U.S. patent application number 17/344067 was filed with the patent office on 2021-12-16 for automated waste cleaning devices, systems and methods.
The applicant listed for this patent is Dana Marie Horn. Invention is credited to Dana Marie Horn.
Application Number | 20210386260 17/344067 |
Document ID | / |
Family ID | 1000005692233 |
Filed Date | 2021-12-16 |
United States Patent
Application |
20210386260 |
Kind Code |
A1 |
Horn; Dana Marie |
December 16, 2021 |
AUTOMATED WASTE CLEANING DEVICES, SYSTEMS AND METHODS
Abstract
A system for collecting waste from an area includes a robotic
device including a housing, a control system within the housing,
which includes a processor system and a memory system in operative
connection with the processor system, a power system in operative
connection with the control system, a sensor system in operative
connection with the control system, one or more drive wheels (each
of the drive wheels being in operative connection with a motor
which is in operative connection with the power system and with the
control system), a waste retrieval system in operative connection
with the power system and with the control system, and a receptacle
compartment within the housing. The control system includes one or
more location/identification algorithms stored in the memory system
and executable by the processor system to locate an object of
animal waste in the area based upon data received from the sensor
system. The control system further includes one or more positioning
algorithms stored in memory and executable by the processor system
to position the robotic device relative to the object of animal
waste to enable collection of the object of animal waste via the
waste retrieval system. Additionally, the control system includes
one or more retrieval algorithms to actuate the waste retrieval
system and control the waste retrieval system to bring the object
of animal waste into the receptacle compartment.
Inventors: |
Horn; Dana Marie; (Lower
Burrell, PA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Horn; Dana Marie |
Lower Burrell |
PA |
US |
|
|
Family ID: |
1000005692233 |
Appl. No.: |
17/344067 |
Filed: |
June 10, 2021 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
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63102340 |
Jun 10, 2020 |
|
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
A47L 9/30 20130101; A47L
9/2847 20130101; A47L 2201/04 20130101; A47L 9/2842 20130101; A47L
9/2894 20130101; A47L 7/0061 20130101; A47L 9/2852 20130101; A47L
9/2873 20130101; A47L 9/14 20130101; A47L 2201/022 20130101; A47L
9/009 20130101; A47L 2201/06 20130101; A47L 9/2826 20130101; A47L
9/2884 20130101 |
International
Class: |
A47L 9/28 20060101
A47L009/28; A47L 9/30 20060101 A47L009/30; A47L 9/00 20060101
A47L009/00; A47L 7/00 20060101 A47L007/00; A47L 9/14 20060101
A47L009/14 |
Claims
1. A system for collecting waste from an area, comprising: a
robotic device comprising: a housing, a control system within the
housing, the control system comprising a processor system and a
memory system in operative connection with the processor system, a
power system in operative connection with the control system, a
sensor system in operative connection with the control system, one
or more drive wheels, each of the drive wheels being in operative
connection with a motor which is in operative connection with the
power system and with the control system, a waste retrieval system
in operative connection with the power system and with the control
system, and a receptacle compartment within the housing, the
control system comprising one or more location algorithms stored in
the memory system and executable by the processor system to locate
an object of animal waste in the area based upon data received from
the sensor system, the control system further comprising one or
more positioning algorithms stored in memory and executable by the
processor system to position the robotic device relative to the
object of animal waste to enable collection of the object of animal
waste via the waste retrieval system and one or more retrieval
algorithms to actuate the waste retrieval system and control the
waste retrieval system to bring the object of animal waste into the
receptacle compartment.
2. The system of claim 1 wherein the control system comprises one
or more routing algorithms saved in the memory system and
executable by the processor system to control motion of the robotic
device over a defined area.
3. The system of claim 2 wherein the sensor system comprises at
least one of a proximity sensor, a thermal sensor, a position
sensor, or an infrared sensor to provide data to the control
system.
4. The system of claim 3 wherein the sensor system further
comprises a camera.
5. The system of claim 4 wherein the one or more location
algorithms of the control system comprises one or more object
recognition algorithms stored in the memory system and executable
by the processor system to recognize an object as an object of
animal waste.
6. The system of claim 5 further comprising a source of UV
light.
7. The system of claim 4 wherein the waste retrieval system
comprises at least one of an inclined ramp and a moveable retrieval
arm comprising an abutment member on a distal end thereof which is
controllable by the control system to draw the object of waste onto
the inclined ramp.
8. The system of claim 4 wherein the waste retrieval system
comprises a vacuum system configured to create a pressure
differential upon activation by the control system.
9. The system of claim 7 wherein the waste retrieval system further
comprises a vacuum system configured to create a pressure
differential upon activation by the control system, the vacuum
system being in fluid connection with the inclined ramp and the
receptacle compartment via a conduit such that the object of waste,
after being drawn onto the inclined ramp, is drawn into the
receptacle compartment via the conduit by the pressure differential
created by the vacuum system.
10. The system of claim 9 wherein the robotic device further
comprises a source of a flexible enclosing material to enclose
object of waste before it enters the receptacle compartment.
11. The system of claim 10 wherein the robotic device further
comprises a closing mechanism configured to seal the object of
waste within a length of the flexible enclosing material.
12. The system of claim 11 wherein the closing mechanism comprises
a shutter-leaf mechanism.
