A system and method of an adaptive mapping system for semi-autonomous cleaning devices for improved navigation using a randomized dot pattern to represent dynamic areas and ensure precise localization in changing environments. A map is parameterized as an occupancy grid, where each cell is assigned the likelihood that it contains a physical object in the environment. A novel mapping technique is disclosed that intelligently distinguishes between static features (e.g., walls and pillars) and dynamic areas (e.g., places prone to frequent changes). By representing dynamic areas with a randomized dot pattern, an adaptive mapping system maintains high localization confidence for autonomous mobile robots (AMRs). This approach ensures uninterrupted robot operations, significantly reducing or eliminating the need for human intervention due to localization uncertainties and addresses the critical problem of navigating and operating efficiently in environments that undergo frequent changes.
A system and method of an adaptive mapping system for semi-autonomous cleaning devices for improved navigation using a randomized dot pattern to represent dynamic areas and ensure precise localization in changing environments. A map is parameterized as an occupancy grid, where each cell is assigned the likelihood that it contains a physical object in the environment. A novel mapping technique is disclosed that intelligently distinguishes between static features (e.g., walls and pillars) and dynamic areas (e.g., places prone to frequent changes). By representing dynamic areas with a randomized dot pattern, an adaptive mapping system maintains high localization confidence for autonomous mobile robots (AMRs). This approach ensures uninterrupted robot operations, significantly reducing or eliminating the need for human intervention due to localization uncertainties and addresses the critical problem of navigating and operating efficiently in environments that undergo frequent changes.
G05D 1/246 - Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM]
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
G05D 105/10 - Specific applications of the controlled vehicles for cleaning, vacuuming or polishing
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleanerControlling suction cleaners by electric means
A47L 11/00 - Machines for cleaning floors, carpets, furniture, walls, or wall coverings
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
G01C 21/00 - NavigationNavigational instruments not provided for in groups
G05D 1/242 - Means based on the reflection of waves generated by the vehicle
A system and method of a semi-autonomous cleaning apparatus with adjustable cleaning parameters. A floor cleaning system of a semi-autonomous cleaning apparatus adapts the cleaning parameters by way of one or more control systems in order to optimize cleaning performance in the specific context and application of operation. Using sensors, the front or rear sensing modules of the semi-autonomous cleaning apparatus can detect different floor types and adjust the parameters accordingly prior to initiating a cleaning or polishing plan for regular floors and VCT floor finishes. Floor shininess can also be detected by measuring the reflection of a light source (i.e., LED strip) by a camera sensor. Machine learning algorithms can be used to enable floor cleaning or floor polishing.
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleanerControlling suction cleaners by electric means
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
G05B 13/00 - Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
5.
SOFTWARE SYSTEMS AND METHOD FOR A SEMI-AUTONOMOUS FLOOR CLEANING APPARATUS FOR NAVIGATION OF TIGHT SPACES
Software, system and method of a semi-autonomous floor cleaning apparatus for navigation of tight spaces. A floor cleaning system of a semi-autonomous cleaning apparatus capable of autonomous movement and navigation of tight spaces for cleaning floors. The semi-autonomous cleaning apparatus consists of a cleaning system, a cleaning head assembly, a rear squeegee assembly, a water handling system and a plurality of sensors. The plurality of sensors including LiDAR sensors, cliff sensors, 3D cameras and data collection cameras are configured for data collection semi-autonomous navigation, floor cleaning and movement. Software for the apparatus may incorporate sensors and perception software modules, a machine learning module, an Edge following module, autonomy module, a safety system module, a Lidar filtering module, a semantic segmentation module, and an architecture to support New Enhanced Robot Foundation (NERF).
A system and method of a semi-autonomous floor cleaning device for navigation of tight spaces. A floor cleaning system of a semi-autonomous cleaning device capable of autonomous movement and navigation of tight spaces for cleaning floors. The semi-autonomous cleaning apparatus consists of a cleaning system, a cleaning head assembly, a rear squeegee assembly, a water handling system and a plurality of sensors. The plurality of sensors including LiDAR sensors, cliff sensors, 3D cameras and data collection cameras are configured for data collection semi-autonomous navigation, floor cleaning and movement.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
7.
