AN AUTOMATIC CLEANING APPARATUS FOR CLEANING A SPACE

FIELD

[0001] The present disclosure relates to the field of electromechanical devices. More particularly, the present disclosure relates to method and an automatic cleaning apparatus for cleaning a space.

BACKGROUND

[0002] The present civilized world is demanding in matters of cleanliness. Manual clearing operations are being degraded owing to requirement of a large manpower. The manual cleaning operations are modified to use one or more tools mounted on machines or supports piloted by operators, for example, motorcycles and automobiles for cleaning pavements and highways, telescopic elevators for cleaning facades, and vacuum cleaner carriages for cleaning ground areas. Conventional cleaning systems require the presence of at least a technician or an operator for guiding one or more cleaning tools to a plurality of places and for triggering the cleaning tools as and when required. Also, problems of accessibility and complete automation of the cleaning tools are critical. The conventional cleaning systems lack complete automation and require manual actuation of one or more control knobs.

[0003] It is difficult to use conventional cleaning systems for a ground space temporarily occupied by unexpected obstacles without a mechanical guiding system or a mechanical guiding element. Therefore, it is required to operate the cleaning tools without direct intervention of the operator and in an autonomous manner to perform several different successive cleaning tasks.

[0004] In light of the foregoing discussion, there is a need for an automatic cleaning apparatus for cleaning a space and a method for cleaning the space by the automatic cleaning apparatus.

SUMMARY

[0005] Exemplary embodiments of the present disclosure provide an automatic cleaning apparatus for cleaning a space and a method for cleaning the space by the automatic cleaning apparatus,

[0006] An example of an automatic cleaning apparatus for cleaning a space includes a comer detection mechanism for detecting a corner space. The automatic cleaning apparatus also includes a control unit to control a motion and guide a path of the automatic cleaning apparatus based on the detected corner space. The automatic cleaning apparatus further includes a cleaning mechanism operatively coupled with the control unit to perform a predetermined action based on the controlled motion. Furthermore the automatic cleaning apparatus includes a housing to accommodate the corner detection mechanism, the control unit, and the cleaning mechanism.

[0007] An example of a method for cleaning a space by an automatic cleaning apparatus includes detecting a corner space within the space by the automatic cleaning apparatus. The method also includes controlling motion of the automatic cleaning apparatus based on the detected comer space. Further, the method includes performing a predetermined cleaning action by the automatic cleaning apparatus based on the motion.

BRIEF DESCRIPTION OF FIGURES

[0008] The accompanying figures, similar reference numerals may refer to identical or functionally similar elements. These reference numerals are used in the detailed description to illustrate various embodiments and to explain various aspects and advantages of the present disclosure.

[0009] FIG. 1 illustrates an automatic cleaning apparatus, in accordance with
one embodiment;

[0010] FIG. 2 exemplarily illustrates a top view of an automatic cleaning apparatus including multiple infra red sensors mounted on a housing of the automatic cleaning apparatus, in accordance with one embodiment;

[0011] FIG. 3a exemplarily illustrates a top view of a space and an automatic cleaning apparatus including an infra red sensor to detect a corner space within the space, in accordance with an embodiment;

[0012] FIG. 3b exemplarily illustrates a top view of a space and an automatic
cleaning apparatus including an ultrasonic transducer to detect a corner space within the space, in accordance with an embodiment;

[0013] FIG. 4 exemplarily illustrates a top view of a space and an automatic cleaning apparatus including a camera to detect a corner space within the space, in accordance with an embodiment;

[0014] FIG. 5a illustrates a cleaning mechanism of an automatic cleaning apparatus including a sliding brush assembly, in accordance with one embodiment;

[0015] FIG. 5b illustrates a cleaning mechanism of an automatic cleaning apparatus including a dual direction reciprocating actuator, in accordance with one embodiment;

[0016] FIG. 6 illustrates a cleaning mechanism of an automatic cleaning apparatus Including a retractable brush assembly, in accordance with one embodiment; and

[0017] FIG. 7 is a flowchart illustrating a method for cleaning a space by an automatic cleaning apparatus, in accordance with one embodiment.

[0018] Persons skilled In the art will appreciate that elements in the figures are illustrated for simplicity and clarity and may have not been drawn to scale. For example, the dimensions of some of the elements in the figures may be exaggerated relative to other elements to help to improve understanding of various embodiments of the present disclosure.

DETAILED DESCRIPTION

[0019] It should be observed that method steps and system components have been represented by conventional symbols in the figures, showing only specific details that are relevant for an understanding of the present disclosure. Further, details that may be readily apparent to person ordinarily skilled in the art may not have been disclosed. In the present disclosure, relational terms such as first and second, and the like, may be used to distinguish one entity from another entity, without necessarily implying any actual relationship or order between such entities.