13. The system of claim 8 wherein the robotic device comprises a
first drive wheel in operative connection with a first motor, which
is in operative connection with the control system, and a second
drive wheel in operative connection with a second motor, which is
in operative connection with the control system, the control system
being configured to independently control the first motor and the
second motor to effect differential steering.
14. The system of claim 8 wherein the power system comprises a
rechargeable battery and the system further comprises a docking
station configured to recharge the rechargeable battery.
15. The system of claim 8 wherein the robotic device further
comprises a communication system in operative connection with the
control system, the communication system being adapted to
communicate with a personal communication device of a user of the
system.
16. The system of claim 8 wherein the robotic device further
includes a spray system in operative connection with a source of
fluid comprising at least one of a disinfectant, a neutralizer, or
a deodorant, the spray system comprising one or more spray nozzles
to spray the fluid onto an area in which an object of waste has
been determined to be present.
17. The system of claim 8 wherein the sensor system further
comprises one or more chemical sensor to sense one or more chemical
analytes associated with the presence of an object of animal
waste.
18. A method for collecting waste from an area, comprising:
providing a robotic device comprising a housing, a control system
within the housing, the control system comprising a processor
system and a memory system in operative connection with the
processor system, a power system in operative connection with the
control system, a sensor system in operative connection with the
control system, one or more drive wheels, each of the drive wheels
being in operative connection with a motor which is in operative
connection with the power system and with the control system, a
waste retrieval system in operative connection with the power
system and with the control system, and a receptacle compartment
within the housing, executing one or more location algorithms
stored in the memory system and executable by the processor system
to locate an object of animal waste in the area based upon data
received from the sensor system, executing one or more positioning
algorithms stored in the memory system and executable by the
processor system to position the robotic device relative to the
object of animal waste to enable collection of the object of animal
waste via the waste retrieval system, and executing one or more
retrieval algorithms to actuate the waste retrieval system and
control the waste retrieval system to bring the object of animal
waste into the receptacle compartment.
19. The method of claim 19 wherein the waste retrieval system
comprises at least one of an inclined ramp and a moveable retrieval
arm comprising an abutment member on a distal end thereof which is
controllable by the control system to draw the object of waste onto
the inclined ramp.
20. The method of claim 19 wherein the waste retrieval system
further comprises a vacuum system configured to create a pressure
differential upon activation by the control system, the vacuum
system being in fluid connection with the inclined ramp and the
receptacle compartment via a conduit such that the object of waste,
after being drawn onto the inclined ramp, is drawn into the
receptacle compartment via the conduit by the pressure differential
created by the vacuum system.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application claims benefit of U.S. Provisional Patent
Application Ser. No. 63/102,340, filed Jun. 10, 2020, the
disclosure of which is incorporated herein by reference.
BACKGROUND
[0002] The following information is provided to assist the reader
in understanding technologies disclosed below and the environment
in which such technologies may typically be used. The terms used
herein are not intended to be limited to any particular narrow
interpretation unless clearly stated otherwise in this document.
References set forth herein may facilitate understanding of the
technologies or the background thereof. The disclosure of all
references cited herein are incorporated by reference.
[0003] Picking up animal biological waste and other waste from
surfaces of yards, parks, kennels, arenas, etc. is a necessary but
unpleasant task. Pet owner often, for example, carry disposable
hand coverings to manually clean up and dispose of animal
waste.
[0004] It is very desirable to develop improved devices, systems,
and methods for pickup up and disposing of waste such as pet
waste.
SUMMARY
[0005] In one aspect, a system for collecting waste from an area
includes a robotic device including a housing, a control system
within the housing, which includes a processor system and a memory
system in operative connection with the processor system, a power
system in operative connection with the control system, a sensor
system in operative connection with the control system, one or more
drive wheels (each of the drive wheels being in operative
connection with a motor which is in operative connection with the
power system and with the control system), a waste retrieval system
in operative connection with the power system and with the control
system, and a receptacle compartment within the housing. The
control system includes one or more location/identification
algorithms stored in the memory system and executable by the
processor system to locate an object of animal waste in the area
based upon data received from the sensor system. The control system
further includes one or more positioning algorithms stored in
memory and executable by the processor system to position the
robotic device relative to the object of animal waste to enable
collection of the object of animal waste via the waste retrieval
system. Additionally, the control system includes one or more
retrieval algorithms to actuate the waste retrieval system and
control the waste retrieval system to bring the object of animal
waste into the receptacle compartment.
[0006] In a number of embodiments, the control system includes one
or more routing algorithms saved in the memory system and
executable by the processor system to control motion of the robotic
device over a defined area. The sensor system may, for example,
include at least one of a proximity sensor, a thermal sensor, a
position sensor, or an infrared sensor to provide data to the
control system. In a number of embodiments, the sensor system
further comprises a camera. The system may further include a source
of UV light.
[0007] In a number of embodiments, the one or more location
algorithms of the control system include one or more object
recognition algorithms stored in the memory system and executable
by the processor system to recognize an object as an object of
animal waste.
[0008] In a number of embodiments, the waste retrieval system
includes at least one of an inclined ramp and a moveable retrieval
arm including an abutment member on a distal end thereof which is
controllable by the control system to draw the object of waste onto
the inclined ramp. In a number of embodiment, the waste retrieval
system include a vacuum system configured to create a pressure
differential upon activation by the control system. The waste
retrieval system may include an inclined ramp and a moveable
retrieval arm including an abutment member on a distal end thereof
and a vacuum mechanism configured to create a pressure differential
upon activation by the control system. The vacuum system may, for
example, be in fluid connection with the inclined ramp and the
receptacle compartment via a conduit such that the object of waste,
after being drawn onto the inclined ramp, is drawn into the
receptacle compartment via the conduit by the pressure differential
created by the vacuum system.
