WO2019143762A1 - Système de détection d'objets pour un aspirateur - Google Patents

Système de détection d'objets pour un aspirateur Download PDF

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Publication number
WO2019143762A1
WO2019143762A1 PCT/US2019/013926 US2019013926W WO2019143762A1 WO 2019143762 A1 WO2019143762 A1 WO 2019143762A1 US 2019013926 W US2019013926 W US 2019013926W WO 2019143762 A1 WO2019143762 A1 WO 2019143762A1
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WO
WIPO (PCT)
Prior art keywords
vacuum cleaner
notification
signal
controller
object detection
Prior art date
Application number
PCT/US2019/013926
Other languages
English (en)
Inventor
Kevin Terry
Patrick Truitt
Original Assignee
Tti (Macao Commercial Offshore) Limited
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tti (Macao Commercial Offshore) Limited filed Critical Tti (Macao Commercial Offshore) Limited
Publication of WO2019143762A1 publication Critical patent/WO2019143762A1/fr

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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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • A47L9/281—Parameters or conditions being sensed the amount or condition of incoming dirt or dust
    • 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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2857—User input or output elements for control, e.g. buttons, switches or displays
    • 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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2889—Safety or protection devices or systems, e.g. for prevention of motor over-heating or for protection of the user
    • 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
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/14—Determining absolute distances from a plurality of spaced points of known location

Definitions

  • the present disclosure relates to a vacuum cleaner. More specifically, the present disclosure relates to an object detection system associated with a vacuum cleaner.
  • a vacuum cleaner is a cleaning device that creates a partial vacuum using air to suction dust, dirt, or other debris from a surface.
  • the vacuum cleaner typically draws a combination of air and dust, dirt, or other debris into the cleaner through a floor nozzle.
  • This“dirty air” typically enters a dust separator in the vacuum that separates the dust, dirt, or debris from the air.
  • a bin or bag collects the separated dust, dirt, or debris separated from the air for later disposal.
  • the resulting“clean air” exits the dust separator where it is exhausted from the vacuum cleaner.
  • An autonomous or robot vacuum cleaner is a vacuum that is configured to traverse and vacuum an area without requiring a user to operate.
  • a vacuum cleaner that includes a chassis and a cleaning unit carried by the chassis, a controller, and an object detection sensor operably connected to the controller.
  • the object detection sensor is configured to detect material drawn into the cleaning unit and in response generate a debris signal.
  • the controller is configured to analyze the debris signal to identify at least one attribute of the debris signal related to the size of an object drawn into the cleaning unit, and in response to identifying the at least one attribute of the debris signal, the controller generates a notification.
  • FIG. 1 is a perspective view of an autonomous vacuum cleaner engaged with a charging base in accordance with an embodiment of the disclosure.
  • FIG. 2 is a perspective view of the autonomous vacuum cleaner of FIG. 1.
  • FIG. 3 is a plan view of the bottom of the autonomous vacuum cleaner of FIG. 2.
  • FIG. 4 is a front perspective view of the autonomous vacuum cleaner of FIG. 2 with a portion of an outer housing removed to illustrate a nozzle, a conduit that includes an object detection sensor, and a portion of a separator assembly.
  • FIG. 5 is a perspective view of the rear of the autonomous vacuum cleaner of FIG. 2.
  • FIG. 6 is a perspective view of the autonomous vacuum cleaner of FIG. 5 with a portion of the outer housing removed to illustrate a portion of the separator assembly, a dust cup, and a suction motor assembly.
  • FIG. 7 is a graph that illustrates a debris signal emitted by an object detection sensor when separately encountering dust and a large object, a filtered version of the debris signal, and an object event signal corresponding to the debris signal.
  • FIG. 8 is a perspective view of an embodiment of a remote electronic device that received an electronic notification informing a user that a large object was encountered by the autonomous vacuum cleaner of FIG. 2.
