US6370453B2
Expired / Lapsed
US
⏱️ 0.0 years remaining
Service robot for the automatic suction of dust from floor surfaces
Assignee: TECHNISCHE FACHHOCHSCHULE BERLIN
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Filing: 2001-01-31
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Granted: 2002-04-09
•
Expires: 2021-01-31
Abstract
Abstract A self-moving device and method for the complete and full automatic examination of floor surfaces of all kind as well as for a particularly efficient suction of dust therefrom. In each case, the robot is controlled so as to explore the adjacent area and to detect the potential obstacles using special sensors before storing them in a data field. The displacement towards a new location is then carried out using the stored data until the whole accessible surface has been covered. One of the main constituent members of the robot includes an extensible arm that rests on the robot and on which contact and range sensors are arranged. When the robot is used as an automatic vacuum cleaner, an air flow is forced into the robot arm and the cleaning effect can further be enhanced by providing one or more circular rotary brushes at the front end of the arm. This device can essentially be used for domestic or industrial cleaning purposes with a view to replace traditional vacuum cleaners.
Inventors
- 👤 Volker Sommer
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-25 20:26
CPC Classifications
A; A47; A47L; A47L11/00; A47L11/40; A47L11/4011; A47L11/02; A47L11/10; A47L11/12; A47L11/4036; A47L11/4038; A47L11/4044; A47L5/00; A47L5/12; A47L5/22; A47L5/28; A47L5/30; G; G05; G05D; G05D1/00; G05D1/02; G05D1/021; G05D1/0212; G05D1/0219; G05D1/0227; G05D1/0268; G05D1/0274; A47L2201/00; A47L2201/04; G05D1/0255
Claims Analysis
Total Claims: 54
Claim 1
Independent Claim
164 words
A method of automatically controlling a self-moving device with range and contact-sensors, the method comprising the steps of: individually determining and scanning a closer area around the device by using a movable arm on the device; storing possible new positions at the border of the closer area; the determination of the closer area and a selection of a new position is realized mainly on a basis of information of surroundings of the device which is stored in a data field and updated in each step to determine a next position; optimizing a position to move the device by calculating and comparing each stored position which can be approached by the device by calculating and comparing for each of these positions certain evaluation parameters including distances or areas in reach of a possible new position which have not yet been scanned and by selecting the position with best evaluation results; and moving the device to a new position until no further position can be selected.
Claim 2
Independent Claim
164 words
A method of automatically controlling a self-moving device with range and contact-sensors, the method comprising the steps of: individually determining and scanning a closer area around the device by using a movable arm on the device; storing possible new positions at the border of the closer area; the determination of the closer area and a selection of a new position is realized mainly on a basis of information of surroundings of the device which is stored in a data field and updated in each step to determine a next position; optimizing a position to move the device by calculating and comparing each stored position which can be approached by the device by calculating and comparing for each of these positions certain evaluation parameters including distances or areas in reach of a possible new position which have not yet been scanned and by selecting the position with best evaluation results; and moving the device to a new position until no further position can be selected.
Claim 3
Dependent Claim
17 words
The method as claimed in claim 1 , wherein the method is used with a vacuum cleaner.
Claim 4
Dependent Claim
37 words
The method as claimed in claim 1 , further comprising the step of determining under consideration of the scanning direction, an exact position of an obstacle when an obstacle is detected by a sensor on the device.
Claim 5
Dependent Claim
46 words
The method as claimed in claim 1 , wherein after the scanning of the closer area, new positions are stored only where no obstacles have been detected and also where no area borders which have already been scanned before from a previous position of the device.
Claim 6
Dependent Claim
39 words
The method as claimed in claim 1 , further comprising the step of updating every state of an area when scanning the area already marked in the data field, the state being updated according to the new sensor data.
Claim 7
Dependent Claim
37 words
The method as claimed in claim 1 , further comprising the step of taking only positions which in the data field are not marked as already scanned into consideration when selecting a new position for the device.
Claim 8
Dependent Claim
56 words
The method as claimed in claim 1 , further comprising the step of assigning different priorities to new positions when storing the new positions, and wherein when selecting a new position for the device, only such positions are considered whose priorities are not inferior to that of a position already preliminarily selected in a current step.
Claim 9
Dependent Claim
54 words
The method as claimed in claim 1 , further comprising the step of taking only such positions into consideration which are located within a certain partial area when selecting a new position, and wherein the partial area is modified during the method, if within the current partial area no new positions can be selected.
Claim 10
Dependent Claim
36 words
The method as claimed in claim 1 , further comprising the step of taking at lease one of distance and direction between possible new positions and a current position into consideration when selecting a new position.
Claim 11
Dependent Claim
32 words
The method as claimed in claim 1 , further comprising the step of taking a covered distance since the storage of a position is taken into consideration when selecting a new position.
