NZ726484B2 - A device to automate manual surface maintenance machines - Google Patents
A device to automate manual surface maintenance machines Download PDFInfo
- Publication number
- NZ726484B2 NZ726484B2 NZ726484A NZ72648415A NZ726484B2 NZ 726484 B2 NZ726484 B2 NZ 726484B2 NZ 726484 A NZ726484 A NZ 726484A NZ 72648415 A NZ72648415 A NZ 72648415A NZ 726484 B2 NZ726484 B2 NZ 726484B2
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- New Zealand
- Prior art keywords
- surface maintenance
- mode
- accordance
- manual
- maintenance machine
- Prior art date
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- 230000001808 coupling Effects 0.000 claims description 54
- 238000010168 coupling process Methods 0.000 claims description 53
- 238000005859 coupling reaction Methods 0.000 claims description 53
- 238000004590 computer program Methods 0.000 claims description 20
- 238000004140 cleaning Methods 0.000 claims description 19
- 230000001276 controlling effect Effects 0.000 claims description 19
- 230000000875 corresponding Effects 0.000 claims description 14
- 229910004682 ON-OFF Inorganic materials 0.000 claims description 3
- 238000000149 argon plasma sintering Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 3
- 238000004146 energy storage Methods 0.000 claims description 3
- 238000003331 infrared imaging Methods 0.000 claims description 3
- 230000004044 response Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 4
- 230000003749 cleanliness Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000003287 optical Effects 0.000 description 2
- 241001417527 Pempheridae Species 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
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- 238000002485 combustion reaction Methods 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 238000005295 random walk Methods 0.000 description 1
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- 239000000126 substance Substances 0.000 description 1
- 230000003746 surface roughness Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
- G05D1/0297—Fleet control by controlling means in a control room
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D2201/00—Application
- G05D2201/02—Control of position of land vehicles
- G05D2201/0203—Cleaning or polishing vehicle
Abstract
According to one embodiment of the invention, a detachable device for converting a manual surface maintenance machine to an automatic surface maintenance machine is provided. The device attaches to a manual surface maintenance machine and controls the mechanical and electrical components of the manual surface maintenance machine to perform movements from a first location to a next location, while performing surface maintenance operations. al surface maintenance machine to perform movements from a first location to a next location, while performing surface maintenance operations.
Description
A DEVICE TO AUTOMATE MANUAL SURFACE MAINTENANCE
MACHINES
FIELD OF INVENTION
The present invention relates to automated cleaning devices, and
more particularly, automated surface maintenance machines and a method
to automate manual surface maintenance machines.
BACKGROUND
Surface maintenance machines are used in open spaces to
maintain the cleanliness or texture of the surface it is used on. They may
comprise a plurality of maintenance apparatus such as rotating scrub
brushes, a solution tank, vacuum systems, a squeegee, rakes or blades,
attached to a power operated machine. The surface maintenance machines
may receive power from an electric current source such as a battery unit or
an internal combustion engine. Typical surface maintenance machines would
incorporate a steering mechanism to provide a means to direct the machine’s
movement.
Surface maintenance machines may be manually controlled or
autonomous. Manual surface maintenance machines require an operator to
control the movements and cleaning operations of the surface maintenance
machine. These machines are cost effective and easy to produce as the
steering, movement and cleaning operations can be simple lever
mechanisms for the operator to control. Due to the simple mechanisms, the
maintenance costs of the manual surface maintenance machines are also
low. A major disadvantage of the manual surface maintenance machines,
however, is that it is entirely dependent on an operator to function. Without
an operator, the manual surface maintenance machine provides no benefit
for the maintenance company. In addition, a new operator would need to be
trained to operate the machine, which would incur further cost for the
maintenance company. Further, the effectiveness of the manual surface
maintenance machine relies entirely on the skill of the operator. Thus,
cleanliness cannot be standardized on a broad scale as there is no
quantitative way to standardize cleanliness standards between several
operators.
Autonomous surface maintenance machines have been developed
to reduce the dependence of surface maintenance machines on the human
operator. The movement and cleaning functionality of autonomous surface
maintenance machines are designed to be computer controlled. The
autonomous surface maintenance machine may be configured to operate for
extended periods of time or programmed to clean designated routes or areas
on scheduled days. A major disadvantage of the autonomous surface
maintenance machine is the high cost as the components in the autonomous
surface maintenance machines require advanced circuitry for navigation,
feedback and for performing cleaning operations. Additionally, repairs and
maintenance of these machines would need to be performed by a skilled
serviceman, which would increase the costs even more. Further, in the event
that a component not related to the cleaning or navigation function breaks
down, an operator would be unable to utilize the malfunctioning autonomous
surface maintenance machine for manual cleaning purposes.
Thus, what is needed is a surface maintenance machine that is
able to incorporate the low cost advantages of the manual surface
maintenance machines with the benefits of automation from the autonomous
surface maintenance machines. Furthermore, other desirable features and
characteristics will become apparent from the subsequent detailed
description and the appended claims, taken in conjunction with the
accompanying drawings and this background of the disclosure.