  • FIG. 9 is a perspective view of an embodiment of the remote electronic device of FIG. 8 that received a map of the area to be cleaned informing the user of the approximate location that the autonomous vacuum cleaner of FIG. 2 encountered a large object.
  • the disclosure and associated Figures are generally directed to a vacuum cleaner 10, and more specifically an object detection system associated with the vacuum cleaner 10.
  • the object detection system is configured to detect an object that exceeds a predetermined size or mass (i.e., a large object) that is encountered by the vacuum cleaner 10.
  • the object may be drawn into or sucked up by the vacuum, or may enter the nozzle by impingent of a brush.
  • the object may enter the dust cup or be ejected from the vacuum.
  • the system can provide a notification to a user.
  • the notification can include a visual notification on the vacuum cleaner 10 (e.g., an illuminated light, etc.), an email, a text, an event log, and/or any other suitable notification (or alert).
  • the notification can include location information that indicates where the large object was detected.
  • the notification can inform a user that a large object was sucked up by the vacuum cleaner 10, allowing a user to inspect a dust separator assembly 74, a dust cup 86, or other component of the vacuum to retrieve the large object or otherwise unclog a component of the dust separator assembly 74 or the cleaning unit of the vacuum.
  • a large object can be any object that is larger than dust, as defined herein.
  • a large object can include a ring, an earring, a piece of jewelry, an interlocking plastic building brick, a rock, a small toy (or component of a toy), a coin, a screw, a nut, or any other generally solid object that is larger than dust, can have value, and/or can clog or damage a component of the dust separator assembly 74.
  • the term“dust” is directed to dust, dirt, particulate, debris, small objects, or any other material intended to be drawn into the vacuum cleaner 10 with air.
  • the term“surface” or“surface being cleaned” can include carpeting, flooring, concrete, or any other material from which the vacuum cleaner 10 can remove dust.
  • the vacuum cleaner 10 shown in the illustrations is an autonomous vacuum cleaner.
  • the object detection system disclosed herein is not limited for use with an autonomous vacuum cleaner and can be used with other types of surface cleaners, such as vacuum cleaners.
  • the object detection system can be used with an upright vacuum, a canister vacuum, a stick vacuum, or any other suitable vacuum cleaner.
  • the term vacuum cleaner 10 can include not only the autonomous vacuum cleaner, but also any other suitable vacuum cleaner (e.g., an upright vacuum, a canister vacuum, a stick vacuum, etc.) or device configured to clean a surface.
  • FIG. 1 illustrates an autonomous embodiment of the vacuum cleaner 10.
  • the autonomous vacuum cleaner 10 can selectively engage a charging base 14.
  • the charging base 14 (or base station 14 or charging station 14) can be coupled to a source of electricity (e.g., to a wall outlet by a cord, etc.).
  • the charging base 14 can supply electricity to the vacuum cleaner 10, and more specifically can supply electricity to recharge one or more batteries (not shown) that power the vacuum cleaner 10.
  • FIGS. 2-3 illustrate the vacuum cleaner 10 disengaged from the charging base 14.
  • the vacuum cleaner 10 includes a front end 18 that is opposite a back end 22.
  • the vacuum cleaner 10 also includes a chassis 26 (or an undercarriage 26 or a frame 26) (shown in FIG. 3).
  • An outer housing 30 (or outer shell 30) cooperates with the chassis 26 to encase one or more components of the vacuum cleaner 10.
  • a front bump sensor 34 is positioned at the front end 18 of the vacuum cleaner 10.
  • the front bump sensor 34 is provided at a leading edge of the vacuum cleaner 10 in a direction of forward travel 38.
  • the direction of forward travel 38 generally extends from the back end 22 towards the front end 18.
  • the vacuum cleaner 10 is also configured to operate in a direction opposite the direction of forward travel 38, or in reverse.
  • the illustrated vacuum cleaner 10 includes a drive assembly 48.
  • the drive assembly 48 includes a pair of motorized drive wheels 50, 54.
