Robotic Surface Treatment Device
A robotic surface treatment device includes at least two wheels, at least two electric motors, wherein one electric motor is connected to one corresponding wheel via a motor shaft, at least two treatment pads, wherein at least one treatment pad is attached to a bottom surface of a corresponding wheel, a main controller positioned on top of and in connection with drive controllers positioned on top of each electric motor, a plurality of sensors integrated in the main controller, and a rechargeable battery connected to the main controller. At least one treatment fluid tank may be positioned on the robotic surface treatment device, and at least one treatment fluid tube may extend from a bottom surface of the treatment fluid tank to a bottom surface of the robotic surface treatment device. The sensors may be laser or acoustic sensors configured to create a boundary line for a treatment area.
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This application claims the benefit of U.S. Provisional Application No. 61/722,183, filed Nov. 4, 2012, the disclosure of which is hereby incorporated in its entirety by reference.
BACKGROUND OF THE INVENTION1. Field of the Invention
This disclosure relates generally to a robotic surface treatment device and, more particularly, to a robotic surface treatment device with floor pads rotationally actuated to treat a surface.
2. Description of Related Art
Development of an effective robotic surface cleaning system that can clean any hard surface (e.g. concrete, tiles, vinyl, hardwood, or any combination of these materials) remains difficult to achieve. The state-of-the-art autonomous or tele-operated, robotic or manual (local or controlled) surface cleaning systems that are commercially available for domestic or industrial surface cleaning applications are still ineffective in comparison to common, hand-held mops. These commercially available, wheeled, surface cleaning systems are extremely limited in their ability to properly clean a surface. These systems are incapable of rubbing or pushing the cleaning tools of the system (a cloth or brush) with the requisite amount of pressure necessary for removing dirt, grease, mud, or any other substance from a hard surface. Individuals who have attempted to clean a garage floor covered with engine oil leaking from a car, or mud stuck on a concrete floor from car tires know that the best solution is to scrub the floor with a hand-held scrubber/mop along with soap and water. A manual, hand-held scrubber often works better than a wheel-driven vehicular-type cleaning apparatus because the manual, hand-held scrubber allows the individual using the scrubber to put his/her body weight in action on the scrubber. This application of the body weight to the scrubber is essential to dislodging the dirt and grease that are stuck on the floor. Therefore, the effectiveness of a cleaning apparatus is directly proportional to the amount of force (pressure) the apparatus can exert through the cleaning tool on the surface that needs dirt, grease, etc. to be removed therefrom. It takes a certain amount of friction between the cleaning apparatus and the surface to provide an effective cleaning of the surface.
Each commercially available surface cleaning robot currently on the market work based on similar basic principles. Many of the surface cleaning robots ambulate on wheels, similar to a car. This ensures that there is always a gap between the lower body parts of the cleaning apparatus and the floor. Very few of the surface cleaning robots apply the body weight of the apparatus directly to effectuate surface cleaning similar to the cleaning performed by an individual with a hand-held mop or scrubber. Further, the cleaning tool used by the surface cleaning robot is engaged to clean the floor using a separate mechanism from the surface cleaning robot, which applies minimal pressure necessary for effective cleaning of the floor. Therefore, there is a current need for a robotic surface treatment device that applies the necessary pressure to the treatment surface to provide the requisite friction between the device and the treatment surface to effectuate a proper treatment motion.
SUMMARY OF THE INVENTIONAccordingly, and generally, a robotic surface treatment device and a method of treating a surface using the robotic surface treatment device are provided to address and/or overcome some or all of the deficiencies or drawbacks associated with existing robotic surface treatment devices.
In one embodiment of the invention, a robotic surface treatment device may include at least two wheels, at least two electric motors, at least two treatment pads, a main controller, a plurality of sensors, and at least one rechargeable battery. One electric motor may be connected to one corresponding wheel via a motor shaft. At least one treatment pad may be attached to a bottom surface of a corresponding wheel. The main controller may be positioned on top of and in connection with drive controllers positioned on top of each electric motor. The plurality of sensors may be integrated in the main controller. The rechargeable battery may be connected to the main controller.
