CN113423318B

CN113423318B - Surface cleaning device for generating surface identification fingerprints

Info

Publication number: CN113423318B
Application number: CN201980088191.2A
Authority: CN
Inventors: 凯文·特里; 帕特里克·特鲁伊特
Original assignee: Techtronic Floor Care Technology Ltd
Current assignee: Techtronic Floor Care Technology Ltd
Priority date: 2018-11-19
Filing date: 2019-10-30
Publication date: 2022-10-14
Anticipated expiration: 2039-10-30
Also published as: AU2019383859A1; EP3883445A1; CN113423318A; US20220007912A1; WO2020106420A1

Abstract

A surface cleaner has a base movable along a surface and an operative component configured to perform a function of the cleaner. The surface cleaner includes a sensor configured to generate a signal based on a surface and a controller in communication with the sensor and the operational component. The controller is operable to convert the signal from a time domain to a frequency domain to generate a surface fingerprint. Additionally, the controller is operable to control the operational component based on the surface fingerprint.

Description

Surface cleaning device for generating surface identification fingerprints

Cross Reference to Related Applications

This application is a non-provisional application of U.S. provisional patent application No. 62/769348, filed 2018, 11/19, which is incorporated herein by reference.

Background

Surface cleaning apparatuses, such as dry vacuum cleaners and wet extractors, are used to remove dust and other debris from a variety of surfaces, such as carpets or hard floors. Generally, surface cleaners require reliance on the user to manually set an operating mode (e.g., hard floor mode, carpet mode) appropriate for the type of surface being cleaned, or to automatically select a generic mode for a series of similar variations of a particular surface type. Both of these conventional solutions result in insufficient surface cleaning and additional burdens on the user.

Disclosure of Invention

A method of controlling a surface cleaner is also disclosed. The method comprises the following steps: receiving a signal from a sensor of the surface cleaner; converting the signal from the time domain to the frequency domain to generate a surface fingerprint of the surface; determining an operation mode corresponding to the surface fingerprint; and controlling operation of the surface cleaner based on the operation mode.

In another embodiment, the invention provides a surface cleaner having a runnability component and a base movable along a surface. The cleaner also includes an accelerometer configured to generate a signal and a controller in communication with the accelerometer and the operational component. The controller is operable to control the operational component based on the signal. The operational component is selected from the group consisting of: a suction motor operable to generate an air flow, a brushroll motor operable to drive the brushroll, an actuator operable to adjust the height of the brushroll to the surface, a pump operable to deliver a cleaning liquid, an actuator operable to control the air flow or fluid valve, and an indicator operable to indicate a parameter of the surface cleaner.

In yet another embodiment, the invention provides a surface cleaner. The surface cleaner has a base and a runnability component that are movable along a surface. The surface cleaner also includes a sensor configured to generate a signal and a controller in communication with the sensor and the operational component. The controller is programmed to: receiving a signal from a sensor of the surface cleaner; converting the signal from a time domain to a frequency domain to generate a surface fingerprint of the surface; determining an operation mode corresponding to the surface fingerprint; and controlling operation of the operational component based on the operational mode. The operational component is selected from the group consisting of: the system includes a suction motor operable to generate an air flow, a brushroll motor operable to drive the brushroll, an actuator operable to adjust the height of the brushroll to the surface, a pump operable to deliver a cleaning liquid, an actuator operable to control the air flow or fluid valve, and an indicator operable to indicate a parameter of the surface cleaner.

The above features, functions and advantages can be achieved independently in various embodiments of the apparatus and method of the present invention or may be combined in yet other embodiments, the details of which can be seen with reference to the following description and drawings.

Drawings

The above and other advantages and features of the present invention, and the manner of attaining them, will become apparent from a consideration of the following detailed description of the invention and the accompanying drawings. The accompanying drawings illustrate embodiments of the invention, and are not necessarily drawn to scale, wherein:

FIG. 1 illustrates a perspective view of a surface cleaner according to one embodiment;

FIG. 2 illustrates a perspective view of a surface cleaner base assembly, according to one embodiment;

FIG. 3 illustrates a bottom view of a surface cleaner according to one embodiment;

FIG. 4 shows a block diagram of a surface cleaner control system according to one embodiment;

FIG. 5 provides a graphical depiction of an unprocessed signal according to an embodiment;

FIG. 6 provides a graphical depiction of a processed signal surface fingerprint of a hard floor according to one embodiment;

FIG. 7 provides a graphical depiction of a processed signal surface fingerprint of a carpeted floor surface according to one embodiment;

FIG. 8 provides a networked system environment, according to one embodiment; and

FIG. 9 provides a flowchart for generating a surface fingerprint and controlling the operation of a surface cleaner, according to one embodiment.

Detailed Description

Embodiments of the present invention will now be described more fully hereinafter with reference to the accompanying drawings, in which some, but not all embodiments of the invention are shown. Indeed, the invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will satisfy applicable legal requirements. Like numbers refer to like elements throughout.

