AU2017101169A4 - A full angle cleaning robot aiming for narrow environments - Google Patents

Abstract

A cleaning robot and multiple methods for controlling the same are disclosed. The robot cleaner for performing a cleaning in narrow and hard-to-reach environments by wireless controls is composed of: two tracks (1) powered by one motor each (3); two digital infrared sensors (5) disposed on the main body for detecting obstacles and receiving signals to change the direction of movement; a battery (6) fixed behind the digital infrared sensors providing power for all the needed accessories;an Arduino motherboard (7) with algorithmsprogrammed inside above the battery; an analog infrared sensor (9) on the top for adjusting the speed of robot; a microphone (11) and Bluetooth serial module (16) for detecting sound waves or EM waves to enable user to control the robot manually; multiple brushes (14) installed on a brush motor (13) that powered by a servo (8) on the back of the robot. According to the robot cleaner and multiple methods for controlling the same, it can be either manually adjusted by user or automatically adjusts itself, and a narrow environment can be cleaned more completely while avoiding obstacles appearing at different positions. I Ih - El

Description

TITLE

A full angle cleaning robot aiming for narrow environments FIELD OF THE INVENTION

The present invention relates to a full angle cleaning robot, and more particularly, to a full angle cleaning robot having an improved structure capable of improving a user convenience, when cleaning narrow and hard-to-reach environments.

BACKGROUND OF THE INVENTION

Most cleaning robots used in families today are rounded machines. However, they are cumbersome and inflexible, and their functions are limited since their targeted applicable places are always flat and wide. Based on its calculated algorithms, this kind of robot will change its moving direction when it feels an obstacle blocking its movement. Admittedly, it behaves well in a relatively spacious environment and is capable of cleaning the dust on flat grounds. However, their designed functions become useless in narrow environment such as ventilation pipes. The other thing is that the functions of these robots do not surpass manpower: Places hard to reach by people will not be reached by these robots as well. One thing is clear that the job these cleaning robots do can also be done by people, but the job that people cannot do (cleaning narrow and hard to reach places) also cannot done by these robots. Furthermore, their diameters range from 25 centimeters to 30 centimeters; their weights may even reach 3.8 kilograms. All these traits determine that most of the existing cleaning robots in the market are only suitable for some specific environments.

Besides the existing cleaning robots’ limitations on applicable environments, they also have some flaws in their overall designs. These family-used cleaning robots are equipped with multiple bottom brushes that are useful to sweep the dust on the ground. But this is all they can do. They cannot clean the places around them or above them, which could make them unable to satisfy some specific needs.

Some of the existing cleaning robots do not have the ability to identify different voices in order to make responses. Some of the existing cleaning robots can be controlled by using a remote, but infrared control apparently doesn’t work when robots are relatively far away or under complicated environments.

SUMMARY OF THE INVENTION

The movement of present invention is not based on regular wheels; instead, it isbased on two stable tracks. The tracks are made of anti-skidding rubber, which makes the invention possess a strong grip force. The invention is suitable to be used in slippery environments. Each track has its independent motor. Since the tracks are operated separately, they do not have to work on the same pace. For instance, while one track is moving clockwise, the other track could be still, clockwise or counterclockwise.

This robot is equipped with two DC motors working at 12 volts, powering one track each. In addition, another DC motor working at 5 volts is used to power the brushes. All three motors are controlled by L298N dual motor driver chips. A MG995 servo is used to adjust the orientation of the brushes.

This robot is powered by a 18650 battery set of 12V output. Sensors and chips working at 5V are in turn powered through a DC-DC module.

This robot invention is equipped with three different sensors, including a microphone, an analog infrared sensor, and two digital infrared sensors. The microphone sensor is placed on the top of the invention with the support of a tiny pillar, which makes it easier to detect sound waves.

