RELATED APPLICATIONS This application claims benefit of U.S. Provisional Application 63/312,348 filed Feb. 21, 2022; and of U.S. Provisional Application 63/334,632 filed Apr. 25, 2022; and of U.S. Provisional Application 63/351,741 filed Jun. 13, 2022; and of U.S. Provisional Application 63/393,643 filed Jul. 29, 2022.
FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT [Not Applicable]
Microfiche/Copyright Reference [Not Applicable]
BACKGROUND OF THE INVENTION The present invention relates generally to devices for cleaning surfaces.
In the art of devices for cleaning surfaces, there exists a multitude of appliances that each serve a particular function. There are vacuums (that may or may not include a brush roll), there are sweepers (brush-roll only devices), and there are mops and wiper devices and there are robotic vacuums an/or mops. Each have their distinct advantages and disadvantages. The invention at hand seeks to inventively improve upon these devices by combining the positive attributes of each without being encumbered by the negative attributes of each in new and novel ways.
BRIEF AND DETAILED SUMMARY OF THE INVENTION The present invention is a new and novel structure(s) for cleaning surfaces.
All embodiments may be combined and recombined without limitation.
And these embodiments also apply to various existing technologies that may be employed
In all preferred embodiments; there exists a robotic vacuum that may be of varying shape, round “D” shaped etc. and utilizing various technologies, such as varying navigation approaches such as bump and go, floor tracking, wheel tracking-encoder and other, VSLAM, camera based systems, LIDAR, boundary strips, boundary beacons or virtual walls, or boundary wires or combinations of such. Throughout the disclosure the interchangeable terms “robotic vacuum” and/or “bot” and/ or “robot” is used. As outlined in the Background of the Invention, all manners of floor care are anticipated through various embodiments. As such through out the disclosure the term “robotic vacuum” also encompasses other robot(ic) floor treating or robot(ic) surface treating appliances such as robotic mops, robotic vac-mops, robotic wipers, robotic sweepers and robotic lawnmowers. Further with respect to robotic lawnmowers, references to a “brushroll and/or mop-wiping element”, may alternatively be referencing a blade(s) cutting line or other similar cutting structure used with lawnmowers and/or groundskeeping equipment.
In one optional preferred embodiment; the robotic vacuum further includes at least one brushroll, one vacuum generating fan assembly and a dust/debris bin.
In one optional preferred embodiment; the robotic vacuum further includes a handle for controlling the robotic vacuum in a generally manual, human user guided mode.
In one optional preferred embodiment; the handle connects directly to the robotic vacuum for controlling the robotic vacuum in a generally manual, human user guided mode.
In one optional preferred embodiment, the upright handle further includes its own separate vacuum generating fan and a dust bin.
In one optional preferred embodiment, the upright handle attaches generally to the body or upper surface of the robotic vacuum.
In one optional preferred embodiment, when the handle is used with the robotic vacuum portion of the device, the drive train of the robotic vacuum portion of the device or a portion of the robotic vacuum portion of the device may be disabled in part or in whole.
In one optional preferred embodiment, the handle is usable separate as a vacuum cleaner as a stick or upright vac without the robotic vacuum portion of the device.
In one optional preferred embodiment, the upright handle includes a sled/skate section which may further serve as a docking station so that the robotic vacuum may dock onto the sled/skate and the handle may then control the robotic vacuum.
In one optional preferred embodiment, the robotic vacuum docks to a docking station by backing into the dock/sled to save space when the upright handle/bin is against a given wall and properly position the robotic vacuum relative to the handle for instantaneous usage. This docking station may include means of charging the robotic vacuum.
In one optional preferred embodiment there is a robotic vacuum and a handle which acts as a docking station for the robotic vacuum.
In one optional preferred embodiment there is a robotic vacuum and a single handle which acts as a docking station for the robotic vacuum and another docking interface for docking the handle putting it into an electrically charging relationship with an electrical socket.
In one optional preferred embodiment, there is a robotic vacuum, a docking station and a handle all structurally distinct and separable from each other.
In one optional preferred embodiment, there is a robotic vacuum, a docking station and combination skate- handle each structurally distinct and separable from each other.
In one optional preferred embodiment, there is a robotic vacuum, a combination docking station-skate and a handle each structurally distinct and separable from each other.
In one optional preferred embodiment, there is a robotic vacuum, a docking station, a skate and a handle each structurally distinct and separable from each other.
In one optional preferred embodiment, the robotic vacuum sits on a dock/sled/skate structure with the handle which disables/obviates at least one of the robotic vacuums wheels and provides separate wheels on the dock/sled controllable by the handle.
In one optional preferred embodiment, the robotic vacuum may self separate from the handle and/or dock in whole or in part.
In one optional preferred embodiment, the handle/extended bin-battery may be added as a component or part of a kit of parts.
In one optional preferred embodiment, the handle adds additional battery capacity to the robotic vacuum.
In one optional preferred embodiment, the handle may be line/wall powered and may or may not selectively also power the robotic vacuum.
In one optional preferred embodiment the handle assembly may be corded, or cordless. It may work alone or in conjunction with another charging station.
In one optional preferred embodiment, the handle portion may add to the vacuum suction of the robotic vacuum portion of the device by adding a secondary/tertiary suction generating motor and impeller that structurally is part of the handle section to the robotic vacuum portion of the device.
In one optional preferred embodiment, the handle adds additional debris collection capabilities to the robotic vacuum either by emptying the robotic vacuum portion of the device into the handle device or another 3rd component or by extending the capacity of the device while in use with the robotic vacuum portion of the device and/or enables the easy emptying of both units via emptying the handle unit.