SYSTEM AND METHOD OF A SEMI-AUTONOMOUS CLEANING APPARATUS WITH ADJUSTABLE CLEANING PARAMETERS
A system and method of a semi-autonomous cleaning apparatus with adjustable cleaning parameters. A floor cleaning system of a semi-autonomous cleaning apparatus adapts the cleaning parameters by way of one or more control systems in order to optimize cleaning performance in the specific context and application of operation. Using sensors, the front or rear sensing modules of the semi-autonomous cleaning apparatus can detect different floor types and adjust the parameters accordingly prior to initiating a cleaning or polishing plan for regular floors and VCT floor finishes. Floor shininess can also be detected by measuring the reflection of a light source (i.e., LED strip) by a camera sensor. Machine learning algorithms can be used to enable floor cleaning or floor polishing.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleanerControlling suction cleaners by electric means
G05D 1/648 - Performing a task within a working area or space, e.g. cleaning
G05D 105/10 - Specific applications of the controlled vehicles for cleaning, vacuuming or polishing
A system and method for unsupervised stereo matching with surface normal assistance for indoor applications. According to the disclosure, a deep neural network with a feature extraction module, a normal branch, and a disparity branch is disclosed. The extraction module and the normal branch are trained first in a supervised manner for surface normal prediction. The predicted surface normal is then incorporated into the disparity branch, which is trained later in an unsupervised manner for disparity estimation. The latter unsupervised learning approach can reduce our method's dependence on a large amount of ground truth data that is difficult to collect. Experimental results indicate that our proposed method can predict accurate surface normal at textureless regions. With the help of the surface normal, the predicted disparity at these challenging areas is more accurate, which leads to improved quality of stereo matching in indoor scenarios.
An autonomous or semi-autonomous cleaning device having a disinfection module mounted therein for disinfecting walls and objects in the areas it operates. The disinfection module consists of a fan, atomizer nozzle, an electrostatic module and a disinfection tank to store disinfection solution. The nozzle of the disinfection module will spray a stream of disinfection solution towards walls and objects to disinfect these surfaces. The system activates an electrostatically charged disinfection misting system which is designed to disinfect vertical surfaces and select horizontal surfaces.
A system and method to replan coverage paths for a robot operating in an environment with initially unknown static obstacles. Existing coverage approaches reduce coverage time by covering along the minimum number of coverage lines (straight-line paths). However, recomputing such paths online can be computationally expensive resulting in robot stoppages that increase coverage time. An alternative is greedy detour replanning, i.e., replanning with minimum deviation from the initial path, which is efficient to compute but may result in unnecessary detours. In this work, an anytime coverage replanning approach named OARP-Replan is proposed that performs near-optimal replans to an interrupted coverage path within a given time budget. This is accomplished by solving linear relaxations of mixed-integer linear programs (MILPs) to identify sections of the interrupted path that can be optimally replanned within the time budget.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
37 - Construction and mining; installation and repair services
Goods & Services
Robotic machines, namely, automatic floor scrubbers,
electric sweepers; cleaning robots being industrial robots. Technical support services, namely, technical advice in the
nature of repair of industrial robots.
12.
SYSTEM AND METHOD OF OBSTACLE AND CLIFF DETECTION FOR A SEMI-AUTONOMOUS CLEANING DEVICE
A system and method of obstacle and cliff detection for an autonomous or a semi-autonomous cleaning device utilizing a calibration health monitor and occupancy grid filters. A calibration health monitor is used for monitoring and making minor adjustments to camera calibration over time. An occupancy grid filter is a 3D occupancy grid for probabilistically observing obstacles with 3d sensors that are susceptible to noise or other inaccuracies.
G06T 7/80 - Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleanerControlling suction cleaners by electric means
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
13.
SYSTEM AND METHOD OF SEMANTIC SEGMENTATION FOR A CLEANING DEVICE
A system and method of semantic segmentation for an autonomous or semi-autonomous cleaning device. By using machine learning and visual data, one can teach an algorithm (e.g., a deep neural network) to distinguish between ground and non-ground spaces. The non-ground spaces are passed to the cleaning device path planning to avoid these areas. The algorithm may be programmed to detect low obstacles (e.g., cardboard boxes, low pallets, forklift tines) and other low-height obstacles. Semantic segmentation obstacle avoidance adds another layer of safety to perception safety protocols of a cleaning device.