Claim 12
Dependent Claim
62 words
The method as claimed in claim 1 , further comprising the step of allowing only areas to be traversed which have already been scanned and which are not marked as an obstacle when selecting a new position for the device to guarantee by evaluation of the data field that the new position can be reached by the device on a direct route.
Claim 13
Dependent Claim
47 words
The method as claimed in claim 1 , wherein after selection of a new position, by evaluating the data field, a shortest route to the new position within the already scanned area under circumvention of obstacles is determined and whereafter the device is moved along the route.
Claim 14
Dependent Claim
64 words
The method as claimed in claim 1 , further comprising the step of setting the device back to any previous position and wherein in setting back the device over several previous positions, certain positions in between can be skipped, if the evaluation of the data field reveals that the device does not need to traverse areas which are marked as an obstacle while moving.
Claim 15
Dependent Claim
38 words
The method as claimed in claim 1 , further comprising the step of detecting contours of an unexpected obstacle which blocks movement of the device, the contours being detected by scanning the obstacle with sensors on the device.
Claim 16
Dependent Claim
40 words
The method as claimed in claim 1 , further comprising the step of determining a new closer area by evaluating the data field when approaching a new position so that only a small overlap with already scanned neighboring areas occurs.
Claim 17
Dependent Claim
26 words
The method as claimed in claim 1 , further comprising the step of cleaning a floor surface with the movable arm during the step of scanning.
Claim 18
Dependent Claim
38 words
The method as claimed in claim 16 , wherein by evaluating information in the data field, the cleaning of floor surface is performed only in those areas, which are marked as not yet cleaned in the data field.
Claim 19
Dependent Claim
31 words
The method as claimed in claim 1 , further comprising the step of guiding the movable arm along a detected obstacle at the smallest possible range during the step of scanning.
Claim 20
Dependent Claim
30 words
The method as claimed in claim 1 , wherein the scanning movable arm in the closer area around the device is selected in form of a sector of a circle.
Claim 21
Dependent Claim
38 words
The method as claimed in claim 1 , further comprising the step of repeatedly turning the device from left to right during the step of scanning and also increasing a length of the movable arm at each turn.
Claim 22
Dependent Claim
67 words
The method as claimed in claim 1 , further comprising the step of repeatedly turning the device from left to right during the step of scanning and also increasing a length of the movable arm at each turn, the repeated scanning of already detected obstacles being prevented by shortening the length of the arm in a range of those angles where an obstacle has already been detected.
Claim 23
Dependent Claim
38 words
The method as claimed in claim 1 , wherein the device has a suction engine and wherein the engine is only turned on when vacuuming closer areas and not during movement of the device towards a new position.
Claim 24
Independent Claim
108 words
A method of automatically controlling a self-moving device with range and contact sensors, the method comprising the steps of: scanning a closer area in a form of a sector of a circle around the device, the scanning being by a movable arm; turning the arm from left to right during the scanning and increasing a length of the arm at each turn, the arm starting at a retracted state during the scanning and the scanning continuing until a given maximum arm length is reached by the arm whereafter following the last turn, the arm is retracted; and moving the device to a new position and repeating the scanning.
Claim 25
Independent Claim
108 words
A method of automatically controlling a self-moving device with range and contact sensors, the method comprising the steps of: scanning a closer area in a form of a sector of a circle around the device, the scanning being by a movable arm; turning the arm from left to right during the scanning and increasing a length of the arm at each turn, the arm starting at a retracted state during the scanning and the scanning continuing until a given maximum arm length is reached by the arm whereafter following the last turn, the arm is retracted; and moving the device to a new position and repeating the scanning.
Claim 26
Dependent Claim
17 words
The method as claimed in claim 23 , wherein the method is used with a vacuum cleaner.
Claim 27
Dependent Claim
26 words
The method as claimed in claim 23 , further comprising the step of cleaning a floor surface with the movable arm during the step of scanning.
Claim 28
Dependent Claim
35 words
The method as claimed in claim 23 , further comprising the step of using the movable arm for scanning so that not yet scanned areas are covered first by a front end of the arm.
Claim 29
Dependent Claim
31 words
The method as claimed in claim 23 , further comprising the step of guiding the movable arm along a detected obstacle at the smallest possible range during the step of scanning.
Claim 30
Dependent Claim
67 words
The method as claimed in claim 23 , further comprising the step of repeatedly turning the device from left to right during the step of scanning and also increasing a length of the movable arm at each turn, the repeated scanning of already detected obstacles being prevented by shortening the length of the arm in a range of those angles where an obstacle has already been detected.
Claim 31
Dependent Claim
38 words
The method as claimed in claim 23 , wherein the device has a suction engine and wherein the engine is only turned on when vacuuming closer areas and not during movement of the device towards a new position.
Claim 32
Independent Claim
64 words
A device comprising: propelled wheels, at least one of the propelled wheels being steerable; sensors; and an extensible arm having a front end and a rear end, the extensible arm having a head positioned at the front end, the head being a support in addition to the at least one propelled wheels, the head including at least one of rollers, balls, wheels or bristles.