At least one treatment fluid tank may be positioned on the top of the robotic surface treatment device. At least one treatment fluid tube may extend from a bottom surface of the treatment fluid tank to a bottom surface of the robotic surface treatment device. The plurality of sensors may be laser or acoustic sensors configured to measure a distance between the robotic surface treatment device and an obstacle. The sensors may be spaced radially about the robotic surface treatment device and may be positioned with equal distances between one another. A treatment fluid tube shut off valve may be positioned in line between the treatment fluid tank and the treatment fluid tube, wherein the treatment fluid tube shut off valve opens upon the robotic surface treatment device activating to treat a surface. The rechargeable battery may be a light weight lithium ion battery. The treatment pads may include an abrasive material configured to scrub, polish, buff, and/or clean a hard surface. Alarms and status indicators may be integrated into the main controller to alert an individual that the rechargeable battery power level is low, that the treatment fluid level is low, and/or that the electric motors have stalled or powered down. The plurality of sensors may be positioned at an angle of approximately 22 degrees apart from one another. The electric motors used to rotate the wheels may be servo motors or stepper motors. At least one weight may be provided on a top surface of the robotic surface treatment device, wherein a rod may be positioned on a top surface of the robotic surface treatment device and the at least one weight may be positioned on the rod. The robotic surface treatment device may be operated through the use of a remote control device.
In another embodiment of the invention, a method of treating a surface using a robotic surface treatment device includes the steps of: providing a robotic surface treatment device as described hereinabove, rotating the wheels of the robotic surface treatment device via rotation of the motor shafts, wherein the motor shafts may be rotated by the electric motors, and increasing the rotational speed of a first wheel comparative to a second wheel, thereby moving the first wheel along a radial trajectory line until the first wheel is positioned in front of the second wheel, wherein the first wheel may be initially positioned at the back of the robotic surface treatment device and the second wheel may be initially positioned at the front of the robotic surface treatment device.
The method may further include the step of using the main controller to create a boundary line of the treating area by using the sensors to determine the distance and coordinates of the treating area. The method may further include the step of recalculating the boundary line of the treating area by using the sensors of the main controller to re-calibrate the distance and coordinates of the treating area. The method may further include the step of walking the robotic surface treatment device along a treating path by repeating the steps described hereinabove at least two times, wherein the wheels may be rotated in an opposite direction after the first wheel has been brought to the front of the robotic surface treatment device. The method may further include the step of treating a circular area by rotating one wheel at one rotational speed and rotation the other wheel at a comparatively faster speed in the same rotational direction. The method may further include the step of providing a treatment fluid in at least one treatment fluid tank positioned on top of the robotic surface treatment device, and at least one treatment fluid tube that may extend from the treatment fluid tank to a bottom surface of the robotic surface treatment device. The method may further include the step of spreading treatment fluid on the treating area and the treatment pads via the treatment fluid tube. The method may further include the step of remotely operating the robotic surface treatment device via a remote control device.
These and other features and characteristics of the robotic surface treatment device, as well as the methods and functions of the related elements of the robotic surface treatment device, will become more apparent upon consideration of the following description and the appended claims with reference to the accompanying drawings, all of which form a part of this specification, wherein like reference numerals designate corresponding parts in the various figures. It is to be expressly understood, however, that the drawings are for the purpose of illustration and description only and are not intended as a definition of the limits of the invention. As used in the specification and the claims, the singular form of “a”, “an”, and “the” include plural referents unless the context clearly dictates otherwise.
For purposes of the description hereinafter, the terms “upper”, “lower”, “right”, “left”, “vertical”, “horizontal”, “top”, “bottom”, “lateral”, “longitudinal”, and derivatives thereof shall relate to the invention as it is oriented in the drawings. However, it is to be understood that the invention may assume alternative variations and step sequences, except where expressly specified to the contrary. It is also to be understood that the specific devices and processes illustrated in the attached drawings, and described in the following specification, are simply exemplary embodiments of the invention. Hence, specific dimensions and other physical characteristics related to the embodiments disclosed herein are not to be considered as limiting.
