Patent Application
20240268620
Robots and/or machines may be used to perform tasks, provide services, and navigate environments autonomously or semi-autonomously. Some robots or machines may be used to execute cleaning tasks in an environment in which the robot or machine is positioned or capable of navigating to or through with or without input or command by a human operator.
The described technology relates in general to floor cleaning machines and, more particularly, to floor cleaning machines having intelligent systems that have the capacity to selectively gather, obtain, monitor, store, record, and analyze data associated with components of the floor cleaning machines and controllably communicate and disseminate such data with other systems and users. The described technology further relates to floor cleaning machine sub-assemblies including, but not limited to, secondary electrochemical cells having intelligent systems, as well as associated methods for using the same.
The present disclosure relates generally to robotic systems and methods. The robotic systems may comprise robots or machines that are capable of cleaning, disinfecting, or sanitizing an area or an environment. The robots or machines may be configured to operate autonomously or semi-autonomously to clean an area or environment.
The present disclosure addresses various limitations and shortcomings of conventional robots and machines in the cleaning space. Commercially available robots and machines are unable to operate efficiently in certain environments due to their size, shape, and/or configuration of components. Certain tradeoffs made when designing the robots or machines can significantly impact the ability of a robot or machine to efficiently execute a cleaning route, a cleaning plan, or a cleaning routine. For example, small household robots may not be able to clean large areas efficiently, and may not have the battery capacity for industrial or commercial cleaning tasks. As another example, larger robots for commercial cleaning may not have the maneuverability to navigate tighter spaces, and cannot clean difficult to reach spots due to their size/footprint.
The present disclosure provides robotic systems that are compact in size, highly maneuverable, efficient and productive, and powerful enough for commercial cleaning operations in environments spanning up to 15,000 square feet or more. The form factors of the robotic systems allow the robotic systems to clean in and around tight areas precisely without colliding with obstacles, and the selection and configuration of components allows the robotic systems to clean large areas or volumes efficiently. The combination of form factor and cleaning performance as exemplified in the various embodiments described herein enables both meticulous cleaning of hard to reach spots and high productivity rates/area coverage. The robotic systems disclosed herein provide an optimal balance between size and cleaning performance, and can be configured to clean many different types of environments thoroughly and effectively.
In one aspect, the present disclosure provides a floor cleaning machine. In some embodiments, the floor cleaning machine may comprise a mobile body configured to travel over a surface with aid of a drive mechanism. In some embodiments, the floor cleaning machine may comprise one or more cleaning devices coupled to the mobile body and configured to clean the surface by collecting and removing foreign materials from the surface. In some embodiments, the floor cleaning machine may comprise a power source carried by the mobile body and configured to power the drive mechanism and the one or more cleaning devices.
In some embodiments, the power source is configured to enable the floor cleaning machine to operate for a duration ranging from about 0.5 to about 4 hours. In some embodiments, the floor cleaning machine has a volume ranging from about 0.05 to about 0.30 cubic meters (m3). In some embodiments, the floor cleaning machine has a lateral footprint ranging from about 0.10 to 0.40 square meter (m2). In some embodiments, the floor cleaning machine has a weight ranging from about 30 to about 80 kg. In some embodiments, the drive mechanism is configured to enable a minimum turning radius during cleaning operations of about 500 mm to about 800 mm for the floor cleaning machine. In some embodiments, the drive mechanism is configured to enable the floor cleaning machine to move at a speed of up to about 3.6 km/hour. In some embodiments, the floor cleaning machine is configured to have a cleaning surface productivity rate ranging from about 100 to about 2000 m2/hour. In some embodiments, the floor cleaning machine is capable of operating at a flow rate ranging from 0 mL/min to about 300 mL/min.
In some embodiments, the power source comprises a battery. In some embodiments, the battery has a capacity ranging from about 200 Watt-hours to about 900 Watt-hours. In some embodiments, the power source comprises a secondary battery. In some embodiments, the secondary battery is detachable from the mobile body. In some embodiments, the secondary battery has a capacity ranging from about 200 Watt-hours to about 900 Watt-hours.
In some embodiments, the floor cleaning machine may further comprise a solution tank to hold a cleaning liquid. In some embodiments, the solution tank is carried by the mobile body and has a capacity ranging from about 5 L to about 15 L.
In some embodiments, the floor cleaning machine may further comprise a recovery tank to hold a waste solution collected from the surface being cleaned. In some embodiments, the recovery tank is carried by the mobile body and has a capacity ranging from about 5 L to about 15 L.
In some embodiments, the floor cleaning machine may further comprise a hopper to hold the foreign materials collected from the surface. In some embodiments, the hopper is carried by the mobile body and has a capacity of up to about 5 L.
In some embodiments, the one or more cleaning devices may comprise a brush, a squeegee, or a mop. In some embodiments, the one or more cleaning devices are releasably attachable to and detachable from the mobile body. In some embodiments, the one or more cleaning devices are magnetically attachable to the mobile body.
In some embodiments, the floor cleaning machine may further comprise an ultraviolet (UV) light sensor for sanitizing or disinfecting a waste water tank of the floor cleaning machine. In some embodiments, the floor cleaning machine may further comprise a bumper for detecting contact with one or more objects. In some embodiments, the floor cleaning machine may further comprise a processing unit configured to adjust a movement of the floor cleaning machine based on the detected contact in order to avoid or move around the one or more objects.
In some embodiments, the floor cleaning machine may further comprise a pressure adjustment system for the one or more cleaning devices. In some embodiments, the pressure adjustment system is configured to adjust a pressure applied to the surface by the one or more cleaning devices by adjusting a position or an orientation of the one or more cleaning devices. In some embodiments, the pressure adjustment system is configured to adjust a pressure applied to the surface based on a sensor output. In some embodiments, the sensor output is indicative of an amount of dirt, debris, or foreign materials on the surface.
In some embodiments, the floor cleaning machine comprises a floor scrubber. In some embodiments, the floor cleaning machine comprises an autonomous or semi-autonomous mobile robot. In some embodiments, the floor cleaning machine comprises one or more vision sensors and/or one or more navigation sensors. In some embodiments, the floor cleaning machine comprises a solution tank for storing water and/or a cleaning solution. In some embodiments, the floor cleaning machine is configured to receive a premeasured or predetermined dosage of a cleaning compound and to clean the surface using at least a portion of the premeasured or predetermined dosage of the cleaning compound. In some embodiments, an operational time or duration for the floor cleaning machine is based on a mode of operation or use for the floor cleaning machine. In some embodiments, the floor cleaning machine provides an optimal balance of size, weight, operating performance, and run time for cleaning an environment spanning up to about 15,000 square feet or more.
In some embodiments, the floor cleaning machine has a minimum turning radius while cleaning or performing a cleaning operation. In some embodiments, the minimum turning radius ranges from about 500 millimeters to about 800 millimeters. In some embodiments, the floor cleaning machine is configured to turn in place when the floor cleaning machine is not actively engaged in cleaning or performing a cleaning operation.
Another aspect of the present disclosure provides a non-transitory computer readable medium comprising machine executable code that, upon execution by one or more computer processors, implements any of the methods above or elsewhere herein.
Another aspect of the present disclosure provides a system comprising one or more computer processors and computer memory coupled thereto. The computer memory comprises machine executable code that, upon execution by the one or more computer processors, implements any of the methods above or elsewhere herein.
In another aspect, the described technology is directed to a floor cleaning machine having an intelligent system comprising, consisting essentially of, and/or consisting of: (1) a main frame sub-assembly; (2) a steering and drive wheel sub-assembly; (3) a solution tank sub-assembly; (4) a recovery tank sub-assembly; (5) a recovery tank cover sub-assembly; (6) a control panel sub-assembly; (7) a main controller sub-assembly; (8) a seat and detergent system sub-assembly; (9) a battery sub-assembly; (10) a scrub head sub-assembly; (11) a scrub head lift sub-assembly; (12) a squeegee sub-assembly; (13) a solution and detergent sub-assembly; and (14) an intelligent system associated with at least one of the above-identified sub-assemblies, wherein the intelligent system at least one of selectively gathers, obtains, monitors, stores, records, and analyzes data associated with components of the riding floor cleaning machine, and at least one of controllably communicates and disseminates such data with at least one of another system and user.
In another aspect, the described technology is also directed to a sub-assembly having an intelligent system for a riding floor cleaning machine, comprising, consisting essentially of, and/or consisting of: (1) a primary and/or secondary electrochemical cell; and (2) an intelligent system, wherein the intelligent system at least one of selectively gathers, obtains, monitors, stores, records, and analyzes data associated with components of the riding floor cleaning machine, and at least one of controllably communicates and disseminates such data with at least one of another system and user.
In another aspect, the described technology is additionally directed to a method for using an intelligent system with a riding floor cleaning machine assembly comprising, consisting essentially of, and/or consisting of the steps of: (1) providing a riding floor cleaning machine assembly having an intelligent system; (2) selectively gathering, obtaining, monitoring, storing, recording, and/or analyzing data associated with components of the riding floor cleaning machine; and (3) controllably communicating and/or disseminating data with at least one of another system and user.
Additional aspects and advantages of the present disclosure will become readily apparent to those skilled in this art from the following detailed description, wherein only illustrative embodiments of the present disclosure are shown and described. As will be realized, the present disclosure is capable of other and different embodiments, and its several details are capable of modifications in various obvious respects, all without departing from the disclosure. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive.
All publications, patents, and patent applications mentioned in this specification are herein incorporated by reference to the same extent as if each individual publication, patent, or patent application was specifically and individually indicated to be incorporated by reference. To the extent publications and patents or patent applications incorporated by reference contradict the disclosure contained in the specification, the specification is intended to supersede and/or take precedence over any such contradictory material.
The novel features of the invention are set forth with particularity in the appended claims. A better understanding of the features and advantages of the present invention will be obtained by reference to the following detailed description that sets forth illustrative embodiments, in which the principles of the invention are utilized, and the accompanying drawings (also “Figure” and “FIG.” herein), of which:
The invention will now be described with reference to the drawings wherein:
While various embodiments of the invention have been shown and described herein, it will be obvious to those skilled in the art that such embodiments are provided by way of example only. Numerous variations, changes, and substitutions may occur to those skilled in the art without departing from the invention. It should be understood that various alternatives to the embodiments of the invention described herein may be employed.
Whenever the term “at least,” “greater than,” or “greater than or equal to” precedes the first numerical value in a series of two or more numerical values, the term “at least,” “greater than” or “greater than or equal to” applies to each of the numerical values in that series of numerical values. For example, greater than or equal to 1, 2, or 3 is equivalent to greater than or equal to 1, greater than or equal to 2, or greater than or equal to 3.
Whenever the term “no more than,” “less than,” or “less than or equal to” precedes the first numerical value in a series of two or more numerical values, the term “no more than,” “less than,” or “less than or equal to” applies to each of the numerical values in that series of numerical values. For example, less than or equal to 3, 2, or 1 is equivalent to less than or equal to 3, less than or equal to 2, or less than or equal to 1.
The term “real time” or “real-time,” as used interchangeably herein, generally refers to an event (e.g., an operation, a process, a method, a technique, a computation, a calculation, an analysis, a visualization, an optimization, etc.) that is performed using recently obtained (e.g., collected or received) data. In some cases, a real time event may be performed almost immediately or within a short enough time span, such as within at least 0.0001 millisecond (ms), 0.0005 ms, 0.001 ms, 0.005 ms, 0.01 ms, 0.05 ms, 0.1 ms, 0.5 ms, 1 ms, 5 ms, 0.01 seconds, 0.05 seconds, 0.1 seconds, 0.5 seconds, 1 second, or more. In some cases, a real time event may be performed almost immediately or within a short enough time span, such as within at most 1 second, 0.5 seconds, 0.1 seconds, 0.05 seconds, 0.01 seconds, 5 ms, 1 ms, 0.5 ms, 0.1 ms, 0.05 ms, 0.01 ms, 0.005 ms, 0.001 ms, 0.0005 ms, 0.0001 ms, or less.
The present disclosure provides robotic systems that are compact in size, highly maneuverable, efficient and productive, and powerful enough for commercial cleaning operations in environments spanning up to 15,000 square feet or more. The form factors of the presently disclosed robotic systems allow for precise cleaning in and around tight areas while avoiding collisions with obstacles, and the selection and configuration of components allows the robotic systems to clean large areas or volumes efficiently. The combination of form factor and cleaning performance as exemplified in the various embodiments described herein enables both meticulous cleaning of hard to reach spots and high productivity rates/area coverage. The robotic systems disclosed herein provide an optimal balance between size and cleaning performance, and can be configured to clean many different types of environments thoroughly and effectively.
In an aspect, the present disclosure provides a system comprising a robot or a machine. In some embodiments, a machine may comprise an autonomous, semi-autonomous, and/or non-autonomous robot or machine. In some embodiments, a robot may comprise an autonomous, semi-autonomous, and/or non-autonomous machine or robot. In some embodiments, a robot may be referred to interchangeably as a machine, and a machine may be referred to interchangeably as a robot. In some cases, a robot may be equivalent to a machine, and vice versa. Alternatively, a robot may comprise a system that is capable of operating autonomously or semi-autonomously, and a machine may comprise a non-autonomous system that is capable of being operated by a human or another machine or robot.
In some embodiments, the robots or machines may comprise, for example, a non-autonomous, semi-autonomous, or autonomous vehicle, a rover, a drone, or a shuttle for transporting humans or objects. In some cases, the robots or machines may comprise a humanoid robot or a non-humanoid robot. In some cases, the robots or machines may comprise a cleaning machine or robot (e.g., a floor scrubber or a vacuum).
In any of the embodiments described herein, the one or more robots or machines may be configured to operate individually or collectively as a fleet or a swarm of robots or machines. The term “fleet” as used herein may refer to any grouping or collection of a plurality of robots or other machines that are independently or jointly controllable by a human or a computer system. The fleet may comprise one or more robots and/or one or more machines. The one or more robots and/or the one or more machines may comprise a non-autonomous, semi-autonomous, or autonomous robot or machine that can be controlled either locally or remotely. The robots and/or machines in the fleet may be controlled by a human operator and/or a computer. In any of the embodiments described herein, the fleet may comprise a combination of robots and/or machines. In any of the embodiments described herein, the fleet may comprise a combination of autonomous, semi-autonomous, and/or non-autonomous robots and/or machines.