Based on the library uSpeech, the invention is capable ofidentifying different phonemes with the microphone sensor and making several responses. This library enabled the robot to be controlled by voice. This unique feature keeps the invention under control even in dark, narrow, and complicated environments. The analog infrared sensor transforms distance measured into voltage signals between 0 and 5 volts, sending them to Arduino (motherboard). Consequently, the infrared reading enables the robot to adjust its speed and heading. One digital infrared sensor is located on the left side of the invention, while the other one is on the right side. The two digital infrared sensors transform distance measured into a digital signal with a threshold. When one digital infrared sensor detects an obstacle on the left, it will send a signal of 0 to Arduino. Based on the algorithms programmed in Arduino, the right track will get slower while the left track will remain in the same speed. The invention then will turn right and dodge the obstacle on the left. This kind of design can protect the invention from colliding with other obstacles and keep it intact. A Bluetooth serialmoduleis equipped on the invention. Once the Bluetooth module is connected to a cell phone, the invention can be controlled wirelessly by Bluetooth serial applications. The possible commands includetum left, turn right, start, shut down, slow down and acceleration. The Bluetooth system can work under a maximum distance of 20 meters.

For this invention, several brushes are installed on the back. Determined by the distance between the invention and the walls, the brushes’ lengths are adjustable. Brushes are connected with a rotating servo, which enables the brushes to rotate in 360 degrees and completely clean all the places around the invention. The servo, as well as the brushes, only starts rotating when the sensors detect side walls. When there are no walls around the invention, it will only move until it meets the walls. Great amount of energy is saved and battery life is preserved through this process.

All materials used in manufacture of this invention are easy to obtain and the cost of producing a complete set of cleaning robot is low. All the accessories are easy to supplant, making this invention an extendable robot. Various kinds of accessories can be added on the invention, depending on user’s needs.

This invention has the advantages of working in narrow and hard-to-reach environments, occupying less area, having less weight, less cost of assembly and maintenance, complete cleaning ranges, multiple control modes and slip-resistant motion.

DESCRIPTION OF THE DRAWINGS

The appended drawings are only for the purpose of description and explanation but not for limitation, wherein:

Fig.l is anoverall view of the present invention;

Fig.2 is a front view illustrating an outer appearance and overall structure of the present invention;

Fig.3 is a lateral view showing different floors of the present invention, as well as the setupof main accessories;

Fig.4 is a bird’s eye view illustrating the position where motor controllers are placed and the position of cleaning brushes. The approximate basal area the present invention would occupy is also shown.

Fig.5 is a perspective view illustrating the present invention’s action mode of brushes, and how the invention is able to clean the walls when it approaches a comer.

Fig.6 is an illustration showing the scenario described in EXAMPLE 1. It shows how the present invention dodges obstacles on its way and keeps moving forward at a slightly different orientation.

Fig. 7 is an illustration showing the scenario described in EXAMPLE 3. It shows how the present invention executes repetitive dodges after detecting walls as obstacles.

Fig.8 is a block diagram showing the major components and their relations, according to the present invention.

Fig.9 is a flow chart showing the general algorithm of the cleaning robot, according to the present invention.

Fig. 10 is a flow chart showing the initializing process after the present invention is switched on.

Fig.l 1 is a flow chart showing the obstacle detection and avoidance algorithm, according to the present invention.

Fig. 12 is a flow chart showing the Bluetooth controlling process with cell phones, according to the present invention.

Fig. 13 is a flow chart showing the voice-control process of the present invention.

Fig. 14 is a flow chart showing the working process of the speed encoding unit, according to the present invention. DESCRIPTION OF PREFERRED EMBODIMENT In order that the present invention can be more readily understood, reference will now be made to the accompanying drawing to illustrate the embodiments of the present invention.