The present invention is directed to, in general, a robotic surface treatment device and, in particular, a robotic surface treatment device with floor pads rotationally actuated to treat a surface. Certain preferred and non-limiting embodiments of the components of the robotic surface treatment device are illustrated in
With reference to
In one embodiment of the invention, the wheels 2 can be made with metal, such as steel, stainless steel, aluminum, titanium, or any other suitable metal. Additional materials that may be used for the wheels 2 include plastic or any other appropriate hard material. In one preferred embodiment, the wheels 2 are made with a light weight material which helps in optimizing the size of electric motor 3 that is needed to rotate the wheels 2. The lighter the material used for the wheels 2, the smaller the electric motor 3 that is needed because less power is needed to rotate the wheels 2. The optimization of the electric motor 3 will in turn decide the amp-hour (energy storage) requirement of the rechargeable battery 18 that is needed to power the robotic surface treatment device 30.
As shown in
As previously mentioned, each wheel 2 is independently driven by its respective electric motor 3. Each electric motor 3 is controlled by an appropriate type of motor controller 7, such as a drive system, based on the type of electric motor that is used to rotate the wheels 2. One or more motor controllers 7 (based on the number of electric motors used for the robotic surface treatment device) will receive the speed, position, and direction commands from a main controller 8. This arrangement gives each electric motor 3 the ability to rotate both in a clock-wise and counter-clockwise direction. Therefore, each electric motor 3 has two degrees of freedom for movement. The speed and direction of each electric motor 3 will determine the resultant movement direction of the robotic surface treatment device 30, but the actual treating operation and effectiveness of the robotic surface treatment device 30 is independent of the movement direction of the robotic surface treatment device 30. The actual treating operation and effectiveness of the robotic surface treatment device 30 is dependent on the factor of friction developed between the treatment surface, the wheels 2, and the treatment pads 1.
With the arrangement used in
In reference to
The treatment pads 1 are attached to the bottom surface of the wheels 2. The wheels 2 may be made with light-weight material such as aluminum or alloy metals, plastic, or any similar appropriate material. The wheels 2 are keyed into the motor shafts 4, which effectuates the rotation of the wheels 2 when the motor shafts 4 are rotated by the electric motors 3. Since the treatment pads 1 are attached to the wheels 2, the treatment pads 1 are permitted to rotate as well, thereby treating the surface upon which the robotic surface treatment device 30 rests. This allows the treatment pads 1 to treat the floor surface as the electric motors 3 turn the motor shafts 4, while at the same time the treatment pads 1 do not slip against the surface of the wheels 2 to which they are attached.
The electric motors 3 may be small servo motors, stepper motors, or geared DC motors, among other types of motors. Since the robotic surface treatment device 30 will be powered by a rechargeable battery 18, the motors 3 must be selected with care to ensure that they are high efficiency and have a high starting torque. A high starting torque is important because the robotic surface treatment device 30 needs to start against the floor surface by quickly overcoming the static friction between the treatment pads 1 and the floor surface and then staying in motion by overcoming any dynamic friction that is created. The amount of static friction between the treatment pads 1 and the floor surface is proportional to the weight of the robotic surface treatment device 30 and the roughness of the floor surface. As the electric motors 3 are powered, the motor shafts 4 begin to rotate. The motor shafts 4 are used to transmit power and torque from the electric motors 3 to the wheels 2 of the robotic surface treatment device 30. In this instance, the amount of force required to rotate the wheels 2 against the floor surface is called the load.