In some embodiments, the robots or machines may comprise a non-autonomous robot or machine. Such non-autonomous robot or machine may not or need not comprise or have autonomous navigation functions or capabilities. In some cases, such non-autonomous robot or machine may be configured to operate based on one or more inputs, commands, or instructions provided by a human operator. The one or more inputs, commands, or instructions may comprise a physical motion to move the robot or machine, an auditory communication, or a virtual input or selection of an action or movement to be performed by the robot or machine.
In some embodiments, the robot 100 may comprise a drive unit 101. The drive unit 101 may comprise, for example, wheels, rollers, conveyor belts, treads, magnets, and the like.
In some embodiments, the robot 100 may comprise one or more brushes 102. The brushes 102 may be operated to clean an environment. The brushes 102 may be rotatable to capture dirt, dust, debris, or waste materials or particles. In some cases, the brushes 102 may comprise a scrubber.
In some embodiments, the robot 100 may comprise a hopper 103. The hopper 103 may be configured to collect garbage from a brush or scrubber that is proximal to the hopper 103.
In some embodiments, the robot 100 may comprise a tank 104. The tank 104 may comprise a solution tank and a waste water tank. The solution tank may contain either (a) cleaning solution (e.g. clean water with detergent added) or (b) clean water. In some cases, the cleaning machine may be configured to automatically mix detergent and clean water to produce a cleaning solution that can be applied to the floor. In some cases, the solution tank can be manually filled by a user with a pre-mixed cleaning solution. In other cases, the solution tank can be manually filled by a user with clean water and detergent separately, which can then be mixed to produce a cleaning solution. In some embodiments, the solution in the solution tank may be sprayed onto the rolling brush and/or the side brushes for cleaning the ground. In some embodiments, a negative pressure can be applied to collect the waste water on the ground back to the waste water tank. In some embodiments, the robot 100 may comprise a handle 105. The handle 105 may be used to operate, push or carry the robot. In some cases, the handle can be used to engage an operational mode, to control the robot in a selected mode, or to switch between different operational modes.
In some embodiments, the robot 100 may comprise a squeegee 106. The squeegee 106 can be used to clean or remove water residue or water marks from the area being cleaned.
In some embodiments, the robot 100 may comprise a bumper 107. The bumper 107 can be configured to detect a contact (e.g., an impact or a collision) between the robot 100 and one or more objects or personnel or obstacles in a cleaning environment. The bumper 107 can be used to protect the robot 100 or any components of the robot 100 from being damaged.
In some embodiments, the robot 100 may comprise a cleaning detergent distribution subsystem 108. The cleaning detergent distribution subsystem may be configured to provide or release detergent into a water tank 104 of the robot 100. In some cases, the detergent may be provided in a pre-measured dosage within one or more consumable packs, containers, or pods.
In some embodiments, the robot 100 may comprise a treatment or sanitization subsystem 109. The treatment or sanitization subsystem 109 may be configured to perform a treatment operation (e.g., a sanitization operation or a disinfection operation) for one or more components or portions of the robot 100. In some cases, the treatment or sanitization subsystem may be used to treat or sanitize a hazardous or toxic material or any other material that can be harmful to human or animal health.
In some embodiments, the robot 100 may comprise a navigation subsystem 110. The navigation subsystem 110 may be configured to provide or manage a control logic used by the robot 100 to navigate an environment or to execute a cleaning operation or procedure.
In some embodiments, the robot 100 may comprise a communications unit 111. The communications unit 111 may comprise a transmitted and/or a receiver for transmitting and/or receiving information or data. The information or data may comprise operational data for the robot, including data of the components of the robot. In some cases, the communications unit 111 may be configured to transmit the information or data to a central server or one or more other robots or machines. In some cases, the communications unit 111 may be configured to receive information or data transmitted to the robot 100 from a central server or one or more other robots or machines.
In some embodiments, the robot 100 may comprise one or more sensors 112. The one or more sensors 112 may be used to obtain measurements associated with an operation of the robot (or any components or subsystem thereof), the environment in which the robots operates, or the obstacles around the robot. In some cases, the robot may use the measurements obtained using the one or more sensors 112 to control or adjust robot operation (e.g., navigation of the robot through an environment, or operation of one or more components or subsystems of the robot).
In some embodiments, the robot 100 may comprise a processor 150. The processor 150 may be configured to control an operation of the robot (or any components or subsystem thereof) based on the measurements or readings obtained using the one or more sensors 112. In some cases, the processor 150 may be operatively coupled to the sensors 112 and/or various other components or subsystems of the robot 100 to aid in (1) processing of sensor data and (2) controlling an operation or a behavior of the robot 100 or various components/subsystems of the robot 100.
In some embodiments, the robot may be optimized or configured for floor cleaning for commercial use. The robot can service such areas much more effectively and efficiently than (i) large commercial cleaning robots that cannot maneuver tight spaces nimbly or precisely navigate to or through hard to reach areas, (ii) small household cleaning robots that lack the battery capacity or productivity rate of robots for commercial cleaning applications, and (iii) human operators manually cleaning the areas using mops or buckets.
In some embodiments, the systems and methods of the present disclosure may be used to clean an environment. The environment may comprise an indoor environment or an outdoor environment. In some cases, the environment may comprise a combination of one or more indoor environments and one or more outdoor environments. The indoor environment may comprise, for example, a building, an office, a home, a store, or any other space or area that is at least partially enclosed by one or more walls, ceilings, panels, flooring, or other structural elements. The outdoor environment may comprise, for example, any space that is at least partially exposed to the natural elements, including, for example, public spaces, private spaces that are not enclosed by a structural element or component, roadways, terrestrial or aquatic ecosystems, and the like. In some embodiments, the robot may clean or may be configured to clean places such as a retail store, a fast food restaurant, a convenience store, an airport, a railway station, a shopping mall, a commercial building, a super market, a campus, or a school.
As shown in
As described elsewhere herein, the robot can be compact in size, highly maneuverable, efficient and productive, and powerful enough for commercial cleaning operations in environments spanning up to 15,000 square feet or more. The form factor of the robot can allow for precise cleaning in and around tight areas while avoiding collisions with obstacles. The selection and configuration of components can allow the robot to clean large areas or volumes efficiently. The combination of form factor and cleaning performance may enable both meticulous cleaning of hard to reach spots and high productivity rates/area coverage. The robot can provide an optimal balance between size and cleaning performance (including, for example, tank size, motor size, and battery size), and can be configured to clean many different types of environments thoroughly and effectively.
In addition to the benefits above, the robot has many other advantageous features, such as an optimal balance of size, weight, operating performance, and run time. The robot may have a form factor that allows it to move nimbly around a cleaning environment, without tipping over when traversing uneven grounds. The robot may have a square-shaped base, profile, or form factor that allows it to navigate crowded spaces and turn in place. In some cases, the robot may be configured to rotate or turn in place as needed (e.g., to reorient the robot in a desired direction without requiring excessive movement that could cause the robot to collide with an object in close proximity to the robot). The robot may also have a minimal turning radius to give the squeegee of the robot enough space to operate and pick up any remaining water on the floor. In some embodiments, the positioning or placement of the robot's mechanical parts close to the ground can help to maximize the scrubbing effect applied by the brushes of the robot. The robot may have a reduced weight and volume compared to other cleaning robots in the space while providing better cleaning performance, higher productivity, and longer operating times.
In some embodiments, the robot may have a range of specifications. Exemplary ranges of the robot specifications are shown below in Table A1.
In some cases, it may be advantageous for the robot to comprise a small footprint. In some cases, a small footprint may allow easy storage of the robot (e.g., in a relatively small storage area), easy transport of the robot (e.g., transport by hand or a cart), and/or easy accessibility of the robot in small areas for cleaning (e.g., under a table).
In some embodiments, the robot may be configured to adjust its ground clearance. For example,
In any of the embodiments described herein, the robot may be configured to adjust its height and/or ground clearance. In some cases, the robot may be configured to raise or lower its height. In some cases, the robot may be configured to raise or lower its ground clearance. The robot may adjust its height and/or ground clearance based on the sensing of the environment or the obstacles in the environment. The robot may adjust its height and/or ground clearance based on the robot's navigation path or cleaning routine.
In some embodiments, the robot may comprise a weight of about 55 kg. In some embodiments, the robot may comprise a weight of about 65 kg. In some embodiments, the robot may comprise a weight of at least about 15, 20, 25, 30 35, 40, 45, 50, 55, 60, 65, 70, 75, 80, 85, 90, 95, or 100 kg. In some embodiments, the robot may comprise a weight of at most about 15, 20, 25, 30 35, 40, 45, 50, 55, 60, 65, 70, 75, 80, 85, 90, 95, or 100 kg. In some embodiments, the weight may be measured when the robot comprises a full tank. In some embodiments, the weight may be measured when the robot comprises an empty tank.
In some embodiments, the robot may comprise a length of about 480 mm. In some embodiments, the robot may comprise a length of at least about 300, 310, 320, 330, 340, 350, 360, 370, 380, 390, 400, 410, 420, 430, 440, 450, 460, 470, 480, 490, 500, 510, 520, 530, 540, 550, 560, 570, 580, 590, 600, 610, 620, 630, 640, 650, 660, 670, 680, 690, or 700 mm. In some embodiments, the robot may comprise a length of at most about 300, 310, 320, 330, 340, 350, 360, 370, 380, 390, 400, 410, 420, 430, 440, 450, 460, 470, 480, 490, 500, 510, 520, 530, 540, 550, 560, 570, 580, 590, 600, 610, 620, 630, 640, 650, 660, 670, 680, 690, or 700 mm.
In some embodiments, the robot may comprise a width of about 500 mm. In some embodiments, the robot may comprise a width of at least about 300, 310, 320, 330, 340, 350, 360, 370, 380, 390, 400, 410, 420, 430, 440, 450, 460, 470, 480, 490, 500, 510, 520, 530, 540, 550, 560, 570, 580, 590, or 600 mm. In some embodiments, the robot may comprise a width of at most about 300, 310, 320, 330, 340, 350, 360, 370, 380, 390, 400, 410, 420, 430, 440, 450, 460, 470, 480, 490, 500, 510, 520, 530, 540, 550, 560, 570, 580, 590, or 600 mm.
In some embodiments, the robot may comprise a height of about 700 mm. In some embodiments, the robot may comprise a height of at least about 200, 210, 220, 230, 240, 250, 260, 270, 280, 290, 300, 310, 320, 330, 340, 350, 360, 370, 380, 390, 400, 410, 420, 430, 440, 450, 460, 470, 480, 490, 500, 510, 520, 530, 540, 550, 560, 570, 580, 590, 600, 610, 620, 630, 640, 650, 660, 670, 680, 690, 700, 710, 720, 730, 740, 750, 760, 770, 780, 790, or 800 mm. In some embodiments, the robot may comprise a height of at most about 200, 210, 220, 230, 240, 250, 260, 270, 280, 290, 300, 310, 320, 330, 340, 350, 360, 370, 380, 390, 400, 410, 420, 430, 440, 450, 460, 470, 480, 490, 500, 510, 520, 530, 540, 550, 560, 570, 580, 590, 600, 610, 620, 630, 640, 650, 660, 670, 680, 690, 700, 710, 720, 730, 740, 750, 760, 770, 780, 790, or 800 mm.
In some embodiments, the robot may comprise a volume of about 0.168 m3. In some embodiments, the robot may comprise a volume of at least about 0.01, 0.02, 0.03, 0.04, 0.05, 0.06, 0.07, 0.08, 0.09, 0.1, 0.2, or 0.3 m3. In some embodiments, the robot may comprise a volume of at most about 0.01, 0.02, 0.03, 0.04, 0.05, 0.06, 0.07, 0.08, 0.09, 0.1, 0.2, or 0.3 m3.
In some embodiments, the robot may be operable to travel at a speed of about 1.8 km/h. In some embodiments, the robot may be operable to travel at a speed of at least about 0, 0.6, 1.2, 1.8, 2.4, 3, or 3.6 km/h. In some embodiments, the robot may be operable to travel at a speed of at most about 0.6, 1.2, 1.8, 2.4, 3, or 3.6 km/h.
In any of the embodiments described herein, the robot may be configured to turn in place (e.g., when the robot is moving through or navigating an area, but not actively cleaning). In some embodiments, the robot may be configured to turn with a minimum turning radius (e.g., during a cleaning operation) to ensure that the squeegee can perform its job of wiping off any excess solution and/or water from the floor. In some embodiments, the robot may have a minimum turning radius of about 500 mm during a cleaning operation. In some embodiments, the robot may have a minimum turning radius of at least about 500, 600, 700, or 800 mm during a cleaning operation. In some embodiments, the robot may have a minimum turning radius of at most about 500, 600, 700, or 800 mm during a cleaning operation. In some cases, the robot's minimum turning radius may change depending on whether or not the robot is operating in a cleaning mode (e.g., whether or not the robot is performing a cleaning operation). In some cases, the robot may be configured to turn in place (i.e., its minimum turning radius may be zero). In some embodiments, the robot's ability to turn or rotate in place may be enabled by its square shape profile, which may be advantageous over other robot form factors that are based on a rectangular or round shape profile. In some cases, the square shape profile may allow the robot to clean corners while still maintaining the ability to turn in place and overall robot maneuverability during a cleaning operation (e.g., by way of a tight turning radius during cleaning).