[0009] In a number of embodiment, the robotic device of the system
further includes a source of a flexible enclosing material to
enclose object of waste before it enters the receptacle
compartment. The robotic device of the system may, for example,
further include a closing mechanism configured to seal the object
of waste within a length of the flexible enclosing material. In a
number of embodiments, the closing mechanism comprises a
shutter-leaf mechanism.
[0010] In a number of embodiments, the robotic device comprises a
first drive wheel in operative connection with a first motor, which
is in operative connection with the control system, and a second
drive wheel in operative connection with a second motor, which is
in operative connection with the control system, the control system
being configured to independently control the first motor and the
second motor to effect differential steering.
[0011] The power system may, for example, include a rechargeable
battery and the system may further include a docking station
configured to recharge the rechargeable battery.
[0012] In a number of embodiment, the robotic device further
includes a communication system in operative connection with the
control system. The communication system may, for example, be
adapted or configured to communicate with a personal communication
device of a user of the system.
[0013] In a number of embodiment, the robotic device further
includes a spray system in operative connection with a source of
fluid including at least one of a disinfectant, a neutralizer, or a
deodorant. The spray system includes one or more spray nozzles to
spray the fluid onto an area in which an object of waste has been
determined to be present.
[0014] In a number of embodiments, the sensor system further
comprises one or more chemical sensors to sense one or more
chemical analytes associated with the presence of an object of
animal waste.
[0015] In another aspect, a method for collecting waste from an
area, includes providing a robotic device including a housing, a
control system within the housing, the control system including a
processor system and a memory system in operative connection with
the processor system, a power system in operative connection with
the control system, a sensor system in operative connection with
the control system, one or more drive wheels, each of the drive
wheels being in operative connection with a motor which is in
operative connection with the power system and with the control
system, a waste retrieval system in operative connection with the
power system and with the control system, and a receptacle
compartment within the housing, executing one or more location
algorithms stored in the memory system and executable by the
processor system to locate an object of animal waste in the area
based upon data received from the sensor system, executing one or
more positioning algorithms stored in the memory system and
executable by the processor system to position the robotic device
relative to the object of animal waste to enable collection of the
object of animal waste via the waste retrieval system, and
executing one or more retrieval algorithms to actuate the waste
retrieval system and control the waste retrieval system to bring
the object of animal waste into the receptacle compartment. The
robotic device may be further characterized as described above and
elsewhere herein.
[0016] In a number of embodiments, the waste retrieval system
includes at least one of an inclined ramp and a moveable retrieval
arm comprising an abutment member on a distal end thereof which is
controllable by the control system to draw the object of waste onto
the inclined ramp. The waste retrieval system may, for example,
include an inclined ramp and a moveable retrieval arm including an
abutment member on a distal end thereof and a vacuum mechanism
configured to create a pressure differential upon activation by the
control system. The vacuum system may, for example, be in fluid
connection with the inclined ramp and the receptacle compartment
via a conduit such that the object of waste, after being drawn onto
the inclined ramp, is drawn into the receptacle compartment via the
conduit by the pressure differential created by the vacuum
system.
[0017] The present devices, systems, and methods, along with the
attributes and attendant advantages thereof, will best be
appreciated and understood in view of the following detailed
description taken in conjunction with the accompanying
drawings.
BRIEF DESCRIPTION OF THE DRAWINGS
[0018] FIG. 1 illustrates a perspective view of an embodiment of a
system hereof including an embodiment of a robotic device and a
remote monitoring and/or control system (for example, a personal
communication device).
[0019] FIG. 2 illustrates schematically a side view of the robotic
device of the system of FIG. 1 and the control system therefor,
wherein the housing, wheels/caster wheels and waste-retrieval
systems of the robotic device are illustrated in broken lines.
[0020] FIG. 3A illustrates a top view of another embodiment of a
robotic device of a system hereof.
[0021] FIG. 3B illustrates an isometric view of the robotic device
of FIG. 3A.
[0022] FIG. 3C illustrates a first side view of the robotic device
of FIG. 3A.
[0023] FIG. 3D illustrates a second side view of the robotic device
of FIG. 3A.
[0024] FIG. 3E illustrates a front view of the robotic device of
FIG. 3A.
[0025] FIG. 3F illustrates a cross-sectional view of the robotic
device of FIG. 3A along section A-A of FIG. 3E.
[0026] FIG. 3G illustrates a cross-sectional view of the robotic
device of FIG. 3A along section B-B of FIG. 3E.
[0027] FIG. 3H illustrates an isometric, cutaway view of the
robotic device of FIG. 3A.
[0028] FIG. 4A illustrates a perspective view of a shutter leaf
mechanism of the device of FIG. 3A wherein the shutter leaf
mechanism is in a nearly closed position.
[0029] FIG. 4B illustrates a perspective view of a shutter leaf
mechanism of the device of FIG. 3A wherein the shutter leaf
mechanism is in a substantially open position.