SUMMARY
According to a first aspect of the present invention, a device for
controlling a manual surface maintenance machine is presented. The device
comprises at least one attachment means for coupling the device to at least
one component of the manual surface maintenance machine, at least one
control coupling means for electrically and mechanically coupling the device
to a plurality of components of the manual surface maintenance machine, the
plurality of components comprising at least one mechanical component and
at least one electrical component, wherein the mechanical component
includes apparatus control mechanisms, velocity control mechanisms and
steering control mechanisms, wherein the at least one electrical component
includes an energy storage device, velocity control means, and mechanical
component on-off circuits, and a control means, the control means
comprising at least one processor and at least one memory including
computer program code, the at least one memory and the computer program
code configured to, with the at least one processor, provide control signals to
the at least one mechanical component and the at least one electrical
component of the manual surface maintenance machine, for controlling the
manual surface maintenance machine to perform the steps of a first mode,
the steps of the first mode comprising moving to a first location amongst a
plurality of locations, performing at least one operation, while moving to the
first location and at the first location, moving to a next location amongst a
plurality of locations, and performing at least one operation, while moving to
the next location and at the next location.
According to a second aspect of the present invention, a network of
one or more devices for controlling corresponding manual surface
maintenance machines is presented. The network comprises a central
controller, a plurality of monitoring units, a plurality of manual surface
maintenance machines and a plurality of devices coupled to a corresponding
one of the plurality of manual surface maintenance machines.
According to a third aspect of the present invention, a method for
automating a manual surface maintenance machine is presented. The method
comprises the steps of attaching a device to the manual surface maintenance
machine, coupling the device to the manual surface maintenance machine
mechanically and electronically and controlling the manual surface maintenance
machine, through the device, to perform the steps of a first mode, the steps of
the first mode comprising moving to a first location amongst a plurality of
locations, performing at least one operation, while moving to the first location
and at the first location, moving to a next location amongst a plurality of
locations and performing at least one operation, while moving to the next
location and at the next location.
BRIEF DESCRIPTION OF THE DRAWINGS
The accompanying figures, where like reference numerals refer to
identical or functionally similar elements throughout the separate views and
which together with the detailed description below are incorporated in and
form part of the specification, serve to illustrate various embodiments and to
explain various principles and advantages in accordance with a present
embodiment.
depicts a flowchart of a broad method embodying operation
in accordance with a present embodiment.
depicts a block diagram of a device coupled to the manual
surface maintenance machine in accordance with a present embodiment.
comprising and illustrates front right top
perspective drawings of a manual surface maintenance machine, wherein
illustrates the machine without the device attached and
illustrates the machine with the device attached, in accordance with a present
embodiment.
depicts a flowchart of a learning mode of the device of in accordance with the present embodiment.
depicts a flowchart of an autonomous mode of the device of
in accordance with the present embodiment.
depicts a flowchart of an enforcement mode of the device of
in accordance with the present embodiment.
depicts a flowchart of a standby mode of the device of
in accordance with the present embodiment.
depicts a diagram of an example of a network of one or more
devices of for controlling corresponding manual surface maintenance
machines for cooperative cleaning of a large surface in accordance with the
present embodiment.
And depicts a diagram of an example of a network of one or
more devices of for controlling corresponding manual surface
maintenance machines for cooperative cleaning of multiple floors in accordance
with the present embodiment.
Skilled artisans will appreciate that elements in the figures are
illustrated for simplicity and clarity and have not necessarily been depicted to
scale. For example, the dimensions of some of the elements in the block
diagrams or flowcharts may be exaggerated in respect to other elements to
help to improve understanding of the present embodiments.
DETAILED DESCRIPTION
The following detailed description is merely exemplary in nature
and is not intended to limit the invention or the application and uses of the
invention. Furthermore, there is no intention to be bound by any theory
presented in the preceding background of the invention or the following
detailed description. It is the intent of the present embodiment to present a
device to automate a manual surface maintenance machine in order to
reduce the manual surface maintenance machines’ dependency on a human
operator.
According to one embodiment of the invention, a device for controlling
a manual surface maintenance machine is provided. The device attaches to
a manual surface maintenance machine and controls the mechanical and
electrical components of the manual surface maintenance machine to
perform movements from a first location to a next location, while performing
surface maintenance operations.
In one embodiment of the present invention, the at least one
operation comprises surface maintenance operations, including one or more
of cleaning, wiping, vacuuming, buffing, cutting and raking.
In one embodiment of the present invention, the at least one
operation further comprises performing a non-maintenance operation
including operating one or more of the apparatus control mechanisms to
raise an apparatus off the surface, reduce the rotation of the apparatus or
divert power from the apparatus completely.
In one embodiment of the present invention, the computer program
code is further configured to perform the steps of a second mode, the steps
of the second mode comprising recording movement between a plurality of
positions from a first location to a next location, recording the operations
performed when at the first location and while moving to the next location,
storing the movement between the plurality of positions and operations
performed into the memory, and performing the steps of recording and
storing as an operator uses the manual surface maintenance machine.
In one embodiment of the present invention, the computer program
code is further configured to perform the first mode according to the
movement and the operations recorded in the second mode.
In one embodiment of the present invention, the device further
comprises a network coupling component to enable the device to couple to a
network though network coupling, and to transmit and receive information
through the network coupling to a central controller and/or at least one
monitoring unit.