In one optional preferred embodiment, the handle adds additional debris collection capabilities to the robotic vacuum (or mop wiping device), by storing and deploying additional floor cleaning fluid, and/or additional fresh/new wipes/cloths/wiping element surfaces.
In one optional preferred embodiment, a/the base station may include a third debris storage area for the transfer and storage of debris from both the robotic vacuum and the handle structures.
In one optional preferred embodiment, the third debris storage area is part of a separate dock distinct from the first dock/handle section.
In one optional preferred embodiment, the third debris storage area/base station may include its own vacuum generating motor separate from the motors that may or may not be present on the handle and/or the robotic vacuum.
In one optional preferred embodiment, the third debris storage area/base station may include uses the vacuum generating motor of the handle to transfer the debris from the handle (and the robotic vacuum) to the third debris storage area/docking station by creating a “jump” conduit to redirect the airflow from the handle to the third debris storage area/docking station.
In one optional preferred embodiment, the third debris storage area/base station is plugged into the mains/wall and transfers electrical power to the handle/skate, and the handle/skate transfers electrical power to the robotic vacuum.
In one optional preferred embodiment, the robotic vacuum may dock directly with either an electrical only dock, a user drivable dock, or a mass debris station dock.
In one optional preferred embodiment, there exists a “teach mode” where by the human user may guide the robotic vacuum portion of the vacuum to define an area to be cleaned, or to be excluded (go/no-go zones) from cleaning to create, and/or augment, and/or alter the robotic portion of the vacuums mapping capabilities. The invocation of training may be initiated via a button on the handle, without having to use a computer, phone, tablet application or program.
In one optional preferred embodiment, there exists a “temporary directive mode” whereby the user may define a temporary area to clean by using the handle to guide the robotic section to define an area to be cleaned . The invocation of “temporary directive mode” may be initiated via a button on the handle, without (or with) having to use a computer, phone, tablet application or program.
In one optional preferred embodiment, the handle allows the human operator to structurally easily carry the robotic vacuum portion unit from room to room or floor to floor of the building to be cleaned.
In one optional preferred embodiment, the handle allows the human operator to conveniently structurally start or stop the robotic vacuum portion of the device either instantaneously, and/or at a delayed and/or predefined time without having to stoop down to the floor based robotic portion and/nor having to use a separate interface such as a computer or phone/tablet based app to implement such user desired directives.
In one optional preferred embodiment, the handle unit, which has been trickle charged, is capable of charging the robotic base unit at a higher charge rate, or c rate via its batteries enabling a less expensive line powered (AC) transformer power unit.
In one optional preferred embodiment, the handle unit, which has been trickle charged, is capable of charging the robotic base unit separate from and remote to the line powered (AC) power unit.
In one optional preferred embodiment, the handle may in whole or in part, be telescopic to reduce its total stored height.
In one optional preferred embodiment, the handle may in whole or in partbe foldable, in multiple possible directions, to reduce its total stored height.
In one optional preferred embodiment, the handle may in whole or in part, be flatenable to store closer to a wall.
In one optional preferred embodiment, the upper handle may in whole or in part, be shiftable, fore and aft, in relative position to the other components of the handle assembly to store closer to a wall.
In one optional preferred embodiment, the handle handle unit may in whole or in part, be considered a “stick” vacuum, where at least one or more of the following; the motor, and/or the dust bin, and/or the batteries, are generally at an elevated point on the handle generally at or near the users hand grip area.
In one optional preferred embodiment, the robotic vacuum may be “bagless”, the handle section may be “bagless” and the third debris storage area may be “bagless”.
In one optional preferred embodiment, the robotic vacuum may be “bagless”, the handle section may be “bagless” and the third debris storage area may be “bagged”.
In one optional preferred embodiment, the robotic vacuum may be “bagless”, the handle section may be “bagged” and the third debris storage area may be “bagged” or “bagless”.
In one optional preferred embodiment, the robotic vacuum may be “bagless”, the handle section may be “bagged” or “bagless” and the third debris storage area may be “bagged” or “bagless”.
In one optional preferred embodiment, the robotic vacuum may be “bagged” or “bagless”, the handle section may be “bagged” or “bagless” and the third debris storage area may be “bagged” or “bagless”.
In one optional preferred embodiment, a process, method, devices and structures comprising a vacuum and/or mop-wiping element which may dock and then structurally and/or electronically electrically disconnect its drive train while user programs and trains said robotic vacuum is disclosed.
BREIF DESCRIPTION OF THE DRAWINGS FIG. 1 is a trimetric view of a typical “D” shaped robotic vacuum.
FIG. 2 is a trimetric view of a typical “Round” shaped robotic vacuum.
FIG. 3 shows a trimetric view of a handle which may include various controls.
FIG. 4 shows another trimetric view of a handle which may include various controls.
FIG. 5 is a trimetric view that shows the handle of FIG. 4 on top of a generally “D” shaped robot.
FIG. 6 is a trimetric view that shows generally “D” shaped robot on top of a skate/sled/plate/base.
FIG. 7 is a top plan view of a generated floor plan.
FIG. 8 top plan view of the generated floor plan of FIG. 7 with addendums.
FIG. 9 is a trimetric view skate/sled/plate/base in a stacked relationship with a relatively stationary base and a robotic vac in proximity.
FIG. 10 is a trimetric view skate/sled/plate/base of FIG. 9 without a robotic vac in proximity.
FIG. 11 is a trimetric view skate/sled/plate/base with a robotic in a docked position, but the skate/sled/plate/base is not on a relatively stationary base.
