Patent Application
20100114372
Automatic cleaning devices have minimized the human effort involved in maintaining and cleaning surfaces, such as hardwood floors, carpet and the like. Mobile robotic cleaning devices are especially useful, but location detection can be a challenge for the operation of such devices.
In some systems, an automatic robotic cleaning device responds to radio frequency identification device (RFID) tags placed along a floor surface. An example of such a system is disclosed in U.S. Patent Application Publication No. 2006/0293794, filed by Harwig et al. In such a system, each RFID tag may include an antenna and a transceiver chip. An RFID reader may also include an antenna which the reader may power to generate an RF excitation field. When an RFID tag is exposed to the RF excitation field, the tag will generate a signal that the RFID reader can receive and decode to obtain information. For example, an automatic cleaning device may use a signal received from an RFID tag to determine the tag's position in a room, to navigate a course or the like.
Before the present methods are described, it is to be understood that this invention is not limited to the particular systems, methodologies or protocols described, as these may vary. It is also to be understood that the terminology used herein is for the purpose of describing particular embodiments only, and is not intended to limit the scope of the present disclosure which will be limited only by the appended claims.
It must be noted that as used herein and in the appended claims, the singular forms “a,” “an,” and “the” include plural reference unless the context clearly dictates otherwise. Thus, for example, reference to a “code” is a reference to one or more codes and equivalents thereof known to those skilled in the art, and so forth. Unless defined otherwise, all technical and scientific terms used herein have the same meanings as commonly understood by one of ordinary skill in the art. As used herein, the term “comprising” means “including, but not limited to.”
In an embodiment, a method of cleaning a surface using an automatic cleaning device may include learning, by an automatic cleaning device, one or more cleaning methods. Each cleaning method may be associated with a code corresponding to a radio frequency identification tag positioned in a vicinity of a surface to be cleaned. The method may also include receiving, by the automatic cleaning device, a target code from a target radio frequency identification tag positioned in a vicinity of a target surface to be cleaned, determining the cleaning method associated with the target code and applying the associated cleaning method to the target surface when the target radio frequency identification tag is detected.
In an embodiment, a method of learning, by an automatic cleaning device, how to clean a surface may include receiving one or more instructions for cleaning a surface. The instructions may instruct the automatic cleaning device to apply a cleaning method to the surface. The cleaning method may be associated with a code. The method may also include storing one or more of the received instructions, the cleaning method and the associated code.
In an embodiment, a method of learning, by an automatic cleaning device, how to clean a surface, may include navigating a surface having one or more radio frequency identification tags and, for each encountered radio frequency identification tag, receiving a code from the radio frequency identification tag, mapping the received code to one or more instructions for performing a cleaning method, and storing one or more of the received code, the one or more instructions and the associated cleaning method.
The following terms shall have, for the purposes of this application, the meanings set forth below.
An “automatic cleaning device” is a mobile robot that can automatically navigate and clean surfaces, such as floors.
A radio frequency identification (RFID) tag is a device having a memory, an antenna and the ability to receive radio frequency signals. An RFID tag may be incorporated into a product for the purpose of identification. In an embodiment, an RFID tag's memory may be part of an integrated circuit (IC) transceiver chip. The IC transceiver chip may be connected to the antenna which may transmit RF signals from the IC transceiver chip and may receive incoming RF excitation signals. The IC transceiver chip may include an RF receiver and an RF transmitter, which may both be connected to the antenna. Alternatively, a chipless RFID device may be printed directly on another item without an IC.
When an RFID tag is exposed to an RF excitation field, such as an incoming RF signal, the tag may generate a signal that an RFID reader may receive and decode to obtain information. In an embodiment, an automatic cleaning device may include an RFID reader that may receive signals from the RFID tag. The automatic cleaning device may also include a controller that may interpret the signals received by the RFID reader to provide cleaning instructions. The automatic cleaning device also may include an RFID transmitter that generates and transmits the RF excitation field.
In an embodiment, one or more RFID tags may be positioned in an area to identify one or more features associated with a particular surface. In an embodiment, the RFID tags may be embedded in a surface. Alternatively, the RFID tags may be positioned on a surface by any suitable means. In an embodiment, the RFID tags may be spaced a certain distance away from each other.
The RFID tags may communicate the appropriate cleaning method for the surface to an automatic cleaning device. For example, an RFID tag 11, 17, 15 located near a doorway 12, a staircase 18 or an elevator 15 may identify the surfaces of these high-traffic areas as requiring an intense cleaning. Similarly, an RFID tag 13 located on a carpeted surface 22 may identify this surface as requiring vacuuming.
In an embodiment, an automatic cleaning device may include memory, such as ROM and/or RAM, that includes one or more programming instructions. Alternatively, the programming instructions may be stored on a tangible computer-readable medium such as a compact disk, a digital disk or other recording medium. In an embodiment, one or more of the programming instructions may correspond to a particular code stored on an RFID tag. When the automatic cleaning device receives a code from an RFID tag, it may match the code to one or more stored instructions and perform the cleaning method associated with the one or more programming instructions. In an embodiment, information associated with an automatic cleaning device's encounter with an RFID tag may be stored on the RFID tag. For example, the date the automatic cleaning device encountered the RFID tag, the time the automatic cleaning device encountered the RFID tag and/or the like may be stored.