In one embodiment of the present invention, the computer program
code is further configured to perform the steps of a third mode, the steps of
the third mode comprising moving to a first position amongst a plurality of
positions while performing an operation, recording a surface condition of the
first position, storing the surface condition of the first position into the memory
and repeating the steps of moving, recording and storing for a plurality of
positions.
In one embodiment of the present invention, the received
information is a command to switch between two modes, the modes including
the first mode, the second mode and the third mode.
In one embodiment of the present invention, the transmitted
information is data stored in the memory of the device.
In one embodiment of the present invention, the data stored in the
memory of the device includes battery life of the device, battery life of the
manual surface maintenance machine, utilization status of the manual
surface maintenance machine or device, apparatus control status, speed,
direction, mileage, recorded video and still image data.
In one embodiment of the present invention, the network coupling
comprises wired coupling includes USB and Firewire coupling.
In one embodiment of the present invention, the device further
comprises a first plurality of sensors and a second plurality of sensors, the
first plurality of sensors for determining the position and environment around
the device including one or more of capacitive and photoelectric proximity
sensors, laser and infrared scanners, GPS, accelerometers, bumper
switches, electronic compasses, infrared range finders, ultrasonic
rangefinders, and the second plurality of sensors for determining the
condition of the surface around the device including one or more of video
recorders, cameras, infrared imaging, light scattering and detection devices.
In one embodiment of the present invention, the device further
comprises a user interface for users to access the control means.
According another embodiment of the present invention, a network
of one or more devices for controlling corresponding manual surface
maintenance machines is presented.
In one embodiment of the present invention, the central controller is
able to transmit information through a network coupling to at least one
device, the information comprising commands for the at least one device to
switch between two modes, the modes including the first mode, the second
mode and the third mode and recorded data of the at least one device.
In one embodiment of the present invention, the central controller is
able to receive information through a network coupling from at least one
device, the information comprising battery life, utilization status, and recorded
data of the at least one device.
In one embodiment of the present invention, the plurality of
monitoring units are able to transmit information to, and receive information
from, the at least one device through a network coupling to at least one
device, the information comprising commands for the at least one device to
switch between two modes, the modes including the first mode, the second
mode and the third mode, battery life, utilization status, and recorded data of
the at least one device.
In one embodiment of the present invention, the plurality of
monitoring units are able to transmit information to, and receive information
from, the at least one device through a network coupling to the central
controller, the information comprising commands for the at least one device
to switch between two modes, the modes including the first mode, the
second mode and the third mode, battery life, utilization status, and recorded
data of the at least one device.
In one embodiment of the present invention, the network coupling
comprises wireless coupling includes Wi-Fi, 3G, 4G, radiofrequency,
microwave and infrared transceiving means.
In one embodiment of the present invention, the network coupling
comprises wired coupling includes USB and Firewire coupling means.
According to another embodiment of the present invention, a
method for automating a manual surface maintenance machine is presented.
In one embodiment of the present invention, the step of controlling the
manual surface maintenance machine device comprises controlling the manual
surface maintenance machine, through the device, to perform the steps of a
second mode, the steps of the second mode comprising recording movement
between a plurality of positions from a first location to a next location, recording
the operations performed when at the first location and while moving to the next
location, storing the movement between the plurality of positions and operations
performed into the memory and performing the steps of recording and storing as
an operator uses the manual surface maintenance machine.
In one embodiment of the present invention, the step of controlling the
manual surface maintenance machine device comprises controlling the manual
surface maintenance machine, through the device, to perform the steps of
moving to a first position amongst a plurality of positions while performing an
operation, recording a surface condition of the first position, storing the
surface condition of the first position into the memory and repeating the steps
of moving, recording and storing for a plurality of positions.
In one embodiment of the present invention, the method for automating
a manual surface maintenance machine further comprises the step of controlling
the manual surface maintenance machine to perform the steps of any of the
first mode, the second mode and the third mode at a scheduled time and for
a determined period of time.
Referring to a flowchart 100 of a broad method embodying
operation in accordance with a present embodiment is depicted. At step 102,
the device is attached to at least one component of the manual surface
maintenance machine through an attachment means. At step 104, the device
is electrically and mechanically coupled to a plurality of electrical and
mechanical components of the manual surface maintenance machine
through a control means. At step 106, the device controls the movement and
operation of the manual surface maintenance machine.
Referring to a block diagram 200 of a device 202 coupled to
the manual surface maintenance machine 204 in accordance with a present
embodiment is depicted. The device 202 for controlling a manual surface
maintenance machine 204, in accordance with the present embodiment,
comprises at least one attachment means 206 for coupling the device 202 to
at least one component of the manual surface maintenance machine 204.
The device 202 may further comprise at least one control coupling
means 208 that provides electrical coupling 212 and mechanical coupling
210 to a plurality of components including mechanical components 214 and
electrical components 216 of the manual surface maintenance machine 204.
The mechanical components 214 may include apparatus control mechanisms
218, velocity control mechanisms 220 and steering control mechanisms 222.
The electrical components 216 may include an energy storage device 224,
velocity control means 226, and mechanical component on-off circuits 228.
The device may further comprise a control means 230 including a
processor 232, a memory 234 with computer program code 236, and
mechanical control components 238 configured with the control coupling
means 208 to control at least one mechanical component 214 and at least
one electrical component 216 of the manual surface maintenance machine
204.