FIG. 12 is a side view of FIG. 11.
FIG. 13 is a trimetric of FIG. 11, where the generally upper section of skate/sled/plate/base is in a generally pivoted position.
FIG. 14 is a trimetric of two types of “charge only” docks.
FIG. 15 is a trimetric of a charging and a self emptying station/dock.
FIG. 16 is a trimetric of a skate/sled/plate/base in a stacked/nested/docked relationship to the charging and a self emptying station/dock of FIG. 15.
FIG. 17 is a trimetric of the robotic vac in a stacked/nested/docked relationship to the skate/sled/plate/base which as in FIG. 16 is in a stacked/nested/docked relationship to the charging and a self emptying station/dock of FIG. 15.
FIG. 18.
FIG. 19 is a trimetric view of a skate/sled/plate/base showing various docking and mounting alternatives; with a robotic vac in proximity.
FIG. 20 is a trimetric view of a charging and a self emptying station/dock showing various docking alternatives.
FIG. 21 is a trimetric view of a skate/sled/plate/base in a stacked/nested/docked relationship to the charging and a self emptying station/dock
FIG. 22 is a trimetric view of a robotic vacuum docked/nested on the skate/sled/plate/base in a stacked/nested/docked relationship to the charging and a self emptying station/dock of FIG. 21.
FIG. 23 is a trimetric view the skate/sled/plate/base as a canister vacuum with a robotic vac in proximity.
FIG. 24 is a trimetric view of a robotic vac stacked/nested/docked relationship to the charging and a self emptying station/dock of figure
FIG. 25 is a trimetric view of a robotic vacuum docked/nested on the skate/sled/plate/base showing various alternative embodiments.
FIG. 26 is a trimetric view of a robotic vac stacked/nested/docked relationship to the charging and a self emptying station/dock showing various alternative embodiments.
FIG. 27 is a trimetric view of a skate/sled/plate/base showing various alternative embodiments; with a robotic vac in proximity
FIG. 28 is another trimetric view of a skate/sled/plate/base showing various alternative embodiments; with a robotic vac in proximity
FIG. 29 is a photographic front view of a prototype of the invention.
FIG. 30 is a photographic ¾ side view of a prototype of the invention.
FIG. 31 is another photographic ¾ side view of a prototype of the invention, with its handle folded.
REFERENCE CHARACTERS USED IN THE FIGURES:
- 1-Input button
- 2- Input button
- 3-Input button
- 4-internal vacuume generating assembly
- 5-Batteries
- 6-Brushroll
- 7-Handle, optionally multi-position
- 8-Handle assembly/vaccum up-tube
- 9-Base plate
- 10-Robotic vacuum assembly
- 11- skate and/or dock section/area of handle assembly 8. Also area 27 in other figures.
- 12-Rear wheel(s) /rollers slides/glides of handle/skate/dock assembly
- 13-Mapping Addendums
- 14-Pivot of handle to its base section
- 15-Bin area
- 16- Vacuum debris transfer port -conduit
- 17- Sub charging dock
- 18-Charging contacts
- 19 -Wheel (s) of robotic vac assembly
- 20-Cradle for 19
- 21-Relatively stationary base station mass storage
- 22-Sweep-port for brooms and the like
- 23-3rd/4th debris bin
- 24 Floor engaging Brush roll and/or mop-wiping element of robot 10
- 25- Floor engaging Brush and/or mop-wiping element of robot 10
- 26-Floor engaging Brush roll and/or mop-wiping element and intake port (option) of handle/skate/dock
- 27- skate and/or dock section/area of handle assembly 8. Also area 11 in other figures..
- 28-Phone/tablet
- 29- Phone/tablet Holder and/or graphical user interface screen area.
- 30- 1st half of a latch or locking feature which may be, mechanical/electromechanical /magnetic/ electromagnetic or combination of .
- 31- 2nd mating with 30, half of a latch or locking feature which may be, mechanical/electromechanical /magnetic/ electromagnetic or combination of .
- 32- one exemplary possible latch motion of 30/31.
- 33- face contact electrical charging sub-dock
- 34-exemplary corner areas
- 35- Vacuum conduit/hose
- 36- Canister section
- 37-Overliing section
- 38-edge of 21
- 39- Front Wheels/rollers/slides/glides of handle/skate/dock assembly
- 40- Sensor window, breach, pass through for robot 10 sensor(s) and/or sensor of handle which may be a duplicate of another of the bot 10.
- 41- Sensor data transmission points which may be electrical contacts and/or non-contact optical coupling (via one or more of LED(s), photodiode(s), bipolar junction(s), phototransistor(s), photoscr(s), phototriac(s), photodarlington transitor(s), photodiac(s)), infrared, wireless transfer wifi/zigbee/bluetooth or other for direct communication between the handle and the bot and/or the handle 8 and an intermediary device such as a router and optionally back to the bot 10, and/or another processing structure for mapping; and/or the handle 8 and an intermediary such as the cloud or website and then back to the bot 10.
- 42- Stick Vac Section
- 43-Exemplary, disembodied robot wheel for reference
- 44-Gear
- 45-Gear
Referring to the figures FIG. 1 shows a “D” shaped robot assembly (10).
FIG. 2 shows a round shaped robot.
FIG. 3 shows a handle which may include buttons, switches, (1,2,3) an internal vacuum assembly (4), batteries (5) and a brushroll (6). A multi position handle (7) can also be seen in a position 7A and 7B. As such, the handle may be a handle with input means (1-3) or a handle with input (1-3) means and have functionality as a sweeper-vac. FIG. 4 shows the handle assembly(8) of FIG. 3 with the inclusion of a base plate 9 which may optionally function as a vacuum foot when not disposed upon robotic vacuum. In this way the handle assembly may function as its own unit in some embodiments. Also shown in FIG. 4 is a detail view of the buttons 1-3, in this embodiment 1/train, 2/exclude, and 3/include for user training and/or editing of the training mapping/maps generated of the robot.