DETAILED DESCRIPTION
[0030] It will be readily understood that the components of the
embodiments, as generally described and illustrated in the figures
herein, may be arranged and designed in a wide variety of different
configurations in addition to the described representative
embodiments. Thus, the following more detailed description of the
representative embodiments, as illustrated in the figures, is not
intended to limit the scope of the embodiments, as claimed, but is
merely illustrative of representative embodiments.
[0031] Reference throughout this specification to "one embodiment"
or "an embodiment" (or the like) means that a particular feature,
structure, or characteristic described in connection with the
embodiment is included in at least one embodiment. Thus, the
appearance of the phrases "in one embodiment" or "in an embodiment"
or the like in various places throughout this specification are not
necessarily all referring to the same embodiment.
[0032] Furthermore, described features, structures, or
characteristics may be combined in any suitable manner in one or
more embodiments. In the following description, numerous specific
details are provided to give a thorough understanding of
embodiments. One skilled in the relevant art will recognize,
however, that the various embodiments can be practiced without one
or more of the specific details, or with other methods, components,
materials, et cetera. In other instances, well known structures,
materials, or operations are not shown or described in detail to
avoid obfuscation.
[0033] As used herein and in the appended claims, the singular
forms "a," "an", and "the" include plural references unless the
context clearly dictates otherwise. Thus, for example, reference to
"a sensor" includes a plurality of such sensors and equivalents
thereof known to those skilled in the art, and so forth, and
reference to "the sensor" is a reference to one or more such
sensors and equivalents thereof known to those skilled in the art,
and so forth. Recitation of ranges of values herein are merely
intended to serve as a shorthand method of referring individually
to each separate value falling within the range. Unless otherwise
indicated herein, and each separate value, as well as intermediate
ranges, are incorporated into the specification as if individually
recited herein. All methods described herein can be performed in
any suitable order unless otherwise indicated herein or otherwise
clearly contraindicated by the text.
[0034] The terms "electronic circuitry", "circuitry" or "circuit,"
as used herein include, but are not limited to, hardware, firmware,
software, or combinations of each to perform a function(s) or an
action(s). For example, based on a desired feature or need, a
circuit may include a software-controlled microprocessor, discrete
logic such as an application specific integrated circuit (ASIC), or
other programmed logic device. A circuit may also be fully embodied
as software. As used herein, "circuit" is considered synonymous
with "logic." The term "logic", as used herein includes, but is not
limited to, hardware, firmware, software, or combinations of each
to perform a function(s) or an action(s), or to cause a function or
action from another component. For example, based on a desired
application or need, logic may include a software controlled
microprocessor, discrete logic such as an application specific
integrated circuit (ASIC), or other programmed logic device. Logic
may also be fully embodied as software.
[0035] The term "processor," as used herein includes, but is not
limited to, one or more of virtually any number of processor
systems or stand-alone processors, such as microprocessors,
microcontrollers, central processing units (CPUs), and digital
signal processors (DSPs), in any combination. The processor may be
associated with various other circuits that support operation of
the processor, such as random access memory (RAM), read-only memory
(ROM), programmable read-only memory (PROM), erasable programmable
read only memory (EPROM), clocks, decoders, memory controllers, or
interrupt controllers, etc. These support circuits may be internal
or external to the processor or its associated electronic
packaging. The support circuits are in operative communication with
the processor. The support circuits are not necessarily shown
separate from the processor in block diagrams or other
drawings.
[0036] The term "controller," as used herein includes, but is not
limited to, any circuit or device that coordinates and controls the
operation of one or more input and/or output devices. A controller
may, for example, include a device having one or more processors,
microprocessors, or central processing units capable of being
programmed to perform functions.
[0037] The term "software," as used herein includes, but is not
limited to, one or more computer readable or executable
instructions that cause a computer or other electronic device to
perform functions, actions, or behave in a desired manner. The
instructions may be embodied in various forms such as routines,
algorithms, modules, or programs including separate applications or
code from dynamically linked libraries. Software may also be
implemented in various forms such as a stand-alone program, a
function call, a servlet, an applet, instructions stored in a
memory, part of an operating system or other type of executable
instructions. It will be appreciated by one of ordinary skill in
the art that the form of software is dependent on, for example,
requirements of a desired application, the environment it runs on,
or the desires of a designer/programmer or the like.
[0038] FIGS. 1 and 2 illustrate an embodiment of an automated
system 10 that may, for example, be used to identify and pick up
waste such as animal biological waste 5 from a surface (for
example, a grassed surface such as a yard or a park, a sidewalk, a
driveway, etc.). The shape and size of the device can be varied to
suit a particular use. System 10 includes a robotic device 100
which includes a body or housing 110 in which a receptacle
compartment 112 is positioned or formed to receive collected waste
(see FIG. 2). Device 100 may further include a removable top or lid
120 which may be removed to expose an opening 124 (see FIG. 2)
formed in housing 110 via which waste may be removed from
receptacle compartment 112. Handles 114 (one of which is shown in
FIG. 1) on, for example, each side of device 100 may be provided to
facilitate handling/carrying of device 100. Robotic device 100 may
be fully autonomous and/or human intervention or interaction may be
used to control at least some aspects of the function of robotic
device 100.
[0039] Device 100 includes a retrieval or collection system 130
which, in the illustrated embodiment, includes a ramp 132 and a
retrieval arm or device which may include an abutment member such
as a blade member or a rake member 134 on a distal end thereof. In
the illustrated embodiment, the retrieval arm and attached abutment
member 134 is extendible and retractable to pull waste 5 (abutted
by abutment member 134) up inclined ramp 132 and toward or into
housing 110/receptacle compartment 112. As clear to one skilled in
the art, other retrieval mechanisms for bringing objects/waste into
receptacle housing 110 and receptacle compartment 112 are possible.