It should be understood that "operably connected" as referred to herein means that the components may be integrally formed with one another or may be separately formed and connected together. Further, "operably linked" means that the components can be directly formed to each other or formed directly to each other with one or more components positioned between the operably linked components. Further, "operably connected" may mean that the components may be separated from one another or permanently connected together. Further, operably linked components may mean that the components retain at least some freedom of movement in one or more directions, or may rotate about an axis (i.e., be rotationally linked). Further, "operably connected" may indicate that the components are in electrical and/or fluid communication with each other.

As described herein, the term "operational component" may be used to refer to a component of a surface cleaner that is configured to be controlled to adjust the cleaning operation. The operational components may include a suction motor operable to generate an airflow, a brushroll motor operable to drive the brushroll, an actuator operable to adjust the brushroll to the surface level, a pump operable to deliver a cleaning fluid, an actuator operable to control the airflow or fluid valve, and/or an indicator operable to indicate a parameter of the surface cleaner.

As described herein, the term "computing resource" may be used to refer to a component of one or more computing devices, networks, etc., that may be used to perform a task or process. The computing resources may include processors, memory, or network bandwidth and/or power for performing tasks or processes. Computing resources may be used to refer to the available processing, memory, and/or network bandwidth and/or power of a single or multiple computing devices, which may collectively perform one or more tasks.

Furthermore, it should be understood that any advantages, features, functions, devices, and/or operational aspects of any embodiment described and/or contemplated by the present disclosure may be included in any other embodiment described and/or contemplated by the present disclosure, and/or vice versa, where possible. Further, where possible, any term expressed in the singular herein may be meant to also include the plural and/or vice versa, unless explicitly stated otherwise. Accordingly, the terms "a" and "an" should be understood to mean "one or more".

Fig. 1-3 show a series of views of a surface cleaner 10 according to one embodiment of the present invention. As shown in the embodiment of fig. 1-3, the surface cleaner 10 is an upright vacuum cleaner. Although an upright vacuum cleaner is described as an exemplary embodiment, it should be understood that other types of surface cleaners may be used, such as bucket vacuums, stick vacuums, carpet extractors, and the like. Existing surface cleaners typically have one or a limited number of preset surface cleaner operating modes (e.g., carpet cleaning mode, hard floor cleaning mode) that must be manually implemented by a user. In contrast, one embodiment of the surface cleaner 10 provided by the present invention automatically controls one or more operational components of the surface cleaner 10 to provide an operational mode selected for a particular surface type based on an analysis of the surface being cleaned by the surface cleaner 10. In addition, the surface cleaner 10 utilizes Fourier Transform (Fourier Transform) or other signal processing techniques to achieve real-time surface analysis and processing as the surface cleaner travels from one surface type to another surface type during operation.

As shown in fig. 1, the illustrated surface cleaner 10 includes a base assembly 14 and an upright portion 18, wherein the upright portion 18 is operatively connected to a portion of the base assembly 14. The upright section 18 is generally pivotally coupled to the base assembly 14 such that the upright section 18 can pivotally move about the base assembly 14 in a forward and rearward direction. Upright portion 18 also includes a handle 22, handle 22 having a grip 26 that engages a user's hand. As shown in fig. 2 and 3, the handle 22 is configured to push the base assembly 14 on a surface via a pair of wheels 86. In one embodiment, such as the embodiment shown in FIG. 3, base assembly 14 further includes one or more support members 90, or additional wheels or rollers, to further support base assembly 14 of surface cleaner 10 on a surface.

In the illustrated embodiment, the foot assembly 14 also includes a floor nozzle and brush assembly 58 configured to agitate and suction the surface to be cleaned. The floor nozzle and brush assembly 58 has an upper portion 62 and a lower portion 66 forming a suction chamber 70 therebetween. The lower portion 66 forms an inlet opening 74 that provides a passageway for the suction chamber 70. The brushroll 94 is disposed within the suction chamber 70 and is operatively connected to a brushroll motor 108 by a drive belt 106, wherein the brushroll 94 is configured to be driven by the brushroll motor 108 to agitate debris on the surface with a plurality of tufted bristles 98 and/or other configurations of materials (e.g., microfiber cloth, rubber squeegees). The floor nozzle and brush assembly 58 and/or the brushroll 94 may include a guide 59, the guide 59 being configured to adjust the height of the floor nozzle and brush assembly 58 and/or the brushroll 94 to the surface to be cleaned.

The surface cleaner 10 generally includes an airflow path formed by an inlet opening 74 of the suction chamber 70 that extends through the gas outlet of the suction chamber 70, into the airflow separator 42 and the suction motor 55, and then terminates in an exhaust duct of the surface cleaner 10. In the illustrated embodiment, the upper portion 18 includes a hose 28 that is fluidly coupled to a nozzle outlet 82 of the base assembly 14. The hose 28 may include a wand 30 operatively connected to the end of the hose 28, wherein the wand 30 is removably attached to the nozzle outlet 82. The upper section 18 also includes an airflow separator 42 (e.g., a cyclone separator, bag, and/or filter) configured to receive the airflow from the hose 28 and separate dirt and debris from the airflow to a dirt cup 46. The surface cleaner 10 also includes a motor housing 54 that contains a suction motor 55. The suction motor 55 is configured to generate a suction airflow via the airflow path, which is then exhausted from the surface cleaner 10. In the illustrated embodiment, the airflow path is formed by the inlet opening 74 of the foot assembly 14 and extends through the hose 28, into the separator 42 and suction motor 55, and out of the surface cleaner 10. Alternatively, the wand 30 of the hose 28 may be detached from the nozzle outlet 82, thereby providing another inlet opening for the airflow path in which the user can use the wand 30 to clean a surface. One or more auxiliary implements 34 (e.g., brushes or nozzles) may be attached to the end of the wand 30 to assist in cleaning.