The components in the control means 230 of the device 202 may
be configured to provide control signals to the mechanical components 214
and electrical components 216 of the manual surface maintenance machine
204 through the control coupling means 208. C, C++, Python, Java, Basic,
Perl, Ruby, Scheme or similar programming language may be used as the
means to configure processor 232, memory 234 and mechanical control
components 238, together with the control coupling means 208 to provide
control signals to the mechanical components 214 and electrical components
216 of the manual surface maintenance machine 204.
In some alternative embodiments of the present invention, sensors
may include a proximity sensor 250 to detect the presence of nearby
stationary or moving objects in the environment surrounding the device 202.
The proximity sensor 250 may utilize capacitive or photoelectric sensors to
detect plastic objects, or inductive sensors to detect metallic objects. Sensors
250 may also include laser or infrared scanners to sweep the area in the path
of the manual surface maintenance machine 204 to detect potholes, steps or
other depressions in the path of the manual surface maintenance machine
204. Data from the sensor 250 may be transmitted to the processor 232 in
the device 202, and upon detection of objects or obstacles, the processor
232, together with the computer program code 236, may configure the
manual surface maintenance machine 204 to slow down, stop or circumvent
the obstacle by using an alternative route to the predetermined location.
In some alternative embodiments of the present invention, the
device 202 may comprise the processor 232, memory 234, and mechanical
control components 238 coupled to the user interface 248, sensors 250 and
network coupling device 246. The user interface 248, sensors 250 and
network coupling device 246 may be decoupled 252 from the device 202 if
required. For example, if the device 202 is to be used in a remote location out
of the range of the network, the network coupling device 248 may be
decoupled 252 from the device to conserve battery life of the device. An
operator may configure the device 202 to run a maintenance schedule
through the user interface 248. Further, the sensors 250 may be decoupled
252 from the device 202 or interchangeable depending on the conditions that
the manual surface maintenance machine 204 will be performing
maintenance on. For example, in harsh outdoor conditions where heat or
moisture is prevalent, delicate light detecting sensors utilizing expensive
photomultiplier tubes may be substituted for more durable light detecting
sensors utilizing photodiodes or phototransistors. In another example,
daytime light detecting sensors may be substituted with light detecting
sensors utilizing photomultiplier tubes configured for low light conditions. This
is advantageous as the device 202 and corresponding manual surface
maintenance machine 204 would be adaptable for operation in a wide variety
of conditions and lightings.
In some alternative embodiments of the present invention, the
mechanical control components 238 may be decoupled 252 from the device
202 in the event that the mechanical control components 238 requires
maintenance. In this state, the device 202 would not be able to control the
movement and operations of the manual surface maintenance machine 204
autonomously. However, an operator may still control the movement and
operations of the manual surface maintenance machine 204 through the user
interface 250 of the machine. The device would still be able to utilize the
sensors 250 to determine the location, speed, direction and location of
physical objects in the environment around the manual surface maintenance
machine 204, and transmit this information to the central controller using the
network coupling device 246.
The manual surface maintenance machine 204 may be controlled
by the device 202, to move from a first location to a second location, while
navigating over one or more positions between the first location to the next
location. The device 202 may control the motion of the manual surface
maintenance machine 204 by varying the power supplied to the electrical
components 216 of the manual surface maintenance machine 204 that are
electrically coupled 212 to the control means 230 of the device 202. For
example, the device 202 may control power supplied to the motor of the
manual surface maintenance machine 204, to control the torque delivered to
the wheels 240. Additionally, the device 202 may also control the amount of
power delivered to the electromagnetic brakes or frictional brake pads on the
wheels 240 of the manual surface maintenance machine 204 to provide
deceleration. Further, the device 202 may control the directionality of motion
by controlling the steering wheel 242, steering column, steering rack and
pinion, tie rod or related components of the manual surface maintenance
machine’s 204 steering control mechanism 222 which is mechanically
coupled 210 to the mechanical control components 238 of the control means
230 of the device 202 through the control coupling means 208.
In some alternative embodiments of the present invention, control
coupling means 208 may include position rotation servo motors, continuous
rotation servo motors, or linear servo motors that control the movement of the
steering column or steering rack and pinion of the manual service
maintenance machine 204. The servo motors 210 would be controlled by the
processor 232 based on feedback from sensors 250 providing environmental
and navigation data collected from gyroscopes, infrared sensors and GPS for
example.
Operations may be performed while the manual surface
maintenance machine 204 is stationary at a first location, or while moving
towards the next location. The operations may comprise surface
maintenance operations including cleaning, wiping, vacuuming, buffing,
cutting and raking. The operations may also comprise non-surface
maintenance operations including operating one or more of the apparatus
control mechanisms 218 to raise an apparatus 244 off a surface, reduce the
rotation of the apparatus 244 or divert power from the apparatus 244
completely. Further, operations may be activated, deactivated,
simultaneously or sequentially while the manual surface maintenance
machine 204 is stationary at a first location, while moving towards the next
location, or when it is at an intermediate position between two locations.
The device 202 in accordance with the present embodiment may
further comprise a network coupling device 246 to enable the device 202 to
couple to a network though network coupling, to transmit and receive
information or commands from the network.