Retrieval system 130 may also include a vacuum system, apparatus,
or mechanism 136 as, for example, illustrated in FIG. 2. Robotic
device 100 and receptacle compartment 112 may be made available in
different sizes for a specific uses (for example, for use in
connection with small, medium, and large dog breeds). Robotic
device 100 may, for example, be formed primarily of polymeric
materials.
[0040] In the illustrated embodiment of FIGS. 1 and 2, robotic
device 100 is equipped with three wheels, including two front,
drive wheels 140a and a rear wheel/caster 140b (see FIG. 2). As
clear to one skilled in the art, the number of wheels/casters can
vary to provide balance and mobility over a variety of terrains.
Moreover, other types of mobility devices or systems such as tracks
may be used to provide mobility for robotic device 100. In the
illustrated embodiment, wheels 140a and 140b are connected to
housing 110 via extending members or struts 142a and 142b,
respectively.
[0041] To achieve controlled motion of robotic device 100, each of
front drive wheels 140a may be driven and/or controlled separately
or independently to achieve differential steering in a number of
embodiments. For example, each of drive wheels 140a can be in
operative connection with an independently controlled motor 150
(see FIG. 2). Motor 150 may, for example, be positioned within the
hub of drive wheels 140a or be placed in operative connection with
an axle therefor (either directly or via gears, belts etc.).
Differential wheeled robots are well known, simple to
program/control, and relatively inexpensive. By using two
separately/independently driven wheels placed on either side of the
robot body/housing 110, robotic device 100 can change its direction
of motion through varying the relative rate of rotation of drive
wheels 140a. Additional steering mechanisms and/or controls are not
required. Additional wheels or casters such as rear wheel 140b may
be included to provide balance and stability. As known in the
differential steering arts, if both the wheels are driven in the
same direction and speed, robot device 100 will travel in a
straight line. If both wheels are turned with equal speed in
opposite directions, robotic device 100 will rotate about its
central point or axis. By varying the speed and direction of
rotation of drive wheels 140a, the center of rotation may be varied
to be located anywhere along the line defined by the contact points
of drive wheels 140a. Because the speed and direction of robotic
device 100 is dependent on the rate of and the direction of
rotation of drive wheels 140a, those variables may be
measured/sensed and controlled. Other drive systems, such as a
differential gear system may alternatively be used. However, a
differentially steered system, in which both of drive wheels 140a
are independently powered, provides simplicity, ease of
programming/control, and low cost as described above.
[0042] FIG. 2 illustrates schematically an embodiment of a control
system 200 for use in connection with robotic device 100. As known
in the art and as illustrates schematically in FIG. 2, control
system 200, may include a processor system 210 (including one or
more processors such as microprocessors), a memory system 220, an
input/output system as known in the computer arts (not shown), and
a communication system 230 (which may, for example, include
wireless cellular telephone connectivity (providing telephone and
internet connectivity), radio-band or Wi-Fi internet connectivity,
BLUETOOTH wireless connectivity, infrared wireless connectivity,
etc.). Robotic device 100 also includes a power system 240
(including, for example, one or more rechargeable batteries) to
power controls system 200 and various peripheral components or
devices. A user interface/graphical user interface 234 (for
example, including a visual interface (for example, a display such
as a touchscreen display), an audio interface, and/or a tactile
interface) may be included to exchange information/data with a
user. A number of the components of control system 200 may, for
example, be positioned upon or in operative connection with a
printed circuit board/motherboard or PCB 205 as known in the
electrical and computer arts.
[0043] Control system 200 may, for example, be placed in operative
connection with motors 150 via one or more variable speed drives
250 to independently control the rate and direction of rotation of
motors 150/drive wheels 140a as described above. Control software
for control of motion of robotic device 100 via motors 150 may, for
example, be stored in memory system 200 and be executable by
processor system 210.
[0044] A sensor system 260, which is illustrated schematically in
FIG. 2 and which includes various sensors, may be provided in
operative connection with control system 200. Sensor system 260
may, for example, include various positional sensors such a GPS
(Global Positioning System) sensor/system, or counters for
measuring wheel movements, and other sensors such as a photocell,
accelerometers, image sensors (for example, camera 270), proximity
sensors, infrared sensors, chemical sensors, etc. Artificial
intelligence/machine learning algorithms and/or other algorithms,
which may, for example, be the same as or similar to those
algorithms used in autonomous lawnmower robots and autonomous pool
cleaning robots may be used to control motion of robotic device
over a defined area such as a yard or park. See, for example, U.S.
Pat. Nos. 9,420,741, 6,883,201 9,698,003, 9,773,658, and
10,004,822, Batra, S. and Yildirir, E., Autonomous Robotic
Lawnmower Implemented with Computer Vision Functionality,
DOI:10.13140/RG.2.2.10078.89922 (2018), Liao, J. et al., Designing
and Manufacturing of Automatic Robotic Lawn Mower, Process, 9:358
(2021). Positional reference markers and/or beacons may also be
used as known in the art to assist in controlling the defined area
of coverage of robotic devices hereof.