In some embodiments, the robot may comprise a battery. In some embodiments, the battery may comprise an operational voltage that is safe for a human being. In some embodiments, the battery may comprise an operating voltage of about 24 V. In some embodiments, the battery may comprise an operating voltage of at least about 12, 18, 24, 30, or 36 V. In some embodiments, the battery may comprise an operating voltage of at most about 12, 18, 24, 30, or 36 V. In some embodiments, the battery may comprise a capacity of about 600 Wh. In some embodiments, the battery may comprise a capacity of at least about 200, 300, 400, 500, 600, 700, 800, 900, 1000, 1100, or 1200 Wh. In some embodiments, the battery may comprise a capacity of at most about 200, 300, 400, 500, 600, 700, 800, 900, 1000, 1100, or 1200 Wh. In some embodiments, the battery may be rechargeable.
In some embodiments, the robot may be capable of an operation time of about 1 hour on a full battery. In some embodiments, the robot may have an operation time of at least about 0.5, 1, 1.5, 2, 2.5, 3, 3.5, or 4 hours. In some embodiments, the robot may have an operation time of at most about 0.5, 1, 1.5, 2, 2.5, 3, 3.5, or 4 hours. In some embodiments, the robot may be configured to operate on battery power for up to 4 hours or more. In some embodiments, the robot may operate for 1.5 to 2 hours in maximum performance mode, 3.5 to 4 hours in eco mode, and up to 15.5 hours or more in a mop only mode (whereby the brush motor and vacuum motors are turned off).
In some embodiments, the robot may have a productivity rate of about 500 m2/h. In some embodiments, the robot may have a productivity rate of at least about 100, 200, 300, 400, 500, 600, 700, 800, 900, 1000, 1100, 1200, 1300, 1400, 1500, 1600, 1700, or 1800 m2/h. In some embodiments, the robot may have a productivity rate of at most about 100, 200, 300, 400, 500, 600, 700, 800, 900, 1000, 1100, 1200, 1300, 1400, 1500, 1600, 1700, or 1800 m2/h. The productivity rate may correspond to an area cleaned per unit time.
In some aspects, the present disclosure provides a compact robot for cleaning. The compact robot may have any of the dimensions, specifications, or operational characteristics described herein.
In some embodiments, the robot comprises a chassis. The chassis may comprise a housing for various components or subsystems of the robot. In some cases, the chassis may be reinforced to prevent the robot from tipping over when travelling on an uneven surface.
Referring to
In some embodiments, the robot may comprise a drive mechanism to transport the robot. The drive mechanism may comprise wheels, conveyor belts, treads, rollers, magnets, and the like. In some cases, the drive mechanism may not or need not comprise a transaxle. The drive mechanism may allow the robot to turn in place 360 degrees on the ground (thereby minimizing the robot turning radius) and maneuver in tight spots or areas.
In some embodiments, the robot may comprise one or more brushes. The one or more brushes may comprise a brush assembly. In some embodiments, the brush assembly comprises a cylindrical rolling brush. The cylindrical rolling brush may be configured to process or displace debris or other foreign objects that are in front of the robot. In some embodiments, the brush assembly comprises two disc-shaped side brushes. The cylindrical rolling brush may be positioned substantially between the two disc-shaped side brushes. In some embodiments, the brush assembly may further comprise a trash hopper behind the cylindrical rolling brush. In some embodiments, the brush assembly may further comprise a drive wheel assembly. In some embodiments, the brush assembly may further comprise a squeegee assembly.
In some embodiments, the robot may comprise at least one main brush and at least two side brushes. The at least one main brush and at least two side brushes may be configured for different cleaning tasks or purposes.
In some embodiments, a robot may comprise a brush. In some embodiments, the brush may be used for floor sweeping, floor scrubbing, floor washing, or any combination thereof. In some cases, it may be advantageous to have a brush that has minimized dead corners (e.g., places where a brush cannot reach or has difficulty in reaching for cleaning and/or applying sufficient pressure for cleaning).
In some embodiments, a body of a brush 2704 may comprise long bristles, short bristles, outer bristles, or any combination thereof. In some embodiments, the long bristles and/or the short bristles may be provided at a lower side of the base portion 2703. In some embodiments, the outer bristles may be provided at an external side of the base portion 2703. In some embodiments, the long bristles, short bristles, outer bristles, or a combination thereof may be efficient at cleaning dead corners. In some embodiments, springs may be provided with the brush. In some embodiments, the springs may reduce or prevent damage to the brush in a cleaning operation.
In some embodiments, the long bristles and the short bristles may be arranged in an alternating order, e.g., “long-short-long-short.” In some embodiments, the long bristles, the short bristles, and/or the outer bristles may be orientated obliquely.
In some embodiments, a protective housing 2709 may be provided at an exterior of the mounting portion 2701 and a base portion 2703. In some embodiments, the protective housing may reduce or prevent collision damage to the brush. In some embodiments, the protective housing 2709 may comprise an elastic material.
In some embodiments, a rotary shaft may be provided with the brush. In some embodiments, the rotary shaft may pass through a center of an adjusting portion 2702. In some embodiments, the rotary shaft may extend from a mounting portion 2701. In some embodiments, the adjusting portion 2702 may include one or more, or a plurality of adjustment rods. In some embodiments, springs may be provided to the adjustment rod. In some embodiments, an upper end of the adjustment rod may abut against the mounting portion 2701. In some embodiments, a lower end of the adjustment rod may abut against the base portion 2703. In some embodiments, the adjustment rod may be configured to adjust a height of the brush body 2704.
In some embodiments, a ring-shape protection may be provided to the adjustment rod. In some embodiments, the ring-shape protection may comprise elastic material. In some embodiments, the ring-shape protection may reduce or prevent damage to the adjustment rod during a cleaning operation.
In some embodiments, the brush may comprise a floating brush mechanism. In some embodiments, a robot may comprise a left brush and a right brush. In some embodiments, the brush may be installed on a brush head assembly. In some embodiments, the left brush may be installed on a brush head assembly. In some embodiments, the right brush may be installed on a brush head assembly. In some embodiments, the brush may be installed on the brush head assembly by one or more guide posts (e.g., four guide posts). In some embodiments, the one or more guide posts may be disposed perpendicular to a horizontal plane (e.g., in reference to the ground). In some embodiments, the brush may float in a vertical direction within a predetermined stroke.
In some embodiments, a pressure may applied onto the ground in an operational state. In some embodiments, a pressure may applied onto the ground with springs installed on a guide post. In some embodiments, a pressure may applied onto the ground with springs installed on four guide posts. In some embodiments, the brush head assembly may be lifted up from the ground. In some embodiments, the brush head assembly may be lifted up from the ground in a non-operational state. In some embodiments, a side brush may be lifted up to a predetermined height. In some embodiments, a side brush may be lifted up by a set of pulley mechanism and/or a steel wire. In some embodiments, the set of pulley mechanisms and/or the steel wire may facilitate installation and/or detachment of the side brush.
In some embodiments, the left side brush and/or the right side brush may be each installed on a brush head assembly by 1, 2, 3, or 4 guide posts. In some embodiments, the guide posts may be disposed perpendicular to the horizontal plane (e.g., in reference to the ground). In some embodiments, the brush may be floating in a vertical direction within a predetermined stroke. In some embodiments, the guide post may be provided with a compressed spring. In some embodiments, the side brush may be coupled to a chassis. In some embodiments, the side brush may be coupled to a chassis via a steel wire and/or a set of pulley mechanisms.
In some embodiments, the brush head assembly is lowered to touch the ground in an operation state. In some embodiments, no force is applied on the steel wire in the operational state. In some embodiments, a pressure is applied onto the side brush from the spring in the operational state. In some embodiments, the brush head assembly is lifted up in a non-operational state. In some embodiments, the side brush is lifted up to a predetermined height by the set of pulley mechanism and/or the steel wire to facilitate installation and detachment of the side brush in the non-operational state.
In some embodiments, the robot may comprise one or more floating brushes that can be controlled to adjust a pressure applied by the brushes to a cleaning surface. The pressure can be adjusted to optimize brushing efficiency.
Each side brush may comprise a plurality of bristles and at least one liquid displacing component extending from the side brush body. The liquid displacing component can be configured to displace used liquid from the floor toward a predetermined direction or region as the side brush is being moved (e.g. rotated). The used liquid can be, for example the cleaning liquid (that has been sprayed via the liquid ejection holes onto the floor) which carries dirt, debris, or foreign materials after a cleaning action has been performed by the bristles.
In some instances, a liquid displacing component can comprise an elastic blade. The elastic blade may be made of rubber or any suitable elastic polymer. In some instances, the elastic blade can be detachably coupled to the side brush body, to allow for blade replacement or repair. An edge of the elastic blade may be in contact or close proximity with the floor as the robot with the side brushes is being operated. The elastic blade may be capable of bending or flexing when it contacts the floor. In some instances, the elastic blade may be located above the floor with a gap. A height of the gap may be, for example, about 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 mm, or any value therebetween.
As shown in
As shown by the arrows for the water gathering route in
The configuration as shown in
The side brushes shown in
In some embodiments, the elastic blades described can be operated without requiring cleaning liquid to be sprayed or dispensed from the side brushes. In such embodiments, there is no need to direct cleaning liquid from the solution tank of the robot to the side brushes. In some instances, the side brushes (or an area proximal to the side brushes) need not have any liquid ejection holes since the elastic blades are capable of operating without cleaning liquid being dispensed from the side brushes. For example, the elastic blades described can be capable of guiding, transferring and/or spreading at least a portion of the cleaning liquid, that is dispensed from a middle bottom portion of the robot, into the area of the side brushes. This can be useful, for example to prevent excessive cleaning liquid from accumulating on the floor and spreading beyond the footprint of the robot. For example, if cleaning liquid is already being dispensed from a middle bottom portion of the robot, further dispensing of cleaning liquid from or near the side brushes may lead to excess cleaning liquid build-up, sloshing and spreading beyond the robot footprint, which can affect the cleaning performance of the robot. Accordingly, the ability to allow for the elastic blades to be operated independent of whether the side brushes are (or are not) dispensing cleaning liquid, can be a useful feature for improving cleaning performance of the robot. This can also allow the form factor and footprint of the robot to be maintained and made more compact (e.g., keeping the elastic blades within a diameter/area of the side brushes, and/or keeping the existing length of the squeegee as shown in
In some embodiments, a ratio of (1) the cleaning liquid volume dispensed from the middle of the robot to (2) the cleaning liquid volume dispensed from the side brushes, can be dynamically adjusted by the robot to maintain or improve cleaning performance. For example, the above ratio can be adjusted to prevent excess cleaning liquid build-up, sloshing and spreading beyond the robot footprint. In some instances, the ratio of cleaning liquid dispensed (middle:side brushes) may be 10:1, 9:1, 8:1, 7:1, 6:1, 5:1, 4:1, 3:1, 2:1, or a ratio that is between any of the foregoing. In certain instances, all of the cleaning liquid is entirely dispensed from the middle of the robot, and no cleaning liquid is dispensed at all from the side brushes. In some embodiments, the liquid ejection holes on or near the side brushes may be optional. In certain cases, the side brushes (or a vicinity of the side brushes) do not have any liquid ejection holes.
In some embodiments, the robot may comprise a hopper. In some embodiments, a hopper may be configured to collect garbage from a brush or a scrubber. In some embodiments, the hopper may comprise a sufficiently small volume such that it is easy for a human to replace, clean, empty, or refill the hopper. In some embodiments, the hopper may comprise about 0.4 L in volume. In some embodiments, a hopper may comprise at least about 0.1, 0.2, 0.3, 0.4, 0.5, 1, 2, 3, 4, or 5 L in volume. In some embodiments, the hopper may comprise at most about 0.1, 0.2, 0.3, 0.4, 0.5, 1, 2, 3, 4, or 5 L in volume. As shown in
In some cases, the hopper may be positioned behind one or more brushes of the robot. In some cases, the hopper may be configured to receive and/or collect pieces of debris or foreign materials that have been directed to the hopper by the one or more brushes. For instance, the hopper may comprise an opening toward the one or more brushes, through which the debris or foreign materials are introduced into the hopper. An lower edge of the opening of the hopper may maintain a close contact with the floor, such that even small pieces of the debris or foreign materials are collected into the hopper. In an example, the lower edge of the opening of the hopper may comprise an elastic blade which is in contact with the floor.
In some embodiments, the hopper may be configured to receive a solid garbage. In some embodiments, the hopper may be configured to receive a mixture of solid garbage and water content and filter the water content out. The mixture of solid garbage and water content can be produced from the main brush as a result of the cleaning liquid sprayed or dispensed from the spray bar, as described elsewhere in the disclosure. For example, a bottom surface of the hopper may comprises a plurality of drain holes. A size of the drain holes can be selected to pass out a water content while keeping the solid garbage within the hopper. The water content may then be picked up and removed by the squeegee, as described elsewhere in the disclosure.
In some embodiments, the robot may comprise a tank provided within the chassis of the robot.
In some embodiments, the tank integrates a solution tank and a waste water tank. In some embodiments, the tank comprises a solution tank integrated with a waste water tank. In some embodiments, the liquid in the solution tank is substantially evenly sprayed onto the rolling brush and/or the side brushes for cleaning the ground. In some embodiments, a vacuum is generated in the waste water tank. In some embodiments, the vacuum is generated using a water suction motor assembly. In some embodiments, a negative pressure is generated in a water suction pipe to collect the waste water on the ground back to the waste water tank. In some embodiments, a foldable handle is provided on top of the cleaning machine. In some embodiments, a front side of the cleaning machine is provided with sensors such as radar, binocular camera, TOF, or any combination thereof.
In some embodiments, the robot may comprise a tank. In some embodiments, the tank may comprise a sufficiently small volume such that it is easy for a human to replace, clean, empty, or refill the tank. In some embodiments, the tank may comprise about 10 L or 11 L in volume. In some embodiments, a tank may comprise at least about 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, or 20 L in volume. In some embodiments, a tank may comprise at most about 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, or 20 L in volume. In some embodiments, a tank may be a recovery tank, a solution tank, or any other tank for holding a liquid.