  • a first drive wheel 50 is positioned proximate a first side 42, while a second drive wheel 54 is positioned proximate a second side 46 of the vacuum cleaner 10.
  • the drive wheels 50, 54 can operate (or rotate) independently of each other. As such, the drive wheels 50, 54 can rotate at the same speed, resulting in the direction of forward travel 38 being generally straight, or can rotate at different speeds to facilitate a turning movement of the vacuum cleaner 10.
  • the vacuum cleaner 10 can also include one or more third wheels 62, which can be driven or non-driven (e.g., a caster wheel 62).
  • the vacuum cleaner includes a nozzle 66 (shown in FIG. 2), and optionally a brush roll 70 (shown in FIGS. 3-4).
  • the brush roll 70 is configured to rotate at least partially within the nozzle 66.
  • the brush roll 70 is operably connected to a brush roll motor (not shown) by a belt (e.g., a geared belt, etc.) (not shown).
  • the nozzle 66 is fluidly connected to a dust separator assembly 74 by a conduit 78.
  • the conduit 78 is a channel or duct that is coupled at a first end to the nozzle 66 and at a second, opposite end to the separator assembly 74.
  • the conduit 78 forms a fluid connection (or forms an operable connection) between the nozzle 66 and the separator assembly 74 to transport dirty air (i.e., air containing dust) drawn into the nozzle 66 to the separator assembly 74.
  • the separator assembly 74 is a cyclonic separator.
  • the separator assembly 74 can be any suitable separator assembly (e.g., a bag unit, a filter unit, any suitable non-cyclone separator, etc.).
  • dust that exits the separator assembly 74 through a dust outlet 82 collects in a dust cup 86 (or a dust collection chamber 86 or a dirt cup 86 or a collection bin 86) (shown in FIG. 6).
  • cleaned air exits through the separator assembly 74 by a clean air outlet 90, and travels to a suction motor assembly 94 and then is discharged through a vent 98 (shown in FIG. 5).
  • the term“cleaning unit” as used herein can collectively include the nozzle 66, the separator assembly 74, the conduit 78, and any associated components that assist with the intake of dirty air, separation of dust from the dirty air, storage of dust, generation of airflow, and/or discharge of air from the separator assembly 74.
  • the cleaning unit can include the brush roll 70 and brush roll motor assembly, the dust cup 86, the suction motor assembly 94, etc.
  • the vacuum cleaner 10 includes a removable cover 102.
  • the cover 102 is a portion of the outer housing 30 and provided to cover the separator assembly 74 (or portion thereof) and the dust cup 86 (or portion thereof).
  • the cover 102 is configured to be removed to provide access to the separator assembly 74 and the dust cup 86.
  • removal of the cover 102 can allow a user to inspect the separator assembly 74, the dust cup 86, and/or one or more other components of the cleaning unit, can retrieve a detected large object in the separator assembly 74 and/or the dust cup 86, unclog a portion of the separator assembly 74, or empty a dust cup 86.
  • the cover 102 may be a one-piece cover, or can be defined by a plurality of pieces or a plurality of sub-covers, for example a first sub-cover configured to cover the separator assembly 74 and a second sub-cover configured to cover the dust cup 86.
  • the sub-covers can provide separate access to one or both of the separator assembly 74 and the dust cup 86.
  • an energy storage system 106 (or a battery pack 106) is positioned in the vacuum cleaner 10 to store and provide electricity to operate the vacuum cleaner 10.
  • the energy storage system 106 can include a plurality of cells or battery cells (not shown).
  • the illustrated energy storage system 106 can be recharged (e.g., at the charging base 14, etc.).
  • the vacuum cleaner 10 includes a controller 110.
  • the controller 110 can be provided in association with a printed circuit board 114.
  • the controller is operably connected to the drive assembly 48 (shown in FIG. 3), and is configured to operate the plurality of drive wheels 50, 54 to move the autonomous vacuum cleaner 10 (or the associated chassis 26) within the area to be cleaned.