FIG. 5 shows the handle assembly of FIGS. 3 and 4 disposed in a ganged relationship with the robotic vacuum assembly of FIG. 1. In this way the handle may, depending on embodiment(s) guide, via a user, the robotic vacuum assembly or groundskeeping appliance around for map generation, map alteration, or spot area definition etc. Additionally, the handle may guide around the entire assembly as a generally manually operated floor care device using one or more of the components within the robotic vacuum assembly such as its brushroll, vacuum generating impeller, and batteries and enhance/supplant/ add to those with the batteries/vacuum generating device-impeller and batteries that may (and due to space, may be all capable of being greater capacity) be present within the handle assembly 8. And additionally yet, the handle may selectively empty the debris bin of the robotic vacuum section into the handle section (enabling ease of transport/disposal via the handle to the trash) and selectively charge the robotic vacuum section. Enabling structural features in this mode/embodiment and others may include the disengagement of the robotic powered wheels from their motors to enable greater free wheeling under user power
FIG. 6 is similar in many of the options and features of that of FIG. 5, however in this embodiment the robotic vacuum is docked on a skate, sub-dock (11) or dolly structure, which may have its own wheels (12) functionally underneath the robotic section (10)thereby obviating or circumventing the one or more of the wheels of the robotic section (10) yet structurally preserving the vacuum/brushroll functionality of the robotic section and thus allowing the user to push the entire assembly around for the already described in reference to other figures and outlined embodiments plurality of advantages. This skate /sub-dock may,via the user, and its associated handle, de- dock from a main dock (not shown) (such a main dock may be charging capable and/or debris emptying capable), and thus in some embodiments the skate serves as a transitional dock between the robotic vacuum and the main dock. Thus depending on the embodiment, the handle may be just a handle, a handle with inputs, serve as the main dock, and/or in conjunction with the skate serve as a sub dock. Additionally, the handle may be disconnectable from each and all and in some embodiments serve as its own standalone cleaning device/vacuum.
Referring now to FIGS. 7 and 8.The act of creating maps is usually accomplished via the robot going around “exploring” and creating a map that will be used on future missions. While this is fine, and applicable to some or all embodiments of this invention, being able to “accelerate” the mapping process via human teaching has several advantages including time, accuracy and the ability to create zones/no go zones from the start with the expediency of a users input and without having to use boundry strips, electronic walls, and clearing objects for the mapping phase. In this mode/embodiment the user selects “train” or other similar input button on the device or in its screened app (phone, computer, tablet or other) and the user proceeds to train the robot and corresponding map that will be created by pushing/pulling the robot around the perimeter or interior etc. of a room/given area to be cleaned whereby the robot uses its onboard LIDAR, VSLAM etc. mapping capabilities. The perimeter is one of the, if not the most important things to define, however robots tend to take a lot of “random” time to define as they are busy finding walls, avoiding obstacles (as well as the time consuming task of avoiding those obstacles interior of the perimeter) during mapping. Once the perimeter is defined (and expediently through the disclosed training structures and methods) the robot can automatically fill in the interior of the perimeter, clean within the defined area, avoiding perimeter and interior obstacles, new and perm anent, on the fly. Then, if desired, the input may be further edited, such as a temporary rule/exclusion/inclusion etc, via a screened interface, or the robotic vacuum may be operated without such an interface, intermittently or permanently.
The act of creating no-go zones or exclusion areas, rooms (a division of a mapped area) or of areas to be temporarily cleaned, or power-cleaned, or adding areas (moved furniture) is usually accomplished by altering one of these existing maps on a phone, tablet or computer. The difficulty exists if the user does not want to use a “screened “ editing device or the inconvenience and inaccuracy of having to manipulate it on screen. By using the handle and a “teach mode”, or “include” “exclude” input button on the device, the user may quickly, easily, and accurately input intent by pushing/pulling the robotic section of the vacuum in the area to be altered. Then, if desired, the input may be further edited, such as a temporary rule/exclusion/inclusion etc, via a screened interface, or the robotic vacuum may be operated without such an interface, intermittently or permanently.
As such, FIG. 7 shows a floor plan of a room or area. Such a floor plan may be generated by the robot or by the user using the handle to guide the robot to create a perimeter, both of which have been described elsewhere in this disclosure. FIG. 8 shows addendums (13) in dotted line, to the floor plan generated in FIG. 8. Such addendums may be created by the user using the assembly of FIGS. 5 or 6, and selecting user intent, by way of example via switches 1-3, and then using the handle to guide the robot assembly (10) to effect a change via the robot assembly and its sensors to effect a further change to its generated map. Additionally, the user in some embodiments need not complete a shape to include/exclude/spot clean as the application may structurally include the Ability to autoconnect last lines of no go/go/spot zones created.
