Abstract
Robotic devices are provided that can be operated in an autonomous mode. In various embodiments, the devices comprise lighting elements that are capable of displaying information to humans within a robotic environment. A variety of future and near-future actions are expressed through different operations and sequences of the lighting elements. The lighting elements further enable the device to express a current status.
Claims
1. A floor cleaning device capable of autonomous operations and operable to communicate with nearby persons, the device comprising: a chassis comprising a front, a back, a lower surface, a front surface adjacent the front, an upper surface, a rear surface located behind a center point of the chassis, a left surface, and a right surface; a platform provided laterally between the left surface and the right surface and wherein the platform is operable to receive a user when the device is selectively operated in a non-autonomous or semi-autonomous mode; a powered drive-wheel operable to convey the device; a plurality of multi-colored lights, and wherein at least one of the plurality of multi-colored lights is operable to be illuminated in a manner that corresponds to at least one of an upcoming action and a current status of the device; wherein the plurality of multi-colored lights comprises at least one rear-facing light element operable to emit light from the rear surface, and at least three at least partially forward-facing light elements, the three at least partially forward-facing light elements comprising at least one at least partially forward-facing light element provided proximal to the upper surface and at least one partially forward-facing light element provided proximal to the lower surface, and wherein two of the three at least partially forward-facing light elements are spaced apart horizontally; wherein at least one of the plurality of multi-colored lights is incorporated and recessed into a corner of the chassis and comprises a refractive material to diffuse light visible from multiple sides of the device; wherein the at least one rear-facing light element is provided vertically below the platform and rearward of at least a portion of the platform, and emits light rearward of the platform such that the at least one rear-facing light element is visible when a user is present on the platform; and wherein the plurality of multi-colored lights is distributed horizontally and vertically about the chassis such that emitted light achieves omnidirectional visibility; a controller operable to cause at least some of the plurality of multi-colored lights to perform at least one of a different pattern and a different animation; a human machine interface operable to communicate with the controller; and wherein the plurality of multi-colored lights and the controller are operable to produce a unique identifier for each of: an upcoming action of the device, an error status, a task-completion status, a current action of the device, and a warning indication.
2. The floor cleaning device of claim 1, wherein at least one of the plurality of multi-colored lights comprises a light emitting diode.
3. The floor cleaning device of claim 1, wherein the plurality of multi-colored lights is powered by an on-board battery.
4. The floor cleaning device of claim 1, further comprising at least one light pipe for guiding and reflecting light.
5. The floor cleaning device of claim 1, wherein the upcoming action of the device comprises a change in direction of travel of the device.
6. The floor cleaning device of claim 1, wherein the error status comprises an unexpected presence of a human on the device.
7. The floor cleaning device of claim 1, wherein the warning indication comprises an emitted light brightness that is greater than an emitted light brightness for the upcoming action of the device, the error status, the task-completion status, and the current action of the device.
8. The floor cleaning device of claim 1, wherein the human machine interface comprises a graphical user interface.
9. The floor cleaning device of claim 1, wherein the human machine interface comprises a steering wheel.
10. The floor cleaning device of claim 1, wherein the human machine interface comprises a user-interface for controlling the device when the device is provided in a human-controlled mode.
Description
BRIEF DESCRIPTION OF THE DRAWINGS
(1) The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the invention and together with the Summary given above and the Detailed Description of the drawings given below, serve to explain the principles of these embodiments. In certain instances, details that are not necessary for an understanding of the invention or that render other details difficult to perceive may have been omitted. It should be understood, of course, that the invention is not necessarily limited to the particular embodiments illustrated herein. Additionally, it should be understood that the drawings are not necessarily to scale.
(2) FIG. 1A is a front perspective view of a device with communicative features according to one embodiment of the present disclosure.
(3) FIG. 1B is a front elevation view of the device of the embodiment of FIG. 1A.
(4) FIG. 2A is a front perspective view of the device of the embodiment of FIG. 1A.
(5) FIG. 2B is a front elevation view of the device of the embodiment of FIG. 1A.
(6) FIG. 3A is a front perspective view of the device of the embodiment of FIG. 1A.