  • the controller 110 is also configured to map the area to be cleaned.
  • the controller 110 can be in communication with an area sensing unit that is configured to map the area to be cleaned.
  • the area sensing unit can be a laser distance sensor 118.
  • the laser distance sensor 118 includes a laser emitter (not shown) and a light sensor (not shown).
  • the laser emitter emits a beam (or a light beam or emitted light), and the light sensor detects light from the beam that is reflected by an obstacle (or reflected light).
  • the light sensor outputs a signal to the controller 110 corresponding to a distance to the obstacle.
  • the laser distance sensor 118 and the controller 110 are configured to calculate a distance to the obstacle by triangulation using the angle of reflected light and the distance between the laser emitter and the light sensor. In another example, the laser distance sensor 118 and the controller 110 are configured to calculate a distance by measuring a difference in the phase between the emitted light and the reflected light, or by time of flight. In other embodiments, other laser rangefinders may be used.
  • the laser distance sensor 118 is configured to rotate about an axis A. The laser distance sensor 118 measures a distance to objects at points around the vacuum cleaner 10 as the laser emitter rotates about the axis A such that the controller 110 can determine the bounds of the map of the area to be cleaned as the vacuum cleaner 10 moves about the area.
  • the robot can include one or more odometry encoders (not shown).
  • the encoders are operably connected to the drive wheels 50, 54, and configured to determine a distance and an estimated direction the vacuum cleaner 10 travels based on rotation of one or both of the drive wheels 50, 54.
  • the controller 110 monitors the traveling and turning of the vacuum cleaner 10 based on different measured rotational speeds of the drive wheels 50, 54.
  • the odometry data from the encoders can be combined with the laser distance sensor data from the laser distance sensor 118 by the controller 110 using Simultaneous Localization and Mapping (SLAM) algorithms, or other mapping techniques, to develop the map of the area to be cleaned (or mapped area).
  • SLAM Simultaneous Localization and Mapping
  • the controller 110 can also control the autonomous vacuum cleaner 10 within the mapped area based on where the vacuum cleaner 10 travels.
  • the controller 110 and the area sensing unit are configured to communicate with a plurality of nodes (not shown) within the area to be cleaned and configured to calculate the position of the vacuum cleaner 10 based on the distance between the vacuum cleaner 10 and each node, determined by a wireless communication link.
  • the wireless communication link can be a local area network (e.g., Wi-Fi, etc.), Bluetooth, or other radio frequency, sound, light, or other communication with the nodes.
  • the nodes can be, for example, Wi-Fi router nodes, voice activated computer receivers, wireless nodes, or other
  • three or more nodes placed around an area to be cleaned would enable the controller 110 to locate the position of the vacuum 10 within the area, particularly for a non-autonomous vacuum (e.g., an upright vacuum, a canister vacuum, etc.).
  • a non-autonomous vacuum e.g., an upright vacuum, a canister vacuum, etc.
  • the illustrated autonomous vacuum cleaner 10 includes one or more obstacle detection sensors (not shown) selected from the group of proximity sensors, cliff sensors, bump sensors, or any other sensor that is configured to sense or detect an object as the robot travels.
  • the controller 110 receives signals from the obstacle detection sensors (not shown) to identify objects (or obstacles) in the area to be cleaned (e.g., a chair, a sofa, an ottoman, etc.). The controller 110 can then incorporate those objects into the map of the area to be cleaned.
  • Obstacle detection sensors can include infrared sensors, ultrasonic sensors, tactile sensors, or other proximity sensors.
  • the map of the area to be cleaned can also include a starting point of the autonomous vacuum cleaner 10.
  • the controller 110 can identify (or establish) a starting point of the autonomous vacuum cleaner 10 at the beginning of a cleaning cycle, at initiation of operation of the autonomous vacuum cleaner 10, in response to detection of docking with the charging base 14, etc.
  • the starting point can be identified, for example, as a 0, 0 coordinate in the map (based on an X, Y coordinate system).