In an embodiment, each cleaning method may be associated with a code corresponding to an RFID tag positioned on a surface. An RFID tag may store information, such as a unique code that allows a receiver to identify a surface, area or location where it is positioned. Alternatively, an RFID tag may store a code corresponding to a cleaning method associated with the surface. Cleaning methods may be based upon one or more features of a surface such as, for example, a floor type (i.e., hardwood, plush carpet, tile), a traffic area (i.e., low-traffic area, moderate-traffic area, high-traffic area), a location (i.e., near an elevator, near a stairwell) and/or the like.
Referring to
In an embodiment, an automatic cleaning device may include a graphical user interface that may allow a user to provide one or more settings. For example, the automatic cleaning device may display one or more surface types, or RFID codes where each code is associated with a surface type. Alternatively, the user may enter the instructions remotely via a wired or wireless communication link. The user may specify the cleaning method to be applied to the one or more surfaces that are in the vicinity of the RFID tag. In an embodiment, the user may select a check box, a radio button, a drop down box or the like in the graphical user interface to select the cleaning method. The user may also enter a cleaning method using a keyboard, a mouse, a joystick or the like. Additional and/or alternate selection methodologies may be used within the scope of this disclosure.
In an embodiment, a user may enter login information to access the graphical user interface. Login information may include a unique identifier, a user name, a passcode, a password and/or the like. Alternatively, a user may have an RFID tag located on their person that includes the login information associated with the user. An automatic cleaning device may receive the login information from the user's RFID tag, and may use this information to automatically grant the user access to the graphical user interface.
In an embodiment, an automatic cleaning device may learn how to clean an area or other defined space by navigating 310 one or more surfaces having one or more RFID tags. For example, if the automatic cleaning device is being used in a house, it may be instructed to navigate 310 within and between certain rooms in the house. The automatic cleaning device may encounter one or more RFID tags in a particular area. The automatic cleaning device may determine whether an encountered tag is a new tag. If so, the automatic cleaning device may receive 315 instructions which it may store so that it develops a memory. For example, the automatic cleaning device may receive 315 a code from an encountered RFID tag and may map 330 the received code to an associated cleaning method using a computer-readable storage medium, such as a database. Mapping 330 may involve matching the received code to one or more instructions for performing a corresponding cleaning method.
In an embodiment, if the encountered tag is a new tag 320, it may be added 325 to the computer-readable storage medium. For each encountered RFID tag, the computer-readable storage medium may be updated 335 with information regarding the encounter, such as the time of the encounter, the date of the encounter and/or the like. In an embodiment, the corresponding RFID tag may be updated 335 with information regarding an encounter.
In an embodiment, once a cleaning method is identified for an area near a tag, the automatic cleaning device may store 340 the cleaning method and associated code. In an embodiment, the cleaning method and associated code may be stored 340 on the automatic cleaning device. Alternatively, the cleaning method and associated code may be stored 340 remotely, and may be accessible by the automatic cleaning device via a wireless connection or the like.
Referring back to
When the automatic cleaning device determines 210 the cleaning method, it may apply 215 the cleaning method to the surface. In an embodiment, an automatic cleaning device may always apply 215 the same cleaning method each time it encounters a particular RFID tag.
For example, referring to
In an embodiment, the automatic cleaning device may develop its memory by storing the received instructions and an indicator of the corresponding RFID tag. When the automatic cleaning device subsequently encounters the RFID tag, it may apply the same cleaning method. For example, when the automatic cleaning device subsequently encounters the RFID tag 445 located in the hallway 440, it may automatically vacuum and mop the surface without having to match the code associated with the RFID tag 445 to the instructions for performing the cleaning method.
In an embodiment, the automatic cleaning device may apply a cleaning method for a defined period of time. For example, referring to
In an embodiment, a user may input a cleaning time associated with one or more areas. For example, a user may instruct the automatic cleaning device to clean an area by a staircase for five minutes and a hallway area for three minutes. In an embodiment, a user may input a cleaning time associated with one or more surface types. For example, a user may instruct the automatic cleaning device to clean all hardwood areas for ten minutes, all carpeted areas for eight minutes and all tiled areas for six minutes.
In an embodiment, an automatic cleaning device may apply a cleaning method until it receives a different code from an RFID tag. For example, the automatic cleaning device may navigate a predefined course around a defined area. When the automatic cleaning device receives a code from an RFID it encounters on its course, the automatic cleaning device may apply the cleaning method corresponding to the code until it encounters an RFID tag having a different code.
In an embodiment, an automatic cleaning device may apply a cleaning method to a particular area a defined number of times. For example, an automatic cleaning device may be instructed to vacuum a certain carpeted area twice.
Referring back to
It will be appreciated that various of the above-disclosed and other features and functions, or alternatives thereof, may be desirably combined into many other different systems or applications. Also that various presently unforeseen or unanticipated alternatives, modifications, variations or improvements therein may be subsequently made by those skilled in the art which are also intended to be encompassed by the following claims.
