Propulsion system with steered front wheels

Abstract

A cleaning machine includes a drive assembly, a cleaning element, and a controller assembly. The drive assembly includes a pair of drive wheels, a rear motor, a multidirectional wheel, and a front motor. Each wheel of the pair of drive wheels is configured to be driven independently of the other wheel of the pair of drive wheels. The rear motor is operably coupled to the pair of drive wheels and is arranged to drive at least one of the pair of drive wheels. The multidirectional wheel is disposed in front of the pair of drive wheels. The front motor is operably coupled to a steering wheel arranged to steer the multidirectional wheel. The cleaning element is disposed in front of the pair of driving wheels. The controller assembly is arranged to control at least one of the rear motor, the front motor, or a combination thereof.

Description

Background Technology

[0001] This disclosure generally relates to cleaning machines. In particular, this disclosure relates to a propulsion system for a cleaning machine.

[0002] Some existing cleaning machines use a single rear-drive / steering wheel due to the placement of the broom and hopper used for sweeping. In this example, the front wheels of some existing cleaning machines are fixed and cannot rotate. This design may require the operator to adapt to a different type of driving experience than is typical of the operator. Additionally, this single rear-wheel design may limit the cleaning machine's cleaning capabilities in terms of the type and placement of cleaning equipment.

[0003] The inventors have recognized the need for an improved system that overcomes the aforementioned drawbacks of cleaning machines with a single wheel configuration. Summary of the Invention

[0004] A cleaning machine includes a drive assembly, a cleaning element, and a controller assembly. The drive assembly includes a pair of drive wheels, a rear motor, a multi-directional wheel, and a front motor. Each of the pair of drive wheels is configured to be driven independently of the other wheel in the pair. The rear motor is operatively coupled to the pair of drive wheels and arranged to drive at least one of the drive wheels. The multi-directional wheel is arranged in front of the pair of drive wheels along a intended direction of use. The front motor is operatively coupled to the multi-directional wheel and arranged to steer the multi-directional wheel. The cleaning element is arranged to contact a cleaning surface and is arranged in front of the pair of drive wheels. The controller assembly is arranged to control at least one of the rear motor, the front motor, or a combination thereof.

[0005] A propulsion system for a cleaning machine includes a rear wheel assembly, a front wheel assembly, and a controller assembly. The rear wheel assembly includes a first rear wheel, a second rear wheel, a first rear motor operably connected to the first rear wheel, and a second rear motor operably connected to the second rear wheel. The first rear motor is arranged to drive the first rear wheel. The second rear motor is arranged to drive the second rear wheel. The front wheel assembly includes a multi-directional wheel and a front motor operably coupled to the multi-directional wheel. The multi-directional wheel is arranged in front of the rear wheel assembly along the intended use direction of the cleaning machine. The front motor is arranged to rotate the multi-directional wheel. The controller assembly is connected to each of the first rear motor, the second rear motor, and the front motor. The controller assembly is arranged to control each of the first rear motor, the second rear motor, and the front motor. Attached Figure Description

[0006] Figure 1A A perspective view of a block model of a first cleaning machine with two multi-directional wheels is shown.

[0007] Figure 1B A bottom view of a block model of the first cleaning machine is shown.

[0008] Figure 2A A perspective view of a block model of a second cleaning machine with a single multi-directional wheel is shown.

[0009] Figure 2B A bottom view of the block model of the second cleaning machine is shown.

[0010] Figure 3A A perspective view of a block model of a third cleaning machine with two different cleaning elements is shown.

[0011] Figure 3B A bottom view of the block model of the third cleaning machine is shown.

[0012] Figure 4 A bottom view of a third cleaning machine with a reduced hopper opening is shown.

[0013] Figure 5 A simplified schematic three-dimensional system view of a propulsion system with wheels, motors, and controllers is shown. Detailed Implementation

[0014] Existing cleaning machines, sweepers, and combined cleaning machines may include rear-propulsion / steering designs, which require operators to adapt to a different type of driving experience (e.g., rear-steering) compared to that typically experienced in vehicles such as automobiles. In such examples, the front wheels of some existing cleaning machines are fixed and cannot rotate. The inventors have recognized, among other things, that a problem to be solved with existing cleaning machines is the elimination of a single rear-wheel configuration, which may limit the type and number of cleaning implements that the cleaning machine can utilize.

[0015] The proposed disclosure presents a novel design for a propulsion and steering system for a cleaning machine having a controlled rear drive wheel and one or more steerable front wheels. The independently controlled rear drive wheel provides propulsion and steering for the cleaning machine. One or more steerable front wheels provide steering for the cleaning machine. The steerable or steerable front wheel can be positioned with two externally positioned steerable wheels (e.g., for sweeping functions) or a single steerable wheel (e.g., centered on the scrubber). A narrower transfer path is also provided for guiding dirt from the broom into the hopper, thus allowing sufficient space for the steerable wheel to rotate without positioning it completely outside the contours of the cleaning machine.

[0016] The embodiments disclosed herein bring the steering function closer to a typical steering configuration similar to that of a vehicle. Additionally, this propulsion and steering system provides a platform that can be used across a wide variety of machines and machine types. In this way, the embodiments disclosed herein help reduce the number of parts and streamline assembly across multiple product lines.

[0017] Figure 1AA perspective view of a block model of a first cleaning machine 10 is shown, which includes an operator area 12, a power source 14, a solution tank 16, a recovery tank 18, a front wheel assembly 20 (with a first front wheel 22A and a second front wheel 22B), a rear wheel assembly 24 (with a first rear wheel 26A), and a cleaning assembly 28 (with a first cleaning element 30A). Figure 1A It also includes the forward direction F, which indicates the intended use direction of the first cleaning machine 10. Figure 1B A bottom view of a block model of a first cleaning machine 10 is shown, which includes a front wheel assembly 20 (having a first front wheel 22A, a first pivot 32A, a second front wheel 22B, and a second pivot 32B), a rear wheel assembly 24 (having a first rear wheel 26A and a second rear wheel 26B), a cleaning assembly 28 (having a first cleaning element 30A and a second cleaning element 30B), a first rear axle 34A, a second rear axle 34B, and a drive unit 36. Further discussion follows. Figure 1A and Figure 1B .

[0018] In one embodiment, the first cleaning machine 10 is at least one of a sweeping machine, a vacuum cleaner, a scrubbing machine, or a combination thereof. Figure 1A As shown, the first cleaning machine 10 is a ride-on machine, configured for a user to sit on. In other embodiments, the first cleaning machine 10 may include at least one of a ride-on machine, a standing machine, a walk-behind machine, or a combination thereof.

[0019] The operator area 12 is a space or opening configured to accommodate a user during use of the first cleaning machine 10. The power source 14 is a source of power. In one embodiment, the power source 14 may include at least one of an engine, a motor, a battery, or a combination thereof. Additionally or alternatively, the power source 14 may include removable or replaceable components, such as one or more batteries. The solution tank 16 and the recovery tank 18 are containers configured to contain liquids. In one embodiment, the solution tank 16 may include at least a cleaning water section, a cleaning solution section, or a combination thereof. In one embodiment, the recovery tank 18 is a tank for containing waste liquid or recycled liquid.