  • the controller 110 can utilize this starting point to assist with mapping the area to be cleaned.
  • the area sensing unit can alternatively or additionally use an ultrasonic distance sensor or other sound emitter and detector pair to provide a signal to the controller 110 for measuring distance. The controller 110 can then use the signal from the sonic distance sensor in forming the map of the area to be cleaned and associated objects in the area.
  • the controller 110 can then use the signal from the sonic distance sensor in forming the map of the area to be cleaned and associated objects in the area.
  • any suitable system for mapping an area to be cleaned e.g., a room or rooms, etc.
  • mapping an area to be cleaned e.g., a room or rooms, etc.
  • the associated position of the vacuum cleaner 10 in the area to be cleaned can be used.
  • the controller 110 is also in operable communication with an object detection sensor 122, shown in FIG. 4.
  • the object detection sensor 122 can be a dirt detection sensor that is configured to detect large objects. Alternatively, the object detection sensor 122 is separate from the dirt detection sensor.
  • the object detection sensor 122 is configured to detect objects, and notably a large object, that is drawn into the cleaning unit.
  • the object detection sensor 122 is an audio sensor 122 (or a microphone 122) that is positioned in the conduit 78.
  • the microphone 122 is configured to detect an impact of dust and/or objects drawn into the conduit 78 and that enter the cleaning unit.
  • the object detection sensor 122 can include a single microphone 122 or a plurality of microphones 122 that are positioned in the conduit 78.
  • the microphone(s) 122 can be positioned on any suitable wall of the conduit 78. In other embodiments, the microphone 122 can be positioned at another suitable position in the cleaning unit (e.g., the nozzle 66, etc.).
  • the object detection sensor 122 is a piezoelectric sensor 122 that is positioned in the conduit 78.
  • the piezoelectric sensor 122 is also configured to detect an impact of dust and/or objects drawn into the conduit 78 and that enter the cleaning unit.
  • the object detection sensor 122 can include a single piezoelectric sensor 122 or a plurality of piezoelectric sensors 122 positioned in the conduit 78.
  • the piezoelectric sensor(s) 122 can be positioned on any suitable wall of the conduit 78.
  • the piezoelectric sensor 122 can be positioned at another suitable position in the cleaning unit (e.g., the nozzle 66, etc.).
  • the object detection sensor 122 can include a combination of at least one microphone 122 and at least one piezoelectric sensor 122.
  • the sensor Upon impact of an object with the object detection sensor 122, the sensor emits a debris signal.
  • the debris signal is a signal representing a sensor voltage (a voltage signal).
  • the debris signal can be a voltage signal, current signal, audio signal, light signal, or any other signal output. It should be appreciated that the microphone 122 and the piezoelectric sensor 122 emit substantially the same debris signal.
  • An example of the debris signal emitted by the object detection sensor 122 is illustrated in FIG. 7. More specifically, FIG.
  • FIG. 7 graphically illustrates a“raw” voltage signal 126 emitted by the illustrated object detection sensor 122, the object detection sensor signal after being filtered forming a filtered signal 130, and the object detection sensor signal after being processed by an algorithm for determining presence of large object forming an object event signal 134. All of the illustrated signals are shown with a voltage reading along the X-axis, and a time reading along the Y-axis for a hypothetical sample of dust and objects.
  • a dust sample representative of typical dust encountered during vacuuming was detected by the object detection sensor 122 from zero seconds to approximately ninety seconds.
  • the illustrated dust sample is noted in the raw voltage signal 126 by box 138.
  • An object representative of a large object was then measured by the object detection sensor 122 between approximately ninety seconds and approximately one hundred seconds.
  • the large object sample is noted in the raw signal 126 by box 142.
  • the signal emitted by the object detection sensor 122 has certain attributes for the large object material (box 142) that are not present for the dust sample (box 138).