37 - Construction and mining; installation and repair services
Goods & Services
Robotic machines, namely, automatic floor scrubbers, being industrial robots, electric sweepers being industrial robots; cleaning robots being industrial robots; all of the aforesaid goods not for personal or domestic use Technical support services, namely, technical advice in the nature of repair of industrial robots.
15.
INCIDENT NOTIFICATION SYSTEM FOR A SEMI-AUTONOMOUS CLEANING DEVICE
A system and method for incident notification for an autonomous or a semi-autonomous cleaning device. The incident notification can be provided with or without videos using hyperlinks. Videos can be accessed directly on the cleaning device graphical user interface (GUI) on the incident notification dashboard. Based on the detected failure types, direct links to specific contextual help videos next to each incident notification can be provided to further troubleshoot the incident. The system simplifies the complexity of incident notification and improves the user experience by merging all monitoring on a single dashboard which can manage all simultaneous faults in a coherent manner.
B25J 13/06 - Control stands, e.g. consoles, switchboards
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleanerControlling suction cleaners by electric means
A system and method for incident notification for an autonomous or a semi-autonomous cleaning device. The incident notification can be provided with or without videos using hyperlinks. Videos can be accessed directly on the cleaning device graphical user interface (GUI) on the incident notification dashboard. Based on the detected failure types, direct links to specific contextual help videos next to each incident notification can be provided to further troubleshoot the incident. The system simplifies the complexity of incident notification and improves the user experience by merging all monitoring on a single dashboard which can manage all simultaneous faults in a coherent manner.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
An autonomous or a semi-autonomous cleaning device having debris diverting system and filtering element to make the cleaning device more resistant to negative consequences caused by the presence of debris. The debris diverting system consists of front skirt assembly having one or more bristled guards, a rubber skirt, a magnetic attachment, a spring attachment, a hose assembly with a hose and hose attachment mechanism and a catch tray. The debris diverting system enable the cleaning device to block large debris and selectively filter small debris to pass through to be swept up or suctioned up by the vacuum hose of the cleaning device.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A47L 9/06 - Nozzles with fixed, e.g. adjustably fixed brushes or the like
A47L 11/30 - Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction
18.
DEBRIS MANAGEMENT SYSTEM FOR A SEMIAUTONOMOUS CLEANING DEVICE
An autonomous or a semi-autonomous cleaning device having debris diverting system and filtering element to make the cleaning device more resistant to negative consequences caused by the presence of debris. The debris diverting system consists of front skirt assembly having one or more bristled guards, a rubber skirt, a magnetic attachment, a spring attachment, a hose assembly with a hose and hose attachment mechanism and a catch tray. The debris diverting system enable the cleaning device to block large debris and selectively filter small debris to pass through to be swept up or suctioned up by the vacuum hose of the cleaning device.
A47L 9/06 - Nozzles with fixed, e.g. adjustably fixed brushes or the like
A47L 11/30 - Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
37 - Construction and mining; installation and repair services
Goods & Services
(1) Robotic machines, namely, automatic floor scrubbers, being industrial robots, not for personal or domestic use; autonomous electronic robots for use in large industrial and commercial buildings namely, airports, retail stores, shopping malls, healthcare centres, hospitals, hotels, office buildings, educational facilities, warehouses, conference and convention centres ,and factories, for scrubbing, sweeping and cleaning floors, specifically not for domestic or personal use (1) Technical support services, namely, technical advice related to the repair of industrial robots
20.
LOCALIZATION FRAMEWORK FOR DYNAMIC ENVIRONMENTS FOR AUTONOMOUS INDOOR SEMI-AUTONOMOUS DEVICES
A hybrid mapping and localization system using continuous localization algorithms is disclosed. When a localization quality is sufficiently high, based on a validated points localization monitor metric, then the map updates are allowed to be made on the localization map. This helps localizing in dynamic environments because these environment changes are actually integrated into the underlying map, so that the particle filter does not snap to incorrect object locations.
A hybrid mapping and localization system using continuous localization algorithms is disclosed. When a localization quality is sufficiently high, based on a validated points localization monitor metric, then the map updates are allowed to be made on the localization map. This helps localizing in dynamic environments because these environment changes are actually integrated into the underlying map, so that the particle filter does not snap to incorrect object locations.