Surface cleaners can be configured for use with a variety of surface types (e.g., carpet and hard floors). As one example, the cleaner may be provided with several preset suction settings and/or brush roll or nozzle heights that are manually adjustable by the user depending on the surface to be cleaned. For example, when transitioning the surface cleaner from a hardwood floor to a plush carpet, the user may choose to raise the height of the brush roll or nozzle as compared to a hardwood floor where the surface cleaner experiences greater resistance to movement along the surface due to increased suction and/or contact of the brush roll with the carpet. However, the user may not know which settings may facilitate movement of the surface cleaner while effectively cleaning the surface. Additionally, the need to remember the settings of multiple surfaces and to repeatedly adjust the settings of the surface cleaner when transitioning between two and sometimes even multiple surface types can be a burden to the user. To overcome these difficulties, the surface cleaner 10 described herein is further configured to identify a surface, determine one or more operational settings of the surface cleaner based on the identified surface, and control operation of the surface cleaner to implement the one or more settings.

The surface cleaner 10 includes a sensor 110 operatively connected to a portion of the surface cleaner 10. In the illustrated embodiment, the sensor 110 is positioned on the base assembly 14 adjacent to the brushroll motor 108. The sensor 110 is in electronic communication with a Printed Circuit Board (PCB) controller 112 disposed within a portion of the surface cleaner 10 (e.g., the base assembly 14), wherein the controller 112 further comprises a processor, a memory, and a computer-based set of instructions stored in the memory for execution by the processor to operate and control the components of the surface cleaner 10. Alternatively, the controller 112 is an integrated circuit having a designed circuit portion to perform the functions of the controller 112 according to the present invention.

The sensor 110 is configured to generate a signal based on the surface that the surface cleaner 10 is traveling and/or cleaning. The sensor 110 may be a current sensor, a pressure sensor, an accelerometer, a Hall Effect (Hall Effect) sensor, a microphone, an optical or infrared sensor, an image capture device (e.g., a camera), and the like. The sensor 110 may be a piezoelectric sensor. We have found that the signals provided by the sensors are also different when they are on different surfaces. In this manner, the signal can be used to identify the particular surface type that the surface cleaner 10 is traveling and/or cleaning. For example, the signal may vary the representation of a carpet-type surface (e.g., short pile, long pile, coarse hair, commercial) or a hard floor-type surface (e.g., hardwood, tile, concrete, marble). Additionally, the signal may indicate a surface condition of the surface, such as the presence of dust or debris, debris type, dust particle size, debris size, and the like. In some embodiments, the signal is the output of a single sensor, or may include the output of two or more sensors. The plurality of sensors may each output separate signals, and these separate signals may be used alone or in combination to characterize the surface being cleaned. In some embodiments, the signal is a time-dependent signal, wherein the controller 112 monitors the signals collected by the sensor 110 over a period of time to determine changes in the observed metric (e.g., current, pressure, vibrational force). Fig. 5 shows an example of a signal acquired by the sensor 10 over a period of time as a function of time.

The signal is processed by the controller 112 to generate a surface fingerprint of the surface and enable observation of subtle distinctive features of the signal that cannot be identified from the signal in an unprocessed state. Surface fingerprints are characteristic representations of a particular surface that can be used to accurately identify the surface, the type of surface (e.g., short pile carpet, long pile carpet, tile, hardwood), and/or the condition of the surface (presence of debris, type of debris, size of debris). In some embodiments, the time-dependent signals are collected and processed by the controller 112 to generate a surface fingerprint and characterize the surface being traveled and/or cleaned by the surface cleaner 10, thereby determining adjustments to the operational components of the surface cleaner 10. The signal is processed by the controller 112 to enhance signal fidelity (e.g., reduce background noise, baseline correction) and to emphasize or detect relevant spectral components, such as frequency components, in the detected signal. In one example, the surface fingerprint is based on the frequency spectrum of the signal.

Fig. 6 and 7 show signals of a hardwood floor and a carpeted floor, respectively, processed by the controller 112. The processed signal has less background noise than the unprocessed signal of fig. 5, so identifiable signal features (e.g., peaks) are more pronounced in the processed signal spectrum, e.g., in the range of 0-200 Hz of the processed signal. Since the processed signal exhibits different peak locations and intensities for different surfaces, the processed signal can be used as a surface fingerprint to identify different surface types. Post-processing signal characterization techniques for surface identification may include peak occurrence detection and/or peak intensity measurements. Other techniques include comparison of the spectral components with one another, such as measuring the peak intensity ratio of a first spectral component to one or more other spectral components and/or identifying spectral components in certain frequency ranges. In some embodiments, the processed signal may be characterized and the associated surface identified by a peak, peaks, and/or other spectral components of the processed signal. In some embodiments, a pattern of multiple peaks may be used to characterize the signal and identify the surface.