[0045] The motion of robotic device 100 may, for example, be
controlled to cover a defined area as described above. Object
location sensors such as an imaging sensor/camera 270 or a
proximity sensor (for example, a sound/sonar sensor/system, a radar
sensor/system, a lidar sensor/system, etc.) may be used to
determine that robotic device 100 has encountered an object as
robotic device travels over the defined area. Infrared energy
sensors may, for example, be used to reflect off an object to be
collected and may be used in low- or no-light conditions. Sensor
system 260 also include sensors for determining if a located object
in an area include animal waste such as animal fecal matter and/or
urine matter. For example, chemical sensors such electrochemical
sensors and/or other types of sensors can be used to sense the
presence of (for example, a threshold concentration of) a chemical
species (for example, one or more volatile organic (VOC) and/or
other compounds) associated with animal waste (for example,
methane, urea, ammonia, etc.). Artificial intelligence software
such as object recognition software as known in the artificial
intelligence arts may be used to assist in identifying waste (for
example, in connection with imaging data from camera 270).
Likewise, thermal imaging may be used in assisting to identify
relatively fresh animal waste. A source of UV light 280 may, for
example, be provided to assist in detecting urine. In that regard,
UV light may be applied to the surface upon which robotic device
100 is operating and an imaging system such as camera 270 may be
used to detect if there is urine in an area. Likewise, an ammonia
sensor may be used to locate urine. Although urine need not be
brought into receptacle compartment 112, if urine is detected, a
disinfecting and/or inactivating spray from a spray
reservoir/source 290 may be applied to the area in which the urine
is detected.
[0046] Control system 200 may be placed in operative connection
with a drive mechanism 135 for retrieval arm/abutment member 134.
Drive mechanism 135 may, for example, include one or more electric
motors and/or linear actuators as known in the art to control
linear and/or rotational motion of retrieval arm/abutment member
134 to bring waste into receptacle compartment 112. Likewise,
control system 200 may be placed in operative connection with
vacuum 136 to control operation thereof to bring waste into
receptacle compartment 112. A portion of receptacle compartment 112
may, for example, be suitably sealed to enable generation of a
suitable pressure differential to draw waste into receptacle
compartment 112 by vacuum apparatus 136 via a passage 138 in fluid
connection with vacuum 136.
[0047] During operation, robotic device 100 travels over an area
and determines the presence of waste as described above. In the
case of use in connection with animal fecal/urine waste, device 100
will approach and detect the urination or defecation, assume an
appropriate position relative to the animal waste, and then proceed
to use equipped retrieval or collection tools to gather the waste
into internal receptacle compartment 112 in the case of detected
fecal matter or apply a spray composition in the case of detected
urine. The tools used to collect fecal matter may, for example,
depend on if the fecal matter is a relatively firm solid or a
relatively soft composition. Such a determination may, for example,
be made via a software-based decision structure based on sensor
data. If detected fecal is a relatively firm solid, shovel/ramp 132
and retrieval or collection arm/member and attached abutment member
134 may be used to draw the fecal matter into receptacle
compartment 112. If the fecal is determined to be relatively soft,
vacuum apparatus 136 may be used to draw the fecal matter into
receptacle compartment 112. Alternatively, device 100 can utilize
all waste retrieval tools in every situation (as discussed below in
connection with device 100a of FIGS. 3A through 3H below). In that
regard, vacuum apparatus 136 may be integrated functionally with
ramp 132 and may be turned on once a waste object is approached or
appropriately positioned on ramp 132. Vacuum may be applied along
with a raking collection action to draw the waste object up ramp
132 an into receptacle compartment 112. A disinfecting spray may be
dispersed via spray system 290 over collection tools 132, 134 and
136 and/or in the area from which the waste is removed (or over an
area in which urine is determined to be present).
[0048] As described above, collected waste material is drawn into
receptacle compartment 112 which may be lined with or provided
with, for example, a flexible liner such a plastic bag/liner 114.
Detected waste may, for example, be drawn into a sealable
containment bag/liner 114 (for example, a heat sealable containment
bag) which may subsequently be removed/ejected from receptacle
compartment 112 into a waste storage container. Closing or sealing
of the containment bag may occur automatically or under manual
control.
[0049] Device 100 thus includes one or more sensors (for example,
chemical sensors, proximity sensors, GPS navigational system,
photocell sensors, visual light sensors, UV light sensors, and
infrared sensors) to find and/or characterize waste. Once the waste
is detected, vacuum apparatus 136 and/or rake/scoop tool 134 will
guide the waste up into receptacle compartment 112. In a number of
embodiments, an electronic mechanism (for example, one or more
strain or force sensors or one or more volume sensors) may be
provided in operative connection with receptacle compartment 112 to
sense the weight (or volume) of the collected waste. Upon reaching
a threshold measurement of, for example, weight, a closing
mechanism 116 (illustrated schematically in FIG. 2) may be
activated to collapse or gather bag/liner 114 (see FIG. 2) around
the waste. A sealing action may be applied by, for example, a
heat-sealing press (which may be integrated with closing mechanism
116) to seal bag/liner 114. Once bag/liner 114 is sealed, an
ejection mechanism 118 (illustrated schematically in FIG. 2) may
then be activated to eject/remove sealed bag/liner 114 from
receptacle compartment 112. Ejection mechanism 118 my, for example,
apply a swiping or pushing action, a lever action etc. to eject
bag/liner 114 under software control via control system 200. The
ejection process may be carried out such that sealed bag/liner
falls into a storage receptacle until software of robotic device
100 determines that the storage receptacle is full.