[0020] The front wheel assembly 20 is an assembly of one or more wheels. In this embodiment, the front wheel assembly 20 is shown as including a first front wheel 22A and a second front wheel 22B. In other embodiments, the front wheel assembly 20 may include a single wheel or more than two wheels. In embodiments, at least one of the first front wheel 22A and the second front wheel 22B may be a multi-directional wheel. For example, at least one of the first front wheel 22A and the second front wheel 22B may be a caster, a swivel caster, an omnidirectional wheel, or a combination thereof.

[0021] The rear wheel assembly 24 is an assembly of one or more wheels. In one embodiment, the rear wheel assembly 24 may include two wheels, such as a first rear wheel 26A and a second rear wheel 26B (e.g., as shown in the image). Figure 1B (As shown). The first rear wheel 26A and the second rear wheel 26B can be a pair of drive wheels. In an embodiment, at least one of the first rear wheel 26A, the second rear wheel 26B, or a combination thereof can be a drive wheel.

[0022] The cleaning assembly 28 includes one or more components configured for cleaning surfaces. In an embodiment, the cleaning assembly 28 may include two cleaning elements, such as a first cleaning element 30A and a second cleaning element 30B (e.g., as shown in the image). Figure 1B (As shown). In one embodiment, at least one of the first cleaning element 30A, the second cleaning element 30B, or a combination thereof may include at least one of a brush, a sweeping element, a scrubber, a polisher, a sanding element, or a combination thereof. In one embodiment, the first cleaning element may include at least one of a disc, a pad, a column, or a combination thereof. Additionally or alternatively, at least one of the first cleaning element 30A, the second cleaning element 30B, or a combination thereof may be configured to move by at least one of rotational motion, track motion, or a combination thereof.

[0023] In one embodiment, both the first pivot 32A and the second pivot 32B can be a rod, a pivot axis, a pivot rod, or a vertical axis (e.g., extending into or out of...). Figure 1B (The page shown) or at least one of the following combinations. In an embodiment, both the first rear axle 34A and the second rear axle 34B can be a rod, a spindle, or a combination thereof. The drive unit 36 ​​may include at least one of a motor, a transmission, a gear assembly, a battery, an engine, or a combination thereof. Additionally or alternatively, the drive unit 36 ​​may include a first motor and a second motor operatively connected to the first rear axle 34A and the second rear axle 34B, respectively.

[0024] Each of the operator area 12, power source 14, solution tank 16, recovery tank 18, front wheel assembly 20, rear wheel assembly 24, and cleaning assembly 28 is operatively connected to each other. In this embodiment, the operator area 12, power source 14, solution tank 16, recovery tank 18, front wheel assembly 20, rear wheel assembly 24, and cleaning assembly 28 are positioned relative to each other in the first configuration. In other embodiments, at least one of the operator area 12, power source 14, solution tank 16, recovery tank 18, front wheel assembly 20, rear wheel assembly 24, and cleaning assembly 28 may be located in a different position or orientation relative to another part or component of the first cleaning machine 10. Additionally or alternatively, at least one of the operator area 12, power source 14, solution tank 16, recovery tank 18, front wheel assembly 20, rear wheel assembly 24, and cleaning assembly 28 may be connected to or mounted to the frame or platform of the first cleaning machine 10.

[0025] Alternatively or additionally, at least one of the operator area 12, power source 14, solution tank 16, recovery tank 18, front wheel assembly 20, rear wheel assembly 24, cleaning assembly 28, or combinations thereof, may be constructed in a modular manner. In this embodiment, the operator area 12 may be arranged in front of the rear wheel assembly 24 in the forward direction F when the first cleaning machine 10 is in use. Alternatively, the operator area 12 may be arranged behind the rear wheel assembly 24 in the forward direction F when the first cleaning machine 10 is in use.

[0026] In one embodiment, at least one of the first front wheel 22A and the second front wheel 22B, or a combination thereof, may be arranged in front of the rear wheel assembly 24 in the forward direction F of the first cleaning machine 10. In another embodiment, at least one of the first front wheel 22A and the second front wheel 22B may be positioned at or near the front of the first cleaning machine 10 (e.g., the front of the first cleaning machine 10 is arranged facing...). Figure 1A and Figure 1B (Left side of the first cleaning machine 10). The first front wheel 22A and the second front wheel 22B can be positioned on opposite sides of the first cleaning machine 10 and at approximately equal distances from the centerline CL of the first cleaning machine 10 (see example). Figure 1B For example, the first front wheel 22A may be arranged on the first side S1 of the first cleaning machine 10. Additionally, the second front wheel 22B may be arranged on the second side S2 of the first cleaning machine 10.

[0027] In one embodiment, both the first front wheel 22A and the second front wheel 22B of the front wheel assembly 20 can rotate freely 360°. In another embodiment, the first front wheel 22A and / or the second front wheel 22B can be configured to rotate freely about a corresponding vertical axis (e.g., as shown in the figure). Figure 1A The pivoting, rotation, or combination thereof (as shown above and below) is performed. For example, as... Figure 1B As shown, the first front wheel 22A can pivot or rotate about a first pivot 32A. Additionally or alternatively, the second front wheel 22B can pivot or rotate about a second pivot 32B. Figure 1A In this embodiment, the directions of pivoting or rotation of the first front wheel 22A and the second front wheel 22B can be indicated by arrows P1 and P2, respectively. Additionally, the first front wheel 22A and the second front wheel 22B can support the weight of the front portion of the first cleaning machine 10. In one embodiment, at least one of the first front wheel 22A and the second front wheel 22B can be a non-steering wheel. In another embodiment, at least one of the first front wheel 22A and the second front wheel 22B can be a steering wheel.

[0028] In one embodiment, the first rear wheel 26A may be operably connected to the drive unit 36 ​​via the first rear axle 34A and / or the second rear wheel 26B may be operably connected to the drive unit 36 ​​via the second rear axle 34B. In another embodiment, each of the first rear wheel 26A and the second rear wheel 26B may be configured to be driven independently of the other rear wheel. For example, each of the first rear wheel 26A and the second rear wheel 26B may be driven at different rotational rates and / or directions to cause movement and / or rotation of the first cleaning machine 10. In another embodiment, the relative positioning between the first rear wheel 26A and the second rear wheel 26B, and the driving function of the first rear wheel 26A and the second rear wheel 26B, may cause the first cleaning machine to rotate about a point P defined by the rear wheel assembly 24. R Rotation. In the implementation, the rotation point P... R It can be arranged along the center line C of the first cleaning machine 10 L At the point of intersection with at least one of the rotation axis of the first rear axle 34A or the rotation axis of the second rear axle 34B.