In one embodiment, the controller 112 processes the signals with a fourier transform algorithm to generate a surface fingerprint and identify the surface. Application of a fourier transform algorithm transforms the signal from the time domain to the frequency domain. By using the fourier transform method, the time to process the signal may be reduced (e.g., 2-3 seconds), but the signal acquisition and processing time may be increased in order to improve the resolution of the signal. In addition, the fourier transform makes it more efficient to process the signal, thereby requiring less computational resources, and the remaining computational resources can be used otherwise. It should be understood that signal processing is not limited to a single signal processing algorithm, and that other algorithms (e.g., hartley Transform) are contemplated by the present invention.

After the controller 112 generates a surface fingerprint for the surface on which the cleaner is operating, the controller 112 compares and matches the generated surface fingerprint to one or more reference fingerprints to identify the surface type associated with the generated surface fingerprint. The reference fingerprint is a pre-generated surface fingerprint of a known surface or surface condition stored in a reference library. The known surface or surface condition and the associated reference fingerprint correspond to a set of parameters and signal characteristics of a previously identified surface or surface condition. By determining the similarity between the generated surface fingerprint and the reference fingerprint, the newly collected and generated surface fingerprint may be compared to a plurality of reference fingerprints. The controller 112 compares the frequency spectrum and/or peak locations and intensities of the generated surface fingerprint and one or more reference fingerprints in a reference library. The reference library may have a plurality of reference fingerprints that are generated based on empirical studies performed by floor cleaner manufacturers, floor material manufacturers, and/or other users of floor cleaning machines operating on floor surfaces, since a variety of surface type data is collected and compiled from a plurality of reference surfaces.

In comparing the generated surface fingerprint to the reference fingerprint, the controller 112 interprets changes (e.g., peak shifts) between the surface fingerprint and the reference fingerprint signal by applying a magnitude of the match error (e.g., less than 5% or 10% variance or other desired preset match error) or a probability analysis (e.g., a match confidence greater than 85%, or other desired preset confidence) to determine the best match in the surface fingerprint to the reference fingerprint. Once the best match is found, the controller may control the cleaner in accordance with the type of surface associated with the reference fingerprint. In one embodiment, the generated surface fingerprint is compared to the reference fingerprint using a consistency analysis, a correlation analysis, or any other comparison technique. In another embodiment, the peaks and/or other parameters extracted from the generated surface fingerprint are compared to a reference value or threshold to match the generated surface fingerprint to the reference fingerprint.

The surface cleaner selects the surface type of the best matching reference fingerprint to represent the surface on which the cleaner is running. The cleaner then associates the surface type or surface condition corresponding to the selected best matching reference fingerprint to the operational setting corresponding to the selected surface. The reference library may include recommended cleaning parameters for each reference fingerprint, whereby the controller determines an operational setting of the cleaner as a function of the one or more recommended cleaning parameters. In another embodiment, the controller selects the operational setting in a preprogrammed setting that corresponds to the selected surface type or condition of the best matching reference fingerprint. If the controller cannot find the best match, e.g., the match error is above or the confidence is below a predetermined threshold, the controller operates in a default cleaning mode. In an alternative, if the controller cannot find the best match, the user is alerted via a user interface such as an indicator light or graphical display and can then manually select the mode of operation.

In one embodiment, the reference library is stored in the surface cleaner 10. In an alternative embodiment, as shown in FIG. 8, the communication device 114 of the surface cleaner 10 communicates over a network 800 with a reference library 810 storing one or more reference fingerprints 815, wherein the surface cleaner 10 accesses the reference library 810 over the network 800 to match the generated surface fingerprint with the one or more reference fingerprints 815 stored in the reference library 810. Network 800 may also be a Global Area Network (GAN), such as the internet, a Wide Area Network (WAN), a Local Area Network (LAN), or any other type of network or combination of networks. In another embodiment, the surface cleaner 10 may establish a stable relationship with the reference library 810. In yet another embodiment, the surface cleaner 10 accesses the external reference library 810 via the network 800, thereby downloading one or more reference fingerprints 815 from the external reference library 810 and storing the reference fingerprints 815 in a memory of the surface cleaner 10. In one example, to search faster on the fly, the surface cleaner stores each best match reference fingerprint in the external reference library in its internal memory, and accesses network 800 when the internally stored reference fingerprint is not a best match for the generated surface fingerprint under comparison.

The controller may adjust an operational setting of one or more functions of the cleaner based on the identified surface. The speed of the suction motor 55 may be increased or decreased to vary the suction force, and the speed of the brushroll motor 108 and brushroll may also be increased or decreased or turned off to vary the surface agitation. The controller may control a pump that dispenses the fluid. The controller may control the actuator. Various actuators may be provided to activate a height adjustment mechanism for raising and lowering the nozzle, to activate a bleed valve for increasing or decreasing the nozzle pressure, or to activate other features of the cleaner. The signal is received by the controller 112, which determines an operational setting of the surface cleaner 10 based on the signal and then controls portions of the surface cleaner 10 (e.g., the suction motor 55, the brushroll motor 108) to operate the surface cleaner 10 according to the operational setting. In one embodiment, the operational setting can be an operational mode specific to operating the surface cleaner 10 on a particular surface to be cleaned (e.g., short pile carpet mode, long pile carpet mode, tile mode, hardwood mode). In one example, when the brushroll is used in an environment or situation corresponding to the operating modes, the brushroll motor speed may be preset for each mode based on the desired operation of the brushroll.