[0020] Exemplary embodiments of the present disclosure provide an automatic cleaning apparatus and a method for cleaning a space by the automatic cleaning apparatus.

[0021] FIG. 1 illustrates an automatic cleaning apparatus 100, in accordance with one embodiment. The space includes, but is not limited to an indoor space or an outdoor space.

[0022] The automatic cleaning apparatus 100 includes a corner detection mechanism for detecting a corner space. The corner space includes, but is not limited to an obtuse angled comer space, an acute angled corner space, a circular comer space and a right angled corner space. The corner detection mechanism includes but is not limited to one or more infrared sensors, one or more ultrasonic sensors, one or more optical sensors, one or more proximity sensors, one or more cameras, radio frequency identification (RFID), and a combination thereof. The automatic cleaning apparatus 100 also includes a control unit to control a motion of the automatic cleaning apparatus 100 based on the detected comer space. Also, the control unit guides a path of the automatic cleaning apparatus 100.

[0023] Further, the automatic cleaning apparatus 100 includes a cleaning mechanism operatively coupled with the control unit to perform a predetermined cleaning action based on the controlled motion. For example, on detecting the comer space the control unit aligns the automatic cleaning apparatus 100 so that the cleaning mechanism is exposed to the corner space, for example. When the automatic cleaning apparatus 100 reached the corner space, the cleaning mechanism performs the predetermined action to clean the corner space. The cleaning mechanism includes, but is not limited to a brush assembly 105. The cleaning mechanism Is powered by a motor. The predetermined cleaning action includes, but is not limited to moving the banish assembly 105 in a sliding motion to reach and clean the corner space, and positioning the brush assembly 105 to clean the corner space.

[0024] Furthermore, the automatic cleaning apparatus 100 includes a housing 110 to accommodate the corner detection mechanism, the control unit, and the cleaning mechanism. In some embodiments the housing 110 is Rota table. The corner detection mechanism can be mounted on an outer surface of the housing 110. In some embodiments, the brush assembly 105 is movable within and along a periphery of the housing 110. In some embodiments, the brush assembly 105 includes one or more retractable brushes. In some embodiments, the brush assembly 105 is detachably attached to the housing 110 via one or more slots in the housing 110. In accordance with an example, the housing can include a flexible configuration. The flexible configuration can further include a relatable configuration.

[0025] In some embodiments the automatic cleaning apparatus 100 includes one or more multiple ranging sensors, one or more rotating sensors or a combination thereof operatively coupled with the control unit. In some embodiments the automatic cleaning apparatus 100 is operatively coupled with one or more sensors positioned at a distance from the automatic cleaning apparatus 100 to detect the corner space. Also, the sensors guide the path of the automatic cleaning apparatus 100. The sensors include, but are not limited to, one or more infrared sensors, one or more ultrasonic sensors, one or more optical sensors, one or more proximity sensors, one or more cameras, the RFID, and a combination thereof. In some embodiments, the automatic cleaning apparatus 100 uses the RFID to distinguish between the corner space and one or more similar objects in the vicinity, for example, a door opening. The automatic cleaning apparatus 100 uses one or more RFID tags close to the door opening. Also, the automatic cleaning apparatus 100 maps a working arena using the RFID tags.

[0026] FIG. 2 exemplarily illustrates a top view of an automatic cleaning apparatus 100 including multiple Infra red sensors, for example, 205a and 205b in accordance with an embodiment. The infra red sensors are mounted on a housing 110 of an automatic cleaning apparatus 100. The infra red sensors are

used detect a corner space by receiving and measuring infra red light reflected from the corner space. The infra red sensors are used for short distance measurements. Also, the infra red sensors can be used to filter information regarding detailing of the corner space, for example, angle of the corner space, clearance.

[0027] FIG. 3a exemplarily illustrates a top view of a space 300 and an automatic cleaning apparatus 100 including an infra red sensor to detect a corner space within the space 300, in accordance with an embodiment. The space 300 includes one or more objects. The objects in the space 300 emit a black body radiation, for example, infrared light. The infra red sensor receives the infra red light emitted by the objects in the space 300. The infra red sensor then measures the infra red light received from the objects and detects the objects or the corner space within the space 300 based on the measurement.