Claim 33
Independent Claim
64 words
A device comprising: propelled wheels, at least one of the propelled wheels being steerable; sensors; and an extensible arm having a front end and a rear end, the extensible arm having a head positioned at the front end, the head being a support in addition to the at least one propelled wheels, the head including at least one of rollers, balls, wheels or bristles.
Claim 34
Dependent Claim
15 words
The device as claimed in claim 30 , wherein the device is a vacuum cleaner.
Claim 35
Dependent Claim
31 words
The device as claimed in claim 30 , wherein the at least one propelled wheel includes two wheels and the device is supported by the head and the two propelled wheels.
Claim 36
Dependent Claim
15 words
The device as claimed in claim 30 , wherein the arm is a telescopic arm.
Claim 37
Dependent Claim
22 words
The device as claimed in claim 30 , wherein a resting-pressure of the head is varied by shifting weight of the device.
Claim 38
Independent Claim
49 words
A device comprising: propelled wheels, at least one of the propelled wheels being steerable; sensors; and an extensible arm having a front end and a rear end, the extensible arm having a head positioned at the front end, at least one propelled circular brush being positioned at the head.
Claim 39
Independent Claim
49 words
A device comprising: propelled wheels, at least one of the propelled wheels being steerable; sensors; and an extensible arm having a front end and a rear end, the extensible arm having a head positioned at the front end, at least one propelled circular brush being positioned at the head.
Claim 40
Dependent Claim
15 words
The device as claimed in claim 35 , wherein the device is a vacuum cleaner.
Claim 41
Dependent Claim
31 words
The device as claimed in claim 35 , wherein the at least one propelled wheel includes two wheels and the device is supported by the head and the two propelled wheels.
Claim 42
Dependent Claim
15 words
The device as claimed in claim 35 , wherein the arm is a telescopic arm.
Claim 43
Dependent Claim
31 words
The device as claimed in claim 35 , wherein the arm is a telescopic arm, which at the rear end is mounted rotatably about a horizontal axis and is vertically flexible.
Claim 44
Dependent Claim
31 words
The device as claimed in claim 35 , wherein the at least one brush is driven, using a movable shaft driven by a motor positioned on a base of the device.
Claim 45
Dependent Claim
21 words
The device as claimed in claim 40 , wherein the shaft is longitudinally movable relative to the base of the device.
Claim 46
Dependent Claim
48 words
The device as claimed in claim 35 , wherein the at least one brush has bristles which are positioned diagonally towards an inner part of the brush and which are surrounded by a circle of soft bristles which are positioned diagonally towards an outer part of the brush.
Claim 47
Independent Claim
97 words
A device comprising: propelled wheels, at least one of the propelled wheels being steerable; sensors including a contact sensor, a step sensor and a height sensor; and an extensible arm having a front end and a rear end, the extensible arm having a head positioned at the front end, the contact sensor being positioned at the head and detecting obstacles for movement of the arm, and the step sensor and the height sensor being positioned at the head and being used to detect obstacles which fail to block the arm, but which block movement of the device.
Claim 48
Independent Claim
97 words
A device comprising: propelled wheels, at least one of the propelled wheels being steerable; sensors including a contact sensor, a step sensor and a height sensor; and an extensible arm having a front end and a rear end, the extensible arm having a head positioned at the front end, the contact sensor being positioned at the head and detecting obstacles for movement of the arm, and the step sensor and the height sensor being positioned at the head and being used to detect obstacles which fail to block the arm, but which block movement of the device.
Claim 49
Dependent Claim
15 words
The device as claimed in claim 43 , wherein the device is a vacuum cleaner.
Claim 50
Dependent Claim
15 words
The device as claimed in claim 43 , wherein the arm is a telescopic arm.
Claim 51
Dependent Claim
31 words
The device as claimed in claim 43 , wherein the arm is a telescopic arm, which at the rear end is mounted rotatably about a horizontal axis and is vertically flexible.
Claim 52
Dependent Claim
51 words
The device as claimed in claim 43 , wherein the contact sensor has two electrical conductors positioned within a short distance to each other around the head of the arm, from which the outer conductor is pressed elastically against the inner conductor when touching an obstacle, thus closing an electrical circuit.
Claim 53
Dependent Claim
29 words
The device as claimed in claim 43 , wherein the height sensor uses at least one of ultrasonic or electromagnetic waves to measure a clearance height above the head.
Claim 54
Dependent Claim
26 words
The device as claimed in claim 43 , wherein the step sensor is mechanical push button or contact-free sensor for detecting steps in a floor surface.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2005-04-08 | 2005-10-08 | 2006-04-09 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2009-04-08 | 2009-10-08 | 2010-04-09 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2013-04-08 | 2013-10-08 | 2014-04-09 | $7700.00 | Window Closed / Lapsed |