In one embodiment, the sensor 110 is configured to sense and determine the current supplied to the brushroll motor 108 and generate a signal corresponding to the current that is sent to the controller 112. A surface fingerprint is generated using the received signals. The controller 112 matches the generated surface fingerprint with the reference fingerprint. Based on the matching of the surface fingerprint and the reference fingerprint, the controller 112 adjusts the operation of one or more components of the surface cleaner 10 based on the surface type or condition of the selected reference fingerprint. In one example, the controller 112 controls the height of the brushroll 94 based on the operating settings associated with the reference fingerprint and a signal from the sensor 110 indicating an increase in brushroll motor current. The increase in brushroll motor current may be due to an increase in the mechanical resistance of the brushroll 94 from the contact surface (e.g., long pile carpet), wherein the current supplied to the brushroll motor is increased to maintain a constant speed of rotation for the brushroll 94. By increasing the height of the brushroll 94, the amount of resistance that the contact surface applies to the brushroll 94 is reduced, thereby reducing the power required by the brushroll motor 108 to maintain a constant rotational speed.

In another embodiment, the sensor 110 is a pressure sensor configured to measure a pressure value of at least a portion of the airflow path of the surface cleaner 10 and generate a signal that is sent to the controller 112. In one example, the signal is indicative of a pressure change in the airflow path due to suction of the inlet opening proximate the surface to be cleaned. A surface fingerprint is generated using the received signals. The controller 112 matches the generated surface fingerprint with a reference fingerprint to obtain a surface type (e.g., long pile carpet). In response to identifying the surface type from the reference fingerprint, the controller 112 controls the power supplied to the suction motor 55 according to the selected surface type or condition that best matches the reference fingerprint. Alternatively, the controller 112 may be further configured to control the height of the brush roll 94 and/or the floor nozzle 58 based on signals from the pressure sensor, thereby increasing the height of the brush roll 94 and/or the floor nozzle 58 and mitigating excessive suction of the surface cleaner 10 against the surface so that the surface cleaner 10 can move more easily over the surface.

In another embodiment, the sensor 110 is an accelerometer configured to detect and measure suitable accelerations of the surface cleaner 10, particularly vibrations within the surface cleaner 10 or components thereof (e.g., the base assembly 14, the motor housing 54, the suction motor 55, the suction chamber 70, etc.) during operation. Signals are transmitted from the accelerometer to the controller 112, which generates a surface fingerprint. Based on the determination of a match of the generated surface fingerprint and the reference fingerprint, the controller 112 is configured to control one or more components of the surface cleaner 10 according to the surface type or condition of the selected best matching reference fingerprint. In one embodiment, the accelerometer monitors vibrations within at least a portion of the surface cleaner 10 and periodically transmits a signal to the controller 112 indicative of the monitored vibratory force corresponding to the surface type and/or condition. Alternatively, the controller 112 may be further configured to control the operation of one or more components of the surface cleaner 10 to reduce the detected vibration if the signal transmitted by the accelerometer indicates a vibratory force greater than an expected vibratory force of the surface cleaner 10, its one or more components, or its operation. In one example, increased vibratory forces generated by operation of the suction motor 55 may indicate a performance degradation of the suction motor 55 on a particular surface, wherein the suction motor 55 operates under increased load (i.e., a plush carpet). To this end, the controller 112 controls operation of one or more components of the surface cleaner 10 to reduce the detected vibrations and relieve pressure on the suction motor 55. Similarly, an accelerometer may be used to measure the vibrations generated by the brushroll motor 108.

In another embodiment, the accelerometer is located on a portion of the base assembly 14 adjacent the brushroll 94. The accelerometer is configured to detect and measure vibrations of the brush roller 94 due to contact with the surface. For example, an increase in the vibratory force generated by the brush roll 94 may indicate an increase in the resistance experienced by the brush roll 94 at the surface (e.g., from high carpet pile, rough surfaces, or debris). To do so, the accelerometer generates a signal that is transmitted to the controller 112, and the controller 112 controls the operation of the surface cleaner 10 based on the accelerometer signal. For example, the controller 112 may change the height of the brushroll 94 or change the power supplied to the brushroll motor 108 to reduce the detected vibrations. In one embodiment, the controller 112 may increase the current supplied to the brushroll motor 108 to overcome the excessive resistance experienced by the brushroll 94 that may be caused by engagement of the brushroll with the surface.

In yet another embodiment, an accelerometer is positioned on or near the airflow separator 42 and/or dirt cup 46, wherein the accelerometer is configured to detect and measure vibrations within the airflow separator 42 and/or dirt cup 46 caused by collected debris striking the sides of the airflow separator 42 and/or dirt cup 46. In response to the signal generated by the accelerometer, the controller 112 may change the mode of operation of the surface cleaner 10 to accommodate the collection of debris. For example, the controller 112 may increase the suction force of the suction motor 55 to better collect large size debris or excess debris detected on a particular soiled surface. In another example, signals generated by accelerometers in the airflow separator 42 and/or dirt cup 46 may indicate that a large item or foreign object (e.g., coin, small toy, jewelry) has been picked up by the surface cleaner 10, wherein the controller 112 may stop operation of the suction motor 55 and provide an indication to the user that a large item or foreign object is present.