A system and method of minimum turn coverage of arbitrary non-convex regions. Coverage planning is the task of generating a path that ensures the tool carried by the robot covers all regions of interest. The number of turns in the path can affect the time to cover the region and the quality of coverage (tools like cameras and cleaning attachments commonly have poor performance around turns). In recent turn-minimizing coverage methods, the region is partitioned to be covered by the least number of rectangles of width equal to the tool's width. The partitioning problem is typically solved using heuristics that have no optimality guarantees. A linear programming (LP) approach is disclosed to generate an axis-parallel coverage plan that minimizes the number of turns taken by the robot. The LP method solves this problem optimally in polynomial time. Coverage plans are generated for real regions using the LP method.
An apparatus includes a frame, a drive assembly supported by the frame, an electronic system supported by the frame, and a cleaning assembly coupled to the frame. The drive assembly is configured to move the frame along a surface. The cleaning assembly is configured to engage the surface to transfer detritus from the surface to a storage volume supported by the frame. The electronic system has at least a processor and a memory. The processor is configured to define a path along which the drive assembly travels and is configured to redefined a path along which the drive assembly travels based on at least one signal received from at least one sensor.
A47L 11/282 - Floor-scrubbing machines, motor-driven having rotary tools
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
25.
SYSTEM AND METHOD OF SOFTWARE AND PITCH CONTROL OF A DISINFECTION MODULE FOR A SEMI-AUTONOMOUS CLEANING AND DISINFECTION DEVICE
A system and method of software control and autonomy of a disinfection module for an autonomous or semi-autonomous cleaning device. The disinfection module control software resides on a computer with processor and memory. The disinfection module is connected to peripherals for sensing and localizing in the environment and controlling the actuators for the motion of the cleaning device. The disinfection module control software processes the sprayer's status, follows and plans paths to move the cleaning device to the spray targets, generates appropriate motion commands, and controls the disinfection module's pump, fan, LED, and electrostatic generator states.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
G05D 1/222 - Remote-control arrangements operated by humans
G05D 1/242 - Means based on the reflection of waves generated by the vehicle
G05D 1/646 - Following a predefined trajectory, e.g. a line marked on the floor or a flight path
G05D 1/648 - Performing a task within a working area or space, e.g. cleaning
26.
SYSTEM AND METHOD OF SEMI-AUTONOMOUS CLEANING OF SURFACES
A system and method can be provided for detecting the status of one or more components and/or systems of, for example, a manual, semi-autonomous, or fully autonomous cleaning device or the like. Embodiments described herein relate to a system that provides semi-autonomous cleaning of surfaces by a semi-autonomous cleaning device. The system provides for improved reliable obstacle detection and avoidance, improved sensing, improved design, improved failure detection, advanced diagnostics and expandability capabilities.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A47L 11/30 - Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction
G05D 1/02 - Control of position or course in two dimensions
G06V 20/58 - Recognition of moving objects or obstacles, e.g. vehicles or pedestriansRecognition of traffic objects, e.g. traffic signs, traffic lights or roads
37 - Construction and mining; installation and repair services
Goods & Services
Robotic machines, namely, automatic floor scrubbers,
electric sweepers; cleaning robots being industrial robots. Technical support services, namely, technical advice related
to the repair of industrial robots.
37 - Construction and mining; installation and repair services
Goods & Services
Robotic machines, namely, automatic floor scrubbers,
electric sweepers; cleaning robots being industrial robots. Technical support services, namely, technical advice related
to the repair of industrial robots.
37 - Construction and mining; installation and repair services
Goods & Services
Robotic machines, namely, automatic floor scrubbers,
electric sweepers; cleaning robots being industrial robots. Technical support services, namely, technical advice related
to the repair of industrial robots.
37 - Construction and mining; installation and repair services
Goods & Services
Robotic machines, namely, automatic floor scrubbers,
electric sweepers; cleaning robots being industrial robots. Technical support services, namely, technical advice related
to the repair of industrial robots.
37 - Construction and mining; installation and repair services
Goods & Services
(1) Robotic machines, namely, automatic floor scrubbers, electric carpet sweepers, electric vacuum cleaners for industrial purposes; industrial robots for cleaning floors (1) Technical support services, namely, technical advice related to the repair of industrial robots.
37 - Construction and mining; installation and repair services
Goods & Services
(1) Robotic machines, namely, automatic floor scrubbers, electric carpet sweepers, electric vacuum cleaners for industrial purposes; industrial robots for cleaning floors (1) Technical support services, namely, technical advice related to the repair of industrial robots.