Referring now to FIG. 9, a trimetric view of the invention can be seen. There is a robotic vacuum assembly, 10, which may operate autonomously. There is a handle assembly, 8 which is further defined by a bin area 15, which may further include a vacuum generating motor/impeller assembly a cyclonic separator and or debris bags, and a skate/ dock area/assembly indicated generally by 27. Also shown is that there is vacuum debris transfer port 16 of assembly/skate 27/8which may interconnect/mate with a matching port of robotic vacuum assembly 10 for transfer of debris, from robotic assembly 10, to handle assembly 8, as well as providing added suction to assembly 10 when used via the added power of assembly 8′ own vacuum. Also shown, are charging contacts 18 for transfer of power from assembly 8 to robotic vacuum assembly 10. Further shown is that there is optionally a sub charging dock 17, that either robotic vacuum assembly 10 or assembly 8, may nest/dock on top of. And so robotic vacuum10, may operate autonomously yet when docked onto skate assembly 27, may be charged emptied, trained, or used as a manually operated vacuum as has been described previously within this disclosure. And in some embodiments, robotic vacuum assembly 10, may dock with sub charging dock 17 to charge. And further yet in some embodiments,, assembly 8, may rest upon sub charging dock 17, thus charging both assembly 8 and vacuum assembly 10. This is enabled by structurally nesting these relationships via interconnects such as wheel cradles 20. Anticipated is an auto locking/latching of robotic vac 10, to skate and/or handle assembly. This may be accomplished via a hook(s), magnetically, or electromechanically. It is also anticipated that in some embodiments, the rotational action of the wheels of the robotic vac may interact with the skate and/or handle assembly to accomplish the locking/latching of the robotic vac to the skate and/or handle assembly. Additionally the robotic section/assembly may be informed or / senses when the skate/handle is de-docked or docked to automatically track its relative movement to known maps or maps to be learned/amended. It may sense the docking state via switches or conditions such as, but not limited to the bot 10 being in a locked situational event with the handle 8. A critical feature set of the invention is the ability for the robotic vacuum to be able to dock, and de-dock with assemblies 27/8 freely, and for a user to be able to instantaneously grab the vacuum as an assembly once the robotic vacuum is docked and use it freely and instantaneously. This is enabled by structurally creating a skate /dock that the robotic vacuum can drive upon and interconnect with where said skate/dock is part of a user manipulable handle structure.
Also of note is that while the skate/dock is depicted in preferred embodiments as being part of what would be classified as an up right vacuum, or a “stick” type vacuum, such a skate/dock could be part of what is classified often as a canister vacuum.
FIG. 18 is essentially the same as FIG. 9, but in FIG. 18, the handle assembly 8 is shown not on the docking station, 17 as it is in FIG. 9.
Referring now to FIG. 10, a view substantially similar to that of FIG. 9 can be seen. The primary difference is that handle 7, has been shifted (fore and aft wise) forward to facilitate storage against a rearward wall. Such a shift may be enabled via a slide/pivot etc. as has been disclosed regarding the top section of the handle in FIGS. 3-6.
Referring now to FIG. 11, a trimetric view substantially similar to that of FIG. 9 can be seen. However in this figure, the robotic vacuum assembly 10, is in a nested relationship with the skate section 27 and handle assembly 8, and both assemblies are shown not on sub charging dock 17.
Referring now to FIG. 12 a side view of the device substantially similar to that of FIG. 11 can be seen. The side view shows additional features such as the wheels 12, of the skate / dock section 27, as well as the fact that the skate /dock section may have its own brushroll and vacuum port 26 in contact with the floor to be cleaned. An alternate placement of brushroll and vacuum port 26 is a a forwadmost point on the skate/base/plate/sled /dock . It should be appreciated that one of the many unique enabling structures of this disclosure is the ability to transform a round robot into a functional differing shape of a “D” robot when paired with the skate dock/sled/base plate. Round robots are often preferred for their maneuverability. “D” robots and relatively flat-front upright/stick/canister vacuums are preferred for their larger, more forward, edge reduction brushroll placement. And so now with these new structural enablements such as skate/base/plate/sled brushroll 26, a round robotic vacuum may now perform well autonomously, and then have some of the performance characteristics of a “D” shaped robot or upright/stick/canister vacuum when paired/mounted on skate/base/plate/sled /dock. Thus a shape shifting may occur, maximizing the potential of whatever the current mode is.
This view also shows how when the robotic vac 10, is on the skate 27 and handle assembly 8, its own brushes and/or mop-wiping element 24/25 are or may be in a working contact relationship with the floor to be cleaned. As can also be seen most clearly in in FIGS. 6, 11, 12 and 13 this is accomplished by the robotic sections brushroll and/or mop-wiping element and vacuum/broom intake area overhanging at least a portion of the sled/base. Alternative embodiments anticipate the robotic sections brushroll and/or mop-wiping element and vacuum/broom and/or mop-wiping element intake area structurally configured to have a passage/breach through the sled/base, allowing the robotic vacuum and/or mop-wiping element to access the floor area below the skate.. And whether it be overhanging or breach embodiments, structures are anticipated and disclosed for enabling the robots brushroll and/or sensors to pivot or drop relative to floor to ensure active and accurate engagement and measurements. Additionally, it is disclosed herein that there may be capabilities for ceiling /wall sensors and/or cameras to adjust their elevation or inclination angle to accommodate the change of being on the skate/plate/sled. This/these adjustment(s) may be accomplished mechanically, electromechanically, optically, or through software/programming to achieve the desired adjustment to preserve accuracy.
Alternative embodiments anticipate the robotic section’s 10, brushroll and vacuum/broom and/or mop-wiping element having no contact with the floor, and all cleaning effected is via the skate.