Referring to Figs. 1, 2, and 3, 1 is one of the tracks; 2 is one of the reduction drives; 3 is one of the motors; 4 is one of the speed encoders; 5 is one of the digital infrared sensors; 6 is the battery; 7 is the Arduino Mega 2560 motherboard; 8 is the servo; 9 is the analog infrared sensor; 10 is one of the motor controllers; 11 is the microphone; 12 is the switch; 13 is the brush motor; 14 is one of the brushes; 15 is the LM2596 regulator; 16 is the Bluetooth serial module. STEP A: For the chassis (Basic Floor), we use tracks instead of wheels to ensure the present invention be able to march in harsh environments. And we use a pair of 12V motors to drive the robot body. Inside the motors, two reduction drives are placed to make sure the cleaning robot moves smoothly. Outside the motors, we erect speed encoder on each motor, feeding back the revolution speed of motor to the motherboard to control the speed. STEP B: On the Second Floor, to prevent the present invention from crashing into walls or objects, we equip it with a pair of digital sensor and set up the detection range of 10 centimeters long. In addition, we place the 12 V battery on the Second Floor, and we fix the switch next to the battery. STEP C: On the Third Floor, we place the 12V input plug and output plugs, two regulators to transfer the 12V to 5V and 6V, a motherboard to control each module, a servo to change the brushes’ angle and a brush motor to make the brushes revolve. STEP D: On the Fourth Floor, we place input and output plugs of 5 V and 6V. We need 5V to power sensors running at 5V and 6V to power the servo. And we place two motor controllers to control the motors on the Basic Floor and the brush motor. In the forefront, an analog sensor is used to detect obstacles or walls in the front of the robot and obtain the distance between the objects and the cleaning robot. Finally, on the top of this floor, we use a microphone to acquire speech information.

The overall relations of the major components are shown in Fig.8. Each of the two tracks 1 is connected to a motor 3 by a shaft, which enables the gears inside the tracks rotating with the motors. Each of the reduction drives 2 is connected to a motor, slowing down the rotating speed of the motor (originally can rotate thousands of times per second) and makingthe moving speed of the cleaning robot be suitable for cleaning operations. Motors 3 are connected with and get power from the motor controllers 10 through wires, while battery 6 provides 12-volt electricity to the motor controllers. Each of the speed encoders 4 is placed right next to the motors. By detecting light signals from outside environments, speed encoders measure the rotating speed of motors (as shown in Fig. 14).

Two digital infrared sensors 5 are installed above the tracks. Through wires, digital infrared sensors are connected to Arduino Mega 2560 motherboard 7, sending back signals of either 0 or 1 (0V or 5V) to Arduino motherboard. Based on this info and pre-programmedalgorithms(as shown in Fig.9) inside Arduino, the cleaning robot can change its moving direction automatically and choose to turn left or right in order to avoid the obstacles in front of it.

An analog infrared sensor 9 is installed on the top front, aiming to detect and send back signals between 0V to 5V to Arduino motherboard. The signals are transformed into integers between 0 and 1023, which are in correspondence of the different responses Arduino motherboard would make. The responses from Arduino will then determine the further actions of the cleaning robot.

The microphone 1 lis installed on the very top place, which allows it to collect sound waves more clearly. It is also connected to the Arduino motherboard through wires; based on the different phonemes microphone collects as well as the unique algorithm cited [1], the Arduino motherboard can distinguish among the phonemes and determine the further actions of the cleaning robot. The voice-control processes of the present invention are shown in Fig. 13.

The Bluetooth serial module 16 is installed behind the analog infrared sensor. It is also connected to the Arduino motherboard through wires. To activate the Bluetooth serial module, user may need to install an App on his/her cell phone (the one we used is BTClient) and connect the Bluetooth module through the App. The controlling processes of Bluetooth are shown in Fig. 12.

The third motor (brush motor) 13 is placed on the back of the invention, powering the servo 8 that is attached to the motorto rotate. Multiple cleaning brushes 14 are plugged in the servo, making the brushes rotate at the same rate as the servo. The powerful brushes can ensure that all the dust all cleaned up.