In another embodiment, an accelerometer is positioned on the surface cleaner 10 and is configured to detect and measure rotational fluctuations of the suction motor through changes in the vibratory force produced by the suction motor. A detected change in rotation of the suction motor may be indicative of an obstruction in the airflow path or dirty filter, wherein the rotation of the suction motor changes as a result of the airflow being at least partially obstructed or blocked.

In another embodiment, an accelerometer is positioned on the surface cleaner 10 and is configured to determine movement of the surface cleaner 10 over a surface. In response to determining that the surface cleaner 10 has stopped moving over the surface, the accelerometer transmits a signal to the controller 112. The controller 112 is configured to control the operational components of the surface cleaner 10 in response to receiving the signal. For example, in response to determining that the surface cleaner 10 has stopped moving across the surface, the controller 112 may stop the suction motor 55 or the brushroll motor 108 or dispense liquid from the pump. Similarly, in response to determining that the surface cleaner has begun moving across the surface, the controller 112 may begin operation of the suction motor 55, the brushroll motor 108, or the pump.

It should be understood that the accelerometer can be positioned within or near any portion of the airflow path, or within or on any portion of the body of the surface cleaner 10, to detect vibrations generated by any operational component of the surface cleaner 10. In some embodiments, controller 112 generates a surface fingerprint based on the signal generated by the accelerometer and matches the surface fingerprint to a reference fingerprint to identify a surface or operating condition and control the operation of surface cleaner 10 as described herein.

In another embodiment, the controller 112 communicates with an indicator of the surface cleaner 110. The indicator may include one or more lights, displays, speakers, etc. to provide a prompt or message associated with a parameter of surface cleaner 10. For example, the indicator may display the type or condition of the identified surface on which the surface cleaner 10 is traveling. In another example, the indicator may display to the user the status of the operational components of surface cleaner 10 (e.g., liquid is being dispensed with the pump). In yet another example, the indicator may indicate a reduction in airflow due to a dirty filter or other airflow path blockage.

FIG. 9 provides a high level flow chart for generating a surface fingerprint and controlling the operation of a surface cleaner in accordance with one embodiment. Initially, the surface cleaner 10 is powered and moved along a surface. The sensor 110 of the surface cleaner 10 generates a signal based on the condition of the surface or conditions within the surface cleaner 10 resulting from operation on the surface. In block 902, the controller 112 of the surface cleaner 10 receives a signal from the sensor 110 of the surface cleaner 10. In response, as shown at block 904, the controller 112 processes the signal (e.g., using a fourier transform or other algorithm), which in one embodiment includes converting the signal from the time domain to the frequency domain, and then the controller 112 generates a surface fingerprint of the surface based on the frequency spectrum of the signal.

In block 906, the controller 112 matches the surface fingerprint with a reference fingerprint representing a reference surface. In one embodiment, based on a successful match of the surface fingerprint to the reference fingerprint, the controller 112 determines an operating mode corresponding to the reference fingerprint, as shown in block 908. For example, if the matched reference fingerprint is for a short pile carpeted floor, the controller 112 determines an operational mode for cleaning the short pile carpeted floor, which may include adjusting operation of one or more of the suction motor 55, the brushroll motor 108, the actuators, the pump, and/or the brushroll 94.

In block 910, the controller 112 controls operation of one or more operational components of the surface cleaner 10 based on the reference fingerprint, thereby cleaning the surface. In one embodiment, the controller controls the operation of one or more operational components based on the determined operational mode 908. Controlling operation may include adjusting the power supplied to the suction motor 55 and/or brushroll motor 108, or adjusting the height of the floor nozzle and brush assembly 58 via the actuator 59. In some embodiments, the controller 112 may automatically determine the mode of operation and control the operation of the surface cleaner 10 without additional user input. The controller 112 and/or the additional systems described herein operate in real time as the surface cleaner 10 travels along the surface. In this manner, the surface cleaner 110 can travel over different surfaces and automatically adjust operation on a per surface basis.