(7) FIG. 3B is a front elevation view of the device of the embodiment of FIG. 1A.
(8) FIG. 4A is a front perspective view of the device of the embodiment of FIG. 1A.
(9) FIG. 4B is a front elevation view of the device of the embodiment of FIG. 1A.
(10) FIG. 5A is a front elevation view of the device of the embodiment of FIG. 1A.
(11) FIG. 5B is a front elevation view of the device of the embodiment of FIG. 1A.
(12) FIG. 5C is a front elevation view of the device of the embodiment of FIG. 1A.
(13) FIG. 6A is a front elevation view of the device of the embodiment of FIG. 1A.
(14) FIG. 6B is a front elevation view of the device of the embodiment of FIG. 1A.
(15) FIG. 6C is a front elevation view of the device of the embodiment of FIG. 1A.
(16) FIG. 7 is a perspective view of a light guide according to one embodiment of the present disclosure.
(17) FIG. 8 is a cross-sectional view of a light guide according to one embodiment of the present disclosure.
(18) FIG. 9A is a perspective view of a light guide according to one embodiment of the present disclosure.
(19) FIG. 9B is a plan view of the light guide of the embodiment of FIG. 9A.
(20) FIG. 10A is a perspective view of a light guide according to one embodiment of the present disclosure.
(21) FIG. 10B is a plan view of the light guide of the embodiment of FIG. 10A.
(22) FIG. 11 is a schematic of lighting elements and related features according to one embodiment of the present disclosure.
(23) FIG. 12 is a plot showing light transmission percentage as a function of wavelength for a material contemplated for use with certain embodiments of the present disclosure.
(24) FIG. 13 is a plot showing light transmission percentage as a function of an angle of incidence for light pipes according to certain embodiments of the present disclosure.
(25) FIG. 14 is a perspective view of a light pipe according to one embodiment of the present disclosure.
(26) FIG. 15 is an elevation view of diffusive materials contemplated for use with embodiments of the present disclosure.
(27) FIG. 16 is a perspective view of a light pipe incorporated into a cleaning device in accordance with one embodiment of the present disclosure.
(28) FIG. 17 is a perspective view of a light pipe incorporated into a cleaning device in accordance with one embodiment of the present disclosure.
(29) FIG. 18 is a perspective view of a light element incorporated into a cleaning device in accordance with one embodiment of the present disclosure.
(30) FIG. 19 is a perspective view of a cleaning device with light elements in accordance with one embodiment of the present disclosure.
(31) FIG. 20 is a table illustrating various light colors and intensities contemplated by the present disclosure.
(32) FIG. 21 is a table illustrating different light sequences or animations contemplated by the present disclosure.
(33) Similar components and/or features may have the same reference label. Further, various components of the same type may be distinguished by following the reference label by a letter that distinguishes among the similar components. If only the first reference label is used, the description is applicable to any one of the similar components having the same first reference label irrespective of the second reference label.
DETAILED DESCRIPTION
(34) FIG. 1A is a perspective view of a floor cleaning device 2 according to one embodiment of the present disclosure. FIG. 1B is a front elevation view of the device 2 of FIG. 1A. As discussed, methods, systems, and features of the present disclosure that allow a device to communicate with other devices and human beings are not limited to use with floor cleaning devices. The embodiment of FIGS. 1A-1B, however, provides a floor cleaning device 2 that comprises a device which can operate in a human-controlled, semi-autonomous, or fully-autonomous mode. The device 2 comprises a chassis 4 having a front 6, a rear 8, and left and right side portions 10, 12 that collectively make up an envelope of the device 2. The device 2 comprises a platform at the rear of the device and a steering wheel 14 or similar user-interface for controlling the device when the device is provided in a human-controlled mode. The device 2 further comprises the ability to operate without an onboard user, and in an autonomous mode wherein the device 2 is capable of navigating and cleaning a space automatically. U.S. Patent Application Publication No. 2006/0253224 to Tani et al., which is hereby incorporated by reference in its entirety, discloses a self-guided cleaning robot. Various features, devices and methods of Tani et al. are contemplated for use in embodiments of the present disclosure.