[0029] In one embodiment, the first rear shaft 34A and the second rear shaft 34B can be aligned coaxially with respect to each other. In another embodiment, the first rear shaft 34A and the second rear shaft 34B can be aligned along the front-rear direction of the first cleaning machine 10 (e.g., as shown in the previous embodiment). Figure 1B (As shown from left to right) or up and down (e.g., in and out as shown) Figure 1B At least one of the pages shown is misaligned or offset.

[0030] Additionally or alternatively, the cleaning assembly 28 may be arranged in front of the rear wheel assembly 24 in the forward direction F of the first cleaning machine 10. In another embodiment, the front wheel assembly 20 may be arranged in front of the cleaning assembly 28 in the forward direction F of the first cleaning machine 10. The cleaning assembly 28 (having at least one of a first cleaning element 30A and a second cleaning element 30B) is configured to clean, scrub, polish, buff, sweep, vacuum, or a combination thereof of the surrounding environment (such as the floor on which the first cleaning machine 10 is arranged).

[0031] The first cleaning machine 10, having a front wheel assembly 20 and a rear wheel assembly 24, has an independently controlled dual rear drive wheel configuration, which provides propulsion and steering for the first cleaning machine 10. The rear wheel assembly 24 causes the first cleaning machine to rotate around a point P. R When rotating, the combination of the front wheel assembly 20 and the rear wheel assembly 24 provides a steering function that more closely resembles a typical steering configuration involving front steering wheels. Additionally, the first front wheel 22A and the second front wheel 22B (e.g., casters or omnidirectional wheels) are used to support the weight of the front of the cleaning machine. Given these features, the first cleaning machine 10 gives the operator a more familiar feel when using a front-steering machine construction.

[0032] Figure 2A A perspective view of a block model of the second cleaning machine 110 is shown, which includes an operator area 112, a power source 114, a solution tank 116, a recovery tank 118, and a front wheel 122 (including the axis of rotation A). R ), rear wheel assembly 124 (with a first rear wheel 126A) and cleaning assembly 128 (with a first cleaning element 130A). Figure 2A It also includes the forward direction F, which indicates the intended direction of use for the second cleaning machine 110. Figure 2B A bottom view of a block model of the second cleaning machine 110 is shown, which has a front wheel 122 (including a rotation axis A). R and pivot axis A P The rear wheel assembly 124 (having a first rear wheel 126A and a second rear wheel 126B), the cleaning assembly 128 (having a first cleaning element 130A and a second cleaning element 130B), the first rear axle 134A, the second rear axle 134B, and the drive unit 136 are also discussed. Figure 2A and Figure 2B .

[0033] As discussed herein, the description of the components of the second cleaning machine 110 corresponds to the description of... Figure 1A and Figure 1BThe same or similar components of the first cleaning machine 10 discussed. In view of this, components of the second cleaning machine 110 are designated with 100 more reference numerals than those of the first cleaning machine 10 (first cleaning machine 10 and second cleaning machine 110, operator area 12 and operator area 112, ..., drive unit 36 ​​and drive unit 136, etc.). In this way, the description provided regarding the first cleaning machine 10 can also describe the components of the second cleaning machine 110. Figure 2A and Figure 2B The corresponding components of the second cleaning machine 110 are shown and discussed.

[0034] The second cleaning machine 110 may include front wheels 122. In some embodiments, the front wheels 122 may be multi-directional wheels. For example, the front wheels 122 may be casters, swivel casters, omnidirectional wheels, or combinations thereof. The front wheels 122 may be arranged along the forward direction F of the second cleaning machine 110 and the centerline C of the second cleaning machine 110. L Alignment. Alternatively or additionally, the front wheel 122 may be arranged to align with the center of the cleaning assembly 128 along the forward direction F of the second cleaning machine 110.

[0035] The front wheel 122 can limit the axis of rotation A. R The front wheel 122 rolls about the axis of rotation A as it rolls along a surface (e.g., the floor). R Rotation. The front wheel 122 can define the pivot axis A. P (See example) Figure 2B The pivot axis A of the front wheel 122. P It could be the point around which the front wheel 122 pivots. For example... Figure 2A As shown, the pivot axis A of the front wheel 122 P It can be vertically oriented relative to the second cleaning machine 110 (e.g., vertical entry and exit). Figure 2A (The page shown). Pivot axis A P Alternatively, it can be perpendicular to the pivot axis A of the front wheel 122. P Orientation. In one embodiment, the front wheel 122 may be a non-steering wheel. In another embodiment, the front wheel 122 may be a steering wheel. Additionally or alternatively, the front wheel 122 may be configured about a pivot axis A. P And / or about pivot axis A within a 360° range. P Free rotation.

[0036] like Figure 2B As shown, the cleaning assembly 128 includes a first cleaning element 130A and a second cleaning element 130B. In another embodiment, the cleaning assembly 128 may include one or more than two (e.g., three) cleaning elements.

[0037] The first cleaning element 130A can limit the rotation axis B around which the first cleaning element 130A rotates. R .exist Figure 2B In the middle, the axis of rotation B R This is shown as entering and exiting a page. In the embodiment, the rotation axis B... R It can be arranged relative to the axis of rotation A of the front wheel 122 R Roughly vertical. Additionally or alternatively, the axis of rotation B. R It can be arranged approximately parallel to the pivot axis A of the front wheel 122. P .

[0038] In one embodiment, the front wheel 122 may be positioned in front of the rear wheel assembly 124 in the forward direction F along the second cleaning machine 110. In another embodiment, the front wheel 122 may be positioned on or near the front of the second cleaning machine 110 (e.g., the front of the second cleaning machine 110 is arranged facing...). Figure 2A and Figure 2B (Left side of the middle).

[0039] In one embodiment, the front wheel 122A can rotate freely 360°. In another embodiment, the front wheel 122A can be configured to rotate about a corresponding vertical axis (e.g., as shown in the figure). Figure 2A The pivoting, rotation, or combination thereof (as shown above and below) is performed. For example, as... Figure 2B As shown, the front wheel 122 can rotate around the pivot axis A P Pivoting or turning. Additionally, the front wheel 122 can support the weight of the front of the second cleaning machine 110. In one embodiment, the front wheel 122 can be a non-steering wheel. In another embodiment, the front wheel 122 can be a steering wheel.

[0040] In one embodiment, the first rear wheel 126A may be operably connected to the drive unit 136 via the first rear axle 134A and / or the second rear wheel 126B may be operably connected to the drive unit 136 via the second rear axle 134B. In one embodiment, each of the first rear wheel 126A and the second rear wheel 126B may be configured to be driven independently of the other rear wheel. For example, each of the first rear wheel 126A and the second rear wheel 126B may be driven at different rotational rates and / or rotational directions to cause movement and / or rotation of the second cleaning machine 110. In one embodiment, the relative positioning between the first rear wheel 126A and the second rear wheel 126B and the driving function of the first rear wheel 126A and the second rear wheel 126B may cause the first cleaning machine to rotate about a point P defined by the rear wheel assembly 124. R Rotation. In the implementation, the rotation point P... R It can be arranged along the center line C of the second cleaning machine 110 LAt the point of intersection with at least one of the rotation axis of the first rear axle 134A or the rotation axis of the second rear axle 134B.