37 - Construction and mining; installation and repair services
Goods & Services
(1) Robotic machines, namely, automatic floor scrubbers, electric carpet sweepers, electric vacuum cleaners for industrial purposes; industrial robots for cleaning floors (1) Technical support services, namely, technical advice related to the repair of industrial robots.
37 - Construction and mining; installation and repair services
Goods & Services
(1) Robotic machines, namely, automatic floor scrubbers, electric carpet sweepers, electric vacuum cleaners for industrial purposes; industrial robots for cleaning floors (1) Technical support services, namely, technical advice related to the repair of industrial robots.
35.
DISINFECTION MODULE FOR A SEMI-AUTONOMOUS CLEANING AND DISINFECTION DEVICE
An autonomous or semi-autonomous cleaning device having a disinfection module mounted therein for disinfecting walls and objects in the areas it operates. The disinfection module consists of a fan, atomizer nozzle, an electrostatic module and a disinfection tank to store disinfection solution. The nozzle of the disinfection module will spray a stream of disinfection solution towards walls and objects to disinfect these surfaces. The system activates an electrostatically charged disinfection misting system which is designed to disinfect vertical surfaces and select horizontal surfaces.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A61L 2/24 - Apparatus using programmed or automatic operation
36.
DISINFECTION MODULE FOR A SEMI-AUTONOMOUS CLEANING AND DISINFECTION DEVICE
An autonomous or semi-autonomous cleaning device having a disinfection module mounted therein for disinfecting walls and objects in the areas it operates. The disinfection module consists of a fan, atomizer nozzle, an electrostatic module and a disinfection tank to store disinfection solution. The nozzle of the disinfection module will spray a stream of disinfection solution towards walls and objects to disinfect these surfaces. The system activates an electrostatically charged disinfection misting system which is designed to disinfect vertical surfaces and select horizontal surfaces.
A61L 2/24 - Apparatus using programmed or automatic operation
A47L 11/29 - Floor-scrubbing machines characterised by means for taking-up dirty liquid
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
B08B 13/00 - Accessories or details of general applicability for machines or apparatus for cleaning
Systems and methods of monitoring the position of semi-autonomous or fully-autonomous devices for safe navigation in a dynamic, unstructured environment can include processes to detect localization errors via an odometry check, a laser map alignment check, or a bimodal distribution check; detect tracking errors to monitor and/or control device trajectory and/or to avoid device rollover; regulate velocity control based on static or dynamic safety zones for collision avoidance; perform system integrity checks to maintain desired performance over time; and/or the like. These processes may interface with and/or utilize sensors on the device and may provide inputs for a safety monitor system that oversees device safety. In addition, an onboard computer system with a real time operating system may be used to enable real time monitoring and response during device navigation and to execute relevant processes associated with this system independent of other processes performed.
G05D 1/02 - Control of position or course in two dimensions
G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
F16P 3/14 - Safety devices acting in conjunction with the control or operation of a machineControl arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A47L 11/29 - Floor-scrubbing machines characterised by means for taking-up dirty liquid
38.
System and method to virtually teach a semi-autonomous device
A virtual teaching system includes a semi-autonomous device to perform a task such as cleaning a target environment. The semi-autonomous device includes one or more sensors configured to record environmental data from the target environment that can be used to construct a virtual environment. The semi-autonomous device is operably coupled to an analysis system. The analysis system includes a processor to perform multiple functions, such as constructing the virtual environment from the recorded environmental data and supporting operation of a user interface. The user interface can be operably coupled to the processor, allowing a human operator to teach a virtual device in the virtual environment to perform an action sequence. Once the virtual device has been taught an action sequence in the virtual environment, the analysis system can transfer the recorded action sequence to the semi-autonomous device for use in the target environment.
G05D 1/02 - Control of position or course in two dimensions
G06F 3/0484 - Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range
G06F 9/451 - Execution arrangements for user interfaces
A system and method can be provided for detecting the status of one or more components and/or systems of, for example, a manual, semi-autonomous, or fully autonomous cleaning device or the like. Embodiments described herein relate to a system that provides semi-autonomous cleaning of surfaces by a semi-autonomous cleaning device. The system provides for improved reliable obstacle detection and avoidance, improved sensing, improved design, improved failure detection, advanced diagnostics and expandability capabilities.