In some embodiments, the robot may comprise at least two spatially separated tanks. In some embodiments, the at least two spatially separated tanks may be adjacently separated by a partition. In some embodiments, the at least two spatially separated tanks may be non-adjacently separated. In some embodiments, the at least two spatially separated tanks may be configured to prevent or reduce cross-contamination between contents of the at least two tanks. In some embodiments, the at least two tanks may comprise elevated spouts that are configured to prevent or reduce cross-contamination between contents of the at least two tanks. In some embodiments, one of the at least two spatially separated tanks may be a tank for holding water and/or cleaning solution. In some embodiments, one of the at least two spatially separated tanks may be a tank for holding dirty water or used cleaning solution. In some embodiments, the tank for holding the water and/or cleaning solution may comprise a cap or a spout of a first distinct shape or color. In some embodiments, the tank for holding the dirty water or the used cleaning solution may comprise a cap or a spout of a second distinct shape or color. In some embodiments, the first distinct shape or color may be different from the second distinct shape or color. In some embodiments, the first distinct shape or color may be different from the second distinct shape or color such that a user can tell which tank is for holding the water and/or cleaning solution versus dirty water or used cleaning solution. In some embodiments, the tank may comprise a UV disinfectant system operably coupled thereto. In some embodiments, the tank for holding the dirty water or used cleaning solution may comprise a UV disinfectant system operably coupled thereto.
In some embodiments, the robot may comprise a solution tank as described elsewhere herein. The solution tank may be configured to hold both clean water and a cleaning solution. In some cases, a user may fill the solution tank with clean water and add cleaning detergent. In some cases, the solution tank may be (a) filled with a pre-mixed cleaning solution or (b) filled with clean water that the robot can automatically mix cleaning detergent with at or near the point of dispensing the cleaning solution onto the floor.
In some embodiments, a robot may comprise a squeegee. The squeegee may be used to clean or remove waste water or water residue from the floor being cleaned. In some embodiments, a negative pressure can be applied to collect the waste water from the floor back to the waste water tank. As described elsewhere in the disclosure, cleaning water can be sprayed or dispensed onto the brush and/or the floor ahead of the brush, such that the debris or foreign materials may be removed from the floor with a friction between the brush and the floor. A mixture of the debris or foreign materials and the cleaning water may subsequently be collected into the hopper. The water content in the mixture may be filtered out from a bottom of the hopper onto the floor. The water content (e.g., waster water) may then be collected by the squeegee and transferred from the floor to the waste water tank with the aid of a negative pressure.
In some embodiments, the squeegee component comprises a consumable part. In some embodiments, the squeegee may comprise a consumable part that is convenient and quick for detachment and/or installation.
In some embodiments, a robot may comprise a squeegee capable of quick replacement without a tool. In some embodiments, the squeegee may be an integrated squeegee component.
In some embodiments, the squeegee may comprise a front squeegee strip. In some embodiments, the squeegee may comprise a rear squeegee strip. In some embodiments, the front squeegee strip and the rear squeegee strip comprise a rubbery material.
In some embodiments, the squeegee comprises a frame. In some embodiments, the frame comprises a plastic material.
In some embodiments, the integrated squeegee component comprises at least 1 or 2 rubber pads. In some embodiments, a rubber pad comprises a mounting hole.
In some embodiments, the robot may comprise at least 1 or 2 ball head mount rods. In some embodiments, the ball head mount rod may be provided on a bracket on the robot. In some embodiments, the ball head meant rod may couple with the squeegee component. In some embodiments, the diameter of the ball head is larger than the mounting hole of the rubber pad. In some embodiments, when installing and removing the squeegee component onto and from the cleaning robot, the ball head is squeezed into the mounting hole of the rubber pad to realize a quick detachment and installation without a tool. In some embodiments, when installing the squeegee component onto the cleaning robot, an operator may align the ball head with the mounting hole of the rubber pad, and push the ball head into the mounting hole of the rubber pad. In some embodiments, when detaching the squeegee component from the cleaning robot, an operator may press the squeegee component down from the mounting bracket on the cleaning robot without needing a specific tool.
In some embodiments, the robot may comprise a handle for operating, pushing or carrying the robot. The handle can be used to engage an operational mode, to control the robot in a selected mode, or to switch between different operational modes.
In some embodiments, in an operating state, the brush assembly and the squeegee assembly are lowered to the ground. In some embodiments, when the handle is opened, the cleaning machine is in a manual operation mode. In some embodiments, in the manual operation mode, a cleaning operation or a map constricting operation can be performed. In some embodiments, when the handle is closed, the cleaning machine is in an automatic operation mode.
In some aspects, the present disclosure provide a structure for distributing cleaning detergent. In some embodiments, the structure may comprise a substantially circular detergent balls. In some embodiments, the circular detergent balls may automatically drop into the water tank. In some embodiments, the circular detergent balls may automatically drop into the water tank by gear rotation transmission, a spring, gravity, or any combination thereof. In some embodiments, the detergent balls may be configured to dissolve in water in less than about one minute, to create detergent water. In some embodiments, the structure may comprise a detergent sheet. The detergent sheet may be paper-thin, dissolvable sheets that have all the necessary ingredients to create detergent water. The detergent sheet may automatically drop into the water tank. In some embodiments, the detergent sheet may be configured to dissolve in water in less than about 20 seconds to create the detergent water.
In some embodiments, a user may manually engage a button on the robot (e.g., pressing or rotating a button). In some embodiments, engaging the button may result in at least one of a plurality circular detergent balls in a funnel container dropping into the water tank (e.g., through a rotation of a gear and gravity). In some embodiments, the circular detergent ball dissolves in the water in less than about one minute, turning the water in the water tank into detergent liquid. In some embodiments, the detergent liquid is automatically sprayed onto the ground. In some embodiments, the user can determine the number of detergent balls to be added in the water tank based at least in part on a cleanness of the ground.
In some embodiments, the robot may comprise a bumper. In some embodiments, the robot may comprise a bumper assembly. In some embodiments, the bumper assembly may comprise a bumper. In some embodiments, the bumper may be located in front of one or more drive wheels of the robot. In some embodiments, the bumper assembly may comprise a bumper support. In some embodiments, the bumper support may be configured to support the bumper. In some embodiments, the robot may comprise a first cage (e.g., at an upper relative location), a second cage (e.g., at a lower relative location). In some embodiments, the first cage, the second cage, or both may be installed on the chassis. In some embodiments, one or more balls may be installed in the cages. In some embodiments, the robot may comprise one or more micro switches. In some embodiments, the one or more micro switches may comprise two or more micro switches (e.g., one on the left side and the other one on the right side in a lateral direction). In some embodiments, the one or more micro switches may be installed on the chassis. In some embodiments, the robot may comprise one or more levers. In some embodiments, the one or more levers may comprise two or more levers. In some embodiments, the one or more levers may be installed on the chassis. In some embodiments, the lever may comprise or be operably connected to a restoring spring. In some embodiments, the bumper or the bumper assembly may be configured to actuate a micro switch when bumped. In some embodiments, the micro switch may be configured to stop the robot when actuated. For example, if the robot collides with an obstacle in front of the robot during an autonomous operation, the bumper can be displaced within a predetermined stroke and the micro switch can be actuated, such that the robot can be stopped for safety. In some embodiments, a robot may be equipped with a radar, a camera, or both. In some embodiments, the radar, the camera, or both may be used for navigating the robot. In some embodiments, the radar, the camera, or both may be used for detecting obstacles. In some cases, a robot comprising the bumper or the bumper assembly may be advantageous to a robot having only vision or sound sensors, because the bumper or the bumper assembly may provide obstacle detection where the vision or sound sensors may have blind spots. For example, during an autonomous operation of the robot, the robot is not able to stop if it is unable to detect an obstacle in a blind spot.
In some cases, the bumper system can be equipped with auto backward movement and switch off functions when the machine is close to an obstacle in emergency situation where the reaction time is not enough for it to move around an object.
In some cases, the robot may comprise an attachment mechanism for attaching various components to the robot. The attachment mechanism may comprise, for example, a magnetic attachment. The magnetic attachment may enable attachment of a brush, a squeegee, a bumper, a hopper, or any other component of the robot on the body or chassis of the robot.
In some embodiments, the robots or machines may comprise a treatment or sanitization subsystem. The treatment or sanitization subsystem may be configured to perform a treatment operation (e.g., a sanitization operation or a disinfection operation) for one or more components or portions of the robot or machine. In some cases, the treatment or sanitization subsystem may be configured to treat or sanitize a hazardous or toxic material or any other material that can be harmful to human health.
In some cases, a gas or a fluid may pass through a portion of the robot or machine to perform a cleaning operation. The gas may comprise, for example, ambient air that can be sucked into the robot or machine from the environment surrounding the robot or machine (e.g., by way of a vacuum or a negative pressure source). The fluid may comprise, for example, water, cleaning fluid, or any mixture thereof. In some cases, the gas or fluid may be used to pick up or transport dirt, debris, or other unclean objects or substances from an environment or area to be cleaned. In some cases, the gas or fluid may be used to remove dirt, debris, or other unclean objects from an environment or area to be cleaned. In some cases, the gas or fluid may serve as a substrate which can carry debris, and the gas or fluid may be sucked into the cleaning machine (e.g., by using a negative pressure source). Alternatively or additionally, the gas or fluid may serve as a sanitizing material or substance.
In some embodiments, the gas or fluid may pass through one or more components or subsystems of the robot or machine (e.g., a filter or a recovery tank), and the one or more components or subsystems may build up dirt, debris, or other unclean objects or substances over time (either naturally over the course of machine operation, or due to insufficient cleaning of the components or subsystems by an operator of the robot or machine). This can generate an odor, and in some cases, the dirt, debris, or other unclean objects or substances can be hazardous, toxic, or otherwise harmful to human health. In such a scenario, the treatment or sanitization subsystem described above can be used to perform a treatment procedure and/or to at least partially sanitize or disinfect the dirt, debris, or other unclean objects or substances collected during a cleaning operation in order to make the dirt, debris, or other unclean objects or substances less hazardous, toxic, or harmful. The treatment or sanitization process may optionally involve treatment of waste water to reduce biohazard exposure and to mitigate health risks to operators.
In some cases, the treatment or sanitization subsystem can be integrated with or embedded in a component or another subsystem of the robot or machine. The component or other subsystem of the robot or machine may comprise, for example, a recovery tank of the robot or machine. In some cases, the treatment or sanitization subsystem can be provided on or coupled to an external portion of the robot or machine for ease of access, servicing, or maintenance. In some cases, the treatment or sanitization subsystem may be activated when the recovery tank is closed.
In one non-limiting example, the treatment or sanitization subsystem can comprise a light source configured to irradiate a material with light in order to perform a disinfection or sanitization process. In some cases, the light source may be attached to or integrally formed on an inside portion of a recovery tank of a cleaning robot or a machine.
In some cases, the light source may comprise a UV light source. The UV light source may comprise one or more UV-LEDs. The UV light source may emit light having a wavelength corresponding to ultraviolet (UV) light. In some cases, the treatment or sanitization subsystem may comprise a UV light or a UV-C light having potent germicidal properties (e.g., the ability to inactivate viruses and bacteria). In some cases, the wavelength of light may range from about 100 nanometers (nm) to about 280 nm. Exposure to the light may result in sanitization or disinfection, or even sterilization depending on how much UV energy is emitted.
In some cases, the UV light source may be powered by a power supply located on the robot or machine. In some cases, the UV light source can be powered by a solar panel. The solar panel may comprise one or more solar energy cells. In some embodiments, a solar panel and/or a power source can be electrically coupled to the UV light source to provide power to the UV light source (e.g., at different times during the day).
As described above, the UV light source may comprise one or more UV-LEDs. In some cases, the one or more UV-LEDs may be provided in a grid pattern. Alternatively, the UV-LEDs may be provided in a radial pattern, or any regular or irregular pattern. In some cases, a plurality of UV-LEDs may be controlled, either individually or collectively, to illuminate a component or an internal area or volume of the robot or machine for cleaning, treatment, sanitization, and/or disinfection.
In some embodiments, the robots or machines described herein may be configured to monitor the cleanliness level of the waste water or recovery tank. In some cases, the robots or machines may be configured to activate a UV light periodically to help sanitize, disinfect, or de-odorize the tank after it has been emptied. In some cases, the robots or machines may monitor the cleanliness of the tank inside the robot or machine which is used to recover waste water, which can contain contaminants, dirt, used cleaning solution, and other harmful or undesirable materials or substances. In some embodiments, a tank disinfecting, sanitization, or de-odorizing cycle can be activated after the conclusion of every cleaning operation, as long as the tank has been emptied of waste water. In some embodiments, a tank disinfecting, sanitization, or de-odorizing cycle can be activated based on the floor area cleaned or the duration of cleaning. In some embodiments, a tank disinfecting, sanitization, or de-odorizing cycle can be activated based on a measurement of the dirtiness level of the water that is in the waste water tank, or the dirtiness level of the waste water tank once it has been emptied. In some instances, a UV light may be used for the tank disinfecting, sanitization, or de-odorizing cycle. If a UV light is used to disinfect or sanitize the interior of a waste water tank or a recovery tank, then the tank may be lined with a metallic material, since UV light can cause damage to plastic linings.
In some cases, the robot may comprise one or more filters. The filters may comprise a high efficiency particulate air (HEPA) filter. The filters may be configured to capture dust or dirt particles that are flowing into or through the robot (e.g., when the robot utilizes a vacuum or another negative pressure source to collect dust or debris).
Referring back to
In some embodiments, the robot may be autonomously operated based at least partially on a map. In some embodiments, the map may be constructed using a mapping method. In some embodiments, the mapping method may be constructed based at least partially on a user input. In some embodiments, the user input may comprise pushing the robot using a handle. In some embodiments, the mapping method may comprise using a simultaneous localization and mapping (SLAM) or visual SLAM (VSLAM) method. In some embodiments, the mapping method may comprise using sensor data from one or more sensors. In some embodiments, the one or more sensors may be disposed on the robot. In some embodiments, the one or more sensors may be fused. In some embodiments, the mapping method may comprise calculating a movement trajectory and/or position information of the robot.