In one embodiment there is provided a surface cleaner comprising: a base movable along a surface; an operating member configured to perform a function of the cleaner; a sensor configured to generate a signal based on the surface; and a controller in communication with the sensor and the operational component, wherein the controller is operable to convert the signal from a time domain to a frequency domain to generate a surface fingerprint, and wherein the controller is operable to control the operational component based on the surface fingerprint. In one aspect, the operational component is selected from the group consisting of: a suction motor operable to generate an air flow, a brushroll motor operable to drive the brushroll, an actuator operable to adjust the height of the brushroll to the surface, a pump operable to deliver a cleaning liquid, an actuator operable to control the air flow or fluid valve, and an indicator operable to indicate a parameter of the surface cleaner. In another aspect, alone, or in combination with any of the above aspects, the sensor is an accelerometer. In another aspect, alone, or in combination with any of the above aspects, the sensor is a piezoelectric device (piezo device). In another aspect, the sensor measures the current supplied to the operational component, either alone, or in combination with any of the above aspects. In another aspect, the surface fingerprint is a transformation of a signal, alone, or in combination with any of the above aspects, or in combination with any combination of any of the above aspects. In another aspect, the transform is a fourier transform, either alone, or in combination with any of the above aspects. In another aspect, the controller is operable to match the surface fingerprint to a reference fingerprint in a reference library, either alone, or in combination with any of the above aspects, or in combination with any combination of any of the above aspects. In another aspect, the reference fingerprint is representative of a known surface, alone, or in combination with any of the above aspects, or in combination with any combination of any of the above aspects. In another aspect, the reference fingerprint is representative of a known surface condition, alone, or in combination with any of the above aspects, or in combination with any combination of any of the above aspects. In another aspect, the controller is operable to control operation of the operational component in an operational mode corresponding to the reference fingerprint, alone, or in combination with any of the above aspects, or in combination with any combination of any of the above aspects. In another aspect, alone, or in combination with any of the above aspects, the sensor is a first sensor and the signal is a first signal, wherein the surface cleaner further comprises a second sensor in communication with the controller, the second sensor configured to generate a second signal, wherein the controller is operable to process the first signal and the second signal to generate the surface fingerprint.

In another embodiment, a method of controlling a surface cleaner is provided, the method comprising: receiving a signal from a sensor of the surface cleaner; converting the signal from the time domain to the frequency domain to generate a surface fingerprint of the surface; determining a mode of operation corresponding to the surface fingerprint; and controlling operation of the surface cleaner based on the operation mode. In one aspect, controlling operation of the surface cleaner comprises controlling an operational component selected from the group consisting of: the system includes a suction motor operable to generate an air flow, a brushroll motor operable to drive the brushroll, an actuator operable to adjust the height of the brushroll to the surface, a pump operable to deliver a cleaning liquid, an actuator operable to control the air flow or fluid valve, and an indicator operable to indicate a parameter of the surface cleaner. In another aspect, alone, or in combination with any of the above aspects, receiving a signal from a sensor includes receiving a signal from an accelerometer. In another aspect, alone, or in combination with any of the above aspects, receiving a signal from a sensor comprises receiving a signal from a piezoelectric device. In another aspect, converting the signal includes generating a transform of the signal, alone, or in combination with any of the above aspects, or in combination with any combination of any of the above aspects. In another aspect, alone, or in combination with any of the above aspects, generating a transform of the signal comprises generating a fourier transform of the signal. In another aspect, alone, or in combination with any of the above aspects, the sensor is a first sensor and the signal is a first signal, wherein generating the surface fingerprint further comprises: receiving a second signal from a second sensor in communication with the controller; and processing the first signal and the second signal to generate a surface fingerprint. In another aspect, the surface fingerprint is matched to a reference fingerprint representing a reference surface, alone, or in combination with any of the above aspects, or in combination with any combination of any of the above aspects. In another aspect, matching the surface fingerprint to a reference fingerprint further comprises matching the surface fingerprint to a reference fingerprint stored in a library of reference fingerprints on the surface cleaner, alone, or in combination with any of the above aspects, or in combination with any combination of any of the above aspects. In another aspect, alone, or in combination with any of the above aspects, the surface cleaner is connected to a network, and matching the surface fingerprint to the reference fingerprint further comprises the surface cleaner communicating with an external library of reference fingerprints over the network.

In another embodiment, a surface cleaner is provided, comprising: a running component; a base movable along a surface; an accelerometer configured to generate a signal; and a controller in communication with the accelerometer and the operational component, wherein the controller is operable to control the operational component based on the signal, and wherein the operational component is selected from the group consisting of: a suction motor operable to generate an air flow, a brushroll motor operable to drive the brushroll, an actuator operable to adjust the height of the brushroll to the surface, a pump operable to deliver a cleaning liquid, an actuator operable to control the air flow or fluid valve, and an indicator operable to indicate a parameter of the surface cleaner.

In another embodiment, a surface cleaner is provided, comprising: a base movable along a surface; a running component; a sensor configured to generate a signal; and a controller in communication with the sensor and the operational component, wherein the controller is programmed to: receiving a signal from a sensor of the surface cleaner; converting the signal from a time domain to a frequency domain to generate a surface fingerprint of the surface; determining a mode of operation corresponding to the surface fingerprint; and controlling operation of the operational component based on the operational mode, and wherein the operational component is selected from the group consisting of: a suction motor operable to generate an air flow, a brushroll motor operable to drive the brushroll, an actuator operable to adjust the height of the brushroll to the surface, a pump operable to deliver a cleaning liquid, an actuator operable to control the air flow or fluid valve, and an indicator operable to indicate a parameter of the surface cleaner.

While certain exemplary embodiments have been described and shown in the accompanying drawings, it is to be understood that such embodiments are merely illustrative of and not restrictive on the broad invention. The invention is not limited to the specific constructions and arrangements shown and described, since various other modifications, combinations, omissions, modifications and substitutions, in addition to those set forth in the preceding paragraphs, may be made. It will be apparent to those skilled in the art that various adaptations, modifications, and combinations of the just described embodiments can be made without departing from the scope and spirit of the invention. It is, therefore, to be understood that within the scope of the appended claims, the invention may be practiced otherwise than as specifically described herein.