[0028] FIG. 3b exemplarily illustrates a top view of a space 300 and an automatic cleaning apparatus 100 including an ultrasonic transducer, to detect a corner space within the space 300, in accordance with an embodiment. The automatic cleaning apparatus 100 uses the ultrasonic transducer to detect corner space 300 from a long distance. The ultrasonic transducer can be mounted on the outer surface of the housing at a proximal end of the automatic cleaning apparatus 100. The ultrasonic transducer emits ultrasonic wave bursts sequentially and simultaneously receives multiple echoes. A control unit of the automatic cleaning apparatus 100 analyses a gradient of the received echoes for every case to estimate a profile of the space 300 or one or more obstacles.

Based on the analysis, the control unit detects the corner space. Also, the control unit can determine a closeness of the detected corner space from the automatic cleaning apparatus 100 by using multiple cross echoes of the ultrasonic wave bursts.

[0029] FIG. 4 exemplarily illustrates a top view of a space 400 and an automatic cleaning apparatus 100 including a camera to detect a corner space within the space 400, in accordance with an embodiment. The camera is used by the automatic cleaning apparatus 100 to detect the corner space from a long distance. The camera captures multiple images 405 of a dynamic distribution of one or more obstacles in the path of the automatic cleaning apparatus 100 as a video stream. The video stream is sampled and processed. The processed video stream is used by the camera to detect the corner space.

[0030] In some embodiments the automatic cleaning apparatus 100 includes a combination of the infra red sensors and the ultrasonic transducers to detect the corner space from a shorter as well as a longer distance. In some embodiments, the automatic cleaning apparatus 100 uses a stereovision for detecting the corner space. The automatic cleaning apparatus 100 can determine a distance between intersecting planes at the corner space to detect the comer space using the stereovision. The automatic cleaning apparatus 100 maps an arena based on the detected corner space.

[0031] FIG. 5a illustrates a cleaning mechanism of an automatic cleaning apparatus 100 including a sliding brush assembly 505, in accordance with one embodiment. The sliding brush assembly 505 is powered by a motor 510. The sliding brush assembly 505 remains within a housing 110 of the automatic cleaning apparatus 100 until a corner space is detected by the automatic cleaning apparatus 100. When the corner space is detected by the automatic cleaning apparatus 100, the sliding brush assembly 505 slides out of an area enclosed by the housing 110 to reach out to the corner space and to clean the corner space. In some embodiments, the sliding brush assembly 505 is hinged to a housing 110 of the automatic cleaning apparatus 100 via a sponge. The spring prevents collision of the brush assembly with a wall adjacent to the corner space. The spring can be Installed in any position within the housing 110. The sliding brush assembly 505 is retractable and can be retracted when not in use.

[0032] FIG. 5b illustrates a cleaning mechanism of an automatic cleaning apparatus 100 including a dual direction reciprocating actuator 515, in accordance with one embodiment. In this embodiment, the automatic cleaning apparatus 100 Includes a brush assembly 105 and one or more slot guides, for example, 520a and 520b. The dual direction reciprocating actuator 515 enables reciprocating movement of the brush assembly 105 by moving along the slot guides. The dual direction reciprocating actuator 515 enables the brush assembly 105 to move in a corner space in multiple directions. The movement of the brush assembly 105 in multiple directions enables the brush assembly 105 to reach an obtuse angled corner space, an acute angled corner space, a right angled corner space and a circular corner space.

[0033] FIG. 6 illustrates a cleaning mechanism of an automatic cleaning apparatus 100 including a retractable brush assembly, in accordance with one embodiment. The retractable brush assembly protrudes out of a housing 110 of the automatic cleaning apparatus 100 at a proximal end of the automatic cleaning apparatus 100 to reach a corner space. The retractable brush assembly includes, but is not limited to a pair of brushes 605 and 610 attached to the housing 110 via one or more springs or one or more universal joints. The retractable brush assembly also includes a front brush 615 positioned in between the brushes 605 and 610. On encountering the corner space by the automatic cleaning apparatus 100 the brushes 605 and 610 pop out of the housing 110 enabling cleaning of the corner space and are forced inwards into the housing 110 due to compression of the springs. The brushes 605 and 610 enable cleaning of a right angled corner space and an obtuse angled corner space. The front brush 615 enables collection of lumps of dirt, for example, balls of paper.

[0034] FIG. 7 is a flowchart illustrating a method for cleaning a space by an automatic cleaning apparatus, in accordance with one embodiment. The space can be an indoor space or an outdoor space.

[0035] The method starts at step 705.

[0036] At step 710, a corner space within the space is detected by the automatic cleaning apparatus. The corner space includes, but is not limited to an obtuse angled corner space, an acute angled corner space, a right angled corner space, and a circular corner space. The automatic cleaning apparatus detects

the corner space using a corner detection mechanism. The corner detection mechanism includes, but is not limited to, one or more infrared sensors, one or more ultrasonic sensors, one or more optical sensors, one or more proximity sensors, one or more cameras, radio frequency identification, and a combination thereof.