The device 202 in accordance with the present embodiment may
further comprise a user interface 248 for an operator to control the device
202 and the manual surface maintenance machine 204 through the device
202. The device 202 may also allow the operator to control the manual
surface maintenance machine 204 through the manual surface maintenance
machine’s user interface 250 directly.
Referring to , a front right top perspective drawing 300 of a
manual surface maintenance machine 204 without the device 202 in
accordance with a present embodiment is illustrated. The manual surface
maintenance machine 204 comprises apparatus control mechanisms 218 to
raise an apparatus 244 off the surface, reduce the rotation of the apparatus
244 or divert power from the apparatus 244 completely. The apparatus 244
may be used for surface maintenance operations include cleaning, wiping,
vacuuming, buffing, cutting and raking. Without the device 202, the manual
surface maintenance machine 204 is still able to perform movement and
operations under the manual control of an operator through its user interface
250.
Referring to , a front right top perspective drawing 350 of a
manual surface maintenance machine 204 with the device 202, in
accordance with a present embodiment, is illustrated. The device 202 may be
attached to a component of the manual surface maintenance machine 204 as
depicted in the illustration. The device 202 is electronically and mechanically
coupled to the manual surface maintenance machine 204 through a control
coupling means 208. With the device 202, the manual surface maintenance
machine 204 may be controlled remotely to perform movement and
operations without the need for an operator to be physically present. The
device 202 may be detachable from the manual surface maintenance
machine 204 when necessary.
An operator may configure the device 202 to control the manual
surface maintenance machine 204 to perform the steps of a plurality of
modes. The plurality of modes may comprise a learning mode, autonomous
mode, enforcement mode and standby mode, for example.
Referring to a flowchart 400 of a learning mode of the
device 202 in accordance with a present embodiment is depicted. At step
406, the device 202 may enter a learning mode, based on a command
received from the central controller, monitoring unit or manual input from an
operator. The device 202 may control the manual surface maintenance
machine 204 to perform the steps of a learning mode 408, 410. At step 408,
the device 202 records the movement of the manual surface maintenance
machine 204 between a plurality of positions from a first location to a next
location and the operations performed when at the first location and while
moving to the next location as a human operator uses it. At step 410, the
device 202 stores the movement of the manual surface maintenance
machine 204 between the plurality of positions and operations the manual
surface maintenance machine 204 has performed into the memory 234. The
device 202 may perform the steps of recording 408 and storing 410 as an
operator uses the manual surface maintenance machine 204. At step 412,
the device 202 may transmit the recorded data to a central controller and/or
at least one monitoring unit coupled to the device 202.
Referring to a flowchart 500 of an autonomous mode of the
device 202 in accordance with the present embodiment is depicted. At step
506, the device 202 may enter an autonomous mode, based on a command
received from the central controller, monitoring unit or manual input from an
operator. The device 202 may control the manual surface maintenance
machine 204 to perform the steps of an autonomous mode 508, 510, 512. At
step 508, the device controls the manual surface maintenance machine 204
to move to a first location amongst a plurality of locations, performing at least
one operation, while moving to the first location and at the first location,
moving to a next location amongst a plurality of locations, and performing at
least one operation, while moving to the next location and at the next
location. These movements and operations performed by the manual surface
maintenance machine 204 in step 508 may have been recorded and stored
previously when an operator had used the manual surface maintenance
machine 204 in learning mode. The device 202 may stop movements and
operations after this step 508. At step 510, the device 202 may record
surface conditions while controlling the movement and operations of the
manual surface maintenance machine 204 while in autonomous mode. At
step 512, the device 202 may store the surface conditions into its memory
234. At step 514, the device 202 may transmit the recorded data to a central
controller and/or at least one monitoring unit coupled to the device 202.
Referring to a flowchart 600 of an enforcement mode of the
device 202 in accordance with the present embodiment is depicted. The
device 202 may enter an enforcement mode, based on a command received
from the central controller, monitoring unit or manual input from an operator.
The device 202 may control the manual surface maintenance machine 204 to
perform the steps of an enforcement mode 608, 610, 612. At step 608, 610
and 612, the device 202 controls the manual surface maintenance machine
204 to move to a first position amongst a plurality of positions while
performing an operation, recording a surface condition of the first position,
storing the surface condition of the first position into the memory, and
repeating the steps of moving, recording and storing for a plurality of
positions. At step 614, the device 202 may transmit the recorded data to a
central controller and/or at least one monitoring unit coupled to the device
202. The device 202 may use the enforcement mode to retrace a route
learned in the learning mode and assess the surface condition along the
route. The assessment may be performed in the processor 232 of the device
202 or raw data may be uploaded to a central controller or monitoring unit for
processing.
Referring to a flowchart 700 of a standby mode of the
device 202 in accordance with the present embodiment is depicted. At step
706, the device 202 may enter a standby mode based on a command
received from the central controller, monitoring unit or manual input from an
operator. In step 708, the device 202 may send information about the battery
life of the device 202, battery life of the manual surface maintenance
machine 204, utilization status of the manual surface maintenance machine
204 or device 202, apparatus control status, speed, direction, mileage,
recorded video or still image data or similar information to a central controller
and/or at least one monitoring unit coupled to the device 202.