Also seen in FIG. 12 clearly is the nested relationship of the robotic vacs 10, wheel(s), 19 and skate/handle cradle(s) 17. This view in addition to other views, also shows how the skate may structurally make so that one or more of the wheels of the robotic section 10, are disengaged from the floor, and thus the user does not have to overcome the force of a motor and/or drive train present, and alternatively/ further these embodiments do not need to add a clutch or other costly feature to disengage the robots wheels in order to easily push/pull/maneuver the robotic section around. Additionally, as mentioned elsewhere in the disclosure the robot, and/or the handle may sense the state docked/undocked and also sense whether the user is using the handle by sensors detecting overall movement, the users hand on the handle, and/or the handle being in a tilted, in use position and selectively disable the robots wheels from power, thus temporarily disabling the robot from leaving the dock and/or activating the mechanical/electromechanical/magnetic robot to handle interlock . In an alternative embodiment the wheel cradle(s) 17 may include roller(s), so that the robots wheels may freewheel/spin and thus disable the robot. These rollers may be clutched so that in certain instances, handle upright/non working position the idler rollers are locked so the robot 10 may leave/enter the upright dock 8.
Referring now to FIG. 13, a trimetric view much like that of 12 and 11 can be seen, however the way in which upper assembly 8, may workingly pivot relative to the skate via a pivot point such as 14, may be seen. Pivot 14 may alternatively share a pivot with the center of rear wheel 10.
Referring now to FIG. 14, the sub charging dock 17, that has previously been described can be seen as well as an alternate type of charging dock 33. As previously described these are primarily for charging and do not the have debris transfer capabilities of the handle skate 27/8 already described, or of the relatively stationary debris docking station to be described with reference to FIG. 15.
Thus referring to FIG. 15 a relatively stationary docking station can be seen. It may have charging contacts 18, and dirt/debris transfer port 16. Additionally, it may include a sweep station 22, so that a user may use a broom or the like and sweep it near the entrance 22 to be sucked up into its debris container(s). Such a sweep station may be enabled by automatically sensing debris or a broom adjacent or be manually operated via a user operated switch or a combination of the two. As can be seen in FIG. 19, such a sweep station may be uniquely, structurally integrated into the upright handle section 8. Referring back to FIG. 15, robotic vacuum 10, may dock directly onto this structure 21, for charging, and debris evacuation, this docked state may be seen in FIG. 24. Alternatively (FIG. 16), a handle 8, and skate 27 assembly may nest/dock on top of this structure for charging and debris evacuation, and further yet (FIG. 17) the robotic vacuum 10, may be disposed upon the handle 8, skate 27 assembly when it is in its nested relationship as will also be seen in subsequent figures. Thus in some embodiments there may be a progression of the handle empties the bot, and that the mass debris empties the handle with a similar daisy chain progression happening electrically.
Referring now to FIG. 16 the handle 8, skate 27 assembly can be seen nested/docked on top of the mass storage base station 21 structure for charging and debris evacuation.
Of note is that these are referred to as third or fourth debris bins, just in reference to the robotic vacuum being bin one, and the skate/handle 21/8 bin being regarded as bin 2. In no way are these designations meant to be limiting.
Referring now to FIG. 17, we can see that the robotic vac 10, is now in stacked relationship to the skate 27/ handle 8, as has been already described, and as in FIG. 16 it, the handle 8, is stacked / nested with the relatively stationary base station mass storage 21.
It should be appreciated that by creating structural relationships that can be stacked whether they be the purely charging the sub dock of 17, or the skate 21, or the docking area of the mass debris base station 21, a unified system has been created whereby a robot vacuum may be used alone, or with any or all of the structures in a cohesive manner making it so that the manufacturer has a consolidated design strategy and the consumer can build systems to their liking and even in a tiered progressive format over time.
Thus through this unique configuration the same vac robot may be used (made and marketed) with either the relatively stationary base (without auto emptying) the relatively stationary base with auto emptying, the handle-base unit, or a combination of with the handle and either of the two relatively stationary bases each co working (charging contacts and emptying ports may be structurally nested) together via auto sensing of which configuration is currently employed, and such a configuration may also be dynamically changeable.
However, it should also should be noted that the relationship between skate 21 and the handle 8 to the mass storage (and associated debris transfer ports /charging ports) does not need to be purely vertically stacked in some alternative embodiments. It may be more of a face-to-face stacked relationship such as face contact illustrated in sub dock 11. So such ports may alternatively be structurally positioned on one of the sides or top of the robotic vacuum and appropriately positioned on the handle /and or third bin dock.
Also of note, a “generally stationary dock”, may be moved but normally /generally stays stationary.
Referring now to FIG. 18, FIG. 18 is essentially the same as FIG. 9, but in FIG. 18, the handle assembly 8 is shown not on the docking station, 17 as it is in FIG. 9. Also shown in FIG. 18 is the robotic vacuum assembly 10, in a de-docked position. Also seen is feature 40- Sensor window, breach, pass through for robot 10 sensor(s) and/or sensor of handle which may be a duplicate of another of the bot 10. This enables one or more of the bots sensors, such as floor trackers to have a clear “view” of the floor or other features that a sensor on the bot may need for navigation and/or mapmaking. Alternatively, the handle 8 may structurally include duplicative sensor(s) to augment /supplant/mirror those of the bot that may be obscured. This structural feature(s) may also be seen in FIG. 19.
Additionally, or optionally, the handle, 8 may have wheel encoders or floor driven encoders, for example, rotary, for measuring distances traveled. This data may also be transmitted for navigation, mapmaking etc.