In some embodiments, the mapping method may comprise opening a handle of the robot. In some embodiments, the mapping method may comprise scanning a position calibration code using a vision sensor and/or a navigation sensor. In some embodiments, the calibration code may comprise a QR code or a barcode. In some embodiments, the mapping method may comprise pushing the handle. In some embodiments, pushing the handle may initiate calculation of a trajectory and/or position information of the robot. In some embodiments, the calculation may be based at least partially on data (e.g., VSLAM data) collected through one or more vision and/or one or more navigation sensors configured or implemented for SLAM or VSLAM applications. In some embodiments, the method may comprise releasing the handle. In some embodiments, the method may comprise scanning the position calibration code a second time. In some embodiments, scanning the position calibration code the second time saves the map on a digital storage device.
The systems disclosed herein may comprise one or more sensors. The one or more sensors may comprise one or more vision sensors and/or one or more navigation sensors. The one or more vision sensors may be configured to create a visualization of the robot's surrounding environment, or otherwise simulate or model the surrounding environment based on data obtained using the one or more sensors. The one or more navigation sensors may be used to obtain data that can be used by the robot to navigate a surrounding environment or travel along a path while avoiding obstacles. In some non-limiting embodiments, the one or more sensors may comprise a binocular camera, a radar unit, a time-of-flight (TOF) camera, a LIDAR unit, an ultrasonic or infrared sensor, a cliff sensor that utilizes ultrasonic or infrared waves, an inertial unit (e.g., an inertial measurement unit or IMU), an accelerometer, a velocity sensor, an impact sensor, a position sensor, a GPS, a gyroscope, an encoder, an odometer, or any other type of sensor as described elsewhere herein.
In some embodiments, the one or more sensors may be configured to obtain operational data for a robot or a machine. In some embodiments, the one or more sensors may be configured to obtain data about an environment in which the robot or machine is operating, or one or more objects in the environment. The one or more objects may comprise stationary objects or moving objects.
In some embodiments, the one or more sensors may comprise, for example, a wheel sensor, an encoder, or a clock or a timing unit for measuring machine or component operational time.
In some embodiments, the one or more sensors may comprise an ATP sensor. In some cases, the one or more sensors may be configured to sense a type of dirt being cleaned, detect the presence of a bacteria, virus, or pathogen in a target area or the air surrounding the target area, and/or determine a type of bacteria, virus, or pathogen. In some embodiments, the one or more sensors may comprise an air quality sensor.
In some embodiments, the one or more sensors may comprise a vision sensor (e.g., a computer vision sensor) and/or a navigation sensor. The vision sensor and/or the navigation sensor may comprise a lidar unit, a time of flight (TOF) camera, a binocular vision camera, or an ultrasonic sensor. In some cases, the vision sensor and/or the navigation sensor may be configured to detect debris on a floor. In some cases, a processor that is operatively coupled to the vision sensor and/or the navigation sensor may be configured to reprioritize a robot's route, a machine's route, or a cleaning routine/logic to pick up the remaining debris or to minimize the amount of debris remaining after a cleaning operation. In some cases, the one or more visions sensors and/or the one or more navigation sensors can be used to detect water on a floor or water remnants/residue, and navigate the robot towards or around the water remnants/residue.
In some cases, the one or more vision sensors may be configured to detect a change in an amount or intensity of light in a cleaning environment. For example,
In some embodiments, the one or more sensors may comprise an impact sensor or an accelerometer that is configured to sense impacts and abuse. The impact sensor or accelerometer can be used to measure and report the force of the impact and sense abnormal impacts. In some cases, the data obtained using the impact sensor or accelerometer can be provided to a processing unit. In some cases, the processing unit may be configured to generate one or more signals based on the processing of said data. The one or more signals may correspond to an instruction to send a push notification for an impact event, or to notify an operator of the impact event via a display or a screen.
In some embodiments, the one or more sensors may be configured to detect amp draw for one or more motors of a cleaning machine or robot. In some cases, the one or more sensors can also detect changes or variations in amp draw over time, which can indicate sub-optimal robot or machine operation or usage.
In some cases, the one or more sensors may be configured to obtain one or more sensor readings. The one or more sensor readings may indicate the cleanliness of waste water collected by the machine, or the quality of air of the environment. In some cases, the quality of the air may be determined based on a cleanliness of a filter used to capture and filter particles from the air of the environment in which a cleaning robot or machine is operated. In some non-limiting embodiments, the one or more sensor readings may be derived using a total dissolved solids (TDS) sensor.
In some embodiments, the one or more sensors may be configured to measure light reflectivity of a surface. The measurements of light reflectivity may indicate the relative cleanliness of the surface. The measurements of light reflectivity may be taken before and after cleaning and compared to determine a change in a reflectivity of the surface due to a cleaning operation.
In some embodiments, the one or more sensors may be configured to obtain operational data for a robot or machine. In some embodiments, the operational data may comprise information on a frequency at which one or more treatment or sanitization procedures occur or need to occur. In some cases, the operational data may comprise information on a duration for which treatment or sanitization procedures occur or need to occur.
In some embodiments, the one or more sensors may comprise one or more vision sensors as described above. In some cases, the vision sensors may be configured to detect debris on a floor. In some cases, the vision sensors may be configured to detect the amount or level of water remaining on a floor or a surface.
In some embodiments, the one or more sensors may comprise an impact sensor or an accelerometer as described above. The impact sensor or accelerometer can be used to determine cleaning efficiency, and whether the robot, machine or an operator of the robot or machine has followed an optimal path or cleaning routine (i.e., whether the actual path or cleaning routine used corresponds to a trained or reference path or cleaning routine).
In some embodiments, the one or more sensors may comprise one or more sensors that can detect pollutants or particles in the air. In some cases, the one or more sensors can be configured to detect a concentration of the pollutants or particles relative to other particles present in the air.
The operational data of one or more robots or machines in a fleet may be gathered or obtained using one or more sensors of the one or more robots or machines. In some cases, the one or more sensors may comprise one or more vision sensors and/or one or more navigation sensors as described elsewhere herein. In some cases, the one or more sensors may comprise a position sensor, a GPS unit, an encoder, an odometer, an accelerometer, an inertial measurement unit (IMU), a gyroscope, or a velocity sensor. In some cases, the one or more sensors may comprise, for example, a temperature sensor, a pressure sensor, a humidity sensor, or any other type of environmental sensor for sensing the conditions of the environment in which the one or more robots or machines are being operated. In some cases, the one or more sensors may comprise an optical sensor or a vision sensor as described elsewhere herein. The optical sensor or vision sensor may comprise, for example, an imaging sensor or a camera. In some cases, the one or more sensors may comprise a lidar sensor, a vision sensor, a time of flight sensor (e.g., a 3D time of flight sensor), a binocular vision sensor, a stereoscopic vision sensor, or an ultrasound sensor.
In some embodiments, the operational data may be received from a single robot and/or machine or from multiple robots and/or machines. In some cases, the operational data may be received from multiple robots and/or machine in series or sequentially. Alternatively, the operational data may be received from multiple robots and/or machines simultaneously or concurrently. As described above, the robots and/or machines may comprise autonomous, semi-autonomous, and/or non-autonomous robots or machines, or any combination thereof. Any combination of robots and/or machines, including autonomous, semi-autonomous, and non-autonomous machines or robots, can be used together to implement the systems and methods of the present disclosure.
In some cases, the operational data may comprise information on a geographical location of the one or more robots or machines. In some cases, the operational data may comprise information on a position, an orientation, or a pose of the one or more robots or machines. In some cases, the operational data may comprise information on a spatial distribution of the one or more robots or machines across an area or an environment.
In some cases, the operational data may comprise information on a battery level or a charge status of the one or more robots or machines and/or the one or more components of the one or more robots or machines. The battery level or charge status may indicate how long the robot or machine has been in operation, and how long the robot or machine may continue operating before losing power.
In some cases, the operational data may comprise fault information or alarm information for the one or more robots or machines and/or the one or more components of the one or more robots or machines. In some cases, the fault information may be generated automatically by the one or more robots or machines. In some cases, the fault information may be manually reported or generated by a user or an operator of the one or more robots or machines.
In some cases, the operational data may comprise information on work records, a cleaning path, or a cleaning performance for the one or more robots or machines. In some cases, the operational data may comprise information on a total time of use or operation for the one or more components.
In any of the embodiments described herein, the operational data may be periodically generated or compiled by the one or more robots or machines for transmission or upload to the central server. In any of the embodiments described herein, the operational data may be transmitted from the one or more robots or machines to the central server at one or more predetermined or periodic time intervals. In any of the embodiments described herein, the operational data may be transmitted from the one or more robots or machines to the central server at one or more time intervals that vary according to a historical usage or a total operational time of the one or more robots or machines.
In some embodiments, the operational data may be obtained using a float sensor. In some cases, the float sensor can indicate a full recovery tank and alert a user that the tank needs to be changed. In some cases, the float sensor can indicate an empty solution tank and alert a user that the tank needs to re-filled.
In some embodiments, the operational data may comprise information on an operational time of the robot or machine. The information on the operational time of the robot or machine can be used to determine when to activate a treatment or sanitization subsystem as described elsewhere herein. In some cases, the information on the operational time of the robot or machine can be used to alert or inform a user as to when the user should initiate a treatment or sanitization procedure (e.g., to sanitize or clean a component or subsystem of the robot or machine, or to disinfect a harmful substance or byproduct that is generated or built up over time as the robot or machine performs one or more cleaning operations).
In some embodiments, the operational data may comprise information on a frequency at which treatment or sanitization procedures occur or need to occur. In some cases, the operational data may comprise information on a duration for which treatment or sanitization procedures occur or need to occur. In some cases, the frequency information and/or the duration information may indicate how much or how often cleaning is performed over time.
In some embodiments, the cleaning data or information can be used to identify water spots or other spots that may require additional cleaning, and to change the operation of the machine or the components of the machine to optimize cleaning performance.
In some cases, the cleaning data or information may comprise information on environmental factors associated with an operating environment of the robot or machine. The environmental factors may include, for example, temperature, humidity, or area of operation. In some cases, for example in colder climates, the robot or machine may automatically adjust its operation or movement to operate slower, increase vacuum power, and/or increase water flow.
In some case, the robot system may comprise one or more sensors. The sensors may comprise, for example, LIDAR, an ultrasonic sensor, a binocular vision camera, a time-of-flight camera, or a cliff sensor.
In some case, the robot system may comprise one or more status indicators (e.g., Working Status Light). In some case, the robot system may comprise one or more turn signals. In some cases, the one or more turn signals may be disposed on a front portion of the robot system. In some cases, the one or more turn signals may be disposed on a back portion or a side portion of the robot system.
In some cases, the robot system may comprise an operation handle. The operational handle may be used to control the robot or select an operational mode for the robot.
In some cases, the robot system may comprise a tank. In some cases, the robot system may comprise a tank cover.
In some cases, the robot system may comprise one or more buttons (e.g., an emergency stop button, a start button, a go/stop button. In some cases, the robot system may comprise a touch screen.
In some cases, the robot system may comprise one or more cleaning tools. In some cases, the robot system may comprise a mop, a squeegee, a main brush, a side brush, or any combination thereof.
In some cases, the robot system may comprise one or more wheels. In some cases, the robot system may comprise a traction wheel, a rear caster wheel, a front caster wheel, or any combination thereof.
In some cases, the robot system may comprise a hopper. The hopper may comprise any configuration as described elsewhere herein.
In some cases, the robot system may comprise a power cord. In some cases, the robot system may comprise a power cord with a battery charger. In some cases, the robot system may comprise a battery. In some cases, the robot system may comprise a battery compartment. In some cases, the robot system may comprise a door for the battery compartment.
In some cases, the tank subsystem may comprise one or more rubber adapters. In some cases, the one or more rubber adapters are configured to create a vacuum seal. In some cases, the one or more rubber adapters are configured to connect with a vacuum hose. In some cases, the one or more rubber adapters are configured to connect with a vacuum motor. In some cases, the tank subsystem may comprise a water outlet. In some cases, the tank subsystem may comprise a filter for a water outlet. In some cases, the tank subsystem may comprise one or more rubber sealings. In some cases, the one or more rubber sealings may be configured to prevent leakage of a fluid into our out of the tank.
In some cases, the tank subsystem may comprise one or more valves. In some cases, the one or more valves may be configured to control a flow of water into our out of the tank subsystem. In some cases, the one or more valves may be configured to control a flow of water through the water outlet.
In some cases, the tank subsystem may comprise one or more caps. In some cases, the one or more caps may be configured to, when opened, drain dirty water. In some cases, the one or more caps may be configured to, when opened, drain clean water. In some cases, the tank subsystem may comprise a water filling port. In some cases, the water filling port may comprise a cap.
In some cases, the tank subsystem may comprise a filter. In some cases, the filter may be for filtering water input through the water filling port.
In some cases, the tank subsystem may comprise a basket for collecting debris. In some cases, the tank subsystem may comprise a holder for the basket.
In some cases, the tank subsystem may comprise a float. In some cases, the float may be configured to shut-off vacuum flow. In some cases, the tank subsystem may comprise a housing for the float. In some cases, the tank subsystem may comprise a float housing. In some cases, the tank subsystem may comprise a holder for the float housing.
In some cases, the tank subsystem may comprise a cover. The cover may be disposed on a top portion of the tank subsystem, and may be removable by an operator to access the tank subsystem or any components of the tank subsystem.
In some cases, the tank subsystem may comprise a solution tank. In some cases, the tank subsystem may comprise a dirty water tank. In some cases, the tank subsystem may comprise a seal for the dirty water tank.
In some embodiments, the robot may comprise a brush and hopper subsystem. In some cases, the brush and hopper subsystem may be configured to interface with a chassis of the robot.
In some cases, the brush and hopper subsystem may comprise one or more brushes. In some cases, the brush and hopper subsystem may comprise one or more drivers for the one or more brushes. In some cases, the brush and hopper subsystem may comprise a side brush. In some cases, the brush and hopper subsystem may comprise a drive for the side brush. In some cases, the brush and hopper subsystem may comprise a main brush. In some cases, the brush and hopper subsystem may comprise a drive for the main brush. In some cases, the brush and hopper subsystem one or more motors. In some cases, the one or more motors may be configured to actuate the one or more brushes. In some embodiments, the brush and hopper subsystem may comprise two or more motors.