A plurality of treatment fluid tubes 5 are positioned adjacent each electric motor 3. The treatment fluid tubes 5 extend vertically along each electric motor 3 with one end positioned above each treatment pad 1. For the effective treatment of a floor surface, it is often necessary to spray/squirt some type of treatment fluid 10 on the floor surface that needs to be treated. In this embodiment of the invention, ordinary soapy water may be used as the treatment fluid. However, it is contemplated that additional types of treatment fluid or liquid detergent, such as wax, may also be used in place of ordinary soapy water to improve the treatment of the floor surface. The treatment fluid 10 is stored in one or more small tanks 11 positioned directly above the treatment fluid tubes 5. Similar to the weights discussed above, the treatment fluid helps to maintain the friction between the wheels 2 of the robotic surface treatment device 30 and the floor surface. When the robotic surface treatment device 30 is in operation, a shut-off valve 21 is activated, allowing the treatment fluid 10 to flow downward through the treatment fluid tube 5 through a gravitational force. The treatment fluid 10 flows to the end of the treatment fluid tube 5 positioned above the wheels 2 and drips onto the treatment pads 1 and/or the surface that requires treating. A treatment fluid chamber cap 12 is positioned over top of an aperture in the treatment fluid chamber 11, and allows an individual to refill the robotic surface treatment device 30 with new treatment fluid 10. The treatment fluid chamber cap 12 must be closed before the robotic surface treatment device 30 can be put into operation.
A drive controller and servo amplifier chamber 6 is positioned above each electric motor 3. Positioned within this chamber 6 and on top of each electric motor 3, is a drive controller and servo amplifier board 7. Each electric motor 3 needs a controller/amplifier board 7 (cards/modules) for controlling and varying the motor speed, direction, and amount of torque that is applied to the wheels 2 of the robotic surface treatment device 30. Each electric motor 3 may be individually controlled by separate controller/amplifier boards 7. It is often the case that small electric motors come prepackaged with built-in driver controllers, which may also be used in conjunction with the robotic surface treatment device 30.
Positioned above the controller/amplifier chamber 6 is a single board computer (SBC) and Programmable Logic Controller (PLC) 8. This SBC/PLC controller 8, for the most part, runs the entire robotic surface treatment device 30. The controller 8 is an electronic circuit board that houses several different components 9, including high-speed microprocessors/microcontrollers, random access memory (RAM), erasable programmable memory (EPROM), clock circuits, bus circuits, various sensors (positional and/or directional), light curtains, fluid level sensors, and other peripheral devices with built-in wireless or radio transmitters/receivers. The SBC/PLC controller 8 performs many tasks, including controlling the robotic surface treatment device 30 by turning it on or off based on an operator's command, whether that is through a local switch mounted on the robotic surface treatment device 30 or through a hand-held remote. The controller 8 is also used to provide sensors that sense barriers/walls/obstacles around the vicinity of the robotic surface treatment device 30 to determine the floor space/area that still needs to be treated. These sensors may include laser or acoustic beams, among others. Path planning is also achieved by the controller 8 to optimize the coverage of the entire treatment area in the shortest amount of time possible. The controller 8 also allows the robotic surface treatment device 30 to receive manual commands from a hand-held radio controller over a radio link or wireless signal from the operator if a remote control or tele-operation mode is selected. The robotic surface treatment device 30 is also capable of using the controller 8 to sense the battery charge level of the rechargeable battery 18 and, in turn, illuminate a “Charging Required” light and/or generate an auto-charging decision for the robotic surface treatment device 30. Likewise, the controller 8 may be used to sense the treatment fluid level in the treatment fluid tanks 11, and can generate an alarm (e.g. light indication) that the treatment fluid 10 needs to be refilled. The controller 8 may also sense when the robotic surface treatment device 30 is stuck or stalled and may illuminate a fault light and/or generate alarm signals. It may also be possible to use the controller 8 to transmit all of the status updates and alarm indications over a wireless link to a home computer or mobile device, such as a smart phone, to notify an individual of the status of the robotic surface treatment device 30. Control of the fluid tube shut-off valve 21 may be achieved by using the controller 8. Determination of the speed and directional relationship between the electric motors 3 in order to control the robotic surface treatment device 30 movement in an efficient manner may be done through use of the controller 8. This ensures that the floor surface is treated in the shortest possible time using the least amount of energy. A final operation that the controller 8 may perform is to generate speed/direction/position commands and send them to the drive controllers and amplifiers boards 7 in order to move the robotic surface treatment device 30 about the floor surface that needs to be treated. The controller 8 may receive feedback from the motor controllers and amplifiers to determine if the robotic surface treatment device 30 is overloaded or in another type of condition.