Also seen in FIG. 18 (as well as in FIG. 19) is structural feature 41- Sensor or other data transmission points which may be electrical contacts and/or non-contact optical coupling (via one or more of LED(s), photodiode(s), bipolar junction(s), phototransistor(s), photoscr(s), phototriac(s), photodarlington transitor(s), photodiac(s)), infrared, wireless transfer wifi/zigbee/bluetooth or other. In addition to sensor data, these transmission points may carry information from the handles’ 8, buttons 1-3, or the screen(s) area 1-3/28. While the communication of feature 41 may be direct communication between the handle and the bot, other structural modes and embodiments of the handle and the bot sharing data are anticipated and disclosed. For example, some embodiments have the handle 8 communicate to an intermediary device such as a router and optionally back to the bot 10, and/or another processing structure for mapping; and/or the handle 8, and an intermediary such as a local hub, and or the cloud/server/website and then back to the bot 10.
Referring now to FIG. 19, an embodiment that contemplates the structural docking in a generally face-to-face relationship between the upright handle assembly 8, and the robotic vacuum 10 without a skate section, or a shorter skate section a truncated skate section can be seen. In selected embodiments this new section is also pivotable 14, relative the rest of the handle assembly. This figure and embodiment depicts enabling structures of embodiments that contemplate rearward, overlying/overlapping stacked ports (electrical and/or air/debris conduit) 18 and 16. This embodiment variation, of rearward, overlying/overlapping stacked ports (electrical and/or air/debris conduit), is discussed in greater detail with reference to FIGS. 20-22.
Referring again to FIG. 19, in this embodiment, robotic vacuum 10 is secured to upright section 8, via latches 30 and 31, and or mechanical/electromechanical /magnetic/ electromagnetic latches or combinations of. Latch 30 is a pivoting hook/cam like feature that may interact with a mating feature such as 31, and it’s (30) general axis of rotation is indicated by 32. As such, feature 30 on handle 8 would interact with a structural feature 31 on the robotic vacuum 10, and a corresponding structural feature 30 (not shown) on robotic vacuum 10 would interact with structural feature 31 on upright 8 to selectively latch/secure each to the other. Other forms of motion of the latches are anticipated as well including but not limited to rotational, lineal, cam, in both vertical and horizontal axes. As depicted, both features 30 and 31 occur on handle assembly 8 and mating features occur on robotic vacuum assemble 10. Other embodiments include the possibility of just features such as 30 been on handle assembly 8, and just features such as 31 being on robotic vacuum assembly 10. And also the latching and unlatching may be invoked and/or powered by either the handle assembly 8, or the robotic vacuum assembly 10. And in embodiments including cams and cammed surfaces the respective structures 8, and 10 may be drawn together in a locked relationship ensuring that ports (electrical and vacuum conduit) are in fluid communication, and that the user is able to guide and even carry section 10 from area to area. These latches may be on horizontal mating surfaces, vertical mating surfaces or combinations of . These latches may be automatically mechanically, and/or electromechanically, and/or magnetically, and/or electromagnetically, invoked through the bot docking with the handle, may be a function of the movement of the device, the handle the bot, or a combination of. And these latches may be used with any of the embodiments of this disclosure.
FIG. 19, as well as FIG. 5, is also illustrative of embodiments that contemplate some or all of the wheels of the bot 10, being in active engagement with the ground when the handle is being used, some or all of the wheels of the bot 10, being in active engagement with the ground but freewheeling due to a clutched disengagement, when the handle is being used. One such disclosed clutch is a one way roller clutch. And further in some embodiments at least some of the wheels of the bot 10, may be disengaged from the ground when the handle is being used, either by one or more of the robots 10 wheels being lifted from the floor by; the robot ramping up at least in part onto a section of the handle 8, and/ or the movement of handle 8, from a generally out of use position to a generally in use position, causing at lease a part of the robot to be lifted and thus disengage its drive wheels from the floor, or by the wheels being retracted relative the floor by the bot/robotic vacuum, 10 itself.
Also shown is a phone /tablet mount 29, to the handle 8 to aid in mapping/re-mapping . This surface, 29, may also be a locale for an integrated interface that includes a GUI (graphical user interface) that mirrors, at least in part, the apps generated for the phone /tablet/computer interface. Furthermore, area indicated via input buttons 1-3, as well as mount surface 29, may include a phone /tablet mount, and/or be a locale for an integrated interface that includes a GUI (graphical user interface) that mirrors, at least in part, the apps generated for the phone /tablet/computer interface. It is also anticipated that such an integrated screen may occur on other faces of the handle assembly 8, or the robotic vacuum 10. As elsewhere in the entirety of this disclosure, the inventive features of FIG. 19 may be combined with those of any other figure or descriptive text in part or combination without limitation.
Now referring to FIGS. 20-22. FIGS. 20- 22 are similar to those of FIGS. 15-17 however these figures illustrate the alternate, anticipated and enabling structures of embodiments that contemplate rearward, overlying/overlapping stacked ports (electrical and/or air/debris conduit). As previously disclosed, stacked and overlying/overlapping stacked ports can be structurally accomplished on any or all sides, bottom or top faces, and still be within the spirit and scope of this claimed inventive disclosure. As such, stacked and overlying can have components of verticality as well as horizontal aspects and components of spatial relationships. Further yet to the vertical and horizontal relationships, the ports 16/18 may exist on a corner that is part horizontal face and part vertical face such as indicated by 34; and as they are stacked/nested there is/may be an incremental shift in vertical and horizontal orientations/relationships. Further yet, the general, disparate, port orientations of ports/contacts 16/18 of FIGS. 15 through 17 and FIGS. 20-22 as well as other non illustrated part-face (top, side, angular etc.) relationships may be mixed, matched and used alternately and concurrently and still be an anticipated part of this invention and disclosure. As such, FIG. 20 shows the electrical contacts 18, and air-conduit port 16 of the base station 23. And, FIG. 21 shows the electrical contacts 18, and air-conduit port 16 of the handle assembly 8 in a rearward, nested, overlying relationship with the like contact(s) port(s) (18/16) of the base station 21. A similar configuration/orientation is also claimed when a sub charging dock such as 17 is utilized. And FIG. 22, shows the robotic vacuum nested with the electrical contacts 18, and air-conduit port 16 of the handle assembly 8 in a rearward, nested, overlying relationship and as previously described, the air-conduit/electrical port 16/18 of the handle assembly 8 are in a rearward, nested, overlying relationship with the electrical contact(s) port(s) (18/16) of the base station 21. Furthermore, nesting embodies both overlying and a relationship where they are in communication with each other In this way, as has been described with other embodiments, all elements may be in fluid (electrical/air flow) communication with one another, selectively or not, and interchangeable. Thus, the robotic vacuum, 10, could also be nested directly on the mass debris bin base station 23, and function appropriately as is generally shown in FIG. 24.