(35) Although not shown in FIGS. 1A-1B, devices of the present disclosure are contemplated as comprising various cleaning devices on a lower portion of the device. These cleaning devices include, for example, pads, brushes, burnishers, vacuum elements, etc. It is also contemplated that a lower portion of the device 2 comprises at least one wheel on an underside of the device that is operable to power, convey and/or steer the device 2.
(36) The device 2 comprises various lighting features. As shown, the device 2 comprises side panels, a forward lighting element 18, and an upper lighting element 20. Devices of the present disclosure, however, are not limited in number, size, spacing and arrangement of lighting elements. In FIGS. 1A-1B, for example, the lighting elements preferably comprise LED lighting elements that are partially recessed within a body portion of the device 2 to create an aesthetically pleasing appearance. Angled recesses 22 are provided on the body member of the device 2 to convey and diffuse light from the LED element(s).
(37) The lighting elements of various embodiments of the present disclosure comprise the ability to convey information. For examples, in various embodiments, the device 2 comprises a controller and programmed logic to operate the lighting element(s) of the device in order to provide function-specific signals of at least one of an operating status of the device, a presently-occurring action of the device, an upcoming action of the device, a task-completion status, and/or a present need of the device (e.g. intervention or maintenance from a human being).
(38) As shown in FIGS. 2A-2B, the device 2 is operating a portion of an upper lighting element 20 and a portion of a forward light element 18 to indicate to human beings that may be in the cleaning environment that the device is about to perform a left turn. This information is conveyed by flashing or toggling a left portion of the upper lighting element 20 and forward lighting element 18 in a manner that is logical and intuitive a human and which is known to be associated with a left turn. Similarly, FIGS. 3A-3B illustrate a device 2 that is announcing or indicating an upcoming right turn by flashing an opposite side of the upper lighting element 20. In some embodiments, directional indicators are provided by using a yellow light, which is commonly associated with a turn or caution indicator.
(39) FIGS. 4A-4B illustrate the operation of lighting elements on a device 2 to indicate an active cleaning operation is occurring. As shown, the device 2 comprises forward 18 and upper 20 lighting elements. In the depicted embodiments, these elements are active during a cleaning operating and preferably pulse in a noticeable manner. The pulsing preferably comprises a relatively low-frequency (e.g. 0.5 Hz) that is operable to draw attention from humans without indicating a state of emergency or danger that is associated with higher frequency flashing or pulsing (e.g. greater than or equal to 1.0 Hz). In preferred embodiments, the light color used for indicating an ongoing cleaning operation comprises a neutral color that is separate and distinct from turning indicator lights and emergency stop lights (for example). In some embodiments, a light in the blue spectrum is emitted during standard cleaning operations and wherein all systems are operating normally. Although not illustrated in FIGS. 4A-4B, additional lighting elements such as side panel lighting elements may be illuminated to indicate that a cleaning operation is occurring (and/or to indicate other activities or states).
(40) FIGS. 5A-5C depict a device 2 of the present disclosure providing a warning indication to nearby persons. As shown in FIGS. 5A-5B, the device 2 comprises at least one forward lighting element 18 that is pulsed to provide a warning signal. As shown in the progression provided by FIGS. 5A, 5B and 5C, a light gradually increases and decreases in intensity. Preferably, the sequence, maximum intensity, and color of the light emitted during the warning indication provided in FIGS. 5A-5C are different from that provided in the cleaning operation of FIGS. 4A-4B (for example). In various embodiments, devices of the present disclosure comprise a controller and built-in logic to selectively activate certain lighting features and operations at appropriate times. For example, it is contemplated that devices of the present disclosure comprise cameras and/or proximity sensors and warning indicia are only provided if and when the device detects that humans are within a certain radius relative to the device. Similarly, the device may conserve power by reducing lighting functions and features when it is known that humans are not within a certain area (e.g. the device may determine that humans are not present while operating within a school building after-hours and thus reduce or eliminate lighting operations).