  • the slope of a tangent to the signal is a steeper slope (or a more rapid slope, or a sharper slope) when the object detection sensor 122 encounters a large object (see box 142), as compared to when the object detection sensor 122 encounters dust (see box 138).
  • the signal has a higher magnitude (or a larger overall reading) when the object detection sensor 122 encounters a large object (see box 142), as compared to when the object detection sensor 122 encounters dust (see box 138).
  • the signal has repeated higher magnitude signals (high magnitude events), or repetitive steep slope signals (signal slope events), in succession over a short period of time when the object detection sensor 122 encounters a large object (see box 142), as compared to when the object detection sensor 122 encounters dust and small objects such as sand, rice, and other debris (see box 138).
  • the repeated high magnitude and signal slope events are generated from the large object bouncing around the nozzle 66 or conduit 78 while being drawn into the cleaning unit or before being ejected from the cleaning unit.
  • the illustrated raw voltage signal 126 emitted by the object detection sensor 122 was filtered using an algorithm to develop the filtered signal 130.
  • the filtered signal 130 more clearly identifies the attributes of the signal generated by the object detection sensor 122 when encountering a large object (e.g., steeper signal slope, higher signal magnitude, and repeated higher magnitude and/or steeper signal slope in a short period of time).
  • the filtered signal 130 was further filtered by an algorithm to develop the object event signal 134.
  • the algorithm uses a plurality of the attributes of the signal generated by the object detection sensor 122 when encountering a large object to generate the object event signal 134.
  • the object event signal 134 more clearly depicts encounters with a large object, as encounters with dust and small objects are filtered out, while an encounter with a large object is identified with one or more signal “spikes” indicating an object event.
  • the algorithm(s) for generating the filtered signal 130 and/or the object event signal 134 can be implemented by the controller 110.
  • the controller 110 is operably connected to (or in communication with) the object detection sensor 122. As such, the object detection sensor 122 transmits the raw signal 126 to the controller 110.
  • the controller 110 analyzes the raw signal 126, for example by applying one or more algorithms, to filter the raw signal 126 to more clearly identify the attributes of the signal that occur when encountering a large object (e.g., the steeper signal slope, the higher signal magnitude, and the repeated higher magnitude and/or steeper signal slope events in a short period of time).
  • the controller 110 can generate the filtered signal 130.
  • the controller 110 can analyze the filtered signal 130 and/or the raw signal 126, for example by applying an algorithm, to identify at least one attribute of the signal 126, 130 that occurs when encountering a large object to generate the object event signal 134. For example, the controller 110 can identify whether the signal slope exceeds a predetermined threshold, a signal magnitude exceeds a predetermined threshold, a plurality of signal slope events occurs within a predetermined time threshold, or a plurality of high magnitude events occurs within the predetermined time threshold.
  • the controller 110 can utilize a plurality of the signal attributes that occur when encountering a large object (e.g., the steeper signal slope, the higher signal magnitude, and the repeated higher magnitude and/or steeper signal slope events in a short period of time).
  • the controller 110 utilizes all four of the identified attributes.
  • a plurality of the identified attributes can be used, or at least two of the attributes can be used.
  • the steeper signal slope and the higher signal magnitude can be used to determine an encounter with a large object (and generate the object event signal 134).
  • any combination of the steeper signal slope, the higher signal magnitude, the repeated higher magnitude events within a predetermined amount of time, and/or the repeated steeper signal slope events within a predetermined amount of time can be used to determine an encounter with a large object (and generate the object event signal 134).
  • the controller 110 can generate a notification.
  • the notification informs a user that a large object has been encountered by and/or drawn into the cleaning unit of the vacuum cleaner 10.
  • the notification can include a visual notification 146 on the vacuum cleaner 10 to signal a user of the vacuum 10.
  • the visual notification 146 can include a light 146 (e.g., a light emitting diode (LED), etc.) positioned on the outer housing 30.
  • the controller 110 can illuminate the light 146 to notify a user of the large object encounter.
  • the visual notification 146 can also indicate a level of dirt sensed.