A47L 11/29 - Floor-scrubbing machines characterised by means for taking-up dirty liquid
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
B08B 13/00 - Accessories or details of general applicability for machines or apparatus for cleaning
G01B 11/14 - Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
A system and method can be provided for detecting the status of one or more components and/or systems of, for example, a manual, semi-autonomous, or fully autonomous cleaning device or the like. Embodiments described herein relate to a system that provides semi-autonomous cleaning of surfaces by a semi-autonomous cleaning device. The system provides for improved reliable obstacle detection and avoidance, improved sensing, improved design, improved failure detection, advanced diagnostics and expandability capabilities.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A47L 11/29 - Floor-scrubbing machines characterised by means for taking-up dirty liquid
B08B 13/00 - Accessories or details of general applicability for machines or apparatus for cleaning
H04W 4/38 - Services specially adapted for particular environments, situations or purposes for collecting sensor information
G01B 11/14 - Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
41.
System and method of monitoring consumable wear components of semi-autonomous floor care equipment
In some embodiments, a method of monitoring, analyzing, and/or validating the lifecycle and maintenance schedule of consumable wear components used in or by a semi-autonomous cleaning device can include scanning a unique identifier associated with a consumable component and receiving, at the cleaning device, data associated with the unique identifier. A signal associated with the data is sent from the cleaning device to a host device. After scanning the unique identifier, the consumable component is installed in or on the cleaning device. During use of the cleaning device, a status of the consumable component is monitored and a signal is sent to the host device in response to one or more characteristics associated with the consumable component meeting a criterion.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
G08B 21/24 - Reminder alarms, e.g. anti-loss alarms
G06K 19/06 - Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
G06K 19/07 - Record carriers with conductive marks, printed circuits or semiconductor circuit elements, e.g. credit or identity cards with integrated circuit chips
42.
Apparatus and methods for semi-autonomous cleaning of surfaces
An apparatus includes a frame, a drive assembly supported by the frame, an electronic system supported by the frame, and a cleaning assembly coupled to the frame. The drive assembly is configured to move the frame along a surface. The cleaning assembly is configured to engage the surface to transfer detritus from the surface to a storage volume supported by the frame. The electronic system has at least a processor and a memory. The processor is configured to define a path along which the drive assembly travels and is configured to redefined a path along which the drive assembly travels based on at least one signal received from at least one sensor.
A47L 11/282 - Floor-scrubbing machines, motor-driven having rotary tools
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
37 - Construction and mining; installation and repair services
Goods & Services
Robotic machines, namely, automatic floor scrubbers, electric sweepers; cleaning robots being industrial robots Technical support services, namely, technical advice related to the repair of industrial robots
37 - Construction and mining; installation and repair services
Goods & Services
Robotic machines, namely, automatic floor scrubbers, electric sweepers; cleaning robots being industrial robots Technical support services, namely, technical advice related to the repair of industrial robots
37 - Construction and mining; installation and repair services
Goods & Services
Robotic machines, namely, automatic floor scrubbers, electric sweepers; cleaning robots being industrial robots Technical support services, namely, technical advice related to the repair of industrial robots
37 - Construction and mining; installation and repair services
Goods & Services
Robotic machines, namely, automatic floor scrubbers, electric sweepers; cleaning robots being industrial robots Technical support services, namely, technical advice related to the repair of industrial robots
47.