[0050] Additionally or alternatively, when receptacle compartment
112 is determined to be filled (as determined by, for example, by
measuring of a threshold value via a weight sensor or a volume
sensor of sensor system 280) a notification may be transmitted as
an alert. Robotic device 100 may also be programmed to return to a
docking/charging station 400 (see FIG. 2) to be emptied. Receptacle
compartment 112 may be emptied upon removal of upper portion or lid
120 of housing 110. Emptying may be accomplished manually or via a
dump feature of robotic device 100 as described above.
[0051] A battery low state may be sensed via a battery monitor 242,
which will also cause return of robotic device 100 to docking
station 400 for charging. A docking interface 244 may be provided
to effect wired/contacting and/or wireless transmission of power
and/or data.
[0052] Information (for example, audio, text, and/or visual
(image/video) information may, for example, be sent/received via
communication system 230 which may be in operative connection with
processor 210 and with an antenna system 300. A software
application or app may be stored on a personal communication device
or computer 500, which includes a user interface 510 (including,
for example, a display which may be a touchscreen display) to
receive information/data from and/or to transmit information/data
to control system 200 of robotic device 100. Such an application or
app may, for example, provide basic commands to be performed such
as retrieve, dock, dump, spray, etc.
[0053] As used herein, the term "personal communications device"
refers to a portable or mobile device which includes a
communication system, a processor system, a user interface system
(for example, a visual feedback system including a touchscreen or
other display, an auditory feedback system, and a tactile feedback
system, a user input system etc.) and an operating system capable
of running general-purpose applications. Examples of personal
communications devices include, but are not limited to,
smartphones, tablet computer and custom devices. As used herein,
the term "tablet computer" or tablet, refers to a mobile computer
with a communication system, a processor system, at least one user
interface as described above (typically including a touchscreen
display), and an operating system capable of running
general-purpose applications in a single unit. As used herein, the
term "smartphone" refers to a cellular telephone including a
processor system, at least one user interface as described above
(typically including a touchscreen display), and an operating
system capable of running general-purpose applications. Such
personal communication devices are typically powered by
rechargeable batteries and are housed as a single, mobile unit.
Moreover, in a number of embodiments personal communications
devices are able accept input directly into a touchscreen (as
opposed to requiring a keyboard and/or a mouse). Personal
communications devices as typically provide for internet access
through cellular networks and/or wireless internet access points
connected to routers. A number of representative embodiments of
systems and/or methods hereof are discussed in connection with the
user of a smartphone as the personal communication device.
[0054] FIG. 3A through 3H illustrates another embodiment of a
robotic device 100a hereof. In a number of aspects, device 100a is
formed and functions similarly to device 100, and elements of
robotic device 100a are numbered similarly to corresponding
elements of robotic device 100 with the addition of the designation
"a" to the reference number. Not all such elements of robotic
device 100a are described specifically herein but the discussion
above in connection with the corresponding elements of robotic
device 100 is applicable thereto. Similar to robotic device 100,
robotic device 100a includes a control system 200a (see FIG. 3G)
which may include a printed circuit board/motherboard (not shown)
that hosts various circuitry elements to control the functions of
robotic device 100a. As described above, such circuitry elements
may include a processor systems/CPUs, a memory system, a
communications system, an input/output system, and a power system
including, for example, a rechargeable battery 241a (see FIG. 3F).
The printed circuity motherboard may, for example, include or be a
RASPBERRY PI.RTM. system, which is a microprocessor-based board
available from Raspberry Pi Foundation of Cambridge, UK, which
operates as a computer or single board computer (SBC). The SBC may,
for example, include all the features of a computer device such as
a processor system, a memory system, storage, a graphics driver,
peripherals connectors, etc. The RASPBERRY PI SBC comes with an
operating system or OS that is a DEBIAN.RTM. (Software in the
Public Interest, New York, N.Y.) based LINUX.RTM. (Linus Trovalds
of Boston, Mass.) operating system. As known to those skilled in
the computer arts, the SBC may, for example, be programmed with the
PYTHON.TM. programming language (Python Software Foundation,
Fredericksburg, Va.) to control the functions of the robotic device
100 as described above, such as (but not limited to) the functions
of the sensor system, spray system, variable speed drives, motors
150a (see FIG. 3G), camera 270a, display 235a, retrieval/collection
system 130a, a communication system, etc. The communication system
(which may be wired and/or wireless as known in the computer arts)
may, for example, be used to program the SBC and to transmit
information via, for example, a personal communication device as
described above.
[0055] In the embodiment of robotic device 100a, two rear drive
wheels 140aa are provided, which are powered/controlled by motors
150a, and two front castor wheels 140ab are provided in operative
connection with housing 110a. Differential steering of device 100a
may be achieved as described above. A removable lid 120a is
provided at an upper end of housing 110a in the illustrated
embodiment. A front section of housing 110a includes display 235a,
camera 270a, and indicator lights 237a (which may, for example,
provide status information including, for example, operability,
battery level, etc.). The front section of housing 110a may further
include a spray system 290a including a nozzle as described above
in connection with robotic device 100.
[0056] As described in connection with robotic device 100,
retrieval/collection system 130a of robotic device 100a includes a
ramp 132a and a retrieval arm attached to an abutment member 134a.