  • the light 146 can emit a first color or shade (e.g., a green light) when no dirt is detected, emit a second color or shade (e.g., a yellow light) when some dirt is detected, and emit a third color or shade (e.g., a red light) when an amount of dirt greater than a threshold is detected.
  • a first color or shade e.g., a green light
  • a second color or shade e.g., a yellow light
  • a third color or shade e.g., a red light
  • Notification of the level of dirt sensed can be performed in conjunction with the large object notification.
  • the visual notification 146 can emit a flashing light (e.g., a flashing red light) that indicates large object detection.
  • the controller 110 can generate an audible notification (not shown) in response to detecting a large object with the object detection sensor 122.
  • the controller 110 can instruct an audio emitter (not shown) to emit an audible tone that can be heard by a user.
  • the audible tone can inform the user that a large object was detected and/or entered the cleaning unit of the vacuum 10.
  • the controller 110 can generate an electronic notification 150 (or electronic notification alert 150) in response to detecting a large object with the object detection sensor 122. As illustrated in FIG. 8, the controller 110 can generate and send (or deliver) the electronic notification 150 to a remote electronic device 154.
  • the electronic notification 150 which is shown as a text message 150 sent to a mobile telephone 154, can include a notification to the user that a large object has been encountered and/or drawn into the cleaning unit of the vacuum cleaner 10.
  • the electronic notification 150 can also include a date and/or a time that the large object was encountered and drawn into the cleaning unit.
  • the electronic notification 150 can be an email, an alert or a text based notice to a user’s computer, mobile phone, or other remote electronic device 154, or to an application (or“app”) associated with the vacuum cleaner 10 and distributed on the remote electronic device 154.
  • the remote electronic device 154 (or handheld electronic device 154) can be a smartphone, a tablet computer, a desktop computer, a laptop computer, or any other suitable electronic device.
  • the controller 110 can be in communication with the remote electronic device 154 by a wireless connection (e.g., a local area network (LAN), Bluetooth, a wireless Internet connection, etc.) ⁇
  • a wireless connection e.g., a local area network (LAN), Bluetooth, a wireless Internet connection, etc.
  • the controller 110 can also terminate operation of the vacuum cleaner 10 in response to detecting a large object with the object detection sensor 122.
  • the controller 110 can instruct the drive assembly 48 and/or the cleaning unit to stop operation.
  • the vacuum cleaner 10 will stop in place.
  • the controller 110 will stop operation of the vacuum cleaner 10 when the large object event signal 134 indicates an extended object event, such as a predetermined number of large object strikes occurring within a predetermined period of time. For example, more than 10 object strikes (or events) in the object event signal 134 within ten (10) seconds.
  • the controller 110 may stop operation if repeated object events occur within a predetermined period. For example, more than 3 object strikes (or events) within sixty (60) seconds.
  • the parameters for determining stop operation can be determined empirically, and can vary from the examples presented.
  • the controller 110 can also generate location information that indicates the location the object detection sensor 122 detected a large object in the area to be cleaned. For example, the controller 110 can utilize the mapping functionality to identify a location on the generated map indicative of the location the object detection sensor 122 detected a large object. The controller 110 can also identify approximate coordinates in the area to be cleaned of the vacuum cleaner 10 as to where the object detection sensor 122 detected a large object. As shown in FIG. 9, the electronic notification 150 sent to the remote electronic device 154 can additionally (or alternatively) include a map 158. The map 158 can include an outline of the area to be cleaned, and the location (or approximate location) that the large object was encountered and drawn into the cleaning unit within the area to be cleaned.
  • the user can then respond to the visual notification 146, the audible notification, and/or the electronic notification 150 by inspecting the cleaning unit of the vacuum cleaner 10. For example, the user can remove the cover 102 to inspect the dust separator assembly 74, the dust cup 86, and/or one or more other components of the cleaning unit, and further retrieve the detected large object (e.g., in the separator assembly 74, the dust cup 86, etc.). After inspection, the user can clear the relevant notification. For example, the user can actuate a button on the vacuum cleaner 10, provide a command through the remote electronic device 154, provide a command through the app, etc.