[0041] The second cleaning machine 110, having a front wheel 122 and a rear wheel assembly 124, has an independently controlled dual rear drive wheel configuration, which provides propulsion and steering for the second cleaning machine 110. The rear wheel assembly 124 causes the first cleaning machine to rotate around a point P. R When rotating, the combination of the front wheel 122 and the rear wheel assembly 124 provides a steering function that more closely resembles a typical steering configuration involving front steering wheels. Additionally, the front wheel 122 (e.g., a caster or omnidirectional wheel) is used at the front of the second cleaning machine 110 to support the weight of the front of the second cleaning machine 110. Given these features, the second cleaning machine 110 gives the operator a more familiar feel using a front-steering machine construction.

[0042] Figure 3A A perspective view of a block model of a third cleaning machine 210 is shown, which includes an operator area 212, a power source 214, a solution tank 216, a recovery tank 218, a hopper 219, a front wheel assembly 220 (including a first front wheel 222A and a second front wheel 222B), a rear wheel assembly 224 (including a first rear wheel 226A), and a cleaning assembly 228 (including a first cleaning element 230A and a second cleaning element 230B (with a first scrubber 238A)). Figure 3B A bottom view of a block model of a third cleaning machine 210 is shown, which includes a front wheel assembly 220 (including a first front wheel 222A and a second front wheel 222B), a rear wheel assembly 224 (including a first rear wheel 226A and a second rear wheel 226B), a cleaning assembly 228 (including a first cleaning element 230A and a second cleaning element 230B (with a first scrubber 238A, a second scrubber 238B and a third scrubber 238C)), a first rear axle 234A, a second rear axle 234B and a drive unit 236. Figure 3A and Figure 3B It also includes the forward direction F, which indicates the intended direction of use for the third cleaning machine 210. (Discussion continues...) Figure 3A and Figure 3B .

[0043] As discussed herein, the description of the components of the third cleaning machine 210 corresponds to the description of... Figure 1A and Figure 1B The first cleaning machine 10 discussed and as about Figure 2A and Figure 2BThe second cleaning machine 110 discussed herein uses the same or similar components. Therefore, the components of the third cleaning machine 210 are designated by reference numerals that are 200 more numerous than those of the first cleaning machine 10 and 100 more numerous than those of the second cleaning machine 110. In this way, the description provided with respect to the first cleaning machine 10 and the second cleaning machine 110 can also describe the components of the third cleaning machine 210. Figure 3A and Figure 3B The corresponding components of the third cleaning machine 210 are shown and discussed.

[0044] The hopper 219 may include a container or bin for collecting and / or storing materials. In one embodiment, the hopper 19 may be a bin that defines an opening or cavity for collecting dirt and / or grime received from at least one of the first cleaning element 230A, the second cleaning element 230B, or a combination thereof.

[0045] In an embodiment, the first cleaning element 230A may include a single broom (e.g., having multiple bristles), such as a cylindrical brush or a sweeper. The first cleaning element 230A may define a rotation axis A around which the first cleaning element 230A rotates. R The rotation axis A of the first cleaning element 230A R It can be arranged parallel to the vertical direction, such as Figure 3B As shown. In this embodiment, the rotation axis A of the first cleaning element 230A is... R It can be arranged with respect to the first pivot axis A of the first front wheel 222A. P1 Or the second pivot axis A of the second front wheel 222B P2 At least one of them is roughly vertical.

[0046] In one embodiment, the second cleaning element 230B may include multiple cleaning elements. For example, the second cleaning element may include a first scrubber 238A, a second scrubber 238B, and a third scrubber 238C. In other embodiments, the second cleaning element 230B may include fewer or more than three cleaning elements (e.g., such as...). Figure 3A and Figure 3B (The scrubber shown).

[0047] At least one of the first scrubber 238A, the second scrubber 238B, and the third scrubber 238C may include a disc or pad having a plurality of smaller cleaning elements (e.g., bristles, sponges, microfibers, etc.) configured to remove dirt from a cleaning surface (e.g., a floor).

[0048] In another embodiment, the third cleaning machine may include a hopper 219 and a first cleaning element 230A, but does not include a second cleaning element (e.g., one or more discs, in...). Figure 3A and Figure 3B(Seen as the second cleaning element 230B). In yet another embodiment, the third cleaning machine 210 may include the second cleaning element 230B, but not the first cleaning element 230A (e.g., a cylindrical rotating broom or brush, in...). Figure 3A and Figure 3B (The first cleaning element 230A is shown in the figure).

[0049] In one embodiment, the first cleaning element 230A may be arranged in front of the second cleaning element 230B in the forward direction F. Alternatively, the first cleaning element 230A may be arranged behind the front wheel assembly 220 in the forward direction F. Additionally, the first cleaning element 230A may be arranged as a mating rotating broom, such that the bottom of the first cleaning element 230A rotates towards the front of the third cleaning machine 210 during operation of the third cleaning machine 210.

[0050] In an embodiment, the third cleaning machine 210 may incorporate a direct-throw function via the first cleaning element 230A. For example, during operation of the third cleaning machine 210, the first cleaning element 230A may sweep dirt and particles from the cleaning surface toward the hopper 219 (with or without the aid of solution). Specifically, the first cleaning element 230A may sweep dirt and / or particles into a portion of the hopper 219. Additionally or alternatively, the second cleaning element 230B may perform at least one of scrubbing, washing, or a combination thereof (with or without the aid of solution) on the cleaning surface.

[0051] Similar to the first cleaning machine 10 and the second cleaning machine 110 discussed above, the third cleaning machine 210, which has a front wheel assembly 220 and a rear wheel assembly 224, provides a cleaning machine with zero-turn capability and allows the user to become more familiar with the feeling of turning.

[0052] Figure 4 A bottom view of a portion of a third cleaning machine 210, including a hopper 219, a front wheel assembly 220, and a first cleaning element 230A, is shown.

[0053] In one embodiment, the hopper 219 may include a first sidewall 240A and a second sidewall 240B. The first sidewall 240A and the second sidewall 240B may be arranged on opposite sides of the third cleaning machine 210. The first sidewall 240A may be curved and may be oriented concave away from the second sidewall 240B. The second sidewall 240B may be curved and may be oriented concave away from the first sidewall 240A.

[0054] Alternatively or additionally, the first sidewall 240A may include a first recess oriented inwardly away from the second sidewall 240B. The second sidewall 240B may include a second recess oriented inwardly away from the first sidewall 240A. The first front wheel 222A may be partially disposed within the first recess of the first sidewall 240A. The second front wheel 222B may be partially disposed within the second recess of the second sidewall 240B.