[0037] At step 715, a motion of the automatic cleaning apparatus is controlled based on the corner space detected by the automatic cleaning apparatus to enable cleaning of the corner space. A control unit within the automatic cleaning apparatus controls the motion of the automatic cleaning apparatus. The control unit is operatively coupled with the corner detection mechanism. In order to control the motion, the control unit aligns the automatic cleaning apparatus with the corner space. Further, the control unit guides a path for the automatic cleaning apparatus based on the alignment to enable cleaning of the corner space.

[0038] At step 720, a predetermined cleaning action Is performed by the automatic cleaning apparatus based on the motion to clean the corner space. The automatic cleaning apparatus performs the predetermined cleaning action using a cleaning mechanism. The cleaning mechanism includes, but Is not limited to a brush assembly. The predetermined cleaning action includes, but Is not limited to moving the brush assembly in a sliding motion to reach and clean the corner space, and positioning the brush assembly to clean the corner space,

[0039] The method stops at step 725.

[0040] In the preceding specification, the present disclosure and its advantages have been described with reference to specific embodiments. However, it will be apparent to a person of ordinary skill in the art that yahoos modifications and changes can be made, without departing from the scope of the present disclosure, as set forth in the claims below. Accordingly, the specification and figures are to be regarded as illustrative examples of the present disclosure, rather than in restrictive sense. All such possible modifications are intended to be included within the scope of present disclosure.

I/We claim:

1. An automatic cleaning apparatus for cleaning a space, the automatic cleaning apparatus comprising:

a corner detection mechanism for detecting a corner space;

a control unit to control a motion of the automatic cleaning apparatus based on the detected corner space;

a cleaning mechanism operatively coupled with the control unit to perform a predetermined cleaning action based on the controlled motion; and

a housing to accommodate the corner detection mechanism, the control unit, and the cleaning mechanism.

2. The automatic cleaning apparatus of claim 1, wherein the corner detection mechanism comprises at least one of: one or more Infrared sensors, one or more ultrasonic sensors, one or more optical sensors, one or more proximity sensors, one or more cameras, radio frequency identification, and a combination thereof.

3. The automatic cleaning apparatus of claim 1, wherein the corner detection mechanism is mounted on an outer surface of the housing.

4. The automatic cleaning apparatus of claim 1, further comprising at least one of one or more multiple ranging sensors, one or more rotating sensors and a combination thereof operatively coupled with the control unit.

5. The automatic cleaning apparatus of claim 1, wherein the housing is rotatable.

6. The automatic cleaning apparatus of claim 1, wherein the control unit is operatively coupled with one or more sensors positioned at a distance from the automatic cleaning apparatus to detect the corner space of the automatic cleaning apparatus,

7. The automatic cleaning apparatus of claim 1, wherein the cleaning mechanism comprises a brush assembly.

8. The automatic cleaning apparatus of claim 7, wherein the brush assembly is movable within and along a periphery of the housing.

9. The automatic cleaning apparatus of claim 7, wherein the brush assembly comprises; one or more retractable brushes.

10. The automatic cleaning apparatus of claim 1, wherein the cleaning mechanism comprises a sliding brush assembly hinged to the housing via a spring.

11. The automatic cleaning apparatus of claim 1, wherein the cleaning mechanism comprises a brush assembly detachably attached to the housing at one or more slots in the housing.

12. The automatic cleaning apparatus of claim 11, wherein cleaning mechanism further comprises one or more slot guides and one or more dual direction reciprocating actuators to enable movement of the cleaning mechanism based on the detected corner space.

13. The automatic cleaning apparatus of claim 1, wherein the space is one of an indoor space and an outdoor space.

14. The automatic cleaning apparatus of claim 1, wherein the cleaning mechanism is powered by a motor

15. The automatic cleaning apparatus of claim 1, wherein the cleaning mechanism comprises:

a retractable brush assembly comprising:

a pair of brushes attached to the housing via one of one or more springs and one or more universal joints; and

a front brush positioned in between the brushes.

16. A method of cleaning a space by an automatic cleaning apparatus, the
method comprising:

detecting a corner space within the space by the automatic cleaning apparatus;

controlling motion of the automatic cleaning apparatus based on the detected corner space; and

performing a predetermined cleaning action by the automatic cleaning apparatus based on the motion.

17. The method of claim 16, wherein controlling the motion comprises:
aligning the automatic cleaning apparatus with the detected corner space;
and guiding a path of the automatic cleaning apparatus based on the alignment.