  • the vacuum cleaner 10 can be configured to automatically clear the notification upon removal and reattachment of a portion or components of the vacuum cleaner 10 (e.g., the dust cup 86, the removable cover 102, etc.). Once the notification has been cleared, the vacuum cleaner 10 can reinitiate cleaning of the area to be cleaned.
  • a portion or components of the vacuum cleaner 10 e.g., the dust cup 86, the removable cover 102, etc.
  • the vacuum cleaner 10 provides advantages over known vacuums in the art. By utilizing the object detection sensor 122, the vacuum cleaner 10 can identify an encounter with a large object. In addition, the vacuum cleaner 10 can provide a notification to a user of the vacuum cleaner 10 to guide the user to inspect the cleaning unit and retrieve the large object. Further, the vacuum cleaner 10 can identify a location in the area to be cleaned that the large object was encountered, providing guidance to a user of the approximate location of the large object. These and other advantages may be realized from one or more embodiments of the vacuum cleaner 10 disclosed herein.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Electric Vacuum Cleaner (AREA)

Abstract

L'invention concerne un aspirateur qui comprend un châssis et une unité de nettoyage portée par le châssis, un dispositif de commande, et un capteur de détection d'objets connecté de manière fonctionnelle au dispositif de commande. Le capteur de détection d'objets est configuré pour détecter un matériau aspiré dans l'unité de nettoyage et, en réponse générer un signal de débris. Le dispositif de commande est configuré pour analyser le signal de débris afin d'identifier au moins un attribut du signal de débris associé à la taille d'un objet aspiré dans l'unité de nettoyage, et en réponse à l'identification dudit au moins un attribut du signal de débris, le dispositif de commande génère une notification.
PCT/US2019/013926 2018-01-19 2019-01-17 Système de détection d'objets pour un aspirateur WO2019143762A1 (fr)

Applications Claiming Priority (2)

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US201862619513P 2018-01-19 2018-01-19
US62/619,513 2018-01-19

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007037916A (ja) * 2005-08-05 2007-02-15 Matsushita Electric Ind Co Ltd 報知装置及びこれを備えた電気掃除機
EP1941822A1 (fr) * 2005-10-25 2008-07-09 Matsushita Electric Industrial Co., Ltd. Systeme de nettoyage electrique
EP2494900A1 (fr) * 2011-03-04 2012-09-05 Samsung Electronics Co., Ltd Unité de détection de débris et dispositif de nettoyage de robot doté de celle-ci
US20140229008A1 (en) * 2010-12-30 2014-08-14 Irobot Corporation Debris monitoring
JP2014233353A (ja) * 2013-05-31 2014-12-15 三菱電機株式会社 塵埃検知装置及びこれを搭載した電気掃除機
JP2017023409A (ja) * 2015-07-22 2017-02-02 東芝ライフスタイル株式会社 自律型電気掃除機

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007037916A (ja) * 2005-08-05 2007-02-15 Matsushita Electric Ind Co Ltd 報知装置及びこれを備えた電気掃除機
EP1941822A1 (fr) * 2005-10-25 2008-07-09 Matsushita Electric Industrial Co., Ltd. Systeme de nettoyage electrique
US20140229008A1 (en) * 2010-12-30 2014-08-14 Irobot Corporation Debris monitoring
EP2494900A1 (fr) * 2011-03-04 2012-09-05 Samsung Electronics Co., Ltd Unité de détection de débris et dispositif de nettoyage de robot doté de celle-ci
JP2014233353A (ja) * 2013-05-31 2014-12-15 三菱電機株式会社 塵埃検知装置及びこれを搭載した電気掃除機
JP2017023409A (ja) * 2015-07-22 2017-02-02 東芝ライフスタイル株式会社 自律型電気掃除機

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