The retrieval arm is extendible and retractable to pull waste 5 up
inclined ramp 132a via abutment member 134. Abutment member 134a
may, for example, form at least a partial seal with ramp 132a when
retracted or pulled rearward to facilitate operation of vacuum
apparatus, mechanism or system 136a (which may include a rotating
vacuum fan 137a or similar vacuum creating device as known in the
pumping and vacuum arts) as illustrated in FIG. 3F. With reference
to FIG. 3F, as waste is drawn up or onto ramp 132a via retrieval
arm and attached abutment member 134a, vacuum mechanism 136a may be
activated to draw the waste through a conduit 138a and into
receptacle compartment 112a.
[0057] Retrieval/collection system 130a may thus include a number
of mechanical and/or electromechanical functionalities that may be
controlled/timed via a software trigger command(s) which is/are
prompted by the sensor system as described above in connection with
device 100. A drive mechanism controls the retractable movements
retrieval arm and attached abutment member 134a via a plow-type or
scoop action in connection with ramp 132a that gathers the waste
and pulls it up toward low pressure/suction created by vacuum
mechanism 136a in conduit 138a. Retrieval/collection system 130a
is, for example, activated after the sensor system detects that
there is waste present to be gathered/collected and device 100a is
appropriately positioned relative to the detected waste. As
described in connection with robotic device 100, robotic device
100a may include disinfecting spray nozzles (similar in operation
to a front/external nozzle 290a) that spray ramp 132a and
retractable arm/abutment member 134a after the waste has been
gathered. Similarly, vacuum mechanism 136a and receptacle
compartment 112a may be sprayed. Spray nozzle 290a may be used to
spray the area from which the waste was gathered. Spray nozzle 290a
can also programmed to spray without collection if urine is
detected.
[0058] In a number of embodiments, vacuum system or mechanism 136a
includes motorized vacuum fan/pump 137a that creates a pressure
differential within conduit 138a to draw waste upward into device
100a and into a bagging or enclosing system which includes, for
example, a source of a bagging/enclosing material and a closing or
sealing system/mechanism. In a number of embodiments, the
closing/sealing system includes a leaf shutter-type mechanism or
apparatus 160a (similar to those used in camera shutters) and the
source of a bagging/enclosing material includes a supply roll 170a
including a flexible enclosing material thereon. With reference to
FIG. 3F, once waste is pulled up into conduit 138a, there is an
opening 139 near the top of conduit 138a through which waste falls
into a stretched length enclosing material (for example, a flexible
polymer film as known in the polymeric bag/storage arts) that is
automatically fed from supply roll 170a over leaf shutter apparatus
160a (see FIGS. 4A and 4B) via/through two rollers 172a (for
example, via a controlling motor 173a in operative connection with
control system 200a). As illustrated, for example, in FIG. 3H, an
enclosing material 171a is fed from roll 170a stationed at one end
of leaf shutter apparatus 160a, pulled taught over the shutter via
a first set of rollers 172a which are movable in a forward and
rearward direction via slots 175a via a controlling motor 174a (in
operative connection with control system 200a) illustrated
schematically in dashed lined in FIG. 3H. Enclosing material 171a
is clamped between rollers 172a' when such rollers are in a
rearward position (adjacent rollers 172a). Rollers 172a' are then
moved forward to draw enclosing material 171a over the opening of
closing mechanism, system or apparatus 160a. Enclosing material
171a may, for example, be perforated at predetermined intervals of
length to facilitate disconnection of a section from the remainder
of the material. The shutter leaves 162a start from an open
overlapping leaf/blade formation (see FIG. 4B) that, as the shutter
spins, will close with all leaves or blades 162a forming a
star-like or asterisk-like opening 164a in the center as
illustrated in FIGS. 3G and 4A. In a number of embodiments, leaf
shutter apparatus 160a will spin in a rotational movement (for
example, via a control motor in operative connection with control
system 200a, which may be incorporated into leaf shutter apparatus
160a) once the weight of the waste is sensed on the bag/enclosing
material (for example, via a strain gauge or force sensor of the
sensor system in operative connection with rollers 172a and/or
rollers 172a'), collapsing the bag around the solid waste and any
fluid waste that was drawn into device 100a along with the solid
waste. In a number of embodiments, leaf shutter apparatus 160a
twists the bag, forming a U-shaped enclosure or inverted dome or
tear-drop shaped enclosure, that may then be cinched/closed with
heating coil elements 166a (see FIG. 4A) at the end of each shutter
leaf or blade 162a (heated, for example, via joule or resistive
heating as known in the art) that heat seal the waste within the
bag. After sealing, the mechanism may drop the sealed waste into
receptacle compartment 112a. Further operation of device 100 is
similar to that described for device 100a.
[0059] As illustrated, for example, in FIG. 3H, robotic device 100a
may, for example, include an opening 119a in a side of housing 110a
via which receptacle compartment (which may be formed similarly to
a bucket) may be removed from robotic device 100a. An upper portion
or rim of receptacle compartment 112a may for example, be slidable
along tracks in operative connection with opening 119a to
facilitate positioning of receptacle compartment 112.
[0060] The foregoing description and accompanying drawings set
forth a number of representative embodiments at the present time.
Various modifications, additions and alternative designs will, of
course, become apparent to those skilled in the art in light of the
foregoing teachings without departing from the scope hereof, which
is indicated by the following claims rather than by the foregoing
description. All changes and variations that fall within the
meaning and range of equivalency of the claims are to be embraced
within their scope.
* * * * *