(41) FIGS. 6A-6C illustrate a device 2 of the present disclosure operating a dynamic signaling function. As shown, the device 2 comprises a lower lighting element 18 an upper lighting element 20 that are operated in a manner to indicate a dynamic operation. For example, a progressively increasing light as shown through the progression of FIGS. 6A-6C is operable to indicate to a user that the device is charging. A static emission of light is operable to indicate a fluid fill level. For example, the condition shown in FIG. 6B is operable to indicate that a fluid collection vessel on-board the device comprises a certain fill level (e.g. ⅗ full).
(42) FIG. 7 is a perspective view of a light guide 30 or light pipe according to one embodiment of the present disclosure. As shown, the light guide 30 comprises an inlet 32 and an outlet 34. The inlet 32 and outlet 34 comprise points of ingress and egress for light, respectively. The inlet and outlet comprise light-permeable features and may, but do not necessarily comprise apertures. The light guide 30 further comprises an angle or bend 36. The bend 36 of the embodiment of FIG. 7 comprises a ninety-degree bend such that the outlet 34 is positioned orthogonal to the inlet 32. In various embodiments, light guides of the present disclosure comprise conduits for directing light from a source (e.g. LED). Preferably, the light guides comprise a smooth, high-polish interior surface to maximize light transmission.
(43) FIG. 8 is a cross-sectional plan view of a light guide 40 according to one embodiment of the present disclosure. As shown, the light guide 40 is provided in combination with at least one lighting element 42. The lighting element 42 of FIG. 8 comprises a LED lamp provided on a circuit board 43. The light guide comprises an internal conduit 44 including a first portion 46 connected to a second portion 48, and wherein the first and second portions are provided orthogonal to one another. A bend 50 is provided. As shown, the bend 50 comprises a ninety-degree bend with an internal surface 52 that comprises a forty-five degree angle with a reflective, prismatic internal surface to redirect light energy from the first portion 46 to the second portion 48. Light is allowed to exit the light guide at an outlet 54, which may be provided with one or more lenses to create a desired visual effect. Lens location may be varied. For example, embodiments of the present disclosure contemplate providing one or more lenses at various locations along a path of light emitted from a LED or similar light source. A lens may be provided directly in front of a light source and need not necessarily be positioned at an opposite end of a light guide relative to the light source.
(44) FIG. 9A is a perspective view of a light guide 60 according to one embodiment of the present disclosure. As shown, the light guide 60 of FIG. 9A comprises a ninety-degree bend 62 formed by a curvilinear portion of the light guide 60. A lighting element 64 is provided in combination with an inlet 66 of the light guide. An outlet 68 of the light guide is provided substantially orthogonal to the inlet 66. FIG. 9B is a plan view of the light guide 60 of FIG. 9A, with the exit area 70 of the light guide 60 shown in detail. As shown, a curvilinear and concave interior surface of the bend 62 provides for a certain amount of reflection, refraction and transmission of light from the inlet 66 to the outlet 68. The exit area 70 emits light generated by the source 64. However, the transmission of light from the source 64 to the outlet 70 is partial or incomplete.
(45) FIG. 10A is a perspective view of a light guide 80 according to one embodiment of the present disclosure. As shown, the light guide 80 of FIG. 10A comprises a ninety-degree bend 82 formed by an angled portion of the light guide 80. A lighting element 84 is provided in combination with an inlet 86 of the light guide. An outlet 88 of the light guide is provided substantially orthogonal to the inlet 86. FIG. 10B is a plan view of the light guide 80 of FIG. 10A, with the exit area 90 of the light guide 80 shown in detail. As shown, an angled interior surface of the bend 82 (e.g. a planar surface provided at 45 degrees relative to incoming light) provides for a certain amount of reflection, refraction and transmission of light from the inlet 86 to the outlet 88. The exit area 90 emits light generated by the source 84. The provision of the angled interior planar portion of the light guide 80 provides for a fuller and more complete transmission of light, at least as compared to the embodiment of FIGS. 9A-9B. Light guide elements are contemplated for use with various embodiments of the present disclosure. In various preferred embodiments, light guide elements in accordance with the embodiment of FIGS. 10A-10B are provided within cleaning machines (for example). It is further contemplated, however, that the light guide 60 of FIGS. 9A-9B are provided in devices of the present disclosure, particularly where it is desirable to emit a softer or less intense amount of light from a light source.