[0055] Hopper 219 may define an opening 242. Opening 242 may be an inlet to hopper 219. In one embodiment, opening 242 extends from a first sidewall 240A to a second sidewall 240B. Opening 242 is arranged to receive particles and dirt from first cleaning element 230A during operation of the third cleaning machine 210. Opening 242 may include a direction along the lateral direction of the third cleaning machine 210 (e.g., in...). Figure 4 The width W (in the transverse direction shown from the left side to the right side of opening 242) extends from one side of opening 242 to the other side of opening 242. O Additional or alternative land, the width W of opening 242. O It can be limited to the point closest to the second sidewall 240B along the first sidewall 240A and the point closest to the first sidewall 240A along the second sidewall 240B.

[0056] The first front wheel 222A can define a first circumference of rotation C1, and the second front wheel 222B can define a second circumference of rotation C2. The distance between the inward moist points of each of the first circumference of rotation C1 and the second circumference of rotation C2 can be defined as distance D. w .

[0057] In this embodiment, the first cleaning element 230A can define the throwing direction D. T Direction of throwing D T This indicates the direction in which particles and / or dirt are thrown from the first cleaning element 230A during the operation of the third cleaning machine 210. Alternatively or additionally, the throwing direction D... T It can be along the forward direction F (e.g.) Figures 1A to 3B (as shown) in the same direction.

[0058] The first cleaning element 230A may also define a width W from the first end of the first cleaning element 230A to the opposite end of the first cleaning element 230A. CE Additionally or alternatively, the width W of the first cleaning element 230A CE It can be along the centerline axis A of the first cleaning element 230A. C It extends from the first end of the first cleaning element 230A to the opposite end of the first cleaning element 230A.

[0059] In the implementation, the width W of the opening 242 O It can be less than the distance D between the first rotating circle C1 and the second rotating circle C2. w Alternatively or additionally, the width of the first cleaning element 230A is greater than the width W of the opening 242 of the hopper 219. O .

[0060] The first sidewall 240A enables the first front wheel 222A to avoid contact with the wall of the hopper 219 around the first pivot axis A. P1 Rotation. Similarly, the second sidewall 240B enables the second front wheel 222B to rotate about the second pivot axis A in a manner that prevents the second front wheel 222B from contacting the wall of the hopper 219. P2 Rotation. Additionally, the placement of the first front wheel 222A and the second front wheel 222B relative to the center of the hopper 219 allows the third cleaning machine 210 to have a narrow profile, compared to the front wheels being arranged on the outside of the straight sidewall of the hopper of the alternative cleaning machine.

[0061] Any cleaning machine in the embodiments described herein may also include a scraper mounted to the cleaning machine. In any embodiment, the scraper may be mounted behind the cleaning element (e.g., relative to the intended direction of use of the cleaning machine) to collect liquid from the cleaning surface. Additionally or alternatively, in addition to or besides the front wheels discussed herein (e.g., 22A, 22B, 122A, 122B, 222A, or 222B), any embodiment discussed herein may include one or more steering front wheels.

[0062] Figure 5 A simplified schematic perspective view of the propulsion system 300 is shown. The propulsion system 300 is shown as including a steering mechanism 302, a front wheel assembly 320 (having a first front wheel 322A, a second front wheel 322B, a first front motor 323A, and a second front motor 323B), a rear wheel assembly 324 (having a first rear wheel 326A, a second rear wheel 326B, a first rear motor 336A, and a second rear motor 336B), and a controller assembly 342 (having a central controller 344, a first front controller 346A, a second front controller 346B, a first rear controller 348A, and a second rear controller 348B). As shown in the figure, for clarity... Figure 5 The individual components of the cleaning machine are omitted. Any cleaning machine in the embodiments described herein (e.g., 10, 110, 210) may also include a propulsion system 300.

[0063] Steering device 302 may include a handwheel for user interaction and for steering the cleaning machine. Additionally or alternatively, steering device 302 may include a power-assisted steering function and / or a display for communicating information to the user. In one embodiment, the steering device may include a sensor 304. Sensor 304 may be attached to and / or integrally formed with steering device 302. Sensor 304 may be configured to sense the degree or amount of rotation of steering device 302. For example, steering device 302 may rotate in response to at least one of a torque applied by a user, a torque applied by a machine component attached to the steering device, or a combination thereof. In one embodiment, sensor 304 may be directly mounted to steering device 302. In another embodiment, sensor 304 may be mounted alongside and / or separately from steering device 302.

[0064] The front wheel assembly 320 may include a first front wheel 322A, a second front wheel 322B, a first front motor 323A, and a second front motor 323B. In another embodiment, the front wheel assembly 320 may include a single front wheel and a single front motor connected to the single front wheel. In this embodiment, the single front wheel may be aligned with the centerline of the cleaning machine (e.g., a centerline dividing the cleaning machine into equal-sized right and left sides).

[0065] The first front wheel 322A may be a first multi-directional wheel. The second front wheel 322B may be a second multi-directional wheel. In this embodiment, the first front wheel 322A is connected to and steers the first front motor 323A. Additionally, the second front wheel 322B is connected to and steers the second front motor 323B.

[0066] In another embodiment, only one of the first front wheel 322A and the second front wheel 322B can be connected to and steered by the front motor. For example, either the first front wheel 322A or the second front wheel 322B can be connected to the front motor (e.g., the first front motor 323A or the second front motor 323B, respectively), while the other of the two front wheels (e.g., the second front wheel 322B or the first front wheel 322A) cannot be connected to the front motor. In this example, only one of the first front wheel 322A and the second front wheel 322B is a steering or steerable front wheel, while the other front wheel can be freely rotatable (see, for example, Figures 1 to 1 above). Figure 4 (Description of the front wheel in B).

[0067] Figures 1 to 10 discussed above Figure 4Compared to B, at least one of the first front wheel 322A and the second front wheel 322B can be steerable or steerable. For example, the amount of steering or rotation of the first front wheel 322A and the second front wheel 322B can be controlled by the first front motor 323A and the second front motor 323B respectively. In an embodiment, the first front wheel 322A can steer or rotate about a first axis A1. For example, the first front motor 323A can be operatively coupled to the first front wheel 322A to transmit torque or rotational power to the first front wheel 322A, thereby causing the first front wheel 322A to rotate about the first axis A1. In an embodiment, the first axis A1 can be arranged to be substantially perpendicular to the cleaning surface on which the cleaning machine operates.

[0068] In another embodiment, the second front wheel 322B can be steered or rotated about the second axis A2. For example, the second front motor 323B can be operatively coupled to the second front wheel 322B to transmit torque or rotational power to the second front wheel 322B, thereby causing the second front wheel 322B to rotate about the second axis A2.