In some cases, the brush and hopper subsystem may comprise a hopper assembly. In some cases, the hopper assembly may be attachable to a brush deck assembly of the brush and hopper subsystem.
In some cases, the brush and hopper subsystem may comprise one or more springs. In some cases, the one or more springs may be configured to control or dampen a movement or a motion of the one or more brushes. In some cases, the brush and hopper subsystem may comprise a pulley assembly. In some cases, the pulley assembly may be configured to lift or otherwise change the position of the one or more brushes. In some cases, the brush and hopper subsystem may comprise one or more shoulder bolts. The one or more shoulder bolts may be used to secure the pulley assembly to the motor assembly used to drive the one or more side brushes.
In some cases, the brush and hopper subsystem may comprise one or more actuators. In some cases, the one or more actuators may comprise a linear actuator. The one or more actuators may be configured to move the brush deck up or down. In some cases, the brush and hopper subsystem may comprise a bracket for the one or more actuators.
The plurality of robots and/or machines 2401-1, 2401-2, and 2401-3 may each comprise one or more sensors. The one or more sensors may be used to capture the operational data associated with the operation or the status of the plurality of robots and/or machines 2401-1, 2401-2, and 2401-3.
The central server 2400 may be configured to process the operational data. In some embodiments, the central server 2400 may be configured to compare the operational data to one or more reference values or thresholds associated with the operation or the status of the one or more robots or machines or one or more components of the one or more robots or machines. In some cases, the central server 2400 may be configured to receive the one or more reference values or thresholds from a memory module 2410. The central server 2400 may be configured to detect one or more changes or deviations in operation or expected behavior for the one or more robots or machines or the one or more components of the one or more robots or machines based at least in part on the comparison of the operational data to the one or more reference values or thresholds. The central server 2400 may be configured to generate one or more reports or update an operational logic for the one or more robots or machines based on the detected changes or deviations, or based on one or more metrics computed using the operational data received from the one or more robots or machines.
In some embodiments, the central server 2400 may be configured to generate and transmit one or more reports 2415 to one or more entities 2420. The one or more entities 2420 may comprise an operator or an administrator of the one or more robots or machines. The one or more reports 2415 may comprise one or more metrics associated with an operation of the one or more robots or machines.
In some cases, the systems and methods of the present disclosure may be implemented using a platform for collecting and processing operational data of one or more robots or machines. The operational data of each robot or machine in a fleet may be transmitted to a central server or platform, which may be configured to collect and process the operational data. The operational data (and/or any other information that can be derived from the processing of the operational data) may be transmitted to one or more end user interfaces or portals to facilitate the monitoring and control of robot or machine operation. In some cases, the central server or platform may comprise an IoT platform that synergizes the management of multiple cleaning robots or machines in a fleet based on operational data obtained from one or more robots or machines in the fleet.
In some cases, the platform may comprise a cloud server that is in communication with one or more robots or machines via a wireless communication network. The cloud server may be operatively coupled to a plurality of robots or machines that are configured to operate in an environment. In some cases, the environment may be an indoor environment that supports wireless communications.
In some cases, the cleaning robots or machines may be in communication with a cloud server via a network. The network may permit a transmission of data between (i) a service provider or a cloud server and (ii) the cleaning robots or machines. The service provider or cloud server may be configured to process data received from the robots or machines. The service provider or cloud server may be configured to monitor or control an operation of the robots or machines based on the operational data received from the robots or machines. In some cases, the service provider or cloud server may be configured to provide one or more reports, alerts, and/or notifications to a user or an operator of the robots or machines based on the operational data received from the robots or machines. The one or more notifications may indicate, for example, that a change or deviation in expected robot or machine performance or behavior has been detected, or that a variance in a planned motion logic of the robot or machine has been identified. In some cases, the service provider or cloud server may interface with a mobile application or a web application to facilitate tracking of cleaning, robot or machine operation, and/or the processing of fleet information and/or operational data.
In some embodiments, one or more scannable codes may be used to facilitate a cleaning operation. The one or more scannable codes may be associated with or affixable to one or more objects or surfaces in an environment to be cleaned or navigated. In some cases, the one or more scannable codes may comprise a bar code, a quick response (QR) code, an April tag, a unique identifier, or a serial number.
In some embodiments, the one or more scannable codes may be scanned by the robot or machine. Based on such scanning, the robot or machine may initiate a cleaning procedure or move along a predetermined route.
In some cases, the operation of the one or more robots or machines may be adjusted based on the operational data obtained for the one or more robots or machines. In some cases, one or more motion paths or cleaning routines assigned to the one or more robots or machines may be adjusted based on the operational data. In some cases, the operation of the one or more robots or machines may be adjusted based on a detected change or deviation in expected robot or machine behavior or performance.
In an aspect, the present disclosure provides computer systems that are programmed or otherwise configured to implement methods of the disclosure, e.g., any of the subject methods for robotic cleaning. Referring to
The computer system 2901 may include a central processing unit (CPU, also “processor” and “computer processor” herein) 2905, which can be a single core or multi core processor, or a plurality of processors for parallel processing. The computer system 2901 also includes memory or memory location 2910 (e.g., random-access memory, read-only memory, flash memory), electronic storage unit 2915 (e.g., hard disk), communication interface 2920 (e.g., network adapter) for communicating with one or more other systems, and peripheral devices 2925, such as cache, other memory, data storage and/or electronic display adapters. The memory 2910, storage unit 2915, interface 2920 and peripheral devices 2925 are in communication with the CPU 2905 through a communication bus (solid lines), such as a motherboard. The storage unit 2915 can be a data storage unit (or data repository) for storing data. The computer system 2901 can be operatively coupled to a computer network (“network”) 2930 with the aid of the communication interface 2920. The network 2930 can be the Internet, an internet and/or extranet, or an intranet and/or extranet that is in communication with the Internet. The network 2930 in some cases is a telecommunication and/or data network. The network 2930 can include one or more computer servers, which can enable distributed computing, such as cloud computing. The network 2930, in some cases with the aid of the computer system 2901, can implement a peer-to-peer network, which may enable devices coupled to the computer system 2901 to behave as a client or a server.
The CPU 2905 can execute a sequence of machine-readable instructions, which can be embodied in a program or software. The instructions may be stored in a memory location, such as the memory 2910. The instructions can be directed to the CPU 2905, which can subsequently program or otherwise configure the CPU 2905 to implement methods of the present disclosure. Examples of operations performed by the CPU 2905 can include fetch, decode, execute, and writeback.
The CPU 2905 can be part of a circuit, such as an integrated circuit. One or more other components of the system 2901 can be included in the circuit. In some cases, the circuit is an application specific integrated circuit (ASIC).
The storage unit 2915 can store files, such as drivers, libraries and saved programs. The storage unit 2915 can store user data, e.g., user preferences and user programs. The computer system 2901 in some cases can include one or more additional data storage units that are located external to the computer system 2901 (e.g., on a remote server that is in communication with the computer system 2901 through an intranet or the Internet).
The computer system 2901 can communicate with one or more remote computer systems through the network 2930. For instance, the computer system 2901 can communicate with a remote computer system of a user (e.g., an operator or an administrator of a robot or a machine). Examples of remote computer systems include personal computers (e.g., portable PC), slate or tablet PC's (e.g., Apple® iPad, Samsung® Galaxy Tab), telephones, Smart phones (e.g., Apple® iphone, Android-enabled device, Blackberry®), or personal digital assistants. The user can access the computer system 2901 via the network 2930.
Methods as described herein can be implemented by way of machine (e.g., computer processor) executable code stored on an electronic storage location of the computer system 2901, such as, for example, on the memory 2910 or electronic storage unit 2915. The machine executable or machine readable code can be provided in the form of software. During use, the code can be executed by the processor 2905. In some cases, the code can be retrieved from the storage unit 2915 and stored on the memory 2910 for ready access by the processor 2905. In some situations, the electronic storage unit 2915 can be precluded, and machine-executable instructions are stored on memory 2910.
The code can be pre-compiled and configured for use with a machine having a processor adapted to execute the code, or can be compiled during runtime. The code can be supplied in a programming language that can be selected to enable the code to execute in a pre-compiled or as-compiled fashion.
Aspects of the systems and methods provided herein, such as the computer system 2901, can be embodied in programming. Various aspects of the technology may be thought of as “products” or “articles of manufacture” typically in the form of machine (or processor) executable code and/or associated data that is carried on or embodied in a type of machine readable medium. Machine-executable code can be stored on an electronic storage unit, such as memory (e.g., read-only memory, random-access memory, flash memory) or a hard disk. “Storage” type media can include any or all of the tangible memory of the computers, processors or the like, or associated modules thereof, such as various semiconductor memories, tape drives, disk drives and the like, which may provide non-transitory storage at any time for the software programming. All or portions of the software may at times be communicated through the Internet or various other telecommunication networks. Such communications, for example, may enable loading of the software from one computer or processor into another, for example, from a management server or host computer into the computer platform of an application server. Thus, another type of media that may bear the software elements includes optical, electrical and electromagnetic waves, such as used across physical interfaces between local devices, through wired and optical landline networks and over various air-links. The physical elements that carry such waves, such as wired or wireless links, optical links or the like, also may be considered as media bearing the software. As used herein, unless restricted to non-transitory, tangible “storage” media, terms such as computer or machine “readable medium” refer to any medium that participates in providing instructions to a processor for execution.
Hence, a machine readable medium, such as computer-executable code, may take many forms, including but not limited to, a tangible storage medium, a carrier wave medium or physical transmission medium. Non-volatile storage media including, for example, optical or magnetic disks, or any storage devices in any computer(s) or the like, may be used to implement the databases, etc. shown in the drawings. Volatile storage media include dynamic memory, such as main memory of such a computer platform. Tangible transmission media include coaxial cables; copper wire and fiber optics, including the wires that comprise a bus within a computer system. Carrier-wave transmission media may take the form of electric or electromagnetic signals, or acoustic or light waves such as those generated during radio frequency (RF) and infrared (IR) data communications. Common forms of computer-readable media therefore include for example: a floppy disk, a flexible disk, hard disk, magnetic tape, any other magnetic medium, a CD-ROM, DVD or DVD-ROM, any other optical medium, punch cards paper tape, any other physical storage medium with patterns of holes, a RAM, a ROM, a PROM and EPROM, a FLASH-EPROM, any other memory chip or cartridge, a carrier wave transporting data or instructions, cables or links transporting such a carrier wave, or any other medium from which a computer may read programming code and/or data. Many of these forms of computer readable media may be involved in carrying one or more sequences of one or more instructions to a processor for execution.
The computer system 2901 can include or be in communication with an electronic display 2935 that comprises a user interface (UI) 2940 for providing, for example, a portal for a user or an operator to monitor or control an operation of one or more robots or machines. The portal may be provided through an application programming interface (API). A user or entity can also interact with various elements in the portal via the UI. Examples of UI's include, without limitation, a graphical user interface (GUI) and web-based user interface.
Methods and systems of the present disclosure can be implemented by way of one or more algorithms. An algorithm can be implemented by way of software upon execution by the central processing unit 2905. For example, the algorithm may be configured to control a robot to execute a cleaning procedure or operation based on a user input, prior training or teaching, or a decision made by the robot based on sensor readings and/or using artificial intelligence or machine learning.
Unless otherwise specified, the machines, sub-assemblies, components and/or parts provided herein below are commercially available from International Cleaning Equipment (ICE) (Guangdong, China) or a subsidiary thereof.
In some embodiments, riding floor cleaning machine comprises main frame sub-assembly, steering and drive wheel sub-assembly, solution tank sub-assembly, recovery tank sub-assembly, recovery tank cover sub-assembly, control panel sub-assembly, main controller sub-assembly, seat and detergent system sub-assembly, battery sub-assembly, scrub head sub-assembly, scrub head lift sub-assembly, squeegee sub-assembly, solution and detergent sub-assembly and, as will be discussed in greater detail herein below, an intelligent system associated with one or more of the above-identified sub-assemblies, wherein the intelligent system selectively gathers, obtains, monitors, stores, records, and/or analyzes data associated with components of riding floor cleaning machine, and controllably communicates and/or disseminates such data with another system and/or user.
In some embodiments, main frame sub-assembly generally comprises welded main frame, rubber grommets, tires, wheel caps, stand brackets, horn and static strap.
In some embodiments, main frame sub-assembly utilizes a plurality of conventional bolts, nuts, washers, clamps, screws and retaining rings for assembly and use of main frame sub-assembly.
In some embodiments, steering and drive wheel sub-assembly generally comprises steering wheel, bellows, steering wheel shaft, u-joint, steering support bracket, brake pedal accelerator, steer control assembly and drive wheel.
In some embodiments, steering and drive wheel sub-assembly utilizes a plurality of conventional bolts, nuts, washers, clamps, bearings, screws and keys for assembly and use of steering and drive wheel sub-assembly.
In some embodiments, solution tank sub-assembly generally comprises solution tank, non-slip mat, elbow, sealing, solution level sensor, solution tank cap, recovery tank support arm, hose assembly, strainer adapter assembly and strainer assembly.
In some embodiments, solution tank sub-assembly utilizes a plurality of conventional bolts, nuts, washers, clamps, brackets, sleeves, plates and screws for assembly and use of solution tank sub-assembly.
In some embodiments, recovery tank sub-assembly generally comprises solution level sensor, recovery tank, dust filter, welded hinge, leaf hinge, drain hose, hinge assembly, solution tank cover, sealing strip, recovery tank support arm and rubber spacer.
In some embodiments, recovery tank sub-assembly utilizes a plurality of conventional bolts, nuts, washers, clamps, brackets, sleeves, springs, screws, logos and spacers for assembly and use of recovery tank sub-assembly.
In some embodiments, recovery tank cover sub-assembly generally comprises caution light, recovery tank cover, vacuum motor, vacuum hose, vacuum hose adapter, recovery tank cover support, sealing strip, isolator, insulation and fan seal.
