Robotic system

Abstract

A self-propelled robot is disclosed for movement over a surface to be treated. The robot has a power supply ( 11 ) and a pair of wheels ( 8,9 ) driven by motors ( 6,7 ) for moving the robot over the surface. A mechanism ( 113,115,16 ) is provided for controllably depositing a fluent material on to the surface. Navigation sensors ( 4,13,18,21 ) provide signals for enabling the robot to navigate over the surface and one or more detectors ( 14,15,17 ) detect the presence of the material on the surface and provide signals indicative of its presence. A control system ( 100 ) receives the signals from the sensors and detectors and controls the motors and the depositing mechanism in dependence upon the signals received from the sensors and detectors.

1 . A self-propelled robot configured for movement over a trackless surface to be treated, the robot comprising: 
 a. a power supply;    b. a traction mechanism configured to receive power from the power supply and move the robot over a trackless surface;    c. a dispense mechanism adapted to controllably deposit a fluent material onto the trackless surface;    d. a plurality of navigation sensors providing signals for enabling the robot to navigate over the trackless surface and around obstacles thereon; and    e. a control system configured to receive the signals from the navigation sensors and operably dependent upon the signals to control the traction and dispense mechanisms.    
   
   
       2 . The robot according to  claim 1 , wherein the navigation sensors include collision sensors comprising at least one lateral displacement sensor arranged on a peripheral sensor ring to provide 360° collision detection, one or more vertical displacement sensors, or both.  
   
   
       3 . The robot according to  claim 1 , wherein the control system comprises a hierarchical architecture and includes one or more microprocessor controllers or microcontrollers for controlling higher-level functions and providing higher-level instructions; and a plurality of lower-level function modules adapted to receive signals from the navigation sensors and having processors to provide control signals in response thereto.  
   
   
       4 . The robot according to  claim 1 , wherein the traction mechanism comprises left and right, coaxially disposed drive wheels having corresponding motors.  
   
   
       5 . The robot according to  claim 4 , wherein signals associated with the traction mechanism are issued to a traction mechanism controller, via a manifold, and configured to receive signal inputs from the microprocessors or microcontrollers and from the lower-level function modules.  
   
   
       6 . The robot according to  claim 4 , wherein the lower-level function module processors include neural network functionality to provide behavioral characteristics appropriate to a chosen task of the robot, wherein the behavioral characteristics provided by the processors are moderated by a group of generic moderators providing arbitration between control instructions from the various processors.  
   
   
       7 . The robot according to  claim 4 , wherein the lower-level function modules comprise analog neural networks which provide functions comprising cliff sensing, collision detection, speed reduction or random movement.  
   
   
       8 . The robot according to  claim 1 , wherein the fluent material comprises a carpet cleaning composition, an odorization or deodorization composition, a dust mite control composition, an anti-microbial composition, a hard surface cleaning composition or mixtures thereof, which can be applied simultaneously or successively.  
   
   
       9 . The robot according to  claim 1 , wherein the fluent material comprises a hard surface cleaning composition.  
   
   
       10 . A method comprising controllably depositing a fluent material onto floors, carpets and other floor coverings using the robot as set forth in  claim 1 , wherein the robot is autonomous and self-propelled.  
   
   
       11 . The method according to  claim 10 , wherein the fluent material comprises a carpet cleaning composition, an odorization or deodorization composition, a dust mite control composition, an anti-microbial composition, a hard surface cleaning composition or mixtures thereof, which can be applied simultaneously or successively.  
   
   
       12 . The method according to  claim 11 , wherein the deposited material comprises a hard surface cleaning composition.  
   
   
       13 . The method according to  claim 1 , wherein the robot navigates over the trackless surface along an unpredetermined path.  
   
   
       14 . A self-propelled robot configured for movement over a trackless surface to be treated, the robot comprising: 
 a. a power supply;    b. a traction mechanism configured to receive power from the power supply and move the robot over a trackless surface;    c. a dispense mechanism adapted to controllably deposit a fluent material onto the trackless surface;    d. a plurality of navigation sensors providing signals for enabling the robot to navigate over the trackless surface and around obstacles thereon;    e. a control system configured to receive the signals from the navigation sensors and operably dependent upon the signals to control the traction mechanisms, wherein the control system comprises a hierarchical architecture and includes one or more microprocessor controllers or microcontrollers for controlling higher-level functions and providing higher-level instructions; and a plurality of lower-level function modules adapted to receive signals from the navigation sensors and having processors to provide control signals in response thereto, wherein higher-level functions comprise robot impact recognition, room size estimation, clutter level determination and battery monitoring.    
   
   
       15 . The robot according to  claim 14 , wherein the navigation sensors include collision sensors comprising at least one lateral displacement sensor arranged on a peripheral sensor ring to provide 360° collision detection, one or more vertical displacement sensors, or both.  
   
   
       16 . A method comprising controllably depositing a fluent material onto floors, carpets and other floor coverings using the robot as set forth in  claim 14 , wherein the robot is autonomous and self-propelled.  
   
   
       17 . The method according to  claim 16 , wherein the fluent material comprises a carpet cleaning composition, an odorization or deodorization composition, a dust mite control composition, an anti-microbial composition, a hard surface cleaning composition or mixtures thereof, which can be applied simultaneously or successively.  
   
   
       18 . The method according to  claim 17 , wherein the deposited material comprises a hard surface cleaning composition.  
   
   
       19 . The robot according to  claim 14 , wherein the fluent material comprises a carpet cleaning composition, an odorization or deodorization composition, a dust mite control composition, an anti-microbial composition, a hard surface cleaning composition or mixtures thereof, which can be applied simultaneously or successively.  
   
   
       20 . The robot according to  claim 19 , wherein the fluent material comprises a hard surface cleaning composition.