 to optionally include a controller that can include a graphical
display that is configured to provide an indication of a magnitude
of a parameter required for completing the cleaning operation.
[0106] Example 28 can include, or can optionally be combined with
the subject matter of one or any combination of Examples 1 through
27 to optionally include a sensor for determining the presence of
objects in a route of the cleaning path, wherein the control system
can make navigation decisions based on a frequency of the objects
in the cleaning path.
[0107] Example 29 can include, or can optionally be combined with
the subject matter of one or any combination of Examples 1 through
28 to optionally include a controller that can receive inputs for a
size of the chassis that can be used to determine a route for the
cleaning path.
[0108] Example 30 can include, or can optionally be combined with
the subject matter of one or any combination of Examples 1 through
29 to optionally include: a propulsion system connected to the
chassis to provide movement of the chassis along a cleaning path; a
liquid system mounted to the chassis to provide cleaning liquid to
the primary cleaning mechanism; and a recovery system mounted to
the chassis to recover liquid from the cleaning operation.
[0109] Example 31 can include, or can optionally be combined with
the subject matter of one or any combination of Examples 1 through
30 to optionally include a controller can learn a route for the
cleaning path via manual operation of the propulsion system.
[0110] Example 32 can include, or can optionally be combined with
the subject matter of one or any combination of Examples 1 through
31 to optionally include a controller that can determine a route
for a cleaning area within a perimeter determined via manual
operation of the propulsion system.
[0111] Example 33 can include, or can optionally be combined with
the subject matter of one or any combination of Examples 1 through
32 to optionally include means for facilitating autonomous
performance of the cleaning operation that can comprise a sensor
for the liquid recovery system in communication with the control
system.
[0112] Example 34 can include, or can optionally 33 be combined
with the subject matter of one or any combination of Examples 1
through 20 to optionally include a recovery tank for the recovery
system, wherein the sensor for the liquid recovery system can
comprise a liquid level sensor for the recovery tank.
[0113] Example 35 can include, or can optionally be combined with
the subject matter of one or any combination of Examples 1 through
34 to optionally include a sensor for the liquid recovery system
that can comprise an olfactory sensor for the recovery tank.
[0114] Example 36 can include, or can optionally be combined with
the subject matter of one or any combination of Examples 1 through
35 to optionally include a sensor for the liquid recovery system
that can be configured to determine the presence of a squeegee
blade connected to the liquid recovery system.
[0115] Each of these non-limiting examples can stand on its own, or
can be combined in various permutations or combinations with one or
more of the other examples.
[0116] The above detailed description includes references to the
accompanying drawings, which form a part of the detailed
description. The drawings show, by way of illustration, specific
embodiments in which the invention can be practiced. These
embodiments are also referred to herein as "examples." Such
examples can include elements in addition to those shown or
described. However, the present inventors also contemplate examples
in which only those elements shown or described are provided.
Moreover, the present inventors also contemplate examples using any
combination or permutation of those elements shown or described (or
one or more aspects thereof), either with respect to a particular
example (or one or more aspects thereof), or with respect to other
examples (or one or more aspects thereof) shown or described
herein.
[0117] In the event of inconsistent usages between this document
and any documents so incorporated by reference, the usage in this
document controls.
[0118] In this document, the terms "a" or "an" are used, as is
common in patent documents, to include one or more than one,
independent of any other instances or usages of "at least one" or
"one or more." In this document, the term "or" is used to refer to
a nonexclusive or, such that "A or B" includes "A but not B," "B
but not A," and "A and B," unless otherwise indicated. In this
document, the terms "including" and "in which" are used as the
plain-English equivalents of the respective terms "comprising" and
"wherein." Also, in the following claims, the terms "including" and
"comprising" are open-ended, that is, a system, device, article,
composition, formulation, or process that includes elements in
addition to those listed after such a term in a claim are still
deemed to fall within the scope of that claim. Moreover, in the
following claims, the terms "first," "second," and "third," etc.
are used merely as labels, and are not intended to impose numerical
requirements on their objects.
[0119] The above description is intended to be illustrative, and
not restrictive. For example, the above-described examples (or one
or more aspects thereof) may be used in combination with each
other. Other embodiments can be used, such as by one of ordinary
skill in the art upon reviewing the above description. The Abstract
is provided to comply with 37 C.F.R. .sctn.1.72(b), to allow the
reader to quickly ascertain the nature of the technical disclosure.
It is submitted with the understanding that it will not be used to
interpret or limit the scope or meaning of the claims. Also, in the
above Detailed Description, various features may be grouped
together to streamline the disclosure. This should not be
interpreted as intending that an unclaimed disclosed feature is
essential to any claim. Rather, inventive subject matter may lie in
less than all features of a particular disclosed embodiment. Thus,
the following claims are hereby incorporated into the Detailed
Description as examples or embodiments, with each claim standing on
its own as a separate embodiment, and it is contemplated that such
embodiments can be combined with each other in various combinations
or permutations. The scope of the invention should be determined
with reference to the appended claims, along with the full scope of
equivalents to which such claims are entitled.
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