In some embodiments, recovery tank cover sub-assembly utilizes a plurality of conventional bolts, nuts, washers, clamps, brackets, sleeves, plates, screws, gaskets and spacers for assembly and use of recovery tank cover sub-assembly.
In some embodiments, control panel sub-assembly generally comprises control panel decal, control panel PCB, control housing, LED light, LED light base, LED light cover, switch panel decal, main key switch, emergency stop switch and rocker switch.
In some embodiments, control panel sub-assembly utilizes a plurality of conventional bolts, washers, plates, screws, logos and gaskets for assembly and use of control panel sub-assembly.
In some embodiments, main controller sub-assembly generally comprises fuse, insulator, main controller, rubber grommet, micro switch, connector and on board battery charger.
In some embodiments, main controller sub-assembly utilizes a plurality of conventional bolts, nuts, washers, brackets and screws for assembly and use of main controller sub-assembly.
In some embodiments, seat and detergent system sub-assembly generally comprises cargo net, seat support, rubber grommet, seat, cup holder, key adaptor, lock insert, detergent bottle, bottle cap, detergent bottle box, pump, one way valve and fitting.
In some embodiments, seat and detergent system sub-assembly utilizes a plurality of conventional bolts, nuts, washers, clamps, brackets, sleeves, springs, plates, screws and spacers for assembly and use of seat and detergent system sub-assembly.
In some embodiments, battery sub-assembly generally comprises battery box, rear battery support, battery, battery tray, front battery support, red battery connect cable, connector, first black battery connect cable, second black battery connect cable, first cover, second cover, rivet, hinge assembly and third cover.
In some embodiments, battery sub-assembly utilizes a plurality of conventional bolts, washers, plates and screws for assembly and use of battery sub-assembly.
In some embodiments, the battery comprises a secondary electrochemical cell, such as a lead acid, NiCad, NiMH, and/or lithium-ion battery. Some examples of lithium-ion batteries include lithium cobalt oxide (LiCoO2) batteries, lithium manganese oxide (LiMn2O4) batteries, lithium nickel manganese cobalt oxide (LiNiMnCoO2) batteries, lithium iron phosphate (LiFePO) batteries, lithium nickel cobalt aluminum oxide (LiNiCoAlO2) batteries, and lithium titanate (Li4T15O12) batteries. In one embodiment each battery comprises an anode, a cathode, and an electrolyte, wherein at least one of the anode, cathode, and electrolyte are monitored by the intelligent system of the riding floor cleaning machine's intelligent system. Such monitoring comprises evaluating the structural integrity of the anode, the cathode, and/or the electrolyte, and/or the cycle life of each component—including electrolyte level.
In some embodiments, scrub head sub-assembly generally comprises brush motors, keys, scrub head housing, side skirt blades, brush drive hubs, clutches, brushes, center locks, pad drivers, skirt and protective wheel.
In some embodiments, scrub head sub-assembly utilizes a plurality of conventional bolts, nuts, washers, knobs, clamps, brackets, sleeves and spacers for assembly and use of scrub head sub-assembly.
In some embodiments, scrub head lift sub-assembly generally comprises linear actuator and scrub head lifting arm.
In some embodiments, scrub head lift sub-assembly utilizes a plurality of conventional bolts, nuts, washers, bushings, brackets, sleeves, springs, plates, cotters and pins for assembly and use of scrub head lift sub-assembly.
In some embodiments, squeegee sub-assembly generally comprises linear actuator, vacuum hose, caster, squeegee lifting arm, rear blade, squeegee hosing, squeegee retainer, front blade, protective wheels and adapter.
In some embodiments, squeegee sub-assembly utilizes a plurality of conventional bolts, nuts, washers, knobs, clamps, bushings, brackets, sleeves, springs, screws and pins for assembly and use of squeegee sub-assembly.
In some embodiment, solution and detergent sub-assembly generally comprises solenoid valve, pump, plastic fitting, fitting, and one way valve.
In some embodiments, solution and detergent sub-assembly utilizes a plurality of conventional washers, clamps, ties, screws, elbows and tubing for assembly and use of solution and detergent sub-assembly.
In some embodiments, a wiring diagram for riding floor cleaning machine is provided.
In some embodiments, a sub-assembly having an intelligent system for a riding floor cleaning machine is provided and generally comprises a primary and/or secondary electrochemical cell, and an intelligent system, wherein the intelligent system at least one of selectively gathers, obtains, monitors, stores, records, and analyzes data associated with components of the riding floor cleaning machine, and at least one of controllably communicates and disseminates such data with at least one of another system and user.
In accordance with some embodiments, a method for using an intelligent system with a riding floor cleaning machine is provided and generally, comprises the following steps: (1) providing a riding floor cleaning machine having an intelligent system; (2) selectively gathering, obtaining, monitoring, storing, recording, and/or analyzing data associated with components of the riding floor cleaning machine; and (3) controllably communicating and/or disseminating data with at least one of another system and user. In some embodiments, an intelligent system enables a riding floor cleaning machine to transmit data obtained from the riding floor cleaning machine assembly to, for example, a storage or data server, which, in turn, transmits selected data to, for example, an end user via email and/or text messaging.
In some embodiments, a circuit for the floor cleaning machine may include a control panel that provides a user interface for controlling various components and features of the machine assembly, a PCB (scrubber main controller), which in turn includes a traction motor interface, a battery interface, a brush motor interface, a vacuum motor interface. The circuit also may comprise a traction speed and break controller, a scrub head lifting actuator, a squeegee head lifting actuator, a power key switch, a seat switch, a brake coil, one or more charger interfaces, and an emergency switch.
In some embodiments, the PCB (e.g., controller) functions as a main controller board for controlling and communicating with various components of the riding floor cleaning machine assembly. Users utilize the control panel to interact with and control the various features of the assembly such as the brush and squeegee. In some embodiments, the PCB can include one or more features of an example computing machine illustrated and described herein. The PCB includes at least a processor and a memory for storing executable instructions. The processor can execute the instructions to provide any of the data sensing, gathering, processing, transforming, and/or communication features described herein. In yet other embodiments, an intelligent system can include the PCB that is configured to remotely activate/deactivate (e.g., turn on and off) riding floor cleaning machine via, for example, power key switch or other circuit implementation.
It will be understood that the PCB can be referred to generally as an intelligent system or component that is configured to provide data gathering, recording, logging, transmitting, and analysis functionalities. In other embodiments, an intelligent system can include the PCB that cooperates with a management server, where the PCB gathers and collects operational data for the riding floor cleaning machine assembly and the management server performs data analysis functionalities on the operational data.
In some embodiments, the PCB is communicatively coupled to each of the other components of the circuit described above, either directly or indirectly. For example, the PCB directly communicates with the batteries of the riding floor cleaning machine assembly, through the battery interface, while the PCB indirectly couples with the traction speed and control pedal through the traction speed and control pedal controller.
In some embodiments, the traction motor interface allows the PCB to communicate with a traction motor that drives the riding floor cleaning machine assembly. The PCB can also collect information about the operational characteristics of the traction motor through the traction motor interface. The battery interface allows for the PCB to communicate with the Ion batteries to receive feedback including charge level, average usage and current draw, as well as other battery related metrics.
In some embodiments, the one or more charger interfaces allows the PCB to determine charging metrics such as average charging times for the battery of the assembly.
In some embodiments, the main power key switch is controlled by the PCB to allow the riding floor cleaning machine assembly to be turned on and off. Key metrics around the main power key switch can include start and stop times. The PCB can time stamp each operation such as device on and device off instances and record these metrics for statistical or reporting purposes. Other statistics could include time duration between device on and device off operations, which indicate duration of usage for the riding floor cleaning machine assembly.
In some embodiments, a seat switch is controlled by the PCB to provide various seat configurations and/or seat safety features, such as engagement or disengagement of the motors when the seat of the assembly is unoccupied.
In some embodiments, the brush motor interface can be controlled by the PCB to selectively control engagement or disengagement of the brush motor of the riding floor cleaning machine assembly. The PCB can track brush motor usage time by measuring engagement and disengagement of the brush motor. These statistics can be compared against device on and device off periods to determine how long the brush is engaged compared to the overall time frame of device on periods. By way of example, the PCB can measure that the device is in a device on state for two hours, but the brush motor was only in use for 15 minutes.
In some embodiments, the vacuum motor interface can be utilized by the PCB to control operation of the vacuum motor of the riding floor cleaning machine assembly.
In some embodiments, the emergency control switch is controlled by the PCB to control operation of an emergency switch of the riding floor cleaning machine assembly. A user can stop operation of the riding floor cleaning machine assembly by actuating the emergency switch. Actuation of the emergency switch is sensed by the PCB, causing the PCB to selectively stop the brush motor and vacuum motor.
In some embodiments, the emergency control switch can be used to selectively disrupt power provided to the traction motor through the traction motor interface.
In some embodiments, the PCB can also control the brush motor and vacuum motor, through their respective interfaces, such as brush motor interface and vacuum motor interface. As with other components, the PCB can be configured to sense and collect operational details of these devices.
In some embodiments, the scrub head lifting actuator and the squeegee lifting actuator are also controlled by the PCB in response to user commands received at the control panel to raise the scrub head or squeegee, respectively. The PCB can also control the scrub head and/or squeegee in response to other system feedback such as activation of the emergency stop switch. For example, if the emergency stop switch is engaged, the PCB can automatically engage the scrub head or squeegee to lift using the scrub head lifting actuator and the squeegee lifting actuator.
In some embodiments, the break coil can be coupled to the emergency stop switch. If the emergency stop switch is engaged, the break coil is activated to bring the assembly to a stop.
In some embodiments, the traction speed and brake control pedal controller is configured to receive signals from a traction speed and brake control pedal to selectively cause the assembly to translate at various speeds through movement of the traction speed and brake control pedal. The PCB can receive signals from the traction speed and brake control pedal controller so as to track and monitor the movement and translation of the assembly.
In some embodiments, the PCB communicates within an intelligent system. The PCB can include any wired or wireless means of communication such as a wireless communications interface. The wireless communications interface can utilize any protocol for network communication including short range protocols such as Bluetooth, near field communications (NFC), infra-red, and so forth. The wireless communications interface can also include utilize Wi-Fi, a cellular network, or other similar networks using other protocols.
In some embodiments, a networked system comprises a plurality of devices, which can all communicatively couple with a management server over a network.
In some embodiments, each of the plurality of devices can be collocated in the same facility, such as a building, factory, school, or other location. In other embodiments, one or more (or all) plurality of devices can be remotely located from one another.
In some embodiments, each of the plurality of devices can gather and report its operational metrics to the management server over the network, as will be discussed in greater detail below.
In some embodiments, exemplary networks may include any one or more of, for instance, a local intranet, a PAN (Personal Area Network), a LAN (Local Area Network), a WAN (Wide Area Network), a MAN (Metropolitan Area Network), a virtual private network (VPN), a storage area network (SAN), a frame relay connection, an Advanced Intelligent Network (AIN) connection, a synchronous optical network (SONET) connection, a digital T1, T3, E1 or E3 line, Digital Data Service (DDS) connection, DSL (Digital Subscriber Line) connection, an Ethernet connection, an ISDN (Integrated Services Digital Network) line, a dial-up port such as a V.90, V.34 or V.34bis analog modem connection, a cable modem, an ATM (Asynchronous Transfer Mode) connection, or an FDDI (Fiber Distributed Data Interface) or CDDI (Copper Distributed Data Interface) connection. Furthermore, communications may also include links to any of a variety of wireless networks, including 4GLTE (Long Term Evolution), 3GPP (3G Radio Access Network), WAP (Wireless Application Protocol), GPRS (General Packet Radio Service), GSM (Global System for Mobile Communication), CDMA (Code Division Multiple Access) or TDMA (Time Division Multiple Access), cellular phone networks, GPS (Global Positioning System), CDPD (cellular digital packet data), RIM (Research in Motion, Limited) duplex paging network, Bluetooth radio, or an IEEE 802.11-based radio frequency network. The network can further include or interface with any one or more of an RS-232 serial connection, an IEEE-1394 (Fire wire) connection, a Fiber Channel connection, an IrDA (infrared) port, a SCSI (Small Computer Systems Interface) connection, a USB (Universal Serial Bus) connection or other wired or wireless, digital or analog interface or connection, mesh or Digi® networking.
In some embodiments, the management server is implemented in a cloud-computing environment. In general, a cloud-based computing environment is a resource that typically combines the computational power of a large grouping of processors and/or that combines the storage capacity of a large grouping of computer memories or storage devices. For example, systems that provide a cloud resource may be utilized exclusively by their owners, such as Google™ or Yahoo!™; or such systems may be accessible to outside users who deploy applications within the computing infrastructure to obtain the benefit of large computational or storage resources. The cloud may be formed, for example, by a network of web servers, with each web server (or at least a plurality thereof) providing processor and/or storage resources. These servers may manage workloads provided by multiple users (e.g., cloud resource customers or other users). Typically, each user places workload demands upon the cloud that vary in real-time, sometimes dramatically. The nature and extent of these variations typically depend on the type of business associated with the user.
In some embodiments,, each of the plurality of devices can communicate with the management server, with each of the plurality of devices acting as a node within the network. The management server can track metrics about each of the plurality of devices by communicating with the PCB on each of the plurality of devices.
In some embodiments, data obtained by the PCB of each of the plurality of devices is selectively gathered, obtained, monitored, stored, recorded, and/or analyzed by the management system.
According to some embodiments, data that is selectively gathered, obtained, monitored, stored, recorded, and/or analyzed, preferably comprises, for example, working time, current, voltage, power, and so forth from, for example, the vacuum motor, lithium-ion battery, traction motor, brush motor, and other components of the riding floor cleaning machine. This data or information is preferably received at the PCB which may be associated with the lithium-ion battery positioned in the riding floor cleaning machine. That is, the PCB controls the operations of each of the components of the device. As described above, the operational data for each of these components can be captured and logged by the PCB and stored in memory on the PCB. In other embodiments, operational data can be stored in memory on the PCB and transmitted asynchronously in batches (according to memory size) to the management server. In some embodiments, the operational data can be streamed from the PCB to the management server synchronously.