Claims

1. A surface cleaner comprising:

a base movable along a surface;

an operational component configured to perform a function of the surface cleaner;

a sensor configured to generate a signal based on the surface; and

a controller in communication with the sensor and the operational component,

wherein the controller is operable to convert the signal from a time domain to a frequency domain to generate a surface fingerprint,

wherein the controller is operable to control the operational component based on the surface fingerprint, an

The operational component is selected from the group consisting of: the system includes a suction motor operable to generate an air flow, a brushroll motor operable to drive the brushroll, an actuator operable to adjust the height of the brushroll to the surface, a pump operable to deliver a cleaning liquid, an actuator operable to control the air flow or fluid valve, and an indicator operable to indicate a parameter of the surface cleaner.

2. The surface cleaner of claim 1, wherein the sensor is an accelerometer.

3. A surface cleaner as recited in claim 1, wherein the sensor is a piezoelectric device.

4. The surface cleaner of claim 1, wherein the sensor measures the current supplied to the runnability component.

5. A surface cleaner according to claim 1 wherein the surface fingerprint is a transformation of the signal.

6. The surface cleaner of claim 5, wherein the transform is a Fourier transform.

7. A surface cleaner according to claim 1 wherein the controller is operable to match the surface fingerprint to a reference fingerprint in a reference library.

8. A surface cleaner according to claim 7 wherein the reference fingerprint is representative of a known surface.

9. A surface cleaner according to claim 7 wherein the reference fingerprint is representative of a known surface condition.

10. A surface cleaner according to claim 7 wherein the controller is operable to control operation of the operating member in an operating mode corresponding to the reference fingerprint.

11. The surface cleaner of claim 1, wherein the sensor is a first sensor and the signal is a first signal, wherein the surface cleaner further comprises a second sensor in communication with the controller, the second sensor configured to generate a second signal, wherein the controller is operable to process the first signal and the second signal to generate the surface fingerprint.

12. A method of controlling a surface cleaner, the method comprising the steps of:

receiving a signal from a sensor of the surface cleaner;

converting the signal from a time domain to a frequency domain to generate a surface fingerprint of a surface;

determining a mode of operation corresponding to the surface fingerprint; and

controlling operation of the surface cleaner based on the operating mode, wherein

Controlling operation of the surface cleaner includes controlling an operational component selected from the group consisting of: a suction motor operable to generate an air flow, a brushroll motor operable to drive the brushroll, an actuator operable to adjust the height of the brushroll to the surface, a pump operable to deliver a cleaning liquid, an actuator operable to control the air flow or fluid valve, and an indicator operable to indicate a parameter of the surface cleaner.

13. The method of claim 12, wherein receiving the signal from the sensor comprises receiving the signal from an accelerometer.

14. The method of claim 12, wherein receiving the signal from the sensor comprises receiving the signal from a piezoelectric device.

15. The method of claim 12, wherein converting the signal comprises generating a transform of the signal.

16. The method of claim 15, wherein generating the transform of the signal comprises generating a fourier transform of the signal.

17. The method of claim 12, wherein the sensor is a first sensor and the signal is a first signal, wherein generating the surface fingerprint further comprises:

receiving a second signal from a second sensor; and

processing the first signal and the second signal to generate the surface fingerprint.

18. The method of claim 12 further comprising matching the surface fingerprint to a reference fingerprint representing a reference surface.

19. The method of claim 18, wherein matching the surface fingerprint to the reference fingerprint further comprises matching a surface fingerprint to the reference fingerprint stored in a library of reference fingerprints on the surface cleaner.

20. The method of claim 18, wherein the surface cleaner is connected to a network, and matching the surface fingerprint to the reference fingerprint further comprises the surface cleaner communicating with an external library of reference fingerprints over the network.

21. A surface cleaner comprising:

a base movable along a surface;

an accelerometer configured to generate a signal; and

a controller in communication with the accelerometer and the operational component,

Wherein the operational component is selected from the group consisting of: a suction motor operable to generate an air flow, a brushroll motor operable to drive the brushroll, an actuator operable to adjust the height of the brushroll to the surface, a pump operable to deliver a cleaning liquid, an actuator operable to control the air flow or fluid valve, and an indicator operable to indicate a parameter of the surface cleaner.

22. A surface cleaner comprising:

a base movable along a surface;

a sensor configured to generate a signal; and

a controller in communication with the sensor and the operational component,

wherein the controller is configured to:

receiving a signal from a sensor of the surface cleaner;

determining a mode of operation corresponding to the surface fingerprint; and

controlling the operation of the operational component based on the operational mode, an

Wherein the operational component is selected from the group consisting of: the system includes a suction motor operable to generate an air flow, a brushroll motor operable to drive the brushroll, an actuator operable to adjust the height of the brushroll to the surface, a pump operable to deliver a cleaning liquid, an actuator operable to control the air flow or fluid valve, and an indicator operable to indicate a parameter of the surface cleaner.