Referring to a diagram 800 of an example of a network 802
of one or more devices 202 coupled to corresponding manual surface
maintenance machines 204 in accordance with the present embodiment for
cooperative cleaning of a large surface 804 is depicted. The network 802
comprises a central controller 806, a plurality of monitoring units 808, a
plurality of manual surface maintenance machines 204, and a plurality of
devices 202 coupled to a corresponding one of the plurality of manual
surface maintenance machines 204. The central controller 806 and
monitoring units 808 are able to transceive information through the network
802 through a plurality of network couplings 810, 812 to the at least one
device 202. The information may comprise commands for the devices 202 to
switch between the learning mode, autonomous mode, enforcement mode or
standby mode. The information may also comprise recorded data that is
stored in the memory 234 of the at least one device 202, such as battery life
of the device 202, battery life of the manual surface maintenance machine
204, utilization status of the manual surface maintenance machine 204 or
device 202, apparatus control status, speed, direction, mileage, recorded
video or still image data or similar information. The network coupling 810,
812 between the central controller 806, monitoring unit 808 and the device
202 may be a wired coupling 812 or a wireless coupling 810.
Referring to a diagram of an example of a network 802 of
one or more devices 202 in accordance with the present embodiment for
controlling corresponding manual surface maintenance machines 204 for
cooperative cleaning of multiple floors 902, 904, 906, is depicted. Through the
network 802, cooperative cleaning of multiple floors 902, 904, 906, may be
managed by the central controller 806 and/or monitoring units 808. Surface
conditions and recorded data of multiple floors 902, 904, 906, may be
transmitted between the device 202 and central controller 806 periodically,
for monitoring of the surface conditions and efficiency of the maintenance
process. Devices 202 with corresponding manual surface maintenance
machines 204 may be redeployed to other floors 902, 904, 906 to increase
productivity.
In some alternative embodiments of the present invention,
commands may be sent to the devices 202 to switch between a first mode
and a next mode after a predetermined period of time. A device 202 in
standby mode initially may be commanded to switch into an autonomous
mode, perform the cleaning route learned previously, return to a location and
re-enter standby mode. Commands may also be sent to the devices 202 to
perform the steps of any of the learning mode, the autonomous mode and
the enforcement mode at a scheduled time and for a determined period of
time. Surface conditions and recorded data of multiple floors 902, 904, 906
may be transmitted between the device 202 and central controller 806
periodically, while the device 202 is in autonomous mode for example, for
monitoring of the surface conditions and cleaning efficiency of the process.
In some alternative embodiments of the present invention, the
surface conditions may be recorded and analyzed in the processor 232 of the
device 202, in the central controller 806, or in the monitoring units 808. If the
surface condition is determined to be unsatisfactory, the device 202 with
corresponding manual surface maintenance machines 204 on that floor 902,
904, 906 can be instructed to repeat movements and operations recorded for
that floor 902, 904, 906 during the learning mode, or within the area that has
been determined to have unsatisfactory surface conditions. Video recording,
photographic imaging, infrared imaging, light scattering, attenuation,
absorption or reflection data may be used to assess the surface condition
along the route.
In some alternative embodiments of the present invention, video
analytics software may be used to determine if an area requires
maintenance. Video recordings or still images may be processed by the
video analytics software to detect particles, stains, water bodies, objects or
surface roughness in the video or image data. If a parameter exceeds a
predetermined threshold, the video analytics software flags the position as
one that “requires maintenance”. Device 202 may be configured to respond
immediately to this flagged position, store the flagged position in its memory
234 or transmit information on the flagged position to the central controller
806. The central controller 806 may compile a list of flagged positions and
instruct the device 202 to execute a maintenance route in autonomous mode
based on the list of flagged positions.
In some alternative embodiments of the present invention, network
coupling 810, 812 between the device 202, the central controller 806 and the
monitoring units 808 may exist as wireless coupling 810 including Wi-Fi, 3G,
4G, radiofrequency (VHF, UHF or ultra-wideband), microwave and infrared
transceiving means, and wired coupling 812 including USB and Firewire
coupling means.
In some alternative embodiments of the present invention, the
commands transmitted and received between the device 202, the central
controller 806 and the monitoring units 808 may use binary encoding, unique
identifiers or encryption to associate a particular command to a particular
device 202.
In some alternative embodiments of the present invention, the
position and location of the device 202 and corresponding manual surface
maintenance machine 204 may be determined by the processor 232 of the
device 202 by using data from GPS receivers, photoelectric proximity
sensors, accelerometers, bumper switches, electronic compasses, infrared
range finders, ultrasonic rangefinders, a combination of rotary encoders,
linear variable differential transformers, laser doppler vibrometers, or by
measuring the signal strength of Wi-Fi, 3G, 4G, radiofrequency, microwave
and infrared transceiving means.
In some alternative embodiments of the present invention, the
central controller 806 or monitoring unit 808 may check the battery life and
utilization status of the devices 202 or other information in the memory 234 of
the device 202 before scheduling a list of modes for that particular device to
execute at a determined time. The central controller 806 or monitoring unit
808 may further query the device to determine if a particular maintenance
route is present in the memory 234 of the device 202. If the maintenance
route is not present in the memory 234 of the device 202, the central
controller 806 or monitoring unit 808 may transmit the maintenance route to
the device 202, along with a command to activate the autonomous mode
based on the new maintenance route. Alternatively, if the maintenance route
is already present, the central controller 806 or monitoring unit 808 may
check that the maintenance route is up to date, and if so, transmit a
command to activate the autonomous mode based on the updated
maintenance route.