[0069] The controller assembly 342 may include a central controller 344, a first front controller 346A, a second front controller 346B, a first rear controller 348A, and a second rear controller 348B. For example, each of the first front motor 323A, the second front motor 323B, the first rear motor 336A, and the second rear motor 336B may be connected to and controlled by the first front controller 346A, the second front controller 346B, the first rear controller 348A, and the second rear controller 348B, respectively. In one embodiment, the central controller 344 may, in response to input received from at least one of wireless, steering mechanism 302 (e.g., the degree of rotation of the steering mechanism, input received via buttons or displays in or on the steering mechanism 302, etc.), or combinations thereof, transmit signals to at least one of the first front motor 323A, the second front motor 323B, the first rear motor 336A, the second rear motor 336B, or combinations thereof. In another embodiment, the controller assembly 342 may include more or fewer than five individual controllers. For example, controller component 342 may include up to four controllers, such as up to three controllers, such as up to two controllers, such as one controller that communicates with at least one of the first front motor 323A, the second front motor 323B, the first rear motor 336A, the second rear motor 336B, or a combination thereof.

[0070] In one embodiment, at least one of the first rear controller 348A, the second rear controller 348B, or a combination thereof may be arranged to communicate with at least one of the first rear motor 336A, the second rear motor 336B, or a combination thereof. In another embodiment, at least one of the first front controller 346A, the second front controller 346B, or a combination thereof may be arranged to communicate with at least one of the first front motor 323A, the second front motor 323B, or a combination thereof.

[0071] In one embodiment, the amount of steering or rotation of the first front wheel 322A via the first front motor 323A can be controlled by the first front controller 346A of the controller assembly 342 in response to data received from the sensor 304 regarding the rotational position of the steering device 302. Alternatively or additionally, the amount of steering or rotation of the second front wheel 322B via the second front motor 323B can be controlled by the second front controller 346B of the controller assembly 342 in response to data received from the sensor 304 regarding the rotational position of the steering device 302.

[0072] In one embodiment, the propulsion system 300 may include at least one of a first sensor 350A, a second sensor 350B, or a combination thereof. The first sensor 350A and the second sensor 350B may be position sensors arranged to detect and / or measure the rotational degree (e.g., steering degree) of the first front wheel 322A and the second front wheel 322B, respectively. For example, the first sensor 350A may be arranged to detect the rotational position of the first front wheel 322A about a first axis A1. Additionally or alternatively, the second sensor 350B may be arranged to detect the rotational position of the second front wheel 322B about a second axis A2. In one embodiment, at least one of the first sensor 350A and the second sensor 350B may be offset from the first axis A1 and the second axis A2, respectively. In another embodiment, the first sensor 350A may be positioned above the first front wheel 322A (e.g., along the first axis A1). Additionally or alternatively, the second sensor 350B may be positioned above the second front wheel 322B (e.g., along the second axis A2). The first sensor 350A and the second sensor 350B can communicate with the controller assembly via wired or wireless communication.

[0073] In another embodiment, the propulsion system 300 may include a single front wheel. In this embodiment, the propulsion system may include a single sensor to detect the angle or steering of the single front wheel and send a signal representing the position of the single front wheel to the controller assembly 342.

[0074] The controller assembly 342 is configured to send instructions to each of the first front motor 323A, the second front motor 323B, the first rear motor 336A, and the second rear motor 336B to rotate or steer the cleaning machine to a desired degree of rotation or steer. For example, the controller assembly 342 may send a message to one or both of the first rear motor 336A and the second rear motor 336B to drive a certain amount of rotation in one or both of the first rear wheel 326A and the second rear wheel 326B. If unequal or opposite rotations are transmitted to the first rear wheel 326A and the second rear wheel 326B, the propulsion system 300 will cause the cleaning machine to rotate in response to the unequal or opposite rotations transmitted to the first rear wheel 326A and the second rear wheel 326B.

[0075] Similarly, controller assembly 342 can send messages to one or both of the first front motor 323A and the second front motor 323B to rotate the first front wheel 322A and the second front wheel 322B, respectively.

[0076] In one embodiment, the controller assembly 342 can, in response to data received from the sensor 304 regarding the rotational position of the steering mechanism 302, cause the first front motor 323A and the second front motor 323B to transmit equal amounts of rotation, turning, or steering to the first front wheel 322A and the second front wheel 322B, respectively. In another embodiment, the controller assembly 342 can cause the first front motor 323A and the second front motor 323B to transmit different amounts of rotation, turning, or steering to the first front wheel 322A and the second front wheel 322B, respectively, in response to input received by the steering mechanism 302 from the user. For example, the controller assembly 342 can cause the first front motor 323A and the second front motor 323B to rotate the first front wheel 322A and the second front wheel 322B, respectively, to occupy a steering amount or degree of rotation, thereby achieving Ackermann geometry. In this way, the controller assembly 342 can control the steering amount of the first front wheel 322A and the second front wheel 322B, as well as the driving amount of the first rear wheel 326A and the second rear wheel 326B, to control the turning radius of the cleaning machine.

[0077] Alternatively or additionally, the first sensor 350A and the second sensor 350B can detect the rotational positions of the first front wheel 322A and the second front wheel 322B, respectively. After detecting the rotational positions of the first front wheel 322A and the second front wheel 322B, the rotational position data of the first front wheel 322A and the second front wheel 322B can be stored by or in the controller assembly 342. In an embodiment, the first sensor 350A and the second sensor 350B can detect the rotational positions of the first front wheel 322A and the second front wheel 322B to determine whether at least one of the first front wheel 322A, the second front wheel 322B, or a combination thereof has rotated to a position commanded by the controller assembly 342 in response to the degree or amount of rotation of the steering mechanism 302 sensed by the sensor 304.

[0078] The controller assembly 342 can use the rotational position data of the first front wheel 322A and the second front wheel 322B to determine whether the first front wheel 322A and the second front wheel 322B are in the desired position and / or whether the first front wheel 322A and the second front wheel 322B need to be adjusted (e.g., rotated in either direction about the first axis A1 or the second axis A2, respectively) to a new steering position to achieve the desired turning radius of the cleaning machine (e.g., cleaning machine 10, 100 and / or 210).

[0079] Any cleaning machine described herein may also include a propulsion system, such as propulsion system 300. When propulsion system 300 is incorporated into one or more cleaning machines discussed herein (e.g., cleaning machines 10, 110, 210), propulsion system 300 provides electronically steered front wheels for a higher degree of control to steer the cleaning machine (e.g., cleaning machines 10, 100, and / or 210).

[0080] The benefits of cleaning machines 10, 100, and 210 and propulsion system 300 may include enabling a common architecture that reduces the complexity of designing and manufacturing the cleaning machines. Additional benefits proposed may include a smaller number of parts and a common assembly procedure for manufacturing the cleaning machines.