(46) FIG. 11 is a schematic of a portion of a lighting system 100. As shown, the system 100 comprises a power source 102. In various embodiments, the power source 102 comprises at least one rechargeable battery provided on or in a floor cleaning device. The power source 102 is connected to a power management device or controller 104, and to a lighting element 108. As discussed, the lighting elements of the present disclosure preferable comprise one or more LEDs. As shown a signal processor 106 is provided. The signal processor 106 is operable to receive various information from a cleaning machine (e.g. signals related to battery status, velocity of the device, information regarding nearby humans and objects, etc.) and control at least one of intensity and color of the lighting element 108.
(47) FIG. 12 is a plot showing light transmission percentage as a function of wavelength for a material contemplated for use with certain embodiments of the present disclosure. In various embodiments, a diffusing additive is provided on at least portions of a light pipe or light guide. One refractive additive contemplated for use with embodiments of the present disclosure is a commercially-available additive from RTP Co. (RTP 0300 S-900173). As shown in FIG. 12, this additive allows for between approximately 80% and 90% transmissivity for light in the wavelength range of 400 to 700 nm. FIG. 13 is a plot of light transmissivity as a function of angle of incidence for at least the additive contemplated for use with embodiments of the present disclosure. As shown, angles of incidence at or below 1 degree provide for optimal light transmission with percentages ranging from approximately 50% at 1 degree and increasing substantially linearly to 100% transmissivity where no angle of incidence is provided.
(48) FIG. 14 is a perspective view of a light pipe 120 according to one embodiment of the present disclosure. As shown, the light pipe 120 comprises a generally straight light pipe that is devoid of bends or angles along a light path. The light path is generally defined as the depth of the light pipe 120, between a rearward portion 122 and a forward portion 124. Preferably, at least one lighting element (e.g. LED) is provided at or proximal to the rearward portion 122, and at least one lens is provided on the forward portion 124 of the light pipe. In various embodiments, at least one light guide 120 as shown in FIG. 14 is provided at each of the light locations on a machine.
(49) FIG. 15 is an elevation view of diffusive materials contemplated for use with embodiments of the present disclosure. Specifically, a first material 126 is provided that comprises a polycarbonate material infused or coated with a refractive additive to diffuse light. For comparison and illustrative purposes, a second material 128 is provided that is devoid of an additive. As shown, the first material 126 comprises an enhanced light distribution that is more homogeneous and generally more aesthetically pleasing than the second material 128.
(50) FIGS. 16-17 are a perspective views of a light pipe 132 incorporated into a cleaning device 130 in accordance with one embodiment of the present disclosure. As shown, the light pipe 132 is integrated into one or more corners of a chassis of a cleaning device. The light pipe 132 comprises a straight light pipe devoid of corners or bends along a light path and comprises a body portion 136 and a lens 134. The lens 134 comprises an elongate lens with a curvature and/or rounded corners. However, various sizes, shapes, and orientations are provided for light guides and lenses of the present disclosure. As shown in FIGS. 16-17, the light pipes 132 comprise elongate or thin lighting elements that do not significantly change an overall appearance of the machine, and which are, or which can be at least partially recessed within a portion of a chassis of the device 130.
(51) FIG. 18 is a perspective view of a light element 140 incorporated into a cleaning device 130 in accordance with one embodiment of the present disclosure. A rear portion of a cleaning device 130 is shown in FIG. 18, and wherein the rear portion comprises a platform 142 for receiving a user. Devices of the present disclosure may be provided with or without a chassis. For example, fully autonomous devices of the present disclosure are contemplated as being devoid of a platform. Regardless of whether or not a platform is provided, at least one rear-facing light element 140 is provided. The light element 140 preferably comprises a light pipe as shown and described herein, wherein at least a portion of the light pipe is recessed or contained within the body of the device, and wherein a lens or outer portion of the light pipe is positioned such that it is operable to emit light from a rearward portion of the device.