A negative power supply terminal/lead 13 may be positioned on an upper surface of the SBC/PLC controller 8. A flexible cable 14 connects the negative power supply terminal/lead 13 to a negative power supply terminal/lead 15 on the rechargeable battery 18. Likewise, a positive power supply terminal/lead 20 may be positioned on an upper surface of the SBC/PLC controller 8. A flexible cable 14 connects the positive power supply terminal/lead 20 to a positive power supply terminal/lead 19 on the rechargeable battery 18. The rechargeable battery 18 may be a light weight lithium ion battery or other type of rechargeable battery suitable for use in electric or hybrid cars because these types of batteries are well-known for charge life and a high number of charge/discharge cycles, enhancing the overall battery life. A recharge plug 17 for the rechargeable battery 18 is positioned on top of the rechargeable battery 18 via a pair of flexible cables 16. Each flexible cable 16 connects the recharge plug 17 to the negative power supply terminal/lead 15 and the positive power supply terminal/lead 19 of the rechargeable battery 18, respectively.
With reference to
It is also contemplated that the wheels 2 of the robotic surface treatment device 30 may rotate in opposite directions during operation. Occasionally, an individual may need to use the robotic surface treatment device 30 to buff, sand, and/or polish a surface. In this operation, it is necessary that the robotic surface treatment device 30 does not move, but rather remains in the same position and rotates the wheels 2 to buff the surface. This can be accomplished by rotating the wheels 2 at the same speed and in opposite directions. This helps to keep the robotic surface treatment device 30 in the same position, but buffs the surface as the wheels 2 rotate opposite one another.
In reference to
After the boundary line has been established by the controller 8, the controller 8 goes through a series of decision-making processes to determine the correct course of action. These decision-making processes including determining whether the area within the boundary line is large enough for the robotic surface treatment device 30 to make any movements at all, whether the area within the boundary line is large enough for the robot to make circular movements, and what the maximum radius of the circle that the robotic surface treatment device 30 can cover first. As shown in
As shown in
As shown in
The robotic surface treatment device 30 is capable of treating an area other than just by rotating in a circle to treat the greatest amount of area possible. As shown in
While various embodiments of the robotic surface treatment device were provided in the foregoing description, those skilled in the art may make modifications and alterations to these embodiments without departing from the scope and spirit of the invention. For example, it is to be understood that this disclosure contemplates that, to the extent possible, one or more features of any embodiment can be combined with one or more features of any other embodiment. Accordingly, the foregoing description is intended to be illustrative rather than restrictive. The invention described hereinabove is defined by the appended claims and all changes to the invention that fall within the meaning and the range of equivalency of the claims are to be embraced within their scope.
Claims
1. A robotic surface treatment device, comprising:
- at least two wheels;
- at least two electric motors, wherein one electric motor is connected to one corresponding wheel via a motor shaft;
- at least two treatment pads, wherein at least one treatment pad is attached to a bottom surface of a corresponding wheel;
- a main controller positioned on top of and in connection with drive controllers positioned on top of each electric motor;
- a plurality of sensors integrated in the main controller; and
- at least one rechargeable battery connected to the main controller.
2. The robotic surface treatment device as claimed in claim 1, further comprising at least one treatment fluid tank positioned on the top of the robotic surface treatment device, and at least one treatment fluid tube extending from a bottom surface of the treatment fluid tank to a bottom surface of the robotic surface treatment device.
3. The robotic surface treatment device as claimed in claim 2, wherein the plurality of sensors are laser or acoustic sensors configured to measure a distance between the robotic surface treatment device and an obstacle.
4. The robotic surface treatment device as claimed in claim 3, wherein the sensors are spaced radially about the robotic surface treatment device and are positioned with equal distances between one another.
5. The robotic surface treatment device as claimed in claim 4, further comprising a treatment fluid tube shut off valve positioned in line between the treatment fluid tank and the treatment fluid tube, wherein the treatment fluid tube shut off valve opens upon the robotic surface treatment device activating to treat a surface.