Now referring to FIG. 23, another alternative embodiment may be seen. This embodiment discloses the structural invention being deployed in a format known as a canister vacuum. There are several advantages to moving one or more of the motors, debris storage/bin area 15, batteries to a location distal to the operator handle assembly 8 .It can be seen that a sweep port, 22 may be integrated into one or more sides of the canister section 36, which is currently depicted in an upright, wheels off the floor, storage position. Vacuum hose conduit 35 can also be seen. Many of the features of the remainder of illustration carry commonalities with other embodiments thus disclosed. This embodiment, as with all embodiments disclosed herein, contemplates all features embodiments and structural enablements of this disclosure may be selectively combined re-combined without limitation.
Now referring to FIG. 25. FIG. 25 is substantially similar to that of FIG. 19, but showing the bot in a docked and/or latched position.
Now referring to FIG. 26. This is an alternative embodiment to that of FIG. 21 (and thus 20 and 22) This views show that the skate section of the handle may overlay, nest, over-sleeve, at least in part (37-Overliing section and 38-edge of 21 showing), or in whole, the element it is to be stacked on, a charging only base station, (FIG. 14 (with alternate rear contacts)), or as depicted a mass debris/charging station 21. By having it overlie, nest, over-sleeve, and the port mechanicals structurally on a side, in this case rearward, and not on the bottom/underneath, the bot support plate of the handle unit may sit as low as possible, even when stacked on charging station/debris station, enabling the robot to more easily independently drive upon/off of, yet provides a solid support plate (contrast to embodiment of FIG. 19) to carry the bot around and in some embodiments, without having to have it latch on to the handle every time it docks. As such, as before, the latching may be a function of the movement of the device, the handle the bot, or a combination of. And here too the movement of handle 8, from a generally out of use position to a generally in use position, may mechanically cause at lease a part of the support plate/skate the robot sits on to be lifted and/or angled from the floor and may also initiate the locking of the two devices to one another. This along with the overlying nesting structurally allows the support plate/skate to be functionally as low as possible for the robot to independently drive upon, and yet allows that same support plate of the skate to be higher to clear carpet etc. when the unit is used as an upright. And also as before, when the overlying skate section is removed, the bot may also freely dock on base station 21, whether it be charge only, or have debris emptying /collection capabilities.
Now referring to FIG. 27, - Sensor window, 40, breach, pass through or other for robot 10 sensor(s) and/or sensor of handle which may be a duplicate of another of the bot 10 can be seen. In this way the robots inherent sensors may function unobstructed through a plurality of points of the to the base structure/ i.e. 27- skate and/or dock section/area of handle assembly 8. And so this enables one or more of the bots sensors, such as floor trackers to have a clear “view” of the floor or other features that a sensor on the bot may need for navigation and/or mapmaking. Alternatively, the handle 8 may structurally include duplicative sensor(s) to augment /supplant those of the bot that may be obscured.
Also depictied and disclosed are sensor data transmission points 41, which may be electrical contacts and/or non-contact optical coupling (via one or more of LED(s), photodiode(s), bipolar junction(s), phototransistor(s), photoscr(s), phototriac(s), photodarlington transitor(s), photodiac(s)), infrared, wireless transfer wifi/zigbee/bluetooth or other for direct communication (unidirectional or bi-directional) between the handle and the bot/visa versa, and/or the handle 8 and an intermediary device such as a router and optionally back to the bot 10, and/or another processing structure for mapping; and/or the handle 8 and an intermediary such as the cloud or website and then back to the bot 10.
Now referring to FIG. 28 a Stick Vac Section indicated by reference character/area 42, can be seen. This is to yet further illustrate that the inventive embodiments disclosed herein are applicable to all forms of vacuum structures. Also shown in FIG. 28 is another embodiment of a locking structure for the temporary retention of the robot 10, to the base structure/ i.e. 27- skate and/or dock section/area of handle assembly 8. 43-Exemplary, disembodied robot wheel for reference can be seen in one of the wheel cradles 20. (Note that a cradle is not a necessary structure, as an equivalent “area” would suffice .) Cradle 20, or equivelant area has a breach through which robotic wheel may protrude. Thus robotic wheel(s) 43 may power gear 44, which may power gear 45, thereby rotating latches 30 generally on arcs 32 and thus latch robot 10 to base/skate/sled 27, Of note while the bottom of the wheel is specifically called out for this embodiment, any side of the wheel or other structure on the robot may be utilized and is anticipated. And while gears and rotary latches are specifically called out for this embodiment, any linkages, levers, belts or other known devices may be employed, resulting in a multitude of anticipated latching motions, be they rotary, lineal, angular etc. and are anticipated in this disclosure.