(52) FIG. 19 is a perspective view of a cleaning device 130 with light elements 150a, 150b, 150c. 150d in accordance with one embodiment of the present disclosure. The provision and position of the lighting elements of FIG. 19 are provided for illustrative purposes and to indicate some contemplated positions for lighting elements of the present disclosure. No limitation is provided with respect to the total number, size, or position of lighting elements by FIG. 19. As shown, at least four forward-facing or partially-forward facing light elements 150a, 150b, 150c, 150d are provided. The lighting elements are contemplated as comprising various light guide or light pipe structures as shown and described herein, and are capable of emitting various different light colors, patterns, animations, etc.
(53) FIG. 20 is a table illustrating various light colors contemplated by the present disclosure. As shown in FIG. 20, various different colors are contemplated by the present disclosure and lighting elements as shown and described herein are operable to emit any one or more of the depicted colors, as well as combinations thereof. Different colors are shown as comprising variations in the intensity of component colors (i.e., red, green, blue intensity) and wherein an intensity range for each component color is between 0 and 255. It is also contemplated that certain colors are dedicated to and/or associated with certain information or device functions. For example, various colors in the visible light spectrum are associated with or assigned to convey information related to automatic or normal functioning of a device. In some embodiments, the blue light wavelengths shown in FIG. 20 are emitted when a device is conducting a normal cleaning operation or a normal transit operation. The green light wavelengths are associated with and emitted when the device communicates information related to battery operations (e.g. need for charging, charging complete, etc.). The red light wavelengths are associated with and emitted when errors are encountered (e.g. the device cannot overcome an obstacle, a mechanical fault has occurred, etc.). Visible light in the yellow range is associated with and emitted for purposes of indicated caution or warnings.
(54) FIG. 21 is a table illustrating different light sequences or animations contemplated by the present disclosure. As shown, four distinct light “animations” are provided. As used herein, the term “animation” is intended to refer to a temporal variance in an emission of light. This term includes, but is not limited to, a variance in light intensity or color over time. The light animations shown in FIG. 21 may comprise any one or more of the different colors of the visible light spectrum. Additionally, the four distinct animations shown in FIG. 21 are not meant to be exhaustive, but merely illustrate a few contemplated animations of the present disclosure that may be emitted by lighting elements of the present disclosure. As shown, a constant emission of light is contemplated. The constant emission of FIG. 21 is illustrative as comprising a substantially constant luminosity or intensity for a time period of at least approximately six seconds. Such a constant emission of light is contemplated as comprising various information, depending on the color of light emitted. For example, a constant blue emission is contemplated as indicating that the device is operating normally. As further shown in FIG. 21, a pulsating animation is provided wherein light intensity is continuously varied in a substantially sinusoidal manner. Further, a rising and falling animation is contemplated wherein intensity or luminosity is varied and wherein the intensity is held or paused at maximum and minimum values as shown in FIG. 21. A cyclic or cycling animation is also contemplated wherein light intensity gradually increases or decreases and terminates prior to reinitiating a cycle. Various additional lighting animations are contemplated that are not shown in FIG. 21. For example, various “blinking” animations are contemplated. Blinking may comprise a regular, single flash of light (e.g. at 1 Hz), or may comprise a double-flash, pause, double-flash animation. One of ordinary skill in the art will therefore recognize that no limitation with respect to light animations is provided herewith.
(55) Although the following text sets forth a detailed description of numerous different embodiments, it should be understood that the detailed description is to be construed as exemplary only and does not describe every possible embodiment since describing every possible embodiment would be impractical, if not impossible. Numerous alternative embodiments could be implemented, using either current technology or technology developed after the filing date of this patent, which would still fall within the scope of the claims. To the extent that any term recited in the claims at the end of this patent is referred to in this patent in a manner consistent with a single meaning, that is done for sake of clarity only so as to not confuse the reader, and it is not intended that such claim term by limited, by implication or otherwise, to that single meaning.
(56) While various embodiments of the present invention have been described in detail, it is apparent that modifications and alterations of those embodiments will occur to those skilled in the art. Moreover, references made herein to “the present invention” or aspects thereof should be understood to mean certain embodiments of the present invention and should not necessarily be construed as limiting all embodiments to a particular description. It is to be expressly understood that such modifications and alterations are within the scope and spirit of the present invention.