SAFETY SYSTEMS FOR SEMI-AUTONOMOUS DEVICES AND METHODS OF USING THE SAME
Systems and methods of monitoring the position of semi-autonomous or fully-autonomous devices for safe navigation in a dynamic, unstructured environment can include processes to detect localization errors via an odometry check, a laser map alignment check, or a bimodal distribution check; detect tracking errors to monitor and/or control device trajectory and/or to avoid device rollover; regulate velocity control based on static or dynamic safety zones for collision avoidance; perform system integrity checks to maintain desired performance over time; and/or the like. These processes may interface with and/or utilize sensors on the device and may provide inputs for a safety monitor system that oversees device safety. In addition, an onboard computer system with a real time operating system may be used to enable real time monitoring and response during device navigation and to execute relevant processes associated with this system independent of other processes performed.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
B60W 30/08 - Predicting or avoiding probable or impending collision
B60W 30/09 - Taking automatic action to avoid collision, e.g. braking and steering
B60W 30/095 - Predicting travel path or likelihood of collision
F16P 3/00 - Safety devices acting in conjunction with the control or operation of a machineControl arrangements requiring the simultaneous use of two or more parts of the body
A system for a self-cleaning squeegee that is integrated with a semi-autonomous cleaning device includes a frame coupled to the cleaning device. A squeegee is coupled to the frame and oriented such that an edge of the squeegee is in close proximity to a surface, e.g., a floor, for cleaning. A manifold configured to receive a cleaning fluid is coupled to the frame and oriented such that the cleaning fluid can be dispersed onto at least a portion of the squeegee. A connecting member is used to couple the manifold to an external fluid distribution system that provides the cleaning fluid. The self-cleaning squeegee system can thus disperse pressurized cleaning fluid, e.g., water or a mixture of water and soap, via the manifold to clean the surface of a squeegee. In this manner, the self-cleaning squeegee system can clean squeegees on the cleaning device without the need for human intervention.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A system for adjusting an operating state of a medical electronic device is described. In an aspect, the system includes an optical tracking system configured to detect three or more tracking markers. The system also includes a processor coupled with the optical tracking system. The processor is programmed with instructions which, when executed, configure the processor to: configure an input command by assigning at least one operating state of the medical electronic device to a particular state of at least one of the tracking markers; after receiving a priming command, identify a present state of the tracking markers based on data from the optical tracking system; compare the present state with the particular state assigned to the operating state; and based on the comparison, determine that an input command has been received and adjust the operating state of the medical electronic device to the assigned operating state.
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
A61B 17/00 - Surgical instruments, devices or methods
50.
SAFETY SYSTEMS FOR SEMI-AUTONOMOUS DEVICES AND METHODS OF USING THE SAME
Systems and methods of monitoring the position of semi-autonomous or fully-autonomous devices for safe navigation in a dynamic, unstructured environment can include processes to detect localization errors via an odometry check, a laser map alignment check, or a bimodal distribution check; detect tracking errors to monitor and/or control device trajectory and/or to avoid device rollover; regulate velocity control based on static or dynamic safety zones for collision avoidance; perform system integrity checks to maintain desired performance over time; and/or the like. These processes may interface with and/or utilize sensors on the device and may provide inputs for a safety monitor system that oversees device safety. In addition, an onboard computer system with a real time operating system may be used to enable real time monitoring and response during device navigation and to execute relevant processes associated with this system independent of other processes performed.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
B60W 30/08 - Predicting or avoiding probable or impending collision
B60W 30/09 - Taking automatic action to avoid collision, e.g. braking and steering
B60W 30/095 - Predicting travel path or likelihood of collision
F16P 3/00 - Safety devices acting in conjunction with the control or operation of a machineControl arrangements requiring the simultaneous use of two or more parts of the body
In some embodiments, a method of monitoring, analyzing, and/or validating the lifecycle and maintenance schedule of consumable wear components used in or by a semi-autonomous cleaning device can include scanning a unique identifier associated with a consumable component and receiving, at the cleaning device, data associated with the unique identifier. A signal associated with the data is sent from the cleaning device to a host device. After scanning the unique identifier, the consumable component is installed in or on the cleaning device. During use of the cleaning device, a status of the consumable component is monitored and a signal is sent to the host device in response to one or more characteristics associated with the consumable component meeting a criterion.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
G08B 21/24 - Reminder alarms, e.g. anti-loss alarms
G06K 19/06 - Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
G06K 19/07 - Record carriers with conductive marks, printed circuits or semiconductor circuit elements, e.g. credit or identity cards with integrated circuit chips
52.
DETECTING DEGRADATION OF BACK SQUEEGEE WATER PICK-UP PERFORMANCE FOR AUTONOMOUS FLOOR SCRUBBERS
A system and/or method can be provided for detecting the status of one or more components and/or systems of, for example, a manual, semi-autonomous, or fully autonomous cleaning device or the like. For example, systems and methods can be used for detecting degradation of back squeegee performance. In some embodiments, a system and/or method for detecting the status of one or more components is provided for detecting vacuum performance degradation by monitoring the current (amperage) being drawn by a vacuum motor. In addition, one or more other components can be monitored by inspecting images captured by a camera mounted on a back door of the cleaning device to determine, for example, one or more other problems associated with a squeegee mount, water pick up, and/or the like.
A47L 11/30 - Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
53.