In some alternative embodiments of the present invention, the
device 202 may be programmed to transmit the information stored in the
memory 234 of the device 202 including battery life of the device 202, battery
life of the manual surface maintenance machine 204, utilization status of the
manual surface maintenance machine 204 or device 202, apparatus control
status, speed, direction, mileage, recorded video or still image data or similar
information to the central controller 806 and monitoring units 808 irrespective
of the mode that the device 202 is currently engaged in.
In some alternative embodiments of the present invention, the
device 202 may be configured to execute an exploration mode. In the
exploration mode, device 202 may configure the manual surface
maintenance machine 204 to perform randomized movements, without
maintenance operations, to simulate a random walk in the environment it is
exploring, and collect data of the environment around it through the plurality
of sensors 250. In this mode, the location of the walls, obstacles, potholes
and steps may be recorded without the need for a human operator. The
device 202 may transmit this information to the central controller 806 and/or
to monitoring units 808. Devices 202 engaged in this mode would provide a
virtual map of a new location that the operator to wishes to perform surface
maintenance on.
In some alternative embodiments of the present invention, the
device 202 may be configured to execute a homing mode. In the homing
mode, device 202, while executing a maintenance route, may respond to a
command from a user or operator to interrupt the maintenance process in
favor of executing a movement towards a desired location. After arriving at
the desired location, the device 202 may notify the user of the arrival at the
desired location.
In some alternative embodiments of the present invention, the
device 202 may be configured to execute a security mode. In the security
mode, device 202 may configure the manual surface maintenance machine
204 to perform movements from one location to another, while the infrared
sensors 250 are configured to sense human presence. In the event that a
human presence is detected by the device 202, the device 202 transmits an
alert to the central controller and monitoring units to alert them of the human
presence. It is understood that other modes may be made possible without
departing from the scope of the invention as set forth in the appended claims.
In some alternative embodiments of the present invention, the
central controller 806 may be a cloud shared server or a locally hosted server
within the vicinity. The monitoring unit 808 may be a laptop, mobile phone, or
remote control unit for the device 202.
In some alternative embodiments of the present invention, the
device 202 may be removed from the manual surface maintenance machine
204, if an operator wishes to use the manual surface maintenance machine
204 manually. Alternatively, the device 202 may be configured to release
control of the manual surface maintenance machine 204 to the operator while
recording surface conditions or sending information to the central controller
806 or monitoring units 808 while the manual surface maintenance machine
204 is under manual control of the operator. In the event that the device 202
malfunctions, a manual override switch may be activated to configure the
device 202 to release control of the manual surface maintenance machine
204 to the operator for manual operation.
Thus, in accordance with the present embodiment, a novel,
advantageous and cost effect device 202, method and network 802 to
automate manual surface maintenance machines 204, has been presented
which overcomes the drawback of the prior art.
Some portions of the description which follows are explicitly or
implicitly presented in terms of algorithms and functional or symbolic
representations of operations on data within a computer memory. These
algorithmic descriptions and functional or symbolic representations are the
means used by those skilled in the data processing arts to convey most
effectively the substance of their work to others skilled in the art. An
algorithm is here, and generally, conceived to be a self-consistent sequence
of steps leading to a desired result. The steps are those requiring physical
manipulations of physical quantities, such as electrical, magnetic or optical
signals capable of being stored, transferred, combined, compared, and
otherwise manipulated.
Unless specifically stated otherwise, and as apparent from the
following, it will be appreciated that throughout the present specification,
discussions utilizing terms such as “recording”, “storing”, “determining”,
“raising”, “detecting”, “releasing”, “transmitting”, or the like, refer to the action
and processes of a computer system, or similar electronic device, that
manipulates and transforms data represented as physical quantities within
the computer system into other data similarly represented as physical
quantities within the computer system or other information storage,
transmission or display devices.
In addition, the present specification also implicitly discloses a
computer program, in that it would be apparent to the person skilled in the art
that the individual steps of the method described above may be put into
effect by computer code. The computer program is not intended to be limited
to any particular programming language and implementation thereof. It will be
appreciated that a variety of programming languages and coding thereof may
be used to implement the teachings of the disclosure contained herein.
Moreover, the computer program is not intended to be limited to any
particular control flow. There are many other variants of the computer
program, which can use different control flows without departing from the
spirit or scope of the invention.
Furthermore, one or more of the steps of the computer program
may be performed in parallel rather than sequentially. Such a computer
program may be stored on any computer readable medium. The computer
readable medium may include storage devices such as magnetic or optical
disks, memory chips, or other storage devices suitable for interfacing with a
general purpose computer. The computer program when loaded and
executed on such a computer effectively results in an apparatus that
implements the steps of the preferred method.
While exemplary embodiments have been presented in the
foregoing detailed description of the invention, it should be appreciated that a
vast number of variations exist. For example, those skilled in the art will
realize from the teachings herein that the present technology may also be
applied to any manual surface maintenance device including floor polishers,
road sweepers, and ice resurfacers.