In some embodiments, each device can be managed by assignment of a device ID by the management system. The device ID can be an assigned number, a SIM card number, an IMEI, a MAC address, an IP address, or other similar unique identifier. The device ID can be appended to each communication transmitted by the PCB to the management server.
In some embodiments, stored data or information is preferably analyzed by the management server for parameter compliance, and if, necessary such data or information is then communicated to, for example, an end user, servicing personal, and/or owner. For example, the owner of a riding floor cleaning machine assembly can set a threshold of hours of operation for the device that are required per week. If the riding floor cleaning machine assembly is not operated for a period of time that meets or exceeds this threshold, the riding floor cleaning machine assembly is identified by the management system.
The transfer of data with regard to each individual machine will help end users better plan for number of machines and employees at each individual work site. Companies with sizeable cleaning staff, (e.g., contact cleaning companies) will find it relevant and useful.
In some embodiments, the data or information with regard to usage of each individual machine is collected and transmitted daily at a specific time to, for example, the management server. This will allow end users, as well as, distributors and dealers to access the information that they need, so as to monitor usage of these machines and allow them to extract maximum efficiency during operations. In some embodiments, other than information for individual days, cumulative totals and averages are readily available too, and the information is preferably updated through the lifespan of the riding floor cleaning machine assembly. Examples of data or information uploaded on a daily basis include, for example, the number of hours and specific time the machine was in operation during the previous 24 hours, the monthly total hours for machine usage, and the total hours of machine usage. Furthermore, the described technology enables recording and analysis of an accumulation total for working parts like batteries, vacuum motors, drive/traction motors and brush motors. Since each component has a lifespan, it will help distributors, dealers, and owners selectively monitor the exact time when these components (e.g., vacuum motor, brush motor and batteries) need to be changed instead of waiting for them to break down, which will affect the working efficiency of the end users. Another important advantage of having this data or information transfer is that in the event the machine breaks down, (e.g., the vacuum motor, brush motor, etcetera stops working), what has broken down will be selectively transmitted to the appropriate servicing personnel by email and/or cell phone text messaging that is/are responsible for the repairs and maintenance of the machines, management of the end user, and so forth.
In some embodiments, a method includes obtaining operational data for a riding floor cleaning machine assembly, the operational data being generated for any of a battery, a vacuum motor, a drive/traction motor, and a brush motor of the riding floor cleaning machine assembly.
As mentioned above, this operational data can be gathered by a PCB during operation of the riding floor cleaning machine assembly.
The method may also comprise communicatively coupling a floor cleaning machine assembly with a management server. As mentioned above, this could comprise a wireless communication module of the PCB coupling with the management server over a network connection.
In some embodiments, once the riding floor cleaning machine assembly and the management server are communicatively coupled with one another, the method can further comprise the management server querying the riding floor cleaning machine assembly for operational data for any of the battery, vacuum motor, traction motor, and brush motor. For example, the management server can request battery related operational data from the riding floor cleaning machine assembly. As mentioned above, this operational data can be stored on the riding floor cleaning machine assembly in memory of the PCB. In another example, the management server can request operational data for the vacuum and brush motors.
In some embodiments, the PCB can upload all operational data gathered since a last communication session with the management server. This operational data can include operational data for each of the battery, vacuum motor, traction motor, and brush motor.
In some embodiments, the management server is performing at least one operational data analysis process on the obtained operational data.
Examples of operational data analysis include in one example, comparing the operational time frames for the riding floor cleaning machine assembly to an expected operational time frame. For example, the owner of a building will determine an operational time frame that the riding floor cleaning machine assembly should be utilized for. This operational time frame can be calculated from an expected time based on building square footage, or any other quantifiable metric that can be used to set an operational time frame threshold. Once this threshold is established, the management server can compare the actual operational time frame utilized over a given period of time to the operational time frame threshold. If the actual time does not meet or exceed the operational time frame threshold, the management server can alert the owner.
Thus, in some embodiments, the method includes transmitting an alert message to an owner of the riding floor cleaning machine assembly if the operational analysis indicates that a threshold violating event has occurred. To be sure, a threshold violating event is any event in which operational data for one or more components of the riding floor cleaning machine assembly do not appropriately compare with an operational threshold.
In another example, an operational threshold could include a minimum charging time frame for the riding floor cleaning machine assembly. If the riding floor cleaning machine assembly is not charged for an appropriate amount of time, the battery operation of the riding floor cleaning machine assembly can be compromised.
In another example, an operational threshold can be set for the brush motor, which can include a comparison with another operational metric such as total operational time. Assume that the total operational time (e.g., power on to power off) for the riding floor cleaning machine assembly is one hour, but the brush motor is only operational for fifteen minutes of the one hour, it can be deduced that the riding floor cleaning machine assembly was not in actual use for the entire hour.
Additional metrics can be gathered by tracking revolutions of the drive/traction motor, which can be extrapolated into square foot coverage of the riding floor cleaning machine assembly. Ideally, drive/traction motor revolutions should be compared to overall operational time to ensure that the riding floor cleaning machine assembly is moving during power on periods. If the riding floor cleaning machine assembly is left on when no work is being accomplished, this can lead to unnecessary battery usage.
Knowledge of the approximate square footage of a cleaning area can also be used to determine if the riding floor cleaning machine assembly is being utilized properly. For example, if by counting drive/traction motor revolutions that the riding floor cleaning machine assembly has only cleaned approximately 400 square feet, when the total expected square footage for the cleaning area is 2,000 square feet, the management server can detect this discrepancy and transmit an alert message to the owner or another interested party.
In some embodiments, a method includes a step of detecting a failure of a component of a riding floor cleaning machine assembly during operation of the detecting a failure of a component of a riding floor cleaning machine assembly during operation or startup of the riding floor cleaning machine assembly. For example, the PCB can maintain a set of operational thresholds for each component of the riding floor cleaning machine assembly such as the battery, vacuum motor, drive/traction motor, and brush motor. Whenever any of these components is operating below this expected operational threshold, the failure can be established.
Upon detection of a failure, the method includes the PCB establishing communication with a management server, as well as a step of transmitting a fault message to the management server. The fault message can include an indication as to the component that failed, such as a battery, vacuum motor, drive/traction motor, and brush motor.
If the failure involves a component of the riding floor cleaning machine assembly that could cause the riding floor cleaning machine assembly to be a safety hazard, the method can include the riding floor cleaning machine assembly receiving an emergency shut down signal from the management server. The method also includes performing an emergency shut down upon receiving the emergency shut down signal from the management server. Examples of emergency shut down procedures are described in greater detail supra.
In some embodiments, the method includes an optional step of automatically ordering a replacement part for identified failed component. The riding floor cleaning machine assembly can communicate directly with a third party system over the network to order the replacement part. In another embodiment, the management server can identify the failed component and perform a lookup of the manufacturer of the failed component and forward the request to the third party system or a local inventory system. The management server can order the part automatically as the fault message is received. In another example, a replacement component in inventory can be identified in a repair ticket that is transmitted to a repair technician.
In some embodiments, the described technology enables upgrades to the software that end users are using that may address, for example, compatibility issues, or other necessary upgrades. In one embodiment, the management server can push updates to the riding floor cleaning machine assembly during operational data transfer operations, or upon powering up the riding floor cleaning machine assembly. For example, each time the riding floor cleaning machine assembly is powered on, the PCB can link with the management server and query the management server for updates. This can all occur transparently to the end user, unless a short pause in operation of the riding floor cleaning machine assembly is required to implement the update or for safety reasons.
In various example embodiments, the machine operates as a standalone device or may be connected (e.g., networked) to other machines. In a networked deployment, the machine may operate in the capacity of a server or a client machine in a server-client network environment, or as a peer machine in a peer-to-peer (or distributed) network environment. The machine may be a personal computer (PC), a tablet PC, a set-top box (STB), a personal digital assistant (PDA), a cellular telephone, a portable music player (e.g., a portable hard drive audio device such as an Moving Picture Experts Group Audio Layer 3 (MP3) player), a web appliance, a network router, switch or bridge, or any machine capable of executing a set of instructions (sequential or otherwise) that specify actions to be taken by that machine. Further, while only a single machine is illustrated, the term “machine” shall also be taken to include any collection of machines that individually or jointly execute a set (or multiple sets) of instructions to perform any one or more of the methodologies discussed herein.
In some embodiments, an example computer system includes a processor or multiple processors (e.g., a central processing unit (CPU), a graphics processing unit (GPU), or both), and a main memory and static memory, which communicate with each other via a bus. The computer system may further include a video display (e.g., a liquid crystal display (LCD)). The computer system may also include an alpha-numeric input device(s) (e.g., a keyboard), a cursor control device (e.g., a mouse), a voice recognition or biometric verification unit (not shown), a drive unit (also referred to as disk drive unit), a signal generation device (e.g., a speaker), and a network interface device. The computer system may further include a data encryption module (not shown) to encrypt data.
The disk drive unit includes a computer or machine-readable medium on which is stored one or more sets of instructions and data structures embodying or utilizing any one or more of the methodologies or functions described herein. The instructions may also reside, completely or at least partially, within the main memory and/or within the processors during execution thereof by the computer system. The main memory and the processors may also constitute machine-readable media.
In some embodiments, instructions may further be transmitted or received over a network via the network interface device utilizing any one of a number of well-known transfer protocols (e.g., Hyper Text Transfer Protocol (HTTP)). While the machine-readable medium is shown in an example embodiment to be a single medium, the term “computer-readable medium” should be taken to include a single medium or multiple media (e.g., a centralized or distributed database and/or associated caches and servers) that store the one or more sets of instructions. The term “computer-readable medium” shall also be taken to include any medium that is capable of storing, encoding, or carrying a set of instructions for execution by the machine and that causes the machine to perform any one or more of the methodologies of the present application, or that is capable of storing, encoding, or carrying data structures utilized by or associated with such a set of instructions. The term “computer-readable medium” shall accordingly be taken to include, but not be limited to, solid-state memories, optical and magnetic media, and carrier wave signals. Such media may also include, without limitation, hard disks, floppy disks, flash memory cards, digital video disks, random access memory (RAM), read only memory (ROM), and the like. The example embodiments described herein may be implemented in an operating environment comprising software installed on a computer, in hardware, or in a combination of software and hardware.
One skilled in the art will recognize that the Internet service may be configured to provide Internet access to one or more computing devices that are coupled to the Internet service, and that the computing devices may include one or more processors, buses, memory devices, display devices, input/output devices, and the like. Furthermore, those skilled in the art may appreciate that the Internet service may be coupled to one or more databases, repositories, servers, and the like, which may be utilized in order to implement any of the embodiments of the disclosure as described herein.
The corresponding structures, materials, acts, and equivalents of all means or step plus function elements in the claims below are intended to include any structure, material, or act for performing the function in combination with other claimed elements as specifically claimed. The description of the present technology has been presented for purposes of illustration and description, but is not intended to be exhaustive or limited to the present technology in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the present technology. Exemplary embodiments were chosen and described in order to best explain the principles of the present technology and its practical application, and to enable others of ordinary skill in the art to understand the present technology for various embodiments with various modifications as are suited to the particular use contemplated.
Aspects of the present technology are described above with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the present technology. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks.
While preferred embodiments of the present invention have been shown and described herein, it will be obvious to those skilled in the art that such embodiments are provided by way of example only. It is not intended that the invention be limited by the specific examples provided within the specification. While the invention has been described with reference to the aforementioned specification, the descriptions and illustrations of the embodiments herein are not meant to be construed in a limiting sense. Numerous variations, changes, and substitutions will now occur to those skilled in the art without departing from the invention. Furthermore, it shall be understood that all aspects of the invention are not limited to the specific depictions, configurations or relative proportions set forth herein which depend upon a variety of conditions and variables. It should be understood that various alternatives to the embodiments of the invention described herein may be employed in practicing the invention. It is therefore contemplated that the invention shall also cover any such alternatives, modifications, variations or equivalents. It is intended that the following claims define the scope of the invention and that methods and structures within the scope of these claims and their equivalents be covered thereby.
This application is a continuation-in-part of U.S. application Ser. No. 18/540,428, filed Dec. 14, 2023, which is a continuation of U.S. application Ser. No. 18/194,310, filed Mar. 31, 2023, which is a continuation of U.S. application Ser. No. 17/150,714, filed Jan. 15, 2021, now U.S. Pat. No. 11,641,998, which is a continuation of U.S. application Ser. No. 16/781,405, filed Feb. 4, 2020, now U.S. Pat. No. 10,932,639, which is a continuation of U.S. application Ser. No. 16/379,753, filed Apr. 9, 2019, now U.S. Pat. No. 10,548,447, which is a continuation of U.S. application Ser. No. 16/026,773, filed Jul. 3, 2018, now U.S. Pat. No. 10,251,522, which is a continuation of U.S. application Ser. No. 14/667,507, filed Mar. 24, 2015, now U.S. Pat. No. 10,010,230, which claims the benefit of U.S. Provisional Application Ser. No. 61/969,559, filed Mar. 24, 2014, each of which is hereby incorporated herein by reference in its entirety—including all references and appendices cited therein.
| Number | Date | Country | |
|---|---|---|---|
| 61969559 | Mar 2014 | US |
| Number | Date | Country | |
|---|---|---|---|
| Parent | 18194310 | Mar 2023 | US |
| Child | 18540428 | US | |
| Parent | 17150714 | Jan 2021 | US |
| Child | 18194310 | US | |
| Parent | 16781405 | Feb 2020 | US |
| Child | 17150714 | US | |
| Parent | 16379753 | Apr 2019 | US |
| Child | 16781405 | US | |
| Parent | 16026773 | Jul 2018 | US |
| Child | 16379753 | US | |
| Parent | 14667507 | Mar 2015 | US |
| Child | 16026773 | US |
| Number | Date | Country | |
|---|---|---|---|
| Parent | 18540428 | Dec 2023 | US |
| Child | 18632517 | US |