Apparatus and methods for semi-autonomous cleaning of surfaces
An apparatus includes a frame, a drive assembly supported by the frame, an electronic system supported by the frame, and a cleaning assembly coupled to the frame. The drive assembly is configured to move the frame along a surface. The cleaning assembly is configured to engage the surface to transfer detritus from the surface to a storage volume supported by the frame. The electronic system has at least a processor and a memory. The processor is configured to define a path along which the drive assembly travels and is configured to redefined a path along which the drive assembly travels based on at least one signal received from at least one sensor.
A47L 11/282 - Floor-scrubbing machines, motor-driven having rotary tools
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
54.
APPARATUS AND METHODS FOR SEMI-AUTONOMOUS CLEANING OF SURFACES
An apparatus includes a frame, a drive assembly supported by the frame, an electronic system supported by the frame, and a cleaning assembly coupled to the frame. The drive assembly is configured to move the frame along a surface. The cleaning assembly is configured to engage the surface to transfer detritus from the surface to a storage volume supported by the frame. The electronic system has at least a processor and a memory. The processor is configured to define a path along which the drive assembly travels and is configured to redefined a path along which the drive assembly travels based on at least one signal received from at least one sensor.
A47L 7/00 - Suction cleaners adapted for additional purposesTables with suction openings for cleaning purposesContainers for cleaning articles by suctionSuction cleaners adapted to cleaning of brushesSuction cleaners adapted to taking-up liquids
A47L 9/00 - Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating actionStoring devices specially adapted to suction cleaners or parts thereofCarrying-vehicles specially adapted for suction cleaners
B25J 5/00 - Manipulators mounted on wheels or on carriages
55.
APPARATUS AND METHODS FOR SEMI-AUTONOMOUS CLEANING OF SURFACES
An apparatus includes a frame, a drive assembly supported by the frame, an electronic system supported by the frame, and a cleaning assembly coupled to the frame. The drive assembly is configured to move the frame along a surface. The cleaning assembly is configured to engage the surface to transfer detritus from the surface to a storage volume supported by the frame. The electronic system has at least a processor and a memory. The processor is configured to define a path along which the drive assembly travels and is configured to redefined a path along which the drive assembly travels based on at least one signal received from at least one sensor.
A47L 7/00 - Suction cleaners adapted for additional purposesTables with suction openings for cleaning purposesContainers for cleaning articles by suctionSuction cleaners adapted to cleaning of brushesSuction cleaners adapted to taking-up liquids
A47L 9/00 - Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating actionStoring devices specially adapted to suction cleaners or parts thereofCarrying-vehicles specially adapted for suction cleaners
B25J 5/00 - Manipulators mounted on wheels or on carriages
56.
Apparatus and methods for semi-autonomous cleaning of surfaces
An apparatus includes a frame, a drive assembly supported by the frame, an electronic system supported by the frame, and a cleaning assembly coupled to the frame. The drive assembly is configured to move the frame along a surface. The cleaning assembly is configured to engage the surface to transfer detritus from the surface to a storage volume supported by the frame. The electronic system has at least a processor and a memory. The processor is configured to define a path along which the drive assembly travels and is configured to redefined a path along which the drive assembly travels based on at least one signal received from at least one sensor.
A47L 11/282 - Floor-scrubbing machines, motor-driven having rotary tools
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
57.
APPARATUS AND METHODS FOR SEMI-AUTONOMOUS CLEANING OF SURFACES
An apparatus includes a frame, a drive assembly supported by the frame, an electronic system supported by the frame, and a cleaning assembly coupled to the frame. The drive assembly is configured to move the frame along a surface. The cleaning assembly is configured to engage the surface to transfer detritus from the surface to a storage volume supported by the frame. The electronic system has at least a processor and a memory. The processor is configured to define a path along which the drive assembly travels and is configured to redefined a path along which the drive assembly travels based on at least one signal received from at least one sensor.
A47L 9/00 - Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating actionStoring devices specially adapted to suction cleaners or parts thereofCarrying-vehicles specially adapted for suction cleaners
A47L 7/00 - Suction cleaners adapted for additional purposesTables with suction openings for cleaning purposesContainers for cleaning articles by suctionSuction cleaners adapted to cleaning of brushesSuction cleaners adapted to taking-up liquids
B25J 5/00 - Manipulators mounted on wheels or on carriages