It should further be appreciated that the exemplary embodiments
are only examples, and are not intended to limit the scope, applicability,
operation, or configuration of the invention in any way. Rather, the foregoing
detailed description will provide those skilled in the art with a convenient road
map for implementing an exemplary embodiment of the invention, it being
understood that various changes may be made in the function and
arrangement of elements and method of operation described in an exemplary
embodiment without departing from the scope of the invention as set forth in
the appended claims.
I/
Claims (16)
1. A detachable device for converting a manual surface maintenance machine to an automatic surface maintenance machine, the device comprising: at least one attachment means for mechanically attaching the device to the manual surface maintenance machine; at least one mechanical control coupling means for mechanically coupling the device to at least one mechanical component, the at least one mechanical component comprising apparatus control mechanisms, velocity control mechanisms and steering control mechanisms; at least one electrical control coupling means for electrically coupling the device to at least one electrical component, the at least one electrical component comprising an energy storage device, velocity control means, and mechanical component on-off circuits; and a control means, the control means comprising: at least one processor; and at least one memory including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, provide control signals to the at least one mechanical component and the at least one electrical component of the manual surface maintenance machine, for controlling the manual surface maintenance machine to at least move to one or more predetermined locations in response to location data stored in the at least one memory. 26290965_1
2. The device in accordance with claim 1 wherein the computer program code is further configured to perform the steps of a first mode, the steps of the first mode comprising: moving to a first location amongst a plurality of locations, performing at least one operation, while moving to the first location and at the first location; moving to a next location amongst a plurality of locations; and performing at least one operation, while moving to the next location and at the next location.
3. The device in accordance with claim 2 wherein the at least one operation comprises surface maintenance operations, including one or more of cleaning, wiping, vacuuming, buffing, cutting and raking.
4. The device in accordance with claim 2 wherein the at least one operation further comprises performing a non-maintenance operation including operating one or more of the apparatus control mechanisms to raise an apparatus off the surface, reduce the rotation of the apparatus or divert power from the apparatus completely.
5. The device in accordance with any of the preceding claims wherein the computer program code is further configured to perform the steps of a second mode, the steps of the second mode comprising: recording movement between a plurality of positions from a first location to a next location; 26290965_1 recording the operations performed when at the first location and while moving to the next location; storing the movement between the plurality of positions and operations performed into the memory; and performing the steps of recording and storing as an operator uses the manual surface maintenance machine.
6. The device in accordance with claim 5 wherein the computer program code is further configured to perform the first mode according to the movement and the operations recorded in the second mode.
7. The device in accordance with any of the preceding claims wherein the computer program code is further configured to perform the steps of a third mode, the steps of the third mode comprising: moving to a first position amongst a plurality of positions while performing an operation; recording a surface condition of the first position; storing the surface condition of the first position into the memory; and repeating the steps of moving, recording and storing for a plurality of positions.
8. The device in accordance with any of the preceding claims wherein the device further comprises a network coupling component to enable the device to couple to a 26290965_1 network though network coupling, and to transmit and receive information through the network coupling to a central controller and/or at least one monitoring unit.
9. The device in accordance with claim 8 wherein the received information is a command to switch between two modes, the modes including the first mode, the second mode and the third mode.
10. The device in accordance with claim 8 wherein the transmitted information is data stored in the memory of the device.
11. The device in accordance with claim 10 wherein the data stored in the memory of the device includes battery life of the device, battery life of the manual surface maintenance machine, utilization status of the manual surface maintenance machine or device, apparatus control status, speed, direction, mileage, recorded video and still image data.
12. The device in accordance with claims 8 to 11 wherein the network coupling comprises wired coupling includes USB and Firewire coupling.
13. The device in accordance with any of the above claims wherein the device further comprises a first plurality of sensors and a second plurality of sensors, the first plurality of sensors for determining the position and environment around the device including one or more of capacitive and photoelectric proximity sensors, laser and infrared scanners, GPS, 26290965_1 accelerometers, bumper switches, electronic compasses, infrared range finders, ultrasonic rangefinders, and the second plurality of sensors for determining the condition of the surface around the device including one or more of video recorders, cameras, infrared imaging, light scattering and detection devices.
14. The device in accordance with any of the above claims wherein the device further comprises a user interface for users to access the control means.
15. A network of one or more devices in accordance with any of the above claims for controlling corresponding manual surface maintenance machines, the network comprising: a central controller; a plurality of monitoring units; a plurality of manual surface maintenance machines; and a plurality of devices coupled to a corresponding one of the plurality of manual surface maintenance machines.
16. The network in accordance with claim 15 wherein the central controller is able to transmit information through a network coupling to at least one device, the information comprising: commands for the at least one device to switch between two modes, the modes including the first mode, the second mode and the third mode; and recorded data of the at least one device. 26290965
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SG10201402614YA SG10201402614YA (en) | 2014-05-23 | 2014-05-23 | A Device To Automate Manual Surface Maintenance Machines |
SG10201402614 | 2014-05-23 | ||
PCT/SG2015/050118 WO2015178855A1 (en) | 2014-05-23 | 2015-05-20 | A device to automate manual surface maintenance machines |
Publications (2)
Publication Number | Publication Date |
---|---|
NZ726484A NZ726484A (en) | 2021-10-29 |
NZ726484B2 true NZ726484B2 (en) | 2022-02-01 |
Family
ID=
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