[0081] Various notes and examples

[0082] A cleaning machine includes a drive assembly, a cleaning element, and a controller assembly. The drive assembly includes a pair of drive wheels, a rear motor, a multi-directional wheel, and a front motor. Each of the pair of drive wheels is configured to be driven independently of the other wheel in the pair. The rear motor is operatively coupled to the pair of drive wheels and arranged to drive at least one of the drive wheels. The multi-directional wheel is arranged in front of the pair of drive wheels along a intended direction of use. The front motor is operatively coupled to the multi-directional wheel and arranged to steer the multi-directional wheel. The cleaning element is arranged to contact a cleaning surface and is arranged in front of the pair of drive wheels. The controller assembly is arranged to control at least one of the rear motor, the front motor, or a combination thereof.

[0083] Each of these non-restrictive examples may exist independently or may be combined with one or more other examples in various permutations or combinations.

[0084] Optionally, the controller assembly may include a rear controller connected to the rear motor, wherein the rear controller may be arranged to communicate with the rear motor, and / or a front controller connected to the front motor, wherein the front controller may be arranged to communicate with the front motor.

[0085] Optionally, the multi-directional wheel may include a first multi-directional wheel on a first side of the cleaning machine; and / or a second multi-directional wheel arranged on a second side of the cleaning machine opposite to the first side of the cleaning machine.

[0086] Optionally, the front motor may include a first front motor operably connected to a first multi-wheel, the first front motor being configured to rotate the first multi-wheel in response to a first signal received from a controller assembly, and / or a second front motor operably connected to a second multi-wheel, the second front motor being configured to rotate the second multi-wheel in response to a second signal received from a controller assembly.

[0087] Optionally, the cleaning element may include a scrubber; and / or casters may be arranged in front of the scrubber along the intended use direction of the cleaning machine.

[0088] Alternatively, the scrubber may define a rotation axis about which it rotates, wherein the pivot axis of the multi-wheel may be arranged to be substantially parallel to the rotation axis of the scrubber.

[0089] Alternatively, the scrubber may include a cylindrical brush, which may define an axis of rotation about which the cylindrical brush rotates, wherein the pivot axis of the multi-directional wheel may be arranged substantially perpendicular to the axis of rotation of the cylindrical brush.

[0090] Optionally, the hopper can be configured to receive waste from a cleaning element, wherein the hopper may include a box and an inlet, the box defining a cavity, the inlet defining an opening arranged to receive waste from the cleaning element, the opening defining a width extending in the lateral direction of the cleaning machine, and the cleaning element defining a width, wherein the width of the cleaning element may be greater than the width of the opening of the hopper's inlet.

[0091] Optionally, the cleaning element may include a broom with multiple bristles, wherein the width of the cleaning element may be defined along the central axis of the broom from a first end to a second end of the broom.

[0092] Optionally, the hopper inlet may include a first sidewall and a second sidewall, wherein the first sidewall and the second sidewall may be arranged on opposite sides of the cleaning machine, wherein the first sidewall may be curved and recessed away from the second sidewall, wherein the second sidewall may be curved and recessed away from the first sidewall, wherein the width of the inlet opening may be defined between the point closest to the second sidewall along the first sidewall and the point closest to the first sidewall along the second sidewall.

[0093] Optionally, the multi-directional wheel may include a first multi-directional wheel on a first side of the cleaning machine and a second multi-directional wheel arranged on a second side of the cleaning machine opposite to the first side of the cleaning machine; wherein the inlet of the hopper may include a first sidewall and a second sidewall; wherein the first sidewall may include a first recess that can be recessed away from the second sidewall, wherein the second sidewall may include a second recess that can be recessed away from the first sidewall, wherein the first multi-directional wheel may be partially arranged in the first recess of the first sidewall, wherein the second multi-directional wheel may be partially arranged in the second recess of the second sidewall; wherein the width of the opening of the inlet may be defined between the point closest to the second sidewall along the first sidewall and the point closest to the first sidewall along the second sidewall.

[0094] Optionally, the rear motor may include a first rear motor and a second rear motor; wherein the first drive wheel of a pair of drive wheels may be operatively connected to the first rear motor of the pair of motors; and / or wherein the second wheel of a pair of drive wheels may be operatively connected to the second rear motor of the pair of motors.

[0095] Optionally, the sensor can be connected to the controller assembly, wherein the sensor can be arranged to detect the rotation of the multi-directional wheel.

[0096] A propulsion system for a cleaning machine includes a rear wheel assembly, a front wheel assembly, and a controller assembly. The rear wheel assembly includes a first rear wheel, a second rear wheel, a first rear motor operably connected to the first rear wheel, and a second rear motor operably connected to the second rear wheel. The first rear motor is arranged to drive the first rear wheel. The second rear motor is arranged to drive the second rear wheel. The front wheel assembly includes a multi-directional wheel and a front motor operably coupled to the multi-directional wheel. The multi-directional wheel is arranged in front of the rear wheel assembly along a intended direction of use of the cleaning machine. The front motor is arranged to rotate the multi-directional wheel. The controller assembly is connected to each of the first rear motor, the second rear motor, and the front motor. The controller assembly is arranged to control each of the first rear motor, the second rear motor, and the front motor.

[0097] Each of these non-restrictive examples may exist independently or may be combined with one or more other examples in various permutations or combinations.

[0098] Optionally, the multi-wheel may include a first multi-wheel and a second multi-wheel; and / or the front motor may include a first front motor operably connected to the first multi-wheel, wherein the first front motor may be configured to rotate the first multi-wheel in response to a first signal received from the controller assembly; and / or a second front motor operably connected to the second multi-wheel, wherein the second front motor may be configured to rotate the second multi-wheel in response to a second signal received from the controller assembly.

[0099] The above detailed description includes reference to the accompanying drawings, which form part of the detailed description. The drawings illustrate, by way of illustration, specific embodiments in which the present disclosure may be practiced. These embodiments are also referred to herein as “examples.” Such examples may include elements other than those shown or described. However, the inventors also contemplate examples that provide only those elements shown or described. Furthermore, the inventors also contemplate examples using any combination or arrangement of those elements (or one or more aspects thereof) shown or described with respect to a particular example (or one or more aspects thereof) or with respect to other examples (or one or more aspects thereof) shown or described herein.

[0100] In the event of any inconsistency between the usage in this document and any other document incorporated by reference, the usage in this document shall prevail.

[0101] In this document, as is common in patent literature, the terms “a” or “an” are used to include one or more, independent of any other instances or uses of “at least one” or “one or more.” In this document, unless otherwise stated, the term “or” is used to mean non-exclusive or, such that “A or B” includes “A but not B,” “B but not A,” and “A and B.” In this document, the terms “comprising” and “in which” are used as concise English equivalents to the corresponding terms “including” and “wherein.” Furthermore, in the appended claims, the terms “comprising” and “including” are open-ended, meaning that a system, apparatus, article, composition, formulation, or process that includes elements other than those listed after such terms in the claims is still considered to fall within the scope of the claims. Additionally, in the appended claims, the terms “first,” “second,” and “third,” etc., are used merely as labels and are not intended to impose numerical requirements on their objects.