6. The robotic surface treatment device as claimed in claim 5, wherein the rechargeable battery is a light weight lithium ion battery.
7. The robotic surface treatment device as claimed in claim 6, wherein the treatment pads comprise an abrasive material configured to scrub, polish, buff, or clean a hard surface.
8. The robotic surface treatment device as claimed in claim 7, further comprising alarms and status indicators integrated into the main controller configured to alert an individual that the rechargeable battery power level is low, that the treatment fluid level is low, and/or that the electric motors have stalled or powered down.
9. The robotic surface treatment device as claimed in claim 8, wherein the electric motors that are used to rotate the wheels are servo motors or stepper motors.
10. The robotic surface treatment device as claimed in claim 9, wherein the plurality of sensors are positioned at an angle of approximately 22 degrees apart from one another.
11. The robotic surface treatment device as claimed in claim 5, wherein at least one weight is provided on a top surface of the robotic surface treatment device, wherein a rod is positioned on a top surface of the robotic surface treatment device and the at least one weight is positioned on the rod.
12. The robotic surface treatment device as claimed in claim 5, wherein the robotic surface treatment device is operated through the use of a remote control device.
13. A method of treating a surface using a robotic surface treatment device, comprising the steps of:
- a) providing a robotic surface treatment device, comprising:
- at least two wheels;
- at least two electric motors, wherein one electric motor is connected to one corresponding wheel via a motor shaft; and
- at least two treatment pads, wherein each treatment pad is attached to a bottom surface of a corresponding wheel;
- b) rotating the wheels of the robotic surface treatment device via rotation of the motor shafts, wherein the motor shafts are rotated by the electric motors, and
- c) increasing the rotational speed of a first wheel comparative to a second wheel, thereby moving the first wheel along a radial trajectory line until the first wheel is positioned ahead of the second wheel, wherein the first wheel is initially positioned at the back of the robotic surface treatment device and the second wheel is initially positioned at the front of the robotic surface treatment device.
14. The method of treating a surface as claimed in claim 13, wherein the robotic surface treatment device further comprise a main controller positioned on top of and in connection with drive controllers positioned on top of each electric motor, a plurality of sensors integrated in the main controller, and at least one rechargeable battery connected to the main controller, and
- wherein the method further comprises the step of using the main controller to create a boundary line of the treatment area by using the sensors to determine the distance and coordinates of the treatment area.
15. The method of treating a surface as claimed in claim 14, further comprising the step of walking the robotic surface treatment device along a treatment path by repeating steps (b) and (c) at least two times, wherein the wheels are rotated in an opposite direction after the first wheel has been brought to the front of the robotic surface treatment device.
16. The method of treating a surface as claimed in claim 15, further comprising the step of recalculating the boundary line of the treatment area by using the sensors of the main controller to re-calibrate the distance and coordinates of the treatment area.
17. The method of treating a surface as claimed in claim 16, further comprising the step of treating a circular area by rotating one wheel at one rotational speed and rotating the other wheel at a comparatively faster speed in the same rotational direction.
18. The method of treating a surface as claimed in claim 17, further comprising the step of providing treatment fluid in at least one treatment fluid tank positioned on top of the robotic surface treatment device, and providing at least one treatment fluid tube that extends from the treatment fluid tank to a bottom surface of the robotic surface treatment device.
19. The method of treating a surface as claimed in claim 18, further comprising the step of spreading treatment fluid on the treatment area and the treatment pads via the treatment fluid tube.
20. The method of treating a surface as claimed in claim 19, further comprising the step of remotely operating the robotic surface treatment device via a remote control device.
Type: Application
Filed: Nov 4, 2013
Publication Date: May 8, 2014
Applicant: Deming Systems LLC (Venetia, PA)
Inventors: Uday S. Roy (Venetia, PA), Vishal P. Sheth (Lombard, IL), Prithwi S. Roy (Venetia, PA), Shibani Saha (Lombard, IL), Mohar Roy (Venetia, PA)
Application Number: 14/070,950
International Classification: B24B 1/00 (20060101); B24B 7/00 (20060101);