The LM2596 regulator 15 is responsible for adjusting the 12V electricity from the battery into 5 V electricity supplying to all the sensors and 12V electricity supplying to the motor controller and all the three motors. LM2596 regulator is an essential part of the invention. Without the regulator, the Arduino board will be burned due to the excess of current.

The switch 12 controls the power for the entire robot.If the switch is turned off, the circuit willbreak and the power supply is cut off. EXAMPLE 1

As shown in Fig. 6, the cleaning robot is placed inside a ventilation pipe or rangehood exhaust duct. We suppose that the pipe is narrow, which is what most pipes look like in the real world, and has turned angles. Referring to Fig. 10, in order to start up the cleaning robot, the robot needs to be turned on by pressing the switch. Once the robot is activated, the battery within starts supplying power to all the motors and accessories.

As the cleaning robot moving, it automatically adjusts its orientation and starts or stops the rotation of brushes according to the information detected by sensors. The two digital infrared sensors placed on the front will judge whether an obstacle appears on the left side or right side of the robot. Based on the information detected, the signals are transferred into Arduino motherboard. Referring to Fig.9, Arduino will make a series of operations according to the pre-programmedalgorithms within. For instance, the body of a dead rat on the left side of the pipe is blocking the way of the cleaning robot. When the left digital infrared sensor detects a distance of 10 centimeters away from the rat, a signal is sent back to Arduino. Arduino receives this signal and makes the speed of right track slow down while keep the speed of left track unchanged. According to a series of executions, the overall cleaning robot turns right in a curve path. Thus, instead of rushing towards the rat, the cleaning robot will automatically change its orientation and moves toward right until it detects another obstacle (it could be the wall) and changes its orientation again. An obstacle is dodged, and the cleaning operation is continued. When the cleaning operation is done, user can make it come out by using Bluetooth (as shown in Fig. 12) or shouting out specific phonemes. EXAMPLE 2

The cleaning robot is placed under a bed that has many magazines/books and cartons beneath. The place under a bed is where people often choose to store sundries. It would be annoying and exhausting to pull all the sundries out and then put a regular cleaning robot inside to clean the musty dust. The present invention is designed to complete such tasks. For this end, the invention is equipped with multiple sensors that capable of detecting obstacles and avoiding them. According to the principles listed in EXAMPLE 1, the present invention can not only clean various kinds of pipes, but also brush places with multiple obstacles. EXAMPLE3

According to the principles listed in EXAMPLE 1, the present invention is able to dodge obstacles automatically. Such function prevents the present invention from trapping inside a corner and enables it to make a 90-degree turn without colliding the wall when it approaches the comer. The basic principlesare listed in EXAMPLE 1, and multiple executions of them can be made. As shown in Fig.7, when the cleaning robot approaches the comer, one of its digital infrared sensors first detected one side of the walls as an obstacle. Signal is sent and the cleaning robot makes a turn away from the wall. Soon its sensors will detect another wall (two walls at a 90-degreeangle form the corner) blocking its movement. Another signal is sent and the cleaning robot again makes a turn away from the wall. Referring to Fig. 11, the repetitive executions of turnings help the cleaning robot get out of the dilemma of colliding at a comer and enable it to change its orientation when it encounters a comer.

Claims (2)

1. A full angle cleaning robot aiming for narrow environments, which is the movement of the robot is not based on regular wheels, it is based on two stable tracks, the tracks are made of anti-skidding rubber, which makes the invention possess a strong grip force, the robot is suitable to be used in slippery environments, each track has its independent motor, since the tracks are operated separately, they do not have to work on the same pace, while one track is moving clockwise, the other track could be still, clockwise or counterclockwise.

2. A full angle cleaning robot mentioned as claim 1, which is equipped with two DC motors working at 12 volts, powering one track each, in addition, another DC motor working at 5 volts is used to power the brushes, all three motors are controlled by L298N dual motor driver chips, a MG995 servo is used to adjust the orientation of the brushes.