[0102] The foregoing description is illustrative and not restrictive. For example, the foregoing examples (or one or more aspects thereof) may be used in combination with each other. Other embodiments may be used, such as those employed by those skilled in the art upon review of the foregoing description. An abstract is provided to conform to 37 CFR §1.72(b) to allow the reader to quickly determine the nature of the technical disclosure. It is submitted with the understanding that it will not be used to interpret or limit the scope or meaning of the claims. Furthermore, in the above detailed description, various features may be grouped together to make the disclosure concise. This should not be construed as making any unclaimed disclosed feature necessary for any claim. Rather, the subject matter of the invention may lie in fewer than all features of a particular disclosed embodiment. Therefore, the appended claims are hereby incorporated, as examples or embodiments, wherein each claim is an independent, separate embodiment, and such embodiments are contemplated to be combined with each other in various combinations or arrangements. The scope of this disclosure should be determined by reference to the appended claims and the full scope of their equivalents.

Claims

1. A cleaning machine for cleaning a surface along a intended direction of use, the cleaning machine comprising: The driver component includes: A pair of drive wheels, wherein each of the pair of drive wheels is configured to be driven independently of the other of the pair of drive wheels; A rear motor operably coupled to the pair of drive wheels, wherein the rear motor is arranged to drive at least one of the pair of drive wheels; A multi-directional wheel, arranged in front of the pair of drive wheels along the intended direction of use; and A front motor operably coupled to the multi-wheel, wherein the front motor is arranged to steer the multi-wheel; A cleaning element arranged to contact the cleaning surface, wherein the cleaning element is positioned in front of the pair of drive wheels along the intended use direction of the cleaning machine; and A controller assembly arranged to control at least one of the rear motor, the front motor, or a combination thereof.

2. The cleaning machine according to claim 1, wherein the controller component comprises: A rear controller connected to the rear motor, wherein the rear controller is arranged to communicate with the rear motor; as well as A front controller connected to the front motor, wherein the front controller is arranged to communicate with the front motor.

3. The cleaning machine according to claim 1, wherein the multi-directional wheels comprise: The first multi-directional wheel is located on the first side of the cleaning machine; as well as The second multi-directional wheel is arranged on the second side of the cleaning machine opposite to the first side of the cleaning machine.

4. The cleaning machine according to claim 3, wherein the front motor comprises: A first front motor is operatively connected to the first multi-wheel, wherein the first front motor is configured to rotate the first multi-wheel in response to a first signal received from the controller assembly; as well as A second front motor is operatively connected to the second multi-wheel, wherein the second front motor is configured to rotate the second multi-wheel in response to a second signal received from the controller assembly.

5. The cleaning machine according to claim 1, further comprising: The cleaning element said therein includes a scrubber; and The multi-directional wheels are arranged in front of the scrubber along the intended use direction of the cleaning machine.

6. The cleaning machine of claim 5, wherein the scrubber defines a rotation axis about which it rotates, and wherein the pivot axis of the multi-directional wheel is arranged substantially parallel to the rotation axis of the scrubber.

7. The cleaning machine of claim 5, wherein the scrubber includes a cylindrical brush, wherein the cylindrical brush defines an axis of rotation about which the cylindrical brush rotates, and wherein the pivot axis of the multi-directional wheel is arranged substantially perpendicular to the axis of rotation of the cylindrical brush.

8. The cleaning machine of claim 1, further comprising a hopper configured to receive dirt from the cleaning element, wherein the hopper comprises: A box, which contains a cavity; and An inlet, which defines an opening arranged to receive dirt from the cleaning element, wherein the opening defines a width extending along the lateral direction of the cleaning machine; The cleaning element is defined in width, and the width of the cleaning element is greater than the width of the opening of the hopper inlet.

9. The cleaning machine of claim 8, wherein the cleaning element comprises a broom having a plurality of bristles, wherein the width of the cleaning element is defined along the central axis of the broom from a first end of the broom to a second end of the broom.

10. The cleaning machine of claim 8, wherein the inlet of the hopper includes a first sidewall and a second sidewall, wherein the first sidewall and the second sidewall are arranged on opposite sides of the cleaning machine, wherein the first sidewall is curved and recessed away from the second sidewall, wherein the second sidewall is curved and recessed away from the first sidewall, wherein the width of the opening of the inlet is defined between a point along the first sidewall closest to the second sidewall and a point along the second sidewall closest to the first sidewall.

11. The cleaning machine according to claim 8, further comprising: The multi-directional wheel includes: A first multi-directional wheel, located on a first side of the cleaning machine; and The second multi-directional wheel is arranged on the second side of the cleaning machine opposite to the first side of the cleaning machine; The inlet of the hopper includes a first sidewall and a second sidewall; The first sidewall includes a first recess oriented in a recessed manner opposite to the second sidewall, and the second sidewall includes a second recess oriented in a recessed manner opposite to the first sidewall. The first multi-directional wheel is partially arranged in the first recess of the first sidewall, and the second multi-directional wheel is partially arranged in the second recess of the second sidewall. The width of the entrance opening is defined between the point closest to the second sidewall along the first sidewall and the point closest to the first sidewall along the second sidewall.

12. The cleaning machine according to claim 1, further comprising: The rear motor includes: First rear motor; and Second rear motor; The first drive wheel of the pair of drive wheels is operatively connected to the first rear motor of the pair of motors; and The second wheel of the pair of drive wheels is operatively connected to the second rear motor of the pair of motors.

13. The cleaning machine of claim 1, further comprising a sensor connected to the controller assembly, wherein the sensor is arranged to detect the rotational degree of the multi-directional wheel.

14. A propulsion system for a cleaning machine having cleaning elements, the propulsion system comprising: Rear wheel assembly, comprising: First rear wheel; A first rear motor is operatively connected to the first rear wheel, wherein the first rear motor is arranged to drive the first rear wheel; A second rear wheel, wherein the second rear wheel is configured to be driven independently of the first rear wheel; and A second rear motor is operatively connected to the second rear wheel, wherein the second rear motor is arranged to drive the second rear wheel; Front wheel assembly, comprising: Multi-directional wheels are arranged in front of the rear wheel assembly along the intended direction of use of the cleaning machine; and A front motor operably coupled to the multi-wheel, wherein the front motor is arranged to rotate the multi-wheel; and A controller assembly connected to each of the first rear motor, the second rear motor, and the front motor, wherein the controller assembly is arranged to control each of the first rear motor, the second rear motor, and the front motor.

15. The propulsion system according to claim 14, further comprising: The multi-directional wheel includes: First multi-directional wheel; and The second multi-directional wheel; and The front motor includes: A first front motor, operably connected to the first multi-directional wheel, wherein the first front motor is configured to rotate the first multi-directional wheel in response to a first signal received from the controller assembly; and A second front motor is operatively connected to the second multi-wheel, wherein the second front motor is configured to rotate the second multi-wheel in response to a second signal received from the controller assembly.

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